CN114083521B - Carrying mechanism for carrying arm of dicing saw and dicing saw carrying arm - Google Patents

Abstract

The invention relates to the technical field of material transfer, and provides a carrying mechanism for a carrying arm of a dicing saw and the carrying arm of the dicing saw, wherein the carrying mechanism comprises: the device comprises a hoisting block, a clamping and overturning assembly, a limiting and buffering assembly and a position detection assembly; adopt sliding connection through getting between upset subassembly and the hoist and mount piece with pressing from both sides, and utilize spacing buffering subassembly to carry out spacing or buffering to the relative slip between the two, make to press from both sides to get the upset subassembly can and hoist and mount piece when the material is blocked and produce the relative slip, avoid pressing from both sides to get upset subassembly atress too big and damage, and press from both sides the position of getting upset subassembly and hoist and mount piece sliding connection and set up position detection subassembly, trigger position detection subassembly when the two produces the relative slip and generate a switching signal, the control unit drives first Y axle reverse movement when receiving this switching signal and predetermines the distance, thereby reserve certain space for pressing from both sides the restoration of getting upset subassembly, avoid transport mechanism and product to damage, the security of whole transport arm has been improved.

Description

Carrying mechanism for carrying arm of dicing saw and dicing saw carrying arm

Technical Field

The invention relates to the technical field of material transfer, in particular to a carrying mechanism for a carrying arm of a dicing saw and the carrying arm of the dicing saw.

Background

The carrying arm of the dicing saw moves in four axes in two directions, is provided with a swing cylinder, a clamping jaw and a vacuum chuck, and can carry out picking and pushing and pulling actions at multiple positions, so that the carrying arm can meet the requirement that a product sheet ring can be transferred among various material areas. The scribing machine product that uses in the industry at present generally adopts the structure of motor cooperation lead screw motion for the four-axis, and this kind of transport arm can make the product piece ring transport between the hand-basket of scribing machine, precalibration platform, working disc, cleaning machine.

Due to the fact that the product ring is different on an individual basis and the error of the action position of the carrying arm after fatigue is caused under the action of long-term impact load, when the carrying arm pushes and pulls the product ring, material blocking caused by incomplete action can occur, products can be damaged by serious material blocking, and economic loss is caused.

Disclosure of Invention

The invention aims to provide a carrying mechanism for a dicing saw carrying arm and the dicing saw carrying arm, and aims to solve the problem that products are easily damaged when materials are clamped by the existing dicing saw carrying arm.

In a first aspect, an embodiment of the present invention provides a handling mechanism for a handling arm of a dicing saw, including: the device comprises a hoisting block, a clamping and overturning assembly, a limiting and buffering assembly and a position detection assembly;

the upper end of the hoisting block is connected with a first Z shaft of the dicing saw carrying arm; the first Z axis of the dicing saw carrying arm is connected with the first Y axis of the dicing saw carrying arm;

the near end of the clamping and overturning assembly is connected with the hoisting block in a sliding manner, the far end of the clamping and overturning assembly is used for clamping and overturning a workpiece, and the sliding directions of the clamping and overturning assembly and the hoisting block are parallel to the Y-axis direction;

the limiting buffer assembly is arranged at the sliding connection position of the clamping and overturning assembly and the hoisting block, is in a pre-tightening state and is used for limiting or buffering the clamping and overturning assembly;

the position detection assembly is arranged at the sliding connection position of the clamping and overturning assembly and the hoisting block, is in communication connection with the control unit of the dicing saw carrying arm, and is used for sending a switch signal to the control unit when the clamping and overturning assembly slides along the Y-axis direction relative to the hoisting block, so that the control unit drives the first Y-axis to move reversely for a preset distance based on the switch signal.

Optionally, the limit buffer assembly includes: the follow-up block and the first elastic piece; the near end of the clamping and overturning assembly is fixedly connected with one side of the follow-up block away from the hoisting block; the bottom of the hoisting block is provided with a slide rail and a slide block sleeved on the slide rail, and the length direction of the slide rail is parallel to the Y-axis direction; the follow-up block is connected with the sliding block, and the first elastic pieces are arranged on two sides of the follow-up block along the Y-axis direction; one end of the first elastic piece is abutted to the follow-up block, the other end of the first elastic piece is abutted to the side wall of the hoisting block in the Y-axis direction, and the first elastic piece is in a compressed state in an initial state.

Optionally, the limit buffer assembly further includes: the guide shafts are positioned on two sides of the follow-up block along the Y-axis direction; the length direction of the guide shaft is parallel to the Y-axis direction; one end of the guide shaft is connected with the follow-up block, and the other end of the guide shaft penetrates through the side wall of the hoisting block along the Y-axis direction and is in a free state; the first elastic piece is sleeved on the guide shaft.

Optionally, a threaded hole is formed in the side wall of the hoisting block along the Y-axis direction, a spring adjusting sleeve is arranged in the threaded hole, and the spring adjusting sleeve is in threaded connection with the threaded hole; and a guide hole is arranged in the spring adjusting sleeve, the central line of the guide hole is superposed with the axis of the guide shaft, and the aperture of the guide hole is larger than the diameter of the guide shaft.

Optionally, the limit buffer assembly further includes: a guide bar; the guide rod penetrates through the follow-up block and is in sliding connection with the follow-up block; the length direction of the guide rod is parallel to the Y-axis direction; two ends of the guide rod are respectively fixedly connected with the side wall of the hoisting block; the first elastic piece is sleeved on the guide rod.

Optionally, the position detection assembly comprises: the first photoelectric switch and the first shielding piece are arranged in a matched mode; the first photoelectric switch is arranged on the follow-up block, and the first shielding piece is arranged on the hoisting block; the first photoelectric switch is in communication connection with the control unit and used for sending a switch signal to the control unit when the follow-up block slides along the Y-axis direction relative to the hoisting block, so that the control unit drives the first Y-axis to move reversely for a preset distance based on the switch signal.

Optionally, a waist-shaped hole is formed in the first shielding plate, and the length direction of the waist-shaped hole is parallel to the Y-axis direction; the hoisting block is provided with a shielding piece mounting bracket, the shielding piece mounting bracket is provided with a mounting hole, and the waist-shaped hole is connected with the mounting hole in an alignment mode through a bolt connecting piece.

Optionally, the first elastic member is a coil spring, and the elastic coefficient of the coil spring ranges from 1.98N/mm to 2.9N/mm.

Optionally, the limit buffer assembly includes: a linear bearing and a second elastic member; a linear optical axis is arranged on one side of the hoisting block, the linear bearing is sleeved outside the linear optical axis and is in sliding fit with the linear optical axis, and the length direction of the linear optical axis is parallel to the Y-axis direction; the near end of the clamping and overturning assembly is fixedly connected with the linear bearing, the second elastic piece is sleeved on the linear optical axis, one end of the second elastic piece is abutted against the linear bearing, and the other end of the second elastic piece is abutted against the side wall of the hoisting block; the second elastic member is in a compressed state in an initial state.

Optionally, the number of the linear optical axes is even, and each linear optical axis is provided with the linear bearing and the second elastic element; orthographic projections of even linear optical axes on the side wall of the hoisting block are distributed in a linear array.

Optionally, the position detection assembly comprises: the second photoelectric switch and the second shielding sheet are arranged in a matched mode; the second photoelectric switch is arranged on the hoisting block, and the second shielding piece is arranged on the clamping and overturning assembly; the second photoelectric switch is in communication connection with the control unit and used for sending a switch signal to the control unit when the linear bearing slides relative to the linear optical axis, so that the control unit drives the first Y axis to move reversely for a preset distance based on the switch signal.

In a second aspect, an embodiment of the present invention further provides a dicing saw carrying arm, including: a mounting seat, a first Y axis, a first Z axis, a second Y axis, a control unit and the conveying mechanism of the first aspect;

the first Y axis and the second Y axis are mounted on the mounting base, and the first Y axis is positioned below the second Y axis; the first Z shaft is arranged on the first Y shaft, and the upper end of a hoisting block of the carrying mechanism is fixedly connected with the first Z shaft;

and the driving part of the first Y axis, the driving part of the second Y axis, the driving part of the first Z axis and the position detection assembly of the conveying mechanism are all in communication connection with the control unit.

The embodiment of the invention at least has the following technical effects:

according to the carrying mechanism for carrying arms of the dicing saw, provided by the embodiment of the invention, the clamping and overturning assembly is in sliding connection with the hoisting block, and the limiting buffer assembly is used for limiting or buffering the relative sliding between the clamping and overturning assembly and the hoisting block, so that the clamping and overturning assembly can slide relative to the hoisting block when clamping materials, the clamping and overturning assembly is prevented from being damaged due to overlarge stress, the position detection assembly is arranged at the position where the clamping and overturning assembly is in sliding connection with the hoisting block, the position detection assembly is triggered to generate a switch signal when the clamping and overturning assembly and the hoisting block slide relative to each other, and the control unit drives the first Y axis to move reversely for a preset distance when receiving the switch signal, so that a certain space is reserved for resetting of the clamping and overturning assembly, the damage to the carrying mechanism and products is avoided, and the safety of the whole carrying arm is improved.

Drawings

In order to more clearly illustrate the embodiments of the present invention or the technical solutions in the prior art, the drawings used in the description of the embodiments or the prior art will be briefly described below, and it is obvious that the drawings in the following description are some embodiments of the present invention, and other drawings can be obtained by those skilled in the art without creative efforts.

FIG. 1 is a schematic diagram of an overall structure of a handling arm of a dicing saw according to an embodiment of the present invention;

FIG. 2 is a schematic structural diagram of a handling mechanism for a handling arm of a dicing saw according to an embodiment of the present invention;

FIG. 3 is a front view of FIG. 2 provided in accordance with an embodiment of the present invention;

FIG. 4 is a schematic partial structure diagram of the top view of FIG. 3 according to an embodiment of the present invention;

FIG. 5 is a schematic partial structure view of the bottom view of FIG. 3 according to an embodiment of the present invention;

FIG. 6 is a schematic diagram of a spring adjustment sleeve of a handling mechanism for a handling arm of a dicing saw according to an embodiment of the present invention;

FIG. 7 is a schematic diagram of another exemplary handling mechanism for a handling arm of a dicing saw;

fig. 8 is a schematic partial structural diagram of fig. 7 according to an embodiment of the present invention.

Icon: 1-a carrying mechanism; 101-a workpiece; 110-hoisting blocks; 110 a-side wall of hoisting block; 111-a slide rail; 112-a slider; 113-linear optical axis; 120-a gripping and flipping assembly; 121-a turnover mechanism; 122-a gripping mechanism; 130-a limit buffer assembly; 131-a follower block; 132-a first elastic member; 133-a guide shaft; 134-spring adjusting sleeve; 134 a-groove; 134 b-pilot hole; 135-linear bearings; 136-a second resilient member; 140-a position detection assembly; 141-a first opto-electronic switch; 142-a first shade sheet; 142 a-kidney shaped hole; 143-a second shade sheet; 144-a second opto-electronic switch; 2-first Z axis; 3-first Y-axis; 4-second Y-axis; 5-mounting base.

Detailed Description

The technical solutions of the present invention will be described clearly and completely with reference to the following embodiments, and it should be understood that the described embodiments are some, but not all, embodiments of the present invention. All other embodiments, which can be derived by a person skilled in the art from the embodiments given herein without making any creative effort, shall fall within the protection scope of the present invention.

It will be understood by those skilled in the art that, unless otherwise defined, all terms (including technical and scientific terms) used herein have the same meaning as commonly understood by one of ordinary skill in the art to which this invention belongs. It will be further understood that terms, such as those defined in commonly used dictionaries, should be interpreted as having a meaning that is consistent with their meaning in the context of the prior art and will not be interpreted in an idealized or overly formal sense unless expressly so defined herein.

As used herein, the singular forms "a", "an", "the" and "the" are intended to include the plural forms as well, unless the context clearly indicates otherwise. It will be further understood that the terms "comprises" and/or "comprising," when used in this specification, specify the presence of stated features, integers, steps, operations, elements, and/or components, but do not preclude the presence or addition of one or more other features, integers, steps, operations, elements, components, and/or groups thereof. As used herein, the term "and/or" includes all or any element and all combinations of one or more of the associated listed items.

Referring to fig. 1 to 5, a carrying mechanism 1 for a carrying arm of a dicing saw according to an embodiment of the present invention includes: the lifting device comprises a lifting block 110, a clamping and overturning assembly 120, a limiting and buffering assembly 130 and a position detection assembly 140.

Specifically, the upper end of the lifting block 110 is used for connecting with the first Z axis 2 of the dicing saw carrying arm, the proximal end (i.e. the end close to the lifting block 110) of the clamping and flipping assembly 120 is slidably connected with the lower end of the lifting block 110, and the distal end (i.e. the end provided with the clamping mechanism 122) of the clamping and flipping assembly 120 is used for clamping and flipping the workpiece 101 (e.g. a chip), so as to transport the workpiece 101. The sliding direction of the clamping and turning assembly 120 and the hoisting block 110 is parallel to the Y-axis direction.

It can be understood that, since the first Z-axis 2 is mounted on the first Y-axis 3, the first Z-axis 2 and the entire carrying mechanism 1 can be moved in the Y-axis direction by controlling the driving means of the first Y-axis 3. In addition, because the carrying arm at the upper position in the carrying arm of the dicing saw only has the carrying function and does not have the functions of clamping and pushing and pulling materials, the problem of material clamping generally can not occur. Therefore, the first Y-axis 3 in this embodiment is a relatively lower Y-axis structure of the two Y-axes of the dicing saw transport arm, and the corresponding first Z-axis 2 is also a relatively lower Z-axis structure of the two Z-axes of the dicing saw transport arm.

Further, the limiting buffer assembly 130 is disposed at a sliding connection position of the clamping and overturning assembly 120 and the hoisting block 110, and the limiting buffer assembly 130 is in a pre-tightening state and is used for limiting or buffering the clamping and overturning assembly 120. When the clamping and overturning assembly 120 is in an initial state (or a reset state), the limiting buffer assembly 130 can limit the clamping and overturning assembly 120; when the clamping and overturning assembly 120 slides relative to the hoisting block 110, the limiting buffer assembly 130 can realize buffer reset of the clamping and overturning assembly 120.

The position detection assembly 140 is disposed at a sliding connection position of the clamping and overturning assembly 120 and the hoisting block 110, the position detection assembly 140 is in communication connection with a control unit of the dicing saw carrying arm, and the position detection assembly 140 is configured to feed back a switch signal to the control unit when the clamping and overturning assembly 120 slides along the Y-axis direction relative to the hoisting block 110, so that the control unit drives the first Y-axis 3 to move reversely by a preset distance based on the switch signal.

Specifically, after receiving the switching signal, the control unit generates a corresponding driving instruction signal based on the switching signal, and after receiving the driving instruction signal, the driving component of the first Y-axis 3 stops driving the first Y-axis 3 to move forward (in a material pushing or pulling direction), and simultaneously drives the first Y-axis 3 to move in a reverse direction (opposite to the original material pushing or pulling direction) for a preset distance (for example, 100 mm) and then stops, so as to provide a certain space for resetting the clamping and overturning component 120, thereby preventing the clamping and overturning component 120 from damaging the workpiece 101 or the handling mechanism 1 in the resetting process after the in-situ emergency shutdown.

It can be understood that, the clamping and turning assembly 120 slides along the Y-axis direction relative to the hoisting block 110, which indicates that the clamping and turning assembly 120 has a material jamming problem, that is, the clamping and turning assembly 120 cannot move forward, but the first Y-axis 3 still drives the first Z-axis 2 to move forward along the Y-axis direction, and when the resistance generated by material jamming is greater than the pre-tightening force of the limiting buffer assembly 130, the limiting buffer assembly 130 deforms, so that the clamping and turning assembly 120 slides relative to the hoisting block 110 along the Y-axis direction.

It should be noted that the control unit in this embodiment may be a controller of the transport arm of the dicing saw, and the control unit itself is connected to the driving unit of the first Z axis 2 and the driving unit of the first Y axis 3 in a communication manner, and can control the first Z axis 2 to move in the Z axis direction and the first Y axis 3 to move in the Y axis direction, respectively.

Optionally, the carrying mechanism 1 of this embodiment may further include a corresponding audible and visual alarm, the audible and visual alarm is in communication connection with the control unit, and when the control unit receives the switch signal, the audible and visual alarm is controlled to send an audible and visual alarm, so that the worker is prompted to handle the card failure in time.

The carrying mechanism 1 provided by this embodiment, slide connection is adopted between the clamping turnover component 120 and the hoisting block 110, and relative sliding between the clamping turnover component 120 and the hoisting block 110 is limited or buffered by the limiting buffer component 130, so that the clamping turnover component 120 can generate relative sliding with the hoisting block 110 when clamping materials, damage caused by overlarge stress on the clamping turnover component 120 is avoided, and a position detection component 140 is arranged at a position where the clamping turnover component 120 and the hoisting block 110 are in slide connection, when the relative sliding is generated between the clamping turnover component 120 and the hoisting block 110, the position detection component 140 is triggered to generate a switch signal, the control unit drives the first Y shaft 3 to move reversely for a preset distance when receiving the switch signal, so that a certain space is reserved for resetting of the clamping turnover component 120, damage to the carrying mechanism 1 and products is avoided, and safety of the whole carrying arm is improved.

In an alternative embodiment, with continued reference to fig. 2-5, the position limiting buffer assembly 130 of the present embodiment includes: a follower block 131 and a first elastic member 132. The proximal end of the clamping and overturning assembly 120 is fixedly connected with one side of the following block 131 far away from the hoisting block 110, that is, the clamping and overturning assembly 120 is slidably connected with the hoisting block 110 through the following block 131.

Specifically, the bottom of the hoisting block 110 is provided with a slide rail 111 and a slider 112 sleeved on the slide rail 111, and the length direction of the slide rail 111 is parallel to the Y-axis direction, so that the slider 112 moves on the slide rail 111 along the Y-axis direction.

Further, the follow-up block 131 is connected with the slider 112, the number of the first elastic members 132 is two, and the two first elastic members 132 are respectively arranged on two sides of the follow-up block 131 along the Y-axis direction, so that the follow-up block 131 is limited and buffered. One end of the first elastic member 132 abuts against the follower block 131, and the other end of the first elastic member 132 abuts against the sidewall of the hoist block 110 in the Y-axis direction.

The first elastic member 132 is in a compressed state in an initial state, so as to apply a certain pre-tightening force to an initial position of the following block 131, and prevent the gripping and turning assembly 120 from causing a relative sliding between the following block 131 and the lifting block 110 to stop the carrying mechanism 1 when being subjected to a small resistance (e.g., an erroneous touch, an unreal material jam). The compression amount of the first elastic element 132 in the initial state needs to be set according to the elastic coefficient of the first elastic element 132 and the magnitude of the pre-tightening force that needs to be maintained, which is not specifically limited in this embodiment.

In this embodiment, the first elastic element 132 can restore its deformation after being compressed, so that the follower block 131 can be quickly reset without additional resetting operations; because the first elastic pieces 132 are arranged on the two sides of the follow-up block 131, the clamping and overturning assembly 120 can buffer and control the stop of the carrying mechanism 1 through the first elastic pieces 132 when material blocking occurs in the material pushing and pulling processes, and the application range is wide.

In an alternative embodiment, with continued reference to fig. 3-5, the position limiting bumper assembly 130 further comprises: the guide shaft 133, the guide shaft 133 is mainly used to provide a guide for the first elastic member 132, and prevent the first elastic member 132 from being shifted or stuck during the compression and restoration processes.

Alternatively, the number of the guide shafts 133 in this embodiment is two, two guide shafts 133 are respectively located on both sides of the follower block 131 in the Y-axis direction, and the length direction (i.e., the axial direction) of the guide shafts 133 is parallel to the Y-axis direction.

Specifically, one end of the guide shaft 133 is connected with the follower block 131 through a screw thread, so that the guide shaft 133 is convenient to mount and dismount. The other end of the guide shaft 133 passes through a sidewall of the hoist block 110 in the Y-axis direction and is in a free state. The guide shaft 133 and the side wall 110a of the hoisting block are not fixed, the side wall 110a of the hoisting block is provided with a through hole with a diameter larger than that of the guide shaft 133, and the guide shaft 133 and the through hole can slide relatively without interference.

Further, the two first elastic members 132 are respectively sleeved on the guide shafts 133 on the corresponding sides, that is, each guide shaft 133 on both sides of the follower block 131 is sleeved with one first elastic member 132, one end of each first elastic member 132 abuts against the follower block 131, and the other end of each first elastic member 132 abuts against the side wall 110a of the hoisting block.

In this embodiment, when the clamping and flipping assembly 120 is jammed during pushing or pulling, a reaction force is applied to the clamping and flipping assembly 120 by the product of the workpiece 101, and when the reaction force is greater than a critical force that can be borne by the first elastic member 132, the follower block 131 can slide along the slide rail 111 together with the slider 112, and the first elastic member 132 on one side of the follower block 131 is compressed, thereby triggering the position detection assembly 140 to generate a switch signal, further enabling the control unit to drive the first Y-axis 3 to move in the reverse direction for a predetermined distance, enabling the whole carrying arm to stop and leaving a certain space for resetting of the clamping and flipping assembly 120, and avoiding damage to the workpiece 101 or the carrying mechanism 1. After the carrying arm is stopped, the material blocking fault needs to be timely eliminated, and the whole carrying arm is controlled to restart to operate.

In an alternative embodiment, with continued reference to fig. 3, 4 and 6, the sidewall of the hoisting block 110 in the Y-axis direction in this embodiment is provided with a threaded hole, a spring adjusting sleeve 134 is disposed in the threaded hole, the spring adjusting sleeve 134 is in threaded connection with the internal thread of the threaded hole through external threads, and the matching position of the spring adjusting sleeve 134 with the threaded hole can be adjusted through threads.

Further, the spring adjusting sleeve 134 is a cylindrical hollow sleeve structure, a guide hole 134b is formed in the spring adjusting sleeve 134, the center line of the guide hole 134b is overlapped with or close to the center line of the guide shaft 133, the aperture of the guide hole 134b is larger than the diameter of the guide shaft 133, the guide shaft 133 and the follower block 131 can be ensured to penetrate through the guide hole 134b and be pushed out outwards when moving synchronously along the Y-axis direction, and interference between the guide hole 134b and the guide shaft 133 can be avoided.

Optionally, in order to facilitate the adjustment of the depth of the spring adjusting sleeve 134 in the threaded hole, an end of the adjusting spring sleeve away from the first elastic element 132 is provided with a groove 134a, and the groove 134a can be used for insertion and engagement of an adjusting tool (e.g., a straight screwdriver), so as to improve the adjusting precision and the adjusting efficiency of the spring pre-tightening force.

In this embodiment, in order to prevent the first elastic member 132 from falling off, a part of the guide shaft 133 is located in the guide hole 134b in the initial state, and the first elastic member 132 is sleeved on the guide shaft 133. When the pretightening force of first elastic component 132 needs to be adjusted, the thread depth of spring adjusting sleeve 134 and the threaded hole can be adjusted, and the control of spring adjusting sleeve 134 on the compression amount of first elastic component 132 can be realized, so that the pretightening force requirements under different clamping conditions can be met.

In another alternative embodiment, the position limiting buffer assembly 130 includes: a guide bar (not shown in the drawings); the guide rod passes through the follower block 131 and is slidably connected with the follower block 131. In particular, a corresponding opening may be provided in the follower block 131, and the guide rod passes through the opening, so that the follower block 131 can slide along the guide rod.

Specifically, the length direction of the guiding rod is parallel to the Y-axis direction, and when the clamping and turning assembly 120 is jammed, the following block 131 can be driven to slide along the Y-axis direction relative to the hoisting block 110, so as to trigger the position detecting assembly 140 to generate the switch signal. Two ends of the guide rod are respectively fixedly connected with the side wall 110a of the hoisting block, and the two first elastic members 132 are respectively sleeved on the guide rod at two sides of the follow-up block 131.

Optionally, the number of the guide rods may be multiple, and multiple guide rods may be arranged at intervals along the X-axis direction and penetrate through the same follower block 131, so that multiple first elastic pieces 132 may be arranged according to specific situations to meet the requirement of the initial pre-tightening force; simultaneously a plurality of guide bars can also provide supplementary direction to follow-up block 131 for follow-up block 131's slip is more smooth and easy, avoids follow-up block 131 to take place the jamming and leads to position detection subassembly 140 to fail to detect the card material problem.

In an alternative embodiment, with continued reference to fig. 2 and 3, the position sensing assembly 140 of the present embodiment includes: a first photoelectric switch 141 and a first shielding sheet 142 provided in a paired manner; the first photoelectric switch 141 is disposed on the follower block 131, and the first shielding piece 142 is disposed on the hoisting block 110. When the clamping and turning assembly 120 is jammed and the resistance is greater than the elastic pre-tightening force of the first elastic element 132, relative sliding occurs between the follow-up block 131 and the hoisting block 110, and the relative position of the first shielding sheet 142 and the first photoelectric switch 141 changes, so that shielding of the first shielding sheet 142 on the first photoelectric switch 141 is affected, and a switch signal is triggered to generate a corresponding driving instruction signal after being processed by the control unit.

Specifically, the first photoelectric switch 141 is in communication connection with the control unit, and when the follower block 131 slides in the Y-axis direction relative to the slide rail 111 of the hoist block 110, the first photoelectric switch 141 is triggered to send a switch signal to the control unit, so that the control unit stops driving the first Y-axis 3 to move forward continuously based on the switch signal, and drives the first Y-axis 3 to move in reverse by a preset distance.

Optionally, in consideration of the possibility of material jamming during the material pushing or pulling process of the follower block 131, when the follower block 131 is in the initial state (i.e., the follower block 131 does not slide relative to the lifting block 110), the first shielding piece 142 is in a position shielding the first photoelectric switch 141, so that sliding along any one direction of two sides of the follower block 131 triggers the position detection assembly 140 to operate.

When material jamming occurs and the resistance is too large, the first photoelectric switch 141 is separated from the shielding position of the first shielding piece 142, so that a switch signal is triggered, the control unit timely stops driving the first Y shaft 3 to continue feeding forwards based on the switch signal, the first Y shaft 3 is driven by the driving part of the first Y shaft 3 to move reversely for a preset distance, and finally the whole carrying arm is controlled to stop.

In an alternative embodiment, with continuing to refer to fig. 2 and 3, in order to facilitate adjusting the position of the first shielding piece 142, the first shielding piece 142 is provided with a waist-shaped hole 142a, and the length direction of the waist-shaped hole 142a is parallel to the Y-axis direction, so that the position of the first shielding piece 142 along the Y-axis direction is convenient to adjust according to practical situations, and the application range is wider.

Specifically, the hoisting block 110 is provided with a shielding piece mounting bracket, the shielding piece mounting bracket is provided with a mounting hole, and the waist-shaped hole 142a and the mounting hole are connected in an alignment manner through a bolt connecting piece. When the position of the first shielding piece 142 needs to be adjusted, the bolt connecting piece can be unscrewed, the first shielding piece 142 is moved to a preset position, and then the bolt connecting piece is screwed again for fixing.

Alternatively, the first elastic member 132 in this embodiment is a coil spring, and regarding the selection of the elastic modulus (unit: N/mm) of the coil spring, in the protocol testing stage, the coil springs with various elastic moduli are selected for practical application. The elastic coefficient interval of the selected spiral spring is 0.98N/mm-5.9N/mm, and in the actual test process, when the spiral spring with a larger elastic coefficient is used, the detection of the material blocking phenomenon is not sensitive (the follow-up block 131 is not easy to slide); when the elastic coefficient of the spiral spring is too small, the phenomenon of false triggering is easy to occur, so that after multiple tests, the spring with the elastic coefficient of 1.98N/mm-2.9N/mm (including endpoint values of 1.98N/mm and 2.9N/mm) is determined to be suitable, and a standard spiral spring is selected in the interval.

In another alternative embodiment, as shown in fig. 7 and 8, the limiting buffer assembly 130 provided in this embodiment includes: a linear bearing 135 and a second elastic member 136.

Specifically, one side of the hoisting block 110 is provided with a linear optical axis 113, and the length direction of the linear optical axis 113 is parallel to the Y-axis direction and extends in a direction away from the hoisting block 110, so as to provide a guide for relative sliding between the clamping and turning assembly 120 and the hoisting block 110 along the Y-axis direction.

Further, the linear bearing 135 is sleeved outside the linear optical axis 113 and is in sliding fit with the linear optical axis 113. The proximal end of the gripping and overturning component 120 is fixedly connected with the linear bearing 135, which is equivalent to that the proximal end of the gripping and overturning component 120 is slidably connected with the linear optical axis 113 through the sliding fit of the linear bearing 135. The second elastic member 136 is sleeved on the linear optical axis 113, one end of the second elastic member 136 is abutted to the linear bearing 135, the other end of the second elastic member is abutted to the side wall 110a of the hoisting block, and the second elastic member 136 is in a compression state in an initial state and is used for providing certain pretightening force between the linear bearing 135 and the hoisting block 110, so that the linear bearing 135 is prevented from sliding randomly, and meanwhile, the problem of shutdown caused by mistaken touch is avoided.

Alternatively, in this embodiment, the turning cylinder structure of the gripping and turning assembly 120 may be directly connected to the linear bearing 135.

Optionally, the second elastic member 136 also adopts a coil spring, the elastic coefficient of the second elastic member 136 also selects 1.98N/mm-2.9N/mm, on the basis of ensuring the detection sensitivity of the position detection assembly 140, unnecessary shutdown caused by mistaken touch is reduced as much as possible, the safety of the equipment and the workpiece 101 is ensured, and the material transfer efficiency is high.

The carrying mechanism 1 provided by this embodiment can realize the relative sliding between the clamping and overturning assembly 120 and the hoisting block 110 through the matching of the linear optical axis 113 and the linear bearing 135, and realize the limitation and pretension of the linear bearing 135 by using the second elastic member 136.

Optionally, as shown in fig. 7, the number of the linear optical axes 113 in this embodiment is even (for example, two or four, and two are illustrated in fig. 7), each linear optical axis 113 is provided with a linear bearing 135 and a second elastic member 136, and orthogonal projections of the even number of the linear optical axes 113 on a plane where the side wall 110a of the hoisting block is located are distributed in a linear array.

In this embodiment, by providing the plurality of linear optical axes 113, and the linear bearings 135 and the second elastic member 136 that are matched with the plurality of linear optical axes 113, the stability of the sliding connection between the clamping and turning assembly 120 and the hoisting block 110 can be improved, the problem that the clamping and turning assembly 120 and the hoisting block 110 cannot slide relatively due to the unsmooth sliding caused by the actual material jamming problem can be avoided, and the operation safety of the carrying arm can be further improved.

In an alternative embodiment, with continued reference to fig. 7 and 8, the position sensing assembly 140 of the present embodiment includes: a second photoelectric switch 144 and a second shielding sheet 143 which are arranged in a pair. The second photoelectric switch 144 is disposed on the hoisting block 110, and the second blocking piece 143 is disposed on the clamping and overturning assembly 120, so that the relative sliding between the hoisting block 110 and the clamping and overturning assembly 120 is determined by the blocking relationship between the second blocking piece 143 and the second photoelectric switch 144.

Specifically, the second photoelectric switch 144 is communicatively connected to the control unit, and when the linear bearing 135 slides relative to the linear optical axis 113, the second photoelectric switch 144 is triggered to send a switch signal to the control unit, so that the control unit stops driving the first Y-axis 3 to move forward based on the switch signal, and drives the first Y-axis 3 to move backward by a preset distance.

Optionally, when the linear bearing 135 is in the initial state (i.e., the linear bearing 135 does not slide relative to the linear optical axis 113), a certain distance (e.g., 5 mm to 8 mm) is left between the second shielding plate 143 and the second photoelectric switch 144, and the second shielding plate 143 is closer to the distal end of the clamping and flipping component 120 than the second photoelectric switch 144. When the clamping and overturning assembly 120 is jammed and the resistance is large, the relative sliding between the hoisting block 110 and the clamping and overturning assembly 120 causes the second shielding piece 143 to move towards the second photoelectric switch 144, and cuts off the reflection loop of the second photoelectric switch 144, so as to trigger a switch signal, the control unit timely stops driving the first Y-axis 3 to continue feeding forward based on the switch signal, and drives the first Y-axis 3 to reversely move for a preset distance through the driving part of the first Y-axis 3, and finally controls the whole carrying arm to stop.

It should be noted that the clamping and overturning assembly 120 in the above embodiments of the present invention further includes an overturning mechanism 121 and a clamping mechanism 122, and the clamping mechanism 122 is provided with a corresponding clamping driving mechanism for clamping the workpiece 101; the turnover mechanism 121 includes a turnover motor for turnover of the workpiece 101 after being clamped. In addition, the driving parts in the embodiments of the invention all adopt cylinders, so that the feeding of the corresponding shaft part can be accurately and efficiently driven, and the efficiency of the whole machine equipment is also saved.

Based on the same inventive concept, with continued reference to fig. 1, an embodiment of the present invention further provides a dicing saw handling arm, including: a mounting base 5, a first Y-axis 3, a first Z-axis 2, a second Y-axis 4, a control unit and the conveying mechanism 1 in the embodiment of the present invention.

Specifically, a first Y-axis 3 and a second Y-axis 4 are mounted on the mount 5, the first Y-axis 3 being located below the second Y-axis 4. The first Z-axis 2 is arranged on the first Y-axis 3, and the upper end of the hoisting block 110 of the carrying mechanism 1 is fixedly connected with the first Z-axis 2. The driving part of the first Y shaft 3, the driving part of the second Y shaft 4, the driving part of the first Z shaft 2 and the position detection assembly 140 of the conveying mechanism 1 are all in communication connection with a control unit, and the control unit stops in time according to a switching signal sent by the position detection assembly 140, so that the workpiece 101 and the conveying mechanism 1 are prevented from being damaged.

The carrying arm of the dicing saw provided by this embodiment includes the carrying mechanism 1 in the foregoing embodiment, the carrying mechanism 1 employs a sliding connection between the clamping and flipping assembly 120 and the hoisting block 110, and utilizes the limiting buffer assembly 130 to limit or buffer the relative sliding between the clamping and flipping assembly 120 and the hoisting block 110, so that the clamping and flipping assembly 120 can slide relative to the hoisting block 110 when clamping a material, thereby avoiding the clamping and flipping assembly 120 from being damaged due to an excessive stress, and a position detection assembly 140 is disposed at a position where the clamping and flipping assembly 120 and the hoisting block 110 are slidably connected, when the clamping and flipping assembly 120 and the hoisting block 110 slide relative to each other, the position detection assembly 140 is triggered to generate a switch signal, the control unit drives the first Y-axis 3 to move reversely by a preset distance when receiving the switch signal, thereby leaving a certain space for resetting of the clamping and flipping assembly 120, and avoiding the carrying mechanism 1 and the product from being damaged, the safety of the whole carrying arm is improved.

Those of skill in the art will appreciate that various operations, methods, steps in the processes, acts, or solutions discussed in the present application may be alternated, modified, combined, or deleted. Further, various operations, methods, steps in the flows, which have been discussed in the present application, may be interchanged, modified, rearranged, decomposed, combined, or eliminated. Further, steps, measures, schemes in the various operations, methods, procedures disclosed in the prior art and the present invention can also be alternated, changed, rearranged, decomposed, combined, or deleted.

In the description of the present invention, it is to be understood that the terms "center", "upper", "lower", "front", "rear", "left", "right", "vertical", "horizontal", "top", "bottom", "inner", "outer", and the like indicate orientations or positional relationships based on those shown in the drawings, and are only for convenience of description and simplicity of description, and do not indicate or imply that the referenced devices or elements must have a particular orientation, be constructed and operated in a particular orientation, and thus, are not to be construed as limiting the present invention.

The terms "first", "second" and "first" are used for descriptive purposes only and are not to be construed as indicating or implying relative importance or implicitly indicating the number of technical features indicated. Thus, a feature defined as "first" or "second" may explicitly or implicitly include one or more of that feature. In the description of the present invention, "a plurality" means two or more unless otherwise specified.

In the description of the present invention, it should be noted that, unless otherwise explicitly specified or limited, the terms "mounted," "connected," and "connected" are to be construed broadly, e.g., as meaning either a fixed connection, a removable connection, or an integral connection; they may be connected directly or indirectly through intervening media, or they may be interconnected between two elements. The specific meaning of the above terms in the present invention can be understood in a specific situation by those skilled in the art.

In the description herein, particular features, structures, materials, or characteristics may be combined in any suitable manner in any one or more embodiments or examples.

It should be understood that, although the steps in the flowcharts of the figures are shown in order as indicated by the arrows, the steps are not necessarily performed in order as indicated by the arrows. The steps are not performed in the exact order shown and may be performed in other orders unless explicitly stated herein. Moreover, at least a portion of the steps in the flow chart of the figure may include multiple sub-steps or multiple stages, which are not necessarily performed at the same time, but may be performed at different times, which are not necessarily performed in sequence, but may be performed alternately or alternately with other steps or at least a portion of the sub-steps or stages of other steps.

Finally, it should be noted that: the above embodiments are only used to illustrate the technical solution of the present invention, and not to limit the same; while the invention has been described in detail and with reference to the foregoing embodiments, it will be understood by those skilled in the art that: the technical solutions described in the foregoing embodiments may still be modified, or some or all of the technical features may be equivalently replaced; and the modifications or the substitutions do not make the essence of the corresponding technical solutions depart from the scope of the technical solutions of the embodiments of the present invention.

Claims (6)

1. A transport mechanism for a dicing saw transport arm, comprising:

the upper end of the hoisting block is connected with a first Z shaft of the dicing saw carrying arm; the first Z axis of the dicing saw carrying arm is connected with the first Y axis of the dicing saw carrying arm;

the clamping and overturning component is connected with the hoisting block in a sliding manner, the far end of the clamping and overturning component is used for clamping and overturning a workpiece, and the sliding directions of the clamping and overturning component and the hoisting block are parallel to the Y-axis direction; the clamping and overturning assembly further comprises an overturning mechanism and a clamping mechanism, and the clamping mechanism is provided with a corresponding clamping driving mechanism for clamping a workpiece; the turnover mechanism comprises a turnover motor and is used for turning over a clamped workpiece;

the limiting buffer assembly is arranged at the sliding connection part of the clamping and overturning assembly and the hoisting block, is in a pre-tightening state and is used for limiting or buffering the clamping and overturning assembly;

the position detection assembly is arranged at the sliding connection position of the clamping and overturning assembly and the hoisting block, is in communication connection with the control unit of the dicing saw carrying arm, and is used for sending a switch signal to the control unit when the clamping and overturning assembly slides along the Y-axis direction relative to the hoisting block so as to enable the control unit to drive the first Y-axis to move reversely for a preset distance based on the switch signal;

spacing buffering subassembly includes: the follow-up block and the first elastic piece; the near end of the clamping and overturning assembly is fixedly connected with one side of the follow-up block away from the hoisting block; the bottom of the hoisting block is provided with a slide rail and a slide block sleeved on the slide rail, and the length direction of the slide rail is parallel to the Y-axis direction; the follow-up block is connected with the sliding block, and the first elastic pieces are arranged on two sides of the follow-up block along the Y-axis direction; one end of the first elastic piece is abutted with the follow-up block, the other end of the first elastic piece is abutted with the side wall of the hoisting block along the Y-axis direction, and the first elastic piece is in a compressed state in an initial state; the first elastic piece is a spiral spring, and the elastic coefficient range of the spiral spring is 1.98N/mm-2.9N/mm;

a threaded hole is formed in the side wall of the hoisting block along the Y-axis direction, a spring adjusting sleeve is arranged in the threaded hole, and the spring adjusting sleeve is in threaded connection with the threaded hole and used for adjusting the deformation amount of the first elastic piece; a groove is formed in one end, far away from the first elastic piece, of the spring adjusting sleeve and can be used for adjusting insertion and matching of a tool;

spacing buffering subassembly still includes: a guide rod; the guide rod penetrates through the follow-up block and is in sliding connection with the follow-up block;

the length direction of the guide rod is parallel to the Y-axis direction; two ends of the guide rod are respectively fixedly connected with the side wall of the hoisting block; the first elastic piece is sleeved on the guide rod;

the number of the guide rods is multiple, and the guide rods are arranged at intervals along the X-axis direction and penetrate through the follow-up block.

2. The transfer mechanism for a dicing saw transfer arm of claim 1, wherein the limit buffer assembly further comprises: the guide shafts are positioned on two sides of the follow-up block along the Y-axis direction;

the length direction of the guide shaft is parallel to the Y-axis direction; one end of the guide shaft is connected with the follow-up block, and the other end of the guide shaft penetrates through the side wall of the hoisting block along the Y-axis direction and is in a free state; the first elastic piece is sleeved on the guide shaft.

3. The transfer mechanism for a transfer arm of a dicing saw according to claim 2,

the spring adjusting sleeve is internally provided with a guide hole, the central line of the guide hole is superposed with the axis of the guide shaft, and the aperture of the guide hole is larger than the diameter of the guide shaft.

4. The transfer mechanism for a dicing saw transfer arm of claim 1, wherein the position detection assembly includes: the first photoelectric switch and the first shielding piece are arranged in a matched mode; the first photoelectric switch is arranged on the follow-up block, and the first shielding piece is arranged on the hoisting block;

the first photoelectric switch is in communication connection with the control unit and used for sending a switch signal to the control unit when the follow-up block slides along the Y-axis direction relative to the hoisting block, so that the control unit drives the first Y-axis to move reversely for a preset distance based on the switch signal.

5. The carrying mechanism for a carrying arm of a dicing saw according to claim 4, wherein a waist-shaped hole is provided in the first shielding sheet, and the length direction of the waist-shaped hole is parallel to the Y-axis direction;

the hoisting block is provided with a shielding piece mounting bracket, the shielding piece mounting bracket is provided with a mounting hole, and the waist-shaped hole is connected with the mounting hole in an alignment mode through a bolt connecting piece.

6. A dicing saw carrying arm, comprising: a mount, a first Y-axis, a first Z-axis, a second Y-axis, a control unit, and the handling mechanism of any of claims 1-5;

the first Y axis and the second Y axis are mounted on the mounting base, and the first Y axis is positioned below the second Y axis; the first Z shaft is arranged on the first Y shaft, and the upper end of a hoisting block of the carrying mechanism is fixedly connected with the first Z shaft;

and the driving part of the first Y axis, the driving part of the second Y axis, the driving part of the first Z axis and the position detection assembly of the conveying mechanism are all in communication connection with the control unit.

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