CN103129964B - Mechanical type linear reciprocating synchronizing device - Google Patents

Abstract

The invention discloses a mechanical linear reciprocating synchronizing device. The separation screw can be rotated and positioned on one end of the conveyor belt. The separation screw is axially placed along the moving direction of the conveyor belt. The manipulator can be slid and positioned on the linear guide rail, and the linear guide rail is fixed on the conveyor belt. On one side in the width direction, there are motors, main drive shafts, first, second and third transmission devices, and cam mechanisms. The motor power is output to the main drive shaft, and the first, second and third transmission devices respectively transmit the power of the main drive shafts For the driving roller of the conveyor belt, the separating screw and the cam mechanism, the cam mechanism includes a swing rod cam mechanism and a screw rod, the third power transmission device drives the cam rotation of the swing rod cam mechanism, and the swing rod shaft of the swing rod cam mechanism drives the screw rod to rotate , the screw rod and the manipulator are screwed together. The invention has high power, strong rigidity, and precise synchronization. When moving at high speed, the whole device can also maintain a quiet effect, avoiding vibration and impact caused by heavy load and high-speed movement, and its response is fast. Increased production efficiency.

Description

Mechanical linear reciprocating synchronizer

technical field

The invention relates to a linear reciprocating device, in particular to a mechanical linear reciprocating synchronizing device.

Background technique

On the production line, the manipulator often needs to do reciprocating linear motion to operate the products on the conveyor belt. At the same time, the feeding device must keep synchronous feeding with the manipulator and the conveyor belt. Currently, the motion controller is commonly used to control the conveyor belt, manipulator and feeding device. Synchronous action, this kind of synchronous control method uses the electronic gear and electronic cam function of the motion controller to realize the control of motion parameters such as displacement, speed, acceleration and so on between the motion axes, and then realizes synchronous action;

This control method has the following disadvantages:

1. The load capacity is small and the rigidity is low. In the case of heavy load, the actuator such as servo motor or stepper motor is prone to hysteresis or step loss, that is, the heavy load accuracy is low;

2. During high-speed motion, the lag of synchronous motion becomes more obvious. Each kind of motion controller has a minimum control cycle that characterizes its operation and processing and algorithm efficiency. In the case of a certain control cycle, the higher the motion speed, the more obvious the macroscopic representation of synchronous motion lag;

3. The motion characteristics are poor, and it is easy to generate shock and vibration. Most of the motion controllers now control the displacement, speed and acceleration of a motion axis, while the jerk characteristic (jerk) that characterizes the motion characteristics of shock and vibration is rarely controlled. , which makes the shock and vibration obvious during high-speed motion. On the other hand, due to the lag of motion, the motion controller needs to perform an interpolation operation after executing one or more control cycles to correct the motion deviation. The correction needs to be realized by changing the magnitude and direction of the force or moment, and this change of force or moment also makes the dynamics of synchronous motion worse.

Contents of the invention

In order to make up for the above deficiencies, the present invention provides a mechanical linear reciprocating synchronization device, which has the advantages of simple structure, high synchronization, high power, strong rigidity, fast response and quiet operation.

The technical solution adopted by the present invention in order to solve the technical problem is: a mechanical linear reciprocating synchronous device, including a conveyor belt, a separation screw, a manipulator and a linear guide rail, the separation screw can be rotatably positioned on one end of the conveyor belt, and the separation screw is axially Placed along the moving direction of the conveyor belt, the manipulator can be slid and positioned on the linear guide rail, and the linear guide rail is fixed on one side of the conveyor belt width direction. It is also equipped with a motor, a main drive shaft, the first, second, and third transmission devices, a cam mechanism, and a motor. The power is output to the main drive shaft, and the first, second, and third transmission devices respectively transmit the power of the main drive shaft to the driving roller of the conveyor belt, the separating screw and the cam device. The cam mechanism drives the manipulator to slide along the linear guide rail. The specific structure is: The cam mechanism includes a swing rod cam mechanism and a wire rod. The third power transmission device drives the cam of the swing rod cam mechanism to rotate. The swing rod shaft of the swing rod cam mechanism drives the screw to rotate. The screw rod is threadedly connected with the manipulator. The cam of the swing rod cam mechanism rotates driven by the third power transmission device, and the swing rod of the swing rod cam mechanism swings back and forth, and then the swing rod shaft of the swing rod cam mechanism takes the screw to do intermittent forward and reverse rotation (the swing rod The shaft and the screw are generally connected by a speed increaser), that is, the manipulator does intermittent reciprocating linear sliding, and the power of the device is output by a motor, which is transmitted to the drive of the conveyor belt through the first, second, and third transmission devices respectively. The roller, the separating screw and the cam device that drives the manipulator to move linearly. One power source is output separately through purely mechanical structure to ensure the synchronization of the three moving mechanisms driven by it, and to ensure the consistency of the whole device in the working steps. Effectively prevent mutual interference.

As a further improvement of the present invention, the first, second, and third transmission devices are all composed of synchronous belts and synchronous pulleys, of course, they can also be transmission devices formed by chains and sprockets, and can also be transmitted in the form of gear pairs. , such structures are all equivalent replacements of this patent.

The beneficial technical effects of the present invention are: the present invention adopts a mechanical transmission mode, which is separately transmitted by a power source, which has high power, strong rigidity, and precise synchronization. Because the core adopts a cam mechanism, the outer contour of the cam is smooth and continuous, and the cam is high-speed. When moving, the whole device can also maintain a quiet effect, avoiding the vibration and impact caused by heavy load and high-speed movement, and ensuring the movement synchronization accuracy between various mechanisms, and because it is a purely mechanical transmission, it responds quickly and does not require electronic control The response time of the device effectively improves the production efficiency of the production line.

Description of drawings

Fig. 1 is the front view of the present invention.

Detailed ways

Embodiment: a kind of mechanical linear reciprocating synchronizing device, comprises conveyor belt 1, separating screw rod 2, manipulator 3 and linear guide rail 4, and separating screw rod 2 can be rotatably positioned on one end of conveyor belt 1, and separating screw rod 2 axially along conveyor belt 1 Placed in the direction of movement, the manipulator 3 can be slidably positioned on the linear guide rail 4, and the linear guide rail 4 is fixed on one side of the width direction of the conveyor belt 1, and is also provided with a motor 5, a main drive shaft 6, a first, a second, a third transmission device 7, 8, 9, the cam mechanism 10, the power output of the motor 5 to the main drive shaft 6, the first, second, and third transmission devices 7, 8, 9 respectively transmit the power of the main drive shaft 6 to the driving roller and the separating screw of the conveyor belt 1 2 and the cam device, the cam mechanism 10 drives the manipulator 3 to slide along the linear guide rail 4, the specific structure is: the cam mechanism includes a swing rod cam mechanism and a wire rod 11, the third power transmission device drives the cam rotation of the swing rod cam mechanism, and the swing rod cam mechanism The swing rod shaft of the rod cam mechanism drives the screw rod 11 to rotate, the screw rod 11 is threadedly connected with the manipulator 3, the cam of the swing rod cam mechanism is driven by the third power transmission device to rotate, and the swing rod of the swing rod cam mechanism reciprocates positively and negatively Swing, and then the swing rod shaft of the swing rod cam mechanism takes the screw rod 11 to do intermittent forward and reverse rotation (the speed increaser is generally used to speed up the connection between the swing rod shaft and the screw rod), that is, the manipulator 3 does intermittent Reciprocating linear sliding, the power of the device is output by a motor 5, which is transmitted to the driving roller of the conveyor belt 1, the separating screw 2 and the cam device that drives the manipulator 3 to move linearly through the first, second, and third transmission devices 7, 8, and 9, respectively. The purely mechanical output structure of one power source ensures the synchronization of the three motion mechanisms driven by it, ensures the consistency of the working steps of the whole device, and effectively prevents mutual interference.

The first, second, and third transmission devices 7, 8, and 9 are all made up of synchronous belts and synchronous pulleys. Of course, they can also be transmission devices formed by chains and sprockets, and can also be transmitted in the form of gear pairs. Class structures are all equivalent replacements of this patent.

Claims (2)

1. A mechanical linear reciprocating synchronizing device, comprising a conveyor belt (1), a separation screw (2), a manipulator (3) and a linear guide rail (4), the separation screw (2) can be rotated and positioned at one end of the conveyor belt (1) Above, the separating screw (2) is placed axially along the moving direction of the conveyor belt (1), the manipulator (3) can be slid and positioned on the linear guide rail (4), and the linear guide rail (4) is fixed on one side of the conveyor belt (1) in the width direction. side, it is characterized in that it is also provided with a motor (5), a main drive shaft (6), first, second and third transmission devices (7, 8, 9), a cam mechanism (10), and the power output of the motor (5) is given to The main drive shaft (6), the first, second and third transmission devices (7, 8, 9) respectively transmit the power of the main drive shaft (6) to the driving roller of the conveyor belt (1), the separating screw (2) and the cam device, the cam mechanism (10) drives the manipulator (3) to slide along the linear guide rail (4), and the specific structure is: the cam mechanism includes a swing rod cam mechanism and a wire rod (11), and the third power transmission device drives the swing rod cam mechanism The cam of the fork rotates, and the fork shaft of the fork cam mechanism drives the screw mandrel (11) to rotate, and the screw mandrel (11) is threadedly connected with the manipulator (3). 2. The mechanical linear reciprocating synchronous device according to claim 1, characterized in that: the first, second and third transmission devices (7, 8, 9) are all composed of a synchronous belt and a synchronous pulley.