Four-axis manipulator carrier tape suction mechanism

Abstract

The utility model discloses a four-axis manipulator carrier tape suction mechanism, and particularly relates to the technical field of suction mechanisms, the four-axis manipulator carrier tape suction mechanism comprises a four-axis manipulator body mounted on a carrier tape packaging equipment body, a base is mounted at the bottom end of the four-axis manipulator body, a cleaning component is mounted on one side of the top end of the base, and the four-axis manipulator body comprises a first rotating motor; a first rotating motor is installed on a base, a first rotating arm is installed at the output end of the first rotating motor, a second rotating motor is installed in one end of the first rotating arm, a second rotating arm is installed at the output end of the second rotating motor, and a ball screw is installed at one end of the second rotating arm and connected with a bottom frame through a coupler. And a vacuum suction claw is mounted on the underframe. The carrier tape suction device can blow off, suck and grab dust, flexibly adjust the suction direction, buffer the suction pressure and improve the suction efficiency, effectively overcomes the defects in the aspect of carrier tape suction in the prior art, and is suitable for carrier tape suction operation in carrier tape packaging equipment.

Description

TECHNICAL FIELD

[0001] The utility model relates to a four -axis mechanical hand carries and takes mechanism of band. BACKGROUND

[0002] In the production and packaging process of electronic components, precision parts and other products, as the key carrier of carrying and transporting these products, the efficiency and accuracy of the packaging link of the carrier tape are crucial. The traditional carrier tape suction method mostly relies on simple mechanical structure or manual operation, and has many insurmountable drawbacks.

[0003] On the one hand, in terms of suction efficiency, the traditional equipment is usually equipped with only a single or a small number of suction devices, which can only handle a limited number of carrier tapes at a time, which has become a serious efficiency bottleneck on large-scale production lines. With the continuous expansion of production scale and the increasingly stringent requirements of the market on product delivery speed, this inefficient suction method has been unable to meet the production needs of enterprises, resulting in prolonged production cycle and increased production cost.

[0004] On the other hand, the traditional carrier tape suction equipment lacks effective means to maintain the cleanliness of the suction head. In the production environment, dust, debris and other impurities are easily attached to the suction head. With the passage of time, the dirt on the surface of the suction head will continue to accumulate, thereby significantly reducing the reliability of the suction. The instability of the suction effect not only causes frequent suction failures, resulting in the omission or misplacement of products in the packaging process, but also increases the workload of subsequent detection and adjustment, further affecting the continuity of production and the consistency of product quality.

[0005] At the same time, in the process of adsorbing the carrier tape, the traditional equipment is difficult to accurately control the adsorption pressure. Excessive pressure will cause irreversible extrusion deformation of the carrier tape, causing damage to the precision products carried, and reducing the yield of the products; while the small pressure may not be able to ensure that the carrier tape is firmly adsorbed, causing the risk of carrier tape falling off during transportation, which will also interfere with the normal order of production.

[0006] In addition, the traditional carrier tape suction device is extremely limited in the adjustment of the adsorption direction, and is difficult to flexibly cope with the placement of the carrier tape at different positions and angles. In a complex production layout, this limitation makes the equipment unable to meet the diversified carrier tape packaging tasks, and cannot realize efficient suction operation in all directions and at multiple angles, greatly limiting the applicability of the equipment and the flexibility of production.

[0007] Therefore, a four-axis mechanical hand carrier tape suction mechanism is proposed. Utility model content

[0008] In order to overcome the above-mentioned defects of the prior art, the present invention provides a four-axis manipulator carrying and suction mechanism to solve the problems mentioned in the background art.

[0009] To achieve the above objectives, the present invention provides the following technical solution: a four-axis robotic arm carrier suction mechanism, comprising a four-axis robotic arm body mounted on the carrier packaging equipment body, a base mounted at the bottom end of the four-axis robotic arm body, and a cleaning component mounted on one side of the top end of the base;

[0010] The four-axis manipulator body includes a first rotary motor, a first rotary arm, a second rotary motor, a second rotary arm, a ball screw, a base frame, and a vacuum gripper. The first rotary motor is mounted on the base, and the first rotary arm is mounted on the output end of the first rotary motor. The second rotary motor is installed inside one end of the first rotary arm, and the second rotary arm is mounted on the output end of the second rotary motor. A ball screw is mounted on one end of the second rotary arm, and the ball screw is connected to the base frame via a coupling. The vacuum gripper is mounted on the base frame.

[0011] Preferably, a fixing plate is installed at the bottom end of the base frame, and slide rails are installed on both sides of the fixing plate.

[0012] Preferably, the vacuum suction gripper includes a telescopic cylinder, a lifting plate, a vacuum suction head, a cylinder telescopic rod, and a drag block. The telescopic cylinder is mounted on the base frame, and the telescopic end of the telescopic cylinder is connected to the cylinder telescopic rod. The end of the cylinder telescopic rod is connected to the lifting plate through the drag block. The lifting plate is slidably connected to the slide rail, and a vacuum suction head is installed at the bottom of the lifting plate.

[0013] Preferably, the top of the lifting plate is provided with an installation groove, and a spring is installed in the installation groove, with the top of the spring in contact with the bottom surface of the drag block.

[0014] Preferably, the base frame is equipped with five sets of vacuum grippers, and the corresponding fixed plate has two slide rails on one side and three slide rails on the other side.

[0015] The technical effects and advantages of this utility model are as follows:

[0016] 1. The base frame is equipped with five sets of vacuum grippers, which can complete the suction of all five sets each time the air carrier is suctioned, greatly improving work efficiency compared with traditional equipment.

[0017] 2. A cleaning component installed on one side of the top of the base can blow away dust from the vacuum gripper, keeping the surface of the vacuum gripper clean, ensuring stable and reliable adsorption effect, and reducing poor adsorption problems caused by dust accumulation.

[0018] 3. A spring is installed at the top of the lifting plate that uses vacuum suction. When the carrier belt is pressed down, the spring allows the lifting plate to have a flexible upward space, effectively buffering the pressure on the carrier belt, preventing the carrier belt from being squeezed and deformed, and improving product quality.

[0019] 4. Through the coordinated action of the first rotary motor, the second rotary motor, and the ball screw, the vacuum gripper can rotate and lift, making it easy to adjust the adsorption direction and achieve precise picking up and putting down of the carrier belt within the swing range of the robot arm, adapting to the carrier belt operation needs of different positions and angles. Attached Figure Description

[0020] Figure 1 This is a schematic diagram of the structure of the four-axis robot arm of this utility model installed on a carrier packaging device.

[0021] Figure 2 This is a schematic diagram of the structure of the four-axis manipulator body of this utility model.

[0022] Figure 3 This is a schematic diagram of the vacuum gripper structure of this utility model.

[0023] Figure 4 For the present utility model Figure 3 A magnified schematic diagram of the structure at point A in the middle.

[0024] The attached figures are labeled as follows: 1. Carrier packaging equipment body; 2. Four-axis robot body; 201. Base; 202. First rotary motor; 203. First rotary arm; 204. Second rotary motor; 205. Second rotary arm; 206. Ball screw; 207. Base frame; 208. Vacuum gripper; 2081. Telescopic cylinder; 2082. Lifting plate; 2083. Vacuum suction head; 2084. Cylinder telescopic rod; 2085. Traction block; 209. Cleaning component; 3. Fixing plate; 4. Slide rail; 5. Mounting slot; 6. Spring. Detailed Implementation

[0025] The technical solutions of the present utility model will be clearly and completely described below with reference to the accompanying drawings of the embodiments. Obviously, the described embodiments are only some embodiments of the present utility model, and not all embodiments. Based on the embodiments of the present utility model, all other embodiments obtained by those of ordinary skill in the art without creative effort are within the protection scope of the present utility model.

[0026] As attached Figures 1-4 The four-axis robotic arm carrier suction mechanism shown includes a four-axis robotic arm body 2 mounted on a carrier packaging equipment body 1. A base 201 is mounted on the bottom end of the four-axis robotic arm body 2, and a cleaning component 209 is mounted on one side of the top end of the base 201.

[0027] The four-axis robot body 2 comprises a first rotary motor 202, a first rotary arm 203, a second rotary motor 204, a second rotary arm 205, a ball screw 206, a chassis 207 and a vacuum suction grab 208, the first rotary motor 202 is installed on the base 201, the output end of the first rotary motor 202 is provided with the first rotary arm 203, one end of the first rotary arm 203 is internally provided with the second rotary motor 204, the output end of the second rotary motor 204 is provided with the second rotary arm 205, one end of the second rotary arm 205 is provided with the ball screw 206, the ball screw 206 is connected with the chassis 207 through a shaft coupling, and the vacuum suction grab 208 is installed on the chassis 207.

[0028] In specific implementation, dust on the vacuum suction grab 208 is blown off by the cleaning assembly 209 to maintain the cleanliness of the surface of the vacuum suction grab 208, the first rotary arm 203 can be rotated by the first rotary motor 202, the second rotary arm 205 can be rotated by the second rotary motor 204, and the chassis 207 can be lifted and lowered by the ball screw 206, so that the vacuum suction grab 208 can be rotated to adjust the suction direction, thereby enabling the vacuum suction grab 208 to pick up and put down the carrier tape within the robot swing range.

[0029] The bottom end of the chassis 207 is provided with a fixed plate 3, and the both sides of the fixed plate 3 are provided with sliding rails 4.

[0030] The vacuum suction grab 208 comprises a telescopic cylinder 2081, a lifting plate 2082, a vacuum suction head 2083, a cylinder telescopic rod 2084 and a drag block 2085, the telescopic cylinder 2081 is installed on the chassis 207, the telescopic cylinder 2081 is connected with the cylinder telescopic rod 2084 at the telescopic end, the cylinder telescopic rod 2084 is connected with the lifting plate 2082 through the drag block 2085 at the end, the lifting plate 2082 is connected with the sliding rail 4 in a sliding manner, and the vacuum suction head 2083 is installed at the bottom end of the lifting plate 2082.

[0031] The top end of the lifting plate 2082 is provided with a mounting groove 5, the mounting groove 5 is provided with a spring 6, and the top end of the spring 6 is connected with the bottom surface of the drag block 2085.

[0032] In specific implementation, the telescopic cylinder 2081 is telescopic, which can make the lifting plate 2082 lift along the sliding rail 4, and when the carrier tape is pressed, the spring 6 can make the lifting plate 2082 have a flexible floating space, so as to buffer the pressure on the carrier tape and avoid extrusion deformation.

[0033] Five groups of vacuum suction grippers 208 are arranged on the chassis 207, and two slide rails 4 are arranged on one side of the fixing plate 3 and three slide rails 4 are arranged on the other side.

[0034] In specific implementation, by arranging five groups of vacuum suction grippers 208, five groups of suction can be completed at a time when air suction is carried out, and the suction efficiency is improved.

[0035] The above merely describes preferred embodiments of the present application and is not intended to limit the present application, and any modification, equivalent replacement, improvement, etc. made within the spirit and principle of the present application shall be included in the protection scope of the present application.

Claims

1. A four-axis robotic carrier suction mechanism, comprising a four-axis robotic body (2) mounted on a carrier packaging equipment body (1), characterized in that: The four-axis manipulator body (2) is equipped with a base (201) at its bottom end, and a cleaning component (209) is installed on one side of the top of the base (201); The four-axis manipulator body (2) includes a first rotary motor (202), a first rotary arm (203), a second rotary motor (204), a second rotary arm (205), a ball screw (206), a base frame (207), and a vacuum gripper (208). The first rotary motor (202) is mounted on the base (201). The first rotary arm (203) is mounted on the output end of the first rotary motor (202). The second rotary motor (204) is installed inside one end of the first rotary arm (203). The second rotary arm (205) is mounted on the output end of the second rotary motor (204). The ball screw (206) is mounted on one end of the second rotary arm (205). The ball screw (206) is connected to the base frame (207) via a coupling. The vacuum gripper (208) is mounted on the base frame (207).

2. The four-axis robotic arm conveyor belt suction mechanism according to claim 1, characterized in that: The bottom of the base frame (207) is equipped with a fixing plate (3), and slide rails (4) are installed on both sides of the fixing plate (3).

3. The four-axis robotic arm conveyor belt suction mechanism according to claim 2, characterized in that: The vacuum suction gripper (208) includes a telescopic cylinder (2081), a lifting plate (2082), a vacuum suction head (2083), a cylinder telescopic rod (2084), and a drag block (2085). The telescopic cylinder (2081) is mounted on the base frame (207). The telescopic end of the telescopic cylinder (2081) is connected to the cylinder telescopic rod (2084). The end of the cylinder telescopic rod (2084) is connected to the lifting plate (2082) through the drag block (2085). The lifting plate (2082) is slidably connected to the slide rail (4), and the vacuum suction head (2083) is installed at the bottom of the lifting plate (2082).

4. The four-axis robotic arm conveyor belt suction mechanism according to claim 3, characterized in that: The top of the lifting plate (2082) is provided with an installation groove (5), and a spring (6) is installed in the installation groove (5). The top of the spring (6) is in contact with the bottom surface of the drag block (2085).

5. A four-axis robotic arm conveyor belt suction mechanism according to claim 4, characterized in that: Five sets of vacuum grippers (208) are installed on the base frame (207). The corresponding fixing plate (3) has two slide rails (4) on one side and three slide rails (4) on the other side.

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