Variable-pitch pickup mechanism

Abstract

The invention relates to the technical field of carrying equipment, and particularly discloses a variable-pitch pickup mechanism which is characterized in that a first transmission part extends in a first direction and is movably restrained on a base in the axis direction of the first transmission part; the second transmission part extends in the second direction and is fixed to the base. The picking fixing piece extends in the first direction and is provided with a picking part capable of picking a workpiece. The two pickup fixing pieces are movably constrained to the second transmission piece and can be close to or far away from each other in the second direction; the at least two transmission assemblies are arranged at intervals in the first direction, the input ends of the transmission assemblies are fixedly connected with the first transmission piece, and the two output ends of the transmission assemblies are connected with the corresponding picking fixing pieces correspondingly. The input end of the transmission assembly can drive the two output ends to be close to or separated from each other in the second direction in the moving process so as to drive the two picking fixing pieces to be close to or away from each other in the second direction. The arrangement can adapt to workpieces of different sizes, the matching relation between all the components is simple, and operation is smooth.

Description

Technical Field

[0001] The present invention relates to the technical field of handling equipment, and in particular to a variable-distance picking mechanism. Background Art

[0002] In the production process, a picking mechanism for picking up workpieces is often used. In order to adapt to workpieces of different sizes, the distance between the suction nozzles is generally adjusted through a scissor-type structure. Specifically, a number of picking fixtures are arranged at intervals along the length direction, and are all slidably arranged on the base through a slider. The driving component drives the scissor-type structure to deform, a sliding pin is provided at the hinge of the scissor-type structure, and a long hole that is at an angle to the sliding direction is provided on the picking fixture. The sliding pin slides in the long hole to achieve a change in the spacing of the picking fixture. However, the provision of the long hole weakens the structural strength of the picking fixture; the cooperation between the long hole and the sliding pin has a connection relationship that combines relative movement and relative rotation, the connection relationship is complex, and jamming is prone to occur during operation.

[0003] Therefore, it is urgent to study a variable distance picking mechanism to solve the above-mentioned problems. Summary of the invention

[0004] The purpose of the present invention is to provide a variable-distance picking mechanism to solve the problems in the prior art that the structural strength of the picking fixture is weakened by the influence of the long strip hole, and the connection relationship between the transmission parts is complex, which leads to easy jamming.

[0005] To achieve the above object, the present invention adopts the following technical solutions:

[0006] Variable distance pickup mechanism, including:

[0007] Base;

[0008] A first transmission member, the first transmission member extends along a first direction and is movably constrained to the base along its own axis direction;

[0009] A second transmission member extending along a second direction and fixed to the base;

[0010] A pick-up fixture, the pick-up fixture extends along the first direction and is provided with a pick-up portion capable of picking up a workpiece; two pick-up fixtures are provided, and both of the two pick-up fixtures are movably constrained to the second transmission member and can approach or move away from each other along the second direction;

[0011] At least two transmission components are arranged at intervals along a first direction, the input end of the transmission component is fixedly connected to the first transmission member and can move along the first direction with the first transmission member, the two output ends of the transmission component are respectively connected to the corresponding picking and fixing members, and the movement process of the input end of the transmission component can drive the two output ends to approach or separate from each other along the second direction to drive the two picking and fixing members to approach or move away from each other along the second direction.

[0012] As an optional technical solution for a variable-pitch picking mechanism, the transmission assembly includes an active member and two driven members, the active member is connected to a first transmission member, the active member is provided with a hinged portion, one end of the two driven members is hinged to the hinged portion, and the other ends of the two driven members are respectively hinged to corresponding picking fixing members, the driven members are strip-shaped and the angle between their extension direction and the first direction is α, and 0°<α≤90°.

[0013] As an optional technical solution for a variable-length picking mechanism, the transmission assembly includes a first fixed member, which is fixed to a first transmission member, and the active member has two hinged portions spaced apart along a second direction, the first fixed member is located between the two hinged portions, and the distance between the first fixed member and the two hinged portions is the same.

[0014] As an optional technical solution for a variable-pitch picking mechanism, the active member is provided with a first hinge hole at each of the two ends along the second direction, the first hinge hole forms the hinge part, one end of the driven member is provided with a driven hole, and the transmission assembly also includes a first pin connection member whose axis extends along the third direction, the two ends of the first pin connection member are respectively inserted into the first hinge hole and the driven hole, and the first pin connection member is movably connected to at least one of the first hinge hole and the driven hole.

[0015] As an optional technical solution for a variable-pitch picking mechanism, the first pin connection is an equi-height screw, which is threaded into the driven hole with an internal thread. The transmission assembly also includes a rotating bearing, whose outer ring is fixed in the first hinge hole, and the equi-height screw is fixed to the inner ring of the rotating bearing. A gasket is provided on the outer periphery of the equi-height screw, and the gasket is located between the inner ring of the rotating bearing and the driven member.

[0016] As an optional technical solution for a variable-pitch picking mechanism, the first hinge hole is step-shaped and includes a large hole and a small hole connected from top to bottom. The outer ring of the rotating bearing is fixed in the large hole, and its lower end face abuts the step surface between the large hole and the small hole; an annular groove is provided on the outer periphery of the large hole, and a retaining spring is clamped in the annular groove to abut the upper end face of the outer ring of the rotating bearing.

[0017] As an optional technical solution of the variable pitch pickup mechanism, the first transmission member is a cylindrical structure; the input end of the transmission assembly includes a first fixing member, the first fixing member is provided with a first fixing hole and a first fastening hole connected to the first fixing hole, the first transmission member is passed through the first fixing hole, and the first fastening screw is screwed into the first fastening hole and abuts against the first transmission member in the first fixing hole;

[0018] and / or,

[0019] The second transmission member is a cylindrical structure, the base is provided with a second limit block, the second limit block is provided with a second fixing hole and a second fastening hole connected to the second fixing hole, the second transmission member is passed through the second fixing hole, and the second fastening screw is screwed into the second fastening hole and abuts against the second transmission member in the second fixing hole.

[0020] As an optional technical solution of a variable-distance picking mechanism, along the second direction, the two picking fixing members are located on both sides of the two bases, and the length of the second transmission member is greater than the length of the base.

[0021] As an optional technical solution for a variable-length picking mechanism, the variable-length picking mechanism includes a picking assembly, at least two of which are provided, one picking fixture corresponds to at least one picking assembly, the picking assembly includes a picking seat and two picking members for picking up workpieces, ends of the picking members form a picking portion, the picking seat is adjustably disposed on the picking fixture along a first direction, and the picking members are adjustably disposed on the picking seat at intervals along a second direction.

[0022] As an optional technical solution for a variable pitch picking mechanism, the variable pitch picking mechanism also includes a driving assembly, the driving assembly includes a driving member and a transfer member, the driving member is arranged on the base, the output shaft of the driving member can reciprocate along a first direction, and the axis of the output shaft is parallel to the axis of the first transmission member and is arranged at intervals, and the end of the output shaft and the input end of one of the transmission assemblies are connected through the transfer member.

[0023] The beneficial effects of the present invention are:

[0024] The present invention provides a variable-length picking mechanism, which includes a first transmission member extending along a first direction and movably constrained to a base, and a second transmission member extending along a second direction and fixed to the base. Two output ends of the transmission component connect two picking fixing members spaced apart along the second direction, and the input end of the transmission component is fixedly connected to the first transmission member. The arrangement of at least two transmission components enables the extending direction of the picking fixing member to be only parallel to the extending direction of the first transmission member. The picking fixing member is movably constrained to the arrangement of the second transmission member, so that the two picking fixing members can only approach or move away from each other along the second direction, thereby realizing the approach or distance of the picking parts on the two picking fixing members to adapt to workpieces of different sizes.

[0025] Only through the ingenious layout of the first transmission member and the second transmission member, the two picking fixing members can only move relative to each other in the second direction. There is no need to set long holes in the picking fixing members, which is beneficial to ensuring the structural strength of the picking fixing members. There is no connection relationship between relative movement and relative rotation between the components. The connection is simpler, the operation is smoother, and the probability of jamming is reduced. In addition, the assembly of the variable-pitch picking mechanism is more convenient, and the production and maintenance costs are reduced. BRIEF DESCRIPTION OF THE DRAWINGS

[0026] Figure 1 It is a structural schematic diagram of the variable distance picking mechanism from a first viewing angle in an embodiment of the present invention;

[0027] Figure 2 It is a structural schematic diagram of the variable distance picking mechanism from a second viewing angle in an embodiment of the present invention;

[0028] Figure 3 It is a structural schematic diagram of the variable distance picking mechanism from a third viewing angle in an embodiment of the present invention;

[0029] Figure 4 for Figure 3 Schematic diagram of the cross-sectional structure along the AA direction;

[0030] Figure 5 for Figure 4 The enlarged view of point B in the middle;

[0031] Figure 6 It is a structural schematic diagram of the variable distance picking mechanism from a fourth viewing angle in an embodiment of the present invention.

[0032] In the figure:

[0033] X, first direction; Y, second direction; Z, third direction;

[0034] 100, base; 110, first limit block; 120, second limit block;

[0035] 200, first transmission member; 210, limiting snap ring;

[0036] 300, second transmission member;

[0037] 400, pick-up fixing member; 410, pick-up assembly; 411, pick-up seat; 412, pick-up member; 4121, pick-up portion; 420, second fixing member;

[0038] 500, transmission assembly; 510, first fixed member; 520, active member; 5211, large hole; 5212, small hole; 5213, step surface; 530, driven member; 531, driven hole; 540, first pin connection member; 550, rotating bearing; 560, gasket; 570, retaining spring; 580, second pin connection member;

[0039] 600, driving assembly; 610, driving member; 620, transfer member. DETAILED DESCRIPTION

[0040] The technical solution of the present invention will be described clearly and completely below in conjunction with the accompanying drawings. Obviously, the described embodiments are only part of the embodiments of the present invention, not all of the embodiments. Based on the embodiments of the present invention, all other embodiments obtained by ordinary technicians in this field without creative work are within the scope of protection of the present invention.

[0041] In the description of the present invention, it should be noted that the orientations or positional relationships indicated by the terms "center", "up", "down", "left", "right", "vertical", "horizontal", "inside", "outside", etc. are based on the orientations or positional relationships shown in the accompanying drawings, and are only for the convenience of describing the present invention and simplifying the description, rather than indicating or implying that the device or element referred to must have a specific orientation, be constructed and operated in a specific orientation, and therefore cannot be understood as limiting the present invention. In addition, the terms "first" and "second" are only used for descriptive purposes and cannot be understood as indicating or implying relative importance. Among them, the terms "first position" and "second position" are two different positions, and the first feature "above", "above" and "above" the second feature include the first feature being directly above and obliquely above the second feature, or simply indicates that the first feature is higher in level than the second feature. The first feature "below", "below" and "below" the second feature include the first feature being directly below and obliquely below the second feature, or simply indicates that the first feature is lower in level than the second feature.

[0042] In the description of the present invention, it should be noted that, unless otherwise clearly specified and limited, the terms "installed", "connected", and "connected" should be understood in a broad sense, for example, it can be a fixed connection, a detachable connection, or an integral connection; it can be a mechanical connection or an electrical connection; it can be a direct connection, or it can be indirectly connected through an intermediate medium, or it can be the internal communication of two components. For ordinary technicians in this field, the specific meanings of the above terms in the present invention can be understood according to specific circumstances.

[0043] Embodiments of the present invention are described in detail below, examples of which are shown in the accompanying drawings, wherein the same or similar reference numerals throughout represent the same or similar elements or elements having the same or similar functions. The embodiments described below with reference to the accompanying drawings are exemplary and are only used to explain the present invention, and cannot be understood as limiting the present invention.

[0044] like Figures 1 to 6 As shown, this embodiment provides a variable-pitch picking mechanism to adapt to workpieces of different sizes and increase the structural strength of the picking fixture 400. The matching relationship between the various components is simple, and the various components operate smoothly during use. The variable-pitch picking mechanism includes a base 100, a first transmission member 200, a second transmission member 300, a second transmission member 300, a picking fixture 400 and at least two transmission assemblies 500. Among them, the base 100 is provided with at least two first limiting portions spaced apart along a first direction X and at least two second limiting portions spaced apart along a second direction Y; the first transmission member 200 extends along the first direction X and is movably constrained to the two first limiting portions along its own axial direction; the second transmission member 300 extends along the second direction Y and is fixed to the two second limiting portions; the picking fixture 400 extends along the first direction X and is provided with a picking portion 4121 capable of picking up workpieces; the picking fixture 400 is provided with two, and both picking fixtures 400 can be movably constrained On the second transmission member 300, and can approach or move away from each other along the second direction Y; at least two transmission components 500 are arranged at intervals along the first direction X, the input end of the transmission component 500 is fixedly connected to the first transmission member 200, and can move back and forth along the first direction X with the first transmission member 200, the two output ends of the transmission component 500 are respectively connected to the corresponding picking and fixing members 400, and the movement process of the input end of the transmission component 500 can drive the two output ends to approach or separate from each other along the second direction Y to drive the two picking and fixing members 400 to approach or move away from each other along the second direction Y.

[0045] The output end and the input end of the transmission component 500 can bear the force in the third direction Z. At least two transmission components 500 are arranged at intervals along the first direction X, so that the picking fixture 400 is pulled at at least two positions in the first direction X, so that the picking fixture 400 cannot deflect around the second transmission member 300, that is, the extension direction of the two picking fixtures 400 can both remain parallel to the first direction X; at the same time, since the second transmission member 300 extends along the second direction Y and the picking fixture 400 is movably constrained to the second transmission member 300, the two picking fixtures 400 cannot deflect around the first transmission member 200, that is, the two picking fixtures 400 can only approach or move away along the second direction Y, thereby realizing the approach or distance of the picking parts 4121 on the two picking fixtures 400 to adapt to workpieces of different sizes.

[0046] Among them, the two output ends of the transmission assembly 500 connect together two picking fixing members 400 arranged at intervals along the second direction Y, and the input end of the transmission assembly 500 is fixedly connected to the first transmission member 200, so that the two picking fixing members 400 and the transmission assembly 500 form an integral picking bracket, and the picking bracket slides along the first direction X with the first limiting portion on the base 100 through the first transmission member 200. Since the extension direction of the second transmission member 300 is the second direction Y, and the picking fixing member 400 is slidably arranged on the second transmission member 300, during the sliding of the first transmission member 200 along the first direction X, the picking fixing member 400 cannot slide along the first direction X, and can only drive the two picking fixing members 400 to approach or move away from each other along the second direction Y.

[0047] Only through the ingenious layout of the first transmission member 200 and the second transmission member 300, it is achieved that the two picking fixing members 400 can only move relative to each other in the second direction Y. There is no need to set long holes in the picking fixing members 400, which is beneficial to ensuring the structural strength of the picking fixing members 400. There is no connection relationship combining relative movement and relative rotation between the components, the connection is simpler, the operation is smoother, and the probability of jamming is reduced. In addition, the assembly of the variable pitch picking mechanism is more convenient, and the production and maintenance costs are reduced. Finally, the components are connected by fixed and hinged methods, which makes the transmission accuracy higher.

[0048] The first direction X, the second direction Y and the third direction Z are perpendicular to each other.

[0049] The first transmission member 200 is a cylindrical structure; the input end of the transmission assembly 500 includes a first fixing member 510, the first fixing member 510 is provided with a first fixing hole and a first fastening hole connected to the first fixing hole, the first transmission member 200 is inserted into the first fixing hole, the first fastening screw is screwed into the first fastening hole and abuts against the first transmission member 200 in the first fixing hole, so as to fix the first transmission member 200 and the first fixing member 510. Among them, two first limit blocks 110 are arranged at intervals under the base 100, the first limit block 110 has a first sliding hole, the first sliding hole forms a first limit portion, the first transmission member 200 is inserted into the first sliding hole, and can slide relative to the first limit block 110. Optionally, the first transmission member 200 and the first limit block 110 are slidably matched through a linear bearing.

[0050] The second transmission member 300 is a cylindrical structure. The base 100 is provided with a second limit block 120. The second limit block 120 is provided with a second fixing hole forming a second limit portion and a second fastening hole communicating with the second fixing hole. The second transmission member 300 is inserted into the second fixing hole. The second fastening screw is screwed into the second fastening hole and abuts against the second transmission member 300 in the second fixing hole to fix the second transmission member 300 and the second limit block 120. The pick-up fixing member 400 is connected with a second fixing member 420. The second fixing member 420 is provided with a second sliding hole. The second transmission member 300 is transmitted in the second sliding hole, and the second fixing member 420 can drive the pick-up fixing member 400 to slide relative to the second transmission member 300. Optionally, the second transmission member 300 and the second fixing member 420 are slidably matched through a linear bearing.

[0051] The first transmission member 200 and the second transmission member 300 are both cylindrical structures, which are easy to process. Under the connection of the two sets of limit blocks and the transmission assembly 500, the pick-up bracket will not affect the roll and flip. Among them, a limit ring 210 is provided at each end of the first transmission member 200 to facilitate the position limit during installation. A limit ring 210 is provided at each end of the second transmission member 300 to prevent the second fixing member 420 from being separated from the second transmission member 300.

[0052] In order to improve the smoothness of the action of picking up the fixing member 400 during the sliding process of the first transmission member 200, in some embodiments, the transmission assembly 500 includes an active member 520 and two driven members 530, the active member 520 is connected to the first transmission member 200, the active member 520 is provided with a hinge part, one end of the two driven members 530 is hinged to the hinge part, and the other ends of the two driven members 530 are respectively hinged to the corresponding picking up fixing members 400, the driven member 530 is strip-shaped and the angle between its extension direction and the first direction X is α, and 0°<α≤90°. Among them, the smaller the angle α, the smaller the distance between the two picking up fixing members 400, and the larger the angle α, the larger the distance between the two picking up fixing members 400. The first fixing member 510 and the active member 520 are screwed, and the first fixing member 510 is located at the top of the active member 520.

[0053] The transmission assembly 500 includes a first fixed member 510, which is fixed to the first transmission member 200. The active member 520 has two hinged parts spaced apart along the second direction Y. The first fixed member 510 is located between the two hinged parts, and the distance between the first fixed member 510 and the two hinged parts is the same. When the first transmission member 200 moves, the first fixed member 510 is driven to move, thereby driving the hinged parts on both sides to move. Since the hinged parts are symmetrical with the first fixed member 510 in the second direction Y, the two hinged parts are subjected to the same force, so that the two pick-up fixing members 400 move synchronously, and the reaction force on the first transmission member 200 is balanced, and the sliding between the first limit part is smoother.

[0054] In order to simplify the structure and facilitate assembly to improve assembly efficiency, a first hinge hole is provided at each end of the active member 520 along the second direction Y, and the first hinge hole forms a hinge portion. A driven hole 531 is provided at one end of the driven member 530. The transmission assembly 500 also includes a first pin connection member 540 whose axis extends along the third direction Z. The two ends of the first pin connection member 540 are respectively inserted into the first hinge hole and the driven hole 531, and the first pin connection member 540 is at least movably connected to one of the first hinge hole and the driven hole 531. Among them, the first pin connection 540 is an equal height screw, which is threaded in the driven hole 531 with an internal thread. The transmission assembly 500 also includes a rotating bearing 550, which is located in the first hinge hole, and the outer ring of the rotating bearing 550 is interference fit with the first hinge hole. The equal height screw is interference fit with the inner ring of the rotating bearing 550, and the nut of the equal height screw presses against the upper end surface of the inner ring of the rotating bearing 550. A gasket 560 is provided on the outer periphery of the equal height screw, and the gasket 560 is located between the inner ring of the rotating bearing 550 and the driven member 530. Among them, the setting of the equal height screws can realize the hinge between the active member 520 and the driven member 530, while allowing the heights of the two driven members 530 to be adjusted in the third direction Z and to remain flush, thereby facilitating assembly and debugging and reducing precision requirements and processing costs; at the same time, the setting of the rotating bearing 550 makes the rotation between the equal height screws and the active member 520 smoother; finally, the equal height screws are threadedly connected to the driven member 530, so that the active member 520 can lift the driven member 530 through the cooperation of the rotating bearing 550 and the equal height screws, thereby allowing the first transmission member 200 to lift and pick up the fixing member 400 in the third direction Z.

[0055] To prevent the rotating bearing 550 and the active member 520 from being separated under the action of gravity, in some embodiments, the first hinge hole is stepped and includes a large hole 5211 and a small hole 5212 connected from top to bottom, the outer ring of the rotating bearing 550 is interference-fitted in the large hole 5211, and the lower end surface of the outer ring of the rotating bearing 550 abuts against the step surface 5213 between the large hole 5211 and the small hole 5212; the outer periphery of the large hole 5211 is provided with an annular groove, and a retaining spring 570 is clamped in the annular groove to abut against the upper end surface of the outer ring of the rotating bearing 550. The above-mentioned step surface 5213 can bear the lower end surface of the outer ring of the rotating bearing 550, prevent the rotating bearing 550 from moving downward and separating from the active member 520, and the provision of the retaining spring 570 can prevent the rotating bearing 550 from moving upward and separating from the active member 520. That is, the rotation bearing 550 is limited in the third direction Z by the retaining spring 570 and the step surface 5213. Optionally, the rotating bearing 550 may be a tapered roller bearing to better bear the gravity of the two follower members 530 and the two pick-up fixing members 400 .

[0056] A second hinge hole is provided at the other end of the follower 530 , and the follower 530 and the pick-up fixture 400 are hinged via a second pin connector 580 , and the connection method is similar to the hinge method of the driving member 520 and the follower 530 .

[0057] Along the second direction Y, the two pick-up fixing members 400 are located on both sides of the two second limiting portions, and the length of the second transmission member 300 is greater than the length of the base 100. The above arrangement is conducive to reducing the distance between the two second limiting portions, thereby reducing the width requirement of the base 100 in the second direction Y, thereby reducing the weight of the entire mechanism.

[0058] Regarding the mechanism of the transmission assembly 500, in other embodiments, it can include an active guide block and two driven guide blocks that slide together with each other, wherein, along the second direction Y, the active guide block is located between the two driven guide blocks, the active guide block is connected to the first transmission member 200, and the two driven guide blocks are respectively connected to the corresponding picking and fixing members 400, and each of the two outer side walls of the active guide block has a guiding inclined surface with opposite inclination directions, that is, the distance between the two guiding inclined surfaces gradually decreases or increases along the first direction X, and presents a flared structure, and the driven guide blocks on both sides each have a matching inclined surface that matches the corresponding guiding inclined surface, and in the process of the active guide block moving along the first direction X, the two driven guide blocks are separated from each other, and an elastic member is provided between the two picking and fixing members 400, and the elastic member applies an elastic force to make the two picking and fixing members 400 approach each other.

[0059] In some embodiments, the variable-distance picking mechanism includes a picking assembly 410, at least two of which are provided, and one picking fixture 400 corresponds to at least one picking assembly 410, the picking assembly 410 includes a picking seat 411 and two picking members 412 for picking up workpieces, the ends of the picking members 412 form a picking portion 4121, the picking seat 411 is adjustable in position along the first direction X on the picking fixture 400, and the picking members 412 are adjustable in position along the second direction Y on the picking seat 411 at intervals. The picking member 412 is a suction nozzle. Exemplarily, there are 12 picking components 410 in total, and 6 picking components 410 are arranged on each picking fixture 400 along the first direction X at intervals, and each four picking components 410 form a group (four picking components 410 are arranged in a matrix in two picking fixtures 400). The four picking components 410 have four inner picking components 412 for picking up the four corners of small-sized workpieces and four outer picking components 412 for picking up the four corners of large-sized workpieces.

[0060] At least two of the two picking seats 411 in the two picking assemblies 410 are both positionally adjustable along the first direction X, and at least four of the two picking members 412 in the two picking assemblies 410 are both positionally adjustable along the second direction Y, so that the two inner picking members 412 and the two outer picking members 412 can respectively pick up workpieces of different sizes, that is, during the assembly process, when faced with two workpieces of different sizes of the same product, there is no need to repeatedly adjust the positions of the two picking fixtures 400, and it is only necessary to adjust the positions of the picking members 412 in the second direction Y before assembly. The assembly process is simple, efficient, and not prone to damage.

[0061] When the assembled product is replaced, the positions of the picking fixture 400 and the picking member 412 can be adjusted so that in the second direction Y, the two inner picking members 412 and the two outer picking members 412 can respectively meet the two corresponding workpieces.

[0062] The pickup seat 411 includes two mounting holes spaced apart and extending along the second direction Y, two pickup members 412 are disposed in the mounting holes, the outer periphery of the pickup member 412 is provided with threads, and two first fixing nuts are threadedly matched with the pickup member 412 and clamped on both sides of the pickup seat 411. When in use, first loosen one of the first fixing nuts, then move the pickup member 412 to a suitable position, and then tighten the first fixing nut, so that the two pickup seats 411 are clamped between the two fixing nuts.

[0063] To avoid interference of the internal pick-up members 412 when picking up large-sized workpieces, in some embodiments, along the second direction Y, among the four pick-up members 412 in the two opposite pick-up assemblies 410, the pick-up ends of the two inner pick-up members 412 are higher than the pick-up ends of the two outer pick-up members 412. Preferably, the height difference between the pick-up ends of the two inner pick-up members 412 and the pick-up ends of the two outer pick-up members 412 is 5 mm-100 mm. The specific height difference can also be reasonably set according to actual conditions. The pick-up end is the head of the suction nozzle.

[0064] To improve the degree of automation, in some embodiments, the variable pitch picking mechanism also includes a driving assembly 600, which includes a driving member 610 and a transfer member 620. The driving member 610 is disposed on the base 100, and the output shaft of the driving member 610 can reciprocate along the first direction X, and the axis of the output shaft is parallel to the axis of the first transmission member 200 and is arranged at intervals. The end of the output shaft and the input end of one of the transmission assemblies 500 are connected through the transfer member 620 to realize the automatic pitch change of the variable pitch picking mechanism, thereby improving work efficiency and the degree of automation; in addition, the setting position of the driving member 610 helps to reduce the size of the base 100 in the first direction X, reduce the weight of the entire mechanism, and reduce the size of the entire variable pitch picking mechanism in the first direction X, so as to facilitate flexible operation in a small space.

[0065] Obviously, the above embodiments of the present invention are merely examples for clearly illustrating the present invention, and are not intended to limit the embodiments of the present invention. For those skilled in the art, other different forms of changes or modifications can be made based on the above description. It is not necessary and impossible to list all the embodiments here. Any modifications, equivalent substitutions and improvements made within the spirit and principles of the present invention should be included in the protection scope of the claims of the present invention.

Claims

1. Variable pitch pickup mechanism, It is characterized in that include: Base (100); A first transmission member (200), the first transmission member (200) extending along a first direction (X) and movably constrained to the base (100) along its own axial direction; A second transmission member (300), the second transmission member (300) extending along a second direction (Y) and fixed to the base (100); A picking-up fixing member (400), the picking-up fixing member (400) extending along a first direction (X) and provided with a picking-up portion (4121) capable of picking up a workpiece; two picking-up fixing members (400) are provided, and the two picking-up fixing members (400) are both movably constrained to the second transmission member (300) and can move closer to or farther from each other along a second direction (Y); At least two transmission components (500) are arranged at intervals along a first direction (X); an input end of the transmission component (500) is fixedly connected to the first transmission member (200) and can move along the first direction (X) following the first transmission member (200); two output ends of the transmission component (500) are respectively connected to corresponding picking-up fixing members (400); the movement process of the input end of the transmission component (500) can drive the two output ends to move closer to or away from each other along a second direction (Y) so as to drive the two picking-up fixing members (400) to move closer to or away from each other along the second direction (Y).

2. The variable distance pickup mechanism according to claim 1, It is characterized in that The transmission assembly (500) comprises a driving member (520) and two driven members (530), wherein the driving member (520) is connected to the first transmission member (200), the driving member (520) is provided with a hinged portion, one end of the two driven members (530) is hinged to the hinged portion, and the other ends of the two driven members (530) are respectively hinged to the corresponding picking and fixing members (400), the driven members (530) are strip-shaped, and the angle between the extension direction thereof and the first direction (X) is α, and 0°<α≤90°.

3. The variable distance pickup mechanism according to claim 2, It is characterized in that The transmission assembly (500) comprises a first fixing member (510), wherein the first fixing member (510) is fixedly connected to the first transmission member (200), and the active member (520) has two hinged parts spaced apart in a second direction (Y), wherein the first fixing member (510) is located between the two hinged parts, and the distance between the first fixing member (510) and the two hinged parts is the same.

4. The variable distance pickup mechanism according to claim 2, It is characterized in that The active member (520) is provided with a first hinge hole at each of the two ends along the second direction (Y), and the first hinge hole forms the hinge part. One end of the driven member (530) is provided with a driven hole (531). The transmission assembly (500) further includes a first pin connection member (540) whose axis extends along the third direction (Z), and the two ends of the first pin connection member (540) are respectively inserted into the first hinge hole and the driven hole (531), and the first pin connection member (540) is at least movably connected to one of the first hinge hole and the driven hole (531).

5. The variable distance pickup mechanism according to claim 4, It is characterized in that The first pin connection member (540) is a contour screw, which is threaded into the driven hole (531) having an internal thread. The transmission assembly (500) further comprises a rotating bearing (550), the outer ring of which is fixedly connected to the first hinge hole, the contour screw is fixedly connected to the inner ring of the rotating bearing (550), and a gasket (560) is sleeved around the outer periphery of the contour screw, and the gasket (560) is located between the inner ring of the rotating bearing (550) and the driven member (530).

6. The variable distance pickup mechanism according to claim 5, It is characterized in that The first hinge hole is in a step shape and comprises a large hole (5211) and a small hole (5212) which are connected from top to bottom. The outer ring of the rotating bearing (550) is fixed in the large hole (5211), and its lower end face abuts against the step surface (5213) between the large hole (5211) and the small hole (5212); an annular groove is provided on the outer periphery of the large hole (5211), and a retaining spring (570) is clamped in the annular groove to abut against the upper end face of the outer ring of the rotating bearing (550).

7. The variable distance pickup mechanism according to any one of claims 1 to 6, It is characterized in that The first transmission member (200) is a cylindrical structure; the input end of the transmission assembly (500) comprises a first fixing member (510), the first fixing member (510) is provided with a first fixing hole and a first fastening hole connected to the first fixing hole, the first transmission member (200) is inserted into the first fixing hole, and the first fastening screw is screwed into the first fastening hole and abuts against the first transmission member (200) in the first fixing hole; and / or, The second transmission member (300) is a cylindrical structure, the base (100) is provided with a second limit block (120), the second limit block (120) is provided with a second fixing hole and a second fastening hole connected to the second fixing hole, the second transmission member (300) is passed through the second fixing hole, and the second fastening screw is screwed into the second fastening hole and abuts against the second transmission member (300) in the second fixing hole.

8. The variable distance pickup mechanism according to any one of claims 1 to 6, It is characterized in that Along the second direction (Y), the two picking-up fixing members (400) are located on both sides of the two bases (100), and the length of the second transmission member (300) is greater than the length of the base (100).

9. The variable distance pickup mechanism according to any one of claims 1 to 6, It is characterized in that The variable-distance picking mechanism comprises a picking assembly (410), wherein at least two picking assemblies (410) are provided, and one picking fixture (400) corresponds to at least one picking assembly (410). The picking assembly (410) comprises a picking seat (411) and two picking members (412) for picking up workpieces, and ends of the picking members (412) form picking portions (4121). The picking seat (411) is adjustably arranged on the picking fixture (400) along a first direction (X), and the picking members (412) are adjustably arranged on the picking seat (411) at intervals along a second direction (Y).

10. The variable distance pickup mechanism according to any one of claims 1 to 6, It is characterized in that The variable pitch picking mechanism further comprises a driving assembly (600), wherein the driving assembly (600) comprises a driving member (610) and a transfer member (620), wherein the driving member (610) is arranged on the base (100), wherein an output shaft of the driving member (610) can reciprocate along a first direction (X), and an axis of the output shaft is parallel to and spaced from an axis of the first transmission member (200), and an end of the output shaft is connected to an input end of one of the transmission assemblies (500) via the transfer member (620).

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