Base taking and assembling manipulator

Abstract

The utility model discloses a base material taking and assembling manipulator which comprises an installation frame, a first driving device, a material clamping seat and a plurality of material clamping heads arranged on the material clamping seat side by side, each material clamping head comprises a first clamping arm, a second clamping arm and a first reset mechanism, and the first clamping arm and the second clamping arm are both rotationally connected with the material clamping seat. A first reset mechanism enables the first clamping arm and the second clamping arm to always have a clamping tendency, a second driving device is arranged on the material clamping base and comprises a movable base, a downward pressing driving piece and a second reset mechanism, and a plurality of V-shaped grooves corresponding to the material clamping heads one to one are formed in the movable base. The second reset mechanism enables the movable seat to always have the trend of moving towards the direction far away from the material clamping head, the downward pressing driving piece can drive the movable seat to move so that the V-shaped groove can drive the first clamping arm and the second clamping arm to be opened, the base is clamped in a clamping mode, material taking is more stable, and the base is not prone to falling off.

Description

Technical Field

[0001] The utility model relates to the technical field of quartz crystal oscillator production equipment, in particular to a base material taking and assembly manipulator. Background Art

[0002] The full name of quartz crystal oscillator is quartz crystal resonator, which is an electronic device that generates resonant frequency and is widely used in various electronic products. Quartz crystal oscillator mainly consists of three parts: base, crystal and shell. The base is provided with a first pin and a second pin side by side. The upper ends of the first pin and the second pin extend upward through the base. During production, the first pin and the second pin on the base are respectively inserted into the first clamping groove and the second clamping groove on the carrier for fixing, and then the crystal is welded to the upper end of the base to electrically connect the crystal with the first pin and the second pin. Finally, the shell is put on the outside of the base to seal the crystal inside the shell.

[0003] The traditional method uses a robot to insert the first pin and the second pin into the first clamping groove and the second clamping groove on the carrier respectively to fix them. However, since the robot uses adsorption to absorb the base and the base is small in size and difficult to absorb, the base is easy to fall off. Utility Model Content

[0004] The utility model aims at the defects of the prior art and provides a base material taking and assembling robot, which adopts a clamping method to clamp the base, so the material taking is more stable and the base is not easy to fall.

[0005] In order to achieve the above purpose, the utility model adopts the following technical solutions:

[0006] 14. The swiftly and minutely adjusting device for a wood-planer working table as claimed in claim 13, wherein the first driving device and the second driving device are pivotally connected to each other with a bolt, and the bolt has a round shank to contact with the second driving device.

[0007] By setting a first driving device, a clamping seat, and a plurality of clamping heads arranged side by side on the clamping seat, the clamping head includes a first clamping arm, a second clamping arm and a first reset mechanism, the first clamping arm and the second clamping arm are both rotatably connected to the clamping seat, and the first reset mechanism enables the first clamping arm and the second clamping arm to clamp together to clamp the base; and a second driving device is provided on the clamping seat, the second driving device includes a movable seat, a downward pressing driving member and a second reset mechanism, and a plurality of V-shaped grooves corresponding to the clamping heads are provided on the movable seat, and the downward pressing driving member drives the movable seat to move toward the clamping head, so that the V-shaped groove drives the first clamping arm and the second clamping arm to open to release the base, and the second reset mechanism enables the movable seat to move away from the clamping head and reset, so that the manipulator that clamps the base in a clamping manner can take materials more stably and the base is not easy to fall off.

[0008] As a preferred solution, the first reset mechanism is a first pressure spring, one end of the first pressure spring abuts against the upper end of the first clamp arm, and the other end of the first pressure spring abuts against the upper end of the second clamp arm.

[0009] As a preferred solution, the second reset mechanism is a plurality of second pressure springs, one end of each of the second pressure springs abuts against the movable seat, and the other end of each of the second pressure springs abuts against the material clamping seat.

[0010] As a preferred solution, the pressing driving member is at least one pressing cylinder, the piston head of the pressing cylinder is in contact with the movable seat, and the cylinder body of the pressing cylinder is integrally formed with the clamping seat.

[0011] As a preferred solution, the clamping seat includes a first connecting seat and a second connecting seat connected by screws, the first connecting seat is arranged above the second connecting seat, the downward pressure driving member is arranged on the first connecting seat, the movable seat is movably arranged up and down between the first connecting seat and the second connecting seat, and the first clamping arm and the second clamping arm are both rotatably connected to the second connecting seat.

[0012] As a preferred solution, a plurality of guide columns extending downward are provided at intervals on the movable seat, a plurality of guide holes are provided on the second connecting seat, the guide columns are slid up and down in the guide holes, and the V-shaped grooves are provided at the lower ends of the guide columns.

[0013] As a preferred solution, the lower ends of the first clamping arm and the second clamping arm are both provided with clamping recesses adapted to the product, and the clamping recesses can limit the upward movement of the base relative to the clamping head.

[0014] As a preferred solution, a first rotating part and a first avoidance groove are provided in the middle part of the first clamping arm, and a second rotating part and a second avoidance groove are provided in the middle part of the second clamping arm. During assembly, the first clamping arm is rotatably connected to the material clamping seat via the first rotating part, and the second clamping arm is rotatably connected to the material clamping seat via the second rotating part. The first rotating part is movably arranged in the second avoidance groove, and the second rotating part is movably arranged in the first avoidance groove.

[0015] As a preferred solution, a first rounded corner is provided at the upper end of the first clamp arm, a second rounded corner is provided at the upper end of the second clamp arm, and an inner wall of the V-shaped groove abuts against the first rounded corner and the second rounded corner.

[0016] As a preferred solution, the first driving device includes a Y-axis driving module and a Z-axis driving module, the Y-axis driving module is arranged on the mounting frame, the Z-axis driving module is arranged on the Y-axis driving module, and the clamping seat is arranged on the Z-axis driving module.

[0017] Compared with the prior art, the utility model has obvious advantages and beneficial effects. Specifically, by arranging a first driving device, a clamping seat, and a plurality of clamping heads arranged side by side on the clamping seat, the clamping head comprises a first clamping arm, a second clamping arm and a first reset mechanism. The first clamping arm and the second clamping arm are both rotatably connected to the clamping seat. The first reset mechanism enables the first clamping arm and the second clamping arm to clamp the base; and a second driving device is provided on the clamping seat, the second driving device comprises a movable seat, a downward pressing driving member and a second reset mechanism. The movable seat is provided with a plurality of V-shaped grooves corresponding to the clamping heads one by one. The downward pressing driving member drives the movable seat to move toward the clamping head, so that the V-shaped groove drives the first clamping arm and the second clamping arm to open to release the base. The second reset mechanism enables the movable seat to move away from the clamping head and reset, so that the manipulator that clamps the base in a clamping manner can take materials more stably and the base is not easy to fall off.

[0018] In order to more clearly explain the structural features, technical means and specific purposes and functions achieved by the present invention, the present invention is further described in detail below in conjunction with the accompanying drawings and specific embodiments: BRIEF DESCRIPTION OF THE DRAWINGS

[0019] Figure 1 It is a schematic diagram of the assembly structure of an embodiment of the utility model;

[0020] Figure 2 This is a schematic diagram of the assembly of the clamping seat and the clamping head of the embodiment of the utility model;

[0021] Figure 3 yes Figure 2 Schematic cross-sectional view of ;

[0022] Figure 4This is a schematic diagram of the assembly of the first clamping arm and the second clamping arm of an embodiment of the utility model;

[0023] Figure 5 It is a schematic diagram of the first clamping arm and the second clamping arm of an embodiment of the utility model.

[0024] Description of the accompanying drawings:

[0025] 50-mounting frame; 51-first driving device; 511-Y-axis driving module; 512-Z-axis driving module; 52-clamping seat; 521-first connecting seat; 522-second connecting seat; 5221-guide hole; 53-clamping head; 531-first clamping arm; 5311-first rotating part; 5312-first avoidance groove; 5313-first chamfered corner; 532-second clamping arm; 5321-second rotating part; 5322-second avoidance groove; 5323-second chamfered corner; 533-first reset mechanism; 534-clamping recess; 54-second driving device; 541-movable seat; 5411-V-shaped groove; 5412-guide column; 542-downward driving member; 5421-piston head; 543-second reset mechanism; 60-base. DETAILED DESCRIPTION

[0026] In the description of the present invention, it should be noted that the terms "center", "up", "down", "left", "right", "vertical", "horizontal", "inside", "outside", etc. indicate directions or positional relationships based on the directions or positional relationships shown in the accompanying drawings. They are only for the convenience of describing the utility model and simplifying the description, and do not indicate or imply that the position or element referred to must have a specific direction, be constructed and operated in a specific direction. Therefore, they cannot be understood as limitations on the present invention.

[0027] In the description of the present invention, it should be noted that, unless otherwise clearly specified and limited, the terms "installation", "connection" and "connection" should be understood in a broad sense, for example, it can be a fixed connection, a detachable connection, or an integral connection; it can be a mechanical connection or an electrical connection; it can be a direct connection, or it can be indirectly connected through an intermediate medium, or it can be the internal communication of two components. For ordinary technicians in this field, the specific meanings of the above terms in the present invention can be understood according to the specific circumstances.

[0028] like Figure 1-5As shown, the utility model discloses a base material taking and assembly manipulator, including a mounting frame 50, a first driving device 51, at least one material clamping seat 52, and a plurality of material clamping heads 53 arranged side by side on the material clamping seat 52 along the X-axis direction. For example, two material clamping seats 52 are provided, and the two material clamping seats 52 are arranged and connected along the X-axis direction. Sixteen material clamping heads 53 are provided on each material clamping seat 52. The first driving device 51 is provided on the mounting frame 50, and the material clamping seat 52 is provided on the first driving device 51.

[0029] The clamping head 53 includes a first clamping arm 531, a second clamping arm 532 and a first reset mechanism 533. The first clamping arm 531 and the second clamping arm 532 are both rotatably connected to the clamping seat 52. The first reset mechanism 533 allows the first clamping arm 531 and the second clamping arm 532 to always have a clamping tendency.

[0030] The clamping seat 52 is provided with a second driving device 54, and the second driving device 54 includes a movable seat 541, a downward pressing driving member 542 and a second reset mechanism 543. The movable seat 541 is movably connected to the clamping seat 52 up and down, and the movable seat 541 is provided with a plurality of V-shaped grooves 5411 corresponding to the clamping head 53 one by one, and the V-shaped grooves 5411 open downward. The second reset mechanism 543 makes the movable seat 541 always have a tendency to move away from the clamping head 53, and the driving end of the downward pressing driving member 542 abuts against the movable seat 541, and the downward pressing driving member 542 can drive the movable seat 541 to move toward the clamping head 53, so that the V-shaped groove 5411 drives the first clamping arm 531 and the second clamping arm 532 to open.

[0031] The first driving device 51 includes a Y-axis driving module 511 and a Z-axis driving module 512. The Y-axis driving module 511 is arranged on the mounting frame 50, and the Z-axis driving module 512 is arranged on the Y-axis driving module 511. The clamping seat 52 is arranged on the Z-axis driving module 512. Specifically, the Y-axis driving module 511 and the Z-axis driving module 512 can both adopt a cylinder, or a screw rod + motor, or a gear rack driving method. In addition, the first driving device 51 can also adopt a multi-axis manipulator structure.

[0032] The first reset mechanism 533 is a first pressure spring, one end of which abuts against the upper end of the first clamping arm 531, and the other end of which abuts against the upper end of the second clamping arm 532. It can be understood that the first reset mechanism 533 can also adopt a first tension spring, and the two ends of the first tension spring are respectively connected to the first clamping arm 531 and the second clamping arm 532. The elastic tension can also make the first clamping arm 531 and the second clamping arm 532 always have a tendency to clamp together.

[0033] The second reset mechanism 543 is a plurality of second pressure springs, one end of each of the second pressure springs is abutted against the movable seat 541, and the other end of each of the second pressure springs is abutted against the clamping seat 52. Specifically, the number of the second pressure springs can be two or more, and the upper and lower ends of the second pressure spring are respectively abutted against the movable seat 541 and the clamping seat 52. It can be understood that the second reset mechanism 543 can also adopt a second tension spring, and the two ends of the second tension spring are respectively connected to the movable seat 541 and the clamping seat 52. The elastic tension can also make the movable seat 541 always have a tendency to move away from the clamping head 53.

[0034] The downward pressing driving member 542 is at least one downward pressing cylinder, the piston head 5421 of the downward pressing cylinder is in contact with the movable seat 541, the cylinder body of the downward pressing cylinder is integrally formed with the clamping seat 52, the number of the downward pressing cylinders is four, and the four downward pressing cylinders are distributed at intervals along the X-axis direction; by arranging the cylinder body of the downward pressing cylinder and the clamping seat 52 to be integrally formed, the structure of the downward pressing cylinder and the clamping seat 52 is more compact, occupies less space, and is more convenient to assemble.

[0035] The clamping seat 52 includes a first connecting seat 521 and a second connecting seat 522 connected by screws, the first connecting seat 521 is arranged above the second connecting seat 522, the downward pressing driving member 542 is arranged on the first connecting seat 521, the movable seat 541 is movably arranged up and down between the first connecting seat 521 and the second connecting seat 522, the first clamping arm 531 and the second clamping arm 532 are both rotatably connected to the second connecting seat 522, and the lower end of the second pressure spring abuts against the second connecting seat 522; by setting the first connecting seat 521 and the second connecting seat 522 connected by screws, the downward pressing driving member 542 is arranged on the first connecting seat 521, the movable seat 541 is movably arranged up and down between the first connecting seat 521 and the second connecting seat 522, the first clamping arm 531 and the second clamping arm 532 are both rotatably connected to the second connecting seat 522, so that the installation and disassembly of the clamping seat 52, the downward pressing driving member 542, the movable seat 541 and the clamping head 53 are more convenient.

[0036] The movable seat 541 is provided with a plurality of guide posts 5412 extending downward at intervals, the second connecting seat 522 is provided with a plurality of guide holes 5221, the guide posts 5412 are slid up and down in the guide holes 5221, and the V-shaped grooves 5411 are provided at the lower ends of the guide posts 5412; by providing the guide posts 5412 and the guide holes 5221, the movable seat 541 can move smoothly relative to the clamping seat 52, and the V-shaped grooves 5411 on the movable seat 541 can smoothly drive the first clamping arm 531 and the second clamping arm 532 to open.

[0037] The lower ends of the first clamping arm 531 and the second clamping arm 532 are both provided with a clamping recess 534 adapted to the product, and the clamping recess 534 can limit the upward movement of the base 60 relative to the clamping head 53; by providing the clamping recess 534, when the clamping head 53 inserts the first pin and the second pin on the base 60 into the first clamping groove and the second clamping groove on the carrier (not shown) respectively, the base 60 can be limited from moving upward relative to the clamping head 53, so that the base 60 can be more stably assembled on the carrier.

[0038] A first rotating portion 5311 and a first avoidance groove 5312 are provided in the middle part of the first clamping arm 531, and a second rotating portion 5321 and a second avoidance groove 5322 are provided in the middle part of the second clamping arm 532. During assembly, the first clamping arm 531 is rotatably connected to the clamping seat 52 through the first rotating portion 5311, and the second clamping arm 532 is rotatably connected to the clamping seat 52 through the second rotating portion 5321. The first rotating portion 5311 is movably arranged in the second avoidance groove 5322, and the second rotating portion 5321 is movably arranged in the first avoidance groove 5312. By arranging the first rotating portion 5311 and the first avoidance groove 5312 in the middle part of the first clamping arm 531, and arranging the second rotating portion 5321 and the second avoidance groove 5322 in the middle part of the second clamping arm 532, the first clamping arm 531 and the second clamping arm 532 constitute an X-shaped clamping head 53, and the X-shaped clamping head 53 requires a small space for opening and closing, and has a compact structure.

[0039] A first chamfer 5313 is provided at the upper end of the first clamping arm 531, and a second chamfer 5323 is provided at the upper end of the second clamping arm 532, and the inner wall of the V-shaped groove 5411 is in contact with the first chamfer 5313 and the second chamfer 5323; by setting the first chamfer 5313 at the upper end of the first clamping arm 531 and the second chamfer 5323 at the upper end of the second clamping arm 532, when the first clamping arm 531 and the second clamping arm 532 rotate, the inner wall of the V-shaped groove 5411 keeps in contact with the first chamfer 5313 and the second chamfer 5323, and then the V-shaped groove 5411 keeps in stable contact with the clamping head 53, so that the opening and closing of the clamping head 53 is stable.

[0040] The working process of the utility model is as follows: the first driving device 51 drives the clamping seat 52 to move to the material picking station. After the clamping head 53 clamps the base 60, the first driving device 51 drives the clamping seat 52 to move to the assembly station. A carrier is placed at the assembly station. The Z-axis driving module 512 drives the clamping seat 52 to move downward, so that the first pin and the second pin on the base 60 are correspondingly inserted into the first clamping groove and the second clamping groove on the carrier to complete the assembly of the base 60 onto the carrier.

[0041] In summary, the utility model is provided with a first driving device 51, a clamping seat 52, and a plurality of clamping heads 53 arranged side by side on the clamping seat 52, wherein the clamping head 53 includes a first clamping arm 531, a second clamping arm 532, and a first reset mechanism 533, wherein the first clamping arm 531 and the second clamping arm 532 are both rotatably connected to the clamping seat 52, and the first reset mechanism 533 enables the first clamping arm 531 and the second clamping arm 532 to clamp the base 60; and a second driving device 54 is provided on the clamping seat 52, and the second driving device 54 includes a movable seat 541 , a downward pressing driving member 542 and a second reset mechanism 543, a plurality of V-shaped grooves 5411 corresponding to the clamping heads 53 are provided on the movable seat 541, the downward pressing driving member 542 drives the movable seat 541 to move toward the clamping head 53, so that the V-shaped grooves 5411 drive the first clamping arm 531 and the second clamping arm 532 to open and release the base 60, and the second reset mechanism 543 causes the movable seat 541 to move away from the clamping head 53 and reset, so that the robot arm that clamps the base 60 in a clamping manner can take materials more stably and the base 60 is not easy to fall.

[0042] The above description is only a preferred embodiment of the present invention and is not intended to limit the present invention. Therefore, any modification, equivalent replacement, improvement, etc. made to the above embodiment based on the technical practice of the present invention still falls within the scope of the technical solution of the present invention.

Claims

1. A base material taking and assembly robot, characterized in that: It comprises a mounting frame, a first driving device, at least one clamping seat, and a plurality of clamping heads arranged side by side on the clamping seat, wherein the first driving device is arranged on the mounting frame, and the clamping seat is arranged on the first driving device; The clamping head comprises a first clamping arm, a second clamping arm and a first reset mechanism, wherein the first clamping arm and the second clamping arm are both rotatably connected to the clamping seat, and the first reset mechanism enables the first clamping arm and the second clamping arm to always have a tendency to clamp together; The clamping seat is provided with a second driving device, which includes a movable seat, a downward driving member and a second reset mechanism. The movable seat is movably connected to the clamping seat up and down, and the movable seat is provided with a plurality of V-shaped grooves corresponding to the clamping head one by one. The second reset mechanism makes the movable seat always have a tendency to move away from the clamping head. The driving end of the downward driving member abuts against the movable seat, and the downward driving member can drive the movable seat to move toward the clamping head, so that the V-shaped groove drives the first clamping arm and the second clamping arm to open.

2. The base material taking and assembly robot according to claim 1 is characterized in that: The first reset mechanism is a first pressure spring, one end of the first pressure spring abuts against the upper end of the first clamp arm, and the other end of the first pressure spring abuts against the upper end of the second clamp arm.

3. The base material taking and assembly robot according to claim 1, characterized in that: The second reset mechanism is a plurality of second pressure springs, one end of each of the second pressure springs is in contact with the movable seat, and the other end of each of the second pressure springs is in contact with the material clamping seat.

4. The base material taking and assembly robot according to claim 1, characterized in that: The pressing driving member is at least one pressing cylinder, the piston head of the pressing cylinder is in contact with the movable seat, and the cylinder body of the pressing cylinder is integrally formed with the clamping seat.

5. The base material taking and assembly robot according to claim 1, characterized in that: The material clamping seat includes a first connecting seat and a second connecting seat connected by screws, the first connecting seat is arranged above the second connecting seat, the downward pressing driving member is arranged on the first connecting seat, the movable seat is movably arranged up and down between the first connecting seat and the second connecting seat, and the first clamping arm and the second clamping arm are both rotatably connected to the second connecting seat.

6. The base material taking and assembly robot according to claim 5, characterized in that: The movable seat is provided with a plurality of guide posts extending downward at intervals, the second connecting seat is provided with a plurality of guide holes, the guide posts are slidably arranged in the guide holes, and the V-shaped grooves are arranged at the lower ends of the guide posts.

7. The base material taking and assembly robot according to claim 1, characterized in that: The lower ends of the first clamping arm and the second clamping arm are both provided with a clamping recess adapted to the product, and the clamping recess can limit the base from moving upward relative to the clamping head.

8. The base material taking and assembly robot according to claim 1, characterized in that: A first rotating portion and a first avoidance groove are provided in the middle portion of the first clamping arm, and a second rotating portion and a second avoidance groove are provided in the middle portion of the second clamping arm. During assembly, the first clamping arm is rotatably connected to the material clamping seat via the first rotating portion, and the second clamping arm is rotatably connected to the material clamping seat via the second rotating portion. The first rotating portion is movably arranged in the second avoidance groove, and the second rotating portion is movably arranged in the first avoidance groove.

9. The base material taking and assembly robot according to claim 1, characterized in that: A first rounded corner is disposed at the upper end of the first clamp arm, a second rounded corner is disposed at the upper end of the second clamp arm, and an inner wall of the V-shaped groove abuts against the first rounded corner and the second rounded corner.

10. The base material taking and assembly robot according to any one of claims 1 to 9, characterized in that: The first driving device includes a Y-axis driving module and a Z-axis driving module. The Y-axis driving module is arranged on the mounting frame, the Z-axis driving module is arranged on the Y-axis driving module, and the clamping seat is arranged on the Z-axis driving module.

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