CN110436191A - A kind of pitch-changing mechanism and the pick device with displacement - Google Patents
A kind of pitch-changing mechanism and the pick device with displacement Download PDFInfo
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- CN110436191A CN110436191A CN201910688321.8A CN201910688321A CN110436191A CN 110436191 A CN110436191 A CN 110436191A CN 201910688321 A CN201910688321 A CN 201910688321A CN 110436191 A CN110436191 A CN 110436191A
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- 238000006073 displacement reaction Methods 0.000 title abstract 11
- 230000005291 magnetic effect Effects 0.000 claims abstract description 38
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Classifications
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- B—PERFORMING OPERATIONS; TRANSPORTING
- B65—CONVEYING; PACKING; STORING; HANDLING THIN OR FILAMENTARY MATERIAL
- B65G—TRANSPORT OR STORAGE DEVICES, e.g. CONVEYORS FOR LOADING OR TIPPING, SHOP CONVEYOR SYSTEMS OR PNEUMATIC TUBE CONVEYORS
- B65G47/00—Article or material-handling devices associated with conveyors; Methods employing such devices
- B65G47/74—Feeding, transfer, or discharging devices of particular kinds or types
- B65G47/90—Devices for picking-up and depositing articles or materials
- B65G47/91—Devices for picking-up and depositing articles or materials incorporating pneumatic, e.g. suction, grippers
- B65G47/912—Devices for picking-up and depositing articles or materials incorporating pneumatic, e.g. suction, grippers provided with drive systems with rectilinear movements only
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- B—PERFORMING OPERATIONS; TRANSPORTING
- B65—CONVEYING; PACKING; STORING; HANDLING THIN OR FILAMENTARY MATERIAL
- B65G—TRANSPORT OR STORAGE DEVICES, e.g. CONVEYORS FOR LOADING OR TIPPING, SHOP CONVEYOR SYSTEMS OR PNEUMATIC TUBE CONVEYORS
- B65G47/00—Article or material-handling devices associated with conveyors; Methods employing such devices
- B65G47/74—Feeding, transfer, or discharging devices of particular kinds or types
- B65G47/90—Devices for picking-up and depositing articles or materials
- B65G47/92—Devices for picking-up and depositing articles or materials incorporating electrostatic or magnetic grippers
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Abstract
The present invention provides a kind of pitch-changing mechanism, the displacement cell body including being equipped with several pickup units；Displacement cell body includes displacement driver, displacement moving assembly, displacement fixed plate, displacement pedestal；Displacement driver drives displacement moving assembly to move, so that the fixed plate spacing of adjacent two displacement becomes larger or reduces.The invention further relates to the pick devices with displacement.The present invention realizes the automatic switchover of the distance of adjacent two pickup unit by structure design, it is combined simultaneously using negative pressure of vacuum with magnetic, realize the quick pick-up of workpiece to be picked up, structure of the invention is ingenious, and design rationally, solves the problems, such as the spacing transformation of the different station of more pick-up structures, simultaneously, pick process is efficiently accurate, and the chucking power of pickup is continuously adjustable, meets workpiece automation loading and unloading requirement.
Description
Technical Field
The invention belongs to the field of automation, and particularly relates to a variable pitch mechanism and a pickup device with variable pitch.
Background
With the continuous improvement of the industrial automation degree, the manufacturing industry gradually realizes intellectualization and unmanned; particularly, the degree of mechanization of the device for loading and unloading workpieces determines the overall production efficiency.
At present, a workpiece picking mechanism is commonly used in a clamping jaw type clamping mechanism or a sucker type adsorption mechanism, in order to improve picking efficiency, a plurality of picking mechanisms are often adopted for picking simultaneously, and because the picking mechanisms are connected by adopting a structural member, the positions of picked adjacent workpieces are kept unchanged, so that the relative positions among multiple stations of the whole production line or production line are required to be limited, and the space layout requirements of the production line and the production line are invisibly improved; on the other hand, a visual detection process exists in the picking process, and the space between two adjacent cameras is not matched with the position of the picked adjacent workpiece, so that the spatial layout is inevitably wasted if the size between the two cameras needs to be coordinated.
Therefore, the existing picking mechanism is urgently needed to be improved, and the structural design of the picking mechanism is optimized so as to meet the actual production requirement.
Disclosure of Invention
In order to overcome the defects of the prior art, the distance-changing mechanism provided by the invention realizes automatic switching of the distance between two adjacent picking units through structural design, and simultaneously adopts the combination of vacuum negative pressure and magnetic attraction to realize rapid picking of workpieces to be picked.
The invention provides a pitch-changing mechanism, which comprises a pitch-changing unit body provided with a plurality of picking units; the variable-pitch unit body comprises a variable-pitch driver, a variable-pitch moving assembly, a variable-pitch fixing plate and a variable-pitch base frame; wherein,
the variable-pitch driver is used for driving the variable-pitch moving assembly to move relative to the variable-pitch base frame;
the variable-pitch base frame is used for forming a fixed foundation support; the variable-pitch driver and the variable-pitch moving assembly are fixed on the variable-pitch base frame; the variable-pitch fixing plates are fixed on the variable-pitch moving assembly; the variable-pitch fixing plate is used for fixedly mounting the pickup unit;
the variable-pitch driver drives the variable-pitch moving assembly to move so as to increase or decrease the distance between two adjacent variable-pitch fixed plates.
Preferably, one of the pitch fixing plates is fixed to the pitch base frame.
Preferably, the pitch unit body further comprises a steering assembly; the steering assembly is connected with the variable-pitch driver and the variable-pitch moving assembly and is used for transmitting power; the steering assembly comprises a synchronous belt structure, a gear structure, a bevel gear structure, a worm and gear structure and a rack and pinion structure.
Preferably, the pitch change unit body further comprises a guide structure fixed on the pitch change base frame for forming a movement guide of the pitch change fixing plate.
Preferably, the pitch changing unit body further comprises a stroke detection assembly; the stroke detection assembly is used for detecting the position of a variable-pitch fixing plate fixed on the variable-pitch moving assembly.
Preferably, the pitch unit body further comprises a telescopic assembly; the telescopic assembly is connected with the variable-pitch fixing plates, and the variable-pitch moving assembly drives one variable-pitch fixing plate to move so that the variable-pitch fixing plates can move simultaneously under the driving of the telescopic assembly.
Preferably, the telescopic assembly comprises a plurality of first guide rods; the two adjacent first guide rods are mutually pivoted to form a scissor fork structure; one end of the first guide rod is provided with a first hinge part used for being hinged to the variable-pitch fixing plate, and the other end of the first guide rod is connected with the variable-pitch fixing plate in a sliding mode.
Preferably, one side of the variable pitch fixing plate is provided with a through long groove; the extending direction of the long groove is vertical to the moving direction of the variable-pitch fixing plate; the telescopic assembly further comprises a second push rod; the second push rod penetrates through the elongated slot and is used for connecting the first guide rods on two sides of the variable-pitch fixing plate.
The pick-up device with variable pitch comprises a pick-up body, wherein the pick-up body comprises a variable pitch unit body and a plurality of pick-up units; the pitch driver of the pitch unit body drives the pitch moving assembly to move, so that the distance between two adjacent pickup units is increased or decreased.
The picking unit comprises a first driving component, a sucker component and a magnetic attraction component; wherein,
the sucker assembly and the magnetic attraction assembly are fixedly connected to the movable block of the first driving assembly;
the sucker assembly comprises a plurality of suckers for adsorbing a workpiece to be picked; the magnetic suction component comprises a magnet for sucking a ferromagnetic part of a workpiece to be picked;
under the driving of the first driving component, the sucker component and the magnetic attraction component move towards the workpiece to be picked, so that the sucker and the magnet can respectively pick different parts of the workpiece to be picked.
Compared with the prior art, the invention has the beneficial effects that:
the invention provides a pitch-changing mechanism, which comprises a pitch-changing unit body provided with a plurality of picking units; the pitch-variable unit body comprises a pitch-variable driver, a pitch-variable moving assembly, a pitch-variable fixing plate and a pitch-variable base frame; the pitch-changing driver drives the pitch-changing moving assembly to move, so that the distance between two adjacent pitch-changing fixing plates is increased or decreased. The invention also relates to a pick-up device with variable pitch. The automatic picking device has the advantages that the automatic switching of the distance between two adjacent picking units is realized through the structural design, the vacuum negative pressure and the magnetic attraction are combined at the same time, the quick picking of the workpiece to be picked is realized, the structure is ingenious, the design is reasonable, the problem of the interval change of different stations of a multi-picking structure is solved, meanwhile, the picking process is efficient and accurate, the picking clamping force is continuously adjustable, and the automatic feeding and discharging requirements of the workpiece are met.
The foregoing description is only an overview of the technical solutions of the present invention, and in order to make the technical solutions of the present invention more clearly understood and to implement them in accordance with the contents of the description, the following detailed description is given with reference to the preferred embodiments of the present invention and the accompanying drawings. The detailed description of the present invention is given in detail by the following examples and the accompanying drawings.
Drawings
The accompanying drawings, which are included to provide a further understanding of the invention and are incorporated in and constitute a part of this application, illustrate embodiment(s) of the invention and together with the description serve to explain the invention without limiting the invention. In the drawings:
FIG. 1 is a first schematic view of the overall structure of a pick-up device with variable pitch according to the present invention;
FIG. 2 is a schematic view of the overall structure of the pick-up device with variable pitch according to the present invention;
FIG. 3 is a schematic view of the overall structure of the pitch unit body according to the present invention;
FIG. 4 is a front view of the pitch unit body of the present invention;
FIG. 5 is a first schematic view of a partial structure of a pitch unit body according to the present invention;
FIG. 6 is a second schematic view of a partial structure of the pitch unit body according to the present invention;
FIG. 7 is a schematic view of a third partial structure of the pitch unit body according to the present invention;
FIG. 8 is a schematic structural view of the retraction assembly of the present invention;
FIG. 9 is a first schematic view of the overall structure of the pickup unit of the present invention;
FIG. 10 is a second schematic view of the overall structure of the pick-up unit of the present invention;
FIG. 11 is a schematic structural view of an adjustment assembly in one embodiment of the present invention;
FIG. 12 is a schematic view of a first driving assembly according to an embodiment of the present invention;
FIG. 13 is a first schematic structural view of a suction cup assembly and a magnetic assembly according to an embodiment of the present invention;
FIG. 14 is a second schematic structural view of a suction cup assembly and a magnetic assembly according to an embodiment of the present invention;
FIG. 15 is a bottom view of the chuck assembly and the magnetic attraction assembly in one embodiment of the present invention;
shown in the figure:
the pick-up unit 100, the adjusting assembly 110, the first adjusting block 111, the first slot 1111, the first pivot 112, the adjusting screw 113, the second adjusting block 115, the second slot 1151, the first protrusion 1152, the second pivot 116, the third adjusting block 117, the second protrusion 1171, the first driving assembly 120, the first base 121, the first driving member 122, the first connecting slide 123, the first blocking plate 124, the first limiting groove 1241, the movable block 129, the elastic member 130, the suction cup assembly 140, the suction cup connecting seat 141, the receiving groove 1411, the air supply connecting plate 142, the suction cup fixing plate 143, the suction cup 144, the magnetic assembly 150, the magnet 151, the second driving member 152, the second driving connecting member 153, the magnet base block 154, the magnetic fixing seat 155, the magnetic seat connecting member 156, the sleeve 157, the pitch varying unit body 600, the pitch varying driver 610, the steering assembly 620, the driving wheel 621, the timing belt, the driven wheel 623, the pitch varying moving assembly 630, the pitch varying moving assembly 622, the, The lead screw 631, the nut 632, the pitch fixing plate 640, the unit mounting part 641, the upper connecting part 642, the first hinge groove 643, the long groove 644, the telescopic unit 650, the first hinge 651, the first guide rod 652, the first pivot 653, the second push rod 654, the guide structure 660, the pitch guide rail 661, the pitch slider 662, the pitch base frame 680, the first fixing plate 681, the second frame plate 682, the third base 683, the stroke detecting unit 690, the pitch detecting shutter 691, the pitch detecting photosensor 692, and the pickup body 700.
Detailed Description
The foregoing and other objects, features, aspects and advantages of the present invention will become more apparent from the following detailed description of the present invention when taken in conjunction with the accompanying drawings, which will enable those skilled in the art to practice the present invention with reference to the accompanying specification. In the drawings, the shape and size may be exaggerated for clarity, and the same reference numerals will be used throughout the drawings to designate the same or similar components. In the following description, terms such as center, thickness, height, length, front, back, rear, left, right, top, bottom, upper, lower, and the like are used based on the orientation or positional relationship shown in the drawings. In particular, "height" corresponds to the dimension from top to bottom, "width" corresponds to the dimension from left to right, and "depth" corresponds to the dimension from front to back. These relative terms are for convenience of description and are not generally intended to require a particular orientation. Terms concerning attachments, coupling and the like (e.g., "connected" and "attached") refer to a relationship wherein structures are secured or attached, either directly or indirectly, to one another through intervening structures, as well as both movable or rigid attachments or relationships, unless expressly described otherwise.
The present invention will be further described with reference to the accompanying drawings and the detailed description, and it should be noted that any combination of the embodiments or technical features described below can be used to form a new embodiment without conflict.
The pick-up device with variable pitch, as shown in fig. 1 and fig. 2, comprises a pick-up body 700, a variable pitch unit body 600 comprised by the pick-up body 700, a plurality of pick-up units 100; the pitch driver 610 of the pitch unit body 600 drives the pitch moving assembly 630 to move so as to increase or decrease the pitch between two adjacent pickup units 100.
In the present embodiment, as shown in fig. 1, four picking units 100 are fixedly mounted on a pitch unit body 600, and the relative positions of the four picking units 100 are changed through the pitch unit body 600, for example, during picking, the overall production line size is reduced to save space, so that the pitch can be reduced to the maximum extent during carrier design; during visual detection, in order to enable only a single workpiece to appear in the visual field range of the single image acquisition device, the distance between the four pick-up units 100 needs to be increased, and the synchronous increase of the distance between the four pick-up units 100 is realized through the variable-pitch unit body 600.
Example 1
A pitch-variable mechanism, as shown in fig. 3 and 4, comprises a pitch-variable unit body 600 mounted with a plurality of pickup units 100; the pitch unit body 600 comprises a pitch driver 610, a pitch moving assembly 630, a pitch fixing plate 640 and a pitch base frame 680; wherein,
the pitch drive 610 is used for driving the pitch moving assembly 630 to move relative to the pitch base frame 680;
the pitch pedestal 680 is used to form a fixed foundation support; the pitch drive 610 and the pitch moving assembly 630 are fixed on the pitch pedestal 680; a plurality of pitch fixing plates 640 are fixed on the pitch moving assembly 630; the pitch-variable fixing plate 640 is used for fixedly mounting the pickup unit 100;
the pitch driver 610 drives the pitch moving assembly 630 to move so as to increase or decrease the distance between two adjacent pitch fixing plates 640. In the present embodiment, pitch drive 610 includes, but is not limited to, a servo motor, a pneumatic cylinder, a hydraulic cylinder, a linear motor; any device that outputs linear motion directly or through the motion conversion result interval falls within the scope of the pitch drive 610 of the present invention.
It should be understood that the pitch-variable fixing plate 640 may be connected to a plurality of independently driven devices, and the distance between the two pitch-variable fixing plates 640 may be changed by different moving speeds, and in a preferred embodiment, one pitch-variable fixing plate 640 is fixed to the pitch-variable base frame 680; specifically, as shown in fig. 7 and 8, an upper connecting portion 642 for connecting the variable base frame 680 is disposed at one end of the variable fixing plate 640, and the position of the variable fixing plate 640 is fixed by the upper connecting portion 642; it should be understood that the pitch fixing plate 640 fixed to the pitch base frame 680 may be any one of the four pitch fixing plates 640, and in this embodiment, as shown in fig. 7, the pitch fixing plate 640 fixed to the pitch base frame 680 is located on the outer side of the four pitch fixing plates 640, so that the installation is facilitated, and the movable unit of the pitch moving assembly 630 is saved.
In one embodiment, pitch unit body 600 further includes a steering assembly 620; the steering assembly 620 is connected with the pitch drive 610 and the pitch moving assembly 630 for transmitting power; the steering assembly 620 includes a timing belt structure, a gear structure, a bevel gear structure, a worm and gear structure, and a rack and pinion structure. In this embodiment, as shown in fig. 5, the steering assembly 620 is a synchronous belt structure, and includes a driving wheel 621, a synchronous belt 622, and a driven wheel 623; the synchronous belt 622 is wound between the driving wheel 621 and the driven wheel 623, so that the power transmission is realized, the variable-pitch driver 610 and the variable-pitch moving assembly 630 are on the same side relative to the steering assembly 620, and the unidirectional size is saved; on the other hand, the steering assembly 620 also plays a role in speed regulation; in the present embodiment, as shown in fig. 5, the pitch-variable moving assembly 630 is a screw kinematic pair, and includes a screw 631 and a nut 632; the two nuts 632 are shown in only two positions, and the screw 631 is rotated by the driven wheel 623 to form a drive for the variable pitch fixed plate 640. It should be appreciated that in another embodiment, pitch drive 610 and pitch move assembly 630 may be configured as a stator and a mover of a linear motor, the mover being coupled to pitch stationary plate 640, thereby eliminating steering assembly 620.
In an embodiment, the pitch unit body 600 further includes a guide structure 660, and the guide structure 660 is fixed on the pitch base frame 680 to form a movement guide of the pitch fixing plate 640. In the present embodiment, as shown in fig. 5 and 7, the guide structure 660 includes a pitch guide 661 and a pitch slider 662; the variable-pitch sliding block 662 is matched with the variable-pitch guide rail 661, and the variable-pitch sliding block 662 is fixedly connected with the variable-pitch fixing plate 640 to form movement guide of the variable-pitch fixing plate 640; it should be understood that the guide structure 660 may also be configured as a guide post and guide channel structure or a slider and guide channel structure.
In one embodiment, pitch unit body 600 further includes a stroke detection assembly 690; the stroke detecting unit 690 detects the position of the pitch fixing plate 640 fixed to the pitch moving unit 630. In this embodiment, as shown in fig. 4 and 6, the pitch-variable base frame 680 includes a first fixing plate 681, a second frame plate 682, and a third base 683; the first fixing plate 681 is used for forming a supporting base of the pitch drive 610, and the second frame plate 682 and the first fixing plate 681 together form a protection structure of the pitch drive 610; the third base 683 cooperates with the bearing to form a supporting base of the pitch-variable moving assembly 630, and the stroke detecting assembly 690 includes a pitch-variable detecting barrier 691 and a pitch-variable detecting photosensor 692, as shown in fig. 6, the first fixing plate 681 is provided with the three pitch-variable detecting photosensors 692, the pitch-variable detecting barrier 691 can be fixed on the pitch-variable slider 662 or the pitch-variable fixing plate 640 or other structures fixedly connected to the pitch-variable slider 662 and the pitch-variable fixing plate 640, in an embodiment, the pitch-variable detecting barrier 691 moves along with the nut 632, the moving position of the pitch-variable fixing plate 640 is determined by the three pitch-variable detecting photosensors 692, and the start or stop of the pitch-variable driver 610 is controlled by cooperating with a set control program, so as to implement accurate switching of the distance between two adjacent pickup units 100, and further simplify the structural layout requirements of the production line.
In one embodiment, as shown in fig. 3 and 4, the pitch unit body 600 further includes a telescoping assembly 650; the telescopic assembly 650 is connected to the variable pitch fixing plates 640, and the variable pitch moving assembly 630 drives one variable pitch fixing plate 640 to move, so that the variable pitch fixing plates 640 move simultaneously under the driving of the telescopic assembly 650. In this embodiment, as shown in fig. 7, the telescopic assembly 650 is connected to four pitch fixing plates 640, it should be noted that the pitch moving assembly 630 does not only drive one of the pitch fixing plates 640 to move, but drives at least one pitch fixing plate 640, in an embodiment, two nuts 632 installed in opposite directions are configured to respectively drive the two pitch fixing plates 640 to move back and forth, and simultaneously, the other pitch fixing plates 640 are driven by the telescopic assembly 650 to move back and forth, in this embodiment, the fixed pitch fixing plate 640 for use cannot be configured at an end, and the fixed pitch fixing plate 640 for use needs to have at least one pitch fixing plate 640 on adjacent left and right sides at the same time, so as to ensure that the pitch fixing plates 640 moving back and forth exist; it should also be noted that the telescopic assembly 650 simultaneously plays a role of distance-fixing, and the precise distance-fixing is also realized by the high-precision driver, but the requirement for the driver can be reduced by using the telescopic assembly 650, so that the control complexity is reduced, and the cost is saved.
In a preferred embodiment, as shown in FIG. 8, retraction assembly 650 includes a plurality of first guide rods 652; two adjacent first guide rods 652 are pivotally connected to each other to form a scissor fork structure; one end of the first guide rod 652 is provided with a first hinge portion 651 for hinging with the variable pitch fixing plate 640, and the other end of the first guide rod 652 is slidably connected with the variable pitch fixing plate 640. One side of the variable pitch fixing plate 640 is provided with a through long groove 644; the extending direction of the long groove 644 is perpendicular to the moving direction of the variable pitch fixing plate 640; retraction assembly 650 further includes a second push rod 654; the second push rod 654 is disposed through the elongated slot 644 for connecting the first guide rods 652 at two sides of the variable pitch fixing plate 640. In this embodiment, the two first guide rods 652 are pivotally connected to the first pivot 653, one end of the first guide rod 652 is hinged in the first hinge groove 643 of the variable-pitch fixing plate 640 through the first hinge portion 651, the other ends of the first guide rods 652 at both sides are fixedly hinged through the second push rod 654, and the second push rod 654 is inserted into the long groove 644, so that when the variable-pitch fixing plate 640 moves, the second push rod 654 slides in the long groove 644; the component mounting part 641 on the variable pitch fixing plate 640 is used for fixedly mounting the pickup unit 100, so that the movement of the variable pitch fixing plate 640 is transmitted to the pickup unit 100, and the pitch switching is realized. It should be understood that retraction assembly 650 may also be configured as a multi-section telescoping rod, a multi-section cannula, or the like.
Example 2
As shown in fig. 9 and 10, the pick-up unit 100 includes a pick-up driving assembly 120, a suction cup assembly 140, and a magnetic attraction assembly 150; wherein,
the suction cup component 140 and the magnetic attraction component 150 are fixedly connected to the movable block 129 of the pick-up driving component 120;
the suction cup assembly 140 includes a plurality of suction cups 144 for sucking the workpiece to be picked up; the magnetic attraction component 150 comprises a magnet 151 for attracting a ferromagnetic part of a workpiece to be picked up;
under the driving of the pick-up driving assembly 120, the suction cup assembly 140 and the magnetic attraction assembly 150 move towards the workpiece to be picked up, so that the suction cup 144 and the magnet 151 respectively pick up different parts of the workpiece to be picked up. In the embodiment, the vacuum negative pressure and the magnetic attraction are combined to realize the rapid pickup of the workpiece to be picked, wherein the vacuum negative pressure pickup is used for rapidly picking the planar part with relatively large size, and the magnetic attraction pickup is used for rapidly picking the ferromagnetic part and the structural part with relatively one-way small size; the two are combined, the problem of quick picking of irregular workpieces is solved, meanwhile, the picking process is efficient and accurate, the picking clamping force is continuously adjustable, and the automatic feeding and discharging requirements of the workpieces are met.
In a preferred embodiment, as shown in fig. 12, the pick-up drive assembly 120 further comprises a first base 121, a first driving member 122, a first connecting carriage 123; wherein,
the first driving member 122 is fixed on the first base 121; the first connecting slider 123 is used for fixedly connecting the movable end of the first driving member 122 and the movable block 129. It should be understood that the first driving element 122 includes, but is not limited to, a linear motion power device such as a linear motor, an electric push rod, an air cylinder, etc., in an embodiment, as shown in fig. 12, the first driving element 122 is a linear motor, a linear motor stator is fixed on the first base 121, a linear motor mover is fixedly connected to the first connecting slide 123, and the linear motor mover drives the first connecting slide 123, so that the movable block 129 makes a reciprocating motion along an extending direction of the linear motor stator, thereby making the suction cup assembly 140 and the magnetic attraction assembly 150 approach or depart from the workpiece.
In a preferred embodiment, as shown in fig. 13-15, the suction cup assembly 140 further comprises a suction cup connection seat 141, an air supply connection plate 142, a suction cup fixing plate 143; wherein,
the suction cup connecting seat 141 is fixedly connected with the movable block 129;
the air source connecting plate 142 is fixed on the suction cup connecting seat 141; the sucker fixing plate 143 is used for fixedly mounting a plurality of suckers 144; an external negative pressure source communicates with the suction cup 144 through an air passage in the air supply connecting plate 142 to create a negative pressure at the suction cup 144. In the present embodiment, the four suction cups 144 are arranged in a square shape on the bottom surface of the suction cup fixing plate 143, and the suction nozzles of the suction cups 144 are aligned with the workpiece to be picked up, so that the suction force is uniformly distributed on the surface of the workpiece to be picked up.
In a preferred embodiment, as shown in fig. 13 and 14, the pick-up unit 100 further comprises an elastic member 130; the elastic member 130 is used to form a buffering structure for the first driving member 122. In the embodiment, the elastic element 130 is a spring, as shown in fig. 12, one end of the spring abuts against the first limit groove 1241 of the first blocking piece 124, wherein the first blocking piece 124 is fixed on the first base 121; in an embodiment, the suction cup connecting seat 141 is provided with a receiving groove 1411 for limiting the elastic member 130, and referring to fig. 13, the first blocking piece 124 and the receiving groove 1411 on the suction cup connecting seat 141 form the limitation of the two ends of the spring; the spring is abutted against the suction cup connecting seat 141 and the first blocking piece 124 to prevent the first driving piece 122 from moving excessively to form a buffer of the first driving piece 122 when the suction cup assembly 140 is driven to be recovered by the first driving piece 122.
In a preferred embodiment, as shown in fig. 13 and 14, the magnetically attracting assembly 150 further includes a magnetically attracting fixing seat 155 and a second driving member 152; the magnetic fixing seat 155 is used for forming a second driving member 152 and a magnet 151 support; the second driving member 152 is used to drive the magnet 151 closer to or away from the workpiece to be picked up. It should be understood that the magnetic attraction assembly 150 is driven by the picking driving assembly 120 to reach above the workpiece to be picked, and in this embodiment, the second driving member 152 is used as another driving force to drive the magnet 151 to move closer to or away from the workpiece to be picked together with the picking driving assembly 120, so as to achieve the purpose of different picking forces for different parts of the workpiece to be picked. In this embodiment, as shown in fig. 9, 13 and 14, the magnetic fixing base 155 is connected to the movable block 129 through a magnetic base connecting member 156, and in one embodiment, the magnetic base connecting member 156 is L-shaped, so as to satisfy the structural strength and simplify the manufacturing process; it should be understood that the protection scope of the present invention also includes that the movable block 129, the magnetic base connecting member 156 and the magnetic fixing base 155 can be combined in any two or three combinations to form an integral structure.
In a preferred embodiment, in order to facilitate the rapid separation of the magnet 151 from the workpiece after the magnet 151 picks up the workpiece and transports the workpiece to the placing position, as shown in fig. 14, the magnetic attraction assembly 150 further includes a sleeve 157 having a hollow structure; the second driving member 152 drives the magnet 151 to move, so that the magnet 151 extends out of the sleeve 157 or retracts into the sleeve 157. It should be understood that the second driving member 152 includes, but is not limited to, a linear motor, an electric push rod, a cylinder, etc.; the magnetically attractive assembly 150 further includes a second drive connection 153; one end of the second driving connecting member 153 is fixedly connected to the movable end of the second driving member 152, and the other end is fixedly connected to the plurality of magnets 151. In the present embodiment, the second driving member 152 employs a cylinder; the movable end of the cylinder is connected with a second driving connecting piece 153, two magnets 151 are fixed on the second driving connecting piece 153, and the magnet base block 154 fixed on the magnetic fixing seat 155 and the sleeve 157 are used as a guide structure of the magnets 151; when the magnet 151 is retracted into the sleeve 157, the magnet 151 is separated from the workpiece to be picked up or the workpiece is not picked up; on the other hand, the sleeve 157 has the function of magnetic isolation, so that the magnetic force is prevented from influencing the operation of the device when the workpiece is not required to be adsorbed; as shown in fig. 14, the sleeve 157 is adapted to the size and shape of the magnet 151 for attraction, and plays a role of protection. As shown in fig. 15, the connecting line of any two adjacent suckers 144 is parallel to or perpendicular to the connecting line of any two adjacent magnets 151, so that the picking force is uniformly distributed on the workpiece to be picked, especially for the workpiece connected by the soft material in the middle, the part of the workpiece in a long and narrow structure is picked up by the two magnets 151 in a straight line shape, and particularly, the straight line formed by the two magnets 151 is parallel to or perpendicular to the connecting line of the two adjacent magnets 151, so as to sufficiently attach to the structure of the workpiece, eliminate the internal stress during the picking process, and make the picking process more stable and reliable. It should be understood that the scope of the present invention also includes combining the magnet base block 154 and the magnetic fixing base 155 into a single structure.
In a preferred embodiment, the pick-up unit 100 further comprises an adjustment assembly 110; the adjusting assembly 110 is fixedly connected to the first base 121, and is used for adjusting the postures of the suction cup assembly 140 and the magnetic attraction assembly 150 relative to the workpiece to be picked up. In the present embodiment, the adjustment assembly 110 can adjust the angle of the first base 121 in two mutually perpendicular directions.
As shown in fig. 11, the adjustment assembly 110 includes a first direction adjustment structure, a second direction adjustment structure; the first direction adjusting structure comprises a first adjusting block 111, a first pivot 112, an adjusting screw 113 and a second adjusting block 115, in this embodiment, the first adjusting block 111 is used for fixing the pickup unit 100 on an external device, the first pivot 112 penetrates through the first adjusting block 111, the first pivot 112 is pivoted with the second adjusting block 115, the first adjusting block 111 is provided with a first long hole 1111, the opening direction of the first long hole 1111 is parallel to the axial direction of the first pivot 112, and the adjustment of the rotation angle of the second adjusting block 115 around the first pivot 112 is realized by the matching of the adjusting screw 113 and the first long hole 1111; specifically, during the angle adjustment of the first direction adjusting structure, the auxiliary structure can abut against the first protruding portion 1152 arranged on the second adjusting block 115 or manually hold the first protruding portion 1152, so that the pickup unit 100 is prevented from falling during the angle adjustment process, and the safety of the adjusting personnel and the equipment are protected.
Similarly, as shown in fig. 11, the second direction adjustment structure includes an adjustment screw 113, a second adjustment block 115, a second pivot 116, and a third adjustment block 117, the second adjustment block 115 is provided with a second long hole 1151, the hole direction of the second long hole 1151 is parallel to the axial direction of the second pivot 116, and the adjustment of the rotation angle of the third adjustment block 117 around the second pivot 116 is realized by the cooperation of the adjustment screw 113 and the second long hole 1151; in particular, during the angle adjustment process of the second direction adjustment structure, the auxiliary structure can abut against the second protruding portion 1171 arranged on the third adjustment block 117 or manually hold the second protruding portion 1171, so that the pick-up unit 100 is prevented from falling during the adjustment process, and the safety of the adjustment personnel and the equipment are protected.
The automatic picking device realizes automatic switching of the distance between two adjacent picking units through structural design, and simultaneously adopts the combination of vacuum negative pressure and magnetic attraction to realize quick picking of workpieces to be picked
In the description of the present invention, it should be noted that the terms "inside" and "inside" are used for indicating the orientation or positional relationship based on the orientation or positional relationship shown in the drawings or the orientation or positional relationship which the product of the present invention is usually placed in when used, and are only for convenience of describing the present invention and simplifying the description, but do not indicate or imply that the device or the element to be referred to must have a specific orientation, be constructed in a specific orientation and operation, and thus, should not be construed as limiting the present invention. Furthermore, the terms "first," "second," and the like are used merely to distinguish one description from another, and are not to be construed as indicating or implying relative importance. In the present invention, unless otherwise expressly stated or limited, the first feature may be present on or under the second feature in direct contact with the first and second feature, or may be present in the first and second feature not in direct contact but in contact with another feature between them. Also, the first feature being above, on or above the second feature includes the first feature being directly above and obliquely above the second feature, or merely means that the first feature is at a higher level than the second feature. A first feature that underlies, and underlies a second feature includes a first feature that is directly under and obliquely under a second feature, or simply means that the first feature is at a lesser level than the second feature.
The foregoing is merely a preferred embodiment of the invention and is not intended to limit the invention in any manner; those skilled in the art can readily practice the invention as shown and described in the drawings and detailed description herein; however, those skilled in the art should appreciate that they can readily use the disclosed conception and specific embodiments as a basis for designing or modifying other structures for carrying out the same purposes of the present invention without departing from the scope of the invention as defined by the appended claims; meanwhile, any changes, modifications, and evolutions of the equivalent changes of the above embodiments according to the actual techniques of the present invention are still within the protection scope of the technical solution of the present invention.
Claims (10)
1. A pitch change mechanism includes a pitch change unit body (600) to which a plurality of pickup units (100) are mounted; the method is characterized in that: the pitch changing unit body (600) comprises a pitch changing driver (610), a pitch changing moving assembly (630), a pitch changing fixing plate (640) and a pitch changing base frame (680); wherein,
the variable-pitch driver (610) is used for driving the variable-pitch moving assembly (630) to move relative to the variable-pitch base frame (680);
the variable-pitch pedestal (680) is used for forming a fixed foundation support; the pitch-variable driver (610) and the pitch-variable moving assembly (630) are fixed on the pitch-variable base frame (680); a plurality of variable pitch fixing plates (640) are fixed on the variable pitch moving assembly (630); the variable pitch fixing plate (640) is used for fixedly mounting a pickup unit (100);
the variable-pitch driver (610) drives the variable-pitch moving assembly (630) to move so as to increase or decrease the distance between two adjacent variable-pitch fixing plates (640).
2. A pitch mechanism according to claim 1, wherein: the variable-pitch fixing plate (640) is fixed on the variable-pitch base frame (680).
3. A pitch mechanism according to claim 1, wherein: the pitch unit body (600) further comprises a steering assembly (620); the steering assembly (620) is connected with the variable pitch driver (610) and the variable pitch moving assembly (630) and is used for transmitting power; the steering assembly (620) comprises a synchronous belt structure, a gear structure, a bevel gear structure, a worm and gear structure and a gear rack structure.
4. A pitch mechanism according to claim 1, wherein: the pitch unit body (600) further comprises a guide structure (660), wherein the guide structure (660) is fixed on the pitch base frame (680) and used for forming movement guide of the pitch fixing plate (640).
5. A pitch mechanism according to claim 1, wherein: the pitch change unit body (600) further comprises a stroke detection assembly (690); the stroke detection assembly (690) is used for detecting the position of a variable pitch fixing plate (640) fixed on the variable pitch moving assembly (630).
6. A pitch mechanism according to any one of claims 1-5, wherein: the pitch unit body (600) further comprises a telescopic assembly (650); the telescopic assembly (650) is connected with the variable-pitch fixing plates (640), and the variable-pitch moving assembly (630) drives one variable-pitch fixing plate (640) to move, so that the variable-pitch fixing plates (640) move simultaneously under the driving of the telescopic assembly (650).
7. A pitch mechanism according to claim 6, wherein: the telescoping assembly (650) comprises a plurality of first guide rods (652); two adjacent first guide rods (652) are mutually pivoted to form a scissor fork structure; one end of the first guide rod (652) is provided with a first hinge part (651) used for being hinged to the variable-pitch fixing plate (640), and the other end of the first guide rod (652) is in sliding connection with the variable-pitch fixing plate (640).
8. A pitch mechanism according to claim 7, wherein: one side of the variable pitch fixing plate (640) is provided with a through long groove (644); the extending direction of the long groove (644) is perpendicular to the moving direction of the variable pitch fixing plate (640); the telescoping assembly (650) further comprises a second push rod (654); the second push rod (654) penetrates through the long groove (644) and is used for connecting the first guide rods (652) on two sides of the variable pitch fixing plate (640).
9. Pick-up device with variable pitch, comprising a pick-up body (700), characterized in that: the pick-up body (700) comprising a pitch unit body (600) according to claim 1, several pick-up units (100); the pitch driver (610) of the pitch unit body (600) drives the pitch moving assembly (630) to move, so that the distance between two adjacent pick-up units (100) is increased or decreased.
10. Pick-up device with pitch variation according to claim 9, characterized in that: the picking unit (100) comprises a first driving component (120), a sucker component (140) and a magnetic attraction component (150); wherein,
the sucker assembly (140) and the magnetic attraction assembly (150) are fixedly connected to the movable block (129) of the first driving assembly (120);
the sucker assembly (140) comprises a plurality of suckers (144) for sucking workpieces to be picked; the magnetic attraction component (150) comprises a magnet (151) for attracting a ferromagnetic part of a workpiece to be picked up;
under the driving of the first driving component (120), the sucker component (140) and the magnetic attraction component (150) move towards the workpiece to be picked, so that the sucker (144) and the magnet (151) respectively pick different parts of the workpiece to be picked.
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| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201910688321.8A CN110436191A (en) | 2019-07-29 | 2019-07-29 | A kind of pitch-changing mechanism and the pick device with displacement |
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| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201910688321.8A CN110436191A (en) | 2019-07-29 | 2019-07-29 | A kind of pitch-changing mechanism and the pick device with displacement |
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| CN110436191A true CN110436191A (en) | 2019-11-12 |
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| CN201910688321.8A Pending CN110436191A (en) | 2019-07-29 | 2019-07-29 | A kind of pitch-changing mechanism and the pick device with displacement |
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| CN112693909A (en) * | 2020-12-28 | 2021-04-23 | 上海郡雅生物科技有限公司 | Industrial Internet is with 5G intelligent transfer robot and use system |
| CN113319875A (en) * | 2021-06-11 | 2021-08-31 | 博众精工科技股份有限公司 | Suction nozzle mechanism |
| CN113650044A (en) * | 2020-05-12 | 2021-11-16 | 北京京东乾石科技有限公司 | End picking device |
| CN114084599A (en) * | 2021-08-10 | 2022-02-25 | 厦门市众惠微电子有限公司 | High-precision pitch-changing equipment, pitch-changing method thereof and pitch-changing method of pitch-changing mechanism |
| CN115465662A (en) * | 2022-09-20 | 2022-12-13 | 中建安装集团有限公司 | Fastener material integrated taking and placing operation terminal for assembling subway rail row |
| CN115921360A (en) * | 2023-02-21 | 2023-04-07 | 天津金海通半导体设备股份有限公司 | Controllable multi-shaft variable-pitch pickup device of test sorting machine and operation equipment |
| CN116496881A (en) * | 2023-06-26 | 2023-07-28 | 杭州奥盛仪器有限公司 | Full-automatic gene processing equipment and method |
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