CN105563377B - Gripper - Google Patents
Gripper Download PDFInfo
- Publication number
- CN105563377B CN105563377B CN201510788480.7A CN201510788480A CN105563377B CN 105563377 B CN105563377 B CN 105563377B CN 201510788480 A CN201510788480 A CN 201510788480A CN 105563377 B CN105563377 B CN 105563377B
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- CN
- China
- Prior art keywords
- track
- clamping limb
- clamping
- chucking power
- force side
- 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.)
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Classifications
-
- B—PERFORMING OPERATIONS; TRANSPORTING
- B25—HAND TOOLS; PORTABLE POWER-DRIVEN TOOLS; MANIPULATORS
- B25B—TOOLS OR BENCH DEVICES NOT OTHERWISE PROVIDED FOR, FOR FASTENING, CONNECTING, DISENGAGING OR HOLDING
- B25B11/00—Work holders not covered by any preceding group in the subclass, e.g. magnetic work holders, vacuum work holders
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- Engineering & Computer Science (AREA)
- Mechanical Engineering (AREA)
- Prostheses (AREA)
- Manipulator (AREA)
Abstract
This patent discloses a kind of grippers, including：First clamping limb forms the first lever, includes the first bare terminal end positioned at the first balance pivot both sides and the first force side；The first track is provided on first force side, first track has length, and with the first end and the second end in its length direction；Second clamping limb forms the second lever, includes the second bare terminal end positioned at the second balance pivot both sides and the second force side；The second track is provided on second force side, second track has length, and in the third end and the 4th end of its length direction；Fulcrum of the pivot as first lever and the second lever；Chucking power forcing unit, the chucking power forcing unit are arranged on the track of first clamping limb and/or the second clamping limb.The chucking power of the gripper can conveniently and be linearly adjusted by adjusting the position of the chucking power forcing unit on the track.
Description
Technical field
This patent belongs to semiconductor production field, in particular to a kind of linear regulation for the production of LED bonding wire plates
The gripper of chucking power.
Background technology
It needs that various components, such as bonding wire plate are clamped in the production of semiconductor devices, in order to carry out correlation
Operation.Various component needs are usually clamped to be completed by means of gripper.
However, although clamping jaw in the prior art is generally capable of the metal plate of stable holding bonding wire plate, with stress fatigue
The problems such as with solenoidal appliance life, will produce after using the regular hour and loosening be clamped or even cannot be clamped etc. now
As.When there is clamping loosening, universal technical solution is the solenoid more renewed or replaces what it was clamped in the prior art
Parts.This method is of high cost, efficiency is low, and will adjust its chucking power to conjunction using the new latter beginning of mechanical claw component
Suitable level, intricate operation.
Invention content
This patent is based on the demand of the prior art and proposes, the technical problems to be solved by the patent is to carry
For a kind of gripper, the service life for the gripper for being used for clamping in the prior art can be improved, or can easily be adjusted
Save the chucking power of the gripper.
In order to solve this problem, this patent provides following technical solution：
A kind of gripper, including：First clamping limb forms the first lever, includes positioned at the of the first balance pivot both sides
One bare terminal end and the first force side；The first track is provided on first force side, first track has length, and has
There are the first end and the second end in its length direction；Second clamping limb forms the second lever, including is located at the second lever branch
Second bare terminal end of point both sides and the second force side；The second track, the second track tool are provided on second force side
There is length, and in the third end and the 4th end of its length direction；Pivot is set to first clamping limb and second
The middle part of clamping limb, the fulcrum as first lever and the second lever；The first end of the pivot and first track
The distance between portion is remoter than the distance between the second end of the pivot and first track；Chucking power forcing unit, institute
Chucking power forcing unit is stated to be arranged on the track of first clamping limb and/or the second clamping limb；Lock cell can be grasped
Make ground and locks the position of the chucking power forcing unit on the track.
Preferably, it is provided on the bare terminal end of the first clamping piece and the second clamping limb on the bare terminal end of first clamping limb
It is provided with the second clamping piece.
Preferably, the chucking power applying unit includes solenoid and magnet, and the solenoid is set to first folder
In gripping arm, the magnet is set on second clamping limb, and the solenoid and the magnet are positioned opposite.
Preferably, first track and the second track are long shape hole, and first track and the second parallel track are set
It sets.
Preferably, the lock cell includes bolt, and the bolt passes through the elongated hole by the chucking power forcing unit
It is fixed on force side.
Preferably, first lever is pedestal, and the mounting hole for installing the gripper is provided on the pedestal.
Preferably, the pedestal is formed as big Z-shaped, and first bare terminal end and the first force side include horizontal part, institute
The adjacent end portion for stating the first bare terminal end and the horizontal part of the first force side is connected by the first vertical portion；The pedestal is formed as anti-
Z-shaped, second bare terminal end and the second force side include horizontal part, the horizontal part of second bare terminal end and the second force side
Adjacent end portion connected by the second vertical portion.
Preferably, first vertical portion is formed as groove-like, and it is vertical that the second vertical portion of the folder is contained in described first
In portion.
Preferably, the height of the first vertical portion of the pedestal is more than the height of second vertical portion, the pivot setting
Position more than in the middle part of the first vertical portion and second value portion.
Preferably, the gripper further includes clamping piece position adjusting mechanism, the clamping piece position adjusting mechanism adjustment
Position of at least one clamping piece on the clamping direction relative to first clamping limb or the second clamping limb.
Institute can conveniently and be linearly adjusted by adjusting the position of the chucking power forcing unit on the track
State the chucking power of gripper.
Description of the drawings
Fig. 1 is the overall construction drawing of gripper of the embodiment of the present invention
Fig. 2 is clamping limb of the embodiment of the present invention and dependency structure figure；
Fig. 3 is the bare terminal end amplification assumption diagram of this patent embodiment.
Specific implementation mode
Specific implementation of the patent mode is illustrated below in conjunction with the accompanying drawings, it should be noted that the specific embodiment party
Formula is only the citing to this patent optimal technical scheme, can not be interpreted as the limitation to the scope of this patent.
The overall structure of the gripper of present embodiment is as shown in Figure 1.Institute
It includes pedestal 1 to state gripper.The pedestal 1 can be fixedly installed, and the pedestal is shaped generally as Z-shaped including parallel
Two horizontal parts being arranged, i.e., left horizontal part 11 and right horizontal part 12, the adjacent end portion of two horizontal parts pass through a vertical portion 13
Connection.
The gripper also has clamping limb 2, as shown in Fig. 2, being also formed at left and right sides of the clamping limb mutually flat
The adjacent end portion of capable horizontal part, i.e., left horizontal part 21, right horizontal part 22, two horizontal parts is connected also by a vertical portion 23,
The clamping limb is shaped generally as the shape of anti-Z-shaped.
The pedestal 1 and the clamping limb 2 are hinged in the position at middle part, to form forceps-like arrangement, institute in present embodiment
The vertical portion for stating pedestal 1 and clamping limb 2 is both provided with through-hole, and a shaft 3 is fixedly installed across the through-hole, the pedestal described in this way
1 and the clamping limb formed pliers shape after all be convenient for keep horizontality.
As shown in Figure 1, in the left side of the shaft 3, the horizontal part of the horizontal part of the pedestal and the clamping limb is opposite,
To form bare terminal end；On the right side of the shaft 3, the horizontal part of the horizontal part of the pedestal and the clamping limb is also opposite,
To form force side.Itself for pedestal or clamping limb, it is the lever of fulcrum to form one with the shaft 3, in this way
By applying so that the power that the pedestal and the clamping limb close up can drive the pedestal and clamping limb of bare terminal end in force side
It mutually draws close, to form the clamping to object is clamped.
Further, the vertical portion 13 of the pedestal is formed as groove-like, and the vertical portion 23 of the clamping limb is contained in institute
In the vertical portion 13 for stating pedestal, by this set convenient for the volume of the entire gripper of reduction.It is further preferred that the pedestal
The height of vertical portion 13 is more than the height of the vertical portion 23 of the clamping limb, and the position top in two vertical portions is arranged in the shaft 3
The distance between pedestal and the clamping limb described in the bare terminal end can be thus formed in closely by setting, and in the force side institute
The remote structure of the distance between pedestal and the clamping limb is stated, in order to be clamped rapidly in the bare terminal end, and in force side side
Corresponding force application structure is just installed.
The pedestal 1 and the clamping limb 2 are respectively arranged with the first clamping piece 4 and the second clamping piece 5 in the bare terminal end,
Two clamping pieces are positioned opposite to each other in order to the gripped object is clamped.Preferably, first clamping piece 4 and described second
The clamping face of clamping piece 5 is arranged perpendicular to the pedestal and the clamping limb, can prevent pedestal and clamping limb to clamping in this way
Generate interference.Two clamping pieces are formed as wedge shape, the big one end of the width of the wedge shape close to the pedestal or the clamping limb,
The tip of the wedge shape is arranged far from the pedestal or the clamping limb.It can firmly will be described while facilitating clamping in this way
Clamping piece is fixed on a corresponding position.
It is further preferred that the first clamping piece 4 being arranged on the pedestal 1 clamping direction on relative to the pedestal
Position can be adjusted, in this way when by adjusting first clamping piece along the scheduled height of clamping direction decline, so that it may with phase
Increase the chucking power between first clamping piece and the second clamping piece with answering；When adjusting first clamping piece is along clamping side
The chucking power between first clamping piece and second clamping piece can be correspondingly reduced when ramping up scheduled height.
As shown in Figure 3, specifically, the pedestal is located at the end of the horizontal part of bare terminal end and is formed there are two parallel separated
The first vertical plate 111 and the second vertical plate 112, be formed in the bottom of first vertical plate, 111 and second vertical plate 112
Bottom plate 113 forms accommodation space between two vertical plates and the bottom plate.It is formed with installation on first clamping piece 4
Tablet 41, the installation tablet 41 are contained in the accommodation space.First vertical plate 111 and the installation tablet 41 exist
Corresponding position is respectively opened up there are one semicircular hole, the semi-circular hole on the first vertical plate and the circular hole of installation tablet upper half
Opening is opposite, one round hole 42 of formation after installation tablet is installed in the accommodating space, setting one in the round hole
Straight pin (not shown) limits side-to-side movement of the installation tablet in the accommodating space by the straight pin.Described
First, the position on vertical plate 111 corresponding to the semi-circular hole is further opened with the threaded hole vertical with the semi-circular hole,
One bolt 114 is set in the threaded hole, by adjust the bolt make the cylindrical pin and the installation tablet against or not
Against to fix or dismantle the first clamping piece.The square that length extends along upper and lower directions is provided on second vertical plate
Shape hole 115, the rectangular opening 115 preferably uses round rectangle, to facilitate the matching with bolt.It opens the side of the mounting blocks 41
Equipped with thread circle hole 43 corresponding with the rectangular opening, pass through the thread circle hole and the nut bolt (not shown)
Coordinate from across the rectangular opening and the thread circle hole.So described first can be further fixed by tightening the bolt
Intermediate plate passes through the adjusting thread circle hole and the square in the position of the pedestal bare terminal end front-rear direction and left and right directions
Relative position relation between shape hole then allows the mounting blocks to transport within a predetermined range along vertical direction on the base
It is dynamic.
Circular hole 44 up and down is offered on the mounting blocks, is provided on the end bottom surface of the mounting blocks bare terminal end
Bolt hole 116, the circular hole up and down and the bolt hole of mounting blocks bottom surface be oppositely arranged, it is described up and down
One solenoid type spring 117 is set between circular hole and the bolt hole of the mounting blocks bottom surface, and a bolt (not shown) sequentially passes through institute
Circular hole, the solenoid type spring stated up and down are matched with the bolt hole of the mounting blocks bottom surface, by adjusting the spiral shell
Bolt hole described in bolt precession drives the mounting blocks to move down, and screwing out the bolt hole by adjusting bolt drives the installation
Block moves up.This makes it possible to adjust the height of the clamping piece by the adjusting bolt, to adjust machinery
The size of claw clip holding force.It can simply and reliablely be adjusted and the clamping piece by the installing mechanism of above-mentioned mounting blocks and pedestal
Chucking power, and facilitate installation and replacement.
The horizontal part of pedestal force side and the horizontal part of the clamping limb force side are also arranged in parallel, this specific implementation
Chucking power is applied to the gripper using solenoid 7 and magnetic part 6 in mode, specifically, the solenoid is arranged in institute
On the horizontal part for stating the force side of pedestal, the magnetic part 6 is set on the horizontal part of the force side of the clamping limb, the spiral shell
Spool is oppositely arranged with the magnetic part 6, and when the solenoid is energized, the solenoid is formed as magnet, the magnet and institute
The heteropolar opposite horizontal part to generate force side described in the power drive to attract each other for stating magnetic part 6 is close to each other, to drive
The clamping piece occlusion clamping of dynamic bare terminal end.
6 generally use soft magnetic materials of the magnetic part is made, and with the accumulation of usage time, the magnetism of soft magnetic materials can become
It obtains and no longer stablizes.Therefore the chucking power applied to force side is needed to be adjusted.
It is provided on the bare terminal end of the pedestal in present embodiment and to extend along the base length direction
Slot hole 121 forms track by the slot hole, and the slot hole 121 preferably uses round rectangle hole.The solenoid 7 is by wearing
The bolt for crossing slot hole is fixed on the pedestal.After the bolt is unscrewed, the solenoid can be along on the pedestal
Slot hole move left and right；After the bolt is tightened, the position of the solenoid on the base is relatively fixed.The clamping
It is also equipped with the slot hole 221 extended along the clamping limb length direction on arm, track, the length are formed by the also slot hole
Hole 221 preferably uses round rectangle hole.The magnetic part 6 is fixed on also by across the bolt of slot hole on the pedestal, Gu
After the bolt of the fixed magnetic part is unscrewed, the magnetic part can also be moved along the slot hole or so on the clamping limb；It is described
After bolt twists 8 tightly, the position of the solenoid 7 on the base is relatively fixed.
When the solenoid and the magnetic part are moved to the direction far from the shaft 3, due to the torque of force side
Increase, therefore according to lever principle, then the chucking power of bare terminal end accordingly increases.Due to the magnetic field intensity of solenoid 7 or magnetic part 6
It can gradually die down over time, thus only need to adjust the solenoid and the magnetic part in force side relative to institute
Adjusting to chucking power had both may be implemented in the position for stating shaft 3, without frequently replacing intermediate plate either solenoid or magnetic part.
And this to adjust chucking power, it is linear to the adjusting of clamping by way of Torque-adjusting, convenient for accurately controlling clamping
The size of power.
Further, holding meanss are additionally provided on the gripper, in the case where not applying chucking power, the guarantor
It holds device and the gripper is maintained at opening state.The opening state is realized using spring 8 in present embodiment
It keeps.One end of the spring 8 is set on the pedestal, and the other end is set on the clamping limb, is applied to the clamping limb
The power in the direction far from the pedestal, to which the clamping piece on the clamping piece and the pedestal on the clamping limb to be maintained at point
From state, thus when not exerting a force to the gripper gripper for opening state.When the solenoid is powered,
The solenoid and the magnetic substance attract each other to apply chucking power, the chucking power to the pedestal and the clamping limb
Size be enough to overcome the elastic force of the spring, thus the gripper is driven to be detached from opening state to realize clamping.
The spring can be set on the pedestal and the opposite inner surface of the clamping limb, and such spring applies one
Outside thrust, to keep the opening state.
Although illustrating the several embodiments of this patent in the specific implementation mode, these embodiments are only made
It is proposed for example, is not intended to limit the scope of the present invention.These new embodiments, can with various other ways into
Row is implemented, and without departing from the spirit of the invention, can carry out various omissions, displacement, combination and change.These are implemented
Mode and its deformation are all contained in the range and main idea of this patent, and be contained in the present invention recorded in claims and
In its equivalency range.
Claims (3)
1. a kind of gripper, which is characterized in that including：
First clamping limb forms the first lever, includes the first bare terminal end positioned at the first balance pivot both sides and the first force side；
The first track is provided on first force side, first track has length, and with the first of its length direction
End and the second end；
Second clamping limb forms the second lever, includes the second bare terminal end positioned at the second balance pivot both sides and the second force side；
The second track is provided on second force side, second track has length, and with the third in its length direction
End and the 4th end；
Pivot is set to the middle part of first clamping limb and the second clamping limb, as first lever and the second lever
Fulcrum；The distance between the pivot and the first end of first track are than the pivot and the second of second track
The distance between end is remote；
Chucking power forcing unit, the chucking power forcing unit are arranged at first clamping limb and/or the second clamping limb end
On track；
Lock cell operationally locks chucking power forcing unit position in orbit；The folder of first clamping limb
It holds and is provided with the first clamping piece on end, and be provided with the second clamping piece on the bare terminal end of the second clamping limb；
The chucking power forcing unit includes solenoid and magnet, and the solenoid is set on first clamping limb, described
Magnet is set on second clamping limb, and the solenoid and the magnet are positioned opposite.
2. gripper according to claim 1, which is characterized in that first track and the second track are long shape hole,
First track and the setting of the second parallel track.
3. gripper according to claim 2, which is characterized in that the lock cell includes bolt, and the bolt passes through
The chucking power forcing unit is fixed on force side by the long shape hole.
Priority Applications (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201510788480.7A CN105563377B (en) | 2015-11-17 | 2015-11-17 | Gripper |
Applications Claiming Priority (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201510788480.7A CN105563377B (en) | 2015-11-17 | 2015-11-17 | Gripper |
Publications (2)
| Publication Number | Publication Date |
|---|---|
| CN105563377A CN105563377A (en) | 2016-05-11 |
| CN105563377B true CN105563377B (en) | 2018-09-18 |
Family
ID=55874287
Family Applications (1)
| Application Number | Title | Priority Date | Filing Date |
|---|---|---|---|
| CN201510788480.7A Active CN105563377B (en) | 2015-11-17 | 2015-11-17 | Gripper |
Country Status (1)
| Country | Link |
|---|---|
| CN (1) | CN105563377B (en) |
Families Citing this family (3)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN107579705B (en) | 2017-08-15 | 2019-11-05 | 华为数字技术（苏州）有限公司 | A kind of photovoltaic module connection structure |
| CN107598467B (en) * | 2017-09-12 | 2023-11-24 | 广州瑞松智能科技股份有限公司 | Rotary mechanism |
| CN110153751A (en) * | 2019-06-25 | 2019-08-23 | 深圳市华惠连接器有限公司 | A kind of fixture |
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|---|---|---|---|---|
| US3672556A (en) * | 1970-07-13 | 1972-06-27 | John C Diepeveen | Wire clamp |
| US20040099711A1 (en) * | 2002-11-21 | 2004-05-27 | Asm Technology Singapore Pte Ltd | Clamp actuation mechanism |
| CN1551321A (en) * | 2003-05-19 | 2004-12-01 | 先进科技新加坡有限公司 | Clamping device |
| US20070284795A1 (en) * | 2006-06-08 | 2007-12-13 | Research In Motion Limited | Use of magnets to provide resilience |
| CN202479992U (en) * | 2011-12-16 | 2012-10-10 | 东莞华中科技大学制造工程研究院 | Micro holder for lead bonding |
| CN103112011A (en) * | 2012-12-13 | 2013-05-22 | 重庆巨康建材有限公司 | Work piece clamp device |
| CN103579072A (en) * | 2013-11-20 | 2014-02-12 | 北京中电科电子装备有限公司 | Buffering device for piece clamping mechanism |
| CN103722561A (en) * | 2013-12-24 | 2014-04-16 | 北京工业大学 | Flexibly rotatable mechanical claw |
| CN103753590A (en) * | 2013-12-18 | 2014-04-30 | 大连佳峰电子有限公司 | Single-electromagnet double-movement electromagnetic clamping jaw mechanism |
| CN203622268U (en) * | 2013-12-03 | 2014-06-04 | 西安理工大学 | Inclined-wedge lever clamper |
| CN204720435U (en) * | 2015-06-26 | 2015-10-21 | 宁波市富星电子有限公司 | A kind of solar cell plate clamp |
| CN205254831U (en) * | 2015-11-17 | 2016-05-25 | 深圳市德沃先进自动化有限公司 | Mechanical claw |
-
2015
- 2015-11-17 CN CN201510788480.7A patent/CN105563377B/en active Active
Patent Citations (12)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| US3672556A (en) * | 1970-07-13 | 1972-06-27 | John C Diepeveen | Wire clamp |
| US20040099711A1 (en) * | 2002-11-21 | 2004-05-27 | Asm Technology Singapore Pte Ltd | Clamp actuation mechanism |
| CN1551321A (en) * | 2003-05-19 | 2004-12-01 | 先进科技新加坡有限公司 | Clamping device |
| US20070284795A1 (en) * | 2006-06-08 | 2007-12-13 | Research In Motion Limited | Use of magnets to provide resilience |
| CN202479992U (en) * | 2011-12-16 | 2012-10-10 | 东莞华中科技大学制造工程研究院 | Micro holder for lead bonding |
| CN103112011A (en) * | 2012-12-13 | 2013-05-22 | 重庆巨康建材有限公司 | Work piece clamp device |
| CN103579072A (en) * | 2013-11-20 | 2014-02-12 | 北京中电科电子装备有限公司 | Buffering device for piece clamping mechanism |
| CN203622268U (en) * | 2013-12-03 | 2014-06-04 | 西安理工大学 | Inclined-wedge lever clamper |
| CN103753590A (en) * | 2013-12-18 | 2014-04-30 | 大连佳峰电子有限公司 | Single-electromagnet double-movement electromagnetic clamping jaw mechanism |
| CN103722561A (en) * | 2013-12-24 | 2014-04-16 | 北京工业大学 | Flexibly rotatable mechanical claw |
| CN204720435U (en) * | 2015-06-26 | 2015-10-21 | 宁波市富星电子有限公司 | A kind of solar cell plate clamp |
| CN205254831U (en) * | 2015-11-17 | 2016-05-25 | 深圳市德沃先进自动化有限公司 | Mechanical claw |
Also Published As
| Publication number | Publication date |
|---|---|
| CN105563377A (en) | 2016-05-11 |
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