CN208020192U - A kind of Multi-freedom-degreemanipulator manipulator being accurately positioned transfer - Google Patents
A kind of Multi-freedom-degreemanipulator manipulator being accurately positioned transfer Download PDFInfo
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- CN208020192U CN208020192U CN201820444172.1U CN201820444172U CN208020192U CN 208020192 U CN208020192 U CN 208020192U CN 201820444172 U CN201820444172 U CN 201820444172U CN 208020192 U CN208020192 U CN 208020192U
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- charging tray
- palm
- palm module
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- accurately positioned
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Abstract
The utility model belongs to flexible electronic production relevant device field, and disclose a kind of Multi-freedom-degreemanipulator manipulator being accurately positioned transfer towards frivolous cylinder charging tray, including the first palm module, the second palm module, α rotating modules, two axis translation modules of XZ and gas circuit allocation unit, the first palm module includes cover board, side plate, positioning table and vacuum gas-tpe fitting device；α rotating modules include α rotation connection seats and connecting shaft；Two axis translation modules of the XZ are installed on the α rotation connections seat, the second palm module is installed in two axis translation modules of the XZ；Gas circuit allocation unit is mounted on α rotation connection seats and is connect with vacuum air-channel, for realizing that the switch to the first palm inside modules gas channel and air flue controls.The utility model can by it is compact-sized, convenient for manipulation in a manner of realize charging tray be accurately positioned, larger range of upper and lower sides palm spatial attitude adjustment can be obtained, and then improve the efficiency of Pick-and-Place operations.
Description
Technical field
The utility model belongs to flexible electronic production relevant device field, and transfer is accurately positioned more particularly, to one kind
Multi-freedom-degreemanipulator manipulator.
Background technology
Raising with industrial automation technology and the requirement to production efficiency use work in industrial production more and more
Industry robot is processed production, and manipulator has been widely used in industrial production system as the industrial robot occurred earliest
Make, medical treatment, the fields such as military affairs.SMD (surface mount device) charging trays and wafer disks etc. are the common former materials in Electronic Packaging field
Expect, usually requires to execute the transfer operations such as pickup, placement to charging tray in production technology, and the accuracy and speed of transfer operation is direct
Influence the processing efficiency of final products.However, charging tray diameter and thickness changes, exists in transfer process and pick up and place position
Inaccurate problem is set, so robot manipulator structure should be able to solve the orientation problem of various charging tray Pick-and-Place operations.
Some devices for using robotic manipulation charging tray have been proposed in the prior art.But existing charging tray, which picks up, puts equipment,
It is all made of a clamping manipulator and removes charging tray from the lattice of shelf storehouse.In this scheme, clamping machine on hand without detent mechanism,
The position of clamping charging tray can all change every time, while charging tray is also possible to be displaced in moving process, this is just substantially reduced
The accuracy of transfer charging tray, to blanking work later also brings difficulty；Meanwhile the program needs placing material when blanking
Pan Chu has a special location structure, and relatively complicated in structure, efficiency is also to be improved.
Utility model content
For the disadvantages described above or Improvement requirement of the prior art, the utility model, which provides, a kind of being accurately positioned the more of transfer
Free degree manipulator, can with high precision, convenient for manipulation mode realize to charging tray pick up blow-down position work.
To achieve the above object, it according to the utility model, provides a kind of be accurately positioned towards frivolous cylinder charging tray and turns
The Multi-freedom-degreemanipulator manipulator of shifting, which is characterized in that including the first palm module, the second palm module, α rotating modules, two axis of XZ
Translation module and gas circuit allocation unit, wherein：
The first palm module includes that cover board, side plate, positioning table and vacuum gas-tpe fitting device, the cover board include upper
Plate and lower plate, the upper plate are arranged in the lower plate, and homonymy and connection in the upper plate and lower plate is arranged in the side plate
The upper plate and lower plate, the upper plate are used for the side that is contacted with charging tray and are provided with a plurality of hopper, in order to accept charging tray, every
A stomata group is respectively equipped on the hopper, every stomata group has multiple stomatas, what the upper plate was contacted with lower plate
Side is equipped with a plurality of air flue and multiple air cavitys being connected to the air flue, and the quantity of the air flue is consistent with the quantity of stomata group,
Every air flue is connected to by an air cavity with a stomata group respectively, and the side that the upper plate is contacted with charging tray is set
There is a positioning table chamber, the positioning table is mounted in the positioning table chamber, and the lower plate is equipped with to be connected to the positioning table chamber
Gas channel, the vacuum gas-tpe fitting device are mounted on the cover board, which connects with vacuum air-channel
It connects and is also connected to gas channel and every air flue；
The α rotating modules include α rotation connection seats and connecting shaft, and the α rotation connections seat is mounted on the side plate,
The connecting shaft is mounted on α rotation connection seats；
The α, which is rotatablely connected on seat, installs two axis translation modules of the XZ, in two axis translation modules of the XZ described in installation
Second palm module, the second palm module are oppositely arranged with the cover board；
The gas circuit allocation unit is mounted on α rotation connection seats and is connect with vacuum air-channel.
Preferably, the positioning table is one layer of thin-wall construction, by the hollow small column on top and the hollow great circle of lower part
Column combination forms, and correspondingly, the positioning table chamber is up-small and down-big stepped hole.
Preferably, the second palm module is provided with pressure sensor close to the side of the cover board.
Preferably, the second palm module is provided with range sensor close to the side of the cover board.
Preferably, it is respectively arranged with photoelectric sensor in the first palm module and the second palm module.
Preferably, the upper plate is provided with photoelectric sensor in the position corresponding to the positioning table.
Preferably, the second palm module is removably mounted in two axis translation modules of the XZ.
In general, it can obtain down the above technical solutions conceived by the present invention are compared with the prior art,
Row advantageous effect：
1) by putting cellular construction and its arrangement spatially is designed to picking up for the manipulator according to the utility model,
Can by it is compact-sized, convenient for manipulation in a manner of realize charging tray be accurately positioned；The translation in two directions manipulator XZ is certainly
By the rotational freedom on degree and the directions α, larger range of upper and lower sides palm spatial attitude adjustment can be obtained, and then improve
The efficiency of Pick-and-Place operations；
2) by putting unit to being used as picking up for key component and being positioned using charging tray center, correspondingly-sized can be set
Notch, it is possible thereby to greatly improve device practicability, promotes Pick-and-Place operations efficiency to adapt to various sizes of charging tray.
It 3), being capable of Real-time Feedback contact force and and charging tray by putting unit outfit pressure sensor and range sensor to pick up
Distance and phenomena such as prevent from causing charging tray damaged, and can further finely tune upside the distance between palm and charging tray, have
Help more determine to precision the position of upside palm clamping active section；
4) by internal structure to gas circuit distributor and its between each vacuum air-channel inside upper and lower sides palm
Connection type is improved, can it is more flexible, easily the vacuum state inside upper and lower sides palm is controlled, and ensure
Satisfactory highly sensitive vacuum degree is provided.
Description of the drawings
Fig. 1 is that charging tray is clamped according to the Multi-freedom-degreemanipulator manipulator that is accurately positioned constructed by the preferred embodiment in the utility model
Structural schematic diagram；
Fig. 2 is the overall structure figure of the first palm module and the second palm module shown in Fig. 1；
Fig. 3 is the structure top view of the first palm module shown in Fig. 2；
Fig. 4 is the structure sectional view that the first palm module is obtained along line A-A shown in Fig. 3；
Fig. 5 is the overall structure figure of the first palm module upper plate shown in Fig. 3；
Fig. 6 be α rotating modules shown in Fig. 1, XZ translation modules and gas circuit distributor overall structure diagram；
Fig. 7 is Multi-freedom-degreemanipulator manipulator action flow chart.
Specific implementation mode
In order to make the purpose of the utility model, technical solutions and advantages more clearly understood, below in conjunction with attached drawing and implementation
Example, the present invention will be further described in detail.It should be appreciated that specific embodiment described herein is only used to explain
The utility model is not used to limit the utility model.In addition, institute in the various embodiments of the present invention described below
The technical characteristic being related to can be combined with each other as long as they do not conflict with each other.
Referring to Fig.1~Fig. 7, a kind of Multi-freedom-degreemanipulator manipulator being accurately positioned transfer towards frivolous cylinder charging tray 6, including
First palm module 1, the second palm module 2, α rotating modules 3, two axis translation modules 4 of XZ and gas circuit allocation unit 5, wherein：
The first palm module 1 includes cover board, side plate 12, positioning table 13 and vacuum gas-tpe fitting device 14, the lid
Plate includes upper plate 10 and lower plate 11, and the upper plate 10 is arranged in the lower plate 11, and the side plate 12 is arranged in the upper plate 10
With the homonymy of lower plate 11 and connect the upper plate 10 and lower plate 11, the side that the upper plate 10 is used to contact with charging tray 6 is arranged
There is a plurality of hopper, in order to accept charging tray 6, a stomata group, every stomata group tool are respectively equipped on every hopper
There are multiple stomatas, the side that the upper plate 10 is contacted with lower plate 11 to be equipped with a plurality of air flue and multiple gas being connected to the air flue
The quantity of chamber, the air flue is consistent with the quantity of stomata group, and every air flue is respectively by described in an air cavity and one
Stomata group is connected to, and the side that the upper plate 10 is contacted with charging tray 6 is equipped with positioning table chamber 13a, and the positioning table 13 is mounted on described
In positioning table chamber 13a, charging tray 6 is positioned for stretching into charging tray 6, the lower plate 11 is equipped with and the positioning table chamber
The gas channel 10i of 13a connections, in order to movement of the positioning table 13 described in gas flow optimized in positioning table chamber 13a, the vacuum
Gas-tpe fitting device 14 is mounted on the cover board, which is connect with vacuum air-channel and and and air-flow
Channel is connected to every air flue；
The α rotating modules 3 include α rotation connection seats 30 and connecting shaft 31, and the α rotation connections seat 30 is mounted on described
On side plate 12, the connecting shaft 31 is mounted on α rotation connection seats 30, for connecting robot end and allowing robot
End drives α rotation connection seats 30 to be rotated around the axis of the connecting shaft 31；
Two axis translation modules 4 of the XZ are installed on the α rotation connections seat 30, are installed in two axis translation modules 4 of the XZ
The second palm module 2, for driving 2 axially and radially the moving along charging tray 6 of the second palm module, described second
Palm module 2 includes tablet 20, which is oppositely arranged with the cover board；Referring to Fig.1, two axis translation module of Fig. 6, the XZ
4 X-axis is consistent with the axis of connecting shaft 31, and Z axis is axial consistent with charging tray 6.With reference to Fig. 3, Fig. 4, two articles of hoppers are respectively the
One semicircle hopper 10a and the second semicircle hopper 10b, their depth is different, the first semicircle hopper 10a and the second semicircle hopper
Stomata group on 10b is respectively multiple first stomata 10d and multiple second stomata 10c, and the second air flue 10e passes through the second air cavity
10h be connected to, the first air flue 10f is connected to by the first air cavity 10g with the second stomata 10c,
The gas circuit allocation unit 5 is mounted on α rotation connection seats 30 and is connect with vacuum air-channel, for realizing
Switch control to the 1 internal gas flow channel of the first palm module and air flue.
Further, the positioning table 13 is one layer of thin-wall construction, by top hollow small column and lower part it is hollow big
Cylinder is composed, and correspondingly, the positioning table chamber 13a is up-small and down-big stepped hole.
Further, the second palm module 2 is provided with pressure sensor 15 close to the side of the cover board, for
The contact of charging tray 6 carries out contact force numerical value detection, prevents the second palm module 2 from destroying charging tray 6.
Further, the second palm module 2 is provided with range sensor 16 close to the side of the cover board, for right
The second palm module 2 is detected with the distance between the charging tray 6 picked up.
Further, it is respectively arranged with photoelectric sensor in the first palm module 1 and the second palm module 2, with
For being detected to whether there are obstacles blocking in the Multi-freedom-degreemanipulator manipulator moving process.
Further, the upper plate 10 is provided with photoelectric sensor in the position corresponding to the positioning table 13, for right
The position of the positioning table 13 is detected.
Further, the second palm module 2 is removably mounted in two axis translation modules 4 of the XZ.
According to the other side of the utility model, the side that the Multi-freedom-degreemanipulator manipulator carries charging tray 6 is additionally provided
Method, which is characterized in that include the following steps：
1) Multi-freedom-degreemanipulator manipulator is moved to 6 side of charging tray to be picked up, and the second palm mould is adjusted according to 6 thickness of charging tray
The height of block 2；
2) Multi-freedom-degreemanipulator manipulator continues to move to, and charging tray 6 is made to enter in the hopper on the upper plate 10, the gas circuit distribution
Unit 5 controls the rise of the positioning table 13 in lower plate 11 described in the first palm module 1 and stretches into charging tray 6, realization pair
The positioning of charging tray 6；
3) the second palm module 2 drops to 6 top of charging tray, coordinates the folder realized to charging tray 6 with the first palm module 1
Tightly, it is vacuumized in the stomata group, to carry out auxiliary clamping to charging tray 6；
4) Multi-freedom-degreemanipulator manipulator is moved in the lattice of shelf storehouse, and the robot drives mechanical handspring by α rotating modules 3
Turn 180 °, while the two axis translation module drives the second palm module 2 to avoid charging tray 6 along moving radially for charging tray 6, institute
It states ventilation in stomata group and charging tray 6 is finally placed into designated position to allow charging tray 6 to fall.
In 6 transfer process of charging tray, during pickup and placement, pressure sensor 15 and the detection of 16 moment of range sensor
Feed back the contact force and distance of charging tray 6.
The first palm module 1 and the second palm module 2 of the utility model adsorb different rulers for realizing manipulator clamping
Very little charging tray, and detect the function of feedback charging tray contact force and distance；α rotating modules 3 are rotatablely connected seat 30 by α and are mounted on the
One palm module 1 is far from charging tray side, for realizing manipulator around X-axis rotation (parallel with 31 axis of connecting shaft) namely the directions α
Rotational freedom；Two axis translation modules 4 of XZ are connected with the second palm module 2, for realizing manipulator along XZ both directions
Translational degree of freedom；Gas circuit distributor 5 is mounted on α rotating modules 3, for realizing to 1 inner vacuum gas of the first palm module
The gas supply of the switch control and stomata on road, and the function of vacuum degree measurement can be provided.
The pressure sensor 15 of the utility model is mounted at the first palm module 1 and charging tray contact side, face charging tray,
Numerical value for detecting contact force in charging tray pick process；Range sensor 16 is contacted mounted on the first palm module 1 with charging tray
At side, face charging tray, for detecting and feeding back the distance between upper plate 10 and charging tray, and then the position of clamping active section is determined
It sets；It is mounted on the first palm module 1 there are two photoelectric sensor 17 and the second palm module 2 contacts one end to outgoing with charging tray
It penetrates, whether has obstacle for inspecting manipuator movement front；There are one photoelectric sensors 18 to be mounted on the sides positioning table chamber 13a,
For to positioning table 13, whether protrusion to be detected.
Referring to Fig. 6, which includes packaging type solenoid valve 50 and air pressure sensor 51, packaging type
Solenoid valve 50 is by 5 solenoid valve blocks at for controlling each gas circuit in 1 inside of the first palm module and the second palm module of driving
The switch of the cylinder 40 of 2 translations, cylinder 40 are mounted on cylinder connecting seat 41, and air pressure sensor 51 has 3, Mei Gekong
Gas pressure sensor 51 is used to detect the vacuum degree of the single vacuum air-channel in 10 inside of upper plate, for whether confirming vacuum degree foundation
Effectively, corresponding solenoid valve and air pressure sensor 51 control the switch and detection vacuum degree of vacuum air-channel.
As it will be easily appreciated by one skilled in the art that the above is only the preferred embodiment of the utility model only, not
To limit the utility model, any modification made within the spirit and principle of the present invention, equivalent replacement and change
Into etc., it should be included within the scope of protection of this utility model.
Claims (7)
1. a kind of Multi-freedom-degreemanipulator manipulator being accurately positioned transfer towards frivolous cylinder charging tray, which is characterized in that including first
Palm module, the second palm module, α rotating modules, two axis translation modules of XZ and gas circuit allocation unit, wherein：
The first palm module includes cover board, side plate, positioning table and vacuum gas-tpe fitting device, the cover board include upper plate and
Lower plate, the upper plate are arranged in the lower plate, and the side plate is arranged described in homonymy and connection in the upper plate and lower plate
Upper plate and lower plate, the side that the upper plate is used to contact with charging tray is provided with a plurality of hopper, in order to accept charging tray, described in every
A stomata group is respectively equipped on hopper, every stomata group has multiple stomatas, the side that the upper plate is contacted with lower plate
Equipped with a plurality of air flue and multiple air cavitys being connected to the air flue, the quantity of the air flue is consistent with the quantity of stomata group, every
The air flue is connected to by an air cavity with a stomata group respectively, and the side that the upper plate is contacted with charging tray is equipped with fixed
Position platform chamber, the positioning table are mounted in the positioning table chamber, and the lower plate is equipped with the air-flow being connected to the positioning table chamber
Channel, the vacuum gas-tpe fitting device are mounted on the cover board, which connect simultaneously with vacuum air-channel
And it is also connected to gas channel and every air flue；
The α rotating modules include α rotation connection seats and connecting shaft, and the α rotation connections seat is mounted on the side plate, described
Connecting shaft is mounted on α rotation connection seats；
Two axis translation modules of the XZ are installed on the α rotation connections seat, described second is installed in two axis translation modules of the XZ
Palm module, the second palm module are oppositely arranged with the cover board；
The gas circuit allocation unit is mounted on α rotation connection seats and is connect with vacuum air-channel.
2. a kind of Multi-freedom-degreemanipulator manipulator being accurately positioned transfer towards frivolous cylinder charging tray according to claim 1,
It is characterized in that, the positioning table is one layer of thin-wall construction, by the hollow small column on top and the hollow big cylinder group of lower part
It closes, correspondingly, the positioning table chamber is up-small and down-big stepped hole.
3. a kind of Multi-freedom-degreemanipulator manipulator being accurately positioned transfer towards frivolous cylinder charging tray according to claim 1,
It is characterized in that, the second palm module is provided with pressure sensor close to the side of the cover board.
4. a kind of Multi-freedom-degreemanipulator manipulator being accurately positioned transfer towards frivolous cylinder charging tray according to claim 1,
It is characterized in that, the second palm module is provided with range sensor close to the side of the cover board.
5. a kind of Multi-freedom-degreemanipulator manipulator being accurately positioned transfer towards frivolous cylinder charging tray according to claim 1,
It is characterized in that, being respectively arranged with photoelectric sensor in the first palm module and the second palm module.
6. a kind of Multi-freedom-degreemanipulator manipulator being accurately positioned transfer towards frivolous cylinder charging tray according to claim 1,
It is characterized in that, the upper plate is provided with photoelectric sensor in the position corresponding to the positioning table.
7. a kind of Multi-freedom-degreemanipulator manipulator being accurately positioned transfer towards frivolous cylinder charging tray according to claim 1,
It is characterized in that, the second palm module is removably mounted in two axis translation modules of the XZ.
Priority Applications (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201820444172.1U CN208020192U (en) | 2018-03-30 | 2018-03-30 | A kind of Multi-freedom-degreemanipulator manipulator being accurately positioned transfer |
Applications Claiming Priority (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201820444172.1U CN208020192U (en) | 2018-03-30 | 2018-03-30 | A kind of Multi-freedom-degreemanipulator manipulator being accurately positioned transfer |
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| Publication Number | Publication Date |
|---|---|
| CN208020192U true CN208020192U (en) | 2018-10-30 |
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| Application Number | Title | Priority Date | Filing Date |
|---|---|---|---|
| CN201820444172.1U Active CN208020192U (en) | 2018-03-30 | 2018-03-30 | A kind of Multi-freedom-degreemanipulator manipulator being accurately positioned transfer |
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| Country | Link |
|---|---|
| CN (1) | CN208020192U (en) |
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2018
- 2018-03-30 CN CN201820444172.1U patent/CN208020192U/en active Active
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