CN212892202U

CN212892202U - Pick-and-place mechanism

Info

Publication number: CN212892202U
Application number: CN202021737199.3U
Authority: CN
Inventors: 赵江涛; 张鸽
Original assignee: Luxshare Intelligent Manufacture Zhejiang Co Ltd
Current assignee: Luxshare Intelligent Manufacture Zhejiang Co Ltd
Priority date: 2020-08-19
Filing date: 2020-08-19
Publication date: 2021-04-06
Anticipated expiration: 2030-08-19

Abstract

The utility model relates to a machining technical field discloses a get and put mechanism, including first drive assembly, conversion components. The conversion assembly comprises a rotating plate, a plurality of chain blocks arranged in a row, a sliding block assembly and a plurality of clamping hands arranged on the chain blocks; the first driving assembly and the chain blocks are respectively arranged at two axial ends of the rotating plate, the rotating plate is connected with the first driving assembly, the chain block arranged at the head end is fixedly connected with any eccentric position of the axial end face of the rotating plate, the sliding block assembly comprises an elongated sliding block, the sliding block is arranged on one radial side of the rotating plate, the chain block arranged at the tail end is fixedly connected with the sliding block, and adjacent chain blocks are connected in a hinged mode. The utility model discloses a get and put each tong on mechanism and set up on arranging into one row a plurality of chain pieces, the mode of arranging of chain piece is adjustable, and then can adjust the mode of arranging of each tong, realizes pressing from both sides and getting and shifting to each product that the straight line was arranged or the circular each product of arranging, has improved production efficiency.

Description

Pick-and-place mechanism

Technical Field

The utility model relates to the technical field of machining, especially, relate to a pick and place mechanism.

Background

The automatic mechanical gripper has wide application in industrial production, realizes automatic clamping and transferring of products, and improves industrial production efficiency.

In the 3C electronic industry, a pick-and-place mechanism is usually required to pick and place a product. Due to the requirement of production process, in continuous production, a plurality of products placed on one carrying tray need to be clamped on another carrying tray synchronously, and the arrangement modes of carrying positions for carrying the products on different carrying trays are often difficult to ensure to be the same. In practical manufacturing processes, a plurality of products arranged in a straight line in one carrier tray are required to be arranged in another carrier tray in a circular matrix. However, although the conventional clamping mechanism has a plurality of grippers, the arrangement of the plurality of grippers on the clamping mechanism is single and fixed, and the clamping mechanism can only synchronously clamp a plurality of products in a single arrangement, and cannot change the arrangement of the grippers according to different arrangements, so as to realize the picking and placing of a plurality of products in different arrangements, and further cannot be applied to the picking and placing process of the products with changed arrangement. Due to the large amount of products, the manual placement method is very slow, and the production capacity is seriously influenced.

Therefore, it is desirable to provide a pick-and-place mechanism, in which the arrangement of the grippers on the pick-and-place mechanism is adjustable, so as to convert the linear arrangement of the products into circular arrangement, thereby improving the production efficiency.

SUMMERY OF THE UTILITY MODEL

An object of the utility model is to provide a get and put mechanism, the mode of arranging of getting each tong on putting the mechanism is adjustable to each product conversion that the realization was arranged to the straight line is circular arranges, and then improves production efficiency.

To achieve the purpose, the utility model adopts the following technical proposal:

a pick and place mechanism comprising:

a first drive assembly;

the conversion assembly comprises a rotating plate, a plurality of chain blocks arranged in a row, a sliding block assembly and a plurality of clamping hands arranged on the chain blocks;

the rotating plate is connected with the first driving assembly, the chain blocks arranged at the head end are fixedly connected with any eccentric position of the axial end face of the rotating plate, the sliding block assembly comprises a sliding block which slides along the sliding direction, the sliding block is positioned on one side of the rotating plate in the radial direction, the chain blocks arranged at the tail end are fixedly connected with the sliding block, and adjacent chain blocks are hinged and connected.

Optionally, a circular convex column is arranged on the rotating plate, the circular convex column and the chain block are located on the same side of the rotating plate in the axial direction, the central axis of the circular convex column is collinear with the central axis of the rotating plate, the circular convex column is fixedly connected with the rotating plate, and one end of the chain block arranged at the head end abuts against the circular protruding circumferential side face.

Optionally, the slider assembly further includes a first slide rail and a connecting block disposed on the slider, the connecting block is fixedly connected to the slider, and the connecting block is slidably disposed on the first slide rail.

Optionally, hinge plates are arranged on the side faces of the chain blocks, and adjacent chain blocks are hinged and connected through the hinge plates corresponding to the adjacent chain blocks.

Optionally, the rotating plate is further provided with a connecting shaft, and an output end of the first driving assembly is connected with the connecting shaft.

Optionally, the first drive assembly comprises a gear fixed relative to the connecting shaft, and the gear is collinear with a central axis of the connecting shaft.

Optionally, the first driving assembly further includes a rack engaged with the gear and a linear driving member connected to the rack, and an output end of the linear driving member is fixedly connected to the rack.

Optionally, the first driving assembly further comprises a second slide rail, and the rack is slidably disposed on the second slide rail.

Optionally, the pick-and-place mechanism further includes a supporting plate, the supporting plate is located between the first driving assembly and the converting assembly, the linear driving member, the second sliding rail and the first sliding rail are respectively fixed to the supporting plate, and the connecting shaft penetrates through the upper and lower surfaces of the supporting plate and is rotatably disposed therewith.

Optionally, the pick-and-place mechanism further comprises a second driving assembly, and an output end of the second driving assembly is connected with the supporting plate.

The utility model has the advantages that:

compare current tong the single mechanism of putting of getting of mode of arranging, the utility model discloses a get each tong on putting the mechanism and set up on arranging one row of a plurality of chain pieces, the rotor plate can be through arranging for circular form around self the central axis rotates a plurality of chain pieces that drive one row of arranging, slider component's slider then can slide the pulling and arrange one row of a plurality of chain pieces and warp to the linear form and arrange, because the mode of arranging of chain piece is adjustable, and then can adjust the mode of arranging of each tong, the realization is got and is shifted to the clamp of each product of arranging of straight line or circular each product of arranging, and then production efficiency has been improved.

Drawings

Fig. 1 is a schematic view of the pick-and-place mechanism provided by the present invention when the grippers are arranged linearly at intervals;

fig. 2 is a schematic view of the gripping arms of the pick-and-place mechanism provided by the present invention arranged in a circular surrounding manner at intervals;

fig. 3 is a schematic structural diagram of the gripper of the pick-and-place mechanism provided by the present invention in the deformation process from the linear interval arrangement to the circular interval arrangement;

fig. 4 is a schematic structural diagram of two conversion assemblies of the pick-and-place mechanism provided by the present invention;

fig. 5 is a schematic structural diagram of a first driving assembly of the pick-and-place mechanism provided by the present invention;

fig. 6 is a schematic structural diagram of a deformed chain of the pick-and-place mechanism provided by the present invention;

fig. 7 is a schematic view of the switching assembly according to the present invention when the clamping fingers are linearly arranged at intervals;

fig. 8 is a schematic view of the clip of the switching assembly according to the present invention arranged in a circular surrounding manner at intervals.

In the figure:

100-product tray; x-sliding direction;

1-a support plate;

2-a conversion component; 21-a deformation chain; 211-chain block; 212-hinge plate; 213-rotating plate connection hole; 214-slider attachment hole; 22-clamping the hand; 23-rotating plate; 24-a slide block; 25-a first slide rail; 26-connecting blocks; 27-a connecting rod; 28-circular convex column; 29-a connecting shaft;

3-a first drive assembly; 31-a linear drive; 32-a rack; 33-gear wheel; 34-a second slide rail; 35-a connecting plate;

4-a second drive assembly.

Detailed Description

In order to make the technical problem solved by the present invention, the technical solution adopted by the present invention and the technical effect achieved by the present invention clearer, the technical solution of the present invention will be further explained by combining the drawings and by means of the specific implementation manner.

In the description of the present invention, unless expressly stated or limited otherwise, the terms "connected," "connected," and "fixed" are to be construed broadly, e.g., as meaning permanently connected, detachably connected, or integral to one another; can be mechanically or electrically connected; either directly or indirectly through intervening media, either internally or in any other relationship. The specific meaning of the above terms in the present invention can be understood in specific cases to those skilled in the art.

In the present disclosure, unless expressly stated or limited otherwise, the first feature "on" or "under" the second feature may comprise direct contact between the first and second features, or may comprise contact between the first and second features not directly. Also, the first feature being "on," "above" and "over" the second feature includes the first feature being directly on and obliquely above the second feature, or merely indicating that the first feature is at a higher level than the second feature. A first feature being "under," "below," and "beneath" a second feature includes the first feature being directly under and obliquely below the second feature, or simply meaning that the first feature is at a lesser elevation than the second feature.

In the description of the present embodiment, the terms "upper", "lower", "left", "right", and the like are used in the orientation or positional relationship shown in the drawings only for convenience of description and simplicity of operation, and do not indicate or imply that the device or element referred to must have a specific orientation, be constructed in a specific orientation, and be operated, and thus should not be construed as limiting the present invention. Furthermore, the terms "first" and "second" are used only for descriptive purposes and are not intended to have a special meaning.

As shown in fig. 1 to 3, the present embodiment provides a pick-and-place mechanism, which is mainly used for picking and placing a plurality of products linearly arranged or circularly arranged in a matrix in a product tray 100, so as to improve the working efficiency. The pick-and-place mechanism mainly comprises a conversion component 2 and a first driving component 3; as shown in fig. 3 and fig. 4-6, the conversion assembly 2 includes a deformation chain 21, a plurality of grippers 22, a rotating plate 23, and a slider assembly; the transformable chain 21 includes a plurality of chain blocks 211 arranged in a row, and each gripper 22 is provided on the chain block 211. In this embodiment, the number of the chain blocks 211 is eight, the number of the corresponding clamping hands is eight, and each clamping hand 22 is fixedly connected to each chain block 211 one to one through a connecting rod 27; it is contemplated that in other embodiments, the chain blocks 211 may be three, four, five, six, or other greater numbers. The first driving assembly 3 and the chain blocks 211 are respectively arranged at two axial ends of the rotating plate 23, the rotating plate 23 is connected with the first driving assembly 3, the chain block 211 arranged at the head end is fixedly connected with any eccentric position of the axial end face of the rotating plate 23, the sliding block assembly comprises a long-strip-shaped sliding block 24, the sliding block 24 is arranged at one radial side of the rotating plate 23, the chain blocks 211 arranged at the tail end are fixedly connected with the sliding block 24, and adjacent chain blocks 211 are connected in a hinged mode. The long-strip-shaped sliding block 24 can slide along the sliding direction, and then drives the plurality of chain blocks 211 arranged in a row to be linearly arranged, and the rotating plate 23 can rotate around the central axis of the rotating plate, and then drives the plurality of chain blocks 211 arranged in a row to be circularly arranged. Wherein the X direction in fig. 1-3 represents the sliding direction. Compare the single mechanism of putting of getting of current tong mode of arranging, each tong 22 on the mechanism of putting of getting of this embodiment sets up on a plurality of chain pieces 211 of arranging into a row, because the mode of arranging of chain piece 211 is adjustable, and then can make the mode of arranging of each tong 22 arrange and change between circular form is arranged and the straight line is arranged, realizes pressing from both sides and getting and transferring a plurality of products that arrange to the straight line or a plurality of products that circular were arranged, and then has improved production efficiency.

In order to be able to transform a plurality of chain pieces 211 arranged in a row into a circular shape on the rotary plate 23. Specifically, as shown in fig. 6 to 8, a circular convex column 28 is disposed on the circular disk-shaped rotating plate 23, the circular convex column 28 and the chain blocks 211 are located on the same side of the rotating plate 23 in the axial direction, the central axes of the circular convex column 28 and the rotating plate 23 are collinear, the circular convex column 28 and the rotating plate 23 are fixedly connected, one end of the chain block 211 arranged at the head end abuts against the circumferential side surface of the circular convex column 28, when the deforming chain 21 is deformed in a circular shape, each chain block 211 surrounds the circular convex column 28, and the length direction of each chain block 211 extends along the radial direction of the circular disk-shaped rotating plate 23. More specifically, as shown in fig. 6-7, hinge plates 212 are provided on the side surfaces of the chain blocks 211, the adjacent chain blocks 211 are hinged by the end portions of the hinge plates 212 corresponding to the adjacent chain blocks in the length direction, a rotating plate connecting hole 213 is provided at one end of the chain block 211 arranged at the head end, close to the hinge plate 212, a fastening bolt (not shown in the figure) for fastening the rotating plate 23 is inserted into the rotating plate connecting hole 213, and the chain block 211 arranged at the head end is fixedly connected with the rotating plate 23; and the end of the chain block 211 arranged at the tail end, which is far away from the hinged plate 212, is provided with a slider connecting hole 214, and a bolt (not shown in the figure) fixedly connected with the slider 24 penetrates through the slider connecting hole 214, so that the chain block 211 arranged at the tail end is fixedly connected with the slider 24, and the deformation conversion of linear arrangement and circular arrangement of the deformation chain 21 can be realized.

The slider assembly of the present embodiment is used to realize the linear arrangement deformation of the plurality of chain blocks 211 arranged in a row. In order to enable the slider assembly to slide in the sliding direction, the plurality of chain blocks 211 arranged in a row are driven to be linearly arranged. As shown in fig. 3, 4 and 7, besides the slider 24, the slider assembly further includes a first slide rail 25 and a connecting block 26 disposed on the slider 24, the connecting block 26 is fixedly connected to the slider 24, the connecting block 26 is slidably disposed on the first slide rail 25, the first slide rail 25 extends along the sliding direction, and the slider 24 is guided.

Further, in the present embodiment, the first driving assembly 3 is connected to the rotating plate 23, and further can drive the rotating plate 23 to rotate. As shown in fig. 3-5, the rotating plate 23 is further provided with a connecting shaft 29, and the output end of the first driving assembly 3 is connected to the connecting shaft 29. Specifically, the first driving assembly 3 includes a gear 33, a rack 32 engaged with the gear 33, and a linear driving member 31 connected to the rack 32. The linear driving member 31 is an existing linear cylinder, the rack 32 extends along the sliding direction, the gear 33 is relatively fixed with the connecting shaft 29, the gear 33 is collinear with the central axis of the connecting shaft 29, the output end of the linear driving member 31 is fixedly connected with the rack 32, the linear driving member 31 drives the rack 32 to slide along the sliding direction, the gear 33 is driven to rotate, and finally the rotating plate 23 is driven to rotate.

But to guide the movement of the rack 32. As shown in fig. 5, the first driving assembly 3 further includes a second slide rail 34, the rack 32 is slidably disposed on the second slide rail 34, and the second slide rail 34 extends along the sliding direction, so as to guide the rack 32.

More specifically, as shown in fig. 3-5, the pick-and-place mechanism further includes a support plate 1, the support plate 1 is located between the first driving assembly 3 and the converting assembly 2, the linear driving member 31, the second sliding rail 34 and the first sliding rail 25 are respectively fixed on the support plate 1, the support plate 1 is kept horizontally, the connecting shaft 29 passes through the upper and lower surfaces of the support plate 1, and the support plate 1 is rotatably disposed on the support plate 1.

Furthermore, as shown in fig. 3-5, the output end of the linear driving member 31 is fixedly connected with a connecting plate 35, and the rack 32 and the slider 24 are respectively and fixedly connected with the connecting plate 35, so that the rack 32 and the slider 24 can be synchronously moved by one linear driving member 31, and the linear driving member has the advantages of simple structure and low design cost. When the linear driving member 31 drives the connecting plate 35 to move in the sliding direction, the plurality of chain pieces 211 arranged in a row are deformed into a linear arrangement; and when the linear actuator 31 drives the link plate 35 to move in the reverse direction of the sliding direction, the plurality of chain pieces 211 arranged in a row are deformed into a circular arrangement.

In addition, as shown in fig. 3, the pick and place mechanism further comprises a second driving assembly 4, and an output end of the second driving assembly 4 is connected with the support plate 1. The second driving assembly 4 is an existing linear cylinder, the moving direction of the output end of the second driving assembly 4 extends along the axial direction of the rotating plate 23 of the conversion assembly 2, and the second driving assembly 4 can drive the supporting plate 1 to do lifting movement, so that the conversion assembly 2 is driven to lift.

The above description is only for the preferred embodiment of the present invention, and for those skilled in the art, there are variations on the detailed description and the application scope according to the idea of the present invention, and the content of the description should not be construed as a limitation to the present invention.

Claims

1. A pick and place mechanism, comprising:

a first drive assembly (3);

the conversion assembly (2) comprises a rotating plate (23), a plurality of chain blocks (211) arranged in a row, a sliding block assembly and a plurality of clamping hands (22) arranged on the chain blocks (211);

the rotating plate (23) is connected with the first driving assembly (3), the chain blocks (211) arranged at the head end are fixedly connected with any eccentric position of the axial end face of the rotating plate (23), the sliding block assembly comprises sliding blocks (24) sliding along the sliding direction, the sliding blocks (24) are located on one radial side of the rotating plate (23), the chain blocks (211) arranged at the tail end are fixedly connected with the sliding blocks (24), and adjacent chain blocks (211) are hinged to each other.

2. The pick and place mechanism as recited in claim 1, wherein the rotating plate (23) is provided with a circular convex pillar (28), the circular convex pillar (28) and the chain block (211) are located on the same side of the rotating plate (23) in the axial direction, the circular convex pillar (28) is collinear with the central axis of the rotating plate (23), the circular convex pillar (28) is fixedly connected with the rotating plate (23), and one end of the chain block (211) arranged at the head end abuts against the circumferential side surface of the circular convex pillar (28).

3. The pick and place mechanism of claim 2 wherein the slider assembly further comprises a first slide rail (25), a connecting block (26) disposed on the slider (24), the connecting block (26) being fixedly connected to the slider (24), the connecting block (26) being slidably disposed on the first slide rail (25).

4. The pick and place mechanism as recited in claim 3, wherein hinge plates (212) are provided on the side surfaces of the chain blocks (211), and adjacent chain blocks (211) are hingedly connected by their respective corresponding hinge plates (212).

5. Pick and place mechanism according to claim 4, characterised in that a connecting shaft (29) is provided on the rotating plate (23), the output of the first drive assembly (3) being connected to the connecting shaft (29).

6. Pick and place mechanism as claimed in claim 5, characterized in that said first drive assembly (3) comprises a gear wheel (33), said gear wheel (33) being fixed with respect to said connecting shaft (29), and said gear wheel (33) being collinear with the central axis of said connecting shaft (29).

7. The pick and place mechanism according to claim 6, wherein the first driving assembly (3) further comprises a rack (32) in meshed connection with the gear (33) and a linear driving member (31) connected with the rack (32), and an output end of the linear driving member (31) is fixedly connected with the rack (32).

8. Pick and place mechanism according to claim 7, characterised in that said first driving assembly (3) further comprises a second sliding track (34), said rack (32) being slidably arranged on said second sliding track (34).

9. The pick and place mechanism of claim 8, further comprising a support plate (1), wherein the support plate (1) is disposed between the first driving assembly (3) and the converting assembly (2), the linear driving member (31), the second sliding rail (34), and the first sliding rail (25) are respectively fixed on the support plate (1), and the connecting shaft (29) passes through upper and lower surfaces of the support plate (1) and is rotatably disposed therewith.

10. Pick and place mechanism according to claim 9, characterised in that it further comprises a second drive assembly (4), the output of the second drive assembly (4) being connected to the support plate (1).