CN219599571U

CN219599571U - Distance-variable membrane adsorption mechanical arm and membrane attaching device

Info

Publication number: CN219599571U
Application number: CN202321376871.4U
Authority: CN
Inventors: 张兵
Original assignee: Xiamen Senner Technology Co ltd
Current assignee: Xiamen Senner Technology Co ltd
Priority date: 2023-06-01
Filing date: 2023-06-01
Publication date: 2023-08-29
Anticipated expiration: 2033-06-01

Abstract

The utility model discloses a diaphragm adsorption manipulator with variable distance and a diaphragm attaching device, wherein a Z-axis moving unit of the manipulator comprises: a plurality of vacuum sucking discs which are linearly arranged and distributed to adsorb the membrane; the X-axis linear guide rail comprises an X-axis guide rail and a plurality of X-axis sliding tables, and each X-axis sliding table slides along the X-axis guide rail so as to mount each vacuum chuck; the first mounting plate is used for mounting the X-axis guide rail; a plurality of cam followers connected with each X-axis sliding table; the variable-pitch plate is provided with a plurality of variable-pitch traction holes corresponding to the cam followers, and each variable-pitch traction hole is a strip-shaped hole with the upper end inclined towards the center of the manipulator; the first Z-axis driving piece drives the first mounting plate to move up and down along the Z axis; the second Z-axis driving piece drives the variable-pitch plate to move up and down along the Z axis. The vacuum chuck can adjust different distances according to the requirement when absorbing the membrane and releasing the membrane, and can enable the distance between the membrane to be smaller when producing the membrane auxiliary materials, so as to achieve the purpose of reducing the cost.

Description

Distance-variable membrane adsorption mechanical arm and membrane attaching device

Technical Field

The utility model relates to the technical field of manipulators, in particular to a variable-pitch membrane adsorption manipulator and a membrane attaching device.

Background

In some production processes of products, films (protective films, double-sided adhesives, etc.) need to be attached to the products, such as speakers, films need to be attached to both the face side and the back side of the products, and a sucker type manipulator needs to be used in the film attaching process to separate and adsorb the films from the bottom film of the products so as to transfer the films to corresponding tools to attach to the products. Such techniques are disclosed in the patent application CN209435435U, entitled "attachment device for speaker backing adhesive".

However, the distance between the existing manipulators for adsorbing the membrane is not changeable, and the distance between the manipulators is consistent with the distance between the membranes on the membrane material roll, so that the manipulators can accurately adsorb the membranes; the film is consistent with the spacing between adjacent products on the product tool, so that the absorbed film can be accurately attached to the products. Therefore, the distance between the films on the film roll is required to be consistent with the distance between the products on the product tool, but in some cases, if the product tool cannot effectively reduce the distance between the products based on the process requirement, the distance between the films in the film roll is larger, so that the film density of the film roll is lower, and waste and cost are caused.

Disclosure of Invention

The first object of the utility model is to provide a variable-pitch membrane adsorption manipulator, which can reduce the distance when adsorbing membranes and can increase the distance when releasing the membranes so as to get rid of the influence of product tools on the density of the membranes.

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

distance-variable membrane adsorption manipulator includes:

the vacuum chucks are arranged in a straight line and are used for adsorbing the membrane;

the X-axis linear guide rail comprises an X-axis guide rail and a plurality of X-axis sliding tables, and the X-axis sliding tables slide along the X-axis guide rail so as to mount each vacuum chuck one by one;

the first mounting plate is used for mounting the X-axis guide rail;

the plurality of cam followers are connected with the X-axis sliding tables one by one;

the distance changing plate is provided with a plurality of distance changing traction holes corresponding to the cam followers, and each distance changing traction hole is a bar-shaped hole with the upper end inclined towards the center of the manipulator;

the first Z-axis driving piece is used for driving the first mounting plate to move up and down along the Z axis;

and the second Z-axis driving piece is arranged on the first mounting plate and used for driving the variable-pitch plate to move up and down along the Z axis.

Further, the second Z-axis driving piece comprises a limiter, the limiter comprises a travel block arranged at the sliding end of the limiter and a limiting block arranged at the fixed end of the limiter, a limiting bolt is screwed on the limiting block, and the limiting bolt changes the screwing depth so as to change the limiting travel of the travel block.

Further, the second Z-axis driving piece comprises a Z-axis sliding table cylinder, the travel block is arranged on a sliding table of the Z-axis sliding table cylinder, and the limiting block is arranged on a body of the Z-axis sliding table cylinder.

Further, the second Z-axis driving piece comprises a traction plate, one end of the traction plate is connected with the variable-pitch plate, and the other end of the traction plate is connected with a sliding table of the Z-axis sliding table cylinder.

Further, the vacuum chuck comprises a second mounting plate, and each vacuum chuck is mounted on each X-axis sliding table in a switching way through the second mounting plate.

Further, the first Z-axis driving piece comprises a third mounting plate, a Z-axis cylinder and a Z-axis linear guide rail, the Z-axis cylinder and the Z-axis linear guide rail are mounted on the third mounting plate, the first mounting plate is mounted on a Z-axis sliding table of the Z-axis linear guide rail, and the Z-axis cylinder is connected and drives the first mounting plate.

The X-axis moving unit comprises an X-axis guide rail frame, a screw rod sliding table and a screw rod motor, wherein the screw rod sliding table is arranged in the X-axis guide rail frame in a sliding manner, and the screw rod is driven by the screw rod motor to drive the screw rod sliding table to slide; and the third mounting plate is mounted on the screw rod sliding table.

A second object of the present utility model is to provide a film attaching device, which includes the aforementioned variable-pitch film adsorbing manipulator.

After the technical scheme is adopted, compared with the background technology, the utility model has the following advantages:

according to the utility model, the plurality of vacuum chucks are coaxially arranged in a sliding manner, and then the vacuum chucks are pulled to slide through the cooperation of the distance changing plate and the cam follower, so that the distance changing can be realized through the lifting of the distance changing plate, the distance can be reduced when the diaphragm is adsorbed by cooperating with the control of the second Z-axis driving piece, and the distance can be increased when the diaphragm is released, so that the influence of a product fixture on the density of the diaphragm is eliminated, the density of the diaphragm material roll can be made higher, and the cost is reduced. Meanwhile, when the tooling for releasing the membrane is designed, the distance between the membrane auxiliary materials is not needed to be considered, and different distance adjustment can be carried out according to the actual requirements of equipment.

Drawings

FIG. 1 is a schematic view of a Z-axis motion unit of a manipulator according to the present utility model;

FIG. 2 is a schematic view of a Z-axis motion unit of the manipulator according to the present utility model;

FIG. 3 is a schematic view illustrating the disassembly of a Z-axis moving unit of the manipulator according to the present utility model;

FIG. 4 is a schematic view of a robot according to the present utility model;

fig. 5 is a schematic view of a film attaching device according to the present utility model.

Reference numerals illustrate:

100. a Z-axis moving unit; 110. a vacuum chuck; 120. an X-axis linear guide rail; 121. an X-axis guide rail; 122. an X-axis sliding table; 130. a first mounting plate; 140. a cam follower; 150. a variable-pitch plate; 151. a variable-pitch traction hole; 160. a first Z-axis drive; 161. a third mounting plate; 162. a Z-axis cylinder; 163. a Z-axis linear guide rail; 170. a second Z-axis drive; 171. a limiter; 1711. a travel block; 1712. a limiting block; 1713. a limit bolt; 172. z-axis sliding table cylinder; 173. a traction plate; 180. the second mounting plate;

200. an X-axis moving unit; 210. an X-axis guide rail frame; 220. a screw rod; 230. a screw rod sliding table; 240. a screw motor;

300. the area of the membrane is located;

400. the area where the product is located.

Detailed Description

The present utility model will be described in further detail with reference to the drawings and examples, in order to make the objects, technical solutions and advantages of the present utility model more apparent. It should be understood that the specific embodiments described herein are for purposes of illustration only and are not intended to limit the scope of the utility model.

In the description of the present utility model, it should be understood that the terms "center", "length", "width", "thickness", "upper", "lower", "front", "rear", "left", "right", "vertical", "horizontal", "top", "bottom", "inner", "outer", etc. indicate orientations or positional relationships based on the drawings, are merely for convenience in describing the present utility model and simplifying the description, and do not indicate or imply that the devices or elements referred to must have a specific orientation, be configured and operated in a specific orientation, and thus should not be construed as limiting the present utility model.

In the description of the present utility model, it should be noted that, unless explicitly specified and limited otherwise, the terms "mounted," "connected," and "connected" are to be construed broadly, and may be either fixedly connected, detachably connected, or integrally connected, for example; can be mechanically or electrically connected; can be directly connected or indirectly connected through an intermediate medium, and can be communicated with the inside of two elements or the interaction relationship of the two elements. The specific meaning of the above terms in the present utility model can be understood by those of ordinary skill in the art according to the specific circumstances.

Examples

Referring to fig. 4 and 5, the present utility model discloses a variable-pitch membrane adsorption manipulator, which includes a Z-axis moving unit 100 and an X-axis moving unit 200.

Referring to fig. 1 to 3, the Z-axis moving unit 100 includes a vacuum chuck 110, an X-axis linear guide 120, a first mounting plate 130, a cam follower 140, a pitch plate 150, a first Z-axis driving member 160, a second Z-axis driving member 170, and a second mounting plate 180.

The vacuum chucks 110 are a plurality of, and the vacuum chucks 110 are arranged in a straight line for adsorbing the membrane. The vacuum chuck 110 is a prior art, and the adsorption principle thereof is not described herein.

The X-axis linear guide 120 includes an X-axis guide and a plurality of X-axis sliding tables, and the plurality of X-axis sliding tables share the X-axis guide to slide along the X-axis guide. Each vacuum chuck 110 corresponds to each X-axis sliding table one by one, and is mounted on the X-axis sliding table, in this embodiment, through the second mounting plate 180.

The first mounting plate 130 is used for mounting the X-axis guide rail, that is, after the X-axis guide rail is mounted on the first mounting plate 130, the vacuum chuck 110 moves along the X-axis relative to the first mounting plate 130.

The number of the cam followers 140 is set corresponding to the number of the X-axis sliding tables, and the plurality of cam followers 140 are connected to each X-axis sliding table one by one, in this embodiment, interference fit is adopted, that is, each cam follower 140 is embedded in the second mounting plate 180 in an interference manner perpendicular to the second mounting plate 180.

The pitch plate 150 is provided with a plurality of pitch traction holes 151 corresponding to the cam followers 140, and each pitch traction hole 151 is a bar-shaped hole with an upper end inclined toward the center of the manipulator. In this way, the pitch-varying traction hole 151 is adapted to the cam follower 140, and in the process of ascending and descending the pitch-varying plate 150, the pitch-varying guide, that is, the traction X-axis sliding table slides along the X-axis guide rail, so as to realize the pitch variation of the vacuum chuck 110.

The first Z-axis driving member 160 is configured to drive the first mounting plate 130 to move up and down along the Z-axis, and the second Z-axis driving member 170 is mounted on the first mounting plate 130 and configured to drive the pitch plate 150 to move up and down along the Z-axis, so as to complete the pitch change. Thus, when the membrane needs to be grabbed, the Z-axis moving unit 100 is moved to the area where the membrane is located, the first Z-axis driving piece 160 drives the first mounting plate 130 to move down along the Z-axis, and in the process that the Z-axis moving unit 100 and/or the first mounting plate 130 move down to the preset position, the second Z-axis driving assembly drives the distance-changing plate 150 to move up, so that the distance between the vacuum suction cups 110 is reduced; when the distance-changing plate 150 reaches the upper travel position, the first Z-axis driving piece 160 continues to drive the first mounting plate 130 to move downwards, and the vacuum chuck 110 works to complete the adsorption; then, the first Z-axis driving member 160 drives the first mounting plate 130 to move upward, the Z-axis moving unit 100 moves to the area where the product is located, the first Z-axis driving member 160 drives the first mounting plate 130 to move downward, when the first mounting plate 130 moves upward and/or the Z-axis moving unit 100 moves and/or the first Z-axis driving member 160 drives the first mounting plate 130 to move downward, the second Z-axis driving member 170 drives the distance-changing plate 150 to move downward, so that the distance between adjacent vacuum suction cups 110 becomes larger to adapt to the distance between the products, and after the first mounting plate 130 moves downward to a preset position, the membrane is released to the product to finish attachment. Then, a new repetition is started.

In order to adjust the distance between the vacuum chuck 110 and the second Z-axis driving member 170, the second Z-axis driving member 170 includes a limiter 171, the limiter 171 includes a stroke block 1711 disposed at a sliding end thereof and a limiting block 1712 disposed at a fixed end thereof, and a limiting bolt 1713 is screwed on the limiting block 1712, so that the limiting stroke of the stroke block 1711 can be changed by changing the screwing depth of the limiting bolt 1713.

In this embodiment, the second Z-axis driving member 170 further includes a Z-axis sliding table cylinder 172 and a traction plate 173, the stroke block 1711 is disposed on the sliding table of the Z-axis sliding table cylinder 172, the limiting block 1712 is disposed on the body of the Z-axis sliding table cylinder, one end of the traction plate 173 is connected to the distance-varying plate 150, and the other end is connected to the sliding table of the Z-axis sliding table cylinder 172.

In this embodiment, the first Z-axis driving unit 160 includes a third mounting plate 161, a Z-axis cylinder 162, and a Z-axis linear guide 163. Wherein, the Z-axis cylinder 162 and the Z-axis linear guide 163 are mounted on the third mounting plate 161, the first mounting plate 130 is mounted on the Z-axis sliding table of the Z-axis linear guide 163, and the Z-axis cylinder 162 is connected with the first mounting plate 130, so as to realize driving of the first mounting plate 130.

In the present utility model, the switching of the Z-axis moving unit 100 between the product area and the film feeding area is achieved by the X-axis moving unit 200. Referring to fig. 4, in this embodiment, the X-axis moving unit 200 includes an X-axis guide rail frame 210, a screw rod 220, a screw rod sliding table 230, and a screw rod motor 240, where the screw rod sliding table 230 is slidably disposed in the X-axis guide rail frame 210, and the screw rod 220 is driven by the screw rod motor 240 to drive the screw rod sliding table 230 to slide; the third mounting plate 161 is mounted on the screw slider 230 to move along with the screw slider 230.

Referring to fig. 5, the present utility model also discloses a film attaching device, which applies the manipulator shown in fig. 1-4 to reciprocate and move the film in the film area 300 and the product area 400 to complete the attachment of the film on the product.

It will be evident to those skilled in the art that the utility model is not limited to the details of the foregoing illustrative embodiments, and that the present utility model may be embodied in other specific forms without departing from the spirit or essential characteristics thereof. The present embodiments are, therefore, to be considered in all respects as illustrative and not restrictive, the scope of the utility model being indicated by the appended claims rather than by the foregoing description, and all changes which come within the meaning and range of equivalency of the claims are therefore intended to be embraced therein. Any reference sign in a claim should not be construed as limiting the claim concerned.

Furthermore, it should be understood that although the present disclosure describes embodiments, not every embodiment is provided with a separate embodiment, and that this description is provided for clarity only, and that the disclosure is not limited to the embodiments described in detail below, and that the embodiments described in the examples may be combined as appropriate to form other embodiments that will be apparent to those skilled in the art.

Claims

1. The utility model provides a diaphragm adsorption manipulator of variable pitch, includes Z axle mobile unit, its characterized in that, Z axle mobile unit includes:

the first mounting plate is used for mounting the X-axis guide rail;

2. The variable pitch membrane suction robot of claim 1 wherein: the second Z-axis driving piece comprises a limiter, the limiter comprises a travel block arranged at the sliding end of the limiter and a limiting block arranged at the fixed end of the limiter, a limiting bolt is screwed on the limiting block, and the limiting bolt changes the screwing depth of the limiting bolt so as to change the limiting travel of the travel block.

3. The variable pitch membrane suction robot of claim 2, wherein: the second Z-axis driving piece comprises a Z-axis sliding table cylinder, the travel block is arranged on a sliding table of the Z-axis sliding table cylinder, and the limiting block is arranged on a body of the Z-axis sliding table cylinder.

4. The variable pitch membrane suction robot of claim 3 wherein: the second Z-axis driving piece comprises a traction plate, one end of the traction plate is connected with the variable-pitch plate, and the other end of the traction plate is connected with a sliding table of the Z-axis sliding table cylinder.

5. The variable pitch membrane suction robot of claim 1 wherein: the Z-axis moving unit further comprises a second mounting plate, and each vacuum sucker is mounted on each X-axis sliding table in a switching mode through the second mounting plate.

6. The variable pitch membrane suction robot of claim 1 wherein: the first Z-axis driving piece comprises a third mounting plate, a Z-axis air cylinder and a Z-axis linear guide rail, wherein the Z-axis air cylinder and the Z-axis linear guide rail are mounted on the third mounting plate, the first mounting plate is mounted on a Z-axis sliding table of the Z-axis linear guide rail, and the Z-axis air cylinder is connected and drives the first mounting plate.

7. The variable pitch membrane suction robot of claim 6 wherein: the X-axis moving unit comprises an X-axis guide rail frame, a screw rod sliding table and a screw rod motor, wherein the screw rod sliding table is arranged in the X-axis guide rail frame in a sliding manner, and the screw rod is driven by the screw rod motor to drive the screw rod sliding table to slide; and the third mounting plate is mounted on the screw rod sliding table.

8. The attached device of diaphragm, its characterized in that: a membrane suction robot comprising a variable pitch membrane as claimed in any one of claims 1 to 7.