CN108861567A - A kind of multi-functional traversing pick device - Google Patents

Abstract

The invention relates to a multi-functional traverse pick-up device, comprising a frame, a linear traverse module installed on the frame, a traverse bracket, a downward linear module, a traverse adsorption system, a material box clamping mechanism, a Box lifting mechanism, robot and robot adsorption system; the linear traverse module drives the traverse support to move horizontally, the downward linear module is vertically installed and fixed on the traverse support, and the downward linear module drives the traverse adsorption system to move; The material box clamping mechanism includes a clamping cylinder; the robot drives the robot adsorption system to move. The invention can realize the adsorption and transfer of the spacers and PCB boards stacked in the material box when there is material in the material box, and can clamp and transfer the material box when the material box is empty, and move the module horizontally along a straight line on the frame Two working stations are set up, and the material trolley and material box lifting mechanism are equipped to make the whole process orderly and reasonable. The overall structure is compact and can be directly improved on the original equipment, which improves the efficiency of production and transportation.

Description

A multi-functional traverse pick-up device

technical field

The invention relates to the technical field of material handling devices, in particular to a multifunctional lateral movement pick-up device.

Background technique

The common traversing pick-up mechanism is generally used as an action actuator of the equipment, and its function is generally pick-up and movement. In some special occasions, additional actions are required, for example, the magazine needs to be transferred after the magazine is empty. If a new mechanism is added to realize it, the volume and cost of the equipment will be greatly increased, so it is necessary to improve the original structure.

Contents of the invention

Aiming at the above problems, the present invention provides a multifunctional traversing pick-up device.

The purpose of the present invention can be achieved through the following technical solutions: a multi-functional traversing pick-up device, including a frame and a linear traversing module installed on the frame, a traversing bracket, a downward linear module, a traversing Adsorption system, material box clamping mechanism, material box lifting mechanism, robot and robot adsorption system; two sets of linear traversing modules are installed on the frame, two sets of linear traversing modules are arranged horizontally and parallel to each other, two sets of linear traversing modules The transmission rods are connected between the traversing modules to realize the linkage; the traversing brackets are straddled on the sliders of the two sets of linear traversing modules, and the two sets of linear traversing modules drive the traversing brackets to move the modules along the straight line. group movement; the down-moving linear module is vertically set and fixed on the traversing support, the traversing adsorption system is installed on the slider of the down-moving linear module, and the down-moving linear module drives the traversing adsorption system along the Moving down the linear module moves; the box clamping mechanism includes a clamping cylinder, and the sides of the sliders of the two sets of linear traversing modules are respectively installed with clamping cylinders and are arranged opposite to each other; the linear traversing module on the frame Set two stations, each station is provided with a material box lifting mechanism, the material box lifting mechanism is installed on the frame and located below the linear traverse module, the slider of the material box lifting mechanism is connected with a horizontal setting The material box is placed and supported; the robot is installed on the side of the two sets of linear traverse modules, and the robot is connected to the robot adsorption system.

Further, it also includes a feeding cart, each station is provided with a feeding cart, and the feeding cart is located below the linear traverse module and can be pushed in or pulled out from the side of the frame.

Further, the lateral movement adsorption system includes a first profile and three first valve island profiles, one first valve island profile is installed on one end of the first profile through a first linear guide assembly, and the first valve island profile can be Move along the first profile and fix the position by locking screws, the other two first valve island profiles are respectively fixed in the middle and the other end of the first valve island profile, and multiple first vacuum island profiles are installed on the three first valve island profiles sucker.

Further, the robot adsorption system includes a second profile and two second valve island profiles, a robot connecting flange is installed in the middle of the second profile, a second valve island profile is fixed on one end of the second profile and the first One end of the second valve island profile is installed with an edge-finding sensor, and the other second valve island profile is installed on the other end of the second profile through the second linear guide assembly, and the second valve island profile moves according to the signal feedback of the edge-finding sensor. Moving along the second profile, a plurality of second vacuum suction cups are respectively installed on the two second valve island profiles. Furthermore, a color sensor and a board drop detection sensor are also installed on the second profile.

Further, the magazine lifting mechanism is a screw lifting mechanism.

The beneficial effect of the invention is that the adsorption and transfer of the interleaving papers and PCB boards stacked in the material box can be realized when the material box has material, and the material box can be clamped and transferred when the material box is empty. The down-moving linear module is not only used to drive the movement of the traversing suction system, but also to compact the stacked separator paper. Two working stations are set up, and the material trolley and material box lifting mechanism are equipped to make the whole process orderly and reasonable. The overall structure is compact and can be directly improved on the original equipment, which improves the efficiency of production and transportation.

Description of drawings

Figure 1 is a schematic diagram of the overall structure of the present invention.

Fig. 2 is a schematic diagram of the linear traverse module and the traverse adsorption system.

Fig. 3 is a schematic diagram of a magazine clamping mechanism and a magazine lifting mechanism.

Fig. 4 is a schematic diagram of the cartridge clamping mechanism and the support for placing the cartridge.

Fig. 5 is a schematic diagram of the structure of the transverse adsorption system.

Figure 6 is a schematic diagram of the robot and the robot adsorption system.

Fig. 7 is a schematic structural diagram of the robot adsorption system.

The part numbers in the figure are as follows:

1 linear traverse module

2 servo motors

3 traversing bracket

4 Move down the linear module

5 Traverse Adsorption System

501 first profile

502 first valve island profile

503 first linear guide assembly

504 locking screw

505 first vacuum suction cup

6 Box clamping mechanism

7 Material box lifting mechanism

8 robots

9Robot adsorption system

901 second profile

902 second valve island profile

903 robot connection flange

904 second vacuum suction cup

905 edge finding sensor

906 color sensor

907 board drop detection sensor

908 second linear guide assembly

10 material truck

11 material box placement support

12 boxes

13 separator paper

14 PCB boards.

Detailed ways

The specific embodiments of the present invention will be described in detail below in conjunction with the accompanying drawings, so that those skilled in the art can more clearly understand how to practice the present invention. While the invention has been described in connection with preferred specific embodiments thereof, these embodiments are illustrative only and are not intended to limit the scope of the invention.

The purpose of the multifunctional traverse pick-up device is to respectively absorb and transfer the interleaved paper and PCB boards stacked in the material box when there is material in the material box; to transfer the material box when the material box is empty.

Referring to Figures 1 to 4, the multifunctional traverse pickup device includes a frame and a linear traverse module 1 installed on the frame, a traverse bracket 3, a downward linear module 4, a traverse adsorption system 5, and a material Box clamping mechanism 6, material box lifting mechanism 7, feeding cart 10, robot 8 and robot adsorption system 9.

Referring to Fig. 1 to Fig. 3, two sets of linear traverse modules 1 are installed on the frame, the two sets of linear traverse modules 1 are arranged horizontally and in parallel, and transmission rods are connected between the two sets of linear traverse modules 1 To achieve linkage, it is only necessary to install a servo motor 2 on one set of linear traversing modules 1 to provide power; A set of linear traverse module 1 drives the traverse bracket 3 to move along the linear traverse module 1; the down-moving linear module 4 is vertically arranged and fixed on the traverse bracket 3, and the traverse adsorption system 5 passes through the bracket Connected and installed on the slider of the down-moving linear module 4 , the down-moving linear module 4 drives the traverse adsorption system 5 to move along the down-moving linear module 4 .

Referring to FIG. 5 , the lateral movement adsorption system 5 includes a first profile 501 and three first valve island profiles 502 , one first valve island profile 502 is installed on one end of the first profile 501 through a first linear guide assembly 503 , The first valve island profile 502 can move along the first profile 501 and its position is fixed by locking screws 504. The other two first valve island profiles 502 are respectively fixed on the middle and the other end of the first valve island profile 502. The three first A plurality of first vacuum suction cups 505 are mounted on the valve island profiles 502 respectively, and the spacer paper 13 is sucked by the first vacuum suction cups 505 .

Referring to FIG. 3 and FIG. 4 , the cartridge clamping mechanism 6 includes a clamping cylinder, and the sides of the sliders of the two groups of linear traverse modules 1 are respectively installed with the clamping cylinders and arranged opposite to each other. Two stations are set on the frame along the straight-line transverse movement module 1, and each station is provided with a material box lifting mechanism 7 and a feeding cart 10, and the material box lifting mechanism 7 is installed on the frame and is located on a straight line. Below the traversing module 1, the material box elevating mechanism 7 is a screw rod elevating mechanism. A horizontally arranged material box placement support 11 is installed on the slider of the material box elevating mechanism 7. 1 and can be pushed in or pulled out from the side of the frame to realize the feeding and taking out of the material box 12.

Referring to Fig. 1, Fig. 6 and Fig. 7, the robot 8 is installed on the side of the two sets of linear traverse modules 1, the robot 8 is connected to the robot adsorption system 9, and the robot adsorption system 9 includes a second profile 901 and two The second valve island profile 902, the middle part of the second profile 901 is equipped with a robot connecting flange 903, a second valve island profile 902 is fixed on one end of the second profile 901 and one end of the second valve island profile 902 is installed with a search engine side sensor 905, another second valve island profile 902 is installed on the other end of the second profile 901 through the second linear guide assembly 908, and the second valve island profile 902 moves along the second The profile 901 moves, and a plurality of second vacuum suction cups 904 are respectively installed on the two second valve island profiles 902, and the PCB board 14 is adsorbed by the plurality of second vacuum suction cups 904; 14 color sensor 906 and board drop detection sensor 907.

when working:

(1) One station pushes into at least one feeding cart 10 containing material boxes 12. The feeding cart 10 is equipped with alternately stacked spacers 13 and PCB boards 14, and the other station pushes in at least one empty material box. Box 12 of the trolley 10.

(2) The material box elevating mechanism 7 of the two stations respectively lifts the material box 12 to the horizontal position where the material box clamping mechanism 6 is located.

(3) The linear traverse module 1 drives the traverse bracket 3 to move to the position of the material box 12, so that the traverse adsorption system 5 corresponds to the upper and lower positions of the material box 12 below, and the downward linear module 4 drives the traverse adsorption The system 5 moves down to the material box 12, and the traverse adsorption system 5 absorbs the spacer 13 and then moves up, and then, driven by the linear traverse module 1, moves to the empty material box 12 on another station. Cooperate with the action of moving down the linear module 4 to place the spacer 13; under the action of the robot 8, the robot adsorption system 9 moves to the position of the material box 12 to absorb the PCB board 14 in the material box 12, and then moves to the PCB on the side The PCB board 14 is placed at the place where the board 14 is placed. The suction and placement actions of the laterally moving suction system 5 and the robot suction system 9 are repeated, so as to separate the laminated spacers 13 and PCB boards 14 one by one. Wherein, the stacked spacers 13 can be compacted by moving down the linear module 4 .

(4) When the material box 12 is empty, the material box elevating mechanism 7 of another station moves to lower the material box 12 filled with spacer paper 13 by one material box 12 height, and the material box clamping mechanism 6 clamps and takes it out. Empty material box 12, it is moved to another station, unclamps the material box 12 of getting empty again and makes it be stacked on the material box 12 that fills spacer 13; The box elevating mechanism 7 raises the height of a magazine 12 again, and then picks up and separates the spacer paper 13 and the PCB board 14 in the next magazine 12 that has material.

(5) When the feed truck 10 with material boxes 12 is empty, replace the feed truck 10; when the feed truck 10 with empty feed boxes 12 is full, replace the feed truck 10.

It should be noted that the invention, which has been fully described, is also capable of many variations and modifications, and is not limited to the specific examples of the above-described embodiments. The above-mentioned embodiments are only used as illustrations of the present invention, rather than limiting the present invention. In a word, the protection scope of the present invention shall include those transformations, substitutions and modifications obvious to those skilled in the art.

Claims (6)

1. a kind of multi-functional traversing pick device, which is characterized in that including rack and the traversing mould group of straight line being installed in rack, Traversing bracket moves down straight line mould group, traversing adsorption system, magazine clamping device, magazine elevating mechanism, robot and robot suction Attached system；

The traversing mould group of two groups of straight lines, the traversing mould group level of two groups of straight lines and parallel setting are installed, two groups straight above the rack It is connected with drive rod between the traversing mould group of line and realizes linkage；

The traversing bracket is crossed on the sliding block of the traversing mould group of two groups of straight lines, and the traversing mould group of two groups of straight lines drives traversing bracket edge The traversing mould group of straight line is mobile；

The straight line mould group that moves down is vertically arranged and is fixed on traversing bracket, and the traversing adsorption system, which is installed on, moves down straight line On the sliding block of mould group, moves down the traversing adsorption system of linear module drive and move along moving down straight line mould group；

The magazine clamping device includes gripper cylinder, the sliding block side of the traversing mould group of two groups of straight lines install respectively gripper cylinder and It is oppositely arranged；

Two stations are set along the traversing mould group of straight line in the rack, a magazine elevating mechanism, the magazine is arranged in each station Elevating mechanism is installed on the lower section in rack and being located at the traversing mould group of straight line, is connected with level on the sliding block of magazine elevating mechanism and sets The magazine set places support；

The robot is installed on the side of the traversing mould group of two groups of straight lines, and robot connects robot adsorption system.

2. multi-functional traversing pick device according to claim 1, which is characterized in that further include truck, each station is set A truck is set, the truck is located at the lower section of the traversing mould group of straight line and can be pushed into or pull out from the side of rack.

3. multi-functional traversing pick device according to claim 1, which is characterized in that the traversing adsorption system includes the One profile and three first valve island materials, a first valve island material are installed on the first profile by first straight line guide assembly One end, the first valve island material can move through the fixed position of lock-screw, another two first valve island materials along the first profile It is individually fixed in middle part and the other end of the first valve island material, is separately installed with multiple first vacuum on three first valve island materials Sucker.

4. multi-functional traversing pick device according to claim 1, which is characterized in that the robot adsorption system includes Second profile and two second valve island materials are equipped with robot connecting flange, a second valve island in the middle part of the second profile One end that material is fixed on one end of the second profile and the second valve island material, which is equipped with, seeks side sensor, another second valve island Material is installed on the other end of the second profile by second straight line guide assembly, and the second valve island material is according to seeking side sensor Signal feed back to be moved along the second profile, be separately installed with multiple second vacuum chucks on two second valve island materials.

5. multi-functional traversing pick device according to claim 4, which is characterized in that be also equipped on second profile Color sensor and board falling detection sensor.

6. multi-functional traversing pick device according to claim 1, which is characterized in that the magazine elevating mechanism is screw rod Elevating mechanism.