CN106945061A - Manipulator additional LEDs full-automatic testing machine - Google Patents
Manipulator additional LEDs full-automatic testing machine Download PDFInfo
- Publication number
- CN106945061A CN106945061A CN201710105746.2A CN201710105746A CN106945061A CN 106945061 A CN106945061 A CN 106945061A CN 201710105746 A CN201710105746 A CN 201710105746A CN 106945061 A CN106945061 A CN 106945061A
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- manipulator
- refers
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- finger
- light emitting
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- B—PERFORMING OPERATIONS; TRANSPORTING
- B25—HAND TOOLS; PORTABLE POWER-DRIVEN TOOLS; MANIPULATORS
- B25J—MANIPULATORS; CHAMBERS PROVIDED WITH MANIPULATION DEVICES
- B25J15/00—Gripping heads and other end effectors
- B25J15/0033—Gripping heads and other end effectors with gripping surfaces having special shapes
- B25J15/0038—Cylindrical gripping surfaces
-
- B—PERFORMING OPERATIONS; TRANSPORTING
- B25—HAND TOOLS; PORTABLE POWER-DRIVEN TOOLS; MANIPULATORS
- B25J—MANIPULATORS; CHAMBERS PROVIDED WITH MANIPULATION DEVICES
- B25J15/00—Gripping heads and other end effectors
- B25J15/0052—Gripping heads and other end effectors multiple gripper units or multiple end effectors
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- Engineering & Computer Science (AREA)
- Robotics (AREA)
- Mechanical Engineering (AREA)
- Manipulator (AREA)
Abstract
The present invention relates to machine-building equipment, more specifically to the automated production equipment for electronic product.A kind of manipulator additional LEDs full-automatic testing machine, including：Workbench, manipulator, manipulator support, line slideway, displacement cylinder, feeding track, testboard, No. two testboards, No. three testboards, a collecting mechanisms, the manipulator support is fixed on the workbench, the line slideway, the cylinder block of displacement cylinder are fixed on the manipulator support, the manipulator is movably connected on the line slideway, and the end of the piston rod of the displacement cylinder is fixed on the manipulator；The feeding track, testboard, No. two testboards, No. three testboards, a collecting mechanisms are disposed with the juxtaposed positions of the manipulator.The invention provides a kind of manipulator additional LEDs full-automatic testing machine, light emitting diode for disposably capturing multiple same types, the multiple performance test completed on multiple testboards to light emitting diode is positioned over, full-automatic, unmanned operation, high working efficiency is realized.
Description
Technical field
The present invention relates to machine-building equipment, more specifically to the automated production equipment for electronic product.
Background technology
Existing manipulator is all motor driving, hydraulic oil cylinder driving, air cylinder driven, still, the machine that a driver element drives
Tool hand can be only done the crawl to a light emitting diode.So as to cause the less efficient of manipulator.
The content of the invention
Object of the present invention is to provide a kind of manipulator additional LEDs full-automatic testing machine, for once
Property the multiple same types of crawl light emitting diode, be positioned over the multiple performance survey completed on multiple testboards to light emitting diode
Examination, realizes full-automatic, unmanned operation, high working efficiency.
A kind of manipulator additional LEDs full-automatic testing machine, including：Workbench, manipulator, manipulator support,
Line slideway, displacement cylinder, feeding track, testboard, No. two testboards, No. three testboards, a collecting mechanisms, the machinery
Hand support is fixed on the workbench, and the line slideway, the cylinder block of displacement cylinder are fixed on the manipulator support, described
Manipulator is movably connected on the line slideway, and the end of the piston rod of the displacement cylinder is fixed on the manipulator；Institute
The juxtaposed positions for stating manipulator are disposed with the feeding track, testboard, No. two testboards, No. three testboards, a receipts
Collecting mechanism；
The manipulator includes：For provide support support, for realize the finger clamped to light emitting diode,
For driving the finger to realize the clamping cylinder of grasping movement, the soft of light emitting diode appearance and size error can be adapted to automatically
Property thrust mechanism, the oscillating deck for accommodating the flexible thrust mechanism；The quantity of the finger is two groups to ten groups, the hand
Finger is movably connected on the support, and the flexible thrust mechanism and the finger match；The oscillating deck passes through a hinge
The support is movably connected on, the cylinder block of the clamping cylinder is fixed on the support, the piston rod of the clamping cylinder
End is fixed on connecting plate, and the connecting plate is connected to the oscillating deck by No. two articulates；
The quantity of the finger is five groups, including：One trumpeter refers to, two trumpeters refer to, three trumpeters refer to, four trumpeters refer to, five trumpeters
Refer to.
Preferably, when the piston rod of the displacement cylinder is in retracted mode, a trumpeter refers to and the feeding rail
Road matches, and two trumpeter refers to match with a testboard, and three trumpeter refers to and No. two testboard phases
Match somebody with somebody, four trumpeter refers to match with No. three testboards, and five trumpeter refers to match with the collecting mechanism；When described
When the piston rod for shifting cylinder is in stretching state, a trumpeter refers to match with a testboard, two trumpeter
Refer to and No. two testboards match, three trumpeter refers to match with No. three testboards, and four trumpeter refers to and institute
Collecting mechanism is stated to match.
Preferably, the support includes：Base, side plate, cover plate, matrix, the finger movement are connected to described matrix, institute
State matrix and be fixed on the base, the cover plate is fixed on the top of described matrix, and the side plate is fixed on the two of described matrix
A hinge is provided with side, the side plate；The oscillating deck is connected to the side plate by an articulate.
Preferably, the finger includes：Length refers to, brachydactylia, left hand refer to, the right hand refers to, upper spring, lower spring, what the length referred to
One end is fixed with the left hand and referred to, and the other end that the length refers to is provided with the first bulb, and first bulb and the flexibility are pushed away
Force mechanisms match；One end of the brachydactylia is fixed with the right hand and referred to, and the other end of the brachydactylia is provided with the second bulb, institute
State the second bulb and flexible thrust mechanism matches；The length is provided with convex platform on referring to, and the convex platform is movably connected on institute
The upper hopper chute of matrix is stated, spring on described is set in the upper hopper chute, the upper spring has the long sensing is described soft
Property thrust mechanism where direction promote trend；Lower convex platform is provided with the brachydactylia, the lower convex platform is movably connected on described
The gliding groove of matrix, sets the lower spring in the gliding groove, and the lower spring has the brachydactylia to the flexibility
The trend that direction where thrust mechanism is promoted.
Preferably, the flexible thrust mechanism includes：Push pedal, base plate, the first thrust spring, the second thrust spring, it is described
Push pedal is movably connected on the thrust surface that the restricted push pedal sliding position is set on the oscillating deck, the oscillating deck；It is described
Base plate is fixed on the oscillating deck, and first thrust spring, the second thrust spring are set between the push pedal and base plate；Institute
The central axis for stating the first thrust spring is first axle, the central axes that the first axle and the length refer to；It is described
The central axis of second thrust spring is the central axes of second axis, the second axis and the brachydactylia.
Preferably, feet is provided with the push pedal, feet direction where from the push pedal to the base plate extends,
There is gap between the base plate in the feet.
Preferably, the quantity of the feet is two, and the feet is disposed in proximity to first thrust spring, second pushed away
The position of power spring.
Preferably, the size in the gap is one millimeter to five millimeters.
Preferably, in the state of the finger does not capture light emitting diode, pretightning force of first thrust spring etc.
In the pretightning force of second thrust spring.
Preferably, in the state of the finger does not capture light emitting diode, the pretightning force of first thrust spring adds
The pretightning force sum of upper second thrust spring is Fa, and the thrust of the clamping cylinder is Fb, and the group number of the finger is N,
Then meet below equation： 1.2×N×Fa≥Fb≥N×Fa.
Preferably, first bulb, the surface roughness of the second bulb are Ra0.8；The surface roughness of the push pedal
For Ra0.8.
Compared with conventional art, manipulator additional LEDs Full-automatic tester utensil of the present invention has following positive work
With and beneficial effect：
Manipulator additional LEDs full-automatic testing machine of the present invention, for realizing three roads to the light emitting diode
Test job, the light emitting diode is captured from the feeding track, is then sequentially placed in described No. one test
Platform, No. two testboards, complete test job on No. three testboards, the light emitting diode is finally positioned over the collecting mechanism
In.Manipulator additional LEDs full-automatic testing machine of the present invention, completes full-automatic, the nothing to the light emitting diode
Peopleization is tested, high working efficiency.
Capture or put down simultaneously while the manipulator is used to realize to multiple light emitting diodes, mainly include：Branch
Frame, finger, clamping cylinder, flexible thrust mechanism, oscillating deck.The finger movement is connected to the support, the clamping cylinder
Piston rod stretch out and drive the oscillating deck to be swung around the first axle；The flexible thrust mechanism is swung with described
Plate turns an angle, and the flexible thrust mechanism driving length refers to, brachydactylia moves along a straight line along described matrix, so that institute
State that left hand refers to, the right hand refers to the crawl closed up and realized to light emitting diode.On the contrary, the piston rod of the clamping cylinder is retracted,
The oscillating deck is driven to be swung around the first axle；The flexible thrust mechanism drives the length to refer to, brachydactylia is described in
Matrix moves along a straight line, so that the left hand refers to, the right hand refers to and opens and put down grabbed light emitting diode.
The finger includes：One trumpeter refers to, two trumpeters refer to, three trumpeters refer to, four trumpeters refer to, five trumpeters refer to.When the displacement
When the piston rod of cylinder is in retracted mode, a trumpeter refers to the light-emitting diodes grabbed on the feeding track
Pipe matches, and two trumpeter refers to the light emitting diode grabbed on a testboard, and three trumpeter refers to
The light emitting diode on No. two testboards is grabbed, four trumpeter, which refers to, to be grabbed positioned at described No. three tests
The light emitting diode on platform, five trumpeter refers to the light emitting diode grabbed on the collecting mechanism；
Then, the piston rod of the displacement cylinder stretches out, and action below will occur simultaneously：One trumpeter refers to the hair
Optical diode is moved to from the feeding track on a testboard, two trumpeter refer to by the light emitting diode from
It is moved on a number testboard on No. two testboards, three trumpeter refers to the light emitting diode from described No. two
It is moved on testboard on No. three testboards, four trumpeter refers to the light emitting diode from No. three testboards
It is moved on the collecting mechanism.
One light emitting diode of finger grip described in one group, the quantity of the finger could be arranged to multigroup, for example, set
For five groups, then, then manipulator additional LEDs full-automatic testing machine of the present invention is by a clamping cylinder conduct
Power take-off unit, disposably grabs five light emitting diodes, so that operating efficiency is exponentially improved.
The course of work and operation principle of the finger are described below：
The finger includes：Length refers to, brachydactylia, left hand refer to, the right hand refers to, and the length refers to, brachydactylia does straight line fortune along described matrix
It is dynamic.The length is provided with convex platform on referring to, and spring on described is set in the upper hopper chute, and the upper spring has the length
The trend that direction where pointing to the flexible thrust mechanism is promoted, so that first bulb is affixed on the appearance of the push pedal
Face.Lower convex platform is provided with the brachydactylia, the lower spring is set in the gliding groove, and the lower spring has will be described short
The trend that direction where pointing to the flexible thrust mechanism is promoted, so that second bulb is affixed on the appearance of the push pedal
Face.The oscillating deck swings certain angle, the push pedal is swung around the first axle, so as to drive the length
Refer to, the relative position of brachydactylia changes, cause the left hand to refer to, the right hand refers to and mutually close up to capture light emitting diode or open
Open to put down light emitting diode.
The course of work and operation principle of the flexible thrust mechanism are described below：
In actual production link, because there is certain error in appearance and size in the light emitting diode being crawled,
It is now assumed that the size of this error is one millimeter.In order that manipulator additional LEDs full-automatic testing machine of the present invention
Big and small light emitting diode can simultaneously be captured, prevent that the big light emitting diode of appearance and size can only be grabbed,
And the small light emitting diode of appearance and size can not be grabbed.Therefore, the flexible thrust mechanism is devised, makes finger described in each group
The light emitting diode that each size is not waited can be adapted to automatically.
The push pedal is movably connected on the oscillating deck, and the base plate is fixed on the oscillating deck.At the push pedal and bottom
First thrust spring, the second thrust spring are set between plate；The central axis of first thrust spring is first axle,
The central axes that the first axle and the length refer to；The central axis of second thrust spring is second axis, institute
State the central axes of second axis and the brachydactylia.First thrust spring, the second thrust spring promote described swing
Plate is affixed on the thrust surface.Be provided with feet in the push pedal, the feet has a gap between the base plate, it is described between
The size of gap is one millimeter to five millimeters.The length refers to, brachydactylia can promote the push pedal to be moved to direction where the base plate,
The distance of motion is the gap.When the finger grip is to the different light emitting diode of size, the gap can make institute
State finger and adapt to the error of light emitting diode dimensionally automatically, so that the finger can capture light emitting diode
Arrive.
It is now assumed that, the finger realizes the crawl to light emitting diode, the size of a light emitting diode be A, it is necessary to
Refer to the left hand, to refer to opening dimension be A apart from A to the right hand；The size of another light emitting diode is B, it is necessary to make described
Left hand refers to, to refer to opening dimension be B apart from B to the right hand.It is more than apart from A apart from B.The piston rod of the clamping cylinder stretches out, driving
The oscillating deck and push pedal rotate, and will now be described apart from A and how to be produced apart from B：
When the opening dimension that the left hand refers to, the right hand refers to is apart from A, top block is equal to apart from the upper gap of the base plate
Bottom seat pad is apart from the lower gap of the base plate.
When the opening dimension that the left hand refers to, the right hand refers to is apart from B, top block is equal to apart from the upper gap of the base plate
Zero, so that the swing of greater angle occurs for the push pedal, so that the left hand refers to, the right hand refers to can press from both sides tighter.
Brief description of the drawings
Fig. 1 is the dimensional structure diagram of manipulator additional LEDs full-automatic testing machine of the present invention；
Fig. 2 is structural representation of the manipulator additional LEDs full-automatic testing machine of the present invention in the case where overlooking visual angle
Figure；
Fig. 3 is the stereochemical structure signal of the manipulator of manipulator additional LEDs full-automatic testing machine of the present invention
Figure；
Fig. 4 is the manipulator of manipulator additional LEDs full-automatic testing machine of the present invention cuing open in the loosened condition
Face structural representation；
Fig. 5 is knot of the manipulator of manipulator additional LEDs full-automatic testing machine of the present invention under seized condition
Structure schematic diagram；
Fig. 6 is knot of the manipulator of manipulator additional LEDs full-automatic testing machine of the present invention under seized condition
Structure schematic diagram；
Fig. 7 is the structural representation of the oscillating deck of manipulator additional LEDs full-automatic testing machine of the present invention.
1 base, 2 side plates, 3 cover plates, 4 length refer to, 5 brachydactylias, 6 left hands refer to, 7 right hands refer to, 8 oscillating decks, No. 9 hinges, 10 2
Number hinge, 11 connecting plates, 12 clamping cylinders, 13 matrixes, spring, 15 lower springs, 16 first bulbs, 17 second bulbs, 18 on 14
It is push pedal, 19 base plates, 20 first thrust springs, 21 second thrust springs, 22 thrust surfaces, 23 convex platforms, 24 lower convex platforms, sliding on 25
Under groove, 26 gliding grooves, 27 flexible thrust mechanisms, 28 feets, 29 gaps, 30 first axles, 31 second axis, 32 top blocks, 33
Feet, gap on 34,35 times gaps, 36 manipulators, 37 line slideways, 38 displacement cylinders, 39 workbench, 40 manipulator supports,
41 1 trumpeters refer to, 42 2 trumpeters refer to, 43 3 trumpeters refer to, 44 4 trumpeters refer to, 45 5 trumpeters refer to, 46 feeding tracks, 47 No. one test
Platform, 48 No. two testboards, 49 No. three testboards, 50 collecting mechanisms.
Embodiment
The present invention is described in further detail below in conjunction with accompanying drawing, but does not constitute any limitation of the invention,
Similar element numbers represent similar element in accompanying drawing.As described above, the invention provides a kind of manipulator auxiliary light emission two
Pole pipe full-automatic testing machine, the light emitting diode 51 for disposably capturing multiple same types, is positioned over multiple testboards
It is upper to complete to test the multiple performance of light emitting diode 51, realize full-automatic, unmanned operation, high working efficiency；The present invention
Manipulator additional LEDs full-automatic testing machine, is realized to multiple luminous two by a clamping cylinder as power output
The crawl of pole pipe 51, can be adapted to the error of the appearance and size of light emitting diode 51 automatically by flexible thrust mechanism, by multigroup finger
Captured while realization to light emitting diode 51, by feeding track constantly output light emitting diode 51, by testboard, two
Number testboard, No. three testboards complete the performance test to light emitting diode 51, are realized by collecting mechanism to light emitting diode 51
Collection.
Fig. 1 is the dimensional structure diagram of manipulator additional LEDs full-automatic testing machine of the present invention, and Fig. 2 is this
Structural representation of the invention manipulator additional LEDs full-automatic testing machine in the case where overlooking visual angle, Fig. 3 is machine of the present invention
The dimensional structure diagram of the manipulator of tool Hand supplementary light emitting diode full-automatic testing machine, Fig. 4 is that manipulator of the present invention is auxiliary
The cross-sectional view of the manipulator of light emitting diode full-automatic testing machine in the loosened condition is helped, Fig. 5 is machine of the present invention
Structural representation of the manipulator of tool Hand supplementary light emitting diode full-automatic testing machine under seized condition, Fig. 6 is the present invention
Structural representation of the manipulator of manipulator additional LEDs full-automatic testing machine under seized condition, Fig. 7 is this hair
The structural representation of the oscillating deck of bright manipulator additional LEDs full-automatic testing machine.
A kind of manipulator additional LEDs full-automatic testing machine, including：Workbench 39, manipulator 36, manipulator
Support 40, line slideway 37, displacement cylinder 38, feeding track 46, testboard 47, No. two testboards 48, No. three testboards
49th, collecting mechanism 50, the manipulator support 40 is fixed on the workbench 39, the line slideway 37, displacement cylinder 46
Cylinder block is fixed on the manipulator support 40, and the manipulator 36 is movably connected on the line slideway 37, the displacement gas
The end of the piston rod of cylinder 46 is fixed on the manipulator 36；Described send is disposed with the juxtaposed positions of the manipulator 36
Expect track 46, testboard 47, No. two testboards 48, No. three testboards 49, a collecting mechanisms 50；
The manipulator includes：For providing the support of support, for realizing the hand clamped to light emitting diode 51
Refer to, for driving the finger to realize the clamping cylinder 12 of grasping movement, the appearance and size of light emitting diode 51 can be adapted to automatically
The flexible thrust mechanism 27 of error, the oscillating deck 8 for accommodating the flexible thrust mechanism 27；The quantity of the finger is two groups
To ten groups, the finger movement is connected to the support, and the flexible thrust mechanism 27 and the finger match；It is described to swing
Plate 8 is movably connected on the support by a hinge 9, and the cylinder block of the clamping cylinder 12 is fixed on the support, described
The end of the piston rod of clamping cylinder 12 is fixed on connecting plate 11, and the connecting plate 11 is flexibly connected by No. two hinges 10
In the oscillating deck 8；
The quantity of the finger is five groups, including：One trumpeter, which refers to 41, two trumpeters and refers to 42, three trumpeters and refer to 43, four trumpeters, to be referred to
44th, five trumpeters refer to 45.
More specifically, when the piston rod of the displacement cylinder 46 is in retracted mode, a trumpeter refers to 41 and described
Feeding track 46 matches, two trumpeter refer to 42 and a testboard 47 match, three trumpeter refers to 43 and described
No. two testboards 48 match, four trumpeter refer to 44 and No. three testboards 49 match, five trumpeter refers to 45 and institute
Collecting mechanism 50 is stated to match；When the piston rod of the displacement cylinder 46 is in stretching state, a trumpeter refers to 41 and institute
A testboard 47 is stated to match, two trumpeter refer to 42 and No. two testboards 48 match, three trumpeter refers to 43 Hes
No. three testboards 49 match, four trumpeter refer to 44 and the collecting mechanism 50 match.
More specifically, the support includes：Base 1, side plate 2, cover plate 3, matrix 13, the finger movement are connected to described
Matrix 13, described matrix 13 is fixed on the base 1, and the cover plate 3 is fixed on the top of described matrix 13, and the side plate 2 is consolidated
It is connected on the both sides of described matrix 13, the side plate 2 and is provided with a hinge 9；The oscillating deck 8 passes through described No. one
Hinge 9 is movably connected on the side plate 2.
More specifically, the finger includes：It is long refer to 4, brachydactylia 5, left hand and refer to the 6, right hand refer to 7, upper spring 14, lower spring 15,
One end that the length refers to 4 is fixed with the left hand and refers to 6, and the other end that the length refers to 4 is provided with the first bulb 16, first ball
First 16 and the flexible thrust mechanism 27 match；One end of the brachydactylia 5 is fixed with the right hand and refers to 7, the brachydactylia 5 it is another
One end is provided with the second bulb 17, and second bulb 17 and flexible thrust mechanism 27 match；The length referred to and be provided with 4
Boss 23, the convex platform 23 is movably connected on the upper hopper chute 25 of described matrix 13, is set in the upper hopper chute 25 on described
Spring 14, the upper spring 14 has refers to 4 trend promoted to the flexible place direction of thrust mechanism 27 by the length；It is described
Lower convex platform 24 is provided with brachydactylia 5, the lower convex platform 24 is movably connected on the gliding groove 26 of described matrix 13, is glided described
The lower spring 15 is set in groove 26, and the lower spring 15 has the brachydactylia 5 to the flexible place side of thrust mechanism 27
To the trend of promotion.
More specifically, the flexible thrust mechanism 27 includes：Push pedal 18, base plate 19, the first thrust spring 20, the second thrust
Spring 21, the push pedal 18, which is movably connected on the oscillating deck 8, the oscillating deck 8, sets the restricted push pedal 18 to slide
The thrust surface 22 of position；The base plate 19 is fixed on the oscillating deck 8, and described is set between the push pedal 18 and base plate 19
One thrust spring 20, the second thrust spring 21；The central axis of first thrust spring 20 is first axle 30, described first
Axis 30 and the length refer to 4 central axes；The central axis of second thrust spring 21 is second axis 31, described
The central axes of second axis 31 and the brachydactylia 5.
More specifically, be provided with feet 28 in the push pedal 18, the feet 28 is from the push pedal 18 to the base plate 19
Place direction extends, and the feet 28 has gap 29 between the base plate 19.
More specifically, the quantity of the feet 28 is two, the feet 28 is disposed in proximity to first thrust spring
20th, the position of the second thrust spring 21.
More specifically, the size in the gap 29 is one millimeter to five millimeters.
More specifically, in the state of the finger does not capture light emitting diode 51, first thrust spring 20 it is pre-
Clamp force is equal to the pretightning force of second thrust spring 21.
More specifically, in the state of the finger does not capture light emitting diode 51, first thrust spring 20 it is pre-
Clamp force is Fa plus the pretightning force sum of second thrust spring 21, and the thrust of the clamping cylinder 12 is Fb, the finger
Group number be N, then meet below equation：1.2×N×Fa≥Fb≥N×Fa.
More specifically, the surface roughness of first bulb 16, the second bulb 17 is Ra0.8；The table of the push pedal 18
Surface roughness is Ra0.8.
Below in conjunction with Fig. 1 to 7, the work of manipulator additional LEDs full-automatic testing machine of the present invention is further described
Make principle and the course of work：
Manipulator additional LEDs full-automatic testing machine of the present invention, for realizing three to the light emitting diode 51
Road test job, the light emitting diode 51 is captured from the feeding track 46, is then sequentially placed in described one
Number testboard 47, No. two testboards 48, complete test job on No. three testboards 49, finally place the light emitting diode 51
In the collecting mechanism 50.Manipulator additional LEDs full-automatic testing machine of the present invention, is completed to described luminous
Full-automatic, the unmanned test of diode 51, high working efficiency.
Capture or put down simultaneously while the manipulator 36 is used to realize to multiple light emitting diode 51, main bag
Include：Support, finger, clamping cylinder 12, flexible thrust mechanism 27, oscillating deck 8.The finger movement is connected to the support, institute
The piston rod for stating clamping cylinder 12 stretches out and drives the oscillating deck 8 to be swung around the first axle 9；The flexible thrust
Mechanism 27 turns an angle with the oscillating deck 8, and the flexible thrust mechanism 27 drives the length to refer to 4, brachydactylia 5 along the base
Body 13 moves along a straight line, and refers to 7 so that the left hand refers to the 6, right hand and closes up and realize the crawl to light emitting diode 51.Conversely
Ground, the piston rod of the clamping cylinder 12 is retracted, and drives the oscillating deck 8 to be swung around the first axle 9；The flexibility
Thrust mechanism 27 drives the length to refer to 4, brachydactylia 5 and moved along a straight line along described matrix 13, so that the left hand refers to the 6, right hand and refers to 7
Open and put down grabbed light emitting diode 51.
The finger includes：One trumpeter, which refers to 41, two trumpeters and refers to 42, three trumpeters and refer to 43, four trumpeters and refer to 44, five trumpeters, refers to 45.
When the piston rod of the displacement cylinder 46 is in retracted mode, a trumpeter refers to 41 and grabbed positioned at the feeding track 46
On the light emitting diode 51 match, two trumpeter refers to 42 and grabbed described on a testboard 47
Light emitting diode 51, three trumpeter refers to 43 and grabs the light emitting diode 51 on No. two testboards 48, institute
State four trumpeters and refer to 44 and grab the light emitting diode 51 on No. three testboards 49, five trumpeter refers to 45 crawls
To the light emitting diode 51 on the collecting mechanism 50；
Then, the piston rod of the displacement cylinder 46 stretches out, and action below will occur simultaneously：One trumpeter refers to 41 by institute
State light emitting diode 51 to be moved to from the feeding track 46 on a testboard 47, two trumpeter refers to 42 will be described
Light emitting diode 51 is moved to from a testboard 47 on No. two testboards 48, and three trumpeter refers to 43 by institute
State light emitting diode 51 to be moved to from No. two testboards 48 on No. three testboards 49, four trumpeter refers to 44 will
The light emitting diode 51 is moved on the collecting mechanism 50 from No. three testboards 49.
One light emitting diode 51 of finger grip described in one group, the quantity of the finger could be arranged to multigroup, for example, set
It is set to five groups, then, then manipulator additional LEDs full-automatic testing machine of the present invention is by a clamping cylinder 12
As power take-off unit, five light emitting diodes 51 are disposably grabbed, so that operating efficiency is exponentially improved.
The course of work and operation principle of the finger are described below：
The finger includes：It is long refer to 4, brachydactylia 5, left hand and refer to the 6, right hand refer to 7, the length refers to 4, brachydactylia 5 along described matrix 13
Move along a straight line.The length, which refers to, be provided with 4 convex platform 23, sets spring 14 on described in the upper hopper chute 25, it is described on
Spring 14 has refers to 4 trend promoted to the flexible place direction of thrust mechanism 27 by the length, so that first ball
First 16 are affixed on the outer surface of the push pedal 18.Lower convex platform 24 is provided with the brachydactylia 5, sets described in the gliding groove 26
Lower spring 15, the lower spring 15 has the trend for promoting the brachydactylia 5 to the flexible place direction of thrust mechanism 27, from
And second bulb 17 is affixed on the outer surface of the push pedal 18.The oscillating deck 8 swings certain angle, makes the push pedal
18 swing around the first axle 9, so that the relative position for driving the length to refer to 4, brachydactylia 5 changes, cause described
Left hand, which refers to the 6, right hand and refers to 7, mutually to be closed up to capture light emitting diode 51 or open to put down light emitting diode 51.
The course of work and operation principle of the flexible thrust mechanism 27 are described below：
In actual production link, because there is certain mistake in appearance and size in the light emitting diode 51 being crawled
Difference, it will be assumed now that the size of this error is one millimeter.In order that manipulator additional LEDs full-automatic testing of the present invention
Machine can be captured big and small light emitting diode 51 simultaneously, prevent that luminous two of appearance and size greatly can only be grabbed
Pole pipe 51, and the small light emitting diode 51 of appearance and size can not be grabbed.Therefore, the flexible thrust mechanism 27 is devised, is made
Finger described in each group can adapt to the light emitting diode 51 that each size is not waited automatically.
The push pedal 18 is movably connected on the oscillating deck 8, and the base plate 19 is fixed on the oscillating deck 8.Pushed away described
First thrust spring 20, the second thrust spring 21 are set between plate 18 and base plate 19；In first thrust spring 20
Heart axis is first axle 30, and the first axle 30 and the length refer to 4 central axes；Second thrust spring
21 central axis is the central axes of second axis 31, the second axis 31 and the brachydactylia 5.First thrust
Spring 20, the second thrust spring 21 promote the oscillating deck 8 to be affixed on the thrust surface 22.Feet is provided with the push pedal 18
28, there is gap 29 in the feet 28, the size in the gap 29 is one millimeter to five millimeters between the base plate 19.
The length, which refers to 4, brachydactylia 5, can promote the push pedal 18 to be moved to the place direction of base plate 19, between the distance of motion is for described in
Gap 29.When the finger grip is to the different light emitting diode 51 of size, the gap 29 can be such that the finger fits automatically
The error of light emitting diode 51 dimensionally is answered, so that the finger can grab light emitting diode 51.
It is now assumed that, the finger realizes the crawl to light emitting diode 51, and the size of a light emitting diode 51 is A,
It is A apart from A to need to make the left hand to refer to the 6, right hand to refer to 7 opening dimensions；The size of another light emitting diode 51 is B, is needed
It is B apart from B to make the left hand refer to the 6, right hand to refer to 7 opening dimensions.It is more than apart from A apart from B.The piston of the clamping cylinder 12
Bar stretches out, and drives the oscillating deck 8 and push pedal 18 to rotate, will now be described apart from A and how to be produced apart from B：
When the left hand, which refers to the 6, right hand, refers to 7 opening dimension for apart from A, top block is apart from the upper gap of the base plate 19
34 are equal to bottom seat pad 33 apart from the lower gap 35 of the base plate 19.
When the left hand, which refers to the 6, right hand, refers to 7 opening dimension for apart from B, top block is apart from the upper gap of the base plate 19
34 are equal to zero, so that the swing of greater angle occurs for the push pedal 18, refer to 7 so that the left hand refers to the 6, right hand and can press from both sides
It is tighter.
Finally it is pointed out that above example is only manipulator additional LEDs full-automatic testing machine of the present invention
More representational example.Obviously, manipulator additional LEDs full-automatic testing machine of the present invention is not limited to above-mentioned implementation
Example, can also there is many deformations.Every technology according to manipulator additional LEDs full-automatic testing machine of the present invention is real
Any simple modification, equivalent variations and modification that confrontation above example is made, are considered as belonging to mechanical Hand supplementary of the invention
The protection domain of light emitting diode full-automatic testing machine.
Claims (9)
1. a kind of manipulator additional LEDs full-automatic testing machine, it is characterised in that including：Workbench, manipulator, machine
Tool hand support, line slideway, displacement cylinder, feeding track, testboard, No. two testboards, No. three testboards, a collection machines
Structure, the manipulator support is fixed on the workbench, and the line slideway, the cylinder block of displacement cylinder are fixed on the machinery
Hand support, the manipulator is movably connected on the line slideway, and the end of the piston rod of the displacement cylinder is fixed on described
Manipulator；The feeding track, testboard, No. two testboards, three are disposed with the juxtaposed positions of the manipulator
Number testboard, collecting mechanism；
The manipulator includes：For providing the support of support, for realizing the finger clamped to light emitting diode, being used for
The flexibility that drive the finger to realize the clamping cylinder of grasping movement, can adapt to light emitting diode appearance and size error automatically is pushed away
Force mechanisms, the oscillating deck for accommodating the flexible thrust mechanism；The quantity of the finger is two groups to ten groups, and the finger is lived
Dynamic to be connected to the support, the flexible thrust mechanism and the finger match；The oscillating deck passes through an articulate
The support is connected to, the cylinder block of the clamping cylinder is fixed on the support, the end of the piston rod of the clamping cylinder
Connecting plate is fixed on, the connecting plate is connected to the oscillating deck by No. two articulates；
The quantity of the finger is five groups, including：One trumpeter refers to, two trumpeters refer to, three trumpeters refer to, four trumpeters refer to, five trumpeters refer to；
The finger includes：Length refers to, brachydactylia, left hand refer to, the right hand refers to, upper spring, lower spring, and one end that the length refers to is connected
State left hand to refer to, the other end that the length refers to is provided with the first bulb, first bulb and the flexible thrust mechanism match；
One end of the brachydactylia is fixed with the right hand and referred to, and the other end of the brachydactylia is provided with the second bulb, second bulb and
Flexible thrust mechanism matches；The length is provided with convex platform on referring to, and the convex platform is movably connected on the upper cunning of described matrix
Groove, sets spring on described in the upper hopper chute, and the upper spring has the long sensing flexible thrust mechanism institute
The trend promoted in direction；Lower convex platform is provided with the brachydactylia, the lower convex platform is movably connected on the gliding groove of described matrix,
The lower spring is set in the gliding groove, and the lower spring has the brachydactylia to the flexible thrust mechanism place side
To the trend of promotion.
2. manipulator additional LEDs full-automatic testing machine according to claim 1, it is characterised in that when described
When the piston rod for shifting cylinder is in retracted mode, a trumpeter refers to match with the feeding track, and two trumpeter refers to
Match with a testboard, three trumpeter refers to match with No. two testboards, four trumpeter refer to it is described
No. three testboards match, and five trumpeter refers to match with the collecting mechanism；When the piston rod of the displacement cylinder is in
During stretching state, a trumpeter refers to match with a testboard, and two trumpeter refers to and No. two testboard phases
Matching, three trumpeter refers to match with No. three testboards, and four trumpeter refers to match with the collecting mechanism；
The support includes：Base, side plate, cover plate, matrix, the finger movement are connected to described matrix, and described matrix is connected
In the base, the cover plate is fixed on the top of described matrix, and the side plate is fixed on the both sides of described matrix, the side plate
On be provided with a hinge；The oscillating deck is connected to the side plate by an articulate.
3. manipulator additional LEDs full-automatic testing machine according to claim 1, it is characterised in that described soft
Property thrust mechanism includes：Push pedal, base plate, the first thrust spring, the second thrust spring, the push pedal are movably connected on the swing
The thrust surface of the restricted push pedal sliding position is set on plate, the oscillating deck；The base plate is fixed on the oscillating deck,
First thrust spring, the second thrust spring are set between the push pedal and base plate；The central shaft of first thrust spring
Line is first axle, the central axes that the first axle and the length refer to；The central axis of second thrust spring
For second axis, the central axes of the second axis and the brachydactylia.
4. manipulator additional LEDs full-automatic testing machine according to claim 3, it is characterised in that described to push away
Feet is provided with plate, feet direction where from the push pedal to the base plate extends, and the feet is apart from the base plate
Between there is gap.
5. manipulator additional LEDs full-automatic testing machine according to claim 4, it is characterised in that the pad
The quantity of pin is two, and the feet is disposed in proximity to first thrust spring, the position of the second thrust spring.
6. manipulator additional LEDs full-automatic testing machine according to claim 4, it is characterised in that between described
The size of gap is one millimeter to five millimeters.
7. manipulator additional LEDs full-automatic testing machine according to claim 1, it is characterised in that described
Finger is not captured in the state of light emitting diode, and the pretightning force of first thrust spring is equal to the pre- of second thrust spring
Clamp force.
8. manipulator additional LEDs full-automatic testing machine according to claim 1, it is characterised in that described
Finger is not captured in the state of light emitting diode, and the pretightning force of first thrust spring is plus the pre- of second thrust spring
Clamp force sum isFa, the thrust of the clamping cylinder isFb, the group number of the finger isN, then below equation is met：。
9. manipulator additional LEDs full-automatic testing machine according to claim 1, it is characterised in that described
One bulb, the surface roughness of the second bulb are；The surface roughness of the push pedal is。
Priority Applications (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201710105746.2A CN106945061A (en) | 2017-02-27 | 2017-02-27 | Manipulator additional LEDs full-automatic testing machine |
Applications Claiming Priority (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201710105746.2A CN106945061A (en) | 2017-02-27 | 2017-02-27 | Manipulator additional LEDs full-automatic testing machine |
Publications (1)
| Publication Number | Publication Date |
|---|---|
| CN106945061A true CN106945061A (en) | 2017-07-14 |
Family
ID=59466539
Family Applications (1)
| Application Number | Title | Priority Date | Filing Date |
|---|---|---|---|
| CN201710105746.2A Withdrawn CN106945061A (en) | 2017-02-27 | 2017-02-27 | Manipulator additional LEDs full-automatic testing machine |
Country Status (1)
| Country | Link |
|---|---|
| CN (1) | CN106945061A (en) |
Cited By (2)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN107042521A (en) * | 2017-04-18 | 2017-08-15 | 温州职业技术学院 | Many finger parallel manipulators of soft drive |
| CN111113472A (en) * | 2020-02-17 | 2020-05-08 | 温州市贝佳福自动化技术有限公司 | Artificially intelligently controlled under-actuated self-adaptive robot gripper system |
-
2017
- 2017-02-27 CN CN201710105746.2A patent/CN106945061A/en not_active Withdrawn
Cited By (2)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN107042521A (en) * | 2017-04-18 | 2017-08-15 | 温州职业技术学院 | Many finger parallel manipulators of soft drive |
| CN111113472A (en) * | 2020-02-17 | 2020-05-08 | 温州市贝佳福自动化技术有限公司 | Artificially intelligently controlled under-actuated self-adaptive robot gripper system |
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Application publication date: 20170714 |