CN108974930A - A kind of capping carrying flexible mechanical arm of micro-nano quartz crystal encapsulation - Google Patents
A kind of capping carrying flexible mechanical arm of micro-nano quartz crystal encapsulation Download PDFInfo
- Publication number
- CN108974930A CN108974930A CN201810758221.3A CN201810758221A CN108974930A CN 108974930 A CN108974930 A CN 108974930A CN 201810758221 A CN201810758221 A CN 201810758221A CN 108974930 A CN108974930 A CN 108974930A
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- Prior art keywords
- cam
- fixed
- backboard
- micro
- mechanical arm
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Classifications
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- B—PERFORMING OPERATIONS; TRANSPORTING
- B65—CONVEYING; PACKING; STORING; HANDLING THIN OR FILAMENTARY MATERIAL
- B65G—TRANSPORT OR STORAGE DEVICES, e.g. CONVEYORS FOR LOADING OR TIPPING, SHOP CONVEYOR SYSTEMS OR PNEUMATIC TUBE CONVEYORS
- B65G47/00—Article or material-handling devices associated with conveyors; Methods employing such devices
- B65G47/74—Feeding, transfer, or discharging devices of particular kinds or types
- B65G47/90—Devices for picking-up and depositing articles or materials
- B65G47/91—Devices for picking-up and depositing articles or materials incorporating pneumatic, e.g. suction, grippers
-
- B—PERFORMING OPERATIONS; TRANSPORTING
- B65—CONVEYING; PACKING; STORING; HANDLING THIN OR FILAMENTARY MATERIAL
- B65G—TRANSPORT OR STORAGE DEVICES, e.g. CONVEYORS FOR LOADING OR TIPPING, SHOP CONVEYOR SYSTEMS OR PNEUMATIC TUBE CONVEYORS
- B65G2201/00—Indexing codes relating to handling devices, e.g. conveyors, characterised by the type of product or load being conveyed or handled
- B65G2201/02—Articles
- B65G2201/0214—Articles of special size, shape or weigh
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- Engineering & Computer Science (AREA)
- Mechanical Engineering (AREA)
- Manipulator (AREA)
Abstract
The present invention proposes that flexible mechanical arm is carried in a kind of capping of micro-nano quartz crystal encapsulation, including backboard, motor, cam mechanism, stack testing agency and adjustable vacuum nozzle mechanism, motor is fixed on the rear end face of backboard, cam mechanism includes cam, clamping block and return spring, cam is fixed on the front end face of backboard, it is connected with motor output shaft, clamping block is set to below cam, install the first cam guide in top, it is in contact with cam, return spring both ends are individually fixed on backboard and clamping block, stack testing agency is fixed on clamping block right side, adjustable vacuum nozzle mechanism is fixed on the lower section of material stacking mechanism, the present invention is at low cost, detectable stack, sucking action can be carried out in the environment of a variety of different gradients, it is easy to adjust, stability is strong.
Description
Technical field
The invention belongs to the technical field of micro-nano quartz crystal sealed in unit more particularly to a kind of micro-nano quartz crystals
Flexible mechanical arm is carried in the capping of encapsulation.
Background technique
Under normal conditions, draw frame machine do not have deflection angle function and detection stack function, typically one direction into
Row sucking action.The absorption ability stability of such draw frame machine is insufficient, is easy having the case where constant slope to occur dropping off
Situation.Since capping (LID) thickness of this equipment is smaller, it must have certain gradient ability in the area mechanism for sorting Shang Zhizhen
The case where preventing stack generation, so the draw frame machine of this not deflection angle is that can not fit in high-speed automated equipment
Match.In order to exclude the influence of electrostatic, the device of detection stack is also set on the robotic arm.The suction machine of deflection angle simultaneously
Structure needs to be arranged adjustable mechanism, ensures that adjustability when installation in this way, reduces the difficulty that equipment is adjusted, while also meeting
Versatility of the mechanism in multiple equipment.
Summary of the invention
The purpose of the present invention is to provide a kind of cappings of micro-nano quartz crystal encapsulation to carry flexible mechanical arm, at low cost
Honest and clean, easy to operate, detection stack, the high and adjustable deflection angle of stability.
The technical proposal adopted by the invention to solve the above technical problems is that: a kind of capping of micro-nano quartz crystal encapsulation
Carry flexible mechanical arm, which is characterized in that including backboard, motor, cam mechanism, stack testing agency and adjustable vacuum nozzle mechanism,
The motor is fixed on the rear end face of backboard, and the cam mechanism includes cam, clamping block and return spring, and cam is fixed on back
On the front end face of plate, it is connected with motor output shaft, clamping block is set to below cam, and top installs the first cam guide, and convex
Wheel is in contact, and the return spring both ends are individually fixed on backboard and clamping block, and clamping block is fixed in the stack testing agency
On right side, the adjustable vacuum nozzle mechanism is fixed on the lower section of material stacking mechanism.
According to the above scheme, the stack testing agency includes the first cylinder, rotary ball spline, longitudinal rail and displacement
Monitoring device, first cylinder and rotary ball spline are both secured in the support plate on the backboard, the first cylinder
Output shaft is connected with rotary ball spline top by connector, and the longitudinal rail top is fixed on backboard, institute's rheme
Moving monitoring device includes the first sliding block, the second sliding block, monitoring block, tension spring and the first fibre optical sensor, first, second sliding block
With longitudinal rail phase configuration, setting symmetrical above and below, the right side phase of the left side of the first, second sliding block and the clamping block
Even, the right-hand end of the first, second sliding block is respectively equipped with the second cam guide and third cam guide, the both ends of the tension spring
It is individually fixed on the first, second sliding block, the monitoring block is set on rotary ball spline, second, third cam guide
It is in contact respectively with the top and bottom of monitoring block, forms clamped condition, first fibre optical sensor is fixed on the second sliding block
On.
According to the above scheme, the adjustable vacuum nozzle mechanism includes the second cylinder, fixed plate, suction nozzle, adjusts spinner handle, the fixation
It is connected at the top of plate with the rotary ball spline bottom, fixed plate bottom is equipped with left and right hinged seat, wears at the top of the suction nozzle
In on articulated shaft, the articulated shaft both ends are hinged by bearing and left and right hinged seat, second cylinder and articulated shaft phase
Connection, the adjusting spinner handle middle part are equipped with connecting hole, and the right side end of articulated shaft is connected with connecting hole configuration, adjust spinner handle rotation
Turn to drive articulated shaft rotation, adjusts spinner handle and be equipped with contact screw, position corresponding with contact screw, which is equipped with, in fixed plate is adjusted
Screw, turn abuts the adjusting screw with contact screw up and down.
According to the above scheme, the backboard be equipped with the second fibre optical sensor, the cam be equipped with origin hole, described second
Fibre optical sensor is fixed by the bracket on backboard, to detect origin hole whether return.
According to the above scheme, the connector is the cylindrical tube structure for being provided with central through hole, and connector top is circumferentially equal
Even interval is provided with several U-shaped openings, and the connector between the adjacent U-shaped opening of two of them is equipped with platform, sets on the platform
Have a screw hole, the screw hole and lock-screw phase configuration, the connector at several U-shaped openings are equipped with connecting hole, by bolt with
The rotary ball spline is connected.
The beneficial effects of the present invention are: flexible mechanical is carried in the capping that the present invention provides a kind of micro-nano quartz crystal encapsulation
Arm, it is advantageous that can detect stack, sucking action, easy to adjust, stability being carried out in the environment of a variety of different gradients
By force.
Detailed description of the invention
Fig. 1 is the structural schematic diagram of one embodiment of the invention.
Fig. 2 is the side view of one embodiment of the invention.
Fig. 3 is the structural schematic diagram of the connector of one embodiment of the invention.
Specific embodiment
For a better understanding of the invention, the invention will be further described with reference to the accompanying drawings and examples.
As shown in Figure 1 and Figure 2, flexible mechanical arm, including backboard 1, electricity are carried in a kind of capping of micro-nano quartz crystal encapsulation
Machine 2, cam mechanism, stack testing agency and adjustable vacuum nozzle mechanism, motor are fixed on the rear end face of backboard, and cam mechanism includes
Cam 3, clamping block 4 and return spring 5, cam is fixed on the front end face of backboard, is connected with motor output shaft, and clamping block is set to convex
Wheel lower section, top install the first cam guide 6, are in contact with cam, and return spring both ends are individually fixed in backboard and clamping block
On, stack testing agency is fixed on clamping block right side, and adjustable vacuum nozzle mechanism is fixed on the lower section of material stacking mechanism.
Stack testing agency includes the first cylinder 7, rotary ball spline 8, longitudinal rail 9 and displacement monitor, the
One cylinder and rotary ball spline are both secured in the support plate 10 on backboard, the output shaft of the first cylinder and rotary ball
Spline top is connected by connector 11, and longitudinal rail top is fixed on backboard, displacement monitor include the first sliding block 12,
Second sliding block 13, monitoring block 14, tension spring 15 and the first fibre optical sensor 16, the first, second sliding block with longitudinal rail phase configuration,
Setting symmetrical above and below, the left side of the first, second sliding block are connected with the right side of clamping block, the right-hand end of the first, second sliding block
It is respectively equipped with the second cam guide 17 and third cam guide 18, the both ends of tension spring are individually fixed in the first, second sliding block
On, monitoring block is set on rotary ball spline, second, third cam guide connects with the top and bottom of monitoring block respectively
Touching, forms clamped condition, and the first fibre optical sensor is fixed on the second sliding block.
Adjustable vacuum nozzle mechanism includes the second cylinder 19, fixed plate 20, suction nozzle 21, adjusts spinner handle 22, fixed plate top and rotation
Rotatable ball spline bottom is connected, and fixed plate bottom is equipped with left and right hinged seat, is arranged on articulated shaft at the top of suction nozzle, articulated shaft
Both ends are hinged by bearing and left and right hinged seat, and the second cylinder is connected with articulated shaft, are adjusted and are equipped with connecting hole in the middle part of spinner handle,
The right side end of articulated shaft is configured with connecting hole to be connected, and adjusts spinner handle rotation and drives articulated shaft rotation, adjusting spinner handle, which is equipped with, to be connect
Screw 23 is touched, position corresponding with contact screw is equipped with adjusting screw 24 in fixed plate, turn and contact spiral shell above and below adjusting screw
Silk abuts.
Backboard is equipped with the second fibre optical sensor 25, and cam is equipped with origin hole, and the second fibre optical sensor passes through bracket 26
Be fixed on backboard, to detect origin hole whether return.
As shown in figure 3, connector is the cylindrical tube structure for being provided with central through hole, circumferentially uniform intervals at the top of connector
Several U-shaped openings 27 are provided with, the connector between the adjacent U-shaped opening of two of them is equipped with platform 28, and platform is equipped with screw hole
29, connector is positioned with the output shaft of the first cylinder by lock-screw and is connected by screw hole and lock-screw phase configuration, several U
The connector of shape opening is equipped with connecting hole 30, is connected by bolt with rotary ball spline.
Under original state, suction nozzle is vertically arranged, by adjusting adjusting screw and the angle of adjusting spinner handle adjustment suction nozzle
Position is spent, the deflection angle of suction nozzle is adjusted.After adjusting finishes, the position of the first fibre optical sensor is adjusted, is then locked
Tight all screws.Start motor band moving cam to deflect, so that overall mechanism be made to move downward.When suction nozzle is drawn onto stack
It waits, can integrally move up a small distance positioned at the stack testing agency on the right and adjustable vacuum nozzle mechanism, at this time the first light
Fiber sensor can detect amount of movement situation, to detect the generation of stack.When the second fibre optical sensor detect it is convex
Wheel returns at origin, is pulled upwardly overall mechanism by return spring, the effect of tension spring is to keep the second cam guide and third convex
Wheel guider is to maintain the state of a clamping always, so as to realize the function of detection stack.
The above is only presently preferred embodiments of the present invention, is not intended to limit the invention in any way, it is all according to the present invention
Method any simple modification, change and equivalence change substantially to the above embodiments, still fall within the technology of the present invention side
In the protection scope of method.
Claims (5)
1. flexible mechanical arm is carried in a kind of capping of micro-nano quartz crystal encapsulation, which is characterized in that including backboard, motor, convex
Wheel mechanism, stack testing agency and adjustable vacuum nozzle mechanism, the motor are fixed on the rear end face of backboard, the cam mechanism packet
Cam, clamping block and return spring are included, cam is fixed on the front end face of backboard, is connected with motor output shaft, and clamping block is set to convex
Wheel lower section, top install the first cam guide, are in contact with cam, and the return spring both ends are individually fixed in backboard and locking
On block, the stack testing agency is fixed on clamping block right side, and the adjustable vacuum nozzle mechanism is fixed under material stacking mechanism
Side.
2. flexible mechanical arm is carried in a kind of capping of micro-nano quartz crystal encapsulation according to claim 1, feature exists
In, the stack testing agency include the first cylinder, rotary ball spline, longitudinal rail and displacement monitor, described the
One cylinder and rotary ball spline are both secured in the support plate on the backboard, the output shaft of the first cylinder and rotary rolling
Spline top is connected by connector, and the longitudinal rail top is fixed on backboard, and the displacement monitor includes the
One sliding block, the second sliding block, monitoring block, tension spring and the first fibre optical sensor, first, second sliding block match with longitudinal rail
It sets, setting symmetrical above and below, the left side of the first, second sliding block is connected with the right side of the clamping block, the first, second sliding block
Right-hand end is respectively equipped with the second cam guide and third cam guide, and the both ends of the tension spring are individually fixed in first,
On two sliding blocks, the monitoring block be set to rotary ball spline on, second, third cam guide respectively with monitoring block top surface
It is in contact with bottom surface, forms clamped condition, first fibre optical sensor is fixed on the second sliding block.
3. flexible mechanical arm is carried in a kind of capping of micro-nano quartz crystal encapsulation according to claim 2, feature exists
In the adjustable vacuum nozzle mechanism includes the second cylinder, fixed plate, suction nozzle, adjusts spinner handle, the fixed plate top and the rotation
Formula ball spline bottom is connected, and fixed plate bottom is equipped with left and right hinged seat, is arranged on articulated shaft at the top of the suction nozzle, described
Articulated shaft both ends are hinged by bearing and left and right hinged seat, and second cylinder is connected with articulated shaft, in the adjusting spinner handle
Portion is equipped with connecting hole, and the right side end of articulated shaft is connected with connecting hole configuration, adjusts spinner handle rotation and drives articulated shaft rotation,
It adjusts spinner handle and is equipped with contact screw, position corresponding with contact screw is equipped with adjusting screw, the adjusting screw in fixed plate
Upper and lower turn is abutted with contact screw.
4. flexible mechanical arm is carried in a kind of capping of micro-nano quartz crystal encapsulation according to claim 1, feature exists
In the backboard is equipped with the second fibre optical sensor, and the cam is equipped with origin hole, and second fibre optical sensor passes through branch
Frame is fixed on backboard, to detect origin hole whether return.
5. flexible mechanical arm is carried in a kind of capping of micro-nano quartz crystal encapsulation according to claim 2, feature exists
In the connector is the cylindrical tube structure for being provided with central through hole, and circumferentially uniform intervals are provided with several U-shapeds at connector top
Opening, the connector between the adjacent U-shaped opening of two of them are equipped with platform, and the platform is equipped with screw hole, the screw hole with
Lock-screw phase configuration, the connector at several U-shaped openings are equipped with connecting hole, pass through bolt and the rotary ball spline
It is connected.
Priority Applications (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201810758221.3A CN108974930B (en) | 2018-07-11 | 2018-07-11 | Micro-nano quartz crystal packaged cover-sealing carrying flexible mechanical arm |
Applications Claiming Priority (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201810758221.3A CN108974930B (en) | 2018-07-11 | 2018-07-11 | Micro-nano quartz crystal packaged cover-sealing carrying flexible mechanical arm |
Publications (2)
| Publication Number | Publication Date |
|---|---|
| CN108974930A true CN108974930A (en) | 2018-12-11 |
| CN108974930B CN108974930B (en) | 2020-04-21 |
Family
ID=64536888
Family Applications (1)
| Application Number | Title | Priority Date | Filing Date |
|---|---|---|---|
| CN201810758221.3A Active CN108974930B (en) | 2018-07-11 | 2018-07-11 | Micro-nano quartz crystal packaged cover-sealing carrying flexible mechanical arm |
Country Status (1)
| Country | Link |
|---|---|
| CN (1) | CN108974930B (en) |
Cited By (4)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN110828339A (en) * | 2019-10-09 | 2020-02-21 | 深圳市盛世智能装备有限公司 | Material taking unit and die bonder |
| CN110850273A (en) * | 2019-11-15 | 2020-02-28 | 广东利扬芯片测试股份有限公司 | Material overlapping prevention IC test equipment and test method thereof |
| WO2023122856A1 (en) * | 2021-12-27 | 2023-07-06 | 苏州策林智能科技有限公司 | Sheet inspection machine having protective function against exceeding limit |
| WO2023122857A1 (en) * | 2021-12-27 | 2023-07-06 | 苏州策林智能科技有限公司 | Sheet testing machine convenient to adjust |
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| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| JPH10315177A (en) * | 1997-05-21 | 1998-12-02 | Seiko Seiki Co Ltd | Carrying device for parts |
| US5876556A (en) * | 1996-05-07 | 1999-03-02 | Matsushita Electric Industrial Co., Ltd. | Die-bonding device |
| CN203411067U (en) * | 2013-05-30 | 2014-01-29 | 深圳市卓立科科技有限公司 | Workpiece carrying mechanism |
| CN105000382A (en) * | 2015-07-16 | 2015-10-28 | 无锡中营康园自动化设备有限公司 | Full-automatic piece picking mechanical arm device capable of achieving recognition feedback |
| CN205023447U (en) * | 2015-09-30 | 2016-02-10 | 北京太阳能电力研究院有限公司 | Blanking device |
-
2018
- 2018-07-11 CN CN201810758221.3A patent/CN108974930B/en active Active
Patent Citations (5)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| US5876556A (en) * | 1996-05-07 | 1999-03-02 | Matsushita Electric Industrial Co., Ltd. | Die-bonding device |
| JPH10315177A (en) * | 1997-05-21 | 1998-12-02 | Seiko Seiki Co Ltd | Carrying device for parts |
| CN203411067U (en) * | 2013-05-30 | 2014-01-29 | 深圳市卓立科科技有限公司 | Workpiece carrying mechanism |
| CN105000382A (en) * | 2015-07-16 | 2015-10-28 | 无锡中营康园自动化设备有限公司 | Full-automatic piece picking mechanical arm device capable of achieving recognition feedback |
| CN205023447U (en) * | 2015-09-30 | 2016-02-10 | 北京太阳能电力研究院有限公司 | Blanking device |
Cited By (5)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN110828339A (en) * | 2019-10-09 | 2020-02-21 | 深圳市盛世智能装备有限公司 | Material taking unit and die bonder |
| CN110850273A (en) * | 2019-11-15 | 2020-02-28 | 广东利扬芯片测试股份有限公司 | Material overlapping prevention IC test equipment and test method thereof |
| CN110850273B (en) * | 2019-11-15 | 2021-10-15 | 广东利扬芯片测试股份有限公司 | Material overlapping prevention IC test equipment and test method thereof |
| WO2023122856A1 (en) * | 2021-12-27 | 2023-07-06 | 苏州策林智能科技有限公司 | Sheet inspection machine having protective function against exceeding limit |
| WO2023122857A1 (en) * | 2021-12-27 | 2023-07-06 | 苏州策林智能科技有限公司 | Sheet testing machine convenient to adjust |
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| Publication number | Publication date |
|---|---|
| CN108974930B (en) | 2020-04-21 |
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