CN108366522B - Robot special-shaped component inserter - Google Patents
Robot special-shaped component inserter Download PDFInfo
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- CN108366522B CN108366522B CN201710619897.XA CN201710619897A CN108366522B CN 108366522 B CN108366522 B CN 108366522B CN 201710619897 A CN201710619897 A CN 201710619897A CN 108366522 B CN108366522 B CN 108366522B
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- 238000000926 separation method Methods 0.000 claims abstract description 9
- 230000000712 assembly Effects 0.000 claims description 10
- 238000000429 assembly Methods 0.000 claims description 10
- 230000000007 visual effect Effects 0.000 claims description 4
- 241000252254 Catostomidae Species 0.000 claims description 2
- 238000009434 installation Methods 0.000 claims description 2
- 125000006850 spacer group Chemical group 0.000 claims 2
- 210000003437 trachea Anatomy 0.000 abstract description 6
- 210000000078 claw Anatomy 0.000 description 13
- 230000006835 compression Effects 0.000 description 3
- 238000007906 compression Methods 0.000 description 3
- 230000008878 coupling Effects 0.000 description 2
- 238000010168 coupling process Methods 0.000 description 2
- 238000005859 coupling reaction Methods 0.000 description 2
- 238000005192 partition Methods 0.000 description 2
- 238000010586 diagram Methods 0.000 description 1
- 238000006073 displacement reaction Methods 0.000 description 1
- 210000005069 ears Anatomy 0.000 description 1
- 230000005489 elastic deformation Effects 0.000 description 1
- 230000002452 interceptive effect Effects 0.000 description 1
- 238000012423 maintenance Methods 0.000 description 1
- 239000000463 material Substances 0.000 description 1
- 230000036632 reaction speed Effects 0.000 description 1
- 238000007789 sealing Methods 0.000 description 1
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- H—ELECTRICITY
- H05—ELECTRIC TECHNIQUES NOT OTHERWISE PROVIDED FOR
- H05K—PRINTED CIRCUITS; CASINGS OR CONSTRUCTIONAL DETAILS OF ELECTRIC APPARATUS; MANUFACTURE OF ASSEMBLAGES OF ELECTRICAL COMPONENTS
- H05K13/00—Apparatus or processes specially adapted for manufacturing or adjusting assemblages of electric components
- H05K13/04—Mounting of components, e.g. of leadless components
- H05K13/0404—Pick-and-place heads or apparatus, e.g. with jaws
- H05K13/0408—Incorporating a pick-up tool
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- Engineering & Computer Science (AREA)
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- Microelectronics & Electronic Packaging (AREA)
- Manipulator (AREA)
- Quick-Acting Or Multi-Walled Pipe Joints (AREA)
- Automatic Assembly (AREA)
Abstract
The invention provides a robot special-shaped component inserter with a compact and simple structure. The heterotypic plug-in components machine of robot includes: robot, CCD vision subassembly, press from both sides the solenoid valve mechanism of getting device and control gas circuit separation, the robot includes base, first joint and second joint, the second joint includes the Z axle, its characterized in that, press from both sides the device and install the lower extreme of the Z axle of second joint is got, CCD vision subassembly sets up press from both sides the inboard of getting the device, solenoid valve mechanism installs the second joint with on the outside of first articulated place one end, the base of robot with connect an intake pipe between solenoid valve mechanism's the compressed air entry, solenoid valve mechanism's compressed air export with be connected with total trachea between the upper end of the Z axle of second joint, press from both sides the inside elasticity trachea of getting the device and all collect in the total trachea.
Description
Technical Field
The invention belongs to the field of component inserter, and particularly relates to a robot special-shaped component inserter with a compact structure.
Background
The robot heterotypic plug-in components machine is the mechanical equipment of appointed position on inserting electronic component to the PCB circuit board, and the robot heterotypic plug-in components machine generally includes: the robot comprises a machine shell, an equipment base, a PCB conveying and positioning device, a CCD visual assembly and a robot. A clamping device is arranged on a Z axis of the robot, and a plurality of clamping jaws or suckers are usually arranged on the clamping device of the robot for clamping and inserting electronic components; the PCB is conveyed to a preset position by the PCB conveying and positioning device, and the robot clamping device inserts the corresponding electronic element to a specified position on the PCB according to an instruction. Because the robot abnormal-shape plug-in components machine contains a lot of interconnect's module (like PCB board conveying module, robot module and the electronic components who moves together with the robot presss from both sides and gets module, CCD vision subassembly module etc.), the space volume of equipment has been decided to the rationality of the spatial layout of module.
Disclosure of Invention
The invention provides a robot special-shaped component inserter with a compact and simple structure. The heterotypic plug-in components machine of robot includes: robot, CCD vision subassembly, press from both sides the solenoid valve mechanism of getting device and control gas circuit separation, the robot includes base, first joint and second joint, the second joint includes the Z axle, press from both sides the device of getting and install the lower extreme of the Z axle of second joint, CCD vision subassembly sets up press from both sides the inboard of getting the device, solenoid valve mechanism installs the second joint with on the outside of first articulated place one end, the base of robot with connect an intake pipe between solenoid valve mechanism's the compressed air entry, solenoid valve mechanism's compressed air export with be connected with total trachea between the upper end of the Z axle of second joint, press from both sides the inside elasticity trachea of getting the device and all collect in the total trachea.
Further, press from both sides and to get and install a plurality of clamping jaws or sucking disc on the device and be used for pressing from both sides and get and cartridge electronic components, it includes to press from both sides the device to get: the device comprises a first sorting mechanism, a second sorting mechanism, a plurality of clamping jaw mounting shaft assemblies and a supporting plate; the Z axis of the robot respectively passes through the centers of the first sorting mechanism, the second sorting mechanism and the supporting disc, and the clamping jaw mounting shaft assemblies are distributed around the Z axis of the robot; the first sorting mechanism is fixedly connected with the main body of the robot; the second sorting mechanism and the supporting plate are fixedly connected with a Z shaft of the robot, and the second sorting mechanism is positioned between the first sorting mechanism and the supporting plate; the clamping jaw mounting shaft assemblies are uniformly distributed on the supporting disc and are in sliding connection with the supporting disc; a sorting control part is arranged on the clamping jaw mounting shaft assembly, and when the sorting control part is combined with the first sorting mechanism, the clamping device can axially move together with the Z axis of the robot; the second sorting mechanism, the jaw mount shaft assembly and the support plate are axially moveable along with the Z-axis of the robot when the sorting control is engaged with the second sorting mechanism.
Further, the main body of the first sorting mechanism is a hollow cylinder, a first annular key groove is formed in the inner side wall of the main body of the first sorting mechanism, and the first annular key groove is of an annular structure formed by the inner wall of the main body sinking to the outside; and a shaft hole for the Z shaft of the robot to pass through is formed in the top end face of the first sorting mechanism, and the first sorting mechanism is connected with the Z shaft of the robot in a sliding manner.
Further, a second circular key groove is formed in the outer wall of the main body of the second separator, and the second circular key groove is formed by inwards recessing the outer wall of the main body of the second separator; and the shaft center of the main body of the second sorting machine is also provided with a shaft hole for the Z shaft of the robot to pass through, and the second sorting mechanism is fixedly connected with the Z shaft of the robot.
Furthermore, the clamping jaw mounting shaft assembly comprises a mounting seat and a clamping jaw mounting shaft, one end of the clamping jaw mounting shaft is fixedly connected with the bottom of the mounting seat, the other end of the clamping jaw mounting shaft is provided with a quick plugging device, and the clamping jaw can be locked on the clamping jaw mounting shaft through the quick plugging device; the clamping jaw installation axle is a hollow shaft, and inside is equipped with central channel.
Further, but select separately the control and install axial displacement in the top cavity of mount pad, it is a piston shaft to select separately the control, be equipped with the separator in the middle of the control of selecting separately, the separator will the top cavity of mount pad is separated into first cavity and second cavity, it is in to select separately control both ends through sealing member rotation support in the top cavity of mount pad.
Furthermore, the mounting seat is provided with an air inlet air passage, a first air passage and a second air passage, the first air passage is communicated with the first cavity, the second air passage is communicated with the second cavity, the air inlet air passage is communicated with the central passage of the clamping jaw mounting shaft, the first air passage and the second air passage, a solenoid valve of the robot special-shaped component inserter controls compressed air to enter each air passage in the mounting seat from the air inlet air passage, and when the compressed air enters the first cavity through the first air passage, the control component is driven to move towards the direction of the second cavity along the axial direction of the control component; when compressed air enters the second cavity through the second air passage, the separation control piece is driven to move towards the direction of the first cavity along the axial direction of the separation control piece, and the separation control piece is driven to move axially in the top cavity of the mounting seat.
According to the robot special-shaped component inserter provided by the invention, the CCD visual component is arranged on the inner side of the clamping device, the electromagnetic valve mechanism is arranged on the outer side of the second joint of the robot, and the air pipes of the clamping device are all integrated into the same main air pipe, so that the occupied space of equipment is saved, the robot has a larger moving range, the load distribution of the robot is more uniform, and the stress is more balanced.
Drawings
FIG. 1 is a perspective view of a grasping apparatus used in the present invention;
FIG. 2 is a schematic view of an exploded structure of a gripping device used in the present invention;
fig. 3A and 3B are a schematic perspective view and a cross-sectional view, respectively, of the first sorting mechanism;
FIG. 4 is a schematic perspective view of a second sorting mechanism;
FIG. 5A is an elevation view of a jaw mounting shaft assembly;
FIG. 5B is a cross-sectional view taken along A-A of FIG. 5A;
FIG. 6 is a schematic cross-sectional view of a grasping apparatus used in the present invention;
FIG. 7 is a schematic view of the working principle of the gripping device used in the present invention;
FIG. 8A is a schematic view of the gripper assembly of the present invention coupled to a robot;
FIG. 8B is a schematic perspective view of another embodiment of the present invention;
figures 9 and 10 are a schematic perspective and exploded view, respectively, of a jaw used in the present invention;
FIG. 11 is a cross-sectional view taken along line A-A of FIG. 9;
FIG. 12 is a perspective view of a suction nozzle 70 used in the present invention;
FIG. 13 is an exploded view of a suction nozzle 70 employed in the present invention;
fig. 14 is a schematic sectional view taken along the direction a-a in fig. 12.
Detailed Description
Fig. 1 is a perspective view of a gripping device used in the present invention, and fig. 2 is an exploded view of the gripping device used in the present invention, and as shown in the drawing, the gripping device 10 is installed at an end of a Z-axis 1 of a robot, and includes: the device comprises a first sorting mechanism 11, a second sorting mechanism 13, a plurality of clamping jaw mounting shaft assemblies 15 and a supporting plate 17; the robot Z axis 1 passes through the centers of the first sorting mechanism 11, the second sorting mechanism 13 and the supporting plate 17 respectively, and a plurality of clamping jaw mounting shaft assemblies 15 are distributed around the robot Z axis; the first sorting mechanism 11 is fixedly connected with the robot main body; the second sorting mechanism 13 and the supporting plate 17 are fixedly connected with the Z shaft 1 of the robot, and the second sorting mechanism 13 is positioned between the first sorting mechanism 11 and the supporting plate 17; the clamping jaw mounting shaft assemblies 15 are uniformly distributed on the supporting plate 17 and are in sliding connection with the supporting plate 17; a sorting control piece 19 is arranged on the clamping jaw mounting shaft assembly 15, and when the sorting control piece 19 is combined with the first sorting mechanism 11, the clamping device can axially move together with the Z axis of the robot; when the sorting control 19 is engaged with the second sorting mechanism 13, the jaw mounting shaft assembly 15 and the support plate 17 are axially moveable together with the robot Z-axis 1.
Fig. 3A and 3B are a schematic perspective view and a cross-sectional view of the first sorting mechanism, respectively, as shown in the figure, a main body 111 of the first sorting mechanism 11 is a hollow cylinder, a first circular key groove 112 is formed on an inner side wall of the main body 111, and the first circular key groove 112 is a circular structure formed by recessing an inner wall of the main body 111 to the outside. The top end face of the first sorting mechanism 11 is provided with a shaft hole 113 for the robot Z shaft 1 to pass through, and the first sorting mechanism 11 is connected with the robot Z shaft 1 in a sliding manner.
Fig. 4 is a schematic perspective view of the second sorting mechanism, and as shown in the figure, the second sorting mechanism 13 includes a main body 131, a second circular key groove 132 is formed on an outer wall of the main body, and the second circular key groove 132 is formed by inward recessing of the outer wall of the main body 131. The center of the shaft of the main body 131 is also provided with a shaft hole 133 for the robot Z shaft 1 to pass through, and the second sorting mechanism 13 is fixedly connected with the robot Z shaft 1.
Fig. 5A is a front view of the jaw mounting shaft assembly, and fig. 5B is a cross-sectional view taken along a-a of fig. 5A. as shown, the jaw mounting shaft assembly 15 includes a mounting seat 151 and a jaw mounting shaft 152, one end of the jaw mounting shaft 152 is fixedly connected to the bottom of the mounting seat, and the other end is mounted with a quick-plug device 153, and the jaw can be locked on the jaw mounting shaft 152 by the quick-plug device 153. The jaw mounting shaft 152 is a hollow shaft having a central passage 154 therein.
As shown in fig. 5B, sorting control element 19 is mounted in and axially movable within the top cavity of mounting block 151, sorting control element 19 is a piston shaft, and a partition 191 is provided in the middle of sorting control element 19, partition 191 dividing the top cavity into first cavity 158 and second cavity 159, and sorting control element 19 is rotatably supported at both ends within the top cavity by seals 101. The mounting seat 151 is provided with an air inlet channel 155, a first air channel 156 and a second air channel 157, the first air channel 156 is communicated with a first cavity 158, the second air channel 157 is communicated with a second cavity 159, the air inlet channel 155 is communicated with the central channel 154 of the clamping jaw mounting shaft 152, the first air channel 156 and the second air channel 157, the solenoid valve controls compressed air to enter each air channel inside the mounting seat 151 from the air inlet channel 155, and when the compressed air enters the first cavity 158 through the first air channel 156, the sorting control member 19 is driven to move along the axial direction of the sorting control member towards the direction of the second cavity (the right direction in fig. 5B); as compressed air enters the second chamber 159 through the second air passage 157, the sorting control member 19 is driven to move axially in the direction of the first chamber 158 (to the left in fig. 5B), effecting axial movement of the sorting control member 19 within the top chamber of the mounting block 151.
The elastic air pipe 2 is arranged at an air inlet of the air inlet air channel 155 and provides an air source for the clamping jaw mounting shaft assembly 15.
As shown in fig. 1 and 2, a spline 20 engaged with the jaw mounting shaft assembly 15 is mounted on the support plate 17, and the support plate 17 and the jaw mounting shaft assembly 15 are prevented from rotating relative to each other by a spline combination structure.
The working principle of the gripping device of the present invention will be described in detail with reference to fig. 6 and 7. As shown, in the initial position (the state shown in fig. 1), the end of all sorting control members 19 close to the first sorting mechanism 11 is inserted into the first circular key groove 112 of the first sorting mechanism 11, so that the clamping jaws are in the high position to prevent the clamping jaws from interfering with components on the PCB plate below the clamping jaws during movement; when a certain jaw needs to insert or clamp an electronic component, taking the motion of a certain jaw mounting shaft assembly as an example, the sorting control member 19 in the corresponding movable jaw mounting shaft assembly 15 moves axially toward the second sorting mechanism 13, and one end of the sorting control member 19 close to the second sorting mechanism 13 is inserted into the second circular key slot 132 of the second sorting mechanism 13, that is, the mounting shaft assembly 15 is connected with the second sorting mechanism 13, and since the second sorting mechanism 13 and the support plate 17 are fixedly connected with the robot Z-shaft 1, when the robot Z-shaft 1 moves axially downward, the mounting shaft assembly 15 is driven to move downward (as shown in fig. 7) along with the second sorting mechanism 13 and the support plate 17 so that the corresponding jaw finishes the action of grabbing the electronic component or the insert.
As shown in fig. 2 and 6, a cushion member 30 is further fitted to the upper end of the second sorting mechanism 13, and one end of the cushion member 30 abuts against the upper end surface of the second sorting mechanism 13 and the other end abuts against the bottom end surface of a fixing member 31 fixed to the Z-axis 1 of the robot. In the case of inserting the components, if the clamping jaws cannot insert the corresponding electronic components to the designated positions on the PCB or interfere with the adjacent electronic components, the mounting shaft assembly 15 and the second sorting mechanism 13 connected thereto move the compression buffer 30 upward to avoid damaging the components. The buffer 30 of the present invention is a compression spring, and other alternative elements having elastic deformation may be used.
As shown in fig. 7, the upper end surface of the supporting plate 17 is further provided with photoelectric sensors 40, the number of the photoelectric sensors 40 matches with the number of the clamping jaw mounting shaft assemblies 15, and the photoelectric sensors 40 are used for judging whether the clamping jaws insert corresponding electronic components to specified positions on the PCB board. Under normal conditions, the photo sensor 40 detects the mount 151, i.e. the photo sensor 40 is kept within a predetermined reasonable distance from the mount 151. If the clamping jaws cannot insert the corresponding electronic component to the designated position of the PCB or interfere with the adjacent electronic component, the mounting shaft assembly 15 and the second sorting mechanism 13 connected with the mounting shaft assembly move upward to compress the buffer member 30, and simultaneously the mounting base 151 on the mounting shaft assembly is driven to move upward, so that the distance between the photoelectric sensor 40 and the mounting base exceeds a predetermined range, and further the Z-axis of the robot is prevented from continuing to insert the electronic component downward, and the clamping device, the electronic component and the PCB are prevented from being damaged.
Fig. 8A is a schematic diagram of the connection between the gripping device and the robot, as shown in the figure, the outer cover of the first sorting mechanism 11 of the gripping device 10 is fixedly connected with the second joint 100 of the robot through the connecting plate assembly 200, the robot is further provided with a CCD vision assembly 300, the CCD vision assembly 300 is fixed at the outer side of the gripping device 10, and the CCD vision assembly 300 is used for positioning the PCB to make the inserting more accurate. The robot Z shaft 1 is connected with the electromagnetic valve mechanism 4 through the main air pipe 3, and the elastic air pipes 2 in the clamping device 10 are all positioned in the main air pipe 3, so that the wiring of the whole equipment is simple. And the electromagnetic valve mechanism 4 for controlling air path sorting is positioned at the upper end of the robot. One end of the main air pipe 3 is connected with a compressed air outlet of the electromagnetic valve, and the other end of the main air pipe is connected with the upper end of a Z shaft of the robot. One end of the air inlet pipe 5 is connected with the base 500 of the robot, and the other end is connected with a compressed air inlet of the electromagnetic valve.
To further save the space occupied by the equipment, the CCD vision assembly 300 is fixed inside the gripper 10, once towards the first joint of the robot, as shown in fig. 8B.
Because the electromagnetic valve mechanism 4 has a certain weight, in order to make the load weight of the robot be distributed evenly, the electromagnetic valve mechanism 4 may be disposed on the outer side of the second joint 100 of the robot, which is the side away from the end where the Z axis is located. At the same time, the height of the main air pipe 3 can be reduced, thereby further reducing the occupied space of the equipment.
The clamping device provided by the invention has the advantages that the cylinder is omitted to drive the clamping jaw to move, the pneumatic action times are reduced, the clamping device can be widely applied to four-axis robots of various brands, and the clamping device has the characteristics of compact structure, high clamping reaction speed, wide applicability and easiness in maintenance.
The gripping device of the invention only needs one drive (namely, the movement of the Z axis) to complete the actions of taking materials and inserting the components from all the clamping jaws in sequence.
The clamping device 50 further comprises a clamping jaw 50 and a suction nozzle 60, wherein the clamping jaw 50 is used for clamping the special-shaped electronic components, and the suction nozzle 60 is used for sucking the special-shaped electronic components with flat tops. The gripping jaw 50 and the suction nozzle 60 will be described in detail below, respectively.
Fig. 9 and 10 are a schematic perspective view and an exploded schematic view, respectively, of a clamping jaw 50 used in the present invention, and as shown in the drawings, the clamping jaw 50 includes: the hydraulic cylinder comprises a cylinder body 51, a piston rod 52 and a pair of claws 53, wherein the piston rod 52 is positioned in the center inside the cylinder body 51, the claws 53 are rotatably connected with the piston rod 52 through a central shaft pin 61, and the claws 53 are rotatably connected with the cylinder body 51 through a rotating shaft pin 62.
Fig. 11 is a cross-sectional view taken along a-a of fig. 9, the jaw 50 further including a restoring member 54 and a cap 55; the reset member 54 is fitted to the lower end of the piston rod 52, and the upper end thereof abuts against the lower end surface of the flange 522 of the piston rod; the cap 55 is fixed to the bottom of the cylinder 51, the lower end of the restoring member 54 abuts against the upper end of the cap 55, the lower end of the piston rod 52 extends outside the cylinder 51 through the cap 55, and the restoring member 54 is located between the cap 55 and the flange 522 of the piston rod.
As shown in fig. 10, the cylinder 51 includes a main body 511, a pair of ears 512 are symmetrically provided on both sides of the main body 511, and a circular through hole 513 is provided at an end of each ear 512. The piston rod 52 comprises a central shaft 521, a circular through hole 523 is arranged at the lower end part of the central shaft 521, the paw 53 comprises a main body 531, connecting parts 532 are respectively arranged at two sides of the upper end of the main body 531, a circular through hole 533 is arranged at one end of each connecting part 532, a U-shaped long hole 534 is arranged at the other end of each connecting part 532, the paw 53 further comprises grabbing parts 535, the upper ends of the grabbing parts 535 are connected with one end of each connecting part 532, which is provided with the circular through hole 533, and the electronic component is clamped between the two grabbing. Tension springs (not shown) may be disposed between the two fingers 53 to provide sufficient clamping force for gripping larger electronic components.
Referring to fig. 9-11, when assembling the clamping jaw 50, the assembly of the piston rod 52 and the restoring member 54 is first placed into the cylinder 51, then the cap 55 is fixed at the bottom of the cylinder and the central shaft 521 of the piston rod 52 extends out of the cylinder through the center of the cap 55, so that the piston rod 52 and the restoring member 54 are locked in the cylinder 51, then the two connecting portions 532 on the claw 53 are connected to the ear portions 512 of the cylinder 51, the ear portions 512 of the cylinder 51 are placed between the two connecting portions 532, so that the circular through hole 533 on the claw 53 is aligned with the circular through hole 513 on the cylinder 51, and the U-shaped long space 534 on the claw 53 is aligned with the circular through hole 523 on the piston rod 52; then, the central shaft pin 61 sequentially passes through the first U-shaped long hole 534 on the claw 53, the circular through hole 523 on the piston rod 52 and the second U-shaped long hole 534 on the claw 53 to complete the connection between the claw 53 and the cylinder 51, and then the rotating shaft pin 62 sequentially passes through the first circular through hole 533 on the claw 53, the circular through hole 513 on the cylinder 51 and the second circular through hole 533 on the claw 53 from the outside to complete the connection between the claw 53 and the cylinder 51, thereby completing the connection between the claw 53 and the piston rod 52.
The paw 53 of the invention adopts compressed air as driving force, when the outside air enters the cylinder 51 and pushes the piston rod 52 to move downward along the axial direction in the cylinder 51, the piston rod 52 transmits the power to the paw 52 through the central axle pin 61, the paw 53 opens outwards at the same time when the paw 53 rotates by taking the rotating axle pin 62 as the axle, and the reset piece 54 is compressed at the same time; when the compressed air in the cylinder 51 is removed, the piston rod 52 is moved upwards by the restoring member 54 so that it is tightened inwards.
The return member 54 of the present invention is a compression spring.
As shown in fig. 9, the upper end of the cylinder 51 is provided with a quick-connect plug 56, and the clamping jaw 50 is detachably connected to a quick-connect-disconnect device 153 (fig. 5A) of the clamping jaw mounting shaft assembly 15 through the quick-connect plug 56, so as to realize quick replacement of the clamping jaw. The quick-connect coupling 56 is hollow on the inside to admit air from the central passage 154 of the jaw mounting shaft 152 into the cylinder 51.
Fig. 12 is a schematic perspective view of a suction nozzle 70 used in the present invention, fig. 13 is an exploded schematic view of the suction nozzle 70 used in the present invention, and fig. 14 is a schematic sectional view of fig. 12 taken along a direction a-a, and as shown in the drawings, the suction nozzle 70 used in the present invention includes: a body 71, a vacuum generator 72, and a suction cup 73, the vacuum generator 72 being disposed inside the body 71, the suction cup 73 being mounted on a lower end of the body 71. The upper end of the body 71 is provided with a quick-connect plug 74, and the suction nozzle 70 is detachably connected with the quick-connect-disconnect device 153 (fig. 5A) of the clamping jaw mounting shaft assembly 15 through the quick-connect plug 74. The quick connect coupling 74 is hollow on the inside to admit air from the central passage 154 of the jaw mounting shaft 152 into the body 71.
Claims (6)
1. A robot special-shaped component inserter comprises a robot, a CCD visual component, a clamping device and an electromagnetic valve mechanism for controlling air path separation, wherein the robot comprises a base, a first joint and a second joint, the second joint comprises a Z shaft, and the robot is characterized in that the clamping device is installed at the lower end of the Z shaft of the second joint, the CCD visual component is arranged at the inner side of the clamping device, the electromagnetic valve mechanism is installed at the outer side of one end, where the second joint is connected with the first joint, of the second joint, an air inlet pipe is connected between the base of the robot and a compressed air inlet of the electromagnetic valve mechanism, a main air pipe is connected between a compressed air outlet of the electromagnetic valve mechanism and the Z shaft of the second joint, elastic air pipes inside the clamping device are collected in the main air pipe, and a plurality of clamping jaws or suckers are installed on the clamping device and used for clamping and inserting electronic components, the gripping device includes: the device comprises a first sorting mechanism, a second sorting mechanism, a plurality of clamping jaw mounting shaft assemblies and a supporting plate; the Z axis of the robot respectively passes through the centers of the first sorting mechanism, the second sorting mechanism and the supporting disc, and the clamping jaw mounting shaft assemblies are distributed around the Z axis of the robot; the first sorting mechanism is fixedly connected with the main body of the robot; the second sorting mechanism and the supporting plate are fixedly connected with a Z shaft of the robot, and the second sorting mechanism is positioned between the first sorting mechanism and the supporting plate; the clamping jaw mounting shaft assemblies are uniformly distributed on the supporting disc and are in sliding connection with the supporting disc; a sorting control part is arranged on the clamping jaw mounting shaft assembly, and when the sorting control part is combined with the first sorting mechanism, the clamping device can axially move together with the Z axis of the robot; the second sorting mechanism, the jaw mount shaft assembly and the support plate are axially moveable along with the Z-axis of the robot when the sorting control is engaged with the second sorting mechanism.
2. The robot special-shaped component inserter according to claim 1, wherein the main body of the first sorting mechanism is a hollow cylinder, a first annular key groove is formed in the inner side wall of the main body of the first sorting mechanism, and the first annular key groove is an annular structure formed by the inner wall of the main body sinking to the outside; and a shaft hole for the Z shaft of the robot to pass through is formed in the top end face of the first sorting mechanism, and the first sorting mechanism is connected with the Z shaft of the robot in a sliding manner.
3. The robotic special-shaped component inserter according to claim 2, wherein the outer wall of the main body of the second sorter is provided with a second annular key groove, and the second annular key groove is formed by inwards sinking the outer wall of the main body of the second sorter; and a shaft hole for the Z shaft of the robot to pass through is further formed in the shaft center of the main body of the second sorting machine, and the second sorting mechanism is fixedly connected with the Z shaft of the robot special-shaped component inserter.
4. The robotic profile inserter of claim 3, wherein the jaw mounting shaft assembly comprises a mounting base and a jaw mounting shaft, one end of the jaw mounting shaft is fixedly connected with the bottom of the mounting base, the other end is provided with a quick plugging device, and the jaws can be locked on the jaw mounting shaft by the quick plugging device; the clamping jaw installation axle is a hollow shaft, and inside is equipped with central channel.
5. The robotic profile inserter of claim 4, wherein the sorting control member is axially movable and mounted within the top cavity of the mounting block, the sorting control member is a piston shaft, a spacer is disposed in the middle of the sorting control member, the spacer separates the top cavity of the mounting block into a first cavity and a second cavity, and the sorting control member is rotatably supported at both ends within the top cavity of the mounting block by seals.
6. The robot special-shaped component inserter according to claim 5, wherein the mounting seat is provided with an air inlet air passage, a first air passage and a second air passage, the first air passage is communicated with the first cavity, the second air passage is communicated with the second cavity, the air inlet air passage is communicated with the central passage of the clamping jaw mounting shaft, the first air passage and the second air passage, a solenoid valve of the robot special-shaped component inserter controls compressed air to enter each air passage in the mounting seat from the air inlet air passage, and when the compressed air enters the first cavity through the first air passage, the sorting control member is driven to move towards the direction of the second cavity along the axial direction; when compressed air enters the second cavity through the second air passage, the separation control piece is driven to move towards the direction of the first cavity along the axial direction of the separation control piece, and the separation control piece is driven to move axially in the top cavity of the mounting seat.
Applications Claiming Priority (2)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201620815681 | 2016-07-28 | ||
| CN2016208156811 | 2016-07-28 |
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| Publication Number | Publication Date |
|---|---|
| CN108366522A CN108366522A (en) | 2018-08-03 |
| CN108366522B true CN108366522B (en) | 2021-07-09 |
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| Application Number | Title | Priority Date | Filing Date |
|---|---|---|---|
| CN201710579719.9A Pending CN107571284A (en) | 2016-07-28 | 2017-07-17 | A kind of flexible clamping jaw fast replacing device |
| CN201710619897.XA Active CN108366522B (en) | 2016-07-28 | 2017-07-26 | Robot special-shaped component inserter |
| CN201720920853.6U Active CN207939950U (en) | 2016-07-28 | 2017-07-26 | A kind of flexibility clamping jaw fast replacing device |
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| Application Number | Title | Priority Date | Filing Date |
|---|---|---|---|
| CN201710579719.9A Pending CN107571284A (en) | 2016-07-28 | 2017-07-17 | A kind of flexible clamping jaw fast replacing device |
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| Application Number | Title | Priority Date | Filing Date |
|---|---|---|---|
| CN201720920853.6U Active CN207939950U (en) | 2016-07-28 | 2017-07-26 | A kind of flexibility clamping jaw fast replacing device |
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| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN107571284A (en) * | 2016-07-28 | 2018-01-12 | 珠海智新自动化科技有限公司 | A kind of flexible clamping jaw fast replacing device |
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Also Published As
| Publication number | Publication date |
|---|---|
| CN207939950U (en) | 2018-10-02 |
| CN108366522A (en) | 2018-08-03 |
| CN107571284A (en) | 2018-01-12 |
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Denomination of invention: Robot shaped plug-in machine Effective date of registration: 20231201 Granted publication date: 20210709 Pledgee: Bank of China Limited by Share Ltd. Zhuhai branch Pledgor: ZHUHAI ZHIXIN AUTOMATION TECHNOLOGY Co.,Ltd. Registration number: Y2023980068954 |