Multi-connecting-rod material taking and placing structure and material taking and placing device

Abstract

The utility model relates to the technical field of material taking and placing equipment, in particular to a multi-connecting-rod material taking and placing structure and a material taking and placing device, and the multi-connecting-rod material taking and placing structure comprises a driving assembly, a multi-connecting-rod assembly and a grabbing assembly; the multi-connecting-rod assembly comprises a first connecting rod, a second connecting rod and a third connecting rod, one end of the second connecting rod is rotationally connected with one end of the first connecting rod, the other end of the second connecting rod is rotationally connected with one end of the third connecting rod, and an extension rod extending in the length direction is arranged at the other end of the second connecting rod; the other end of the first connecting rod and the other end of the third connecting rod are connected with the driving assembly, the extension rod is connected with the grabbing assembly, and the driving assembly is used for driving the first connecting rod and the third connecting rod to rotate synchronously so as to drive the second connecting rod and the grabbing assembly to move on a set path. According to the technical scheme, the material taking device has the advantages of being simple in structure, small in occupied space and low in cost, the material taking speed can be effectively increased during material taking and placing operation, and therefore efficient and stable operation is achieved.

Description

TECHNICAL FIELD

[0001] The utility model relates to a taking and placing equipment technical field especially relates to a kind of multi-connecting rod taking and placing structure and taking and placing device. BACKGROUND

[0002] PCBA mainboard includes a large number of small components, these small components need to be regularized when being pasted or inserted, to form continuous strap mode to material, so as to facilitate pasting or inserting operation. The strap equipment can be integrated into a continuous strap, and wound into a strap disc. The demand for small components is huge, and efficient production is required. The speed of the taking and placing mechanism of the strap machine directly affects the productivity of the strap machine.

[0003] Common taking and placing mechanism of strap machine mainly includes: linear module class, cylinder combination class, mechanical arm class;Among them, linear module class drives taking and placing piece to move in X axis and Z axis by using the combination of servo motor and linear movement structure, to complete feeding action. This structure has general taking and placing speed, occupies large volume, and has low applicability in high-speed and space-limited occasions. Cylinder combination class uses rodless cylinder or slide cylinder to drive taking and placing piece to move in X axis and Z axis, to complete feeding action. This structure has slow taking and placing speed, and low stability, and has poor applicability in high-speed, high-precision and high-stability occasions. Mechanical arm class uses connecting rod mechanical arm to complete feeding action. In this structure, the cost of mechanical arm is high, the speed is general, and the space occupation is large. In high-speed and low-cost application occasions, the applicability is low. UTILITY MODEL CONTENTS

[0004] To solve at least the above technical problems in the prior art, the utility model provides a kind of multi-connecting rod taking and placing structure and taking and placing device.

[0005] The utility model provides a kind of multi-connecting rod taking and placing structure in one aspect, including driving assembly, multi-connecting rod component and grabbing assembly;The multi-connecting rod component includes first connecting rod, second connecting rod and third connecting rod, one end of the second connecting rod is rotatably connected with one end of the first connecting rod, the other end of the second connecting rod is rotatably connected with one end of the third connecting rod, and the other end of the second connecting rod is provided with the extension bar extending along the length direction;The other end of the first connecting rod and the other end of the third connecting rod are connected with the driving assembly, the extension bar is connected with the grabbing assembly, and the driving assembly is used to drive the first connecting rod and the third connecting rod synchronous rotation, to drive the second connecting rod and the grabbing assembly move in set path.

[0006] In some embodiments, the driving assembly comprises a driving motor, a first synchronous wheel, a second synchronous wheel and a synchronous belt; an output shaft of the driving motor is connected with the first synchronous wheel, the first synchronous wheel and the second synchronous wheel are connected through the synchronous belt; and the other end of the first connecting rod is fixedly connected with the first synchronous wheel, and the other end of the third connecting rod is fixedly connected with the second synchronous wheel.

[0007] In some embodiments, the first connecting rod and the third connecting rod have the same length; the driving assembly further comprises a fixed base plate, the first synchronous wheel and the second synchronous wheel are arranged on the fixed base plate and have a height difference along the height direction of the fixed base plate, and the straight-line distance between the centers of the first synchronous wheel and the second synchronous wheel is the same as the length of the second connecting rod.

[0008] In some embodiments, one end of the second connecting rod and one end of the first connecting rod, and the other end of the second connecting rod and one end of the third connecting rod are respectively connected through an active joint; the active joint comprises a hinge shaft and a bearing, the hinge shaft has a set length, two ends of the hinge shaft are respectively connected with the bearings, and the hinge shaft is connected with the first connecting rod, the second connecting rod or the third connecting rod through the bearings.

[0009] In some embodiments, an angle detection sensor is arranged on the rotation shaft of the first synchronous wheel and / or the second synchronous wheel; the angle detection sensor is used for detecting the rotation angle of the first synchronous wheel and / or the second synchronous wheel.

[0010] In some embodiments, the grabbing assembly comprises one or more of a vacuum suction cup, a pneumatic gripper, an electric gripper or an electromagnetic suction cup.

[0011] The utility model discloses still another aspect provides a kind of take and place device, including above-mentioned multi-connecting rod take and place structure.

[0012] The utility model discloses still another aspect provides a kind of take and place device, including feeding structure, place structure and above-mentioned multi-connecting rod take and place structure;The feeding structure and the place structure are located at two sides of the multi-connecting rod take and place structure respectively.

[0013] In some embodiments, the feeding structure comprises a vibrating disc, the vibrating disc comprises a feeding channel, and the end of the feeding channel comprises a feeding station.

[0014] In some embodiments, the place structure comprises a material belt and a winding assembly, the winding assembly is connected with the material belt and is used to drive the material belt to move, and the multi-connecting rod take and place structure is used to transfer the workpiece on the feeding station to the material belt.

[0015] The utility model provides a kind of multi-connecting rod material taking and placing structure and material taking and placing device, when carrying out material taking and placing operation to component, utilize multi-connecting rod assembly to drive grabbing assembly to move in set path, the path includes material taking position and material placing position, driving assembly can drive multi-connecting rod assembly high-speed reciprocating movement, to realize the high-speed reciprocating material taking and placing operation of component.The utility model technical scheme, with simple structure, small space occupation and the advantages of low cost, and when material taking and placing operation, material taking speed can be effectively improved, and then efficient, stable operation. BRIEF DESCRIPTION OF DRAWINGS

[0016] The above and other objects, features and advantages of the present exemplary embodiments will become more apparent from the following detailed description read in conjunction with the accompanying drawings. In the drawings, several embodiments of the present application are illustrated by way of example in which:

[0017] In the drawings, identical or corresponding reference signs indicate identical or corresponding parts.

[0018] Figure 1 The front side structure schematic view of the multi-connecting rod material taking and placing structure provided for the utility model embodiment is provided;

[0019] Figure 2 The back side structure schematic view of the multi-connecting rod material taking and placing structure provided for the utility model embodiment is provided;

[0020] Figure 3 The structure schematic view of the intermediate state of the multi-connecting rod material taking and placing structure provided for the utility model embodiment is provided;

[0021] Figure 4 Another structure schematic view of the multi-connecting rod material taking and placing structure provided for the utility model embodiment is provided;

[0022] Figure 5 The sectional view of the movable joint of the multi-connecting rod material taking and placing structure provided for the utility model embodiment is provided;

[0023] Figure 6 The structure schematic view of the material taking and placing device provided for the utility model embodiment is provided.

[0024] In the drawings:

[0025] 10: driving assembly;20: multi-connecting rod assembly;30: grabbing assembly;40: feeding structure;50: material placing structure;

[0026] 11: driving motor;12: first synchronous wheel;13: second synchronous wheel;14: synchronous belt;15: fixed base plate;16: angle detection sensor;

[0027] 21: first connecting rod; 22: second connecting rod; 23: third connecting rod; 24: extension rod; 25: movable joint; 251: hinge axis; 252: bearing;

[0028] 41: Vibrating plate; 42: Feeding channel; 43: Feeding station;

[0029] 51: Material strip; 52: Winding assembly. DETAILED DESCRIPTION

[0030] In order to make the purpose, features, and advantages of the present invention more obvious and easy to understand, the technical solutions in the embodiments of the present invention will be clearly and completely described below in conjunction with the drawings in the embodiments of the present invention. Obviously, the embodiments described are only part of the embodiments of the present invention, not all of the embodiments. Based on the embodiments of the present invention, all other embodiments obtained by those skilled in the art without making creative efforts shall fall within the scope of protection of the present invention.

[0031] An embodiment of the utility model provides a multi-link material picking and placing structure, including a driving component, a multi-link component and a grabbing component; the driving component provides driving force to move the multi-link component and the grabbing component along a set path, and the multi-link component is connected to the grabbing component. When moving along the set path, the position movement of the grabbing component is satisfied, and the grabbing component can pick up and place the components that need to be grabbed.

[0032] The following describes the components of the multi-link material loading and unloading structure provided by the embodiment of the present invention, as well as the positional relationship and connection relationship between the components, in conjunction with the accompanying drawings.

[0033] like Figures 1 to 5 As shown, in the embodiment of the present invention, the multi-link material picking and unloading structure includes a fixed base plate 15, the bottom of the fixed base plate 15 includes a base, the driving assembly 10 is arranged on the fixed base plate 15, and the multi-link material picking and unloading structure is fixedly mounted at the desired position through the fixed base plate 15.

[0034] The drive assembly 10 includes a drive motor 11, a first synchronous wheel 12, a second synchronous wheel 13 and a synchronous belt 14; the output shaft of the drive motor 11 is connected to the first synchronous wheel 12, and the first synchronous wheel 12 and the second synchronous wheel 13 are connected by the synchronous belt 14; and the other end of the first connecting rod 21 is fixedly connected to the first synchronous wheel 12, and the other end of the third connecting rod 23 is fixedly connected to the second synchronous wheel 13.

[0035] For example, the driving motor 11 is a servo deceleration motor, which is located on different sides of the fixed base plate 15 with the first synchronous wheel 12, the second synchronous wheel 13 and the synchronous belt 14, a shaft coupling is connected on the output shaft of the servo deceleration motor, the shaft coupling passes through the fixed base plate 15 and is connected with the first synchronous wheel 12, the second synchronous wheel 13 is located on the same side of the fixed base plate 15 as the first synchronous wheel 12, and the second synchronous wheel 13 has a height difference with the first synchronous wheel 12 along the height of the fixed base plate 15; the first synchronous wheel 12 and the second synchronous wheel 13 are connected through the synchronous belt 14, wherein the first synchronous wheel 12 is a driving wheel, and the second synchronous wheel 13 is a driven wheel.

[0036] The shafts of the first synchronous wheel 12 and the second synchronous wheel 13 are provided with axially outwardly extending supporting rods, and the first connecting rod 21 and the third connecting rod 23 are fixedly connected with the supporting rods respectively. The first synchronous wheel 12 and the second synchronous wheel 13 rotate synchronously, and the first connecting rod 21 and the third connecting rod 23 can be driven to rotate synchronously through the supporting rods respectively.

[0037] The synchronous belt 14 is arranged around the first synchronous wheel 12 and the second synchronous wheel 13, thereby forming a parallel synchronous belt 14 structure, and a tensioning structure is arranged on one side or both sides of the synchronous belt 14, so as to adjust the tension of the synchronous belt 14.

[0038] For example, the tensioning structure includes a connecting shaft, the end of the connecting shaft is provided with a roller, the roller is pressed on the synchronous belt 14 to realize the pressing effect on the synchronous belt 14. The end of the connecting shaft away from the roller is slidably connected with the fixed base plate 15, and can be used for adjusting the tension of the synchronous belt 14 by the roller. The sliding connection mode is not limited in the embodiment of the utility model.

[0039] In the embodiment of the utility model, the rotating shaft of the first synchronous wheel 12 and / or the second synchronous wheel 13 is provided with an angle detection sensor 16; the angle detection sensor 16 is used for detecting the rotating angle of the first synchronous wheel 12 and / or the second synchronous wheel 13.

[0040] For example, the angle detection sensor 16 is arranged on the back side of the fixed base plate 15, as shown in the figure, the rotating shaft of the second synchronous wheel 13 is connected with the angle detection sensor 16, the angle detection sensor 16 includes a sensing sheet and a light point sensor, the sensing sheet is circular and coaxially arranged on the rotating shaft of the second synchronous wheel 13, the sensing sheet is provided with a notch, the sensing sheet can rotate synchronously with the rotating shaft, the photoelectric sensor is in a groove shape, and a part of the sensing sheet is located in the groove structure; in the rotating process of the rotating shaft, the photoelectric sensor senses the on-off of the photoelectric signal at the notch, and then judges the rotating angle of the rotating shaft.

[0041] Wherein, multiple sets of angle detection sensors 16 can be provided, that is, multiple sets of sensing sheets and photoelectric sensors are provided, and the positions of the notches on the multiple sensing sheets are staggered, as shown in the figure, two sets of angle detection sensors 16 are included, and the angle detection sensors 16 are used for detecting the taking and placing work of the multi-link taking and placing structure. Whether the rotating shaft is rotated to the position can be judged through the on-off of the photoelectric signal in the two sets of angle detection sensors 16, and through the accurate angle rotation detection, the accuracy of the movement state of the multi-link taking and placing structure can be ensured.

[0042] With reference to the above Figures 1 to 5 As shown in the figure, in the embodiment of the utility model, the multi-link assembly 20 includes a first connecting rod 21, a second connecting rod 22 and a third connecting rod 23, one end of the second connecting rod 22 is rotationally connected with one end of the first connecting rod 21, the other end of the second connecting rod 22 is rotationally connected with one end of the third connecting rod 23, and the other end of the second connecting rod 22 is provided with an extension rod 24 extending along the length direction; the other end of the first connecting rod 21 and the other end of the third connecting rod 23 are connected with the driving assembly 10, and the extension rod 24 is connected with the grabbing assembly 30.

[0043] The multi-link assembly 20 is a four-link structure, wherein the first synchronous wheel 12, the second synchronous wheel 13 and the synchronous belt 14 are equivalent to a connecting rod structure, and the connecting rod is fixedly arranged, the first connecting rod 21, the second connecting rod 22 and the third connecting rod 23 are movable rods, and the first connecting rod 21 and the third connecting rod 23 are driven to synchronously rotate by the first synchronous wheel 12 and the second synchronous wheel 13 respectively.

[0044] In the embodiment of the utility model, the lengths of the first connecting rod 21 and the third connecting rod 23 are the same; the straight line distance between the centers of the first synchronous wheel 12 and the second synchronous wheel 13 is the same as the length of the second connecting rod 22. Therefore, the multi-link assembly 20 is a parallel four-link structure, and under the driving of the driving assembly 10, the second connecting rod 22 and the grabbing assembly 30 rotate along a fixed radius path.

[0045] For example, during rotation, the second connecting rod 22 and the grabbing assembly 30 are driven to move within a set arc range, for example, the movement path of the grabbing assembly 30 is 180 degrees, and the 0-degree position is the taking position and the 180-degree position is the placing position.

[0046] As shown in the figure, three states of the multi-link assembly 20 during rotation are described, Figure 1 As shown in the figure, the multi-link assembly 20 is located at the left side of the fixed base plate 15, which can be understood as that the taking is completed at this time, then the multi-link assembly 20 continues to rotate to the middle position, at this time, the multi-link assembly 20 coincides with the fixed base plate 15, that is, Figure 3 As shown in the figure, the multi-link assembly 20 continues to rotate until it rotates to the placing position, that is, Figure 4As shown, at this time, the multi-link assembly 20 is located at the right side of the fixed base plate 15.

[0047] In the embodiment of the utility model, if the position of the taking and placing point of the multi-link assembly 20 is changed, one or more of the following parameters can be changed, including: the rotation angle of the driving assembly 10, the length of the first connecting rod 21 (the third connecting rod 23), and the length of the extension rod 24.

[0048] As Figure 5 As shown, in the embodiment of the utility model, one end of the second connecting rod 22 and one end of the first connecting rod 21, and the other end of the second connecting rod 22 and one end of the third connecting rod 23 are connected through the movable joint 25 respectively; the movable joint 25 includes a hinge shaft 251 and a bearing 252, the hinge shaft 251 has a set length, and the two ends of the hinge shaft 251 are connected with the bearings 252 respectively, and the hinge shaft 251 is connected with the first connecting rod 21, the second connecting rod 22 or the third connecting rod 23 through the bearings 252.

[0049] In the multi-link structure, the movable joint 25 has compact, simple and reliable structure, and the bearing 252 and the hinge shaft 251 are in rolling motion during the movement process, the friction is small, so that the overall movement of the structure is stable when the driving assembly 10 operates at high speed, and the high-speed reciprocating taking and placing function is met.

[0050] In addition, in order to avoid the influence between the connecting rods during the taking and placing process, the length of the hinge shaft 251 can be adjusted, and then the distance between the two connecting rods connected by the hinge shaft 251 can be adjusted.

[0051] In the embodiment of the utility model, the grabbing assembly 30 includes one or more of a vacuum suction cup, a pneumatic clamp jaw, an electric clamp jaw or an electromagnetic suction cup.

[0052] The embodiment of the utility model also provides a taking and placing device, which includes the above multi-link taking and placing structure. The fast reciprocating taking and placing operation can be completed through the multi-link taking and placing structure.

[0053] As Figure 6 As shown, the embodiment of the utility model also provides a taking and placing device, which includes a feeding structure 40, a placing structure 50 and the above multi-link taking and placing structure; the feeding structure 40 and the placing structure 50 are located on the two sides of the multi-link taking and placing structure respectively.

[0054] During operation, the feeding structure 40 continuously feeds, the placing structure 50 can continuously receive materials, and then the multi-link taking and placing structure can be connected to form a high-speed taking and placing device.

[0055] For example, the feeding structure 40 includes a vibrating tray 41, the vibrating tray 41 includes a feeding channel 42, and the end of the feeding channel 42 includes a feeding station 43. The components are continuously sent to the feeding station 43 by the vibration of the vibrating tray 41, and the multi-link component taking and placing structure takes the components at the feeding station 43, such as by suction cups.

[0056] For example, the feeding structure 40 includes a vibrating tray 41, the vibrating tray 41 includes a feeding channel 42, and the end of the feeding channel 42 includes a feeding station 43. The components are continuously sent to the feeding station 43 by the vibration of the vibrating tray 41, and the multi-link component taking and placing structure takes the components at the feeding station 43, such as by suction cups.

[0057] The multi-link component taking and placing structure and the component taking and placing device provided by the utility model, when taking and placing components, the multi-link assembly 20 drives the grabbing assembly 30 to move along a set path, the path includes a component taking position and a component placing position, and the driving assembly 10 drives the multi-link assembly 20 to move back and forth at high speed, thereby realizing high-speed back-and-forth taking and placing of components. The utility model technical scheme has the advantages of simple structure, small space occupation and low cost, and can effectively improve the component taking speed during taking and placing, thereby realizing efficient and stable operation.

[0058] In the description of the present specification, the description of the terms "one embodiment", "some embodiments", "example", "specific example" or "some examples" means that the specific features, structures, materials or characteristics described in connection with the embodiment or example are included in at least one embodiment or example of the utility model. Moreover, the specific features, structures, materials or characteristics described can be combined in any one or more embodiments or examples in a suitable manner. In addition, the skilled in the art can combine and combine the different embodiments or examples described in the specification and the features of the different embodiments or examples without contradiction.

[0059] In addition, the terms "first", "second" are only for the purpose of description, and cannot be understood as indicating or implying relative importance or implicitly indicating the number of indicated technical features. Therefore, the features defined with "first", "second" can explicitly or implicitly include at least one feature. In the description of the utility model, the meaning of "multiple" is two or more than two, unless otherwise specifically limited.

[0060] The above merely illustrates the specific implementation manners of the present application, but the protection scope of the present application is not limited to this, any skilled person in the art can easily think of the changes or replacements within the technical range disclosed by the present application, which should be covered in the protection scope of the present application. Therefore, the protection scope of the present application should be subject to the protection scope of the claims.

Claims

1. A multi-link material loading and unloading structure, characterized in that: It comprises a driving assembly (10), a multi-link assembly (20) and a grabbing assembly (30); The multi-link assembly (20) comprises a first connecting rod (21), a second connecting rod (22) and a third connecting rod (23), one end of the second connecting rod (22) is rotatably connected to one end of the first connecting rod (21), the other end of the second connecting rod (22) is rotatably connected to one end of the third connecting rod (23), and the other end of the second connecting rod (22) is provided with an extension rod (24) extending in a length direction; The other end of the first connecting rod (21) and the other end of the third connecting rod (23) are connected to the driving assembly (10), and the extension rod (24) is connected to the grabbing assembly (30). The driving assembly (10) is used to drive the first connecting rod (21) and the third connecting rod (23) to rotate synchronously, so as to drive the second connecting rod (22) and the grabbing assembly (30) to move along a set path.

2. The multi-link material loading and unloading structure according to claim 1, characterized in that: The driving assembly (10) includes a driving motor (11), a first synchronous wheel (12), a second synchronous wheel (13) and a synchronous belt (14); The output shaft of the driving motor (11) is connected to the first synchronous wheel (12), and the first synchronous wheel (12) and the second synchronous wheel (13) are connected via the synchronous belt (14); and The other end of the first connecting rod (21) is fixedly connected to the first synchronous wheel (12), and the other end of the third connecting rod (23) is fixedly connected to the second synchronous wheel (13).

3. The multi-link material loading and unloading structure according to claim 2, characterized in that: The first connecting rod (21) and the third connecting rod (23) have the same length; The driving assembly (10) further includes a fixed base plate (15), the first synchronous wheel (12) and the second synchronous wheel (13) being arranged on the fixed base plate (15) and having a height difference along the height direction of the fixed base plate (15), and the straight-line distance between the centers of the first synchronous wheel (12) and the second synchronous wheel (13) being the same as the length of the second connecting rod (22).

4. The multi-link material loading and unloading structure according to claim 1, characterized in that: One end of the second connecting rod (22) is connected to one end of the first connecting rod (21), and the other end of the second connecting rod (22) is connected to one end of the third connecting rod (23) via a movable joint (25); The movable joint (25) includes a hinge shaft (251) and a bearing (252), wherein the hinge shaft (251) has a set length, and both ends of the hinge shaft (251) are respectively connected to the bearings (252), and the hinge shaft (251) is connected to the first connecting rod (21), the second connecting rod (22) or the third connecting rod (23) through the bearings (252).

5. The multi-link material loading and unloading structure according to claim 2, characterized in that: An angle detection sensor (16) is provided on the rotating shaft of the first synchronous wheel (12) and / or the second synchronous wheel (13); The angle detection sensor (16) is used to detect the rotation angle of the first synchronous wheel (12) and / or the second synchronous wheel (13).

6. The multi-link material loading and unloading structure according to any one of claims 1 to 5, characterized in that: The gripping assembly (30) comprises one or more of a vacuum suction cup, a pneumatic gripper, an electric gripper or an electromagnetic suction cup.

7. A material taking and unloading device, characterized in that: It comprises a multi-link material loading and unloading structure as claimed in any one of claims 1 to 6.

8. A material taking and unloading device, characterized in that: It comprises a feeding structure (40), a discharging structure (50) and a multi-link material taking and discharging structure as claimed in any one of claims 1 to 6; The feeding structure (40) and the discharging structure (50) are respectively located on both sides of the multi-link material taking and discharging structure.

9. The material taking and placing device according to claim 8, characterized in that: The feeding structure (40) includes a vibration plate (41), the vibration plate (41) includes a feeding channel (42), and the end of the feeding channel (42) includes a feeding station (43).

10. The material taking and placing device according to claim 9, characterized in that: The unwinding structure (50) comprises a material belt (51) and a winding assembly (52), wherein the winding assembly (52) is connected to the material belt (51) and is used to drive the material belt (51) to move; The multi-link material taking and unloading structure is used to transfer the workpiece on the feeding station (43) to the material belt (51).

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