CN204250922U - Realize the x-y platform die set of open-close type manipulator accurate pick-and-place rule material - Google Patents
Realize the x-y platform die set of open-close type manipulator accurate pick-and-place rule material Download PDFInfo
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- CN204250922U CN204250922U CN201420568404.6U CN201420568404U CN204250922U CN 204250922 U CN204250922 U CN 204250922U CN 201420568404 U CN201420568404 U CN 201420568404U CN 204250922 U CN204250922 U CN 204250922U
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- 230000033001 locomotion Effects 0.000 description 33
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Abstract
A kind of x-y platform die set realizing open-close type manipulator accurate pick-and-place rule material, it comprises the framing member for connecting component suction nozzle and the x-axis module that is connected on framing member and y-axis module, and described x-axis module and y-axis module drive several four component suction nozzles slide blocks to move along x-axis and y-axis.X-axis module comprises x-axis motor, the first Timing Belt wheels, coupler, ball spline and the second Timing Belt wheels, y-axis motor in y-axis module is fixed on riser, one end of screw mandrel is connected with the output shaft of motor, and screw mandrel is connected with the screw nut driving be fixed on transfer arm.The utility model and vertical control system arrange in pairs or groups use effectively can improve material and capture automation, precision and efficiency, it can realize along X, Y-axis fast accurate mobile, and compact conformation, be applicable to controlling with other existing platform to arrange in pairs or groups and use, the regular material production process of the various fritter such as IC chip, tablet, hardware can be widely used in.
Description
Technical field
The utility model relates to a kind of mechanical device for material pick-and-place, particularly relates to a kind of x-y platform die set realizing open-close type manipulator accurate pick-and-place rule material.
Background technology
At present, the pick-and-place process of material is very general in the material production of the various fritter such as IC chip, tablet, hardware rule is moved; In the process of manufacture of various fritter rule material, often need by it from an accurate pick-and-place in position to another position, as semiconductor chip often needs capture from a kind of specification matrix form charging tray and be precisely put into another kind of specification matrix form charging tray; And for example in tablet Production and Packaging process, often need encapsulation its tablet groove from a kind of charging tray pick-and-place of specification to another kind of specification; For another example in hardware Production and Packaging process, above-mentioned situation can be run into equally.Therefore, in the process of manufacture of various fritter rule material, need a large amount of pick-and-place carrying work, and these pick-and-place carrying work are in the past all realize by artificial, extensively adopt now various pick-and-place device to realize.
Existing pick-and-place device generally also needs manually to adjust, as shown in Figure 10 for having four suction nozzles completely by the pick-and-place materials device of artificial adjustment spacing, it can be placed on corresponding motion platform, utilizes the motion of motion platform, carries out pick-and-place to various fritter rule material.Before material grasping, need be first adjusted to consistent by the spacing of grabbing material with on material grasping dish by the artificial spacing by four suction nozzles.During blowing, its process is as shown in figure 11, because of the blowing spacing of discharge plate and the material grasping spacing of material grasping dish inconsistent, four blocks of materials on the pick-and-place materials device of four suction nozzles just can not carry out blowing simultaneously, just will can complete blowing as putting as shown in Figure 11 four times.This grabs than some the device progress to some extent that one piece puts one piece.
At present, have also appeared the pick-and-place materials device of a kind of four nozzle portion as shown in figure 12 by artificial adjustment spacing, it can be placed on corresponding motion platform, utilizes the motion of motion platform, carries out pick-and-place to various fritter rule material.Before material grasping, need first to be adjusted to consistent by the spacing of grabbing material with on material grasping dish by artificial by two suction nozzle intervals on a direction in four suction nozzles, on the another one direction in four suction nozzles, two suction nozzle interval adjustment are adjusted automatically by the positive and negative screw rod of driven by motor.During blowing, its process as shown in figure 13, when material grasping complete move to discharge plate time, the positive and negative bolt rotary of driven by motor, make the suction nozzle interval on a direction consistent with the blowing spacing of discharge plate, so once can put two blocks of materials simultaneously, just can complete blowing task twice, it improves twice than the pick-and-place materials device efficiency shown in Figure 10.
Above two kinds of discharging devices, all need manually completely or partially to adjust suction nozzle interval, this will make pick-and-place positioning precision be affected due to artificial alignment error.And one time material grasping repeatedly just will can complete blowing by blowing, also makes the precision of blowing and speed be affected, thus has an impact to the quality of production and production efficiency.
Utility model content
The purpose of this utility model is to provide a kind of x-y platform die set realizing open-close type manipulator accurate pick-and-place rule material, and it has compact conformation, can realize the advantage that folding accurately controls.
The utility model is achieved like this, a kind of x-y platform die set realizing open-close type manipulator accurate pick-and-place rule material, it is characterized in that, it comprises the framing member for connecting component suction nozzle and the x-axis module that is connected on framing member and y-axis module, and described x-axis module and y-axis module drive the first component suction nozzle, the second component suction nozzle, the 3rd component suction nozzle and the 4th component suction nozzle slide block to move along x-axis and y-axis;
The framing member of described x-y platform module comprises riser, right arm, header board, transfer arm and left arm, and described riser, right arm, header board are connected with left arm and form rectangle frame structure, parallel with header board, and are positioned at rectangle frame structure near the transfer arm of header board;
Described riser is provided with the riser inboard track of a transverse direction, and the second component suction nozzle is connected on riser inboard track by the second component suction nozzle skid, and the first component suction nozzle being positioned at the second component suction nozzle side is fixedly connected on inside riser;
The medial surface of described transfer arm is also provided with a guide rail parallel with riser inboard track, four component suction nozzle just right with the second component suction nozzle is connected with slide by the 4th component suction nozzle slide block, is just fixedly connected on the inner side of transfer arm to the 3rd component suction nozzle of the first component suction nozzle; Described left arm and right arm are respectively equipped with transfer arm left rail and the right guide rail of transfer arm of a transverse direction, and the two ends of transfer arm are connected with transfer arm left rail and the right slide of transfer arm respectively by transfer arm end slide block.
Described x-axis module comprises x-axis motor, the first Timing Belt wheels, coupler, ball spline and the second Timing Belt wheels, described x-axis motor is fixed on riser, the output shaft of x-axis motor connects the first Timing Belt wheels, first Timing Belt wheels connect one end of ball spline by coupler, the other end axle of ball spline is connected on header board, and ball spline is connected with the second Timing Belt wheels;
The Timing Belt of described first Timing Belt wheels is fixedly connected with the second component suction nozzle, drives the second component suction nozzle to slide by the first Timing Belt wheels; The Timing Belt of described second Timing Belt wheels is fixedly connected with the 4th component suction nozzle, drives the 4th component suction nozzle to slide by the second Timing Belt wheels.
Described y-axis module comprises y-axis motor, feed screw nut and screw mandrel, and described y-axis motor is fixed on riser, and one end of screw mandrel is connected with the output shaft of motor, and screw mandrel is connected with the screw nut driving be fixed on transfer arm.
The beneficial effects of the utility model are: the utility model and vertical control system arrange in pairs or groups use effectively can improve material and capture automation, precision and efficiency, the utility model can along X, Y-axis fast accurate mobile, it is convenient to control, and compact conformation, be applicable to controlling with other existing platform to arrange in pairs or groups and use, the regular material production process of the various fritter such as IC chip, tablet, hardware can be widely used in.
Accompanying drawing explanation
Fig. 1 is the perspective view that the utility model and z-axis module are connected.
Fig. 2 is the utility model and the structure installment schematic diagram of z-axis module and corresponding motion platform.
Fig. 3 is the Standard figure of z-axis module.
Fig. 4 is the structural blast figure of z-axis module
Fig. 5 is the utility model structural representation.
Fig. 6 is the structural representation after the utility model removes header board.
Fig. 7 is the utility model riser and the second component suction nozzle connection structure schematic diagram.
Fig. 8 is the connection structure schematic diagram of the utility model transfer arm and the 4th component suction nozzle, left arm and right arm.
Fig. 9 is the structural representation of component suction nozzle.
Figure 10 is existing completely by the pick-and-place materials device structural representation of artificial adjustment spacing.
Figure 11 is the pick-and-place materials device working process schematic diagram shown in Figure 10.
Figure 12 is the pick-and-place materials device structural representation of existing part by artificial adjustment spacing.
Figure 13 is the pick-and-place materials device working process schematic diagram shown in Figure 12.
1, wire clamp 2, connecting panel 3, gas row 4, z-axis motor 5, balance spring screw 6, balance spring 7, z-axis module riser 8, z-axis line slideway 9, slide block 10, slide attachment plate 11, roller groove 12, roller 13, eccentric shaft 14, x-axis motor 15, first Timing Belt wheels 16, y-axis motor 17, riser 18, ball spline 19, second Timing Belt wheels 20, right arm 21, feed screw nut 22, header board 23, transfer arm 24, transfer arm left rail 25, left arm 26, 4th component suction nozzle 27, second component suction nozzle 28, 3rd component suction nozzle 29, first component suction nozzle 30, the right guide rail 31 of transfer arm, screw mandrel 32, riser inboard track 33, second component suction nozzle slide block 34, transfer arm end slide block 35, 4th component suction nozzle slide block 36, coupler 37, cylinder mounting block 38, Buffer Unit 39, power connecting panel 40, contiguous block 41, suction nozzle contiguous block 42, suction nozzle 43, vacuum air-channel 44, line slideway 45, component suction nozzle mount pad 46, suction nozzle lift cylinder.
Detailed description of the invention
Below in conjunction with accompanying drawing, detailed description of the invention of the present utility model is described further.
As shown in Figure 1, enforcement of the present utility model and Z axis module are arranged in pairs or groups to be connected and are used, it comprise be fixedly connected with on the moving platform for realize z-axis motion z-axis module, for realizing the utility model that suction nozzle module moves along x, y-axis and the suction nozzle module be made up of several component suction nozzles be connected on the utility model;
Described the utility model and z-axis module vertically sliding block joint, the utility model moves along z-axis under the drive of z-axis module; The utility model comprises framing member and the x-axis module that is connected on framing member and y-axis module, and several component suction nozzles of described suction nozzle module are connected on framing member, and moves along x-axis and y-axis under the drive of x-axis module and y-axis module respectively.
Then be connected with corresponding motion platform or mechanical mobile device by bolt by the side plane of z-axis module riser 7, as shown in Figure 2, to drive open-close type pick-and-place manipulator precisely to arrive material grasping position and discharge position, to realize accurate pick-and-place material task.
As shown in Figure 3 and Figure 4, described z-axis module comprises wire clamp 1, connecting panel 2, gas row 3, z-axis motor 4, z-axis module riser 7, z-axis line slideway 8, slide block 9, slide attachment plate 10, roller groove 11, roller 12 and eccentric shaft 13, the upper end of described z-axis module riser 7 is provided with several gas row 3, and the upper end of z-axis module riser 7 is also connected with wire clamp 1 by connecting panel; Wire clamp 1 is used to tidy up clamps all tracheaes and electric wire on open-close type manipulator, to be summarized in drag chain.The effect of gas row 3 provides gas circuit inlet/outlet pipe joint and vacuum tube joint (having the vacuum air-channel that two gas circuits be connected with cylinder are taken over and is connected with vacuum slot to take over above each component suction nozzle) to the component suction nozzle of 4 on open-close type manipulator.
Described slide block 9 and z-axis line slideway 8 sliding block joint be vertically fixed on z-axis module riser 7, the upper end of slide block 9 is fixedly connected with one with the slide attachment plate 10 of roller groove 11; Described z-axis motor 4 is packed on z-axis module riser 7, and the output shaft of z-axis motor 4 connects one with the eccentric shaft 13 of roller 12; Described eccentric shaft 13 is positioned at roller groove 11, and coordinates with roller groove 11, and drive eccentric shaft 13 in roller groove 11 during crank motion at z-axis motor 4, slide block 9 slides along z-axis line slideway 8.
The effect of z-axis module and principle of work are such, when the suction nozzle on x-y motion platform module wants pick-and-place material, z-axis motor 4 does half cycle reciprocally swinging, roller 12 crank motion in roller groove 11 is driven by eccentric shaft 13, due to the kidney slot that roller groove 11 is horizontal, the crank motion of roller 12 will drive slide attachment plate 10 up-and-down movement, slide attachment plate 10 drives the slide block 9 be connected together to slide along z-axis line slideway 8, thus drive the x-y motion platform module connected firmly with slide block 9 to move up and down, realize pick-and-place material.
As shown in Figure 1, the component suction nozzle in described suction nozzle module has four, and be respectively the 4th component suction nozzle 26, second component suction nozzle 27, the 3rd component suction nozzle 28 and the first component suction nozzle 29, its structure is all identical.As shown in Figure 9, described component suction nozzle comprises suction nozzle lift cylinder 46, cylinder mounting block 37, Buffer Unit 38, power connecting panel 39, contiguous block 40, suction nozzle contiguous block 41, suction nozzle 42, vacuum air-channel 43, line slideway 44 and component suction nozzle mount pad 45, described suction nozzle lift cylinder 46 is affixed with the cylinder mounting block 37 being packed in component suction nozzle mount pad 45 upper end, the output piston of suction nozzle lift cylinder 46 is connected with the upper end of power connecting panel 39, power connecting panel 39, contiguous block 40, suction nozzle contiguous block 41 and suction nozzle 42 are fixedly connected sequentially from the top down, described suction nozzle contiguous block 41 is provided with the vacuum air-channel 43 for controlling suction nozzle 42 folding,
Described power connecting panel 39 is by slide block and line slideway 44 sliding block joint be cemented on component suction nozzle mount pad 45, and under the drive of suction nozzle lift cylinder 46, power connecting panel 39 vertically slides; The Buffer Unit 38 for bounce cylinder operational shock is also provided with between the output piston of described suction nozzle lift cylinder 46 and power connecting panel 39.
Its effect is when above manipulator reaches material grasping dish, suction nozzle lift cylinder 46 in suction nozzle module can start simultaneously, promote suction nozzle 42 close to the material that will grab, the vacuum air-channel 43 be connected with suction nozzle is afterwards connected, suction nozzle 42 is made to hold material, suction nozzle lift cylinder 46 reverse starting afterwards, will hold material and raise; Under motion platform drives, when being grabbed material and being reached above discharge plate, suction nozzle lift cylinder 46 reverse starting again, grabbed material is moved down and close to the discharge position of discharge plate, the vacuum air-channel 43 be connected with suction nozzle 42 disconnects, and material loses suction and falls into discharge plate, afterwards suction nozzle lift cylinder 46 reverse starting again, suction nozzle is raised and resets, prepare material grasping again.When reality uses, the parts electrification of suction nozzle module controlled are connected with control microcomputer, make each suction nozzle automatic open-close according to the instruction that control system is preset, automatically adjust material grasping spacing and blowing spacing by x-y motion platform module, realize high speed, accurate and efficient material pick-and-place.
As shown in Fig. 5, Fig. 6, Fig. 7 and Fig. 8, framing member of the present utility model comprises riser 17, right arm 20, header board 22, transfer arm 23 and left arm 25, described riser 17, right arm 20, header board 22 are connected with left arm 25 and form rectangle frame structure, parallel with header board 22, and be positioned at rectangle frame structure near the transfer arm 23 of header board 22;
Described riser 17 is provided with the riser inboard track 32 of a transverse direction, second component suction nozzle 27 is slidably connected on riser inboard track 32 by the second component suction nozzle slide block 33, and the first component suction nozzle 29 being positioned at the second component suction nozzle 27 side is fixedly connected on inside riser 17; The medial surface of described transfer arm 23 is also provided with a guide rail parallel with riser inboard track 32, four component suction nozzle 26 just right with the second component suction nozzle 27 is connected with slide by the 4th component suction nozzle slide block 35, is just fixedly connected on the inner side of transfer arm 23 to the 3rd component suction nozzle 28 of the first component suction nozzle 29; Described left arm 25 and right arm 20 are respectively equipped with transfer arm left rail 24 and the right guide rail 30 of transfer arm of a transverse direction, and the two ends of transfer arm 23 are respectively by transfer arm end slide block 34 and transfer arm left rail 24 and transfer arm right guide rail 30 sliding block joint.
Described x-axis module comprises x-axis motor 14, first Timing Belt wheels 15, coupler 36, ball spline 18 and the second Timing Belt wheels 19, its effect is that automatic traction second component suction nozzle 27 and the 4th component suction nozzle 26 are synchronized with the movement in the x-direction simultaneously, automatically adjusts with spacing when realizing material grasping and blowing;
Described x-axis motor 14 is fixed on riser 17, the output shaft of x-axis motor 14 connects the first Timing Belt wheels 15, first Timing Belt wheels 15 connect one end of ball spline 18 by coupler 36, the other end axle of ball spline 18 is connected on header board 22, and ball spline 18 is connected with the second Timing Belt wheels 19; The Timing Belt of described first Timing Belt wheels 15 is fixedly connected with the second component suction nozzle 27, drives the second component suction nozzle 27 to slide by the first Timing Belt wheels 15; The Timing Belt of described second Timing Belt wheels 19 is fixedly connected with the 4th component suction nozzle 26, drives the 4th component suction nozzle 26 to slide by the second Timing Belt wheels 19.
Described y-axis module comprises y-axis motor 16, feed screw nut 21 and screw mandrel 31, described y-axis motor 16 is fixed on riser 17, one end of screw mandrel 31 is connected with the output shaft of motor 16, screw mandrel 31 and the feed screw nut 21 be fixed on transfer arm 23 are in transmission connection, under the drive of y-axis motor 16, screw mandrel 31 rotating band movable wire stem nut 21, transfer arm 23 and the 3rd component suction nozzle 28 be connected on transfer arm 23 move along Y-axis, by the course changing control of y-axis motor 16, can realize its crank motion.
As shown in figures 1 and 3, be provided with balance spring 5 between described z-axis module and x-y platform module, the impact between its buffering z-axis module and x-y platform module, makes z-axis module and x-y platform module relative motion stable and continuous.Described balance spring 5 has two, and symmetry arrangement is in the both sides of slide block 9 respectively, and the upper end of balance spring 5 is fixed on z-axis module riser 7 by balance spring screw, and the other end is connected on riser 17.It is steadily stressed that this structure can make z-axis motor 4 work, and its principle is, because X-Y module is heavier, when rising in z-direction, needs the motor of larger torque.In order to cost-saving, just can realize the lifting to x-y platform module with less torque motor, increase by 2 balance springs 5 on both sides, just balance part gravity, thus it be spacing to make the motor of less torque that X-Y module can be driven to rise to rapidly.In addition, due to the stretching action of balance spring 5, when X-Y platform motion module declines in Z-direction, overcome the inertia that X-Y motion platform module weight produces, thus motion is more steady.
The utility model coordinates the principle of work controlled to be such with z-axis module.
The synchronous on-off of X-direction: when x-axis motor 14 drives the first Timing Belt wheels 15 to carry out back rotation, first Timing Belt wheels 15 will drive the second component suction nozzle 27 to move around along riser inboard track 32, spacing between second component suction nozzle 27 and the first component suction nozzle 29 is adjusted automatically, even if automatically adjusted in the spacing in x direction between the first relevant suction nozzle and the second suction nozzle.Equally, as shown in Figure 8, the right-hand member be packed in inside transfer arm 23 of the 3rd component suction nozzle 28, installs in y direction in line with the first component suction nozzle 29.4th component suction nozzle 26 is by the 4th component suction nozzle slide block 35 and slide rail (not drawing in the figure) bearing fit be packed on inside transfer arm 23, and the 4th component suction nozzle 26 connects firmly with the Timing Belt in the second Timing Belt wheels 19 again.When x-axis motor 14 drives the second Timing Belt wheels 19 to carry out back rotation, second Timing Belt wheels 19 will drive the 4th component suction nozzle 26 inside transfer arm 23 on slide rail move around, spacing between 4th component suction nozzle 26 and the 3rd component suction nozzle 28 is adjusted automatically, even if automatically adjusted in the spacing in x direction between the 3rd relevant suction nozzle and the 4th suction nozzle.As from the foregoing, because the first Timing Belt wheels 15 and the second Timing Belt wheels 19 are all be contained in same axle and driven by same x-axis motor 14, so, when x-axis motor 14 does positive and negative rotation, second component suction nozzle 27 and the 4th component suction nozzle 26 just move in x direction simultaneously, and keep identical spacing with the first component suction nozzle 29 and the 3rd component suction nozzle 28 respectively, thus realize the synchronous on-off of whole suction nozzle in x direction.
The synchronous on-off of Y-direction: when the positive and negative rotation of y-axis motor 16, transfer arm 23 is driven to move back and forth along transfer arm left rail 24 and the right guide rail 30 of transfer arm by screw mandrel 31 and feed screw nut 21, thus drive the 3rd component suction nozzle 28 that is arranged on transfer arm 23 and the 4th component suction nozzle 26 to move in y direction simultaneously, and keep identical spacing with the first component suction nozzle 29 and the second component suction nozzle 27 respectively, thus realize the synchronous on-off of whole suction nozzle in y direction.
According to the actual needs of production, open-close type pick-and-place manipulator is installed on the motion platform shown in Fig. 2 or other mechanical movement means usually, when this pick-and-place manipulator moves to above material grasping position by these motion platforms or mechanical movement means, this manipulator implements material grasping automatically, when the pick-and-place manipulator after material grasping is moved to above discharge position by these motion platforms or mechanical movement means, this manipulator implements blowing automatically.Its specific works process is as follows:
When this pick-and-place manipulator arrives above material grasping position, the x-axis motor 14 and the y-axis motor 16 that obtain the x-y motion platform module of the pick-and-place manipulator of the information of putting in place almost start simultaneously, x-axis motor 14 drives the first Timing Belt wheels 15 and the second Timing Belt wheels 19 to be synchronized with the movement, drive the second component suction nozzle 27 and the 4th component suction nozzle 26, in x direction respectively simultaneously to the first component suction nozzle 29 and the 3rd component suction nozzle 28 near or away from, to make the suction nozzle on corresponding suction nozzle module and to be grabbed material consistent in the spacing in x direction; Almost meanwhile, y-axis motor 16 drives screw mandrel 31, by the feed screw nut 21 coordinated with screw mandrel 31, brought into motion arm 23 in y direction near or away from riser 17, even if the 3rd component suction nozzle 28 be arranged on transfer arm 23 and the 4th component suction nozzle 26 be arranged on the first component suction nozzle 29 on riser 17 and the 3rd component suction nozzle 28 remains close to or away from, to make the suction nozzle on corresponding suction nozzle module and to be grabbed material consistent in the spacing in y direction.
When each suction nozzle interval on x-y platform module and consistent by material grasping spacing on material grasping position (charging tray), z-axis motor 4 starts immediately, by eccentric shaft 13, roller 12, roller groove 11 and the slide block 9 connected firmly mutually with x-y platform module, x-y platform module is driven to move downward, make each suction nozzle and grabbed material to keep certain distance, each cylinder (i.e. the first ~ four each cylinder) afterwards on x-y platform module starts simultaneously, promote each suction nozzle downwards near being grabbed material, almost meanwhile, vacuum air-channel on each suction nozzle is opened, crawled material holds by suction nozzle respectively.The z-axis motor obtaining the crawled information of material starts immediately, drive x-y platform module to rise to put in place, almost meanwhile, relative motion platform also starts immediately, this pick-and-place manipulator of material is had to move to above discharge position crawl, now, x-axis motor 14 on x-y platform module and y-axis motor 16 start, according to pre-set program, according to above-mentioned start-up routine, when to make on each suction nozzle consistent by the spacing of the spacing with discharge position of grabbing material, it is downward that z-axis motor 4 starts promotion x-y platform module immediately, make each suction nozzle grabbed material and discharge position keeps certain distance, each cylinder (i.e. the first ~ four each cylinder) afterwards on x-y platform module starts and closes vacuum air-channel 43 downwards simultaneously, the material on each suction nozzle is made precisely to be placed into discharge position.Afterwards, z-axis motor starts again, drives x-y platform module to rise and puts in place, prepare second time and remove pick-and-place material.So repeatedly, just can be very fast by the discharge position of the material pick-and-place of a kind of spacing of material grasping position to another kind of spacing.
Claims (4)
1. one kind realizes the x-y platform die set of open-close type manipulator accurate pick-and-place rule material, it is characterized in that, it comprises the framing member for connecting component suction nozzle and the x-axis module that is connected on framing member and y-axis module, and described x-axis module and y-axis module drive the first component suction nozzle (29), the second component suction nozzle (27), the 3rd component suction nozzle (28) and the 4th component suction nozzle slide block (35) to move along x-axis and y-axis.
2. realize the x-y platform die set of open-close type manipulator accurate pick-and-place rule material as claimed in claim 1, it is characterized in that, described framing member comprises riser (17), right arm (20), header board (22), transfer arm (23) and left arm (25), described riser (17), right arm (20), header board (22) are connected with left arm (25) and form rectangle frame structure, parallel with header board (22), and be positioned at rectangle frame structure near the transfer arm (23) of header board (22);
Described riser (17) is provided with the riser inboard track (32) of a transverse direction, second component suction nozzle (27) is slidably connected on riser inboard track (32) by the second component suction nozzle slide block (33), and the first component suction nozzle (29) being positioned at the second component suction nozzle (27) side is fixedly connected on riser (17) inner side;
The medial surface of described transfer arm (23) is also provided with a guide rail parallel with riser inboard track (32), four component suction nozzle (26) just right with the second component suction nozzle (27) is connected with slide by the 4th component suction nozzle slide block (35), is just fixedly connected on the inner side of transfer arm (23) to the 3rd component suction nozzle (28) of the first component suction nozzle (29);
Described left arm (25) and right arm (20) are respectively equipped with transfer arm left rail (24) and the right guide rail of transfer arm (30) of a transverse direction, and the two ends of transfer arm (23) are respectively by transfer arm end slide block (34) and transfer arm left rail (24) and the right guide rail of transfer arm (30) sliding block joint.
3. realize the x-y platform die set of open-close type manipulator accurate pick-and-place rule material as claimed in claim 1, it is characterized in that, described x-axis module comprises x-axis motor (14), first Timing Belt wheels (15), coupler (36), ball spline (18) and the second Timing Belt wheels (19), described x-axis motor (14) is fixed on riser (17), the output shaft of x-axis motor (14) connects the first Timing Belt wheels (15), first Timing Belt wheels (15) connect one end of ball spline (18) by coupler (36), the other end axle of ball spline (18) is connected on header board (22), ball spline (18) is connected with the second Timing Belt wheels (19),
The Timing Belt of described first Timing Belt wheels (15) is fixedly connected with the second component suction nozzle (27), drives the second component suction nozzle (27) to slide by the first Timing Belt wheels (15);
The Timing Belt of described second Timing Belt wheels (19) is fixedly connected with the 4th component suction nozzle (26), drives the 4th component suction nozzle (26) to slide by the second Timing Belt wheels (19).
4. realize the x-y platform die set of open-close type manipulator accurate pick-and-place rule material as claimed in claim 1, it is characterized in that, described y-axis module comprises y-axis motor (16), feed screw nut (21) and screw mandrel (31), described y-axis motor (16) is fixed on riser (17), one end of screw mandrel (31) is connected with the output shaft of motor (16), and screw mandrel (31) and the feed screw nut (21) be fixed on transfer arm (23) are in transmission connection.
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| CN201420568404.6U CN204250922U (en) | 2014-09-29 | 2014-09-29 | Realize the x-y platform die set of open-close type manipulator accurate pick-and-place rule material |
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| CN201420568404.6U CN204250922U (en) | 2014-09-29 | 2014-09-29 | Realize the x-y platform die set of open-close type manipulator accurate pick-and-place rule material |
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| CN106142113A (en) * | 2016-08-22 | 2016-11-23 | 苏州朗坤自动化设备有限公司 | A kind of mechanical hand is with capturing Weighing mechanism |
| CN107161694A (en) * | 2017-05-26 | 2017-09-15 | 昆明理工大学 | A kind of grading automatical feed device of pseudo-ginseng |
| CN110203503A (en) * | 2019-04-26 | 2019-09-06 | 苏州领裕电子科技有限公司 | A kind of four Axle mould group of linear splines for being posted at a high speed |
| CN110803326A (en) * | 2018-08-05 | 2020-02-18 | 无锡沃格自动化科技股份有限公司 | Product of braider moves and carries adsorption structure |
| CN110844156A (en) * | 2018-08-21 | 2020-02-28 | 无锡沃格自动化科技股份有限公司 | Automatic braider of SMD product |
| CN111002297A (en) * | 2019-12-19 | 2020-04-14 | 天津龙创恒盛实业有限公司 | Ball spline robot |
| CN113104580A (en) * | 2021-03-09 | 2021-07-13 | 深圳格芯集成电路装备有限公司 | Material picking and placing device |
| CN113800218A (en) * | 2020-06-16 | 2021-12-17 | 深圳科瑞技术股份有限公司 | Multi-rotor linear high-speed pick-and-place system and control method |
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2014
- 2014-09-29 CN CN201420568404.6U patent/CN204250922U/en not_active Expired - Lifetime
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| CN105128341A (en) * | 2015-09-30 | 2015-12-09 | 石家庄宝信防伪科技有限公司 | Matrix type 3D printer and printing method thereof |
| CN106142113A (en) * | 2016-08-22 | 2016-11-23 | 苏州朗坤自动化设备有限公司 | A kind of mechanical hand is with capturing Weighing mechanism |
| CN106142113B (en) * | 2016-08-22 | 2018-08-10 | 苏州朗坤自动化设备有限公司 | A kind of manipulator crawl Weighing mechanism |
| CN107161694A (en) * | 2017-05-26 | 2017-09-15 | 昆明理工大学 | A kind of grading automatical feed device of pseudo-ginseng |
| CN110803326B (en) * | 2018-08-05 | 2023-08-22 | 无锡沃格自动化科技股份有限公司 | Product transfer adsorption structure of braiding machine |
| CN110803326A (en) * | 2018-08-05 | 2020-02-18 | 无锡沃格自动化科技股份有限公司 | Product of braider moves and carries adsorption structure |
| CN110844156A (en) * | 2018-08-21 | 2020-02-28 | 无锡沃格自动化科技股份有限公司 | Automatic braider of SMD product |
| CN110844156B (en) * | 2018-08-21 | 2023-08-22 | 无锡沃格自动化科技股份有限公司 | Automatic braiding machine for SMD products |
| CN110203503A (en) * | 2019-04-26 | 2019-09-06 | 苏州领裕电子科技有限公司 | A kind of four Axle mould group of linear splines for being posted at a high speed |
| CN111002297A (en) * | 2019-12-19 | 2020-04-14 | 天津龙创恒盛实业有限公司 | Ball spline robot |
| CN113800218A (en) * | 2020-06-16 | 2021-12-17 | 深圳科瑞技术股份有限公司 | Multi-rotor linear high-speed pick-and-place system and control method |
| CN113104580A (en) * | 2021-03-09 | 2021-07-13 | 深圳格芯集成电路装备有限公司 | Material picking and placing device |
| CN113104580B (en) * | 2021-03-09 | 2022-05-13 | 深圳格芯集成电路装备有限公司 | Material picking and placing device |
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Address after: Park View Road 518000 in Guangdong province Shenzhen City Pingshan New District Industrial Zone No. 33 grand equipment Industrial Park Patentee after: SHENZHEN GRAND INTELLIGENT EQUIPMENT Co.,Ltd. Address before: Park View Road 518000 in Guangdong province Shenzhen City Pingshan New District Industrial Zone No. 33 grand equipment Industrial Park Patentee before: Grand Technology (Shenzhen) Co.,Ltd. |
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