CN210519375U - In-line four-clamping-jaw four-shaft mechanical arm component inserter - Google Patents
In-line four-clamping-jaw four-shaft mechanical arm component inserter Download PDFInfo
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- CN210519375U CN210519375U CN201921203556.5U CN201921203556U CN210519375U CN 210519375 U CN210519375 U CN 210519375U CN 201921203556 U CN201921203556 U CN 201921203556U CN 210519375 U CN210519375 U CN 210519375U
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Abstract
The utility model discloses an in-line four-clamping jaw four-shaft manipulator plug-in machine, which belongs to the field of automatic equipment processing, and comprises a workbench and a conveying track arranged on the surface of the workbench, wherein the surface of the workbench on the same side of the conveying track is sequentially provided with a four-shaft manipulator for driving a four-clamping jaw plug-in module to move, a laser array light source and a lower camera combination for detecting electronic elements grabbed on the four-clamping jaw plug-in module, and a material throwing box for collecting waste materials; the four-clamping-jaw plug-in module is connected with the R shaft of the four-shaft manipulator, and a camera and a light source combination for detecting a circuit board to be plugged are installed on the four-clamping-jaw plug-in module. The utility model discloses not only whole work precision is higher, speed is higher, and life is longer moreover, and the cost is lower. The whole machine is exquisite in design, does not occupy space, can be suitable for various occasions, and is convenient to transport.
Description
Technical Field
The utility model relates to an automation equipment processing field especially relates to an in-line four clamping jaw four-axis manipulator plug-in components machine.
Background
In the industrial production process of the current power supply products, electronic components are manually inserted into a circuit board. Although the mature full-automatic special-shaped plug-in machine can replace manual automatic plug-in, the full-automatic special-shaped plug-in machine is rarely applied because of complex structure, high cost and no economical efficiency. Therefore, an improvement on a technical scheme with simple structure, convenient maintenance, low cost and long service life is urgently needed.
SUMMERY OF THE UTILITY MODEL
An object of the utility model is to overcome above-mentioned prior art's problem, an in-line four clamping jaw four-axis manipulator plug-in components machine is provided, reach X, Y, Z and R to arbitrary accurate control to four clamping jaw plug-in components modules through the four-axis manipulator, drive four clamping jaw plug-in components module is free movement directly over delivery track, and 4 plug-in components modules can both realize R to free motion and Z to distance reciprocating motion alone, simultaneously with four hollow shafts that are used for the clamping jaw of plug-in components to be connected become a sharp equidistance and arrange, can guarantee that four clamping jaws can realize taking pictures at a high speed when snatching the part back, so this design can reach the purpose of multidimension degree high efficiency work.
The above purpose is realized by the following technical scheme:
an in-line four-clamping-jaw four-shaft manipulator plug-in machine comprises a workbench and a conveying track arranged on the surface of the workbench, wherein a four-shaft manipulator for driving a four-clamping-jaw plug-in module to move, a laser array light source and lower camera combination for detecting electronic elements grabbed on the four-clamping-jaw plug-in module and a material throwing box for collecting waste materials are sequentially arranged on the surface of the workbench on the same side of the conveying track; the four-clamping-jaw plug-in module is connected with the R shaft of the four-shaft manipulator, and a camera and a light source combination for detecting a circuit board to be plugged are installed on the four-clamping-jaw plug-in module.
Further, four clamping jaw plug-in components module includes 4 plug-in components modules through fixed frame side by side arrangement, plug-in components module include ball spline, with the clamping jaw cylinder that the hollow ball spline shaft's of ball spline bottom is connected, with Z that hollow ball spline shaft's top is connected is to drive arrangement and with the female R that is connected of ball spline shaft is to drive arrangement.
Furthermore, the Z-direction driving device comprises a vertical supporting seat, a linear slide rail and an upper air cylinder and a lower air cylinder are connected to the supporting seat from top to bottom, a sliding block is matched on the linear slide rail, the sliding block is connected with the hollow ball spline shaft through a spline shaft connecting plate, the spline shaft connecting plate is connected with pistons of the upper air cylinder and the lower air cylinder, and the sliding block is driven by the upper air cylinder and the lower air cylinder to vertically slide along the linear slide rail.
Further, the R-direction driving device comprises a meshing gear set connected with the ball spline female, and the meshing gear set is driven by a rotating motor.
Furthermore, the width of the conveying track is adjustable, driving wheels for driving the circuit board carriers to drive are respectively arranged on the inner walls corresponding to the conveying track, a conveying belt for bearing the circuit board carriers is connected onto the driving wheels, a jacking mechanism is arranged right below the working area corresponding to the conveying track, and the jacking mechanism is used for jacking the circuit board carriers running to the lower part of the plug-in working area into the plug-in working area or descending the circuit board carriers in the plug-in working area onto the conveying belt.
Further, the driving wheel is driven by a motor to move clockwise or anticlockwise.
Further, climbing mechanism includes a jacking platform that supports through 4 liftable stands, jacking platform's bottom is connected with the jacking cylinder, the last installation of jacking platform a set of with delivery track level vertically slide rail, the one end of slide rail corresponds install first jacking frame on the jacking platform, swing joint has on the slide rail body with the second jacking frame of first jacking frame symmetry, the movable sleeve is equipped with second jacking frame connecting block on the second jacking frame, second jacking frame connecting block with delivery track's inner wall connection.
Further, the length of the slide rail is not less than the width of the conveying track.
Furthermore, a system integration bin is arranged below the workbench, and 4 universal wheels are installed at the bottom of the system integration bin.
And further, the system also comprises a touch screen, and the touch screen is connected with a control system in the system integration bin.
Advantageous effects
Utilize the utility model discloses an in-line four clamping jaw four-axis manipulator plug-in components machine of technical scheme preparation, reach X, Y, Z and R to arbitrary accurate control to four clamping jaw plug-in components modules through four-axis manipulator, four clamping jaw plug-in components modules of drive are free movement directly over delivery track, and 4 plug-in components modules can both realize R to free motion and Z to distance reciprocating motion alone, simultaneously with four hollow shafts that are used for the clamping jaw of plug-in components to be connected become the equidistance of a straight line and arrange, can guarantee that four clamping jaws can realize taking pictures at a high speed when snatching the part back, so this design can reach the purpose of multidimension degree high efficiency work. The utility model discloses not only whole work precision is higher, speed is higher, and life is longer moreover, and the cost is lower. The whole machine is exquisite in design, does not occupy space, can be suitable for various occasions, and is convenient to transport.
Drawings
Fig. 1 is a schematic structural view of an in-line four-jaw four-axis manipulator component inserter of the present invention;
fig. 2 is a schematic view of the connection between a four-jaw plug-in module and a four-axis manipulator of an in-line four-jaw four-axis manipulator plug-in machine of the present invention;
fig. 3 is a schematic view of a conveying track structure of an in-line four-jaw four-shaft manipulator component inserter of the present invention;
fig. 4 is a schematic structural view of a jacking mechanism of an in-line four-jaw four-shaft manipulator component inserter of the present invention;
fig. 5 is a schematic view of the internal structure of a four-jaw plug-in module of an in-line four-jaw four-shaft manipulator plug-in machine of the present invention;
fig. 6 is a schematic diagram of a four-jaw plug-in module of an in-line four-jaw four-axis manipulator plug-in machine of the present invention;
figure 7 is the utility model discloses an in-line four clamping jaw four-axis manipulator plug-in components machine's plug-in components modular structure sketch map.
Detailed Description
It should be noted that the description and sequence of descriptions of specific structures in this section are merely illustrative of specific embodiments and should not be construed as limiting the scope of the invention in any way. Furthermore, the embodiments in this section and the features in the embodiments may be combined with each other without conflict.
The embodiments of the present invention will be described in detail below with reference to the accompanying drawings.
The clamping jaw air cylinder 4-2, the upper and lower air cylinders 4-33 and the jacking air cylinder 9-3 in the embodiment are all connected with an air pressure system integrated in the system integration bin 12 or outside the system integration bin through air pipes; the motors 2-8 and the four-shaft mechanical arm 5 are connected with an electric control system integrated in the system integration bin 12, and finally intelligent operation of the product is achieved.
As shown in fig. 1 and 2, an in-line four-jaw four-shaft manipulator inserter comprises a workbench 1 and a conveying rail 2 arranged on the surface of the workbench 1, wherein a four-shaft manipulator 5 for driving a four-jaw inserter module 3 to move, a laser array light source 6 and a lower camera 7 combination for detecting electronic elements grabbed by the four-jaw inserter module 3, and a material throwing box 8 for collecting waste materials are sequentially arranged on the surface of the workbench 1 on the same side of the conveying rail 2; the four-clamping-jaw plug-in module 3 is connected with an R shaft of the four-shaft manipulator 5, and a camera 4-6 and a light source 4-7 combination for detecting a circuit board 16 to be plugged are mounted on the four-clamping-jaw plug-in module 3. Adopt four-axis manipulator 5, can mention four clamping jaw plug-in components module 3 of being connected with it, at X, Y, Z spatial motion, still can realize R to rotary motion, control more accurate and convenient.
As shown in fig. 4 to 7, the four-jaw plug-in module 3 includes 4 plug-in modules 4 arranged in parallel by a fixing frame 4-8, and the plug-in modules 4 include a ball spline 4-1, a jaw cylinder 4-2 connected to a bottom end of a hollow ball spline shaft 4-11 of the ball spline 4-1, a Z-direction driving device 4-3 connected to a top end of the hollow ball spline shaft 4-1, and an R-direction driving device 4-4 connected to a ball spline nut 4-12 of the ball spline 4-1. In this embodiment, the hollow ball spline shaft 4-11 is connected to the jaw cylinder 4-2, and external air pressure can enter the jaw cylinder 4-2 along the hollow ball spline shaft 4-11 to control the jaw cylinder 4-2 to close and open, and a jaw connector 4-5 can be connected between the jaw cylinder 4-2 and the ball spline 4-1, and the jaw connector 4-5 is provided with an air nozzle for connecting with an external air pressure system.
Specifically, the Z-direction driving device 4-3 comprises a vertical supporting seat 4-31, a linear slide rail 4-32 and an upper air cylinder 4-33 are connected to the supporting seat 4-31 from top to bottom, a sliding block 4-34 is matched on the linear slide rail 4-32, the sliding block 4-34 is connected with the hollow ball spline shaft 4-11 through a spline shaft connecting plate 4-35, the spline shaft connecting plate 4-35 is connected with pistons of the upper air cylinder 4-33 and drives the sliding block 4-34 to vertically slide along the linear slide rail 4-32 through the upper air cylinder 4-33, and therefore Z-direction movement of the clamping jaw air cylinder 4-2 is achieved. The R-direction driving device 4-4 comprises a meshing gear set 4-41 connected with the ball spline nut 4-12, the meshing gear set 4-41 comprises a large gear 4-11 connected with the ball spline nut 4-12 and a small gear 4-412 connected with a rotating motor 4-42, and the rotating motor 4-42 is fixed through a fixing frame 4-8 and can drive the clamping jaw cylinder 4-2 to move horizontally.
In the above embodiment, for 4 plug-in modules 4 in the four-jaw plug-in module 3, the closing and opening movements of the independent Z direction, R direction and the jaw cylinder 4-2 can be realized, and the synchronous movement can also be realized through the control system, so that the requirements of different plug-ins are met, and the working efficiency is greatly improved.
As shown in fig. 3, the width of the conveying track 2 is adjustable, a driving wheel 2-7 for driving the circuit board carrier 11 is respectively arranged on the inner wall corresponding to the conveying track 2 (the conveying track 2 includes a first track baffle 2-1 fixed with the workbench 1, the first track baffle 2-1 is connected with a slide bar support seat 2-4 through a plurality of slide bars 2-3, a second track baffle 2-2 corresponding to the first track baffle 2-1 is sleeved on the slide bar 2-3, and is parallel and symmetrical with the first track baffle 2-1), a conveying belt (not marked in the figure) for carrying the circuit board carrier 11 is connected on the driving wheel 2-7, and a jacking mechanism 9 is arranged under the position of a working area 10 corresponding to the conveying track 2, the jacking mechanism 9 is used for jacking the circuit board carriers 11 running below the plug-in work area 10 into the plug-in work area 10, or lowering the circuit board carriers 11 in the plug-in work area 10 onto the conveying belt, wherein the circuit board carriers 11 are all loaded with circuit boards 16. The driving wheels 2-7 are driven by the motors 2-8 to move clockwise or anticlockwise, so that the aim of horizontally conveying the circuit board carrier 11 loaded with the circuit board 16 is fulfilled.
As shown in fig. 3 and 4, the jacking mechanism 9 comprises a jacking platform 9-2 supported by 4 liftable columns 9-1, the bottom of the jacking platform 9-2 is connected with a jacking cylinder 9-3, a group of slide rails 9-4 horizontally vertical to the conveying track 2 are installed on the jacking platform 9-2, a first jacking frame 9-5 is installed on the jacking platform 9-2 corresponding to one end of the slide rail 9-4, a second jacking frame 9-6 symmetrical to the first jacking frame 9-5 is movably connected to the body of the slide rail 9-4, a second jacking frame connecting block 9-7 is movably sleeved on the second jacking frame 9-6, and the second jacking frame connecting block 9-7 is connected with the inner wall of the conveying track 2 (i.e. the second track baffle 2-2), when the conveying track 2 becomes wider or narrower, the distance between the corresponding first jacking frame 9-5 and the second jacking frame 9-6 also changes synchronously, the first jacking frame 9-5 and the second jacking frame 9-6 are both positioned between the conveyor belts on the two sides, and the heights of the tops are the same horizontal plane. The jacking cylinder 9-3 is used for driving the jacking platform 9-2 to vertically lift, so that the circuit board carrier 11 is lifted. In the scheme, in order to facilitate the synchronous change of the distance between the first jacking frame 9-5 and the second jacking frame 9-6 and the litigation track, the length of the slide rail 9-4 is not less than the width of the conveying track 2.
As shown in figure 1, as the optimization of the device, a system integration bin 12 is arranged along the lower part of the workbench 1, and 4 universal wheels 14 and a platform supporting seat 15 are arranged at the bottom of the system integration bin 12.
As the further optimization of the device, the device also comprises a touch screen 13 arranged on one side of the workbench, wherein the touch screen 13 is connected with a control system of the system integration bin 12 to realize man-machine interaction.
The above description is only a preferred embodiment of the present invention, but the scope of the present invention is not limited thereto, and any conceivable changes or substitutions by those skilled in the art within the technical scope of the present invention are included in the scope of the present invention. Therefore, the protection scope of the present invention shall be subject to the protection scope of the claims.
Claims (10)
1. The in-line four-clamping-jaw four-shaft manipulator plug-in machine is characterized by comprising a workbench and a conveying rail arranged on the surface of the workbench, wherein the surface of the workbench on the same side of the conveying rail is sequentially provided with a four-shaft manipulator for driving a four-clamping-jaw plug-in module to move, a laser array light source and lower camera combination for detecting electronic elements grabbed on the four-clamping-jaw plug-in module, and a material throwing box for collecting waste materials; the four-clamping-jaw plug-in module is connected with the R shaft of the four-shaft manipulator, and a camera and a light source combination for detecting a circuit board to be plugged are installed on the four-clamping-jaw plug-in module.
2. The in-line four-jaw four-axis robot inserter of claim 1 wherein the four-jaw inserter module comprises 4 inserter modules arranged side-by-side by a fixed frame, the inserter modules comprising a ball spline, a jaw cylinder connected to the bottom end of the hollow ball spline shaft of the ball spline, a Z-drive connected to the top end of the hollow ball spline shaft, and an R-drive connected to the ball spline female of the ball spline.
3. The in-line four-jaw four-axis manipulator inserter according to claim 2, wherein the Z-direction driving device comprises a vertical support base, the support base is connected with a linear slide rail and upper and lower cylinders from top to bottom, the linear slide rail is matched with a slide block, the slide block is connected with the hollow ball spline shaft through a spline shaft connecting plate, the spline shaft connecting plate is connected with pistons of the upper and lower cylinders, and the slide block is driven by the upper and lower cylinders to vertically slide up and down along the linear slide rail.
4. The in-line four-jaw, four-axis robot inserter of claim 2 wherein the R-drive means comprises a meshing gear set female-connected to the ball spline, the meshing gear set being driven by a rotary motor.
5. The in-line four-jaw four-axis manipulator inserter according to claim 1, wherein the width of the conveying track is adjustable, driving wheels for driving the circuit board carriers are respectively arranged along the corresponding inner walls of the conveying track, a conveying belt for carrying the circuit board carriers is connected to the driving wheels, and a jacking mechanism is arranged right below the position of the working area corresponding to the conveying track and used for jacking the circuit board carriers running below the inserter working area into the inserter working area or lowering the circuit board carriers in the inserter working area onto the conveying belt.
6. The in-line four-jaw four-axis robot inserter of claim 5 wherein the drive wheel is driven by a motor to move clockwise or counterclockwise.
7. The in-line four-jaw four-axis manipulator plug-in machine of claim 5, wherein the jacking mechanism comprises a jacking platform supported by 4 liftable columns, the bottom of the jacking platform is connected with a jacking cylinder, the jacking platform is provided with a set of slide rails horizontally vertical to the conveying rail, one end of each slide rail corresponds to a first jacking frame arranged on the jacking platform, the slide rail body is movably connected with a second jacking frame symmetrical to the first jacking frame, the second jacking frame is movably sleeved with a second jacking frame connecting block, and the second jacking frame connecting block is connected with the inner wall of the conveying rail.
8. The in-line four-jaw four-axis robot inserter of claim 7 wherein the length of the slide rail is no less than the width of the conveyor track.
9. The in-line four-jaw four-shaft manipulator inserter according to claim 1, wherein a system integration bin is arranged below the workbench, and 4 universal wheels are mounted at the bottom of the system integration bin.
10. The in-line four-jaw four-axis robot inserter of claim 9 further comprising a touch screen connected to the control system in the system integration bay.
Priority Applications (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201921203556.5U CN210519375U (en) | 2019-07-29 | 2019-07-29 | In-line four-clamping-jaw four-shaft mechanical arm component inserter |
Applications Claiming Priority (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201921203556.5U CN210519375U (en) | 2019-07-29 | 2019-07-29 | In-line four-clamping-jaw four-shaft mechanical arm component inserter |
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| Publication Number | Publication Date |
|---|---|
| CN210519375U true CN210519375U (en) | 2020-05-12 |
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| Application Number | Title | Priority Date | Filing Date |
|---|---|---|---|
| CN201921203556.5U Expired - Fee Related CN210519375U (en) | 2019-07-29 | 2019-07-29 | In-line four-clamping-jaw four-shaft mechanical arm component inserter |
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| CN (1) | CN210519375U (en) |
Cited By (1)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN112543557A (en) * | 2020-10-29 | 2021-03-23 | 大族激光科技产业集团股份有限公司 | Special-shaped pin capacitor assembling device |
-
2019
- 2019-07-29 CN CN201921203556.5U patent/CN210519375U/en not_active Expired - Fee Related
Cited By (1)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN112543557A (en) * | 2020-10-29 | 2021-03-23 | 大族激光科技产业集团股份有限公司 | Special-shaped pin capacitor assembling device |
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Legal Events
| Date | Code | Title | Description |
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| GR01 | Patent grant | ||
| GR01 | Patent grant | ||
| CF01 | Termination of patent right due to non-payment of annual fee |
Granted publication date: 20200512 Termination date: 20210729 |
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| CF01 | Termination of patent right due to non-payment of annual fee |