CN111924521B - Pick-and-place mechanism and sorting device with same - Google Patents
Pick-and-place mechanism and sorting device with same Download PDFInfo
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- CN111924521B CN111924521B CN202010715950.8A CN202010715950A CN111924521B CN 111924521 B CN111924521 B CN 111924521B CN 202010715950 A CN202010715950 A CN 202010715950A CN 111924521 B CN111924521 B CN 111924521B
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- place mechanism
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- 230000007246 mechanism Effects 0.000 title claims abstract description 96
- 230000000149 penetrating effect Effects 0.000 claims abstract description 4
- 230000006835 compression Effects 0.000 claims description 18
- 238000007906 compression Methods 0.000 claims description 18
- 230000003044 adaptive effect Effects 0.000 claims description 13
- 230000003139 buffering effect Effects 0.000 claims description 8
- 230000000712 assembly Effects 0.000 claims description 3
- 238000000429 assembly Methods 0.000 claims description 3
- 238000013016 damping Methods 0.000 claims 5
- 239000000463 material Substances 0.000 abstract description 5
- 239000000872 buffer Substances 0.000 description 24
- 238000010586 diagram Methods 0.000 description 8
- 230000001105 regulatory effect Effects 0.000 description 6
- 230000033001 locomotion Effects 0.000 description 5
- 238000009434 installation Methods 0.000 description 3
- 238000000034 method Methods 0.000 description 3
- 230000008569 process Effects 0.000 description 3
- 238000003466 welding Methods 0.000 description 3
- 238000007664 blowing Methods 0.000 description 2
- 238000005299 abrasion Methods 0.000 description 1
- 230000009471 action Effects 0.000 description 1
- 230000006978 adaptation Effects 0.000 description 1
- 230000008859 change Effects 0.000 description 1
- 238000012986 modification Methods 0.000 description 1
- 230000004048 modification Effects 0.000 description 1
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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
Abstract
The picking and placing mechanism is provided with a sorting device of the picking and placing mechanism, the picking and placing mechanism comprises a picking and placing component, a fixed seat and an angle deviation self-adaptive component, the picking and placing component penetrates through the fixed seat, a containing hole penetrating through the fixed seat is formed in the fixed seat, and the angle deviation self-adaptive component is arranged in the containing hole; the angle deviation self-adaptive assembly is arranged on the pick-and-place mechanism, and the parallelism between the pick-and-place mechanism and the side edge of the material shuttle is adjusted, so that the suction nozzle guide bearing is prevented from being abraded violently when the pick-and-place mechanism moves in a variable distance mode along the X direction, and the stability of the pick-and-place mechanism is improved.
Description
Technical Field
The invention relates to the technical field of transportation, in particular to a pick-and-place mechanism and a sorting device with the pick-and-place mechanism.
Background
With the continuous development and growth of the consumer electronics industry, the industry chain of integrated circuits is becoming more and more perfect. On the basis, the development trend of the integrated circuit testing and sorting device is steadily developing towards high precision, high stability and high performance.
In the prior art, the suction nozzle guide bearing is severely abraded due to reasons such as insufficient precision of parts or unsmooth movement in the process of changing the distance of a pick-and-place mechanism in a sorting device.
Disclosure of Invention
In view of the above, there is a need for an improved pick and place mechanism, in which an angle deviation adaptive component is arranged to adjust the parallelism between the pick and place mechanism and the side edge of the material shuttle, so as to avoid severe wear of a suction nozzle guide bearing when the pick and place mechanism moves in an X direction with variable distance, improve the stability of the pick and place mechanism, and provide a suction nozzle device using the pick and place mechanism with a wide application prospect.
The invention relates to a pick-and-place mechanism which comprises a pick-and-place assembly, a fixed seat and an angle deviation self-adaptive assembly, wherein the pick-and-place assembly penetrates through the fixed seat, a containing hole penetrating through the fixed seat is formed in the fixed seat, and the angle deviation self-adaptive assembly is arranged in the containing hole.
According to the arrangement, the angle deviation self-adaptive assembly is arranged on the pick-and-place mechanism, and the parallelism between the pick-and-place mechanism and the side edge of the material shuttle is adjusted, so that the suction nozzle guide bearing is prevented from being severely abraded when the pick-and-place mechanism moves in a variable-pitch mode along the X direction, and the stability of the pick-and-place mechanism is improved.
In order to make angle deviation self-adaptation subassembly can adjust the depth of parallelism of X direction motion and chip, angle deviation self-adaptation subassembly includes that first linear bearing, Z direction adjust seat, Y direction and adjust seat and mount pad, the mount pad is installed on the side of fixing base, first straight-line bearing sleeve is located in the Y direction adjusts the seat, the one end that the seat was adjusted to the Y direction sets up shown Z direction and adjusts the seat, just the seat is adjusted to the Z direction rotatable install in the mount pad.
So set up for the depth of parallelism of X direction motion and chip can be adjusted to angular deviation self-adaptation subassembly.
In order to adjust the perpendicularity between the pick-and-place mechanism and the chip so as to keep the pick-and-place mechanism and the chip in a vertical blowing state, the pick-and-place mechanism further comprises a perpendicularity adjusting assembly, the perpendicularity adjusting assembly is fixedly mounted on the fixing base, and the perpendicularity adjusting assembly adjusts the perpendicularity of the pick-and-place assembly by adjusting the perpendicularity of the fixing base.
So set up, should get and put mechanism through setting up the straightness adjusting part that hangs down, adjust the straightness that hangs down between getting and putting mechanism and the chip to reach and get and put mechanism and chip and keep blowing the vertical state, and different suction nozzles when the height of difference, the interval of suction nozzle can not change, has improved the stability of getting and putting the mechanism
In order to make the straightness that hangs down the adjusting part and can adjust different directions, hang down the adjusting part and include X direction straightness adjusting part that hangs down and Y direction straightness adjusting part that hangs down, X direction straightness adjusting part that hangs down is connected with Y direction straightness adjusting part is articulated, just fixing base fixed connection in Y direction straightness adjusting part that hangs down.
So set up, through setting up the X direction straightness regulating part that hangs down and the Y direction straightness regulating part that hangs down for the straightness regulating assembly that hangs down not only can adjust X direction straightness that hangs down but also can adjust Y direction straightness that hangs down.
In order to adjust the X-direction verticality through the X-direction verticality adjusting piece conveniently, the two ends of the side part of the X-direction verticality adjusting piece are respectively provided with a first adjusting hole and a second adjusting hole, and the X-direction verticality adjusting piece is adjusted in an X-direction verticality mode through adjustment of the first adjusting hole and the second adjusting hole.
So set up, be in through the screw precession and screw-out in first regulation hole and the second regulation hole, the convenient X direction straightness that hangs down of adjusting through the X direction straightness regulating part that hangs down.
In order to adjust the Y-direction verticality through the Y-direction verticality adjusting piece conveniently, a third adjusting hole is formed in the front face of the Y-direction verticality adjusting piece, and the Y-direction verticality adjusting piece is adjusted in a Y-direction verticality manner through adjusting the third adjusting hole.
So set up, be in through the screw precession and screw-out in the third regulation hole, it is convenient right Y direction straightness regulating part that hangs down carries out Y direction straightness that hangs down and adjusts
In order to enable the picking and placing assembly to absorb the chip and drive the chip to move along the Z direction, the picking and placing assembly comprises a suction nozzle unit, a sliding shaft, a buffering unit and a guiding unit, the suction nozzle unit and the buffering unit are respectively arranged at two ends of the sliding shaft, the sliding shaft is sleeved with the guiding unit, the guiding unit is fixedly connected with the fixed seat, and the fixed seat slides along the sliding shaft through the guiding unit.
So set up, can make to get and put the subassembly and can absorb the chip through the suction nozzle unit to can slide and drive the chip and remove along the Z direction relatively the fixing base.
In order to reduce the impact on the sliding shaft when the sliding shaft moves along the Z direction, the buffer unit comprises a buffer seat and a compression spring, the sliding shaft is slidably mounted on the buffer seat, and the compression spring is mounted on the buffer seat and buffers the sliding shaft through the compression spring.
So set up for the slip axle when moving along Z direction, slow down the impact to the slip axle through compression spring and cushion socket
In order to enable the fixed seat to slide along the sliding shaft, the guide unit comprises a shaft sleeve and a second linear bearing, the second linear bearing is fixedly connected with the fixed seat through the shaft sleeve, and the second linear bearing slides along the sliding shaft.
So set up, the fixing base can slide along the sliding shaft through axle sleeve and the second linear bearing in the guide unit.
In order to enable the pick-and-place mechanism to move along the Y direction, the pick-and-place mechanism further comprises a sliding block and a sliding rail, the sliding block is fixedly installed on the X-direction verticality adjusting piece, and the sliding block is sleeved on the sliding rail and slides along the sliding rail.
So set up, through the slide rail that sets up the Y direction and install the slider on the X direction straightness regulating part that hangs down for it can move along the Y direction to get and put the mechanism.
The invention also provides a sorting device, which comprises the pick-and-place mechanism, a guide shaft and a plurality of pick-and-place mechanisms, wherein the guide shaft penetrates through the angle deviation self-adaptive assemblies of the pick-and-place mechanisms, and the pick-and-place mechanisms are arranged along the guide shaft at intervals.
The invention provides an improved pick-and-place mechanism, which is characterized in that an angle deviation self-adaptive assembly is arranged to adjust the parallelism between the pick-and-place mechanism and the side edge of a material shuttle, so that the suction nozzle guide bearing is prevented from being severely worn when the pick-and-place mechanism moves in a variable-pitch manner along the X direction, the stability of the pick-and-place mechanism is improved, and a suction nozzle device using the pick-and-place mechanism has wide application prospect.
Drawings
Fig. 1 is a schematic structural diagram of a pick and place mechanism according to an embodiment of the present invention;
FIG. 2 is a schematic view of the pick and place mechanism shown in FIG. 1 from another perspective;
FIG. 3 is a schematic view of a pick-and-place assembly of the pick-and-place mechanism shown in FIG. 1;
fig. 4 is a schematic structural view of the verticality adjusting assembly and the fixing base of the pick-and-place mechanism shown in fig. 1 fixed to each other;
fig. 5 is a schematic structural view of another view angle at which the verticality adjusting assembly and the fixing base are fixed to each other in the pick-and-place mechanism shown in fig. 1;
FIG. 6 is a schematic structural diagram of the angular deviation adaptive assembly mounted in the fixing base in the pick-and-place mechanism shown in FIG. 1;
FIG. 7 is a schematic view of the pick and place mechanism shown in FIG. 1 from another perspective of the angular deviation adaptive assembly mounted in the mounting base;
fig. 8 is a schematic structural view of a plurality of pick and place mechanisms shown in fig. 1 combined together.
100. A pick and place mechanism; 10. a picking and placing assembly; 11. a suction nozzle unit; 111. a suction nozzle; 112. rapidly replacing the nozzle seat; 113. a gas pipe joint; 114. a nozzle base; 115. a suction nozzle adjusting gasket; 12. a sliding shaft; 13. a buffer unit; 131. a buffer seat; 132. a compression spring; 14. a guide unit; 141. a shaft sleeve; 142. a second linear bearing; 143. a spline mother; 20. a fixed seat; 21. a housing hole; 30. a perpendicularity adjusting assembly; 31. an X-direction perpendicularity adjusting member; 311. a first adjustment aperture; 312. a second adjustment aperture; 313. a third locking hole; 314. a fourth locking hole; 32. a Y-direction perpendicularity adjusting part; 321. a third adjustment aperture; 322. a first mounting hole; 323. a second mounting hole; 324. a first locking hole; 325. a second locking hole; 40. an angular deviation adaptation component; 41. a first linear bearing; 42. a Z-direction adjusting seat; 43. a Y-direction adjusting seat; 431. a clamping seat; 44. a mounting seat; 45. a mounting seat adjusting gasket; 50. a guide shaft; 60. a slider; 61. a slide rail.
Detailed Description
The technical solutions in the embodiments of the present invention will be clearly and completely described below with reference to the accompanying drawings in the embodiments of the present invention, and it is apparent 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.
It will be understood that when an element is referred to as being "mounted on" another element, it can be directly mounted on the other element or intervening elements may also be present. When a component is referred to as being "disposed on" another component, it can be directly on the other component or intervening components may also be present. When an element is referred to as being "secured to" another element, it can be directly secured to the other element or intervening elements may also be present.
Unless defined otherwise, all technical and scientific terms used herein have the same meaning as commonly understood by one of ordinary skill in the art to which this invention belongs. The terminology used herein in the description of the invention is for the purpose of describing particular embodiments only and is not intended to be limiting of the invention. As used herein, the term "or/and" includes any and all combinations of one or more of the associated listed items.
With the continuous development and growth of the consumer electronics industry, the industry chain of integrated circuits is becoming more and more perfect. On the basis, the development trend of the integrated circuit testing and sorting device is steadily developing towards high precision, high stability and high performance.
In the prior art, in the process of changing the distance between a pick-and-place mechanism in a sorting device, the parallelism between the pick-and-place mechanism and a material shuttle is not high, so that the problem of severe abrasion of a suction nozzle guide bearing is caused.
In view of the above, there is a need for an improved pick and place mechanism, which adjusts the parallelism between the pick and place mechanism and the side edge of the shuttle by providing an angle deviation adaptive component, so as to avoid the suction nozzle guide bearing from being worn severely when the pick and place mechanism moves in the X direction with variable distance, and improve the stability of the pick and place mechanism.
Referring to fig. 1 to 3, fig. 1 is a schematic structural diagram of a pick and place mechanism according to an embodiment of the present invention, fig. 2 is a schematic structural diagram of another view angle of the pick and place mechanism shown in fig. 1, and fig. 3 is a schematic structural diagram of a pick and place assembly in the pick and place mechanism shown in fig. 1.
The invention provides a pick-and-place mechanism 100, the pick-and-place mechanism 100 comprises a pick-and-place component 10, a fixed seat 20 and a verticality adjusting component 30, the pick-and-place component is arranged on the fixed seat 20 in a penetrating mode, the verticality adjusting component 30 is fixedly arranged on the fixed seat 20, and the verticality adjusting component 30 adjusts the verticality of the pick-and-place component by adjusting the verticality of the fixed seat 20.
In the present embodiment, the pick-and-place mechanism 100 includes a pick-and-place assembly 10, and the pick-and-place assembly 10 is used for driving the chip to move in the Z direction.
In this embodiment, the pick-and-place assembly 10 is substantially in a long column shape, the pick-and-place assembly 10 includes a suction nozzle unit 11, a sliding shaft 12, a buffering unit 13 and a guiding unit 14, the suction nozzle unit 11 and the buffering unit 13 are respectively disposed at two ends of the sliding shaft 12, the buffering unit 13 is configured to provide a buffering effect for the sliding shaft 12, the suction nozzle unit 11 is configured to provide a suction force for a chip to move along with the suction nozzle unit 11, the guiding unit 14 is sleeved on the sliding shaft 12, the guiding unit 14 is fixedly connected to the fixing base 20, and the fixing base 20 slides along the sliding shaft 12 through the guiding unit 14.
Specifically, the buffer unit 13 includes a mounting assembly buffer seat 131 and a compression spring 132, the buffer seat 131 is substantially cylindrical and hollow inside, a sliding hole capable of accommodating the sliding shaft 12 is formed, a sliding groove is formed in the length direction of the side wall buffer seat 131 of the sliding hole, the sliding shaft 12 slides along the sliding groove, the compression spring 132 is fixedly mounted at the top of the sliding hole, and the compression spring 132 is used for reducing the impact of the sliding shaft 12 on the buffer seat 131.
It is understood that the present invention is not limited to the position where the compression spring 132 is disposed, and in other embodiments, the compression spring 132 is fixedly installed at the end of the sliding shaft 12, so that the impact of the sliding shaft 12 on the compression spring 132 is reduced, as long as the compression spring 132 is made to reduce the impact of the sliding shaft 12 on the compression spring.
In the present embodiment, the impact of the slide shaft 12 on the buffer seat 131 is reduced by selecting the compression spring 132, but the present invention is not limited to reducing the impact of the slide shaft 12 on the buffer seat 131 by using the compression spring 132, and in other embodiments, the slide shaft may be provided with a rubber block or an elastic piece as long as the slide shaft 12 can be buffered.
In the present embodiment, the sliding shaft 12 is provided as a spline shaft, and one end of the sliding shaft 12 is slidably connected to the buffer unit 13 and the other end is fixedly mounted to the suction nozzle unit 11; one end of being connected with buffer unit 13 is provided with prevents changeing the pin, prevents changeing pin fixed mounting at the tip of sliding shaft 12 to the joint is in the last sliding tray of buffer seat 131, and sliding shaft 12 slides in the sliding hole, prevents changeing the distance of pin restriction sliding shaft 12, and prevents that buffer unit 13 from rotating.
It should be noted that a first snap spring is further disposed between the anti-rotation pin and the buffer seat 131, so that the anti-rotation pin is fixedly mounted on the sliding shaft 12, and the anti-rotation pin is prevented from falling off.
It is understood that the present invention is not limited to the arrangement of the rotation preventing pins, and in other embodiments, a sliding groove may be provided inside the buffer seat 131, so that the sliding shaft 12 moves in the direction of the sliding groove to prevent the buffer unit 13 from rotating.
In the present embodiment, the guide unit 14 includes a spline nut 143, a shaft sleeve 141, and a second linear bearing 142, the spline nut 143 and the second linear bearing 142 are mounted on the fixed base 20 through the shaft sleeve 141, the spline nut 143 is used for preventing the sliding shaft 12 and the fixed base 20 from sliding in the circumferential direction, and the second linear bearing 142 is used for sliding the sliding shaft 12 on the guide unit 14.
Specifically, from the buffer unit 13 end of the sliding shaft 12 to the suction nozzle unit 11 end, the spline nut 143, the shaft sleeve 141 and the second linear bearing 142 are sequentially and fixedly mounted to each other, and the spline nut 143 and the second linear bearing 142 are fixedly connected to the fixing base 20, so that the sliding shaft 12 can slide on the guide unit 14.
It is understood that, in addition to the invention limiting the circumferential rotation of the fixed seat 20 and the sliding shaft 12 by providing the spline nut 143, other embodiments may also be adopted to keep the fixed seat 20 and the sliding shaft 12 relatively stationary in the circular axis direction, for example, a sliding groove is provided on the sliding shaft 12.
In the present embodiment, the suction nozzle unit 11 includes a suction nozzle 111, a quick nozzle changing base 112, a suction nozzle adjusting gasket 115, an air pipe joint 113 and a suction nozzle base 114, the suction nozzle 111 is used for sucking chips, the quick nozzle changing base 112 is used for quickly changing different suction nozzles 111, the suction nozzle adjusting gasket 115 is used for adjusting the suction angle of the suction nozzle 111, the air pipe joint 113 is used for externally connecting a pneumatic device, pneumatically sucking chips, and the suction nozzle base 114 is used for mounting working components in the suction nozzle unit 11.
Specifically, the suction nozzle seat 114 is fixedly connected to the end of the sliding shaft 12, the suction nozzle adjusting gasket 115 is fixedly installed on the suction nozzle seat 114, the air pipe joint 113 is fixedly installed on the suction nozzle 111 adjusting seat and is connected with an external pneumatic device through an air pipe, the quick nozzle changing seat 112 is fixedly installed with the air pipe joint 113, the suction nozzle 111 is installed on the quick nozzle changing seat 112, and the suction nozzle 111 is connected with the air pipe joint 113 through the quick nozzle changing seat 112, so that the suction nozzle 111 is connected with the external pneumatic device in an installing manner, and a chip is taken and placed.
In the present embodiment, the pick-and-place mechanism 100 further includes a fixing base 20, wherein the pick-and-place assembly 10 is disposed through the fixing base 20, and the guide unit 14 in the pick-and-place assembly 10 is fixedly connected to the fixing base 20, and the fixing base 20 can slide along the sliding shaft 12 through the guide unit 14.
Specifically, the fixing base 20 is substantially L-shaped, a through hole allowing the sliding shaft 12 in the taking and placing assembly 10 to pass through is formed in the middle of one side of the fixing base 20, and a containing hole 21 is formed in the other side of the fixing base 20.
It should be understood that the shape of the fixing base 20 is not limited by the present invention, and in other embodiments, the fixing base 20 may also be a cuboid shape, as long as the taking and placing component 10 can penetrate through the fixing base 20, and the verticality adjusting component 30 can be installed on the fixing base 20.
In the embodiment, a cam guide is disposed at a top end of the pick-and-place assembly 10 close to the buffer seat 131, the cam guide is mounted on a cam mounting seat, and the cam mounting seat is fixedly connected to the buffer seat 131, and the cam guide is used for transmitting a driving force of the Z-direction movement to the pick-and-place assembly 10.
Referring to fig. 4 to 5, fig. 4 is a schematic structural view illustrating the fixing of the verticality adjusting assembly and the fixing base in the pick-and-place mechanism shown in fig. 1, and fig. 5 is a schematic structural view illustrating another perspective of the fixing of the verticality adjusting assembly and the fixing base in the pick-and-place mechanism shown in fig. 1.
In this embodiment, the taking and placing assembly 10 further includes a verticality adjusting assembly 30, the verticality adjusting assembly 30 is fixedly installed on the fixing base 20 and is installed on a side of the fixing base 20 relatively far away from the accommodating hole 21, and the verticality adjusting assembly 30 is used for adjusting the verticality of the fixing base 20.
Specifically, the verticality adjusting assembly 30 is fixedly installed on one side of the fixing base 20 relatively far away from the accommodating hole 21, the verticality adjusting assembly 30 comprises an X-direction verticality adjusting piece 31 and a Y-direction verticality adjusting piece 32, the upper end and the lower end of the Y-direction verticality adjusting assembly 30 are respectively provided with a first mounting hole 322 and a second mounting hole 323, the first mounting hole 322 and the second mounting hole 323 are respectively matched and screwed through screws, the Y-direction verticality adjusting piece is fixedly installed on the fixing base 20, the X-direction verticality adjusting piece 31 is hinged with the Y-direction verticality adjusting piece 32, the Y-direction verticality adjusting piece 32 is symmetrically provided with a first locking hole 324 and a second locking hole 325 about a hinge center, a third locking hole 313 and a fourth locking hole 314 are correspondingly arranged at the same position of the X-direction verticality adjusting piece 31, the first locking hole 324 and the third locking hole 313 and the second locking hole 325 and the fourth locking hole 314 are arranged through threaded connectors The screwing-in and screwing-out control the fixing and the loosening of the X-direction verticality adjusting piece 31 and the Y-direction verticality adjusting piece 32,
it can be understood that the fixing manner of the X-direction verticality adjusting element 31 and the Y-direction verticality adjusting element 32 is not limited by the present invention, and in other embodiments, the X-direction verticality adjusting element 31 and the Y-direction verticality adjusting element 32 may be fixedly connected by welding, as long as the X-direction verticality adjusting element 31 and the Y-direction verticality adjusting element 32 are fixedly connected.
In this embodiment, the upper and lower ends of the side surface of the X-direction perpendicularity adjusting member 31 at the end away from the fixed base 20 are further respectively provided with a first adjusting hole 311 and a second adjusting hole 312, the first adjusting hole 311 and the second adjusting hole 312 penetrate through the X-direction perpendicularity adjusting member 31, and the perpendicularity in the X-direction of the fixed base 20 is controlled by installing screws in the first adjusting hole 311 and the second adjusting hole 312 and screwing the screws in and out of the screw holes; the position where the fixed seat 20 coincides with the Y-direction verticality adjusting piece 32 is provided with a third adjusting hole 321, and the Y-direction verticality adjusting piece 32 is adjusted by screwing in and out a screw in the third adjusting hole 321 to control the verticality of the fixed seat 20 in the Y direction.
It can be understood that the invention is not limited to the adjusting manner of the X-direction perpendicularity adjusting member 31 and the Y-direction perpendicularity adjusting member 32, and in other embodiments, the X-direction perpendicularity adjusting member 31 and the Y-direction perpendicularity adjusting member 32 can be adjusted by means of ratchet clamping, as long as the perpendicularity of the fixing seat 20 can be adjusted by means of adjusting the X-direction perpendicularity adjusting member 31 and the Y-direction perpendicularity adjusting member 32.
Referring to fig. 6 to 7, fig. 6 is a schematic structural diagram of an angular deviation adaptive assembly installed in a fixing base in the pick-and-place mechanism shown in fig. 1, and fig. 7 is a schematic structural diagram of another view angle of the angular deviation adaptive assembly installed in the fixing base in the pick-and-place mechanism shown in fig. 1.
In this embodiment, the taking and placing structure further includes an angle deviation adaptive assembly 40, the angle deviation adaptive assembly 40 includes a first linear bearing 41, a Z-direction adjusting seat 42, a Y-direction adjusting seat 43 and a mounting seat 44, the first linear bearing 41 is used for enabling the fixing seat 20 to slide along the guide shaft 50, the Z-direction adjusting seat 42 is used for adjusting the angle deviation of the Z-direction, the Y-direction adjusting seat 43 is used for adjusting the angle deviation of the Y-direction, and the mounting seat 44 is used for mounting the Z-direction adjusting seat 42 and the Y-direction adjusting seat 43.
Specifically, in the present embodiment, the first linear bearing 41 is sleeved in the Y-direction adjusting seat 43, the Y-direction adjusting seat 43 is inserted into the accommodating hole 2 of the fixing seat 20, the end of the Y-direction adjusting seat 43 is protruded with the clamping seat 431, the clamping seats 431 are protruded on the left and right sides of the end of the Y-direction adjusting seat 43, the clamping seats 431 are respectively opened with the clamping holes, the positions of the Z-direction adjusting seat 42 corresponding to the clamping holes of the clamping seat 431 are also respectively opened with the clamping holes, the Z-direction adjusting seat 42 and the Y-direction adjusting seat 43 are connected by the way that the two ends of the pin respectively extend into the connecting holes of the Z-direction adjusting seat 42 and the clamping seat 431, one end of the pin is fixedly connected with the clamping seat 431, the other end of the pin is in clearance fit with the Z-direction adjusting seat 42, that the clamping seat 431 is rotatably connected to the two sides of the Z-direction adjusting seat 42, and the diameter of the accommodating hole 21 is larger than the outer diameter of the Y-direction adjusting seat 43, so that the Y-direction adjusting seat 43 can swing up and down; wherein, one end of a pin can be fixedly connected with the Z-direction adjusting seat 42, the other end of the pin is in clearance fit with the clamping seat 431, the upper and lower ends of the Z-direction adjusting seat 42 are also provided with clamping holes, the mounting seat 44 is also provided with clamping holes at the positions corresponding to the clamping holes at the upper and lower ends of the Z-direction adjusting seat 42, the Z-direction adjusting seat 42 is rotatably mounted on the mounting seat 44 in the same manner through the pin, so that the Y-direction adjusting seat 43 can swing left and right, and the mounting seat 44 is fixedly mounted on the fixing seat 20 in a thread fixing manner; therefore, the Y-direction adjusting seat 43 can swing up and down and left and right under the action of the Y-direction adjusting seat and the Z-direction adjusting seat 42, so that the pick-and-place mechanism can realize angle deviation self-adaption in the process of changing the pitch along the X direction, and the guide linear bearing of the pick-and-place mechanism is prevented from being abraded violently when the pick-and-place mechanism moves along the X direction.
It is understood that the present invention is not limited to the connection between the Z-direction adjustment seat 42 and the Y-direction adjustment seat 43 and the connection between the Z-direction adjustment seat and the mounting seat 44, and that the above-mentioned rotational connection may be implemented by using bearings in other embodiments.
In this embodiment, the angle deviation adaptive assembly 40 further includes a mounting seat adjusting shim 45, the mounting seat adjusting shim 45 is installed on a surface of the fixing seat 20 relatively far away from the mounting seat 44, and is fixedly connected with the mounting seat 44 through a connection manner of a threaded connection, so that the mounting seat 44 is locked on the fixing seat 20.
It should be understood that the present invention is not limited to the installation manner of the adjusting pad of the fixing base 20, and in other embodiments, the installation base 44 may be fixed on the fixing base 20 by welding, as long as the installation base 44 is fixed on the fixing base 20.
In this embodiment, the angle deviation adaptive assembly 40 further includes a second snap spring, the second snap spring is disposed at one end of the linear bearing far from the snap seat 431 and is snapped to the Y-direction adjusting seat 43 to prevent the linear bearing from moving.
In the present embodiment, the pick and place mechanism 100 further includes a slide block 60 and a slide rail 61, the slide block 60 is fixedly mounted on the X-direction verticality adjusting member 31, and the slide rail 61 is disposed along the Y direction for moving the pick and place mechanism 100 along the Y direction.
Specifically, the through-hole of the adjusting piece that wears to establish the Y direction straightness that hangs down is seted up to the upper and lower both sides of the articulated position department at the middle part of Y direction straightness adjusting piece 32 that hangs down, and the through-hole of wearing to establish X direction straightness adjusting piece 31 is seted up to the position department that corresponds the through-hole on the X reversal adjusting piece, and the through-hole that corresponds X direction straightness adjusting piece 31 on the slider 60 is provided with the through-hole, connect X direction straightness adjusting piece 31 and slider 60 that hangs down through threaded connection spare, make X direction straightness adjusting piece 31 and slider 60 fixed connection that hangs down, slider 60 slidable mounting is on slide rail 61, make and get and put mechanism 100 and can follow the Y direction and remove.
It should be understood that the invention is not limited to the fixing connection manner of the X-direction verticality adjusting member 31 and the sliding block 60, and in other embodiments, the X-direction verticality adjusting member 31 and the sliding block 60 are fixedly connected by welding, so long as the X-direction verticality adjusting member 31 and the sliding block 60 are fixedly connected.
Referring to fig. 8, fig. 8 is a schematic structural diagram of a plurality of pick-and-place mechanisms shown in fig. 1 combined together.
The present invention further provides a sorting apparatus, which includes any one of the above pick-and-place mechanisms 100, and further includes a guide shaft 50, wherein the guide shaft 50 is disposed through the second linear bearing 142 in the angular deviation adaptive assembly 40.
In this embodiment, the sorting apparatus includes a plurality of pick and place mechanisms 100, and the plurality of pick and place mechanisms 100 cooperate with each other to pick and place the integrated circuits.
Specifically, in the present embodiment, the sorting apparatus includes four pick-and-place mechanisms 100, and the second linear bearings 142 in the angular deviation adaptive assemblies 40 of the four pick-and-place mechanisms 100 are synchronously disposed through the same guide shaft 50, so that four different pick-and-place mechanisms 100 can slide along the guide shaft 50, and at the same time, four different pick-and-place mechanisms 100 can be used for variable pitch movement; the mounting seat adjusting gasket 45 is fixedly connected with the mounting seat 44, and can adjust the height consistency of the four linear bearings in the Z direction.
It is understood that the number of pick and place mechanisms 100 is not limited by the present invention, and in other embodiments, the pick and place assembly 10 may be provided in five, six or other numbers as long as the pick and place mechanisms 100 can work normally.
The features of the above-described embodiments may be arbitrarily combined, and for the sake of brevity, all possible combinations of the features in the above-described embodiments are not described, but should be construed as being within the scope of the present disclosure as long as there is no contradiction between the combinations of the features.
It should be understood by those skilled in the art that the above embodiments are only for illustrating the present invention and are not to be used as a limitation of the present invention, and that suitable changes and modifications of the above embodiments are within the scope of the claimed invention as long as they are within the spirit and scope of the present invention.
Claims (10)
1. The pick-and-place mechanism is characterized by comprising a pick-and-place component (10), a fixed seat (20) and an angle deviation self-adaptive component (40), wherein the pick-and-place component (10) penetrates through the fixed seat (20), a containing hole (21) penetrating through the fixed seat (20) is formed in the fixed seat (20), the angle deviation self-adaptive component (40) is installed in the containing hole (21), the angle deviation self-adaptive component (40) comprises a first linear bearing (41), a Z-direction adjusting seat (42), a Y-direction adjusting seat (43) and a mounting seat (44), the mounting seat (44) is fixedly installed on the side surface of the fixed seat (20), the first linear bearing (41) is sleeved in the Y-direction adjusting seat (43), the Z-direction adjusting seat (42) is arranged at one end of the Y-direction adjusting seat (43), and the Z-direction adjusting seat (42) is rotatably arranged on the mounting seat (44).
2. The pick and place mechanism of claim 1, further comprising a verticality adjusting assembly (30), wherein the verticality adjusting assembly (30) is fixedly mounted on the fixing base (20), and the verticality adjusting assembly (30) adjusts the verticality of the pick and place assembly (10) by adjusting the verticality of the fixing base (20).
3. Pick and place mechanism according to claim 2, characterised in that said perpendicularity adjusting assembly (30) comprises an X-direction perpendicularity adjusting member (31) and a Y-direction perpendicularity adjusting member (32), said X-direction perpendicularity adjusting member (31) being hingedly connected with said Y-direction perpendicularity adjusting member (32), and said fixing seat (20) being fixedly connected to said Y-direction perpendicularity adjusting member (32).
4. The pick and place mechanism of claim 3, wherein the X-direction perpendicularity adjusting member (31) is provided with a first adjusting hole (311) and a second adjusting hole (312) at both ends of a side portion thereof, respectively, and the X-direction perpendicularity adjusting member (31) is adjusted in X-direction perpendicularity by adjusting the first adjusting hole (311) and the second adjusting hole (312).
5. The pick and place mechanism of claim 3, wherein the Y-direction verticality adjusting member (32) is provided with a third adjusting hole (321) on the front surface thereof, and the Y-direction verticality adjusting member (32) is adjusted by adjusting the third adjusting hole (321).
6. The pick-and-place mechanism of claim 1, wherein the pick-and-place assembly (10) comprises a suction nozzle unit (11), a sliding shaft (12), a buffering unit (13) and a guiding unit (14), the suction nozzle unit (11) and the buffering unit (13) are respectively disposed at two ends of the sliding shaft (12), the guiding unit (14) is sleeved on the sliding shaft (12), the guiding unit (14) is fixedly connected with the fixing base (20), and the fixing base (20) slides along the sliding shaft (12) through the guiding unit (14).
7. Pick and place mechanism according to claim 6, characterised in that the damping unit (13) comprises a damping seat (131) and a compression spring (132), the sliding shaft (12) being slidably mounted on the damping seat (131), the compression spring (132) being mounted on the damping seat (131) and damping the sliding shaft (12) by means of the compression spring (132).
8. Pick and place mechanism according to claim 7, wherein the guiding unit (14) comprises a shaft sleeve (141) and a second linear bearing (142), the second linear bearing (142) being fixedly connected to the fixed base (20) by the shaft sleeve (141), and the second linear bearing (142) sliding along the sliding shaft (12).
9. The pick and place mechanism of claim 3, further comprising a slide block (60) and a slide rail (61), wherein the slide block (60) is fixedly mounted on the X-direction verticality adjusting member (31), and the slide block (60) is sleeved on the slide rail (61) and slides along the slide rail (61).
10. Sorting device, characterized in that it comprises a pick and place mechanism according to any one of claims 1 to 9, said sorting device further comprising a guide shaft (50) and a plurality of said pick and place mechanisms, said guide shaft (50) passing through a plurality of angular deviation adaptive assemblies (40) of said pick and place mechanisms and said plurality of pick and place mechanisms being arranged at intervals along said guide shaft (50).
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| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN202010715950.8A CN111924521B (en) | 2020-07-23 | 2020-07-23 | Pick-and-place mechanism and sorting device with same |
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| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN202010715950.8A CN111924521B (en) | 2020-07-23 | 2020-07-23 | Pick-and-place mechanism and sorting device with same |
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| CN111924521A CN111924521A (en) | 2020-11-13 |
| CN111924521B true CN111924521B (en) | 2022-04-26 |
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| CN109079836A (en) * | 2018-10-26 | 2018-12-25 | 蓝思智能机器人(长沙)有限公司 | A kind of adjustable pitch-changing mechanism and manipulator |
| CN208326657U (en) * | 2018-04-16 | 2019-01-04 | 大族激光科技产业集团股份有限公司 | Sheet material automatically processing device |
| CN210557930U (en) * | 2019-07-19 | 2020-05-19 | 深圳市深科达半导体科技有限公司 | Suction nozzle taking and placing device |
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| EP0200025A2 (en) * | 1985-05-02 | 1986-11-05 | Max Kettner Verpackungsmaschinenfabrik GmbH & Co. KG | Device for picking up and transferring receptacles |
| CN1174580A (en) * | 1994-12-08 | 1998-02-25 | 阿塞尔林 | Needle loom with sliding shank |
| CN207645330U (en) * | 2017-11-06 | 2018-07-24 | 歌尔科技有限公司 | Two-way gap changing device |
| CN208326657U (en) * | 2018-04-16 | 2019-01-04 | 大族激光科技产业集团股份有限公司 | Sheet material automatically processing device |
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| Publication number | Publication date |
|---|---|
| CN111924521A (en) | 2020-11-13 |
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