CN215521525U - Double-joint-shaft mechanism - Google Patents

Double-joint-shaft mechanism Download PDF

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Publication number
CN215521525U
CN215521525U CN202121144333.3U CN202121144333U CN215521525U CN 215521525 U CN215521525 U CN 215521525U CN 202121144333 U CN202121144333 U CN 202121144333U CN 215521525 U CN215521525 U CN 215521525U
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detection module
visual detection
ccd visual
voice coil
connecting plate
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CN202121144333.3U
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Chinese (zh)
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张勇
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Dongguan Attach Point Intelligent Equipment Co ltd
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Dongguan Attach Point Intelligent Equipment Co ltd
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Abstract

The embodiment of the utility model discloses a double-laminating-shaft mechanism, which is used for solving the technical problem that the existing laminating mechanism is low in laminating accuracy. The embodiment of the utility model comprises a portal frame, a material taking assembly, a laminating assembly, a material taking CCD visual detection module, an upper transfer CCD visual detection module, a laminating CCD visual detection module and a lower transfer CCD visual detection module; a Y-axis linear driving module is mounted on the portal frame, the laminating assembly and the material taking assembly are both connected with the Y-axis linear driving module, and the Y-axis linear driving module can drive the material taking assembly and the laminating assembly to move along the Y-axis direction; get material CCD visual detection module go up transfer CCD visual detection module and laminating CCD visual detection module install in proper order on the portal frame, down transfer CCD visual detection module is located the below of going up transfer CCD visual detection module just down transfer CCD visual detection module with go up transfer CCD visual detection module.

Description

Double-joint-shaft mechanism
Technical Field
The utility model relates to the technical field of automatic laminating, in particular to a double-laminating-shaft mechanism.
Background
Laminating mechanism among the prior art generally includes the sharp drive module and connects the laminating subassembly on the sharp drive module, the part that the laminating subassembly was with the material loading station under the drive of sharp drive module snatchs, then continue to move the top of laminating station under the drive of sharp drive module, finally, the laminating subassembly is direct to laminate the part on the product, can know by foretell working process, the laminating subassembly is getting the material and the in-process of laminating all not carried out relevant visual detection, there is more part laminating position inaccurate defective products in the product that forms through the above-mentioned process, lead to the product to scrap or rework, further lead to laminating efficiency to reduce.
Therefore, in order to solve the above-mentioned technical problems, it is an important subject of research by those skilled in the art to find a double bonding shaft mechanism having higher bonding accuracy.
SUMMERY OF THE UTILITY MODEL
The embodiment of the utility model discloses a double-laminating-shaft mechanism, which is used for solving the technical problem that the existing laminating mechanism is low in laminating accuracy.
The embodiment of the utility model provides a double-joint shaft mechanism which comprises a portal frame, a material taking assembly, a joint assembly, a material taking CCD visual detection module, an upper transfer CCD visual detection module, a joint CCD visual detection module and a lower transfer CCD visual detection module, wherein the portal frame is provided with a material taking assembly and a joint assembly;
a Y-axis linear driving module is mounted on the portal frame, the laminating assembly and the material taking assembly are both connected with the Y-axis linear driving module, and the Y-axis linear driving module can drive the material taking assembly and the laminating assembly to move along the Y-axis direction;
get material CCD visual detection module go up transfer CCD visual detection module and laminating CCD visual detection module install in proper order on the portal frame, down transfer CCD visual detection module is located the below of going up transfer CCD visual detection module just down transfer CCD visual detection module with go up transfer CCD visual detection module.
Optionally, the laminating subassembly includes first mounting substrate, install first connecting plate on the first mounting substrate, install first X on the first connecting plate to voice coil motor, first X is connected with first linkage plate to voice coil motor, first X can drive to voice coil motor first linkage plate removes along X axle direction, fixed mounting has first mount pad on the first linkage plate, install first Z on the first mount pad to voice coil motor, first Z is connected with first lifter plate to voice coil motor, first Z can drive to voice coil motor first lifter plate removes along Z axle direction, install first rotating electrical machines on the first lifter plate, first rotating electrical machines's output shaft has the laminating head, first rotating electrical machines can drive the laminating head is rotatory along the Z axle.
Optionally, a first X-direction slide rail is mounted on the first connecting plate, and the first connecting plate is slidably connected to the first X-direction slide rail;
and a first Z-direction sliding rail is arranged on the first connecting plate, and the first lifting plate is connected to the first Z-direction sliding rail in a sliding manner.
Optionally, get material subassembly and include second mounting substrate, install the second connecting plate on the second mounting substrate, install second X on the second connecting plate to voice coil motor, second X is connected with the second linkage plate to voice coil motor, second X can drive to voice coil motor the second linkage plate removes along X axle direction, fixed mounting has the second mount pad on the second linkage plate, install second Z on the second mount pad to voice coil motor, second Z is connected with the second lifter plate to voice coil motor, second Z can drive to voice coil motor the second lifter plate removes along Z axle direction, install the second rotating electrical machines on the second lifter plate, the output shaft of second rotating electrical machines has the absorption head, the second rotating electrical machines can drive the absorption head is rotatory along the Z axle.
Optionally, a second X-direction slide rail is mounted on the second connecting plate, and the second connecting plate is slidably connected to the second X-direction slide rail;
and a second Z-direction sliding rail is arranged on the second connecting plate, and the second lifting plate is connected to the second Z-direction sliding rail in a sliding manner.
Optionally, the Y-axis linear driving module is a Y-axis linear driving module driven by a linear motor.
Optionally, the fitting assembly further comprises a first magnetic spring, a first end of the first magnetic spring is connected with the first connecting plate, and a second end of the first magnetic spring is connected with the first lifting plate.
Optionally, the reclaiming assembly further comprises a second magnetic spring, a first end of the second magnetic spring is connected to the second engaging plate, and a second end of the second magnetic spring is connected to the second lifting plate.
According to the technical scheme, the embodiment of the utility model has the following advantages:
the embodiment of the utility model provides a double-joint shaft mechanism which comprises a portal frame, a material taking assembly, a joint assembly, a material taking CCD visual detection module, an upper transfer CCD visual detection module, a joint CCD visual detection module and a lower transfer CCD visual detection module, wherein the portal frame is provided with a material taking assembly and a joint assembly; a Y-axis linear driving module is mounted on the portal frame, the laminating assembly and the material taking assembly are both connected with the Y-axis linear driving module, and the Y-axis linear driving module can drive the material taking assembly and the laminating assembly to move along the Y-axis direction; get material CCD visual detection module go up transfer CCD visual detection module and laminating CCD visual detection module install in proper order on the portal frame, down transfer CCD visual detection module is located the below of going up transfer CCD visual detection module just down transfer CCD visual detection module with go up transfer CCD visual detection module. In the embodiment, the material taking CCD visual detection module firstly acquires the specific position and the posture of a part in a feeding station, then the material taking assembly moves to the upper part of the part under the drive of the Y-axis linear driving module according to the specific position and the posture of the part obtained, the material taking assembly adjusts the position of a self suction head according to the specific position and the posture of the part obtained, then the material taking assembly sucks the part and moves to the transfer table under the drive of the Y-axis linear driving module, the material taking assembly places the part on the transfer table, the transfer table rotates the part to the lower part of the upper transfer CCD visual detection module, the upper transfer CCD visual detection module acquires the specific position and the posture of the part, then the attaching assembly moves to the upper part under the drive of the Y-axis linear driving module according to the specific position and the posture of the part obtained, the position of laminating subassembly self laminating head is adjusted according to foretell part concrete position and gesture, then the laminating subassembly absorbs the part, the transfer platform rotates certain angle so that the specific position and the gesture of the product of being absorbed are acquireed to transfer CCD visual detection module down, then, the specific position and the gesture of the product on the laminating station are acquireed to laminating CCD visual detection module, the laminating subassembly moves to laminating station top under the drive of Y axle linear drive module, the laminating subassembly laminates the part on the product according to foretell product specific position and gesture, whether the product of accomplishing the laminating is laminated to the product to last laminating CCD visual detection module detects the confirmed part on the product accurately. Through foretell design, the double-fitting shaft mechanism in this embodiment can accurately fit the part to the product, has guaranteed the yields of product.
Drawings
In order to more clearly illustrate the embodiments of the present invention or the technical solutions in the prior art, the drawings used in the description of the embodiments or the prior art will be briefly described below, and it is obvious that the drawings in the following description are only some embodiments of the present invention, and for those skilled in the art, other drawings can be obtained according to these drawings without inventive exercise.
Fig. 1 is a schematic structural diagram of a dual-joint-shaft mechanism provided in the present invention;
FIG. 2 is a schematic side view of a bonding assembly in a dual bonding axis mechanism according to the present invention;
FIG. 3 is a schematic view of another side structure of the bonding assembly in the dual bonding axis mechanism provided in the present invention;
fig. 4 is a schematic side view of a material taking assembly in a dual-joint-shaft mechanism provided in the present invention;
fig. 5 is a schematic structural view of another side surface of a material taking assembly in a dual-joint-shaft mechanism provided in the present invention;
illustration of the drawings: a gantry 1; a Y-axis linear driving module 2; a fitting assembly 3; a first mounting substrate 301; a first connection board 302; a first X-direction voice coil motor 303; a first connector tile 304; a first lifter plate 305; a first rotating electrical machine 306; a fitting head 307; a first magnetic spring 308; a first Z-direction voice coil motor 309; a first mount 310; a material taking assembly 4; a second mounting substrate 401; a second connecting plate 402; a second magnetic spring 403; a second connector tile 404; a second lifter plate 405; a second rotating electrical machine 406; a suction head 407; a second X-direction voice coil motor 408; a second Z-direction voice coil motor 409; a second mount 410; taking a CCD visual detection module 5; an upper transfer CCD visual detection module 6; attaching a CCD visual detection module 7; and a lower transfer CCD visual detection module 8.
Detailed Description
The embodiment of the utility model discloses a double-laminating-shaft mechanism, which is used for solving the technical problem that the existing laminating mechanism is low in laminating accuracy.
In order that those skilled in the art will better understand the disclosure, the utility model will be described in further detail with reference to the accompanying drawings and specific embodiments. It is to be understood that the described embodiments are merely exemplary of the utility model, and not restrictive of the full scope of the utility model. All other embodiments, which can be derived by a person skilled in the art from the embodiments given herein without making any creative effort, shall fall within the protection scope of the present invention.
Referring to fig. 1 to 5, a dual joint shaft mechanism provided in the present embodiment includes:
the device comprises a portal frame 1, a material taking assembly 4, a laminating assembly 3, a material taking CCD visual detection module 5, an upper transfer CCD visual detection module 6, a laminating CCD visual detection module 7 and a lower transfer CCD visual detection module 8;
a Y-axis linear driving module 2 is mounted on the portal frame 1, the laminating component 3 and the material taking component 4 are both connected with the Y-axis linear driving module 2, and the Y-axis linear driving module 2 can drive the material taking component 4 and the laminating component 3 to move along the Y-axis direction;
get material CCD visual inspection module 5 go up transfer CCD visual inspection module 6 and laminating CCD visual inspection module 7 install in proper order on portal frame 1, down transfer CCD visual inspection module 8 is located go up the below of transfer CCD visual inspection module 6 just down transfer CCD visual inspection module 8 with go up transfer CCD visual inspection module 6.
In this embodiment, the material taking CCD vision detecting module 5 first obtains the specific position and posture of the part in the material loading station, then the material taking assembly 4 moves to the upper side of the part under the drive of the Y-axis linear driving module according to the obtained specific position and posture of the part, the material taking assembly 4 adjusts the position of the self suction head 407 according to the obtained specific position and posture of the part, then the material taking assembly 4 sucks the part and moves to the transfer table under the drive of the Y-axis linear driving module 2, the material taking assembly 4 places the part on the transfer table, the transfer table rotates the part to the lower side of the upper transfer CCD vision detecting module 6, the upper transfer CCD vision detecting module 6 obtains the specific position and posture of the part, then, the attaching assembly 3 moves to the upper side of the part under the drive of the Y-axis linear driving module 2 according to the obtained specific position and posture of the part, laminating subassembly 3 adjusts the position of self laminating head 307 according to foretell part concrete position and gesture, then laminating subassembly 3 absorbs the part, the transfer platform rotates certain angle so that transfer CCD visual detection module 8 acquires the concrete position and the gesture of the product of being absorbed down, then, laminating CCD visual detection module 7 acquires the concrete position and the gesture of the product on the laminating station, laminating subassembly 3 moves to laminating station top under the drive of Y axle linear drive module 2, laminating subassembly 3 laminates the part on the product according to foretell product concrete position and gesture, last laminating CCD visual detection module 7 detects the product of accomplishing the laminating and whether accurately laminate the product of confirming the part on. Through foretell design, the double-fitting shaft mechanism in this embodiment can accurately fit the part to the product, has guaranteed the yields of product.
Further, the attaching assembly 3 includes a first mounting substrate 301, a first connection plate 302 is mounted on the first mounting substrate 301, a first X-direction voice coil motor 303 is mounted on the first connection board 302, a first connection board 304 is connected to the first X-direction voice coil motor 303, the first X-direction voice coil motor 303 may drive the first engaging plate 304 to move in the X-axis direction, a first mounting seat 310 is fixedly mounted on the first connecting plate 304, a first Z-direction voice coil motor 309 is mounted on the first mounting seat 310, a first lifting plate 305 is connected to the first Z-direction voice coil motor 309, the first lifting plate 305 is driven by the first Z-direction voice coil motor 309 to move along the Z-axis direction, a first rotating motor 306 is installed on the first lifting plate 305, an output shaft of the first rotating motor 306 is connected with a fitting head 307, and the first rotating motor 306 can drive the fitting head 307 to rotate along the Z axis.
Further, preferably, the first rotating motor 306 is a hollow motor, and through the above design, the CCD vision detecting module 7 can conveniently obtain the specific position and posture of the product on the attaching assembly 3 through the hollow part of the rotating motor.
It should be noted that the first X-direction voice coil motor 303 can drive the first engaging plate 304 to move along the X-axis direction to adjust the position of the attaching head 307 in the X-axis direction, the first Z-direction voice coil motor 309 can drive the first lifting plate 305 to move along the Z-axis direction to lift the suction head 407, the output shaft of the first rotating motor 306 is connected to the attaching head 307, and the attaching head 307 can be driven by the first rotating motor 306 to rotate to adjust the position of the product.
Further, a first X-directional slide rail is mounted on the first connecting plate 302, and the first connecting plate 304 is slidably connected to the first X-directional slide rail;
a first Z-slide rail is mounted on the first connecting plate 304, and the first lifting plate 305 is slidably connected to the first Z-slide rail.
It should be noted that, by the above-mentioned design, the first engaging plate 304 is moved more smoothly, and the first elevating plate 305 is moved more smoothly.
Further, the material taking assembly 4 comprises a second mounting base plate 401, a second connecting plate 402 is mounted on the second mounting base plate 401, a second X-direction voice coil motor 408 is mounted on the second connecting plate 402, a second connecting plate 404 is connected to the second X-direction voice coil motor 408, the second X-direction voice coil motor 408 may drive the second engaging plate 404 to move in the X-axis direction, a second mounting seat 410 is fixedly mounted on the second connecting plate 404, a second Z-direction voice coil motor 409 is mounted on the second mounting seat 410, a second lifting plate 405 is connected to the second Z-direction voice coil motor 409, the second Z-direction voice coil motor 409 can drive the second lifting plate 405 to move along the Z-axis direction, a second rotating motor 406 is installed on the second lifting plate 405, an output shaft of the second rotating motor 406 is connected with a suction head 407, and the second rotating motor 406 can drive the suction head 407 to rotate along the Z axis.
It should be noted that the second X-direction voice coil motor 408 can drive the second engaging plate 404 to move along the X-axis direction to adjust the position of the suction head 407 in the X-axis direction, the second Z-direction voice coil motor 409 can drive the second lifting plate 405 to move along the Z-axis direction to lift the suction head 407, the output shaft of the second rotating motor 406 is connected to the suction head 407, and the suction head 407 can be driven by the second rotating motor 406 to rotate to adjust the position of the product.
Further, a second X-directional slide rail is mounted on the second connecting plate 402, and the second connecting plate 404 is slidably connected to the second X-directional slide rail;
a second Z-slide rail is mounted on the second connecting plate 404, and the second lifting plate 405 is slidably connected to the second Z-slide rail.
It should be noted that the second engaging plate 404 is moved more smoothly and the second elevating plate 405 is moved more smoothly by the above-described design.
Further, the Y-axis linear driving module 2 is a Y-axis linear driving module 2 driven by a linear motor.
It should be noted that the Y-axis linear driving module 2 in this embodiment may adopt a screw transmission mode or a belt transmission mode, in addition to a driving mode of a linear motor.
Further, the attaching assembly 3 further includes a first magnetic spring 308, a first end of the first magnetic spring 308 is connected to the first engaging plate 304, and a second end of the first magnetic spring 308 is connected to the first lifting plate 305.
It should be noted that the first magnetic spring 308 is used to counteract a part of the gravity influence of the fitting head 307 when moving along the Z-axis direction, so as to achieve more precise control.
Further, the reclaiming assembly 4 further comprises a second magnetic spring 403, a first end of the second magnetic spring 403 is connected to the second engaging plate 404, and a second end of the second magnetic spring 403 is connected to the second lifting plate 405.
It should be noted that the second magnetic spring 403 is used to offset a part of the gravity influence of the suction head 407 when moving in the Z-axis direction, so as to achieve more precise control.
While the above description describes in detail a dual clutch shaft mechanism provided by the present invention, for those skilled in the art, there are variations in the concept of the embodiments of the present invention, and in view of the above description, the present disclosure should not be construed as limiting the present invention.

Claims (8)

1. A double-joint-shaft mechanism is characterized by comprising a portal frame, a material taking assembly, a joint assembly, a material taking CCD visual detection module, an upper transfer CCD visual detection module, a joint CCD visual detection module and a lower transfer CCD visual detection module;
a Y-axis linear driving module is mounted on the portal frame, the laminating assembly and the material taking assembly are both connected with the Y-axis linear driving module, and the Y-axis linear driving module can drive the material taking assembly and the laminating assembly to move along the Y-axis direction;
get material CCD visual detection module go up transfer CCD visual detection module and laminating CCD visual detection module install in proper order on the portal frame, down transfer CCD visual detection module is located the below of going up transfer CCD visual detection module just down transfer CCD visual detection module with go up transfer CCD visual detection module.
2. The dual axis mount mechanism of claim 1, wherein the mount assembly includes a first mounting substrate, a first connecting plate is arranged on the first mounting substrate, a first X-direction voice coil motor is arranged on the first connecting plate, the first X-direction voice coil motor is connected with a first connecting plate, the first X-direction voice coil motor can drive the first connecting plate to move along the X-axis direction, a first mounting seat is fixedly arranged on the first connecting plate, a first Z-direction voice coil motor is arranged on the first mounting seat, the first Z-direction voice coil motor is connected with a first lifting plate, the first Z-direction voice coil motor can drive the first lifting plate to move along the Z-axis direction, the first lifting plate is provided with a first rotating motor, an output shaft of the first rotating motor is connected with a fitting head, and the first rotating motor can drive the fitting head to rotate along a Z axis.
3. The dual clutch shaft mechanism of claim 2, wherein the first connecting plate is mounted with a first X-slide rail, and the first engaging plate is slidably connected to the first X-slide rail;
and a first Z-direction sliding rail is arranged on the first connecting plate, and the first lifting plate is connected to the first Z-direction sliding rail in a sliding manner.
4. The dual axis closure mechanism of claim 1, wherein the take-off assembly includes a second mounting substrate, a second connecting plate is arranged on the second mounting base plate, a second X-direction voice coil motor is arranged on the second connecting plate, the second X-direction voice coil motor is connected with a second connecting plate, the second X-direction voice coil motor can drive the second connecting plate to move along the X-axis direction, a second mounting seat is fixedly arranged on the second connecting plate, a second Z-direction voice coil motor is arranged on the second mounting seat, the second Z-direction voice coil motor is connected with a second lifting plate, the second Z-direction voice coil motor can drive the second lifting plate to move along the Z-axis direction, and a second rotating motor is installed on the second lifting plate, an output shaft of the second rotating motor is connected with a suction head, and the second rotating motor can drive the suction head to rotate along the Z axis.
5. The dual axle mechanism of claim 4, wherein a second X-track is mounted on the second connecting plate, and the second engaging plate is slidably connected to the second X-track;
and a second Z-direction sliding rail is arranged on the second connecting plate, and the second lifting plate is connected to the second Z-direction sliding rail in a sliding manner.
6. The dual lay-on shaft mechanism of claim 1, wherein the Y-axis linear drive module is a linear motor driven Y-axis linear drive module.
7. The dual articulation shaft mechanism of claim 2, wherein said articulation assembly further comprises a first magnetic spring, a first end of said first magnetic spring being coupled to said first articulation plate, a second end of said first magnetic spring being coupled to said first lift plate.
8. The dual engagement shaft mechanism of claim 4, wherein the take-off assembly further comprises a second magnetic spring, a first end of the second magnetic spring being connected to the second engagement plate, and a second end of the second magnetic spring being connected to the second lift plate.
CN202121144333.3U 2021-05-26 2021-05-26 Double-joint-shaft mechanism Active CN215521525U (en)

Priority Applications (1)

Application Number Priority Date Filing Date Title
CN202121144333.3U CN215521525U (en) 2021-05-26 2021-05-26 Double-joint-shaft mechanism

Applications Claiming Priority (1)

Application Number Priority Date Filing Date Title
CN202121144333.3U CN215521525U (en) 2021-05-26 2021-05-26 Double-joint-shaft mechanism

Publications (1)

Publication Number Publication Date
CN215521525U true CN215521525U (en) 2022-01-14

Family

ID=79805364

Family Applications (1)

Application Number Title Priority Date Filing Date
CN202121144333.3U Active CN215521525U (en) 2021-05-26 2021-05-26 Double-joint-shaft mechanism

Country Status (1)

Country Link
CN (1) CN215521525U (en)

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