CN111908115A - Pick-and-place mechanism - Google Patents
Pick-and-place mechanism Download PDFInfo
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- CN111908115A CN111908115A CN202010852089.XA CN202010852089A CN111908115A CN 111908115 A CN111908115 A CN 111908115A CN 202010852089 A CN202010852089 A CN 202010852089A CN 111908115 A CN111908115 A CN 111908115A
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- Prior art keywords
- pick
- place
- clamping
- jaw
- placing
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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
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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
Abstract
The invention relates to the technical field of mechanical equipment, and discloses a pick-and-place mechanism which is used for picking and placing a pick-and-place part with a cover arranged on a product base body. The clamping jaw assembly is arranged on the carrier and can release the covering force between the taking and placing part and the product base body so as to enable the taking and placing part to be separated from the product base body; the adsorption component is arranged on the carrying frame, the adsorption component can be adsorbed on the adsorption end face of the taking and placing piece, the adsorption end face and the cover opening on the taking and placing piece are arranged oppositely, and the adsorption component can drive the adsorption taking and placing piece to move along the direction of the cover opening so as to place the taking and placing piece. The pick-and-place mechanism can take down the pick-and-place piece tightly covered on the product base body and place the pick-and-place piece into a placing station with a narrow space through the cooperative matching of the clamping jaw component and the adsorption component.
Description
Technical Field
The invention relates to the technical field of mechanical equipment, in particular to a pick-and-place mechanism.
Background
The clamping mechanism is widely applied to the field of processing and manufacturing, and is an indispensable part for realizing product process automation.
The existing clamping mechanism has more problems. Fig. 1 is a disassembled view of the product substrate 100 and the pick-and-place member 200. The pick-and-place member 200 is provided with a cover (not shown), and the pick-and-place member 200 is directly covered on the product substrate 100 through the cover. In the production process, the taking and placing part 200 covering the product base 100 needs to be taken down by a clamping mechanism at many times; then, the pick-and-place member 200 is transferred to a placing station (not shown) with a narrow space. Since the covering force of the pick-and-place member 200 covering the product substrate 100 is relatively tight, the pick-and-place member 200 is difficult to be absorbed and separated from the product substrate 100 by directly adopting the sucker with small adsorption force, so that the pick-and-place member 200 is clamped by the clamping jaw type clamping mechanism, and the clamping of the pick-and-place member 200 can be realized. However, the clamping jaw of the clamping jaw type clamping mechanism is large in volume and large in occupied space, and the space of the placing station for placing the taking and placing part 200 is narrow, so that the clamping jaw and the placing station interfere with each other, and the taking and placing part 200 cannot be placed in the placing station with a narrow space, that is, the existing clamping mechanism cannot take the taking and placing part 200, which is covered on the product base body 100, down and place in the placing station with a narrow space.
Therefore, it is desirable to provide a pick-and-place mechanism, which can take down a pick-and-place member with a tight cover on a product substrate and place the pick-and-place member in a narrow place.
Disclosure of Invention
The invention aims to provide a taking and placing mechanism which can take down a taking and placing part tightly covered on a product base body and place the taking and placing part in a placing station with a narrow space.
In order to achieve the purpose, the invention adopts the following technical scheme:
a pick and place mechanism for picking and placing a pick and place element with a pick and place cover on a product substrate, comprising:
a carrier;
the clamping jaw assembly is arranged on the carrier and can release the covering force between the taking and placing piece and the product base so as to enable the taking and placing piece to be separated from the product base;
the adsorption component, set up in on the carrier frame, adsorption component can adsorb in get on the adsorption end face of putting the piece, adsorb the end face with get and put the relative setting of flap on the piece, adsorption component can drive absorptive get and put the piece and follow the orientation motion of flap, in order to place get and put the piece.
Optionally, the jaw assembly comprises:
the first clamping jaw can clamp the product base body or can abut against the end face, facing the taking and placing part, of the product base body;
the second clamping jaw can clamp the taking and placing part or can abut against the end face, facing the product base, of the taking and placing part;
the first clamping jaw and the second clamping jaw can be far away from each other along a first direction, so that the taking and placing piece is separated from the product base body along the first direction, and the first direction is parallel to the opening direction of the cover opening.
Optionally, the jaw assembly further comprises:
a slider movably disposed on the carrier in the first direction, one of the first and second jaws being connected to the carrier and the other being connected to the slider;
and the first driving source is arranged on the carrier and is used for driving the sliding piece to move along the first direction.
Optionally, the first jaw comprises:
a second driving source fixedly provided on the slider;
two connecting arms which are respectively fixedly connected to the output ends of the second driving sources;
the second driving source can drive the two connecting arms to mutually approach or keep away from each other along a second direction perpendicular to the first direction, so that the two first clamping fingers can move in an opening and closing mode.
Optionally, a guide through hole extending along the first direction is formed in the connecting arm, and the second clamping jaw comprises:
the two second clamping fingers penetrate through each guide through hole in a sliding mode, the second clamping fingers can be inserted into the carrier frame in a sliding mode in the second direction, the two second clamping fingers are located on the same side of the two first clamping fingers along the first direction, so that the second driving source can drive the two first clamping fingers and the two second clamping fingers to synchronously open and close along the second direction, and the first driving source can drive the two first clamping fingers to be close to or far away from the two second clamping fingers along the first direction.
Optionally, the jaw assembly further comprises:
a slide rail fixedly connected to one of the carriage and the slider, the slide rail extending in the first direction;
the sliding block is fixedly connected to the other one of the carrier and the sliding piece, and the sliding block is inserted on the sliding rail in a sliding mode.
Optionally, the first jaw further comprises:
and the closed limiting part is arranged on the connecting arms and extends along the second direction, and the closed limiting part is used for limiting the distance between the two connecting arms when the connecting arms are closed.
Optionally, the jaw assembly comprises:
the first driving source is fixedly connected to the carrier;
the first clamping jaw is fixedly connected to the output end of the first driving source, the first driving source is used for driving the first clamping jaw to move along a first direction, the first clamping jaw can clamp the taking and placing piece or the pressing piece against the direction of the taking and placing piece on the end face of the product base body, and the first direction is parallel to the opening direction of the cover opening.
Optionally, the adsorbent assembly comprises:
a third driving source disposed on the carriage;
the vacuum suction head is arranged at the output end of the third driving source and used for adsorbing the adsorption end face, the third driving source is used for driving the vacuum suction head to move along a first direction, and the first direction is parallel to the opening direction of the cover opening.
Optionally, the adsorption assembly further comprises:
a tip guide provided on the third driving source, the tip guide extending in the first direction;
and the suction head guide block is fixedly connected with the output end of the third driving source and is inserted on the suction head guide rail in a sliding manner, and the vacuum suction head is fixedly connected on the suction head guide block.
The invention has the beneficial effects that:
the pick-and-place mechanism firstly releases the covering force between the pick-and-place piece and the product base body through the clamping jaw assembly so as to enable the pick-and-place piece to be separated from the product base body, and the problem that the pick-and-place piece cannot be taken down from the product base body by a sucker in the prior art is solved; then, the adsorption component is used in a matched manner to be adsorbed on the adsorption end face of the picking and placing part which is separated from the product matrix; when the adsorption component adsorbs on the adsorption end face and moves along the orientation of the cover opening to place the picking and placing part in the narrow and small placing station in space, because the adsorption end face is positioned at one end opposite to the cover opening end provided with the cover opening for picking and placing the part, the adsorption component can not interfere with the placing station, and then the adsorption picking and placing part can be smoothly placed in the placing station. The pick-and-place mechanism can realize that the pick-and-place piece tightly covered on the product base body is taken down and placed in a placing station with a narrow space through the cooperative matching of the clamping jaw component and the adsorption component.
Drawings
FIG. 1 is a prior art exploded view of a product substrate and handling member;
fig. 2 is a schematic perspective view of a pick-and-place mechanism of the pick-and-place member provided by the present invention;
FIG. 3 is a disassembled view of the pick and place mechanism of the present invention;
fig. 4 is a second exploded view of the pick-and-place mechanism according to the present invention;
FIG. 5 is a schematic structural diagram of a connecting arm, a first clamping finger and a second clamping finger of the pick-and-place mechanism according to the present invention;
fig. 6 is a schematic structural diagram of the pick-and-place mechanism with the hidden carriage and the first driving source provided by the invention;
fig. 7 is a schematic structural relationship diagram of the adsorption assembly of the pick-and-place mechanism provided by the invention.
In the figure:
x-a first direction; y-a second direction; z-a third direction;
100-product base; 101-the base abutting the end face; 200-a taking and placing part; 201-side notches;
1-a carrier; 11-a first carrier plate; 12-a second carrier plate; 121-connecting a sliding rail;
2-a jaw assembly; 21-a first jaw; 211-a second drive source; 212-a linker arm; 2121-a guide through hole; 213-first clamping finger; 214-a closing limit; 22-a second jaw; 221-a second clamping finger; 2211-connecting the chute; 23-a slide; 24-a first drive source; 25-a slide rail; 26-a slide block;
3-an adsorption component; 31-a third drive source; 32-vacuum suction head; 33-a tip guide; 34-a suction head guide block.
Detailed Description
In order to make the technical problems solved, the technical solutions adopted and the technical effects achieved by the present invention clearer, the technical solutions of the present invention are further described below by way of specific embodiments with reference to the accompanying drawings.
In the description of the present invention, unless expressly stated or limited otherwise, the terms "connected," "connected," and "fixed" are to be construed broadly, e.g., as meaning permanently connected, removably connected, or integral to one another; can be mechanically or electrically connected; either directly or indirectly through intervening media, either internally or in any other relationship. The specific meanings of the above terms in the present invention can be understood in specific cases to those skilled in the art.
In the present invention, unless otherwise expressly stated or limited, "above" or "below" a first feature means that the first and second features are in direct contact, or that the first and second features are not in direct contact but are in contact with each other via another feature therebetween. Also, the first feature being "on," "above" and "over" the second feature includes the first feature being directly on and obliquely above the second feature, or merely indicating that the first feature is at a higher level than the second feature. A first feature being "under," "below," and "beneath" a second feature includes the first feature being directly under and obliquely below the second feature, or simply meaning that the first feature is at a lesser elevation than the second feature.
In the description of the present embodiment, the terms "upper", "lower", "left", "right", and the like are used based on the orientations and positional relationships shown in the drawings only for convenience of description and simplification of operation, and do not indicate or imply that the referred mechanism or element must have a specific orientation, be configured and operated in a specific orientation, and thus, should not be construed as limiting the present invention. Furthermore, the terms "first" and "second" are used only for descriptive purposes and are not intended to have a special meaning.
Fig. 1 is a disassembled view of the product substrate 100 and the pick-and-place member 200. The pick-and-place member 200 is provided with a cover (not shown), and the pick-and-place member 200 is directly covered on the product substrate 100 by tightly covering the cover. The conventional clamping jaw type clamping mechanism cannot achieve the effect that the compact cover is arranged on the product base body 100, and the taking and placing member 200 is taken down and placed in a placing station (not shown in the figure) with a narrow space.
In order to be able to remove the closing cap from the product base 100, the handling element 200 is removed and placed in a narrow space in a placement station. As shown in fig. 2 to 4, the present embodiment provides a pick-and-place mechanism for picking and placing a pick-and-place element 200 of a cover on a product substrate 100, wherein an X direction represents a first direction, a Y direction represents a second direction, and a Z direction represents a third direction. The pick and place mechanism comprises a carrier 1, a clamping jaw assembly 2 and an adsorption assembly 3. The clamping jaw assembly 2 is arranged on the carrier 1, and the clamping jaw assembly 2 can release the covering force between the taking and placing part 200 and the product base 100 so as to enable the taking and placing part 200 to be separated from the product base 100; adsorption element 3 sets up on carrier 1, and adsorption element 3 can adsorb on getting the adsorption end face (not sign in the figure) of putting piece 200, and the adsorption end face sets up with getting the lid mouth of putting on piece 200 relatively, and adsorption element 3 can drive the absorptive orientation motion of getting and putting piece 200 along the lid mouth to place and get piece 200, the orientation and the first direction of lid mouth parallel.
When the picking and placing operation of the picking and placing part 200 is carried out, the picking and placing mechanism firstly releases the covering force between the picking and placing part 200 and the product base body 100 through the clamping jaw assembly 2 so as to enable the picking and placing part 200 to be separated from the product base body 100, and the problem that the picking and placing part 200 cannot be taken down from the product base body 100 due to small adsorption force of a sucker in the prior art is solved; then the adsorption component 3 is used cooperatively to adsorb on the adsorption end face of the taking and placing part 200 which is separated from the product matrix 100; when the adsorption component 3 is adsorbed on the adsorption end surface and moves along the direction of the cover opening to place the taking and placing part 200 in a placing station with narrow space, because the adsorption end surface is positioned at the end opposite to the end surface of the taking and placing part 200 provided with the cover opening, the adsorption component 3 is adsorbed on the adsorption end surface of the taking and placing part 200, which can not interfere with the placing station with narrow space, and further can smoothly place the adsorbed pick-and-place element 200 in the placing station, which reasonably utilizes the advantage of large clamping force of the clamping jaw component 2 and the advantage of no interference between the adsorption component 3 and the placing station when the adsorption component is adsorbed on the adsorption end surface of the taking and placing component 200, and then compensatied that clamping jaw assembly 2 can take place the shortcoming of interfering with placing the station and the shortcoming that the adsorption affinity of adsorption component 3 is little, realized getting the piece 200 of putting and taking off and place the narrow and small placing the station in space on product base member 100 closely covering through clamping jaw assembly 2 and adsorption component 3's cooperation finally.
Further, as shown in fig. 1, the product base 100 in this embodiment is small in size and light in weight. When the covering force between the pick-and-place member 200 and the product substrate 100 is released, if only the clamping jaw assembly 2 clamps the pick-and-place member 200, the product substrate 100 is only lifted up, and the pick-and-place member 200 tightly covered on the product substrate 100 cannot be removed, so that the covering force between the pick-and-place member 200 and the product substrate 100 is released.
Therefore, the pick-and-place member 200 closely covering the product base 100 can be removed in order to reduce the volume and weight. As shown in fig. 2-4, the jaw assembly 2 includes a first jaw 21 and a second jaw 22. The first clamping jaw 21 can clamp the product base 100 or can abut against the end face of the product base 100 facing the pick-and-place member 200; the second clamping jaw 22 can clamp the pick-and-place member 200 or can abut against the end face of the pick-and-place member 200 facing the product substrate 100; the first clamping jaw 21 and the second clamping jaw 22 can be separated from each other along a first direction, so that the taking and placing element 200 is separated from the product substrate 100 along the first direction, and the first direction is parallel to the opening direction of the cover opening. That is, when the pick-and-place element 200 tightly covered on the product substrate 100 with small volume and light weight needs to be taken down, it is only necessary to mutually cooperate the first clamping jaw 21 and the second clamping jaw 22 to ensure that the first clamping jaw 21 clamps the product substrate 100 or abuts against the end surface of the product substrate 100 facing the pick-and-place element 200, and simultaneously ensure that the second clamping jaw 22 clamps the pick-and-place element 200 or abuts against the end surface of the pick-and-place element 200 facing the product substrate 100, and then the first clamping jaw 21 and the second clamping jaw 22 are mutually separated along the first direction, so that the covering force between the pick-and-place element 200 and the product substrate 100 can be released, and the pick-and-place element 200 tightly covered on the product substrate 100 can be taken down.
Specifically, as shown in fig. 1 to 3, a side recess 201 capable of inserting the first clamping jaw 21 and the second clamping jaw 22 is formed on a side wall of the pick-and-place member 200, and a base abutting end surface 101 is formed on an end surface of the product base 100 facing the pick-and-place member 200. In this embodiment, the first jaw 21 and the second jaw 22 are engaged in such a manner that the first jaw 21 and the second jaw 22 are simultaneously inserted into the side recess 201; then, the pick-and-place member 200 is clamped by the second clamping jaw 22, the first clamping jaw 21 abuts against the base abutting end face 101 of the product base 100, and at this time, the first clamping jaw 21 does not form clamping force on the pick-and-place member 200; finally, the second clamping jaw 22 clamps the pick-and-place member 200 and keeps still, and the first clamping jaw 21 moves away from the second clamping jaw 22 along the first direction, so as to push the substrate of the product substrate 100 against the end surface 101, thereby releasing the covering force between the pick-and-place member 200 and the product substrate 100, and removing the pick-and-place member 200 tightly covering the product substrate 100. It is contemplated that in other embodiments of the pick and place mechanism provided, the first jaw 21 and the second jaw 22 may be engaged with each other, for example, the second jaw 22 clamps the pick and place element 200, the first jaw 21 abuts against the substrate abutting end surface 101, then the first jaw 21 is kept stationary, the second jaw 22 moves away from the first jaw 21 in the first direction, or the first jaw 21 and the second jaw 22 simultaneously move away from each other in the first direction, so that the fastening force between the pick and place element 200 and the product substrate 100 can be released, and the pick and place element 200 tightly covering the product substrate 100 can be removed. Namely, the first clamping jaw 21 has two selectable working modes for clamping the product substrate 100 or abutting against the end face of the product substrate 100 facing the pick-and-place element 200, the second clamping jaw 22 has two selectable working modes for clamping the pick-and-place element 200 or abutting against the end face of the pick-and-place element 200 facing the product substrate 100, and the three working modes of the first clamping jaw 21 and the second clamping jaw 22 away from each other, including the first clamping jaw 21 moving and the second clamping jaw 22 not moving, the first clamping jaw 21 not moving and the second clamping jaw 22 moving, and the first clamping jaw 21 moving and the second clamping jaw 22 moving, can be selected, so that finally, twelve combined modes can release the covering force between the pick-and-place element 200 and the product substrate 100, and the pick-and-place element 200 tightly covered on the product substrate 100 is removed. For the sake of brevity, the embodiment only describes the specific structure of the first jaw 21 abutting against the substrate abutting end surface 101 of the product substrate 100, the second jaw 22 clamping the pick-and-place element 200, then the second jaw 22 clamping the pick-and-place element 200 and being stationary, and the first jaw 21 moving away from the first jaw 21 along the first direction to release the tightening force between the pick-and-place element 200 and the product substrate 100. Because the working principle of other remaining eleven combination modes is basically the same as that of the embodiment, the corresponding structures of the eleven combination modes belong to basically identical structural arrangements which achieve the same technical effect. Therefore, the detailed structures of the remaining eleven combination modes are not described in detail.
In this embodiment, the first jaw 21 is movable in a first direction away from the second jaw 22. Specifically, as shown in fig. 2 to 4, the jaw assembly 2 further includes a sliding member 23 and a first driving source 24, the sliding member 23 is a carrier plate structure, and the first driving source 24 is a linear cylinder. The sliding part 23 is arranged on the carrier 1 and can move along a first direction, the second clamping jaw 22 is connected to the carrier 1, and the first clamping jaw 21 is connected to the sliding part 23; the first driving source 24 is fixedly arranged on the carrier 1, an output end of the first driving source 24 is connected to the sliding part 23, and the first driving source 24 is used for driving the sliding part 23 to move along the first direction, so as to drive the first clamping jaw 21 to move along the first direction relative to the second clamping jaw 22, and further enable the first clamping jaw 21 to move away from the second clamping jaw 22 along the first direction. When the pick-and-place member 200 is clamped by the second clamping jaw 22, the first clamping jaw 21 can abut against the substrate abutting end surface 101 of the product substrate 100 and move away from the second clamping jaw 22 along the first direction to push the product substrate 100, and finally, the covering force between the pick-and-place member 200 and the product substrate 100 is released, so that the pick-and-place member 200 is separated from the product substrate 100.
In order to guide the sliding member 23, the sliding member 23 can be moved back and forth in the first direction stably and accurately. As shown in fig. 2-4, in this embodiment, the jaw assembly 2 further includes a slide rail 25 and a slider 26. The slide rail 25 is fixedly connected to the carrier 1, and the slide rail 25 extends along a first direction; the sliding block 26 is fixedly connected to the sliding member 23, and the sliding block 26 is slidably inserted into the sliding rail 25. More specifically, as shown in fig. 3-4, the carrier 1 includes a first carrier 11 and a second carrier 12, the first carrier 11 and the second carrier 12 are disposed up and down along a first direction, the first carrier 11 is located above the second carrier 12, a first driving source 24 is fixedly mounted on the first carrier 11, the first carrier 11 and the second carrier 12 are fastened and connected together by mutually perpendicular threads, there are two sliding rails 25, the two sliding rails 25 are respectively fixedly connected to the second carrier 12 by bolts, and the sliding blocks 26 inserted into the sliding rails 25 are respectively fixedly connected to the sliding members 23 by bolts. It is conceivable that in other embodiments, two sliding blocks 26 may be bolted to the second carrier plate 12 of the carrier 1, and two sliding rails 25 may be bolted to the sliding member 23, respectively, both of which may serve to guide the sliding member 23.
Further, in order to enable the opening and closing movement of the first jaw 21. As shown in fig. 3 to 5, the first holding jaw 21 includes a second driving source 211, two connecting arms 212, and two first clamping fingers 213, and the second driving source 211 is a clamping cylinder provided with two output ends. The second driving source 211 is fixedly provided on the slider 23; the two connecting arms 212 are respectively fixedly connected to the output end of the second driving source 211; each of the connecting arms 212 is fixedly connected with a first clamping finger 213, and the second driving source 211 can drive the two connecting arms 212 to move toward or away from each other along a second direction perpendicular to the first direction, so that the two first clamping fingers 213 move in an opening and closing manner. In addition, in the present embodiment, the first clamping finger 213 is fastened to the connecting arm 212 by a bolt, the connecting arm 212 is fastened to the output end of the second driving source 211 by a bolt, and the first clamping finger 213 and the connecting arm 212 are separately provided to facilitate individual replacement and maintenance.
But in order to enable the opening and closing movement of the second jaw 22 as well. As shown in fig. 4-6, the connecting arm 212 is provided with a guiding through hole 2121 extending along the first direction, and the second clamping jaw 22 includes two second clamping fingers 221. A second clamping finger 221 is slidably disposed through each guiding through hole 2121, and the second clamping finger 221 can be inserted into the carrier 1 in a sliding manner along the second direction. Specifically, as shown in fig. 4 to 6, two connecting slide rails 121 extending along the second direction are disposed on the lower end of the second carrier plate 12 of the carrier 1 along the first direction, a connecting slide slot 2211 slidably engaged with the connecting slide rails 121 is disposed on the second finger 221, the connecting slide slot 2211 extends along the second direction, the connecting slide slot 2211 of the second finger 221 is slidably inserted into the connecting slide rail 121, so that the second finger 221 is slidably inserted into the carrier 1 along the second direction, and along the first direction, the two second fingers 221 are located on the same side of the two first fingers 213, in this embodiment, along the first direction, the second finger 221 is located above the first finger 213. The first driving source 24 can drive the two first clamping fingers 213 to approach or keep away from the two second clamping fingers 221 along the first direction, the second driving source 211 can drive the two first clamping fingers 213 and the two second clamping fingers 221 to synchronously open and close along the second direction, and the two first clamping fingers 213 and the two second clamping fingers 221 can be driven to open and close by the second driving source 211, so that the arrangement of one clamping cylinder is reduced, the manufacturing cost is reduced, and the occupied volume of the taking and placing mechanism is reduced. It is conceivable that, in other embodiments, a clamping cylinder may be further provided, the clamping cylinder is directly and fixedly connected to the second carrier plate 12 of the carrier 1, the two second clamping fingers 221 are fixedly connected to an output end of the clamping cylinder, and a guide through hole 2121 extending along the first direction is no longer formed in the connecting arm 212, so that the connecting arm 212 can no longer synchronously drive the second clamping fingers 221 to move, and then the two clamping cylinders respectively drive the first clamping finger 213 and the second clamping finger 221 to synchronously open and close, which can achieve substantially the same effect.
Further, to control the spacing of the two link arms 212 when closed. As shown in fig. 6, the first jaw 21 further includes a closure stop 214. The closing position-limiting member 214 is disposed on the connecting arms 212 and extends along the second direction, and the closing position-limiting member 214 is used for limiting a distance between the two connecting arms 212 when the two connecting arms are closed. Specifically, in the present embodiment, the closing position-limiting member 214 is a screw, which is threaded and inserted through the connecting arms 212, one closing position-limiting member 214 is inserted through each of the two connecting arms 212, and the two closing position-limiting members 214 are coaxially disposed. When the two connecting arms 212 are closed along the second direction, the opposite ends of the two closing stoppers 214 can abut against each other, thereby defining the distance between the two connecting arms 212 when they are closed.
Further, after the covering force between the pick-and-place member 200 and the product substrate 100 is released to separate the pick-and-place member 200 from the product substrate 100, the pick-and-place member 200 needs to be placed in a narrow place by the suction assembly 3. As shown in fig. 3, 6 and 7, the adsorption assembly 3 includes a third driving source 31 and a vacuum nozzle 32, and the third driving source 31 is a linear cylinder. The third driving source 31 is disposed on the carriage 1; the vacuum suction head 32 is arranged at the output end of the third driving source 31, the vacuum suction head 32 is used for absorbing the absorbing end surface of the pick-and-place member 200, the third driving source 31 is used for driving the vacuum suction head 32 to move along a first direction, and the first direction is parallel to the opening direction of the cover opening. Specifically, the suction assembly 3 further includes a tip guide 33 and a tip guide block 34. A tip guide 33 provided on the third driving source 31, the tip guide 33 extending in the first direction; the suction head guide block 34 is fixedly connected with the output end of the third driving source 31, and is inserted on the suction head guide rail 33 in a sliding manner, and the vacuum suction head 32 is fixedly connected on the suction head guide block 34.
It should be noted that the third driving source 31 may be disposed on the carriage 1 directly or indirectly. As shown in fig. 4 and 6, in the present embodiment, the third drive source 31 is bolt-fastened to the slider 23, and the slider 23 is provided on the carriage 1 movably in the first direction, belonging to the indirect arrangement on the carriage 1. In this embodiment, the third driving source 31 can drive the vacuum nozzle 32 to move along the first direction, and when the first driving source 24 drives the sliding member 23 to move, the sliding member 23 can also drive the vacuum nozzle 32 to move along the first direction, and further when the pick-and-place member 200 is placed, the distance for placing the pick-and-place member 200 by moving the vacuum nozzle 32 along the first direction can be extended by using the third driving source 31 and the first driving source 24, so as to make up for the problem that the moving distance may be insufficient when the third driving source 31 alone drives the vacuum nozzle 32 to move along the first direction. In other embodiments, when the moving distance is sufficient, the third driving source 31 may be directly fixedly connected to the carriage 1, and only the third driving source 31 is used to drive the vacuum nozzle 32 to move in the first direction for placing the pick-and-place member 200.
Furthermore, it is conceivable that, in the present embodiment, the first clamping jaw 21 and the second clamping jaw 22 are provided on the clamping jaw assembly 2 to release the covering force between the pick-and-place member 200 and the product base body 100 and further remove the pick-and-place member 200 under the condition that the product base body 100 is small in size and light in weight. In other embodiments, when the product substrate 100 is heavy, the picking and placing element 200 can be used to pick the product substrate 100 without synchronously moving the product substrate 100 by merely clamping the picking and placing element 200 or abutting against the end surface of the picking and placing element 200 facing the product substrate 100, and then moving the picking and placing element 200 away from the product substrate 100 along the first direction, as shown in fig. 2, 4 and 6, on the basis of the picking and placing mechanism of the present embodiment, the structure of the clamping jaw assembly 2 of the present embodiment may be simply designed. Specifically, in other embodiments, the gripper assembly 2 of the pick and place mechanism after simplified design includes the first driving source 24 and the first gripper 21, and the two second clamping fingers 221 of the second gripper 22 are eliminated, and the first gripper 21 includes the second driving source 211, the two connecting arms 212, and the two first clamping fingers 213. The first driving source 24 is fixedly connected to the first carrier plate 11 of the carrier 1; the first clamping jaw 21 is fixedly connected to the sliding part 23, the sliding part 23 is fixedly connected to the output end of the first driving source 24, the first driving source 24 drives the first clamping jaw 21 to move along a first direction, the first clamping jaw 21 can clamp the taking and placing part 200 or abut against the end face, facing the product base body 100, of the taking and placing part 200, the first direction is parallel to the opening direction of the cover opening, i.e. the first jaws 21 are no longer used for gripping the product substrate 100 or against the end surface of the product substrate 100 facing the picking member 200, but rather for holding the pick-and-place element 200 or abutting against the end face of the pick-and-place element 200 facing the product substrate 100, then, the first driving source 24 drives the first clamping jaw 21 to move away from the product substrate 100 along the first direction, so that the covering force between the pick-and-place member 200 and the product substrate 100 can be released, and the pick-and-place member 200 can be removed, then the pick-and-place member 200 is placed in a placement station with a narrow space by the suction assembly 3.
The above description is only a preferred embodiment of the present invention, and for those skilled in the art, the present invention should not be limited by the description of the present invention, which should be interpreted as a limitation.
Claims (10)
1. Pick and place mechanism for picking and placing a pick and place element (200) with a cover arranged on a product substrate (100), comprising:
a carrier (1);
a clamping jaw assembly (2) arranged on the carrier (1), wherein the clamping jaw assembly (2) can release the covering force between the picking and placing part (200) and the product base body (100) so as to enable the picking and placing part (200) to be separated from the product base body (100);
adsorption element (3), set up in on carrier (1), adsorption element (3) can adsorb in get on the adsorption end face of putting piece (200), the adsorption end face with get and put the relative setting of flap on piece (200), adsorption element (3) can drive absorptive get and put piece (200) and follow the orientation motion of flap to place get and put piece (200).
2. Pick and place mechanism according to claim 1, characterised in that said jaw assembly (2) comprises:
a first clamping jaw (21) which can clamp the product base body (100) or can abut against the end face, facing the taking and placing part (200), of the product base body (100);
a second clamping jaw (22) capable of clamping the picking and placing part (200) or abutting against the end face of the picking and placing part (200) facing the product base body (100);
the first clamping jaw (21) and the second clamping jaw (22) can be far away from each other along a first direction, so that the taking and placing piece (200) is separated from the product base body (100) along the first direction, and the first direction is parallel to the opening direction of the cover opening.
3. Pick and place mechanism according to claim 2, characterised in that said jaw assembly (2) further comprises:
a slide (23) arranged on the carriage (1) so as to be movable along the first direction, one of the first jaw (21) and the second jaw (22) being connected to the carriage (1) and the other being connected to the slide (23);
a first drive source (24) provided on the carriage (1), the first drive source (24) being for driving the slider (23) to move in the first direction.
4. Pick and place mechanism as in claim 3, characterized in that said first jaw (21) comprises:
a second drive source (211) fixedly provided to the slider (23);
two connecting arms (212) which are respectively fixedly connected to the output ends of the second driving source (211);
the two first clamping fingers (213) are fixedly connected to each connecting arm (212), the second driving source (211) can drive the two connecting arms (212) to move close to or away from each other along a second direction perpendicular to the first direction, and therefore the two first clamping fingers (213) can be opened and closed.
5. The pick and place mechanism of claim 4, wherein the connecting arm (212) defines a guide through hole (2121) extending along the first direction, and the second clamping jaw (22) comprises:
two second clamping fingers (221) are slidably arranged in each guide through hole (2121) in a penetrating manner, the second clamping fingers (221) can be inserted into the carrier (1) in a sliding manner along the second direction, and along the first direction, the two second clamping fingers (221) are located on the same side of the two first clamping fingers (213), so that the second driving source (211) can drive the two first clamping fingers (213) and the two second clamping fingers (221) to synchronously open and close along the second direction, and the first driving source (24) can drive the two first clamping fingers (213) to approach to or leave from the two second clamping fingers (221) along the first direction.
6. Pick and place mechanism according to claim 3, characterised in that said jaw assembly (2) further comprises:
-a slide (25) fixedly connected to one of the carriage (1) and the slide (23), the slide (25) extending in the first direction;
the sliding block (26) is fixedly connected to the other one of the carrier (1) and the sliding piece (23), and the sliding block (26) is inserted on the sliding rail (25) in a sliding mode.
7. Pick and place mechanism as in claim 4, characterized in that said first jaw (21) further comprises:
and the closing limiting part (214) is arranged on the connecting arms (212) and extends along the second direction, and the closing limiting part (214) is used for limiting the distance between the two connecting arms (212) when being closed.
8. Pick and place mechanism according to claim 1, characterised in that said jaw assembly (2) comprises:
a first driving source (24) fixedly connected to the carrier (1);
first clamping jaw (21), fixed connection in on the output of first driving source (24), first driving source (24) are used for the drive first clamping jaw (21) move along first direction, first clamping jaw (21) can the centre gripping get put piece (200) or support and lean on in get put piece (200) orientation on the terminal surface of product base member (100), first direction with the orientation parallel of seting up of lid mouth.
9. Pick and place mechanism according to any of the claims 1-8, characterised in that the suction assembly (3) comprises:
a third drive source (31) provided on the carriage (1);
the vacuum suction head (32) is arranged at the output end of the third driving source (31), the vacuum suction head (32) is used for adsorbing the adsorption end face, the third driving source (31) is used for driving the vacuum suction head (32) to move along a first direction, and the first direction is parallel to the opening direction of the cover opening.
10. Pick and place mechanism according to claim 9, wherein the pick and place assembly (3) further comprises:
a tip guide rail (33) provided on the third drive source (31), the tip guide rail (33) extending in the first direction;
and the suction head guide block (34) is fixedly connected with the output end of the third driving source (31) and is inserted on the suction head guide rail (33) in a sliding manner, and the vacuum suction head (32) is fixedly connected to the suction head guide block (34).
Priority Applications (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN202010852089.XA CN111908115B (en) | 2020-08-21 | 2020-08-21 | Pick-and-place mechanism |
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| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN202010852089.XA CN111908115B (en) | 2020-08-21 | 2020-08-21 | Pick-and-place mechanism |
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| Publication Number | Publication Date |
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| CN111908115A true CN111908115A (en) | 2020-11-10 |
| CN111908115B CN111908115B (en) | 2022-01-28 |
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| Application Number | Title | Priority Date | Filing Date |
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| CN202010852089.XA Active CN111908115B (en) | 2020-08-21 | 2020-08-21 | Pick-and-place mechanism |
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Cited By (1)
| Publication number | Priority date | Publication date | Assignee | Title |
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| CN116331825A (en) * | 2023-04-18 | 2023-06-27 | 广东海洋大学 | Machine-made grabbing device |
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| Publication number | Publication date |
|---|---|
| CN111908115B (en) | 2022-01-28 |
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