CN111017561A

CN111017561A - Turnover type pick-and-place mechanism

Info

Publication number: CN111017561A
Application number: CN201911390808.4A
Authority: CN
Inventors: 吴加富; 缪磊; 蒋玉斌; 肖夕全; 万发
Original assignee: Suzhou RS Technology Co Ltd
Current assignee: Suzhou RS Technology Co Ltd
Priority date: 2019-12-30
Filing date: 2019-12-30
Publication date: 2020-04-17

Abstract

The invention discloses a turnover type pick-and-place mechanism, which comprises: fixing the mounting rack; the overturning mounting frame is arranged in the fixed mounting frame; at least one group of pick-and-place assemblies mounted in the flip-mount; and the overturning driver is arranged on the fixed mounting frame, the power output end of the overturning driver is in transmission connection with the overturning mounting frame, at least one lifting guide rail extending along the vertical direction is connected in the overturning mounting frame in a sliding manner, each group of taking and placing assemblies is fixedly connected with the corresponding lifting guide rail, and the overturning mounting frame is driven by the overturning driver to do reciprocating overturning motion within 0-90 degrees. According to the invention, the material can be turned over within a certain angle range after being sucked, so as to meet the requirement of actual production, the structure is compact, the design is exquisite, the complexity and the manufacturing cost of equipment are reduced, and the sucking and turning operation efficiency is improved.

Description

Turnover type pick-and-place mechanism

Technical Field

The invention relates to the field of nonstandard automation, in particular to a turnover type pick-and-place mechanism.

Background

In nonstandard automation, it is known to use pick-and-place mechanisms with different structures for picking and placing materials. In the process of researching and realizing the taking and placing operation of the materials, the inventor finds that the taking and placing mechanism in the prior art at least has the following problems:

the existing picking and placing mechanisms can only absorb or grab materials, are short of overturning functions, and often need at least two sets of picking and placing mechanisms to be matched with each other to realize operation of overturning the materials at a certain angle, so that the space volume of equipment is increased, the assembly complexity of the equipment is improved, the picking and placing and overturning efficiency is low, and the manufacturing cost of the equipment is also increased.

In view of the above, it is necessary to develop a flip-type pick and place mechanism to solve the above problems.

Disclosure of Invention

Aiming at the defects in the prior art, the invention mainly aims to provide the turnover type taking and placing mechanism which can turn over materials within a certain angle range after the materials are sucked so as to meet the requirement of actual production, has a compact structure and an exquisite design, reduces the complexity and the manufacturing cost of equipment, and improves the sucking and turning operation efficiency.

To achieve the above objects and other advantages in accordance with the present invention, there is provided a flip type pick and place mechanism, including:

fixing the mounting rack;

the overturning mounting frame is arranged in the fixed mounting frame;

at least one group of pick-and-place assemblies mounted in the flip-mount; and

the overturning driver is arranged on the fixed mounting frame, the power output end of the overturning driver is in transmission connection with the overturning mounting frame,

the overturning mounting frame is connected with at least one lifting guide rail extending in the vertical direction in a sliding mode, each group of taking and placing assemblies is fixedly connected with the corresponding lifting guide rail, and the overturning mounting frame is driven by the overturning driver to do reciprocating overturning motion within 0-90 degrees.

Optionally, the fixed mounting frame comprises:

fixing the mounting plate; and

a left fixed vertical plate and a right fixed vertical plate which are respectively and fixedly connected with the two ends of the fixed mounting plate,

the left fixed vertical plate and the right fixed vertical plate are arranged at intervals and oppositely to form a clamping space between the left fixed vertical plate and the right fixed vertical plate, and the overturning mounting frame is arranged in the clamping space.

Optionally, a rotating shaft is rotatably connected between the left fixed vertical plate and the right fixed vertical plate, one end of the rotating shaft is in transmission connection with a power output end of the turnover driver, and the turnover mounting frame is fixedly mounted on the periphery of the rotating shaft.

Optionally, the fixed mounting frame is provided with a horizontal state sensor and a vertical state sensor, the horizontal state sensor and the vertical state sensor are located in the same vertical plane, and the horizontal state sensor and the vertical state sensor are about the rotating shaft is at an included angle of 90 degrees.

Optionally, an induction terminal is fixedly connected to the rotating shaft, and the induction terminal rotates from the horizontal state sensor to the vertical state sensor or rotates from the vertical state sensor to the horizontal state sensor in the process of reciprocating rotation along with the rotating shaft.

Optionally, the taking and placing assembly includes:

one end of the picking and placing installation arm is fixedly connected with the lifting guide rail;

the lifting driver is in transmission connection with the taking and placing installation arm; and

the pick-and-place suction nozzle is arranged on the pick-and-place mounting arm;

the picking and placing installation arm extends outwards from the lifting guide rail, so that the picking and placing suction nozzle is installed at the other end of the picking and placing installation arm.

Optionally, the suction opening of the pick-and-place suction nozzle is arranged downwards.

Optionally, the flip mount includes:

turning over the vertical plate; and

the turnover top plate is arranged at the top of the turnover vertical plate;

wherein at least one guide rail lifting hole is formed in the turnover top plate, and each guide rail lifting hole is arranged to be positioned right above a corresponding one of the lifting guide rails, so that each lifting guide rail can be selectively protruded from the corresponding one of the guide rail lifting holes under the driving of the lifting driver.

Optionally, at least one lifting installation hole is formed in the turnover top plate, and each lifting driver can be installed in a corresponding lifting installation hole.

Optionally, a manipulator clamping seat is installed at the top of the fixed installation plate.

One of the above technical solutions has the following advantages or beneficial effects: because it can overturn the material in certain angle scope after absorbing the material to satisfy the actual production needs, compact structure, the design is exquisite, has reduced equipment complexity and manufacturing cost, has improved and has absorb and upset operating efficiency.

Drawings

Fig. 1 is a perspective view of a roll-over pick and place mechanism according to an embodiment of the present invention;

fig. 2 is a front view of a proposed roll-over pick and place mechanism according to an embodiment of the present invention;

fig. 3 is a perspective view of the flip mounting frame and the pick-and-place assembly of the flip pick-and-place mechanism according to an embodiment of the present invention;

fig. 4 is a perspective view of a pick-and-place assembly in the flip-flop pick-and-place mechanism according to an embodiment of the present invention.

Detailed Description

The technical solutions in the embodiments of the present invention will be described clearly and completely with reference to the accompanying drawings in the embodiments of the present invention, and it is obvious that the described embodiments are only a part of the embodiments of the present invention, and not all of the embodiments. All other embodiments, which can be obtained by a person skilled in the art without any inventive step based on the embodiments of the present invention, are within the scope of the present invention.

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, etc., are defined with respect to the configurations shown in the respective drawings, and in particular, "height" corresponds to a dimension from top to bottom, "width" corresponds to a dimension from left to right, "depth" corresponds to a dimension from front to rear, which are relative concepts, and thus may be varied accordingly depending on the position in which it is used, and thus these or other orientations should not be construed as limiting terms.

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.

According to an embodiment of the present invention, as shown in fig. 1 to 4, it can be seen that the flip-flop pick and place mechanism 5 includes:

a fixed mounting frame 51;

a flip mounting bracket 53 provided in the fixed mounting bracket 51;

at least one set of pick-and-place assemblies 54 mounted in the flip-mount 53; and

a turning driver 52 which is arranged on the fixed mounting frame 53 and the power output end of which is in transmission connection with the turning mounting frame 53,

the overturning mounting frame 53 is slidably connected to at least one lifting guide 533 extending in the vertical direction, each group of the pick-and-place assemblies 54 is fixedly connected to a corresponding lifting guide 533, and the overturning mounting frame 53 is driven by the overturning driver 52 to perform a reciprocating overturning motion between 0 ° and 90 °. Thereby enabling the material 55 picked up/gripped by the pick-and-place assembly 54 to be switched from a horizontally lying condition, as shown in figure 3, to a vertically upright condition, or from a vertically upright condition to a horizontally lying condition, as shown in figure 3.

Referring to fig. 1, the fixed mount 51 includes:

a fixed mounting plate 513; and

a left fixed vertical plate 511 and a right fixed vertical plate 512 respectively fixed at two ends of the fixed mounting plate 513,

the left fixed vertical plate 511 and the right fixed vertical plate 512 are spaced and arranged oppositely to form a clamping space therebetween, and the turnover mounting frame 53 is arranged in the clamping space. By adopting the structural design, the whole structure becomes stable and compact, and the space is obviously saved.

Further, a rotating shaft 521 is rotatably connected between the left fixed vertical plate 511 and the right fixed vertical plate 512, one end of the rotating shaft 521 is in transmission connection with a power output end of the turning driver 52, and the turning mounting frame 53 is fixedly mounted on the periphery of the rotating shaft 521. So that the flip mounting bracket 53 can be driven along with the rotation shaft 521 by the flip driver 52.

Referring to fig. 1 again, a horizontal state sensor 514 and a vertical state sensor 515 are disposed on the fixed mounting frame 51, the horizontal state sensor 514 and the vertical state sensor 515 are located on the same vertical plane, and an included angle of 90 ° is formed between the horizontal state sensor 514 and the vertical state sensor 515 with respect to the rotating shaft 521. In a preferred embodiment, the horizontal sensor 514, the vertical sensor 515 and the flipping actuator 52 are all connected to a common controller, and the controller reads sensing signals of the horizontal sensor 514 and the vertical sensor 515 to precisely control the rotation angle and the start and stop of the flipping actuator 52.

Further, an inductive terminal 522 is fixedly connected to the rotating shaft 521, and the inductive terminal 522 rotates from the horizontal state sensor 514 to the vertical state sensor 515 or rotates from the vertical state sensor 515 to the horizontal state sensor 514 in the process of reciprocating rotation with the rotating shaft 521.

Referring to fig. 3 and 4, the pick-and-place assembly 54 includes:

a pick-and-place mounting arm 543, one end of which is fixedly connected with the lifting guide rail 533;

a lifting driver 541, which is in transmission connection with the taking and placing installation arm 543; and

a pick-and-place nozzle 544 mounted on the pick-and-place mounting arm 543;

the pick-and-place mounting arm 543 extends outward from the lifting rail 533, so that the pick-and-place nozzle 544 is mounted at the other end of the pick-and-place mounting arm 543.

Further, the pick-and-place suction nozzle 544 has a downward suction opening to facilitate sucking/grabbing the material on the top surface of the material 55.

Further, the flip mount 53 includes:

turning over the vertical plate 531; and

the turnover top plate 532 is arranged at the top of the turnover vertical plate 531;

at least one rail lifting hole 5321 is formed in the flip top plate 532, and each rail lifting hole 5321 is disposed to be located right above a corresponding one of the lifting rails 533, so that each lifting rail 533 can be selectively protruded from the corresponding one of the rail lifting holes 5321 under the driving of the lifting driver 541. The arrangement of the rail elevating holes 5321 can further improve the overall compactness without interfering with the elevating operation of the elevating rail 533.

Further, at least one lifting installation hole 5322 is opened in the turning top plate 532, and each lifting driver 541 can be installed in a corresponding lifting installation hole 5322.

Referring again to fig. 1, a robot snap mount 514 is mounted on the top of the fixed mounting plate 513. Thereby enabling the manipulator to be detachably connected to the roll-over pick and place mechanism 5 through the manipulator bayonet 514.

The number of apparatuses and the scale of the process described herein are intended to simplify the description of the present invention. Applications, modifications and variations of the present invention will be apparent to those skilled in the art.

While embodiments of the invention have been described above, it is not limited to the applications set forth in the description and the embodiments, which are fully applicable in various fields of endeavor to which the invention pertains, and further modifications may readily be made by those skilled in the art, it being understood that the invention is not limited to the details shown and described herein without departing from the general concept defined by the appended claims and their equivalents.

Claims

1. A convertible pick and place mechanism, comprising:

a fixed mounting frame (51);

a flip mounting (53) provided in the fixed mounting (51);

at least one set of pick-and-place assemblies (54) mounted in the flip-mount (53); and

a turning driver (52) which is arranged on the fixed mounting frame (53) and the power output end of which is in transmission connection with the turning mounting frame (53),

the overturning mounting frame (53) is connected with at least one lifting guide rail (533) extending in the vertical direction in a sliding manner, each group of the taking and placing assemblies (54) is fixedly connected with the corresponding lifting guide rail (533), and the overturning mounting frame (53) is driven by the overturning driver (52) to do reciprocating overturning motion within 0-90 degrees.

2. The tilt pick and place mechanism of claim 1, characterized in that the fixed mounting frame (51) comprises:

a fixed mounting plate (513); and

a left fixed vertical plate (511) and a right fixed vertical plate (512) which are respectively and fixedly connected with the two ends of the fixed mounting plate (513),

the left fixed vertical plate (511) and the right fixed vertical plate (512) are arranged at intervals and oppositely to form a clamping space between the left fixed vertical plate and the right fixed vertical plate, and the overturning mounting frame (53) is arranged in the clamping space.

3. The roll-over pick and place mechanism as claimed in claim 2, wherein a rotating shaft (521) is rotatably connected between the left fixed vertical plate (511) and the right fixed vertical plate (512), one end of the rotating shaft (521) is in transmission connection with the power output end of the roll-over driver (52), and the roll-over mounting bracket (53) is fixedly mounted on the periphery of the rotating shaft (521).

4. The roll-over pick and place mechanism according to claim 3 characterized in that a horizontal state sensor (514) and a vertical state sensor (515) are provided on the fixed mounting frame (51), the horizontal state sensor (514) and the vertical state sensor (515) are located in the same vertical plane, and the horizontal state sensor (514) and the vertical state sensor (515) are at an angle of 90 ° with respect to the rotation axis (521).

5. The roll-over pick and place mechanism according to claim 4, characterized in that an inductive terminal (522) is fixed on the rotating shaft (521), and the inductive terminal (522) rotates from the horizontal state sensor (514) to the vertical state sensor (515) or rotates from the vertical state sensor (515) to the horizontal state sensor (514) in the process of reciprocating rotation with the rotating shaft (521).

6. The roll over pick and place mechanism of claim 1 wherein the pick and place assembly (54) comprises:

a taking and placing installation arm (543) with one end fixedly connected with the lifting guide rail (533);

a lifting driver (541) which is in transmission connection with the taking and placing installation arm (543); and

a pick-and-place suction nozzle (544) mounted on the pick-and-place mounting arm (543);

the picking and placing installation arm (543) extends outwards from the lifting guide rail (533), so that the picking and placing suction nozzle (544) is installed at the other end of the picking and placing installation arm (543).

7. The tilt pick and place mechanism of claim 6, wherein the pick and place suction nozzle (544) has a suction opening facing downward.

8. The tilt pick and place mechanism of claim 6, characterised in that the tilt mounting frame (53) comprises:

turning over the vertical plate (531); and

the turnover top plate (532) is arranged at the top of the turnover vertical plate (531);

wherein at least one guide rail lifting hole (5321) is formed in the turnover top plate (532), and each guide rail lifting hole (5321) is arranged to be located right above a corresponding one of the lifting guide rails (533), so that each lifting guide rail (533) can be selectively protruded out of the corresponding one of the guide rail lifting holes (5321) under the driving of the lifting driver (541).

9. The roll-over pick and place mechanism of claim 8 characterized in that at least one lift mounting hole (5322) is cut into the roll-over top plate (532), each of the lift drivers (541) being mountable in a corresponding one of the lift mounting holes (5322).

10. The roll over pick and place mechanism of claim 2 characterized in that a robot catch (514) is mounted on top of the fixed mounting plate (513).