CN106737800B - Device for automatically adjusting distance and grabbing object - Google Patents
Device for automatically adjusting distance and grabbing object Download PDFInfo
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- CN106737800B CN106737800B CN201710031278.9A CN201710031278A CN106737800B CN 106737800 B CN106737800 B CN 106737800B CN 201710031278 A CN201710031278 A CN 201710031278A CN 106737800 B CN106737800 B CN 106737800B
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- 230000001360 synchronised effect Effects 0.000 claims description 55
- 230000000712 assembly Effects 0.000 abstract description 12
- 238000000429 assembly Methods 0.000 abstract description 12
- 239000000463 material Substances 0.000 abstract description 9
- 238000004519 manufacturing process Methods 0.000 abstract description 8
- 239000011159 matrix material Substances 0.000 abstract description 5
- 238000007599 discharging Methods 0.000 abstract description 3
- 239000011805 ball Substances 0.000 description 7
- 238000009434 installation Methods 0.000 description 7
- 238000010586 diagram Methods 0.000 description 4
- 238000000034 method Methods 0.000 description 4
- 230000009286 beneficial effect Effects 0.000 description 3
- 239000011806 microball Substances 0.000 description 2
- 238000012986 modification Methods 0.000 description 2
- 230000004048 modification Effects 0.000 description 2
- 238000004806 packaging method and process Methods 0.000 description 2
- 238000006467 substitution reaction Methods 0.000 description 2
- 238000012858 packaging process Methods 0.000 description 1
- 239000004065 semiconductor Substances 0.000 description 1
Classifications
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- B—PERFORMING OPERATIONS; TRANSPORTING
- B25—HAND TOOLS; PORTABLE POWER-DRIVEN TOOLS; MANIPULATORS
- B25J—MANIPULATORS; CHAMBERS PROVIDED WITH MANIPULATION DEVICES
- B25J15/00—Gripping heads and other end effectors
- B25J15/06—Gripping heads and other end effectors with vacuum or magnetic holding means
- B25J15/0616—Gripping heads and other end effectors with vacuum or magnetic holding means with vacuum
- B25J15/0683—Details of suction cup structure, e.g. grooves or ridges
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- B—PERFORMING OPERATIONS; TRANSPORTING
- B25—HAND TOOLS; PORTABLE POWER-DRIVEN TOOLS; MANIPULATORS
- B25J—MANIPULATORS; CHAMBERS PROVIDED WITH MANIPULATION DEVICES
- B25J9/00—Programme-controlled manipulators
- B25J9/02—Programme-controlled manipulators characterised by movement of the arms, e.g. cartesian coordinate type
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- Y—GENERAL TAGGING OF NEW TECHNOLOGICAL DEVELOPMENTS; GENERAL TAGGING OF CROSS-SECTIONAL TECHNOLOGIES SPANNING OVER SEVERAL SECTIONS OF THE IPC; TECHNICAL SUBJECTS COVERED BY FORMER USPC CROSS-REFERENCE ART COLLECTIONS [XRACs] AND DIGESTS
- Y02—TECHNOLOGIES OR APPLICATIONS FOR MITIGATION OR ADAPTATION AGAINST CLIMATE CHANGE
- Y02P—CLIMATE CHANGE MITIGATION TECHNOLOGIES IN THE PRODUCTION OR PROCESSING OF GOODS
- Y02P70/00—Climate change mitigation technologies in the production process for final industrial or consumer products
- Y02P70/50—Manufacturing or production processes characterised by the final manufactured product
Abstract
The application belongs to the field of mechanical equipment grabbing devices, and mainly discloses a device capable of automatically adjusting spacing and grabbing objects, wherein the device is provided with an X-axis module, a first suction nozzle module and a second suction nozzle module; the first suction nozzle module and the second suction nozzle module comprise suction nozzle fixing plates, a plurality of Z-axis modules and a plurality of suction nozzle assemblies; the suction nozzle assemblies are arranged on the suction nozzle fixing plate through linear guide rails or mounting plates, each suction nozzle assembly moves along the Z axis direction under the drive of an independent Z axis module and can move equidistantly along the X axis under the drive of the X axis module, so that the intervals among the suction nozzle assemblies are always equal; the first suction nozzle module and the second suction nozzle module are fixedly connected with the X-axis module. The application is a matrix type grabbing and discharging device with high automation, precision and efficiency, can rapidly and accurately move along a X, Z axis, is convenient to control and compact in structure, and can be widely applied to various small-size regular material production processes such as IC chips, tablets, hardware and the like.
Description
Technical Field
The present application relates to a mechanical device for gripping and releasing materials, and more particularly, to a device capable of automatically adjusting a distance and simultaneously gripping and releasing objects.
Background
At present, the material grabbing and placing process is very common in the production and movement of various small-sized materials such as IC chips, tablets, hardware and the like; in the production and processing process of various small-size regular materials, the small-size regular materials are required to be accurately grasped and placed from one position to another position, for example, semiconductor chips are required to be grasped and accurately placed from a matrix material tray of one specification to a matrix material tray of another specification; in another example, in the process of producing and packaging tablets, it is often necessary to grasp the tablets from a tray of one specification to a tablet trough of another specification for packaging; again as in the case of the hardware manufacturing packaging process, the above is also encountered. Therefore, in the production and processing process of various small-sized materials, a large amount of grabbing and placing and carrying work is needed, and currently, a plurality of grabbing devices are generally used for grabbing one object at a time, and some grabbing devices can grab a plurality of objects at a time, but the distance between the objects cannot be adjusted.
The inventors previously issued patents: 201410513417.8 a gripper for simultaneously gripping four objects is invented, but along with the demands of production development, the birth of a faster and more accurate gripping and releasing device is particularly important.
Disclosure of Invention
The application aims to provide a device capable of simultaneously grabbing more than four objects and realizing an automatic adjusting function.
In order to achieve the above purpose, the application adopts the following technical scheme:
the utility model provides an automatic adjust interval and snatch device of object, including a plurality of suction nozzle assemblies and motion platform, its characterized in that: the X-axis module is fixed on the motion platform and used for realizing X-axis motion, and the suction nozzle module is fixedly arranged on the X-axis module;
the suction nozzle module includes: the device comprises a suction nozzle component mounting plate, a plurality of groups of Z-axis modules mounted on the suction nozzle component mounting plate, a plurality of suction nozzle components connected with the Z-axis modules and equal to the Z-axis modules in number, and linear guide rails arranged on the suction nozzle component mounting plate.
Further, an X-axis driving wheel, an X-axis driving motor for driving the X-axis driving wheel to rotate, an X-axis first synchronous belt pulley assembly connected with the X-axis driving wheel and provided with a synchronous wheel, and an X-axis second synchronous belt pulley assembly provided with a synchronous wheel;
the radius of the synchronous wheel of the X-axis first synchronous pulley assembly is smaller than that of the synchronous wheel of the X-axis second synchronous pulley assembly.
Further, the suction nozzle assembly is divided into a second suction nozzle assembly fixedly arranged on the suction nozzle assembly mounting plate, a first suction nozzle assembly connected with the lower side of the X-axis first synchronous belt pulley assembly, a third suction nozzle assembly connected with the upper side of the X-axis first synchronous belt pulley assembly and a fourth suction nozzle assembly connected with the upper book of the X-axis second synchronous belt pulley assembly;
the first suction nozzle assembly, the third suction nozzle assembly and the fourth suction nozzle assembly are in sliding connection with the first linear guide rail.
Further, the Z-axis module comprises a synchronous pulley mounting seat, a Z-axis driving motor and an X-axis third synchronous pulley module which is driven by the Z-axis driving motor and contains a synchronous belt;
the Z-axis driving motor and the synchronous pulley mounting seat are fixedly arranged on the suction nozzle module mounting plate, and each suction nozzle assembly is respectively connected with the synchronous belt of the X-axis third synchronous pulley assembly in the Z-axis module.
Further, the first suction nozzle assembly comprises a first pull spring rod, a tension spring, a second pull spring rod, a guide block, a transverse guide bar, a miniature cam follower, a follower mounting plate, a second linear guide rail, a third linear guide rail, a first guide rail mounting seat, an adapter plate, a suction nozzle adapter plate, a first suction nozzle guide plate, a suction nozzle mounting plate, a miniature ball bushing guide assembly, a contour bolt, a buffer spring and a suction nozzle;
the suction nozzle is arranged on the suction nozzle mounting plate, a buffer spring is arranged between the suction nozzle mounting plate and the first suction nozzle guide plate, and the suction nozzle is connected with the first suction nozzle guide plate through a constant-height bolt, and the miniature ball bushing guide assembly is guided; the sliding block of the third linear guide rail is arranged on the first guide rail mounting seat and is connected with the sliding block of the first linear guide rail through the adapter plate, one end of the guide rail of the third linear guide rail is connected with the follower mounting plate, the other end of the guide rail of the third linear guide rail is connected with the suction nozzle adapter plate, two miniature cam followers are arranged on the follower mounting plate and are in sliding connection with the transverse guide bars, the transverse guide bars are connected with the sliding block of the second linear guide rail through the guide blocks, and the guide rail of the second linear guide rail is arranged on the first suction nozzle assembly mounting plate; one end of the tension spring is connected with the first tension spring rod, the other end of the tension spring is connected with the second tension spring rod, the first tension spring rod is fixedly connected with the first suction nozzle assembly mounting plate, and the second tension spring rod is connected with the guide block.
Further, the second suction nozzle assembly comprises a first pull spring rod, a tension spring, a second pull spring rod, a guide rail connecting plate, a third linear guide rail, a second guide rail mounting seat, a suction nozzle adapter plate, a second suction nozzle guide plate, a suction nozzle mounting plate, a miniature ball bushing guide assembly, a constant-height bolt, a buffer spring and a suction nozzle;
the suction nozzle is arranged on the suction nozzle mounting plate, a buffer spring is arranged between the suction nozzle mounting plate and the second suction nozzle guide plate, and the suction nozzle mounting plate and the second suction nozzle guide plate are connected through a constant-height bolt, and the miniature ball bushing guide assembly is guided; the sliding block of the third linear guide rail is arranged on the second guide rail mounting seat, the second guide rail mounting seat is fixedly connected with the first suction nozzle assembly mounting plate, one end of the guide rail of the third linear guide rail is connected with the guide rail connecting plate, the other end of the guide rail is connected with the suction nozzle adapter plate, one end of the tension spring is connected with the first tension spring rod, the other end of the tension spring is connected with the second tension spring rod, the first tension spring rod is fixedly connected with the first suction nozzle assembly mounting plate, and the second tension spring rod is connected with the guide rail connecting plate.
Further, the suction nozzle modules are provided with two sets, and are symmetrically arranged at two sides of the X-axis module.
Compared with the prior art, the application has the beneficial effects that: the matrix type grabbing and discharging device has high automation, high precision and high efficiency, can rapidly and accurately move along a X, Z shaft, is convenient to control, has a compact structure, is suitable for being matched with the existing motion platform, and can be widely applied to the production process of various small-sized materials such as IC chips, tablets, hardware and the like.
As a further improvement of the application, the beneficial effects are as follows: the suction nozzle component has more compact structure and also has the advantage of preventing falling objects when power is off.
Drawings
Fig. 1 is a schematic perspective view of the present application.
Fig. 2 is a schematic structural diagram of a first nozzle module according to the present application.
Fig. 3 is a schematic structural diagram of a second nozzle module according to the present application.
Fig. 4 is a schematic structural view of a first nozzle assembly according to the present application.
Fig. 5 is a schematic structural view of a second nozzle assembly according to the present application.
Fig. 6 is a schematic structural view of a third nozzle assembly according to the present application.
Fig. 7 is a schematic structural view of a fourth nozzle assembly according to the present application.
FIG. 8 is a schematic diagram of an X-axis module according to the present application.
FIG. 9 is a schematic view of a Z-axis module according to the present application.
Fig. 10 is a schematic structural installation diagram of the present application and a corresponding motion platform.
In fig. 1-10 are:
1-a second suction nozzle module; 2-a first suction nozzle module; a 3-X axis module; 4-a fourth nozzle assembly; 5-a third nozzle assembly; 6-a second nozzle assembly; 7-a first nozzle assembly; 8-a first linear guide; 9-Z axis module; 10-a first nozzle assembly mounting plate; 11-a second connection plate; 12-a third connecting plate; 13-clamping plates; 14-a first connection plate; 15-a second nozzle assembly mounting plate; 16-eighth nozzle assembly; 17-a seventh nozzle assembly; 18-a sixth nozzle assembly; 19-a fifth nozzle assembly; 20-a fourth connecting plate; 21-a fifth connecting plate; 22-a sixth connecting plate; 23-a first tension spring rod; 24-a second tension spring rod; 25-a tension spring; 26-a guide block; 27-a miniature cam follower; 28-a second linear guide; 29-a follower mounting plate; 30-an adapter plate; 31-a first rail mount; 32-a third linear guide; 33-a suction nozzle adapter plate; 34-a seventh connection plate; 35-transverse guide bars; 36-contour bolts; 37-mini ball bushing guide assembly; 38-a suction nozzle mounting plate; 39-suction nozzle; 40-a first nozzle guide plate; 41-a buffer spring; 42-eighth connection plate; 43-a rail connection plate; 44-a second rail mount; 45-a second nozzle guide plate; 46-a second guide seat; 47-a third rail mount; 48-a third nozzle guide plate; 49-transverse guide plates; 50-fourth nozzle guide plate; a 51-X axis second synchronous pulley assembly; a 52-X axis first synchronous pulley assembly; 53-X axis driving motor; a 54-X axis motor mounting plate; 55-X axis driving wheel; a 56-X axis mounting plate; 57-mount; a 58-X axis third synchronous pulley assembly; 59-a synchronous pulley mounting seat; and a 60-Z axis driving motor.
Detailed Description
The present application will be described in further detail with reference to the drawings and examples, in order to make the objects, technical solutions and advantages of the present application more apparent. It should be understood that the specific embodiments described herein are for purposes of illustration only and are not intended to limit the scope of the application.
It will be understood that when an element is referred to as being "fixed" or "disposed" on another element, it can be directly on the other element or intervening elements may also be present. When an element is referred to as being "connected to" another element, it can be directly connected to the other element or intervening elements may also be present.
In addition, it should be noted that, in the embodiment of the present application, terms of left, right, upper, lower, etc. are merely relative concepts or references to the normal use state of the parts to be punched, and should not be considered as limiting. The implementation of the present application will be described in detail below with reference to specific embodiments.
The following describes the embodiments of the present application further with reference to the drawings.
As shown in fig. 1, the present application is realized by designing a device for automatically adjusting a distance and grabbing an object, which comprises a plurality of suction nozzle assemblies and a motion platform, wherein the device comprises an X-axis module 3 fixedly connected to the motion platform for realizing X-axis motion, a first suction nozzle module 2 and a second suction nozzle module 1 for installing a Z-axis module 9 and each suction nozzle module, and the first suction nozzle module 2 and the second suction nozzle module 1 are fixedly installed on the X-axis module 3 through connecting blocks;
as shown in fig. 2, the first nozzle module 2 comprises a first nozzle module 7 mounting plate, 4 groups of Z-axis modules 9, a first nozzle module 7, a second nozzle module 6, a third nozzle module 5, a fourth nozzle module 4 and a first linear guide rail 8, wherein a Z-axis module 9 is independently mounted beside each nozzle module, each nozzle module is connected with a synchronous belt of the Z-axis module 9 through a connecting plate and a clamping plate 13 to realize that each nozzle module independently moves along the Z-axis direction, the second nozzle module 6 is fixedly mounted on the first nozzle module 7 mounting plate, the first nozzle module 7, the third nozzle module 5 and the fourth nozzle module 4 are mounted on three sliding blocks of the first linear guide rail 8, the first linear guide rail 8 is fixed on the first nozzle module 7 mounting plate, and each nozzle module is equidistantly distributed;
as shown in fig. 3, the second nozzle module 1 includes a second nozzle module 6 mounting plate, 4 groups of Z-axis modules 9, a fifth nozzle module 19, a sixth nozzle module 18, a seventh nozzle module 17, an eighth nozzle module 16 and a first linear guide rail 8, wherein a Z-axis module 9 is separately mounted beside each nozzle module, each nozzle module is connected with a synchronous belt of the Z-axis module 9 through a connecting plate and a clamping plate 13, so that each nozzle module moves separately along the Z-axis direction, the seventh nozzle module 17 is fixedly mounted on the second nozzle module 6 mounting plate, the fifth nozzle module 19, the sixth nozzle module 18 and the eighth nozzle module 16 are mounted on three sliding blocks of the first linear guide rail 8, the first linear guide rail 8 is fixed on the second nozzle module 6 mounting plate, and each nozzle module is equidistantly distributed.
As shown in fig. 8, the X-axis module 3 includes an X-axis mounting plate 56, an X-axis driving motor 53 mounting plate 54, an X-axis driving motor 53, an X-axis driving pulley 55, an X-axis first timing pulley assembly 52, an X-axis second timing pulley assembly 51, and 4 mounts. In the specific embodiment, the sheave radius of the X-axis first sheave assembly 52 is one-half of the sheave radius of the X-axis second sheave assembly 51, although other dimensions are possible in different embodiments. If other proportions are adopted, the distance between the suction nozzle assemblies connected with the first synchronous pulley assemblies is only required to be adjusted, the time equal to the moving distance of the second synchronous pulley on the guide rail is met, and when the X-axis driving motor 53 works, the X-axis first synchronous pulley assemblies 52 and the X-axis second synchronous pulley assemblies 51 are simultaneously driven through the X-axis driving wheel 55. It is apparent that the X-axis first timing pulley assembly 52 and the X-axis second timing pulley assembly 51 are named only to distinguish between different sizes, and in fact, the positions of the first and second timing pulley assemblies may be interchanged.
Referring to fig. 2 and 3, the second nozzle assembly 6 and the seventh nozzle assembly 17 are respectively and fixedly installed on the first nozzle assembly 7 installation plate and the second nozzle assembly 6 installation plate, the rest nozzle assemblies are distributed on the first linear guide rail 8 and can slide along the X-axis direction, the first nozzle assembly 7 is on one side of the second nozzle assembly 6, the third nozzle assembly and the fourth nozzle assembly are on the other side of the second nozzle assembly 6, the eighth nozzle assembly 16 is on one side of the seventh nozzle assembly 17, the fifth nozzle assembly and the sixth nozzle assembly are on the other side of the seventh nozzle assembly 17, when the X-axis driving motor 53 is started, the second nozzle assembly and the seventh nozzle assembly are fixed when each nozzle is closed along the X-axis direction, the first nozzle assembly, the third nozzle assembly and the fourth nozzle assembly are close to the second nozzle assembly 6, the eighth nozzle assembly, the fifth nozzle assembly and the sixth nozzle assembly are close to the seventh nozzle assembly 17, the movement stroke of the first nozzle assembly 7 and the third nozzle assembly 5 is equal, the stroke of the fourth nozzle assembly 4 is twice the third nozzle assembly 5, and the direction is the same; the motion strokes of the first suction nozzle assembly 7 and the third suction nozzle assembly 5 are equal and opposite, the stroke of the fourth suction nozzle assembly 4 is twice that of the third suction nozzle assembly 5, the motion strokes of the sixth suction nozzle assembly 18 and the eighth suction nozzle assembly 16 are equal and opposite, the stroke of the fifth suction nozzle assembly 19 is twice that of the sixth suction nozzle assembly 18, and the directions are the same;
when the X-axis drive motor 53 drives the X-axis first timing pulley assembly 52 and the X-axis second timing pulley assembly 51, the belt speed is also half that of the X-axis second timing pulley assembly 51, since the first timing pulley has a half diameter of the second timing pulley. The lower side of the synchronous belt of the X-axis first synchronous belt wheel assembly 52 is fixedly connected with the first suction nozzle assembly 7 and the eighth suction nozzle assembly 16 through the clamping plate 13, the first connecting plate 14 and the fourth connecting plate 20, and the upper side of the synchronous belt of the X-axis first synchronous belt wheel assembly is fixedly connected with the third suction nozzle assembly 5 and the sixth suction nozzle assembly 18 through the clamping plate 13, the second connecting plate 11 and the fifth connecting plate 21; the upper side of the synchronous belt of the second synchronous wheel set is fixedly connected with the second connecting plate 12 and the sixth connecting plate 22 through the clamping plate 13, so that synchronous equidistant adjustment among all suction nozzle assemblies is realized;
as shown in fig. 9, the Z-axis module 9 includes a Z-axis drive motor 60, an X-axis third timing pulley assembly 58, and a timing pulley mount 59;
the Z-axis driving motor 60 and the synchronous pulley mounting seat 59 are fixedly arranged on the first suction nozzle module mounting plate 10 and the second suction nozzle module mounting plate 15; the synchronous belt of the X-axis third synchronous pulley assembly 58 in each Z-axis module 9 is connected with the upper part of each suction nozzle assembly through a connecting plate and a clamping plate 13, so that each suction nozzle can independently move in the Z-axis direction.
As shown in fig. 4, the first nozzle assembly 7 is structurally symmetrical to the eighth nozzle assembly 16, and the first nozzle assembly 7 includes a first tension spring rod 23, a tension spring 25, a second tension spring rod 24, a guide block 26, a lateral guide bar 35, a micro cam follower, a follower mounting plate 29, a second linear guide 28, a third linear guide 32, a first guide mounting seat 31, an adapter plate 30, a nozzle adapter plate 33, a first nozzle guide plate 40, a nozzle mounting plate 38, a micro ball bushing guide assembly 37, a contour bolt 36, a buffer spring 41, and a nozzle 39;
the suction nozzle adapter plate 33, the first suction nozzle guide plate 40, the suction nozzle mounting plate 38, the miniature ball bushing guide assembly 37, the equal-height bolt 36, the buffer spring 41 and the suction nozzle form a suction nozzle buffer assembly, the equal-height bolt 36 connects the first suction nozzle guide plate 40 with the suction nozzle mounting plate 38, a certain gap is reserved between the two parts, the buffer spring 41 is arranged between the two parts, the suction nozzle is guided by the miniature ball bushing guide assembly 37 during relative movement, and when the suction nozzle is contacted with a suction object, the impact caused by the movement of the suction nozzle assembly along the Z axis is eliminated through the buffer spring 41, so that the suction object is protected.
The sliding block of the third linear guide rail 32 is arranged on the first guide rail mounting seat 31, is connected with the sliding block of the first linear guide rail 8 through the adapter plate 30, one section of the guide rail of the third linear guide rail 32 is connected with the follower mounting plate 29, the other end of the guide rail is connected with the suction nozzle buffer component, two miniature cam followers are arranged on the follower mounting plate 29 and are in sliding connection with the transverse guide bar 35, the transverse guide bar 35 is connected with the sliding block of the second linear guide rail 28 through the guide block 26, and the guide rail of the second linear guide rail 28 is arranged on the mounting plate of the first suction nozzle component 7; one end of a tension spring 25 is connected with a first tension spring rod 23, the other end of the tension spring is connected with a second tension spring rod 24, the first tension spring rod 23 is fixedly connected with the mounting plate of the first suction nozzle assembly 7, and the second tension spring rod 24 is connected with a guide block 26.
When the Z-axis driving motor 60 drives the X-axis third synchronous pulley assembly 58, the seventh connecting plate 34 and the clamping plate 13 drive the guide plate 49 to move along the Z-axis direction, the second linear guide 28 plays a guiding role when the guide plate 49 moves along the Z-axis direction, the third linear guide 32 is driven by the transverse guide bar 35 connected to the guide plate 49 to move along the Z-axis direction, the movement of the suction nozzle 39 in the Z-axis direction is realized, the sliding block of the third linear guide 32 plays a guiding role in the Z-axis direction, meanwhile, the X-axis module 3 drives the guide mounting plate to realize the movement of the third linear guide 32 on the first linear guide 8 in the X-axis direction, and one end of the third linear guide 32 can slide on the transverse guide bar 35 through the cam follower, so that the third linear guide 32 can not drive the transverse guide bar 35 to move along the X-axis direction when the third linear guide 32 moves along the X-axis direction, thereby not driving the movement of the Z-axis module 9 in the X-axis direction, the load of the X-axis driving motor 53 is reduced, and the whole assembly structure becomes more compact.
As shown in fig. 5, the second nozzle assembly 6 is structurally symmetrical to the seventh nozzle assembly 17, and the second nozzle assembly 6 includes a first tension spring rod 23, a tension spring 25, a second tension spring rod 24, a guide connection plate 43, a third linear guide 32, a second guide mounting seat 44, a nozzle 39, a second nozzle guide plate 45, a nozzle mounting plate 38, a micro ball bushing guide assembly 37, a contour bolt 36, a buffer spring 41, and a nozzle 39;
the sliding block of the third linear guide rail 32 is installed on the installation seat 57, the second guide rail installation seat 44 is fixedly connected with the installation plate of the first suction nozzle assembly 7, one section of the guide rail of the third linear guide rail 32 is connected with the guide rail connection plate 43, the other end of the guide rail is connected with the suction nozzle buffer assembly, one end of the tension spring 25 is connected with the first tension spring rod 23, the other end of the tension spring 25 is connected with the second tension spring rod 24, the first tension spring rod 23 is fixedly connected with the installation plate of the first suction nozzle assembly 7, and the second tension spring rod 24 is connected with the guide rail connection plate 43.
Because the second suction nozzle component and the seventh suction nozzle component are fixed in the X direction, the Z-axis module 9 only drives the guide rail connecting plate 43 and is guided by the third linear guide rail 32 to realize movement along the Z-axis direction, and the tension spring 25 plays a role in balancing the weight of the suction nozzle component, so that the suction nozzle is ensured not to drop down when power is off.
The third nozzle assembly 5 is symmetrical to the sixth nozzle assembly 18, the fourth nozzle assembly 4 is symmetrical to the fifth nozzle assembly 19, and the structure is similar to the first nozzle assembly 7.
The beneficial effects of the application are as follows: the matrix type grabbing and discharging device has high automation, high precision and high efficiency, can rapidly and accurately move along a X, Z shaft, is convenient to control, has a compact structure, is suitable for being matched with the existing motion platform, and can be widely applied to the production process of various small-sized materials such as IC chips, tablets, hardware and the like.
The above embodiments are merely specific embodiments of the present application, but the scope of the present application is not limited thereto, and any equivalent modifications, substitutions and improvements will readily occur to those skilled in the art within the scope of the present application, and these modifications, substitutions and improvements are intended to be included in the scope of the present application. Therefore, the protection scope of the application is subject to the protection scope of the claims.
Claims (5)
1. The utility model provides an automatic adjust interval and snatch device of object, includes a plurality of suction nozzle subassemblies and motion platform, its characterized in that: the device comprises an X-axis module fixed on a motion platform and used for realizing X-axis motion, and a suction nozzle module, wherein the suction nozzle module is fixedly arranged on the X-axis module;
the suction nozzle module includes: the device comprises a suction nozzle component mounting plate, a plurality of groups of Z-axis modules, a plurality of suction nozzle components and linear guide rails, wherein the groups of Z-axis modules are arranged on the suction nozzle component mounting plate, the plurality of suction nozzle components are connected with the Z-axis modules and are equal to the Z-axis modules in number, and the linear guide rails are arranged on the suction nozzle component mounting plate;
the X-axis module includes: the X-axis driving wheel, an X-axis driving motor for driving the X-axis driving wheel to rotate, an X-axis first synchronous pulley assembly connected with the X-axis driving wheel and provided with a synchronous pulley, and an X-axis second synchronous pulley assembly provided with a synchronous pulley;
the radius of the synchronous wheel of the X-axis first synchronous pulley assembly is smaller than that of the synchronous wheel of the X-axis second synchronous pulley assembly;
the suction nozzle assembly is divided into a second suction nozzle assembly fixedly arranged on the suction nozzle assembly mounting plate, a first suction nozzle assembly connected with the lower side of the X-axis first synchronous belt pulley assembly, a third suction nozzle assembly connected with the upper side of the X-axis first synchronous belt pulley assembly and a fourth suction nozzle assembly connected with the upper side of the X-axis second synchronous belt pulley assembly;
the first suction nozzle assembly, the third suction nozzle assembly and the fourth suction nozzle assembly are in sliding connection with the first linear guide rail.
2. The apparatus for automatically adjusting spacing and gripping objects as defined in claim 1, wherein: the Z-axis module comprises a synchronous pulley mounting seat, a Z-axis driving motor and an X-axis third synchronous pulley module which is driven by the Z-axis driving motor and contains a synchronous belt;
the Z-axis driving motor and the synchronous pulley mounting seat are fixedly arranged on the suction nozzle module mounting plate, and each suction nozzle assembly is respectively connected with the synchronous belt of the X-axis third synchronous pulley assembly in the Z-axis module.
3. The apparatus for automatically adjusting spacing and gripping objects as defined in claim 1, wherein: the first suction nozzle assembly comprises a first pull spring rod, a tension spring, a second pull spring rod, a guide block, a transverse guide bar, a miniature cam follower, a follower mounting plate, a second linear guide rail, a third linear guide rail, a first guide rail mounting seat, a transfer plate, a suction nozzle transfer plate, a first suction nozzle guide plate, a suction nozzle mounting plate, a miniature ball bushing guide assembly, a constant-height bolt, a buffer spring and a suction nozzle;
the suction nozzle is arranged on the suction nozzle mounting plate, a buffer spring is arranged between the suction nozzle mounting plate and the first suction nozzle guide plate, and the suction nozzle is connected with the first suction nozzle guide plate through a constant-height bolt, and the miniature ball bushing guide assembly is guided; the sliding block of the third linear guide rail is arranged on the first guide rail mounting seat and is connected with the sliding block of the first linear guide rail through the adapter plate, one end of the guide rail of the third linear guide rail is connected with the follower mounting plate, the other end of the guide rail of the third linear guide rail is connected with the suction nozzle adapter plate, two miniature cam followers are arranged on the follower mounting plate and are in sliding connection with the transverse guide bars, the transverse guide bars are connected with the sliding block of the second linear guide rail through the guide blocks, and the guide rail of the second linear guide rail is arranged on the first suction nozzle assembly mounting plate; one end of the tension spring is connected with the first tension spring rod, the other end of the tension spring is connected with the second tension spring rod, the first tension spring rod is fixedly connected with the first suction nozzle assembly mounting plate, and the second tension spring rod is connected with the guide block.
4. The apparatus for automatically adjusting spacing and gripping objects as defined in claim 1, wherein: the second suction nozzle assembly comprises a first pull spring rod, a tension spring, a second pull spring rod, a guide rail connecting plate, a third linear guide rail, a second guide rail mounting seat, a suction nozzle adapter plate, a second suction nozzle guide plate, a suction nozzle mounting plate, a miniature ball bushing guide assembly, a constant-height bolt, a buffer spring and a suction nozzle;
the suction nozzle is arranged on the suction nozzle mounting plate, a buffer spring is arranged between the suction nozzle mounting plate and the second suction nozzle guide plate, and the suction nozzle mounting plate and the second suction nozzle guide plate are connected through a constant-height bolt, and the miniature ball bushing guide assembly is guided; the sliding block of the third linear guide rail is arranged on the second guide rail mounting seat, the second guide rail mounting seat is fixedly connected with the first suction nozzle assembly mounting plate, one end of the guide rail of the third linear guide rail is connected with the guide rail connecting plate, the other end of the guide rail is connected with the suction nozzle adapter plate, one end of the tension spring is connected with the first tension spring rod, the other end of the tension spring is connected with the second tension spring rod, the first tension spring rod is fixedly connected with the first suction nozzle assembly mounting plate, and the second tension spring rod is connected with the guide rail connecting plate.
5. An apparatus for automatically adjusting spacing and gripping objects according to any one of claims 1-4, wherein: the suction nozzle module has two sets, and the symmetry sets up in the both sides of X axle module.
Priority Applications (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201710031278.9A CN106737800B (en) | 2017-01-17 | 2017-01-17 | Device for automatically adjusting distance and grabbing object |
Applications Claiming Priority (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201710031278.9A CN106737800B (en) | 2017-01-17 | 2017-01-17 | Device for automatically adjusting distance and grabbing object |
Publications (2)
| Publication Number | Publication Date |
|---|---|
| CN106737800A CN106737800A (en) | 2017-05-31 |
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Families Citing this family (7)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN108016877A (en) * | 2018-01-03 | 2018-05-11 | 广东江友智能科技有限公司 | A kind of novel minitype motor shifting apparatus |
| CN108033266B (en) * | 2018-01-19 | 2024-03-22 | 苏州杰锐思智能科技股份有限公司 | Multi-station suction module |
| CN110828339A (en) * | 2019-10-09 | 2020-02-21 | 深圳市盛世智能装备有限公司 | Material taking unit and die bonder |
| CN112193813B (en) * | 2020-08-26 | 2022-06-24 | 杭州长川科技股份有限公司 | Chip sorting device |
| CN112193814B (en) * | 2020-08-26 | 2022-06-17 | 杭州长川科技股份有限公司 | Chip sorting device |
| CN113120609B (en) * | 2021-03-22 | 2022-02-08 | 深圳格芯集成电路装备有限公司 | Chip disk replacing equipment |
| CN114800546A (en) * | 2022-03-09 | 2022-07-29 | 深圳格芯集成电路装备有限公司 | Manipulator is used in chip production |
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| FI20120230A (en) * | 2012-07-11 | 2014-01-12 | Santtu Tyynelae | Suction cup |
| TW201411765A (en) * | 2012-09-07 | 2014-03-16 | Hon Tech Inc | Electronic components transfer unit and the applied test equipment thereof |
| CN104400782A (en) * | 2014-09-29 | 2015-03-11 | 格兰达技术（深圳）有限公司 | Openable manipulator for precisely grabbing and releasing small regularly-shaped materials |
| CN206536496U (en) * | 2017-01-17 | 2017-10-03 | 深圳格兰达智能装备股份有限公司 | A kind of device for automatically adjusting spacing and capturing object |
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| FI20120230A (en) * | 2012-07-11 | 2014-01-12 | Santtu Tyynelae | Suction cup |
| TW201411765A (en) * | 2012-09-07 | 2014-03-16 | Hon Tech Inc | Electronic components transfer unit and the applied test equipment thereof |
| CN104400782A (en) * | 2014-09-29 | 2015-03-11 | 格兰达技术（深圳）有限公司 | Openable manipulator for precisely grabbing and releasing small regularly-shaped materials |
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