A dual-claw steering and handling mechanism and assembly apparatus

Abstract

The application relates to a double-claw steering carrying mechanism and an assembling device, and belongs to the technical field of assembling devices. The double-claw steering carrying mechanism is driven by a horizontal moving assembly and a lifting assembly to drive claw hand structures symmetrically arranged at both ends of a supporting beam, cooperates with independently controllable rotating structures, realizes integrated operation of product carrying and steering, and significantly improves production efficiency through integrated design. Through a single action, the function that can be realized in multiple processes in a traditional scheme can be completed. Integrated motion control of the mechanism ensures positioning accuracy, and a product positioning jig is used for secondary positioning of the steered product, so that error accumulation caused by multiple clamping is avoided. The compact structure design saves equipment space, and through flexible steering angle adjustment, different process requirements can be adapted, effectively solving the problems of low efficiency, inaccurate positioning and space waste of traditional assembling devices, and being particularly suitable for automatic production lines with high requirements for precision and efficiency.

Description

Technical Field

[0001] This invention relates to a double-claw steering and conveying mechanism and assembly equipment, belonging to the technical field of assembly equipment. Background Technology

[0002] In modern industrial automated production lines, adjacent workstations often need to adjust the posture of products, such as flipping and turning, to meet process requirements. Simultaneously, dual handling is required to balance the overall production cycle. Existing technologies mainly employ two solutions: a combination of independent robotic arms and flipping mechanisms, or a fixed turning conveyor line. However, both have significant drawbacks: the former reduces overall line efficiency because the flipping operation occupies a separate cycle time, and repeated clamping can easily introduce positioning errors; the latter has a limited function, cannot simultaneously complete flipping and turning, and is prone to product displacement during high-speed rotation, leading to interference risks.

[0003] Especially in high-precision assembly fields (such as semiconductor packaging), existing technologies struggle to simultaneously complete flipping, turning, and secondary positioning within ≤2 seconds, and cannot balance positioning accuracy with seamless cycle time. The current design, where the flipping mechanism and transport system are independent, not only increases equipment footprint and complexity but also hinders cycle time optimization due to process fragmentation. Therefore, a dual-jaw steering and transporting mechanism is urgently needed. This innovative design enables coordinated control of attitude adjustment and high-speed transport, addressing the core challenge of balancing efficiency, accuracy, and flexibility in existing technologies. Summary of the Invention

[0004] The purpose of this invention is to provide a double-claw steering and conveying mechanism and assembly equipment to solve the above-mentioned problems.

[0005] To achieve the above objectives, the present invention provides the following technical solution: a double-claw steering and conveying mechanism, the double-claw steering and conveying mechanism including a claw assembly, a lateral moving assembly for driving the claw assembly to move horizontally, and a lifting assembly for driving the claw assembly to move vertically, the claw assembly including a support beam and a pair of claw structures disposed at both ends of the support beam, at least one of the claw structures being connected to a rotating structure, the rotating structure being used to drive the claw structure to rotate the product, and a product positioning fixture being disposed at the intersection of the strokes of the pair of claw structures.

[0006] Furthermore, the dual-claw steering and conveying mechanism also includes a flipping component disposed on one side of the claw assembly. The flipping component includes a flipping structure and a translational structure that drives the flipping structure to move closer to or away from the claw assembly. The flipping structure is configured to grip and rotate the product in a horizontal direction, and the product positioning fixture is configured to move up and down reciprocally to move closer to or away from the flipping structure.

[0007] Furthermore, the flipping structure includes a flipping motor and a flipping gripper disposed at the output end of the flipping motor.

[0008] Furthermore, the gripper structure includes a gripping cylinder and L-shaped gripping teeth disposed at the output end of the gripping cylinder, and a pair of L-shaped gripping teeth surround a rectangular gripping space.

[0009] Furthermore, a clamping block is detachably mounted on the L-shaped clamping teeth.

[0010] Furthermore, the claw structure also includes limiting blocks symmetrically arranged on both sides along the clamping direction perpendicular to the clamping cylinder, and the end face of the limiting block is lower than the top surface of the rectangular clamping space.

[0011] Furthermore, at least one of the claw structures has two limiting blocks on one side, and an active space is formed between the two limiting blocks for the flipping claw to grip the product.

[0012] Furthermore, the rotating structure is a rotary motor, which is arranged vertically on the support beam, and the claw assembly is fixed on the output shaft of the rotary motor.

[0013] Furthermore, the lifting assembly is fixedly mounted on the traversing assembly, and the claw assembly is fixedly mounted on the lifting assembly.

[0014] The present invention also provides an assembly device, the assembly device including a double-jaw steering and conveying mechanism as described in any of the preceding claims.

[0015] The beneficial effects of this invention are as follows: This application uses a transverse component and a lifting component to drive a claw structure symmetrically arranged at both ends of the support beam, combined with an independently controllable rotating structure, to achieve integrated operation of product handling and turning. The integrated design significantly improves production efficiency, and the function that would require multiple processes in traditional solutions can be completed in a single action. The mechanism uses integrated motion control to ensure positioning accuracy, and uses a product positioning fixture to perform secondary positioning of the turned product, avoiding the accumulation of errors caused by multiple clamping. The compact structural design saves equipment space, and the flexible adjustment of the turning angle adapts to different process requirements.

[0016] This invention also provides an assembly device that effectively solves the problems of low efficiency, inaccurate positioning, and wasted space in traditional assembly devices, and is particularly suitable for automated production lines with high requirements for precision and efficiency.

[0017] The above description is merely an overview of the technical solution of the present invention. In order to better understand the technical means of the present invention and to implement it in accordance with the contents of the specification, the preferred embodiments of the present invention are described in detail below with reference to the accompanying drawings. Attached Figure Description

[0018] Figure 1 This is a schematic diagram of the structure of a double-jaw steering and conveying mechanism according to an embodiment of this application;

[0019] Figure 2 for Figure 1 Enlarged schematic diagram of the middle claw hand structure;

[0020] Figure 3 for Figure 1 A schematic diagram of the structure of the inverting component. Detailed Implementation

[0021] The specific embodiments of the present invention will be described in further detail below with reference to the accompanying drawings and examples. The following examples are for illustrative purposes only and are not intended to limit the scope of the invention.

[0022] In the description of this invention, it should be noted that the terms "center," "upper," "lower," "left," "right," "vertical," "horizontal," "inner," and "outer," etc., indicate the orientation or positional relationship based on the orientation or positional relationship shown in the accompanying drawings. They are used only for the convenience of describing the invention and for simplifying the description, and do not indicate or imply that the device or element referred to must have a specific orientation, or be constructed and operated in a specific orientation. Therefore, they should not be construed as limitations on the invention. Furthermore, the terms "first," "second," and "third" are used for descriptive purposes only and should not be construed as indicating or implying relative importance.

[0023] In the description of this invention, it should be noted that, unless otherwise explicitly specified and limited, the terms "installation," "connection," and "linking" should be interpreted broadly. For example, they can refer to a fixed connection, a detachable connection, or an integral connection; they can refer to a mechanical connection or an electrical connection; they can refer to a direct connection or an indirect connection through an intermediate medium; and they can refer to the internal connection of two components. Those skilled in the art can understand the specific meaning of the above terms in this invention based on the specific circumstances.

[0024] Please refer to Figures 1 to 3 The dual-claw steering and conveying mechanism shown in one embodiment of this application includes a claw assembly, a lateral moving assembly 10 that drives the claw assembly to move horizontally, and a lifting assembly 20 that drives the claw assembly to move vertically. The claw assembly includes a support beam 31 and a pair of claw structures 30 disposed at both ends of the support beam 31. At least one claw structure 30 is connected to a rotating structure 40, which drives the claw structure 30 to rotate the product. A product positioning fixture 50 (not shown) is disposed at the intersection of the strokes of the pair of claw structures.

[0025] In this embodiment, only one of the pair of claw structures 30 is connected to the rotating structure 40. Of course, in other embodiments, both claw structures 30 may be provided with the rotating structure 40. The arrangement can be customized according to requirements.

[0026] Based on this, the dual-claw steering and conveying mechanism is installed between two sets of conveyor lines. The spacing between a pair of claw structures 30 is exactly equal to the spacing between the product fixtures on the two sets of conveyor lines. The claw structure 30 without the rotating structure is the first claw, and the claw structure 30 with the rotating structure is the second claw. When the first claw grabs the product and moves it from one set of conveyor lines to above the product positioning fixture 50 of the other set of conveyor lines, the second claw also moves the product after steering to above the product positioning fixture 50. The lifting component drives the first and second claws to descend synchronously. The first claw places the transferred product, and the second claw places the steered product at the product positioning fixture 50 for secondary positioning. This achieves simultaneous transfer, steering, and secondary positioning, solving the waiting action between different processes in the prior art, and thus enabling the transfer, steering, and secondary positioning operations to be completed in less than 2 seconds.

[0027] In one embodiment, the dual-jaw steering and conveying mechanism further includes a flipping component 60 (not shown) disposed on one side of the product positioning fixture 50. The flipping component 60 includes a flipping structure and a translational structure 61 that drives the flipping structure to approach or move away from the gripper assembly. The flipping structure is configured to grip and rotate the product in a horizontal direction, and the product positioning fixture 50 is configured to move vertically and reciprocally to approach or move away from the flipping structure. In some assembly processes, it is also necessary to flip the workpiece for assembly. By setting the flipping component 60 in conjunction with the product positioning fixture 50, the product flipping operation can be realized. When it is necessary to flip the product, during the return process after the first gripper has placed the product, the flipping component 60 approaches the product positioning fixture 50 to grip the product. The product positioning fixture 50 descends, and after the flipping structure drives the product to perform the flipping operation, the product positioning fixture 50 rises to receive the flipped product, thereby realizing the transfer, flipping, and steering operation within no more than 2 seconds. The translation structure 61 consists of a slide rail, a slider, and a cylinder. The flipping structure is set on the slider. It is similar in structure to the transverse component 10 and the lifting component 20, except that the orientation of the structure is different.

[0028] In one embodiment, the flipping structure includes a flipping motor 62 and a flipping gripper 63 disposed at the output end of the flipping motor 62. The flipping gripper 63 consists of a clamping cylinder and a clamping plate disposed on the clamping cylinder. The clamping cylinder is fixed on the output shaft of the flipping motor 62, thereby driving the clamping plate to clamp the product through the clamping cylinder. The flipping motor 62 drives the clamping cylinder to rotate, thereby realizing the flipping operation of the product.

[0029] In one embodiment, the gripper structure 30 includes a gripping cylinder 32 and L-shaped gripping teeth 33 disposed at the output end of the gripping cylinder 32. A pair of L-shaped gripping teeth 33 surrounds a rectangular gripping space 35. The rectangular gripping space 35 is open, which facilitates the L-shaped gripping teeth 33 to extend into both sides of the product, thereby gripping and fixing the product.

[0030] In one embodiment, a clamping block 34 is detachably mounted on the L-shaped clamping teeth 33. The L-shaped clamping teeth 33 have threaded holes, and the clamping block 34 has countersunk holes. The clamping block 34 is fixed to the L-shaped clamping teeth 33 by screws threaded into the threaded holes. The screws are housed within the countersunk holes to prevent scratching the product or causing unstable clamping. Fixing the clamping block 34 via a detachable connection allows for adaptation of the clamping block 34 to the hardness of the product being clamped, thus preventing product damage.

[0031] In one embodiment, the gripper structure 30 further includes symmetrically arranged limiting blocks 36 on both sides along the clamping direction of the vertical clamping cylinder 32. The end faces of the limiting blocks 36 are lower than the top surface of the rectangular clamping space 35. The fact that the end faces of the limiting blocks 36 are lower than the top surface of the rectangular clamping space 35 makes it easier for the top surface of the product or the top surface of the product fixture to contact the end faces of the limiting blocks 36 first when clamping the product. This avoids the top surface of the product from being in close contact with the top surface of the rectangular clamping space 35, i.e., the surface of the L-shaped gripper teeth 33, which would cause the clamping cylinder 32 to scratch the product during the clamping process. At the same time, it also avoids the L-shaped gripper teeth 33 colliding with the top surface of the product when clamping products with uneven surfaces, which would cause the product to shift or be damaged.

[0032] In one embodiment, at least one of the gripper structures 30 has two limiting blocks 36 on one side, forming an active space between the two limiting blocks 36 for the flipping gripper 63 to hold the product. The gripper structure 30 connected to the rotating structure 40 has only one pair of limiting blocks 36, while the gripper structure 30 not connected to the rotating structure 40 has two pairs of limiting blocks 36. The active space between the two limiting blocks 36 facilitates the clamping plate clamping or releasing the product. To further save time, the first gripper can descend to the product during the clamping plate's release process. The active space between the limiting blocks effectively avoids interference between the first gripper and the flipping gripper 63. Of course, in other embodiments, the product positioning fixture 50 rises and the first gripper descends simultaneously. Furthermore, the angle at which the flipping structure drives the product to flip can be 90° or other angles, which can be set according to the product's assembly requirements and are not specifically limited here.

[0033] In one embodiment, the rotating structure 40 is a rotary motor, which is arranged vertically on the support beam 31, and the gripper assembly is fixed to the output shaft of the rotary motor. This configuration allows the rotary motor to drive the gripper structure 30 to rotate the product along its vertical axis, facilitating adjustment of the product's angle according to the assembly angle.

[0034] In one embodiment, the lifting assembly 20 is fixedly mounted on the traversing assembly 10, and the gripper assembly is fixedly mounted on the lifting assembly 20. The traversing assembly 10 is erected horizontally at a high position, and both ends are fixedly supported by fixing beams 11. The lifting assembly 20 is fixedly mounted on the traversing assembly 10, resulting in a stable overall structure. Of course, in other embodiments, the traversing assembly 10 can also be fixedly mounted on the lifting assembly 20, and the gripper structure 30 can also be fixedly mounted on the lifting assembly 20.

[0035] The present invention also provides an assembly device, which includes a double-jaw steering and conveying mechanism as described in any of the above claims. The assembly device also includes a conveyor line, a product fixture, a product assembly structure, and other structures. The conveyor line drives the product fixture to move the product to a designated position, and the double-jaw steering and conveying mechanism performs operations such as rotating, flipping, and moving the product to another assembly stage for subsequent assembly.

[0036] This application utilizes a lateral movement component and a lifting component to drive a claw structure symmetrically arranged at both ends of a support beam. Combined with an independently controllable rotating structure, it achieves integrated operation of product handling and steering. The integrated design significantly improves production efficiency, enabling the completion of functions that would require multiple processes in traditional solutions with a single action. The mechanism employs integrated motion control to ensure positioning accuracy and utilizes a product positioning fixture to perform secondary positioning of the product after steering, avoiding the accumulation of errors caused by multiple clamping. The compact structural design saves equipment space, while the flexible steering angle adjustment adapts to different process requirements, effectively solving the problems of low efficiency, inaccurate positioning, and wasted space in traditional assembly equipment. It is particularly suitable for automated production lines with high requirements for precision and efficiency.

[0037] The technical features of the above embodiments can be combined in any way. For the sake of brevity, not all possible combinations of the technical features in the above embodiments are described. However, as long as there is no contradiction in the combination of these technical features, they should be considered to be within the scope of this specification.

[0038] The embodiments described above are merely illustrative of several implementations of the present invention, and while the descriptions are relatively specific and detailed, they should not be construed as limiting the scope of the invention patent. It should be noted that those skilled in the art can make various modifications and improvements without departing from the concept of the present invention, and these all fall within the protection scope of the present invention. Therefore, the protection scope of this invention patent should be determined by the appended claims.

Claims

1. A double-claw steering and conveying mechanism, characterized in that, The dual-claw steering and conveying mechanism includes a claw assembly, a lateral movement assembly that drives the claw assembly to move horizontally, and a lifting assembly that drives the claw assembly to move vertically. The claw assembly includes a support beam and a pair of claw structures disposed at both ends of the support beam. At least one of the claw structures is connected to a rotating structure, which is used to drive the claw structure to rotate the product. A product positioning fixture is disposed at the intersection of the strokes of the pair of claw structures.

2. The double-jaw steering and conveying mechanism as described in claim 1, characterized in that, The dual-claw steering and conveying mechanism further includes a flipping component disposed on one side of the product positioning fixture. The flipping component includes a flipping structure and a translational structure that drives the flipping structure to move closer to or away from the claw assembly. The flipping structure is configured to grip and rotate the product in a horizontal direction. The product positioning fixture is configured to move up and down reciprocally to move closer to or away from the flipping structure.

3. The double-jaw steering and conveying mechanism as described in claim 2, characterized in that, The flipping structure includes a flipping motor and a flipping gripper disposed at the output end of the flipping motor.

4. The double-jaw steering and conveying mechanism as described in claim 3, characterized in that, The gripper structure includes a gripping cylinder and L-shaped gripping teeth disposed at the output end of the gripping cylinder, with a pair of L-shaped gripping teeth forming a rectangular gripping space.

5. The double-jaw steering and conveying mechanism as described in claim 4, characterized in that, A clamping block can be detachably installed on the L-shaped clamping teeth.

6. The double-jaw steering and conveying mechanism as described in claim 5, characterized in that, The gripper structure also includes limiting blocks symmetrically arranged on both sides along the clamping direction perpendicular to the clamping cylinder, with the end face of the limiting block being lower than the top surface of the rectangular clamping space.

7. The double-jaw steering and conveying mechanism as described in claim 6, characterized in that, At least one of the claw structures has two limiting blocks on one side, and an active space is formed between the two limiting blocks for the flipping claw to grip the product.

8. The double-jaw steering and conveying mechanism as described in any one of claims 1 to 7, characterized in that, The rotating structure is a rotary motor, which is arranged vertically on the support beam, and the claw assembly is fixed on the output shaft of the rotary motor.

9. The double-jaw steering and conveying mechanism as described in any one of claims 1 to 7, characterized in that, The lifting assembly is fixedly mounted on the traversing assembly, and the claw assembly is fixedly mounted on the lifting assembly.

10. An assembly device, characterized in that, The assembly equipment includes a double-claw steering and conveying mechanism as described in any one of claims 1 to 9.

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