Double-station mounting manipulator

Abstract

The utility model discloses a double-station mounting manipulator, which is characterized by comprising a door-shaped frame, an upper moving seat, a lower moving seat, an X-axis guide rail, an X-axis screw rod, a Z-axis cylinder, a motor, two suckers and two vertical guide rods, the X-axis guide rail is fixed on a cross beam of the door-shaped frame; the X-axis screw rod is rotatably arranged on a cross beam of the door-shaped frame and is driven by a motor to rotate; the upper moving seat is in sliding fit with the X-axis guide rail, and the upper moving seat is in threaded fit with the X-axis lead screw; the Z-axis air cylinder is fixed to the upper moving seat, and the output end of the Z-axis air cylinder is connected with the lower moving seat. The two vertical guide rods are in sliding fit with the two ends of the upper moving seat respectively; the lower ends of the two vertical guide rods are fixedly connected with the two ends of the lower moving seat; the two suction cups are installed at the two ends of the lower moving base respectively. According to the utility model, the double-station automatic mounting work can be realized, the production efficiency is multiplied, and meanwhile, the double-station automatic mounting device has the advantages of small shaking, high accuracy, high stability, high reliability and the like.

Description

Technical Field

[0001] The utility model relates to a double-station mounting robot. Background Art

[0002] SMT patch is to accurately install components (electrical components) on the fixed position of PCB, and the SMT patch processing process is complex and requires high precision.

[0003] In SMT patch production, the existing dual-station placement robot can only grab one workpiece at a time to achieve single-station production.

[0004] To improve production efficiency and meet the technical requirements of dual-station placement, a dual-station placement robot needed to be developed. At the same time, the problem of shaking (or oscillating) when the dual workpieces are in motion, which affects precision work, needed to be addressed. Utility Model Content

[0005] The utility model provides a double-station mounting robot to solve the technical problems of how to realize double-station automatic mounting and avoid shaking.

[0006] The control wheel that cooperates with top and bottom, aircraft carrier deck is housed on the control wheel, the control wheel that cooperates with top and bottom, aircraft carrier deck is housed on the control wheel, the control wheel shaft is installed in the rotation with the development of stage four, and aircraft carrier deck is installed in the stage four.

[0007] Furthermore, an induction plate is installed on the upper movable seat; and three induction switches are installed on the crossbeam of the portal frame, and the three induction switches are distributed at intervals on the left, middle and right.

[0008] Furthermore, the portal frame has two side longitudinal beams and two cross beams; the two side longitudinal beams are spaced apart left and right, and the two cross beams are spaced apart front and back, and both ends of the two cross beams are fixedly connected to the upper ends of the two side longitudinal beams; the Z-axis cylinder is installed in the middle of the upper movable seat, and the output end of the Z-axis cylinder passes downward through the gap between the two cross beams and is fixedly connected to the lower movable seat.

[0009] Furthermore, the Z-axis cylinder adopts a telescopic hydraulic cylinder or a telescopic cylinder.

[0010] Furthermore, the two suction cups are connected to the end of the lower movable seat through a buffer mechanism.

[0011] Furthermore, the buffer mechanism includes an upper connecting plate, two buffer rods, two springs and a lower connecting plate; the upper connecting plate and the lower connecting plate are distributed up and down; the lower ends of the two buffer rods are fixedly connected to the lower connecting plate; the two buffer rods are slidingly fitted with the upper connecting plate, and the two springs are respectively mounted on the two buffer rods and located between the upper connecting plate and the lower connecting plate; the upper connecting plate is fixed to the end of the lower movable seat; and the suction cup is fixed to the lower end of the lower connecting plate.

[0012] Beneficial effects of the utility model:

[0013] First, the utility model can realize double-station automatic placement work, which can double the production efficiency. At the same time, it has the advantages of small amplitude, small shaking, high accuracy, stability and reliability, and can meet the requirements of high-precision placement technology.

[0014] Secondly, in the present invention, when the upper movable base is driven by the motor to move along the X-axis, the induction plate can reach three induction switches and obtain three position signals, which can be respectively: a grab position signal (left), an initial position position signal (center), and a placement position signal (right). The three induction switches are connected to the control system circuit to control the manipulator to obtain position signals when it moves to different positions and perform corresponding actions, thereby avoiding execution errors caused by the lack of position signal collection feedback.

[0015] Third, the utility model can greatly reduce the weight of the portal frame and save costs because the portal frame has two crossbeams that are spaced apart.

[0016] Fourthly, the present invention can generate a certain elastic contact through the buffer mechanism when the two suction cups are placed downward, thereby avoiding damage to the workpiece (precision electrical components) due to rigid force, making placement safer. BRIEF DESCRIPTION OF THE DRAWINGS

[0017] Figure 1 This is a front view of a double-station placement robot in the utility model.

[0018] Figure 2 yes Figure 1 Middle AA section view.

[0019] Figure 3 It is a top view of a double-station placement robot in the utility model.

[0020] Figure 4-5It is a three-dimensional diagram of a double-station mounting robot in the present utility model.

[0021] Figure 6 This is a three-dimensional diagram showing the connection between the gantry, X-axis guide rail, X-axis lead screw, and Z-axis cylinder.

[0022] Figure 7-8 It is a structural diagram of the upper moving seat, the lower moving seat, the Z-axis cylinder, two suction cups, two vertical guide rods, etc. DETAILED DESCRIPTION

[0023] The present invention will be further described below with reference to the accompanying drawings and embodiments:

[0024] Example 1: See Figure 1-5 A double-station placement robot includes a door frame 1, an upper moving seat 2, a lower moving seat 3, an X-axis guide rail 4, an X-axis screw rod 5, a Z-axis cylinder 6, a motor 7, two suction cups 8 and two vertical guide rods 9.

[0025] Among them, see Figure 6 The X-axis guide rail 4 is fixed on the crossbeam 1-2 of the portal frame 1.

[0026] Among them, see Figure 6 The X-axis screw rod 5 is rotatably arranged on the crossbeam 1-2 of the portal frame 1 and is driven to rotate by the motor 7. Specifically, the motor 7 is fixed on the crossbeam 1-2, and the output end of the motor 7 is connected to the X-axis screw rod 5 to drive the X-axis screw rod 5 to rotate.

[0027] Specifically, see Figure 6 A support 5-1 is fixedly provided on the beam 1-2, and the X-axis screw rod 5 is rotatably matched with the support 5-1.

[0028] Specifically, see Figure 1-5 The upper movable seat 2 is in sliding cooperation with the X-axis guide rail 4, and the upper movable seat 2 is in thread cooperation with the X-axis lead screw 5. Figure 7-8 The upper movable seat 2 is provided with a slider 2-1 for slidingly cooperating with the X-axis guide rail 4. The upper movable seat 2 is provided with a nut hole 2-2 for cooperating with the X-axis screw rod 5.

[0029] See also Figure 1-5 During operation, the motor 7 drives the X-axis screw 5 to rotate, which in turn drives the upper movable base 2 to slide linearly along the X-axis guide rail 4 to achieve X-axis displacement (i.e., lateral displacement). Since the motor 7 can rotate forward or reverse, it controls the upper movable base 2 to move in the positive or negative direction of the X-axis.

[0030] Also, see Figure 2The upper movable seat 2 and the lower movable seat 3 are respectively located on the upper and lower sides of the crossbeam 1-2 of the portal frame 1; the two vertical guide rods 9 are respectively located on the front and rear sides of the crossbeam 1-2 of the portal frame 1.

[0031] Specifically, the two vertical guide rods 9 are respectively slidably matched with the two ends of the upper movable seat 2. Figure 7-8 The upper movable base 2 has two guide holes 2-3 at each end, and the two vertical guide rods 9 are respectively installed in the two guide holes 2-3 with a sliding fit (i.e., a clearance fit). Specifically, the lower ends of the two vertical guide rods 9 are fixedly connected to the two ends of the lower movable base 3; the two suction cups 8 are respectively disposed on the two ends of the lower movable base 3.

[0032] Among them, the Z-axis cylinder 6 is fixed on the upper moving seat 2, and the output end of the Z-axis cylinder 6 faces downward and is fixedly connected to the lower moving seat 3; the Z-axis cylinder 6 is used to drive the lower moving seat 3 to move up and down relative to the upper moving seat 2 (i.e., Z-axis displacement).

[0033] See Figure 7-8 In this way, a rectangular structure is formed between the upper movable seat 2, the lower movable seat 3 and the two vertical guide rods 9, which constrain each other and are very stable. Driven by the Z-axis cylinder 6, the lower movable seat 3 can perform linear precision movement up and down relative to the upper movable seat 2 (i.e., Z-axis displacement).

[0034] The two suction cups 8 are used to hold or release two workpieces. Specifically, the workpieces are held at the workpiece grabbing position and released at the placement position.

[0035] See also Figure 6 In this embodiment, the portal frame 1 has two side longitudinal beams 1-1 and two cross beams 1-2; the two side longitudinal beams 1-1 are spaced apart left and right, and the two cross beams 1-2 are spaced apart front and back, and both ends of the two cross beams 1-2 are fixedly connected to the upper ends of the two side longitudinal beams 1-1; the Z-axis cylinder 6 is installed in the middle of the upper movable seat 2, and the output end of the Z-axis cylinder 6 passes downward through the gap between the two cross beams 1-2 and is fixedly connected to the lower movable seat 3.

[0036] The X-axis guide rail 4 is fixed on one of the crossbeams 1-2, and the X-axis screw rod 5 is rotatably arranged on the other crossbeam 1-2. Since the two crossbeams 1-2 are spaced apart, the weight of the portal frame 1 can be greatly reduced, saving costs.

[0037] See also Figure 7-8 During operation, the Z-axis cylinder 6 drives the lower movable base 3 to move upward or downward relative to the upper movable base 2 (i.e., Z-axis displacement), and the two suction cups 8 at both ends of the lower movable base 3 move upward or downward accordingly.

[0038] Preferably, the Z-axis cylinder 6 is a telescopic hydraulic cylinder or a telescopic air cylinder.

[0039] The working steps of this embodiment are as follows:

[0040] S10, the motor 7 starts to work and drives the upper movable seat 2 to move (to the left), and the lower movable seat 3 moves with the upper movable seat 2 to the position just above the workpiece grabbing position (such as the material picking rack);

[0041] S20, then start the Z-axis cylinder 6 to work and drive the lower movable base 3 to move downward to its position, and then start the two suction cups 8 to work and each grab a workpiece;

[0042] S30, restart the Z-axis cylinder 6 to work and drive the lower moving seat 3 to move upward to the position (safely leave the material rack by moving upward);

[0043] S40, then start the motor 7 to work and drive the upper movable base 2 to move (to the right), and the lower movable base 3 and the two workpieces grasped thereon move along with the upper movable base 2 until they are directly above two placement positions (such as placement fixtures);

[0044] S50, then start the Z-axis cylinder 6 to work and drive the lower moving seat 3 to move downward to its position, and the two workpieces on it move downward to its position to complete the placement;

[0045] S60, the two suction cups 8 are started to work simultaneously to completely release the two workpieces respectively; then the Z-axis cylinder 6 and the motor 7 are started to work and return to the original position.

[0046] Then, the above steps can be repeated to complete the next set of double-station mounting work.

[0047] In this embodiment, the two vertical guide rods 9 slide in engagement with the ends of the upper movable base 2; the lower ends of the two vertical guide rods 9 are fixedly connected to the ends of the lower movable base 3; and the two suction cups 8 are mounted on the ends of the lower movable base 3. Therefore, the two vertical guide rods 9, the upper movable base 2, and the lower movable base 3 form a mutually constrained rectangular structure (i.e., the upper movable base 2, the lower movable base 3, and the two vertical guide rods 9 form a rectangular structure). When the lower movable base 3 moves upward or downward relative to the upper movable base 2, it moves linearly along the Z axis and is guided left and right, resulting in precise, stable, and reliable motion without shaking. Simultaneously, when the upper movable base 2 slides along the X-axis guide rail 4 and is driven by the X-axis screw 5, the upper movable base 2 moves precisely linearly along the X axis. Simultaneously, due to the mutual constraint between the rectangular structures, the lower movable base 3 and its two suction cups 8 move along with the upper movable base 2's X-axis displacement. The vibration amplitude and shaking of the lower movable base 3 and its two suction cups 8 are extremely minimal, meeting high-precision placement requirements.

[0048] Therefore, no matter the motor 7 drives the displacement along the X axis or the Z axis cylinder 6 drives the displacement along the Z axis, the vibration amplitude and shaking of the lower moving seat 3 and the two suction cups 8 thereon are extremely small, which can meet the high-precision placement requirements.

[0049] In summary, this embodiment can achieve dual-station automatic placement, which can exponentially increase production efficiency. It also has the advantages of small amplitude and vibration, high accuracy, stability and reliability, and can meet the requirements of high-precision placement technology. Therefore, this embodiment can solve the technical problems of how to achieve precise grasping and avoid vibration during dual-station placement.

[0050] Example 2: This example is based on Example 1 and is further improved:

[0051] See Figure 7-8 , and further, the upper movable seat 2 is equipped with a sensor plate 10; the crossbeam 1-2 of the door frame 1 is equipped with three sensor switches 11, which are distributed at intervals from left to right (see Figure 6 ).

[0052] Can be combined Figure 1-5 When the upper movable base 2 is driven by the motor 7 and moves along the X-axis, the sensor plate 10 reaches three sensor switches 11, generating three position signals: a grab position signal (left), an initial position signal (center), and a placement position signal (right). These three sensor switches 11 are connected to the control system circuitry to control the robot arm's movement to different positions, acquiring position signals and executing corresponding actions. This avoids execution errors caused by a lack of position signal feedback.

[0053] Example 2: This example is based on Example 1 or 2 and is further improved:

[0054] See Figure 7-8 Furthermore, the two suction cups 8 are connected to the end of the lower movable seat 3 through a buffer mechanism 12. There are two buffer mechanisms 12.

[0055] In this embodiment, the buffer mechanism 12 includes an upper connecting plate 12 - 1 , two buffer rods 12 - 2 , two springs 12 - 3 and a lower connecting plate 12 - 4 .

[0056] See Figure 7-8The upper connecting plate 12-1 and the lower connecting plate 12-4 are arranged vertically; the lower ends of the two buffer rods 12-2 are fixedly connected to the lower connecting plate 12-4; the two buffer rods 12-2 slideably engage with the upper connecting plate 12-1; the two springs 12-3 are respectively mounted on the two buffer rods 12-2 and located between the upper connecting plate 12-1 and the lower connecting plate 12-4; the upper connecting plate 12-1 is fixed to the end of the lower movable seat 3; and the suction cup 8 is fixed to the lower end of the lower connecting plate 12-4. During placement, the buffer mechanism 1 can generate a certain elastic contact when the two suction cups 8 descend, preventing damage to the workpiece (precision electrical components) due to rigid force, making placement safer.

[0057] See Figure 7-8 The upper connecting plate 12-1 is provided with a through-hole 12-11; the buffer rod 12-2 is mounted on the through-hole 12-11 and is slidably fitted (i.e., with a clearance fit); the upper end of the buffer rod 12-2 extends and is provided with a stop 12-21. The upper and lower ends of the spring 12-3 abut against the upper connecting plate 12-1 and the lower connecting plate 12-4, respectively.

[0058] See Figure 1-2 When the suction cup 8 and the workpiece thereon are placed in the downward direction, the lower connecting plate 12-4 and the upper connecting plate 12-1 will move closer to each other and compress the spring 12-3 to achieve elastic buffering, avoiding rigid impact contact. At the same time, the lower connecting plate 12-4 and the upper connecting plate 12-1 are guided by two buffer rods 12-2 to move linearly relative to each other, which can also ensure that they will not deviate during placement.

[0059] The above describes in detail the preferred embodiments of the present invention. It should be understood that those skilled in the art can make numerous modifications and variations based on the concepts of the present invention without inventive effort. Therefore, any technical solutions that can be derived by those skilled in the art based on the concepts of the present invention through logical analysis, reasoning, or limited experimentation based on the existing technology should be within the scope of protection defined by the claims.

Claims

1. A dual-station placement robot, characterized in that: It includes a door frame (1), an upper movable seat (2), a lower movable seat (3), an X-axis guide rail (4), an X-axis screw rod (5), a Z-axis cylinder (6), a motor (7), two suction cups (8) and two vertical guide rods (9); The X-axis guide rail (4) is fixed on the crossbeam (1-2) of the portal frame (1); the X-axis screw rod (5) is rotatably arranged on the crossbeam (1-2) of the portal frame (1) and is driven to rotate by the motor (7); The upper movable seat (2) and the lower movable seat (3) are respectively located on the upper and lower sides of the crossbeam (1-2); the two vertical guide rods (9) are respectively located on the front and rear sides of the crossbeam (1-2); The upper movable seat (2) is in sliding engagement with the X-axis guide rail (4), and the upper movable seat (2) is in threaded engagement with the X-axis lead screw (5); The Z-axis cylinder (6) is fixed on the upper movable seat (2), and the output end of the Z-axis cylinder (6) is connected to the lower movable seat (3); The two vertical guide rods (9) are respectively slidably matched with the two ends of the upper movable seat (2); the lower ends of the two vertical guide rods (9) are respectively fixedly connected with the two ends of the lower movable seat (3); and the two suction cups (8) are respectively mounted on the two ends of the lower movable seat (3).

2. A dual-station placement robot according to claim 1, characterized in that: The upper movable seat (2) is provided with a sensing plate (10); Three induction switches (11) are installed on the crossbeam (1-2) of the portal frame (1), and the three induction switches (11) are spaced apart and distributed in the left, middle and right directions.

3. A dual-station placement robot according to claim 1 or 2, characterized in that: The portal frame (1) has two side longitudinal beams (1-1) and two cross beams (1-2); The two side longitudinal beams (1-1) are spaced apart from each other on the left and right, the two cross beams (1-2) are spaced apart from each other on the front and back, and both ends of the two cross beams (1-2) are fixedly connected to the upper ends of the two side longitudinal beams (1-1); The Z-axis cylinder (6) is installed in the middle of the upper movable seat (2), and the output end of the Z-axis cylinder (6) passes downward through the gap between the two beams (1-2) and is fixedly connected to the lower movable seat (3).

4. A dual-station placement robot according to claim 1, characterized in that: The Z-axis cylinder (6) is a telescopic hydraulic cylinder or a telescopic air cylinder.

5. A dual-station placement robot according to claim 1, characterized in that: The two suction cups (8) are connected to the end of the lower movable seat (3) via a buffer mechanism (12).

6. A dual-station placement robot according to claim 5, characterized in that: The buffer mechanism (12) comprises an upper connecting plate (12-1), two buffer rods (12-2), two springs (12-3) and a lower connecting plate (12-4); The upper connecting plate (12-1) and the lower connecting plate (12-4) are distributed up and down; The lower ends of the two buffer rods (12-2) are fixedly connected to the lower connecting plate (12-4); the two buffer rods (12-2) are slidably matched with the upper connecting plate (12-1); the two springs (12-3) are respectively sleeved on the two buffer rods (12-2) and located between the upper connecting plate (12-1) and the lower connecting plate (12-4); The upper connecting plate (12-1) is fixed to the end of the lower movable seat (3); and the suction cup (8) is fixed to the lower end of the lower connecting plate (12-4).

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