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Manipulator device for overall carrying of diodes

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Publication number
CN103236412A
CN103236412A CN 201310121428 CN201310121428A CN103236412A CN 103236412 A CN103236412 A CN 103236412A CN 201310121428 CN201310121428 CN 201310121428 CN 201310121428 A CN201310121428 A CN 201310121428A CN 103236412 A CN103236412 A CN 103236412A
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locking
diodes
component
mechanism
lower
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CN 201310121428
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Chinese (zh)
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CN103236412B (en )
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岳东海
颜鹏
贾健明
陈剑鹤
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常州信息职业技术学院
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Abstract

The invention discloses a manipulator device for overall carrying of diodes. The manipulator comprises a base plate, a handle component, an upper locking piece component, a lower locking piece component, a handle supporting mechanism, a locking driving mechanism, a separator, a separation driving mechanism and a stand plate. The front portions of handles are provided with an upper row and a lower row of grabbing grooves capable of respectively accommodating leads of two poles of the diodes. The front portions of upper locking pieces and the front portions of lower locking pieces are respectively provided with a row of bevel-angle grooves capable of hooking the leads of the diodes. Through the handles, the diodes in trays can be entirely grabbed by one step; since the diodes are locked through the upper locking piece component, the lower locking piece component and the locking driving mechanism, fall-off of diodes during carrying is avoided; the handles are pulled open with required line spacing through the separator and the separation driving mechanism, so that automatic carrying of demolding processes in diode production are realized; and components are ingenious in design and compact in structure, productivity is effectively saved, and production efficiency is improved.

Description

用于二极管整体搬运的机械手装置 For the entire handling robot diode means

技术领域 FIELD

[0001 ] 本发明涉及用于二极管整体搬运的机械手装置。 [0001] The present invention relates to the entire diode means for handling robot.

背景技术 Background technique

[0002]目前国内大部分二极管生产厂家“离模”工序是由人工手持特定工具搬运完成。 [0002] At present, most manufacturers diode "off mode" step is accomplished by conveying a particular artificial hand tool. 将每个托盘(24行*50列)上1200只二极管经过24次搬运至24个模条上。 Each tray (24 rows * 50) 1200 24 conveyed through the diode 24 to the mold section. 这道工序对工人的手感和熟练程度要求很高,必须经过长时间的工作经验累积才能达到速度要求。 This process of feeling and proficiency of workers demanding a long period of work experience must be accumulated in order to achieve speed requirements. 这种操作方式的工人劳动强度大、效率低。 Labor intensity of this mode of operation, low efficiency.

[0003] 随着现代生产技术的发展,用机械手完成这步工序是最佳选择,由于二极管本身体积小、重量轻、刚度低,一般的机械手无法完成对二极管的抓取。 [0003] With the development of production technology, this is complete manipulator step is the best option, since the diode itself is small size, light weight, low stiffness, can not be completed in general robot crawling of the diode. 基于上述原因目前国内二极管生产“离模”工序仍然以手工操作为主。 At present, the production of the diode "off mode" Step still dominated by manual operation based on the above reasons.

发明内容 SUMMARY

[0004] 本发明所要解决的技术问题是提供一种用于二极管整体搬运的机械手装置,能够一次性整体抓取托盘中的二极管,然后移动至模条组上方并拉开规定行距,最后整体落下将整个托盘中的二级管移动至模条上,完成“离模”工序。 [0004] The present invention solves the technical problem is to provide a diode integral handling robot means for gripping the entire tray can be disposable diode, molded article and then moves upward and pulling a predetermined spacing set, dropping the final overall the diode across the tray to move the upper mold section, to complete the "mold release" step.

[0005] 为了解决上述技术问题,本发明所提供的技术方案是:一种用于二极管整体搬运的机械手装置,包括底板、手抓组件、上锁紧片组件、下锁紧片组件、手抓支撑机构、锁紧驱动机构、分离器、分离驱动机构和立板;所述手抓组件、上锁紧片组件和下锁紧片组件分别由数量相同的多个手抓、上锁紧片和下锁紧片组成;所述上锁紧片组件和下锁紧片组件分别设置在手抓组件的上方和下方;所述手抓的前部设有能分别容纳二极管的两极引线的上下两排抓槽;所述上锁紧片的前部和下锁紧片的前部均设有一排能够勾住二极管的引线的斜角槽;所述手抓组件中位于中间的一个手抓的后部与手抓支撑机构固定连接,其它手抓的后部与手抓支撑机构滑动连接;所述锁紧驱动机构驱动上锁紧片组件和下锁紧片组件前后移动;所述分离器设置在手抓组件的后部上 [0005] To solve the above technical problem, the technical solution of the present invention is provided: a monolithic diode robot handling device, comprising the bottom plate, the clutch assembly, the assembly of the lock piece, the lock piece assembly, grasping supporting means, locking the drive mechanism, separator, and the riser driving mechanism; said clutch assembly, the blade assembly and a lower locking assembly locking fingers are the same number of a plurality of the clutch, the lock piece and the locking fingers composition; the upper and lower locking plate assembly lock piece assembly are disposed above and below the clutch assembly; grasping the front portion of the bipolar lead is provided to accommodate two rows of upper and lower diodes respectively catch groove; lower front portion and a front portion of said lock piece on the locking plate has a row of wires can be hooked diode bevel groove; said clutch assembly is located in a rear portion of the intermediate clutch support means fixedly connected to the clutch, the other clutch and rear clutch mechanism slidably connected to the support; the locking movement drive mechanism locking plate assembly and a lower front locking plate assembly; said separator is provided in the hand the rear grip assembly ;所述分离驱动机构驱动分离器上下移动;所述手抓支撑机构、锁紧驱动机构和立板均固定在底板上;所述分离驱动机构固定在立板上。 ; Separating the drive mechanism move up and down the separator; supporting the clutch mechanism, driving mechanism and the locking plate are fixed upright on the bottom plate; a drive mechanism fixed to the separating plate stand.

[0006] 所述上锁紧片的前部和下锁紧片上的斜角槽的斜角为45°。 [0006] angle bevel groove on a front portion of the lock piece and the lock piece to the upper 45 °.

[0007] 所述手抓支撑机构包括支撑框、光杠和复位弹簧;所述支撑框固定在底板上;所述光杠设有两根,且均横向固定在支撑框内;所述手抓组件的后部与两根光杠滑动连接;所述每根光杠上均套有两个分别位于手抓组件两侧的复位弹簧。 [0007] The clutch mechanism comprises a support supporting frame, a light bar and a return spring; a support frame fixed to the base; the bar is provided with two light, and are laterally secured to the support frame; said grasping light bar and two rear sliding connector assembly; light bars on the sleeve each have two return springs are located on both sides of the clutch assembly.

[0008] 所述锁紧驱动机构包括锁紧电机、牵引板和锁紧框;所述锁紧电机固定在底板上;所述锁紧电机带动牵引板前后移动;所述锁紧框固定在牵引板上;所述上锁紧片组件和下锁紧片组件的后部分别与锁紧框的内顶面和内底面横向滑动连接。 [0008] The locking mechanism comprises a locking drive motor, the traction and locking plate frame; the locking motor fixed to the base; said locking traction drive motor moves the front plate; the locking block secured in the pulling plate; the upper rear portion of the locking plate assembly and a lower locking plate assembly are connected to inner top and bottom surfaces of the lateral slide lock box.

[0009] 所述锁紧驱动机构的锁紧电机采用步进电机。 [0009] The locking means locking the drive motor is a stepping motor.

[0010] 所述分离器整体呈倒三角形;所述分离器的下部并排设有多个分离插条,每个分离插条的底部均设有分离刃。 [0010] The integral separator inverted triangle; a lower portion of the separator is provided with a plurality of separate side by side cutting, separating the bottom of each cutting edge are provided with separation.

[0011] 所述分离驱动机构包括分离电机、联轴器、滚珠丝杠、滚珠丝杠螺母、滑块组件和直线导轨;所述分离电机和直线导轨均固定在立板上;所述分离电机的输出轴通过联轴器与滚珠丝杠固定连接;所述滚珠丝杠与滚珠丝杠螺母螺纹连接;所述滚珠丝杠螺母和分离器均固定在滑块组件上;所述滑块组件与直线导轨滑动连接。 [0011] The separating means comprises a separating drive motor, coupling, screw, nut screw, linear guide slide assembly; the separation motor and linear guides are fixed to the vertical plates; the separation motor the output shaft is fixedly connected via a coupling and a ball screw; screw connected to the ball screw nut; the ball screw nut and the separator are fixed to the slider assembly; said slide assembly linear guide slidably connected.

[0012] 所述分离驱动机构的分离电机采用步进电机。 [0012] The separating means separating the motor drive stepping motor.

[0013] 所述分离驱动机构的滑块组件包括滑块、丝杠螺母连接板和滑块安装板;所述滑块与直线导轨滑动连接;所述丝杠螺母连接板和滑块安装板均与滑块固定连接;所述滚珠丝杠螺母固定在丝杠螺母连接板上;所述分离器固定在滑块安装板上。 [0013] The separation of the slide assembly comprises a slider drive mechanism, the spindle nut coupling plate mounting plate and a slider; slider and the sliding linear guide; said spindle nut connection plate and the slide plate are mounted fixedly connected to the slider; of the ball screw nut on the lead screw nut web; said separator plate fixedly mounted to the slider.

[0014] 采用了上述技术方案后,本发明具有以下的有益效果:本发明通过手抓一次性整体抓取托盘中的二极管,通过上锁紧片组件、下锁紧片组件和锁紧驱动机构锁紧二极管,防止二极管在搬运过程中脱离,通过分离器和分离驱动机构使手抓拉开规定的行距,从而实现了二极管生产“离模”工序的自动化搬运,各部件设计巧妙,结构紧凑,有效地节约了生产力、提闻了生广效率。 After [0014] using the above technical solutions, the present invention has the following advantages: The present invention generally gripping tray by grasping the disposable diode, through the locking plate assembly, the locking member and the locking plate drive mechanism locking diode, the diode preventing detachment during handling, so that the clutch is opened by a predetermined spacing and a separator separating the drive mechanism, thereby achieving production diode "off mode" automatic handling step, clever design of the components, compact structure, effectively saving productivity mention the smell of raw wide efficiency.

附图说明 BRIEF DESCRIPTION

[0015] 为了使本发明的内容更容易被清楚地理解,下面根据具体实施例并结合附图,对本发明作进一步详细的说明,其中 [0015] In order to make the present invention more easily to be clearly understood, the following Examples depending on the particular embodiment and the accompanying drawings, the present invention will be further described in detail, wherein

[0016] 图1为本发明的结构示意图。 [0016] FIG. 1 is a schematic structural diagram of the present invention.

[0017] 图2为图1的A处放大图。 [0017] FIG 2 A is an enlarged view of FIG 1.

[0018] 图3为图1的B处放大图。 [0018] FIG. 3 is an enlarged view at B of FIG. 1.

[0019] 附图中的标号为: [0019] reference numerals are as follows:

[0020] 底板1、手抓组件2、上锁紧片组件3、下锁紧片组件4、手抓支撑机构5、支撑框51、光杠52、复位弹簧53、锁紧驱动机构6、锁紧电机61、牵引板62、锁紧框63、分离器7、分离驱动机构8、分离电机81、联轴器82、滚珠丝杠83、滚珠丝杠螺母84、滑块组件85、滑块851、丝杠螺母连接板852、滑块安装板853、直线导轨86、立板9、二极管10。 [0020] The base plate 1, the clutch assembly 2, the locking plate assembly 3, the locking blade assembly 4, the clutch mechanism 5 is supported, the support frame 51, the light bar 52, the return spring 53, locking drive mechanism 6, a lock tight motor 61, traction plate 62, the locking block 63, a separator 7 separating the drive mechanism 8, the separation motor 81, coupling 82, ball 83, the ball screw nut 84, slider assembly 85, the slider 851 , the spindle nut coupling plate 852, slider mounting plate 853, linear guides 86, the vertical plate 9, the diode 10.

具体实施方式 detailed description

[0021](实施例1) [0021] (Example 1)

[0022] 见图1至图3,本实施例的机械手装置用于二极管整体搬运,包括底板1、手抓组件 [0022] Figure 1 to 3, a robot apparatus according to the present embodiment for handling overall diode, comprising a base plate 1, the clutch assembly

2、上锁紧片组件3、下锁紧片组件4、手抓支撑机构5、锁紧驱动机构6、分离器7、分离驱动机构8和立板9。 2, the locking plate assembly 3, the locking blade assembly 4, grasping the supporting mechanism 5, the drive locking mechanism 6, a separator 7, the drive mechanism 8 and the vertical separating plate 9.

[0023] 手抓组件2、上锁紧片组件3和下锁紧片组件4分别由数量相同的多个手抓、上锁紧片和下锁紧片组成。 [0023] The clutch assembly 2, the locking plate assembly 3 and the locking plate assembly 4 are respectively the same number of a plurality of the clutch, the lock piece and the lock piece components. 上锁紧片组件3和下锁紧片组件4分别设置在手抓组件2的上方和下方。 The locking plate assembly 3 and a lower lock plate assembly 4 are disposed above and below the clutch assembly 2. 手抓的前部设有能分别容纳二极管10的两极引线的上下两排抓槽。 Grasping the front portion is provided to accommodate the bipolar lead, respectively upper and lower rows diode 10 grip slots. 上锁紧片的前部和下锁紧片的前部均设有一排能够勾住二极管10的引线的斜角槽。 The front portion and the front portion of the lock piece on the lock piece has a row of diodes can be hooked lead 10 bevel groove. 手抓组件2中位于中间的一个手抓的后部与手抓支撑机构5固定连接,其它手抓的后部与手抓支撑机构5滑动连接。 The clutch assembly 2 is located in the middle of a clutch and rear clutch mechanism 5 is fixedly connected to the support, and the other clutch of the rear clutch mechanism 5 is slidably connected to the support. 锁紧驱动机构6驱动上锁紧片组件3和下锁紧片组件4前后移动。 4 back and forth movement of the locking plate assembly 3 and a lower lock piece drive assembly locking mechanism 6 drives. 分离器7设置在手抓组件2的后部上方。 Separator 7 is disposed above the rear portion of the clutch assembly 2. 分离驱动机构8驱动分离器7上下移动。 Separating the drive mechanism 8 drives the separator 7 is moved up and down. 手抓支撑机构5、锁紧驱动机构6和立板9均固定在底板I上。 Grasping the supporting mechanism 5, the drive mechanism 6 and the vertical locking plate 9 are fixed to the base I. 分离驱动机构8固定在立板9上。 Separating the drive mechanism 8 is fixed to the riser 9.

[0024] 上锁紧片的前部和下锁紧片的斜角槽的斜角优选为45°。 [0024] On the front portion of the lock piece and the groove of the bevel angle lock piece preferably is 45 °.

[0025] 手抓支撑机构5包括支撑框51、光杠52和复位弹簧53。 [0025] The clutch mechanism 5 comprises a support frame 51 supporting the light bar 52 and a return spring 53. 支撑框51固定在底板I上。 Support frame 51 fixed to the base I. 光杠52设有两根,且均横向固定在支撑框51内。 Light bar 52 is provided with two, and are laterally secured within the support frame 51. 手抓组件2的后部与两根光杠52滑动连接。 A rear clutch assembly 522 and two light bars is a sliding connection. 每根光杠52上均套有两个分别位于手抓组件2两侧的复位弹簧53。 On each light bar 52 there are two sets of two return springs are located on both sides of the clutch assembly 53.

[0026] 锁紧驱动机构6包括锁紧电机61、牵引板62和锁紧框63。 [0026] The locking mechanism 6 includes a locking drive motor 61, traction plate 62 and locking frame 63. 锁紧电机61固定在底板I上。 Locking motor 61 fixed to the base I. 锁紧电机61带动牵引板62前后移动。 Locking the traction motor 61 to drive plate 62 moves back and forth. 锁紧框63固定在牵引板62上。 The locking block 63 is fixed on the traction plate 62. 上锁紧片组件3和下锁紧片组件4的后部分别与锁紧框63的内顶面和内底面横向滑动连接。 The locking plate assembly 3 and the rear portion of the locking plate assembly 4 are connected to the inner surface of the top frame 63 and the locking slide laterally within the bottom surface.

[0027] 分离驱动机构8包括分离电机81、联轴器82、滚珠丝杠83、滚珠丝杠螺母84、滑块组件85和直线导轨86。 [0027] The separating means 8 comprises a separate drive motor 81, coupling 82, ball 83, the ball screw nut 84, the slide assembly 85 and the linear guide 86. 分离电机81和直线导轨86均固定在立板9上。 Separation motor 81 and the linear guide 86 is fixed to the riser 9. 分离电机81的输出轴通过联轴器82与滚珠丝杠83固定连接。 Separating the motor output shaft 81 fixedly connected with the ball screw 83 via a coupling 82. 滚珠丝杠83与滚珠丝杠螺母84螺纹连接。 The ball screw 83 is connected to the ball screw nut 84 threaded. 滚珠丝杠螺母84和分离器7均固定在滑块组件85上。 The ball screw nut 84 and the separator 7 are fixed to the slide assembly 85. 滑块组件85与直线导轨86滑动连接。 Slide assembly 85 slidably connected with the linear guide 86.

[0028] 分离驱动机构8的滑块组件85包括滑块851、丝杠螺母连接板852和滑块安装板853。 [0028] separating the drive mechanism of the slider assembly 858 comprises a slider 851, the spindle nut coupling plate 852 and a slider mounting plate 853. 滑块851与直线导轨86滑动连接。 A slider 851 slidably coupled with the linear guide 86. 丝杠螺母连接板852和滑块安装板853均与滑块851固定连接。 The spindle nut and the connecting plate 852 are fixed to the slider mounting plate 853 of the slider 851. 滚珠丝杠螺母84固定在丝杠螺母连接板852上。 The ball screw nut 84 is fixed to the spindle nut coupling plate 852. 分离器7固定在滑块安装板853上。 Separator 7 is fixed to the slider mounting plate 853.

[0029] 锁紧驱动机构6的锁紧电机61和分离驱动机构8的分离电机81均采用步进电机。 [0029] The locking means locking the drive motor 61 and the drive mechanism 6 is separate motor 818 are separated by a stepping motor. 分离器7整体呈倒三角形。 Separator 7 integrally inverted triangle. 分离器7的下部并排设有多个分离插条,每个分离插条的底部均设有分离刃。 A lower portion of the separator 7 is provided with a plurality of separate side by side cutting, separating the bottom of each cutting edge are provided with separation.

[0030] 本实施例的机械手装置与三轴线性模组配合,完成“离模”工序中二极管的整体搬运,其动作过程为:三轴线性模组带动机械手装置至托盘上方合适位置,使得二极管10进入手抓的抓槽内,锁紧电机61带动牵引板62、锁紧框63、上锁紧片组件3和下锁紧片组件4向后移动,当二极管10的引线进入上锁紧片和下锁紧片的斜角槽底部时,二极管10被束缚到手抓的抓槽内,使得所有二极管10在搬运过程中不会脱落。 [0030] The robotic device with three-axis linear module of the present embodiment with the completion of the entire transfer, "the release" step diodes, which course of action is: a three-axis drive linear modules robotic device to a proper position on the tray, such that the diode grasping the grip 10 into the slot, pulling the locking plate 62 to drive the motor 61, the locking block 63, the locking plate assembly 3 and a lower lock plate assembly 4 moves backward, when the lead of the diode 10 into the upper lock piece and the bottom of the bevel groove of the lock piece, the diode 10 is bound to catch the grasping groove 10 so that all diodes will not fall off during handling. 锁紧动作完成后,三轴线性模组抬起,使所有二极管10脱离托盘,并移动至模条组上方合适位置。 After the completion of the locking operation, the three-axis linear modules lifted from the tray so that all of the diodes 10 and moves to place the upper mold section group. 在移动过程中,分离电机81正转通过联轴器82带动滚珠丝杠83转动,使滚珠丝杠螺母84向下移动,进而带动滑块组件85及分离器7向下移动,使得分离器7插入到手抓之间的缝隙中,随着分离器7的移动,手抓依次向两边分散,完成分离过程。 During the movement, the separation motor 81 drives the ball screw 83 positive coupling 82 is rotated by the rotation, the ball screw nut 84 is moved downward so as to drive the slide assembly 85 and the separator 7 is moved downward, so that the separator 7 inserted into the gap between the clutch, the separator 7 with the movement of grasping sequentially dispersed to both sides, to complete the separation process. 此时三轴线性模组带动机械手装置向下移动,将所有二极管10插入到模条组中。 At this time, three-axis linear drive module robot apparatus is moved downward, all of the diode bar 10 is inserted into the die set. 完成“离模”工序后,三轴线性模组带动机械手装置离开模条组,分离电机81反转带动分离器7向上移动。 After completion of the "mold release" step, drive the robot and three-axis linear module article exits the die set means, the separation motor 81 drives the separator reversing 7 moves upward. 在复位弹簧53作用下手抓、上锁紧片、下锁紧片向中间移动,当分离器7完全离开手抓组件2时,整个手抓组件合并完成。 The clutch, the lock piece, the lock piece 53 is moved to the intermediate action of the return spring 7 when the splitter clutch assembly 2 away completely, the entire clutch assembly merger. 手抓组件2中位于中间的一个手抓的后部与手抓支撑机构5固定连接,能够保证各个手抓回到初始位置,避免复位后手抓组件的位置出现偏移。 The clutch assembly 2 is located in a rear portion of the grasping means grasping the intermediate support 5 is fixedly connected to the clutch to ensure that the respective initial position, the position of the clutch assembly to avoid the occurrence of the offset reset.

[0031] 以上所述的具体实施例,对本发明的目的、技术方案和有益效果进行了进一步详细说明,所应理解的是,以上所述仅为本发明的具体实施例而已,并不用于限制本发明,凡在本发明的精神和原则之内,所做的任何修改、等同替换、改进等,均应包含在本发明的保护范围之内。 Specific Example [0031] above, the objectives, technical solutions, and beneficial effects of the present invention will be further described in detail, it should be understood that the above descriptions are merely embodiments of the present invention, but not intended to limit the present invention, within the spirit and principle of the present invention, any modifications, equivalent replacements, improvements, etc., should be included within the scope of the present invention.

Claims (9)

1.用于二极管整体搬运的机械手装置,其特征在于:包括底板(I)、手抓组件(2)、上锁紧片组件(3)、下锁紧片组件(4)、手抓支撑机构(5)、锁紧驱动机构(6)、分离器(7)、分离驱动机构(8)和立板(9);所述手抓组件(2)、上锁紧片组件(3)和下锁紧片组件(4)分别由数量相同的多个手抓、上锁紧片和下锁紧片组成;所述上锁紧片组件(3)和下锁紧片组件(4)分别设置在手抓组件(2)的上方和下方;所述手抓的前部设有能分别容纳二极管(10)的两极引线的上下两排抓槽;所述上锁紧片的前部和下锁紧片的前部均设有一排能够勾住二极管(10)的引线的斜角槽;所述手抓组件(2)中位于中间的一个手抓的后部与手抓支撑机构(5)固定连接,其它手抓的后部与手抓支撑机构(5)滑动连接;所述锁紧驱动机构(6)驱动上锁紧片组件(3)和下锁紧片组件(4)前后移动;所述分离器(7)设置在手抓组件(2)的 1. diode for handling the entire robot apparatus comprising: a base plate (the I), the clutch assembly (2), the locking plate assembly (3), the locking plate assembly (4), the clutch mechanism support (5), locking the drive mechanism (6), separator (7), separating the drive mechanism (8) and the upright plate (9); said clutch assembly (2), the locking plate assembly (3) and a lower lock piece assembly (4) respectively, by the same number of a plurality of the clutch, the lock piece and the lock piece composition; locking plate assembly (3) and a lower locking plate assembly (4) are respectively disposed on the upper above and below the clutch assembly (2); a front portion of the bipolar lead is provided to accommodate the clutch diode, respectively (10) grasping the upper and lower two rows of slots; lock piece and the lower portion of the front upper lock the front portion of the sheet has a bevel groove leads can be hooked diode row (10); a clutch of the clutch assembly in the middle (2) and a rear grasping support means (5) is fixedly connected other and rear grasping means grasping the support (5) is slidably connected; drive the locking mechanism (6) locking plate assembly (3) and a lower lock piece drive assembly (4) moving back and forth; the separator (7) provided on the clutch assembly (2) 部上方;所述分离驱动机构(8)驱动分离器(7)上下移动;所述手抓支撑机构(5)、锁紧驱动机构(6 )和立板(9 )均固定在底板(I)上;所述分离驱动机构(8 )固定在立板(9 )上。 The upper portion; separating said drive means (8) drive separator (7) up and down; supporting said grasping means (5), locking the drive mechanism (6) and the upright plate (9) are fixed on the base plate (I) ; said separate drive means (8) is fixed on the upright plate (9).
2.根据权利要求1所述的用于二极管整体搬运的机械手装置,其特征在于:所述上锁紧片的前部和下锁紧片上的斜角槽的斜角为45°。 The entire robot apparatus for conveying the diode as claimed in claim 1, wherein: the oblique angle of the groove on the front portion of the lock piece and the lock piece is 45 °.
3.根据权利要求1所述的用于二极管整体搬运的机械手装置,其特征在于:所述手抓支撑机构(5)包括支撑框(51)、光杠(52)和复位弹簧(53);所述支撑框(51)固定在底板(I)上;所述光杠(52 )设有两根,且均横向固定在支撑框(51)内;所述手抓组件(2 )的后部与两根光杠(52) 滑动连接;所述每根光杠(52)上均套有两个分别位于手抓组件(2)两侧的复位弹簧(53)。 3. The diode overall handling robot apparatus according to claim 1 is used, characterized in that: said grasping support means (5) comprises a support frame (51), the light bar (52) and a return spring (53); said rear clutch assembly (2); said support frame (51) fixed to the base (the I); the light bar (52) is provided with two, and are laterally secured within the support frame (51) slidably connected to the two light bars (52); each of the light bar (52) has two sets of each assembly are located in the clutch return spring (53) (2) on both sides.
4.根据权利要求1所述的用于二极管整体搬运的机械手装置,其特征在于:所述锁紧驱动机构(6)包括锁紧电机(61)、牵引板(62)和锁紧框(63);所述锁紧电机(61)固定在底板(I)上;所述锁紧电机(61)带动牵引板(62)前后移动;所述锁紧框(63)固定在牵引板(62)上;所述上锁紧片组件(3)和下锁紧片组件(4)的后部分别与锁紧框(63)的内顶面和内底面横向滑动连接。 (62) and a locking block (63 driving the locking means (6) comprises a locking motor (61), a traction plate: 4. The robot apparatus according to the overall handling of the diode according to claim 1, characterized in that ); the locking motor (61) fixed to the base (the I); the locking motor (61) driven by a traction plate (62) movable forward and backward; the locking block (63) fixed to the drag plate (62) on; rear locking plate assembly (3) and a lower locking plate assembly (4) on the top surface and the inner bottom surface of the locking block is connected to the lateral slide (63), respectively.
5.根据权利要求4所述的用于二极管整体搬运的机械手装置,其特征在于:所述锁紧驱动机构(6 )的锁紧电机(61)采用步进电机。 The entire robot apparatus for conveying the diode according to claim 4, wherein: said drive locking mechanism (6) locking the motor (61) by a stepping motor.
6.根据权利要求1所述的用于二极管整体搬运的机械手装置,其特征在于:所述分离器(7)整体呈倒三角形;所述分离器(7)的下部并排设有多个分离插条,每个分离插条的底部均设有分离刃。 The diode overall handling robot apparatus according to claim 1 is used, wherein: said separator (7) integrally inverted triangle; a lower portion of the separator (7) is provided with a plurality of separate side by side plug strip, the bottom of each of the isolated cutting edge has separated.
7.根据权利要求1所述的用于二极管整体搬运的机械手装置,其特征在于:所述分离驱动机构(8)包括分离电机(81)、联轴器(82)、滚珠丝杠(83)、滚珠丝杠螺母(84)、滑块组件(85)和直线导轨(86);所述分离电机(81)和直线导轨(86)均固定在立板(9)上;所述分离电机(81)的输出轴通过联轴器(82)与滚珠丝杠(83)固定连接;所述滚珠丝杠(83)与滚珠丝杠螺母(84)螺纹连接;所述滚珠丝杠螺母(84)和分离器(7)均固定在滑块组件(85)上;所述滑块组件(85)与直线导轨(86)滑动连接。 The entire handling robot apparatus 1 for a diode according to claim, wherein: said separating drive mechanism (8) comprises a separate motor (81), the coupling (82), a ball screw (83) the ball screw nut (84), the slide assembly (85) and linear guides (86); the separation motor (81) and linear guides (86) are fixed on the upright plate (9); the separation motor ( 81) output shaft through a coupling (82) and the ball screw (83) is fixedly connected; said ball screw (83) and the ball screw nut (84) threaded connection; the ball screw nut (84) and the separator (7) are fixed on the slide assembly (85); said slide assembly (85) with linear guide (86) slidably connected.
8.根据权利要求7所述的用于二极管整体搬运的机械手装置,其特征在于:所述分离驱动机构(8)的分离电机(81)采用步进电机。 8. The entire robot apparatus for conveying the diode according to claim 7, wherein: said separating drive mechanism (8) separating the motor (81) by a stepping motor.
9.根据权利要求7所述的用于二极管整体搬运的机械手装置,其特征在于:所述分离驱动机构(8 )的滑块组件(85 )包括滑块(851)、丝杠螺母连接板(852 )和滑块安装板(853 );所述滑块(851)与直线导轨(86)滑动连接;所述丝杠螺母连接板(852)和滑块安装板(853)均与滑块(851)固定连接;所述滚珠丝杠螺母(84)固定在丝杠螺母连接板(852)上;所述分离器(7)固定在滑块安装板(853)上。 9. The entire robot apparatus for conveying the diode according to claim 7, wherein: said separating drive mechanism (8) of the slide assembly (85) comprises a slider (851), screw nut plate ( 852) and a slider mounting plate (853); a slide connected to the slide (851) and the linear guide (86); the screw nut plate (852) and a slider mounting plate (853) and each slider ( 851) fixedly connected; said ball screw nut (84) fixed to the spindle nut plate (852); said separator (7) fixed to the slider mounting plate (853).
CN 201310121428 2013-04-10 2013-04-10 For the entire handling robot diode means CN103236412B (en)

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CN202549817U (en) * 2012-04-20 2012-11-21 常州信息职业技术学院 Elastic hand grasping device for carrying diodes
CN203266649U (en) * 2013-04-10 2013-11-06 常州信息职业技术学院 Mechanical arm device for carrying diodes integrally

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US6492187B1 (en) * 1994-04-18 2002-12-10 Micron Technology, Inc. Method for automatically positioning electronic die within component packages
CN201307585Y (en) * 2008-09-28 2009-09-09 常州新区佳讯电子器材有限公司 Full automatic material combing conversion die
CN101577239A (en) * 2009-06-19 2009-11-11 常州新区佳讯电子器材有限公司 Fully-automatic diode combing machine
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