Carrying device and assembling equipment

Abstract

The utility model belongs to the technical field of automation equipment, and discloses a carrying device and assembling equipment. The carrying device comprises a driving mechanism and a carrying mechanism, the driving mechanism can drive the carrying mechanism to move, the carrying mechanism comprises a first adjusting seat, a second adjusting seat and a material taking part, and the relative angle of the first adjusting seat and the driving mechanism around the first axis can be adjusted and positioned to any angle within the adjusting range; the relative angle of the second adjusting seat and the first adjusting seat around the second axis can be adjusted and positioned to any angle within the adjusting range; the material taking piece can pick up parts, and the relative angle of the material taking piece and the second adjusting base around the third axis can be adjusted and positioned to any angle within the adjusting range. According to the carrying device, the material taking piece with three rotational degrees of freedom is driven by the driving mechanism to move, high-precision carrying of parts is carried out between two machine tables with axial deviation and angular deviation, the machine adjusting difficulty of multi-machine-table equipment is reduced, and the utilization rate of a production line is improved.

Description

TECHNICAL FIELD

[0001] The utility model relates to automatic equipment technical field especially, relates to a carrying device and assembly equipment. BACKGROUND

[0002] In the manufacturing process of precision electronic products (such as mobile phones, tablet computers and the like), the assembly of precision electronic products needs to be completed through multi-station cooperation, and generally, the carrying device is used to carry parts between two stations, so as to ensure the consistency and yield of products.

[0003] Since each station is independently installed, the positioning reference surface of each station has inevitable tolerances, which causes axial deviation and / or angular deviation between multiple stations, the axial deviation refers to the deviation of one station relative to the adjacent station along the X / Y / Z axis, and the angular deviation refers to the deflection of one station relative to the adjacent station with the X / Y / Z axis as the rotation line, so that the relative pose between the end effector of the carrying device and the target station will be offset, and the parts cannot be accurately picked up. To alleviate this problem, the position of the station can only be repeatedly adjusted to reduce the height deviation and / or angular deviation between the stations.

[0004] However, the above-mentioned station adjustment operation not only takes a long time, and the single-line adjustment time can reach several hours, and is highly dependent on the experience of the operator, and cannot completely eliminate the displacement of the station caused by equipment vibration, the effective time after single adjustment cannot be determined, and finally leads to the decline of the production line utilization rate. UTILITY MODEL CONTENTS

[0005] The utility model aims at providing a carrying device and assembly equipment, which can compensate for the height deviation and / or angular deviation between stations, without the need for repeated adjustment of the position of the station, thereby reducing the difficulty of adjusting the station and improving the production line utilization rate.

[0006] To achieve this purpose, the utility model adopts the following technical solutions:

[0007] The carrying device comprises a driving mechanism and a carrying mechanism, the driving mechanism can drive the carrying mechanism to move to carry materials, and the carrying mechanism comprises:

[0008] A first adjustment seat, the relative angle of the first adjustment seat and the driving mechanism around the first axis can be adjusted and positioned to any angle within the adjustment range;

[0009] A second adjustment seat, the relative angle of the second adjustment seat and the first adjustment seat around the second axis can be adjusted and positioned to any angle within the adjustment range, and the second axis is perpendicular to the first axis; and

[0010] At least one pick-up member capable of picking up the component, the relative angle between the pick-up member and the second adjusting seat around a third axis being capable of being adjusted and positioned to any angle within an adjusting range, the third axis being perpendicular to the first axis and the second axis.

[0011] As a preference, at least one of the first adjusting seat, the second adjusting seat and the pick-up member is driven to rotate by a driving member.

[0012] As a preference, a driving seat is connected to the driving mechanism;

[0013] The first adjusting seat comprises:

[0014] a mounting plate rotatably connected to the driving seat, the rotation axis being parallel to the first axis; and,

[0015] a connecting plate arranged on one side of the mounting plate, the second adjusting seat being connected to the side of the connecting plate away from the mounting plate.

[0016] As a preference, a limiting assembly is arranged between the driving seat and the first adjusting seat, the limiting assembly being configured to limit the rotation angle of the first adjusting seat.

[0017] As a preference, the limiting assembly comprises:

[0018] a plurality of first limiting members arranged at intervals around the first axis, the first limiting members being connected to one of the driving seat and the first adjusting seat; and,

[0019] a second limiting member located between two first limiting members, the second limiting member being connected to the other one of the driving seat and the first adjusting seat, the first adjusting seat being capable of making the first limiting members respectively abut against the two second limiting members when rotating around the first axis.

[0020] As a preference, a rotating shaft is rotatably connected between the second adjusting seat and the first adjusting seat, two groups of adjusting bolts being connected to the second adjusting seat along the axial direction perpendicular to the rotating shaft, the adjusting bolts penetrating the second adjusting seat and being threadedly connected with the first adjusting seat.

[0021] As a preference, the carrying mechanism further comprises:

[0022] a third adjusting seat, the relative angle between the third adjusting seat and the second adjusting seat around a third axis being capable of being adjusted and positioned to any angle, the pick-up member being connected to the third adjusting seat.

[0023] As a preference, the driving mechanism comprises:

[0024] The first linear module has a first mover which slides along the third axis; and

[0025] The second linear module is connected to the first mover, and has a second mover which slides along the first axis.

[0026] Preferably, a plurality of first movers are arranged along the third axis, and each first mover is provided with at least one second linear module, and each second linear module is provided with at least one carrying mechanism.

[0027] The assembly device comprises a plurality of machines which are connected in sequence, and further comprises the carrying device as described above.

[0028] The carrying device of the utility model has the advantages of:

[0029] The carrying device of the utility model has the advantages of: BRIEF DESCRIPTION OF DRAWINGS

[0030] Figure 1 is a structural schematic view of the carrying device of the utility model;

[0031] Figure 2 is a structural schematic view of the driving mechanism of the utility model;

[0032] Figure 3 is a structural schematic view of the carrying mechanism of the utility model;

[0033] Figure 4 is a structural schematic view of the carrying mechanism of the utility model.

[0034] In the drawings:

[0035] 1, drive mechanism; 11, first linear module; 111, first mover; 12, second linear module; 121, second mover; 13, rack; 14, drive seat; 141, motor; 2, carrying mechanism; 21, first adjusting seat; 211, mounting plate; 212, connecting plate; 213, reinforcing rod; 22, second adjusting seat; 23, material taking piece; 24, third adjusting seat; 241, ear plate; 3, limiting assembly; 31, limiting rod; 32, connecting rod. DETAILED DESCRIPTION

[0036] The utility model will be described in further detail below in combination with the drawings and examples. It can be understood that the specific examples described here are only used to explain the utility model, and not to limit the utility model. In addition, it should be noted that, in order to facilitate the description, only the part related to the utility model is shown in the drawings, not all structures.

[0037] In the description of the utility model, unless otherwise explicitly specified and limited, the terms "connected", "connected", "fixed" should be understood broadly, for example, it can be fixedly connected, or it can be detachably connected, or it can be integrated; it can be mechanically connected, or it can be electrically connected; it can be directly connected, or it can be indirectly connected through an intermediate medium, or it can be the communication or interaction relationship between two elements. For ordinary skilled in the art, the specific meaning of the above terms in the utility model can be understood according to the specific circumstances.

[0038] In the utility model, unless otherwise explicitly specified and limited, the first feature "on" or "below" the second feature can include that the first and second features are in direct contact, or that the first and second features are not in direct contact but are in contact through another feature between them. Moreover, the first feature "on", "above" and "above" the second feature includes that the first feature is directly above and obliquely above the second feature, or only indicates that the horizontal height of the first feature is higher than that of the second feature. The first feature "below", "below" and "below" the second feature includes that the first feature is directly below and obliquely below the second feature, or only indicates that the horizontal height of the first feature is less than that of the second feature.

[0039] In the description of the embodiment, the terms "up", "down", "right" and other orientation or position relationship are based on the orientation or position relationship shown in the drawings, only for the convenience of description and simplification of operation, and do not indicate or imply that the device or element referred to must have a particular orientation, be constructed and operated in a particular orientation, therefore cannot be understood as a limitation on the utility model. In addition, the terms "first", "second" are only used to distinguish in the description, and have no special meaning.

[0040] The following refers to Figures 1 to 4The carrying device and the assembling equipment are described.

[0041] The assembling equipment comprises machine tables and the carrying device, the machine tables are sequentially butted, two machine tables are taken as an example in the embodiment, it is to be explained that the distribution direction of the two machine tables in the embodiment is X axis, the distribution direction perpendicular to the two machine tables is Y axis, and the height direction of the machine table is Z axis. The carrying device is arranged above the machine table, and is used for carrying the parts of the first machine table to the second machine table, and can compensate the axial deviation and the angle deviation between the two machine tables.

[0042] In the embodiment, the carrying device is exemplarily described with the first axis parallel to the Z axis, the second axis parallel to the X axis, and the third axis parallel to the Y axis. Referring to Figures 1 to 4 , the carrying device comprises a driving mechanism 1 and a carrying mechanism 2, the carrying mechanism 2 is connected to the driving mechanism 1, the driving mechanism 1 can drive the carrying mechanism 2 to move axially to carry the material, and the carrying mechanism 2 can pick up the parts.

[0043] Referring to Figure 1 and Figure 2 , the driving mechanism 1 comprises a rack 13, a first linear module 11 and a second linear module 12, the first linear module 11 has a first mover 111, the first mover 111 slides along the third axis, that is, slides along the Y axis; the second linear module 12 is connected to the first mover 111, the second linear module 12 has a second mover 121, the second mover 121 slides along the first axis, that is, slides along the Z axis, and the carrying mechanism 2 is connected to the second mover 121. Thus, the carrying mechanism 2 is driven by the driving mechanism 1 to translate along the Y axis and the Z axis, that is, the parts can be driven to translate along the Y axis and the Z axis, and the axial deviation of the two machine tables on the Y axis and the Z axis can be compensated.

[0044] In order to improve the efficiency of the operation, the first linear module 11 has a plurality of first movers 111, the plurality of first movers 111 are arranged at intervals along the third axis, the second linear module 12 is provided with at least one on each first mover 111, and the carrying mechanism 2 is provided with at least one on each second mover 121, in the embodiment, the first mover 111 is provided with two, and the two first movers 111 can move independently, the second linear module 12 is provided with one on each first mover 111, and the carrying mechanism 2 is provided with one on each second mover 121, the parts can be carried by the two carrying mechanisms 2 working at the same time, so as to improve the efficiency of carrying the parts. Of course, in other embodiments, the driving mechanism 1 can be a single two-axis motion mechanism, a three-axis motion mechanism or a mechanical hand, and only one carrying mechanism 2 is driven to work; in addition, in other embodiments, the driving mechanism 1 can be two independent two-axis motion mechanisms, three-axis motion mechanisms or mechanical hands.

[0045] Referring toFigure 3 and Figure 4 Further, each of the carrying mechanisms 2 comprises a first adjusting seat 21, a second adjusting seat 22 and a picking member 23, the relative angle between the first adjusting seat 21 and the driving mechanism 1 around the first axis is adjustable and can be positioned at any angle within the adjusting range, the relative angle between the second adjusting seat 22 and the first adjusting seat 21 around the second axis is adjustable and can be positioned at any angle within the adjusting range, the picking member 23 can pick parts, the relative angle between the picking member 23 and the second adjusting seat 22 around the third axis is adjustable and can be positioned at any angle within the adjusting range.

[0046] Further, at least one of the first adjusting seat 21, the second adjusting seat 22 and the picking member 23 is driven to rotate by a driving member, in the embodiment, the second mover 121 is connected with a driving seat 14, the driving seat 14 is connected with a driving member, the output shaft of the driving member is parallel to the first axis and connected with the first adjusting seat 21. Optionally, the driving member in the embodiment is a motor 141, the motor shaft is parallel to the first axis. Thus, the first adjusting seat 21 can rotate around the first axis to adjust the relative angle between the first adjusting seat 21 and the driving mechanism 1 around the first axis and can be positioned at any angle within the adjusting range, that is, the rotation of the first adjusting seat 21 in the embodiment is driven by the driving member. Optionally, in other embodiments, the driving member is also a rotary driving member such as a hydraulic motor or a rotary air cylinder.

[0047] Based on the above, by means of the two-axis motion mechanism and the first adjusting seat 21 rotating around the Z axis, when picking, the two-axis motion mechanism drives the first adjusting seat 21 to move along the Z axis and the Y axis, when the picking member 23 approaches the picking position, the motor 141 drives the first adjusting seat 21 to rotate towards the direction close to the first machine table, so that the picking member 23 picks the parts on the first machine table, then the two-axis motion mechanism drives the first adjusting seat 21 to move, at the same time, the motor 141 drives the first adjusting seat 21 to rotate towards the direction close to the second machine table, so that the parts reach the second machine table and are unloaded, thereby realizing the basic material moving operation. At the same time, the two-axis motion mechanism can compensate the axial deviation of the two machine tables on the Z axis and the Y axis, and the rotating first adjusting seat 21 can compensate the angle deviation of the two machine tables around the Z axis.

[0048] Further, the first adjusting seat 21 comprises a mounting plate 211 and a connecting plate 212, the mounting plate 211 is horizontally arranged and fixedly connected to the output shaft of the motor 141. The connecting plate 212 is connected to one side of the mounting plate 211 and vertically arranged, and the second adjusting seat 22 is connected to the side of the connecting plate 212 away from the mounting plate 211. The second adjusting seat 22 is arranged on the side of the connecting plate 212 away from the mounting plate 211, so that the rotation of the second adjusting seat 22 and the material taking member 23 is not limited by the mounting plate 211, thereby increasing the rotation angle of the second adjusting seat 22 and the material taking member 23.

[0049] In order to limit the rotation angle of the first adjusting seat 21, a limiting assembly 3 is arranged between the driving seat 14 and the first adjusting seat 21, the limiting assembly 3 comprises first limiting members and second limiting members, the first limiting members are arranged in plurality and spaced apart around the first axis, and the first limiting members are connected to one of the driving seat 14 and the first adjusting seat 21; the second limiting members are arranged between two first limiting members, and the second limiting members are connected to the other one of the driving seat 14 and the first adjusting seat 21, and the first adjusting seat 21 can make the first limiting members respectively abut against the two second limiting members when rotating around the first axis. Optionally, in other embodiments, the first limiting members can be connected to the mounting plate 211, and the second limiting members can be connected to the driving seat 14.

[0050] Specifically in the embodiment, the first limiting members are limiting rods 31 arranged along the Z-axis, and the limiting rods 31 are connected to the driving seat 14; in the embodiment, the mounting plate 211 and the connecting plate 212 are arranged in spaced apart manner, and the second limiting members are connecting rods 32 connected between the mounting plate 211 and the connecting plate 212. Thus, the rotation angle of the first adjusting seat 21 is physically limited, and in the embodiment, when the first adjusting seat 21 rotates to the connecting rod 32 abutting against one of the limiting rods 31, the first adjusting seat 21 is in the material taking position, and when the first adjusting seat 21 rotates to the connecting rod 32 abutting against the other limiting rod 31, the first adjusting seat 21 is in the material unloading position.

[0051] Optionally, in other embodiments, the limiting assembly 3 can also be a limiting track and a sliding block slidingly arranged on the limiting track.

[0052] In addition, two reinforcing rods 213 are further connected between the mounting plate 211 and the connecting plate 212, so that the connection between the mounting plate 211 and the connecting plate 212 is more stable.

[0053] Further, the length direction of the connecting plate 212 is parallel to the X axis, a rotating shaft (not shown in the figure) is connected between the second adjusting seat 22 and the connecting plate 212, the second adjusting seat 22 can rotate around the axis of the rotating shaft, so that the relative angle of the second adjusting seat 22 and the first adjusting seat 21 around the second axis can be adjusted. In addition, two groups of adjusting bolts (not shown in the figure) are connected to the second adjusting seat 22 in a direction perpendicular to the rotating shaft, that is, the two groups of adjusting bolts are arranged in the vertical direction, and in the embodiment, a plurality of adjusting bolts are arranged in the axial direction of the rotating shaft in each group of adjusting bolts, and four adjusting bolts are taken as an example in the embodiment, each adjusting bolt penetrates the second adjusting seat 22 and is threadedly connected with the first adjusting seat 21. It should be noted that the through hole of the second adjusting seat 22 for the adjusting bolt is larger than the diameter of the adjusting bolt, so that the second adjusting seat 22 can rotate by a certain angle.

[0054] Based on the above, by adjusting the screwing depth of the two groups of adjusting bolts, the second adjusting seat 22 is rotated around the axis of the rotating shaft and positioned at any angle in the adjustment range after the adjusting bolts are tightened, so that the material taking member 23 can compensate for the angle deviation of the two machines around the X axis. Optionally, in other embodiments, the second adjusting seat 22 can also be automatically rotated by a motor or a rotating cylinder and the like.

[0055] The conveying mechanism 2 further comprises a third adjusting seat 24, the third adjusting seat 24 is located on the side of the second adjusting seat 22 away from the first adjusting seat 21, and the third adjusting seat 24 is rotatably connected to the second adjusting seat 22 around the third axis, that is, the third adjusting seat 24 rotates around the Y axis, so that the relative angle of the second adjusting seat 22 around the third axis can be adjusted, and the material taking member 23 is connected to the third adjusting seat 24. Specifically, the third adjusting seat 24 in the embodiment is parallel to the second adjusting seat 22, and a plurality of ear plates 241 are connected to the side of the third adjusting seat 24 close to the second adjusting seat 22, and three ear plates 241 are taken as an example in the embodiment, one of the middle ear plates 241 is connected to the second adjusting seat 22 by a positioning bolt, the axial direction of the positioning bolt is parallel to the Y axis, so that when the positioning bolt is loosened, the third adjusting seat 24 can rotate around the Y axis, and when the positioning bolt is tightened, the third adjusting seat 24 can be positioned at any angle in the adjustment range. It should be noted that the third adjusting seat 24 can rotate by 360°. The remaining two ear plates 241 are respectively connected to the second adjusting seat 22 by bolts, so as to assist in fixing the third adjusting seat 24 after the adjusting angle.

[0056] Based on the above, the third adjusting seat 24 is rotated after the positioning bolt and the bolt are loosened, so that the third adjusting seat 24 rotates around the Y axis, so that the material taking member 23 can compensate for the angle deviation of the two machines around the Y axis. Optionally, in other embodiments, the third adjusting seat 24 can also be automatically rotated by a motor or a rotating cylinder and the like.

[0057] It should be noted that the scene applied in the embodiment is that the parts are allowed to produce small angle deflection around the X axis and the Y axis during unloading, that is, the angle of the second adjusting seat 22 and the third adjusting seat 24 does not need to be corrected during unloading, and thus the second adjusting seat 22 and the third adjusting seat 24 are adjusted in a manual manner. If the angle of the second adjusting seat 22 and the third adjusting seat 24 needs to be corrected during unloading, the angle of the second adjusting seat 22 and the third adjusting seat 24 is manually corrected.

[0058] Further, the taking members 23 are connected to the third adjusting seat 24 in a plurality, and eight are taken as an example in the embodiment, that is, eight parts can be picked up at a time, so that the material moving efficiency can be improved, and the third adjusting seat 24 is rotated to synchronously rotate the eight taking members 23.

[0059] As preferred, the taking member 23 in the embodiment is a vacuum suction nozzle, the vacuum suction nozzle is suitable for adsorbing workpieces of various shapes and surface materials, and has strong adaptability and flexibility; compared with other mechanical carrying modes, the vacuum suction nozzle can complete the whole conveying process without damaging the products or raw materials, so that the effect of protecting the parts is achieved. Alternatively, in other embodiments, the taking member 23 can also be a flexible gripper or the like.

[0060] The working process of the carrying device is as follows:

[0061] Before carrying operation is performed, the angle of the second adjusting seat 22 is adjusted according to the angle deviation of the two machine tables around the X axis, and the angle of the third adjusting seat 24 is adjusted according to the angle deviation of the two machine tables around the Y axis, after debugging is completed, the third adjusting seat 24 is moved to the taking position of the first machine table by the driving mechanism 1, the axial deviation of the two machine tables on the Y axis and the Z axis can be compensated in this process, the first adjusting seat 21 is driven to rotate around the Z axis by the motor 141 until the taking member 23 reaches the suction position, the angle deviation of the two machine tables around the Z axis can be compensated in this process, and then the parts are adsorbed; after the parts are adsorbed, the third adjusting seat 24 is moved to the unloading position of the second machine table by the driving mechanism 1, and the adsorption of the parts is released to unload.

[0062] Obviously, the above embodiments of the utility model are only examples for clearly explaining the utility model, and are not the limitation of the embodiments of the utility model. For ordinary skilled in the art, various obvious changes, re-adjustment and replacement can be made without departing from the protection scope of the utility model. Here, all the embodiments cannot be exhausted. Any modification, equivalent replacement and improvement made in the spirit and principle of the utility model should be included in the protection scope of the utility model claim.

Claims

1. Handling device comprising a drive mechanism (1) and a handling mechanism (2), said drive mechanism (1) being capable of driving said handling mechanism (2) in motion to handle material, characterized in that, The carrying mechanism (2) comprises: A first adjusting seat (21), the relative angle of the first adjusting seat (21) and the driving mechanism (1) around the first axis can be adjusted and positioned to any angle within the adjustment range; A second adjusting seat (22), the relative angle of the second adjusting seat (22) and the first adjusting seat (21) around the second axis can be adjusted and positioned to any angle within the adjustment range, and the second axis is perpendicular to the first axis; and, At least one picking piece (23), the picking piece (23) can pick up parts, the relative angle of the picking piece (23) and the second adjusting seat (22) around the third axis can be adjusted and positioned to any angle within the adjustment range, and the third axis is perpendicular to the first axis and the second axis.

2. The handling device of claim 1, wherein At least one of the first adjusting seat (21), the second adjusting seat (22) and the picking piece (23) is driven to rotate by a driving piece.

3. The handling device of claim 1, wherein The driving mechanism (1) is connected with a driving seat (14); The first adjusting seat (21) comprises: A mounting plate (211) is rotatably connected to the driving seat (14), and the rotation axis is parallel to the first axis; and A connecting plate (212) is arranged on one side of the mounting plate (211), and the second adjusting seat (22) is connected to the side of the connecting plate (212) away from the mounting plate (211).

4. The handling device of claim 3, wherein A limiting assembly (3) is arranged between the driving seat (14) and the first adjusting seat (21), and the limiting assembly (3) is configured to limit the rotation angle of the first adjusting seat (21).

5. The handling device of claim 4, wherein, The limiting assembly (3) comprises: A plurality of first limiting pieces are arranged at intervals around the first axis, and the first limiting pieces are connected to one of the driving seat (14) and the first adjusting seat (21); and A second limiting piece is located between the two first limiting pieces, and the second limiting piece is connected to the other one of the driving seat (14) and the first adjusting seat (21), so that the first limiting piece can abut against the two second limiting pieces respectively when the first adjusting seat (21) rotates around the first axis.

6. The handling device of claim 1, wherein A rotating shaft is rotatably connected between the second adjusting seat (22) and the first adjusting seat (21), two groups of adjusting bolts are connected to the second adjusting seat (22) along the axis perpendicular to the rotating shaft, and the adjusting bolts pass through the second adjusting seat (22) and are threadedly connected with the first adjusting seat (21).

7. The handling device of claim 1, wherein The carrying mechanism (2) further comprises: A third adjusting seat (24), the relative angle of the third adjusting seat (24) and the second adjusting seat (22) around the third axis can be adjusted and positioned to any angle, and the picking piece (23) is connected to the third adjusting seat (24).

8. The handling device of claim 1, wherein, The driving mechanism (1) comprises: A first linear module (11) has a first mover (111) sliding along the third axis; and A second linear module (12) is connected to the first mover (111), the second linear module (12) has a second mover (121), the second mover (121) slides along the first axis, and the conveying mechanism (2) is connected to the second mover (121).

9. The handling device of claim 8, wherein, The first mover (111) is arranged in plurality along the third axis, and the second linear module (12) is arranged at least one on each first mover (111), and the conveying mechanism (2) is arranged at least one on each second mover (121).

10. An assembly apparatus comprising a plurality of tables which are sequentially docked, characterized in that, Also comprising the conveying device as claimed in any one of claims 1-9, the conveying device is used to convey the components on one of the machine tables to another machine table.

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