CN220182087U - But angular adjustment's getting puts board device - Google Patents

Abstract

The utility model relates to the technical field of picking and placing machines, in particular to a picking and placing plate device capable of adjusting an angle, which comprises a picking and placing plate mechanism, a picking and placing lifting mechanism, a transverse driving mechanism, a first longitudinal driving mechanism, an angle adjusting mechanism and a second longitudinal driving mechanism. According to the utility model, the plate is guided and limited by matching the two guide limiting pieces, the suction nozzle and the pressing plate unit are matched, so that the plate can be accurately and stably picked up, the position accuracy and stability of the plate are improved, and the plate taking and placing mechanism is subjected to preset angle adjustment by the angle adjusting mechanism, so that the requirements of taking and placing plates at different angles are met.

Description

But angular adjustment's getting puts board device

Technical Field

The utility model relates to the technical field of picking and placing machines, in particular to a picking and placing plate device capable of adjusting angles.

Background

In the processing production of circuit boards and other plates, the picking and placing of the plates is the most common procedure. The plate is mostly taken and amplified by a plate taking and placing device. In the prior art, the chinese patent document with application number 202221959559.3 discloses a telescopic picking and placing device, which can realize picking and placing of a PCB board, but cannot fix the PCB board, and in the process of picking and placing the PCB board, the PCB board is easy to loose or deviate, so that the stability and the position accuracy of picking and placing the PCB board are poor, and the picking and placing operation of left-entering and right-exiting cannot be realized.

Still, chinese patent document of application number 202210934060.5 discloses a fork board fetching mechanism, and it discloses fork subassembly including a plurality of forks of side by side interval distribution, and is a plurality of the end-to-end connection of fork is in fork lifting platform's top, the head end top of fork is provided with two edges the locating part of the length direction relative distribution of fork, two interval between the locating part with the length of carrier plate cooperatees, and although two locating parts can carry out spacingly to the carrier plate, but the stability of carrier plate on the fork is relatively poor, takes place position offset or not hard up easily. Thus, the drawbacks are quite apparent and there is a need to provide a solution.

Disclosure of Invention

In order to solve the above technical problems, an object of the present utility model is to provide an angularly adjustable plate picking and placing device.

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

the utility model provides a but get and put board device of angle adjustment, it includes gets and puts board mechanism, get and put elevating system, with get and put elevating system's lifting end connection's sideslip actuating mechanism, with the first drive mechanism that indulges that moves of sideslip actuating mechanism's removal end is connected, with the angle adjustment mechanism who moves the end of first drive mechanism that indulges and the second drive mechanism that indulges that moves that is connected with the adjustment end of angle adjustment mechanism, get and put board mechanism and include the loading board, the clamp plate unit, a plurality of suction nozzles and two guide limiting pieces, the loading board is connected with the removal end of second drive mechanism that indulges, a plurality of suction nozzles inlay and locate the loading board's loading face, the clamp plate unit is installed in the loading board, two guide limiting pieces are installed relatively in the loading board space between the loading face of loading board and two guide limiting pieces, a plurality of suction nozzles are located the loading board space, the clamp plate end of clamp plate unit can stretch to the loading board space in.

Further, get and put elevating system and include lifter plate and two parallel arrangement get and put lift drive module, the both ends of lifter plate are connected with two lift ends of getting and putting lift drive module respectively, and sideslip actuating mechanism installs in the lifter plate.

Further, one end of the lifting plate is fixedly connected with the lifting end of the lifting driving module, and the other end of the lifting plate is flexibly connected with the lifting end of the lifting driving module through a flexible structure.

Further, the flexible structure comprises an inserting body fixedly connected with the lifting end of the corresponding picking and placing lifting driving module and an inserting cavity concavely arranged in the inserting body, the corresponding end part of the lifting plate is inserted in the inserting cavity, and a movable gap is formed between the end part of the lifting plate and the inner wall of the inserting cavity.

Further, the guide limiting piece comprises a plurality of guide limiting blocks, and the guide limiting blocks are arranged along the width direction of the bearing plate.

Further, the cross section of leading the positive stopper is L type, and the horizontal segment of leading the positive stopper is installed in the loading board, and the vertical section top of leading the positive stopper is provided with interior guide inclined plane, and interior guide inclined plane inclines towards the loading board space.

Further, the bearing surface of the bearing plate is concavely provided with a plurality of accommodating grooves, and the horizontal sections of the guide limiting blocks are accommodated in the corresponding accommodating grooves.

Further, two adjacent suction nozzles are communicated through an air pipe, the bearing plate is provided with a plurality of guide pipe grooves, and the air pipe is accommodated in the corresponding guide pipe grooves.

Further, the clamp plate unit includes clamp plate driver and clamp plate, and the one end and the loading board of clamp plate rotate to be connected, and the other end of clamp plate is used for stretching to the loading board space in, and the clamp plate driver is installed in the loading board, and the clamp plate driver is used for driving the clamp plate and rotates.

Further, the number of the platen units is plural, and the plurality of platen units are disposed along the width direction of the carrier plate.

The utility model has the beneficial effects that: in practical applications, the pick-and-place plate mechanism is used for picking up or releasing plates (such as circuit boards and the like); when getting the board, through getting and putting elevating system, sideslip actuating mechanism, first indulging and move actuating mechanism and second indulging and move actuating mechanism collaborative work so that get and put the board mechanism and pick up the plate, at the in-process of picking up the plate, the both ends of plate are first with two guide limiting pieces conflict, two guide limiting pieces cooperate in order to lead the position of plate and just spacing, make the plate can fall into the carrier plate space accurately and steadily, a plurality of suction nozzles are tightly sucked the plate in the carrier plate space afterwards, in order to guarantee the stability of plate in the carrier plate space, rethread clamp plate unit compresses tightly the plate, further improved the stability of plate, first indulging moves actuating mechanism and second indulge and move actuating mechanism collaborative work in order to get and put the board mechanism and take the plate to retrieve to initial position (for example: this intermediate position etc. of getting and putting the board device). When a plate needs to be placed, the angle adjusting mechanism drives the second longitudinal movement driving mechanism to rotate a certain angle together with the plate taking and placing mechanism and the plate to adjust the angle of the plate, and then the plate taking and placing lifting mechanism, the transverse movement driving mechanism, the first longitudinal movement driving mechanism and the second longitudinal movement driving mechanism work cooperatively according to a control flow to place the plate at a preset position, so that the angle adjusting mechanism can realize that the plate taking and placing mechanism can perform angle adjustment within an angle range of 360 degrees, for example; the plate picking and placing mechanism picks up the plate from one side, and the angle adjusting mechanism drives the plate picking and placing mechanism to rotate 180 degrees along with the plate, so that the plate faces the other side, and the plate is placed at a preset position on the other side, so that the left-in and right-out effect is achieved. According to the utility model, the plate is guided and limited by matching the two guide limiting pieces, the suction nozzle and the pressing plate unit are matched, so that the plate can be accurately and stably picked up, the position accuracy and stability of the plate are improved, and the angle adjusting mechanism is used for realizing preset angle adjustment on the plate picking and placing mechanism, so that the requirements of picking and placing plates at different angles are met, and the practicability is strong.

Drawings

Fig. 1 is a schematic perspective view of the present utility model.

Fig. 2 is an enlarged view at a in fig. 1.

Fig. 3 is a schematic perspective view of the pick-and-place plate mechanism and the second longitudinal movement driving mechanism according to the present utility model.

Fig. 4 is a schematic perspective view of a platen unit of the present utility model.

Fig. 5 is a schematic perspective view of a guide limiting block of the present utility model.

Reference numerals illustrate:

1. a plate taking and placing mechanism; 2. a lifting mechanism for taking and placing; 3. a lateral movement driving mechanism; 4. a first longitudinal movement driving mechanism; 5. an angle adjusting mechanism; 6. a second longitudinal movement driving mechanism; 7. a carrying plate; 8. a platen unit; 9. a suction nozzle; 10. a guide limiting piece; 11. a carrier space; 12. a lifting plate; 13. a lifting driving module is taken and placed; 14. a flexible structure; 15. a plug-in mounting body; 16. a cartridge cavity; 17. a guide limiting block; 18. an inner guide inclined plane; 19. a receiving groove; 20. a conduit groove; 21. a platen driver; 22. and (5) pressing plates.

Detailed Description

The utility model will be further described with reference to examples and drawings, to which reference is made, but which are not intended to limit the scope of the utility model.

As shown in fig. 1 to 5, the utility model provides an angularly adjustable pick-and-place plate device, which comprises a pick-and-place plate mechanism 1, a pick-and-place lifting mechanism 2, a traversing driving mechanism 3 connected with a lifting end of the pick-and-place lifting mechanism 2, a first longitudinal movement driving mechanism 4 connected with a moving end of the traversing driving mechanism 3, an angular adjustment mechanism 5 connected with a moving end of the first longitudinal movement driving mechanism 4, and a second longitudinal movement driving mechanism 6 connected with an adjustment end of the angular adjustment mechanism 5, wherein the pick-and-place plate mechanism 1 comprises a carrier plate 7, a pressing plate unit 8, a plurality of suction nozzles 9 and two guide limiting pieces 10, the carrier plate 7 is connected with the moving end of the second longitudinal movement driving mechanism 6, the suction nozzles 9 are embedded on a carrying surface of the carrier plate 7, the pressing plate unit 8 is arranged on the carrier plate 7, the two guide limiting pieces 10 are oppositely arranged on the carrying surface of the carrier plate 7, a carrier plate space 11 is formed between the carrying surface of the carrier plate 7 and the two guide limiting pieces 10, the suction nozzles 9 are located in the carrier plate space 11, and the pressing plate unit 8 can protrude into the carrier plate space 11.

In practical application, the pick-and-place board mechanism 1 is used for picking up or releasing boards (such as circuit boards and the like); when the plate is taken, through taking and putting elevating system 2, sideslip actuating mechanism 3, first indulging and moving actuating mechanism 4 and second indulging and moving actuating mechanism 6 collaborative work so that get and put board mechanism 1 and pick up the plate according to control flow, at the in-process of picking up the plate, the both ends of plate are first with two guide locating parts 10 conflict respectively, two guide locating parts 10 cooperate in order to lead the position of plate and just spacing, make the plate can fall into carrier plate space 11 accurately and steadily, a plurality of suction nozzles 9 inhale the plate in the carrier plate space 11 tightly, in order to guarantee the stability of plate in carrier plate space 11, at last rethread clamp plate unit 8 compresses tightly the plate, further improved the stability of plate, first indulge and move actuating mechanism 4 and second indulge and move actuating mechanism 6 collaborative work so that to get and put board mechanism 1 and take the plate to retrieve to the initial position (for example: this take the intermediate position of putting the device etc.). When a plate needs to be placed, the angle adjusting mechanism 5 drives the second longitudinal moving driving mechanism 6 to rotate a certain angle together with the plate taking and placing mechanism 1 and the plate to adjust the angle of the plate, and then the plate taking and placing lifting mechanism 2, the transverse moving driving mechanism 3, the first longitudinal moving driving mechanism 4 and the second longitudinal moving driving mechanism 6 work cooperatively according to a control flow to place the plate at a preset position, and the angle adjusting mechanism 5 can realize that the plate taking and placing mechanism 1 can perform angle adjustment within an angle range of 360 degrees, for example; the plate picking and placing mechanism 1 picks up the plate from one side, and the angle adjusting mechanism 5 drives the plate picking and placing mechanism 1 to rotate 180 degrees together with the plate, so that the plate faces the other side, and the plate is placed at a preset position on the other side, so that the effect of left in and right out is achieved. According to the utility model, the two guide limiting pieces 10 are matched to guide and limit the plate, the suction nozzle 9 is matched with the pressing plate unit 8 to accurately and stably pick up the plate, the position accuracy and stability of the plate are improved, and the angle adjusting mechanism 5 is used for realizing preset angle adjustment on the plate taking and placing mechanism 1 so as to meet the plate taking and placing requirements of different angles, so that the practicability is high.

Specifically, the angle adjusting mechanism 5 may employ an existing rotation mechanism such as: a motor, etc.

In this embodiment, the lifting mechanism 2 includes a lifting plate 12 and two parallel and vertically arranged lifting driving modules 13, two ends of the lifting plate 12 are respectively connected with lifting ends of the two lifting driving modules 13, and the traversing driving mechanism 3 is mounted on the lifting plate 12; preferably, the lifting driving module 13 may be a screw module. In practical application, the two picking and placing lifting driving modules 13 work synchronously to drive the lifting plate 12 to lift, so that lifting of the picking and placing plate mechanism 1 is realized.

In this embodiment, one end of the lifting plate 12 is fixedly connected with the lifting end of one lifting driving module 13, and the other end of the lifting plate 12 is flexibly connected with the lifting end of the other lifting driving module 13 via a flexible structure 14. According to the structural design, when the lifting heights of the two ends of the driving lifting plate 12 are inconsistent due to errors (such as installation errors, machining errors and control errors) of the two picking and placing lifting driving modules 13, one end of the lifting plate 12 can swing relative to the lifting end of one picking and placing lifting driving module 13, hard impact or extrusion between the lifting plate 12 and the two picking and placing lifting driving modules 13 is avoided, the picking and placing lifting mechanism 2 is protected, and the service life of the picking and placing lifting mechanism 2 is prolonged.

In this embodiment, the flexible structure 14 includes a plug-in unit 15 fixedly connected to the lifting end of the lifting driving module 13 and a plug-in cavity 16 concavely provided in the plug-in unit 15, where the corresponding end of the lifting plate 12 is inserted into the plug-in cavity 16, and a movable gap is provided between the end of the lifting plate 12 and the inner wall of the plug-in cavity 16. In practical applications, the bottom wall of the insertion cavity 16 supports the lifting plate 12, and when the lifting heights of the two ends of the lifting plate 12 are inconsistent due to errors (such as installation errors, machining errors, control errors, etc.) of the two pick-and-place lifting driving modules 13, the ends of the lifting plate 12 can move relatively in the insertion cavity 16 to make up the defects caused by the errors.

Specifically, the distance between the two guiding and limiting pieces 10 is adjustable, so as to meet the requirements of guiding and limiting the plates with different specifications.

In this embodiment, the alignment limiting member 10 includes a plurality of alignment limiting blocks 17, and the plurality of alignment limiting blocks 17 are disposed along the width direction of the carrier plate 7. This structural design, under the circumstances that guarantee can lead rightly and spacing to the board, reduce the volume of leading rightly locating part 10, reduce the use amount of material, it is energy-concerving and environment-protective, alleviateed the weight of whole getting and putting board mechanism 1, and lead rightly the dismouting and the maintenance of stopper 17 convenient.

In this embodiment, the cross section of the guiding limiting block 17 is L-shaped, the horizontal section of the guiding limiting block 17 is mounted on the carrier plate 7, the top of the vertical section of the guiding limiting block 17 is provided with an inner guiding inclined plane 18, and the inner guiding inclined plane 18 is inclined towards the carrier plate space 11. In practical application, when the end edge of the plate is abutted against the inner guide inclined plane 18, under the action of gravity of the plate, the plate can slide along the inner guide inclined plane 18 towards the carrier plate space 11 until the plate falls into the carrier plate space 11 completely, and the inner vertical surface of the vertical section of the guide limiting block 17 limits the end edge of the plate, so that the guide deviation correction and limiting of the plate are realized.

In this embodiment, the bearing surface of the bearing plate 7 is concavely provided with a plurality of accommodating grooves 19, the horizontal sections of the guide limiting blocks 17 are accommodated in the corresponding accommodating grooves 19, and the plurality of accommodating grooves 19 are respectively arranged in one-to-one correspondence with the plurality of guide limiting blocks 17. This structural design for lead the structure compact of positive stopper 17 and loading board 7, and be convenient for the operating personnel install the position of predetermineeing of loading board 7 with positive stopper 17 fast and accurately.

In this embodiment, two adjacent suction nozzles 9 are communicated via an air pipe, the bearing plate 7 is provided with a plurality of duct slots 20, and the air pipe is accommodated in the corresponding duct slot 20. Preferably, at least one suction nozzle 9 communicates with an external evacuation mechanism, so that one external evacuation mechanism can cause all suction nozzles 9 to generate a negative pressure. This structural design for the trachea can hide and protect the trachea effectively with the compact structure of loading board 7, plays the management effect to the trachea, and the appearance is clean and tidy, pleasing to the eye, avoids the trachea to expose and influences normal board and the appearance of getting and putting.

In this embodiment, the platen unit 8 includes a platen 22 driver 21 and a platen 22, one end of the platen 22 is rotatably connected with the carrier plate 7, the other end of the platen 22 is used for protruding into the carrier plate space 11, the platen 22 driver 21 is mounted on the carrier plate 7, and the platen 22 driver 21 is used for driving the platen 22 to rotate; the pressing plate 22 driver 21 comprises a telescopic device arranged on the bearing plate 7, and the telescopic end of the telescopic device is hinged with the middle part of the pressing plate 22; in particular, the telescopic may employ a cylinder. In practical application, after the plurality of suction nozzles 9 suck the board, the platen 22 driver 21 drives the platen 22 to rotate toward the carrier space 11 until the platen 22 presses the board against the carrier 7.

In the present embodiment, the number of the platen units 8 is plural, and the plurality of platen units 8 are arranged along the width direction of the carrier plate 7. This structural design can firmly compress tightly the plate on loading board 7.

Specifically, the carrier plate 7 includes a connection plate and two fork plates, which are connected via the connection plate. The structural design realizes the modularized assembly of the bearing plate 7.

The foregoing embodiments are preferred embodiments of the present utility model, and in addition, the present utility model may be implemented in other ways, and any obvious substitution is within the scope of the present utility model without departing from the concept of the present utility model.

Claims (10)

1. An angular adjustment's getting puts board device, its characterized in that: the lifting mechanism comprises a plate taking and placing mechanism (1), a lifting mechanism (2), a transverse moving driving mechanism (3) connected with the lifting end of the lifting mechanism (2), a first longitudinal moving driving mechanism (4) connected with the moving end of the transverse moving driving mechanism (3), an angle adjusting mechanism (5) connected with the moving end of the first longitudinal moving driving mechanism (4) and a second longitudinal moving driving mechanism (6) connected with the adjusting end of the angle adjusting mechanism (5), wherein the plate taking and placing mechanism (1) comprises a bearing plate (7), a pressing plate unit (8), a plurality of suction nozzles (9) and two guide limiting pieces (10), the bearing plate (7) is connected with the moving end of the second longitudinal moving driving mechanism (6), the suction nozzles (9) are embedded in the bearing surface of the bearing plate (7), the pressing plate unit (8) is arranged on the bearing plate (7), two guide limiting pieces (10) are oppositely arranged on the bearing surface of the bearing plate (7) and a bearing plate space (11) is formed between the two guide limiting pieces (10), and the suction nozzles (9) can extend into the pressing plate space (11) in the pressing plate unit (11).

2. An angularly adjustable pick-and-place plate device according to claim 1, characterized in that: the lifting mechanism (2) comprises a lifting plate (12) and two lifting driving modules (13) which are arranged in parallel, wherein two ends of the lifting plate (12) are respectively connected with lifting ends of the two lifting driving modules (13), and the transverse moving driving mechanism (3) is arranged on the lifting plate (12).

3. An angularly adjustable pick-and-place plate device according to claim 2, characterized in that: one end of the lifting plate (12) is fixedly connected with the lifting end of one taking and placing lifting driving module (13), and the other end of the lifting plate (12) is flexibly connected with the lifting end of the other taking and placing lifting driving module (13) through a flexible structure (14).

4. An angularly adjustable pick-and-place plate device according to claim 3 and characterized in that: the flexible structure (14) comprises an inserting body (15) fixedly connected with the lifting end of the corresponding lifting driving module (13) and an inserting cavity (16) concavely arranged in the inserting body (15), the corresponding end part of the lifting plate (12) is inserted in the inserting cavity (16), and a movable gap is reserved between the end part of the lifting plate (12) and the inner wall of the inserting cavity (16).

5. An angularly adjustable pick-and-place plate device according to claim 1, characterized in that: the guide limiting piece (10) comprises a plurality of guide limiting blocks (17), and the guide limiting blocks (17) are arranged along the width direction of the bearing plate (7).

6. The angularly adjustable pick-and-place plate device of claim 5, wherein: the cross section of the guide limiting block (17) is L-shaped, the horizontal section of the guide limiting block (17) is arranged on the bearing plate (7), an inner guide inclined plane (18) is arranged at the top of the vertical section of the guide limiting block (17), and the inner guide inclined plane (18) inclines towards the bearing plate space (11).

7. The angularly adjustable pick-and-place plate device of claim 6, wherein: the bearing surface of the bearing plate (7) is concavely provided with a plurality of accommodating grooves (19), and the horizontal section of the guide limiting block (17) is accommodated in the corresponding accommodating groove (19).

8. An angularly adjustable pick-and-place plate device according to claim 1, characterized in that: the two adjacent suction nozzles (9) are communicated through air pipes, the bearing plate (7) is provided with a plurality of guide pipe grooves (20), and the air pipes are accommodated in the corresponding guide pipe grooves (20).

9. An angularly adjustable pick-and-place plate device according to claim 1, characterized in that: the pressing plate unit (8) comprises a pressing plate driver (21) and a pressing plate (22), one end of the pressing plate (22) is rotationally connected with the bearing plate (7), the other end of the pressing plate (22) is used for protruding into the bearing plate space (11), the pressing plate driver (21) is arranged on the bearing plate (7), and the pressing plate driver (21) is used for driving the pressing plate (22) to rotate.

10. An angularly adjustable pick-and-place plate device according to claim 1, characterized in that: the number of the pressing plate units (8) is plural, and the plurality of pressing plate units (8) are arranged along the width direction of the bearing plate (7).