TWM512482U - Rotary picking and placing device - Google Patents

Description

Rotary pick and place device

The present invention provides a rotary pick-and-place device, in particular, the first driving portion of the robot arm can be used to drive the pick-and-place portion to be flipped to increase the number of sheets taken up, and the second driving portion drives the pick-and-place portion in a different direction. Rotation changes the direction and angle of the sheet to achieve high automation, increased productivity, simplified production line and lower cost.

According to the current situation, the manufacturing industry is facing labor shortages and environmental awareness, labor and operating costs, and labor-intensive and technologically intensive pressures. Most of the industry responds to costs by means of industrial migration or the introduction of foreign workers. Rising, or using production line automation technology and fixture assistance to improve business quality and reduce costs, in order to reduce manpower, save manufacturing hours and increase production capacity.

Furthermore, in the automation of production lines in the manufacturing industry, the metropolis is applied to different stations within the plant for various processing processes such as processing, inspection, cleaning, assembly, quality control, warehousing and transportation, among which the production process is The workpiece to be processed is transported to each station by means of a trolley and a conveyor belt of the conveying device, and the processing tool is manually taken or refueled to facilitate processing of the various components and products required by the processing tool. Such manual method is time-consuming and labor-intensive for reclaiming or refueling operations, and manufacturers are introduced into industrial production lines with robotic arms for handling in response to automation and special process requirements.

Because the robotic arm has the advantages of long-term repetitive motion, stable quality and continuous uninterrupted and precise positioning and zero error, the previous labor cost has been gradually replaced by the robot arm, which can be matched with the pick-and-place mechanism (such as vacuum suction cup). , gripper) to pick up or place the workpiece to achieve automated handling and stacking functions, and currently the mechanical arm used in the industry is generally a three-axis robotic arm, which is a vertical axis of movement, horizontal The moving shaft and the clamping shaft are responsible for the function of picking up and placing, and most of the moving shafts use a linear slide with a motor as the driving mechanism. Compared with the way of hydraulically moving the mechanical arm, it is necessary to use hydraulic equipment not only the volume. It is huge and expensive. The linear movement of the moving shaft has the advantages of simple mechanism, precise movement, light weight and low cost. However, the robot can only pick up or place a single workpiece during each handling or stacking process. The action will cause a delay in the multiple of the subsequent workpiece time, resulting in a more effective reduction of working time and Ben, and with the versatility of the processing method and the complexity of the process, if the robot arm can not change the direction and angle of the workpiece for the processing part of the workpiece, the function and effect of the overall use will be limited, so it is engaged in this. The industry is eager to study the key to improvement.

Therefore, in view of the above-mentioned problems and shortcomings, the new creators have collected such relevant materials through various evaluations and considerations, and have used the trial and modification of many years of R&D experience in this industry to design such rotary pick-and-place devices. A new type is born.

The main purpose of the present invention is that the mechanical arm is located on the shaft seat at one side of the seat body and is pivotally connected with a transverse main shaft, and a first driving portion connected to the main shaft is arranged inside the shaft seat, and the main shaft is opposite to the first shaft. An actuation motor of the second driving portion and a rotating shaft for driving the motor are vertically disposed at the other side of the driving portion, and a pick-and-place portion is respectively connected to the two ends of the rotating shaft, and the first driving When the moving part drive spindle drives the pick-and-place part to flip up and down, the pick-and-place part can complete the picking up or placing of a pair of two sheets, so that the number of sheets that can be taken up on the pick-and-place part is increased, thereby effectively saving work. Time and cost, the actuating motor of the second driving part can be used to drive the rotating shaft to drive the picking and placing part to rotate in a different direction from the main shaft, so that the direction in which the sheet is to be placed can be changed according to the processing, handling and stacking requirements. And angles to facilitate processing or practical applications, resulting in a high degree of automation, increased productivity, simplified production line and lower cost.

The second purpose of the creation is that the two sides of the opening on the surface of the mechanical arm body are provided with a relative bearing seat and a lead screw which is transversely inserted in the bearing seat, and is screwed through the opening hole on the lead screw. The slider is coupled to the shaft seat, and a motor having a third driving portion coupled to the lead screw is disposed on one side of the socket, and the motor is driven to rotate the lead screw to move the slider to the seat. The external part of the body acts as a linear drive to extend or shorten the displacement, and the pick-and-place portion of the mechanical arm is a frame plate having parallel opposite ends and respectively connected to the two ends of the rotating shaft, and the outer surfaces of the two plates are respectively combined with a plurality of tips The film can be adsorbed on the surface of the sheet through a plurality of tips, or the sheet can be released to place the sheet on the processing tool for related processing operations.

Another purpose of the present invention is that the rotating shaft of the mechanical arm on the second driving portion is a shaft plate including two abutting shafts, and the outer side of the shaft plate extending from the driving motor is sleeved and coupled to the pick and place. a sleeve on the upper part, and each of the sleeves is respectively connected with a pneumatic cylinder, and the two pneumatic cylinders are respectively fixed on the opposite sides of the end of the main shaft, and the telescopic rod of the pneumatic cylinder is used to drive the sleeve to rotate The shaft plate of the moving shaft is located in the actuating motor for elongation or shortening displacement, and the moving and taking portion is simultaneously displaced, so as to facilitate the pick-and-place portion to take up or place the sheet.

1‧‧‧ Robotic arm

11‧‧‧

110‧‧‧Opening

111‧‧‧ shaft seat

112‧‧‧ Spindle

113‧‧ ‧ socket

114‧‧‧ lead screw

115‧‧‧ Slider

12‧‧‧First Drive Department

121‧‧‧Motor

122‧‧‧Deceleration mechanism

1221‧‧‧Couplings

123‧‧‧First detection unit

124‧‧‧First baffle

13‧‧‧Second drive department

131‧‧‧Activity motor

132‧‧‧Rotary axis

1321‧‧‧Shaft plate

1322‧‧‧ bushing

133‧‧‧ pneumatic cylinder

1331‧‧‧ Telescopic rod

14‧‧‧Access Department

141‧‧‧ ‧ boards

142‧‧‧ tips

15‧‧‧ Third Drive Department

151‧‧‧Motor

1511‧‧‧Coupling

152‧‧‧Second detection unit

153‧‧‧second cover

16‧‧‧ Lifting mechanism

161‧‧‧First linear guide

17‧‧‧fourth drive department

171‧‧‧First transmission

172‧‧‧Motor

18‧‧‧displacement device

181‧‧‧Second linear guide

182‧‧‧Slip seat

19‧‧‧ Fifth Drive

191‧‧‧Second transmission

192‧‧ ‧ motor

2‧‧‧Alternate access equipment

21‧‧‧Base

211‧‧‧ bracket

22‧‧‧Transmission Department

23‧‧‧Hosting

231‧‧‧ bracket

3‧‧‧Processing tools

31‧‧‧Working platform

4‧‧‧Sheet

The first figure is a three-dimensional appearance of the preferred embodiment of the present invention.

The second drawing is a perspective view of another perspective of the preferred embodiment of the present invention.

The third figure is a partial front view of the authoring robot.

The fourth figure is a schematic diagram of the action when the authoring robot arm rotates.

The fifth figure is the front view of the front of the creation robot.

The sixth figure is the front view of the author's arm after placing the sheet.

The seventh figure is the front view of the creation robot before placing another sheet.

The eighth figure is the front view of the creation robot arm after placing another sheet.

In order to achieve the above objectives and effects, the technical means and its construction adopted in the present invention are described in detail in the preferred embodiment of the present invention, and the structure and function are as follows.

Please refer to the first, second, third and fourth figures, which are respectively a three-dimensional external view of the preferred embodiment, a three-dimensional external view of another viewing angle, a partial front view of the mechanical arm and an action diagram during rotation. It can be clearly seen that the present invention includes a robot arm 1, an alternate access device 2, and a processing tool 3, wherein the robot arm 1 has a hollow seat body 11 and is disposed at one side of the seat body 11. The shaft base 111 and the shaft base 111 are pivotally connected with a transverse main shaft 112. The hollow interior of the shaft base 111 is a motor 121 provided with a first driving portion 12, and the speed reducing mechanism 122 coupled by the motor 121 is coupled to the shaft. 1212 is abutted on the main shaft 112, and the main shaft 112 is perpendicularly disposed on the other side of the first driving portion 12, and the second driving portion 13 is a hollow shaft type of actuating motor 131, and the rotating shaft of the motor 131 is driven. At the end of the moving shaft 132 The plurality of suction heads 142 are respectively connected to the outer surface of the two plates 141, and the plurality of suction heads 142 are respectively connected to the air pressure distribution group. (not shown) for controlling the movement of each of the tips 142 for pick-up or release.

Furthermore, the two sides of the opening 110 on the surface of the base 11 are provided with a corresponding socket 113 and a lead screw 114 which is transversely disposed in the socket 113. The lead screw 114 is screwed through the opening 110. The motor 151 of the third driving portion 15 is disposed on the side of the socket 113, and the coupling 1511 to which the motor 151 is coupled is abutted on the lead screw 114. The rotating shaft 132 of the second driving portion 13 is a shaft plate 1321 including two abutting shafts, and is extended on the outer side of the driving plate 131 at the end of the shaft plate 1321 and is movably coupled to the frame plate 141. The sleeves 1322 are respectively connected to the telescopic rods 1331 of the pneumatic cylinders 133, and the two pneumatic cylinders 133 are disposed oppositely and respectively fixed to the two side ends of the main shaft 112 to form parallel to each other.

However, the first driving portion 12 of the first driving portion 12 is located adjacent to the main shaft 112 of the base 11 and is provided with a first detecting unit 123, and is provided on the main shaft 112 for shielding or against the first The detecting unit 123 performs a first blocking piece 124 for triggering the control of the motor 121 to stop, and the third driving part 15 is located on the base 11 adjacent to the lower side of the lead screw 114 to be respectively provided with the second detecting unit 152. And the second block 153 is disposed on the shaft base 111 through the opening 110 of the base 11 for shielding or resisting the second detecting unit 152 for triggering the control motor 151 to stop. A detecting unit 123 and a second detecting unit 152 can be a photo interrupter, a micro switch or a limit switch. However, how the first detecting unit 123 and the second detecting unit 152 cooperate with the first blocking piece 124 and the second blocking piece 153 to control the motors 121 and 151 to stop operating for rotation or displacement stroke positioning control is prior art. The scope of this detail, and the composition of this detail is not the creation point of this case, and will not be repeated here.

In addition, the seat body 11 of the robot arm 1 is provided with a first linear guide 161 of the lifting mechanism 16 in the longitudinal direction with respect to the other side of the shaft seat 111, and a fourth driving portion 17 is disposed above the first linear rail 161. And the fourth driving portion 17 has a first transmission mechanism 171 for driving the motor 172 to drive the first linear guide 161 to the longitudinal displacement of the seat body 11, and a displacement device 18 is disposed laterally below the lifting mechanism 16. a second linear guide 181, and a sliding seat 182 and a fifth driving portion 19 coupled to the lower portion of the first linear guide 161 on the second linear guide 181, and the fifth driving portion 19 has a motor 192 drives the second linear guide 181 to interlock with the second transmission mechanism 191 of the seat body 11 for lateral reciprocal displacement. However, the portion of the lifting mechanism 16 and the displacement device 18 cooperate with the fourth driving portion 17 and the fifth driving portion 19. The movement method varies greatly depending on the scope of application, and can also be implemented in actual application or demand. Therefore, the following instructions are explained together and combined with Chen Ming.

The alternate access device 2 has a base 21, and a plurality of transmission portions 22 are arranged on the longitudinal bracket 211 of the base 21, and the transmission portions 22 are provided at one side of the actuator cylinder. a telescopic rod (not shown) is coupled to the linear guide rail of the transmission mechanism connected to the telescopic rod, and a bracket 23 is coupled to the slide rail at the inner wall surface of the bearing seat 23 The transmission portion 22 drives the carrier 23 to perform laterally alternate reciprocating displacement and access to the sheet.

However, the driving portion of the robot arm 1, the pick-and-place portion 14 and the alternate access device 2 are further connected with a drive control system (not shown), and the drive control system is used to drive the drive portion and the pick-and-place portion 14 with The transmission unit 22 performs parameter setting, driving and operation control, instant detection and status diagnosis, and communication of the controller, and the driving unit and the transmission unit 22 can also be driven by a motor or a hydraulic cylinder for the purpose of accurate displacement. The gear set, rack, connecting rod and chain are equivalently implemented to complete multi-axis motion or rotary motion. Any simple modification and equivalent structural changes that are made by using this creation manual and the contents of the drawings should be included in this creation. Within the scope of the patent, it is given to Chen Ming.

The processing tool 3 is located at the rear side of the base 21 of the alternate access device 2 and is close to the position of the robot arm 1, and the processing tool 3 is, for example, applied to a circuit board (PCB) or a flexible circuit board (FPC) process. The work platform 31 can be used for substrate fabrication, pressing, drilling, etching, circuit plating, plated through holes, solder mask processing, tinning, molding or electrical measurement, but in practical applications, the processing tool 3 It can be a computer numerical control machine tool (CNC) with automatic cutting or forming function or other working machine for various processing.

Please refer to the fifth, sixth, seventh and eighth figures for the front view of the front panel, the front view after placing the sheet, the front view and the front view of the other sheet. In the front view of the other sheet, it can be clearly seen from the figure that when the robot arm 1 of the present invention is in use, the motors 172, 192 of the fourth driving portion 17 and the fifth driving portion 19 can respectively drive the first transmission. The mechanism 171 and the second transmission mechanism 191 perform the horizontal or vertical reciprocating displacement of the first linear guide 161 and the second linear guide 181, and drive the base 11 to move to the alternate access device 2 or the processing tool 3, and are permeable. The motor 151 of the third driving portion 15 drives the lead screw 114 to be rotated and pushed to the slider 115 to move the shaft seat 111 toward the seat body. 11 external linear drive elongation or shortening displacement action, in conjunction with the displacement of the pick-and-place portion 14 to the upper of the carrier 23 or the working platform 31, and then the pneumatic cylinder 133 of the second driving portion 13 can be utilized to extend the telescopic rod 1331 The driving sleeve 1322 drives the shaft plate 1321 of the rotating shaft 132 to actuate or shorten the displacement of the shaft 1321 of the rotating shaft 132, and interlocks the frame 141 of the pick-and-place portion 14 to abut the plurality of tips 142 against the sheet 4 (eg After the surface of the circuit board, the flexible circuit board, or the like is applied to the surface of the sheet 4 through the plurality of tips 142, the sheet 4 can be placed on the working platform 31 of the processing tool 3 automatically. Carry out related processing operations.

After the processing tool 3 finishes processing the plurality of sheets 4, the plurality of tips 142 on one of the plates 141 of the pick and place portion 14 can be adsorbed on the surface of the sheet 4 in accordance with the above manner, and the first part is taken up. The motor 121 of the driving unit 12 drives the speed reducing mechanism 122 to cause the main shaft 112 to rotate the picking and receiving portion 14 to switch the original position of the shelf 141 up and down to complete the flipping operation of the sheet 4 for one hundred and eighty degrees, and then The plurality of tips 142 on one of the plates 141 are attracted to the surface of the other sheet 4, and the driving motor 131 of the second driving portion 13 is used to drive the rotating shaft 132 to drive the picking and receiving portion 14 and the main shaft 112. In a different direction of rotation (such as horizontal rotation), the robot 1 can use the first driving portion 12 to drive the pick-and-place portion 14 to flip up and down, and the plurality of suction heads 142 on the two plates 141 are respectively adsorbed to the two sheets. 4, the number of sheets 4 that can be taken up on the pick-and-place portion 14 is increased, so as to effectively save time and cost of work, and the first driving portion 12 can be used to drive the pick-and-place portion 14 without setting multiple production lines. To take up or place a pair of two sheets 4, or use a second drive The moving portion 13 drives the pick-and-place portion 14 to rotate in the horizontal direction, so that the direction and angle of the sheet 4 to be placed can be changed according to the requirements of processing, handling, stacking, etc., so as to facilitate the processing tool 3 pairs. The different parts of the material 4 are processed to better meet the practical application, thereby achieving high automation, improving production efficiency, simplifying the production line and lowering the cost.

When the robot arm 1 drives the seat body 11 to move the pick-and-place portion 14 and the sheet 4 to the upper portion of the carrier 23 of the alternate access device 2, the pick-and-place portion 14 can be longitudinally displaced toward the bracket 231 according to the above manner. Acting, and releasing the sheet 4 by the suction head 142 to complete the placement of the sheet 4 on the bracket 231, and the lifting portion 14 is moved away from the bracket 231, and the cylinder block of the transmission portion 22 can be used to expand and contract. The rod guides the linear guide of the transmission mechanism to make the bearing seat 23 perform the lateral reciprocating displacement, and forms a dislocation state with the bearing seat 23 connected to the other transmission portion 22, and then causes the main shaft 112 to drive the pick-and-place portion 14 according to the above manner. The sheet 4 is flipped by one hundred and eighty degrees, and the other sheet 4 can be placed on the bracket 231 through the pick-and-place portion 14, and the actuator is driven by the actuator of the other transmission portion 22. The carrier 23 is laterally reciprocally displaced, and the plurality of sheets 4 can be placed on the carrier 23 for stacking according to the above manner, and the number of sheets 4 placed on the carrier 23 can be increased to complete the sheet. Storage of material 4.

Vice versa, if the plurality of sheets 4 are to be taken out from the carrier 231 of the carrier 23, the actuator can be driven by the alternating access device 2 to move the transmission mechanism to the laterally reciprocating displacement of the carrier 23. And taking out the take-up portion 14 of the mechanical arm 1 by the transmission portion 22 and sequentially removing the sheet 4 from the bracket 231 of the carrier 23 according to the above-mentioned inversion and suction method of the suction head 142, the sheet 4 can be taken out. The action is to reduce the time and cost of delays caused by the individual sheets 4 during the handling of the robot arm 1.

Therefore, the spindle 112 is pivotally connected to the shaft seat 111 of the robot arm 1 at the side of the base 11 and is coupled to the spindle inside the shaft seat 111. The first driving portion 12 of the first driving portion 12 is disposed on the other side of the first driving portion 12, and the driving motor 131 and the rotating shaft 132 of the second driving portion 13 are perpendicularly disposed on the second side of the rotating shaft 132. The pick-and-place portion 14 is respectively connected to the protection focus, and the first driving portion 12 is used to drive the main shaft 112 to drive the pick-and-place portion 14 to be turned upside down, and the pick-and-place portion 14 completes the picking up of a pair of two sheets 4 or The placing operation increases the number of sheets 4 that can be taken up in the pick-and-place portion 14. The driving motor 131 of the second driving portion 13 drives the rotating shaft 132 to bring the pick-and-place portion 14 into the shaft seat 111. Rotating in different directions can change the direction and angle of the sheet 4 according to the processing, handling and stacking requirements, thereby achieving high automation, improving production efficiency, simplifying the production line and lowering the cost.

The above detailed description is intended to illustrate a preferred embodiment of the present invention, and is not intended to limit the scope of the present invention, and other equivalents and modifications may be made without departing from the spirit of the invention. Changes are to be included in the scope of patents covered by this creation.

In summary, the above-mentioned rotary pick-and-place device can achieve its efficacy and purpose when used. Therefore, this creation is a practical and excellent creation, which is in line with the application requirements of the new patent, and the application is made according to law. The trial committee will grant this case as soon as possible to protect the hard work of the new creators. If there is any doubt in the bureau, please do not hesitate to give instructions. The new creators will try their best to cooperate with them.

1‧‧‧ Robotic arm

11‧‧‧

110‧‧‧Opening

111‧‧‧ shaft seat

112‧‧‧ Spindle

113‧‧ ‧ socket

114‧‧‧ lead screw

115‧‧‧ Slider

12‧‧‧First Drive Department

121‧‧‧Motor

122‧‧‧Deceleration mechanism

1221‧‧‧Couplings

123‧‧‧First detection unit

13‧‧‧Second drive department

131‧‧‧Activity motor

132‧‧‧Rotary axis

1321‧‧‧Shaft plate

1322‧‧‧ bushing

133‧‧‧ pneumatic cylinder

1331‧‧‧ Telescopic rod

14‧‧‧Access Department

141‧‧‧ ‧ boards

142‧‧‧ tips

15‧‧‧ Third Drive Department

151‧‧‧Motor

1511‧‧‧Coupling

152‧‧‧Second detection unit

153‧‧‧second cover

16‧‧‧ Lifting mechanism

161‧‧‧First linear guide

17‧‧‧fourth drive department

171‧‧‧First transmission

Claims (9)

A rotary pick-and-place device includes a mechanical arm having a shaft seat at one side of the seat body, and a transverse main shaft pivotally connected to the shaft seat, and the shaft seat is internally connected with the main shaft a first driving portion for driving the main shaft to rotate, and an auxiliary motor having a second driving portion perpendicular to the other side of the first driving portion and the driving motor for driving in a different direction from the main shaft The rotating shaft is rotated, and the pick-and-place portion for picking up or placing the preset sheet is respectively connected to the two ends of the rotating shaft. The rotary pick-and-place device according to claim 1, wherein the two sides of the opening on the surface of the seat body are provided with a lead screw disposed opposite to the bearing seat and the socket, and are guided by The screw is screwed to the slider passing through the opening and coupled to the shaft seat, and the motor of the third driving portion is disposed at one side of the bearing seat, and the motor is coupled to the lead screw for driving the lead screw to rotate. The slider is moved to linearly displace the shaft seat toward the outside of the seat. The rotary pick-and-place device of claim 2, wherein the third driving portion is located on the base body adjacent to the lower side of the lead screw, and is respectively provided with a second detecting unit, and is disposed on the shaft seat There is a second flap that passes through the opening to shield or oppose the second detecting unit to trigger the control motor to stop. The rotary pick-and-place device of claim 1, wherein the motor of the first driving portion is a speed reduction mechanism coupled to a main shaft that is coupled to the base. The rotary pick-and-place device of claim 1, wherein the rotating shaft of the actuating motor of the second driving portion is a shaft plate including two mutually abutting plates and is at the end of the shaft plate. The outer side of the actuating motor is sleeved with a sleeve coupled to the pick-and-place portion, and each of the sleeves is respectively connected with a telescopic rod of a pneumatic cylinder, and the two pneumatic cylinders are arranged oppositely and respectively fixed It is fixed on the two sides of the end of the main shaft for the telescopic rod to drive the sleeve so that the shaft plate is located in the actuating motor for telescopic displacement. The rotary pick-and-place device of claim 1, wherein the second driving portion is located at the shaft seat adjacent to the main shaft, and is provided with at least one first detecting unit, and is provided with a rotatable shielding on the main shaft. Or contradicting the first detecting unit on the first detecting unit to trigger the control motor to stop. The rotary pick-and-place device of claim 1, wherein the two pick-and-place portions are frame plates having parallel opposite ends and respectively coupled to the two ends of the rotating shaft, and the outer surfaces of the two plates are respectively combined A plurality of tips for sucking or releasing the predetermined sheet. The rotary pick-and-place device of claim 1, wherein the base body has a lifting mechanism with a first linear guide in a longitudinal direction with respect to the other side of the axle seat, and above the first linear guide A fourth driving portion is disposed, and the fourth driving portion has a first transmission mechanism that can be driven by the motor to drive the first linear guide to the seat body for longitudinal reciprocal displacement. The rotary pick-and-place device of claim 8, wherein the lower portion of the lifting mechanism is laterally disposed with a displacement device having a second linear guide, and the second linear guide is coupled to the first linear guide. a sliding seat and a fifth driving portion at the lower portion, and the fifth driving portion has a second transmission mechanism that is driven by the motor to cause the second linear guide to be coupled to the seat for lateral reciprocal displacement.