CN108858268A - Manipulator - Google Patents
Manipulator Download PDFInfo
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- CN108858268A CN108858268A CN201811067737.XA CN201811067737A CN108858268A CN 108858268 A CN108858268 A CN 108858268A CN 201811067737 A CN201811067737 A CN 201811067737A CN 108858268 A CN108858268 A CN 108858268A
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- Prior art keywords
- mounting base
- jian mechanism
- synchronous belt
- wheel
- driving source
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- 230000007246 mechanism Effects 0.000 claims abstract description 88
- NJPPVKZQTLUDBO-UHFFFAOYSA-N novaluron Chemical compound C1=C(Cl)C(OC(F)(F)C(OC(F)(F)F)F)=CC=C1NC(=O)NC(=O)C1=C(F)C=CC=C1F NJPPVKZQTLUDBO-UHFFFAOYSA-N 0.000 claims abstract description 44
- 230000001360 synchronised effect Effects 0.000 claims description 60
- 239000000047 product Substances 0.000 claims description 21
- 239000011265 semifinished product Substances 0.000 claims description 12
- 230000000712 assembly Effects 0.000 claims description 6
- 238000000429 assembly Methods 0.000 claims description 6
- -1 opposite both ends Chemical compound 0.000 claims 1
- 239000010408 film Substances 0.000 description 23
- 238000000034 method Methods 0.000 description 9
- 230000008569 process Effects 0.000 description 7
- 238000010521 absorption reaction Methods 0.000 description 6
- 230000000694 effects Effects 0.000 description 4
- 239000013039 cover film Substances 0.000 description 3
- 238000010586 diagram Methods 0.000 description 2
- 230000006872 improvement Effects 0.000 description 2
- 238000010030 laminating Methods 0.000 description 2
- 238000001179 sorption measurement Methods 0.000 description 2
- 210000002421 cell wall Anatomy 0.000 description 1
- 230000004069 differentiation Effects 0.000 description 1
- 238000009434 installation Methods 0.000 description 1
- 230000004048 modification Effects 0.000 description 1
- 238000012986 modification Methods 0.000 description 1
- 238000004804 winding Methods 0.000 description 1
Classifications
-
- 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
- B25J15/06—Gripping heads and other end effectors with vacuum or magnetic holding means
- B25J15/0616—Gripping heads and other end effectors with vacuum or magnetic holding means with vacuum
Landscapes
- Engineering & Computer Science (AREA)
- Robotics (AREA)
- Mechanical Engineering (AREA)
- Manipulator (AREA)
Abstract
The present invention relates to a kind of manipulators, including：Pedestal；First Yi Jian mechanism, first Yi Jian mechanism are movably arranged on the pedestal, and first Yi Jian mechanism will be for that will be moved to conformable region to overlay film workpiece；First driving source, first driving source and first Yi Jian mechanism are drivingly connected, for driving first Yi Jian mechanism to move on the base；Second Yi Jian mechanism, second Yi Jian mechanism are movably arranged on the pedestal, and second Yi Jian mechanism is used to the workpiece of overlay film being moved to finished product area；And second driving source, second driving source and second Yi Jian mechanism are drivingly connected, for driving second Yi Jian mechanism to move on the base.
Description
Technical field
The present invention relates to film sticking equipment technical fields, more particularly to a kind of manipulator.
Background technique
It is that flexible circuit board manufactures required technique, and previous is all using artificial that film is fitted in flexible circuit board
By under the workpiece handling of non-pad pasting to cover film laminating apparatus, after waiting cover films laminating apparatus that cover film is fitted on workpiece,
It is this to pass through people again by will manually post the workpiece handling of cover film to elsewhere by other equipment progress next process
The movement repeatability that work carries the mode of workpiece is high, high labor cost.
Summary of the invention
Based on this, it is necessary to provide a kind of manipulator, the degree of automation of whole device can be effectively improved, reduce people
Work cost.
Its technical solution is as follows：
A kind of manipulator, including：Pedestal；First Yi Jian mechanism, first Yi Jian mechanism are movably arranged at described
On pedestal, first Yi Jian mechanism will be for that will be moved to conformable region to overlay film workpiece；First driving source, first driving source
It is drivingly connected with first Yi Jian mechanism, for driving first Yi Jian mechanism to move on the base；Second moves part
Mechanism, second Yi Jian mechanism are movably arranged on the pedestal, and second Yi Jian mechanism is used for overlay film
Workpiece be moved to finished product area；And second driving source, second driving source and second Yi Jian mechanism are drivingly connected, are used for
Second Yi Jian mechanism is driven to move on the base.
During the work time, the first Yi Jian mechanism needs to grab to pad pasting workpiece, then by the bottom of at above-mentioned manipulator
Movement will be put into conformable region to pad pasting workpiece on seat；After waiting pad pasting workpiece to complete pad pasting in conformable region, the second Yi Jian mechanism is needed
The workpiece of overlay film is moved to finished product area, carries out next process.In above-mentioned manipulator, the first Yi Jian mechanism can be with
It will be transported on conformable region to pad pasting workpiece automatically under the driving effect of the first driving source, the second Yi Jian mechanism can be second
The workpiece of overlay film is moved on finished product area automatically under the driving effect of driving source, high degree of automation, whole process without
Manual operation is needed, cost of labor is low.
Technical solution is illustrated further below：
Further, the manipulator further includes synchronous belt and the first mounting base, and the pedestal includes opposite both ends,
The both ends of the synchronous belt are connect with the both ends of the pedestal respectively, and first Yi Jian mechanism and first mounting base connect
It connects, first driving source is set in first mounting base and can move on the synchronous belt.
Further, the manipulator further includes the second mounting base, second Yi Jian mechanism and second installation
Seat connection, second driving source are set in second mounting base and can move on the synchronous belt.
Further, first driving source is first motor, and it is same that first is arranged in the rotation axis of the first motor
Step wheel, first synchronizing wheel and the synchronous belt, which roll, to be cooperated；Second driving source is the second motor, second motor
Rotation axis on be arranged with the second synchronizing wheel, second synchronizing wheel and the synchronous belt roll and cooperate.
Further, the manipulator further includes the first position-limited wheel being arranged at intervals in first mounting base and
Two position-limited wheels, first synchronizing wheel are set between first position-limited wheel and second position-limited wheel, the synchronous belt packet
The first side and second side opposite with first side are included, the synchronous belt is set around in first synchronizing wheel, and described
Side is abutted with first synchronizing wheel, and first position-limited wheel and second position-limited wheel are abutted with described second side.
Further, the manipulator further includes the third position-limited wheel being arranged at intervals in second mounting base and
Four position-limited wheels, second synchronizing wheel are set between the third position-limited wheel and the 4th position-limited wheel, the synchronous belt around
In second synchronizing wheel, and first side is abutted with second synchronizing wheel, the third position-limited wheel and described
Four position-limited wheels are abutted with described second side.
Further, the manipulator further includes slide assemblies, and the slide assemblies include being set on the pedestal
Sliding rail, the first sliding block being set in first mounting base and the second sliding block being set in second mounting base, institute
It states the first sliding block and second sliding block is slidably matched with the sliding rail.
Further, first Yi Jian mechanism include be set in first mounting base first lifting actuator,
And the first suction nozzle being drivingly connected with the first lifting actuator.
Further, second Yi Jian mechanism include be set in second mounting base second lifting actuator,
And the second suction nozzle being drivingly connected with the second lifting actuator.
Further, the manipulator further includes workbench, and the workbench is equipped with semi-finished product area, the conformable region
And the finished product area, the semi-finished product area, the conformable region and the finished product area are set along the length direction interval of the synchronous belt
It sets.
Detailed description of the invention
Fig. 1 is the schematic perspective view of manipulator described in one embodiment of the invention；
Fig. 2 is partial enlargement structural representation at the A of manipulator shown in FIG. 1；
Fig. 3 is the side structure schematic view of manipulator described in one embodiment of the invention；
Fig. 4 is the overlooking structure diagram of manipulator described in one embodiment of the invention；
Fig. 5 is the positive structure diagram of manipulator described in one embodiment of the invention.
Description of symbols：
100, pedestal, the 210, second lifting actuator, the 220, second suction nozzle, the 230, second connecting plate, the 310, first lifting
Actuator, the 320, first suction nozzle, the 330, first connecting plate, the 400, first driving source, the 410, first mounting base, 420, first is synchronous
Wheel, the 430, first position-limited wheel, the 440, second position-limited wheel, the 500, second driving source, the 510, second mounting base, 520, second is synchronous
Wheel, 530, third position-limited wheel, the 540, the 4th position-limited wheel, 600, synchronous belt, the 610, first fixing seat, 710, sliding rail, 720, first
Sliding block, 800, workbench, 810, semi-finished product area, 820, conformable region, 830, finished product area.
Specific embodiment
To make the objectives, technical solutions, and advantages of the present invention more comprehensible, below in conjunction with attached drawing and specific embodiment party
Formula, the present invention is further described in detail.It should be understood that the specific embodiments described herein are only to solve
The present invention is released, and the scope of protection of the present invention is not limited.
It should be noted that it can directly on the other element when element is referred to as " being fixed on " another element
Or there may also be elements placed in the middle.When an element is considered as " connection " another element, it, which can be, is directly connected to
To another element or it may be simultaneously present centering elements.Term as used herein " vertical ", " horizontal ", " left side ",
" right side " and similar statement for illustrative purposes only, are not meant to be the only embodiment.
Unless otherwise defined, all technical and scientific terms used herein and belong to technical field of the invention
The normally understood meaning of technical staff is identical.Term as used herein in the specification of the present invention is intended merely to description tool
The purpose of the embodiment of body, it is not intended that in the limitation present invention.Term " and or " used herein includes one or more
Any and all combinations of relevant listed item.
Heretofore described " first ", " second " do not represent specific quantity and sequence, are only used for the differentiation of title.
As shown in Figure 1, a kind of manipulator described in an embodiment, including pedestal 100, first movement mechanism, the second shifting part
Mechanism, the first driving source 400 and the second driving source 500.First Yi Jian mechanism will be for that will be transported to conformable region to pad pasting workpiece
820；First driving source 400 is for driving the first Yi Jian mechanism to move on pedestal 100；Second Yi Jian mechanism is for will cover
The workpiece of film is moved to finished product area 830；Second driving source 500 is for driving the second Yi Jian mechanism to move on pedestal 100.
Specifically, the first Yi Jian mechanism is movably arranged on pedestal 100, and Yi Jian mechanism to pad pasting workpiece for that will transport
It is sent to conformable region 820；First driving source 400 and the first Yi Jian mechanism are drivingly connected, for driving Yi Jian mechanism in pedestal 100
It is mobile；Second Yi Jian mechanism is movably arranged on pedestal 100, and the second Yi Jian mechanism is used for the workpiece of overlay film is mobile
To finished product area 830；Second driving source 500 and the second Yi Jian mechanism are drivingly connected, for driving the second Yi Jian mechanism in pedestal 100
Upper movement.
During the work time, the first Yi Jian mechanism needs to grab to pad pasting workpiece, then by the bottom of at above-mentioned manipulator
Movement will be put into conformable region 820 to pad pasting workpiece on seat 100；After waiting pad pasting workpiece to complete pad pasting in conformable region 820, second is moved
Part mechanism needs for the workpiece of overlay film to be moved to finished product area 830, carries out next process.In above-mentioned manipulator, first
Yi Jian mechanism can will be transported on conformable region 820 to pad pasting workpiece automatically under the driving effect of the first driving source 400, and second
The workpiece of overlay film can be moved on finished product area 830 by Yi Jian mechanism automatically under the driving effect of the second driving source 500,
High degree of automation, without human intervention, cost of labor is low for whole process.
Manipulator further includes synchronous belt 600 and the first mounting base 410 in one of the embodiments, and pedestal 100 includes phase
Pair both ends, the both ends of synchronous belt 600 connect with the both ends of pedestal 100 respectively, and the first Yi Jian mechanism and the first mounting base 410 connect
It connects, the first driving source 400 is set in the first mounting base 410 and can move on synchronous belt 600.In this way, by the way that first is driven
Dynamic source 400 is arranged in the first mounting base 410, and the first Yi Jian mechanism links together with the first mounting base 410, when the first drive
It is mobile to be able to drive the first Yi Jian mechanism when moving on synchronous belt 600 for dynamic source 400, thus realize by the first Yi Jian mechanism from
Semi-finished product area 810 is moved to the movement of conformable region 820.
Specifically, pedestal 100 is strip, and synchronous belt 600 is set on pedestal 100, and the length direction of synchronous belt 600
Consistent with the length direction of pedestal 100, one end of synchronous belt 600 is connected by the first fixing seat 610 and wherein one end of pedestal 100
It connects, the other end of synchronous belt 600 is connect by the second fixing seat with the other end of pedestal 100.
More specifically, the first driving source 400 is first motor, the first synchronizing wheel is arranged in the rotation axis of first motor
420, the first synchronizing wheel 420 is rolled with synchronous belt 600 to be cooperated.Since the both ends of synchronous belt 600 are respectively fixedly connected in pedestal 100
Both ends, when first motor work, the rotation axis of first motor is able to drive the rotation of the first synchronizing wheel 420, when first synchronous
When 420 rotation of wheel, the first synchronizing wheel 420 can be rolled along the length direction of synchronous belt 600, thus the first driving source 400 of drive,
First mounting base 410 and the first Yi Jian mechanism move on pedestal 100.
Further, manipulator further includes the second mounting base 510, and the second Yi Jian mechanism is connect with the second mounting base 510, the
Two driving sources 500 are set in the second mounting base 510 and can move on synchronous belt 600.In this way, by by the second driving source
500 are arranged in the second mounting base 510, and the second Yi Jian mechanism links together with the second mounting base 510, when the second driving source
500 on synchronous belt 600 when moving, and it is mobile to be able to drive the second Yi Jian mechanism, to realize the second Yi Jian mechanism from fitting
Area 820 is moved to the movement in 830th area of finished product.
Specifically, the second driving source 500 is the second motor, is arranged with the second synchronizing wheel 520 in the rotation axis of the second motor,
Second synchronizing wheel 520 is rolled with synchronous belt 600 to be cooperated.Since the both ends of synchronous belt 600 are respectively fixedly connected with the two of pedestal 100
End, when the work of the second motor, the rotation axis of the second motor is able to drive the rotation of the second synchronizing wheel 520, when the second synchronizing wheel 520
When rotation, the second synchronizing wheel 520 can be rolled along the length direction of synchronous belt 600, to drive the second driving source 500, second
Mounting base 510 and the second Yi Jian mechanism move on pedestal 100.And above-mentioned first Yi Jian mechanism and the second Yi Jian mechanism are in movement
It is non-interference in the process, improve the safety and stability of whole device.
As shown in Figure 1, Figure 2, Figure 3 shows, as the further improvement of above-described embodiment, manipulator further includes being arranged at intervals at
The first position-limited wheel 430 and the second position-limited wheel 440 in one mounting base 410, the first synchronizing wheel 420 are set to the first position-limited wheel 430
Between the second position-limited wheel 440, synchronous belt 600 includes the first side and second side opposite with the first side, 600 winding of synchronous belt
In in the first synchronizing wheel 420, and the first side is abutted with the first synchronizing wheel 420, and the first position-limited wheel 430 and the second position-limited wheel 440 are
It is abutted with second side.In this way, synchronous belt 600 can carry out face contact with the first synchronizing wheel 420 so that the first synchronizing wheel 420 with
Contact between synchronous belt 600 is relatively reliable, and the first synchronizing wheel 420 is avoided to have skidded between synchronous belt 600 in rotation
Phenomenon influences the reliability of whole device.
Specifically, the first position-limited wheel 430 and the second position-limited wheel 440 are arranged along the length direction interval of synchronous belt 600, and first
Synchronizing wheel 420 is arranged in the first position-limited wheel 430 or the second side of the position-limited wheel 440 far from synchronous belt 600, and the of synchronous belt 600
Side is equipped with the first dentalation, and the circumference of the first synchronizing wheel 420 is equipped with the second dentalation, the first dentalation and second
Dentalation engagement.
As shown in Figure 1, Figure 3, further, manipulator further includes the third being arranged at intervals in the second mounting base 510
Position-limited wheel 530 and the 4th position-limited wheel 540, the second synchronizing wheel 520 are set between third position-limited wheel 530 and the 4th position-limited wheel 540,
Synchronous belt 600 is set around in the second synchronizing wheel 520, and the first side is abutted with the second synchronizing wheel 520, third position-limited wheel 530 and
Four position-limited wheels 540 are abutted with second side.In this way, synchronous belt 600 can carry out face contact with the second synchronizing wheel 520, so that the
Two contacts between synchronous belt 600 of synchronizing wheel 520 are relatively reliable, avoid the second synchronizing wheel 520 in rotation and synchronous belt 600
Between have skidded phenomenon, influence the reliability of whole device.
Specifically, third position-limited wheel 530 and the 4th position-limited wheel 540 are arranged along the length direction interval of synchronous belt 600, and second
Third position-limited wheel 530 or the 4th side of the position-limited wheel 540 far from synchronous belt 600, the second synchronizing wheel 520 is arranged in synchronizing wheel 520
Circumference be equipped with third dentalation, third dentalation engages with the first dentalation.
As shown in Figure 1 and Figure 2, manipulator further includes slide assemblies in one of the embodiments, and slide assemblies include setting
The sliding rail 710 that is placed on pedestal 100, the first sliding block 720 being set in the first mounting base 410 and it is set to the second mounting base
The second sliding block on 510, the first sliding block 720 and the second sliding block are slidably matched with sliding rail 710.The length direction of sliding rail 710 with
The length direction of synchronous belt 600 is consistent, when the work of the first driving source 400, can by the first sliding block 720 and sliding rail 710 it
Between be slidably matched, move the first mounting base 410 along the length direction of synchronous belt 600；When the work of the second driving source 500,
The second mounting base 510 can be made along the length direction of synchronous belt 600 by being slidably matched between the second sliding block and sliding rail 710
It is mobile.
Further, sliding rail 710 is rectangular parallelepiped structure, is equipped with sliding slot on the first sliding block 720 and the second sliding block, sliding slot
Cell wall is slidably matched with sliding rail 710.Sliding rail 710 is two, and two sliding rails 710 are all set on pedestal 100 and along pedestal 100
Width direction be intervally arranged；First sliding block 720 is four, and four the first sliding blocks 720 are arranged at the first mounting base 410
It simultaneously arranges in array bottom；Second sliding block be four, and four the second sliding blocks be arranged at the second mounting base 510 bottom,
And it arranges in array；The first sliding block of two of them 720 is slidably matched with one of sliding rail 710, the first sliding block of another two 720
It is slidably matched with another sliding rail 710, the second sliding block of two of them is slidably matched with one of sliding rail 710, another two second
Sliding block is slidably matched with another sliding rail 710.In this way, by the way that two sliding rails 710 are arranged on pedestal 100, in the first mounting base
Four the first sliding blocks 720 are arranged in 410 bottom, and four the second sliding blocks are arranged in the bottom of the second mounting base 510, can further mention
The stability between stability and the second mounting base 510 and pedestal 100 between high first mounting base 410 and pedestal 100, keeps away
Exempt from the first mounting base 410 and the second mounting base 510 deviates sliding rail 710 in moving process.
As shown in Fig. 1, Fig. 3, Fig. 4, Fig. 5, the first Yi Jian mechanism includes being set to the first peace in one of the embodiments,
The first suction nozzle 320 for filling the first lifting actuator 310 on seat 410 and being drivingly connected with the first lifting actuator 310.First
Lifting actuator 310 can drive the first suction nozzle 320 to move up and down, can when the first Yi Jian mechanism is moved to semi-finished product position 810
Move down the first suction nozzle 320 by the first lifting actuator 310, adsorb on semi-finished product position 810 to overlay film workpiece, when
After first suction nozzle 320 completes absorption movement, the first lifting actuator 310 can drive the first suction nozzle 320 to move up.In this way,
After moving up under driving of first suction nozzle 320 in the first lifting actuator 310, the first driving source 400 could be facilitated to drive first
Yi Jian mechanism moves on pedestal 100, and when the first Yi Jian mechanism is moved to conformable region 820, the first lifting actuator 310 can be with
The first suction nozzle 320 is driven to move down and will be placed on conformable region 820 to overlay film workpiece.Optionally, the first lifting actuator
310 be cylinder or hydraulic cylinder, and the first suction nozzle 320 is vacuum slot.
Specific in the present embodiment, the first lifting actuator 310 is the first cylinder, and the first suction nozzle 320 is the suction of the first vacuum
Mouth, the first vacuum slot can generate vacuum in inside by vacuum generator and have adsorption capacity.First cylinder stretches
Be connected with the first connecting plate 330 on bar, 8 the first vacuum slots be provided on the first connecting plate 330, and wherein 4 first it is true
The wherein side of the first connecting plate 330 is arranged in suction mouth, and the another of the first connecting plate 330 is arranged in another 4 the first vacuum slots
Side.In this way, the absorption of the first Yi Jian mechanism can be increased by the way that 8 the first vacuum slots are arranged on the first connecting plate 330
Ability facilitates absorption to overlay film workpiece.
Further, the second Yi Jian mechanism include be set in the second mounting base 510 second lifting actuator 210 and
The second suction nozzle 220 being drivingly connected with the second lifting actuator 210.Second lifting actuator 210 can drive the second suction nozzle 220
It moves up and down.By the up and down motion of the second suction nozzle 220, the pickup of the second Yi Jian mechanism may be implemented and put part movement.Specifically
Ground can make the second suction nozzle 220 downwards by the second lifting actuator 210 when the second Yi Jian mechanism is moved to conformable region 820
It is mobile, the workpiece on conformable region 820 is adsorbed, after the second suction nozzle 220 completes absorption movement, the second lifting actuator 210 can be with
The second suction nozzle 220 is driven to move up.In this way, after being moved up under driving of second suction nozzle 220 in the second lifting actuator 210,
It could facilitate the second driving source 500 that the second Yi Jian mechanism is driven to move on pedestal 100, when the second Yi Jian mechanism is moved to finished product
When area 830, the second lifting actuator 210 can drive the second suction nozzle 220 to move down and be placed on into the workpiece of overlay film
In product area 830.Optionally, the second lifting actuator 210 is cylinder or hydraulic cylinder, and the second suction nozzle 220 is vacuum slot.
Specific in the present embodiment, the second lifting actuator 210 is the second cylinder, and the second suction nozzle 220 is the suction of the second vacuum
Mouth, the second vacuum slot can generate vacuum in inside by vacuum generator and have adsorption capacity.Second cylinder stretches
Be connected with the second connecting plate 230 on bar, 8 the second vacuum slots be provided on the second connecting plate 230, and wherein 4 second it is true
The wherein side of the second connecting plate 230 is arranged in suction mouth, and the another of the second connecting plate 230 is arranged in another 4 the second vacuum slots
Side.In this way, the absorption of the second Yi Jian mechanism can be increased by the way that 8 the second vacuum slots are arranged on the second connecting plate 230
Ability facilitates absorption workpiece.
It as shown in Figure 1, Figure 4, Figure 5, in one of the embodiments, further include workbench 800, workbench 800 is equipped with
Semi-finished product area 810, conformable region 820 and finished product area 830, semi-finished product area 810, conformable region 820 and finished product area 830 are along synchronous belt 600
Length direction interval setting.
As shown in Figure 1, the first Yi Jian mechanism is completed firstly the need of above semi-finished product area 810 specific in the present embodiment
Pickup movement, specifically, the first Yi Jian mechanism are moved to the top in semi-finished product area 810, and the first suction nozzle 320 is driven by the first lifting
Moving part 310 moves down, and when the first suction nozzle 320 drops to when overlay film workpiece contacts, vacuum generator works and passes through the
One suction nozzle 320 is adsorbed to overlay film workpiece.Later, the first lifting actuator 310 drives the first suction nozzle 320 to rise, and first moves part machine
Structure moves to conformable region on pedestal 100 under the drive of the first driving source 400, through synchronous belt 600 and the first synchronizing wheel 420
820 tops.Later, the first lifting actuator 310 will be moved down to overlay film workpiece to conformable region 820, the release of the first suction nozzle 320
Part movement is put in vacuum, completion.Later, the first lifting actuator 310 rises, and first moves on part mechanism kinematic to semi-finished product area 810
Side, waits next movement.When after overlay film workpiece, after pad pasting is completed in conformable region 820, the second Yi Jian mechanism is moved to conformable region 820
Top, the second suction nozzle 220 are moved down by the second lifting actuator 210, when the second suction nozzle 220 drops to and overlay film
When workpiece contacts, vacuum generator works and passes through the workpiece that the second suction nozzle 220 adsorbs overlay film.Later, the second lifting is driven
Moving part 210 drives the second suction nozzle 220 to rise, and the second Yi Jian mechanism passes through synchronous belt 600 under the drive of the second driving source 500
It is moved to above finished product area 830 on pedestal 100 with the second synchronizing wheel 520.Later, the second lifting actuator 210 will be adsorbed with
The second suction nozzle 220 of the workpiece of overlay film moves down, and later, the second suction nozzle 220 discharges vacuum, by the workpiece of overlay film
It is put into finished product area.
Each technical characteristic of embodiment described above can be combined arbitrarily, for simplicity of description, not to above-mentioned reality
It applies all possible combination of each technical characteristic in example to be all described, as long as however, the combination of these technical characteristics is not deposited
In contradiction, all should be considered as described in this specification.
The embodiments described above only express several embodiments of the present invention, and the description thereof is more specific and detailed, but simultaneously
It cannot therefore be construed as limiting the scope of the patent.It should be pointed out that coming for those of ordinary skill in the art
It says, without departing from the inventive concept of the premise, various modifications and improvements can be made, these belong to protection of the invention
Range.Therefore, the scope of protection of the patent of the invention shall be subject to the appended claims.
Claims (10)
1. a kind of manipulator, which is characterized in that including：
Pedestal；
First Yi Jian mechanism, first Yi Jian mechanism are movably arranged on the pedestal, and first Yi Jian mechanism uses
In conformable region will be moved to overlay film workpiece；
First driving source, first driving source and first Yi Jian mechanism are drivingly connected, for driving described first to move part
Mechanism moves on the base；
Second Yi Jian mechanism, second Yi Jian mechanism are movably arranged on the pedestal, and second Yi Jian mechanism uses
In the workpiece of overlay film is moved to finished product area；And
Second driving source, second driving source and second Yi Jian mechanism are drivingly connected, for driving described second to move part
Mechanism moves on the base.
2. manipulator according to claim 1, which is characterized in that further include synchronous belt and the first mounting base, the pedestal
Including opposite both ends, the both ends of the synchronous belt are connect with the both ends of the pedestal respectively, first Yi Jian mechanism and institute
The connection of the first mounting base is stated, first driving source is set in first mounting base and can move on the synchronous belt.
3. manipulator according to claim 2, which is characterized in that further include the second mounting base, second Yi Jian mechanism
It is connect with second mounting base, second driving source is set in second mounting base and can be on the synchronous belt
It is mobile.
4. manipulator according to claim 3, which is characterized in that first driving source be first motor, described first
The first synchronizing wheel is arranged in the rotation axis of motor, first synchronizing wheel and the synchronous belt, which roll, to be cooperated；
Second driving source is the second motor, is arranged with the second synchronizing wheel in the rotation axis of second motor, described second
Synchronizing wheel and the synchronous belt, which roll, to be cooperated.
5. manipulator according to claim 4, which is characterized in that further include being arranged at intervals in first mounting base
First position-limited wheel and the second position-limited wheel, first synchronizing wheel be set to first position-limited wheel and second position-limited wheel it
Between, the synchronous belt includes the first side and second side opposite with first side, and it is same that the synchronous belt is set around described first
On step wheel, and first side is abutted with first synchronizing wheel, and first position-limited wheel and second position-limited wheel are and institute
State second side abutting.
6. manipulator according to claim 5, which is characterized in that further include being arranged at intervals in second mounting base
Third position-limited wheel and the 4th position-limited wheel, second synchronizing wheel be set to the third position-limited wheel and the 4th position-limited wheel it
Between, the synchronous belt is set around in second synchronizing wheel, and first side is abutted with second synchronizing wheel, the third
Position-limited wheel and the 4th position-limited wheel are abutted with described second side.
7. manipulator according to claim 3, which is characterized in that further include slide assemblies, the slide assemblies include setting
The sliding rail that is placed on the pedestal, the first sliding block being set in first mounting base and it is set to second mounting base
On the second sliding block, first sliding block and second sliding block are slidably matched with the sliding rail.
8. manipulator according to claim 2, which is characterized in that first Yi Jian mechanism includes being set to described first
The first lifting actuator in mounting base and the first suction nozzle with the first lifting actuator drive connection.
9. manipulator according to claim 3, which is characterized in that second Yi Jian mechanism includes being set to described second
The second lifting actuator in mounting base and the second suction nozzle with the second lifting actuator drive connection.
10. manipulator according to claim 2, which is characterized in that further include workbench, the workbench be equipped with half at
Product area, the conformable region and the finished product area, the semi-finished product area, the conformable region and the finished product area are along the synchronous belt
The setting of length direction interval.
Priority Applications (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201811067737.XA CN108858268A (en) | 2018-09-13 | 2018-09-13 | Manipulator |
Applications Claiming Priority (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201811067737.XA CN108858268A (en) | 2018-09-13 | 2018-09-13 | Manipulator |
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