CN201670368U - Gripping mechanism of tray type conveying braiding machine - Google Patents
Gripping mechanism of tray type conveying braiding machine Download PDFInfo
- Publication number
- CN201670368U CN201670368U CN2010201716270U CN201020171627U CN201670368U CN 201670368 U CN201670368 U CN 201670368U CN 2010201716270 U CN2010201716270 U CN 2010201716270U CN 201020171627 U CN201020171627 U CN 201020171627U CN 201670368 U CN201670368 U CN 201670368U
- Authority
- CN
- China
- Prior art keywords
- suction nozzle
- roll adjustment
- handgrip
- adapter plate
- component
- 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.)
- Expired - Fee Related
Links
Images
Landscapes
- Manipulator (AREA)
Abstract
The utility model discloses a gripping mechanism of a tray type conveying braiding machine, which relates to a gripping device of an IC braiding machine and used for gripping blocks. The gripping mechanism is provided with a grip unit which comprises a suction nozzle component mounting board, a distance adjusting component, a fixed suction nozzle component and a distance-adjustable suction nozzle component, wherein the fixed suction nozzle component is parallel to the distance-adjustable suction nozzle component, the fixed suction nozzle component is fixedly mounted on the suction nozzle component mounting board via a suction nozzle fixing mounting plate, a distance adjusting driver of the distance adjusting component is fixedly connected with the suction nozzle component mounting board, a distance adjusting slide rail is fixedly mounted on the suction nozzle component mounting board, a distance adjusting slide board is slidably and fittingly connected with the distance adjusting slide rail transversely, a distance adjusting mounting board is fixedly connected with the distance adjusting slide board, a movable portion of the distance adjusting driver drives the distance adjusting mounting board to slide transversely, and the distance adjustable suction nozzle is mounted on the distance adjusting mounting board. In the gripping mechanism, the transverse distance between the fixed suction nozzle component and the distance adjustable suction nozzle can be adjusted via the distance adjusting component, thereby meeting requirements of distance among tray blocks in different specifications and distance among braiding grooves in different specifications.
Description
Technical field
The utility model relates to the pick-and-place device that is used to grab material taking piece of disk-feeding braider, relates in particular to the pick-and-place mechanism of this pick-and-place device.
Background technology
In the IC braider, check if want to finish material piece taken out from pallet, the material piece of passed examination is sent into braid encapsulate station, and/or will check that inferior-quality material piece puts into all too busy to get away handgrip of off gauge catch pan.
At present, the spacing between two suction nozzles on the handgrip of IC braider is changeless, and this handgrip only is suitable for the situation that the spacing of the spacing of pallet two material interblocks and braid two material interblocks increases simultaneously or reduces.If increase simultaneously, change suction nozzle again, its spacing is satisfied increase requirement; If reduce simultaneously, also to change suction nozzle again, its spacing is satisfied reduce requirement.This handgrip service adjustment inconvenience, work efficiency is lower.Particularly when the spacing of the spacing of pallet two material interblocks and braid two material interblocks not simultaneously, this handgrip just can't carry out pick-and-place.
The utility model content
The purpose of this utility model is to address the above problem, but the pick-and-place mechanism of spacing between two suction nozzles of a kind of automatic compensation is provided.
The technical solution adopted in the utility model is: a kind of pick-and-place mechanism of disk-feeding braider comprises the handgrip unit; Described handgrip unit also comprises the roll adjustment assembly, but and the parallel arranged fixedly component suction nozzle and the roll adjustment component suction nozzle that are provided with; Described fixedly component suction nozzle is fixedly mounted on the described component suction nozzle adapter plate by fixing suction nozzle adapter plate; Described roll adjustment assembly comprises roll adjustment actuator, roll adjustment slide rail, roll adjustment slide plate and roll adjustment adapter plate, described roll adjustment actuator and component suction nozzle adapter plate are connected, described roll adjustment slide rail is packed on the component suction nozzle adapter plate, described roll adjustment slide plate can be laterally slidably with the sliding connection of roll adjustment slide rail, described roll adjustment adapter plate and roll adjustment slide plate are connected, and the movable part of described roll adjustment actuator drives the roll adjustment adapter plate and laterally slides; But described roll adjustment component suction nozzle is installed on the roll adjustment adapter plate.
Preferably, described roll adjustment actuator is the roll adjustment motor, and the end of the motor shaft of described roll adjustment motor has screw rod, and the screw rod of described motor shaft is connected with roll adjustment adapter plate screw thread fit.
Preferably, described fixedly component suction nozzle comprises fixedly suction nozzle, fixedly suction nozzle vacuum air-channel joint and fixing suction nozzle lift cylinder; Described fixedly suction nozzle lift cylinder is packed in fixedly on the suction nozzle adapter plate; Described fixedly suction nozzle is communicated with fixing suction nozzle vacuum air-channel joint by fixing suction nozzle gas circuit connecting panel; Described fixedly suction nozzle gas circuit connecting panel by fixing suction nozzle lift cylinder connecting panel and fixedly the piston rod moving up and down of suction nozzle lift cylinder be connected.
Preferably, but but but but described roll adjustment component suction nozzle comprises roll adjustment suction nozzle roll adjustment suction nozzle vacuum air-channel joint and roll adjustment suction nozzle lift cylinder; But described roll adjustment suction nozzle lift cylinder is packed on the roll adjustment adapter plate; But but but described roll adjustment suction nozzle be communicated with roll adjustment suction nozzle vacuum air-channel joint by roll adjustment suction nozzle gas circuit connecting panel; But but but the moving up and down piston rod of described roll adjustment suction nozzle gas circuit connecting panel by roll adjustment suction nozzle lift cylinder connecting panel and roll adjustment suction nozzle lift cylinder be connected.
Preferably, comprise also driving the handgrip lifting unit that described handgrip unit moves up and down that described handgrip unit is installed on the handgrip lifting unit by described component suction nozzle adapter plate.
Preferably, described handgrip lifting unit comprises handgrip lifting motor, handgrip leading screw and handgrip lead screw transmission nut; Described handgrip lifting motor is connected with the handgrip lead screw transmission, and described handgrip lead screw transmission nut cooperation is installed on the handgrip leading screw; Described component suction nozzle adapter plate is connected by lifting unit connecting panel and handgrip lead screw transmission nut.
The beneficial effects of the utility model are: at first, but described pick-and-place mechanism can be by the fixing transverse pitch between component suction nozzle and the roll adjustment component suction nozzle of roll adjustment assembly adjustment, and then makes it to satisfy at any time the requirement of the pallet material interblock distance and the different size braid flute pitch of different size; Secondly, when the IC braider was provided with two classified gripping devices, its pick-and-place mechanism can dodge fast each other by the handgrip lifting unit is set, and avoids moving interference; At last, but fixedly suction nozzle and roll adjustment suction nozzle have separately lift cylinder, and therefore, pick-and-place described in the utility model mechanism also can meet the needs of two suction nozzles and be positioned at station situation on the differing heights.
Description of drawings
Fig. 1 is the structural representation of pick-and-place described in the utility model mechanism;
Fig. 2 is the partial schematic diagram of handgrip unit among Fig. 1.
The specific embodiment
Below in conjunction with accompanying drawing pick-and-place described in the utility model mechanism is described further.
As shown in Figure 1, pick-and-place of the present utility model mechanism 51 comprises handgrip unit and handgrip lifting unit, and described handgrip lifting unit drives the handgrip unit and moves up and down apace.
As shown in Figure 2, described handgrip unit comprises the roll adjustment assembly, but and the fixedly component suction nozzle and the roll adjustment component suction nozzle of parallel arranged setting.Described handgrip unit is installed on the handgrip lifting unit by its component suction nozzle adapter plate 5116.Described fixedly component suction nozzle is fixedly mounted on the component suction nozzle adapter plate 5116 by fixing suction nozzle adapter plate 5117.Described roll adjustment assembly comprises roll adjustment actuator, roll adjustment slide rail 5120, roll adjustment slide plate 5121 and roll adjustment adapter plate 5122.Described roll adjustment actuator and component suction nozzle adapter plate 5116 are connected, and this roll adjustment actuator can be packed on the erection support that is connected with component suction nozzle adapter plate 5116; Described roll adjustment slide rail 5120 is packed on the component suction nozzle adapter plate 5116, described roll adjustment slide plate 5121 and 5120 sliding connections of roll adjustment slide rail, and this roll adjustment slide plate 5121 can laterally slide along roll adjustment slide rail 5120; Described roll adjustment adapter plate 5122 is connected with roll adjustment slide plate 5121, described roll adjustment actuator can drive roll adjustment adapter plate 5122 and slide in the horizontal, but described roll adjustment component suction nozzle is installed on the roll adjustment adapter plate 5122, but and then by starting the fixedly transverse pitch between component suction nozzle and roll adjustment component suction nozzle of roll adjustment actuator adjustment.In the present embodiment, described roll adjustment actuator is selected roll adjustment motor 5114, and the end of the motor shaft 5113 of described roll adjustment motor 5114 has screw rod, and the screw rod of described motor shaft 5113 is connected with roll adjustment adapter plate 5122 screws thread fit; Described roll adjustment actuator also can be selected cylinder class actuator.
But in order effectively to control the position of the required adjustment of described roll adjustment component suction nozzle, cross travel control inductor 5118 as shown in Figure 2 can be installed on the described roll adjustment slide plate 5121, in the roll adjustment process, cross travel control inductor 5118 can be sent to control system with displacement signal, and control system can make the stop motion of roll adjustment actuator in position accurately according to the spacing demand.
As shown in Figure 2, described fixedly component suction nozzle comprises fixedly suction nozzle 518, fixedly suction nozzle vacuum air-channel joint 518b and fixing suction nozzle lift cylinder 517.Described fixedly suction nozzle lift cylinder 517 is packed in fixedly on the suction nozzle adapter plate 5117; Described fixedly suction nozzle 518 is communicated with fixing suction nozzle vacuum air-channel joint 518b by fixing suction nozzle gas circuit connecting panel 518a; Described fixedly suction nozzle gas circuit connecting panel 518a is connected by the fixing suction nozzle lift cylinder connecting panel 516 and the fixing piston rod of suction nozzle lift cylinder 517, and making fixedly under the drive of fixing suction nozzle lift cylinder 517, suction nozzle 518 moves up and down.
But but but but described roll adjustment component suction nozzle comprises roll adjustment suction nozzle 519 roll adjustment suction nozzle vacuum air-channel joint 519b and roll adjustment suction nozzle lift cylinder (not shown).But described roll adjustment suction nozzle lift cylinder is packed on the roll adjustment adapter plate 5122; But but but described roll adjustment suction nozzle 519 be communicated with roll adjustment suction nozzle vacuum air-channel joint 519b by roll adjustment suction nozzle gas circuit connecting panel 519a; But but but described roll adjustment suction nozzle gas circuit connecting panel 519a be connected by roll adjustment suction nozzle lift cylinder connecting panel 5111 piston rod with roll adjustment suction nozzle lift cylinder, but but roll adjustment suction nozzle 519 is moved up and down.
At this, but described fixedly component suction nozzle and roll adjustment component suction nozzle can have identical structure.
Described handgrip lifting unit can adopt existing any structure that the handgrip unit moves up and down that drives, and in the present embodiment, as shown in Figure 1, described handgrip lifting unit comprises handgrip lifting motor 511, handgrip leading screw 513 and handgrip lead screw transmission nut 514.Described handgrip lifting motor 511 is in transmission connection by coupler 5115 and handgrip leading screw 513, described handgrip lead screw transmission nut 514 cooperates installation with handgrip leading screw 513, and then rotatablely moving of handgrip leading screw 513 is converted to the straight-line motion of handgrip lead screw transmission nut 514.Described component suction nozzle adapter plate 5116 is connected by lifting unit connecting panel 515 and handgrip lead screw transmission nut 514, and then moves up and down apace by handgrip lifting motor 511 drive handgrip unit.
The working process of pick-and-place described in the utility model mechanism 51 is as follows:
Pick-and-place mechanism 51 moves to the material piece in the preparation extracting pallet above the pallet under the synchronous strap drive drive of classified gripping device, because described IC braider can dispose two classified gripping devices, therefore, in moving process, if when the handgrip unit of a pick-and-place mechanism may move interference with another pick-and-place mechanism, then handgrip lifting motor 511 automatic fast rise of meeting or declines are put to avoid the moving material level of getting of interfering and making the handgrip unit accurately arrive the pallet top; Meanwhile, start roll adjustment motor 5114, but but make the spacing of two material interblocks in the spacing of 518 of roll adjustment suction nozzle 519 and fixing suction nozzles and the pallet consistent by roll adjustment suction nozzle lift cylinder; Behind the roll adjustment, fixedly but suction nozzle lift cylinder 517 and roll adjustment suction nozzle lift cylinder start synchronously, but roll adjustment suction nozzle 519 and fixing suction nozzle 518 are moved down and close with the material piece, at this moment, but open fixedly suction nozzle vacuum air-channel joint 518b and roll adjustment suction nozzle vacuum air-channel joint 519b, two adjacent material pieces are held by suction nozzle.
Afterwards, but fixedly suction nozzle lift cylinder 517 and roll adjustment suction nozzle lift cylinder start once more synchronously, but make roll adjustment suction nozzle 519 and fixing suction nozzle 518 away from pallet.To detect up-to-standard material piece in pick-and-place mechanism delivers in the braid heat-sealing station process, effect that can be by handgrip lifting motor 511 guarantees that the handgrip unit of pick-and-place mechanism can not move the blowing position that arrives under the situation of interference above the braid groove with another pick-and-place mechanism; Meanwhile, start roll adjustment motor 5114, but but make the spacing and the spacing between the braid adjacent grooves of 518 of roll adjustment suction nozzle 519 and fixing suction nozzles consistent by roll adjustment suction nozzle lift cylinder; Behind the roll adjustment, fixedly but suction nozzle lift cylinder 517 and roll adjustment suction nozzle lift cylinder start synchronously, but make roll adjustment suction nozzle 519 and fixing suction nozzle 518 move down with groove close, at this moment, but close fixedly suction nozzle vacuum air-channel joint 518b and roll adjustment suction nozzle vacuum air-channel joint 519b, the deadweight of material piece falls into the braid groove, waits to be packaged.Wherein, in the IC braider, will expect that piece is delivered to 3D scanner head top, and to carry 2D or 3D to detect inferior-quality material piece also be that pick-and-place mechanism by the classified gripping device finishes.After all conveyings of two material pieces were finished, the pick-and-place mechanism of classified gripping device resetted, and prepared to carry next time, so repeatedly just can follow procedure requires to finish fast the classified gripping task of pallet material piece.
Being the utility model preferred embodiment only in sum, is not to be used for limiting practical range of the present utility model.Be that all equivalences of doing according to the content of the utility model claim change and modification, all should belong to technology category of the present utility model.
Claims (6)
1. the pick-and-place mechanism of a disk-feeding braider comprises the handgrip unit; It is characterized in that: described handgrip unit comprises component suction nozzle adapter plate, roll adjustment assembly, but and the parallel arranged fixedly component suction nozzle and the roll adjustment component suction nozzle that are provided with; Described fixedly component suction nozzle is fixedly mounted on the described component suction nozzle adapter plate by fixing suction nozzle adapter plate; Described roll adjustment assembly comprises roll adjustment actuator, roll adjustment slide rail, roll adjustment slide plate and roll adjustment adapter plate, described roll adjustment actuator and component suction nozzle adapter plate are connected, described roll adjustment slide rail is packed on the component suction nozzle adapter plate, described roll adjustment slide plate can be laterally slidably with the sliding connection of roll adjustment slide rail, described roll adjustment adapter plate and roll adjustment slide plate are connected, and the movable part of described roll adjustment actuator drives the roll adjustment adapter plate and laterally slides; But described roll adjustment component suction nozzle is installed on the roll adjustment adapter plate.
2. pick-and-place according to claim 1 mechanism, it is characterized in that: described roll adjustment actuator is the roll adjustment motor, and the end of the motor shaft of described roll adjustment motor has screw rod, the screw rod of described motor shaft is connected with roll adjustment adapter plate screw thread fit.
3. pick-and-place according to claim 1 mechanism is characterized in that: described fixedly component suction nozzle comprises fixedly suction nozzle, fixedly suction nozzle vacuum air-channel joint and fixing suction nozzle lift cylinder; Described fixedly suction nozzle lift cylinder is packed in fixedly on the suction nozzle adapter plate; Described fixedly suction nozzle is communicated with fixing suction nozzle vacuum air-channel joint by fixing suction nozzle gas circuit connecting panel; Described fixedly suction nozzle gas circuit connecting panel by fixing suction nozzle lift cylinder connecting panel and fixedly the piston rod moving up and down of suction nozzle lift cylinder be connected.
4. according to claim 1,2 or 3 described pick-and-place mechanisms, it is characterized in that: but but but but described roll adjustment component suction nozzle comprises roll adjustment suction nozzle roll adjustment suction nozzle vacuum air-channel joint and roll adjustment suction nozzle lift cylinder; But described roll adjustment suction nozzle lift cylinder is packed on the roll adjustment adapter plate; But but but described roll adjustment suction nozzle be communicated with roll adjustment suction nozzle vacuum air-channel joint by roll adjustment suction nozzle gas circuit connecting panel; But but but the moving up and down piston rod of described roll adjustment suction nozzle gas circuit connecting panel by roll adjustment suction nozzle lift cylinder connecting panel and roll adjustment suction nozzle lift cylinder be connected.
5. pick-and-place according to claim 1 mechanism is characterized in that: also comprise driving the handgrip lifting unit that described handgrip unit moves up and down, described handgrip unit is installed on the handgrip lifting unit by described component suction nozzle adapter plate.
6. pick-and-place according to claim 5 mechanism is characterized in that: state the handgrip lifting unit and comprise handgrip lifting motor, handgrip leading screw and handgrip lead screw transmission nut; Described handgrip lifting motor is connected with the handgrip lead screw transmission, and described handgrip lead screw transmission nut cooperation is installed on the handgrip leading screw; Described component suction nozzle adapter plate is connected by lifting unit connecting panel and handgrip lead screw transmission nut.
Priority Applications (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN2010201716270U CN201670368U (en) | 2010-04-27 | 2010-04-27 | Gripping mechanism of tray type conveying braiding machine |
Applications Claiming Priority (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN2010201716270U CN201670368U (en) | 2010-04-27 | 2010-04-27 | Gripping mechanism of tray type conveying braiding machine |
Publications (1)
| Publication Number | Publication Date |
|---|---|
| CN201670368U true CN201670368U (en) | 2010-12-15 |
Family
ID=43327780
Family Applications (1)
| Application Number | Title | Priority Date | Filing Date |
|---|---|---|---|
| CN2010201716270U Expired - Fee Related CN201670368U (en) | 2010-04-27 | 2010-04-27 | Gripping mechanism of tray type conveying braiding machine |
Country Status (1)
| Country | Link |
|---|---|
| CN (1) | CN201670368U (en) |
Cited By (3)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN107089487A (en) * | 2017-05-31 | 2017-08-25 | 歌尔股份有限公司 | Carrying tooling and method for carrying |
| CN110539917A (en) * | 2019-09-09 | 2019-12-06 | 深圳市华力宇电子科技有限公司 | automatic grabbing manipulator device and working method thereof |
| CN113120609A (en) * | 2021-03-22 | 2021-07-16 | 深圳格芯集成电路装备有限公司 | Chip disk replacing equipment |
-
2010
- 2010-04-27 CN CN2010201716270U patent/CN201670368U/en not_active Expired - Fee Related
Cited By (5)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN107089487A (en) * | 2017-05-31 | 2017-08-25 | 歌尔股份有限公司 | Carrying tooling and method for carrying |
| CN110539917A (en) * | 2019-09-09 | 2019-12-06 | 深圳市华力宇电子科技有限公司 | automatic grabbing manipulator device and working method thereof |
| CN110539917B (en) * | 2019-09-09 | 2024-03-08 | 深圳市华力宇电子科技有限公司 | Automatic grabbing manipulator device and working method thereof |
| CN113120609A (en) * | 2021-03-22 | 2021-07-16 | 深圳格芯集成电路装备有限公司 | Chip disk replacing equipment |
| CN113120609B (en) * | 2021-03-22 | 2022-02-08 | 深圳格芯集成电路装备有限公司 | Chip disk replacing equipment |
Similar Documents
| Publication | Publication Date | Title |
|---|---|---|
| CN201670367U (en) | Double-handle sorting carrying device of disk-type feeding taping machine | |
| CN103659802B (en) | Grabbing mechanism | |
| CN102717003B (en) | Automatic material taking and feeding mechanical hand for multi-station transmission die stamping | |
| CN105621094A (en) | Online automatic board cutting device | |
| CN203485497U (en) | Automatic carton packaging machine | |
| CN103379820B (en) | A kind of automatic aligning parts mount mechanism | |
| CN201670368U (en) | Gripping mechanism of tray type conveying braiding machine | |
| CN104668837A (en) | Tooling block taking device | |
| CN102814981A (en) | Tray hot-plate welding machine | |
| CN204123054U (en) | Piston automatic assembling machine | |
| CN203140906U (en) | Automatic tapping machine | |
| CN204369098U (en) | Chip positioning feedway | |
| CN205328217U (en) | Online automation divides board device | |
| CN203665085U (en) | Mooney hanger vertical tube automatic shrinkage punch press | |
| CN203526372U (en) | Production line middle platform automatic feeding device | |
| CN206750942U (en) | Straight line shifting apparatus is used in a kind of solar thermal collector production | |
| CN203399478U (en) | Automatic-alignment part installation mechanism | |
| CN103372617B (en) | Clamping material jacking mechanism | |
| CN204152913U (en) | A kind of new automatic silver-bearing copper ring assembly machine | |
| CN202742019U (en) | Screw feeding mechanism for automatic adjustable inductor tin-dipping machine | |
| CN208288733U (en) | A kind of Switch of working position device of tubing folding brake | |
| CN205204234U (en) | Automatic unloading mechanism of jack | |
| CN205621764U (en) | Chip mounter is glued from moving point to circuit board LED lamp | |
| CN205272020U (en) | Manipulator device of six drilling machines of PCB board | |
| CN202678176U (en) | Novel automatic keyboard assembly device |
Legal Events
| Date | Code | Title | Description |
|---|---|---|---|
| C14 | Grant of patent or utility model | ||
| GR01 | Patent grant | ||
| CF01 | Termination of patent right due to non-payment of annual fee |
Granted publication date: 20101215 Termination date: 20160427 |