High-precision manipulator mounting device

Abstract

The utility model relates to a high-precision manipulator mounting device, which comprises a plurality of manipulator components, the manipulator components are linearly distributed along the horizontal direction, each manipulator component is provided with a clamping mechanism, a lifting mechanism and a floating mechanism, the lifting mechanism drives the clamping mechanism and the floating mechanism to move along the vertical direction, and the lifting mechanism drives the clamping mechanism and the floating mechanism to move along the vertical direction. The floating mechanism comprises a pressing block and a pressing air cylinder, the pressing air cylinder drives the pressing block to move in the vertical direction, the clamping mechanism comprises a clamping jaw, the clamping jaw is provided with a supporting part used for supporting a workpiece, and the supporting part is arranged under the pressing block; the variable-pitch motor module is used for driving the multiple manipulator assemblies to synchronously move in the horizontal direction; according to the utility model, workpieces on trays with different intervals can be accurately grabbed and accurately placed on carriers with different intervals, the workpieces can be prevented from turning over and falling off, and the mounting efficiency is greatly improved.

Description

TECHNICAL FIELD

[0001] The utility model relates to automatic equipment technical field especially is a kind of high-precision mechanical hand mounting device. BACKGROUND

[0002] Mounting process involves the process that electronic components, parts and the like are quickly and accurately placed to the specified position, with the development of high-density high-precision assembly technology, the requirement of mounting process on precision is also higher and higher, when the current mounting equipment needs multiple mechanical hands to work simultaneously, the multiple mechanical hands work simultaneously require high coordination and cooperation, due to the difference in the spacing of different carriers or trays, when the current multiple mechanical hands take or place materials on different carriers or trays, there is a problem that the mechanical hands cannot accurately grasp or place the workpieces, resulting in low mounting efficiency. SUMMARY

[0003] Therefore, the technical problem to be solved by the utility model is to overcome the problem that the multiple mechanical hands of the mounting equipment in the prior art cannot accurately grasp the workpieces on carriers or trays with different spacings, resulting in low mounting efficiency, and to further provide a high-precision mechanical hand mounting device that can accurately grasp the workpieces on trays with different spacings and accurately place the workpieces on carriers with different spacings, and can also prevent the workpieces from turning over and falling, greatly improving the mounting efficiency.

[0004] To solve the above technical problems, the utility model provides a kind of high-precision mechanical hand mounting device, including, multiple mechanical hand components, it is linearly distributed along horizontal direction, the multiple mechanical hand components are equipped with clamping mechanism, lifting mechanism and floating mechanism, the lifting mechanism drives the clamping mechanism and floating mechanism move along vertical direction, the floating mechanism includes pressure block and pressure cylinder, the pressure cylinder drives the pressure block move along vertical direction, the clamping mechanism includes jaw, the jaw is equipped with the support part for supporting workpiece, the support part is arranged in the right below the pressure block;Variable pitch motor module is used to drive the multiple mechanical hand components move along horizontal direction synchronously.

[0005] In an embodiment of the utility model, the clamping mechanism includes a jaw cylinder and two jaws arranged opposite to each other, the jaw cylinder drives the two jaws to close or move away.

[0006] In an embodiment of the utility model, the multiple mechanical hand components are also provided with a rotating mechanism, the rotating mechanism includes a rotating shaft and a rotating motor driving the rotating shaft to rotate, the rotating shaft extends along the vertical direction, the clamping mechanism and the floating mechanism are connected to the rotating shaft, and the lifting mechanism drives the rotating shaft to move along the vertical direction.

[0007] In one embodiment of the utility model, the rotating mechanism includes first synchronous belt and the shaft sleeve engaged with first synchronous belt, the shaft sleeve is equipped with the shaft sleeve outside rotating shaft, rotating motor drives first synchronous belt transmission, the inner wall of shaft sleeve is equipped with limiting protrusion, the outer wall of rotating shaft is equipped with the limiting slot extending along its axial direction, limiting protrusion is inserted in limiting slot.

[0008] In one embodiment of the utility model, the lifting mechanism includes second synchronous belt and the lifting motor driving second synchronous belt transmission, second synchronous belt drives rotating shaft to move along vertical direction along vertical direction transmission.

[0009] In one embodiment of the utility model, the clamping mechanism and the floating mechanism are connected to the bottom end of the rotating shaft.

[0010] In one embodiment of the utility model, the lifting mechanism further includes the sliding seat fixedly connected with the second synchronous belt, and the sliding seat is rotatably connected with the rotating shaft.

[0011] In one embodiment of the utility model, the plurality of mechanical hand assemblies are further provided with a connecting plate extending along the vertical direction, the connecting plate is provided with a guide rail extending along the vertical direction, the sliding seat is slidably connected with the guide rail, and the variable-distance motor module drives the connecting plates of the plurality of mechanical hand assemblies to move synchronously along the horizontal direction.

[0012] In one embodiment of the utility model, the XY linear module is further included, and the plurality of mechanical hand assemblies and the variable-distance motor module are arranged at the output end of the XY linear module.

[0013] In one embodiment of the utility model, the plurality of mechanical hand assemblies are linearly distributed along a first direction, and the variable-distance motor module drives the plurality of mechanical hand assemblies to move synchronously along the first direction.

[0014] The above technical solution of the utility model has the following beneficial effects compared with the prior art: the high-precision mechanical hand mounting device drives the plurality of mechanical hand assemblies to move synchronously along the horizontal direction through the variable-distance motor module, realizes the translation of the positions of the plurality of clamping jaws, and the plurality of clamping jaws can accurately grasp workpieces on carriers or trays with different spacings; the clamping jaws of each mechanical hand assembly can be lifted to different heights through the lifting mechanism driving the clamping jaws to lift, so that carriers or trays with different spacings in the vertical direction are matched, and the efficiency of the mechanical hand assemblies in picking and placing materials is improved; the workpieces are pressed along the support part by the floating pressing block, so that the workpieces are prevented from turning over and falling during the movement process, and the mounting efficiency is further improved. BRIEF DESCRIPTION OF DRAWINGS

[0015] In order to make the content of the utility model more easily be clearly understood, the following according to the specific embodiment of the utility model and combining with the drawings, the utility model is further detailed, wherein

[0016] Figure 1 It is the structure diagram of high-precision mechanical hand mounting device in the preferred embodiment of the utility model.

[0017] Figure 2 It is Figure 1 Another structure diagram of high-precision mechanical hand mounting device shown.

[0018] Description of the drawings: 1, first mechanical hand assembly;2, second mechanical hand assembly;20, connecting plate;201, clamping jaw;202, support part;211, lifting motor;212, second synchronous belt;213, sliding seat;221, pressure cylinder;222, pressure block;231, rotary motor;232, guide seat;233, shaft sleeve;234, first synchronous belt;235, rotating shaft;3, third mechanical hand assembly;4, fourth mechanical hand assembly;5, fifth mechanical hand assembly;6, sixth mechanical hand assembly;7, seventh mechanical hand assembly;8, eighth mechanical hand assembly;9, variable distance motor module;91, variable distance motor;92, slide rail;93, sliding block;10, Y-axis linear module;11, X-axis linear module;12, workpiece. Specific embodiments

[0019] The utility model is further explained in the following combining with the drawings and specific embodiments, so that the person skilled in the art can better understand the utility model and can be implemented, but the embodiment is not as the limitation of the utility model.

[0020] Refer to Figure 1 And Figure 2As shown in the utility model discloses an embodiment, a kind of high-precision mechanical hand mounting device, for mounting workpiece on material tray to carrier, the mounting device includes, eight mechanical hand assemblies, eight workpieces can be mounted simultaneously;Eight mechanical hand assemblies are specifically first mechanical hand assembly 1, second mechanical hand assembly 2, third mechanical hand assembly 3, fourth mechanical hand assembly 4, fifth mechanical hand assembly 5, sixth mechanical hand assembly 6, seventh mechanical hand assembly 7 and eighth mechanical hand assembly 8 linearly distributed along Y axis direction, Y axis direction horizontal direction, the eight mechanical hand assemblies are equipped with clamping mechanism, lifting mechanism and floating mechanism, specifically, the lifting mechanism is used to drive the clamping mechanism and floating mechanism to rise and drop, complete from material tray and take workpiece 12 and place workpiece 12 on carrier;The floating mechanism includes pressing block 222 and pressing cylinder 221, the pressing cylinder 221 drives the pressing block 222 moves along vertical direction, and pressing block 222 is used to press workpiece 12, prevent workpiece overturning and falling;The clamping mechanism includes jaw 201, and the jaw 201 is equipped with support part 202 for supporting workpiece, when jaw 201 is clamped workpiece from side, support part 202 supports workpiece from bottom, the support part 202 is arranged at the just below of the pressing block 222, and pressing block 222 is pressed workpiece on support part 202 from top.

[0021] Variable distance motor module 9, for driving the eight mechanical hand assemblies along Y axis direction synchronous movement, for fine adjustment eight workpiece placement position, specifically, variable distance motor module 9 includes slide rail 92, eight sliding blocks 93 of slide rail 92, screw rod, variable distance motor 91 of driving screw rod rotation, and eight nut seats of screw thread connection screw rod, eight nut seats are connected with eight sliding blocks 93 respectively, and eight mechanical hand assemblies are connected with eight sliding blocks 93 respectively, when screw rod rotates, eight nut seats along screw rod translation, and eight sliding blocks 93 drive eight mechanical hand assemblies along slide rail sliding.

[0022] Referring to Figure 2 As shown, the clamping mechanism includes jaw cylinder (not marked) and two jaw 201 of opposite arrangement, the jaw cylinder drives two jaw 201 to close or away, to clamp or release workpiece, wherein the end of jaw 201 is inwardly bent and forms the support part 202.

[0023] Referring to Figure 2As shown, in order to adjust the angle of the clamping mechanism and the floating mechanism, so that the clamping jaw 201 can accurately clamp the workpiece from the tray, and accurately place the workpiece on the carrier, the eight mechanical hand assemblies are also provided with a rotating mechanism, the rotating mechanism comprises a rotating shaft 235 and a rotating motor 231 for driving the rotating shaft 235 to rotate, the rotating shaft 235 extends in the vertical direction, and the clamping mechanism and the floating mechanism are connected to the rotating shaft 235, and the lifting mechanism drives the rotating shaft 235 to move in the vertical direction.

[0024] Referring to Figure 2 As shown, in order to improve the rotation accuracy of the rotating mechanism, the rotating mechanism comprises a first synchronous belt 234 and a shaft sleeve 233 engaged with the first synchronous belt 234, the shaft sleeve 233 is sleeved on the rotating shaft 235, and the rotating motor 231 drives the first synchronous belt 234 through a gear to drive the rotating shaft 235 to rotate. In order to prevent the shaft sleeve 233 from slipping with the rotating shaft 235, the inner wall of the shaft sleeve 233 is provided with a limiting protrusion, the outer wall of the rotating shaft 235 is provided with a limiting groove extending in the axial direction thereof, and the limiting protrusion is inserted into the limiting groove. The limiting protrusion can slide in the limiting groove, so that the rotating shaft 235 can move up and down relative to the shaft sleeve 233, and the shaft sleeve 233 can drive the rotating shaft 235 to rotate.

[0025] Referring to Figure 2 As shown, in order to improve the lifting accuracy of the lifting mechanism, the lifting mechanism comprises a second synchronous belt 212 and a lifting motor 211 for driving the second synchronous belt 212 to drive, and the second synchronous belt 212 drives in the vertical direction. The second synchronous belt 212 is connected to the rotating shaft 235 and drives the rotating shaft 235 to move in the vertical direction.

[0026] Referring to Figure 2 As shown, the clamping mechanism and the floating mechanism are connected to the bottom end of the rotating shaft 235, so that the clamping jaw 201 and the workpiece can rotate in all directions, improve the operation flexibility, and also can reduce the interference, improve the compactness and simplicity of the device.

[0027] Referring to Figure 2 As shown, in order to rotate the rotating shaft 235 and connect it to the second synchronous belt 212, the lifting mechanism further comprises a sliding seat 213 fixedly connected to the second synchronous belt 212, and the sliding seat 213 is rotatably connected to the rotating shaft 235.

[0028] Referring to Figure 2As shown, in order to improve the structural stability of the manipulator assembly, the eight manipulator assemblies are also provided with a connecting plate 20 extending in the vertical direction, the connecting plate 20 is provided with a guide seat 232 and a guide rail extending in the vertical direction, the rotating shaft 235 passes through the guide hole of the guide seat 232, the sliding seat 213 is slidably connected with the guide rail, the lifting motor 211 and the rotating motor 231 are connected on the connecting plate 20, the eight sliding blocks 93 driven by the variable distance motor module 9 are connected with the connecting plates 20 of the eight manipulator assemblies respectively, and the eight connecting plates 20 are synchronously moved along the Y-axis direction under the driving of the variable distance motor module 9.

[0029] Referring to Figure 2 As shown, the XY linear module further comprises an X-axis linear module and a Y-axis linear module, the eight manipulator assemblies and the variable distance motor module 9 are arranged at the output end of the XY linear module, the XY linear module moves the eight manipulator assemblies along the Y-axis direction to complete the transfer of the workpiece tray to the carrier, and the XY linear module moves the eight manipulator assemblies along the X-axis direction to adjust the position of the workpiece along the X-axis direction.

[0030] Referring to Figure 2 As shown, the eight manipulator assemblies are linearly distributed along the Y-axis direction, the variable distance motor module 9 drives the eight manipulator assemblies to synchronously move along the Y-axis direction, the variable distance motor module 9 is used for adjusting the placement position of the eight workpieces along the Y-axis direction, so that the eight workpieces are aligned with the eight specified placement points on the carrier.

[0031] The working principle of the high-precision manipulator mounting device is as follows: after the Y-axis linear module moves the eight manipulator assemblies to above the tray along the Y-axis direction, the lifting mechanism drives the clamping jaw 201 to descend and clamp the eight workpieces on the tray, if there is a position deviation between the clamping jaw 201 and the workpieces at this time, the variable distance motor module 9 adjusts the position of the eight manipulator assemblies along the Y-axis direction as a whole, so that the clamping jaw 201 is aligned with the workpieces, when the clamping jaw 201 clamps the workpieces on the tray from both sides, the pressing cylinder 221 drives the pressing block 222 to descend, the pressing block 222 presses the workpieces along the direction of the supporting part 202, and the workpieces are fixed, then the XY linear module moves the workpieces to above the carrier located in the flow channel along the Y-axis, the lifting mechanism drives the workpieces to descend, the X-axis linear module moves the workpieces along the X-axis direction, so that the workpieces are located above the specified placement points of the carrier, if there is a position deviation between the workpieces and the specified placement points, the variable distance motor module 9 adjusts the position of the eight manipulator assemblies along the Y-axis direction as a whole, if there is an angle deviation between the workpieces and the placement points, the rotating mechanism drives the rotating shaft 235 to rotate, and drives the workpieces to coincide with the placement points, then the pressing block 222 rises, the clamping jaw 201 places the workpieces on the placement points of the carrier, and the mounting is completed.

[0032] Obviously, the above embodiments are only examples for clearly illustrating the present application and are not intended to limit the present application. Based on the above description, other different forms of changes or variations can be made by those skilled in the art. Here, all the embodiments are not required to be enumerated, and the obvious changes or variations derived therefrom are still within the protection scope of the present application.

Claims

1. A high-precision robotic arm mounting device, characterized in that, Multiple robotic arm components are linearly distributed in a horizontal direction. Each robotic arm component is equipped with a clamping mechanism, a lifting mechanism, and a floating mechanism. The lifting mechanism drives the clamping mechanism and the floating mechanism to move in a vertical direction. The floating mechanism includes a clamping block and a clamping cylinder. The clamping cylinder drives the clamping block to move in a vertical direction. The clamping mechanism includes a gripper. The gripper is provided with a support part for supporting the workpiece. The support part is located directly below the clamping block. A variable pitch motor module is used to drive the multiple robotic arm components to move synchronously in the horizontal direction.

2. The high-precision robotic arm mounting device according to claim 1, characterized in that, The clamping mechanism includes a gripper cylinder and two grippers facing each other. The gripper cylinder drives the two grippers to move closer together or further apart.

3. The high-precision robotic arm mounting device according to claim 1, characterized in that, The plurality of robotic arm components are also provided with a rotating mechanism, which includes a rotating shaft and a rotary motor that drives the rotating shaft to rotate. The rotating shaft extends in a vertical direction. The clamping mechanism and the floating mechanism are both connected to the rotating shaft. The lifting mechanism drives the rotating shaft to move in a vertical direction.

4. The high-precision robotic arm mounting device according to claim 3, characterized in that, The rotating mechanism includes a first synchronous belt and a bushing that meshes with the first synchronous belt. The bushing is sleeved outside the rotating shaft. The rotating motor drives the first synchronous belt. The inner wall of the bushing is provided with a limiting protrusion. The outer wall of the rotating shaft is provided with a limiting groove extending along its axial direction. The limiting protrusion is inserted into the limiting groove.

5. A high-precision robotic arm mounting device according to claim 3, characterized in that, The lifting mechanism includes a second synchronous belt and a lifting motor that drives the second synchronous belt. The second synchronous belt drives the rotation shaft to move in the vertical direction.

6. A high-precision robotic arm mounting device according to claim 3, characterized in that, The clamping mechanism and the floating mechanism are connected to the bottom end of the rotating shaft.

7. A high-precision robotic arm mounting device according to claim 5, characterized in that, The lifting mechanism also includes a sliding seat fixedly connected to the second synchronous belt, and the sliding seat is rotatably connected to the rotating shaft.

8. A high-precision robotic arm mounting device according to claim 7, characterized in that, The plurality of robotic arm components are further provided with connecting plates extending in a vertical direction. The connecting plates are provided with guide rails extending in a vertical direction. The sliding seat is slidably connected to the guide rails. The variable pitch motor module drives the connecting plates of the plurality of robotic arm components to move synchronously in a horizontal direction.

9. A high-precision robotic arm mounting device according to claim 1, characterized in that, It also includes an XY linear module, with the plurality of robotic arm components and variable pitch motor modules disposed at the output end of the XY linear module.

10. A high-precision robotic arm mounting device according to claim 1, characterized in that, The plurality of robotic arm components are linearly distributed along a first direction, and the variable pitch motor module drives the plurality of robotic arm components to move synchronously along the first direction.

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