Multi-chuck structure capable of taking and placing simultaneously and plate placing device

Abstract

The utility model provides a multi-chuck structure capable of simultaneously taking and placing and a plate placing device, and relates to the technical field of clamping devices. Comprising a rack, the rack comprises at least two Y-axis driving devices, each Y-axis driving device is provided with a clamping module, each clamping module is provided with a mounting frame suitable for being connected with the corresponding Y-axis driving device, each mounting frame at least comprises an X-axis driving device, a Z-axis driving device and a rotating device, the rotating device is connected with a chuck so as to drive the chuck to rotate; the rotating device is arranged on the Z-axis driving device so as to be driven by the Z-axis driving device to move along the Z axis; the Z-axis driving device is connected with the X-axis driving device so as to move along the X-axis direction under the driving of the X-axis driving device; the two clamping modules are suitable for synchronously clamping the workpieces clamped by the chucks into the designated positions. According to the scheme, the working efficiency can be remarkably improved.

Description

Technical Field

[0001] The utility model relates to the technical field of clamping devices, in particular to a multi-clamping head structure and a plate swinging device capable of simultaneously taking and placing. Background Art

[0002] In the production and processing of cemented carbide blades, when the sintered blades undergo subsequent processing, such as sandblasting, grinding or coating, the blades need to be transported and placed in the designated processing fixture. After the blade processing is completed, it also needs to be taken out and placed in the finished product tray. At present, some equipment in the industry mainly uses 3-5 chucks to pick up the blades one by one, and then put the blades into the target tray or fixture one by one. For example, the plate placing machine of WTA in South Korea and the manufacturers of domestic imitation whole-line machines or plate placing machines all use this solution for design. Each chuck on the 3-5 chuck mechanism in the industry has an independent Z-axis and rotation θ-axis, but all chucks share a set of XY axes. Therefore, although there are 3-5 chucks, when one chuck takes and places the blade, the other chucks can only wait, resulting in low overall pick-and-place efficiency of the mechanism. Utility Model Content

[0003] In view of this, the purpose of the utility model is to provide a multi-chuck structure that can simultaneously pick up and place, so as to solve the problem of low grasping efficiency caused by the inability of the existing chucks to synchronously pick up and place.

[0004] The utility model adopts the following scheme: the application provides a multi-chuck structure that can take and put at the same time, including a frame, the frame includes at least two Y-axis drive devices, each of the Y-axis drive devices is provided with a clamping module, each of the clamping modules is provided with a mounting frame suitable for connecting the Y-axis drive device, the mounting frame includes at least an X-axis drive device, a Z-axis drive device and a rotating device, wherein the rotating device is connected to a chuck to drive the chuck to rotate; the rotating device is arranged on the Z-axis drive device to be driven by the Z-axis drive device to move along the Z-axis; the Z-axis drive device is connected to the X-axis drive device to move along the X-axis direction under the drive of the X-axis drive device; the two clamping modules are suitable for synchronously clamping the workpiece clamped by the chuck to a specified position.

[0005] Furthermore, a first slide rail is provided on the mounting frame, a fixed plate is provided on the Z-axis driving device, a sliding block is connected to the top of the fixed plate, and the sliding block is connected to the X-axis driving device to drive the sliding block to slide in the first slide rail.

[0006] Furthermore, the X-axis driving device is a push rod or a linear motor.

[0007] Furthermore, the Z-axis driving device includes a driving motor, the driving motor is connected to a driving wheel, a driven wheel is arranged below the fixed plate, the driven wheel is connected to the driving wheel by a belt, a rotating mounting seat for mounting the rotating device is arranged on the belt, and the driving motor is suitable for driving the rotating device to move along the Z-axis direction through the belt.

[0008] Furthermore, the rotating device and the chuck are detachably connected.

[0009] Furthermore, the Y-axis driving device adopts a linear motor device.

[0010] Furthermore, the driving motor is arranged in parallel with the X-axis driving device, and the driving motor is arranged below the X-axis driving device.

[0011] The utility model also provides a plate-stirring device, comprising any one of the above-mentioned multi-chuck structures capable of taking and placing at the same time.

[0012] Beneficial effects:

[0013] This solution uses a clever mechanism design to equip each chuck with an independent X-axis drive device, Y-axis drive device, Z-axis drive device and rotation device in a small space, so that each chuck can independently move within 4 degrees of freedom. Compared with the existing shared XY axis structure, this structure allows all the gripper heads to pick up and place materials at the same time, saving the time for the chucks to wait for each other, thereby greatly improving the speed of picking and placing materials, and the two independently set gripping modules can also achieve synchronous or asynchronous operation to adapt to more gripping scenarios. BRIEF DESCRIPTION OF THE DRAWINGS

[0014] Figure 1 This is a schematic structural diagram of a multi-chuck structure capable of simultaneous taking and placing according to an embodiment of the utility model;

[0015] Figure 2 This is a structural schematic diagram of a clamping module with a multi-clamp structure capable of simultaneously picking up and placing according to an embodiment of the utility model;

[0016] Figure numerals: frame 1, Y-axis driving device 2, mounting frame 3, X-axis driving device 4, Z-axis driving device 5, rotating device 6, chuck 7, fixing plate 8, first slide rail 9, second slide rail 10, rotating mounting seat 11. DETAILED DESCRIPTION

[0017] Combination Figure 1 and Figure 2As shown, this embodiment provides a wobble plate device, including a multi-chuck structure that can be taken and placed at the same time. The multi-chuck 7 structure that can be taken and placed at the same time includes a frame 1, and the frame 1 includes at least two Y-axis drive devices 2, each of the Y-axis drive devices 2 is provided with a clamping module, each of the clamping modules is provided with a mounting frame 3 suitable for connecting the Y-axis drive device 2, and the mounting frame 3 includes at least an X-axis drive device 4, a Z-axis drive device 5 and a rotating device 6, wherein the rotating device 6 is connected to the chuck 7 to drive the chuck 7 to rotate; the rotating device 6 is provided on the Z-axis drive device 5, so as to be driven by the Z-axis drive device 5 to move along the Z-axis; the Z-axis drive device 5 is connected to the X-axis drive device 4, so as to move along the X-axis direction under the drive of the X-axis drive device 4; the two clamping modules are suitable for synchronously clamping the workpiece clamped by the chuck 7 to a specified position.

[0018] In this embodiment, the Y-axis driving device 2 is arranged on the frame 1. The Y-axis driving device 2 can adopt an existing linear motor device. In this embodiment, two linear motor devices are arranged. Each linear motor device is provided with a movable block. Each movable block is provided with a mounting frame 3. The clamping module is connected through the mounting frame 3 to drive the clamping module to transmit along the Y-axis direction.

[0019] A first slide rail 9 is provided below the top plate of the mounting frame 3, a slider is provided on the first slide rail 9, a fixed plate 8 is provided below the slider, and the Z-axis driving device 5 is provided on the fixed plate 8. The X-axis driving device 4 is provided below the top plate, and can be a push rod or a linear motor, whose extended end is connected to the fixed plate 8 or the slider, so that the slider can be driven to slide in the first slide rail 9, so as to drive the chuck 7, the Z-axis driving device 5 and the rotating device 6 to move along the X-axis direction.

[0020] The Z-axis driving device 5 is arranged on the fixed plate 8, and includes a driving motor, and the driving motor is connected to a driving wheel to drive the driving wheel to rotate. A driven wheel is arranged below the fixed plate 8, and the driven wheel is connected to the driving wheel through a belt. A rotating mounting seat 11 for mounting the rotating device 6 is arranged on the belt, and the driving motor is suitable for driving the rotating device 6 to move along the Z-axis direction through the belt. The rotating device 6 can be driven to move along the Z-axis direction by controlling the forward and reverse rotation of the driving motor. Here, a belt device is used for lifting and lowering movement, which is convenient for designing the required height activity distance according to needs. Compared with the linear motor transmission or push rod transmission method, it is more applicable. Here, a second slide rail 10 can also be arranged on the side of the fixed plate 8, and the rotating mounting seat 11 is suitable for sliding on the second slide rail 10 to improve the guiding stability.

[0021] The rotating device 6 can adopt a rotating motor, which is fixed on the belt through a rotating mounting seat 11. A chuck 7 is detachably connected below the output shaft of the rotating motor, which can drive the chuck 7 to rotate a certain angle, and the chuck 7 can be adapted to different workpieces by replacing it.

[0022] In this embodiment, the drive motor is arranged in parallel with the X-axis drive device 4, and the drive motor is arranged below the X-axis drive device 4. Through this arrangement, the structure of the entire clamping module can be made more compact and the width can be smaller, so that the overall thickness of each clamping head 7 module is controlled within 30 mm, minimizing the space occupation. When working, after the device is visually positioned, it controls the two clamping modules to simultaneously pick up two blades from the current tray, and then simultaneously move to the target tray, and simultaneously put the blades into the target tray, and continuously repeat this action until all materials are moved to the target tray.

[0023] This solution equips each chuck 7 with a driving device with four degrees of freedom, so that each chuck 7 can move in four degrees of freedom at the same time, thereby achieving the purpose of multiple chucks 7 taking and placing multiple carbide blades at the same time. Compared with the existing multiple chucks 7 in the industry that take and place blades one by one (multiple clamps take blades and then put blades one by one), the efficiency of taking and placing is more than 30% higher.

[0024] Of course, it should be noted that in other embodiments, the number of the clamping modules can be increased to further improve the grasping speed.

[0025] It should be understood that the above are only preferred implementations of the present utility model, and the protection scope of the present utility model is not limited to the above embodiments. All technical solutions under the concept of the present utility model belong to the protection scope of the present utility model.

[0026] The above description of the drawings used in the implementation manner only shows certain embodiments of the utility model and should not be regarded as limiting the scope. For ordinary technicians in this field, other relevant drawings can be obtained based on these drawings without paying creative work.

Claims

1. A multi-chuck structure capable of simultaneous taking and placing, comprising a frame, wherein the frame comprises at least two Y-axis drive devices, characterized in that: Each of the Y-axis driving devices is provided with a clamping module, and each of the clamping modules is provided with a mounting frame suitable for connecting to the Y-axis driving device, and the mounting frame includes at least an X-axis driving device, a Z-axis driving device and a rotating device, wherein the rotating device is connected to a chuck to drive the chuck to rotate; the rotating device is provided on the Z-axis driving device to be driven by the Z-axis driving device to move along the Z-axis; the Z-axis driving device is connected to the X-axis driving device to move along the X-axis direction under the drive of the X-axis driving device; the two clamping modules are suitable for synchronously clamping the workpiece clamped by the chuck to a specified position.

2. The multi-chuck structure capable of simultaneous taking and placing according to claim 1 is characterized in that: The mounting frame is provided with a first slide rail, the Z-axis driving device is provided with a fixed plate, the top end of the fixed plate is connected with a slider, and the slider is connected to the X-axis driving device to drive the slider to slide in the first slide rail.

3. The multi-chuck structure capable of simultaneous taking and placing according to claim 1 is characterized in that: The X-axis driving device is a push rod or a linear motor.

4. The multi-chuck structure capable of simultaneous taking and placing according to claim 2 is characterized in that: The Z-axis driving device includes a driving motor, the driving motor is connected to a driving wheel, a driven wheel is arranged below the fixed plate, the driven wheel is connected to the driving wheel through a belt, a rotating mounting seat for mounting the rotating device is arranged on the belt, and the driving motor is suitable for driving the rotating device to move along the Z-axis direction through the belt.

5. The multi-chuck structure capable of simultaneous taking and placing according to claim 1 is characterized in that: The rotating device is detachably connected to the clamping head.

6. The multi-chuck structure capable of simultaneous taking and placing according to claim 1, characterized in that: The Y-axis driving device adopts a linear motor device.

7. The multi-chuck structure capable of simultaneous taking and placing according to claim 4 is characterized in that: The driving motor is arranged in parallel with the X-axis driving device, and the driving motor is arranged below the X-axis driving device.

8. A plate-stirring device, characterized in that: The invention comprises a multi-chuck structure capable of taking and placing at the same time as described in any one of claims 1 to 7.

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