CN218087819U

CN218087819U - Carrying mechanism

Info

Publication number: CN218087819U
Application number: CN202222160612.XU
Authority: CN
Inventors: 陈继国; 来胜武; 庞青松
Original assignee: Suzhou HYC Technology Co Ltd
Current assignee: Suzhou HYC Technology Co Ltd
Priority date: 2022-08-17
Filing date: 2022-08-17
Publication date: 2022-12-20
Anticipated expiration: 2032-08-17

Abstract

The utility model provides a carrying mechanism, which comprises a clamping mechanism used for clamping and fixing a product; and an adsorption mechanism for adsorbing and fixing the product; the clamping mechanism comprises a plurality of clamping jaws which can approach to each other or move away from each other; a clamping space for accommodating a product is formed between the clamping jaws; the adsorption mechanism comprises a plurality of adsorption pieces and a driving piece for driving the adsorption pieces to ascend and descend; all the adsorption pieces are configured to ascend and avoid under the driving of the driving piece, so that the product can be clamped and fixed in the clamping space by the clamping jaws. This transport mechanism can adsorb transport, centre gripping transport or adsorb + centre gripping transport according to the characteristics of product self selectively, and the combination of transport mode changes and does not need the manual work to adjust, has reduced artifical and time cost.

Description

Carrying mechanism

Technical Field

The utility model relates to a display module assembly detects technical field. And more particularly, to a handling mechanism.

Background

In the field of screen visual inspection, when screens with different sizes or semi-finished products and the like with special carrying requirements are carried, a proper carrying mode, such as a mode of adsorption, clamping or combination of adsorption and clamping, needs to be selected according to products. If the requirements for transporting the products change, the transporting arms need to be replaced or adjusted, which increases the production time and labor cost. In this case, a carrying mechanism capable of automatically switching a carrying mode according to the demand of a carried product and automatically adapting to the size of the carried product is required.

SUMMERY OF THE UTILITY MODEL

To the problem, the utility model provides a transport mechanism, this transport mechanism can adsorb transport, centre gripping transport or adsorb + centre gripping transport according to the characteristics of product self selectively, and the combination of transport mode changes and does not need the manual work to adjust, has reduced artifical and time cost.

In order to achieve the above purpose, the utility model adopts the following technical scheme:

the utility model provides a carrying mechanism, include:

the clamping mechanism is used for clamping and fixing a product; and

an adsorption mechanism for adsorbing and fixing the product;

the clamping mechanism comprises a plurality of clamping jaws which can approach to each other or move away from each other;

a clamping space for accommodating a product is formed between the clamping jaws;

the adsorption mechanism comprises a plurality of adsorption pieces and a driving piece for driving the adsorption pieces to ascend and descend;

all the adsorption pieces are configured to ascend and avoid under the driving of the driving piece, so that the product can be clamped and fixed in the clamping space by the clamping jaws.

In addition, preferably, the carrying mechanism further comprises an installation plate and a lifting module which is arranged on the installation plate and used for driving the clamping mechanism and the adsorption mechanism to synchronously lift.

In addition, it is preferable that the clamping mechanism further comprises a driving motor for driving the clamping jaws to move; the driving motor drives the clamping jaws to synchronously approach or depart from through a transmission structure.

In addition, it is preferable that the transmission structure includes a ball screw, a screw nut disposed on the ball screw, and a connecting block fixedly combined with the screw nut; the clamping jaw is fixed on the connecting block.

In addition, preferably, the adsorption mechanism further comprises a lifting plate arranged on the driving end of the driving piece and a plurality of strip-shaped plates which are combined and fixed on the lifting plate;

the driving piece is arranged on the mounting plate; the strip-shaped plate comprises a strip-shaped hole; the adsorption piece is configured on the strip-shaped hole through the adjusting block and can move along the extending direction of the strip-shaped hole.

In addition, preferably, in a horizontal plane, the strip-shaped plates are arranged along a direction perpendicular to the movement direction of the clamping jaw; an interval space for the movement of the clamping jaw is arranged between two adjacent strip-shaped plates.

In addition, it is preferable that a guide hole is formed in the mounting plate, and the lifting plate is disposed on the guide hole through a guide rod; the guide rod penetrates through the guide hole;

the lifting plate is configured to drive the guide rod to move along the axial direction of the guide rod under the driving of the driving piece.

Furthermore, it is preferred that the jaws comprise gripping formations formed at the ends of the jaws;

the clamping structure comprises a vertical part for clamping a product and a straight part for supporting the product;

the plane where the adsorption end of the adsorption piece is located forms an adsorption fixing surface;

the clamping space is formed between the plane of the surface of the straight part used for contacting with the product and the adsorption fixing surface.

In addition, preferably, the inner side wall surface of the vertical part is provided with a spring cushion block for providing buffer force for clamping the product.

Furthermore, it is preferable that the carrying mechanism further includes a position sensor for sensing a position of the holding jaw.

The beneficial effects of the utility model are that:

the utility model utilizes the matching of the clamping mechanism and the adsorption mechanism and the driving piece to drive the adsorption piece to move, so that the space for accommodating the product can be avoided under the condition of independently clamping the product, the collision between the adsorption piece and the product when only the clamping and carrying functions are needed is avoided, and the whole structure is stable and reliable; the utility model provides a transport mechanism can adsorb transport product, centre gripping transport product or adsorb + centre gripping transport product according to product self characteristics selectively, and the combination of product transport mode changes and does not need the manual work to adjust, and convenient and fast has reduced manual work and time cost.

Drawings

The following describes the embodiments of the present invention in further detail with reference to the attached drawings.

Fig. 1 is one of the overall structural schematic diagrams of the present invention.

Fig. 2 is a second schematic view of the overall structure of the present invention.

Fig. 3 is a schematic structural diagram of the clamping mechanism of the present invention.

Fig. 4 is a schematic structural view of the adsorption mechanism of the present invention.

Fig. 5 is an enlarged view at a in fig. 3.

Detailed Description

Various exemplary embodiments of the present invention will now be described in detail with reference to the accompanying drawings. It should be noted that: unless specifically stated otherwise, the relative arrangement of the components and steps, the numerical expressions, and numerical values set forth in these embodiments do not limit the scope of the present invention.

The following description of at least one exemplary embodiment is merely illustrative in nature and is in no way intended to limit the invention, its application, or uses.

Techniques and apparatus known to those of ordinary skill in the relevant art may not be discussed in detail, but are intended to be part of the specification where appropriate.

In all examples shown and discussed herein, any particular value should be construed as exemplary only and not as limiting. Thus, other examples of the exemplary embodiments may have different values.

It should be noted that: like reference numbers and letters refer to like items in the following figures, and thus, once an item is defined in one figure, further discussion thereof is not required in subsequent figures.

In order to switch the carrying mode according to the product requirement conveniently and quickly. The utility model provides a handling mechanism, it is shown in combination fig. 1 to 5, specifically handling mechanism includes: the clamping mechanism is used for clamping and fixing a product; and an adsorption mechanism for adsorbing and fixing the product; the clamping mechanism comprises a plurality of clamping jaws 11 which can approach to each other or move away from each other; a clamping space for accommodating a product is formed between the clamping jaws 11; the clamping jaw 11 comprises a clamping structure 111 formed at the end of the clamping jaw 11; the adsorption mechanism comprises a plurality of adsorption pieces 21 and a driving piece 22 for driving the adsorption pieces 21 to ascend and descend; the planes of the adsorption ends of all the adsorption pieces 21 form an adsorption fixing surface; all the suction members 21 are configured to be lifted by the driving member 22 to be avoided, so that the product can be clamped and fixed in the clamping space by the clamping jaws 11. It can be understood that the clamping mechanism and the adsorption mechanism are combined for use, no primary and secondary points exist, and the combined use mode is determined by the characteristic requirements of the product; the carrying mechanism can adapt to wider product sizes of 5-17.3 inches (finished products, semi-finished products and the like), and the application range is expanded; when the display module size is too small, can adapt to the display module size through the work quantity of control adsorption piece 21, and adsorption mechanism has the function of dodging that rises, has avoided adsorbing when only needing centre gripping transport function and has collided with the product, and stable in structure is reliable, and difficult production is rocked in the course of the work and is disturbed such as.

In the above embodiment, as shown in fig. 1, the clamping mechanism includes two sets of symmetrically arranged clamping jaws 11, and the two sets of clamping jaws 11 are arranged along the X direction; more specifically, each set includes three jaws 11 aligned in the Y direction.

In an embodiment, the carrying mechanism further includes a mounting plate 31, and a lifting module 32 disposed on the mounting plate 31 for driving the clamping mechanism and the adsorbing mechanism to lift synchronously along the Z direction, so as to drive the product to lift. It will be appreciated that the handling mechanism may be arranged on the moving end of the robot arm, with the movement of the robot arm thereby effecting a change in the position of the product.

In a specific embodiment, as shown in fig. 3, the clamping mechanism further includes a driving motor 12 for driving the clamping jaw 11 to move; the driving motor 12 drives the clamping jaw 11 to be close to or far away from the product synchronously through a transmission structure to clamp or place the product, and the driving motor 12 can be a servo motor. In the above embodiment, specifically, the transmission structure includes the ball screw 13 arranged along the X direction, the screw nut 14 disposed on the ball screw 13, and the connecting block 15 fixedly combined with the screw nut 14; the clamping jaw 11 is fixed on the connecting block 15, the two sides of the mounting plate 31 are respectively provided with a side plate 35, a guide rod 16 arranged along the X direction is fixed between the two side plates 35, and the connecting block 15 is arranged on the guide rod 16 in a sliding way through a sliding bearing, so that the clamping jaw 11 can perform continuous linear motion. The movement of the clamping jaw 11 is controlled by a ball screw 13, a sliding bearing and a guide rod 16, the action precision is high and can reach 0.01mm, and the accuracy and the stability of the product clamping are ensured; the clamping jaws 11 are fixed with the connecting block through the distance adjusting piece, specifically, the opening and closing degree of each clamping jaw 11 is adjusted through different hole positions of the adjusting knob 18 fixed on the connecting block 15, namely the clamping jaws 11 slide to corresponding positions through the short rods 17 arranged along the Y direction, and then the adjusting knob 18 is fixed in the hole positions of the corresponding positions, so that the position adjustment and the fixation of the clamping jaws 11 are completed. The clamping mechanism is powered by a servo motor, the servo motor drives a synchronous belt pulley to be connected with the ball screw 13 to rotate through the synchronous belt 121, the two flange type screw nuts 14 are driven to move simultaneously in the X direction, and the reliability of synchronous movement precision is guaranteed. The ball screw 13 drives the two flange type screw nuts 14 to move, and simultaneously drives the two connecting blocks 15 to move simultaneously, two sliding bearings are respectively arranged on the two connecting blocks 15, the two guide rods 16 respectively penetrate through the sliding bearings at the two ends to ensure the linear precision of the movement of the clamping jaw 11, and the stability of the mechanism is also improved.

As to the specific structure of the adsorption mechanism, as shown in fig. 4, the adsorption mechanism further includes a lifting plate 23 disposed on the driving end of the driving member 22 and a plurality of strip-shaped plates 24 combined and fixed on the lifting plate 23; the driving member 22 is disposed on the mounting plate 31; the strip-shaped plate 24 comprises a strip-shaped hole 241 extending along the X direction; the absorption member 21 is disposed on the bar-shaped hole 241 through an adjusting block and can move along the extending direction of the bar-shaped hole 241. It should be noted that, as shown in fig. 1 and fig. 2, all the strip-shaped plates 24 are arranged along the Y direction, a space is formed between adjacent strip-shaped plates 24, and a single clamping jaw 11 can move to the space to avoid interference with the adsorption mechanism, and at the same time, the distance between the clamping jaws 11 on two opposite sides can be adjusted to adapt to the size of the product, so as to clamp products with different sizes.

Further, the mounting plate 31 has a guide hole 311 formed therein, and the lifting plate 23 is disposed in the guide hole 311 via a guide rod 25; the guide rod 25 penetrates through the guide hole 311; the lifting plate 23 is configured to move the guide rod 25 in the Z direction, which is the axial direction of the guide rod 25, under the driving of the driving member 22. Specifically, a sliding bearing is fixed in the guide hole 311, the driving member 22 may be an air cylinder, the lifting and lowering motion accuracy of the air cylinder is controlled by four vertically arranged guide rods 25 connected to the lifting plate 23 respectively penetrating through the sliding bearing, and the sliding bearing is fixed in the guide hole 311 of the mounting plate 31, so that the linear accuracy of the telescopic motion of the adsorbing member 21 is ensured, and the synchronism of the sucking disc of the adsorbing member 21 when contacting the surface of a product is ensured. The adsorption mechanism mainly adsorbs the product through adsorbing piece 21, and the adsorbing piece 21 of work can respond to product size according to the sensor, then adjusts the adsorbing piece quantity of work with solenoid valve 34, can adjust the adsorption point to the product through the position of adjustment adsorbing piece 21 on strip shaped plate 24, has increased the application scope to the product. When not needing to use adsorption equipment, the cylinder promotes, can let adsorbing member 21 dodge, avoids contacting between sucking disc and the product of adsorbing member 21 in the centre gripping process.

As for the specific structure of the clamping structure, referring to fig. 5, the clamping structure includes a vertical portion 1111 for clamping the product and a flat portion 1112 for carrying the product; the clamping space is located between the plane of the surface of the flat portion 1112 for contacting the product and the suction holding surface.

Further, a spring pad 1113 for providing a buffering force to clamp the product is provided on an inner sidewall surface of the upright portion 1111. The spring cushion 1113 plays a role in buffering in the process of clamping a product, and plays a role in protecting the product which is easy to damage.

In order to sense the movement position of the lead screw nut 14 and ensure that the movement is within the designed stroke, and avoid collision between the clamping jaws 11 and the suction member 21, the carrying mechanism further comprises position sensors 33 for sensing the positions of the two sets of clamping jaws 11 which are symmetrically arranged, and the position sensors 33 are fixed on the mounting plate 31 to determine the specific positions of the clamping jaws 11 which are oppositely arranged by sensing the position of the lead screw nut 14.

Obviously, the above embodiments of the present invention are only examples for clearly illustrating the present invention, and are not intended to limit the embodiments of the present invention, and it is obvious for those skilled in the art to make other variations or changes based on the above descriptions, and all the embodiments cannot be exhausted here, and all the obvious variations or changes that belong to the technical solutions of the present invention are still in the protection scope of the present invention.

Claims

1. A handling mechanism, comprising:

the clamping mechanism is used for clamping and fixing a product; and

an adsorption mechanism for adsorbing and fixing the product;

2. The conveying mechanism as claimed in claim 1, wherein the conveying mechanism further comprises a mounting plate, and a lifting module disposed on the mounting plate for driving the clamping mechanism and the suction mechanism to lift synchronously.

3. The handling mechanism of claim 1 wherein the gripping mechanism further comprises a drive motor for driving movement of the jaws; the driving motor drives the clamping jaws to synchronously approach or depart from through a transmission structure.

4. The carrying mechanism as claimed in claim 3, wherein the transmission structure comprises a ball screw, a screw nut disposed on the ball screw, and a connecting block fixedly combined with the screw nut; the clamping jaw is fixed on the connecting block.

5. The carrying mechanism of claim 2, wherein the suction mechanism further comprises a lifting plate disposed at the driving end of the driving member and a plurality of strip-shaped plates combined and fixed on the lifting plate;

6. The transport mechanism of claim 5, wherein the strip is aligned in a horizontal plane in a direction perpendicular to the direction of jaw movement; an interval space for the movement of the clamping jaw is arranged between two adjacent strip-shaped plates.

7. The carrying mechanism according to claim 5, wherein a guide hole is formed in the mounting plate, and the lift plate is disposed in the guide hole via a guide rod; the guide rod penetrates through the guide hole;

8. The handling mechanism of claim 1 wherein the jaws include gripping structures formed on the ends of the jaws;

the clamping structure comprises a vertical part for clamping a product and a flat part for supporting the product;

the clamping space is formed between the plane of the surface of the straight part for contacting with the product and the adsorption fixing surface.

9. The handling mechanism of claim 8 wherein said upright inner side wall surface is provided with spring pads for providing a cushioning force for gripping the product.

10. The handling mechanism of claim 1 further comprising a position sensor to sense the position of the gripping jaw.