CN222003690U - A variable-distance suction nozzle manipulator and punching machine - Google Patents
A variable-distance suction nozzle manipulator and punching machine Download PDFInfo
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- CN222003690U CN222003690U CN202323399756.1U CN202323399756U CN222003690U CN 222003690 U CN222003690 U CN 222003690U CN 202323399756 U CN202323399756 U CN 202323399756U CN 222003690 U CN222003690 U CN 222003690U
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- 238000004080 punching Methods 0.000 title abstract description 5
- 239000011295 pitch Substances 0.000 claims abstract description 49
- 230000000712 assembly Effects 0.000 claims abstract description 14
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- 230000001360 synchronised effect Effects 0.000 claims description 4
- 238000000034 method Methods 0.000 description 3
- 238000012937 correction Methods 0.000 description 2
- 238000013461 design Methods 0.000 description 2
- 238000010586 diagram Methods 0.000 description 2
- 238000013459 approach Methods 0.000 description 1
- 230000009286 beneficial effect Effects 0.000 description 1
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Abstract
本实用新型属于自动化技术领域，特别是涉及一种变距吸嘴机械手及冲裁机。变距吸嘴机械手包括驱动模组、第一驱动件、螺杆、支撑板以及多个第一吸嘴组件，所述螺杆上设有第一外螺纹组，所述第一外螺纹组包括螺距不等的多个第一外螺纹；所述驱动模组的输出端连接所述支撑板，所述第一驱动件安装在所述支撑板上且连接所述螺杆；所述第一吸嘴组件包括第一吸嘴、第一载板以及安装在所述第一载板上的第一螺母，所述第一螺母套接在所述螺杆上且与所述第一外螺纹螺纹连接。本实用新型中，该变距吸嘴机械手可以吸取不同尺寸、不同间距的多个待吸取件(电路板等)，提高了该变距吸嘴机械手的适用性和通用性。
The utility model belongs to the field of automation technology, and in particular, relates to a variable-pitch nozzle manipulator and a punching machine. The variable-pitch nozzle manipulator includes a driving module, a first driving member, a screw, a support plate, and a plurality of first nozzle assemblies, the screw being provided with a first external thread group, the first external thread group including a plurality of first external threads with different pitches; the output end of the driving module is connected to the support plate, the first driving member is mounted on the support plate and connected to the screw; the first nozzle assembly includes a first nozzle, a first carrier plate, and a first nut mounted on the first carrier plate, the first nut being sleeved on the screw and threadedly connected to the first external thread. In the utility model, the variable-pitch nozzle manipulator can suck a plurality of pieces to be sucked (circuit boards, etc.) of different sizes and different spacings, thereby improving the applicability and versatility of the variable-pitch nozzle manipulator.
Description
Technical Field
The utility model belongs to the technical field of automation, and particularly relates to a variable-pitch suction nozzle manipulator and a blanking machine.
Background
With the continuous progress of automation technology, more and more manufacturers use automatic punching machines to manufacture circuit boards. After the integrated circuit boards are punched into a plurality of small circuit boards by the automatic punching machine, the small circuit boards are required to be sucked by a mechanical arm driving suction nozzle and transferred to a storage frame, so that the automatic blanking function of the automatic punching machine is completed.
In the prior art, a mechanical arm is usually provided with only a single suction nozzle, and only one circuit board can be sucked by one suction nozzle at a time; in order to improve the efficiency of the robot to handle the circuit board, a plurality of suction nozzles need to be installed on the robot, but the distance between the plurality of suction nozzles is fixed, so that the robot can only suck the circuit board of a fixed size and a fixed pitch.
Disclosure of utility model
The utility model provides a variable-pitch suction nozzle manipulator and a blanking machine, which aim at the technical problem that the spacing among a plurality of suction nozzles on the manipulator cannot be adjusted in the prior art.
In view of the above technical problems, an embodiment of the present utility model provides a variable-pitch suction nozzle manipulator, which includes a driving module, a first driving piece, a screw, a supporting plate, and a plurality of first suction nozzle components, wherein a first external thread group is provided on the screw, and the first external thread group includes a plurality of first external threads with unequal pitches; the output end of the driving module is connected with the supporting plate, and the first driving piece is arranged on the supporting plate and is connected with the screw rod;
The first suction nozzle assembly comprises a first suction nozzle, a first carrier plate and a first nut arranged on the first carrier plate, and the first nut is sleeved on the screw rod and is in threaded connection with the first external thread.
Optionally, a second external thread group which is arranged at intervals with the first external thread group is further arranged on the screw rod, and the second external thread group comprises a plurality of second external threads with unequal pitches; the first external thread is a left-handed external thread, and the second external thread is a right-handed external thread;
The variable-pitch suction nozzle manipulator further comprises a second suction nozzle assembly, the second suction nozzle assembly comprises a second suction nozzle, a second carrier plate and a second nut arranged on the second carrier plate, and the second nut is sleeved on the screw rod and is in threaded connection with the second external thread.
Optionally, the number of the first external threads is equal to the number of the second external threads, and the first external threads and the second external threads form a constant pitch thread group;
In the same constant-pitch thread group, the pitches of the first external thread and the second external thread are equal.
Optionally, the first driving piece comprises a first rotary driving piece, an input gear, an output gear and a synchronous belt sleeved on the output gear and the output gear; the first rotary driving piece is arranged on the supporting plate, the input gear is sleeved at the output end of the first rotary driving piece, and the output gear is sleeved on the screw rod.
Optionally, the distance-changing suction nozzle manipulator further comprises a first guide rail installed on the supporting plate, the first suction nozzle assembly further comprises a first sliding block installed on the first carrier plate, and the first sliding block is in sliding connection with the first guide rail.
Optionally, the pitch-changing suction nozzle manipulator further comprises a second rotary driving piece and a supporting frame installed at the output end of the driving module, wherein the second rotary driving piece is installed on the supporting frame and connected with the supporting plate, and the second rotary driving piece is used for driving the supporting plate to rotate.
Optionally, the distance-changing suction nozzle manipulator further comprises a vacuum degree sensor installed on the supporting frame, and the vacuum degree sensor is communicated with the first suction nozzle.
Optionally, the drive module includes lift drive assembly, lift drive assembly includes backplate, lift drive spare, second guide rail and second slider, lift drive spare with the second guide rail is all installed on the backplate, the second slider install on the support frame and with second guide rail sliding connection, the output of lift drive spare is connected the support frame.
Optionally, the range nozzle manipulator further comprises a vision camera mounted on the back plate.
The utility model further provides a blanking machine, which comprises the variable-pitch suction nozzle manipulator.
In the utility model, a first external thread group is arranged on the screw rod, and the first external thread group comprises a plurality of first external threads with unequal pitches; each first suction nozzle assembly comprises a first suction nozzle, a first carrier plate and a first nut arranged on the first carrier plate, and the first nuts are sleeved on the screw rod and are in threaded connection with the first external threads; the first driving piece drives the screw rod to rotate, the screw rod drives the first carrier plate to move through the first nut in threaded connection with the first external threads, and the pitches of the first external threads are unequal, so that the distance between a plurality of first carrier plates can be changed, namely, the distance between a plurality of first suction nozzle assemblies is adjusted, and then the variable-pitch suction nozzle manipulator can absorb a plurality of pieces (circuit boards and the like) to be absorbed with different sizes and different distances, so that the applicability and the universality of the variable-pitch suction nozzle manipulator are improved.
Drawings
The utility model will be further described with reference to the drawings and examples.
FIG. 1 is a schematic diagram of a manipulator for a variable-pitch suction nozzle according to an embodiment of the present utility model;
FIG. 2 is a schematic view of a first nozzle assembly and a second nozzle assembly of a variable-pitch nozzle manipulator according to an embodiment of the present utility model mounted on a support plate;
FIG. 3 is a schematic diagram of a lifting driving assembly of a nozzle manipulator according to an embodiment of the present utility model;
Fig. 4 is a schematic structural view of a screw of a pitch-changing nozzle manipulator according to an embodiment of the present utility model.
Reference numerals in the specification are as follows:
1. A driving module; 11. a lifting driving assembly; 111. a back plate; 112. a lifting driving member; 113. a second guide rail; 114. a second slider; 2. a first driving member; 3. a support plate; 4. a first nozzle assembly; 41. a first suction nozzle; 42. a first carrier plate; 43. a first slider; 5. a second nozzle assembly; 51. a second suction nozzle; 52. a second carrier plate; 6. a first guide rail; 7. a second rotary driving member; 8. a support frame; 9. a vacuum sensor; 10. a vision camera; 100. a screw; 101. a first set of external threads; 102. and a second set of external threads.
Detailed Description
In order to make the technical problems, technical schemes and beneficial effects solved by the utility model more clear, the utility model is further described in detail below with reference to the accompanying drawings and embodiments. It should be understood that the specific embodiments described herein are for purposes of illustration only and are not intended to limit the scope of the utility model.
It is to be understood that the directions or positional relationships indicated by the terms "upper", "lower", "left", "right", "front", "rear", "middle", etc., are based on the directions or positional relationships shown in the drawings, are merely for convenience of description and simplification of the description, and do not indicate or imply that the apparatus or element in question must have a specific orientation, be constructed and operated in a specific orientation, and therefore should not be construed as limiting the utility model.
As shown in fig. 1, 2 and 4, the utility model provides a variable-pitch suction nozzle manipulator, which comprises a driving module 1, a first driving member 2, a screw 100, a supporting plate 3 and a plurality of first suction nozzle assemblies 4, wherein a first external thread group 101 (not shown in the drawings) is arranged on the screw 100, and the first external thread group 101 comprises a plurality of first external threads with unequal pitches; the output end of the driving module 1 is connected with the supporting plate 3, and the first driving piece 2 is arranged on the supporting plate 3 and is connected with the screw 100; it will be appreciated that the drive module 1 includes, but is not limited to, a three-axis drive assembly, a two-axis drive assembly, etc.; the number of the first nozzle assemblies 4 may be designed according to actual requirements, for example, the number of the first nozzle assemblies 4 is 3, 4, 5, etc.; the first driving member 2 includes, but is not limited to, a rotary motor, a screw thread mechanism, and the like.
Each first nozzle assembly 4 includes a first nozzle 41, a first carrier plate 42, and a first nut mounted on the first carrier plate 42, where the first nut is sleeved on the screw 100 and is in threaded connection with the first external thread. As can be appreciated, the first suction nozzles 41, the first carrier plate 42, the first nuts and the first external threads are arranged in a one-to-one correspondence; the first nut is provided with a first internal thread through hole matched with the first external thread.
In the utility model, a first external thread group 101 is arranged on the screw 100, and the first external thread group 101 comprises a plurality of first external threads with unequal pitches; each first suction nozzle assembly 4 comprises a first suction nozzle 41, a first carrier plate 42 and a first nut mounted on the first carrier plate 42, wherein the first nut is sleeved on the screw 100 and is in threaded connection with the first external thread; the first driving piece 2 drives the screw rod 100 to rotate, the screw rod 100 drives the first carrier plate 42 to move through the first nut in threaded connection with the first external thread, and as the pitches of a plurality of the first external threads are unequal, the distance between a plurality of the first carrier plates 42 can be changed, namely, the distance between a plurality of the first suction nozzle assemblies 4 can be adjusted, and then the variable-pitch suction nozzle manipulator can absorb a plurality of pieces (circuit boards and the like) to be absorbed with different sizes and different distances, so that the applicability and the universality of the variable-pitch suction nozzle manipulator are improved.
In an embodiment, as shown in fig. 4, the screw 100 is further provided with a second external thread group 102 spaced from the first external thread group 101, and the second external thread group 102 includes a plurality of second external threads with unequal pitches; the first external thread is a left-handed external thread, and the second external thread is a right-handed external thread;
The distance-changing suction nozzle manipulator further comprises a plurality of second suction nozzle assemblies 5, each second suction nozzle assembly 5 comprises a second suction nozzle 51, a second carrier plate 52 and a second nut installed on the second carrier plate 52, and the second nut is sleeved on the screw 100 and is in threaded connection with the second external threads. As can be appreciated, a second internal threaded hole matched with the second external thread is formed in the second nut, and the second nut is sleeved on the screw 100 through a second external thread and a second internal threaded through hole which are in threaded connection; the number of the second nozzle assemblies 5 may be designed according to actual requirements, for example, the second nozzle assemblies 5 are provided with 3, 4, 5, etc.; further, the number of the first nozzle assemblies 4 is equal to the number of the second nozzle assemblies 5.
In the present utility model, the moving form of the screw 100 driving the second nozzle assembly 5 is the same as the moving form of the first nozzle assembly 4, and will not be described herein. In addition, the first external thread is a left-handed external thread, and the second external thread is a right-handed external thread, so that the rotation of the screw 100 can drive the first air nozzle assembly and the second air nozzle assembly to approach to the middle or to open to the two ends, and the compactness of the variable-pitch suction nozzle manipulator is improved.
In an embodiment, the number of the first external threads is equal to the number of the second external threads, and the first external threads and the second external threads form a constant pitch thread group;
In the same equal-pitch thread group, the pitches of the first external thread and the second external thread are equal, and the first external thread and the second external thread are symmetrically arranged. In this embodiment, the first driving member 2 drives the screw 100 to rotate, and the opening and closing openings of the first air nozzle assembly and the second air nozzle assembly are equal in the same constant pitch thread group.
In an embodiment, the first driving member 2 includes a first rotary driving member, an input gear, an output gear, and a synchronous belt sleeved on the output gear and the output gear; the first rotary driving piece is installed on the supporting plate 3, the input gear is sleeved at the output end of the first rotary driving piece, and the output gear is sleeved on the screw 100. It will be appreciated that the first rotary drive 7 includes, but is not limited to, a rotary motor, a rotary cylinder, etc.
Specifically, the first rotary driving member drives the input gear to rotate, the input gear drives the output gear to rotate through the synchronous belt, and the output gear drives the screw 100 to rotate. In this example, the first driving member 2 has a compact structure and occupies a small space.
In an embodiment, as shown in fig. 2, the pitch-changing nozzle manipulator further includes a first guide rail 6 mounted on the support plate 3, and the first nozzle assembly 4 further includes a first slider 43 mounted on the first carrier plate 42, where the first slider 43 is slidably connected to the first guide rail 6. It will be appreciated that the first suction nozzles 41, the first carrier plate 42, the first nuts and the first sliders 43 are disposed in a one-to-one correspondence. As can be appreciated, in the process of moving the first carrier plate 42 by the screw 100, the first carrier plate 42 slides on the first guide rail 6 through the first slider 43, so as to ensure the stability of movement of the first nozzle assembly 4.
In one embodiment, as shown in fig. 2, the second nozzle assembly 5 further includes a third slider mounted on the second carrier plate 52, and the third slider is slidably connected to the first rail 6. It will be appreciated that the second suction nozzles 51, the second carrier plate 52, the second nuts and the second sliders 114 are disposed in a one-to-one correspondence. As can be appreciated, in the process that the screw 100 drives the second carrier plate 52 to move, the second carrier plate 52 slides on the first guide rail 6 through the third slider, so as to ensure the moving stability of the second nozzle assembly 5.
In an embodiment, as shown in fig. 1, the pitch-changing nozzle manipulator further includes a second rotary driving member 7 and a supporting frame 8 mounted at an output end of the driving module 1, where the second rotary driving member 7 is mounted on the supporting frame 8 and connected to the supporting plate 3, and the second rotary driving member 7 is used to drive the supporting plate 3 to rotate. It will be appreciated that the rotary drive 7 includes, but is not limited to, a rotary motor, a rotary cylinder, etc.; the second rotary driving member 7 may drive all the first nozzle assemblies 4 and the second nozzle assemblies 5 to rotate through the support plate 3.
Specifically, when the vision camera 10 and the like detect that the first suction nozzle assembly 4 and the second suction nozzle assembly 5 deviate, the driving module 1 can drive the first suction nozzle assembly 4 and the second suction nozzle assembly 5 to move in an XY plane, so that correction of the X direction and the Y direction of the first suction nozzle assembly 4 and the second suction nozzle assembly 5 is realized; the second rotary driving member 7 drives the first suction nozzle assembly 4 and the second suction nozzle assembly 5 to rotate around the Z direction, so as to implement deviation correction of the rotation angle of the first suction nozzle assembly 4 and the second suction nozzle assembly 5 around the Z direction. In this embodiment, the design of the second rotary driving member 7 ensures the accuracy of the first nozzle assembly 4 and the second nozzle assembly 5 to suck the member to be sucked.
In one embodiment, as shown in fig. 1, the pitch-changing nozzle manipulator further includes a vacuum sensor 9 mounted on the support frame 8, and the vacuum sensor 9 communicates with the first nozzle 41. It is to be understood that 1 or more vacuum sensors 9 may be provided according to actual demands, and the vacuum sensors 9 communicate all the first suction nozzles 41 and all the second suction nozzles 51. Specifically, the vacuum sensor 9 may measure the vacuum values of the first suction nozzle 41 and the second suction nozzle 51 in real time, and determine whether the first suction nozzle 41 or the second suction nozzle 51 is leaking according to the measured vacuum values, thereby ensuring the stability of the suction object by the first suction nozzle 41 and the second suction nozzle 51. Further, when the vacuum sensor 9 detects that the first suction nozzle 41 or the second suction nozzle 51 is leaking, the corresponding alarm will sound a leak alarm.
In an embodiment, as shown in fig. 1 and 3, the driving module 1 includes a lifting driving assembly 11, where the lifting driving assembly 11 includes a back plate 111, a lifting driving member 112, a second guide rail 113, and a second slider 114, where the lifting driving member 112 and the second guide rail 113 are both installed on the back plate 111, and the second slider 114 is installed on the support frame 8 and slidingly connected with the second guide rail 113, and an output end of the lifting driving member 112 is connected with the support frame 8. As will be appreciated, the lifting drive member 112 includes, but is not limited to, a linear motor, a pneumatic cylinder, a hydraulic cylinder, a screw-nut mechanism, etc., and the second guide rail 113 is fixedly mounted on the back plate 111 in the Z-direction.
Specifically, in the process that the lifting driving member 112 drives the support frame 8 to move along the Z direction, the support frame 8 slides on the second guide rail 113 through the second slider 114, so that the stability of the movement of the support frame 8 along the Z direction is ensured.
In a specific embodiment, as shown in fig. 3, the lifting driving member 112 includes a rotating motor, a second screw rod and a second nut sleeved on the second screw rod, the rotating motor is fixedly installed on the back plate 111, the second screw rod is rotatably installed on the back plate 111 along the Z direction, and the second nut is connected to the support frame 8. Specifically, the rotating motor drives the second screw rod to rotate, and the second screw rod drives the support frame 8 to move along the Z direction through the second nut.
In an embodiment, the driving module 1 further includes an X-direction driving assembly and a Y-direction driving assembly, where the X-direction driving assembly is used to drive the lifting driving assembly 11 to move along the X-direction, and the Y-direction driving assembly is used to drive the lifting driving assembly 11 to move along the Y-direction.
In one embodiment, as shown in fig. 1 and 3, the range nozzle manipulator further comprises a vision camera 10 mounted on the back plate 111. It will be appreciated that the vision camera 10 may identify the position of the part to be sucked, so that the driving module 1 may drive the first suction nozzle 41 and the second suction nozzle 51 to accurately suck the part to be sucked. In this embodiment, the design of the vision camera 10 improves the automation degree of the pitch-changing nozzle manipulator.
The utility model further provides a blanking machine, which comprises the variable-pitch suction nozzle manipulator.
The above embodiments of the present utility model are merely examples of the nozzle-changing manipulator and the blanking machine, and are not intended to limit the present utility model, and any modifications, equivalent substitutions and improvements made within the spirit and principles of the present utility model should be included in the scope of the present utility model.
Claims (10)
1. The variable-pitch suction nozzle manipulator is characterized by comprising a driving module, a first driving piece, a screw rod, a supporting plate and a plurality of first suction nozzle components, wherein a first external thread group is arranged on the screw rod and comprises a plurality of first external threads with unequal pitches; the output end of the driving module is connected with the supporting plate, and the first driving piece is arranged on the supporting plate and is connected with the screw rod;
The first suction nozzle assembly comprises a first suction nozzle, a first carrier plate and a first nut arranged on the first carrier plate, and the first nut is sleeved on the screw rod and is in threaded connection with the first external thread.
2. The variable-pitch suction nozzle manipulator according to claim 1, wherein the screw is further provided with a second external thread group which is arranged at intervals from the first external thread group, and the second external thread group comprises a plurality of second external threads with unequal pitches; the first external thread is a left-handed external thread, and the second external thread is a right-handed external thread;
The variable-pitch suction nozzle manipulator further comprises a plurality of second suction nozzle assemblies, each second suction nozzle assembly comprises a second suction nozzle, a second carrier plate and second nuts, the second nuts are installed on the second carrier plates, and the second nuts are sleeved on the screw rods and are in threaded connection with the second external threads.
3. The variable-pitch suction nozzle manipulator of claim 2, wherein the number of the first external threads is equal to the number of the second external threads, and the first external threads and the second external threads form a constant-pitch thread group;
In the same constant-pitch thread group, the pitches of the first external thread and the second external thread are equal.
4. The variable-pitch suction nozzle manipulator of claim 1, wherein the first driving member comprises a first rotary driving member, an input gear, an output gear, and a synchronous belt sleeved on the output gear and the output gear; the first rotary driving piece is arranged on the supporting plate, the input gear is sleeved at the output end of the first rotary driving piece, and the output gear is sleeved on the screw rod.
5. The range nozzle manipulator of claim 1, further comprising a first rail mounted on the support plate, the first nozzle assembly further comprising a first slider mounted on the first carrier plate, the first slider being in sliding connection with the first rail.
6. The variable-pitch nozzle manipulator of claim 1, further comprising a second rotary driving member and a support frame mounted at an output end of the driving module, wherein the second rotary driving member is mounted on the support frame and is connected to the support plate, and the second rotary driving member is used for driving the support plate to rotate.
7. The variable-pitch nozzle manipulator of claim 6, further comprising a vacuum sensor mounted on the support frame, the vacuum sensor in communication with the first nozzle.
8. The variable-pitch suction nozzle manipulator of claim 6, wherein the drive module comprises a lifting drive assembly, the lifting drive assembly comprises a back plate, a lifting drive member, a second guide rail and a second slider, the lifting drive member and the second guide rail are both mounted on the back plate, the second slider is mounted on the support frame and is in sliding connection with the second guide rail, and the output end of the lifting drive member is connected with the support frame.
9. The range hood nozzle manipulator of claim 8, further comprising a vision camera mounted on the back plate.
10. A blanking machine comprising a variable-pitch suction nozzle manipulator as claimed in any one of claims 1 to 9.
Priority Applications (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN202323399756.1U CN222003690U (en) | 2023-12-13 | 2023-12-13 | A variable-distance suction nozzle manipulator and punching machine |
Applications Claiming Priority (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN202323399756.1U CN222003690U (en) | 2023-12-13 | 2023-12-13 | A variable-distance suction nozzle manipulator and punching machine |
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| Publication Number | Publication Date |
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| CN222003690U true CN222003690U (en) | 2024-11-15 |
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| CN202323399756.1U Active CN222003690U (en) | 2023-12-13 | 2023-12-13 | A variable-distance suction nozzle manipulator and punching machine |
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Cited By (1)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN119637498A (en) * | 2024-12-02 | 2025-03-18 | 怡力精密制造有限公司 | Integrated processing production line |
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2023
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Cited By (1)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN119637498A (en) * | 2024-12-02 | 2025-03-18 | 怡力精密制造有限公司 | Integrated processing production line |
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