A grabbing and rotating mechanism

Abstract

This utility model relates to the technical field of high-speed dispensing equipment, and in particular to a gripping and rotating mechanism. The key points of its technical solution are: it includes: a gripper mounting base; a rotating element disposed on the gripper mounting base; and gripper assemblies, at least two sets, disposed on the rotating element. Different gripper assemblies are located in different circumferential directions of the rotating element. The rotating element is used to drive the gripper assemblies to rotate horizontally, so that the gripper assemblies can be horizontally reversed. This application can effectively improve the replacement efficiency of materials such as glue cartridges and dispensing valves.

Description

Technical Field

[0001] This utility model relates to the technical field of high-speed dispensing equipment, and in particular to a gripping and rotating mechanism. Background Technology

[0002] High-speed dispensing equipment is widely used in dispensing processes in SMT, 3C industry, automotive electronics, new energy, semiconductor packaging and other fields, due to its high efficiency and precision.

[0003] Current high-speed dispensing equipment typically requires periodic replacement of the glue cartridges. Existing replacement methods generally involve manual replacement, but some devices can achieve automated replacement, such as using robotic arms to pick up, place, and transfer the glue cartridges.

[0004] However, existing robotic arm replacement solutions also have shortcomings. For example, during replacement, only one glue cartridge can be taken away or put in at a time. This means that when the robotic arm is replacing a glue cartridge, it first needs to take the used glue cartridge out of the dispensing equipment and then put it in the placement station. Then it needs to take the new glue cartridge from another placement station and then go back to the dispensing equipment and put it in the dispensing equipment.

[0005] During the above-mentioned picking and placing process, the robotic arm obviously needs to move back and forth multiple times between the dispensing machine and the placement station of the glue tube. The picking and placing actions are complex and inefficient. When the dispensing equipment has multiple dispensing modules, the above-mentioned glue tube picking and placing method obviously cannot meet the high-efficiency replacement requirements of high-speed dispensing equipment. Therefore, there is still a lack of a solution in the existing technology that can efficiently replace the glue tube, so further improvement of the existing technology is needed.

[0006] The above information is provided as background information only to aid in understanding this disclosure and does not constitute an assertion or admission that any of the above content can be used as prior art relative to this disclosure. Utility Model Content

[0007] This invention provides a gripping and rotating mechanism to solve the problem of low efficiency in rubber tube replacement in the prior art.

[0008] To achieve the above objectives, this utility model provides the following technical solution:

[0009] A gripping and rotating mechanism, comprising:

[0010] Gripper mounting base;

[0011] A rotating element is disposed on the gripper mounting base;

[0012] And gripper assemblies, at least two sets, are disposed on the rotating element, with different gripper assemblies located in different circumferential directions of the rotating element, and the rotating element is used to drive the gripper assemblies to rotate horizontally so that the gripper assemblies can be horizontally reversed.

[0013] Preferably, the rotating element comprises:

[0014] A rotary motor is mounted on the gripper mounting base;

[0015] And a rotating base connected to the output shaft of the rotary motor, with the gripper assembly disposed on the periphery of the rotating base.

[0016] Preferably, the circumference of the rotary seat has a mounting plane for mounting the gripper assembly.

[0017] Preferably, the gripper assembly consists of two sets, and the angle formed by the two sets of gripper assemblies in the horizontal direction is 90° or 180°.

[0018] Preferably, there are four sets of gripper assemblies, and the four sets of gripper assemblies are arranged one by one around the rotating element.

[0019] Preferably, the gripper assembly includes:

[0020] An upper gripper element is disposed on the rotating element;

[0021] And a lower gripper element, disposed on the rotating element and located below the upper gripper element.

[0022] Preferably, the upper gripper element includes:

[0023] Upper clamping cylinder;

[0024] The upper clamping blocks are respectively disposed at the two output ends of the upper clamping cylinder, and the upper clamping cylinder is used to drive the two upper clamping blocks closer or further apart.

[0025] Preferably, the lower gripper element includes:

[0026] Lower clamping cylinder;

[0027] The lower clamping blocks are respectively disposed at the two output ends of the lower clamping cylinder, and the lower clamping cylinder is used to drive the two lower clamping blocks to move closer or further away.

[0028] Preferably, the upper gripper element and / or the lower gripper element are provided with a gripping boss, and the gripping boss has a gripping groove that fits against the material.

[0029] Preferred options also include:

[0030] Lateral movement module;

[0031] And a lifting module is disposed on the transverse module, and the gripper mounting base is disposed on the lifting module.

[0032] Compared with the prior art, the present invention has the following beneficial effects:

[0033] The gripping and rotating mechanism provided by this utility model has two sets of gripper assemblies that can grip two glue tubes, such as a new glue tube and an old glue tube. Based on this setting, when the glue tube is to be replaced, the rotating element only needs to be activated at the replacement station to remove the old glue tube at the same time and switch and place the new glue tube. This is equivalent to performing glue taking and glue putting actions simultaneously in one stroke, making the replacement efficient and fast, and finally solving the problem of low glue tube replacement efficiency.

[0034] This invention has other features and advantages that will be apparent from or will be set forth in detail in the accompanying drawings and the following detailed description, which together serve to explain the particular principles of this invention. Attached Figure Description

[0035] 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.

[0036] Figure 1 This is a schematic diagram of the gripping and rotating mechanism provided in an embodiment of the present invention;

[0037] Figure 2 This is a structural schematic diagram of one distribution mode of the gripper assembly provided in this embodiment of the utility model;

[0038] Figure 3 This is a schematic diagram of another distribution mode of the gripper assembly provided in this embodiment of the utility model;

[0039] Figure 4 This is a schematic diagram of the dispensing valve provided in an embodiment of the present invention;

[0040] Figure 5 This is a schematic diagram of the gripping and rotating mechanism provided in this embodiment of the present invention in the state of gripping the dispensing valve;

[0041] Figure 6 This is a structural schematic diagram of the gripping and rotating mechanism provided in another embodiment of the present invention.

[0042] Figure label:

[0043] 1. Gripper mounting base;

[0044] 2. Rotating element; 21. Rotary motor; 22. Rotary base; 221. Assembly plane;

[0045] 3. Gripper assembly;

[0046] 31. Upper gripper element; 311. Upper clamping cylinder; 312. Upper clamping block;

[0047] 32. Lower gripper element; 321. Lower gripping cylinder; 322. Lower gripping block;

[0048] 4. Clamping boss; 41. Clamping groove;

[0049] 5. Positioning pin; 6. Dispensing valve; 61. Positioning groove; 7. Lateral movement module; 8. Lifting module. Detailed Implementation

[0050] To make the objectives, features, and advantages of this utility model more apparent and understandable, 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 embodiments described below are only some embodiments of this utility model, and not all embodiments. 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.

[0051] In the description of this utility model, it should be understood that when a component is considered to be "connected" to another component, it can be directly connected to the other component or there may be a component that is centrally positioned therein. When a component is considered to be "set" on another component, it can be directly set on the other component or there may be a component that is centrally positioned therein.

[0052] Furthermore, terms such as "long," "short," "inner," and "outer" indicate orientation or positional relationships based on the orientation or positional relationships shown in the accompanying drawings. They are used only for the convenience of describing this utility model and do not indicate or imply that the device or component referred to must have this specific orientation or operate in a specific orientational configuration. Therefore, they should not be construed as limitations of this utility model.

[0053] The following is in conjunction with the appendix Figure 1-6 The technical solution of this utility model will be further illustrated through specific implementation methods.

[0054] Please refer to Figure 1This utility model provides a gripping and rotating mechanism, including a gripper mounting base 1, a rotating element 2, and a gripper assembly 3.

[0055] The gripper mounting base 1 serves as a load-bearing element, and the rotating element 2 is mounted on the gripper mounting base 1. At the same time, there are at least two gripper assemblies 3, which are mounted on the rotating element 2. Different gripper assemblies 3 are located on different circumferential directions of the rotating element 2. At this time, different gripper assemblies 3 can hold different glue tubes. For example, one gripper assembly 3 is used to hold a new glue tube containing glue, and another gripper assembly 3 is used to hold an old glue tube containing used glue.

[0056] Based on this, the rotating element 2 is used to drive the gripper assembly 3 to rotate horizontally, so that the gripper assembly 3 can be reversed horizontally, thereby enabling different glue tubes to be switched in place, which is beneficial to perform glue picking and glue dispensing actions simultaneously in place.

[0057] By adopting the above solution, when replacing the glue cartridge, it is only necessary to start the rotating element 2 at the replacement station to remove the old glue cartridge at the same time and switch and place the new glue cartridge. This is equivalent to performing glue taking and glue putting actions simultaneously in one stroke, making the replacement efficient and fast.

[0058] In one embodiment provided in this application, the rotating element 2 includes a rotating motor 21 and a rotating base 22, with the rotating motor 21 disposed on the gripper mounting base 1. The rotating motor 21 is fixedly mounted on the gripper mounting base 1, and its output shaft is vertically downward. Meanwhile, in this embodiment, the rotating base 22 is cylindrical, vertically positioned, and its top end is connected to the output shaft of the rotating motor 21. The gripper assembly 3 is disposed around the periphery of the rotating base 22.

[0059] Based on the above settings, by starting the rotary motor 21, the rotary seat 22 can be driven to rotate, which in turn drives the multiple gripper assemblies 3 to rotate and adjust, making the operation quick and efficient.

[0060] It is understandable that the rotary motor 21 can be a servo motor, which has a precise angle output function and can ensure the switching accuracy between multiple gripper assemblies 3. In addition, the periphery of the rotary seat 22 is equivalent to the periphery of the rotating element 2, and the periphery of the rotary seat 22 can be understood as the side located in the circumferential direction of the rotary seat 22.

[0061] To improve the installation stability of the gripper assembly 3, the circumference of the rotary seat 22 has an assembly plane 221 for the gripper assembly 3 to be set. The planar structure is conducive to structural positioning, so as to ensure that the gripper assembly 3 has accurate installation accuracy and the angular accuracy between different gripper assemblies 3 can be optimized and improved.

[0062] Optionally, there can be two or four assembly planes 221. In this embodiment, there are four assembly planes 221, and the four assembly planes 221 are located around the rotating seat 22, so that a maximum of four sets of gripper assemblies 3 can be assembled to achieve multi-station clamping effect.

[0063] It is understandable that the specific number of gripper assemblies 3 can be adjusted according to the actual working conditions. For example, in one embodiment, there are two sets of gripper assemblies 3, and the angle formed by the two sets of gripper assemblies 3 in the horizontal direction is 90° or 180°.

[0064] Among them, combined Figure 2 When the gripper assembly 3 is set to two sets, it can basically meet the functional requirements of taking out and placing the glue tube at the same work station. On the other hand, when the angle formed by the two sets of grippers in the horizontal direction is 90°, it is only necessary to drive the rotating seat 22 to rotate 90° to complete the switching between the two sets of gripper assemblies 3. The action is quick and convenient, and it is suitable for the switching needs under small space conditions.

[0065] Combination Figure 3 When the angle between the two sets of grippers in the horizontal direction is 180°, the two sets of gripper components 3 can be switched between each other by driving the rotating seat 22 to rotate 180°. The action is quick and convenient, and it is suitable for switching needs under large space conditions.

[0066] In this embodiment, looking back Figure 1 The gripper assembly 3 consists of four sets, which are arranged around the rotating element 2. The four sets of gripper assemblies 3 can be paired in pairs to form two pairs of gripper assemblies 3. When the dispensing equipment has multiple dispensing stations, the two pairs of gripper assemblies 3 can be adapted to different dispensing stations to achieve the effect of multi-station glue cartridge replacement, and the replacement efficiency is significantly improved.

[0067] It is understood that no specific number of gripper components 3 is limited here. Depending on actual needs, the number of gripper components 3 can be set to six, eight, etc. Regardless of the specific number of gripper components 3 or the layout method adopted, as long as the rotation switching method is used to realize the picking and placing action, it should be included in the technical scope of this application, and will not be elaborated here.

[0068] Furthermore, continue to refer to Figure 1 In one embodiment provided in this application, the gripper assembly 3 includes an upper gripper element 31 and a lower gripper element 32. Both the upper gripper element 31 and the lower gripper element 32 are disposed on the rotating element 2, and the lower gripper element 32 is located below the upper gripper element 31.

[0069] Based on the above configuration, the upper gripper element 31 and the lower gripper element 32 can clamp the rubber tube from the top and bottom, making the rubber tube less prone to shaking and loosening during transfer, and the clamping more stable.

[0070] Furthermore, the upper gripper element 31 includes an upper gripping cylinder 311 and upper gripping blocks 312. The upper gripping cylinder 311 is disposed on the gripper mounting base 1 and has two output ends that can move closer or further apart from each other. At the same time, there are two upper gripping blocks 312, which are in the shape of long rods. The two upper gripping blocks 312 are respectively disposed on the two output ends of the upper gripping cylinder 311. The upper gripping cylinder 311 is used to drive the two upper gripping blocks 312 to move closer or further apart to realize the gripping action.

[0071] In addition, the lower gripper element 32 includes a lower gripping cylinder 321 and a lower gripping block 322. The lower gripping cylinder 321 is disposed on the gripper mounting base 1. The lower gripping cylinder 321 also has two output ends that can move closer or further apart from each other. The shape and number of the lower gripping blocks 322 are similar to those of the upper gripping blocks 312, and will not be described in detail here. The two lower gripping blocks 322 are respectively disposed on the two output ends of the lower gripping cylinder 321. The lower gripping cylinder 321 is used to drive the two lower gripping blocks 322 to move closer or further apart, so as to grip the bottom end of the rubber tube.

[0072] To more stably grip the rubber tube, a clamping boss 4 can be added. Optionally, the upper gripper element 31 and / or the lower gripper element 32 are provided with clamping bosses 4. In one embodiment, the clamping boss 4 can be provided on the upper gripper element 31. Typically, the clamping boss 4 is fixedly provided at the upper gripper block 312. In another embodiment, the clamping boss 4 can also be provided on the lower gripper element 32. Typically, the clamping boss 4 is fixedly provided at the lower gripper block 322. Alternatively, the clamping boss 4 can be provided on both the upper gripper element 31 and the lower gripper element 32. The specific distribution position of the clamping boss 4 is not limited here.

[0073] In this embodiment, a clamping boss 4 is provided at the upper gripper element 31, and the clamping boss 4 has a clamping groove 41 that fits with the material, and the clamping groove 41 matches the outline of the outer peripheral surface of the rubber tube.

[0074] With the above-mentioned configuration, the clamping action can be made more stable by matching the clamping groove 41 with the rubber tube when clamping the rubber tube.

[0075] Furthermore, referring to Figure 1 and Figure 4The lower gripper element 32 is provided with a positioning pin 5. The positioning pin 5 is usually integrally connected with the lower gripper block 322 on the lower gripper element 32 and extends into the lower gripping station. The positioning pin 5 is set horizontally and is used to engage with the positioning groove 61 on the material. This can significantly improve the stability during gripping, making the material less prone to shaking, and can also significantly increase its load capacity, thereby enabling the gripping of heavier materials.

[0076] It is understood that the material referred to here can be the glue cartridge mentioned earlier, or it can be the dispensing valve 6. No specific form of the material is limited here. Figure 5 This can be understood as meaning that this solution can not only grab the glue cartridge, but also the dispensing valve 6.

[0077] Reference Figure 6 The gripping and rotating mechanism provided in this embodiment also includes a transverse module 7 and a lifting module 8. The lifting module 8 is disposed on the transverse module 7, and the gripper mounting base 1 is disposed on the lifting module 8.

[0078] In the embodiments of this application, both the transverse module 7 and the lifting module 8 adopt a linear module structure. It can be understood that a linear module mainly refers to a module that uses components such as lead screws, motors, and slides to achieve linear reciprocating motion. In another embodiment, a linear motor can also be used to achieve its linear reciprocating motion. Here, since the specific structure of the linear module is prior art, it will not be described in detail. This embodiment does not limit the specific structure of the linear module. As long as a structure capable of outputting reciprocating linear motion is adopted, it should be included in the interpretation scope of the transverse module 7 and the lifting module 8.

[0079] During installation, the transverse module 7 can be directly installed on the frame, and the lifting module 8 can be installed on the slide of the transverse module 7. Then, the gripper mounting base 1 can be installed on the slide of the lifting module 8, thus enabling the gripper assembly 3 to move in three-dimensional space.

[0080] The gripping and rotating mechanism provided in this embodiment has the following beneficial effects:

[0081] 1. By activating the rotating element 2, quick switching between new and old glue cylinders can be achieved. During one displacement stroke, glue taking and dispensing actions can be performed simultaneously, making replacement efficient and fast.

[0082] 2. Simultaneously, a fourth set of gripper components 3 is set up, which can simultaneously replace multiple hoses, resulting in outstanding replacement efficiency;

[0083] 3. The upper and lower clamping method ensures stable clamping of the rubber tube and prevents it from shaking.

[0084] Therefore, the above embodiments are only used to illustrate the technical solutions of this utility model, and not to limit it. Although this utility model has been described in detail with reference to the foregoing embodiments, those skilled in the art should understand that modifications can still be made to the technical solutions described in the foregoing embodiments, or equivalent substitutions can be made to some of the technical features. Such modifications or substitutions do not cause the essence of the corresponding technical solutions to deviate from the spirit and scope of the technical solutions of the embodiments of this utility model.

Claims

1. A gripping and rotating mechanism, characterized in that, include: Gripper mounting base (1); A rotating element (2) is disposed on the gripper mounting base (1); And gripper assemblies (3), at least two sets, are disposed on the rotating element (2), with different gripper assemblies (3) located in different circumferential directions of the rotating element (2), the rotating element (2) is used to drive the gripper assemblies (3) to rotate horizontally so that the gripper assemblies (3) can be reversed horizontally.

2. The gripping and rotating mechanism according to claim 1, characterized in that, The rotating element (2) includes: A rotary motor (21) is mounted on the gripper mounting base (1); And a rotating seat (22) connected to the output shaft of the rotary motor (21), and the gripper assembly (3) is disposed on the periphery of the rotating seat (22).

3. The gripping and rotating mechanism according to claim 2, characterized in that, The circumference of the rotating seat (22) has a mounting plane (221) for mounting the gripper assembly (3).

4. The gripping and rotating mechanism according to claim 1, characterized in that, The gripper assembly (3) consists of two sets, and the angle formed by the two sets of gripper assemblies (3) in the horizontal direction is 90° or 180°.

5. The gripping and rotating mechanism according to claim 1, characterized in that, The gripper assembly (3) consists of four sets, and the four sets of gripper assemblies (3) are arranged around the rotating element (2) respectively.

6. The gripping and rotating mechanism according to any one of claims 1-5, characterized in that, The gripper assembly (3) includes: The upper gripper element (31) is disposed on the rotating element (2); And a lower gripper element (32), which is disposed on the rotating element (2) and located below the upper gripper element (31).

7. The gripping and rotating mechanism according to claim 6, characterized in that, The upper gripper element (31) includes: Upper clamping cylinder (311); The upper clamping blocks (312) are respectively disposed at the two output ends of the upper clamping cylinder (311), and the upper clamping cylinder (311) is used to drive the two upper clamping blocks (312) to move closer or further away.

8. The gripping and rotating mechanism according to claim 6, characterized in that, The lower gripper element (32) includes: Lower clamping cylinder (321); The lower clamping blocks (322) are respectively disposed at the two output ends of the lower clamping cylinder (321), and the lower clamping cylinder (321) is used to drive the two lower clamping blocks (322) to move closer or further away.

9. The gripping and rotating mechanism according to claim 6, characterized in that, The upper gripper element (31) and / or the lower gripper element (32) are provided with a gripping boss (4), and the gripping boss (4) has a gripping groove (41) that fits against the material.

10. The gripping and rotating mechanism according to claim 1, characterized in that, Also includes: Lateral movement module (7); And a lifting module (8) is disposed on the transverse module (7), and the gripper mounting base (1) is disposed on the lifting module (8).

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