CN102050337B - Plate and diaphragm gripping device and method thereof - Google Patents
Plate and diaphragm gripping device and method thereof Download PDFInfo
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- CN102050337B CN102050337B CN 201010128453 CN201010128453A CN102050337B CN 102050337 B CN102050337 B CN 102050337B CN 201010128453 CN201010128453 CN 201010128453 CN 201010128453 A CN201010128453 A CN 201010128453A CN 102050337 B CN102050337 B CN 102050337B
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- 238000000034 method Methods 0.000 title claims abstract description 14
- 238000003825 pressing Methods 0.000 claims abstract description 60
- 239000012528 membrane Substances 0.000 claims description 28
- 230000006835 compression Effects 0.000 claims description 6
- 238000007906 compression Methods 0.000 claims description 6
- 238000004519 manufacturing process Methods 0.000 description 7
- 238000001179 sorption measurement Methods 0.000 description 7
- 238000000926 separation method Methods 0.000 description 6
- 230000000694 effects Effects 0.000 description 3
- 238000010924 continuous production Methods 0.000 description 2
- 230000005611 electricity Effects 0.000 description 2
- 230000003068 static effect Effects 0.000 description 2
- 238000005452 bending Methods 0.000 description 1
- 239000000463 material Substances 0.000 description 1
- 238000012986 modification Methods 0.000 description 1
- 230000004048 modification Effects 0.000 description 1
- 239000002699 waste material Substances 0.000 description 1
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Abstract
The invention discloses a plate and diaphragm gripping device and the method thereof, the plate and diaphragm gripping device comprises at least two gripping units, at least one pressing device positioned between the two gripping units, and a driving unit for driving the gripping units and pressing unit; when a plate and a diaphragm are gripped, the driving unit drives the pressing unit to press the inner sides of the plate and the diaphragm, drives the gripping units to grip the circumferences of the plate and the diaphragm and lift the circumferences of the plate and the diaphragm before the pressing unit acts, and then drives the pressing unit to release the plate and the diaphragm. The invention can avoid that a plurality of plates and diaphragms are lifted together, and ensure that users can grip desired plates and diaphragms and solve the problem of position deviation of adjacent plates and diaphragms.
Description
Technical Field
The invention relates to the technical field of PCB manufacturing, in particular to a plate film gripping device and a method thereof.
Background
In the PCB manufacturing industry, various materials and boards are generally required to be handled, transported, and the like. For example, the automatic board collecting and releasing equipment is adopted to separate single-board articles one by one from the stacked PE film, copper-clad board or inner core board, and the single-board articles are taken out and then are subjected to the next operation.
The most practical situation to be faced when separating single-sheet articles one by one from stacked PE films, copper-clad plates or inner core plates is: when the stacked PE films, copper-clad plates or inner core plates are grabbed, due to the fact that the plates are stacked together, the plates are easy to adsorb each other, the operation of grabbing the uppermost single plate film from the stack of the plates is difficult, due to static electricity or adsorption, the lower plates are easy to grab together when the uppermost plate film is grabbed, and particularly when the grabbing is fast, the problem is serious.
Similar prior art can refer to the transfer device of the transfer machine disclosed in chinese patent application No. 200710098707.0, published on 29/10/2008.
In order to solve the technical problems, the prior art adopts a mode of shaking off a plurality of adsorbed PE films, copper-clad plates or inner core plates in a mode of sucking the PE films, the copper-clad plates or the inner core plates and lifting the PE films, the copper-clad plates or the inner core plates and then shaking a gas cylinder. However, when the PE film, the copper-clad plate or the inner core plate is grabbed and lifted, the two films are quickly separated to form a larger negative pressure, and meanwhile, static electricity exists to form a larger adsorption force, so that the lower films are sucked up along with the belt and moved away, and the films are difficult to ensure to be finally shaken off by adopting a shaking mode; even if the core board is shaken off finally, long time and vibration are possibly needed, and the deviation of the shaken off PE film, copper-clad plate or inner core board from the original position is large, so that the positioning is inaccurate when the core board is grabbed next time, the automatic grabbing equipment has to interrupt the alarm, manual intervention is needed, and the production efficiency is reduced.
Therefore, the prior art shaking off the smooth adsorbed plate film by adopting a shaking mode at least has the following technical problems:
1. the reliability is poor;
2. excessive alarm interruption reduces the production efficiency;
3. the plate can not be detected, and waste products are easily generated when the positioning is not accurate.
Disclosure of Invention
The invention mainly solves the technical problem of providing a plate and film gripping device and a method thereof, which can avoid that a plurality of plate and films are lifted together, ensure that the desired plate and film are gripped, and also ensure that the adjacent plate and film can not have the problem of position deviation.
In order to solve the technical problems, the invention adopts a technical scheme that: provided is a sheet film gripping device including: at least two grabbing units; the at least one pressing unit is positioned between the two grabbing units; and the driving unit is used for driving the pressing unit to press the inner side of the plate film when the plate film is grabbed, driving the grabbing unit to grab the periphery of the plate film and lift the periphery of the plate film before the pressing unit, and then driving the pressing unit to release the plate film.
The grabbing unit is two parallel rows of vacuum suction nozzles positioned on two sides of the pressing unit; the pressing unit is a pair of pressing rods parallel to the vacuum suction nozzle.
The device comprises a support for suspending the grabbing unit and the pressing unit, and a transfer head for suspending the support; the driving unit comprises a first driver for lifting the support, a second driver for lifting the pressing unit and a controller for controlling the first driver and the second driver to actuate.
The first driver is positioned in the transfer head and comprises a lifting head extending out of the bottom of the transfer head and connected with the support, and the second driver is an air cylinder.
The support is a cross rod, the upper surface of the center of the cross rod is connected with the lifting head of the first driver, the lower surface of the center of the cross rod is connected with the upper end of the cylinder, the lower end of the cylinder is connected with the pressing rod, the two ends of the cross rod respectively comprise through holes which penetrate through the cross rod from top to bottom, the upper end of the vacuum suction nozzle penetrates through the through hole of the cross rod and is clamped on the upper portion of the through hole, the lower end of the vacuum suction nozzle comprises an elastic suction nozzle, a spring is sleeved at the middle of the.
Wherein, the bottom end of the pressing unit is of a pot-shaped structure, and the area of the pot bottom is equivalent to that of the plate membrane.
The number of the grabbing units is at least four, and the grabbing units are arranged corresponding to four corners of the plate film respectively.
In order to solve the technical problem, the invention adopts another technical scheme that: provided is a sheet film grasping method including: pressing the inner side of the plate film; lifting the outer periphery of the sheet film while pressing the inner side of the sheet film or subsequently; releasing the compression of the inner side of the sheet membrane after lifting the outer periphery of the sheet membrane; continuing to lift the sheet membrane after releasing the compression of the inner side of the sheet membrane.
Wherein, the pressing rod presses the plate film by adopting a mode that the air cylinder drives the pressing rod in the step of pressing the inner side of the plate film, and the plate film is lifted by adopting a mode of a vacuum suction nozzle in the step of lifting the periphery of the plate film.
And in the step of lifting the periphery of the plate film, the plate film is lifted in a mode that four vacuum suction nozzles respectively grab four corners of the plate film.
The invention has the following technical effects: design one and compress tightly the unit and push down the inboard that need snatch the board membrane, snatch the unit afterwards and grasp the periphery of board membrane and earlier than compress tightly the unit and lift the periphery of board membrane makes board membrane periphery perk to because only draw board membrane periphery, it is very little to receive the adsorption affinity of following board membrane, also does not have the board intermbral vacuum adsorption phenomenon that airtight environment arouses, consequently the periphery perk back of upper strata board membrane, following board membrane can not follow the perk, compress tightly the unit afterwards and loosen the board membrane can be snatched the upper strata board membrane easily, can not make lower panel membrane follow and lift together, ensures to grab the board membrane of wanting, also ensures that adjacent board membrane can not appear the position skew problem. The invention can at least achieve the following effects:
1. the separation reliability is higher;
2. the positioning accuracy of the separation plate is improved;
3. the method is simple and practical and has low cost;
4. the continuous production process does not need personnel intervention, the production efficiency is high, and the labor cost is reduced.
Drawings
FIG. 1 is a schematic structural view of an embodiment of a plate and film gripping device according to the present invention;
fig. 2 is a flow chart of an embodiment of the novel plate and film gripping method of the present invention.
Detailed Description
Referring to fig. 1, an embodiment of a plate and film gripping device according to the present invention includes:
at least two gripping units 10;
at least one pressing unit 20 located between the two gripping units 10;
a driving unit (not shown) for driving the grasping unit 10 and the pressing unit 20, the driving unit being configured to drive the pressing unit 20 to press the inner side of the sheet film 60 when grasping the sheet film 60, to drive the grasping unit 10 to grasp the outer periphery of the sheet film 60 and lift the outer periphery of the sheet film 60 prior to the pressing unit 20, and then to drive the pressing unit 20 to release the sheet film 60.
According to the invention, the pressing unit 20 is designed to press the inner side of the plate film 60 to be grabbed, then the grabbing unit 10 grabs the periphery of the plate film 60 and lifts the periphery of the plate film 60 before the pressing unit 20, so that the periphery of the plate film 60 is tilted, and because only the periphery of the plate film 60 is extracted, the adsorption force of the lower plate film 60 is very small, and the vacuum adsorption phenomenon among the plate films 60 caused by a closed environment is avoided, after the periphery of the upper plate film 60 is tilted, the lower plate film 60 cannot be tilted, and then the pressing unit 20 releases the plate film 60, so that the upper plate film 60 can be easily grabbed, the lower plate film 60 cannot be lifted together, the wanted plate film 60 is grabbed, and the problem of position deviation of the adjacent plate film 60 is also avoided. The invention can at least achieve the following effects:
1. the separation reliability is higher;
2. the positioning accuracy of the separation plate is improved;
3. the method is simple and practical and has low cost;
4. the continuous production process does not need personnel intervention, the production efficiency is high, and the labor cost is reduced.
The sheet film 60 refers to any sheet-like, or film-like article such as a PCB board or a PE film, etc.
In one embodiment, the gripping unit 10 is two parallel rows of vacuum nozzles 11 (only a single one is shown) located on both sides of the pressing unit 20; the pressing unit 20 is a pair of pressing rods 21 (only a single one is shown in the drawing) parallel to the vacuum suction nozzle 11.
In one embodiment, the device comprises a bracket 30 for suspending the grabbing unit 10 and the pressing unit 20, and a transfer head 40 for suspending the bracket 30; the driving unit includes a first driver 51 for lifting the support 30, a second driver 52 for lifting the pressing unit 20, and a controller (not shown) for controlling the first driver 51 and the second driver 52.
In another embodiment, the first actuator 51 is located within the transfer head 40 and includes a lift head that extends beyond the bottom of the transfer head 40 and connects to the support frame 30, and the second actuator 52 is a pneumatic cylinder.
In other embodiments, the support 30 is a cross bar, the upper surface of the center of the cross bar is connected with the lifting head of the first driver 51, the lower surface of the cross bar is connected with the upper end of the cylinder, the lower end of the cylinder is connected with the pressure bar 21, the two ends of the cross bar respectively comprise through holes (not shown) which penetrate through the cross bar from top to bottom, the upper end of the vacuum suction nozzle 11 penetrates through the through hole of the cross bar and is clamped on the upper part of the through hole, the lower end of the vacuum suction nozzle 11 comprises an elastic suction nozzle, the middle part of the vacuum suction nozzle 11 is sleeved with a spring 12.
The design of the elastic suction nozzle 11 and the design of the spring of the vacuum suction nozzle 11 can ensure that the suction nozzle 11 does not damage the board film 60, and the suction nozzle 11 follows the inclination when the board film 60 tilts around to incline the adsorption surface of the board film 60 and the suction nozzle 11, so that the board film 60 is not broken.
In one embodiment, the bottom end of the pressing unit 20 is a pot-shaped structure, and the area of the pot bottom is equivalent to that of the plate film 60. The design can ensure that the grabbing unit 10 can not generate excessive bending or fall in the local part of the plate film 60 when the plate film 60 tilts up, so that the deformation of the plate film 60 is uniformly distributed on the whole plate film 60, and the plate film 60 can not be damaged.
In one embodiment, the number of the grasping units 10 is at least four, and the grasping units are respectively arranged corresponding to four corners of the sheet film 60. Such a design makes it easier to separate and grab the sheet membrane 60, since the four corners of the sheet membrane 60 are most easily separated from the adjacent sheet membrane 60.
The board film 60 referred to in the present invention may be a PCB board such as an inner core board, or a film such as a PE film. In one embodiment, when the transfer head 40 descends to suck the PE film, the copper-clad plate or the inner core plate, the air cylinder extends out in advance to enable the pressing rod 21 to press the PE film, the copper-clad plate or the inner core plate, when the suction nozzle 11 contacts the PE film, the copper-clad plate or the inner core plate, the vacuum is opened, the suction nozzle 11 ascends, the air cylinder keeps pressing, two sides of the PE film, the copper-clad plate or the inner core plate ascend first, after separation of adjacent sheets is ensured, the transfer head 40 ascends, and the pressing rod 21 leaves simultaneously.
Referring to fig. 2, the present invention further provides an embodiment of a method for grabbing a plate film 60, which includes the steps of:
step 201: pressing the inner side of the sheet film 60;
step 202: lifting the outer periphery of the sheet film 60 while pressing the inner side of the sheet film 60 or subsequently;
step 203: releasing the compression of the inner side of the sheet film 60 after lifting the outer periphery of the sheet film 60;
step 204: the lifting of the sheet film 60 is continued after releasing the compression of the inner side of the sheet film 60.
In one embodiment, the pressing rod 21 is pressed against the sheet film 60 by driving the pressing rod 21 using an air cylinder in the step of pressing the inner side of the sheet film 60, and the sheet film 60 is gripped by the vacuum suction nozzle 11 in the step of lifting the outer periphery of the sheet film 60.
In one embodiment, the sheet film 60 is gripped in such a manner that four vacuum suction nozzles 11 grip four corners of the sheet film 60, respectively, in the step of lifting the outer periphery of the sheet film 60.
The invention is applied to the PCB manufacturing industry, and the automatic board collecting and releasing equipment separates single board articles one by one from the stacked PE films, copper-clad plates or inner core plates. It can also be used for the separation and grabbing of the film or the plate which can be deformed greatly.
The above description is only an embodiment of the present invention, and not intended to limit the scope of the present invention, and all modifications of equivalent structures and equivalent processes performed by the present specification and drawings, or directly or indirectly applied to other related technical fields, are included in the scope of the present invention.
Claims (4)
1. A sheet film gripping device, comprising:
at least two grabbing units;
the at least one pressing unit is positioned between the two grabbing units;
the driving unit is used for driving the pressing unit to press the inner side of the plate film when the plate film is grabbed, driving the grabbing unit to grab the periphery of the plate film and lift the periphery of the plate film before the pressing unit, and then driving the pressing unit to release the plate film;
wherein,
the grabbing units are two parallel rows of vacuum suction nozzles positioned on two sides of the pressing unit;
the pressing unit is a pair of pressing rods parallel to the vacuum suction nozzle;
the plate and film gripping device also comprises a bracket for suspending the gripping unit and the pressing unit, and a transfer head for suspending the bracket;
the driving unit comprises a first driver for lifting the support, a second driver for lifting the pressing unit and a controller for controlling the first driver and the second driver to actuate;
wherein,
the first driver is positioned in the transfer head and comprises a lifting head extending out of the bottom of the transfer head and connected with the bracket, and the second driver is an air cylinder;
wherein,
the support is a cross rod, the upper surface of the center of the cross rod is connected with a lifting head of a first driver, the lower surface of the center of the cross rod is connected with the upper end of a cylinder, the lower end of the cylinder is connected with a pressing rod, the two ends of the cross rod respectively comprise through holes which penetrate through the cross rod from top to bottom, the upper end of a vacuum suction nozzle penetrates through the through holes of the cross rod and is clamped on the upper portion of the through holes, the lower end of the vacuum suction nozzle comprises an elastic suction nozzle, a spring is sleeved at the middle.
2. The sheet membrane gripping device of claim 1, wherein: the bottom end of the pressing unit is of a pot-shaped structure, and the area of the pot bottom is equivalent to that of the plate membrane.
3. The sheet membrane gripping device of claim 1, wherein: the number of the grabbing units is at least four, and the grabbing units are arranged corresponding to four corners of the plate film respectively.
4. A sheet film gripping method, comprising:
pressing the inner side of the plate film;
lifting the outer periphery of the sheet film while pressing the inner side of the sheet film or subsequently;
releasing the compression of the inner side of the sheet membrane after lifting the outer periphery of the sheet membrane;
continuing to lift the sheet membrane after releasing the compression of the inner side of the sheet membrane;
wherein,
pressing the plate film by a pressing rod in a mode of driving the pressing rod by using an air cylinder in the step of pressing the inner side of the plate film, and lifting the plate film in a mode of using a vacuum suction nozzle in the step of lifting the periphery of the plate film;
and in the step of lifting the periphery of the plate film, the plate film is lifted in a mode that four vacuum suction nozzles respectively grab four corners of the plate film.
Priority Applications (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN 201010128453 CN102050337B (en) | 2010-03-18 | 2010-03-18 | Plate and diaphragm gripping device and method thereof |
Applications Claiming Priority (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN 201010128453 CN102050337B (en) | 2010-03-18 | 2010-03-18 | Plate and diaphragm gripping device and method thereof |
Publications (2)
| Publication Number | Publication Date |
|---|---|
| CN102050337A CN102050337A (en) | 2011-05-11 |
| CN102050337B true CN102050337B (en) | 2013-04-10 |
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| Application Number | Title | Priority Date | Filing Date |
|---|---|---|---|
| CN 201010128453 Active CN102050337B (en) | 2010-03-18 | 2010-03-18 | Plate and diaphragm gripping device and method thereof |
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| Country | Link |
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| CN (1) | CN102050337B (en) |
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| Publication number | Priority date | Publication date | Assignee | Title |
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| CN107344642B (en) * | 2016-05-04 | 2019-01-22 | 沈阳新松机器人自动化股份有限公司 | Plastic septum split system and its application method |
Citations (6)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| US3826485A (en) * | 1972-07-10 | 1974-07-30 | Pilot Pen Co Ltd | Apparatus for sucking up and lifting the uppermost sheet material from a stack of such sheet materials |
| CN1042125A (en) * | 1988-10-27 | 1990-05-16 | 辛科普股份公司 | Grasp and handle the especially method and apparatus of porous and flexible material board of sheet material |
| DE4002324A1 (en) * | 1990-01-26 | 1991-08-01 | Bayerische Motoren Werke Ag | Stacked metal sheet lifter - has edge suction units and inner spring on carrier to bend top sheet to break adhesion |
| US5048811A (en) * | 1989-07-31 | 1991-09-17 | Aluminum Company Of America | Single head device for removing alternate articles from a stack of the articles |
| EP0905067A1 (en) * | 1997-09-11 | 1999-03-31 | W.P. Mechanics N.V. | A method and a device for removing a sheet from a stack of sheets |
| CN201834572U (en) * | 2010-03-18 | 2011-05-18 | 深南电路有限公司 | Board film gripping device |
-
2010
- 2010-03-18 CN CN 201010128453 patent/CN102050337B/en active Active
Patent Citations (6)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| US3826485A (en) * | 1972-07-10 | 1974-07-30 | Pilot Pen Co Ltd | Apparatus for sucking up and lifting the uppermost sheet material from a stack of such sheet materials |
| CN1042125A (en) * | 1988-10-27 | 1990-05-16 | 辛科普股份公司 | Grasp and handle the especially method and apparatus of porous and flexible material board of sheet material |
| US5048811A (en) * | 1989-07-31 | 1991-09-17 | Aluminum Company Of America | Single head device for removing alternate articles from a stack of the articles |
| DE4002324A1 (en) * | 1990-01-26 | 1991-08-01 | Bayerische Motoren Werke Ag | Stacked metal sheet lifter - has edge suction units and inner spring on carrier to bend top sheet to break adhesion |
| EP0905067A1 (en) * | 1997-09-11 | 1999-03-31 | W.P. Mechanics N.V. | A method and a device for removing a sheet from a stack of sheets |
| CN201834572U (en) * | 2010-03-18 | 2011-05-18 | 深南电路有限公司 | Board film gripping device |
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| Publication number | Publication date |
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| CN102050337A (en) | 2011-05-11 |
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Owner name: SHENNAN CIRCUIT CO., LTD. Free format text: FORMER NAME: SHENZHEN SHENNAN CIRCUITS CO., LTD. |
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Address after: 518053 Nanshan District, Guangdong, overseas Chinese town, No. East Road, No. 99 Patentee after: SHENZHEN SHENNAN CIRCUIT CO., LTD. Address before: 518053 Nanshan District, Guangdong, overseas Chinese town, No. East Road, No. 99 Patentee before: Shenzhen Shennan Circuits Co., Ltd. |