CN221164898U - Manipulator fetching and discharging mechanism - Google Patents
Manipulator fetching and discharging mechanism Download PDFInfo
- Publication number
- CN221164898U CN221164898U CN202323373688.1U CN202323373688U CN221164898U CN 221164898 U CN221164898 U CN 221164898U CN 202323373688 U CN202323373688 U CN 202323373688U CN 221164898 U CN221164898 U CN 221164898U
- Authority
- CN
- China
- Prior art keywords
- clamping jaw
- clamping
- jaw assembly
- mechanical arm
- assembly mounting
- Prior art date
- Legal status (The legal status is an assumption and is not a legal conclusion. Google has not performed a legal analysis and makes no representation as to the accuracy of the status listed.)
- Active
Links
- 230000007246 mechanism Effects 0.000 title claims abstract description 17
- 238000007599 discharging Methods 0.000 title abstract description 9
- 230000000712 assembly Effects 0.000 claims abstract description 30
- 238000000429 assembly Methods 0.000 claims abstract description 30
- 238000001514 detection method Methods 0.000 claims description 6
- 238000003825 pressing Methods 0.000 claims description 5
- 230000000007 visual effect Effects 0.000 claims description 4
- 238000012360 testing method Methods 0.000 abstract description 22
- 238000004519 manufacturing process Methods 0.000 description 3
- 238000000034 method Methods 0.000 description 2
- 230000008569 process Effects 0.000 description 2
- 230000009286 beneficial effect Effects 0.000 description 1
- 230000007547 defect Effects 0.000 description 1
- 238000012986 modification Methods 0.000 description 1
- 230000004048 modification Effects 0.000 description 1
Landscapes
- Manipulator (AREA)
Abstract
The utility model discloses a manipulator material taking and discharging mechanism, and aims to provide the manipulator material taking and discharging mechanism which has a simple structure, improves the testing efficiency, reduces the operation burden of workers, is accurate in positioning and ensures the testing quality. The utility model comprises a base and a mechanical arm, wherein the mechanical arm is arranged at the upper end of the base, a movable end of the mechanical arm is rotatably provided with a plurality of groups of clamping jaw assemblies which can be taken and placed simultaneously and are compatible with mainboards with different specifications, the clamping jaw assemblies comprise two clamping jaws which are respectively driven by two driving devices, the inner sides of the two clamping jaws are respectively provided with a positioning structure matched with a clamping part of the mainboards, and a taking and placing judging assembly is arranged between the clamping jaw assemblies. The utility model is applied to the technical field of motherboard test automation.
Description
Technical Field
The utility model relates to a material taking and discharging mechanism, in particular to a manipulator material taking and discharging mechanism.
Background
At present, a semi-automatic mode is generally adopted for testing a main board, namely, a worker puts the main board to be tested into a testing station through manual material taking and discharging, then a testing switch is started for testing, after the testing is completed, the worker takes out the tested main board, and then the next main board is assembled for detection.
This manual pick-and-place product testing has the following disadvantages: 1. the efficiency is low, the clamping precision of the product needs to be ensured for each tool, and the manual labor of carrying, taking and placing by workers is needed for each product replacement, so that the time and the labor are wasted; 2. when workers work, the phenomenon that the main board is damaged in the process of taking and placing due to inaccurate positioning caused by fatigue is likely to cause influence on the quality of products.
Disclosure of utility model
The utility model aims to solve the technical problem of overcoming the defects of the prior art and providing the manipulator material taking and discharging mechanism which has the advantages of simple structure, improved testing efficiency, reduced operation burden of workers, accurate positioning and ensured testing quality.
The technical scheme adopted by the utility model is as follows: the utility model comprises a base and a mechanical arm, wherein the mechanical arm is arranged at the upper end of the base, a movable end of the mechanical arm is rotatably provided with a plurality of groups of clamping jaw assemblies which can be taken and placed simultaneously and are compatible with mainboards with different specifications, the clamping jaw assemblies comprise two clamping jaws which are respectively driven by two driving devices, the inner sides of the two clamping jaws are respectively provided with a positioning structure matched with a clamping part of the mainboards, and a taking and placing judging assembly is arranged between the clamping jaw assemblies.
Further, the movable end of the mechanical arm is rotatably provided with a clamping jaw assembly mounting plate, and two groups of clamping jaw assemblies are arranged on the clamping jaw assembly mounting plate in parallel.
Further, the two driving devices comprise two air cylinders arranged at the upper ends of the clamping jaw assembly mounting plates, the two clamping jaws are arranged at the lower ends of the clamping jaw assembly mounting plates, and movable ends of the two air cylinders are respectively connected with the two clamping jaws through connecting plates.
The clamping jaw assembly further comprises a linear sliding rail and a sliding block which are in sliding fit, the linear sliding rail is fixed at the lower end of the clamping jaw assembly mounting plate, and the sliding block is detachably connected with the connecting plate.
Further, the clamping jaw assembly further comprises a product pressing plate which is arranged at the lower end of the clamping jaw assembly mounting plate in a floating mode through a plurality of springs.
Further, the positioning structure comprises a square block and positioning pins, wherein the square block and the positioning pins are arranged at two ends of the clamping jaw, and the positioning pins are positioned in the middle of the square block.
Further, the pick-and-place judging component comprises a detection sensor arranged on the L-shaped fixed plate.
Further, the robotic arm includes a six-axis robotic arm.
Further, the clamping jaw assembly mounting plate side end is provided with a visual positioning camera.
Further, the base both sides all are provided with the protection frame.
The beneficial effects of the utility model are as follows: compared with the traditional manual product taking and placing test, the utility model realizes the automation of product carrying and material taking and placing by arranging the plurality of groups of clamping jaw assemblies at the movable end of the mechanical arm and matching with the taking and placing judging assembly, greatly reduces the burden of manual operation, improves the production efficiency, ensures the clamping jaw to accurately clamp the product through the positioning structure, ensures the grabbing and positioning precision of the product, improves the quality and the yield of the product, and has the advantages of simple structure, good stability, safety and reliability.
Drawings
FIG. 1 is a schematic perspective view of the present utility model;
FIG. 2 is a schematic structural view of the jaw assembly;
FIG. 3 is a schematic view of the jaw assembly from another perspective;
Fig. 4 is a schematic view of the structure of the clamping jaw.
Detailed Description
As shown in fig. 1 to 4, in this embodiment, the present utility model includes a base 1 and a mechanical arm 2, the mechanical arm 2 is disposed at an upper end of the base 1, a movable end of the mechanical arm 2 is rotatably provided with a plurality of groups of clamping jaw assemblies 3 for picking and placing together and compatible with different specifications of mainboards, the plurality of groups of clamping jaw assemblies 3 each include two clamping jaws 31 driven by two driving devices respectively, positioning structures matched with a clamping position of the mainboards are disposed on inner sides of the two clamping jaws 31, and picking and placing judging assemblies are disposed between the plurality of groups of clamping jaw assemblies 3. It can be seen from the above scheme that the mechanical arm 2 is used for controlling a plurality of groups of clamping jaw assemblies 3 to move and rotate, a plurality of groups of clamping jaw assemblies 3 are used for taking and placing main boards with different specifications, two driving devices respectively control two clamping jaws 31 to clamp products, a positioning structure on the clamping jaws 31 is used for accurately clamping the products, and a taking and placing judging assembly is used for triggering the driving devices so as to realize clamping and loosening actions of the two clamping jaws 31. Therefore, compared with the traditional manual product taking and placing test, the utility model realizes the automation of product carrying and taking and placing by arranging a plurality of groups of clamping jaw assemblies 3 at the movable end of the mechanical arm 2 and matching with the taking and placing judging assembly, reduces the burden of manual operation, improves the production efficiency, ensures the accurate grabbing and positioning precision of the clamping jaw 31, and improves the quality and the yield of the product.
As shown in fig. 2 and fig. 3, in this embodiment, a jaw assembly mounting plate 21 is rotatably disposed at a movable end of the mechanical arm 2, two groups of jaw assemblies 3 are disposed on the jaw assembly mounting plate 21 in parallel, and the two groups of jaw assemblies 3 are disposed on the jaw assembly mounting plate 21 in an axisymmetric manner. Therefore, after the tested products are clamped at the testing station by one group of clamping jaw assemblies 3, the clamping jaw assembly mounting plate 21 is rotated 180 degrees by the mechanical arm 2, the products to be tested are placed at the testing station by the other group of clamping jaw assemblies 3, then the products to be tested are discharged and clamped from the material tray, the discharging and taking actions of the products are completed during the last product testing period, the testing time difference is fully utilized, and the testing efficiency is improved.
As shown in fig. 2 and 3, in the present embodiment, the two driving devices include two air cylinders 32 disposed at the upper end of the jaw assembly mounting plate 21, two jaws 31 are disposed at the lower end of the jaw assembly mounting plate 21, and movable ends of the two air cylinders 32 are respectively connected with the two jaws 31 through a connecting plate 33. It can be seen that the two cylinders 32 control the back and forth movement of the two jaws 31 via the two connection plates 33, respectively, so as to achieve clamping and unclamping of the product.
As shown in fig. 3, in this embodiment, the clamping jaw assembly 3 further includes a linear slide rail 34 and a slide block 35 that are in sliding fit, the linear slide rail 34 is fixed at the lower end of the clamping jaw assembly mounting plate 21, and the slide block 35 is detachably connected with the connecting plate 33 through a screw. Therefore, the direction of the linear slide rail 34 is consistent with the movement direction of the air cylinder 32, and the linear slide rail 34 is in sliding fit with the sliding block 35, so that the stability of moving and clamping products by the two clamping jaws 31 is improved.
As shown in fig. 3, in this embodiment, the jaw assembly 3 further includes a product platen 36 floatingly provided at a lower end of the jaw assembly mounting plate 21 by a plurality of springs 39. Therefore, the extending and contracting directions of the springs 39 are perpendicular to the moving direction of the clamping jaw 31, one ends of the springs 39 are connected with the lower end of the clamping jaw assembly mounting plate 21, the other ends of the springs 39 are connected with the product pressing plate 36, and when the clamping jaw 31 clamps a product, the product pressing plate 36 is used for pressing the product, so that the product is prevented from falling off in the carrying process, and the stability and safety of the utility model are improved.
As shown in fig. 4, in this embodiment, the positioning structure includes a block 37 and a positioning pin 38 disposed at two ends of the clamping jaw 31, the positioning pin 38 is located at a middle position of the block 37, the block 37 is fixed at two ends of the clamping jaw 31 by a screw, the positioning pin 38 is perpendicular to the block 37, a front end of the positioning pin 38 is tapered, and a clamping portion of a product is provided with a positioning hole adapted to the positioning pin 38. It can be seen that the block 37 is used for fixing the positioning pin 38, and the positioning pin 38 is matched with a positioning hole on a product, so that the clamping jaw 31 accurately positions and clamps the product.
As shown in fig. 2 and 3, in the present embodiment, the pick-and-place determining unit includes a detection sensor 42 mounted on an L-shaped fixing plate 41, the L-shaped fixing plate 41 is fixed to the holding jaw 31, and the detection sensor 42 is fixedly disposed on the L-shaped fixing plate 41 and located inside the holding jaw 31. It can be seen that the detection sensor 42 is used to detect the product and trigger the driving device, so as to implement automatic gripping of the product, thereby improving the automation degree of the present utility model.
As shown in fig. 1, in this embodiment, the robot arm 2 includes a six-axis robot arm, one end of the six-axis robot arm is disposed at the upper end of the base 1, and the other end of the six-axis robot arm is rotatably connected with the jaw assembly mounting plate 21.
As shown in fig. 1 and 2, in this embodiment, a visual positioning camera 5 is disposed at a side end of the clamping jaw assembly mounting plate 21, and the visual positioning camera 5 is used for accurately identifying and positioning a product position, so as to improve product positioning accuracy of the present utility model, and cooperate with the six-axis manipulator to control the clamping jaw assembly 3 to move, so that the degree of automation and production efficiency of the present utility model are further improved.
As shown in fig. 1, in this embodiment, the two sides of the base 1 are provided with the protection frames 6, and the protection frames 6 are fixedly disposed on two sides of the base 1, so as to prevent a worker from entering the movement range of the mechanical arm 2, thereby further improving the safety of the present utility model.
In this embodiment, the working principle of the present utility model is as follows:
when the products of the last group of testing stations enter the test, the first group of clamping jaw assemblies 3 move to the material tray through the six-axis mechanical arm to clamp the products to be tested, after the products clamped by the last group of testing stations are tested, the second group of clamping jaw assemblies 3 clamp the products to be tested, then the clamping jaw assembly mounting plate 21 rotates 180 degrees through the six-axis mechanical arm, the first group of clamping jaw assemblies 3 put the clamped products to be tested into the testing stations, then the six-axis mechanical arm controls the second group of clamping jaw assemblies 3 to discharge the products to be tested, and the first group of clamping jaw assemblies 3 move to the material tray again to clamp the products to be tested, and the first group of clamping jaw assemblies sequentially and circularly reciprocate.
While the embodiments of this utility model have been described in terms of practical aspects, they are not to be construed as limiting the meaning of this utility model, and modifications to the embodiments and combinations with other aspects thereof will be apparent to those skilled in the art from this description.
Claims (10)
1. The utility model provides a feed mechanism is got to manipulator, it includes base (1) and robotic arm (2), robotic arm (2) set up the upper end of base (1), its characterized in that: the movable end of the mechanical arm (2) rotates and is provided with a plurality of groups of clamping jaw assemblies (3) which are used for taking and placing together and are compatible with different specifications of mainboards, the clamping jaw assemblies (3) comprise two clamping jaws (31) which are respectively driven by two driving devices, the inner sides of the clamping jaws (31) are respectively provided with a positioning structure matched with the clamping position of the mainboards, and a plurality of groups of taking and placing judging assemblies are arranged between the clamping jaw assemblies (3).
2. The manipulator pick and place mechanism of claim 1, wherein: the movable end of the mechanical arm (2) is rotatably provided with a clamping jaw assembly mounting plate (21), and two groups of clamping jaw assemblies (3) are arranged on the clamping jaw assembly mounting plate (21) in parallel.
3. The manipulator pick and place mechanism of claim 2, wherein: the two driving devices comprise two air cylinders (32) arranged at the upper ends of the clamping jaw assembly mounting plates (21), the two clamping jaws (31) are arranged at the lower ends of the clamping jaw assembly mounting plates (21), and movable ends of the two air cylinders (32) are respectively connected with the two clamping jaws (31) through connecting plates (33).
4. A manipulator pick and place mechanism as claimed in claim 3 characterised in that: the clamping jaw assembly (3) further comprises a linear sliding rail (34) and a sliding block (35) which are in sliding fit, the linear sliding rail (34) is fixed at the lower end of the clamping jaw assembly mounting plate (21), and the sliding block (35) is detachably connected with the connecting plate (33).
5. The manipulator pick and place mechanism of claim 2, wherein: the clamping jaw assembly (3) further comprises a product pressing plate (36) which is arranged at the lower end of the clamping jaw assembly mounting plate (21) in a floating mode through a plurality of springs (39).
6. The manipulator pick and place mechanism of claim 1, wherein: the positioning structure comprises a square block (37) and positioning pins (38) which are arranged at two ends of the clamping jaw (31), and the positioning pins (38) are located in the middle of the square block (37).
7. The manipulator pick and place mechanism of claim 1, wherein: the pick-and-place judging component comprises a detection sensor (42) arranged on an L-shaped fixed plate (41).
8. The manipulator pick and place mechanism of claim 1, wherein: the mechanical arm (2) comprises a six-axis mechanical arm.
9. The manipulator pick and place mechanism of claim 2, wherein: the side end of the clamping jaw assembly mounting plate (21) is provided with a visual positioning camera (5).
10. The manipulator pick and place mechanism of claim 1, wherein: both sides of the base (1) are provided with protection frames (6).
Priority Applications (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN202323373688.1U CN221164898U (en) | 2023-12-12 | 2023-12-12 | Manipulator fetching and discharging mechanism |
Applications Claiming Priority (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN202323373688.1U CN221164898U (en) | 2023-12-12 | 2023-12-12 | Manipulator fetching and discharging mechanism |
Publications (1)
| Publication Number | Publication Date |
|---|---|
| CN221164898U true CN221164898U (en) | 2024-06-18 |
Family
ID=91444832
Family Applications (1)
| Application Number | Title | Priority Date | Filing Date |
|---|---|---|---|
| CN202323373688.1U Active CN221164898U (en) | 2023-12-12 | 2023-12-12 | Manipulator fetching and discharging mechanism |
Country Status (1)
| Country | Link |
|---|---|
| CN (1) | CN221164898U (en) |
-
2023
- 2023-12-12 CN CN202323373688.1U patent/CN221164898U/en active Active
Similar Documents
| Publication | Publication Date | Title |
|---|---|---|
| CN108526886B (en) | Camera automatic assembly machine | |
| CN110890684B (en) | Numerical control full-automatic assembly machine for built-in contact reed of rectangular heavy-load electric connector | |
| CN113636337B (en) | Automatic handling system with fine positioning function, automatic system and method | |
| CN108321038B (en) | Automatic assembling device for handle torsion springs of circuit breaker | |
| CN210497313U (en) | Automatic testing machine for inductance function | |
| CN112758677B (en) | Automatic jig cover plate elasticity test equipment and test method | |
| CN113635335B (en) | Automatic system for processing and flatness detection | |
| CN216370924U (en) | Workpiece feeding and detecting device of automatic assembly production line | |
| CN114589481A (en) | High-precision heat dissipation module nut riveting equipment | |
| CN221164898U (en) | Manipulator fetching and discharging mechanism | |
| CN110220443B (en) | Flatness detection device for electromagnetic clutch | |
| CN108344940A (en) | A kind of intelligent detection equipment for leakage circuit breakers | |
| CN218370361U (en) | Resistance element electrical property test equipment | |
| CN108855997B (en) | Accurate high-efficient automated inspection of cosmetic brush and letter sorting system | |
| CN208483461U (en) | Buckling device and the automatic buckling machine for applying it | |
| KR100508412B1 (en) | Battery cell welding machine and welding method using the same | |
| CN216098978U (en) | Axle housing grabbing device | |
| CN214732580U (en) | Automatic tool apron elasticity test equipment | |
| CN113639703B (en) | Automatic flatness detection device, automatic system and method | |
| CN211045960U (en) | Numerical control full-automatic assembly machine for built-in contact reed of rectangular heavy-load electric connector | |
| CN210449946U (en) | Wafer tester | |
| CN210745801U (en) | Automatic installation equipment for PCB (printed circuit board) of small battery pack | |
| CN112959316B (en) | Robot handpiece verification jig and verification method | |
| CN217687743U (en) | Executor gas tightness check out test set | |
| CN210609350U (en) | OT mass production equipment |
Legal Events
| Date | Code | Title | Description |
|---|---|---|---|
| GR01 | Patent grant | ||
| GR01 | Patent grant |