CN101804624A - Gripping mechanism - Google Patents

Gripping mechanism Download PDF

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Publication number
CN101804624A
CN101804624A CN 201010132872 CN201010132872A CN101804624A CN 101804624 A CN101804624 A CN 101804624A CN 201010132872 CN201010132872 CN 201010132872 CN 201010132872 A CN201010132872 A CN 201010132872A CN 101804624 A CN101804624 A CN 101804624A
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CN
China
Prior art keywords
suction nozzle
separation
nozzle cylinder
extracting
nozzle gas
Prior art date
Legal status (The legal status is an assumption and is not a legal conclusion. Google has not performed a legal analysis and makes no representation as to the accuracy of the status listed.)
Pending
Application number
CN 201010132872
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Chinese (zh)
Inventor
肖海清
陈念明
黄胜贤
韩力
崔兴强
Current Assignee (The listed assignees may be inaccurate. Google has not performed a legal analysis and makes no representation or warranty as to the accuracy of the list.)
Shennan Circuit Co Ltd
Original Assignee
Shennan Circuit Co Ltd
Priority date (The priority date is an assumption and is not a legal conclusion. Google has not performed a legal analysis and makes no representation as to the accuracy of the date listed.)
Filing date
Publication date
Application filed by Shennan Circuit Co Ltd filed Critical Shennan Circuit Co Ltd
Priority to CN 201010132872 priority Critical patent/CN101804624A/en
Publication of CN101804624A publication Critical patent/CN101804624A/en
Pending legal-status Critical Current

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Abstract

The invention discloses a gripping mechanism, which comprises a displacing head, a displacing bottom plate and a lifting screw rod, wherein the lifting screw rod connects the displacing head and the displacing bottom plate, the lifting movement of the lifting screw rod is controlled by a motor, a group of gripping suction nozzle gas cylinders and at least one separation suction nozzle gas cylinder are arranged on the displacing bottom plate, the separation suction nozzle gas cylinder is positioned outside the group of gripping suction nozzle gas cylinders and is positioned adjacent to the edge of the displacing bottom plate, vacuum suction nozzles are respectively arranged on the gripping suction nozzle gas cylinders and the separation suction nozzle gas cylinder, and the stroke of the gripping suction nozzle gas cylinders is shorter than that of the separation suction nozzle gas cylinders. Through additional arrangement of the separation suction nozzle gas cylinder, when the gripping mechanism works, the vacuum separation suction nozzles are firstly opened so that the vacuum separation suction nozzle gas cylinders are lifted up, one corner of mirror surface insulation steel plates is upwards bended, air enters a space between the separated mirror surface insulation steel plates, the upward pressure of the gas exerted on the mirror surface insulation steel plates is increased, and the gripping suction nozzle gas cylinders are sequentially lifted up, so the gripping of the mirror surface insulation steel plates is completed. The reliability of the gripping mechanism for separating the mirror surface insulation plates is higher, and the production efficiency is high.

Description

Grasping mechanism
Technical field
The present invention relates to a kind of grasping mechanism, relate in particular to a kind of grasping mechanism of producing the employed minute surface division board of hot/cold compressor of pcb board.
Background technology
In the PCB manufacturing, the hot/cold press that is used to produce PCB uses the minute surface isolate steel plate to be deposited in the automatic deploying and retracting plate, in the process of producing, need separate single steel plate one by one and be used for producing.
The separation of neat minute surface isolate steel plate of stacking at present is to promote after taking vacuum suction to grasp the minute surface division board, yet because the minute surface isolate steel plate is after long-time the stacking, air starvation each other, when extracting minute surface isolate steel plate vacuumizes, the air pressure that the another side of steel plate exists is very little, so reduce the lifting of vacuum adsorption force, grasped difficulty, poor reliability; And when grasping the minute surface division board, once grasp several and report to the police sometimes easily, and therefore often need manually interfere, thus reduction production efficiency.And for ease of separating, often also need to fold up paper and the PE film is isolated between the existing minute surface division board, so also need extra increase cost.
Application number is that 200720060893.4 Chinese patent discloses a kind of manipulator that is used to grasp device, comprise the arm plate and be arranged on grasping mechanism on the described arm plate, described grasping mechanism has its sucker that fluctuates by air cylinder driven, and this sucker is realized adsorbing by the body that fills, exits of external gas pipeline and put down device.Yet this kind manipulator only is suitable for the absorption to the non-product that stacks together, if during the product that is used to be stacked, as when being used for minute surface division board that adsorbing separation is stacked, the situation of absorption difficulty and poor reliability will appear because air starvation between the minute surface division board.
Summary of the invention
The technical problem that the present invention mainly solves provides a kind of grasping mechanism, and production efficiency height, good reliability can save production cost greatly.
For solving the problems of the technologies described above, the technical scheme that the present invention adopts is: a kind of grasping mechanism is provided, comprise a transfer head, an one transfer base plate and an elevating screw that connects transfer head and transfer base plate, described elevating screw is controlled its lifting moving by a motor, one group of extracting suction nozzle cylinder is installed on the described transfer base plate separates the suction nozzle cylinder with at least one, described separation suction nozzle cylinder is positioned at described one group and grasps the outside of suction nozzle cylinder and the edge of contiguous described transfer base plate, described extracting suction nozzle cylinder is separately installed with a vacuum extracting suction nozzle and a vacuum separation suction nozzle with described the separation on the suction nozzle cylinder, the piston stroke of described extracting suction nozzle cylinder is longer than the piston stroke of described separation suction nozzle cylinder.
Wherein, on the described transfer base plate, and contiguous two corner edge places all are equipped with at least one separation suction nozzle cylinder.
Wherein, on the described transfer base plate, and contiguous four corner edge places all are equipped with at least one separation suction nozzle cylinder.
Wherein, described one group of extracting suction nozzle cylinder is four extracting suction nozzle cylinders.
Wherein, described four extracting suction nozzle cylinders are evenly distributed on the described transfer base plate, and described four extracting suction nozzle cylinders all are connected by connecting rod with the transfer head.
Wherein, described one group of extracting suction nozzle cylinder is eight extracting suction nozzle cylinders.
Wherein, described eight are grasped in the suction nozzle cylinder, wherein four extracting suction nozzle cylinders are uniformly distributed in upward and with described transfer head being connected by connecting rod of described transfer base plate, and four extracting suction nozzle cylinders are uniformly distributed in described four inboards of grasping the suction nozzle cylinders that are connected by connecting rod with the transfer head in addition.
Wherein, the motor of described control elevating screw lifting is fixed on the described transfer head.
The invention has the beneficial effects as follows: the grasping mechanism that is different from prior art is only taked to promote behind the vacuum suction extracting minute surface division board, because rarefaction of air between the adjacent two minute surface division boards, thereby vacuum suction grasps difficulty, poor reliability, the situation that production efficiency is low, grasping mechanism of the present invention separates the suction nozzle cylinder and on separation suction nozzle cylinder a vacuum separation suction nozzle is installed by increasing to install, opening the vacuum separation cylinder during work earlier rises vacuum separation suction nozzle cylinder earlier, crooked on the angle of minute surface isolate steel plate like this, air enters between the minute surface isolate steel plate of separation, thereby can increase gas upwards pressure for the minute surface isolate steel plate, open the vacuum slot that grasps the suction nozzle cylinder then, grasp the suction nozzle cylinder according to rising successively with the far and near backward of the distance of separating the suction nozzle cylinder, thereby finish the extracting of minute surface isolate steel plate, grasping mechanism separation minute surface division board reliability of the present invention is higher, the production efficiency height.
No longer need to place paper or film between the minute surface division board of the present invention and isolate, can reduce extra production cost.
Description of drawings
Fig. 1 is the structural representation of a kind of embodiment of grasping mechanism of the present invention;
Fig. 2 is the stereogram of grasping mechanism shown in Figure 1;
Fig. 3 is the upward view of grasping mechanism shown in Figure 1;
Fig. 4 is the structural representation of the another kind of embodiment of grasping mechanism of the present invention;
Fig. 5 is the upward view of grasping mechanism shown in Figure 4.
The specific embodiment
By describing technology contents of the present invention, structural feature in detail, realized purpose and effect, give explanation below in conjunction with embodiment and conjunction with figs. are detailed.
See also Fig. 1, grasping mechanism of the present invention comprises a transfer 10, one a transfer base plate 11 and an elevating screw 12 that connects transfer 10 middle part and transfer base plate 11 middle parts.Described elevating screw 12 is controlled its lifting moving by a motor (among the figure not label).
See also Fig. 1 to Fig. 5, be equipped with one group on the described transfer base plate 11 and grasp suction nozzle cylinder 14 and separates suction nozzle cylinder 13 with at least one, described separation suction nozzle cylinder 13 is positioned at the outside of described one group of extracting suction nozzle cylinder 14 and is close to the edge of described transfer base plate 11.In the present embodiment, described one group of extracting suction nozzle cylinder 14 is eight and grasps the suction nozzle cylinders, also can be four and grasp the suction nozzle cylinders.If described one group of extracting suction nozzle cylinder 14 is eight and grasps the suction nozzle cylinders, wherein just have four to grasp the suction nozzle cylinders and be uniformly distributed in going up of described transfer base plate 11 and be connected by connecting rod (among the figure not label) with described transfer 10, four extracting suction nozzle cylinders then are uniformly distributed in the inboards of four extracting suction nozzle cylinders that described and transfer 10 be connected by connecting rod in addition.If described one group is grasped suction nozzle cylinder 14 and is four and grasps the suction nozzle cylinders, then described four are grasped the suction nozzle cylinders and just all are connected by connecting rod with transfer 10, and are uniformly distributed on the described transfer base plate 11.On the described separation suction nozzle cylinder 13 vacuum separation suction nozzle 131 is installed, vacuum is installed on the described extracting suction nozzle cylinder 14 grasps suction nozzle 141.
In one embodiment, be equipped with two on the side of described transfer base plate 11 and separate suction nozzle cylinder 13, described two separation suction nozzle cylinders 13 are installed on the described transfer base plate 11 and close two adjacent corner edge places.
In another embodiment, the both sides of described transfer base plate 11 respectively are equipped with two and separate suction nozzle cylinder 13, and two of described both sides are separated suction nozzle cylinder 13 and are installed on the described transfer base plate 11 respectively and contiguous four corner edge places.
Grasping mechanism of the present invention is in the production process of grasp separating the minute surface isolate steel plate time, motor is controlled on the described elevating screw 12, move down, thereby drive transfer base plate 11 and move and grasp minute surface isolate steel plate 15, when described vacuum separation suction nozzle 131 and described vacuum grasp suction nozzle 141 and compress minute surface isolate steel plate 15, opening vacuum separation suction nozzle 131 earlier rises separation suction nozzle cylinder 13, crooked on one angle of minute surface isolate steel plate 15, air enters between the minute surface isolate steel plate, open the vacuum slot that grasps suction nozzle cylinder 14 then, grasp suction nozzle cylinder 14 according to separate the far and near backward of suction nozzle cylinder 13 distances and rise successively, thereby finish the extracting of minute surface isolate steel plate 15.Described one group of piston movement travel of grasping suction nozzle cylinder 14 is all the same, and the piston movement travel of described extracting suction nozzle cylinder 14 is longer than the piston movement travel of described separation suction nozzle cylinder 13.
The grasping mechanism that is different from prior art is only taked to promote behind the vacuum suction extracting minute surface division board, but because rarefaction of air between the adjacent two minute surface division boards, thereby vacuum suction grasps difficulty, poor reliability, the situation that production efficiency is low, grasping mechanism of the present invention separates suction nozzle cylinder 13 and is separating installation one vacuum separation suction nozzle 131 on the suction nozzle cylinder 13 by increasing by one, opening vacuum separation suction nozzle 131 during work earlier rises separation suction nozzle cylinder 13 earlier, so an angle of minute surface isolate steel plate 15 tilts, air enters between the minute surface isolate steel plate, thereby can increase gas upwards pressure for the minute surface isolate steel plate, open the vacuum slot that grasps suction nozzle cylinder 14 then, grasp suction nozzle cylinder 14 according to rising successively with the far and near backward of the distance of separating suction nozzle cylinder 13, i.e. distance separation suction nozzle cylinder 13 near extracting suction nozzle cylinders 14 rise earlier, thereby finish the extracting of minute surface isolate steel plate, grasping mechanism separation minute surface division board reliability of the present invention is higher, the production efficiency height, and do not need to place paper or film between the minute surface division board and isolate, can reduce production costs.
In sum, grasping mechanism of the present invention separates minute surface division board efficient height, separates the reliability height, and no longer needs to place paper or film isolation between the minute surface division board, no longer needs to increase extra production cost.
The above only is embodiments of the invention; be not so limit claim of the present invention; every equivalent structure or equivalent flow process conversion that utilizes specification of the present invention and accompanying drawing content to be done; or directly or indirectly be used in other relevant technical fields, all in like manner be included in the scope of patent protection of the present invention.

Claims (8)

1. grasping mechanism, comprise a transfer head, an one transfer base plate and an elevating screw that connects transfer head and transfer base plate, described elevating screw is controlled its lifting moving by a motor, it is characterized in that, one group of extracting suction nozzle cylinder is installed on the described transfer base plate separates the suction nozzle cylinder with at least one, described separation suction nozzle cylinder is positioned at described one group and grasps the outside of suction nozzle cylinder and the edge of contiguous described transfer base plate, described extracting suction nozzle cylinder is separately installed with a vacuum extracting suction nozzle and a vacuum separation suction nozzle with described the separation on the suction nozzle cylinder, the piston stroke of described extracting suction nozzle cylinder is longer than the piston stroke of described separation suction nozzle cylinder.
2. grasping mechanism according to claim 1 is characterized in that, on the described transfer base plate, and contiguous two corner edge places all are equipped with at least one separation suction nozzle cylinder.
3. grasping mechanism according to claim 1 is characterized in that, on the described transfer base plate, and contiguous four corner edge places all are equipped with at least one separation suction nozzle cylinder.
4. according to claim 2 or 3 described grasping mechanisms, it is characterized in that described one group of extracting suction nozzle cylinder is four and grasps the suction nozzle cylinders.
5. grasping mechanism according to claim 4 is characterized in that, described four extracting suction nozzle cylinders are evenly distributed on the described transfer base plate, and described four extracting suction nozzle cylinders all are connected by connecting rod with the transfer head.
6. according to claim 2 or 3 described grasping mechanisms, it is characterized in that described one group of extracting suction nozzle cylinder is eight and grasps the suction nozzle cylinders.
7. grasping mechanism according to claim 6, it is characterized in that, described eight are grasped in the suction nozzle cylinder, wherein, four extracting suction nozzle cylinders are uniformly distributed in upward and with described transfer head being connected by connecting rod of described transfer base plate, and four extracting suction nozzle cylinders are uniformly distributed in described four inboards of grasping the suction nozzle cylinders that are connected by connecting rod with the transfer head in addition.
8. according to each described grasping mechanism of claim 1~3, it is characterized in that the motor of described control elevating screw lifting is fixed on the described transfer head.
CN 201010132872 2010-03-23 2010-03-23 Gripping mechanism Pending CN101804624A (en)

Priority Applications (1)

Application Number Priority Date Filing Date Title
CN 201010132872 CN101804624A (en) 2010-03-23 2010-03-23 Gripping mechanism

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Application Number Priority Date Filing Date Title
CN 201010132872 CN101804624A (en) 2010-03-23 2010-03-23 Gripping mechanism

Publications (1)

Publication Number Publication Date
CN101804624A true CN101804624A (en) 2010-08-18

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Cited By (7)

* Cited by examiner, † Cited by third party
Publication number Priority date Publication date Assignee Title
CN104024651A (en) * 2011-11-10 2014-09-03 费斯托股份有限两合公司 Method for operating a vacuum gripping device, vacuum control device and manipulator
CN104084952A (en) * 2014-07-05 2014-10-08 格林精密部件(惠州)有限公司 Product transferring mechanical arm fixture of thermoplastic moulding machine and product transferring method
CN110395577A (en) * 2019-07-03 2019-11-01 温州源利智能科技有限公司 A kind of pcb board and its transplantation method and equipment
CN110434575A (en) * 2019-07-23 2019-11-12 博讯光电科技(合肥)有限公司 A kind of automatic assembling adsorbent equipment
CN111015698A (en) * 2019-11-18 2020-04-17 深圳市迈创力科技有限公司 Method for avoiding sucking two or more sheets in plate sucking process of flying probe testing machine
CN112705337A (en) * 2021-01-07 2021-04-27 上海旅惑实业有限公司 Be used for street to clean rubbish autosegregation crushing apparatus
CN114772332A (en) * 2022-06-21 2022-07-22 赫比(成都)精密塑胶制品有限公司 Sheet separating mechanical arm and sheet separating method for stacked metal sheets

Citations (9)

* Cited by examiner, † Cited by third party
Publication number Priority date Publication date Assignee Title
JPS5158263A (en) * 1974-11-13 1976-05-21 Susumu Okamoto Bakyuumuhanso niokeru jisatsuriagehoho
GB1531509A (en) * 1975-07-26 1978-11-08 Babcock Bsh Ag Apparatus for lifting panels or the like from a pile
JPS61136838A (en) * 1984-12-07 1986-06-24 Nippo Tsushin Kogyo Kk Separating mechanism for piled-up plate members
JPH0432422A (en) * 1990-05-29 1992-02-04 Suzuki Motor Corp Work withdrawing and transferring device
CN2190642Y (en) * 1994-06-14 1995-03-01 胡平晟 Glass horizontal taking and piling device
US5433426A (en) * 1994-05-23 1995-07-18 Bond; Irvin D. Apparatus for removing a non-magnetic sheet from a stack of sheets
EP0639519B1 (en) * 1993-08-19 1999-03-10 Amada Company Limited Plate material separating apparatus
CN2568650Y (en) * 2002-09-18 2003-08-27 洛阳玻璃股份有限公司 Active sucker type glass steering gear
CN201685260U (en) * 2010-03-23 2010-12-29 深南电路有限公司 Grabbing mechanism

Patent Citations (9)

* Cited by examiner, † Cited by third party
Publication number Priority date Publication date Assignee Title
JPS5158263A (en) * 1974-11-13 1976-05-21 Susumu Okamoto Bakyuumuhanso niokeru jisatsuriagehoho
GB1531509A (en) * 1975-07-26 1978-11-08 Babcock Bsh Ag Apparatus for lifting panels or the like from a pile
JPS61136838A (en) * 1984-12-07 1986-06-24 Nippo Tsushin Kogyo Kk Separating mechanism for piled-up plate members
JPH0432422A (en) * 1990-05-29 1992-02-04 Suzuki Motor Corp Work withdrawing and transferring device
EP0639519B1 (en) * 1993-08-19 1999-03-10 Amada Company Limited Plate material separating apparatus
US5433426A (en) * 1994-05-23 1995-07-18 Bond; Irvin D. Apparatus for removing a non-magnetic sheet from a stack of sheets
CN2190642Y (en) * 1994-06-14 1995-03-01 胡平晟 Glass horizontal taking and piling device
CN2568650Y (en) * 2002-09-18 2003-08-27 洛阳玻璃股份有限公司 Active sucker type glass steering gear
CN201685260U (en) * 2010-03-23 2010-12-29 深南电路有限公司 Grabbing mechanism

Cited By (12)

* Cited by examiner, † Cited by third party
Publication number Priority date Publication date Assignee Title
CN104024651A (en) * 2011-11-10 2014-09-03 费斯托股份有限两合公司 Method for operating a vacuum gripping device, vacuum control device and manipulator
CN104024651B (en) * 2011-11-10 2017-02-22 费斯托股份有限两合公司 Method for operating a vacuum gripping device, vacuum control device and manipulator
CN104084952A (en) * 2014-07-05 2014-10-08 格林精密部件(惠州)有限公司 Product transferring mechanical arm fixture of thermoplastic moulding machine and product transferring method
CN104084952B (en) * 2014-07-05 2018-02-16 广东格林精密部件股份有限公司 The transferred product manipulator jig and its transfer method of a kind of Packing Machine
CN110395577A (en) * 2019-07-03 2019-11-01 温州源利智能科技有限公司 A kind of pcb board and its transplantation method and equipment
CN110434575A (en) * 2019-07-23 2019-11-12 博讯光电科技(合肥)有限公司 A kind of automatic assembling adsorbent equipment
CN111015698A (en) * 2019-11-18 2020-04-17 深圳市迈创力科技有限公司 Method for avoiding sucking two or more sheets in plate sucking process of flying probe testing machine
CN111015698B (en) * 2019-11-18 2023-01-03 深圳市迈创力科技有限公司 Method for avoiding sucking two or more sheets in plate sucking process of flying probe testing machine
CN112705337A (en) * 2021-01-07 2021-04-27 上海旅惑实业有限公司 Be used for street to clean rubbish autosegregation crushing apparatus
CN112705337B (en) * 2021-01-07 2022-12-23 义乌市子鱼创意设计有限公司 Be used for street to clean rubbish autosegregation crushing apparatus
CN114772332A (en) * 2022-06-21 2022-07-22 赫比(成都)精密塑胶制品有限公司 Sheet separating mechanical arm and sheet separating method for stacked metal sheets
CN114772332B (en) * 2022-06-21 2022-09-30 赫比(成都)精密塑胶制品有限公司 Sheet metal stacking and separating mechanical arm and sheet metal stacking and separating method

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Application publication date: 20100818