A suction and clamping integrated head mounting module

Abstract

The embodiment of the present invention discloses a suction and clamping integrated head module, which is used to solve the technical problem that the existing clamping device cannot open the clamp to complete the material clamping when there is no space for the clamp to avoid. The embodiment of the present invention includes a support plate and a hollow stepper motor; a screw lifting assembly is installed on the support plate, and a mounting slide is connected to the screw lifting assembly, and the mounting slide can be lifted and lowered under the drive of the screw lifting assembly; a connecting seat is provided on the mounting slide, and a connecting shaft extending downward is connected to the connecting seat, and the internal key of the hollow stepper motor is connected to a rotating shaft, and the connecting shaft is rotatably connected to the top of the rotating shaft, and the rotating shaft key is connected to a ball spline, and when the hollow stepper motor is running, the rotating shaft rotates synchronously with the ball spline, and the bottom end of the rotating shaft is connected to a suction head through the ball spline, and the bottom of the ball spline is connected to a pneumatic clamping finger assembly.

Description

Technical Field

[0001] The present invention relates to the technical field of automated equipment, and in particular to a suction-and-clamping integrated head-attaching module. Background Art

[0002] In automatic equipment, a clamping device is generally used to grab materials, and most existing clamping devices use a pneumatic clamp design. When grabbing materials, the pneumatic clamp needs to be pre-opened at a certain angle. In some specific scenarios, such as when the material is placed on a tray with a placement slot or in a specific carrier, the clamp cannot clamp the material due to lack of avoidance space.

[0003] Therefore, in order to solve the above technical problems, finding a suction and clamping integrated head mounting module has become an important topic studied by technical personnel in this field. Summary of the invention

[0004] The embodiment of the present invention discloses a suction-clamp integrated head module, which is used to solve the technical problem that the existing clamping device cannot open the clamp to complete clamping of materials when there is no clearance space for the clamp.

[0005] The embodiment of the present invention provides a suction and clamping integrated head attachment module, comprising a support plate and a hollow stepping motor;

[0006] A lead screw lifting assembly is installed on the support plate, and a mounting slide is connected to the lead screw lifting assembly, and the mounting slide can be raised and lowered under the drive of the lead screw lifting assembly;

[0007] A connecting seat is provided on the mounting slide plate, and a connecting shaft extending downward is connected to the connecting seat. The internal key of the hollow stepper motor is connected to a rotating shaft, and the connecting shaft is rotatably connected to the top end of the rotating shaft. The rotating shaft key is connected to a ball spline. When the hollow stepper motor is running, the rotating shaft rotates synchronously with the ball spline, and the bottom end of the rotating shaft is connected to a suction head through the ball spline, and the bottom of the ball spline is connected to a pneumatic clamping finger assembly.

[0008] Optionally, a pressure sensor is also installed on the connecting seat;

[0009] The pressure sensor is sleeved on the connecting shaft.

[0010] Optionally, the pneumatic clamping finger assembly includes a containing cavity, a tension spring, a first clamping finger and a second clamping finger;

[0011] The top of the accommodating cavity is connected to the ball spline, and the interior of the accommodating cavity is communicated with the ball spline, and the bottom end of the rotating shaft passes through the ball spline and the accommodating cavity in sequence and then is connected to the suction head;

[0012] The first clamping finger and the second clamping finger are located at opposite sides of the accommodating cavity, and the suction head is located between the first clamping finger and the second clamping finger;

[0013] A first guide post is connected to the top of the first clamping finger, and the first guide post is movably arranged inside the accommodating cavity. A second guide post is connected to the top of the second clamping finger, and the second guide post is movably arranged inside the accommodating cavity. The first guide post and the second guide post are both perpendicular to the rotating axis, and the first guide post and the second guide post are connected by the tension spring.

[0014] The outer wall of the accommodating cavity is connected with an air inlet interface.

[0015] Optionally, the support plate is provided with a guide rail along its length direction;

[0016] The mounting slide plate is slidably connected to the guide slide rail.

[0017] Optionally, the lead screw lifting assembly comprises a first motor and a lead screw;

[0018] The first motor is connected to the top of the lead screw, a threaded hole is provided at the top of the mounting plate, the threaded hole is threadedly connected to the lead screw, and the first motor can drive the lead screw to rotate, so that the mounting plate can be lifted and lowered along the lead screw.

[0019] Optionally, it also includes a linear drive module;

[0020] The linear drive module is connected to the support plate, and the linear drive module can drive the support plate to move in a vertical direction.

[0021] Optionally, the linear drive module includes a bracket, a second motor, a driving wheel, a driven wheel and a transmission belt;

[0022] The second motor is installed on the bracket, the driving wheel is rotatably connected to the top of the bracket, the driven wheel is installed at the bottom of the bracket, the driving wheel and the driven wheel are connected through the transmission belt, and the support plate is connected to the transmission belt. When the second motor drives the driving wheel to rotate, the transmission belt drives the support plate to move in the vertical direction.

[0023] It can be seen from the above technical solutions that the embodiments of the present invention have the following advantages:

[0024] An embodiment of the present invention provides an integrated suction and clamping head attachment module, comprising a support plate and a hollow stepper motor; a screw lifting assembly is installed on the support plate, and a mounting slide is connected to the screw lifting assembly, and the mounting slide can be lifted and lowered under the drive of the screw lifting assembly; a connecting seat is provided on the mounting slide, and a connecting shaft extending downward is connected to the connecting seat, the hollow stepper motor is internally keyed to a rotating shaft, the connecting shaft is rotatably connected to the top end of the rotating shaft, the rotating shaft key is connected to a ball spline, and when the hollow stepper motor is running, the rotating shaft rotates synchronously with the ball spline, the bottom end of the rotating shaft is connected to a suction head through the ball spline, and the bottom of the ball spline is connected to a pneumatic clamping finger assembly. In this embodiment, when the suction and clamping integrated head module clamps the material, the screw lifting assembly drives the mounting slide to descend to a certain height, and the rotating shaft together with the suction head moves downward relative to the pneumatic clamping finger assembly to approach the material, and the suction head sucks the material. Then the screw lifting assembly drives the mounting slide to rise, and the rotating shaft together with the suction head and the material rises together. At this time, the pneumatic clamping finger assembly clamps the material on the suction head. Through the above design, after the suction head is lifted and lowered alone to absorb the material, the pneumatic clamping finger assembly clamps the material, which effectively solves the problem that the traditional clamping device requires the clamp to avoid space to grab the material, and is more convenient for the staff to use. BRIEF DESCRIPTION OF THE DRAWINGS

[0025] In order to more clearly illustrate the embodiments of the present invention or the technical solutions in the prior art, the drawings required for use in the embodiments or the description of the prior art will be briefly introduced below. Obviously, the drawings described below are only some embodiments of the present invention. For ordinary technicians in this field, other drawings can be obtained based on these drawings without paying creative labor.

[0026] Figure 1 This is a structural schematic diagram of a suction and clamping integrated head attachment module;

[0027] Figure 2 This is a schematic diagram of the internal structure of a suction and clamping integrated head attachment module;

[0028] Figure 3 A diagram showing the coordination relationship between a suction head and a pneumatic gripper finger assembly of a suction and gripper integrated head attachment module;

[0029] Figure 4 A schematic diagram of the internal structure of a pneumatic gripper finger assembly of a suction and gripper integrated mounting module;

[0030] Figure 5 This is an enlarged structural diagram of a suction and clamping integrated head module;

[0031] Figure 6 This is a schematic diagram of the structure of a linear drive module of a suction and clamping integrated mounting module;

[0032] Figure 7 It is a structural schematic diagram of a rotating shaft of a suction and clamping integrated mounting head module;

[0033] Illustrations: support plate 1; first motor 2; lead screw 3; pressure sensor 4; rotating shaft 5; keyway 501; hollow stepping motor 6; air inlet interface 7; pneumatic clamping finger assembly 8; accommodating cavity 801; first clamping finger 802; second clamping finger 803; first guide column 804; second guide column 805; tension spring 806; suction head 9; linear drive module 10; second motor 1001; bracket 1002; driving wheel 1003; transmission belt 1004; driven wheel 1005; mounting slide plate 11; ball spline 12; guide rail 13; connecting shaft 14. DETAILED DESCRIPTION

[0034] The embodiment of the present invention discloses a suction-clamp integrated head module, which is used to solve the technical problem that the existing clamping device cannot open the clamp to complete clamping of materials when there is no clearance space for the clamp.

[0035] In order to enable those skilled in the art to better understand the scheme of the present invention, the present invention is further described in detail below in conjunction with the accompanying drawings and specific implementation methods. Obviously, the described embodiments are only part of the embodiments of the present invention, rather than all of the embodiments. Based on the embodiments of the present invention, all other embodiments obtained by ordinary technicians in this field without making creative work are within the scope of protection of the present invention.

[0036] Example

[0037] See also Figure 1 In this embodiment, a suction and clamping integrated head attachment module is provided, comprising:

[0038] Support plate 1 and hollow stepping motor 6;

[0039] The support plate 1 is provided with a lead screw 3 lifting assembly, and the lead screw 3 lifting assembly is connected with a mounting slide 11, and the mounting slide 11 can be lifted and lowered under the drive of the lead screw 3 lifting assembly;

[0040] The mounting slide plate 11 is provided with a connecting seat, and a connecting shaft 14 extending downward is connected to the connecting seat. The hollow stepper motor 6 is key-connected with a rotating shaft 5, and the connecting shaft 14 is rotatably connected to the top of the rotating shaft 5. Specifically, the connecting shaft 14 is rotatably connected to the rotating shaft 5 through a rotating joint, and the rotating shaft 5 is key-connected with a ball spline 12. When the hollow stepper motor 6 is running, the rotating shaft 5 rotates synchronously with the ball spline 12, and the bottom end of the rotating shaft 5 is connected with a suction head 9 through the ball spline 12, and the bottom of the ball spline 12 is connected with a pneumatic clamping finger assembly 8.

[0041] It should be noted that a key slot 501 is provided along the length direction of the rotating shaft 5. Since the rotating shaft 5 is connected to the internal key of the hollow stepper motor 6 and the rotating shaft 5 is connected to the ball spline 12 by a key, when the screw 3 lifting assembly drives the mounting slide 11 to lift and lower, the rotating shaft 5 can be lifted and lowered relative to the hollow stepper motor 6 and the ball spline 12.

[0042] In this embodiment, when the suction and clamping integrated head module clamps the material, the screw 3 lifting assembly drives the mounting slide 11 to descend to a certain height, and the rotating shaft 5 together with the suction head 9 moves downward relative to the pneumatic clamping finger assembly 8 to approach the material, and the suction head 9 sucks the material, and then the screw 3 lifting assembly drives the mounting slide 11 to rise, and the rotating shaft 5 together with the suction head 9 and the material rise together, at this time, the pneumatic clamping finger assembly 8 clamps the material on the suction head 9. Through the above design, after the suction head 9 is lifted and lowered alone to absorb the material, the pneumatic clamping finger assembly 8 clamps the material, which effectively solves the problem that the traditional clamping device needs a space for the clamp to avoid the material, and is more convenient for the staff to use.

[0043] Furthermore, a pressure sensor 4 is also installed on the connecting seat;

[0044] The pressure sensor 4 is sleeved on the connecting shaft 14 .

[0045] It should be noted that the pressure sensor 4 is used to detect the pressure when the suction head 9 sucks or the pressure when the suction head 9 attaches the material to the product.

[0046] Furthermore, the pneumatic clamping finger assembly 8 includes a receiving cavity 801, a tension spring 806, a first clamping finger 802 and a second clamping finger 803;

[0047] The top of the accommodating cavity 801 is connected to the ball spline 12, and the interior of the accommodating cavity 801 is connected to the ball spline 12. The bottom end of the rotating shaft 5 passes through the ball spline 12 and the accommodating cavity 801 in sequence and is connected to the suction head 9.

[0048] The first clamping finger 802 and the second clamping finger 803 are located at opposite sides of the accommodating cavity 801, and the suction head 9 is located between the first clamping finger 802 and the second clamping finger 803;

[0049] The top of the first clamping finger 802 is connected to a first guide post 804, and the first guide post 804 is movably arranged inside the accommodating cavity 801. The top of the second clamping finger 803 is connected to a second guide post 805, and the second guide post 805 is movably arranged inside the accommodating cavity 801. The first guide post 804 and the second guide post 805 are both perpendicular to the rotating shaft 5, and the first guide post 804 and the second guide post 805 are connected by the tension spring 806.

[0050] The outer wall of the accommodating cavity 801 is connected to an air inlet port 7 .

[0051] It should be noted that the external air supply pipe can be connected to the air inlet interface 7. When the air inlet interface 7 is intaked, the air pressure will push the first guide column 804 and the second guide column 805, and the tension spring 806 will be stretched, so that the first clamping finger 802 and the second clamping finger 803 are pre-opened. When the air inlet interface 7 stops intake of air, the first guide column 804 and the second guide column 805 will shrink into the accommodating cavity 801 under the elastic force of the tension spring 806, so that the first clamping finger 802 and the second clamping finger 803 are close to each other, thereby clamping the material.

[0052] Furthermore, the support plate 1 is provided with a guide rail 13 along its length direction;

[0053] The mounting slide plate 11 is slidably connected to the guide rail 13 .

[0054] It should be noted that, through the above-mentioned design, the installation slide plate 11 can move more smoothly on the support plate 1.

[0055] Further, the screw 3 lifting assembly includes a first motor 2 and a screw;

[0056] The first motor 2 is connected to the top of the lead screw 3 , and a threaded hole is provided at the top of the mounting plate 11 , and the threaded hole is threadedly connected to the lead screw 3 . The first motor 2 can drive the lead screw 3 to rotate, so that the mounting plate 11 can be lifted and lowered along the lead screw 3 .

[0057] Furthermore, it also includes a linear drive module 10;

[0058] The linear drive module 10 is connected to the support plate 1 , and the linear drive module 10 can drive the support plate 1 to move in a vertical direction.

[0059] Furthermore, the linear drive module 10 includes a bracket 1002, a second motor 1001, a driving wheel 1003, a driven wheel 1005 and a transmission belt 1004;

[0060] The second motor 1001 is installed on the bracket 1002, the driving wheel 1003 is rotatably connected to the top of the bracket 1002, the driven wheel 1005 is installed at the bottom of the bracket 1002, the driving wheel 1003 and the driven wheel 1005 are connected through the transmission belt 1004, and the support plate 1 is connected to the transmission belt 1004. When the second motor 1001 drives the driving wheel 1003 to rotate, the transmission belt 1004 drives the support plate 1 to move in the vertical direction.

[0061] Application Examples

[0062] The material is placed horizontally in a material tray or other carrier, the linear drive module 10 drives the support plate 1 to descend, the screw 3 lifting assembly drives the mounting slide plate 11 to descend, so that the rotating shaft 5 descends relative to the ball spline 12 and the hollow stepper motor 6, so that the suction head 9 can absorb the material. After the suction head 9 absorbs the material, the screw 3 lifting assembly drives the rotating shaft 5 to rise, so that the suction head 9 rises, and the pneumatic clamping finger assembly 8 clamps the material at this time. Then, the hollow stepper motor 6 drives the rotating shaft 5 and the ball spline 12 to rotate, thereby driving the suction head 9, the pneumatic clamping finger assembly 8 and the material to rotate synchronously for calibration;

[0063] When the material needs to be attached to the product, the pneumatic clamping finger assembly 8 is released, and the suction head 9 and the rotating shaft 5 are driven by the screw 3 lifting assembly to descend above the product, and the suction head 9 attaches the material to the product. Then the suction head 9 is separated from the material, and the suction head 9 and the rotating shaft 5 are driven by the screw 3 lifting assembly to return to the initial position.

[0064] The above is a detailed introduction to the suction and clamping integrated head attachment module provided by the present invention. For those skilled in the art, according to the ideas of the embodiments of the present invention, there may be changes in the specific implementation methods and application scopes. In summary, the content of this specification should not be understood as limiting the present invention.

Claims

1. A suction and clamping integrated head attachment module, characterized in that: Including a support plate and a hollow stepper motor; A lead screw lifting assembly is installed on the support plate, and a mounting slide is connected to the lead screw lifting assembly, and the mounting slide can be raised and lowered under the drive of the lead screw lifting assembly; The mounting slide is provided with a connecting seat, the connecting seat is connected with a connecting shaft extending downward, the internal key of the hollow stepper motor is connected with a rotating shaft, the connecting shaft is rotatably connected with the top end of the rotating shaft, the rotating shaft key is connected with a ball spline, when the hollow stepper motor is running, the rotating shaft and the ball spline rotate synchronously, the bottom end of the rotating shaft passes through the ball spline and is connected with a suction head, and the bottom of the ball spline is connected with a pneumatic clamping finger assembly; The pneumatic clamping finger assembly comprises a containing cavity, a tension spring, a first clamping finger and a second clamping finger; The top of the accommodating cavity is connected to the ball spline, and the interior of the accommodating cavity is communicated with the ball spline, and the bottom end of the rotating shaft passes through the ball spline and the accommodating cavity in sequence and then is connected to the suction head; The first clamping finger and the second clamping finger are located at opposite sides of the accommodating cavity, and the suction head is located between the first clamping finger and the second clamping finger; The suction and clamping integrated head module also includes a linear drive module; The linear drive module is connected to the support plate; The linear drive module drives the support plate to descend, and the screw lifting assembly drives the mounting slide to descend, so that the rotating shaft descends relative to the ball spline and the hollow stepper motor, so that the suction head can absorb the material. After the suction head absorbs the material, the screw lifting assembly drives the rotating shaft to rise, so that the suction head rises. At this time, the pneumatic clamping finger assembly clamps the material. Then, the hollow stepping motor drives the rotating shaft and the ball spline to rotate, thereby driving the suction head, the pneumatic clamping finger assembly and the material to rotate synchronously for calibration.

2. The suction and clamping integrated head attachment module according to claim 1, characterized in that: A pressure sensor is also installed on the connecting seat; the pressure sensor is sleeved on the connecting shaft.

3. The suction and clamping integrated head attachment module according to claim 1, characterized in that: A first guide post is connected to the top of the first clamping finger, and the first guide post is movably arranged inside the accommodating cavity. A second guide post is connected to the top of the second clamping finger, and the second guide post is movably arranged inside the accommodating cavity. The first guide post and the second guide post are both perpendicular to the rotating axis, and the first guide post and the second guide post are connected by the tension spring. The outer wall of the accommodating cavity is connected with an air inlet interface.

4. The suction and clamping integrated head attachment module according to claim 1, characterized in that: The support plate is provided with a guide rail along its length direction; the mounting slide plate is slidably connected to the guide rail.

5. The suction and clamping integrated head attachment module according to claim 1, characterized in that: The lead screw lifting assembly comprises a first motor and a lead screw; The first motor is connected to the top of the lead screw, a threaded hole is provided at the top of the mounting plate, the threaded hole is threadedly connected to the lead screw, and the first motor can drive the lead screw to rotate, so that the mounting plate can be lifted and lowered along the lead screw.

6. The suction and clamping integrated head attachment module according to claim 1, characterized in that: The linear drive module includes a bracket, a second motor, a driving wheel, a driven wheel and a transmission belt; the second motor is installed on the bracket, the driving wheel is rotatably connected to the top of the bracket, the driven wheel is installed at the bottom of the bracket, the driving wheel and the driven wheel are connected through the transmission belt, and the support plate is connected to the transmission belt. When the second motor drives the driving wheel to rotate, the transmission belt drives the support plate to move in the vertical direction.

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