Pitch changing mechanism, manipulator and transfer equipment

Abstract

The invention relates to a pitch changing mechanism, a manipulator and transfer equipment, the pitch changing mechanism comprises a frame module and a pitch changing module, and the frame module comprises a first frame assembly and a second frame assembly which are slidably connected in the first direction; the variable-pitch module comprises a first variable-pitch assembly and a second variable-pitch assembly, the first variable-pitch assembly is connected with the first frame assembly, and the second variable-pitch assembly is connected with the second frame assembly; the first pitch changing assembly and the second pitch changing assembly each comprise a plurality of first sliding pieces capable of moving in the second direction. According to the variable-pitch mechanism, the first frame assembly and the second frame assembly move relatively in the first direction, the distance between the first variable-pitch assembly and the second variable-pitch assembly in the first direction is changed, and the first variable-pitch assembly and the second variable-pitch assembly each comprise a plurality of first sliding pieces capable of moving in the second direction; the distance between the first sliding parts in the first direction and the second direction can be adjusted bidirectionally according to the arrangement distance of the workpieces, and batch transfer of the workpieces can be achieved.

Description

Technical Field

[0001] The present application relates to the field of automated production technology, and in particular to a variable pitch mechanism, a manipulator and a transfer device. Background Art

[0002] With the development of automated production technology, the application of robots has become popular in various industries. For example, in the electronic circuit manufacturing industry, display panel manufacturing industry and other industries, robots can be used to automatically pick up, place and transfer workpieces, which is beneficial to improving the production efficiency of workpieces.

[0003] When the robot can only grab a single workpiece, one action can only transfer a single workpiece, which cannot meet the efficiency requirements of mass production. For this reason, robots with multiple execution modules (such as adsorption modules, clamping modules, etc.) have appeared on the market. The spacing between multiple execution modules can be adjusted through a variable distance mechanism, so as to match the arrangement spacing between multiple workpieces.

[0004] Since the variable pitch mechanism in the prior art can only adjust the pitch in one direction, multiple execution modules can only be arranged along the variable pitch direction. Each action can only grab one row of workpieces, and the number of workpieces transferred at the same time is limited, which still limits the realization of mass production of workpieces. Summary of the invention

[0005] The present application provides a pitch-changing mechanism, a manipulator and a transfer device to solve the technical problem that the pitch-changing mechanism in the prior art can only achieve one-way pitch change and has limitations on the arrangement of the execution modules and the number of workpieces that can be grasped.

[0006] In a first aspect, the present application provides a pitch-changing mechanism, comprising:

[0007] A frame module, the frame module comprising a first frame assembly and a second frame assembly slidably connected along a first direction;

[0008] The pitch-changing module comprises a first pitch-changing component and a second pitch-changing component, wherein the first pitch-changing component is connected to the first frame component, and the second pitch-changing component is connected to the second frame component; the first pitch-changing component and the second pitch-changing component both comprise a plurality of first sliding members movable along the second direction.

[0009] Optionally, the pitch changing module also includes a first connecting rod assembly, a second connecting rod assembly and a transmission assembly. The first connecting rod assembly is movably connected to multiple first sliding members on the first pitch changing assembly, and the second connecting rod assembly is movably connected to multiple first sliding members on the second pitch changing assembly. The transmission assembly is respectively connected to the first connecting rod assembly and the second connecting rod assembly for driving the first pitch changing assembly and the second pitch changing assembly to change pitch synchronously.

[0010] Optionally, the first variable pitch assembly includes a first guide member, the length direction of the first guide member is parallel to the second direction, and a plurality of first sliding members are slidably disposed on the first guide member;

[0011] The first connecting rod assembly includes a second guide member, a plurality of second sliding members and a plurality of connecting rods. The length direction of the second guide member is parallel to the second direction. The plurality of second sliding members are slidably arranged on the second guide member. One end of the connecting rod is hinged to the first sliding member, and the other end of the connecting rod is hinged to the second sliding member. The plurality of connecting rods are connected end to end to form a retractable structure.

[0012] Optionally, the second variable pitch assembly has the same structure as the first variable pitch assembly, and the second connecting rod assembly has the same structure as the first connecting rod assembly.

[0013] Optionally, the transmission assembly includes a third guide member and a first push-pull member, one end of the third guide member is fixedly connected to the first connecting rod assembly, and the other end of the third guide member is slidably connected to the second connecting rod assembly along a first direction; the first end of the first push-pull member is connected to the third guide member, and the first push-pull member can move along a third direction.

[0014] Optionally, the first direction, the second direction and the third direction are perpendicular to each other.

[0015] Optionally, a fourth guide member is provided on the frame module, and the fourth guide member is slidably connected to the first push-pull member along a third direction.

[0016] Optionally, the pitch changing mechanism also includes a first positioning module, a first positioning portion is provided on the first push-pull member, the first positioning module is arranged on the frame module, the first positioning portion has a plurality of first matching positions in the third direction, and the first positioning module and the first matching positions are detachably connected.

[0017] Optionally, the pitch changing mechanism also includes a second positioning module, a second positioning portion is provided on the first frame assembly, the second positioning module is arranged on the second frame assembly, the second positioning portion has a plurality of second matching positions in the first direction, and the second positioning module and the second matching positions are detachably connected.

[0018] Optionally, the second positioning module includes an electromagnetic pin assembly.

[0019] Optionally, the second positioning module also includes a pin seat and an elastic member, the electromagnetic pin assembly is slidably arranged in the pin seat, and elastic members are provided on both sides of the electromagnetic pin assembly in the sliding direction of the electromagnetic pin assembly, and the elastic members abut between the electromagnetic pin assembly and the inner wall of the pin seat.

[0020] In the second aspect, the present application provides a robot arm, including the variable distance mechanism provided in the first aspect of the present application, and also including a first driving mechanism and a second driving mechanism. The first driving mechanism is connected to the frame module for realizing relative sliding of the first frame assembly and the second frame assembly; the second driving mechanism is connected to the variable distance module for driving multiple first sliding members to slide in the second direction.

[0021] Optionally, one of the first frame assembly and the second frame assembly is provided with a second push-pull member, and the first driving mechanism is connected to the second push-pull member for driving the first frame assembly or the second frame assembly to move in the first direction.

[0022] Optionally, one end of the second push-pull member has a first matching portion, the first driving mechanism has a second matching portion matched with the first matching portion, and the first matching portion and the second matching portion are detachably connected.

[0023] Optionally, the first matching portion includes a first clamping groove, a first guide surface is provided at an opening of the first clamping groove, and the second matching portion is a first clamping member matched with the first clamping groove.

[0024] Optionally, the manipulator further includes a connecting mechanism, and the variable distance mechanism, the first driving mechanism and the second driving mechanism are all arranged on the connecting mechanism.

[0025] Optionally, the connecting mechanism includes a first connecting component and a second connecting component that are rotatably connected, the first driving mechanism and the second driving mechanism are both arranged on the first connecting component, and the variable pitch mechanism is arranged on the second connecting component.

[0026] Optionally, a plurality of variable distance mechanisms are provided in the circumferential direction of the second connecting assembly.

[0027] Optionally, the robot further includes a plurality of execution modules, and the plurality of execution modules are connected to the plurality of first sliding members in a one-to-one correspondence.

[0028] In a third aspect, the present application provides a transfer device, including the manipulator provided in the second aspect of the present application, and also including a moving mechanism connected to the manipulator.

[0029] The above technical solution provided by the embodiment of the present application has the following advantages compared with the prior art:

[0030] The frame module of the pitch-changing mechanism provided in the embodiment of the present application includes a first frame assembly and a second frame assembly connected in a sliding manner in a first direction, and the pitch-changing module includes a first pitch-changing assembly and a second pitch-changing assembly, wherein the first pitch-changing assembly is connected to the first frame assembly, and the second pitch-changing assembly is connected to the second frame assembly, and when the first frame assembly and the second frame assembly move relative to each other in the first direction, the spacing between the first pitch-changing assembly and the second pitch-changing assembly in the first direction also changes accordingly. The first pitch-changing assembly and the second pitch-changing assembly both include a plurality of first sliding members movable in the second direction, so that each first sliding member can change position in the first direction and in the second direction, so that the spacing between the plurality of first sliding members in the first direction and in the second direction can also be adjusted according to the arrangement spacing of the workpieces, and when one or more execution modules are correspondingly arranged on each first sliding member, multiple rows of execution modules can be arranged, thereby realizing simultaneous grasping of multiple rows of workpieces, which can greatly increase the number of grasping and transferring of workpieces, and can realize efficient transfer of multiple workpieces, which is conducive to realizing mass production, testing or transfer of workpieces.

[0031] The robot and transfer equipment of the present application have the above-mentioned variable pitch mechanism, and the row spacing and column spacing adjustment of the execution module can be realized through the above-mentioned variable pitch mechanism. Therefore, it naturally has the same technical effect as the above-mentioned variable pitch mechanism. BRIEF DESCRIPTION OF THE DRAWINGS

[0032] The accompanying drawings, which are incorporated in and constitute a part of this specification, illustrate embodiments consistent with the present application and, together with the description, serve to explain the principles of the present application.

[0033] In order to more clearly illustrate the technical solutions in the embodiments of the present application or the prior art, the drawings required for use in the embodiments or the description of the prior art will be briefly introduced below. Obviously, for ordinary technicians in this field, other drawings can be obtained based on these drawings without paying any creative labor.

[0034] One or more embodiments are exemplarily described by pictures in the corresponding drawings, and these exemplified descriptions do not constitute limitations on the embodiments. Elements with the same reference numerals in the drawings represent similar elements, and unless otherwise stated, the figures in the drawings do not constitute proportional limitations.

[0035] Figure 1 A schematic diagram of the structure of the pitch-changing mechanism provided in an embodiment of the present application;

[0036] Figure 2 An exploded diagram of the pitch-changing mechanism provided in an embodiment of the present application;

[0037] Figure 3 A schematic diagram of the structure of the variable pitch module provided in an embodiment of the present application;

[0038] Figure 4 A schematic diagram of the structure of a transmission assembly provided in an embodiment of the present application;

[0039] Figure 5 A schematic diagram of the structure of a first frame assembly provided in an embodiment of the present application;

[0040] Figure 6 A schematic diagram of the connection between the second frame assembly, the second push-pull member and the second positioning module provided in an embodiment of the present application;

[0041] Figure 7 A partial cross-sectional view of a second positioning module provided in an embodiment of the present application;

[0042] Figure 8 A schematic diagram of the structure of the electromagnetic pin assembly provided in an embodiment of the present application;

[0043] Fig. 9 Provided in the embodiments of this application Figure 7 Bottom view of

[0044] Fig.10 Schematic diagram of the structure of the robot provided in the embodiment of the present application Figure 1 ;

[0045] Fig.11 Provided in the embodiments of this application Fig.10 A magnified view of the details of part A;

[0046] Fig.12 Provided in the embodiments of this application Fig.10 A magnified view of the details of part B;

[0047] Fig.13 A schematic diagram of the cooperation between the push-pull member and the driving mechanism provided in the embodiment of the present application;

[0048] Fig.14 A side view of a manipulator provided in an embodiment of the present application;

[0049] Fig.15 Schematic diagram of the structure of the robot provided in the embodiment of the present application Figure 2 ;

[0050] Fig.16 Schematic diagram of the structure of the robot provided in the embodiment of the present application Figure 3 ;

[0051] Fig.17 A schematic diagram of the structure of the transfer device provided in an embodiment of the present application.

[0052] Description of reference numerals:

[0053] 1. Frame module; 1a. First frame module; 1b. Second frame module; 11. First frame assembly; 111. Fourth guide member; 112. Second positioning portion; 113. First frame body; 114. First mounting portion; 115. Second mounting portion; 12. Second frame assembly; 121. Second frame body; 122. Third mounting portion; 123. Avoiding portion; 13. Second push-pull member; 131. First matching portion; 1311. First clamping groove; 1312. First guide surface; 14. Slide rail assembly;

[0054] 2. Pitch-changing module; 2a. First pitch-changing module; 2b. Second pitch-changing module; 21. First pitch-changing assembly; 211. First sliding member; 212. First guide member; 22. Second pitch-changing assembly; 23. First connecting rod assembly; 231. Second guide member; 232. Second sliding member; 233. Connecting rod; 24. Second connecting rod assembly; 25. Transmission assembly; 251. Third guide member; 252. First push-pull member; 2521. First positioning portion; 2522. First connecting portion; 2523. Second clamping groove; 2524. Second guide surface;

[0055] 3. The first positioning module;

[0056] 4. Second positioning module; 41. Electromagnetic pin assembly; 411. Pin member; 412. Electromagnetic pin body; 42. Pin seat; 421. Shell; 422. Cover; 423. Strip hole; 43. Elastic member;

[0057] 5. first driving mechanism; 51. second matching portion; 52. second connecting portion; 53. first telescopic assembly;

[0058] 6. Second driving mechanism; 61. Fourth matching portion; 62. Third connecting portion; 63. Second telescopic assembly;

[0059] 7. Connecting mechanism; 71. First connecting assembly; 711. Fourth mounting portion; 712. Base; 72. Second connecting assembly; 721. Fifth mounting portion; 722. Mounting hole; 73. Rotating assembly;

[0060] 8. Execute module;

[0061] 9. Moving mechanism; 91. Z-axis sliding module; 92. X-axis sliding module; 93. Y-axis sliding module. DETAILED DESCRIPTION

[0062] In order to make the purpose, technical solution and advantages of the embodiments of the present application clearer, the technical solution in the embodiments of the present application will be clearly and completely described below in conjunction with the drawings in the embodiments of the present application. Obviously, the described embodiments are part of the embodiments of the present application, not all of the embodiments. Based on the embodiments in the present application, all other embodiments obtained by ordinary technicians in this field without making creative work are within the scope of protection of this application.

[0063] The disclosure below provides many different embodiments or examples to realize the different structures of the present application. In order to simplify the disclosure of the present application, the parts and settings of specific examples are described below. Of course, they are only examples, and the purpose is not to limit the present application. In addition, the present application can repeat reference numbers and / or letters in different examples. This repetition is for the purpose of simplification and clarity, and does not itself indicate the relationship between the various embodiments and / or settings discussed.

[0064] For ease of description, spatial relative terms may be used herein to describe the relative positional relationship or movement of one element or feature relative to another element or feature as shown in the figure, such as "inside", "outside", "inner side", "outer side", "below", "below", "above", "above", "front", "back", etc. Such spatial relative terms are intended to include different orientations of the device in use or operation in addition to the orientation depicted in the figure. For example, if the device in the figure undergoes a position flip or a posture change or a motion state change, then these directional indications also change accordingly, for example: an element described as "below other elements or features" or "below other elements or features" will subsequently be oriented as "above other elements or features" or "above other elements or features". Therefore, the example term "below..." may include both upper and lower orientations. The device may be otherwise oriented (rotated 90 degrees or in other directions) and the spatial relative descriptors used herein are interpreted accordingly.

[0065] In order to solve the technical problem that the distance changing mechanism in the prior art can only realize one-way distance changing and there are restrictions on the arrangement of the execution module 8 and the number of workpieces that can be grasped, the present application provides a distance changing mechanism, a manipulator and a transfer device. The distance changing mechanism can realize the distance changing of multiple first sliding members 211 in the first direction and the second direction, thereby realizing the bidirectional distance changing function of the distance changing mechanism. When multiple execution modules 8 are connected to multiple first sliding members 211 one by one, multiple rows of execution modules 8 can be arranged, and multiple rows of execution modules 8 can realize corresponding position adjustment with multiple rows of workpieces, which is convenient for grasping multiple workpieces at the same time, and can realize efficient transfer of multiple workpieces, which is conducive to mass production, testing or transfer of workpieces.

[0066] See also Figures 1 to 17 In a first aspect, an embodiment of the present application provides a variable distance mechanism, including a frame module 1 and a variable distance module 2. The frame module 1 includes a first frame assembly 11 and a second frame assembly 12 that are slidably connected along a first direction, so that the first frame assembly 11 and the second frame assembly 12 can change their relative positions in the first direction.

[0067] The pitch-changing module 2 includes a first pitch-changing component 21 and a second pitch-changing component 22. The first pitch-changing component 21 is connected to the first frame component 11, and the second pitch-changing component 22 is connected to the second frame component 12. When the first frame component 11 and the second frame component 12 move relative to each other in the first direction, the spacing between the first pitch-changing component 21 and the second pitch-changing component 22 in the first direction also changes accordingly. The first pitch-changing component 21 and the second pitch-changing component 22 each include a plurality of first sliding members 211 that can move along the second direction, so that each first sliding member 211 can change position in the first direction and in the second direction, so that the spacing between the plurality of first sliding members 211 in the first direction and in the second direction can also be adjusted according to the arrangement spacing of the workpieces. When one or more execution modules 8 are correspondingly arranged on each first sliding member 211, it is possible to realize the simultaneous grasping of multiple rows of workpieces, which can greatly increase the number of grasping and transferring workpieces, and can realize the efficient transfer of multiple workpieces, which is conducive to realizing the mass production of workpieces.

[0068] It should be noted that the number of the first variable distance component 21 and the second variable distance component 22 can be one or more, and the first variable distance component 21 and the second variable distance component 22 are arranged in parallel and are both perpendicular to the first direction; when the first frame component 11 and the second frame component 12 are close to each other or away from each other, the spacing between the first variable distance component 21 and the second variable distance component 22 in the first direction can be reduced or expanded to match the row spacing of different workpieces. When the first sliding member 211 on the first variable distance component 21 and the second variable distance component 22 moves in the second direction, it can match the column spacing of different workpieces.

[0069] In some embodiments of this application, please refer to Figure 1 , Figure 5 and Figure 6 , both sides of the first frame assembly 11 are provided with a first mounting portion 114 for mounting the first variable pitch assembly 21, and both sides of the second frame assembly 12 are provided with a third mounting portion 122 for mounting the second variable pitch assembly 22, such as Figure 1 , Figure 5 and Figure 6 The first frame body 113 of the first frame assembly 11 and the second frame body 121 of the second frame assembly 12 are both semi-enclosed structures, which can form circumferential protection for the outer periphery of the variable pitch module 2 .

[0070] In the above embodiment, the multiple first sliding members 211 in the first pitch changing assembly 21 and the multiple first sliding members 211 in the second pitch changing assembly 22 can be driven independently, that is, a driving member can be correspondingly arranged on each first sliding member 211, so that each first sliding member 211 can move relatively independently along the second direction. However, this driving method will not only lead to an increase in the number of components, but also lead to a complex driving control system and high manufacturing cost of the pitch changing mechanism.

[0071] In order to avoid the above problems, in some embodiments of the present application, please refer to Figure 1 , Figure 2 and Figure 3 The pitch-changing module 2 further includes a first connecting rod assembly 23, a second connecting rod assembly 24 and a transmission assembly 25. The first connecting rod assembly 23 is movably connected to the multiple first sliding members 211 on the first pitch-changing assembly 21, and is used to drive the multiple first sliding members 211 to move synchronously and telescopically, so as to achieve the change in the spacing of the multiple first sliding members 211 on the first pitch-changing assembly 21 in the second direction. The second connecting rod assembly 24 is movably connected to the multiple first sliding members 211 on the second pitch-changing assembly 22, and is used to drive the multiple first sliding members 211 on the second pitch-changing assembly 22 to move synchronously and telescopically, so as to achieve the change in the spacing of the multiple first sliding members 211 on the second pitch-changing assembly 22 in the second direction. The transmission assembly 25 is respectively connected to the first connecting rod assembly 23 and the second connecting rod assembly 24, and is used to drive the first pitch-changing assembly 21 and the second pitch-changing assembly 22 to change the pitch synchronously. When the transmission assembly 25 is connected to the driving mechanism, the pitch of the first pitch-changing assembly 21 and the second pitch-changing assembly 22 can be changed simultaneously through the same driving mechanism, which is conducive to reducing the number of driving mechanisms and reducing equipment costs.

[0072] In some embodiments of this application, please refer to Figure 1 , Figure 2 and Figure 3 The first variable distance component 21 includes a first guide member 212, the length direction of the first guide member 212 is parallel to the second direction, and a plurality of first sliding members 211 are slidably arranged on the first guide member 212 and can move along the first guide member 212 in the second direction, thereby changing the spacing between two adjacent first sliding members 211 in the second direction.

[0073] The first connecting rod assembly 23 includes a second guide 231, a plurality of second sliding members 232 and a plurality of connecting rods 233. The length direction of the second guide 231 is parallel to the second direction. The plurality of second sliding members 232 are slidably arranged on the second guide 231, so as to realize the extension and retraction of the first connecting rod assembly 23 in the second direction, thereby driving the plurality of first sliding members 211 to move in the second direction to realize the pitch change. One end of the connecting rod 233 is hinged to the first sliding member 211, and the other end of the connecting rod 233 is hinged to the second sliding member 232. The plurality of connecting rods 233 are connected end to end to form a telescopic structure. When the first connecting rod assembly 23 is extended and retracted under the drive of the transmission assembly 25, the connecting rod 233 can rotate relative to the first sliding member 211 and the second sliding member 232, so as to realize the approach or distance between two adjacent first sliding members 211 and the approach or distance between two adjacent second sliding members 232, thereby realizing the equal distance change function of the first pitch change assembly 21.

[0074] It should be noted that, in order to avoid interference between the first connecting rod assembly 23 and the execution module 8, the first connecting rod assembly 23 is arranged on the side of the first sliding member 211 away from the execution module 8. The telescopic structure formed by connecting multiple connecting rods 233 of the same size end to end is an M-shaped or W-shaped structure. When the first sliding member 211 is arranged at the bottom of the frame module 1 and the second sliding member 232 is located above the first sliding member 211, if the number of the second sliding members 232 is less than the number of the first sliding members 211, the multiple connecting rods 233 are connected end to end to form an M-shaped structure. If the number of the second sliding members 232 is more than the number of the first sliding members 211, the multiple connecting rods 233 are connected end to end to form a W-shaped structure, both of which can achieve the purpose of the present application.

[0075] It should be noted that the cross section of the first guide member 212 may be circular, polygonal or elliptical. When the cross section of the first guide member 212 is circular, in order to prevent the first sliding member 211 from rotating relative to the first guide member 212, it is preferred that the number of the first guide members 212 is more than two. Figure 1 , Figure 2 and Figure 3 shown.

[0076] In some embodiments of the present application, the connecting rod 233 is hinged to the first sliding member 211 or the second sliding member 232 by bolts, and the connecting rods 233 located at both ends of the first connecting rod assembly 23 are provided with gaskets at the hinges to ensure that each connecting rod 233 is perpendicular to its rotation axis, thereby ensuring the telescopic reliability of the first connecting rod assembly 23.

[0077] In some embodiments of this application, please refer to Figure 1 , Figure 2 and Figure 3The second pitch changing assembly 22 has the same structure as the first pitch changing assembly 21, and the second connecting rod assembly 24 has the same structure as the first connecting rod assembly 23. When the transmission assembly 25 is respectively connected to the first connecting rod assembly 23 and the second connecting rod assembly 24, two relatively uniform and symmetrical force transmission paths can be formed, which is beneficial to improving the pitch changing synchronization performance of the first pitch changing assembly 21 and the second pitch changing assembly 22.

[0078] In some embodiments of this application, please refer to Figure 1 , Figure 2 , Figure 3 and Figure 4 The transmission assembly 25 includes a third guide member 251 and a first push-pull member 252. One end of the third guide member 251 is fixedly connected to the first connecting rod assembly 23 to realize the fixed setting of the third guide member 251; the other end of the third guide member 251 is slidably connected to the second connecting rod assembly 24 along the first direction. When the second frame assembly 12 drives the second variable distance assembly 22 to move in the first direction, the third guide member 251 can be prevented from interfering with the movement of the second connecting rod assembly 24 and the second variable distance assembly 22. The first end of the first push-pull member 252 is connected to the third guide member 251, and force can be applied to the first connecting rod assembly 23 and the second connecting rod assembly 24 respectively through the third guide member 251. The first push-pull member 252 can move along the third direction. The first push-pull member 252 moves along the third direction to achieve pulling or squeezing of the first connecting rod assembly 23 and the second connecting rod assembly 24, thereby achieving the extension and retraction of the first connecting rod assembly 23 and the second connecting rod assembly 24 in the second direction, and further achieving the synchronous distance change of the first distance change assembly 21 and the second distance change assembly 22 in the second direction.

[0079] In some embodiments of this application, please refer to Figure 3 One end of the third guide member 251 is fixedly connected to the second sliding member 232 in the middle of the first connecting rod assembly 23, and the other end of the third guide member 251 is slidably connected to the second sliding member 232 in the middle of the second connecting rod assembly 24. The third guide member 251 can be used to apply a force in the third direction to the first connecting rod assembly 23 and the second connecting rod assembly 24, so that the first connecting rod assembly 23 and the second connecting rod assembly 24 can be extended and retracted synchronously.

[0080] In some preferred embodiments of the present application, the second sliding member 232 in the middle of the first connecting rod assembly 23 is fixedly connected to the second guide member 231, so that the second guide member 231 can be fixedly set. When the first connecting rod assembly 23 is extended or retracted, the second guide member 231 can provide a stable sliding basis for the second sliding members 232 on both sides. The setting method of the second connecting rod assembly 24 is the same and will not be repeated here.

[0081] In some embodiments of this application, please refer to Figure 4The first end of the first push-pull member 252 is provided with a first connecting portion 2522, and the third guide member 251 and the first connecting portion 2522 are fixedly connected or slidably connected, both of which can achieve the purpose of the present application.

[0082] In some embodiments of this application, please refer to Figure 1 , Figure 2 and Figure 6 A avoidance portion 123 is provided on the second frame body 121, which can avoid the third guide member 251. When the second frame assembly 12 and the first frame assembly 11 are close to each other to reduce the distance between them, the third guide member 251 can extend from the avoidance portion 123 to avoid interference between the second frame body 121 and the third guide member 251, thereby affecting the relative sliding of the first frame assembly 11 and the second frame assembly 12 in the first direction and affecting the distance changing effect of the distance changing mechanism in the first direction.

[0083] In some embodiments of this application, please refer to Figure 1 , Figure 2 , Figure 3 , Fig.10 and Fig.14 The first direction, the second direction and the third direction are perpendicular to each other, so that the arrangement of the transmission assembly 25 will not affect the variable pitch movement of the variable pitch module 2 in the first direction and the second direction, which is conducive to further realizing the arrangement of the driving mechanism.

[0084] As a specific embodiment of this application, please refer to Fig.14 The first direction is the left-right direction in the figure, the second direction is the inside-outside direction perpendicular to the paper surface, and the third direction is the up-down direction in the figure. The transmission assembly 25 is arranged above the first variable pitch assembly 21 and the second variable pitch assembly 22. When the first push-pull member 252 moves in the vertical direction, the first connecting rod assembly 23 and the second connecting rod assembly 24 can drive multiple first sliding members 211 to move in the inside-outside direction perpendicular to the paper surface, which can avoid crowding out the sliding stroke of the first sliding member 211 in the second direction when the transmission assembly 25 is set at the end of the connecting rod assembly.

[0085] In some embodiments of this application, please refer to Figure 1 and Figure 3 A fourth guide member 111 is provided on the frame module 1, and the fourth guide member 111 is slidably connected to the first push-pull member 252 along the third direction, and can be used to realize sliding guidance for the first push-pull member 252, so that the first push-pull member 252 can only move along the third direction, thereby ensuring the movement accuracy of the first push-pull member 252, thereby ensuring the distance change effect of the first distance change component 21 and the second distance change component 22 in the second direction.

[0086] In some embodiments of the present application, the fourth guide member 111 is detachably arranged on the first frame body 113, and the fourth guide member 111 of appropriate size can be selected according to the variable distance range of the variable distance module 2 in the first direction, so that the bottom end of the first push-pull member 252 is connected to the middle area of ​​the third guide member 251, thereby achieving a more balanced force application to the first connecting rod assembly 23 and the second connecting rod assembly 24.

[0087] In some embodiments of this application, please refer to Figure 1 , Figure 3 and Figure 4 The pitch-changing mechanism also includes a first positioning module 3, a first positioning portion 2521 is provided on the first push-pull member 252, the first positioning module 3 is arranged on the frame module 1, the first positioning portion 2521 has a plurality of first matching positions in the third direction, the first positioning module 3 and the first matching positions are detachably connected, when the first positioning module 3 is connected with different first matching positions, the first push-pull member 252 stays at different positions in the third direction, which will lead to different extension and contraction degrees of the connecting rod assembly, and thus different spacings between the first sliding members 211 on the pitch-changing assembly. Specifically, when the first positioning portion 2521 includes three positioning holes, each positioning hole corresponds to a first matching position, and each first matching position corresponds to a workpiece column spacing size.

[0088] In some embodiments of this application, please refer to Figure 1 and Figure 5 The pitch-changing mechanism also includes a second positioning module 4. The first frame assembly 11 is provided with a second positioning portion 112. The second positioning module 4 is arranged on the second frame assembly 12. The second positioning portion 112 has a plurality of second matching positions in the first direction. The second positioning module 4 and the second matching positions are detachably connected. When the second positioning module 4 is connected to different second matching positions, the stop position of the second frame assembly 12 in the first direction is different, which will cause the relative positions of the first frame assembly 11 and the second frame assembly 12 to be different, thereby making the spacing between the first pitch-changing assembly 21 and the second pitch-changing assembly 22 different. Specifically, when the second positioning portion 112 includes three positioning holes, each positioning hole corresponds to a second matching position, and each second matching position corresponds to a workpiece row spacing size.

[0089] In the above embodiments, the first positioning module 3 and the second positioning module 4 may include connecting parts such as bolts, and may also include clamping parts such as positioning pins, both of which can achieve the purpose of the present application. In order to facilitate the production and parts management of the pitch-changing mechanism, it is preferred that the first positioning module 3 and the second positioning module 4 have the same structure. In the following embodiments, the second positioning module 4 is taken as an example for description.

[0090] In some embodiments of this application, please refer to Figure 7 , Figure 8 and Fig. 9 The second positioning module 4 includes an electromagnetic pin assembly 41, which can automatically realize the positioning cooperation between the second positioning module 4 and the second positioning portion 112 through electromagnetic control, which is beneficial to improving the automation degree of the pitch changing mechanism.

[0091] In some embodiments of this application, please refer to Figure 8 The electromagnetic pin assembly 41 includes a pin 411 and an electromagnetic pin body 412 . The pin 411 can extend or retract into the electromagnetic pin body 412 , thereby automatically connecting or disconnecting with the second positioning portion 112 .

[0092] In some embodiments of this application, please refer to Figure 7 , Figure 8 and Fig. 9 The second positioning module 4 also includes a pin seat 42 and an elastic member 43. The electromagnetic pin assembly 41 is slidably arranged in the pin seat 42. The pin seat 42 is provided with a strip hole 423 matching the pin member 411 of the electromagnetic pin assembly 41, so that the electromagnetic pin assembly 41 has a certain sliding margin in the first direction, so as to realize the positioning connection with the second positioning portion 112; in the sliding direction of the electromagnetic pin assembly 41, both sides of the electromagnetic pin assembly 41 are provided with elastic members 43, and the elastic members 43 abut between the electromagnetic pin assembly 41 and the inner wall of the pin seat 42, and have a pre-compression stress The elastic member 43 enables the electromagnetic pin assembly 41 to be located in the middle position of the pin seat 42 when not subject to external force. The strip hole 423 and the elastic member 43 work together. When the electromagnetic pin assembly 41 is engaged with the second positioning portion 112, the elastic member 43 can buffer the external force exerted on the electromagnetic pin assembly 41. That is, when the electromagnetic pin assembly 41 is squeezed, the pin 411 moves along the strip hole 423, and the elastic member 43 is deformed to accommodate the slight displacement of the electromagnetic pin assembly 41 when connecting the two parts (the first frame assembly 11 and the second frame assembly 12).

[0093] In some embodiments of this application, please refer to Figure 7 and Figure 8 The head of the pin 411 (i.e., the end away from the pin seat 42) has an arc chamfer, which cooperates with the arc chamfer of the edge of the positioning hole in the second positioning portion 112 to conveniently achieve positioning between the pin 411 and the positioning hole.

[0094] In some embodiments of this application, please refer to Figure 7The pin seat 42 includes a shell 421 and a cover 422 that are detachably connected. A receiving groove for placing the electromagnetic pin assembly 41 and the elastic member 43 is provided inside the shell 421. After the cover 422 is opened, the electromagnetic pin assembly 41 and the elastic member 43 can be directly placed in the receiving groove, which is conducive to the assembly of the electromagnetic pin assembly 41 and the elastic member 43 inside the pin seat 42, thereby improving the assembly efficiency of the second positioning module 4.

[0095] In some embodiments of the present application, the structure of the first positioning module 3 is the same as that of the second positioning module 4, which is used to achieve the positioning between the transmission assembly 25 and the frame module 1, and can also achieve the above-mentioned technical effects, which will not be repeated here.

[0096] See also Figures 1 to 17 In a second aspect, the embodiment of the present application provides a manipulator, including the pitch-changing mechanism in the above embodiment, and also including a first driving mechanism 5 and a second driving mechanism 6. The first driving mechanism 5 is connected to the frame module 1, and is used to realize the relative sliding of the first frame assembly 11 and the second frame assembly 12, so as to realize the change of the spacing of the first pitch-changing assembly 21 and the second pitch-changing assembly 22 in the first direction. The second driving mechanism 6 is connected to the pitch-changing module 2, and is used to drive the plurality of first sliding members 211 to slide in the second direction, so as to realize the pitch change of the plurality of first sliding members 211 on the first pitch-changing assembly 21 and the second pitch-changing assembly 22 in the second direction.

[0097] In some embodiments of the present application, the pitch-changing module 2 can realize the synchronous movement of the plurality of first sliding members 211 through the transmission assembly 25, the first connecting rod assembly 23 and the second connecting rod assembly 24. The second driving mechanism 6 is connected to the first push-pull member 252 in the transmission assembly 25, and can be used to drive the first push-pull member 252 to move in the third direction, thereby realizing the pitch-changing drive of the plurality of first sliding members 211. Fig.10 shown.

[0098] In some embodiments of this application, please refer to Fig.10 and Fig.11 One of the first frame assembly 11 and the second frame assembly 12 is provided with a second push-pull member 13, and the first driving mechanism 5 is connected to the second push-pull member 13, and can apply force to the second push-pull member 13 to drive the first frame assembly 11 or the second frame assembly 12 to move in the first direction, thereby realizing the change in the spacing between the first variable distance assembly 21 and the second variable distance assembly 22 in the first direction.

[0099] In some embodiments of this application, please refer to Figure 1 , Figure 6 and Fig.10The first frame assembly 11 and the second frame assembly 12 are connected by the slide rail assembly 14, so that the first frame assembly 11 and the second frame assembly 12 can move relative to each other in the first direction. When the first frame assembly 11 is fixed, the second push-pull member 13 is arranged on the second frame assembly 12, and the first driving mechanism 5 applies force to the second push-pull member 13, so as to drive the second frame assembly 12 to move in the first direction.

[0100] In some embodiments of this application, please refer to Fig.10 , Fig.11 and Fig.14 One end of the second push-pull member 13 has a first matching portion 131, and the first driving mechanism 5 has a second matching portion 51 matched with the first matching portion 131, which can realize the driving connection between the first driving mechanism 5 and the second push-pull member 13; the first matching portion 131 and the second matching portion 51 are detachably connected, which can facilitate the replacement and maintenance of the variable pitch mechanism.

[0101] In some embodiments of this application, please refer to Fig.10 , Fig.11 and Fig.14 The first matching portion 131 includes a first clamping groove 1311, and a first guide surface 1312 is provided at the opening of the first clamping groove 1311. The second matching portion 51 is a first clamping member matched with the first clamping groove 1311. When the first clamping member is matched with the first clamping groove 1311, the first clamping member can be quickly introduced into the interior of the first clamping groove 1311 through the first guide surface 1312, which is beneficial to improving the connection efficiency between the first clamping groove 1311 and the first clamping member, thereby improving the assembly efficiency of the first driving mechanism 5 and the second push-pull member 13.

[0102] In some embodiments of the present application, a third matching portion is provided at the second end of the first push-pull member 252, and the second drive mechanism 6 has a fourth matching portion 61 matched with the third matching portion, so as to realize the drive connection between the second drive mechanism 6 and the first push-pull member 252; the third matching portion and the fourth matching portion 61 are detachably connected, which can facilitate the replacement and maintenance of the variable distance mechanism.

[0103] In some embodiments of the present application, the third matching portion includes a second snap-in slot 2523, and a second guide surface 2524 is provided at the opening of the second snap-in slot 2523. The fourth matching portion 61 is a second snap-in component that is matched with the second snap-in slot 2523. When the second snap-in component is matched with the second snap-in slot 2523, the second snap-in component can be quickly introduced into the interior of the second snap-in slot 2523 through the second guide surface 2524, which is beneficial to improving the connection efficiency between the second snap-in slot 2523 and the second snap-in component, thereby improving the assembly efficiency of the second driving mechanism 6 and the first push-pull member 252.

[0104] In some embodiments of this application, please refer to Fig.10 , Fig.11 and Fig.12 The first matching portion 131 and the third matching portion have the same structure, so that the first push-pull member 252 and the second push-pull member 13 are F-shaped structures, thereby forming a socket (or groove) for connecting the clamping member (the first clamping member and the second clamping member) at one end of the push-pull member.

[0105] In some embodiments of this application, please refer to Fig.10 and Fig.11 The first driving mechanism 5 also includes a second connecting part 52 and a first telescopic component 53. The first telescopic component 53 can be a hydraulic cylinder, a cylinder or other components. The second connecting part 52 is connected between the first telescopic component 53 and the second matching part 51, so that the first telescopic component 53 can drive the second matching part 51 to move in the first direction, thereby pushing and pulling the second push-pull member 13 in the first direction, thereby making the second frame component 12 move away from or close to the first frame component 11.

[0106] In some embodiments of this application, please refer to Fig.10 and Fig.12 The second driving mechanism 6 also includes a third connecting part 62 and a second telescopic component 63. The second telescopic component 63 can be a hydraulic cylinder, a cylinder or other components. The third connecting part 62 is connected between the second telescopic component 63 and the fourth matching part 61, so that the second telescopic component 63 can drive the fourth matching part 61 to move in the third direction, thereby pushing and pulling the first push-pull member 252 in the third direction, so that the transmission component 25 drives the first connecting rod component 23 and the second connecting rod component 24 to extend and retract, so that the first variable distance component 21 and the second variable distance component 22 change the distance in the second direction.

[0107] It should be noted that the present application adjusts the row spacing in the first direction and the column spacing in the second direction respectively through the first driving mechanism 5 and the second driving mechanism 6. There is no mutual interference or mutual influence in the spacing adjustment in the two directions. Any combination of row spacing and column spacing can be achieved, which can be applied to a variety of workpiece arrangements.

[0108] In some embodiments of this application, please refer to Fig.10 , Fig.14 , Fig.15 and Fig.16 The manipulator also includes a connecting mechanism 7, on which the pitch-changing mechanism, the first drive mechanism 5 and the second drive mechanism 6 are all arranged, and can be used to realize the connection between the pitch-changing mechanism and the manipulator body, and realize the fixed setting of the first drive mechanism 5 and the second drive mechanism 6.

[0109] In some embodiments of this application, please refer to Fig.10 , Fig.14, Fig.15 , Fig.16 and Fig.17 The connecting mechanism 7 includes a first connecting component 71 and a second connecting component 72 which are rotatably connected. The first driving mechanism 5 and the second driving mechanism 6 are both arranged on the first connecting component 71. The pitch changing mechanism is arranged on the second connecting component 72. When the first connecting component 71 and the second connecting component 72 rotate relative to each other, the relative positions of the first driving mechanism 5 and the second push-pull member 13 and the second driving mechanism 6 and the first push-pull member 252 also change accordingly, thereby realizing automatic engagement or separation.

[0110] In some embodiments of this application, please refer to Figure 5 and Fig.14 A second mounting portion 115 is provided on the first frame body 113 for achieving a fixed connection with the second connecting assembly 72 .

[0111] In some embodiments of this application, please refer to Fig.13 , Fig.14 and Fig.17 The connecting mechanism 7 further includes a rotating assembly 73, which is connected to the first connecting assembly 71 and the second connecting assembly 72 respectively, so that the second connecting assembly 72 can rotate relative to the first connecting assembly 71. Fig.14 When the rotation axis C in the middle rotates, the first push-pull member 252 can rotate relative to the second driving mechanism 6, and the second push-pull member 13 can rotate relative to the first driving mechanism 5. Since the electromagnetic pin assembly 41 in the first positioning module 3 and the second positioning module 4 has a certain sliding margin, the first push-pull member 252 also has a sliding margin in the first direction, and the third push-pull member also has a sliding margin in the third direction. This can avoid relative interference between the first clamping groove 1311 and the first clamping member, and between the second clamping groove 2523 and the second clamping member due to rigid contact, which is beneficial to ensure the smooth engagement and separation between the push-pull members (the first push-pull member 252 and the second push-pull member 13) and the driving mechanism (the second driving mechanism 6 and the first driving mechanism 5). Fig.13 shown.

[0112] It should be noted that when the second connecting component 72 rotates, the push-pull member can slide under the pulling or squeezing of the clamping member while rotating. In order to facilitate the sliding state of the push-pull member, Fig.13 The relative rotation direction between the push-pull member and the driving mechanism is marked on the driving mechanism, which does not constitute a limitation on the embodiments of the present application. Fig.13 The solid line in the figure indicates a stable engagement state between the push-pull member and the driving mechanism, and the dotted line indicates a state where the push-pull member and the driving mechanism are about to separate or engage.

[0113] In some embodiments of the present application, in order to quickly engage and separate between the solid line first clamping groove 1311 and the first clamping component, and the second clamping groove 2523 and the second clamping component, the shapes of the first clamping component and the second clamping component are preferably spherical structures, cylindrical structures or prismatic structures with rounded corners, and can be guided by guide surfaces (the first guide surface 1312 and the second guide surface 2524) contacting and guiding the curved surfaces of the clamping component surfaces, thereby achieving quick engagement or separation.

[0114] When implementing the distance changing operation, since the push-pull member only slides under the action of the driving mechanism, there is no relative rotation between the two (that is, the first connecting component 71 and the second connecting component 72 remain relatively stationary), which can ensure the reliability of the distance changing mechanism in the first direction and the second direction.

[0115] In some embodiments of this application, please refer to Fig.15 and Fig.16 A plurality of pitch-changing mechanisms are provided on the circumference of the second connecting component 72, and the plurality of pitch-changing mechanisms can be driven to rotate by the second connecting component 72, thereby realizing the switching of different pitch-changing mechanisms, which can be used to meet different pitch-changing requirements; or realize the switching of different types of execution modules 8, etc.

[0116] In some embodiments of this application, please refer to Fig.15 and Fig.16 A plurality of fifth mounting portions 721 are provided on the circumference of the second connecting component 72, and each of the fifth mounting portions 721 is provided with a mounting hole 722 for connecting with a pitch changing mechanism, so as to realize the fixed arrangement of the plurality of pitch changing mechanisms on the circumference of the second connecting component 72. When the second connecting component 72 rotates around the rotation axis C, different pitch changing mechanisms can be engaged and connected with the first driving mechanism 5 and the second driving mechanism 6 provided on the first connecting component 71, so as to realize subsequent pitch changing operations.

[0117] It should be noted that the fifth mounting portion 721 may be an inclined plane or a vertical plane, and as long as it can facilitate the coordination between the first driving mechanism 5 and the second push-pull member 13, and the second driving mechanism 6 and the first push-pull member 252, the purpose of the present application can be achieved.

[0118] As a specific embodiment of this application, please refer to Fig.15 and Fig.16The outer periphery of the second connection assembly 72 has four fifth mounting parts 721, wherein two adjacent fifth mounting parts 721 are respectively connected to the first frame module 1a and the second frame module 1b, the first frame module 1a is provided with a first variable pitch module 2a, and the second frame module 1b is provided with a second variable pitch module 2b. When the second connection assembly 72 is in the first rotation position, the first driving mechanism 5 is connected to the second push-pull member 13 on the first frame module 1a, and the second driving mechanism 6 is connected to the first push-pull member 252 on the first variable pitch module 2a. Fig.15 As shown, at this time, the workpiece can be grabbed by the execution module 8 connected to the first variable pitch module 2a. After the second connection component 72 rotates 90° around the rotation axis C, the second connection component 72 is in the second rotation position, the first drive mechanism 5 is connected to the second push-pull member 13 on the second frame module 1b, and the second drive mechanism 6 is connected to the first push-pull member 252 on the second variable pitch module 2b, as shown in FIG. Fig.16 As shown, at this time, the workpiece can be grasped by the execution module 8 connected to the second variable distance module 2b.

[0119] In some embodiments of the present application, the robot also includes a plurality of execution modules 8, and the plurality of execution modules 8 are connected one-to-one with the plurality of first sliding members 211, so that the arrangement of multiple rows of execution modules 8 can be realized. The spacing between the plurality of execution modules 8 can change with the plurality of first sliding members 211, so that the plurality of execution modules 8 can achieve position correspondence with the plurality of workpieces, so as to facilitate batch grasping and transfer of the plurality of workpieces.

[0120] It should be noted that, depending on the function of the robot and the type of workpiece, the execution module 8 can be an adsorption module, a clamping module, etc., and the workpiece can be grasped by different fixing means, which can achieve the purpose of this application.

[0121] In some embodiments of the present application, the execution module 8 is an adsorption module, which can adsorb and fix the workpiece through a suction nozzle, and is suitable for taking and placing small-sized workpieces, flat workpieces, etc., such as chips, panels, etc.

[0122] See also Figures 1 to 17 The third aspect of the embodiment of the present application provides a transfer device, including the manipulator in the above embodiment, and also includes a moving mechanism 9 connected to the manipulator, which can transfer the manipulator from one workstation to another, thereby realizing the automatic flow of workpieces between different processes.

[0123] In some embodiments of this application, please refer to Fig.17 The moving mechanism 9 is a gantry moving mechanism 9 or a multi-axis robot arm, which can provide the robot with multiple degrees of freedom of movement, thereby realizing efficient movement of the robot at any spatial position.

[0124] As a specific embodiment of this application, please refer to Fig.17 The moving mechanism 9 is a gantry-type moving mechanism 9, including a Z-direction sliding module 91, an X-direction sliding module 92 and a Y-direction sliding module 93. The first connecting component 71 includes a fourth mounting portion 711 and a base 712. The base 712 is rotatably connected to the second connecting component 72. The fourth mounting portion 711 is connected to the slider of the Z-direction sliding module 91. The Z-direction sliding module 91 drives the manipulator to move in the Z direction. The Z-direction sliding module 91 is arranged on the X-direction sliding module 92, and the X-direction sliding module 92 is arranged on the Y-direction sliding module 93, so that the manipulator can have freedom of movement in the Z direction, the X direction and the Y direction.

[0125] In some embodiments of the present application, the shapes of the fourth mounting portion 711 and the fifth mounting portion 721 can be set as needed. In order to realize the alignment of the variable pitch mechanism and the execution module 8, it is preferred that the fourth mounting portion 711 and the fifth mounting portion 721 are parallel to the vertical plane when assembled with the moving mechanism 9, such as Fig.14 shown.

[0126] Most of the chip movement in the market is for single or two chips, and the movement efficiency is low, which cannot meet the needs of chip loading and unloading for simultaneous testing of multiple chips (abbreviated as parallel testing) in finished product testing.

[0127] In order to solve the above problems, in some embodiments of the present application, a transfer device is used to realize efficient transfer of chips. Compared with the chip transfer device in the prior art, the transfer device of the present application can realize the transfer of multiple chips at the same time, and can realize the uniform distribution, transfer and classified placement of a large number of chips. The device has a simple structure and is easy to miniaturize, and is suitable for operating smaller workpiece materials.

[0128] In addition, the transfer equipment has fewer power modules and lower production costs. It is suitable for use in areas such as chip testing and packaging that require rapid batch movement of chips, and can significantly improve production efficiency and reduce chip production costs.

[0129] See also Figures 1 to 17 In some embodiments of the present application, the working method of the above transfer device is as follows:

[0130] Step 1: adjusting the position of the manipulator by the moving mechanism 9 so that the manipulator is located above the matrix of workpieces to be grasped, wherein the matrix of workpieces includes a plurality of workpieces (such as chips, etc.) arranged in a matrix;

[0131] Step 2: Adjust the distance between the first variable pitch component 21 and the second variable pitch component 22 according to the row spacing of the workpiece arrangement: the first drive mechanism 5 applies force to the second push-pull member 13, so that the distance between the first variable pitch component 21 and the second variable pitch component 22 meets the row spacing requirement of the workpiece arrangement, so that the row spacing of the multiple rows of execution modules 8 matches the row spacing of the multiple rows of workpieces; the electromagnetic pin assembly 41 of the second positioning module 4 is actuated to connect the pin 411 with the second positioning portion 112 to achieve fixed row spacing.

[0132] The distance between the multiple first sliding members 211 in the second direction is adjusted according to the column spacing of the workpiece arrangement: the second driving mechanism 6 applies force to the first push-pull member 252, and drives the first connecting rod assembly 23 and the second connecting rod assembly 24 to extend and retract through the transmission assembly 25, so that the spacing between the multiple first sliding members 211 meets the column spacing requirement of the workpiece arrangement, and the column spacing of the multiple columns of execution modules 8 matches the column spacing of the multiple columns of workpieces; the electromagnetic pin assembly 41 of the first positioning module 3 is actuated to connect the pin 411 with the first positioning portion 2521 to achieve fixed column spacing.

[0133] Step 3: The Z-direction sliding module 91 drives the manipulator to move downward, so that the multiple rows of execution modules 8 contact the multiple rows of workpieces, thereby achieving the grasping of multiple workpieces.

[0134] Step 4: Drive the robot to move through the moving mechanism 9 to transfer multiple workpieces to the next workstation. If the workpiece placement position of the next workstation is different from that of the previous workstation, the pin 411 of the first positioning module 3 and the second positioning module 4 can be retracted, and the variable pitch drive adjustment can be performed again through the first drive mechanism 5 and the second drive mechanism 6, and then the workpiece can be placed in the preset position.

[0135] It should be noted that, in the above process, multiple execution modules 8 can be independently controlled to achieve regional placement of materials of different categories through one-time absorption and multiple batch placements.

[0136] It should be understood that the terms used herein are only for the purpose of describing specific example embodiments and are not intended to be limiting. Unless the context clearly indicates otherwise, the singular forms "one", "an" and "said" as used herein may also be meant to include plural forms. The terms "include", "comprise", "contain", and "have" are inclusive, and therefore specify the existence of stated features, steps, operations, elements and / or parts, but do not exclude the existence or addition of one or more other features, steps, operations, elements, parts, and / or combinations thereof. The method steps, processes, and operations described herein are not interpreted as necessarily requiring them to be performed in the specific order described or illustrated, unless the execution order is clearly indicated. It should also be understood that additional or alternative steps may be used.

[0137] Although the terms first, second, third, etc. can be used in the text to describe multiple elements, components, regions, layers and / or sections, these elements, components, regions, layers and / or sections should not be limited by these terms. These terms can only be used to distinguish an element, component, region, layer or section from another region, layer or section. Unless the context clearly indicates, terms such as "first", "second" and other numerical terms do not imply order or sequence when used in the text. Therefore, the first element, component, region, layer or section discussed below can be referred to as the second element, component, region, layer or section without departing from the teaching of the example embodiments.

[0138] The above description is only a specific implementation of the present application, so that those skilled in the art can understand or implement the present application. Various modifications to these embodiments will be apparent to those skilled in the art, and the general principles defined herein can be implemented in other embodiments without departing from the spirit or scope of the present application. Therefore, the present application will not be limited to the embodiments shown herein, but will conform to the widest range consistent with the principles and novel features applied for herein.

Claims

1. A pitch-changing mechanism, characterized in that: include: A frame module (1), the frame module (1) comprising a first frame component (11) and a second frame component (12) which are slidably connected along a first direction; A pitch-changing module (2), the pitch-changing module (2) comprising a first pitch-changing component (21) and a second pitch-changing component (22), the first pitch-changing component (21) being connected to the first frame component (11), the second pitch-changing component (22) being connected to the second frame component (12); the first pitch-changing component (21) and the second pitch-changing component (22) both comprising a plurality of first sliding members (211) movable along a second direction.

2. The pitch-changing mechanism according to claim 1, characterized in that: The pitch changing module (2) further comprises a first connecting rod assembly (23), a second connecting rod assembly (24) and a transmission assembly (25); the first connecting rod assembly (23) is movably connected to a plurality of the first sliding members (211) on the first pitch changing assembly (21); the second connecting rod assembly (24) is movably connected to a plurality of the first sliding members (211) on the second pitch changing assembly (22); the transmission assembly (25) is respectively connected to the first connecting rod assembly (23) and the second connecting rod assembly (24) for driving the first pitch changing assembly (21) and the second pitch changing assembly (22) to change pitch synchronously.

3. The pitch-changing mechanism according to claim 2, characterized in that: The first variable distance assembly (21) comprises a first guide member (212), the length direction of the first guide member (212) is parallel to the second direction, and a plurality of first sliding members (211) are slidably disposed on the first guide member (212); The first connecting rod assembly (23) comprises a second guide member (231), a plurality of second sliding members (232) and a plurality of connecting rods (233); the length direction of the second guide member (231) is parallel to the second direction; the plurality of second sliding members (232) are slidably arranged on the second guide member (231); one end of the connecting rod (233) is hinged to the first sliding member (211); the other end of the connecting rod (233) is hinged to the second sliding member (232); the plurality of connecting rods (233) are connected end to end to form a telescopic structure.

4. The pitch changing mechanism according to claim 3, characterized in that: The second variable pitch assembly (22) has the same structure as the first variable pitch assembly (21), and the second connecting rod assembly (24) has the same structure as the first connecting rod assembly (23).

5. The pitch changing mechanism according to claim 2, characterized in that: The transmission assembly (25) comprises a third guide member (251) and a first push-pull member (252); one end of the third guide member (251) is fixedly connected to the first connecting rod assembly (23), and the other end of the third guide member (251) is slidably connected to the second connecting rod assembly (24) along the first direction; the first end of the first push-pull member (252) is connected to the third guide member (251), and the first push-pull member (252) can move along the third direction.

6. The pitch changing mechanism according to claim 5, characterized in that: The first direction, the second direction and the third direction are perpendicular to each other.

7. The pitch changing mechanism according to claim 5, characterized in that: The frame module (1) is provided with a fourth guide member (111), and the fourth guide member (111) is slidably connected to the first push-pull member (252) along the third direction.

8. The pitch changing mechanism according to claim 7, characterized in that: It also includes a first positioning module (3), the first push-pull member (252) is provided with a first positioning portion (2521), the first positioning module (3) is arranged on the frame module (1), the first positioning portion (2521) has a plurality of first matching positions in the third direction, and the first positioning module (3) and the first matching positions are detachably connected.

9. The pitch changing mechanism according to any one of claims 1 to 8, characterized in that: The invention also comprises a second positioning module (4), the first frame component (11) is provided with a second positioning portion (112), the second positioning module (4) is arranged on the second frame component (12), the second positioning portion (112) has a plurality of second matching positions in the first direction, and the second positioning module (4) and the second matching positions are detachably connected.

10. The pitch changing mechanism according to claim 9, characterized in that: The second positioning module (4) comprises an electromagnetic pin assembly (41).

11. The pitch changing mechanism according to claim 10, characterized in that: The second positioning module (4) also includes a pin seat (42) and an elastic member (43), and the electromagnetic pin assembly (41) is slidably arranged in the pin seat (42). In the sliding direction of the electromagnetic pin assembly (41), the elastic member (43) is provided on both sides of the electromagnetic pin assembly (41), and the elastic member (43) abuts between the electromagnetic pin assembly (41) and the inner wall of the pin seat (42).

12. A robot, characterized in that: It comprises the pitch changing mechanism as claimed in any one of claims 1 to 11, and also comprises a first driving mechanism (5) and a second driving mechanism (6), wherein the first driving mechanism (5) is connected to the frame module (1) for realizing relative sliding of the first frame assembly (11) and the second frame assembly (12); and the second driving mechanism (6) is connected to the pitch changing module (2) for driving the plurality of first sliding members (211) to slide in the second direction.

13. The robot according to claim 12, characterized in that: One of the first frame assembly (11) and the second frame assembly (12) is provided with a second push-pull member (13), and the first driving mechanism (5) is connected to the second push-pull member (13) for driving the first frame assembly (11) or the second frame assembly (12) to move in the first direction.

14. The robot according to claim 13, characterized in that: One end of the second push-pull member (13) has a first matching portion (131), the first driving mechanism (5) has a second matching portion (51) matched with the first matching portion (131), and the first matching portion (131) and the second matching portion (51) are detachably connected.

15. The robot according to claim 14, characterized in that: The first matching portion (131) comprises a first clamping groove (1311), a first guide surface (1312) is provided at the opening of the first clamping groove (1311), and the second matching portion (51) is a first clamping piece matched with the first clamping groove (1311).

16. The robot according to any one of claims 12 to 15, characterized in that: It also comprises a connecting mechanism (7), on which the pitch-changing mechanism, the first driving mechanism (5) and the second driving mechanism (6) are all arranged.

17. The robot according to claim 16, characterized in that: The connecting mechanism (7) comprises a first connecting component (71) and a second connecting component (72) which are rotatably connected, the first driving mechanism (5) and the second driving mechanism (6) are both arranged on the first connecting component (71), and the pitch changing mechanism is arranged on the second connecting component (72).

18. The robot according to claim 17, characterized in that: A plurality of the variable distance mechanisms are provided in the circumferential direction of the second connecting assembly (72).

19. The robot according to any one of claims 12 to 15, characterized in that: It also comprises a plurality of execution modules (8), wherein the plurality of execution modules (8) are connected to the plurality of first sliding members (211) in a one-to-one correspondence.

20. A transfer device, characterized in that: It comprises a manipulator as claimed in any one of claims 12 to 19, and also comprises a moving mechanism (9) connected to the manipulator.

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