CN116477353A - Variable-pitch grabbing mechanism for simultaneously grabbing multiple products - Google Patents
Variable-pitch grabbing mechanism for simultaneously grabbing multiple products Download PDFInfo
- Publication number
- CN116477353A CN116477353A CN202310533717.1A CN202310533717A CN116477353A CN 116477353 A CN116477353 A CN 116477353A CN 202310533717 A CN202310533717 A CN 202310533717A CN 116477353 A CN116477353 A CN 116477353A
- Authority
- CN
- China
- Prior art keywords
- linear guide
- variable
- grabbing
- cam bearing
- guide rail
- Prior art date
- Legal status (The legal status is an assumption and is not a legal conclusion. Google has not performed a legal analysis and makes no representation as to the accuracy of the status listed.)
- Pending
Links
- 230000007246 mechanism Effects 0.000 title claims abstract description 27
- 238000006073 displacement reaction Methods 0.000 claims abstract description 5
- 239000013072 incoming material Substances 0.000 abstract description 4
- 238000000034 method Methods 0.000 description 8
- 230000008569 process Effects 0.000 description 5
- 239000000463 material Substances 0.000 description 4
- 230000009471 action Effects 0.000 description 3
- 235000012431 wafers Nutrition 0.000 description 3
- 230000008859 change Effects 0.000 description 2
- 238000010586 diagram Methods 0.000 description 2
- 238000007599 discharging Methods 0.000 description 2
- 230000004048 modification Effects 0.000 description 2
- 238000012986 modification Methods 0.000 description 2
- 239000004065 semiconductor Substances 0.000 description 2
- 241000252254 Catostomidae Species 0.000 description 1
- 230000009286 beneficial effect Effects 0.000 description 1
- 230000007797 corrosion Effects 0.000 description 1
- 238000005260 corrosion Methods 0.000 description 1
- 230000007547 defect Effects 0.000 description 1
- 230000006872 improvement Effects 0.000 description 1
- 238000005096 rolling process Methods 0.000 description 1
- 239000002699 waste material Substances 0.000 description 1
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
- B65G47/918—Devices for picking-up and depositing articles or materials incorporating pneumatic, e.g. suction, grippers with at least two picking-up heads
-
- 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
- B65G49/00—Conveying systems characterised by their application for specified purposes not otherwise provided for
- B65G49/05—Conveying systems characterised by their application for specified purposes not otherwise provided for for fragile or damageable materials or articles
- B65G49/07—Conveying systems characterised by their application for specified purposes not otherwise provided for for fragile or damageable materials or articles for semiconductor wafers Not used, see H01L21/677
-
- 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
- B65G2207/08—Adjustable and/or adaptable to the article size
-
- Y—GENERAL TAGGING OF NEW TECHNOLOGICAL DEVELOPMENTS; GENERAL TAGGING OF CROSS-SECTIONAL TECHNOLOGIES SPANNING OVER SEVERAL SECTIONS OF THE IPC; TECHNICAL SUBJECTS COVERED BY FORMER USPC CROSS-REFERENCE ART COLLECTIONS [XRACs] AND DIGESTS
- Y02—TECHNOLOGIES OR APPLICATIONS FOR MITIGATION OR ADAPTATION AGAINST CLIMATE CHANGE
- Y02P—CLIMATE CHANGE MITIGATION TECHNOLOGIES IN THE PRODUCTION OR PROCESSING OF GOODS
- Y02P70/00—Climate change mitigation technologies in the production process for final industrial or consumer products
- Y02P70/50—Manufacturing or production processes characterised by the final manufactured product
Landscapes
- Engineering & Computer Science (AREA)
- Mechanical Engineering (AREA)
- Manipulator (AREA)
Abstract
The invention relates to a variable-pitch grabbing mechanism for grabbing a plurality of products simultaneously, which comprises an air cylinder and a cam bearing follower, wherein the air cylinder is arranged on a sliding plate along the X axis, a piston rod of the air cylinder is connected with a Y-axis linear guide rail mounting plate, a Y-axis linear guide rail is fixed on the linear guide rail mounting plate, a plurality of moving sliding blocks are arranged on the linear guide rail, each moving sliding block is connected with a sucker connecting plate, the cam bearing follower is arranged on the sucker connecting plate, correspondingly, pulley grooves for the corresponding cam bearing follower to move are respectively arranged on the sliding plate, and a vacuum sucker is arranged at the lower part of the sucker connecting plate. Can snatch the displacement mechanism of snatching of a plurality of products simultaneously, multiunit sucking disc displacement snatchs the product, even meet the product interval of microscope carrier and when the product interval of customer incoming material tray is different, also can realize snatching through the displacement, allow the interval of feed bin product incoming material to have certain gap with processing microscope carrier product interval, promoted the efficiency of snatching the product.
Description
Technical Field
The invention relates to a variable-pitch grabbing mechanism for grabbing a plurality of products simultaneously.
Background
At present, in the laser processing industry, occasions with full-automatic feeding and discharging requirements are frequently met. When the small products are fed by the plastic sucking tray, the products are required to be carried to a processing carrier by a material taking mechanism, and then are subjected to engraving, corrosion, cutting, repairing and other processing by a vibrating mirror and a field lens of a laser.
In the semiconductor industry, the requirements on intelligent equipment are higher and higher, most of the semiconductor equipment is manually taken and placed, then a door is manually closed, a start key is pressed, and the equipment starts to be automatically processed. The mode of once grabbing 4pcs products can only grab each piece and can finish the process after four grabbing processes; if the four-sucker equidistant product grabbing mode is designed, the product interval of the carrier is different from the product interval of the incoming tray, so that each piece can be grabbed only, and the situation that an expensive laser processing area waits for loading and unloading is caused, so that cost is wasted. The traditional material taking mechanism has the advantages of low efficiency, low yield and large space waste when grabbing each piece.
Disclosure of Invention
The invention aims to overcome the defects in the prior art and provides a variable-pitch grabbing mechanism for simultaneously grabbing a plurality of products, so as to realize variable-pitch grabbing of a plurality of groups of products.
The aim of the invention is achieved by the following technical scheme:
the variable-pitch grabbing mechanism for grabbing a plurality of products simultaneously is characterized in that: the vacuum chuck comprises a cylinder and a cam bearing follower, wherein the cylinder is arranged on a sliding plate along the X axial direction, a piston rod of the cylinder is connected with a linear guide mounting plate in the Y axial direction, a linear guide in the Y axial direction is fixed on the linear guide mounting plate, a plurality of moving sliding blocks are arranged on the linear guide, each moving sliding block is connected with a chuck connecting plate, the cam bearing follower is arranged on the chuck connecting plate, correspondingly, pulley grooves for the corresponding cam bearing follower to move are respectively arranged on the sliding plate, and a vacuum chuck is arranged at the lower part of the chuck connecting plate.
Further, the variable-pitch grabbing mechanism for simultaneously grabbing a plurality of products is characterized in that the cylinder is a triaxial three-rod guide rod cylinder, and the linear guide rail mounting plate is connected with the cylinder through screws.
Further, according to the variable-pitch grabbing mechanism for simultaneously grabbing a plurality of products, four moving sliding blocks are arranged on the linear guide rail, and accordingly four sucker connecting plates are arranged.
Further, the variable-pitch grabbing mechanism for simultaneously grabbing a plurality of products is characterized in that two vacuum chucks are installed at the lower part of each chuck connecting plate, and working surfaces of the vacuum chucks are all on the same plane.
Further, the above-mentioned variable-pitch gripping mechanism simultaneously gripping a plurality of products, wherein the roller of the cam bearing follower is placed in the pulley groove.
Compared with the prior art, the invention has remarkable advantages and beneficial effects, and is specifically embodied in the following aspects:
the invention provides a convenient, quick and low-cost variable-pitch grabbing mechanism capable of grabbing a plurality of products simultaneously, wherein a plurality of groups of suckers can grab the products in a variable pitch manner, even if the product spacing of a carrier is different from the product spacing of a customer incoming tray, grabbing can be realized through variable pitch, a certain gap between the incoming spacing of the stock bin products and the product spacing of a processing carrier is allowed, the cost of equipment is effectively reduced, the efficiency of grabbing the products is improved, the material taking mechanism is greatly optimized, and the equipment space is compressed.
Additional features and advantages of the invention will be set forth in the description which follows, and in part will be apparent from the description, or may be learned by practice of the invention. The objectives and other advantages of the invention may be realized and attained by the structure particularly pointed out in the written description and drawings.
Drawings
In order to more clearly illustrate the technical solutions of the embodiments of the present invention, the drawings that are needed in the embodiments will be briefly described below, it being understood that the following drawings only illustrate some embodiments of the present invention and therefore should not be considered as limiting the scope, and other related drawings may be obtained according to these drawings without inventive effort for a person skilled in the art.
Fig. 1: an isometric schematic drawing of the invention;
fig. 2: a rear view schematic of the present invention;
fig. 3: schematic diagram before cylinder retraction and displacement;
fig. 4: schematic diagram of cylinder after extending out of the variable distance.
Detailed Description
The following description of the embodiments of the present invention will be made clearly and completely with reference to the accompanying drawings, in which it is apparent that the embodiments described are only some embodiments of the present invention, but not all embodiments. The components of the embodiments of the present invention generally described and illustrated in the figures herein may be arranged and designed in a wide variety of different configurations. Thus, the following detailed description of the embodiments of the invention, as presented in the figures, is not intended to limit the scope of the invention, as claimed, but is merely representative of selected embodiments of the invention. All other embodiments, which can be made by a person skilled in the art without making any inventive effort, are intended to be within the scope of the present invention.
It should be noted that: like reference numerals and letters denote like items in the following figures, and thus once an item is defined in one figure, no further definition or explanation thereof is necessary in the following figures. Meanwhile, in the description of the present invention, directional terms, order terms, etc. are used only for distinguishing the description, and are not to be construed as indicating or implying relative importance.
As shown in fig. 1 and 2, the variable-pitch grabbing mechanism for simultaneously grabbing a plurality of products comprises a cylinder 1 and a cam bearing follower 9, wherein the cylinder 1 is axially arranged on a sliding plate 2 along an X axis, a piston rod of the cylinder 1 is connected with a Y-axis linear guide rail mounting plate 3, the cylinder 1 adopts a triaxial three-rod guide rod cylinder, and the linear guide rail mounting plate 3 is connected with the cylinder through a screw; a Y-axis linear guide rail 10 is fixed on the linear guide rail mounting plate 3, four moving slide blocks 4 are arranged on the linear guide rail 10, each moving slide block 4 is connected with one sucking disc connecting plate 5, namely four sucking disc connecting plates 5 are arranged, each sucking disc connecting plate 5 is provided with a cam bearing follower 9, correspondingly, the sliding plates 2 are respectively provided with a pulley groove 8 for the corresponding cam bearing follower 9 to move, the rollers of the cam bearing followers 9 are arranged in the pulley grooves 8, and the pulley grooves 8 are arranged according to the movement track of the corresponding cam bearing followers 9; two vacuum chucks 6 are arranged at the lower part of each chuck connecting plate 5, and the working surfaces of the vacuum chucks are all on the same plane.
As shown in fig. 3 and 4, before the distance change, the piston rod of the air cylinder 1 is in a retracted state, the whole set of mechanism is driven by the motion unit to descend, and the vacuum chucks absorb and grasp 4pcs of wafers, namely, two vacuum chucks below each chuck connecting plate 5 absorb and grasp 1pcs of wafers, and the whole set of mechanism is driven by the motion unit to ascend; the piston rod of the air cylinder 1 stretches out to change the distance, the piston rod of the air cylinder stretches out to drive the linear guide rail mounting plate to run in the Y-axis direction, the rolling friction between the roller of the cam bearing follower and the pulley groove not only keeps the original Y-axis direction movement of the air cylinder, but also enables the moving slide block to move in the X-axis direction, and the moving slide block and the sucker connecting plate horizontally move in the X-axis direction along the linear guide rail, so that the stable running with higher precision is ensured; the adjustment of the distance (product spacing) between the sucker connecting plates can be realized by adjusting the pulley groove parameters. And then the motion unit drives the whole set of mechanism to move, then drives the whole set of mechanism to descend, and the vacuum chuck breaks vacuum to place the wafer into the laser processing carrier.
It can be seen that the mode of grabbing products by multiple groups of sucking discs in a variable distance mode is designed, grabbing can be achieved through variable distance even when the product space of a carrier is different from the product space of a customer incoming tray, and therefore the condition that a processing area waits for feeding and discharging is avoided, and the yield is ensured.
In summary, the invention provides the convenient, quick and low-cost variable-pitch grabbing mechanism capable of grabbing a plurality of products simultaneously, which allows a certain gap between the distance between the incoming materials of the bin products and the distance between the incoming materials of the processing carrier, effectively reduces the cost of equipment, improves the efficiency of grabbing the products, greatly optimizes the material taking mechanism and compresses the equipment space.
The above description is only of the preferred embodiments of the present invention and is not intended to limit the present invention, but various modifications and variations can be made to the present invention by those skilled in the art. Any modification, equivalent replacement, improvement, etc. made within the spirit and principle of the present invention should be included in the protection scope of the present invention. It should be noted that: like reference numerals and letters denote like items in the following figures, and thus once an item is defined in one figure, no further definition or explanation thereof is necessary in the following figures.
The foregoing is merely illustrative of the present invention, and the present invention is not limited thereto, and any person skilled in the art will readily appreciate variations or alternatives within the scope of the present invention.
It is noted that relational terms such as first and second, and the like are used solely to distinguish one entity or action from another entity or action without necessarily requiring or implying any actual such relationship or order between such entities or actions. Moreover, the terms "comprises," "comprising," or any other variation thereof, are intended to cover a non-exclusive inclusion, such that a process, method, article, or apparatus that comprises a list of elements does not include only those elements but may include other elements not expressly listed or inherent to such process, method, article, or apparatus. Without further limitation, an element defined by the phrase "comprising one … …" does not exclude the presence of other like elements in a process, method, article, or apparatus that comprises the element.
Claims (5)
1. Simultaneously snatch displacement grabbing mechanism of a plurality of products, its characterized in that: the vacuum chuck comprises an air cylinder (1) and cam bearing followers (9), wherein the air cylinder (1) is axially arranged on a sliding plate (2) along the X direction, a piston rod of the air cylinder (1) is connected with a Y-axial linear guide mounting plate (3), a Y-axial linear guide (10) is fixed on the linear guide mounting plate (3), a plurality of moving sliders (4) are arranged on the linear guide (10), each moving slider (4) is connected with a chuck connecting plate (5), the cam bearing followers (9) are arranged on the chuck connecting plates (5), correspondingly, pulley grooves (8) for the corresponding cam bearing followers (9) to move are respectively arranged on the sliding plate (2), and vacuum chucks (6) are arranged at the lower parts of the chuck connecting plates (5).
2. The variable-pitch gripping mechanism for simultaneously gripping a plurality of products according to claim 1, wherein: the cylinder (1) is a triaxial three-rod guide rod cylinder, and the linear guide rail mounting plate (3) is connected with the cylinder through screws.
3. The variable-pitch gripping mechanism for simultaneously gripping a plurality of products according to claim 1, wherein: four moving sliding blocks are arranged on the linear guide rail (10), and correspondingly, four sucker connecting plates (5) are arranged.
4. A variable-pitch gripping mechanism for simultaneously gripping a plurality of products according to claim 1 or 3, characterized in that: two vacuum chucks (6) are arranged at the lower part of each chuck connecting plate (5), and the working surfaces of the vacuum chucks are all on the same plane.
5. The variable-pitch gripping mechanism for simultaneously gripping a plurality of products according to claim 1, wherein: the roller of the cam bearing follower (9) is arranged in the pulley groove (8).
Priority Applications (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN202310533717.1A CN116477353A (en) | 2023-05-12 | 2023-05-12 | Variable-pitch grabbing mechanism for simultaneously grabbing multiple products |
Applications Claiming Priority (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN202310533717.1A CN116477353A (en) | 2023-05-12 | 2023-05-12 | Variable-pitch grabbing mechanism for simultaneously grabbing multiple products |
Publications (1)
| Publication Number | Publication Date |
|---|---|
| CN116477353A true CN116477353A (en) | 2023-07-25 |
Family
ID=87217781
Family Applications (1)
| Application Number | Title | Priority Date | Filing Date |
|---|---|---|---|
| CN202310533717.1A Pending CN116477353A (en) | 2023-05-12 | 2023-05-12 | Variable-pitch grabbing mechanism for simultaneously grabbing multiple products |
Country Status (1)
| Country | Link |
|---|---|
| CN (1) | CN116477353A (en) |
-
2023
- 2023-05-12 CN CN202310533717.1A patent/CN116477353A/en active Pending
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