CN111977368A - Small product grabbing device - Google Patents
Small product grabbing device Download PDFInfo
- Publication number
- CN111977368A CN111977368A CN202010804737.4A CN202010804737A CN111977368A CN 111977368 A CN111977368 A CN 111977368A CN 202010804737 A CN202010804737 A CN 202010804737A CN 111977368 A CN111977368 A CN 111977368A
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- top cover
- processing module
- data processing
- gripping device
- base
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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
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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
- B65G47/917—Devices for picking-up and depositing articles or materials incorporating pneumatic, e.g. suction, grippers control arrangements
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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
- B65G2207/00—Indexing codes relating to constructional details, configuration and additional features of a handling device, e.g. Conveyors
- B65G2207/28—Impact protection
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- Engineering & Computer Science (AREA)
- Mechanical Engineering (AREA)
- Manipulator (AREA)
Abstract
The invention discloses a tiny product grabbing device which comprises a data processing module, a negative pressure cavity, a direction adjuster and a sucker, wherein the data processing module is used for processing a tiny product; the upper end of the negative pressure cavity is provided with an air exhaust port and is connected with external air exhaust equipment. According to the invention, the contact force between the sucker and the grabbed object is sensed in real time through the piezoelectric sensor, the contact force is converted into an electric signal and is sent to the data processing module, the data processing module identifies the contact direction of the sucker and the grabbed object according to the received electric signal, and then the length adjuster is correspondingly adjusted to lift the contact position, so that the hard contact between the sucker and the grabbed object is reduced, and the sucker is prevented from crushing the grabbed object.
Description
Technical Field
The invention relates to the field of negative pressure grabbing equipment, in particular to a tiny product grabbing device.
Background
The grabbing of tiny products is always an important technical link in the industrial field represented by the microelectronic industry. By utilizing the negative pressure technology, a local negative pressure field lower than the atmospheric pressure is generated on the surface of the product, so that the lifting force can be formed on the product, the product can be sucked, and subsequent operations such as transportation can be completed.
The micro product grabbing technology develops along with the development of the microelectronic industry, and various technologies are developed to grab corresponding products, wherein the typical technologies include negative pressure grabbing, physical clamping, electrostatic absorption, electromagnetic absorption and the like, and the negative pressure grabbing is widely applied due to the advantages of wide application range, high reliability, small damage to products and the like. The requirements for negative pressure gripping technology for gripping smaller and smaller micro product sizes, especially submillimeter products, are also increasing, and the most important technical problems include: firstly, the size of the suction head is matched with the product, so that the size of the suction head, particularly the size of a suction hole on the suction head, is required to be smaller and smaller; secondly, the effective distance between the suction head and the tiny product is closer and closer because the suction holes are less and less, which requires that the parallelism between the suction head and the upper surface of the product is higher and higher when the suction head works, otherwise, the surface of the suction head deflects after long-term work due to the displacement deformation caused by temperature change, vibration and the like, thereby causing suction failure or the product crushing by the suction head. These disadvantages are difficult to overcome at one time by virtue of the initial installation of the tip product, and it is therefore a necessary option to develop an intelligent tip technique that senses and corrects the tip attitude in time during operation.
Disclosure of Invention
Aiming at the defects in the prior art, the tiny product gripping device provided by the invention solves the problem that the parallelism between the suction head and the gripped object cannot be adjusted in real time by the conventional negative pressure gripping equipment, so that the gripped object is easily crushed by the suction head.
In order to achieve the purpose of the invention, the invention adopts the technical scheme that:
the tiny product gripping device comprises a data processing module, a negative pressure cavity, an orientation regulator and a suction head; the upper end of the negative pressure cavity is provided with an air extraction port and is connected with external air extraction equipment;
the azimuth adjuster comprises a hollow column, a top cover and a base, wherein the middle of the top cover is provided with a through hole; the upper end of the hollow column is connected with the inner side of the top cover, and the outer side of the upper surface of the top cover is connected with the negative pressure cavity; the lower end of the hollow column is connected with the inner side of the base, at least two length regulators are arranged between the base and the top cover, and all the length regulators are not in the same straight line with the center of the hollow column;
the suction head comprises a cavity wall connected with the outer side of the lower surface of the base, an opening is formed in the lower end of the cavity wall, a suction disc with the surface protruding out of the cavity wall is arranged at the lower end of the opening, a piezoelectric sensor is arranged on the upper surface of the opening, an insulating pressing plate is arranged on the upper surface of the piezoelectric sensor, and a pressure spring is arranged between the upper surface of the insulating pressing plate and the lower surface of the base; a first vent hole is formed in the middle of the piezoelectric sensor, and a second vent hole is formed in the middle of the insulating pressing plate;
and the data processing module is respectively connected with the piezoelectric sensor and the length adjuster.
Further, the lower surface of the sucker is provided with a gold plating layer.
Furthermore, the aperture in the sucker is more than or equal to 0.01mm and less than or equal to one half of the size of the sucking object.
Furthermore, the piezoelectric sensor is a piezoelectric ceramic sensor, the whole lower surface of the piezoelectric ceramic sensor is provided with one electrode, the upper surface of the piezoelectric ceramic sensor is provided with four insulating seams from inside to outside, and the upper surface of the piezoelectric ceramic sensor is divided into four mutually independent upper electrodes; each upper electrode is connected with the data processing module.
Furthermore, a signal line interface is arranged on the top cover.
Furthermore, the top cover is provided with at least two first fixing holes, the base is provided with at least two second fixing holes, and the top cover and the base are respectively fixedly connected with the negative pressure cavity and the cavity wall of the cavity through screws penetrating through the first fixing holes and the second fixing holes.
Furthermore, two length adjusters are arranged, and the two length adjusters are respectively vertical to the connecting line of the centers of the hollow columns.
Further, the data processing module is a computer.
Furthermore, four signal line through holes corresponding to the upper electrodes are arranged on the insulating pressing plate.
Further, the length adjuster is a piezoelectric telescopic column.
The invention has the beneficial effects that: this device passes through the real-time perception sucking disc of piezoelectric sensor and is snatched the contact force between the thing to turn into the signal of telecommunication with the contact force and send to data processing module, data processing module discerns the sucking disc and is snatched the position that the thing contacted according to received signal of telecommunication, and then corresponds adjustment length adjuster, raises the place of contact, alleviates the sucking disc and is snatched the hard contact between the thing, prevents that the sucking disc from crushing and snatched the thing.
Drawings
FIG. 1 is a cross-sectional view of the present device;
FIG. 2 is a schematic structural diagram of a piezoelectric sensor;
FIG. 3 is a top view of the azimuth adjuster;
fig. 4 is a schematic structural view of the insulating pressing plate.
Wherein: 1. an air extraction opening; 2. a negative pressure chamber; 3. a screw; 4. a top cover; 5. a hollow column; 6. a length adjuster; 7. a base; 8. a cavity wall; 9. an insulating platen; 10. a suction cup; 11. a piezoelectric sensor; 12. a pressure spring; 13. a signal line interface; 14. insulating seams; 15. an upper electrode; 16. a first vent hole; 17. a first fixing hole; 18. a second fixing hole; 19. a signal line via hole; 20. and a second vent hole.
Detailed Description
The following description of the embodiments of the present invention is provided to facilitate the understanding of the present invention by those skilled in the art, but it should be understood that the present invention is not limited to the scope of the embodiments, and it will be apparent to those skilled in the art that various changes may be made without departing from the spirit and scope of the invention as defined and defined in the appended claims, and all matters produced by the invention using the inventive concept are protected.
As shown in fig. 1, the tiny product gripping device comprises a data processing module, a negative pressure cavity 2, an orientation regulator and a suction head; the upper end of the negative pressure cavity 2 is provided with an air exhaust port 1 and is connected with external air exhaust equipment;
the azimuth adjuster comprises a hollow column 5, a top cover 4 and a base 7, wherein the middle of the top cover 4 is provided with a through hole; the upper end of the hollow column 5 is connected with the inner side of the top cover 4, and the outer side of the upper surface of the top cover 4 is connected with the negative pressure cavity 2; the lower end of the hollow column 5 is connected with the inner side of a base 7, at least two length regulators 6 are arranged between the base 7 and the top cover 4, and the centers of all the length regulators 6 and the center of the hollow column 5 are not on the same straight line, so that each length regulator 6 can control the regulation in different directions;
the suction head comprises a cavity wall 8 connected with the outer side of the lower surface of the base 7, an opening is formed in the lower end of the cavity wall 8, a suction disc 10 with the surface protruding out of the cavity wall 8 is arranged at the lower end of the opening, a piezoelectric sensor 11 is arranged on the upper surface of the opening, an insulating pressing plate 9 is arranged on the upper surface of the piezoelectric sensor 11, a pressure spring 12 is arranged between the upper surface of the insulating pressing plate 9 and the lower surface of the base 7, and the pressure spring 12 is in a compression state, so that the piezoelectric sensor 11 is ensured to be in a stress state; a first vent hole 16 is arranged in the middle of the piezoelectric sensor 11, and a second vent hole 20 is arranged in the middle of the insulating pressing plate 9;
and the data processing module is respectively connected with the piezoelectric sensor 11 and the length adjuster 6 and is used for correspondingly controlling the length adjuster 6 according to the signal of the piezoelectric sensor 11 so as to adjust the parallelism between the sucker 10 and the grabbed object.
In order to reduce the hard contact between the suction head and the object to be grasped when adjusting the distance and angle therebetween, and prevent damage to the suction head or the object to be grasped, the suction head 10 may be made of a metal material, and a gold-plated layer may be provided on the lower surface thereof, and the thickness of the gold-plated layer may be set to several micrometers to several tens micrometers. In order to ensure the grabbing effect, the aperture in the sucker 10 is more than or equal to 0.01mm and less than or equal to one half of the size of the object to be sucked.
As shown in fig. 2, in order to ensure the sensitivity of the device and enable the device to sense stress conditions in different directions, the piezoelectric sensor 11 is a piezoelectric ceramic sensor, the whole lower surface of the piezoelectric ceramic sensor is an electrode, the upper surface of the piezoelectric ceramic sensor is provided with four insulating seams 14 from inside to outside, and the upper surface of the piezoelectric ceramic sensor is divided into four upper electrodes 15 which are independent of each other; each upper electrode 15 is connected to a data processing module. As shown in fig. 4, four signal line through holes 19 corresponding to the upper electrodes 15 are provided on the insulating presser plate 9.
In the specific implementation process, a wireless transmission scheme may be adopted, a wireless transmission device is arranged in the cavity wall 8 to transmit the data of the piezoelectric sensor 11 to the data processing module, or a signal line interface 13 is arranged on the top cover 4, and the signal line of the piezoelectric sensor 11 is led out through the signal line interface 13 and connected to the data processing module.
As shown in figure 3, in order to effectively fix and facilitate the detachment of the azimuth adjuster and the suction head and the negative pressure cavity 2, at least two first fixing holes 17 are formed in the top cover 4, at least two second fixing holes 18 are formed in the base 7, and the top cover 4 and the base 7 are fixedly connected with the negative pressure cavity 2 and the cavity wall 8 through screws 3 penetrating through the first fixing holes 17 and the second fixing holes 18 respectively. Wherein, the first fixing holes 17 and the second fixing holes 18 can be arranged in 4 at equal intervals, so that the distance between two adjacent first fixing holes 17 or two adjacent second fixing holes 18 is equal.
The length adjuster 6 is provided in two, and the two length adjusters 6 are respectively perpendicular to the connecting line of the centers of the hollow columns 5. The arrangement can be adjusted by the length of the two length adjusters 6, so that the sucker 10 has four-way adjusting capability. When the data processing module receives the signal of the upper electrode 15 positioned on the left side and does not receive the signals of other upper electrodes 15, the object to be grabbed is positioned on the left side of the sucking disc 10, and at the moment, if the length adjuster 6 on the same straight line with the central points of the upper electrode 15 and the sucking disc 10 on the left side is positioned on the left side of the central point of the sucking disc 10, the length of the length adjuster 6 is only required to be contracted, and the sucking disc 10 can be prevented from continuously pressing the object to be grabbed; similarly, if the length adjuster 6 on the same straight line with the central point of the upper electrode 15 and the sucking disc 10 on the left side is located on the right side of the central point of the sucking disc 10, the length of the length adjuster 6 is only required to be lengthened, and the sucking disc 10 can be prevented from continuously pressing to the object to be grabbed.
In one embodiment of the invention, the data processing module is a computer. In addition, the computer as the data processing module can preferably control the manipulator or other equipment for clamping the device, so that the manipulator or other equipment for clamping the device can also horizontally move according to the data of the piezoelectric sensor 11, the through hole on the suction cup 10 can be closer to the object to be grabbed, and the grabbing efficiency is further improved.
For example, a four-axis robot is used as a carrier, and the device is mounted on the fourth axis through the pumping hole 1, so that gas can enter from the hole of the suction cup 10 and sequentially pass through the piezoelectric sensor 11, the insulating pressing plate 9, the base 7, the hollow column 5, the top cover 4 and the negative pressure cavity 2 to reach the pumping hole 1. The working process of the system is as follows: utilize four-axis robot to drive this device and move, reach the upper surface of waiting to absorb the product, in this process, carry out real time monitoring to the process of snatching through piezoelectric sensor 11, on the basis of piezoelectric sensor 11 four-wire signal output signal, if sucking disc 10 with absorb the product surface depth of parallelism relatively poor, lead to taking place unusual contact signal, can directly control four-axis robot stop motion through this signal, and according to the correction strategy of setting for in advance, the flexible of control piezoelectricity flexible post, thereby adjust the contained angle of sucking disc 10 that has covered the gild layer, accomplish the direction adjustment to the suction head, thereafter piezoelectric sensor 11 feedback signal to four-axis robot, four-axis robot starts once more and snatchs the action, this process cycle is repeated, until accomplishing good absorption action. If the circulation frequency exceeds 5 times in the circulation process, the suction action can not be finished, the four-axis robot can give an alarm, and the action is stopped.
In summary, the present invention senses the contact force between the suction cup 10 and the object to be grasped in real time through the piezoelectric sensor 11, converts the contact force into an electrical signal, and sends the electrical signal to the data processing module, and the data processing module identifies the contact position between the suction cup 10 and the object to be grasped according to the received electrical signal, and further adjusts the length adjuster 6 correspondingly to raise the contact position, so as to reduce the hard contact between the suction cup 10 and the object to be grasped, and prevent the suction cup 10 from crushing the object to be grasped.
Claims (10)
1. A tiny product gripping device is characterized by comprising a data processing module, a negative pressure cavity (2), a direction adjuster and a suction head; the upper end of the negative pressure cavity (2) is provided with an air extraction port (1) and is connected with external air extraction equipment;
the azimuth adjuster comprises a hollow column (5), a top cover (4) and a base (7), wherein the middle of the top cover is provided with a through hole; the upper end of the hollow column (5) is connected with the inner side of the top cover (4), and the outer side of the upper surface of the top cover (4) is connected with the negative pressure cavity (2); the lower end of the hollow column (5) is connected with the inner side of the base (7), at least two length regulators (6) are arranged between the base (7) and the top cover (4), and the centers of all the length regulators (6) and the hollow column (5) are not on the same straight line;
the suction head comprises a cavity wall (8) connected with the outer side of the lower surface of the base (7), the lower end of the cavity wall (8) is provided with an opening, the lower end of the opening is provided with a suction cup (10) with the surface protruding out of the cavity wall (8), the upper surface of the opening is provided with a piezoelectric sensor (11), the upper surface of the piezoelectric sensor (11) is provided with an insulating pressing plate (9), and a pressure spring (12) is arranged between the upper surface of the insulating pressing plate (9) and the lower surface of the base (7); a first vent hole (16) is formed in the middle of the piezoelectric sensor (11), and a second vent hole (20) is formed in the middle of the insulating pressing plate (9);
and the data processing module is respectively connected with the piezoelectric sensor (11) and the length adjuster (6).
2. The tiny product gripping device according to claim 1, wherein the lower surface of the suction cup (10) is provided with a gold plating layer.
3. The device for gripping small products according to claim 1, characterized in that the aperture in the suction cup (10) is equal to or greater than 0.01mm and equal to or less than half the size of the object to be sucked.
4. The tiny product gripping device according to claim 1, wherein the piezoelectric sensor (11) is a piezoelectric ceramic sensor, the whole lower surface of the piezoelectric ceramic sensor is an electrode, the upper surface of the piezoelectric ceramic sensor is provided with four insulation seams (14) from inside to outside, and the upper surface of the piezoelectric ceramic sensor is divided into four mutually independent upper electrodes (15); each upper electrode (15) is connected with a data processing module.
5. The tiny product gripping device according to claim 1, wherein a signal line interface (13) is provided on the top cover (4).
6. The tiny product gripping device according to claim 1, wherein the top cover (4) is provided with at least two first fixing holes (17), the base (7) is provided with at least two second fixing holes (18), and the top cover (4) and the base (7) are fixedly connected with the negative pressure cavity (2) and the cavity wall (8) through screws (3) penetrating through the first fixing holes (17) and the second fixing holes (18), respectively.
7. The small product gripping device according to claim 1, wherein the length adjuster (6) is provided in two, and the two length adjusters (6) are perpendicular to each other with respect to a line connecting centers of the hollow columns (5).
8. The micro-product gripping device according to claim 1, wherein the data processing module is a computer.
9. The tiny product gripping device according to claim 4, wherein the insulating pressing plate (9) is provided with four signal line through holes (19) corresponding to the upper electrodes (15).
10. The small product gripping device according to claim 1, wherein the length adjuster (6) is a piezoelectric telescopic column.
Priority Applications (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN202010804737.4A CN111977368A (en) | 2020-08-12 | 2020-08-12 | Small product grabbing device |
Applications Claiming Priority (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN202010804737.4A CN111977368A (en) | 2020-08-12 | 2020-08-12 | Small product grabbing device |
Publications (1)
| Publication Number | Publication Date |
|---|---|
| CN111977368A true CN111977368A (en) | 2020-11-24 |
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Family Applications (1)
| Application Number | Title | Priority Date | Filing Date |
|---|---|---|---|
| CN202010804737.4A Pending CN111977368A (en) | 2020-08-12 | 2020-08-12 | Small product grabbing device |
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| CN (1) | CN111977368A (en) |
Cited By (8)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| TWI760957B (en) * | 2020-12-07 | 2022-04-11 | 伍鐌科技股份有限公司 | Method for assembling fastener structure to plate body |
| TWI769922B (en) * | 2020-12-28 | 2022-07-01 | 王鼎瑞 | Method for assembling a snap element to an object |
| TWI769923B (en) * | 2020-12-28 | 2022-07-01 | 王鼎瑞 | Method for assembling a snap element to an object |
| TWI798828B (en) * | 2020-12-28 | 2023-04-11 | 王鼎瑞 | Fastening components |
| TWI798829B (en) * | 2020-12-28 | 2023-04-11 | 王鼎瑞 | Fastening components |
| TWI798827B (en) * | 2020-12-28 | 2023-04-11 | 王鼎瑞 | Fastening components |
| TWI798615B (en) * | 2020-12-28 | 2023-04-11 | 王鼎瑞 | Fastening element and method for assembling fastening element on object |
| TWI828037B (en) * | 2020-12-07 | 2024-01-01 | 伍鐌科技股份有限公司 | Method of assembling the fastener structure to the plate body |
-
2020
- 2020-08-12 CN CN202010804737.4A patent/CN111977368A/en active Pending
Cited By (8)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| TWI760957B (en) * | 2020-12-07 | 2022-04-11 | 伍鐌科技股份有限公司 | Method for assembling fastener structure to plate body |
| TWI828037B (en) * | 2020-12-07 | 2024-01-01 | 伍鐌科技股份有限公司 | Method of assembling the fastener structure to the plate body |
| TWI769922B (en) * | 2020-12-28 | 2022-07-01 | 王鼎瑞 | Method for assembling a snap element to an object |
| TWI769923B (en) * | 2020-12-28 | 2022-07-01 | 王鼎瑞 | Method for assembling a snap element to an object |
| TWI798828B (en) * | 2020-12-28 | 2023-04-11 | 王鼎瑞 | Fastening components |
| TWI798829B (en) * | 2020-12-28 | 2023-04-11 | 王鼎瑞 | Fastening components |
| TWI798827B (en) * | 2020-12-28 | 2023-04-11 | 王鼎瑞 | Fastening components |
| TWI798615B (en) * | 2020-12-28 | 2023-04-11 | 王鼎瑞 | Fastening element and method for assembling fastening element on object |
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