CN221539835U - Get and put mechanism suitable for accurate components and parts - Google Patents

Abstract

The utility model relates to the technical field of mechanical equipment, and discloses a picking and placing mechanism suitable for precise components, which comprises a support plate, wherein a rotating shaft is arranged on the support plate, one end of the rotating shaft is connected with a connecting rod, and the other end of the rotating shaft is connected with a sucking disc component for picking and placing the components through a slip ring component; the telescopic support is characterized in that a telescopic component is arranged on one side of the support plate, the output end of the telescopic component is connected with a connecting plate, a sliding groove is formed in the connecting plate, a cam bearing is embedded in the sliding groove in a movable mode, and one end of the cam bearing is connected with one end of the connecting rod. Under the drive of the telescopic component, the connecting plate is connected with the connecting rod through the matching of the sliding groove and the cam bearing, so that the linear motion of the telescopic component is converted into the rotary motion of the rotating shaft, and the sucking disc component is driven to grab the precise components at different angles; the structure is stable and small, and can be applied to taking and placing different electronic products at multiple angles.

Description

Get and put mechanism suitable for accurate components and parts

Technical Field

The utility model relates to the technical field of mechanical equipment, in particular to a picking and placing mechanism suitable for precise components.

Background

In the current industrial production, the mechanical arm and the mechanical arm gradually replace the traditional manual assembly of precise components, and have the characteristics of high efficiency, high precision, small damage to electronic elements and the like; in many production processes, multiple angles of picking and placing of the workpiece are required; to achieve this, the following two methods are generally used in the prior art:

(1) The manipulator grabs, and multi-angle picking and placing is realized by utilizing the rotating shaft of the manipulator;

(2) The single-shaft mechanical arm is matched with the rotary air cylinder, the single-shaft mechanical arm realizes position adjustment, and the rotary air cylinder realizes angle adjustment.

However, the multi-angle picking and placing operation for the precise components has different defects; the manipulator has no problem in function realization, has the defects of high price and larger volume, and has limitation on equipment with narrow space; the single-shaft mechanical arm is matched with the rotary air cylinder, and the defect that the rotary air cylinder is arranged on a moving part is that an air pipe line of the rotary air cylinder has an influence and has high requirements on the rigidity of the mechanical arm.

Therefore, it is needed to design a picking and placing mechanism suitable for precise components, which further simplifies the structure and further reduces the volume on the premise of meeting the requirement of stable picking and placing at multiple angles.

Disclosure of utility model

The utility model aims to solve the problem of providing a picking and placing mechanism suitable for precise components, which skillfully converts the linear motion of a telescopic component into the rotary motion of a rotary shaft through a cam structure consisting of a connecting plate, a chute, a cam bearing, a connecting rod and the rotary shaft, and drives a sucker component to conduct angle adjustment through a slip ring component so as to meet the requirements of multi-angle picking and placing of the precise components in industrial production and small structure.

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

The picking and placing mechanism suitable for the precise components comprises a support plate capable of moving along the Z-axis direction, wherein a rotating shaft is arranged on the support plate, one end of the rotating shaft is connected with a connecting rod, and the other end of the rotating shaft is connected with a sucking disc component for picking and placing the components through a slip ring component;

The telescopic assembly is installed on one side of the support plate, the output end of the telescopic assembly is parallel to the Y-axis direction and connected with the connecting plate, a sliding groove is formed in the connecting plate, a cam bearing is embedded in the sliding groove in a movable mode, and one end of the cam bearing is connected with one end, away from the rotating shaft, of the connecting rod.

In a preferred embodiment of the present utility model, a limiting block is fixedly installed on one side of the support plate opposite to the telescopic component, an open slot is provided on the limiting block, and one end of the connecting rod opposite to the connecting plate extends into the open slot.

In a preferred embodiment of the present utility model, hydraulic buffers are mounted at both ends of the limiting block, and one end of each hydraulic buffer extends into the open slot.

In a preferred embodiment of the present utility model, a limiting plate is fixedly installed on the telescopic component, the limiting plate has an L-shaped structure, and the output end of the telescopic component passes through the limiting plate and is fixedly connected with the connecting plate.

In a preferred embodiment of the present utility model, a supporting wheel is rotatably installed at one side of the connecting plate, and the supporting wheel is attached to the upper surface of the supporting plate.

In a preferred embodiment of the present utility model, the slip ring assembly includes a fixing portion fixedly installed at the bottom of the support plate, a transmission shaft is threaded on the fixing portion, and two ends of the transmission shaft protrude from the fixing portion; one end of the rotary shaft is fixedly connected with a rotary part, the other end of the rotary shaft is fixedly connected with the rotary part, and the rotary part is connected with the sucker component.

In a preferred embodiment of the present utility model, the suction cup assembly includes a mounting plate, a plurality of vacuum suction cups are disposed at the bottom of the mounting plate, and the mounting plate is connected to the rotating part through a connection post.

In a preferred embodiment of the present utility model, a wire tying seat for fixing the pipeline is disposed on the outer circumferential surface of the connecting column, and the wire tying seat adopts a saddle-shaped structure.

In a preferred embodiment of the utility model, the support plate is provided with a main joint and a plurality of taps communicated with the main joint, the fixed part and the rotating part are respectively provided with transfer joints corresponding to the taps, and the input end of the vacuum chuck is connected with a hose joint.

In a preferred embodiment of the present utility model, the support plate adopts an L-shaped structure, and one side of the support plate parallel to the Z axis is connected to the output end of the single-axis mechanical arm.

Advantageous effects

(1) According to the utility model, under the drive of the telescopic component, the connecting plate is connected with the connecting rod through the matching of the sliding groove and the cam bearing to form a cam structure, so that the linear motion of the telescopic component is converted into the rotary motion of the rotating shaft, and the sucking disc component is driven to grab precise components at different angles; the electronic product taking and placing device is stable and small in structure, low in cost, small in installation space and wide in application range, and can be applied to taking and placing different electronic products at multiple angles.

(2) According to the utility model, the rotation angle range of the connecting rod is controlled by the limiting block, the precision elements with different angles can be taken and placed by modifying the width of the opening groove of the limiting block, and the fine adjustment can be carried out by adjusting the screw-in depth of the screw-in of the hydraulic buffer.

Drawings

FIG. 1 is a schematic diagram of the structure of the present utility model;

FIG. 2 is a schematic view of the suction cup assembly of the present utility model;

FIG. 3 is a schematic view of the structure of the connecting rod of the present utility model;

FIG. 4 is a schematic view of the assembly structure of the cam bearing and the chute of the present utility model;

FIG. 5 is a schematic exploded view of the slip ring assembly of the present utility model;

FIG. 6 is a schematic structural view of the slip ring assembly of the present utility model;

FIG. 7 is a schematic view of an assembly structure of a shaft and a mounting groove according to the present utility model;

Wherein, 1, a single-shaft mechanical arm; 2. a support plate; 3. a rotating shaft; 4. a slip ring assembly; 41. a fixing part; 42. a rotating part; 43. a transmission shaft; 5. a suction cup assembly; 51. a mounting plate; 52. a vacuum chuck; 53. a connecting column; 6. a connecting rod; 61. a mounting groove; 7. a telescoping assembly; 71. a connecting plate; 72. a chute; 73. a cam bearing; 74. a support wheel; 75. a limiting plate; 76. a mounting base; 8. a limiting block; 81. an open slot; 9. a hydraulic buffer; 10. a total joint; 11. a tap; 12. a transfer joint; 13. a hose connector; 14. and (5) binding a wire holder.

Detailed Description

The utility model will now be described in further detail with reference to the drawings and examples, which are simplified schematic illustrations of the basic structure of the utility model, which are presented only by way of illustration, and thus show only the structures that are relevant to the utility model.

As shown in fig. 1-4, the picking and placing mechanism suitable for the precise components comprises a support plate 2 capable of moving along the Z-axis direction, a rotating shaft 3 is arranged on the support plate 2, one end of the rotating shaft 3 is connected with a connecting rod 6, and the other end of the rotating shaft is connected with a sucking disc component 5 for picking and placing the components through a slip ring component 4; one side of the support plate 2 is provided with a telescopic component 7, the output end of the telescopic component 7 is parallel to the Y-axis direction and is connected with a connecting plate 71, a chute 72 is formed in the connecting plate 71, a cam bearing 73 is movably embedded in the chute 72, and one end of the cam bearing 73 is connected with one end of the connecting rod 6 far away from the rotating shaft 3.

The support plate 2 is of an L-shaped structure, so that the installation is convenient, and one side, parallel to the Z axis, of the support plate 2 is connected with the output end of the single-axis mechanical arm 1; the single-axis mechanical arm 1 is a prior art, and its output end can make a linear motion along a specified direction, where its output end can make a linear motion along a Z-axis direction.

The support plate 2 can move along the Z axis so as to ensure that the sucker assembly 5 cannot interfere with the rest parts in the process of taking and placing materials by the mechanism; the telescopic component 7 is fixedly connected with the support plate 2 through a mounting seat 76, and preferably adopts an air cylinder; the inner ring of the cam bearing 73 is fixedly connected with a follower rod, and the follower rod is connected with the connecting rod 6, namely, the outer ring of the cam bearing 73 can slide along the length direction of the sliding groove 72, and the inner ring can rotate around the axis relative to the outer ring of the cam bearing and is connected with the connecting rod 6 through the follower rod.

Specifically, the telescopic assembly 7 can drive the connecting plate 71 to move along the Y-axis direction, the length direction of the sliding groove 72 is parallel to the X-axis direction, the connecting plate 71 limits the movement of the driving cam bearing 73 through the sliding groove 72 and transmits the movement to the connecting rod 6, the rotating shaft 3 is driven to rotate around the axis of the connecting rod 6, and the sucking disc assembly 5 is driven to rotate in the horizontal plane through the sliding ring assembly 4, so that the aim of grabbing workpieces at multiple angles is achieved.

Further, a supporting wheel 74 (as shown in fig. 4) is rotatably installed at one side of the connection plate 71, and the supporting wheel 74 is attached to the upper surface of the support plate 2. The supporting wheel 74 is used for supporting the connecting plate 71, so that the connecting plate is prevented from being suspended under the drive of the telescopic assembly 7, the movement precision is prevented from being influenced, and the service life of the telescopic assembly 7 is prevented from being shortened due to self weight; the support wheels 74 not only provide support, but also roll on the horizontal plane of the support plate 2, greatly reducing frictional wear caused by the support.

The telescopic component 7 is also fixedly provided with a limiting plate 75, the limiting plate 75 is of an L-shaped structure, and the output end of the telescopic component 7 passes through the limiting plate 75 and is fixedly connected with the connecting plate 71; by means of the longitudinal portions of the limiting plate 75, the contracted position of the link plate 71 can be defined so as to be within a suitable range.

In addition, a mounting groove 61 (as shown in fig. 7) is formed at one side of the connecting rod 6, and the head of the rotating shaft 3 is fitted into the mounting groove 61. In the assembly process of the rotating shaft 3 and the connecting rod 6, one end of the rotating shaft 3 can be inserted into the mounting groove 61 to be positioned, and then the fixed connection between the rotating shaft 3 and the connecting rod can be realized through fasteners such as screws.

Under the drive of the telescopic component 7, the connecting plate 71 is connected with the connecting rod 6 through the matching of the sliding groove 72 and the cam bearing 73 to form a cam structure, so that the linear motion of the telescopic component 7 is converted into the rotary motion of the rotating shaft 3, and the sucking disc component 5 is driven to grab precise components at different angles; the electronic product taking and placing device is stable and small in structure, low in cost, small in installation space and wide in application range, and can be applied to taking and placing different electronic products at multiple angles.

As shown in fig. 2-3, a limiting block 8 is fixedly installed on one side of the support plate 2 opposite to the telescopic component 7, an open slot 81 is formed in the limiting block 8, and one end of the connecting rod 6 opposite to the connecting plate 71 extends into the open slot 81.

The rotation angle range of the connecting rod 6 is controlled by the limiting block 8, and the precise elements with different angles can be taken and placed by modifying the width of the opening groove 81 of the limiting block 8; one end of the connecting rod 6 is driven by the telescopic component 7 in the rotating process, and the other end of the connecting rod is positioned in the open slot 81; when the rotating shaft 3 rotates to the limit position, one end of the connecting rod 6 always abuts against two side surfaces of the open slot 81; in order to facilitate the connection rod 6 to be more smooth in contact with the inner side surface of the open slot 81, two opposite chamfers are formed at one end of the connection rod 6 opposite to the telescopic assembly 7, and when the rotating shaft 3 rotates to two limit positions, the two chamfer side surfaces of the connection rod 6 are respectively in contact with the inner side surface corresponding to the open slot 81.

Further, the hydraulic buffer 9 is installed at both ends of the limiting block 8, and one end of the hydraulic buffer 9 extends into the open slot 81. The hydraulic buffer 9 is in the prior art, and the principle is that the connecting rod 6 which is in freewheeling is buffered and decelerated to a stop by virtue of a hydraulic damping effect; the buffer is a safety device at the limit position of the connecting rod 6, when the movement of the connecting rod 6 exceeds a specified range, one end of the connecting rod 6 impacts the buffer, and the kinetic energy of the connecting rod 6 is absorbed or consumed by the buffer, so that the connecting rod is safely decelerated to a stop; the swing range of the link 6 can also be fine-tuned by adjusting the screwing depth of the hydraulic damper 9.

As shown in fig. 1-2, the suction cup assembly 5 includes a mounting plate 51, a plurality of vacuum suction cups 52 are provided at the bottom of the mounting plate 51, and the mounting plate 51 is connected to the slip ring assembly 4 through a connection post 53.

Under the action of a vacuum generator, the vacuum chuck 52 is connected with a series of pipelines, so that the working end surface of the vacuum chuck 52 can generate vacuum negative pressure, and further the workpiece is sucked and grabbed; under the action of the connecting column 53, the rotating shaft 3 can drive the mounting plate 51 to rotate in the horizontal plane through the slip ring assembly 4, so that the aim of multi-angle grabbing of the mechanism is fulfilled.

The wire tying seat 14 for fixing the pipe is provided on the outer circumferential surface of the connecting post 53, and the wire tying seat 14 adopts a saddle-shaped structure. The gas circuit pipeline can be orderly regulated by using the wire tying seat 14, so that the disorder caused by winding is avoided.

As shown in fig. 1-2 and 5-6, the slip ring assembly 4 comprises a fixed part 41 fixedly arranged at the bottom of the support plate 2, a transmission shaft 43 is arranged on the fixed part 41 in a penetrating way, and two ends of the transmission shaft 43 protrude out of the fixed part 41; one end of the rotary part is fixedly connected with the rotary part 42, the other end of the rotary part is fixedly connected with the rotary shaft 3, and the rotary part 42 is connected with the sucker assembly 5.

The slip ring assembly 4 is in the prior art, that is, the fixed part 41 and the rotating part 42 can rotate coaxially and keep the air passage communication between the two parts in the rotating process; the fixed part 41 adopts a cylindrical structure, the rotary part 42 adopts a disc-shaped structure, and the transmission shaft 43 and the rotary part 42 are of an integrated structure, namely, one end of the transmission shaft 43 opposite to the rotary part 42 passes through the fixed part 41 and is connected with the rotating shaft 3; in this process, the fixing portion 41 is fixedly installed at the bottom of the support plate 2, and defines the degree of freedom in which the rotation shaft 3 moves in the axial direction thereof.

The rotating shaft 3 is driven to rotate by the connecting rod 6, and the rotating part 42 of the slip ring assembly 4 is driven to synchronously rotate by the transmission shaft 43, and the rotating part 42 is connected with the mounting plate 51 by the connecting column 53, so that the purpose that the rotating shaft 3 drives the mounting plate 51 to rotate is achieved.

Further, the support plate 2 is provided with a main joint 10 and a plurality of taps 11 communicated with the main joint 10, the fixed part 41 and the rotating part 42 are respectively provided with transfer joints 12 corresponding to the number of the taps 11, and the input end of the vacuum chuck 52 is connected with a hose joint 13.

The total gas is connected into the mechanism through the total connector 10, is respectively connected into the transit connectors 12 on the fixed part 41 through the plurality of taps 11 (the fixed part 41 and the rotating part 42 can be communicated when rotating), and is connected into the corresponding hose connectors 13 through the transit connectors 12 arranged on the rotating part 42, so that the connection with the vacuum chuck 52 is realized, and the air channel is arranged, so that the air channel cannot be wound along with the rotating module, and the air channel is concise and clear.

Working principle:

The height of the sucker assembly 5 in the Z-axis direction is adjusted through the single-axis mechanical arm 1, so that the sucker is prevented from interfering with the rest parts in the material taking and discharging process; the realization of multi-angle material taking and discharging is mainly realized by a cam structure, and the linear motion of the telescopic component 7, which stretches back and forth, is converted into the rotary motion of the rotating shaft 3; the connecting rod 6 rotates by taking the rotating shaft 3 as a rotation center, the rotation angle is controlled by the limiting block 8, the picking and placing of precision elements with different angles can be realized by modifying the width of the opening groove 81 of the limiting block 8, and fine adjustment can be performed by adjusting the screwing depth of the screw of the hydraulic buffer 9. The total gas is connected through the total joint 10, the fixed parts 41 of the slip ring assemblies 4 are respectively connected through the tap 11, and then the rotating parts 42 of the multi-way slip ring assemblies 4 are connected with the vacuum chuck 52, so that the gas path gas pipe is arranged and cannot be wound along with the rotating module, and the gas path is simple and clear.

In summary, the mechanism has at least the following advantages over the prior art: (1) Cost is saved, and the multi-angle material taking function is realized with minimum cost; (2) The structure is stable, the mechanical structure realizes the function, and the problem is not easy to occur; (3) the structure is small and exquisite, and the occupied space is small during installation; (4) The applicability is wide, and the device can be applied to multi-angle picking and placing of different electronic products.

The above-described preferred embodiments according to the present utility model are intended to suggest that, from the above description, various changes and modifications can be made by the person skilled in the art without departing from the scope of the technical idea of the present utility model. The technical scope of the present utility model is not limited to the description, but must be determined according to the scope of claims.

Claims (10)

1. Get and put mechanism suitable for accurate components and parts, its characterized in that: the device comprises a support plate (2) capable of moving along the Z-axis direction, wherein a rotating shaft (3) is arranged on the support plate (2), one end of the rotating shaft (3) is connected with a connecting rod (6), and the other end of the rotating shaft is connected with a sucking disc assembly (5) for taking and placing components through a slip ring assembly (4);

One side of extension assembly (7) is installed to extension assembly (2), the output of extension assembly (7) is on a parallel with Y axle direction and is connected with link board (71), spout (72) have been seted up on link board (71), spout (72) internalization is inlayed and is equipped with cam bearing (73), just the one end of cam bearing (73) with connecting rod (6) are kept away from the one end of pivot (3) links to each other.

2. The pick-and-place mechanism for precision components of claim 1, wherein: the support plate (2) is opposite to one side of the telescopic assembly (7) and fixedly provided with a limiting block (8), an open slot (81) is formed in the limiting block (8), and one end of the connecting rod (6) opposite to the connecting plate (71) extends into the open slot (81).

3. The pick-and-place mechanism for precision components as claimed in claim 2, wherein: both ends of the limiting block (8) are provided with hydraulic buffers (9), and one ends of the hydraulic buffers (9) extend into the open grooves (81).

4. A pick-and-place mechanism for precision components as claimed in claim 3, wherein: still fixed mounting has limiting plate (75) on flexible subassembly (7), limiting plate (75) are L type structure, just the output of flexible subassembly (7) pass limiting plate (75) with link plate (71) fixed link to each other.

5. The pick-and-place mechanism for precision components as claimed in claim 4, wherein: one side of the connecting plate (71) is rotatably provided with a supporting wheel (74), and the supporting wheel (74) is attached to the upper surface of the support plate (2).

6. The pick-and-place mechanism for precision components of claim 1, wherein: the slip ring assembly (4) comprises a fixing part (41) fixedly arranged at the bottom of the support plate (2), a transmission shaft (43) is arranged on the fixing part (41) in a penetrating mode, and two ends of the transmission shaft (43) protrude out of the fixing part (41); one end of the rotary shaft is fixedly connected with a rotary part (42), the other end of the rotary shaft is fixedly connected with the rotary shaft (3), and the rotary part (42) is connected with the sucker assembly (5).

7. The pick-and-place mechanism for precision components as claimed in claim 6, wherein: the sucker assembly (5) comprises a mounting plate (51), a plurality of vacuum suckers (52) are arranged at the bottom of the mounting plate (51), and the mounting plate (51) is connected with the rotating part (42) through a connecting column (53).

8. The pick-and-place mechanism for precision components as claimed in claim 7, wherein: the connecting column (53) is provided with a wire tying seat (14) for fixing a pipeline on the outer diameter circumferential surface, and the wire tying seat (14) adopts a saddle-shaped structure.

9. The pick-and-place mechanism for precision components as claimed in claim 7, wherein: the support plate (2) is provided with a main joint (10) and a plurality of taps (11) communicated with the main joint (10), the fixed part (41) and the rotating part (42) are respectively provided with transfer joints (12) corresponding to the number of the taps (11), and the input end of the vacuum chuck (52) is connected with a hose joint (13).

10. The pick-and-place mechanism for precision components as claimed in any one of claims 1-9, wherein: the support plate (2) adopts an L-shaped structure, and one side of the support plate (2) parallel to the Z axis is connected with the output end of the single-axis mechanical arm (1).