CN104400782B - For the open-close type manipulator of the accurate pick-and-place of fritter rule material - Google Patents
For the open-close type manipulator of the accurate pick-and-place of fritter rule material Download PDFInfo
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- CN104400782B CN104400782B CN201410513417.8A CN201410513417A CN104400782B CN 104400782 B CN104400782 B CN 104400782B CN 201410513417 A CN201410513417 A CN 201410513417A CN 104400782 B CN104400782 B CN 104400782B
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Abstract
For an open-close type manipulator for the accurate pick-and-place of fritter rule material, it comprises z axle module, x-y platform module and is connected to the suction nozzle module being made up of several component suction nozzles on x-y platform module; Described x-y platform module and z axle module are vertically slidably connected, and x-y platform module moves along z axle under the drive of z axle module; Described x-y platform module comprises framing component and is connected to x axle module and the y axle module on framing component, and several component suction nozzles of described suction nozzle module are connected on framing component, and under the drive of x axle module and y axle module, move along x axle and y axle respectively. The present invention is all very high matrix form pick-and-place materials devices of a kind of automation, precision and efficiency, it can along X, Y, Z axis fast accurate mobile, and it is convenient to control, compact conformation, can be widely used in the various fritter rule such as IC chip, tablet, handware material production process.
Description
Technical field
The present invention relates to a kind of mechanical device for material pick-and-place, relate in particular to a kind of for the accurate pick-and-place of fritter rule materialOpen-close type manipulator.
Background technology
At present, the pick-and-place process of material in the material production of the various fritters such as IC chip, tablet, handware rule is moved veryGenerally; In the process of manufacture of various fritter rule materials, often need to be by it from an accurate pick-and-place in position to anotherIndividual position, as semiconductor chip often need to capture and precisely be put into another kind of specification matrix form from a kind of specification matrix form charging trayCharging tray; And for example in tablet Production and Packaging process, often need to be by its charging tray pick-and-place from a kind of specification the material to another kind of specificationIn film trap, go encapsulation; For another example in hardware Production and Packaging process, can run into equally above-mentioned situation. Therefore, at various frittersIn the process of manufacture of rule material, need a large amount of pick-and-place carrying work, and these pick-and-place carrying work in the past are all leaned onArtificial realization, extensively adopt now various pick-and-place devices to realize.
Existing pick-and-place device generally also needs manually to adjust, as shown in figure 10 for there being four suction nozzles to adjust by artificial completelyThe pick-and-place materials device of whole spacing, it can be placed on corresponding motion platform, utilizes the motion of motion platform, to various frittersRule material carries out pick-and-place. Before material grasping, need first by manually the spacing of four suction nozzles is adjusted to material grasping dish on grabbed materialSpacing consistent. When blowing its process as shown in figure 11, because the blowing spacing of discharge plate and the material grasping spacing of material grasping dish differCause, four blocks of materials on the pick-and-place materials device of four suction nozzles just can not carry out blowing simultaneously, be as putting four as shown in Figure 11The inferior blowing that just can complete. It is progressive to some extent that this grabs a device of putting one than some.
At present, also occurred that a kind of four nozzle portion are as shown in figure 12 by the artificial pick-and-place materials device of adjusting spacing, it canBe placed on corresponding motion platform, utilize the motion of motion platform, various fritter rule materials are carried out to pick-and-place. Before material grasping,Need first by manually two suction nozzle intervals in a direction in four suction nozzles are adjusted to and material grasping dish on grabbed material betweenApart from consistent, in the another one direction in four suction nozzles, two suction nozzle interval adjustment are adjusted automatically by the positive and negative screw rod of driven by motorWhole. When blowing its process as shown in figure 13, when material grasping completes while moving to discharge plate, the positive and negative bolt rotary of driven by motor,Make a suction nozzle interval in direction consistent with the blowing spacing of discharge plate, so once can put two blocks of materials simultaneously, twice justCan complete blowing task, it improves twice than the pick-and-place materials device efficiency shown in Figure 10.
Above two kinds of discharging devices, all need manually completely or partially to adjust suction nozzle interval, and this will be due to the artificial mistake of adjustingDiffer from and pick-and-place positioning precision is affected. And material grasping repeatedly blowing just can complete blowing, also makes the essence of blowingDegree and speed are affected, thereby the quality of production and production efficiency are exerted an influence.
Summary of the invention
The object of this invention is to provide one and can capture polylith (as 4) material, Zhi Hou at specification matrix form material grasping dishUnder corresponding sports platform drives, arrive the one of another kind of specification matrix form discharge plate top while blowing for fritter rule thingExpect the open-close type manipulator of accurate pick-and-place.
The present invention is achieved like this, a kind of open-close type manipulator for the accurate pick-and-place of fritter rule material, its featureBe, it comprises the z axle module that is fixedly connected on motion platform for realizing the motion of z axle, for realizing suction nozzle module edgeThe x-y platform module of x, y axle motion and be connected to the suction nozzle being formed by several component suction nozzles on x-y platform moduleModule;
Described x-y platform module and z axle module are vertically slidably connected, and x-y platform module is at the band of z axle moduleUnder moving, move along z axle; Described x-y platform module comprises framing component and is connected to x axle module and the y on framing componentAxle module, several component suction nozzles of described suction nozzle module are connected on framing component, and respectively at x axle module and y axle mouldUnder the drive of group, move along x axle and y axle.
Described z axle module comprise wire clamp, connecting plate, gas row, z spindle motor, z axle module riser, z axle line slideway,Slide block, slide block connecting plate, roller groove, roller and eccentric shaft, the upper end of described z axle module riser is provided with several gas row,The upper end of z axle module riser is also connected with wire clamp by connecting plate;
Described slide block is slidably connected with the z axle line slideway being vertically fixed on z axle module riser, and the upper end of slide block is fixedBe connected with a slide block connecting plate with roller groove; Described z spindle motor is packed on z axle module riser, z spindle motor defeatedShaft connects an eccentric shaft with roller; Described eccentric shaft is positioned at roller groove, and coordinates with roller groove, at z spindle motorWhile driving eccentric shaft to move back and forth in roller groove, slide block slides along z axle line slideway.
Component suction nozzle in described suction nozzle module has four, is respectively the 4th component suction nozzle, the second component suction nozzle, the 3rd suctionNozzle assembly and the first component suction nozzle, their structure is all identical. Described component suction nozzle comprises suction nozzle lift cylinder, cylinder installationPiece, Buffer Unit, power connecting plate, contiguous block, suction nozzle contiguous block, suction nozzle, vacuum air-channel, line slideway and suction nozzle groupPart mount pad, described suction nozzle lift cylinder is affixed with the cylinder mounting blocks that is packed in component suction nozzle mount pad upper end, suction nozzle liftingThe output piston of cylinder is connected with the upper end of power connecting plate, and power connecting plate, contiguous block, suction nozzle contiguous block and suction nozzle are from upperBe fixedly connected sequentially downwards, described suction nozzle contiguous block is provided with the vacuum air-channel for controlling suction nozzle folding;
Described power connecting plate is slidably connected by slide block and the line slideway being cemented on component suction nozzle mount pad, at suction nozzleUnder the drive of lift cylinder, power connecting plate vertically slides; The output piston of described suction nozzle lift cylinder and power connectBetween fishplate bar, be also provided with the Buffer Unit for bounce cylinder operational shock.
The framing component of described x-y platform module comprises riser, right arm, header board, transfer arm and left arm, described riser,Right arm, header board and left arm are connected and form rectangle frame structure, parallel with header board, and are positioned at rectangle frame knot near the transfer arm of header boardIn structure;
Described riser is provided with a horizontal interior side rails of riser, and the second component suction nozzle is slided and connected by the second component suction nozzle slide blockBe connected on the interior side rails of riser, the first component suction nozzle that is positioned at the second component suction nozzle one side is fixedly connected on riser inner side;
The medial surface of described transfer arm is also provided with a guide rail parallel with the interior side rails of riser, just right with the second component suction nozzleThe 4th component suction nozzle is slidably connected by the 4th component suction nozzle slide block and guide rail, just the 3rd component suction nozzle to the first component suction nozzleBe fixedly connected on the inner side of transfer arm; Described left arm and right arm are respectively equipped with horizontal transfer arm left rail and a transfer arm right sideGuide rail, the two ends of transfer arm are slidably connected by transfer arm end slide block and transfer arm left rail and the right guide rail of transfer arm respectively.
Described x axle module comprises x spindle motor, the first Timing Belt wheels, shaft coupling, ball spline and the second synchronous pulleyGroup, described x spindle motor is fixed on riser, and the output shaft of x spindle motor connects the first Timing Belt wheels, the first synchronous pulleyGroup connects one end of ball spline by shaft coupling, the other end axle of ball spline is connected on header board, ball spline and secondTiming Belt wheels are connected;
The Timing Belt of described the first Timing Belt wheels is fixedly connected with the second component suction nozzle, drives the by the first Timing Belt wheelsTwo component suction nozzles slide; The Timing Belt of described the second Timing Belt wheels is fixedly connected with the 4th component suction nozzle, by the second Timing BeltWheels drive the 4th component suction nozzle to slide.
Described y axle module comprises y spindle motor, feed screw nut and screw mandrel, and described y spindle motor is fixed on riser, screw mandrelOne end be connected with the output shaft of motor, screw mandrel is connected with the screw nut driving being fixed on transfer arm.
Between described z axle module and x-y platform module, be provided with balancing spring, its buffering z axle module and x-y platform moduleBetween impact, make z axle module and x-y platform module relative motion stable and continuous. Preferably: described balancing spring hasTwo, symmetry arrangement is in the both sides of slide block respectively, and it is vertical that the upper end of balancing spring is fixed on z axle module by balancing spring screwOn plate, the other end is connected on riser.
Beneficial effect of the present invention is: the present invention is all very high matrix form pick-and-place material of a kind of automation, precision and efficiencyDevice, it can along X, Y, Z axis fast accurate mobile, it is convenient to control, and compact conformation, is applicable to and existing motionPlatform collocation is used, and can be widely used in the various fritter rule such as IC chip, tablet, handware material production process.
Brief description of the drawings
Fig. 1 is perspective view of the present invention.
Fig. 2 is the structure scheme of installation of the present invention and corresponding motion platform.
Fig. 3 is the Standard figure of z axle module of the present invention.
Fig. 4 is the structure explosive view of z axle module of the present invention
Fig. 5 is the structural representation of x-y platform module of the present invention.
Fig. 6 is that x-y platform module of the present invention is removed the structural representation after header board.
Fig. 7 is riser of the present invention and the second component suction nozzle syndeton schematic diagram.
Fig. 8 is the syndeton schematic diagram of transfer arm of the present invention and the 4th component suction nozzle, left arm and right arm.
Fig. 9 is the structural representation of component suction nozzle of the present invention.
Figure 10 is existing completely by the artificial pick-and-place materials device structural representation of adjusting spacing.
Figure 11 is the pick-and-place materials device course of work schematic diagram shown in Figure 11.
Figure 12 is that existing part is by the artificial pick-and-place materials device structural representation of adjusting spacing.
Figure 13 is the pick-and-place materials device course of work schematic diagram shown in Figure 12.
1, wire clamp 2, connecting plate 3, gas row 4, z spindle motor 5, balancing spring screw 6, equilibrium bombSpring 7, z axle module riser 8, z axle line slideway 9, slide block 10, slide block connecting plate 11, roller groove 12,Roller 13, eccentric shaft 14, x spindle motor 15, the first Timing Belt wheels 16, y spindle motor 17, riser18, ball spline 19, the second Timing Belt wheels 20, right arm 21, feed screw nut 22, header board 23,Transfer arm 24, transfer arm left rail 25, left arm 26, the 4th component suction nozzle 27, the second component suction nozzle 28,The 3rd component suction nozzle 29, the first component suction nozzle 30, the right guide rail 31 of transfer arm, screw mandrel 32, riser inner sideGuide rail 33, the second component suction nozzle slide block 34, transfer arm end slide block 35, the 4th component suction nozzle slide block 36,Shaft coupling 37, cylinder mounting blocks 38, Buffer Unit 39, power connecting plate 40, contiguous block 41, suction nozzleContiguous block 42, suction nozzle 43, vacuum air-channel 44, line slideway 45, component suction nozzle mount pad 46, suction nozzleLift cylinder.
Detailed description of the invention
Below in conjunction with accompanying drawing, the specific embodiment of the present invention is described further.
As shown in Figure 1, the present invention is achieved like this, and it comprises being fixedly connected on motion platform transports for realizing z axleMoving z axle module, for realizing the x-y platform module that suction nozzle module moves along x, y axle and being connected to x-y platform mouldThe suction nozzle module being formed by several component suction nozzles in group;
Described x-y platform module and z axle module are vertically slidably connected, and x-y platform module is in the drive of z axle moduleMove along z axle down; Described x-y platform module comprises framing component and is connected to x axle module and the y on framing componentAxle module, several component suction nozzles of described suction nozzle module are connected on framing component, and respectively at x axle module and y axle mouldUnder the drive of group, move along x axle and y axle.
The present invention fills by bolt and corresponding motion platform or Mechanical Moving by the side plane of z axle module riser 7Put connection, as shown in Figure 2, to drive open-close type pick-and-place manipulator precisely to arrive material grasping position and blowing position, so that realNow accurate pick-and-place material task.
As shown in Figure 3 and Figure 4, described z axle module comprises wire clamp 1, connecting plate 2, gas row 3, z spindle motor 4, z axleModule riser 7, z axle line slideway 8, slide block 9, slide block connecting plate 10, roller groove 11, roller 12 and eccentric shaft 13,The upper end that the upper end of described z axle module riser 7 is provided with several gas row 3, z axle module riser 7 also connects by connecting plateThere is wire clamp 1; Wire clamp 1 is used for tidying up clamps all tracheaes and electric wire on open-close type manipulator, to be summarized in drag chain.Gas row 3 effect be to 4 component suction nozzles on open-close type manipulator provide gas circuit inlet/outlet pipe joint and vacuum tube joint (everyAbove individual component suction nozzle, there is the vacuum air-channel that two gas circuits that are connected with cylinder are taken over and is connected with vacuum slot to take over).
Described slide block 9 is slidably connected with the z axle line slideway 8 being vertically fixed on z axle module riser 7, slide block 9 upperEnd is fixedly connected with a slide block connecting plate 10 with roller groove 11; Described z spindle motor 4 is packed in z axle module riser 7Upper, the output shaft of z spindle motor 4 connects an eccentric shaft 13 with roller 12; Described eccentric shaft 13 is positioned at roller groove 11In, and coordinate with roller groove 11, in the time that z spindle motor 4 drives eccentric shaft 13 in the interior reciprocating motion of roller groove 11, slide block9 slide along z axle line slideway 8.
Effect and the operation principle of z axle module are such, in the time that the suction nozzle on x-y motion platform module is wanted pick-and-place material,Z spindle motor 4 does half cycle reciprocally swinging, drives roller 12 in the interior reciprocating motion of roller groove 11 by eccentric shaft 13, due toRoller groove 11 is horizontal kidney slots, and the reciprocating motion of roller 12 will be with movable slider connecting plate 10 to move up and down, slide blockConnecting plate 10 drives connected together slide block 9 to slide along z axle line slideway 8, thereby drives the x-y connecting firmly with slide block 9Motion platform module moves up and down, and realizes pick-and-place material.
As shown in Figure 1, the component suction nozzle in described suction nozzle module has four, is respectively the 4th component suction nozzle 26, the second suctionNozzle assembly 27, the 3rd component suction nozzle 28 and the first component suction nozzle 29, its structure is all identical. As shown in Figure 9, described suction nozzleAssembly comprise suction nozzle lift cylinder 46, cylinder mounting blocks 37, Buffer Unit 38, power connecting plate 39, contiguous block 40,Suction nozzle contiguous block 41, suction nozzle 42, vacuum air-channel 43, line slideway 44 and component suction nozzle mount pad 45, described suction nozzle literSending down abnormally ascending cylinder 46 is affixed with the cylinder mounting blocks 37 that is packed in component suction nozzle mount pad 45 upper ends, suction nozzle lift cylinder 46 defeatedGo out piston and be connected with the upper end of power connecting plate 39, power connecting plate 39, contiguous block 40, suction nozzle contiguous block 41 and suction nozzle42 are fixedly connected sequentially from the top down, and described suction nozzle contiguous block 41 is provided with the vacuum air-channel for controlling suction nozzle 42 foldings43；
Described power connecting plate 39 is slidably connected by slide block and the line slideway 44 being cemented on component suction nozzle mount pad 45,Under the drive of suction nozzle lift cylinder 46, power connecting plate 39 vertically slides; Described suction nozzle lift cylinder 46Between output piston and power connecting plate 39, be also provided with the Buffer Unit 38 for bounce cylinder operational shock.
Its effect is that the suction nozzle lift cylinder 46 in suction nozzle module can open simultaneously in the time that manipulator reaches material grasping dish topMoving, promote suction nozzle 42 and approach the material that will grab, the vacuum air-channel 43 being connected with suction nozzle is afterwards connected, and suction nozzle 42 is heldMaterial, suction nozzle lift cylinder 46 reverse startings afterwards, will hold material and raise; Under motion platform drives, when being grabbed thingWhen material reaches discharge plate top, suction nozzle lift cylinder 46 reverse starting again, makes grabbed material move down and approach discharge plateBlowing position, the vacuum air-channel 43 being connected with suction nozzle 42 disconnects, material loses suction and falls into discharge plate, afterwards suction nozzleLift cylinder 46 reverse starting again, raises suction nozzle to reset, and prepares material grasping again. In the time that reality is used, by suction nozzle moduleElectrification control parts with control microcomputer be connected, according to control system, default instruction makes each suction nozzle automatic open-close, passes throughX-y motion platform module is adjusted material grasping spacing and blowing spacing automatically, realizes high speed, accurate and efficient material pick-and-place.
As shown in Fig. 5, Fig. 6, Fig. 7 and Fig. 8, the framing component of described x-y platform module comprise riser 17, right arm 20,Header board 22, transfer arm 23 and left arm 25, described riser 17, right arm 20, header board 22 and left arm 25 are connected and form rectangleMount structure, parallel with header board 22, and be positioned at rectangle frame structure near the transfer arm 23 of header board 22;
Described riser 17 is provided with horizontal interior side rails 32, the second component suction nozzles 27 of riser and slides by the second component suction nozzlePiece 33 is slidably connected on the interior side rails 32 of riser, and the first component suction nozzle 29 that is positioned at the second component suction nozzle 27 1 sides is fixingBe connected on riser 17 inner sides; The medial surface of described transfer arm 23 is also provided with a guide rail parallel with the interior side rails 32 of riser,Four component suction nozzle 26 just right with the second component suction nozzle 27 is slidably connected with guide rail by the 4th component suction nozzle slide block 35,Just the 3rd component suction nozzle 28 of the first component suction nozzle 29 is fixedly connected on the inner side of transfer arm 23; Described left arm 25Be respectively equipped with horizontal transfer arm left rail 24 and the right guide rail 30 of transfer arm with right arm 20, the two ends of transfer arm 23 respectivelyBe slidably connected by transfer arm end slide block 34 and transfer arm left rail 24 and the right guide rail 30 of transfer arm.
Described x axle module comprises x spindle motor 14, the first Timing Belt wheels 15, shaft coupling 36, ball spline 18 andTwo Timing Belt wheels 19, its effect be simultaneously automatic traction the second component suction nozzle 27 and the 4th component suction nozzle 26 along x sideTo being synchronized with the movement, the spacing when realizing material grasping and blowing is adjusted automatically;
Described x spindle motor 14 is fixed on riser 17, and the output shaft of x spindle motor 14 connects the first Timing Belt wheels 15,The first Timing Belt wheels 15 connect one end of ball spline 18 by shaft coupling 36, the other end axle of ball spline 18 connectsOn header board 22, ball spline 18 is connected with the second Timing Belt wheels 19; The Timing Belt of described the first Timing Belt wheels 15Be fixedly connected with the second component suction nozzle 27, drive the second component suction nozzle 27 to slide by the first Timing Belt wheels 15; DescribedThe Timing Belt of two Timing Belt wheels 19 is fixedly connected with the 4th component suction nozzle 26, drives the 4th by the second Timing Belt wheels 19Component suction nozzle 26 slides.
Described y axle module comprises y spindle motor 16, feed screw nut 21 and screw mandrel 31, and described y spindle motor 16 is fixed on verticalOn plate 17, one end of screw mandrel 31 is connected with the output shaft of motor 16, screw mandrel 31 be fixed on the screw mandrel on transfer arm 23Nut 21 is in transmission connection, and under the drive of y spindle motor 16, screw mandrel 31 rotates and drives feed screw nut 21, transfer arm 23And the 3rd component suction nozzle 28 being connected on transfer arm 23 moves along Y-axis, by the control that turns to of y spindle motor 16,Can realize its reciprocating motion.
As shown in figures 1 and 3, between described z axle module and x-y platform module, be provided with balancing spring 5, it cushions zImpact between axle module and x-y platform module, makes z axle module and x-y platform module relative motion stable and continuous. DescribedBalancing spring 5 has two, and symmetry arrangement is in the both sides of slide block 9 respectively, and the upper end of balancing spring 5 is by balancing spring screwBe fixed on z axle module riser 7, the other end is connected on riser 17. It is stressed that this structure can make z spindle motor 4 workSteadily, its principle is, because X-Y module is heavier, in the time that Z direction rises, to need the motor of larger torque. In order to save intoThis, just can realize the lifting to x-y platform module with less torque motor, increases by 2 balancing springs 5 on both sides, just flatThe part that weighed gravity, thus it is spacing to make the motor of less torque can drive X-Y module to rise to rapidly. In addition, due to balanceThe stretching action of spring 5, in the time that Z direction declines, overcomes X-Y motion platform module weight institute at X-Y platform motion moduleThe inertia producing, thus motion is more steady.
Operation principle of the present invention is such.
The synchronous on-off of directions X: in the time that x spindle motor 14 drives the first Timing Belt wheels 15 to carry out back rotation, first is synchronousBand wheels 15 will drive the second component suction nozzle 27 to move around along side rails in riser 32, make the second component suction nozzle 27And the spacing between the first component suction nozzle 29 is adjusted automatically, though between the first relevant suction nozzle and the second suction nozzle at xThe spacing of direction is adjusted automatically. Equally, as shown in Figure 8, the 3rd component suction nozzle 28 be packed in transfer arm 23 inner sidesRight-hand member, install in line in y direction with the first component suction nozzle 29. The 4th component suction nozzle 26 is by the 4th component suction nozzleSlide block 35 is slidably matched with the slide rail (not drawing in figure) being packed on transfer arm 23 inner sides, the 4th component suction nozzle 26 again withTiming Belt in the second Timing Belt wheels 19 connects firmly. In the time that x spindle motor 14 drives the second Timing Belt wheels 19 to carry out back rotation,The second Timing Belt wheels 19 will drive the 4th component suction nozzle 26 to move around along the slide rail on transfer arm 23 inner sides, makeSpacing between four component suction nozzles 26 and the 3rd component suction nozzle 28 is adjusted automatically, even relevant the 3rd suction nozzle and the 4thBetween suction nozzle, automatically adjusted in the spacing of x direction. As from the foregoing, because the first Timing Belt wheels 15 and second are synchronousBand wheels 19 are be all contained in same axle and driven by same x spindle motor 14, so, when x spindle motor 14 does positive and negative rotationTime, the second component suction nozzle 27 and the 4th component suction nozzle 26 just move in x direction simultaneously, and respectively with the first component suction nozzle29 and the 3rd component suction nozzle 28 keep identical spacing, thereby realize the synchronous on-off of whole suction nozzles in x direction.
The synchronous on-off of Y-direction: in the time of the positive and negative rotation of y spindle motor 16, drive and move by screw mandrel 31 and feed screw nut 21Swing arm 23 moves back and forth along transfer arm left rail 24 and the right guide rail 30 of transfer arm, is arranged on transfer arm 23 thereby driveThe 3rd component suction nozzle 28 and the 4th component suction nozzle 26 move in y direction simultaneously, and respectively with the first component suction nozzle 29 HesThe second component suction nozzle 27 keeps identical spacing, thereby realizes the synchronous on-off of whole suction nozzles in y direction.
According to the actual needs of production, open-close type pick-and-place manipulator is installed in the motion platform shown in Fig. 2 or its conventionallyOn his mechanical movement means, this pick-and-place manipulator is moved to top, material grasping position by these motion platforms or mechanical movement meansTime, this manipulator is implemented material grasping automatically, when the pick-and-place manipulator after material grasping is moved by these motion platforms or mechanical movement meansWhile moving top, blowing position, this manipulator is implemented blowing automatically. Its specific works process is as follows:
In the time that this pick-and-place manipulator arrives top, material grasping position, obtain the x-y motion platform module of the pick-and-place manipulator of the information of putting in placeX spindle motor 14 and y spindle motor 16 almost simultaneously start, x spindle motor 14 drives the first Timing Belt wheels 15 and the second Timing BeltWheels 19 are synchronized with the movement, and drive the second component suction nozzle 27 and the 4th component suction nozzle 26, distinguish simultaneously to the first suction nozzle in x directionAssembly 29 and the 3rd component suction nozzle 28 near or away from, to make suction nozzle on corresponding suction nozzle module and grabbed material in x sideTo spacing consistent; Almost meanwhile, y spindle motor 16 drives screw mandrel 31, by the feed screw nut 21 who coordinates with screw mandrel 31,Drive movement arm 23 y direction near or away from riser 17, even if be arranged on the 3rd component suction nozzle 28 Hes on transfer arm 23The 4th component suction nozzle 26 be arranged on the first component suction nozzle 29 on riser 17 and the 3rd component suction nozzle 28 remains close to or farFrom, to make suction nozzle on corresponding suction nozzle module and to be grabbed material consistent in the spacing of y direction.
When the each suction nozzle interval on x-y platform module is during with consistent by material grasping spacing on material grasping position (charging tray), z spindle motor 4Start immediately, by eccentric shaft 13, roller 12, roller groove 11 and the slide block 9 connecting firmly mutually with x-y platform module, drive x-yPlatform module moves downward, and makes each suction nozzle and is grabbed material maintenance certain distance, and the each cylinder on x-y platform module (afterwardsThe first～four each cylinder) start simultaneously, promote each suction nozzle downwards near being grabbed material, almost meanwhile, on each suction nozzleVacuum air-channel open, suction nozzle holds crawled material respectively. The z spindle motor that obtains the crawled information of material starts immediately,Drive x-y platform module to rise and put in place, almost meanwhile, relevant motion platform also starts immediately, and crawl is had to materialThis pick-and-place manipulator moves to top, blowing position, and now, x spindle motor 14 and y spindle motor 16 on x-y platform module start,According to pre-set program, according to above-mentioned start-up routine, make the spacing of being grabbed material on each suction nozzle and the spacing of blowing positionWhen consistent, it is downward that z spindle motor 4 starts promotion x-y platform module immediately, make each suction nozzle grabbed material and blowing position keepsCertain distance, the each cylinder on x-y platform module (i.e. the first～four each cylinder) starts downwards simultaneously and closes true afterwardsAir road 43, makes the material on each suction nozzle precisely be placed into blowing position. Afterwards, z spindle motor starts again, drives x-y flatPlatform module rises and puts in place, prepares to go for the second time pick-and-place material. So repeatedly, just can be very soon by a kind of spacing of material grasping positionMaterial pick-and-place is to the blowing position of another kind of spacing.
Claims (8)
1. for the open-close type manipulator of the accurate pick-and-place of fritter rule material, it comprises and being fixedly connected on motion platformFor realizing the z axle module of z axle motion, x-y platform module and the company moving along x, y axle for realizing suction nozzle moduleBe connected on the suction nozzle module being formed by several component suction nozzles on x-y platform module;
Described x-y platform module and z axle module are vertically slidably connected, and x-y platform module is in the drive of z axle moduleMove along z axle down;
Described x-y platform module comprises framing component and is connected to x axle module and the y axle module on framing component, described inSeveral component suction nozzles of suction nozzle module are connected on framing component, and edge under the drive of x axle module and y axle module respectivelyX axle and the motion of y axle;
It is characterized in that, the framing component of described x-y platform module comprise riser (17), right arm (20), header board (22),Transfer arm (23) and left arm (25), described riser (17), right arm (20), header board (22) and left arm (25) are connectedForm rectangle frame structure, parallel with header board (22) and be positioned at rectangle frame structure near the transfer arm (23) of header board (22);
Described riser (17) is provided with a horizontal interior side rails (32) of riser, and the second component suction nozzle (27) is inhaled by secondIt is upper that nozzle assembly slide block (33) is slidably connected in riser side rails (32), is positioned at the of the second component suction nozzle (27) one sidesOne component suction nozzle (29) is fixedly connected on riser (17) inner side;
The medial surface of described transfer arm (23) is also provided with a guide rail parallel with the interior side rails (32) of riser, with the second suction nozzleThe 4th just right component suction nozzle (26) of assembly (27) is slidably connected by the 4th component suction nozzle slide block (35) and guide rail, justThe 3rd component suction nozzle (28) to the first component suction nozzle (29) is fixedly connected on the inner side of transfer arm (23);
Described left arm (25) and right arm (20) are respectively equipped with horizontal transfer arm left rail (24) and the right guide rail of transfer arm(30), the two ends of transfer arm (23) are respectively by transfer arm end slide block (34) and transfer arm left rail (24) with moveThe right guide rail of swing arm (30) is slidably connected.
2. the open-close type manipulator for the accurate pick-and-place of fritter rule material as claimed in claim 1, is characterized in that,Described z axle module comprise wire clamp (1), connecting plate (2), gas row (3), z spindle motor (4), z axle module riser (7),Z axle line slideway (8), slide block (9), slide block connecting plate (10), roller groove (11), roller (12) and eccentric shaft (13),The upper end of described z axle module riser (7) is provided with several gas rows (3), and the upper end of z axle module riser (7) is also by connectingFishplate bar is connected with wire clamp (1);
Described slide block (9) is slidably connected with the z axle line slideway (8) being vertically fixed on z axle module riser (7),The upper end of slide block (9) is fixedly connected with a slide block connecting plate (10) with roller groove (11);
It is upper that described z spindle motor (4) is packed in z axle module riser (7), and the output shaft of z spindle motor (4) connects a bandThere is the eccentric shaft (13) of roller (12); Described eccentric shaft (13) is positioned at roller groove (11), and with roller groove (11)Coordinate, in the time that z spindle motor (4) drives eccentric shaft (13) to move back and forth in roller groove (11), slide block (9) is along zAxle line slideway (8) slides.
3. the open-close type manipulator for the accurate pick-and-place of fritter rule material as claimed in claim 1, is characterized in that,Component suction nozzle in described suction nozzle module has four, is respectively the 4th component suction nozzle (26), the second component suction nozzle (27),Three component suction nozzles (28) and the first component suction nozzle (29), their structure is all identical.
4. the open-close type manipulator for the accurate pick-and-place of fritter rule material as claimed in claim 3, is characterized in that,Described component suction nozzle comprises suction nozzle lift cylinder (46), cylinder mounting blocks (37), Buffer Unit (38), power connecting plate(39), contiguous block (40), suction nozzle contiguous block (41), suction nozzle (42), vacuum air-channel (43), line slideway (44)With component suction nozzle mount pad (45), described suction nozzle lift cylinder (46) be packed in component suction nozzle mount pad (45) upper endCylinder mounting blocks (37) affixed, the upper end phase of the output piston of suction nozzle lift cylinder (46) and power connecting plate (39)Connect, power connecting plate (39), contiguous block (40), suction nozzle contiguous block (41) and suction nozzle (42) are fixing successively from the top downConnect, described suction nozzle contiguous block (41) is provided with the vacuum air-channel (43) for controlling suction nozzle (42) folding;
Described power connecting plate (39) is by slide block and be cemented in the line slideway (44) on component suction nozzle mount pad (45)Be slidably connected, under the drive of suction nozzle lift cylinder (46), power connecting plate (39) vertically slides;
Between the output piston of described suction nozzle lift cylinder (46) and power connecting plate (39), be also provided with for bounce cylinder and transportThe Buffer Unit (38) that row impacts.
5. the open-close type manipulator for the accurate pick-and-place of fritter rule material as claimed in claim 1, is characterized in that,Described x axle module comprises x spindle motor (14), the first Timing Belt wheels (15), shaft coupling (36), ball spline (18)With the second Timing Belt wheels (19), it is upper that described x spindle motor (14) is fixed on riser (17), x spindle motor (14)Output shaft connects the first Timing Belt wheels (15), and the first Timing Belt wheels (15) connect ball flower by shaft coupling (36)One end of key (18), it is upper that the other end axle of ball spline (18) is connected to header board (22), ball spline (18) and theTwo Timing Belt wheels (19) are connected;
The Timing Belt of described the first Timing Belt wheels (15) is fixedly connected with the second component suction nozzle (27), by the first Timing BeltWheels (15) drive the second component suction nozzle (27) to slide;
The Timing Belt of described the second Timing Belt wheels (19) is fixedly connected with the 4th component suction nozzle (26), by the second Timing BeltWheels (19) drive the 4th component suction nozzle (26) to slide.
6. the open-close type manipulator for the accurate pick-and-place of fritter rule material as claimed in claim 1, is characterized in that,Described y axle module comprises y spindle motor (16), feed screw nut (21) and screw mandrel (31), and described y spindle motor (16) is solidFix on riser (17) upper, one end of screw mandrel (31) is connected with the output shaft of motor (16), screw mandrel (31) and being fixed onFeed screw nut (21) on transfer arm (23) is in transmission connection.
7. the open-close type manipulator for the accurate pick-and-place of fritter rule material as described in claim 1 to 6 any one,It is characterized in that, between described z axle module and x-y platform module, be provided with balancing spring (5), its buffering z axle module andImpact between x-y platform module, makes z axle module and x-y platform module relative motion stable and continuous.
8. the open-close type manipulator for the accurate pick-and-place of fritter rule material as claimed in claim 7, is characterized in that,Described balancing spring (5) has two, and symmetry arrangement is in the both sides of slide block (9) respectively, and the upper end of balancing spring (5) is logicalIt is upper that overbalance spring screw is fixed on z axle module riser (7), and the other end is connected on riser (17).
Priority Applications (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201410513417.8A CN104400782B (en) | 2014-09-29 | 2014-09-29 | For the open-close type manipulator of the accurate pick-and-place of fritter rule material |
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| Application Number | Priority Date | Filing Date | Title |
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| CN201410513417.8A CN104400782B (en) | 2014-09-29 | 2014-09-29 | For the open-close type manipulator of the accurate pick-and-place of fritter rule material |
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| CN104400782A CN104400782A (en) | 2015-03-11 |
| CN104400782B true CN104400782B (en) | 2016-05-25 |
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Address after: Park View Road 518000 in Guangdong province Shenzhen City Pingshan New District Industrial Zone No. 33 grand equipment Industrial Park Patentee after: Shenzhen geland intelligent equipment Limited by Share Ltd Address before: Park View Road 518000 in Guangdong province Shenzhen City Pingshan New District Industrial Zone No. 33 grand equipment Industrial Park Patentee before: Grand Technology (Shenzhen) Co.,Ltd. |
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Effective date of registration: 20210104 Address after: 518000 2nd floor, phase II plant, Granda equipment Industrial Park, 33 Cuijing Road, Zhukeng community, Longtian street, Pingshan District, Shenzhen City, Guangdong Province Patentee after: Shenzhen Gexin integrated circuit equipment Co.,Ltd. Address before: 518000 Granda equipment Industrial Park, 33 Cuijing Road, Pingshan new area, Shenzhen City, Guangdong Province Patentee before: SHENZHEN GRAND INTELLIGENT EQUIPMENT Co.,Ltd. |
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