CN109397322A - A kind of manipulator picks and places the structure and control method of work head - Google Patents
A kind of manipulator picks and places the structure and control method of work head Download PDFInfo
- Publication number
- CN109397322A CN109397322A CN201811521044.3A CN201811521044A CN109397322A CN 109397322 A CN109397322 A CN 109397322A CN 201811521044 A CN201811521044 A CN 201811521044A CN 109397322 A CN109397322 A CN 109397322A
- Authority
- CN
- China
- Prior art keywords
- soup stick
- picks
- work head
- manipulator
- mounting plate
- Prior art date
- Legal status (The legal status is an assumption and is not a legal conclusion. Google has not performed a legal analysis and makes no representation as to the accuracy of the status listed.)
- Pending
Links
- 238000000034 method Methods 0.000 title claims description 10
- 235000014347 soups Nutrition 0.000 claims abstract description 84
- 230000007246 mechanism Effects 0.000 claims abstract description 25
- 230000033001 locomotion Effects 0.000 claims abstract description 14
- 238000010521 absorption reaction Methods 0.000 claims description 6
- 238000009434 installation Methods 0.000 claims description 5
- 238000001179 sorption measurement Methods 0.000 claims description 4
- 230000001105 regulatory effect Effects 0.000 claims description 3
- 230000004044 response Effects 0.000 claims description 3
- 230000001360 synchronised effect Effects 0.000 claims description 2
- XEEYBQQBJWHFJM-UHFFFAOYSA-N Iron Chemical compound [Fe] XEEYBQQBJWHFJM-UHFFFAOYSA-N 0.000 claims 2
- 230000005540 biological transmission Effects 0.000 claims 1
- 229910052742 iron Inorganic materials 0.000 claims 1
- 230000003287 optical effect Effects 0.000 abstract description 4
- 230000009471 action Effects 0.000 description 3
- 230000009286 beneficial effect Effects 0.000 description 1
- 238000010586 diagram Methods 0.000 description 1
- 238000009776 industrial production Methods 0.000 description 1
- 238000004519 manufacturing process Methods 0.000 description 1
- 230000004048 modification Effects 0.000 description 1
- 238000012986 modification Methods 0.000 description 1
- 230000008450 motivation Effects 0.000 description 1
- 238000009987 spinning Methods 0.000 description 1
Classifications
-
- 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
- B25J15/04—Gripping heads and other end effectors with provision for the remote detachment or exchange of the head or parts thereof
- B25J15/0408—Connections means
- B25J15/0441—Connections means having vacuum or magnetic means
Abstract
The present invention relates to the structures that manipulator picks and places work head, including mounting plate and the straight line driving mechanism for driving mounting plate to move along a straight line；Multiple soup sticks and multiple clutches for corresponding driving soup stick and moving back and forth along the mounting plate direction of motion are provided on mounting plate；The structure that manipulator picks and places work head further includes the rotary drive mechanism for driving multiple soup stick rotations；Using the application manipulator pick and place work head structure not only cost is relatively low, speed is fast, and the spacing between soup stick can accomplish very little, be very suitable to an optical alignment, simultaneously for soup stick stroke control it is also very convenient.
Description
Technical field
The present invention relates to work head technical field is picked and placed, the knot of work head is picked and placed more specifically to a kind of manipulator
Structure and control method.
Background technique
In the industrial production, especially chip manufacture industry, it is often necessary to involve the need for picking and placing work using manipulator
Head to carry out suction to material, and each suction nozzle rod requires to can be carried out independent up and down action and spinning movement；
It is mostly to setting independent driving mechanism and independence in each suction nozzle rod that manipulator used at present, which picks and places structure,
Rotating mechanism be respectively controlled, although can accomplish very high speed, between its higher cost and suction nozzle rod
Spacing be difficult to do it is small, multiple suction nozzle rods be difficult when being positioned only carry out an optical alignment.
Summary of the invention
The technical problem to be solved in the present invention is that in view of the above drawbacks of the prior art, providing a kind of manipulator pick-and-place
The structure of work head；
Additionally provide a kind of control method of manipulator pick-and-place work head.
The technical solution adopted by the present invention to solve the technical problems is:
Construct a kind of structure of manipulator pick-and-place work head, wherein including mounting plate and drive the mounting plate along straight line
The straight line driving mechanism of movement；It is provided with multiple soup sticks on the mounting plate and multiple one-to-one correspondence drive the soup stick along institute
State the clutch of mounting plate direction of motion reciprocating motion；The structure that the manipulator picks and places work head further includes that driving is multiple described
The rotary drive mechanism of soup stick rotation.
Manipulator of the present invention picks and places the structure of work head, wherein the clutch includes electromagnet and reset machine
Structure；The suction sheet of absorption corresponding with the electromagnet is provided on the soup stick；The electromagnet, which adsorbs the suction sheet, makes institute
It states soup stick and leaves initial position, the resetting-mechanism is multiple to the soup stick when the electromagnet is disconnected and being adsorbed to the suction sheet
Position.
Manipulator of the present invention picks and places the structure of work head, wherein the electromagnet is ring electromagnet, the suction
Bar passes through the inner hole of the electromagnet.
Manipulator of the present invention picks and places the structure of work head, wherein the suction sheet, which is arranged, is fixed on the soup stick
Outer surface.
Manipulator of the present invention picks and places the structure of work head, wherein the resetting-mechanism is reset spring；The machine
The structure that tool hand picks and places work head includes installing the top plate of the straight line driving mechanism；The top plate be located at the mounting plate just on
Side；The reset spring upper end is fixedly connected with the top plate lower surface, and lower end is fixedly connected with the soup stick.
Manipulator of the present invention picks and places the structure of work head, wherein and the rotary drive mechanism includes rotating electric machine,
The rotating electric machine movable end is provided with driving wheel；Driven wheel is arranged on multiple soup sticks；The driving wheel and multiple
The driven wheel is distributed in a ring；Further include be sheathed on outside the driving wheel and multiple driven wheels be driven it is same
Walk band；It further include the bottom plate for being rotatablely installed multiple driven wheels；The soup stick surface is provided with external splines, in the driven wheel
Wall is provided with internal spline corresponding with the external splines.
Manipulator of the present invention picks and places the structure of work head, wherein the rotary drive mechanism drives multiple described
Soup stick acts on the lower end of the soup stick when rotating；The clutch drives the soup stick to act on the upper of the soup stick when moving
End.
Manipulator of the present invention picks and places the structure of work head, wherein the manipulator picks and places the structure of work head also
Suction nozzle rod spline housing including being sheathed on the soup stick interlude, and the spline housing installation of the multiple suction nozzle spline housings of installation
Plate.
Manipulator of the present invention picks and places the structure of work head, wherein the manipulator picks and places the structure of work head also
Including support frame；The top plate, the spline housing mounting plate and the bottom plate are fixedly connected with support frame as described above；The rotation
Rotating motor is arranged on the top plate, and extends driving wheel described in axis connection by rotation；The spline housing mounting plate and institute
State the axle sleeve being provided on bottom plate at least one with the rotation extending shaft cooperation.
A kind of manipulator picks and places the control method of work head, the structure of work head is picked and placed according to above-mentioned manipulator, in fact
Existing method is as follows: when electromagnet is not powered on, keeping soup stick to be in initial position by resetting-mechanism, passes through straight line driving mechanism
Mounting plate is driven to move in a straight line, the spacing on regulating magnet and soup stick between adsorption plate, the spacing is that soup stick does straight line
The stroke of movement；When electromagnet is powered, electromagnet adsorbs the suction sheet on corresponding soup stick, so that soup stick leaves initial bit
It sets stretching and carries out absorption workpiece, then electromagnet powers off, and soup stick resets under resetting-mechanism reset response, completes feeding action；
It drives soup stick rotation to complete feeding by rotary drive mechanism and adjusts angle；Then electromagnet adsorbs suction sheet again, and soup stick stretches out
Complete patch material movement.
The beneficial effects of the present invention are: using the application manipulator pick and place work head structure not only cost is relatively low,
Speed is fast, and the spacing between soup stick can accomplish very little, an optical alignment is very suitable to, simultaneously for the stroke of soup stick
It controls also very convenient.
Detailed description of the invention
In order to more clearly explain the embodiment of the invention or the technical proposal in the existing technology, below in conjunction with attached drawing and reality
Applying example, the invention will be further described, and the accompanying drawings in the following description is only section Example of the invention, for this field
For those of ordinary skill, without creative efforts, it can also be obtained according to these attached drawings other accompanying drawings:
Fig. 1 is that the manipulator of present pre-ferred embodiments picks and places the structure structural schematic diagram of work head.
Specific embodiment
In order to keep the purposes, technical schemes and advantages of the embodiment of the present invention clearer, implement below in conjunction with the present invention
Technical solution in example carries out clear, complete description, it is clear that and described embodiment is section Example of the invention, and
It is not all of embodiment.Based on the embodiment of the present invention, those of ordinary skill in the art are not before making the creative labor
Every other embodiment obtained is put, protection scope of the present invention is belonged to.
The manipulator of present pre-ferred embodiments picks and places the structure of work head, as shown in Figure 1, including mounting plate 1 and drive
The straight line driving mechanism 2 that mounting plate 1 moves along a straight line；Multiple soup sticks 10 and the driving of multiple one-to-one correspondence are provided on mounting plate 1
The clutch 3 that soup stick 10 is moved back and forth along 1 direction of motion of mounting plate；The structure that manipulator picks and places work head further includes that driving is multiple
The rotary drive mechanism 4 that soup stick 10 rotates；
Using the application manipulator pick and place work head structure not only cost is relatively low, speed is fast, and between soup stick
Spacing can accomplish very little, be very suitable to an optical alignment, and the stroke control simultaneously for soup stick is also very convenient；
Preferably, straight line driving mechanism 2 is linear drive motor, or other straight line drivings such as screw rod, cylinder
Structure；
Preferably, soup stick 10 has 2-25 on mounting plate 1.
As shown in Figure 1, clutch 3 includes electromagnet 30 and resetting-mechanism 31；It is right with electromagnet 30 to be provided on soup stick 10
The suction sheet 32 that should be adsorbed；Electromagnet 30, which adsorbs suction sheet 32, makes soup stick 10 leave initial position, and resetting-mechanism 31 is in electromagnet
30 disconnect when adsorbing to suction sheet 32 to the reset of soup stick 10.
As shown in Figure 1, electromagnet 30 is ring electromagnet, soup stick 10 passes through the inner hole of electromagnet 30；Suction sheet 32 is arranged
It is fixed on 10 outer surface of soup stick；It ensures the uniformity of adsorption capacity, and then ensures stability.
As shown in Figure 1, resetting-mechanism 31 is reset spring 31；The structure that manipulator picks and places work head includes that installation straight line drives
The top plate 5 of motivation structure 2；Top plate 5 is located at right above mounting plate 1；31 upper end of reset spring is fixedly connected with 5 lower surface of top plate, under
End is fixedly connected with soup stick 10；It is easy to assembly, it is good to reset stability.
As shown in Figure 1, rotary drive mechanism 4 includes rotating electric machine 40,40 movable end of rotating electric machine is provided with driving wheel (figure
In do not show)；Driven wheel 100 is arranged on multiple soup sticks 10；Driving wheel and multiple driven wheels 100 are distributed in a ring；Also wrap
Include the synchronous belt 6 be driven being sheathed on outside driving wheel and multiple driven wheels 100；It further include being rotatablely installed multiple driven wheels
100 bottom plate 7；10 surface of soup stick is provided with external splines 101, and 100 inner wall of driven wheel is provided with internal spline corresponding with external splines.
As shown in Figure 1, rotary drive mechanism 4 drives the lower end for acting on soup stick 10 when the rotation of multiple soup sticks 10；Clutch 3
Soup stick 10 is driven to act on the upper end of soup stick 10 when moving；Convenient for ensureing the stability of soup stick 10.
As shown in Figure 1, the structure that manipulator picks and places work head further includes the suction nozzle rod spline for being sheathed on 10 interlude of soup stick
Set 80, and the spline housing mounting plate 8 of the multiple suction nozzle spline housings 80 of installation；It further ensures 10 stability of soup stick, prevents its shake.
As shown in Figure 1, the structure that manipulator picks and places work head further includes support frame 9；Top plate 5, spline housing mounting plate 8 and
Bottom plate 7 is fixedly connected with support frame 9；Rotating electric machine 40 is arranged on top plate 5, and actively by the connection of rotation extending shaft 41
Wheel；The axle sleeve cooperated with rotation extending shaft 41 is provided on spline housing mounting plate 8 and at least one of bottom plate 7.
A kind of manipulator picks and places the control method of work head, the structure of work head is picked and placed according to above-mentioned manipulator, in fact
Existing method is as follows: when electromagnet is not powered on, keeping soup stick to be in initial position by resetting-mechanism, passes through straight line driving mechanism
Mounting plate is driven to move in a straight line, the spacing on regulating magnet and soup stick between adsorption plate, the spacing is that soup stick does straight line
The stroke of movement；When electromagnet is powered, electromagnet adsorbs the suction sheet on corresponding soup stick, so that soup stick leaves initial bit
It sets stretching and carries out absorption workpiece, then electromagnet powers off, and soup stick resets under resetting-mechanism reset response, completes feeding action；
It drives soup stick rotation to complete feeding by rotary drive mechanism and adjusts angle；Then electromagnet adsorbs suction sheet again, and soup stick stretches out
Complete patch material movement；
Not only cost is relatively low, and speed is fast, and the spacing between soup stick can accomplish very little, and it is fixed to be very suitable to an optics
Position, the stroke control simultaneously for soup stick are also very convenient.
It should be understood that for those of ordinary skills, it can be modified or changed according to the above description,
And all these modifications and variations should all belong to the protection domain of appended claims of the present invention.
Claims (10)
1. the structure that a kind of manipulator picks and places work head, which is characterized in that including mounting plate and drive the mounting plate along straight line
The straight line driving mechanism of movement；It is provided with multiple soup sticks on the mounting plate and multiple one-to-one correspondence drive the soup stick along institute
State the clutch of mounting plate direction of motion reciprocating motion；The structure that the manipulator picks and places work head further includes that driving is multiple described
The rotary drive mechanism of soup stick rotation.
2. the structure that manipulator according to claim 1 picks and places work head, which is characterized in that the clutch includes electromagnetism
Iron and resetting-mechanism；The suction sheet of absorption corresponding with the electromagnet is provided on the soup stick；Described in the electromagnet absorption
Suction sheet makes the soup stick leave initial position, and the resetting-mechanism is when the electromagnet is disconnected and being adsorbed to the suction sheet pair
The soup stick resets.
3. the structure that manipulator according to claim 2 picks and places work head, which is characterized in that the electromagnet is annular electro
Magnet, the soup stick pass through the inner hole of the electromagnet.
4. the structure that manipulator according to claim 3 picks and places work head, which is characterized in that the suction sheet is arranged fixation
In the soup stick outer surface.
5. the structure that manipulator according to claim 2 picks and places work head, which is characterized in that the resetting-mechanism is to reset
Spring；The structure that the manipulator picks and places work head includes installing the top plate of the straight line driving mechanism；The top plate is located at institute
It states right above mounting plate；The reset spring upper end is fixedly connected with the top plate lower surface, lower end and the fixed company of the soup stick
It connects.
6. the structure that manipulator according to claim 5 picks and places work head, which is characterized in that the rotary drive mechanism packet
Rotating electric machine is included, the rotating electric machine movable end is provided with driving wheel；Driven wheel is arranged on multiple soup sticks；The master
Driving wheel and multiple driven wheels are distributed in a ring；Further include be sheathed on outside the driving wheel and multiple driven wheels into
The synchronous belt of row transmission；It further include the bottom plate for being rotatablely installed multiple driven wheels；The soup stick surface is provided with external splines, institute
It states driven wheel inner wall and is provided with internal spline corresponding with the external splines.
7. the structure that manipulator according to claim 5 picks and places work head, which is characterized in that the rotary drive mechanism band
Move the lower end that the soup stick is acted on when the rotation of multiple soup sticks；The clutch acts on institute when driving soup stick movement
State the upper end of soup stick.
8. the structure that manipulator according to claim 7 picks and places work head, which is characterized in that the manipulator picks and places work
The structure of head further includes the suction nozzle rod spline housing for being sheathed on the soup stick interlude, and the flower of the multiple suction nozzle spline housings of installation
Key covers mounting plate.
9. the structure that manipulator according to claim 8 picks and places work head, which is characterized in that the manipulator picks and places work
The structure of head further includes support frame；The top plate, the spline housing mounting plate and the bottom plate are fixed with support frame as described above
Connection；The rotating electric machine is arranged on the top plate, and extends driving wheel described in axis connection by rotation；The spline housing peace
The axle sleeve with the rotation extending shaft cooperation is provided in loading board and the bottom plate at least one.
10. a kind of manipulator picks and places the control method of work head, -9 any manipulators pick and place work according to claim 1
The structure of head, its implementation are as follows: when electromagnet is not powered on, soup stick being kept to be in initial position by resetting-mechanism, led to
Crossing straight line driving mechanism drives mounting plate to move in a straight line, the spacing on regulating magnet and soup stick between adsorption plate, the spacing
The as stroke that moves in a straight line of soup stick；When electromagnet is powered, electromagnet adsorbs the suction sheet on corresponding soup stick, so that
Soup stick leaves initial position stretching and carries out absorption workpiece, and then electromagnet powers off, and soup stick resets under resetting-mechanism reset response,
It completes to move up and down；It drives soup stick rotation to complete feeding by rotary drive mechanism and adjusts angle.
Priority Applications (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201811521044.3A CN109397322A (en) | 2018-12-12 | 2018-12-12 | A kind of manipulator picks and places the structure and control method of work head |
Applications Claiming Priority (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201811521044.3A CN109397322A (en) | 2018-12-12 | 2018-12-12 | A kind of manipulator picks and places the structure and control method of work head |
Publications (1)
| Publication Number | Publication Date |
|---|---|
| CN109397322A true CN109397322A (en) | 2019-03-01 |
Family
ID=65458734
Family Applications (1)
| Application Number | Title | Priority Date | Filing Date |
|---|---|---|---|
| CN201811521044.3A Pending CN109397322A (en) | 2018-12-12 | 2018-12-12 | A kind of manipulator picks and places the structure and control method of work head |
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| CN (1) | CN109397322A (en) |
Citations (7)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN101913148A (en) * | 2010-07-12 | 2010-12-15 | 卢利亚 | Numerical control spot-adhering machine of three-dimensional art dry fruit cakes |
| CN102548237A (en) * | 2011-12-31 | 2012-07-04 | 广东工业大学 | Follow-up surface mounting head of direct-drive high-speed and high-efficiency feeder |
| CN203934139U (en) * | 2014-06-13 | 2014-11-05 | 北京中科同志科技有限公司 | Placement head and chip mounter |
| CN205305237U (en) * | 2015-12-10 | 2016-06-08 | 李建 | Endocentric integrated mounting head of electromagnetic clutch formula soup stick rotating electrical machines vacuum pipeline |
| CN106514639A (en) * | 2016-12-31 | 2017-03-22 | 深圳大宇精雕科技有限公司 | Manipulator |
| CN107877536A (en) * | 2016-09-29 | 2018-04-06 | 平田机工株式会社 | Transfer unit, shifting apparatus and holding unit |
| CN209273469U (en) * | 2018-12-12 | 2019-08-20 | 深圳市瓦力自动化有限公司 | A kind of manipulator picks and places the structure of work head |
-
2018
- 2018-12-12 CN CN201811521044.3A patent/CN109397322A/en active Pending
Patent Citations (7)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN101913148A (en) * | 2010-07-12 | 2010-12-15 | 卢利亚 | Numerical control spot-adhering machine of three-dimensional art dry fruit cakes |
| CN102548237A (en) * | 2011-12-31 | 2012-07-04 | 广东工业大学 | Follow-up surface mounting head of direct-drive high-speed and high-efficiency feeder |
| CN203934139U (en) * | 2014-06-13 | 2014-11-05 | 北京中科同志科技有限公司 | Placement head and chip mounter |
| CN205305237U (en) * | 2015-12-10 | 2016-06-08 | 李建 | Endocentric integrated mounting head of electromagnetic clutch formula soup stick rotating electrical machines vacuum pipeline |
| CN107877536A (en) * | 2016-09-29 | 2018-04-06 | 平田机工株式会社 | Transfer unit, shifting apparatus and holding unit |
| CN106514639A (en) * | 2016-12-31 | 2017-03-22 | 深圳大宇精雕科技有限公司 | Manipulator |
| CN209273469U (en) * | 2018-12-12 | 2019-08-20 | 深圳市瓦力自动化有限公司 | A kind of manipulator picks and places the structure of work head |
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