CN220641647U

CN220641647U - Pitch-changing manipulator

Info

Publication number: CN220641647U
Application number: CN202322039390.0U
Authority: CN
Inventors: 戚旭利; 冯巩; 程海宾
Original assignee: Hangzhou Changchuan Technology Co Ltd
Current assignee: Hangzhou Changchuan Technology Co Ltd
Priority date: 2023-07-31
Filing date: 2023-07-31
Publication date: 2024-03-22
Anticipated expiration: 2033-07-31

Abstract

The utility model relates to a variable-pitch manipulator which can realize the variable pitch of a suction nozzle and is convenient for improving the compactness of the whole structure. The variable-pitch manipulator comprises a mechanical arm, a fixed side suction nozzle assembly, a variable-pitch transmission assembly and a movable side suction nozzle assembly. The mechanical arm comprises a conveying arm body, a conveying guide rail fixedly arranged on the conveying arm body and a conveying driving mechanism arranged on the conveying arm body. The fixed side suction nozzle assembly comprises a fixed side plate and a fixed side suction nozzle mechanism, wherein the fixed side plate is slidably arranged on the conveying guide rail, and the fixed side suction nozzle mechanism is arranged on the fixed side plate. The variable-pitch transmission assembly comprises a transmission frame fixedly arranged on the fixed side plate, a transmission guide rail fixedly arranged on the transmission frame and a variable-pitch driving mechanism; the transmission frame is drivably connected to the conveyance driving mechanism. The movable side suction nozzle assembly comprises a movable side plate and a movable side suction nozzle mechanism, wherein the movable side plate is slidably arranged on the transmission guide rail, the movable side suction nozzle mechanism is arranged on the movable side plate, and the movable side plate is in driving connection with the variable-pitch driving mechanism.

Description

Pitch-changing manipulator

Technical Field

The utility model relates to the technical field of chip sorting, in particular to a variable-pitch manipulator.

Background

With rapid development of technology, communication equipment, consumer electronics and other products are increasing; the quality of the chip is directly related to the quality of the electronic product, so the chip is usually required to be tested after the production is finished, and the chip is sorted and palletized according to various grades according to the test result.

Currently, the chip testing and sorting process is generally as follows: firstly, carrying chips in a feeding tray and filling the chips in the feeding tray with a test tray automatically by a special loading manipulator at a feeding position; after horizontal or vertical conveying and testing by a testing station, completely taking down chips on the testing tray at an unloading station by a special unloading manipulator so as to put the chips into a receiving tray of a corresponding grade according to a testing result; finally, the empty test trays are transported back to the feed level, thereby forming a circulating reflow on the predetermined circulation path.

However, in existing chip sort test systems: the pit spacing on the supply tray, test tray, and take-up tray often varies, requiring the manipulator to adjust the nozzle spacing during chip handling in order to accommodate the pit spacing on the corresponding tray.

Disclosure of Invention

An advantage of the present utility model is to provide a variable-pitch manipulator that can achieve a nozzle pitch change while facilitating improvement in the compactness of the overall structure.

To achieve at least one of the above and other advantages and objects of the utility model, the present utility model provides a variable-pitch robot comprising:

the mechanical arm comprises a conveying arm body, a conveying guide rail fixedly arranged on the conveying arm body and a conveying driving mechanism arranged on the conveying arm body;

a fixed-side nozzle assembly including a fixed side plate slidably disposed to the transport rail and a fixed-side nozzle mechanism mounted to the fixed side plate;

the variable-pitch transmission assembly comprises a transmission frame fixedly arranged on the fixed side plate, a transmission guide rail fixedly arranged on the transmission frame and a variable-pitch driving mechanism; the transmission frame is drivably connected with the conveying driving mechanism and is used for sliding along the conveying guide rail under the driving of the conveying driving mechanism so as to drive the fixed side suction nozzle assembly to move relative to the conveying arm body; and

the movable side suction nozzle assembly comprises a movable side plate and a movable side suction nozzle mechanism, the movable side plate is slidably arranged on the transmission guide rail, the movable side suction nozzle mechanism is installed on the movable side plate, the movable side plate is drivably connected with the variable-pitch driving mechanism and is used for sliding along the transmission guide rail under the driving of the variable-pitch driving mechanism so as to drive the movable side suction nozzle mechanism to be close to or far away from the fixed side suction nozzle mechanism.

According to one embodiment of the present application, the conveying arm body includes a top wall and a pair of side walls, two of the side walls being arranged at intervals to the top wall to form a mounting space between inner surfaces of the two side walls, in which the conveying driving mechanism is accommodated, and the conveying guide rail being correspondingly fastened to an outer surface of the side wall.

According to one embodiment of the application, the conveying driving mechanism comprises a conveying driving motor, a conveying driving wheel in driving connection with the conveying driving motor, a conveying driven wheel rotatably arranged on the side wall and a conveying synchronous belt in driving fit with the conveying driving wheel and the conveying driven wheel; the transmission frame of the variable-pitch transmission assembly is fixedly connected to the conveying synchronous belt.

According to one embodiment of the present application, the fixed side plate includes a pair of installation arms arranged at intervals and a pair of sliders fixedly connected to the installation arms correspondingly, and two sliders are slidably clamped to the conveying guide rail.

According to one embodiment of the application, the movable side suction nozzle mechanism comprises a movable side lifting mechanism and a movable suction nozzle in driving connection with the movable side lifting mechanism; the movable side lifting mechanism comprises a lifting driving assembly arranged on the fixed side plate, a lifting belt rail assembly arranged on the movable side plate and a sliding transmission assembly which is connected with the lifting driving assembly and the lifting belt rail assembly in a transmission manner, and the movable suction nozzle is fixedly connected with the lifting belt rail assembly.

So set up, the movable side suction nozzle subassembly has partial part in the state that is in motionless in the displacement in-process in the displacement manipulator of this application, not only makes overall structure compacter, makes the quality of moving parts reduce moreover to reduce the inertial force that acceleration and deceleration motion and derivative, be convenient for improve the stability of whole device, and then improve the stability and the precision of displacement motion.

According to one embodiment of the present application, the slide transmission assembly includes a main transmission wheel rotatably provided to the fixed side plate, a sub transmission wheel rotatably provided to the movable side plate, and a transmission shaft drivingly connected to the main transmission wheel and the sub transmission wheel, the main transmission wheel being drivingly connected to the lift drive assembly, the sub transmission wheel being drivingly connected to the lift belt rail assembly, the main transmission wheel and/or the sub transmission wheel being axially slidably mounted to the transmission shaft.

According to one embodiment of the application, the lifting driving assembly comprises a lifting driving motor arranged on the fixed side plate, a lifting driving wheel in driving connection with the lifting driving motor and a lifting driving belt which is in driving fit with the lifting driving wheel and the main driving wheel; the lifting belt rail assembly comprises a lifting driven wheel rotatably arranged on the movable side plate, a lifting synchronous belt which is sleeved on the lifting driven wheel and the driven wheel in a driving way, a lifting guide block fixedly arranged on the movable side plate and a lifting sliding rail which is slidably arranged on the lifting guide block, the lifting sliding rail is fixedly connected with the lifting synchronous belt, and the movable suction nozzle is fixedly arranged on the lifting sliding rail; or, the lifting slide rail is fixedly arranged on the movable side plate, the lifting guide block is slidably arranged on the lifting slide rail, the lifting guide block is fixedly connected with the lifting synchronous belt, and the movable suction nozzle is fixedly arranged on the lifting guide block.

According to one embodiment of the application, the variable-pitch driving mechanism comprises a variable-pitch driving motor, a variable-pitch driving wheel, a variable-pitch driven wheel and a variable-pitch synchronous belt, wherein the variable-pitch driving motor is arranged on the fixed side plate, the variable-pitch driving wheel is in driving connection with the variable-pitch driving motor, the variable-pitch driven wheel is rotatably arranged on the transmission frame, the variable-pitch synchronous belt is sleeved on the variable-pitch driving wheel and the variable-pitch driven wheel in a transmission manner, and the movable side plate is fixedly connected with the variable-pitch synchronous belt.

According to one embodiment of the application, the fixed-side suction nozzle mechanism comprises a fixed-side lifting mechanism mounted on the fixed side plate and a fixed suction nozzle in driving connection with the fixed-side lifting mechanism.

According to an embodiment of the application, the fixed side elevating system is including install in fixed side elevator motor of fixed curb plate, with fixed side action wheel that fixed side elevator motor drive is connected, rotationally set up in fixed side from the driving wheel of fixed curb plate, drivably suit in fixed side action wheel with fixed side from the fixed side hold-in range of driving wheel, set firmly in fixed side guide block of fixed curb plate and slidable set up in fixed side slide rail of fixed side guide block, fixed side slide rail fixed connection in fixed side hold-in range, fixed suction nozzle by fixed in fixed side slide rail.

In summary, the variable-pitch manipulator drives the movable side suction nozzle mechanism to approach or depart from the fixed side suction nozzle mechanism through the variable-pitch driving mechanism so as to realize suction nozzle variable-pitch; on the other hand, the fixed side suction nozzle component is slidably arranged on the conveying guide rail of the mechanical arm, and the variable-pitch transmission component is in driving connection with the conveying driving mechanism of the mechanical arm, so that the compactness of the whole mechanism is improved.

Drawings

FIG. 1 is a schematic perspective view of a pitch-changing manipulator according to one embodiment of the utility model;

FIG. 2 illustrates a schematic top view of a pitch-varying manipulator according to the above-described embodiment of the present utility model;

FIG. 3 shows a schematic A-A cross-sectional view of a pitch-changing manipulator according to the above-described embodiment of the utility model;

fig. 4 is a schematic perspective view of a manipulator in the pitch-changing manipulator according to the above embodiment of the present utility model;

fig. 5 is a perspective view showing a fixed-side nozzle assembly in the variable-pitch robot according to the above embodiment of the present utility model;

FIG. 6 is a schematic perspective view of a pitch drive assembly in a pitch horn according to the above embodiment of the utility model;

fig. 7 is a perspective view showing a movable side nozzle assembly in the variable pitch robot according to the above embodiment of the present utility model.

Description of main reference numerals: 1. a variable-pitch manipulator; 10. a mechanical arm; 11. a conveying arm body; 111. a top wall; 112. a sidewall; 12. a conveying guide rail; 13. a conveying driving mechanism; 131. a conveying driving wheel; 132. conveying a driven wheel; 133. conveying a synchronous belt; 20. a fixed side nozzle assembly; 21. fixing the side plates; 211. mounting an arm body; 212. a slide block; 22. a fixed side suction nozzle mechanism; 221. a fixed side lifting mechanism; 2211. a fixed side lifting motor; 2212. a fixed side driving wheel; 2213. fixing a side driven wheel; 2214. fixing a side synchronous belt; 2215. fixing the side guide blocks; 2216. fixing the side sliding rail; 222. fixing the suction nozzle; 30. a variable-pitch transmission assembly; 31. a transmission frame; 32. a drive rail; 33. a variable-pitch driving mechanism; 331. a variable-pitch drive motor; 332. a variable-pitch driving wheel; 333. a variable-pitch driven wheel; 334. a variable-pitch synchronous belt; 40. a movable side suction nozzle assembly; 41. a movable side plate; 42. a movable side suction nozzle mechanism; 421. a movable side lifting mechanism; 4211. a lifting driving assembly; 42111. a lifting driving motor; 42112. lifting the driving wheel; 42113. lifting the driving belt; 4212. lifting the belt rail assembly; 42121. lifting a synchronous belt; 42122. lifting guide blocks; 42123. lifting the sliding rail; 4213. a sliding transmission assembly; 42131. a main driving wheel; 42132. a slave drive wheel; 42133. a transmission shaft; 422. a movable suction nozzle; 4221. a suction nozzle shaft; 4222. and a suction nozzle fixing block.

The foregoing general description of the utility model will be described in further detail with reference to the drawings and detailed description.

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.

It is noted that when an element is referred to as being "mounted to" another element, it can be directly on the other element or intervening elements may also be present. When an element is referred to as being "disposed on" another element, it can be directly on the other element or intervening elements may also be present. When an element is referred to as being "secured to" another element, it can be directly secured to the other element or intervening elements may also be present.

Unless defined otherwise, all technical and scientific terms used herein have the same meaning as commonly understood by one of ordinary skill in the art to which this utility model belongs. The terminology used herein in the description of the utility model is for the purpose of describing particular embodiments only and is not intended to be limiting of the utility model. The term "or/and" as used herein includes any and all combinations of one or more of the associated listed items.

Consider that in existing chip sort test systems: the pit spacing on the supply tray, test tray, and take-up tray often varies, requiring the manipulator to adjust the nozzle spacing during chip handling in order to accommodate the pit spacing on the corresponding tray. Therefore, the application creatively provides the variable-pitch manipulator which can realize the variable-pitch of the suction nozzle and simultaneously is convenient for improving the compactness of the whole structure.

Specifically, referring to fig. 1 to 7, one embodiment of the present utility model provides a variable-pitch robot 1, which may include a robot arm 10, a fixed-side nozzle assembly 20, a variable-pitch drive assembly 30, and a movable-side nozzle assembly 40; the fixed side nozzle assembly 20 is mounted to the robot arm 10 to be transferred, and the variable pitch drive assembly 30 is disposed between the fixed side nozzle assembly 20 and the movable side nozzle assembly 40 for driving the nozzles of the movable side nozzle assembly 40 to approach or separate from the nozzles of the fixed side nozzle assembly 20 so as to adjust the nozzle pitch to adapt the pit pitch during the transfer.

More specifically, as shown in fig. 1, 2 and 3, the mechanical arm 10 may include a conveying arm body 11, a conveying rail 12 fixed to the conveying arm body 11, and a conveying driving mechanism 13 provided to the conveying arm body 11; the fixed-side nozzle assembly 20 includes a fixed side plate 21 slidably provided to the conveying rail 12 and a fixed-side nozzle mechanism 22 mounted to the fixed side plate 21; the variable-pitch transmission assembly 30 comprises a transmission frame 31 fixed on the fixed side plate 21, a transmission guide rail 32 fixed on the transmission frame 31, and a variable-pitch driving mechanism 33 arranged on the transmission frame 31, wherein the transmission frame 31 is drivably connected with the conveying driving mechanism 13 and is used for driving the fixed side suction nozzle assembly 20 to slide along the conveying guide rail 12 under the driving of the conveying driving mechanism 13 so as to move relative to the conveying arm body 11; the movable side nozzle assembly 40 includes a movable side plate 41 slidably disposed on the transmission rail 32 and a movable side nozzle mechanism 42 mounted on the movable side plate 41, wherein the movable side plate 41 is drivably connected to the variable-pitch driving mechanism 33 for sliding along the transmission rail 32 under the driving of the variable-pitch driving mechanism 33 to drive the movable side nozzle mechanism 42 to approach or separate from the fixed side nozzle mechanism 22.

Notably, on the one hand, the pitch-changing manipulator 1 of the present application slidably mounts the movable-side nozzle mechanism 42 to the transmission rail 32 of the pitch-changing transmission assembly 30 through the movable side plate 41 to drive the nozzle of the movable-side nozzle mechanism 42 to approach or separate from the fixed-side nozzle mechanism 22 through the pitch-changing driving mechanism 33; on the other hand, the pitch changing manipulator 1 of the present application slidably mounts the fixed side nozzle mechanism 22 on the conveying guide rail 12 of the manipulator 10 through the fixed side plate 21, and is in driving connection with the conveying driving mechanism 13 of the manipulator 10 through the transmission frame 31 of the pitch changing transmission assembly 30, so as to drive the fixed side nozzle mechanism 22 and the movable side nozzle mechanism 42 to move along the conveying guide rail 12 at the conveying driving mechanism 13; therefore, the whole structure of the variable-pitch manipulator 1 is compact, and the suction nozzle spacing can be adjusted in the chip carrying process so as to adapt to the pit spacing on the corresponding tray.

As illustrated in fig. 1 and 4, the conveying arm body 11 may include a top wall 111 and a pair of side walls 112, the two side walls 112 being spaced apart from the top wall 111 to form an installation space between inner surfaces of the two side walls 112 to accommodate the conveying driving mechanism 13, the conveying rail 12 being correspondingly fastened to outer surfaces of the side walls 112 so as to be slidably coupled with the fixed side plates 21, so that the mechanical arm 10 is compact in structure and occupies a small space.

Alternatively, as shown in fig. 3 and 4, the conveying driving mechanism 13 may include a conveying driving motor (not shown), a conveying driving wheel 131 drivingly connected to the conveying driving motor, a conveying driven wheel 132 rotatably provided to the side wall 112, and a conveying timing belt 133 drivingly sleeved on the conveying driving wheel 131 and the conveying driven wheel 132; the transmission frame 31 of the pitch-varying transmission assembly 30 is fixedly connected to the conveying timing belt 133. In this way, the conveying driving wheel 131 drives the conveying synchronous belt 133 to rotate around the conveying driven wheel 132 under the driving of the conveying driving motor, so that the conveying synchronous belt 133 drives the transmission frame 31 and the fixed side plate 21 fixedly arranged on the transmission frame 31 to slide along the conveying guide rail 12 together, so that the fixed side suction nozzle mechanism 22 and the movable side suction nozzle mechanism 42 synchronously move to convey chips.

According to the above embodiment of the present application, as shown in fig. 2 and 5, the fixed side plate 21 of the fixed side nozzle assembly 20 may include a pair of mounting arms 211 arranged at intervals and a pair of sliders 212 fixedly connected to the mounting arms 211 correspondingly, and two of the sliders 212 are slidably clamped to the conveying rail 12 so as to slidably mount the fixed side nozzle mechanism 22, the variable pitch drive assembly 30 and the movable side nozzle assembly 40 to the conveying arm 11.

Alternatively, as shown in fig. 1 and 7, the movable-side suction nozzle mechanism 42 may include a movable-side elevating mechanism 421 and a movable suction nozzle 422 drivingly connected to the movable-side elevating mechanism 421; the movable side lifting mechanism 421 includes a lifting driving assembly 4211 mounted on the fixed side plate 21, a lifting rail assembly 4212 mounted on the movable side plate 41, and a sliding driving assembly 4213 drivingly connected to the lifting driving assembly 4211 and the lifting rail assembly 4212, and the movable suction nozzle 422 is fixedly connected to the lifting rail assembly 4212. Thus, when the sliding transmission assembly 4213 transmits the driving force of the lifting driving assembly 4211 to the lifting belt rail assembly 4212, the lifting belt rail assembly 4212 drives the movable suction nozzle 422 to lift.

It should be noted that, since the lifting driving assembly 4211 is mounted on the fixed side plate 21, the lifting belt rail assembly 4212 is mounted on the movable side plate 41, and the lifting driving assembly 4211 is drivingly connected to the lifting belt rail assembly 4212 through the sliding transmission assembly 4213, when the movable side plate 41 is driven by the variable-pitch driving mechanism 33 to approach or separate from the fixed side plate 21 to realize the nozzle variable-pitch, the lifting driving assembly 4211 does not need to move along with the movable side plate 41, so that the overall structure is more compact, the mass of moving parts can be reduced, the inertia force derived from the acceleration and deceleration motion is reduced, the stability of the overall device is conveniently improved, and the stability and precision of the variable-pitch motion are further improved.

Alternatively, as shown in fig. 1 and 7, the slide transmission assembly 4213 comprises a main transmission wheel 42131 rotatably provided to the fixed side plate 21, a secondary transmission wheel 42132 rotatably provided to the movable side plate 41, and a transmission shaft 42133 drivingly connected to the main transmission wheel 42131 and the secondary transmission wheel 42132, the main transmission wheel 42131 being drivingly connected to the lift drive assembly 4211, the secondary transmission wheel 42132 being drivingly connected to the lift belt track assembly 4212; the main drive wheel 42131 and/or the secondary drive wheel 42132 are axially slidably mounted to the drive shaft 42133. Thus, the main driving wheel 42131 drives the driving shaft 42133 to rotate under the driving of the lifting driving assembly 4211, and further drives the secondary driving wheel 42132 to rotate through the driving shaft 42133 so that the lifting belt rail assembly 4212 drives the movable suction nozzle 422 to lift; meanwhile, since the main driving wheel 42131 and/or the secondary driving wheel 42132 are axially slidably mounted on the driving shaft 42133, when the movable side plate 41 approaches or moves away from the fixed side plate 21 to achieve nozzle pitch variation, the main driving wheel 42131 and/or the secondary driving wheel 42132 can slide along the driving shaft 42133, ensuring that the driving shaft 42133 does not affect the movement of the movable side plate 41 while playing a driving role, so that the lifting driving assembly 4211 can be mounted on the fixed side plate 21 and does not move along with the movable side plate 41 while providing lifting driving force, thereby helping to reduce the quality of moving parts and improving the stability and precision of the pitch variation motion.

It will be appreciated that the drive shaft 42133 referred to herein may be embodied as, but is not limited to, a ball spline shaft to allow the main drive wheel 42131 and/or the secondary drive wheel 42132 to slide along the drive shaft 42133 in addition to acting as a drive between the main drive wheel 42131 and the secondary drive wheel 42132.

Alternatively, as shown in fig. 1 and 7, the lifting drive assembly 4211 can comprise a lifting drive motor 42111 mounted to the fixed side plate 21, a lifting drive wheel 42112 drivingly connected to the lifting drive motor 42111, and a lifting drive belt 42113 drivingly engaged with the lifting drive wheel 42112 and the primary drive wheel 42131. In this way, the lifting driving wheel 42112 can rotate relative to the fixed side plate 21 under the driving of the lifting driving motor 42111 to drive the main driving wheel 42131 to rotate through the lifting driving belt 42113, and further drive the driving shaft 42133 to rotate through the main driving wheel 42131 to drive the secondary driving wheel 42132. It is to be understood that the lift drive motor 42111 referred to herein may be implemented as, but is not limited to, a stepper motor.

Alternatively, as shown in fig. 7, the lifting belt rail assembly 4212 can include a lifting driven wheel (not shown) rotatably disposed on the movable side plate 41, a lifting synchronous belt 42121 drivingly sleeved on the lifting driven wheel and the driven wheel 42132, a lifting guide 42122 fixedly disposed on the movable side plate 41, and a lifting slide rail 42123 slidably disposed on the lifting guide 42122, wherein the lifting slide rail 42123 is fixedly connected to the lifting synchronous belt 42121, and the movable suction nozzle 422 is fixedly disposed on the lifting slide rail 42123. Thus, when the secondary driving wheel 42132 rotates relative to the movable side plate 41 under the driving of the driving shaft 42133, the lifting synchronous belt 42121 rotates around the lifting driven wheel under the driving of the secondary driving wheel 42132, so as to drive the lifting sliding rail 42123 to slide under the guiding of the lifting guide block 42122, and further drive the movable suction nozzle 422 to lift. It will be appreciated that in other examples of the present application, the lifting slide 42123 and the lifting guide 42122 can be interchanged, that is, the lifting slide 42123 can be fixedly disposed on the movable side plate 41, the lifting guide 42122 can be slidably disposed on the lifting slide 42123, the lifting guide 42122 can be fixedly connected to the lifting synchronous belt 42121, and the movable suction nozzle 422 can be fixedly mounted on the lifting guide 42122, so that the required lifting operation can be still realized.

According to the above embodiment of the present application, as shown in fig. 1, 3 and 6, the pitch drive mechanism 33 of the pitch transmission assembly 30 may include a pitch drive motor 331 mounted on the fixed side plate 21, a pitch drive wheel 332 in driving connection with the pitch drive motor 331, a pitch driven wheel 333 rotatably disposed on the transmission frame 31, and a pitch synchronous belt 334 drivingly sleeved on the pitch drive wheel 332 and the pitch driven wheel 333, and the movable side plate 41 is fixedly connected to the pitch synchronous belt 334. Thus, when the variable-pitch driving motor 331 drives the variable-pitch driving wheel 332 to rotate, the variable-pitch synchronous belt 334 is driven by the variable-pitch driving wheel 332 to rotate around the variable-pitch driven wheel 333, so as to drive the movable side plate 41 to slide along the driving guide rail 32, thereby realizing the effect of nozzle variable-pitch.

Further, as shown in fig. 1 and 5, the fixed-side suction nozzle mechanism 22 of the present application may include a fixed-side elevating mechanism 221 mounted to the fixed side plate 21 and a fixed suction nozzle 222 drivingly connected to the fixed-side elevating mechanism 221. Thus, the fixed-side elevating mechanism 221 can drive the fixed suction nozzle 222 to move upward or downward to adjust the height of the suction nozzle.

Alternatively, as shown in fig. 1 and 5, the fixed-side lifting mechanism 221 may include a fixed-side lifting motor 2211 mounted on the fixed side plate 21, a fixed-side driving wheel 2212 drivingly connected to the fixed-side lifting motor 2211, a fixed-side driven wheel 2213 rotatably disposed on the fixed side plate 21, a fixed-side synchronous belt 2214 drivingly sleeved on the fixed-side driving wheel 2212 and the fixed-side driven wheel 2213, a fixed-side guide block 2215 fixedly disposed on the fixed side plate 21, and a fixed-side slide rail 2216 slidably disposed on the fixed-side guide block 2215, the fixed-side slide rail 2216 is fixedly connected to the fixed-side synchronous belt 2214, and the fixed suction nozzle 222 is fixedly mounted on the fixed-side slide rail 2216. Thus, when the fixed side lifting motor 2211 drives the fixed side driving wheel 2212 to rotate relative to the fixed side plate 21, the fixed side synchronous belt 2214 rotates around the fixed side driven wheel 2213 under the driving of the fixed side driving wheel 2212, so as to drive the fixed side sliding rail 2216 to slide under the guiding of the fixed side guiding block 2215, so as to realize the lifting of the fixed suction nozzle 222. It is understood that in other examples of the present application, the fixed side guide block 2215 and the fixed side slide rail 2216 may be interchanged, so long as the required lifting operation can be achieved, which is not repeated herein.

Illustratively, as shown in fig. 1, 2 and 3, each of the fixed-side nozzle assemblies 20 may include a pair of fixed-side nozzle mechanisms 22 arranged side by side along the X-direction; likewise, each of the movable side nozzle assemblies 40 may include a pair of movable side nozzle mechanisms 42 arranged side by side along the X-direction; the drive rail 32 in the variable-pitch drive assembly 30 may extend in the Y-direction to move the movable nozzle 422 in the movable-side nozzle mechanism 42 in the Y-direction to be close to or away from the fixed nozzle 222 in the fixed-side nozzle mechanism 22 to adjust the nozzle pitch in the Y-direction; the fixed side slide rail 2216 in the fixed side nozzle mechanism 22 and the elevating slide rail 42123 in the movable side nozzle mechanism 42 can each extend along the Z direction so that the fixed nozzle 222 and the movable nozzle 422 can each be moved along the Z direction to realize the elevating operation of the nozzles.

Alternatively, as shown in fig. 1 and 7, the movable nozzle 422 may include a nozzle shaft 4221 and a nozzle fixing block 4222, the nozzle shaft 4221 is fixed to the lifting slide rail 42123 by the nozzle fixing block 4222, and the nozzle shaft 4221 extends along the Z direction, so that the nozzle shaft 4221 moves along the Z direction to lift under the driving of the lifting slide rail 42123. It is understood that the structure of the fixed suction nozzle 222 mentioned in the present application may be the same as that of the movable suction nozzle 422, and will not be repeated herein.

It should be noted that, the movable suction nozzle 422 mentioned in the present application may further include other structures such as an origin sensor, a sensor fixing plate or an origin baffle, so as to assist the movable suction nozzle 422 to complete the required material taking and discharging operations, which will not be repeated herein.

The technical features of the above embodiments may be arbitrarily combined, and all possible combinations of the technical features in the above embodiments are not described for brevity of description, however, as long as there is no contradiction between the combinations of the technical features, they should be considered as the scope of the description.

The foregoing examples illustrate only a few embodiments of the utility model, which are described in detail and are not to be construed as limiting the scope of the utility model. It should be noted that it will be apparent to those skilled in the art that several variations and modifications can be made without departing from the spirit of the utility model, which are all within the scope of the utility model.

Claims

1. The utility model provides a displacement manipulator which characterized in that includes:

the mechanical arm (10), the mechanical arm (10) comprises a conveying arm body (11), a conveying guide rail (12) fixedly arranged on the conveying arm body (11) and a conveying driving mechanism (13) arranged on the conveying arm body (11);

a fixed-side nozzle assembly (20), the fixed-side nozzle assembly (20) including a fixed side plate (21) slidably provided to the conveying rail (12) and a fixed-side nozzle mechanism (22) mounted to the fixed side plate (21);

the variable-pitch transmission assembly (30), the variable-pitch transmission assembly (30) comprises a transmission frame (31) fixedly arranged on the fixed side plate (21), a transmission guide rail (32) fixedly arranged on the transmission frame (31) and a variable-pitch driving mechanism (33) arranged on the transmission frame (31); the transmission frame (31) is drivably connected with the conveying driving mechanism (13) and is used for driving the fixed side suction nozzle assembly (20) to slide along the conveying guide rail (12) under the driving of the conveying driving mechanism (13); and

the movable side suction nozzle assembly (40), the movable side suction nozzle assembly (40) comprises a movable side plate (41) which is slidably arranged on the transmission guide rail (32) and a movable side suction nozzle mechanism (42) which is arranged on the movable side plate (41), the movable side plate (41) is drivably connected with the variable-pitch driving mechanism (33) and is used for sliding along the transmission guide rail (32) under the driving of the variable-pitch driving mechanism (33) so as to drive the movable side suction nozzle mechanism (42) to be close to or far away from the fixed side suction nozzle mechanism (22).

2. The pitch-changing robot as claimed in claim 1, wherein the conveying arm body (11) includes a top wall (111) and a pair of side walls (112), the two side walls (112) being arranged at intervals to the top wall (111) to form an installation space between inner surfaces of the two side walls (112) accommodating the conveying drive mechanism (13), the conveying guide rail (12) being correspondingly secured to an outer surface of the side walls (112).

3. The variable-pitch manipulator according to claim 2, wherein the conveying driving mechanism (13) comprises a conveying driving motor, a conveying driving wheel (131) in driving connection with the conveying driving motor, a conveying driven wheel (132) rotatably arranged on the side wall (112), and a conveying synchronous belt (133) which is in driving fit with the conveying driving wheel (131) and the conveying driven wheel (132); the transmission frame (31) of the variable-pitch transmission assembly (30) is fixedly connected to the conveying synchronous belt (133).

4. The variable-pitch manipulator according to claim 2, wherein the fixed side plate (21) comprises a pair of mounting arm bodies (211) arranged at intervals and a pair of sliding blocks (212) fixedly connected with the mounting arm bodies (211) correspondingly, and the two sliding blocks (212) are slidably clamped with the conveying guide rail (12).

5. The pitch-changing manipulator according to any one of claims 1-4, wherein the movable-side nozzle mechanism (42) comprises a movable-side lifting mechanism (421) and a movable nozzle (422) in driving connection with the movable-side lifting mechanism (421); the movable side lifting mechanism (421) comprises a lifting driving assembly (4211) arranged on the fixed side plate (21), a lifting belt rail assembly (4212) arranged on the movable side plate (41) and a sliding transmission assembly (4213) which is connected with the lifting driving assembly (4211) and the lifting belt rail assembly (4212) in a transmission mode, and the movable suction nozzle (422) is fixedly connected with the lifting belt rail assembly (4212).

6. The torque converter manipulator of claim 5, wherein the slide transmission assembly (4213) comprises a primary transmission wheel (42131) rotatably disposed to the stationary side plate (21), a secondary transmission wheel (42132) rotatably disposed to the movable side plate (41), and a transmission shaft (42133) drivingly connected to the primary transmission wheel (42131) and the secondary transmission wheel (42132), the primary transmission wheel (42131) being drivingly connected to the lift drive assembly (4211), the secondary transmission wheel (42132) being drivingly connected to the lift belt track assembly (4212), the primary transmission wheel (42131) and/or the secondary transmission wheel (42132) being axially slidably mounted to the transmission shaft (42133).

7. The pitch-changing manipulator according to claim 6, wherein the lifting drive assembly (4211) comprises a lifting drive motor (42111) mounted to the fixed side plate (21), a lifting drive wheel (42112) in driving connection with the lifting drive motor (42111), and a lifting drive belt (42113) drivingly engaged with the lifting drive wheel (42112) and the primary drive wheel (42131); the lifting belt rail assembly (4212) comprises a lifting driven wheel rotatably arranged on the movable side plate (41), a lifting synchronous belt (42121) which is sleeved on the lifting driven wheel and the driven wheel (42132) in a transmission manner, a lifting guide block (42122) fixedly arranged on the movable side plate (41) and a lifting sliding rail (42123) slidably arranged on the lifting guide block (42122), the lifting sliding rail (42123) is fixedly connected with the lifting synchronous belt (42121), and the movable suction nozzle (422) is fixedly arranged on the lifting sliding rail (42123); or, lift slide rail (42123) set firmly in movable curb plate (41), lift guide block (42122) slidable set up in lift slide rail (42123), lift guide block (42122) fixed connection in lift hold-in range (42121), movable suction nozzle (422) set firmly in lift guide block (42122).

8. The pitch-changing manipulator according to any one of claims 1 to 4, wherein the pitch-changing driving mechanism (33) comprises a pitch-changing driving motor (331) mounted on the fixed side plate (21), a pitch-changing driving wheel (332) in driving connection with the pitch-changing driving motor (331), a pitch-changing driven wheel (333) rotatably arranged on the transmission frame (31), and a pitch-changing synchronous belt (334) which is in driving fit with the pitch-changing driving wheel (332) and the pitch-changing driven wheel (333), and the movable side plate (41) is fixedly connected with the pitch-changing synchronous belt (334).

9. The pitch-changing robot as claimed in any one of claims 1 to 4, wherein the fixed-side suction nozzle mechanism (22) comprises a fixed-side lifting mechanism (221) mounted to the fixed side plate (21) and a fixed suction nozzle (222) drivingly connected to the fixed-side lifting mechanism (221).

10. The pitch-changing manipulator according to claim 9, wherein the fixed-side lifting mechanism (221) comprises a fixed-side lifting motor (2211) mounted on the fixed side plate (21), a fixed-side driving wheel (2212) in driving connection with the fixed-side lifting motor (2211), a fixed-side driven wheel (2213) rotatably arranged on the fixed side plate (21), a fixed-side synchronous belt (2214) in driving fit with the fixed-side driving wheel (2212) and the fixed-side driven wheel (2213), a fixed-side guide block (2215) fixedly arranged on the fixed side plate (21) and a fixed-side slide rail (2216) slidably arranged on the fixed-side guide block (2215), the fixed-side slide rail (2216) is fixedly connected to the fixed-side synchronous belt (2214), and the fixed suction nozzle (222) is fixedly arranged on the fixed-side slide rail (2216).