Pitch changing mechanism and transfer manipulator
By using a variable distance mechanism during the automated test process and using the spindle drive hook block to push the slider to adjust the material spacing, the problem of low transport efficiency caused by different wiring board spacing between multiple test stations is solved, and the transfer process is realized. Adjust the spacing between multiple materials at the same time, improving work efficiency.
Patent Information
- Application Number
- CN202310994423.9
- Authority / Receiving Office
- CN · China
- Patent Type
- Applications(China)
- Current Assignee / Owner
- Filing Date
- 2023-08-08
- Publication Date
- 2025-02-18
AI Technical Summary
During PCB batch automation testing, the layout spacing of multiple test stations for circuit boards is different, resulting in the inability to directly transfer from one test station to another test station. The existing technology uses three-axis modules or robotic arms for A single transfer is caused by a large number of round trips and cumbersome actions, which affects work efficiency.
A variable distance mechanism is provided, including a guide rail, a sliding assembly, a spindle and a variable distance assembly, and the first hook block is driven by the spindle to push the second slide away from the first slide block, thereby adjusting the between two materials during a transfer process Distance reduces the pick-up and discharge of materials and saves time.
The variable distance mechanism can simultaneously adjust the distance between multiple materials during a single transfer process, so that the transfer time and the adjustment distance time overlap, reduce the material pick-up and discharge actions, and improve work efficiency.
Smart Images
Figure CN119460709A_ABST
Abstract
Description
Technical Field
[0001] The present application relates to the technical field of automated production lines, and in particular to a variable pitch mechanism and a transfer robot. Background Art
[0002] In the process of PCB (Printed Circuit Board) batch automated testing, there are multiple test stations, and different test stations have different arrangement spacings for circuit boards. When transferring multiple circuit boards in the first test station to the second test station, since the arrangement spacing of the circuit board accommodating positions of the first test station is different from the arrangement spacing of the circuit board accommodating positions of the second test station, the same batch of circuit boards cannot be directly transferred from the first test station to the second test station. The relevant technology usually uses a three-axis module or a robotic arm for single transfer. This method has many round trip operations and cumbersome movements, which affects work efficiency. Summary of the invention
[0003] In view of this, it is necessary to provide a variable distance mechanism and a transfer robot that can reduce the material picking and placing actions and save time.
[0004] In a first aspect, an embodiment of the present application provides a pitch-changing mechanism, comprising a guide rail, a sliding assembly, a main shaft, and a pitch-changing assembly. The guide rail extends along a first direction. The sliding assembly comprises a first slider and a second slider, the first slider being fixedly disposed on the guide rail, and the second slider being slidably disposed on the guide rail along the first direction. The main shaft is slidably disposed relative to the guide rail along the first direction. The pitch-changing assembly comprises a first hook block, the first hook block being connected to the main shaft, and the first hook block being configured to be able to abut against the second slider to push the second slider away from the first slider along the first direction.
[0005] In the above embodiment, since the first hook block is connected to the main shaft, and the main shaft is slidably arranged along the first direction, the main shaft can drive the first hook block to slide along the first direction. The first slider is fixed to the guide rail, and the second slider can be slidably arranged on the guide rail along the first direction. The first hook block can abut against the second slider to push the second slider away from the first slider. The method of using a three-axis module or a robotic arm to transfer materials separately at a time has many round trip operations and cumbersome movements, which affects work efficiency. In the present application, the first slider and the second slider are both used to transfer materials. When two materials are transferred at the same time, the variable distance mechanism can simultaneously adjust the distance between the two materials during a transfer process, so that the transfer time and the time for adjusting the distance coincide. The time of a single transfer can transfer two materials at the same time, thereby reducing the material taking and placing actions and saving time.
[0006] In at least one embodiment, the sliding assembly also includes a third slider, which is slidably disposed on the guide rail along the first direction, and the third slider is disposed on a side of the second slider away from the first slider, and the first slider, the second slider and the third slider all have force-bearing surfaces, and a first fixed spacing is provided between adjacent force-bearing surfaces.
[0007] The main shaft extends along the first direction, the pitch-changing assembly further comprises a second hook block, the second hook block is connected to the main shaft, the second hook block is spaced apart from the first hook block along the first direction, the first hook block and the second hook block both have a force-applying surface, and a second fixed distance is provided between the two force-applying surfaces;
[0008] The second fixed spacing is larger than the first fixed spacing and smaller than twice the first fixed spacing, and the second hook block can abut against the third slider to push the third slider away from the second slider.
[0009] In the above embodiment, the pitch-changing assembly further includes a second hook block, and the second hook block is connected to the main shaft, so that the main shaft can simultaneously drive the first hook block and the second hook block to move simultaneously. The second hook block can abut against the third slider, thereby pushing the third slider away from the second slider. Since the second fixed spacing is greater than the first fixed spacing and less than twice the first fixed spacing, when the second hook block abuts against the third slider, the first hook block and the second slider are in a separated state; when the second hook block pushes the third slider to move a certain distance, and the first hook block abuts against the second slider, the distance of the change of the third slider is ΔL1, that is, the change distance between the second slider and the third slider.
[0010] When the spindle continues to move, the first hook pushes the second slider to change by the same distance ΔL1, that is, the change distance between the second slider and the first slider. At this time, the change distance between the third slider and the first slider is 2ΔL1, and the first slider, the second slider and the third slider change equidistantly along the first direction. It is worth noting that the second fixed spacing minus the first fixed spacing equals ΔL1.
[0011] Therefore, in the present application, the first slider, the second slider and the third slider are all used to transfer materials. When three materials are transferred at the same time, the variable distance mechanism can simultaneously adjust the distance between the three materials during one transfer process, so that the transfer time and the time for adjusting the distance coincide. Three materials can be transferred at the same time in a single transfer time, thereby reducing the material taking and placing actions and saving time.
[0012] In at least one embodiment, the pitch changing mechanism also includes a driving member, the guide rail includes a mounting portion and a sliding portion, the driving member is fixed to the mounting portion, the driving member has an output shaft, and the output shaft is connected to the main shaft so that the output shaft can drive the main shaft to move along the first direction.
[0013] In the above embodiment, the driving member is fixed to the mounting portion so that the driving member has a stable mounting base. The driving member can serve as a power source for the main shaft, and the driving member has an output shaft, and the main shaft is connected to the output shaft so that the main shaft can move in the first direction.
[0014] In at least one embodiment, the sliding portion includes a first sliding section and a second sliding section, the first sliding section and the second sliding section are arranged in parallel, the first sliding section is provided with a first sliding groove on the side facing the second sliding section, and the second sliding section is provided with a second sliding groove on the side facing the first sliding section, and the first sliding block, the second sliding block and the third sliding block are all slidably matched with the first sliding groove and / or the second sliding groove.
[0015] In the above embodiment, the first slider, the second slider and the third slider are all arranged in the sliding space, so that the first slider, the second slider and the third slider can slide in the first sliding groove and the second sliding groove at the same time, so that both sides of the first slider, both sides of the second slider and both sides of the third slider are supported to improve the sliding stability of the first slider, the second slider and the third slider.
[0016] In at least one embodiment, the distance changing mechanism also includes a limit plate, which is detachably connected to the guide rail, and the limit plate has double-sided limit blocks, and the double-sided limit blocks are configured to clamp the first slider to fix the position of the first slider and the guide rail along the first direction.
[0017] In the above embodiment, the limit plate has double-sided limit blocks, which can clamp the first slider to fix the position of the first slider. Since the limit plate is detachably connected to the guide rail, compared with using bolts to lock the first slider to the guide rail, the present application fixes the position of the first slider by the double-sided limit blocks of the limit plate, and the lock of the first slider can be released by removing the limit plate from the guide rail, which can improve the convenience of installation and maintenance of the first slider.
[0018] In at least one embodiment, the limit plate also has a first single-sided limit block and a second single-sided limit block, the first single-sided limit block is configured to be able to abut against the side of the second slider toward the first slider to limit the second slider from moving away from the first slider along the first direction; the second single-sided limit block is configured to be able to abut against the side of the third slider toward the second slider to limit the third slider from moving away from the second slider along the first direction.
[0019] In the above embodiment, since both the second slider and the third slider need to move in the first direction, the first unilateral limit block can hold the side of the second slider toward the first slider so that the second slider can only move away from the first slider in the first direction. When the first slider, the second slider and the third slider are all used to transfer materials, since multiple materials have an initial spacing at the first test station, the initial distance between the first slider, the second slider and the third slider needs to be equal to the initial spacing of the multiple materials at the first test station. The first unilateral limit block can serve as a positioning basis before the second slider changes its distance to improve the debugging convenience of the second slider. The second unilateral limit block can hold the side of the third slider toward the second slider so that the third slider can only move away from the second slider in the first direction. The second unilateral limit block can serve as a positioning basis before the third slider changes its distance to improve the debugging convenience of the third slider.
[0020] In at least one embodiment, the variable distance mechanism also includes an elastic component, which includes a first elastic member and a second elastic member, wherein the first elastic member connects the first slider and the second slider, and the first elastic member can generate an elastic force that causes the second slider to approach the first slider; the second elastic member connects the second slider and the third slider, and the second elastic member can generate an elastic force that causes the third slider to approach the second slider.
[0021] In the above embodiment, the first slider is fixed on the guide rail, the first elastic member can generate an elastic force to make the second slider close to the first slider, and the second elastic member can generate an elastic force to make the third slider close to the second slider. Therefore, when the main shaft returns to the initial position, the second slider and the third slider can return to the initial position under the action of the first elastic member and the second elastic member, thereby realizing the function of automatic resetting of the second slider and the third slider to facilitate the next batch transfer of materials.
[0022] In at least one embodiment, the pitch variable assembly also includes an adjustment block and a connecting piece, and the first hook block and the second hook block are both arranged on the adjustment block; the adjustment block is provided with an adjustment hole, and the connecting piece passes through the adjustment hole and is fixed to the main shaft to connect the adjustment block and the main shaft; the adjustment hole extends along the first direction to adjust the relative position of the adjustment block and the main shaft along the first direction.
[0023] In the above embodiment, the connecting member is fixed to the main shaft through the adjustment hole. Since the adjustment hole is configured to extend along the first direction, the adjustment block has a movable range on the main shaft. The adjustment block can drive the first hook block and the second hook block to move along the first direction as needed, thereby adjusting the initial positions of the first hook block and the second hook block and improving the adjustment convenience of the first hook block and the second hook block.
[0024] In at least one embodiment, the adjustment block is integrally formed with the first hook block and the second hook block.
[0025] In the above embodiment, the adjustment block is integrally formed with the first hook block and the second hook block, so that the adjustment block, the first hook block and the second hook block can be manufactured at the same time, thereby improving the manufacturing convenience. Moreover, the first hook block and the second hook block are integrally formed in the adjustment block, which can improve the bending strength of the first hook block and the second hook block and improve the position stability of the first hook block and the second hook block.
[0026] In the second aspect, an embodiment of the present application provides a transfer robot, including a material picking arm, a material picking and placing assembly and the above-mentioned distance changing mechanism, wherein the distance changing mechanism is connected to the material picking arm so that the material picking arm can drive the distance changing mechanism to move, and the material picking and placing assembly is arranged on the sliding assembly for picking and placing materials.
[0027] In the above embodiment, the picking arm drives the distance-changing mechanism to move, and the picking and placing assembly is arranged on the sliding assembly for picking and placing materials, so that when the picking arm transfers multiple materials at the same time, the distance-changing mechanism can simultaneously adjust the distance between multiple materials during one transfer process, so that the transfer time and the time for adjusting the distance coincide, and multiple materials can be transferred simultaneously in a single transfer time, thereby reducing the picking and placing actions and saving time. BRIEF DESCRIPTION OF THE DRAWINGS
[0028] Figure 1 A schematic structural diagram of a transfer robot in one embodiment of the present application is shown.
[0029] Figure 2 A schematic diagram of the overall structure of a pitch-changing mechanism in an embodiment of the present application is shown, which shows a side view of the pitch-changing structure.
[0030] Figure 3 A schematic diagram of the overall structure of a pitch-changing mechanism in an embodiment of the present application is shown, which shows a top view of the pitch-changing structure.
[0031] Figure 4 A schematic diagram of the movement process of the pitch-changing mechanism in one embodiment of the present application is depicted.
[0032] Figure 5 A schematic diagram of the overall structure of a guide rail in an embodiment of the present application is shown.
[0033] Main component symbols
[0034] 001 Transfer robot
[0035] 100 Pitch-changing mechanism
[0036] 11 Guide Rail
[0037] 111 Installation
[0038] 112 Sliding part
[0039] 1121 First Slip Section
[0040] 1121a First sliding groove
[0041] 1122 Second Slip Section
[0042] 1121b Second sliding groove
[0043] 12 Sliding components
[0044] 121 First Slider
[0045] 122 Second Slider
[0046] 123 Third Slider
[0047] S1 First fixed spacing
[0048] 13 Pitch Variable Components
[0049] 131 First Hook Block
[0050] 132 Second tick block
[0051] 133 Adjustment block
[0052] 1331 Adjustment hole
[0053] 134 Connectors
[0054] S2 Second fixed spacing
[0055] 14 Spindle
[0056] 15 Drive element
[0057] 151 Output shaft
[0058] 16 Limiting plate
[0059] 161 Double-side limit block
[0060] 162 First unilateral limit block
[0061] 163 Second single-side limit block
[0062] 17 Elastic components
[0063] 171 first elastic member
[0064] 172 second elastic member
[0065] 200 Loading and unloading components
[0066] 210 Suction Cup Set
[0067] 300 Reclaiming Arm
[0068] The following specific implementation methods will further illustrate the present application in conjunction with the above-mentioned drawings. DETAILED DESCRIPTION
[0069] The technical solutions in the embodiments of the present application will be described below in conjunction with the drawings in the embodiments of the present application. Obviously, the described embodiments are only part of the embodiments of the present application, rather than all of the embodiments.
[0070] It should be noted that when an element is considered to be "connected" to another element, it may be directly connected to the other element or there may be a centrally arranged element at the same time. When an element is considered to be "set" to another element, it may be directly set on the other element or there may be a centrally arranged element at the same time. For those of ordinary skill in the art, the specific meanings of the above terms in this application can be understood according to specific circumstances. The term "and / or" used herein includes any and all combinations of one or more related listed items.
[0071] During the PCB (Printed Circuit Board) batch automated testing process, each test station has different spacings for the arrangement of multiple circuit boards in one version, and the multiple circuit boards in one version are transported one by one at a time. This method requires many round trips and is cumbersome, which seriously affects work efficiency.
[0072] The embodiment of the present application provides a variable distance mechanism. When the variable distance mechanism is applied to the PCB batch automated testing process, the first slider and the second slider can both be used to transport materials. The first hook block is driven by the main shaft to move in the first direction so that the first hook block can abut against the second slider to push the second slider away from the first slider. When two materials are transported at the same time, the variable distance mechanism can adjust the distance between the two materials at the same time during one transport process to improve work efficiency. It is worth noting that the main shaft in the first direction is represented as the length direction of the main shaft.
[0073] Specifically, an embodiment of the present application provides a pitch-changing mechanism, including a guide rail, a sliding assembly, a main shaft, and a pitch-changing assembly. The guide rail extends along a first direction. The sliding assembly includes a first slider and a second slider, the first slider is fixedly disposed on the guide rail, and the second slider is slidably disposed on the guide rail along the first direction. The main shaft is slidably disposed along the first direction relative to the guide rail. The pitch-changing assembly includes a first hook block, and the first hook block is connected to the main shaft, so that the main shaft can drive the first hook block to slide along the first direction. The first hook block is configured to be able to abut against the second slider to push the second slider away from the first slider along the first direction, so that the pitch-changing mechanism can simultaneously adjust the distance between two materials during a single transfer process, so that the transfer time and the time for adjusting the distance coincide, and the time of a single transfer can transfer two materials at the same time, thereby reducing the material taking and placing actions and saving time.
[0074] Some embodiments of the present application are described in detail below in conjunction with the accompanying drawings. In the absence of conflict, the features in the following embodiments and examples can be combined with each other.
[0075] See also Figure 1 One embodiment of the present application provides a transfer robot 001, which includes a variable distance mechanism 100, a material picking and placing assembly 200, and a material picking arm 300. The material picking arm 300 has three, four or even more degrees of freedom, and the variable distance mechanism 100 is connected to the material picking arm 300, so that the material picking arm 300 can drive the variable distance mechanism 100 to move. The material picking and placing assembly 200 is connected to the variable distance mechanism 100, so that the variable distance mechanism 100 can adjust the distance between multiple materials in the process of picking and placing materials, so that when the material picking arm 300 transfers multiple materials at the same time, the variable distance mechanism 100 can simultaneously adjust the distance between multiple materials during one transfer process, so that the transfer time and the time of adjusting the distance coincide, and multiple materials can be transferred simultaneously in a single transfer time, thereby reducing the material picking and placing actions and saving time.
[0076] See also Figure 1 and Figure 2 In some embodiments, the material picking and placing assembly 200 includes a plurality of suction cup groups 210, which can be driven by the distance changing mechanism 100 to change the distance between the plurality of suction cup groups 210, thereby achieving the function of simultaneously adjusting the distance between a plurality of materials during a transport process. In some other embodiments, the suction cup group 210 can be replaced by other material picking forms such as a clamping claw and a hook claw.
[0077] See also Figure 3In some embodiments, the pitch-changing mechanism 100 includes a guide rail 11, a sliding assembly 12, a main shaft 14, and a pitch-changing assembly 13. The guide rail 11 extends along a first direction. The sliding assembly 12 includes a first slider 121 and a second slider 122, wherein the first slider 121 is fixedly disposed on the guide rail 11, and the second slider 122 is slidably disposed on the guide rail 11 along the first direction. The main shaft 14 is slidably disposed relative to the guide rail 11 along the first direction. The pitch-changing assembly 13 includes a first hook block 131, wherein the first hook block 131 is connected to the main shaft 14, so that the main shaft 14 can drive the first hook block 131 to slide along the first direction. The first hook block 131 is configured to be able to abut against the second slider 122 to push the second slider 122 away from the first slider 121 along the first direction. In the present application, the first slider 121 and the second slider 122 are both used for transferring materials. When transferring two materials at the same time, the variable distance mechanism 100 can simultaneously adjust the distance between the two materials during one transfer process, so that the transfer time and the time for adjusting the distance coincide. Two materials can be transferred at the same time in a single transfer time, thereby reducing the material taking and placing actions and saving time.
[0078] See also Figure 3 and Figure 4 In some implementations, the sliding assembly 12 further includes a third slider 123, which is disposed on a side of the second slider 122 away from the first slider 121. The third slider 123 is slidably disposed on the guide rail 11 along the first direction, and the first slider 121, the second slider 122, and the third slider 123 are arranged on the guide rail 11 at equal intervals along the first direction. The first slider 121, the second slider 122, and the third slider 123 all have force-bearing surfaces, and a first fixed interval S1 is provided between adjacent force-bearing surfaces.
[0079] The main shaft 14 extends along the first direction, and the pitch-changing assembly 13 further includes a second hook block 132, which is connected to the main shaft 14. The second hook block 132 and the first hook block 131 are spaced apart along the first direction so that the second hook block 132 and the first hook block 131 can move synchronously. Both the first hook block 131 and the second hook block 132 have a force-applying surface, and a second fixed spacing S2 is provided between the two force-applying surfaces.
[0080] The second fixed spacing S2 is larger than the first fixed spacing S1 and smaller than twice the first fixed spacing S1, so that the first hook block 131 can be located between the first slider 121 and the second slider 122, so that the first hook block 131 can abut against the second slider 122. The second hook block 132 is located between the second slider 122 and the third slider 123, so that the second hook block 132 can abut against the third slider 123 to push the third slider 123 away from the second slider 122.
[0081] Since the second fixed spacing S2 is larger than the first fixed spacing S1 and smaller than twice the first fixed spacing S1, when the second hook block 132 abuts against the third slider 123, the first hook block 131 and the second slider 122 are in a separated state (state A); when the second hook block 132 pushes the third slider 123 to move a certain distance and the first hook block 131 abuts against the second slider 122 (state B), the distance of change of the third slider 123 is ΔL1, that is, the distance of change between the second slider 122 and the third slider 123.
[0082] When the spindle 14 continues to move, the first hook 131 pushes the second slider 122 to change by the same distance ΔL1 (state C), that is, the change distance between the second slider 122 and the first slider 121. At this time, the change distance between the third slider 123 and the first slider 121 is 2ΔL1, and the first slider 121, the second slider 122 and the third slider 123 change equidistantly along the first direction. It is worth noting that the second fixed spacing S2 minus the first fixed spacing S1 equals ΔL1.
[0083] Therefore, in the present application, the first slider 121, the second slider 122 and the third slider 123 are all used to transfer materials. When three materials are transferred at the same time, the variable distance mechanism 100 can simultaneously adjust the distance between the three materials during one transfer process, so that the transfer time and the time for adjusting the distance coincide. Three materials can be transferred at the same time in a single transfer time, thereby reducing the material taking and placing actions and saving time.
[0084] In some embodiments, the upper surface of the first slider 121 is provided with a first boss, the upper surface of the second slider 122 is provided with a second boss, and the upper surface of the third slider 123 is provided with a third boss, thereby increasing the contact area and improving the push stability of the first slider 121, the second slider 122 and the third slider 123.
[0085] In some embodiments, the sliding assembly 12 further includes an Nth slider, [N] ≥ 4, and the Nth slider is disposed on a side of the N-1th slider away from the N-2th slider. The Nth slider is slidably disposed on the guide rail 11 along a first direction, and the N-2th slider, the N-1th slider, and the Nth slider are arranged on the guide rail 11 at equal intervals along the first direction, and the N-2th slider, the N-1th slider, and the Nth slider all have force-bearing surfaces, and a first fixed spacing S1 is provided between adjacent force-bearing surfaces.
[0086] The pitch-changing assembly 13 further includes an N-1th hook block, which is connected to the main shaft 14 so that the N-1th hook block and the N-2th hook block can move synchronously. The N-2th hook block and the N-1th hook block both have a force-applying surface, and a second fixed spacing S2 is provided between the two force-applying surfaces.
[0087] The second fixed spacing S2 is greater than the first fixed spacing S1 and less than twice the first fixed spacing S1, so that the N-2th hook block can be located between the N-2th slider and the N-1th slider, so that the N-2th hook block can abut against the N-1th slider. And the N-1th hook block is located between the N-1th slider and the Nth slider, so that the N-1th hook block can abut against the Nth slider to push the Nth slider away from the N-1th slider.
[0088] Since the second fixed spacing S2 is greater than the first fixed spacing S1 and less than twice the first fixed spacing S1, when the N-1th hook block abuts against the N-1th slider, the N-2th hook block and the N-1th slider are in a separated state; when the N-1th hook block pushes the N-1th slider to move a certain distance and the N-2th hook block abuts against the N-1th slider, the changed distance of the N-1th slider is ΔL1, that is, the changed distance between the N-1th slider and the N-1th slider.
[0089] When the spindle 14 continues to move, the N-2 hook block pushes the N-1 slider to change by the same distance ΔL1, that is, the change distance between the N-1 slider and the N-2 slider. At this time, the change distance between the N-2 slider and the N-2 slider is 2ΔL1, and the change distance between the N-2 slider and the first slider 121 is (N-1)ΔL1. The N-2 slider, the N-1 slider, and the N slider change equidistantly along the first direction.
[0090] Therefore, when the N-2 slider, the N-1 slider and the N slider in the present application are all used to transfer materials, when multiple materials are transferred at the same time, the variable distance mechanism 100 can simultaneously adjust the distance between multiple materials during one transfer process, so that the transfer time and the time for adjusting the distance coincide, and multiple materials can be transferred at the same time in a single transfer time, thereby reducing the material taking and placing actions and saving time.
[0091] In some embodiments, the upper surface of the N-2th slider is provided with the N-2th boss, the upper surface of the N-1th slider is provided with the N-1th boss, and the upper surface of the Nth slider is provided with the Nth boss, thereby increasing the contact area and improving the push stability of the N-2th slider, the N-1th slider and the Nth slider.
[0092] See also Figure 2 and Figure 3 In some embodiments, the pitch changing mechanism 100 further includes a driving member 15, the guide rail 11 includes a mounting portion 111 and a sliding portion 112, and the driving member 15 is fixed to the mounting portion 111 so that the driving member 15 has a stable mounting base. The driving member 15 has an output shaft 151, and the output shaft 151 is connected to the main shaft 14 so that the output shaft 151 can drive the main shaft 14 to move along the first direction.
[0093] In some embodiments, the driving member 15 may be a slide cylinder, which is guided by a cross ball guide rail, has low friction, and can achieve smooth translational reciprocating motion. It has the advantages of high guiding accuracy, torque resistance, and strong load capacity. The main shaft 14 is connected to the output shaft 151 of the slide cylinder, which can improve the angular accuracy of the main shaft 14 moving along the first direction.
[0094] See also Figure 3 and Figure 5 In some embodiments, the sliding portion 112 includes a first sliding segment 1121 and a second sliding segment 1122 , the first sliding segment 1121 and the second sliding segment 1122 are arranged in parallel, and the first sliding segment 1121 and the second sliding segment 1122 both extend along the first direction. A first sliding groove 1121a is provided on the side of the first sliding section 1121 facing the second sliding section 1122, and a second sliding groove 1121b is provided on the side of the second sliding section 1122 facing the first sliding section 1121. A sliding space is formed between the first sliding groove 1121a and the second sliding groove 1121b. The first slider 121, the second slider 122 and the third slider 123 are all provided in the sliding space, so that the first slider 121, the second slider 122 and the third slider 123 can slide in the first sliding groove 1121a and the second sliding groove 1121b at the same time, so that both sides of the first slider 121, both sides of the second slider 122 and both sides of the third slider 123 are supported to improve the sliding stability of the first slider 121, the second slider 122 and the third slider 123.
[0095] In some embodiments, the pitch-changing mechanism 100 further includes a limit plate 16, which is detachably connected to the guide rail 11, and has double-sided limit blocks 161, which are configured to clamp the first slider 121, thereby fixing the relative position of the first slider 121 to the guide rail 11 along the first direction. Since the limit plate 16 is detachably connected to the guide rail 11, compared with using bolts to lock the first slider 121 to the guide rail 11, the present application fixes the position of the first slider 121 through the double-sided limit blocks 161 of the limit plate 16, and the lock of the first slider 121 can be released by removing the limit plate 16 from the guide rail 11, which can improve the convenience of installation and maintenance of the first slider 121.
[0096] In some embodiments, the limit plate 16 further has a first unilateral limit block 162 and a second unilateral limit block 163. The first unilateral limit block 162 is configured to be able to abut the side of the second slider 122 toward the first slider 121, so that the second slider 122 can only move away from the first slider 121 along the first direction. The second unilateral limit block 163 is configured to be able to abut the side of the third slider 123 toward the second slider 122, so that the third slider 123 can only move away from the second slider 122 along the first direction. When the first slider 121, the second slider 122 and the third slider 123 are all used to transfer materials, since multiple materials have an initial spacing at the first test station, the initial distance between the first slider 121, the second slider 122 and the third slider 123 needs to be equal to the initial spacing of multiple materials at the first test station. The first unilateral limit block 162 can serve as a positioning basis for the second slider 122 before the distance is changed, so as to improve the debugging convenience of the second slider 122. Similarly, the second unilateral limiting block 163 can serve as a positioning basis for the third sliding block 123 before the third sliding block 123 changes its distance, so as to improve the debugging convenience of the third sliding block 123 .
[0097] In some embodiments, the limit plate 16 also has a limit waist hole, which extends along the first direction so that the limit plate 16 can be connected to the guide rail 11 by bolts, so that the limit plate 16 has a range of motion on the guide rail 11, and the limit plate 16 can simultaneously drive the double-sided limit block 161, the first single-sided limit block 162 and the second single-sided limit block 163 to move along the first direction as needed, thereby adjusting the initial positions of the double-sided limit blocks 161, the first single-sided limit blocks 162 and the second single-sided limit blocks 163 to improve the convenience of adjustment.
[0098] In some embodiments, two limit plates 16 are symmetrically arranged, and the first sliding section 1121 and the second sliding section 1122 are each provided with a limit plate 16 to limit the first slider 121, the second slider 122 and the third slider 123 from both sides perpendicular to the first direction, thereby improving the position stability of the first slider 121, the second slider 122 and the third slider 123.
[0099] In some embodiments, the pitch-changing mechanism 100 further includes an elastic component 17, which includes a first elastic member 171 and a second elastic member 172. A portion of the first elastic member 171 is connected to the first slider 121, and a portion of the first elastic member 171 is connected to the second slider 122. When the second slider 122 is away from the first slider 121, the first elastic member 171 can generate an elastic force that makes the second slider 122 approach the first slider 121; a portion of the second elastic member 172 is connected to the second slider 122, and a portion of the second elastic member 172 is connected to the third slider 123. When the third slider 123 is away from the second slider 122, the second elastic member 172 can generate an elastic force that makes the third slider 123 approach the second slider 122. Therefore, when the main shaft 14 returns to the initial position, the second slider 122 and the third slider 123 can return to the initial position under the action of the first elastic member 171 and the second elastic member 172, thereby realizing the function of automatic reset of the second slider 122 and the third slider 123, so as to facilitate the next batch transfer of materials.
[0100] In some embodiments, the first slider 121 and the second slider 122 are connected by two first elastic members 171 , and the second slider 122 and the third slider 123 are connected by two second elastic members 172 to increase the elastic force between the first slider 121 and the second slider 122 and the second slider 122 and the third slider 123 .
[0101] In some embodiments, the pitch-changing assembly 13 further includes an adjustment block 133 and a connecting member 134, and the first hook block 131 and the second hook block 132 are both disposed at the bottom of the adjustment block 133. The adjustment block 133 is provided with an adjustment hole 1331, and the adjustment hole 1331 is configured to extend along the first direction so that the connecting member 134 can pass through the adjustment hole 1331 and be fixed to the main shaft 14. Since the adjustment hole 1331 is configured to extend along the first direction, the adjustment block 133 has a range of motion on the main shaft 14, and the adjustment block 133 can drive the first hook block 131 and the second hook block 132 to move along the first direction as required, thereby adjusting the initial positions of the first hook block 131 and the second hook block 132, and improving the adjustment convenience of the first hook block 131 and the second hook block 132.
[0102] In some embodiments, the adjustment block 133 is integrally formed with the first hook block 131 and the second hook block 132 by machining, so that the adjustment block 133, the first hook block 131 and the second hook block 132 can be manufactured at the same time, improving the manufacturing convenience. In addition, the first hook block 131 and the second hook block 132 are integrally formed on the adjustment block 133, which can improve the bending strength of the first hook block 131 and the second hook block 132 and improve the position stability of the first hook block 131 and the second hook block 132. In some embodiments, the upper surface of the main shaft 14 is provided with scale lines to facilitate the precise position adjustment of the adjustment block 133.
[0103] In the process of using the transfer robot 001 to transfer the PCB from the first test station to the second test station, the material picking arm 300 moves to the first test station and simultaneously picks up multiple PCBs through multiple suction cup groups 210. When the material picking arm 300 moves from the first test station to the second test station, the variable distance mechanism 100 drives the multiple suction cup groups 210 to translate in sequence, thereby changing the distance between the multiple suction cup groups 210, thereby achieving the function of simultaneously adjusting the distance between multiple materials during a transfer process. Specifically, when the second hook block 132 abuts against the third slider 123, the first hook block 131 and the second slider 122 are in a separated state. When the second hook block 132 pushes the third slider 123 to move a distance, and the first hook block 131 abuts against the second slider 122, the distance of the change of the third slider 123 is ΔL1, that is, the distance of the change between the second slider 122 and the third slider 123. When the main shaft 14 continues to move, the first hook block 131 pushes the second slider 122 to change by the same distance ΔL1, that is, the change distance between the second slider 122 and the first slider 121. At this time, the change distance between the third slider 123 and the first slider 121 is 2ΔL1, and the first slider 121, the second slider 122 and the third slider 123 change equidistantly along the first direction, thereby realizing the variable distance function.
[0104] In addition, those skilled in the art may also make other changes within the technical concept of the present application. Of course, these changes made based on the technical concept of the present application should be included in the scope disclosed in the present application.
Claims
1. A pitch-changing mechanism, characterized in that: include: a guide rail extending along a first direction; A sliding assembly, the sliding assembly comprising a first sliding block and a second sliding block, the first sliding block being fixedly disposed on the guide rail, and the second sliding block being slidably disposed on the guide rail along the first direction; a main shaft, the main shaft being slidably arranged relative to the guide rail along the first direction; The pitch-changing assembly includes a first hook block connected to the main shaft, and the first hook block is configured to be able to abut against the second slider to push the second slider away from the first slider along the first direction.
2. The pitch-changing mechanism according to claim 1, characterized in that: The sliding assembly further includes a third slider, which is slidably disposed on the guide rail along the first direction, and is disposed on a side of the second slider away from the first slider, the first slider, the second slider and the third slider all have force-bearing surfaces, and a first fixed distance is provided between adjacent force-bearing surfaces; The main shaft extends along the first direction, the pitch-changing assembly further comprises a second hook block, the second hook block is connected to the main shaft, the second hook block and the first hook block are spaced apart along the first direction, the first hook block and the second hook block both have a force-applying surface, and a second fixed distance is provided between the two force-applying surfaces; The second fixed spacing is larger than the first fixed spacing and smaller than twice the first fixed spacing, and the second hook block can abut against the third slider to push the third slider away from the second slider.
3. The pitch changing mechanism according to claim 2, characterized in that: The pitch changing mechanism further includes a driving member, the guide rail includes a mounting portion and a sliding portion, the driving member is fixed to the mounting portion, the driving member has an output shaft, and the output shaft is connected to the main shaft so that the output shaft can drive the main shaft to move along the first direction.
4. The pitch changing mechanism according to claim 3, characterized in that: The sliding portion includes a first sliding section and a second sliding section, the first sliding section and the second sliding section are arranged in parallel, the first sliding section is provided with a first sliding groove on the side facing the second sliding section, and the second sliding section is provided with a second sliding groove on the side facing the first sliding section, and the first sliding block, the second sliding block and the third sliding block are all slidably matched with the first sliding groove and / or the second sliding groove.
5. The pitch changing mechanism according to claim 2, characterized in that: The distance changing mechanism also includes a limit plate, which is detachably connected to the guide rail, and has double-sided limit blocks, which are configured to clamp the first slider to fix the relative position of the first slider and the guide rail along the first direction.
6. The pitch changing mechanism according to claim 5, characterized in that: The limit plate also has a first unilateral limit block and a second unilateral limit block, the first unilateral limit block is configured to be able to abut against the side of the second slider toward the first slider to limit the second slider from moving away from the first slider along the first direction; the second unilateral limit block is configured to be able to abut against the side of the third slider toward the second slider to limit the third slider from moving away from the second slider along the first direction.
7. The pitch changing mechanism according to claim 6, characterized in that: The variable pitch mechanism also includes an elastic component, which includes a first elastic member and a second elastic member, wherein the first elastic member connects the first slider and the second slider, and the first elastic member can generate an elastic force that causes the second slider to approach the first slider; the second elastic member connects the second slider and the third slider, and the second elastic member can generate an elastic force that causes the third slider to approach the second slider.
8. The pitch changing mechanism according to claim 2, characterized in that: The pitch-changing assembly further comprises an adjusting block and a connecting piece, wherein the first hook block and the second hook block are both arranged on the adjusting block; The adjusting block is provided with an adjusting hole, and the connecting member passes through the adjusting hole and is fixed to the main shaft to connect the adjusting block and the main shaft; The adjustment hole extends along the first direction to adjust the relative positions of the adjustment block and the main shaft along the first direction.
9. The pitch-changing mechanism according to claim 8, characterized in that: The adjusting block is integrally formed with the first hook block and the second hook block.
10. A transfer robot, characterized in that: It includes a material picking arm, a material picking and placing assembly, and a distance changing mechanism as described in any one of claims 1 to 9, wherein the distance changing mechanism is connected to the material picking arm so that the material picking arm can drive the distance changing mechanism to move, and the material picking and placing assembly is arranged on the sliding assembly for picking and placing materials.