Multi-station vacuum material taking and placing device for tiny parts

Abstract

The utility model discloses a multi-station vacuum material taking and placing device for tiny parts. The multi-station vacuum material taking and placing device comprises a multi-shaft mechanical arm and a vacuum flexible material taking and placing mechanism arranged on the multi-shaft mechanical arm. The vacuum flexible material taking and placing mechanism comprises a mounting plate and two sets of lifting adsorption mechanisms. The mounting plate is connected to the end of the multi-axis mechanical arm, the two lifting adsorption mechanisms are symmetrically arranged on the two sides of the mounting plate correspondingly, and the bottom of each lifting adsorption mechanism is used for sucking materials to be taken and placed. The multi-axis mechanical arm is used for controlling the vacuum flexible material taking and placing mechanism to be aligned with materials to be taken and placed. According to the automatic feeding and discharging device, the innovative elastic vacuum suction technology is introduced, comprehensive automation of the feeding and discharging process of the tiny parts is successfully achieved, and the intelligence and flexibility of production operation are greatly improved; the four tiny products can be accurately and independently taken and placed at the same time, the production efficiency is improved, and the products are protected against any clamping damage.

Description

Technical Field

[0001] This utility model relates to the field of industrial robots, and in particular to a vacuum loading and unloading device for multi-station micro parts. Background Technology

[0002] In the field of micro-product manufacturing, the efficient operation of automated production lines is crucial for improving production efficiency and ensuring product quality. However, the single gripper mechanism widely used in existing automated production lines has revealed a series of problems when faced with the task of gripping and handling micro-products.

[0003] The primary problem is that the efficiency of this single gripper is relatively low. Due to the small size and delicate structure of micro products, traditional gripper mechanisms often require multiple adjustments during the gripping process to achieve accurate positioning. This not only prolongs the time of a single operation but also reduces the overall efficiency of the entire production line. In addition, the gripper's movements are not flexible enough to adapt to the fast and varied handling requirements of micro products.

[0004] More seriously, single gripper jaws are prone to damaging micro-products when gripping them. Micro-products are often made of fragile materials, requiring extremely high gripping force and gripping methods. However, existing gripper mechanisms often do not fully consider these characteristics in their design, which can easily cause scratches, indentations, or even breakage to micro-products during the gripping process. This not only reduces the product qualification rate and increases production costs, but also seriously affects the company's market competitiveness and customer satisfaction.

[0005] Therefore, it is necessary to innovate and improve the existing single-grip mechanism in the field of micro-product manufacturing to meet the urgent needs of micro-product manufacturing for high efficiency, precision and reliability. Utility Model Content

[0006] The main objective of this invention is to provide a multi-station vacuum loading and unloading device for micro parts, thereby addressing all or one of the aforementioned problems in the prior art.

[0007] To solve the above-mentioned technical problems, the present invention provides a multi-station vacuum loading and unloading device for micro parts, comprising:

[0008] A multi-axis robotic arm, and a vacuum flexible material handling mechanism mounted on the multi-axis robotic arm;

[0009] The vacuum flexible material handling mechanism includes: a mounting plate and two sets of lifting and adsorption mechanisms; the mounting plate is connected to the end of the multi-axis robotic arm, and the two sets of lifting and adsorption mechanisms are symmetrically arranged on both sides of the mounting plate, with the bottom of each set of lifting and adsorption mechanisms used to pick up the material to be handled.

[0010] The multi-axis robotic arm is used to control the alignment of the vacuum flexible material handling mechanism with the material to be handled.

[0011] As an improved solution, each of the lifting and adsorption mechanisms is composed of several flexible adsorption modules arranged side by side;

[0012] The bottom of the flexible adsorption module is connected to a vertically downward-facing vacuum nozzle.

[0013] The vacuum nozzle is used to pick up the material to be picked up or placed.

[0014] As an improved solution, each of the flexible adsorption modules includes: a vertical cylinder and a two-section slide rail section;

[0015] The vertical cylinder is vertically installed on one side of the mounting plate, and the telescopic end of the vertical cylinder is vertically downward.

[0016] The two-section slide rail is vertically arranged below the vertical cylinder, and the upper end of the two-section slide rail is connected to the telescopic end of the vertical cylinder, and the upper end of the vacuum nozzle is connected to the lower end of the two-section slide rail.

[0017] The vertical cylinder is used to control the vertical displacement of the two-section slide rail section.

[0018] As an improved solution, the two-section slide rail section includes: a vertical slide rail base, a linear guide rail, a buffer guide rail, a vertical connecting plate, and an adjusting plate;

[0019] The vertical slide rail seat is vertically disposed below the mounting plate, and the top of the vertical slide rail seat is connected to the lower surface of the mounting plate;

[0020] The linear guide rail is vertically installed on one side of the vertical slide rail seat and close to the vertical cylinder;

[0021] The buffer guide rail is slidably mounted on the linear guide rail, and the buffer guide rail is set corresponding to the telescopic end of the vertical cylinder; the top of the buffer guide rail is connected to the telescopic end of the vertical cylinder.

[0022] The vertical connecting plate is vertically fixed to one side of the buffer guide rail, and the vertical connecting plate is located on the other side of the buffer guide rail relative to the linear guide rail, with the bottom of the vertical connecting plate protruding downwards by a certain distance;

[0023] The adjustment plate is horizontally installed at the bottom of the vertical connecting plate, and the vacuum nozzle is movably connected to the lower surface of the adjustment plate.

[0024] As an improved solution, a convex opening is provided on the upper end of the buffer guide rail corresponding to the telescopic end of the vertical cylinder;

[0025] The telescopic end of the vertical cylinder is connected to an inverted T-shaped slider;

[0026] The lower end of the inverted T-shaped slider is slidably embedded in the convex opening, and the buffer guide rail is hung on the inverted T-shaped slider through the convex opening.

[0027] As an improved solution, the sliding distance of the inverted T-shaped slider within the convex opening is less than the sliding distance of the buffer guide rail on the linear guide rail.

[0028] As an improved solution, the adjustment plate is provided with a vertically penetrating strip hole, which is arranged along the length direction of the adjustment plate;

[0029] The upper end of the vacuum nozzle is detachably connected to the strip hole.

[0030] As an improved solution, the multi-station micro-part vacuum loading and unloading device further includes: a vacuum generator and a vacuum pressure gauge;

[0031] The vacuum generator is installed near the multi-axis robotic arm and is connected to several vacuum nozzles of several flexible adsorption modules via air pipes; the vacuum generator is used to control the generation of negative pressure at the vacuum nozzles.

[0032] The vacuum pressure gauge is installed near the multi-axis robotic arm and is used to monitor the vacuum pressure value at the vacuum nozzle.

[0033] As an improved solution, the multi-station micro-part vacuum loading and unloading device further includes: a support unit;

[0034] The support is vertically mounted on the ground, and the multi-axis robotic arm is mounted on the support.

[0035] As an improved solution, each of the lifting adsorption mechanisms contains two flexible adsorption modules;

[0036] The two flexible adsorption modules are arranged symmetrically to each other.

[0037] The beneficial effects of this utility model are:

[0038] This utility model discloses a multi-station vacuum loading and unloading device for micro parts. By introducing innovative elastic vacuum suction technology, it successfully achieves full automation of the loading and unloading process of micro parts, greatly improving the intelligence and flexibility of production operations. This design enables precise and independent loading and unloading operations on four micro products simultaneously, which not only significantly improves production efficiency but also demonstrates excellent performance in protecting products from any clamping damage. The elastic vacuum suction method ensures the stability and safety of the products throughout the entire processing, effectively avoiding scratches or deformations on the material surface that may be caused by traditional grippers. Thus, while ensuring high-precision processing, it also greatly improves the product yield and quality stability. Attached Figure Description

[0039] Figure 1 This is a three-dimensional structural schematic diagram of a multi-station vacuum loading and unloading device for micro parts according to an embodiment of this utility model;

[0040] Figure 2 yes Figure 1 Enlarged structural diagram at point A;

[0041] Figure 3 This is a three-dimensional structural diagram of the two sets of lifting and adsorption mechanisms in a multi-station micro-part vacuum loading and unloading device according to an embodiment of this utility model;

[0042] The components in the attached diagram are labeled as follows:

[0043] 1. Support unit; 2. Multi-axis robotic arm; 3. First joint; 4. Second joint; 5. Third joint; 6. Mounting plate; 7. Vertical cylinder; 8. Vacuum nozzle; 9. Vertical slide rail seat; 10. Linear guide rail; 11. Buffer guide rail; 12. Inverted T-shaped slider; 13. Vertical connecting plate; 14. Adjustment plate; 15. Strip hole; 16. Air pipe. Detailed Implementation

[0044] The preferred embodiments of the present invention will now be described in detail with reference to the accompanying drawings, so that the advantages and features of the present invention can be more easily understood by those skilled in the art, thereby making a clearer and more definite definition of the scope of protection of the present invention.

[0045] In the description of this utility model, it should be understood that the terms "center", "longitudinal", "transverse", "length", "width", "thickness", "upper", "lower", "front", "rear", "left", "right", "vertical", "horizontal", "top", "bottom", "inner", "outer", "clockwise", "counterclockwise", "axial", "radial", "circumferential", etc., indicating the orientation or positional relationship are based on the orientation or positional relationship shown in the accompanying drawings, and are only for the convenience of describing this utility model and simplifying the description, and are not intended to indicate or imply that the device or element referred to must have a specific orientation, or be constructed and operated in a specific orientation, and therefore should not be construed as a limitation of this utility model.

[0046] Furthermore, the terms "first" and "second" are used for descriptive purposes only and should not be construed as indicating or implying relative importance or implicitly specifying the number of indicated technical features. Thus, a feature defined as "first" or "second" may explicitly or implicitly include at least one of that feature. In the description of this utility model, "a plurality of" means at least two, such as two, three, etc., unless otherwise explicitly specified.

[0047] In this utility model, unless otherwise explicitly specified and limited, the terms "installation," "connection," "joining," and "fixing," etc., should be interpreted broadly. For example, they can refer to a fixed connection, a detachable connection, or an integral part; they can refer to a mechanical connection or an electrical connection; they can refer to a direct connection or an indirect connection through an intermediate medium; they can refer to the internal communication of two components or the interaction between two components, unless otherwise explicitly limited. Those skilled in the art can understand the specific meaning of the above terms in this utility model according to the specific circumstances.

[0048] In this utility model, unless otherwise explicitly specified and limited, "above" or "below" the second feature can mean that the first feature is in direct contact with the second feature, or that the first feature is in indirect contact with the second feature through an intermediate medium. Furthermore, "above," "on top of," and "over" the second feature can mean that the first feature is directly above or diagonally above the second feature, or simply that the first feature is at a higher horizontal level than the second feature. "Below," "below," and "under" the second feature can mean that the first feature is directly below or diagonally below the second feature, or simply that the first feature is at a lower horizontal level than the second feature.

[0049] It should be noted that when an element is referred to as being "fixed to" or "set on" another element, it can be directly on the other element or there may be an intervening element. When an element is considered to be "connected to" another element, it can be directly connected to the other element or there may be an intervening element. The terms "vertical," "horizontal," "upper," "lower," "left," "right," and similar expressions used herein are for illustrative purposes only and do not represent the only embodiments.

[0050] Please see Figures 1-3 The embodiments of this utility model include:

[0051] A multi-station vacuum loading and unloading device for micro parts includes:

[0052] (1) Support part 1, as the main load-bearing part of this device, provides installation and support functions to ensure the stability of this device. It is located on the ground or installed at the corresponding position on the production line according to the specific situation.

[0053] (2) A multi-axis robotic arm 2 is mounted on top of the support 1 and serves as the movement control mechanism of this device. Its specific implementation is not limited. Figure 1 The example shown is a 4-axis robotic arm, which includes the following components:

[0054] (2.1) The first joint 3 is installed on the upper surface of the support part 1;

[0055] (2.2) The second joint 4 is disposed on the upper surface of the front end of the first joint 3, and the second joint 4 and the first joint 3 are rotatably connected by the vertically disposed first joint 3 shaft. The first joint 3 is provided with a rotary drive module that is connected to the first joint 3 shaft for transmission. The rotary drive module is used to control the first joint 3 shaft to drive the second joint 4 to rotate around the first joint 3 shaft as the central axis.

[0056] (2.3) The third joint 5 is located on the upper surface of the front end of the second joint 4, and the third joint 5 and the second joint 4 are rotatably connected by a vertically arranged shaft of the second joint 4. The second joint 4 has a rotary drive module inside, which is driven by the shaft of the second joint 4. The rotary drive module is used to control the shaft of the second joint 4 to drive the third joint 5 to rotate around the shaft of the second joint 4 as the central axis. The third joint 5 also has a vertically arranged telescopic control mechanism inside. The lower end of the telescopic control mechanism extends to the outside of the housing of the third joint 5. The lower end of the telescopic control mechanism is its telescopic end, and is connected to a horizontally arranged rotary drive module. The bottom of the moving module is the installation position of the vacuum flexible material handling mechanism. The telescopic control mechanism in the third joint 5 is used to control the vertical telescopic movement of the connected rotary drive module. The rotary drive module is used to control the vacuum flexible material handling mechanism connected to it to rotate around the telescopic rod of the telescopic control mechanism as the rotation axis. Based on the above structure, the 4-axis robotic arm can support orientation control and adjustment in 4 degrees of freedom. In a preferred embodiment, the above-mentioned rotary drive module can be a miniature rotary motor or turntable. Since the multi-axis robotic arm 2 is a mature technology in this field, its internal structure is not shown in the accompanying drawings.

[0057] (3) Vacuum flexible material handling mechanism, which is installed on the lower surface of the rotary drive module at the bottom of the telescopic control mechanism. The vacuum flexible material handling mechanism consists of the following components, which help it achieve flexible vacuum adsorption:

[0058] (3.1) Mounting plate 6 is horizontally connected to the lower surface of the rotary drive module at the bottom of the telescopic control mechanism, providing a mounting function;

[0059] (3.2) Two sets of lifting adsorption mechanisms are symmetrically arranged on both sides of the mounting plate 6; each set of lifting adsorption mechanisms consists of two symmetrical flexible adsorption modules, that is, the two sets of lifting adsorption mechanisms have a total of 4 flexible adsorption modules. The 4 flexible adsorption modules are arranged to avoid each other. Each flexible adsorption module has a vacuum nozzle 8 at its bottom. That is, this device can realize the material loading and unloading of 4 stations in one operation; the two sets of lifting adsorption mechanisms are the innovative part and core component of this application; the flexible adsorption module includes the following structure:

[0060] (3.2.1) Vertical cylinder 7 is vertically mounted on mounting plate 6 with its telescopic end facing downwards; vertical cylinder 7 is used to realize the lifting and lowering control of vacuum nozzle 8 in the vertical direction;

[0061] (3.2.2) Vacuum nozzle 8 is vertically arranged below the telescopic end of vertical cylinder 7, and the adsorption end of vacuum nozzle 8 is set downward. Vacuum nozzle 8 is connected to the telescopic end of vertical cylinder 7 through a two-section slide rail. The two-section slide rail decomposes the relatively rigid transmission action of vertical cylinder 7 into a more flexible lifting action, which can help vacuum nozzle 8 adsorb materials more flexibly.

[0062] (3.2.3) The two-section slide rail section is composed of the following structure:

[0063] The vertical slide rail seat 9 is vertically installed at the bottom of the mounting plate 6 and located on one side of the vertical cylinder 7;

[0064] The linear guide 10 is vertically mounted on the vertical slide rail seat 9 and is located near the vertical cylinder 7.

[0065] A buffer guide rail 11 is slidably mounted on a linear guide rail 10, and the buffer guide rail 11 is set corresponding to the telescopic end of the vertical cylinder 7. A convex opening is provided at the upper end of the buffer guide rail 11 corresponding to the telescopic end of the vertical cylinder 7. An inverted T-shaped slider 12 is connected to the telescopic end of the vertical cylinder 7. The lower end of the inverted T-shaped slider 12 is slidably embedded in the convex opening. The buffer guide rail 11 is hung on the inverted T-shaped slider 12 through the convex opening, and the sliding distance of the inverted T-shaped slider 12 in the convex opening is much smaller than the sliding distance of the buffer guide rail 11 on the linear guide rail 10.

[0066] The vertical connecting plate 13 is vertically fixed on the buffer guide rail 11, and the vertical connecting plate 13 is located on the other side of the buffer guide rail 11 relative to the linear guide rail 10; the bottom of the vertical connecting plate 13 extends downward by a certain distance.

[0067] An adjusting plate 14 is horizontally installed at the bottom of a vertical connecting plate 13. The adjusting plate 14 has a vertically penetrating slot 15, which is set along the length of the adjusting plate 14. Specifically, a vacuum nozzle 8 is vertically positioned on the lower surface of the adjusting plate 14, and the upper end of the vacuum nozzle 8 is detachably fixed to the slot 15. The design of the slot 15 allows for easy adjustment of the fixed position between the vacuum nozzle 8 and the adjusting plate 14, making the device suitable for material handling in various work positions. At the same time, the slot 15 also facilitates the connection between the air pipe 16 and the vacuum nozzle 8.

[0068] (3.3) A vacuum generator is installed near the support part 1 and connected to the vacuum nozzle 8 through the air pipe 16 to achieve vacuum adsorption.

[0069] (3.4) A vacuum pressure gauge is installed on the support 1 to monitor the vacuum pressure at the suction nozzle. It should be noted that since the specific installation position of the vacuum generator and the vacuum pressure gauge does not affect the operation of the key components of this device, and the vacuum generator and the vacuum pressure gauge are not the core functional components of this application, the vacuum generator and the vacuum pressure gauge in the prior art can be used. Therefore, they are not shown in the accompanying drawings of this application and will not be described in detail.

[0070] Based on the above structure, this device can realize fully automatic vacuum material handling and positioning of micro parts. In one embodiment, its working principle is as follows:

[0071] During material handling, the 4-axis robotic arm moves the vacuum nozzle 8 to the material handling position to complete the coarse positioning; the vertical cylinder 7 pushes the retractable elastic vacuum nozzle 8 downward to contact the product at the material handling position to complete the fine positioning. At this time, the vacuum generator operates and sucks up the product at the material handling position through the vacuum nozzle 8. The vacuum pressure gauge monitors in real time and judges that the adsorption is successful after a certain pressure value is reached, thus completing the material handling.

[0072] After the material is picked up, the vertical cylinder 7 retracts, and the 4-axis robotic arm controls the vacuum nozzle 8 to move to the discharge position. At this time, the vertical cylinder 7 pushes the empty nozzle downward again to put the product into the discharge position. At this time, the vacuum generator stops operating, and the product is successfully placed into the discharge position. After the vacuum is closed, the vacuum nozzle 8 is blown with air, and the vertical cylinder 7 controls the vacuum nozzle 8 to move upward to complete the discharge.

[0073] The above description is merely an embodiment of this utility model and does not limit the patent scope of this utility model. Any equivalent structure made using the contents of this utility model specification and drawings, or directly or indirectly applied to other related technical fields, are similarly included within the patent protection scope of this utility model.

Claims

1. A multi-station vacuum loading and unloading device for micro parts, characterized in that, include: A multi-axis robotic arm (2), and a vacuum flexible material handling mechanism disposed on the multi-axis robotic arm (2); The vacuum flexible material handling mechanism includes: a mounting plate (6) and two sets of lifting and adsorption mechanisms; the mounting plate (6) is connected to the end of the multi-axis robotic arm (2), and the two sets of lifting and adsorption mechanisms are symmetrically arranged on both sides of the mounting plate (6), and the bottom of each set of lifting and adsorption mechanisms is used to pick up the material to be handled. The multi-axis robotic arm (2) is used to control the alignment of the vacuum flexible material handling mechanism with the material to be handled.

2. The multi-station micro-part vacuum loading and unloading device according to claim 1, characterized in that: Each of the lifting and adsorption mechanisms is composed of several flexible adsorption modules arranged side by side. The bottom of the flexible adsorption module is connected to a vertically downward-facing vacuum nozzle (8). The vacuum nozzle (8) is used to pick up the material to be picked up or placed.

3. The multi-station micro-part vacuum loading and unloading device according to claim 2, characterized in that: Each of the aforementioned flexible adsorption modules includes: a vertical cylinder (7) and a two-section slide rail section; The vertical cylinder (7) is vertically installed on one side of the mounting plate (6), and the telescopic end of the vertical cylinder (7) is vertically downward. The two-section slide rail is vertically arranged below the vertical cylinder (7), and the upper end of the two-section slide rail is connected to the telescopic end of the vertical cylinder (7), and the upper end of the vacuum nozzle (8) is connected to the lower end of the two-section slide rail. The vertical cylinder (7) is used to control the displacement of the two-section slide rail in the vertical direction.

4. The multi-station micro-part vacuum loading and unloading device according to claim 3, characterized in that: The two-section slide rail section includes: a vertical slide rail base (9), a linear guide rail (10), a buffer guide rail (11), a vertical connecting plate (13), and an adjusting plate (14). The vertical slide rail seat (9) is vertically arranged below the mounting plate (6), and the top of the vertical slide rail seat (9) is connected to the lower surface of the mounting plate (6); The linear guide (10) is vertically installed on one side of the vertical slide rail seat (9) and close to the vertical cylinder (7); The buffer guide rail (11) is slidably mounted on the linear guide rail (10), and the buffer guide rail (11) is provided corresponding to the telescopic end of the vertical cylinder (7); the top of the buffer guide rail (11) is connected to the telescopic end of the vertical cylinder (7). The vertical connecting plate (13) is vertically fixed to one side of the buffer guide rail (11), and the vertical connecting plate (13) is located on the other side of the buffer guide rail (11) relative to the linear guide rail (10). The bottom of the vertical connecting plate (13) extends downward a certain distance. The adjustment plate (14) is horizontally installed at the bottom of the vertical connecting plate (13), and the vacuum nozzle (8) is movably connected to the lower surface of the adjustment plate (14).

5. The multi-station micro-part vacuum loading and unloading device according to claim 4, characterized in that: The upper end of the buffer guide rail (11) is provided with a convex opening corresponding to the telescopic end of the vertical cylinder (7); The telescopic end of the vertical cylinder (7) is connected to an inverted T-shaped slider (12). The lower end of the inverted T-shaped slider (12) is slidably embedded in the convex opening, and the buffer guide rail (11) is hung on the inverted T-shaped slider (12) through the convex opening.

6. The multi-station micro-part vacuum loading and unloading device according to claim 5, characterized in that: The sliding distance of the inverted T-shaped slider (12) within the convex opening is less than the sliding distance of the buffer guide rail (11) on the linear guide rail (10).

7. The multi-station micro-part vacuum loading and unloading device according to claim 4, characterized in that: The adjustment plate (14) has a vertically penetrating strip hole (15) that runs through the adjustment plate (14), and the strip hole (15) is arranged along the length direction of the adjustment plate (14). The upper end of the vacuum nozzle (8) is detachably connected to the strip hole (15).

8. The multi-station micro-part vacuum loading and unloading device according to claim 4, characterized in that: The multi-station micro-part vacuum loading and unloading device further includes: a vacuum generator and a vacuum pressure gauge; The vacuum generator is installed near the multi-axis robotic arm (2), and the vacuum generator is connected to a number of vacuum nozzles (8) of a number of flexible adsorption modules through an air pipe (16); the vacuum generator is used to control the generation of negative pressure at the vacuum nozzles (8); The vacuum pressure gauge is installed near the multi-axis robotic arm (2) and is used to monitor the vacuum pressure value at the vacuum nozzle (8).

9. The multi-station micro-part vacuum loading and unloading device according to claim 8, characterized in that: The multi-station micro parts vacuum loading and unloading device further includes: a support part (1); The support part (1) is vertically set on the ground, and the multi-axis robotic arm (2) is set on the support part (1).

10. The multi-station micro-part vacuum loading and unloading device according to claim 2, characterized in that: The number of flexible adsorption modules in each of the lifting adsorption mechanisms is two; The two flexible adsorption modules are arranged symmetrically to each other.

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