Lightweight multi-chuck high-speed pick-and-place module

Abstract

The utility model provides a kind of lightweight multi-chuck high-speed pick-and-place module, it is related to automatic grabbing equipment technical field. Including the rack with fixed slide rail, still include the clamping module that is movably arranged on the fixed slide rail, the clamping module includes Y axis movement module, X axis movement module, Z axis lifting module and clamping module;The Y axis movement module includes linear motor module and two sliders movably arranged on the fixed slide rail, the linear motor module is suitable for driving two the slider slides on the fixed slide rail;The X axis movement module is set on the slider;The Z axis lifting module is connected on the X axis movement module;The clamping module includes rotating assembly and chuck assembly connected on the rotating assembly, and the chuck assembly is suitable for clamping material. Through the scheme to improve the efficiency of clamping.

Description

Technical Field

[0001] This utility model relates to the field of automatic gripping equipment technology, and more specifically, to a lightweight multi-clamp high-speed pick-and-place module. Background Technology

[0002] In the production and processing of cemented carbide cutting tools, the sintered tools require subsequent processes such as sandblasting, grinding, or coating. These processes necessitate the precise transfer of the tools to designated machining fixtures and their subsequent placement back into the finished product tray. Currently, the industry commonly uses equipment that sequentially picks up and places tools one by one using 3-5 chucks, such as the tray-loading machines from WTA in South Korea and domestically produced imitations of these aligning machines. Although these machines are equipped with multiple chucks, because all chucks share a single XY-axis motion system, other chucks must remain in a waiting state when one is working, severely limiting the overall efficiency of the equipment. Furthermore, existing structures that enable synchronous chuck picking and placing are heavy, limiting the speed of movement and causing significant shaking during operation. These problems collectively result in the current equipment's picking and placing efficiency failing to meet the demands of modern high-efficiency production, necessitating the development of a picking and placing module solution that enables simultaneous multi-chuck operation while possessing a lightweight structure. Utility Model Content

[0003] This utility model discloses a lightweight multi-clamp high-speed pick-and-place module, which aims to solve the problems mentioned above.

[0004] The present invention adopts the following solution:

[0005] A lightweight multi-clamp high-speed pick-and-place module includes a frame with fixed slide rails, and a gripping module movably mounted on the fixed slide rails. The gripping module includes a Y-axis motion module, an X-axis motion module, a Z-axis lifting module, and a gripping assembly.

[0006] The Y-axis motion module includes a linear motor module and two sliders movably mounted on the fixed slide rail. The linear motor module is adapted to drive the two sliders to slide on the fixed slide rail.

[0007] The X-axis motion module is mounted on the slider so that the weight of the X-axis motion module can be supported by the fixed slide rail;

[0008] The Z-axis lifting module is connected to the X-axis motion module to drive the two sets of clamping modules to perform lifting movements.

[0009] The gripping module includes a rotating component and a gripper assembly connected to the rotating component, the gripper assembly being adapted to grip materials.

[0010] Furthermore, the X-axis motion module includes a mounting block connected to the slider, a lead screw servo motor mounted on the mounting block, and a connecting assembly connecting the lead screw servo motor and the Z-axis lifting module. The connecting assembly includes a motion slide rail and a connecting block, wherein the motion slide rail is slidably disposed within a groove in the mounting block; the connecting block connects the output end of the lead screw servo motor to the Z-axis lifting module; and the lead screw servo motor is adapted to drive the connecting assembly to slide along the X-axis direction on the mounting block.

[0011] Furthermore, the Z-axis lifting module includes a servo motor and a mounting plate mounted on the connecting block. Two guide rails are symmetrically arranged on the mounting plate, and a sliding block is slidably mounted on each guide rail. The two sliding blocks are connected to the output end of the servo motor via the same synchronous belt. Each sliding block is equipped with a clamping module. Each servo motor is adapted to drive the two clamping modules to alternately lift and lower to clamp materials.

[0012] Furthermore, the linear motor module includes a linear motor stator disposed on the fixed slide rail, and a linear motor mover that matches the linear motor stator and is connected to the slider. The linear motor stator is adapted to drive the linear motor mover to move the slider along the fixed slide rail.

[0013] Furthermore, there are two sliders, and each slider is provided with two sets of gripping modules.

[0014] Furthermore, support frames are provided at both ends of the frame, and guide support plates with inverted U-shaped structures are provided on the support frames. The guide support plates are adapted to pass through the slider to support the mounting block below.

[0015] Furthermore, the bottom of the slider is provided with a U-shaped groove to connect to the fixed slide rail, and the top is provided with two vertical plates for mounting the mounting block, with a convex part formed between the two vertical plates that matches the guide support plate.

[0016] Beneficial effects:

[0017] This solution provides a lightweight multi-clamp high-speed pick-and-place module. It directly supports the X-axis motion module with a fixed slide rail, drives the Z-axis lifting module with a servo motor directly connected to a synchronous belt, and features an alternating lifting design for multiple clamps. This achieves synchronous and efficient pick-and-place of multiple clamps, while significantly reducing module weight, increasing movement speed, and reducing equipment sway. It has the advantages of improving the efficiency of synchronous operation of multiple clamps, reducing overall weight to increase movement speed, and reducing equipment sway. Attached Figure Description

[0018] Figure 1 This is a schematic diagram of the structure of a lightweight multi-clamp high-speed pick-and-place module according to an embodiment of this utility model;

[0019] Figure 2 This is a cross-sectional structural diagram of a lightweight multi-clamp high-speed pick-and-place module according to an embodiment of this utility model;

[0020] Figure 3 This is a schematic diagram of the connection structure of the X-axis motion module, Z-axis lifting module and clamping module of a lightweight multi-clamp high-speed pick-and-place module according to an embodiment of this utility model;

[0021] Figure 4 This is a schematic diagram of the slider structure of a lightweight multi-clamp high-speed pick-and-place module according to an embodiment of this utility model;

[0022] Reference numerals in the attached drawings: Frame 1, Support frame 11, Y-axis motion module 2, Fixed slide rail 21, Slider 22, U-shaped groove 221, Convex part 222, Linear motor module 23, Linear motor mover 231, X-axis motion module 3, Mounting block 31, Lead screw servo integrated motor 32, Motion slide rail 33, Connecting block 34, Z-axis lifting module 4, Servo motor 41, Mounting plate 42, Guide slide rail 43, Sliding block 44, Clamping module 5, Rotating component 51, Clamping head component 52, Guide support plate 6. Detailed Implementation

[0023] Combination Figures 1 to 4 As shown, this embodiment provides a lightweight multi-clamp high-speed pick-and-place module, including a frame 1 with a fixed slide rail 21, and a clamping module movably mounted on the fixed slide rail 21. The clamping module includes a Y-axis motion module 2, an X-axis motion module 3, a Z-axis lifting module 4, and a clamping module 5; wherein,

[0024] The Y-axis motion module 2 includes a linear motor module 23 and two sliders 22 movably mounted on the fixed slide rail 21. The linear motor module 23 is adapted to drive the two sliders 22 to slide on the fixed slide rail 21.

[0025] The X-axis motion module 3 is mounted on the slider 22 so that the weight of the X-axis motion module 3 can be supported by the fixed slide rail 21.

[0026] The Z-axis lifting module 4 is connected to the X-axis motion module 3 to drive the two sets of clamping modules 5 to perform lifting movements.

[0027] The clamping module 5 includes a rotating component 51 and a clamping assembly 52 connected to the rotating component 51, the clamping assembly 52 being adapted to clamp materials.

[0028] In this embodiment, the linear motor module 23 in the Y-axis motion module 2 refers to a linear drive unit composed of a stator and a mover. The stator is fixed to both sides or the bottom of the fixed slide rail 21, and the mover is connected to the bottom or side of the slider 22, directly generating linear driving force through electromagnetic action. The load-bearing support structure of the X-axis motion module 3 refers to using the upper surface of the fixed slide rail 21 or the guide support plate 6 to support the mounting block 31 and the lead screw servo integrated motor 32, omitting the independent support frame in the traditional X-axis module. The synchronous belt drive structure of the Z-axis lifting module 4 refers to the servo motor 41 output shaft being connected to a closed-loop synchronous belt through a synchronous pulley, with two sliding blocks 44 connected to both ends of the synchronous belt to achieve bidirectional linkage lifting. The rotation function of the chuck assembly 52 refers to the chuck being driven by a motor to rotate around the axis, specifically by using a hollow rotary platform with an integrated chuck cylinder structure to achieve angle adjustment.

[0029] The fixed slide rail 21 on the frame 1 serves the dual functions of Y-axis guidance and X-axis support. When the linear motor drives the slider 22 to move along the slide rail, the X-axis module mounted on the slider 22 moves accordingly, and its lead screw servo motor 32 drives the Z-axis module to move laterally through the connecting block 34. The servo motor 41 of the Z-axis module simultaneously drives the two sets of gripping modules 5 to alternately rise and fall via a synchronous belt, and the gripper assembly 52 adjusts the gripping angle under the drive of the rotating assembly 51. Since the X-axis module directly uses the fixed slide rail 21 to bear the weight, the metal frame used to support the X-axis in the traditional structure is eliminated, effectively reducing the mass of the moving parts. The two sets of gripping modules 5 can alternately perform pick-and-place actions under the drive of the Z-axis synchronous belt, forming a continuous operation cycle in conjunction with the compound motion of the Y-axis and X-axis.

[0030] This solution integrates the structure so that the fixed slide rail 21 simultaneously serves as both the Y-axis guide and the X-axis support, significantly reducing the mass of moving parts while maintaining rigidity. The symmetrical layout of the dual sliding blocks 44 driven by a single motor reduces weight while enabling alternating operation of the two chucks, avoiding the weight accumulation problem associated with multiple motors in traditional structures.

[0031] Through the above technical solutions, this application solves the bottleneck in movement speed caused by the large structural weight of multi-clamp modules. By optimizing the load-bearing structure and reducing the mass of moving parts, the module remains stable during high-speed movement. The alternating lifting design of the two sets of clamping modules 5 enables continuous picking and placing operations, eliminating the clamp waiting time in traditional structures and significantly improving the material handling efficiency per unit time. This allows a handling efficiency of 6000 pcs / H to be achieved using only 4 clamping assemblies 52. The multi-functional integrated design of the fixed slide rail 21 simplifies the assembly process and reduces manufacturing costs while ensuring structural rigidity.

[0032] Combination Figures 1 to 4As shown, the X-axis motion module 3 described in this embodiment includes a mounting block 31 connected to the slider 22, a lead screw servo motor 32 mounted on the mounting block 31, and a connecting assembly connecting the lead screw servo motor 32 and the Z-axis lifting module 4. The connecting assembly includes a motion slide rail 33 and a connecting block 34. The motion slide rail 33 is slidably mounted in the groove of the mounting block 31. The connecting block 34 connects the output end of the lead screw servo motor 32 to the Z-axis lifting module 4. The lead screw servo motor 32 is adapted to drive the connecting assembly to slide along the X-axis direction on the mounting block 31. Compared with the existing structure, this eliminates the weight of the lead screw seat, coupling, and some machined parts.

[0033] The mounting block 31 is a metal support component fixed to the top of the slider 22. It can be made of aluminum alloy through casting or milling and serves to support the lead screw servo motor 32 and provide a mounting base for the motion slide rail 33. The lead screw servo motor 32 is a power unit integrating the servo motor 41 and the ball screw. It can be implemented using a direct connection structure between the servo motor 41 with a built-in encoder and a high-precision ball screw, reducing transmission errors by eliminating the coupling connection. The motion slide rail 33 is a linear guide component extending along the X-axis, used to guide the connecting block 34 to move smoothly along the X-axis. The connecting block 34 is a transition component connecting the lead screw nut and the Z-axis lifting module 4. It can be formed from a steel plate with T-slots and rigidly connected to the lead screw nut and the lifting module by bolts.

[0034] Specifically, during X-axis movement, the lead screw servo motor 32 directly drives the connecting block 34 and the motion slide rail 33 to move along the groove on the mounting block 31. By integrating the lead screw mechanism with the servo motor 41, the power transmission path eliminates the need for independent lead screw seats and couplings, reducing component weight. The mounting block 31 serves as the basic support structure, directly using the fixed slide rail 21 to support the weight of the X-axis module. Driven by the lead screw servo motor 32, the connecting block 34 drives the Z-axis lifting module 4 to be precisely positioned along the X-axis. The entire transmission system simplifies its structure by reducing intermediate connecting components. By directly integrating the lead screw and servo motor 41 through an integrated design, intermediate components such as couplings and lead screw seats are eliminated while ensuring transmission accuracy. This significantly reduces the overall weight of the X-axis module and decreases the inertia of moving parts, thereby improving acceleration and positioning response speed. This effectively solves the problem of excessive weight caused by the complex structure of traditional X-axis modules. By reducing mechanical connection links, the mass of moving parts is reduced, thus reducing the inertial impact generated by the module during high-speed movement and improving equipment operational stability. At the same time, the simplified structural design reduces the difficulty of processing and assembly, which helps to improve production efficiency and reduce maintenance costs.

[0035] Combination Figure 1 and Figure 3 As shown, the Z-axis lifting module 4 described in this embodiment includes a servo motor 41 and a mounting plate 42 mounted on a connecting block 34. Two guide rails 43 are symmetrically arranged on the mounting plate 42, and a sliding block 44 is slidably mounted on each guide rail 43. The two sliding blocks 44 are connected to the output end of the servo motor 41 via the same synchronous belt. Each sliding block 44 is equipped with a gripping module 5. Each servo motor 41 is adapted to drive the two gripping modules 5 to alternately move up and down to grip materials. The Z-axis uses a servo motor 41 directly connected to a synchronous belt, eliminating the weight of the geared motor while increasing the Z-axis speed.

[0036] The servo motor 41 is a drive device that converts electrical energy into mechanical energy to output power, and its output shaft is directly connected to the synchronous belt pulley. The guide rail 43 is a mechanical structure that provides linear motion constraints for the sliding blocks 44, and is synchronously fixedly connected to the two sliding blocks 44 on the left and right sides respectively to form a closed-loop transmission path. When the output shaft of the servo motor 41 drives the synchronous belt pulley to rotate, the synchronous belt drives the two sliding blocks 44 to move in opposite directions along the guide rail 43. When one sliding block 44 rises, the other sliding block 44 falls synchronously, so that the two sets of gripping modules 5 form an alternating lifting and lowering action. For example, during the material gripping process, when the first set of gripping modules 5 falls to the material tray to grip the material, the second set of gripping modules 5 is in the rising and resetting state; when the first set completes the gripping action, the servo motor 41 reverses to drive the two sets of gripping modules 5 to exchange motion states, realizing continuous operation. By using the servo motor 41 to directly drive the synchronous belt, intermediate transmission components such as reducers and couplings are eliminated, which not only reduces the overall weight of the module, but also shortens the power transmission path, so that the lifting acceleration can be increased to more than twice that of the prior art. The system enables alternating lifting and lowering movements of the two sets of gripping modules 5, allowing for two material handling operations to be completed within a single lifting cycle, effectively reducing the waiting time for the Z-axis idle travel. Simultaneously, the lightweight design reduces the inertial load on moving parts, significantly minimizing vibration amplitude during high-speed movement and ensuring the stability of the equipment's efficient operation.

[0037] In this embodiment, the linear motor module 23 includes a linear motor stator mounted on a fixed slide rail 21, and a linear motor mover 231 matched with the linear motor stator and connected to the slider 22. The linear motor stator is adapted to drive the linear motor mover 231 to move the slider 22 along the fixed slide rail 21. The linear motor stator refers to an electromagnetic coil assembly fixedly installed along the extension direction of the fixed slide rail 21, which can be implemented using a segmented winding structure, forming a moving magnetic field through segmented power supply. The linear motor mover 231 refers to a permanent magnet assembly that interacts with the stator's magnetic field to generate thrust, directly driving the slider 22 to move along the slide rail through electromagnetic induction. This structure directly drives the slider 22 to move through electromagnetic force, eliminating the mechanical transmission links of traditional rotary motors and ball screws, and reducing the weight and inertial resistance of intermediate components. When the linear motor stator is energized, the alternating magnetic field it generates interacts with the permanent magnet of the linear motor mover 231, pushing the mover to move linearly along the fixed slide rail 21, thereby driving the slider 22 and the X-axis motion module 3 mounted on it to move as a whole. Because linear motor drives eliminate the need for mechanical transmission components such as gears and couplings, only sliding friction exists between the slider 22 and the slide rail during movement, significantly reducing mechanical losses. Furthermore, the thrust of the linear motor acts directly on the mover, avoiding the backlash problem present in traditional rotary motors that convert torque via a lead screw, thus improving positioning accuracy and response speed. Direct linear motor drive eliminates intermediate transmission mechanisms, simplifying the mechanical structure and reducing the overall mass of moving parts, thereby minimizing inertial impact during high-speed movement and suppressing equipment sway.

[0038] In this embodiment, two sliders 22 are provided, and each slider 22 is provided with two sets of gripping modules 5. By using the independent movement of the two sliders 22 in conjunction with the modular gripping unit layout, multi-station parallel operation can be achieved while maintaining a lightweight structure, thus avoiding chuck waiting time.

[0039] In a preferred embodiment, support frames 11 are provided at both ends of the frame 1. A guide support plate 6 with an inverted U-shaped structure is provided on the support frame 11. The guide support plate 6 is adapted to pass through the slider 22 to support the mounting block 31 below. A U-shaped groove 221 is provided at the bottom of the slider 22 to connect to the fixed slide rail 21. Two vertical plates are provided at the top for mounting the mounting block 31. A convex part 222 matching the guide support plate 6 is formed between the two vertical plates.

[0040] The inverted U-shaped guide support plate 6 refers to a plate-like structure with a downward-opening U-shaped cross-section, which can be formed by stamping metal sheets. It provides auxiliary support and guidance during the movement of the slider 22. When the slider 22 moves along the fixed slide rail 21, the guide support plate 6 applies a vertical supporting force to the mounting block 31. Simultaneously, the cooperation between the U-shaped opening and the convex portion 222 helps limit the lateral displacement of the mounting block 31, improving stability. Through the guide support plate 6, the rigidity of the X-axis motion module 3 is improved while maintaining a lightweight design, avoiding vibration or displacement caused by cantilever effects.

[0041] The working process is as follows: After the equipment is started, the vision system first scans the distribution of blades in the material tray and generates coordinate data. Two gripping modules 5 descend synchronously to the target position according to the coordinate instructions, gripping two blades through the chuck assembly 52. ​​Subsequently, the Z-axis lifting module 4 drives another set of gripping modules 5 to move in the opposite direction to the adjacent blade position to perform a secondary gripping. After all four blades are gripped, the X-axis and Y-axis motion modules 2 work together to move the gripping modules 5 above the target material tray, and the two sets of chuck assemblies 52 release the blades synchronously. This process, through the cyclical alternation of the two sets of gripping modules 5, allows one set of chucks to immediately perform material removal while the other set performs material removal, eliminating waiting time. By alternating the operation of the two sets of gripping modules 5, the material removal and removal actions completely overlap in space and time. Simultaneously, the bidirectional Z-axis motion enables continuous material transfer, reducing ineffective travel to zero. Furthermore, by eliminating the redundant weight of the independent drive unit in the traditional structure, the overall inertia of the module is reduced, significantly improving the stability of the equipment during high-speed movement.

[0042] In some specific implementations, the visual positioning system can be configured to work in a dual-camera collaborative mode, for example, one camera is used for coarse positioning and the other for precise positioning, in order to improve positioning efficiency.

[0043] Through the above technical solution, this application achieves efficient handling and placement of carbide cutting tools, significantly improves tray placement efficiency, and reduces shaking during equipment operation, ensuring positioning accuracy and operational stability.

[0044] It should be understood that the above are only preferred embodiments of the present utility model, and the protection scope of the present utility model is not limited to the above embodiments. All technical solutions that fall within the scope of the present utility model are protected by the present utility model.

[0045] The accompanying drawings used in the above description of the embodiments only show some embodiments of the present invention and should not be regarded as a limitation of the scope. For those skilled in the art, other related drawings can be obtained from these drawings without creative effort.

Claims

1. A lightweight multi-clamp high-speed pick-and-place module, comprising a frame with a fixed slide rail, and a gripping module movably mounted on the fixed slide rail, characterized in that, The clamping module includes a Y-axis motion module, an X-axis motion module, a Z-axis lifting module, and a clamping module; wherein... The Y-axis motion module includes a linear motor module and two sliders movably mounted on the fixed slide rail. The linear motor module is adapted to drive the two sliders to slide on the fixed slide rail. The X-axis motion module is mounted on the slider so that the weight of the X-axis motion module can be supported by the fixed slide rail; The Z-axis lifting module is connected to the X-axis motion module to drive the two sets of clamping modules to perform lifting movements. The gripping module includes a rotating component and a gripper assembly connected to the rotating component, the gripper assembly being adapted to grip materials.

2. The lightweight multi-clamp high-speed pick-and-place module according to claim 1, characterized in that, The X-axis motion module includes a mounting block connected to the slider, a lead screw servo motor mounted on the mounting block, and a connecting assembly connecting the lead screw servo motor and the Z-axis lifting module. The connecting assembly includes a motion slide rail and a connecting block, wherein the motion slide rail is slidably disposed within a groove in the mounting block; the connecting block connects the output end of the lead screw servo motor to the Z-axis lifting module; and the lead screw servo motor is adapted to drive the connecting assembly to slide along the X-axis direction on the mounting block.

3. The lightweight multi-clamp high-speed pick-and-place module according to claim 2, characterized in that, The Z-axis lifting module includes a servo motor and a mounting plate mounted on the connecting block. Two guide rails are symmetrically arranged on the mounting plate, and a sliding block is slidably mounted on each guide rail. The two sliding blocks are connected to the output end of the servo motor via the same synchronous belt. Each sliding block is equipped with a clamping module. Each servo motor is adapted to drive the two clamping modules to alternately lift and lower to clamp materials.

4. The lightweight multi-clamp high-speed pick-and-place module according to claim 1, characterized in that, The linear motor module includes a linear motor stator mounted on the fixed slide rail, and a linear motor mover that matches the linear motor stator and is connected to the slider. The linear motor stator is adapted to drive the linear motor mover to move the slider along the fixed slide rail.

5. The lightweight multi-clamp high-speed pick-and-place module according to claim 1, characterized in that, There are two sliders, and each slider is equipped with two sets of gripping modules.

6. The lightweight multi-clamp high-speed pick-and-place module according to claim 2, characterized in that, The frame is provided with support frames at both ends, and the support frames are provided with inverted U-shaped guide support plates, which are adapted to pass through the slider to support the mounting block below.

7. The lightweight multi-clamp high-speed pick-and-place module according to claim 6, characterized in that, The bottom of the slider is provided with a U-shaped groove to connect to the fixed slide rail, and the top is provided with two vertical plates for mounting the mounting block. A convex part matching the guide support plate is formed between the two vertical plates.

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