CN105246318A - Composite gripper for special-shaped elements - Google Patents
Composite gripper for special-shaped elements Download PDFInfo
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- CN105246318A CN105246318A CN201510688953.6A CN201510688953A CN105246318A CN 105246318 A CN105246318 A CN 105246318A CN 201510688953 A CN201510688953 A CN 201510688953A CN 105246318 A CN105246318 A CN 105246318A
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- slide block
- shaped element
- finger
- connecting rod
- finger slide
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Abstract
The invention discloses a composite gripper for special-shaped elements. The composite gripper comprises a rack, a gripping mechanism and a suction cup mechanism; the rack is mounted on a chip plugging machine; the gripping mechanism and the suction cup mechanism are both installed on the rack; the gripping mechanism includes fingers for gripping the special-shaped elements; the suction cup mechanism includes a suction cup for sucking the special-shaped elements; the suction cup and the fingers of the gripping mechanism are located on the same straight line; and the suction cup is located between the two fingers. According to the composite gripper of the invention, the gripping mechanism with a gripping function and the suction cup mechanism with a sucking function are integrated on the same gripper, so that the gripper can be applicable to feeding, discharging and surface mounting of the special-shaped elements in different sizes. With the composite gripper of the invention adopted, surface mounting of standard elements can be realized, and large-sized special-shaped elements do not need manual surface mounting, and therefore, production efficiency can be improved. The composite gripper has the advantages of compact structure and convenient operation.
Description
Technical field
The present invention relates to mechanical grippers technical field, particularly relate to shaped element composite clamp holder.
Background technology
At present, the packing forms of surface patch element had hundred kinds, and was that independently mechanical grippers studied by each element, and not only efficiency is low, and unrealistic.
Shaped element spreads in various products, and it is different that they present, and size is different, can be very heavy when size is large, and size hour can be very light, brings challenges like this to Electronic Assemblies operation.The assembling of present shaped element generally has hand assembled and uses automation equipment to assemble two kinds of modes.
For using traditional vacuum slot operation, this class component only has very little surf zone to utilize usually, so the mounting device being difficult to use standard carries out automatic assembling work to shaped element.This situation not only can have influence on the function of shaped element, and can have influence on the characteristic of most printed circuit board assembly equipment.In addition, due to design defect, many shaped element adopt bearing tray or bulk form, easily go wrong in the support of device.Existing shaped element clamping apparatus, mainly contain single suction structure, pneumatic machinery pawl structure and self adaptation clamping technique etc., wherein self adaptation clamping technique replaces face to contact by abundant point cantact, or change the rigidity of clamper, namely changing mill stiffness method such as rope drives, application magnetic flow liquid changes fixture rigidity etc., but does not meet the production line balance pattern of shaped element dress subsides.
Therefore current, standard component paster generally adopts suction nozzle to carry out mounting or pneumatic machinery pawl, and suction nozzle carries out mounting because of its fast accurate and for pneumatic and enjoy great popularity, but suction nozzle can only draw the element of finite size; And pneumatic machinery pawl, if firmly excessive, the shaped element little for some sizes can cause damage.
Summary of the invention
The object of the present invention is to provide and a kind ofly adapt to that the shaped element that size differs carries out loading and unloading, the clamper of attachment function proposes a kind of shaped element composite clamp holder.
For reaching this object, the present invention by the following technical solutions:
Shaped element composite clamp holder, comprises frame, fixture and sucking disc mechanism; Described frame is installed on plug-in sheet machine, and described fixture and described sucking disc mechanism are all installed in described frame;
Described fixture comprises the finger for clamping shaped element; Described sucking disc mechanism comprises the sucker for adsorbing shaped element;
The finger of described sucker and described fixture on the same line, and described sucker described in two finger between.
Preferably, described fixture comprises provides the first drive unit of rotary power, main transmission bar, auxiliary connecting rod, refer to slide block, guide rail and finger;
Described auxiliary connecting rod comprises left redundant connecting rod and right redundant connecting rod; Described finger slide block comprises left finger slide block and right finger slide block; Described guide rail comprises fromer rail and rear rail; Described finger comprises left hand and refers to refer to the right hand;
Described main transmission bar is connected with the drive end of described first drive unit; The left end of described main transmission bar is connected with one end of described left redundant connecting rod, and the other end of described left redundant connecting rod is connected with described left finger slide block; The right-hand member of described main transmission bar is connected with one end of described right redundant connecting rod; The other end of described right redundant connecting rod is connected with described right finger slide block; Described fromer rail is parallel with described rear rail is installed on described frame, and forms sliding space between described fromer rail and described rear rail; Described left finger slide block and described right finger slide block are located in sliding space, and are limited to move in left-right direction;
Described left hand refers to refer to the described right hand be installed on described left finger slide block and described right finger slide block respectively.
Preferably, the inner side of described fromer rail and described rear rail is provided with groove; The both sides of described left finger slide block and described right finger slide block are provided with the projection with described fit depressions.
Preferably, described fromer rail is connected with connecting plate with the centre of the bottom of described rear rail.
Preferably, described sucking disc mechanism comprises supporting member, sucker and the second drive unit; Described sucker is installed on described supporting member; Described second drive unit drives described supporting member to move up and down, thus drives described sucker to move up and down.
Preferably, described second drive unit comprises cylinder and push rod; Described cylinder comprises front air cylinder and exhaust hood; Described push rod comprises front push rod and rear push-rod; The two ends of described supporting member are connected with described front push rod and rear push-rod; Described front air cylinder and described exhaust hood drive front push rod and rear push-rod to stretch respectively.
Preferably, described front push rod and described rear push-rod are all set with spring; The blow vent place of described front air cylinder and described exhaust hood is provided with the air valve for adjustments of gas.
Preferably, described supporting member is U-shaped structure, installs be connected with described left push rod and described right push rod; Described vacuum cup is installed on the middle part of described U-shaped structure.
Preferably, the semiclosed body structure that is made up of top board, right baffle-plate, right baffle plate, front apron and backboard of described frame; Described first drive unit, described main transmission bar, described auxiliary connecting rod, described finger slide block and described guide rail cover by described semiclosed casing; Described front air cylinder and described exhaust hood are installed on the outside of described front apron and backboard respectively;
The top of described right baffle-plate, right baffle plate, front apron and backboard is all installed by L shape block with the bottom of described top board and is connected.
Preferably, described top board is provided with installing hole.
The fixture with holding function is incorporated in same clamper with the sucking disc mechanism with absorption function by the present invention, make it to adapt to the shaped element that differs of size and carry out loading and unloading, attachment function, attachment standard component can not only be carried out, and larger-size shaped element is pasted without the need to people's frock, improve the efficiency of producing, compact conformation simultaneously, handled easily.
Accompanying drawing explanation
Fig. 1 is the front elevational schematic of the present invention's specific embodiment;
Fig. 2 is exploded side schematic diagram of the present invention;
Fig. 3 is the front elevational schematic that the present invention does not have frame;
Fig. 4 is the exploded side schematic diagram that the present invention does not have frame;
Fig. 5 is the schematic top plan view of part-structure of the present invention;
Fig. 6 is the structural representation of another specific embodiment of the present invention.
Wherein: main transmission bar 1, auxiliary connecting rod 2, refers to slide block 3, guide rail 4, finger 5, cylinder 6, supporting member 7, sucker 8, push rod 9, spring 10, air valve 11, frame 12, first drive unit 13, connecting plate 14, left redundant connecting rod 21, right redundant connecting rod 22, left finger slide block 31, right finger slide block 32, fromer rail 41, rear rail 42, left hand refers to 51, and the right hand refers to 52, front air cylinder 61, exhaust hood 62, front push rod 91, rear push-rod 92, L shape block 100, top board 121, right baffle-plate 122, right baffle plate 123, front apron 124, backboard 125.
Embodiment
Technical scheme of the present invention is further illustrated by embodiment below in conjunction with accompanying drawing.
Here explanation is needed, accompanying drawing be only illustrate this programme and schematic diagram, not in strict accordance with scale, wherein for illustrating that some technical problem has corresponding adjusted size, and use in this programme " on ", D score, the orientation such as "left", "right" " front " " afterwards " describe, except as expressly stated, only understand a use for convenience of scheme, do not form and the essence of this programme is limited.
As shown in Figures 1 to 6, shaped element composite clamp holder, comprises frame 12, fixture and sucking disc mechanism; Described frame 12 is installed on plug-in sheet machine, and described fixture and described sucking disc mechanism are all installed in described frame 12; Described fixture comprises the finger 5 for clamping shaped element; Described sucking disc mechanism comprises the sucker 8 for adsorbing shaped element;
The finger 5 of described sucker 8 and described fixture on the same line, and pointing between 5 described in two by described sucker 8.
By utilizing described fixture and described sucking disc mechanism to be composited clamper, so just can work as shaped element when being of a size of 20-90mm, using the described finger 5 of described fixture to clamp; When shaped element is of a size of 8-20mm, just adopts sucker 8 to draw, so just can realize the clamping work of large to size or that size is little shaped element, do not need to change clamper, improve operating efficiency.Described sucker 8 between the described finger 5 of described fixture, compact conformation, handled easily.The fixture with holding function is incorporated in same clamper with the sucking disc mechanism with absorption function by the present invention, make it to adapt to the shaped element that differs of size and carry out loading and unloading, attachment function, attachment standard component can not only be carried out, and larger-size shaped element is pasted without the need to people's frock, improve the efficiency of producing, compact conformation simultaneously, handled easily.
Preferably, as shown in Figures 2 and 3, described fixture comprises provides the first drive unit 13 of rotary power, main transmission bar 1, auxiliary connecting rod 2, refer to slide block 3, guide rail 4 and finger 5;
Described auxiliary connecting rod 2 comprises left redundant connecting rod 21 and right redundant connecting rod 22; Described finger slide block 3 comprises left finger slide block 31 and right finger slide block 32; Described guide rail 4 comprises fromer rail 41 and rear rail 42; Described finger 5 comprise left hand refer to 51 and the right hand refer to 52;
Described main transmission bar 1 is connected with the drive end of described first drive unit 13; The left end of described main transmission bar 1 is connected with one end of described left redundant connecting rod 21, and the other end of described left redundant connecting rod 21 is connected with described left finger slide block 31; The right-hand member of described main transmission bar 1 is connected with one end of described right redundant connecting rod 22; The other end of described right redundant connecting rod 22 is connected with described right finger slide block 32; Described fromer rail 41 is parallel with described rear rail 42 is installed on described frame 12, and forms sliding space between described fromer rail 41 and described rear rail 42; Described left finger slide block 31 and described right finger slide block 32 are located in sliding space, and are limited to move in left-right direction;
Described left hand refer to 51 and the described right hand refer to that 52 are installed on described left finger slide block 31 and described right finger slide block 32 respectively.
When shaped element is of a size of 20-90mm, described sucker is toward retraction, abdicate space to clamp to fixture, now described first drive unit 13 rotates forward, described main transmission bar 1 is driven to rotate, described left redundant connecting rod 31 and described right redundant connecting rod 32 " are pulled to " center " along with the rotation of described main transmission bar 1, described finger 5 are closed, now completes grasping movement simultaneously.When wanting described finger 5 to open, described first drive unit 13 reverses, and main transmission bar 1 is rotated backward, " strutting " described left redundant connecting rod 31 and described right redundant connecting rod 32, described finger 5 is opened, completes loosening up.Structure is simple, and cost is low, swift to operate, has higher stability.Described first drive unit 13 is steering wheel, and cost is low, stable.
Preferably, as shown in Figure 3, described left redundant connecting rod 21 and described right redundant connecting rod 22 are arc-shaped connecting rod, and it is symmetrical, when connection is installed, described left redundant connecting rod 21 and described right redundant connecting rod 22 are just in time contrary, and such first drive unit 13 drives described left finger slide block 31 and described right finger slide block 32 to move more laborsaving, can also prevent described left finger slide block 31 and described right finger slide block 32 locked.
Preferably, as shown in Figure 2, the inner side of described fromer rail 41 and described rear rail 42 is provided with groove; The both sides of described left finger slide block 31 and described right finger slide block 32 are provided with the projection with described fit depressions.
Adopt the projection referring to slide block 3 with the groove fit of described guide rail 4, described finger slide block 3 is realized mobile, structure is simple, and in moving process, stability is high, therefore there will not be when clamping shaped element the phenomenon dropped.
Preferably, as shown in Figure 5, described fromer rail 41 is connected with connecting plate 14 with the middle of bottom of described rear rail 42.
Described connecting plate 14 is used described fromer rail 41 and described rear rail 42 to be connected and fixed, ensure that the space between described fromer rail 41 and described rear rail 42 is fixing, avoiding being moved and make the mobile unstable of finger slide block, occurring the phenomenon dropped when clamping shaped element because of unstable.
Preferably, as shown in Figure 4, described sucking disc mechanism comprises supporting member 7, sucker 8 and the second drive unit; Described sucker 8 is installed on described supporting member 7; Described second drive unit drives described supporting member 7 to move up and down, thus drives described sucker 8 to move up and down.
The sucking disc mechanism be made up of supporting member 7, sucker 8 and the second drive unit, structure is simple, it is convenient to install, have good stability, and cost is low.
Preferably, the sucker 8 in the technical program is vacuum cup, and absorption is stable, and structure is simple, and cost is low.)
Preferably, described second drive unit comprises cylinder 6 and push rod 9; Described cylinder 6 comprises front air cylinder 61 and exhaust hood 62; Described push rod 9 comprises front push rod 91 and rear push-rod 92; The two ends of described supporting member 7 are connected with described front push rod 91 and rear push-rod 92; Before described front air cylinder 61 and described exhaust hood 62 drive respectively, push rod 91 and rear push-rod 92 stretch.
When shaped element is of a size of 8-20mm, the described finger 5 of fixture opens, and gas is entered by blow vent, and push rod stretches out, and drives the supporting member 7 of vacuum cup to stretch out, completes extend action; When vacuum generator starts, gas is gone out by blow vent, causes cylinder negative pressure to increase, and push rod, toward retraction, drives supporting member back, completes retract action.
The second driving device structure be made up of described cylinder 6 and described push rod 9 is simple, cost is low, driving is stable.The two ends of described supporting member 7 are connected with described front push rod 91 and rear push-rod 92 respectively; Before described front air cylinder 61 and described exhaust hood 62 drive respectively, push rod 91 and rear push-rod 92 stretch, and improve the stability in described supporting member 7 moving process, avoid shaped element to drop.
Preferably, as shown in Figure 6, described front push rod 91 and described rear push-rod 92 are all set with spring 10; The blow vent place of described front air cylinder 61 and described exhaust hood 62 is provided with the air valve 11 for adjustments of gas.
Described spring 10 plays cushioning effect, and described air valve 11 facilitates adjustments of gas to enter described front air cylinder 61 and described exhaust hood 62.
Preferably, as shown in Figure 5, described supporting member 7 is U-shaped structure, installs be connected with described left push rod 91 and described right push rod 92; Described vacuum cup is installed on the middle part of described U-shaped structure.
Described supporting member 7 is while U-shaped structure conveniently connects described left push rod 91 and described right push rod 92, and the described vacuum cup of convenient installation is simple and compact for structure.
Preferably, as shown in Figure 1, the semiclosed body structure that is made up of top board 121, right baffle-plate 122, right baffle plate 123, front apron 124 and backboard 125 of described frame 12; Described first drive unit 13, described main transmission bar 1, described auxiliary connecting rod 2, described finger slide block 3 and described guide rail 4 cover by described semiclosed casing; Described front air cylinder 61 and described exhaust hood 62 are installed on the outside of described front apron 124 and backboard 125 respectively;
The top of described right baffle-plate 122, right baffle plate 123, front apron 124 and backboard 125 is all installed by L shape block 100 with the bottom of described top board 121 and is connected.
The semiclosed body structure that described frame 12 is made up of top board 121, right baffle-plate 122, right baffle plate 123, front apron 124 and backboard 125, such structure not only serve install fix, support described fixture and sucking disc mechanism while, dust-proof and clean-keeping function can also be played.Adopt described L shape block 100 that described right baffle-plate 122, right baffle plate 123, front apron 124 are connected with described top board 121 with backboard 125, install convenient, cost is low.
Preferably, described top board 121 is provided with installing hole.
Described installing hole (attached not shown in FIG.) is used conveniently described shaped element composite clamp holder to be installed on described plug-in sheet machine.
Below know-why of the present invention is described in conjunction with specific embodiments.These describe just in order to explain principle of the present invention, and can not be interpreted as limiting the scope of the invention by any way.Based on explanation herein, those skilled in the art does not need to pay performing creative labour can associate other embodiment of the present invention, and these modes all will fall within protection scope of the present invention.
Claims (10)
1. shaped element composite clamp holder, is characterized in that: comprise frame, fixture and sucking disc mechanism; Described fixture and described sucking disc mechanism are all installed on described frame;
Described fixture comprises the finger for clamping shaped element; Described sucking disc mechanism comprises the sucker for adsorbing shaped element;
The finger of described sucker and described fixture on the same line, and described sucker described in two finger between.
2. shaped element composite clamp holder according to claim 1, is characterized in that: described fixture comprises provides the first drive unit of rotary power, main transmission bar, auxiliary connecting rod, refer to slide block, guide rail and finger;
Described auxiliary connecting rod comprises left redundant connecting rod and right redundant connecting rod; Described finger slide block comprises left finger slide block and right finger slide block; Described guide rail comprises fromer rail and rear rail; Described finger comprises left hand and refers to refer to the right hand;
Described main transmission bar is connected with the drive end of described first drive unit; The left end of described main transmission bar is connected with one end of described left redundant connecting rod, and the other end of described left redundant connecting rod is connected with described left finger slide block; The right-hand member of described main transmission bar is connected with one end of described right redundant connecting rod; The other end of described right redundant connecting rod is connected with described right finger slide block; Described fromer rail is parallel with described rear rail is installed on described frame, and forms sliding space between described fromer rail and described rear rail; Described left finger slide block and described right finger slide block are located in sliding space, and are limited to move in left-right direction;
Described left hand refers to refer to the described right hand be installed on described left finger slide block and described right finger slide block respectively.
3. shaped element composite clamp holder according to claim 2, is characterized in that: the inner side of described fromer rail and described rear rail is provided with groove; The both sides of described left finger slide block and described right finger slide block are provided with the projection with described fit depressions.
4. shaped element composite clamp holder according to claim 3, is characterized in that: described fromer rail is connected with connecting plate with the centre of the bottom of described rear rail.
5. shaped element composite clamp holder according to claim 4, is characterized in that: described sucking disc mechanism comprises supporting member, sucker and the second drive unit; Described sucker is installed on described supporting member; Described second drive unit drives described supporting member to move up and down, thus drives described sucker to move up and down.
6. shaped element composite clamp holder according to claim 5, is characterized in that: described second drive unit comprises cylinder and push rod; Described cylinder comprises front air cylinder and exhaust hood; Described push rod comprises front push rod and rear push-rod; The two ends of described supporting member are connected with described front push rod and rear push-rod; Described front air cylinder and described exhaust hood drive front push rod and rear push-rod to stretch respectively.
7. shaped element composite clamp holder according to claim 6, is characterized in that: described front push rod and described rear push-rod are all set with spring; The blow vent place of described front air cylinder and described exhaust hood is provided with the air valve for adjustments of gas.
8. shaped element composite clamp holder according to claim 7, is characterized in that: described supporting member is U-shaped structure, installs be connected with described left push rod and described right push rod; Described vacuum cup is installed on the middle part of described U-shaped structure.
9. shaped element composite clamp holder according to claim 8, is characterized in that: the semiclosed body structure that described frame is made up of top board, right baffle-plate, right baffle plate, front apron and backboard; Described first drive unit, described main transmission bar, described auxiliary connecting rod, described finger slide block and described guide rail cover by described semiclosed casing; Described front air cylinder and described exhaust hood are installed on the outside of described front apron and backboard respectively;
The top of described right baffle-plate, right baffle plate, front apron and backboard is all installed by L shape block with the bottom of described top board and is connected.
10. shaped element composite clamp holder according to claim 9, is characterized in that: described top board is provided with installing hole.
Priority Applications (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201510688953.6A CN105246318A (en) | 2015-10-21 | 2015-10-21 | Composite gripper for special-shaped elements |
Applications Claiming Priority (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201510688953.6A CN105246318A (en) | 2015-10-21 | 2015-10-21 | Composite gripper for special-shaped elements |
Publications (1)
| Publication Number | Publication Date |
|---|---|
| CN105246318A true CN105246318A (en) | 2016-01-13 |
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| Application Number | Title | Priority Date | Filing Date |
|---|---|---|---|
| CN201510688953.6A Pending CN105246318A (en) | 2015-10-21 | 2015-10-21 | Composite gripper for special-shaped elements |
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| CN (1) | CN105246318A (en) |
Cited By (5)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN109247009A (en) * | 2018-11-18 | 2019-01-18 | 湖南新融创科技有限公司 | A kind of mobile phone patch attachment homalocephalus nozzle unit |
| CN111372438A (en) * | 2020-04-23 | 2020-07-03 | 郑州铁路职业技术学院 | Electronic part installation device |
| CN111874565A (en) * | 2020-08-27 | 2020-11-03 | 江阴市查克拉科技有限公司 | LED frame product snatchs mechanism |
| CN113038818A (en) * | 2021-02-25 | 2021-06-25 | 江苏工程职业技术学院 | Loading attachment is used in electronic equipment production |
| CN117399942A (en) * | 2023-11-14 | 2024-01-16 | 东莞市力博特智能装备有限公司 | Pneumatic operation clamp and assembly piece thereof |
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| CN104582303A (en) * | 2014-12-31 | 2015-04-29 | 东莞市科立电子设备有限公司 | Special-shaped component inserter with double working heads |
| CN205082133U (en) * | 2015-10-21 | 2016-03-09 | 广东工业大学 | Compound holder of abnormal shape component |
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| JPH08318488A (en) * | 1995-05-19 | 1996-12-03 | Kubota Corp | Robot hand |
| CN101459101A (en) * | 2009-01-09 | 2009-06-17 | 富创得科技（沈阳）有限公司 | Automatic conveying device for turnover type wafer |
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Cited By (7)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN109247009A (en) * | 2018-11-18 | 2019-01-18 | 湖南新融创科技有限公司 | A kind of mobile phone patch attachment homalocephalus nozzle unit |
| CN111372438A (en) * | 2020-04-23 | 2020-07-03 | 郑州铁路职业技术学院 | Electronic part installation device |
| CN111372438B (en) * | 2020-04-23 | 2022-07-15 | 郑州铁路职业技术学院 | Electronic part installation device |
| CN111874565A (en) * | 2020-08-27 | 2020-11-03 | 江阴市查克拉科技有限公司 | LED frame product snatchs mechanism |
| CN113038818A (en) * | 2021-02-25 | 2021-06-25 | 江苏工程职业技术学院 | Loading attachment is used in electronic equipment production |
| CN117399942A (en) * | 2023-11-14 | 2024-01-16 | 东莞市力博特智能装备有限公司 | Pneumatic operation clamp and assembly piece thereof |
| CN117399942B (en) * | 2023-11-14 | 2024-04-12 | 东莞市力博特智能装备有限公司 | Pneumatic operation clamp and assembly piece thereof |
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Application publication date: 20160113 |
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