An angle-adjustable functional head and intelligent platform system

Abstract

This invention discloses an angle-adjustable functional head and an intelligent platform system. The angle-adjustable functional head includes a first rotating device, a second rotating device, a working unit, and a transmission device. The second rotating device drives the first rotating device to rotate. The first rotating device includes a rotating base and a servo motor, which is mounted on the rotating base. The working unit is rotatably connected to the rotating base via a first connecting shaft. The axial direction of the first connecting shaft is different from the axial direction of the rotating shaft of the first rotating device. The servo motor drives the first connecting shaft to rotate via the transmission device, thereby causing the first connecting shaft to drive the working unit to rotate. A drive gear is connected to the drive end of the servo motor, and a driven gear is connected to one end of the first connecting shaft. The drive gear and the driven gear are connected by a synchronous belt or chain transmission. The working unit is a suction head, a clamping head, or a dispensing head. This invention enables the working unit to have high angle adjustment accuracy, good stability, small size, and small space occupation, which is conducive to the miniaturization of functional heads.

Description

Technical Field

[0001] This invention relates to the field of automated production equipment technology, specifically to an angle-adjustable functional head and intelligent platform system. Background Technology

[0002] A functional head is a commonly used automated device in automated production. It can perform functions such as picking up materials and dispensing glue to products. It mainly includes a fixed base, a drive mechanism, and a working unit. The working unit can be a suction head, a clamping head, a dispensing head, or a glue-applying head. In order to adapt to the inclined operation mode, the functional head is generally equipped with an angle adjustment mechanism to adjust the angle of the working unit.

[0003] However, in existing functional heads, the angle adjustment accuracy of the working unit is low, the stability is poor, and the angle adjustment mechanism is large and occupies a lot of space, which is not conducive to the miniaturization of functional heads. Summary of the Invention

[0004] This invention addresses the shortcomings of existing technologies by providing an angle-adjustable functional head and intelligent platform system. This system enables high-precision angle adjustment of the working unit, good stability, small size, and minimal space occupation, which is beneficial for the miniaturization of functional heads.

[0005] To achieve the above objectives, the present invention adopts the following technical solution:

[0006] An angle-adjustable functional head includes a first rotating device, a second rotating device, a working unit, and a transmission device. The second rotating device drives the first rotating device to rotate. The first rotating device includes a rotating base and a servo motor. The servo motor is mounted on the rotating base. The working unit is rotatably connected to the rotating base via a first connecting shaft. The axial direction of the first connecting shaft is different from the axial direction of the rotating shaft of the first rotating device. The servo motor drives the first connecting shaft to rotate via the transmission device, thereby causing the first connecting shaft to drive the working unit to rotate. By setting up a first rotating device composed of a rotating base and a servo motor, and rotatably connecting the working unit to the rotating base via the first connecting shaft, with the axial direction of the first connecting shaft different from the axial direction of the rotating shaft of the first rotating device, the servo motor can drive the first connecting shaft to rotate, thus driving the working unit to rotate and achieving angle adjustment of the working unit. Using a servo motor as the driving unit results in smoother power output, higher precision, and greater torque, thereby improving the angle adjustment accuracy and stability of the working unit. Furthermore, the servo motor is compact, occupies less space, and is conveniently installed in a more suitable position on the rotating base, which is beneficial for the miniaturization of functional heads.

[0007] As a preferred embodiment, the transmission device includes a driving gear and a driven gear, the drive end of the servo motor is connected to the driving gear, one end of the first connecting shaft is connected to the driven gear, and the driving gear and the driven gear are connected by a synchronous belt or chain drive.

[0008] As a preferred embodiment, the rotary base is provided with a tension adjustment component, and the servo motor is rotatably mounted on the rotary base via the tension adjustment component to adjust the tension of the timing belt or chain.

[0009] As a preferred embodiment, the device further includes a mounting base, wherein the rotating base is rotatably mounted on the mounting base via a third connecting shaft, the second rotating device is mounted on the mounting base, and the second rotating device drives the third connecting shaft to rotate, so that the third connecting shaft drives the rotating base to rotate.

[0010] As a preferred embodiment, the second rotating device is an electric motor.

[0011] As a preferred embodiment, the main shaft of the motor is connected to a reducer, and the motor drives the third connecting shaft to rotate through the reducer.

[0012] As a preferred embodiment, the first rotating device further includes a ball joint assembly. The rotating seat has a receiving cavity. The ball joint of the ball joint assembly is rotatably disposed in the receiving cavity via the first connecting shaft. The ball joint has a flow channel communicating with the receiving cavity. The flow channel is connected to the working unit. The servo motor drives the first connecting shaft to rotate, so that the ball joint assembly drives the working unit to rotate.

[0013] As a preferred embodiment, the working unit is a suction head or a clamping head, the mounting base is provided with a first passage, the first passage can be connected to a negative pressure device or a positive pressure device, the third connecting shaft is provided with a second passage, and the first passage, the second passage and the accommodating cavity are connected in sequence.

[0014] As a preferred embodiment, the working unit is a dispensing head, the mounting base is equipped with a dispensing module, the third connecting shaft is provided with a glue inlet channel, and the dispensing module, the glue inlet channel, and the receiving cavity are sequentially connected.

[0015] An intelligent platform system includes a frame, an XY axis module, and a material conveying module. The step-by-step module and the material conveying module are both disposed within the frame. The intelligent platform system also includes an angle-adjustable functional head, which is connected to the XY axis module.

[0016] Compared with the prior art, the present invention has obvious advantages and beneficial effects. Specifically, by setting a first rotating device composed of a rotating base and a servo mechanism, the working unit is rotatably connected to the rotating base through a first connecting shaft. The axial direction of the first connecting shaft is different from the axial direction of the rotating shaft of the first rotating device. The servo motor drives the first connecting shaft to rotate through the transmission device, which in turn drives the working unit to rotate, thereby realizing the angle adjustment of the working unit. Using a servo motor as the driving unit results in more stable power output, higher precision, and greater torque, thus making the angle adjustment of the working unit more accurate and stable. At the same time, the servo motor is small in size, occupies less space, and is convenient to install and lay out in a more suitable position on the rotating base, which is conducive to the miniaturization of the functional head.

[0017] To more clearly illustrate the structural features, technical means, and specific objectives and functions achieved by the present invention, the present invention will be further described in detail below with reference to the accompanying drawings and specific embodiments: Attached Figure Description

[0018] Figure 1 This is a schematic diagram of the assembly structure of the first embodiment of the present invention;

[0019] Figure 2 This is a schematic diagram of the assembly of the mounting base, the first rotating device, and the second rotating device according to the first embodiment of the present invention.

[0020] Figure 3 This is a schematic diagram of the mounting base, the first rotating device, and the second rotating device from another perspective, representing the first embodiment of the present invention.

[0021] Figure 4 This is a schematic diagram of the tension adjustment component in the first embodiment of the present invention.

[0022] Figure 5 This is a cross-sectional schematic diagram of the mounting base and the first rotating device according to the first embodiment of the present invention;

[0023] Figure 6 This is an exploded view of the first rotating device according to the first embodiment of the present invention;

[0024] Figure 7 This is a schematic diagram of the assembly of the mounting base, the first rotating device, and the second rotating device according to the second embodiment of the present invention.

[0025] Figure 8 This is a schematic diagram of the assembly structure of an intelligent platform system according to an embodiment of the present invention.

[0026] Explanation of reference numerals in the attached diagram:

[0027] 10-Functional head; 20-Fixed base; 21-Mounting base

[0028] 22-Lifting mechanism; 211-First passage; 212-Shaft hole

[0029] 213-Cavity 30-First Rotating Device 31-Rotating Seat

[0030] 311-Connecting block; 312-First through hole; 313-Mounting plane

[0031] 314 - Threaded hole; 315 - Receiving cavity; 316 - Connecting channel

[0032] 32-First servo motor; 321-First drive gear; 33-First connecting shaft

[0033] 331-First driven gear; 34-Synchronous belt; 35-Tension adjustment assembly

[0034] 351-Adjusting seat; 3511-Mounting plate; 3512-Connecting plate

[0035] 3513-Baffle; 352-Adjusting screw; 353-Second connecting shaft

[0036] 354 - Connecting groove; 355 - Second through hole; 356 - Mounting groove

[0037] 36-Ball head assembly; 361-Ball head; 362-Connecting pipe

[0038] 363-Flow channel; 364-Pipeline; 40-Second rotating device

[0039] 41-Motor 42-Reducer 43-Third connecting shaft

[0040] 431-Second Path 44-Second Servo Motor 45-Second Synchronous Belt

[0041] 46-Second driving gear; 47-Second driven gear; 48-Dispensing module

[0042] 50 - Working unit; 60 - Intelligent platform system; 61 - Rack

[0043] 62-Material Conveying Module Detailed Implementation

[0044] In the description of this invention, it should be noted that the terms "center", "upper", "lower", "left", "right", "vertical", "horizontal", "inner", "outer", etc., indicate the orientation or positional relationship based on the orientation or positional relationship shown in the accompanying drawings. They are only for the convenience of describing the invention and simplifying the description, and do not indicate or imply that the indicated position or element must have a specific orientation, or be constructed and operated in a specific orientation. Therefore, they should not be construed as limitations on this invention.

[0045] In the description of this invention, it should be noted that, unless otherwise explicitly specified and limited, the terms "installation," "connection," and "linking" should be interpreted broadly. For example, they can refer to a fixed connection, a detachable connection, or an integral connection; they can refer to a mechanical connection or an electrical connection; they can refer to a direct connection or an indirect connection through an intermediate medium; and they can refer to the internal connection of two components. Those skilled in the art can understand the specific meaning of the above terms in this invention according to the specific circumstances.

[0046] like Figure 1-6 As shown, the present invention discloses an angle-adjustable functional head 10. In a first embodiment, the angle-adjustable functional head 10 includes a fixed base 20, a mounting base 21 disposed on the fixed base 20, and a lifting mechanism 22 for driving the mounting base 21 to move up and down. The mounting base 21 is provided with a first rotating device 30, a second rotating device 40, a working unit 50, and a transmission device. The second rotating device 40 drives the first rotating device 30 to rotate. Specifically, the tilt angle range of the working unit 50 is ±45°.

[0047] The first rotating device 30 includes a rotating base 31 and a first servo motor 32. The first servo motor 32 is mounted on the rotating base 31. The working unit 50 is rotatably connected to the rotating base 31 via a first connecting shaft 33. The axial direction of the first connecting shaft 33 is different from the axial direction of the rotating shaft of the first rotating device 30. Specifically, the axial direction of the rotating shaft of the first rotating device 30 is vertically arranged, and the axial direction of the first connecting shaft 33 is perpendicular to the axial direction of the rotating shaft of the first rotating device 30. The first servo motor 32 drives the first connecting shaft 33 to rotate via a transmission device, so that the first connecting shaft 33 drives the working unit 50 to rotate.

[0048] Specifically, the power element inside the first servo motor 32 is a motor, and the transmission device includes a first driving gear 321 and a first driven gear 331. The drive end of the first servo motor 32 is connected to the first driving gear 321, and one end of the first connecting shaft 33 is connected to the first driven gear 331. The first driving gear 321 and the first driven gear 331 are connected by a synchronous belt 34. By using a synchronous belt 34 as a power transmission component, the power delivered by the first servo motor 32 to the first connecting shaft 33 is more stable, improving the angle adjustment accuracy of the working unit 50. At the same time, the position layout of the first servo motor 32 is less restricted, allowing the first servo motor 32 to be placed in a more suitable position for easy installation and disassembly.

[0049] The rotating base 31 is provided with a tension adjustment assembly 35. The first servo motor 32 is rotatably mounted on the rotating base 31 via the tension adjustment assembly 35 to adjust the tension of the synchronous belt 34. The tension adjustment assembly 35 includes an adjustment seat 351 and an adjustment screw 352. The adjustment seat 351 is rotatably connected to the rotating base 31 via a second connecting shaft 353. The axial direction of the second connecting shaft 353 is parallel to the axial direction of the first connecting shaft 33, and the second connecting shaft 353 is located at the adjustment screw 352. Above, the adjusting screw 352 is mounted on the rotating seat 31, and one end of the adjusting screw 352 abuts against the side wall of the adjusting seat 351. During adjustment, rotating the adjusting screw 352 causes one end of the adjusting screw 352 to push against the adjusting seat 351, and the adjusting seat 351 rotates upward around the second connecting shaft 353. The adjusting seat 351 drives the first servo motor 32 and the first drive gear 321 to rotate upward, increasing the distance between the first drive gear 321 and the first driven gear 331, thereby increasing the tension of the synchronous belt 34.

[0050] One side of the rotating base 31 is provided with a radially outward protruding connecting block 311, and the adjusting base 351 is provided with a connecting groove 354. During assembly, the connecting block 311 is placed in the connecting groove 354. The upper end of the connecting block 311 is provided with a first through hole 312, which is located above the adjusting screw 352. The two side walls of the upper end of the connecting groove 354 are provided with second through holes 355. The second connecting shaft 353 passes through the first through hole 312 of the connecting block 311 and the second through holes 355 on the two side walls of the connecting groove 354. By setting the connecting block 311 and the connecting groove 354, the upper end of the connecting block 311 is provided with a first through hole 312, and the two side walls of the upper end of the connecting groove 354 are provided with second through holes 355, which facilitates the installation of the adjusting base 351 onto the rotating base 31 and improves assembly efficiency.

[0051] The adjusting seat 351 includes a mounting plate 3511, a connecting plate 3512, and a baffle 3513. The lower ends of the mounting plate 3511 and the baffle 3513 are connected by the connecting plate 3512. The mounting plate 3511, the connecting plate 3512, and the baffle 3513 are integrally formed. An upward-opening mounting groove 356 is formed between the mounting plate 3511, the connecting plate 3512, and the baffle 3513. The first servo motor 32 is installed in the mounting groove 356. The connecting groove 354 is provided on the mounting plate 3511. The rotating seat 31 has a mounting plane 313 on one side corresponding to the mounting plate 3511. The connecting block 311 is located on the mounting plane 313. The rotating seat 31 has a threaded hole 314 that penetrates the mounting plane 313. The adjusting screw 352 is located in the threaded hole 314. Specifically, there are two adjusting screws 352. The connecting block 311 is located between the two adjusting screws 352. By using two adjusting screws 352, the adjusting seat 351 has two fulcrums, which balances the force and improves stability.

[0052] The rotating seat 31 is rotatably mounted on the mounting base 21 via a third connecting shaft 43. The second rotating device 40 is mounted on the mounting base 21, and the rotating seat 31 is located directly below the second rotating device 40. The second rotating device 40 drives the third connecting shaft 43 to rotate, thereby causing the third connecting shaft 43 to drive the rotating seat 31 to rotate. The axis of the third connecting shaft 43 is vertically oriented and perpendicular to the axis of the first connecting shaft 33. The second rotating device 40 is a motor 41, and the main shaft of the motor 41 is connected to a reducer 42. The motor 41 drives the third connecting shaft 43 to rotate through the reducer 42. Specifically, the reducer 42 is a harmonic reducer. By setting the harmonic reducer 42, the second device has a large reduction ratio, high precision, and large torque, making the rotation of the rotating seat 31 smoother and the angle adjustment more accurate.

[0053] The first rotating device 30 further includes a ball joint assembly 36. The rotating base 31 has a receiving cavity 315. The ball joint 361 of the ball joint assembly 36 is rotatably disposed in the receiving cavity 315 via the first connecting shaft 33. The ball joint 361 has a flow channel 363 communicating with the receiving cavity 315. The flow channel 363 is connected to the working unit 50. The first servo motor 32 drives the first connecting shaft 33 to rotate, so that the ball joint assembly 36 drives the working unit 50 to rotate. The mounting base 21 has a first passage 211, which can be connected to a negative pressure device or a positive pressure device. The third connecting shaft 43 has a second passage 431. The first passage 211, the second passage 431, and the receiving cavity 315 are sequentially connected. Specifically, the ball joint 361 is connected to the working unit 50 via a connecting pipe 362. The connecting pipe 362 has a pipe 364 communicating with the flow channel 363. The working unit 50 is a suction head. The rotating seat 31 is also provided with a connecting channel 316 communicating with the accommodating cavity 315. The lower end of the third connecting shaft 43 is located in the connecting channel 316. The mounting seat 21 is also provided with a shaft hole 212. The upper end of the third connecting shaft 43 is rotatably located in the shaft hole 212. A cavity 213 is formed between the inner side wall of the shaft hole 212 and the outer side wall of the third connecting shaft 43. The first passage 211 is connected to the second passage 431 through the cavity 213. By providing an accommodating cavity 315 in the rotating seat 31, a fluid channel in the ball head assembly 36, a first passage in the mounting seat, and a second passage 431 in the third connecting shaft 43, the first passage 211, the second passage 431, the accommodating cavity 315, the flow channel 363, and the working unit 50 are sequentially connected, so that the fluid can still flow smoothly in the working unit 50 when it is tilted, thereby ensuring the normal operation of the working unit 50.

[0054] like Figure 7As shown, the second embodiment of the present invention differs from the first embodiment in that the second rotating device 40 is a second servo motor 44. The second servo motor 44 drives the third connecting shaft 43 to rotate. Specifically, the driving end of the second servo motor 44 is connected to a second driving gear 46, and the third connecting shaft 43 is provided with a second driven gear 47. The second driving gear 46 and the second driven gear 47 are connected by a second synchronous belt 45. The diameter of the second driven gear 47 is larger than the diameter of the second driving gear 46, preferably, the diameter of the second driven gear 47 is ≥ twice the diameter of the second driving gear 46. The third connecting shaft 43, the second driven gear 47, and the rotating seat 31 are integrally connected. By setting the second servo motor 44, the rotating seat 31 and the working unit 50 are controlled to rotate around the third connecting shaft 43, cooperating with the first servo motor 3. 2. The control unit 50 rotates around the first connecting shaft 33, and adopts a dual servo motor adjustment method, which makes the angle adjustment of the working unit 50 more precise and can meet the high-precision production requirements of integrated circuits, etc. By setting the diameter of the second driven gear 47 to be larger than the diameter of the second driving gear 46, the second synchronous belt 45, the second driving gear 46 and the second driven gear 47 form a reducer structure, which has the effect of reducing speed and increasing torque on the power output of the second servo motor 44, and can better rotate the first rotating device 30 and the working unit 50. By setting the third connecting shaft 43, the second driven gear 47 and the rotating seat 31 to be integrated, they can be processed and formed in one go, which reduces manufacturing cost, simplifies the installation method, makes installation more convenient, and avoids installation errors between the third connecting shaft 43, the second driven gear 47 and the rotating seat 31.

[0055] The working unit is a dispensing head (not shown). The mounting base 21 is provided with a dispensing module 48. The third connecting shaft 43 is provided with an adhesive inlet channel (not shown). The dispensing module 48, the adhesive inlet channel, and the receiving cavity 315 are connected in sequence. During operation, the adhesive output by the dispensing module 48 passes through the adhesive inlet channel and the receiving cavity 315 in sequence before reaching the dispensing head.

[0056] It should be noted that in this invention, the synchronous belt 34 can also be replaced by a chain, and the working unit 50 can also be a clamping head (not shown). The clamping head uses air pressure to control the grippers to grab or release materials. The working unit 50 can also be a detection head (not shown).

[0057] like Figure 8 As shown, the present invention also discloses an intelligent platform system 60, including a frame 61, an XY axis module (not shown), a material conveying module 62, and an angle-adjustable functional head 10. The XY axis module and the material conveying module 62 are both disposed in the frame 61, and the angle-adjustable functional head 10 is connected to the XY axis module.

[0058] Working principle of the functional head 10 of this invention:

[0059] The second rotating device 40 drives the first rotating device 30 to rotate: the motor 41 drives the harmonic reducer 42 to rotate, the harmonic reducer 42 drives the third connecting shaft 43 to rotate, and the third connecting shaft 43 drives the rotating seat 31 to rotate.

[0060] The first rotating device 30 drives the working unit 50 to rotate: the first servo motor 32 drives the synchronous belt 34 to rotate, the synchronous belt 34 drives the first connecting shaft 33 to rotate, the first connecting shaft 33 drives the ball head 361 to rotate, and the ball head 361 drives the connecting pipe 362 and the working unit 50 to rotate.

[0061] In summary, this invention provides a first rotating device 30 consisting of a rotating base 31 and a first servo motor 32. The working unit 50 is rotatably connected to the rotating base 31 via a first connecting shaft 33. The axial direction of the first connecting shaft 33 is different from the axial direction of the rotating shaft of the first rotating device 30. The first servo motor 32 drives the first connecting shaft 33 to rotate via a transmission device, thereby driving the working unit 50 to rotate and achieving angle adjustment of the working unit 50. Using the first servo motor 32 as the driving unit results in more stable power output, higher precision, and greater torque, thus improving the angle adjustment precision and stability of the working unit 50. At the same time, the first servo motor 32 is compact, occupies less space, and is convenient to install in a more suitable position on the rotating base 31, which is conducive to the miniaturization of the functional head 10.

[0062] The above description is merely a preferred embodiment of the present invention and is not intended to limit the present invention. Therefore, any modifications, equivalent substitutions, improvements, etc., made to the above embodiments based on the actual technology of the present invention shall still fall within the scope of the technical solution of the present invention.

Claims

1. An angle-adjustable functional head, characterized in that, The first rotating device, the second rotating device, the working unit and the transmission device are included, and the second rotating device drives the first rotating device to rotate; The first rotating device includes a rotating seat and a steering engine, the steering engine is installed on the rotating seat, the working unit is rotationally connected with the rotating seat through a first connecting shaft, the axial direction of the first connecting shaft is different from the axial direction of the rotating shaft of the first rotating device, the steering engine drives the first connecting shaft to rotate through the transmission device, so that the first connecting shaft drives the working unit to rotate; The transmission device includes a driving gear and a driven gear, the driving end of the steering engine is connected with the driving gear, one end of the first connecting shaft is connected with the driven gear, and the driving gear and the driven gear are transmissionally connected through a synchronous belt or a chain; The rotating seat is provided with a tension adjusting assembly, the steering engine is rotationally installed on the rotating seat through the tension adjusting assembly, so as to adjust the tension of the synchronous belt or the chain; The tension adjusting assembly includes an adjusting seat and an adjusting screw, the adjusting seat is rotationally connected with the rotating seat through a second connecting shaft, the axial direction of the second connecting shaft is parallel to the axial direction of the first connecting shaft, and the second connecting shaft is located above the adjusting screw, the adjusting screw is arranged on the rotating seat, and one end of the adjusting screw abuts against the side wall of the adjusting seat.

2. The angle adjustable functional head according to any one of claims 1, characterized in that, It also includes a mounting seat, the rotating seat is rotationally arranged on the mounting seat through a third connecting shaft, the second rotating device is mounted on the mounting seat, and the second rotating device drives the third connecting shaft to rotate, so that the third connecting shaft drives the rotating seat to rotate.

3. The angle adjustable functional head according to claim 2, characterized in that The second rotating device is a motor.

4. The angle adjustable functional head according to claim 3, characterized in that, The main shaft of the motor is transmissionally connected with a speed reducer, and the motor drives the third connecting shaft to rotate through the speed reducer.

5. The angle adjustable functional head according to claim 2, characterized in that, The first rotating device also includes a ball head assembly, the rotating seat is provided with a containing cavity, the ball head of the ball head assembly is rotationally arranged in the containing cavity through the first connecting shaft, a flow channel is arranged in the ball head and communicates with the containing cavity, the flow channel communicates with the working unit, and the steering engine drives the first connecting shaft to rotate, so that the ball head assembly drives the working unit to rotate.

6. The angle adjustable functional head according to claim 5, characterized in that The working unit is a suction head or a clamping head, the mounting seat is provided with a first passage, the first passage can be connected with a negative pressure device or a positive pressure device, the third connecting shaft is provided with a second passage, and the first passage, the second passage and the containing cavity are sequentially communicated.

7. The angle adjustable functional head according to claim 6, characterized in that The working unit is a dispensing head, the mounting seat is provided with a dispensing module, the third connecting shaft is provided with a glue feeding channel, and the dispensing module, the glue feeding channel and the containing cavity are sequentially communicated.

8. An intelligent platform system comprising a rack, an XY axis module and a material transport module, the XY axis module and the material transport module are disposed in the rack, characterized in that, The intelligent platform system also includes the angle-adjustable functional head according to any one of claims 1-7, and the angle-adjustable functional head is connected with the XY axis module.

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