CN219293979U - RZ dual-module mechanism - Google Patents
RZ dual-module mechanism Download PDFInfo
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- CN219293979U CN219293979U CN202320146482.6U CN202320146482U CN219293979U CN 219293979 U CN219293979 U CN 219293979U CN 202320146482 U CN202320146482 U CN 202320146482U CN 219293979 U CN219293979 U CN 219293979U
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- Y—GENERAL TAGGING OF NEW TECHNOLOGICAL DEVELOPMENTS; GENERAL TAGGING OF CROSS-SECTIONAL TECHNOLOGIES SPANNING OVER SEVERAL SECTIONS OF THE IPC; TECHNICAL SUBJECTS COVERED BY FORMER USPC CROSS-REFERENCE ART COLLECTIONS [XRACs] AND DIGESTS
- Y02—TECHNOLOGIES OR APPLICATIONS FOR MITIGATION OR ADAPTATION AGAINST CLIMATE CHANGE
- Y02P—CLIMATE CHANGE MITIGATION TECHNOLOGIES IN THE PRODUCTION OR PROCESSING OF GOODS
- Y02P70/00—Climate change mitigation technologies in the production process for final industrial or consumer products
- Y02P70/50—Manufacturing or production processes characterised by the final manufactured product
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Abstract
The utility model discloses an RZ dual-module mechanism, which comprises a shell, a sliding rail, a linear motor, a rotary stepping motor, a movable rod and a grabbing part, wherein the sliding rail is arranged on the shell; the length direction of slide rail is on a parallel with the Z axle, linear electric motor has the executive part that removes along the Z axle, rotatory step motor and slide rail sliding connection to with linear electric motor's executive part transmission is connected, rotatory step motor has around the pivoted executive part of R axle, and the R axle is parallel with the Z axle, and linear electric motor, slide rail and rotatory step motor set up side by side along the width direction of flat casing, and the grabbing part is used for grabbing the product through movable rod fixed connection rotatory step motor's executive part, grabbing part. The RZ dual-module mechanism meets the requirement of driving the grabbing part to linearly move along the Z axis and/or rotate around the R axis, and meets the design requirement of the ultra-thin thickness of the shell, so that the RZ dual-module mechanism is suitable for working in a narrow working environment.
Description
Technical Field
The utility model relates to the field of manipulators, in particular to an RZ dual-module mechanism.
Background
Currently, when parts are required to be automatically carried, a cylinder is generally used for driving a sucker/clamp/electromagnet to lift, a motor is used for driving the sucker/clamp/electromagnet to rotate, the sucker/clamp/electromagnet is lifted to suck the parts, and then the parts are put down to a designated position after being rotated by a certain angle.
In the automated production of the electronic industry, since the electronic components are small in size, in order to simultaneously carry a plurality of electronic components, it is necessary to reduce the size of the transfer equipment, and the conventional combined mechanism of the air cylinder and the motor is bulky and is not suitable for the electronic industry with high integration.
Disclosure of Invention
The utility model aims to provide an RZ dual-module mechanism to solve the technical problems that the existing part carrying device is huge in size and not suitable for automatic production in the electronic industry.
In order to solve the technical problems, the utility model specifically provides the following technical scheme:
an RZ dual-module mechanism comprising: the shell is in a flat box shape, and the length direction of the shell is parallel to the Z axis; the sliding rail is arranged in the middle of the inside of the shell along the width direction of the shell, and the length direction of the sliding rail is parallel to the Z axis; a linear motor provided on one side of the inside of the housing along the width direction of the housing, the linear motor having an actuator moving along the Z axis; the rotary stepping motor is arranged on the other side of the inside of the shell along the width direction of the shell, is in sliding connection with the sliding rail, is in transmission connection with an execution part of the linear motor, and is provided with an execution part rotating around an R axis, and the R axis is parallel to the Z axis; the movable rod is provided with a length and two ends, one end of the movable rod is connected with an executing part of the rotary stepping motor, and the other end of the movable rod penetrates through the shell and extends out of the shell; and the grabbing part is fixedly connected with one end of the movable rod, which is positioned at the outer side of the shell, and is used for grabbing a product.
Further, a first sliding block, a second sliding block and a third sliding block are slidably arranged on the sliding rail, and are sequentially arranged from bottom to top along the gravity direction along the Z-axis direction; the second sliding block is fixedly connected with the rotary stepping motor and is rotationally connected with the movable rod;
the actuating part of the linear motor is fixedly connected with the first sliding block and the third sliding block, the second sliding block is clamped between the first sliding block and the second sliding block, and the distance between the first sliding block and the third sliding block along the Z-axis direction is larger than the length of the second sliding block; a pressure sensor is arranged between the second sliding block and the third sliding block, and the pressure sensor sends out a signal when the second sliding block faces the third sliding block.
Further, the rotary stepping motor or the movable rod is connected with the pressure sensor through the transmission rod, the pressure sensor is abutted with one end of the spring, and the other end of the spring is fixedly connected with the third sliding block.
Further, the executing part of the linear motor is fixedly connected with a Z-axis movable part, and a Z-axis in-situ photoelectric switch and a Z-axis limit photoelectric switch are respectively arranged at two ends of the stroke of the Z-axis movable part; the actuating part of the rotary stepping motor is fixedly connected with an R-axis movable part, and an R-axis in-situ photoelectric switch is arranged at the starting end of the stroke of the R-axis movable part.
Further, the actuating part of the linear motor is fixedly connected with the shell through a tension spring, and the rebound force direction of the tension spring is parallel to the Z axis and faces to the upper part of the gravity direction.
Further, the tension spring is fixedly connected with the shell through a tension spring fixing rod, and the tension spring fixing rod is detachably connected with the tension spring and the shell.
Further, the rotary stepping motor is coaxially and fixedly connected with one end of the movable rod through a coupler; the second slider is installed the bearing, and the movable rod passes through the bearing rotation and connects the second slider.
Further, the grabbing part is a sucker, a vacuum chamber sleeved outside the movable rod is formed inside the second sliding block, the vacuum chamber is connected with a vacuum source through a vacuum suction port, and sealing rings positioned at two ends of the vacuum chamber are arranged between the second sliding block and the movable rod along the R axis direction; the movable rod is internally provided with an air guide hole which axially penetrates through the movable rod, the movable rod is provided with an air suction hole which radially penetrates through the movable rod, and the air suction hole is positioned in the vacuum chamber.
Further, the inside of the shell is provided with a dust extraction sleeve sleeved on the outer side of the movable rod, the dust extraction sleeve is clung to the inner wall of one side of the shell, which is close to the grabbing part, and a dust extraction chamber sleeved on the outer side of the movable rod is formed in the dust extraction sleeve and used for being connected with a dust collector.
Further, the inside of the shell is provided with a dust extraction sleeve sleeved on the outer side of the movable rod, the dust extraction sleeve is clung to the inner wall of one side of the shell, which is close to the grabbing part, and a dust extraction chamber sleeved on the outer side of the movable rod is formed in the dust extraction sleeve and used for being connected with a dust collector.
Compared with the prior art, the application has the following beneficial effects:
the utility model provides a RZ double module mechanism, it has satisfied the drive grasping portion along Z axle rectilinear movement and/or encircle R axle pivoted requirement through setting up linear motor, slide rail and rotatory stepper motor side by side along the width direction of flat casing, has satisfied the design demand of the ultra-thin thickness of casing simultaneously for RZ double module mechanism is applicable to work in narrow operational environment.
Drawings
In order to more clearly illustrate the embodiments of the present utility model 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. It will be apparent to those of ordinary skill in the art that the drawings in the following description are exemplary only and that other implementations can be obtained from the extensions of the drawings provided without inventive effort.
FIG. 1 is a perspective view of an embodiment of the present utility model;
FIG. 2 is a front view of the internal structure of an embodiment of the present utility model;
FIG. 3 is a cross-sectional view taken along the direction A-A of FIG. 2;
FIG. 4 is an assembly view of an embodiment of the present utility model;
reference numerals in the drawings are respectively as follows:
1-a housing; 2-sliding rails; 3-a linear motor; 4-rotating a stepper motor; 5-a movable rod; 6-a grabbing part; 7-a first slider; 8-a second slider; 9-a third slider; 10-a pressure sensor; 11-a coupling; 12-a bearing; 13-a transmission rod; 14-a spring; 15-Z axis moving part; a 16-Z axis in-situ photoelectric switch (16); a 17-Z axis limit photoelectric switch (17); an 18-R shaft movable member; 19-R axis in-situ photoelectric switch; 20-a tension spring; 21-a tension spring fixing rod; 22-vacuum pumping; 23-sealing rings; 24-air guide holes; 25-an air pumping hole; 26-vacuum joint; 27-vacuum external joint; 28-a dust extraction sleeve; 29-a dust extraction chamber; 30-dust extraction joint; 31-a dust extraction outer joint; 32-vacuum chamber.
Detailed Description
The following description of the embodiments of the present utility model will be made clearly and completely with reference to the accompanying drawings, in which it is apparent that the embodiments described are only some embodiments of the present utility model, but not all embodiments. All other embodiments, which can be made by those skilled in the art based on the embodiments of the utility model without making any inventive effort, are intended to be within the scope of the utility model.
This embodiment provides example 1, please refer to fig. 1-4.
An RZ dual-module mechanism comprising:
a housing 1 having a flat box shape, the length direction of the housing 1 being parallel to the Z axis;
a slide rail 2 provided in the middle of the inside of the housing 1 along the width direction of the housing 1, the length direction of the slide rail 2 being parallel to the Z axis;
a linear motor 3 provided on one side of the inside of the housing 1 along the width direction of the housing 1, the linear motor 3 having an actuator that moves along the Z axis;
a rotary stepping motor 4 disposed on the other side of the inside of the housing 1 in the width direction of the housing 1, the rotary stepping motor 4 being slidably connected to the slide rail 2 and being in transmission connection with an execution portion of the linear motor 3, the rotary stepping motor 4 having an execution portion rotating around an R axis, the R axis being parallel to the Z axis;
a movable rod 5 having a length and two ends, one end of the movable rod 5 being connected to an execution portion of the rotary stepping motor 4, the other end of the movable rod 5 penetrating through the housing 1 and extending to the outside of the housing 1;
and the grabbing part 6 is fixedly connected with one end of the movable rod 5, which is positioned at the outer side of the shell 1, and the grabbing part 6 is used for grabbing a product.
Based on the above embodiment, the working principle of the RZ dual-module mechanism is as follows:
the housing 1 is connected to an actuator of a servo system so that the RZ dual-module mechanism can be moved to a designated position.
The linear motor 3 drives the rotary stepping motor 4 to descend along the sliding rail 2, the movable rod 5 drives the grabbing part 6 to descend, after the grabbing part 6 grabs a product, the linear motor 3 drives the rotary stepping motor 4 to return to the original position, then the rotary stepping motor 4 drives the movable rod 5 to rotate, the product rotates by a specified angle, then the shell 1 moves to a specified position through the servo system, and the linear motor 3 drives the rotary stepping motor 4 to descend so as to put down the product.
Further:
the slide rail 2 is slidably provided with a first slide block 7, a second slide block 8 and a third slide block 9, and the first slide block 7, the second slide block 8 and the third slide block 9 are sequentially arranged from bottom to top along the gravity direction along the Z-axis direction;
the second sliding block 8 is fixedly connected with the rotary stepping motor 4, and the second sliding block 8 is rotationally connected with the movable rod 5;
the actuating part of the linear motor 3 is fixedly connected with a first sliding block 7 and a third sliding block 9, a second sliding block 8 is clamped between the first sliding block 7 and the second sliding block 8, and the distance between the first sliding block 7 and the third sliding block 9 along the Z-axis direction is longer than the length of the second sliding block 8;
a pressure sensor 10 is arranged between the second slider 8 and the third slider 9, the pressure sensor 10 sending a signal when the second slider 8 is facing the third slider 9.
The second slider 8 floats between the first slider 7 and the third slider 9, and the linear motor 3 drives the first slider 7 and the third slider 9 to descend, so that the second slider 8 drives the rotary stepping motor and the movable rod 5 to descend, and further the grabbing part is close to a product.
When the gripping portion contacts the product, the second slider 8 moves upward so that the pressure sensor 10 sends out a signal, and the controller judges that the gripping portion has gripped the product, and the linear motor 3 stops driving the first slider 7 and the third slider 9 to descend.
Further:
the rotary stepping motor 4 is coaxially and fixedly connected with one end of the movable rod 5 through a coupler 11.
Further:
the second slide block 8 is provided with a bearing 12, and the movable rod 5 is rotatably connected with the second slide block 8 through the bearing 12.
Further:
the rotary stepping motor 4 or the movable rod 5 is connected with the pressure sensor 10 through the transmission rod 13, the pressure sensor 10 is abutted with one end of the spring 14, and the other end of the spring 14 is fixedly connected with the third sliding block 9.
When the second slide block 8 approaches the third slide block 9, the spring 14 is compressed to increase the elasticity of the spring, the pressure detected by the pressure sensor 10 is increased, the controller judges that the grabbing part grabs a product, the pressure born by the product is smaller than the maximum elasticity of the spring 14, and the product is prevented from being crushed.
Further:
the actuating part of the linear motor 3 is fixedly connected with a Z-axis movable part 15, and a Z-axis in-situ photoelectric switch 16 and a Z-axis limiting photoelectric switch 17 are respectively arranged at two ends of the stroke of the Z-axis movable part 15.
The Z-axis home photoelectric switch 16 and the Z-axis limit photoelectric switch 17 sense the Z-axis movable member 15 to judge whether the executing part of the linear motor 3 returns to the home position or reaches the maximum distance.
Further:
the executing part of the rotary stepping motor 4 is fixedly connected with an R-axis movable part 18, and the starting end of the stroke of the R-axis movable part is provided with an R-axis in-situ photoelectric switch 19.
The R-axis home photoelectric switch 19 senses the R-axis movable member 18 to determine whether the actuator of the rotary stepping motor 4 returns to the home position.
Further:
the actuator of the linear motor 3 is fixedly connected to the housing 1 by a tension spring 20, the return force direction of the tension spring 20 being parallel to the Z axis and facing upward in the direction of gravity.
The tension spring 20 is used for counteracting a part of the weight of the product when the actuator of the linear motor 3 drives the gripping part 6 to move upwards, so as to reduce the power consumption of the linear motor 3, thereby enabling the linear motor 3 with smaller power and volume to be installed inside the housing 1, and further reducing the volume of the housing 1.
Further:
the tension spring 20 is fixedly connected with the shell 1 through a tension spring fixing rod 21, and the tension spring fixing rod 21 is detachably connected with the tension spring 20 and the shell 1.
Changing the tension spring fixing lever 21 of a different length can change the tension of the tension spring 20.
Further:
the gripping part 6 grips the product by at least one of plugging, clamping, friction connection, vacuum adsorption and magnetic adsorption.
Optionally:
the grabbing part 6 is a sucker, a vacuum chamber 32 sleeved outside the movable rod 5 is formed inside the second sliding block 8, the vacuum chamber 32 is connected with a vacuum source through a vacuum suction port 22, and sealing rings 23 positioned at two ends of the vacuum chamber 32 are arranged between the second sliding block 8 and the movable rod 5 along the R axis direction;
the movable rod 5 has an air guide hole 24 formed therein and penetrating the movable rod 5 in the axial direction, and the movable rod 5 has an air suction hole 25 formed therein and penetrating the movable rod 5 in the radial direction, the air suction hole 25 being located in the vacuum chamber 32.
The vacuum source adopts a vacuum pump, which is not shown in the figure, and the vacuum source sequentially pumps air of the grabbing part 6 through the vacuum pumping port 22, the vacuum chamber 32, the pumping hole 25 and the air guide hole 24, so that the sucker has vacuum adsorption force.
Further:
the outside of the second sliding block 8 is connected with a vacuum connector 26, the outside of the shell 1 is connected with a vacuum outer connector 27, one end of the vacuum connector 26 is connected with the vacuum pumping port 22, and the other end of the vacuum connector 26 is connected with the vacuum outer connector 27.
The vacuum outer joint 27 is used for connecting a vacuum pump, and the vacuum joint 26 is connected with the vacuum outer joint 27 through a pipeline.
Optionally:
because of the dust-free requirement of part of the products, in order to avoid that fragments and dust in the RZ dual-module mechanism fall onto the products when the RZ dual-module mechanism works, the RZ dual-module mechanism is based on the embodiment.
The inside of the shell 1 is provided with a dust extraction sleeve 28 sleeved outside the movable rod 5, the dust extraction sleeve 28 is clung to the inner wall of one surface of the shell 1 close to the grabbing part 6, and a dust extraction chamber 29 sleeved outside the movable rod 5 is formed inside the dust extraction sleeve 28 and used for being connected with a dust collector.
During the extension or retraction of the movable lever 5 into the housing 1, dust possibly covered by the surface of the movable lever 5 is sucked away by the cleaner through the dust suction chamber 29.
Further:
the outside of the dust extraction sleeve 28 is connected with a dust extraction joint 30, the outside of the shell 1 is connected with a dust extraction outer joint 31, one end of the dust extraction joint 30 is communicated with the inside of the dust extraction chamber 29, and the other end of the dust extraction joint 30 is connected with the dust extraction outer joint 31.
The dust extraction outer joint 31 is connected with the dust collector, and the dust extraction joint 30 is connected with the dust extraction outer joint 31 through a pipeline.
The above embodiments are only exemplary embodiments of the present utility model and are not intended to limit the present utility model, the scope of which is defined by the claims. Various modifications and equivalent arrangements of this utility model will occur to those skilled in the art, and it is intended to be within the spirit and scope of the utility model as defined by the appended claims.
Claims (10)
- An rz dual-module mechanism comprising:the shell is in a flat box shape, and the length direction of the shell is parallel to the Z axis;the sliding rail is arranged in the middle of the inside of the shell along the width direction of the shell, and the length direction of the sliding rail is parallel to the Z axis;a linear motor provided on one side of the inside of the housing along the width direction of the housing, the linear motor having an actuator moving along the Z axis;the rotary stepping motor is arranged on the other side of the inside of the shell along the width direction of the shell, is in sliding connection with the sliding rail, is in transmission connection with an execution part of the linear motor, and is provided with an execution part rotating around an R axis, and the R axis is parallel to the Z axis;the movable rod is provided with a length and two ends, one end of the movable rod is connected with an executing part of the rotary stepping motor, and the other end of the movable rod penetrates through the shell and extends out of the shell;and the grabbing part is fixedly connected with one end of the movable rod, which is positioned at the outer side of the shell, and is used for grabbing a product.
- 2. The RZ dual-module mechanism of claim 1, wherein,the first sliding block, the second sliding block and the third sliding block are slidably arranged on the sliding rail and sequentially arranged from bottom to top along the gravity direction along the Z-axis direction;the second sliding block is fixedly connected with the rotary stepping motor and is rotationally connected with the movable rod;the actuating part of the linear motor is fixedly connected with the first sliding block and the third sliding block, the second sliding block is clamped between the first sliding block and the second sliding block, and the distance between the first sliding block and the third sliding block along the Z-axis direction is larger than the length of the second sliding block;a pressure sensor is arranged between the second sliding block and the third sliding block, and the pressure sensor sends out a signal when the second sliding block faces the third sliding block.
- 3. The RZ dual-module mechanism of claim 2, wherein,the rotary stepping motor or the movable rod is connected with the pressure sensor through the transmission rod, the pressure sensor is abutted with one end of the spring, and the other end of the spring is fixedly connected with the third sliding block.
- 4. The RZ dual-module mechanism of claim 1, wherein,the actuating part of the linear motor is fixedly connected with a Z-axis movable part, and a Z-axis in-situ photoelectric switch and a Z-axis limit photoelectric switch are respectively arranged at two ends of the stroke of the Z-axis movable part;the actuating part of the rotary stepping motor is fixedly connected with an R-axis movable part, and an R-axis in-situ photoelectric switch is arranged at the starting end of the stroke of the R-axis movable part.
- 5. The RZ dual-module mechanism of claim 1, wherein,the actuating part of the linear motor is fixedly connected with the shell through a tension spring, and the rebound force direction of the tension spring is parallel to the Z axis and faces to the upper part of the gravity direction.
- 6. The RZ dual-module mechanism of claim 5, wherein,the tension spring is fixedly connected with the shell through a tension spring fixing rod, and the tension spring fixing rod is detachably connected with the tension spring and the shell.
- 7. The RZ dual-module mechanism of claim 1, wherein,the rotary stepping motor is coaxially and fixedly connected with one end of the movable rod through a coupler;the second slider is installed the bearing, and the movable rod passes through the bearing rotation and connects the second slider.
- 8. The RZ dual-module mechanism according to any of claims 1-7, wherein,the grabbing part is a sucker, a vacuum chamber sleeved outside the movable rod is formed inside the second sliding block, the vacuum chamber is connected with a vacuum source through a vacuum pumping port, and sealing rings positioned at two ends of the vacuum chamber are arranged between the second sliding block and the movable rod along the R axis direction;the movable rod is internally provided with an air guide hole which axially penetrates through the movable rod, the movable rod is provided with an air suction hole which radially penetrates through the movable rod, and the air suction hole is positioned in the vacuum chamber.
- 9. The RZ dual-module mechanism according to any of claims 1-7, wherein,the inside of the shell is provided with a dust extraction sleeve sleeved on the outer side of the movable rod, the dust extraction sleeve is clung to the inner wall of one side of the shell, which is close to the grabbing part, and a dust extraction chamber sleeved on the outer side of the movable rod is formed in the dust extraction sleeve and used for being connected with a dust collector.
- 10. The RZ dual-module mechanism of claim 8, wherein,the inside of the shell is provided with a dust extraction sleeve sleeved on the outer side of the movable rod, the dust extraction sleeve is clung to the inner wall of one side of the shell, which is close to the grabbing part, and a dust extraction chamber sleeved on the outer side of the movable rod is formed in the dust extraction sleeve and used for being connected with a dust collector.
Priority Applications (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN202320146482.6U CN219293979U (en) | 2023-02-03 | 2023-02-03 | RZ dual-module mechanism |
Applications Claiming Priority (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN202320146482.6U CN219293979U (en) | 2023-02-03 | 2023-02-03 | RZ dual-module mechanism |
Publications (1)
| Publication Number | Publication Date |
|---|---|
| CN219293979U true CN219293979U (en) | 2023-07-04 |
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Family Applications (1)
| Application Number | Title | Priority Date | Filing Date |
|---|---|---|---|
| CN202320146482.6U Active CN219293979U (en) | 2023-02-03 | 2023-02-03 | RZ dual-module mechanism |
Country Status (1)
| Country | Link |
|---|---|
| CN (1) | CN219293979U (en) |
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2023
- 2023-02-03 CN CN202320146482.6U patent/CN219293979U/en active Active
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