Modularized grabbing structure of manipulator

Abstract

The utility model relates to a modular grabbing structure of a manipulator, and belongs to the field of surface assembly technology, the modular grabbing structure of the manipulator comprises a mounting seat, a mounting disc, a driving motor, a grabbing module and a locking mechanism, the mounting disc is rotatably arranged on the mounting seat, the driving motor is arranged on the mounting seat, and an output shaft of the driving motor is coaxially connected with the mounting disc; the multiple grabbing modules are arranged on the mounting disc in a sliding mode and used for sucking the material pieces, and the locking mechanism is arranged on the mounting disc and used for locking the grabbing modules to the mounting disc. The manipulator has the beneficial effects that the positions of the multiple grabbing modules are adjusted, and the grabbing modules of different numbers are freely combined, so that the grabbing modules can be suitable for sucking different materials, and the applicability of the manipulator for grabbing the different materials is effectively improved.

Description

Technical Field

[0001] The present application relates to the field of surface assembly technology, and in particular to a modular grasping structure of a robot. Background Art

[0002] The surface assembly technology of electronic circuits is called surface mounting or surface mounting technology. It is a circuit assembly technology that mounts pinless or short-lead surface assembly components on the surface of a printed circuit board or other substrate, and assembles them by soldering through reflow soldering or dip soldering.

[0003] At present, when performing surface assembly of electronic circuits, the materials are usually grabbed by a robot and then installed on the surface of a printed circuit board or other substrate. However, a variety of materials usually need to be installed on a circuit board or other substrate, and the structure and shape of each material are different. The structure of the existing robot is relatively fixed and can only be applied to one or a small number of materials, resulting in low applicability of the robot to different materials. Multiple robots need to be installed to adapt and grab all the circuit boards or other materials that need to be installed. Utility Model Content

[0004] In order to improve the applicability of a robot for grasping different materials, the present application provides a modular grasping structure of a robot.

[0005] The present application provides a modular gripping structure of a manipulator using the following technical solutions:

[0006] A modular grasping structure of a manipulator includes a mounting seat, a mounting disk, a drive motor, a grasping module and a locking mechanism. The mounting disk is rotatably arranged on the mounting seat, the drive motor is arranged on the mounting seat, and the output shaft of the drive motor is coaxially connected to the mounting disk; the grasping module is slidably arranged on the mounting disk and is used to suck the material, and the locking mechanism is arranged on the mounting disk and is used to lock the grasping module on the mounting disk.

[0007] By adopting the above technical solution, when different materials need to be grasped, the staff drives the grasping module to slide on the mounting disk, and then locks the grasping module on the mounting disk through the locking mechanism, and drives the mounting disk to rotate through the driving motor. The mounting disk drives multiple grasping modules to move, and the positions of multiple grasping modules can be adjusted. By freely combining different numbers of grasping modules, the grasping modules can be suitable for sucking different materials, effectively improving the applicability of the robot for grasping different materials.

[0008] Optionally, the grabbing module includes a mounting plate, a driving cylinder and a suction cup, wherein the mounting plate is slidably disposed on the mounting plate, the driving cylinder is disposed on the mounting plate, and the suction cup is disposed on a piston rod of the driving cylinder.

[0009] By adopting the above technical solution, after the mounting disc drives the mounting plate to move above the workpiece, the piston rod of the driving cylinder is extended, so that the suction cup is attached to the workpiece, and the workpiece can be sucked up conveniently and quickly.

[0010] Optionally, the locking mechanism includes a screw and a limiting assembly, the screw is rotatably arranged on the mounting disk, the screw is threadably connected to the mounting plate, and the limiting assembly is arranged on the mounting plate and is used to position the screw.

[0011] By adopting the above technical solution, the staff rotates the screw, and the screw can drive the mounting plate to slide. After adjusting the position of the mounting plate, the thread on the screw locks the mounting plate, and the limit assembly positions the screw, effectively improving the stability of the mounting plate on the mounting disk.

[0012] Optionally, the limiting assembly includes an abutment plate and a lead screw, wherein the abutment plate is slidably disposed on the mounting disk, the lead screw is rotatably disposed on the mounting disk and is threadedly connected to the abutment plate, and the screw is provided with an abutment portion for abutting the abutment plate, and the cross-section of the abutment portion is polygonal.

[0013] By adopting the above technical solution, the staff rotates the lead screw so that the abutment plate abuts against the abutment part. Since the cross-section of the abutment part is polygonal, the abutment plate can limit the rotation of the abutment part, thereby limiting the rotation of the screw and improving the stability of the screw.

[0014] Optionally, a positioning mechanism for positioning the suction cup is provided on the piston rod of the driving cylinder, and the positioning mechanism includes a clamping plate and a bidirectional screw. Two clamping plates are slidably provided on the piston rod of the driving cylinder, and the bidirectional screw is rotatably provided on the piston rod of the driving cylinder. The bidirectional screw is threadedly connected to the two clamping plates, and the threads connecting the bidirectional screw and the two clamping plates are arranged in opposite directions.

[0015] By adopting the above technical solution, the staff can rotate the bidirectional screw rod to make the two clamps move away from each other and release the clamping of the suction cup, and then remove the suction cup. Then, replace the suction cup with a different shape, and then rotate the bidirectional screw rod again to make the two clamps move closer to each other and clamp the replaced suction cup. The replacement of the suction cup can be completed, which effectively improves the convenience of the staff to replace the suction cup according to different materials.

[0016] Optionally, a slot is provided on the suction cup, and the clamping plate abuts against a side wall of the slot.

[0017] By adopting the above technical solution, the side wall of the card slot limits the clamping plate, effectively improving the stability of the clamping plate on the suction cup.

[0018] Optionally, a guide rail is provided on the driving cylinder, a guide rod is provided on the piston rod of the driving cylinder, and the guide rod is slidably provided on the guide rail.

[0019] By adopting the above technical solution, when the piston rod of the driving cylinder is extended to drive the suction cup to move, the guide rod slides on the guide rail, and the guide rail guides the guide rod, thereby improving the stability of the movement of the piston rod of the driving cylinder, thereby improving the stability of the suction cup during movement.

[0020] Optionally, the mounting base includes a connecting plate, a support plate and a locking bolt, the connecting plate is arranged on the manipulator, the support plate is slidably arranged on the connecting plate, a plurality of locking holes are arranged on the connecting plate at intervals along the sliding direction of the support plate, the locking bolt passes through the locking hole and is threaded on the support plate, the driving motor is arranged on the support plate, and the mounting disk is rotatably arranged on the support plate.

[0021] By adopting the above technical solution, the staff unscrews the locking bolt from the support plate, then drives the support plate to slide on the connecting plate, and then passes the locking bolt through the locking hole and threads it into the support plate. The support plate can be adjusted and then positioned on the connecting plate, thereby conveniently and quickly adjusting the position of the mounting plate.

[0022] In summary, the present application includes at least one of the following beneficial technical effects:

[0023] 1. By adjusting the positions of multiple gripping modules and freely combining different numbers of gripping modules, the gripping modules can be applied to different materials for absorption, effectively improving the applicability of the manipulator for gripping different materials;

[0024] 2. After adjusting the position of the mounting plate, the threads on the screw can lock the mounting plate in the current position, and the screw can be positioned through the limit assembly to effectively improve the stability of the mounting plate on the mounting plate;

[0025] 3. The staff rotates the bidirectional screw to make the two clamps move away from each other and release the clamping of the suction cup, and then the suction cup can be removed. Then, the suction cup of a different shape can be replaced, and the bidirectional screw is rotated again to make the two clamps move closer to each other and clamp the replaced suction cup. The replacement of the suction cup can be completed, which effectively improves the convenience of the staff to replace the suction cup according to different materials. BRIEF DESCRIPTION OF THE DRAWINGS

[0026] Figure 1 It is a structural schematic diagram of the modular grasping structure of the manipulator according to an embodiment of the present application.

[0027] Figure 2 It is a schematic diagram of the structure of the driving cylinder, positioning mechanism and suction cup of an embodiment of the present application (the positioning seat is partially cut away in the figure).

[0028] Figure 3 yes Figure 1 A partial enlarged schematic diagram of part A.

[0029] : Illustration numerals: 1. mounting seat; 11. connecting plate; 12. supporting plate; 13. locking bolt; 2. mounting plate; 3. driving motor; 4. grabbing module; 41. mounting plate; 42. driving cylinder; 43. suction cup; 431. slot; 5. locking mechanism; 51. screw; 52. limiting assembly; 521. abutment plate; 522. lead screw; 6. abutment portion; 7. positioning mechanism; 71. clamping plate; 72. bidirectional lead screw; 8. guide rail; 9. guide rod; 10. positioning seat. DETAILED DESCRIPTION

[0030] The following is combined with Figure 1-3 This application is described in further detail.

[0031] The embodiment of the present application discloses a modular grasping structure of a robot.

[0032] Reference Figure 1 The modular grasping structure of the manipulator includes a mounting seat 1, a mounting plate 2, a driving motor 3, a grasping module 4, a locking mechanism 5 and a positioning mechanism 7.

[0033] Reference Figure 1 The mounting base 1 is installed on the manipulator, and the mounting base 1 includes a connecting plate 11, a supporting plate 12 and a locking bolt 13. The connecting plate 11 is detachably mounted on the manipulator by bolts. In this embodiment, an embedding groove is provided on the connecting plate 11, and the supporting plate 12 is slidably mounted on the side wall of the embedding groove. A plurality of locking holes are provided on the bottom wall of the embedding groove at intervals along the sliding direction of the supporting plate 12. The locking bolt 13 passes through the locking hole and is threadedly penetrated on the supporting plate 12. The side wall of the embedding groove supports and guides the supporting plate 12, thereby improving the stability of the supporting plate 12.

[0034] Reference Figure 1 The mounting disk 2 is rotatably mounted on the support plate 12, the drive motor 3 is mounted on the support plate 12, the output shaft of the drive motor 3 is coaxially connected to the mounting disk 2, and a plurality of grabbing modules 4 are slidably mounted on the mounting disk 2. The grabbing modules 4 are used to absorb the materials. In this embodiment, eight groups of grabbing modules 4 are installed on the mounting disk 2. In other embodiments, the number of grabbing modules 4 can also be adjusted according to needs; a locking mechanism 5 is installed on the mounting disk 2, and the locking mechanism 5 is used to lock the grabbing module 4 on the mounting disk 2.

[0035] The staff connects the connecting plate 11 to the manipulator, and can drive the manipulator to move the grabbing module 4 to the material to absorb the material, and then transfer and install the material. When different materials need to be grabbed, the staff drives the grabbing module 4 to slide on the installation disk 2, and then locks the grabbing module 4 on the installation disk 2 through the locking mechanism 5, and adjusts the position of the eight groups of grabbing modules 4. The staff can also unscrew the locking bolt 13 from the support plate 12, and then drive the support plate 12 to slide on the connecting plate 11, and then pass the locking bolt 13 through the locking hole and thread it onto the support plate 12, and then the support plate 12 can be locked. The plate 12 is positioned after being adjusted on the connecting plate 11, and then the position of the mounting disk 2 is adjusted conveniently and quickly, and then the grabbing module 4 is further adjusted. When sucking the material, the driving motor 3 can also be started, and the output shaft of the driving motor 3 drives the mounting disk 2 to rotate, and the position of the eight groups of grabbing modules 4 is further adjusted. Then, different numbers of grabbing modules 4 are freely combined, so that the grabbing modules 4 can be suitable for different materials. By adjusting the positions of the eight groups of grabbing modules 4 according to different materials and freely combining different numbers of grabbing modules 4, the applicability of the robot for grabbing different materials is effectively improved.

[0036] Reference Figure 1 , Figure 2 The grabbing module 4 includes a mounting plate 41, a driving cylinder 42 and a suction cup 43. The mounting plate 41 is slidably mounted on the mounting plate 2 in the horizontal direction. The driving cylinder 42 is vertically mounted on the mounting plate 41. The positioning mechanism 7 is mounted on the piston rod of the driving cylinder 42. The positioning mechanism 7 is used to position the suction cup 43. The positioning mechanism 7 includes a clamping plate 71 and a bidirectional screw rod 72. In the present embodiment, a positioning seat 10 is mounted on the piston rod of the driving cylinder 42. A T-shaped groove is provided at the bottom of the positioning seat 10. Two clamping plates 71 are slidably mounted in the same direction on the side walls of the T-shaped groove. Both clamping plates 71 are L-shaped. The bidirectional screw rod 72 is rotatably mounted on the positioning seat 10. The bidirectional screw rod 72 is threadedly connected to the two clamping plates 71. The directions of the two sections of the threads connecting the bidirectional screw rod 72 and the two clamping plates 71 are opposite.

[0037] After the mounting plate 2 is driven by the manipulator to move to the top of the material, the piston rod of the driving cylinder 42 is extended, driving the suction cup 43 to approach the material and fit it onto the material, so that the material can be adsorbed by multiple suction cups 43, and the material can be sucked conveniently and quickly. In addition, different driving cylinders 42 can be adaptively driven according to the shape of the material, so that the suction cups 43 of the grabbing modules 4 of the number of groups adapted to the material are extended to suck the material, so as to prevent the suction cups 43 of the remaining number of groups from affecting the suction of the workpiece when sucking the material; and the staff can also rotate The bidirectional screw rod 72 moves the two clamps 71 away from each other to release the clamping of the suction cup 43, and then the suction cup 43 is removed from between the two clamps 71. Then the suction cup 43 of the remaining shape is placed between the two clamps 71, and the bidirectional screw rod 72 is rotated in the opposite direction to make the two clamps 71 approach each other to clamp the replaced suction cup 43, which effectively improves the convenience for the staff to replace the suction cup 43 according to different materials, and according to different materials, suction cups 43 of different shapes can be replaced, so that the suction cup 43 is further suitable for different materials.

[0038] Reference Figure 2 The suction cup 43 is provided with a slot 431, and the clamping plate 71 abuts against the side wall of the slot 431. When the two clamping plates 71 clamp the suction cup 43, the clamping plates 71 abut against the side wall of the slot 431, and the side wall of the slot 431 limits the clamping plates 71, thereby improving the stability of the clamping plates 71 clamping the suction cup 43.

[0039] Reference Figure 1 , Figure 2 A guide rail 8 is installed on the side wall of the driving cylinder 42, and a guide rod 9 is installed on the positioning seat 10 connected to the piston rod of the driving cylinder 42, and the guide rod 9 is slidably installed on the guide rail 8. When the piston rod of the driving cylinder 42 is extended or retracted, the positioning seat 10 is driven to move, and the positioning seat 10 drives the guide rod 9 to slide on the guide rail 8. The guide rail 8 guides the sliding of the guide rod 9, and then guides the extension and retraction of the piston rod of the driving cylinder 42, effectively improving the stability of the driving cylinder 42 when driving the suction cup 43 to move.

[0040] Reference Figure 1 , Figure 3The locking mechanism 5 includes a screw 51 and a limiting assembly 52. ​​The screw 51 is rotatably mounted on the mounting disk 2, and the screw 51 is threadedly penetrated on the mounting plate 41; the limiting assembly 52 is mounted on the mounting plate 41, and the limiting assembly 52 is used to position the screw 51. The limiting assembly 52 includes an abutment plate 521 and a lead screw 522. The abutment plate 521 is slidably mounted on the mounting disk 2 along a direction perpendicular to the length direction of the screw 51, and the lead screw 522 is rotatably mounted on the mounting disk 2, and the lead screw 522 is threadedly penetrated in the abutment plate 521. An abutment portion 6 is coaxially mounted on the screw 51, and the abutment portion 6 is used to abut against the abutment plate 521. The cross-section of the abutment portion 6 is polygonal. In the present embodiment, the cross-section of the abutment portion 6 is a regular hexagon.

[0041] The staff rotates the screw 51, and the screw 51 can drive the mounting plate 41 to slide on the mounting disk 2 to adjust the position of the mounting plate 41. After the adjustment is completed, the staff then turns the lead screw 522, and the lead screw 522 drives the abutment plate 521 to slide in the direction close to the screw 51. The lead screw abuts against the abutment part 6 on the screw 51, and the abutment part 6 is a regular hexagon. The abutment plate 521 can now rotate against the abutment part 6, thereby limiting the rotation of the screw 51 and improving the stability of the screw 51. At this time, the thread of the screw 51 locks the mounting plate 41 in the current position, effectively improving the stability of the mounting plate 41 on the mounting disk 2.

[0042] The implementation principle of a modular grasping structure of a manipulator in an embodiment of the present application is as follows: when different materials need to be grasped, the staff rotates the screw 51 to drive the mounting plate 41 to slide, adjusts the positions of the multiple suction cups 43, and rotates the bidirectional screw 72 according to the shape of the material to make the two clamping plates 71 move away from each other, so that the suction cup 43 can be removed, and then the replaced suction cup 43 of different shapes is installed between the two clamping plates 71, and then the replaced suction cup 43 is clamped by the two clamping plates 71, and the suction cup 43 is replaced according to the material. In the process of grasping the material, the drive motor 3 can also be started to drive the multiple mounting plates 2 to drive the multiple suction cups 43 to rotate, and the positions of the multiple suction cups 43 are adjusted. Then, by freely combining different numbers of grasping modules 4, the multiple suction cups 43 of the combined multiple groups of grasping modules 4 are adapted to different materials, so that different materials can be sucked, effectively improving the applicability of the manipulator for grasping different materials.

[0043] The above are all preferred embodiments of the present application, and the protection scope of the present application is not limited thereto. Therefore, any equivalent changes made according to the structure, shape, and principle of the present application should be included in the protection scope of the present application.

Claims

1. A modular grasping structure of a manipulator, characterized in that: The invention comprises a mounting seat (1), a mounting plate (2), a drive motor (3), a gripping module (4) and a locking mechanism (5); the mounting plate (2) is rotatably mounted on the mounting seat (1); the drive motor (3) is mounted on the mounting seat (1); the output shaft of the drive motor (3) is coaxially connected to the mounting plate (2); a plurality of gripping modules (4) are slidably mounted on the mounting plate (2) and are used to absorb the material; the locking mechanism (5) is mounted on the mounting plate (2) and is used to lock the gripping module (4) on the mounting plate (2).

2. The modular gripping structure of the manipulator according to claim 1, characterized in that: The gripping module (4) comprises a mounting plate (41), a driving cylinder (42) and a suction cup (43); the mounting plate (41) is slidably arranged on the mounting plate (2); the driving cylinder (42) is arranged on the mounting plate (41); and the suction cup (43) is arranged on the piston rod of the driving cylinder (42).

3. The modular gripping structure of the manipulator according to claim 2, characterized in that: The locking mechanism (5) comprises a screw rod (51) and a limiting assembly (52); the screw rod (51) is rotatably arranged on the mounting disk (2); the screw rod (51) is threadably connected to the mounting plate (41); and the limiting assembly (52) is arranged on the mounting plate (41) and is used to position the screw rod (51).

4. The modular gripping structure of the manipulator according to claim 3, characterized in that: The limiting assembly (52) comprises an abutment plate (521) and a lead screw (522); the abutment plate (521) is slidably disposed on the mounting plate (2); the lead screw (522) is rotatably disposed on the mounting plate (2) and is threadedly connected to the abutment plate (521); an abutment portion (6) for abutting against the abutment plate (521) is disposed on the screw rod (51); and the cross section of the abutment portion (6) is polygonal.

5. The modular gripping structure of the manipulator according to claim 2, characterized in that: A positioning mechanism (7) for positioning the suction cup (43) is arranged on the piston rod of the driving cylinder (42), and the positioning mechanism (7) comprises a clamping plate (71) and a bidirectional screw rod (72). Two clamping plates (71) are slidably arranged on the piston rod of the driving cylinder (42), and the bidirectional screw rod (72) is rotatably arranged on the piston rod of the driving cylinder (42). The bidirectional screw rod (72) is threadedly connected to the two clamping plates (71), and the threads connecting the two clamping plates (71) are arranged in opposite directions.

6. The modular gripping structure of the manipulator according to claim 5, characterized in that: The suction cup (43) is provided with a slot (431), and the clamping plate (71) abuts against a side wall of the slot (431).

7. The modular grasping structure of the manipulator according to claim 2, characterized in that: A guide rail (8) is provided on the driving cylinder (42), a guide rod (9) is provided on the piston rod of the driving cylinder (42), and the guide rod (9) is slidably arranged on the guide rail (8).

8. The modular gripping structure of the manipulator according to claim 1, characterized in that: The mounting seat (1) comprises a connecting plate (11), a supporting plate (12) and a locking bolt (13); the connecting plate (11) is arranged on the manipulator; the supporting plate (12) is slidably arranged on the connecting plate (11); a plurality of locking holes are arranged on the connecting plate (11) at intervals along the sliding direction of the supporting plate (12); the locking bolt (13) passes through the locking holes and is threadedly arranged on the supporting plate (12); the driving motor (3) is arranged on the supporting plate (12); and the mounting plate (2) is rotatably arranged on the supporting plate (12).

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