Element tray and tray discharge integrated mechanical arm

Abstract

The utility model belongs to conveying mechanical arm technical field, concretely relates to element tray and tray discharge integrated mechanical arm, including translation gantry, element grab subassembly, tray grab subassembly are installed on translation gantry, element grab subassembly includes a plurality of lift suction cups vertically downward, and the equal interval arrangement is set between lift suction cups, and tray grab subassembly includes lift frame, and the four corner points of lift frame all are provided with vacuum suction cup vertically downward. The utility model integrates electronic component tray and tray discharge mechanism on gantry, realizes the high -efficient electronic component tray, and can run tray discharge procedure automatically after tray is full, can improve production efficiency, and the subsequent transportation and use of electronic component are convenient.

Description

Technical Field

[0001] This utility model relates to the field of mold conveying equipment technology, and more specifically, to a robotic arm that integrates component tray placement and pallet unloading. Background Technology

[0002] In the production of small electronic products such as smart bracelets and true wireless earbuds, tiny electronic components are typically stored and transported in batches using molded pallets. For example, when producing circuit board components, after the circuit board components are cut from a large circuit board using a depaneling machine, molded pallets are used to arrange and store the tiny circuit board components in batches for subsequent transportation and use.

[0003] The mold tray structure for small parts such as electronic components and circuit boards on the market is shown in the patent document CN201921310053.8, entitled "An Electronic Component Transport Tray". It includes: a tray body, a protrusion on the tray body, an array of grooves on the protrusion, and electronic components placed in the grooves. Multiple first grooves are formed on the side of the protrusion along its length direction. The first grooves extend horizontally from the side to the inside of the protrusion. A protrusion extending to the middle of the first groove is provided on the bottom surface of the first groove. The bottom surface of the protrusion is fixedly connected to the bottom surface of the tray body. The top surface of the protrusion forms a right angle with the bottom surface of the first groove. Multiple second grooves are formed on the side of the protrusion. The second grooves extend horizontally from the side to the inside of the protrusion. The second grooves are semi-circular when viewed from above.

[0004] Although the slots in the mold trays for storing electronic components are arranged neatly and orderly, many companies still manually pick up the components and insert them into the slots, resulting in low work efficiency. Furthermore, there is a risk of damaging the components when handling them by hand.

[0005] In view of this, it is necessary to develop equipment for the automated placement of micro-circuit components onto mold trays. Utility Model Content

[0006] To enable automated tray placement of tiny circuit board components during production, replacing manual operation and improving the stability and efficiency of the tray placement process, we provide a robotic arm that integrates component tray placement and pallet unloading.

[0007] The integrated robotic arm for component placement and pallet unloading includes a translating gantry frame, on which a component gripping assembly and a pallet gripping assembly are installed. The component gripping assembly includes multiple vertically downward lifting suction cups, which are arranged at equal intervals. The pallet gripping assembly includes a lifting frame, on which vertically downward vacuum suction cups are provided at each of the four corners.

[0008] Furthermore, the lifting suction cup includes a lifting slider and a suction cup head. The lifting slider is slidably sleeved on a vertical slide rail and is connected to a drive belt.

[0009] Furthermore, a vertical rotating shaft is coaxially connected above the suction cup head, and the vertical rotating shaft is mounted on the lifting slider.

[0010] Furthermore, a proximity sensor is provided on the upper side of the lifting slider, and the proximity sensor is communicatively connected to the drive belt. An angle sensor is provided on the vertical rotating shaft, and the angle sensor is communicatively connected to the vertical rotating shaft.

[0011] Furthermore, the component gripping assembly includes a transverse slide, which is mounted on a translational gantry. The direction of movement of the transverse slide is perpendicular to the translational gantry. Multiple lifting suction cups are detachably mounted on the transverse slide.

[0012] Furthermore, the plurality of lifting suction cups are arranged equidistantly on a vertical base plate, and the vertical base plate is detachably connected to a horizontal slide.

[0013] Furthermore, a camera assembly is provided on the transverse slide, and the camera assembly is communicatively connected to the translation gantry, the transverse slide, and the lifting suction cup.

[0014] Furthermore, the middle part of the translational gantry is sequentially connected to a vertically downward lifting cylinder and a lifting frame.

[0015] Furthermore, the component gripping assembly and the pallet gripping assembly are respectively arranged on the front and rear sides of the translational gantry frame, and a material conveyor belt is arranged in front of the translational gantry frame.

[0016] Furthermore, a component holder is installed on the material conveyor belt.

[0017] The advantages of this utility model are:

[0018] 1. The gantry frame integrates the gripping mechanism for electronic components and pallets, enabling efficient pallet placement of electronic components and automatic pallet unloading after the pallet is full.

[0019] 2. The lifting suction cup can automatically adjust the orientation of electronic components, ensuring that the electronic components stored in the tray face the same direction.

[0020] 3. It has good compatibility and can automatically grasp electronic components of different sizes and arrangements by switching between different sizes and spacing of lifting suction cups. Attached Figure Description

[0021] To more clearly illustrate the technical solutions in the embodiments of this utility model or the prior art, the drawings used in the description of the embodiments or the prior art will be briefly introduced below. Obviously, the drawings described below are only some embodiments of this utility model. For those skilled in the art, other drawings can be obtained based on these drawings without creative effort.

[0022] Figure 1 A schematic diagram of a robotic arm that integrates component tray placement and pallet unloading;

[0023] Figure 2 This is a rear view of a robotic arm that integrates component tray placement and pallet unloading.

[0024] Figure 3 Capture structural detail diagrams of components for each element;

[0025] Figure 4 Detailed structural diagram of the pallet gripping component;

[0026] Figure 5 A top view of a robotic arm that integrates component tray placement and pallet unloading.

[0027] Attached Figure Labels

[0028] 1. Translation gantry; 2. Component gripping assembly; 201. Lifting slider; 202. Suction cup head; 203. Vertical slide rail; 204. Horizontal slide table; 205. Vertical base plate; 3. Pallet gripping assembly; 301. Lifting frame; 302. Vacuum suction cup; 303. Lifting cylinder; 4. Drive belt; 5. Vertical rotating shaft; 6. Proximity sensor; 7. Angle sensor; 8. Camera assembly; 9. Material conveyor belt; 901. Component holder; 10. Electronic components; 11. Pallet. Detailed Implementation

[0029] To enable automated tray placement of tiny circuit board components during production, replacing manual operation and improving the stability and efficiency of the tray placement process, we provide a robotic arm that integrates component tray placement and pallet unloading.

[0030] To make the objectives, technical solutions, and advantages of the embodiments of this utility model clearer, the technical solutions of the embodiments of this utility model will be clearly and completely described below with reference to the accompanying drawings. Obviously, the described embodiments are only some, not all, of the embodiments of this utility model. Based on the embodiments of this utility model, all other embodiments obtained by those skilled in the art without creative effort are within the scope of protection of this utility model.

[0031] It should be noted that the terms such as "inner", "middle" and "one" used in this specification are only for clarity of description and are not intended to limit the scope of implementation of this utility model. Any changes or adjustments to their relative relationships, without substantially altering the technical content, should also be considered as part of the scope of implementation of this utility model, as stated above.

[0032] In the description of this utility model, it should be understood that the terms "upper," "lower," "front," "rear," "left," "right," "vertical," and "horizontal," etc., indicate the orientation or positional relationship based on the orientation or positional relationship shown in the accompanying drawings. They are used only for the convenience of describing this utility model and for simplifying the description, and do not indicate or imply that the device or element referred to must have a specific orientation, or be constructed and operated in a specific orientation. Therefore, they should not be construed as limitations on this utility model. Furthermore, the terms "first," "second," etc., 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, features defined with "first," "second," etc., may explicitly or implicitly include one or more of that feature. In the description of this utility model, it should be noted that unless otherwise explicitly specified and limited, the terms "installed," "connected," and "joined" should be interpreted broadly. For example, they can refer to a fixed connection, a detachable connection, or an integral connection; they can refer to a direct connection or an indirect connection through an intermediate medium; they can refer to the internal connection of two components. For those skilled in the art, the specific meaning of the above terms in this utility model can be understood through specific circumstances.

[0033] like Figures 1 to 5 As shown, this embodiment provides a component loading and pallet unloading integrated robotic arm, including a translational gantry frame 1. The translational gantry frame 1 is equipped with a component gripping assembly 2 and a pallet gripping assembly 3. The component gripping assembly 2 includes multiple vertically downward lifting suction cups, which are arranged at equal intervals. The pallet gripping assembly 3 includes a lifting frame 301, and vertically downward vacuum suction cups 302 are provided at the four corners of the lifting frame 301.

[0034] During equipment operation, the component gripping assembly 2 picks up electronic components or circuit boards and other parts, then moves them to the top of the tray under the movement of the translational gantry 1. Subsequently, the electronic components are placed into the grooves of the tray to complete the tray placement process. When the tray is full of electronic components, the tray gripping assembly 3 can be used to remove the tray to complete the unloading process and place a new empty tray.

[0035] The lifting suction cup includes a lifting slider 201 and a suction head 202. The lifting slider 201 is slidably sleeved on a vertical slide rail 203 and is connected to a drive belt 4. The suction head 202 can be a commercially available vacuum suction cup. The lifting slider 201 can be fixed to both sides of the vertically arranged annular drive belt 4, enabling alternating operation of the lifting suction cup and improving the efficiency of picking up and placing electronic components.

[0036] A vertical rotating shaft 5 is coaxially connected above the suction head 202, and the vertical rotating shaft 5 is mounted on the lifting slider 201. The vertical rotating shaft 5 can be driven by a servo motor connected in series, so that after the suction head 202 picks up the electronic component, it can rotate to adjust the orientation of the electronic component, so that the orientation of the electronic component placed in the tray is uniform.

[0037] A proximity sensor 6 is mounted on the upper side of the lifting slider 201, and the proximity sensor 6 is communicatively connected to the drive belt 4. An angle sensor 7 is mounted on the vertical rotating shaft 5, and the angle sensor 7 is communicatively connected to the vertical rotating shaft 5. The proximity sensor 6 can be a commonly used photoelectric switch to constrain the lifting height of the lifting slider 201 and improve operating efficiency. In this embodiment, the angle sensor 7 uses a commonly used photoelectric angle sensor, which is a perforated encoder disk solution. This allows for relatively accurate adjustment of the orientation of electronic components while avoiding excessive rotation that could cause the vacuum tube of the suction head 202 to break.

[0038] The component gripping assembly 2 includes a horizontal slide 204, which is mounted on the translational gantry 1. The direction of movement of the horizontal slide 204 is perpendicular to that of the translational gantry 1. Multiple lifting suction cups are detachably mounted on the horizontal slide 204. The horizontal slide 204, in conjunction with the translational gantry 1 and the lifting slider 201, enables the three-axis movement of the suction cup head 202, ensuring that electronic components can be accurately gripped and placed one by one into the tray.

[0039] The multiple lifting suction cups are equidistantly arranged on the vertical base plate 205, which is detachably connected to the horizontal slide table 204. Since the different components vary in size and the spacing between them is also different, different spacing and numbers of lifting suction cups can be arranged on different vertical base plates 205 as needed, enabling quick replacement when switching is required and reducing the time spent on equipment downtime adjustment.

[0040] A camera assembly 8 is installed on the transverse slide 204. The camera assembly 8 is communicatively connected to the translational gantry 1, the transverse slide 204, and the drive belt 4. The camera assembly 8 allows industrial control equipment and personnel to easily check the position and orientation of the electronic components 10, ensuring the normal operation of the equipment.

[0041] The middle part of the translational gantry 1 is sequentially connected to a vertically downward lifting cylinder 303 and a lifting frame 301. The component gripping assembly 2 also uses the translational gantry 1 for movement, which simplifies the equipment structure and ensures that the pallet 11 can be accurately gripped and moved by the component gripping assembly 2 for rapid loading and unloading.

[0042] The component gripping assembly 2 and the pallet gripping assembly 3 are respectively arranged on the front and rear sides of the translational gantry 1, and a material conveyor belt 9 is arranged in front of the translational gantry 1. The front and rear arrangement of the component gripping assembly 2 and the pallet gripping assembly 3 will not interfere with each other during operation, which is convenient for control. The material conveyor belt 9 can improve the efficiency of conveying electronic components and circuit boards to the part gripping assembly 2 and ensure accurate and convenient gripping. Similarly, a pallet conveyor belt or pallet stacking device can also be arranged on the rear side of the translational gantry 1 to improve the unloading efficiency of the pallet 11 after it is full of electronic components 10.

[0043] The material conveyor belt 9 is equipped with a component holder 901. The component holder 901 facilitates the storage and positioning of the newly produced electronic components 10 on the material conveyor belt 9, ensuring that the component gripping assembly 2 can accurately grip them.

[0044] The above description is a further detailed explanation of the present utility model in conjunction with specific preferred embodiments. It should not be assumed that the specific implementation of the present utility model is limited to these descriptions. All equivalent changes and modifications made within the scope of this application should still fall within the scope of the present utility model.

Claims

1. A robotic arm integrating component tray placement and pallet unloading, characterized in that, The device includes a gantry crane, on which a component gripping assembly and a tray gripping assembly are installed. The component gripping assembly includes multiple vertically downward lifting suction cups, which are arranged at equal intervals. The tray gripping assembly includes a lifting frame, on which vertically downward vacuum suction cups are provided at each of the four corners.

2. The integrated robotic arm for component tray placement and pallet unloading according to claim 1, characterized in that, The lifting suction cup includes a lifting slider and a suction cup head. The lifting slider is slidably sleeved on a vertical slide rail and is connected to a drive belt.

3. The integrated robotic arm for component tray placement and pallet unloading according to claim 2, characterized in that, A vertical rotating shaft is coaxially connected above the suction cup head, and the vertical rotating shaft is mounted on the lifting slider.

4. The integrated robotic arm for component tray placement and pallet unloading according to claim 3, characterized in that, A proximity sensor is installed on the upper side of the lifting slider, and the proximity sensor is connected to the drive belt. An angle sensor is installed on the vertical rotating shaft, and the angle sensor is connected to the vertical rotating shaft.

5. The integrated robotic arm for component tray placement and pallet unloading according to claim 1, characterized in that, The component gripping assembly includes a transverse slide, which is mounted on a translational gantry. The direction of movement of the transverse slide is perpendicular to the translational gantry. Multiple lifting suction cups are detachably mounted on the transverse slide.

6. The integrated robotic arm for component tray placement and pallet unloading according to claim 5, characterized in that, The multiple lifting suction cups are arranged at equal intervals on the vertical base plate, and the vertical base plate is detachably connected to the horizontal slide table.

7. The integrated robotic arm for component tray placement and pallet unloading according to claim 5, characterized in that, A camera assembly is installed on the transverse slide, and the camera assembly is communicatively connected to the translation gantry, the transverse slide, and the lifting suction cup.

8. The integrated robotic arm for component tray placement and pallet unloading according to claim 1, characterized in that, The middle part of the translational gantry is connected in sequence to a vertically downward lifting cylinder and a lifting frame.

9. The integrated robotic arm for component tray placement and pallet unloading according to claim 1, characterized in that, The component gripping assembly and the pallet gripping assembly are respectively located on the front and rear sides of the translational gantry frame, and a material conveyor belt is located in front of the translational gantry frame.

10. The integrated robotic arm for component tray placement and pallet unloading according to claim 9, characterized in that, The material conveyor belt is equipped with component holders.

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