CN206344133U - A kind of manipulator for being used to grip looping disk - Google Patents

Abstract

The utility model discloses a kind of manipulator for being used to grip looping disk, there is the housing of opening including one end, the end of the bottom plate of the housing extends towards open outer side, gripper assembly is provided with the housing, the gripper assembly includes upper moving plate and driver element, the bottom plate that the upper moving plate is capable of relatively described housing is vertically moved, the driver element is used to drive the upper moving plate to vertically move, including the sliding shoe being connected with the upper moving plate, it is vertically set on the guide pillar vertically moved on the bottom plate for the sliding shoe, and the drive device that the driving sliding shoe is vertically moved along the guide pillar.The utility model at least has the advantage that：The manipulator small volume, compact conformation, positioning precision are high, be swift in motion, and the accurate quick crawl to looping disk can be achieved, is used cooperatively by the independent navigation car for being equipped with multi-degree-of-freemechanical mechanical arm, can complete whole transport and the collection work of looping disk.

Description

A kind of manipulator for being used to grip looping disk

Technical field

The present invention relates to manipulator technical field, more particularly to a kind of manipulator for being used to grip looping disk.

Background technology

With the fast development of current industrial technology level both at home and abroad, traditional industry gradually turns to spy to automation, intelligence The modernization industry direction transition levied, manipulator is in all conglomeraties such as machining manufacture, warehouse logisticses, semiconductor manufacturing assemblings The application in field is also more and more extensive.The application of manipulator and the maximum difference of manual work are that manipulator possesses higher It will not be influenceed and be occurred by uncertain factor in surrounding environment substantially in terms of accuracy, flexibility and endurance, operation Maloperation phenomenon, in the case that working space is limited, still can be operated to long-time high efficient and reliable.In factory Actual production in, the application of manipulator dramatically improves the automatization level in production process, lifting production effect Also effect is notable in terms of rate.The processing manufacturing industry of modernization promotes kernel component performance that manipulator used significantly Lifting, in exceedingly odious operating environment, manipulator can also be normally carried out operation.Manipulator is flexibly accurately operated Pattern makes it be fully able to replace manpower, the operation of high efficient and reliable ground, significantly reduces hand labor intensity, while it is also ensured that Security performance during the crudy of product and processing.

At present in semicon industry field, in order to accelerate the placement speed of integrated chip, it will usually first seal integrated chip The supporting material band on elastic rubber belt, then the material strip is wound on the pre- attachment looping disk of formation on circular looping disk.In integrated chip During actual attachment, the material strip on pre- attachment looping disk is released in the side of mounting device, attachment is completed after pile warp mounting device Technique, is wound on the blank coil charging tray of the opposite side of equipment finally by plait mill, completes the work of whole integrated chip attachment Skill flow.In whole technological process, will pre- attachment looping disk be transported at mounting device, looping disk is after coiled strip is completed It is placed in looping disk disposable box and disposable box collects full during products storage area is transported in batch, there is looping disk Transport and collect problem.Current common practice is that pre- attachment looping disk is directly transported into chip mounter work in batch by artificial Position, is also to be transported in batch again by manually concentrating to be placed in looping disk disposable box by the looping disk mounted.Plait mill is completed Coiled strip simultaneously sends out looping disk, and artificial pickup looping disk is put again, then proceedes to wait plait mill to send out looping disk.Using artificial The mode of operation carries looping disk and collects looping disk in attachment, and the operation process is more single and number of repetition is more, long Time service easily causes fatigue, and reduction operating efficiency results even in artificial maloperation.For modern plant, with The raising of automatization level, is examined from the security of the actual production efficiency and guarantee product for improving factory in process of production Consider, the potential potential safety hazard of this manual work mode institute must draw attention and be improved.

In view of above-mentioned defect, the design people is actively subject to research and innovation, a kind of for gripping looping disk to found Manipulator, make its have more industrial production in value.

The content of the invention

In order to solve the above technical problems, present invention aims at a kind of manipulator for being used to grip looping disk is provided, to solve The problem of certainly low production efficiency, hand labor intensity are big in the prior art, safety coefficient is low.

A kind of manipulator for being used to grip looping disk of the present invention, including one end have the housing of opening, the housing The end of bottom plate extends towards open outer side, and gripper assembly is provided with the housing, and the gripper assembly includes

The opening is stretched out in-upper moving plate, its end, and is capable of the bottom plate of relatively described housing and vertically moves；

- driver element, for driving the upper moving plate to vertically move, including be connected with the upper moving plate sliding shoe, hang down The guide pillar vertically moved on the bottom plate for the sliding shoe is directly arranged on, and drives the sliding shoe along guide pillar longitudinal direction Mobile drive device.

Further, the vision sensor for detecting the position of manipulator, the visual sensing are additionally provided with the housing Device is installed by locating piece on locating slot on the housing.

Further, the drive device includes motor, the decelerator with the motor connection, is arranged on decelerator output The gear at end, the gear is engaged with rack, and the rack is arranged on the sliding shoe.

Further, the drive device also include with the encoder of the motor connection and with the encoder, motor The controller of electric connection.

Further, it is additionally provided with the bottom plate and is connected with the decelerator, the wheel and rack center can be adjusted Away from pivot flange, the pivot flange be provided with kidney slot, the pivot flange by screw pass through the kidney slot and institute State bottom plate connection.

Further, the guide pillar end, which is provided with, carries out spacing spacing catch to the sliding shoe.

Further, the sliding shoe is provided with photoelectric sensor, and the bottom plate is provided with and is moved in the sliding shoe The light catch of the photoelectric sensor is blocked when restriction site or dead-center position.

Further, the sliding shoe is through there is linear bearing, and the linear bearing is slidably connected with the guide pillar.

Further, the bottom end is provided with two forks piece for extending towards direction, and the end of forks piece described in two is gradually It is thinning.

Further, the upper moving plate is provided with the tapered retention members that can extend into coiled strip center hole.

Further, the adapter flange for connecting many free mechanical arms is additionally provided with the housing.

Further, the housing also includes preceding shrouding and rear shrouding, and the preceding shrouding uses sheet metal structural, the rear envelope Plate adds part using machine.

By such scheme, the present invention at least has advantages below：

1st, engaged by being provided with gear and rack, by the linear motion for being converted to rack of decelerator, rack band Dynamic sliding shoe, upper moving plate do linear reciprocating motion, and the kind of drive is simple and easy to apply, highly reliable, and can make the knot of manipulator Structure becomes compacter, is easy to implement the miniaturization of manipulator；

2nd, by being provided with vision sensor, manipulator can be obtained relative to looping disk set-point using vision sensor Relative position information, it is ensured that manipulator can be accurate to up to looping disk and pick and place a position, reducing even can eliminate the shadow of position deviation Ring, effectively prevent non-gripping point of the manipulator direct collision to objective table, and cause to break looping disk, make manipulator by The generation for the phenomenon such as rigid impact is impaired；

3rd, by being provided with motor and decelerator, using motor-driven mode, by using the Real-time Feedback of encoder, It can be achieved accurately to regulate and control the rotating speed and corner of motor, the engagement through decelerator and rack-and-pinion is final to realize machinery The opening and closing movement of hand, the precision of folding stroke and then can also be guaranteed；

4th, by being provided with photoelectric sensor, manipulator is used as soft limit during its execution closed action using photoelectric sensor Position, it is to avoid moving component collides, it is ensured that security during mechanism kinematic, while when electric on a robotic arm, being used as mark The mechanical zero of will mechanism, it is ensured that the certainty of movement position during manipulator behavior；

5th, by being provided with upper moving plate, the central part of upper moving plate is provided with mounting hole, and the design of its profile makes its integrally weight The heart is inclined to rear, not only reduces own wt, while inertia when helping to reduce its motion, prevents larger tremble Deformation.

Described above is only the general introduction of technical solution of the present invention, in order to better understand the technological means of the present invention, And can be practiced according to the content of specification, below with presently preferred embodiments of the present invention and coordinate accompanying drawing describe in detail as after.

Brief description of the drawings

Fig. 1 is the overall appearance schematic diagram of the present invention；

Fig. 2 is the internal structure schematic diagram of the present invention；

Fig. 3 is the overall structure exploded perspective view of the present invention；

Fig. 4 is the structural representation of the preceding shrouding of the present invention；

Fig. 5 is the structural representation of the rear shrouding of the present invention；

Fig. 6 is the structural representation of the bottom plate of the present invention；

Fig. 7 is the sectional view that the sliding shoe of the present invention and guide rod constitute dynamic junction；

Fig. 8 is the sliding shoe structural representation of the present invention；

Fig. 9 is the upper moving plate structural representation of the present invention；

Figure 10 is the manipulator of the present invention and the scheme of installation of multi-degree-of-freemechanical mechanical arm.

In the figures above：1st, housing；2nd, upper moving plate；3rd, bottom plate；4th, sliding shoe；5th, guide pillar；6th, vision sensor；7th, position Block；8th, locating slot；9th, motor；10th, decelerator；11st, gear；12nd, rack；13rd, encoder；14th, controller；15th, pivot flange； 16th, kidney slot；17th, spacing catch；18th, photoelectric sensor；19th, light catch；20th, linear bearing；21st, forks piece；22nd, position Part；23rd, adapter flange；24th, preceding shrouding；25th, rear shrouding；26th, it is open；27th, cushion block.

Embodiment

With reference to the accompanying drawings and examples, the embodiment to the present invention is described in further detail.Implement below Example is used to illustrate the present invention, but is not limited to the scope of the present invention.

With reference to shown in Fig. 1 to Figure 10, a kind of manipulator for being used to grip looping disk of the invention of the invention, including one end Housing 1 with opening 26, the end of the bottom plate 3 of the housing 1 extends towards the outside of opening 26, provided with folder in the housing 1 Component is taken, the gripper assembly includes upper moving plate 2 and driver element.The upper moving plate 2 is capable of the bottom plate 3 of relatively described housing 1 Vertically move, driver element is used to drive the upper moving plate 2 to vertically move, and driver element includes what is be connected with the upper moving plate 2 Sliding shoe 4, the guide pillar 5 vertically moved on the bottom plate 3 for the sliding shoe 4 is vertically set on, and drives the sliding shoe 4 The drive device vertically moved along the guide pillar 5.

The vision sensor 6 for detecting the position of manipulator is additionally provided with the housing 1, the vision sensor 6 passes through Locating piece 7 is arranged on the locating slot 8 on the housing 1, and locating piece 7 coordinates with locating slot 8, to ensure that vision sensor 6 is pacified A depth of parallelism and perpendicularity when setting, it is to avoid produce light shaft offset when vision sensor 6 is used caused by alignment error and shadow Ring actually detected effect.In actual use, by using image processing techniques to the positioning object (such as two that is fixed on objective table Tie up code) image recognition is carried out, it is computed after processing, the positional information picked and placeed a little relative to manipulator of looping disk can be obtained.By It is generally very high in the resolution ratio of vision sensor 6, thus the position error of manipulator can be substantially reduced, it is ensured that manipulator can be accurate Really reach looping disk picks and places an execution subsequent action.

The drive device include motor 9, be connected with the motor 9 decelerator 10, be arranged on the output end of decelerator 10 Gear 11, gear 11 is fixed on by holding screw on the output shaft of decelerator 10.The gear 11 is engaged with rack 12, tooth The side of bar 12 is provided with 3 through holes, and is fixedly mounted on by screw on the sliding shoe 4.Motor 9 uses DC brushless motor 9, functional reliability height, noiseless, long working life.During manipulator behavior, power is exported by motor 9, is slowed down through decelerator 10 Afterwards, suitable speed and moment of torsion are obtained, gear 11 is then passed to, band carry-over bar 12 is driven.

The drive device also includes the encoder 13 being connected with the motor 9 and electrical with the encoder 13, motor 9 The controller 14 of connection, encoder 13 uses grating encoder formula photoelectric encoder, and resolution ratio is 512CPR, with contactless Many advantages, such as abrasion, strong antijamming capability, high resolution, response speed block, long lifespan, can Real-time Feedback motor 9 rotating speed And angular displacement information, it is convenient that accuracy controlling is carried out to its rotating speed and angular displacement.In order to reduce installing space as far as possible, reduce machinery The volume of hand, by laterally horizontal installation on the supporting plate, supporting plate is fixedly connected controller 14 with bottom plate 3.

It is additionally provided with the bottom plate 3 and is connected with the decelerator 10, the gear 11 and the centre-to-centre spacing of rack 12 can be adjusted Pivot flange 15, the rectangular profile of pivot flange 15.One right angle end face of pivot flange 15 and the output hold-carrying of decelerator 10 Orchid is fixedly connected, and plays a supportive role.For the ease of the centre-to-centre spacing of adjustment gear 11 and rack 12, make transmission more reliable and more stable, Pivot flange 15 is provided with kidney slot 16, and another right angle end face of pivot flange 15 is by the way that screw is through the kidney slot 16 and pads Block 27 is connected, and cushion block 27 is fixed on bottom plate 3 by the sunk screw at the back side.The both sides of cushion block 27 are respectively provided with a size center Hole, for right angle setting guide pillar 5, perpendicularity requirement of the guide pillar 5 relative to the surface of cushion block 27 is ensured by given matching relationship.

The end of guide pillar 5 is provided with spacing spacing catch 17 is carried out to the sliding shoe 4, and the spacing catch 17 is used Be hard spacing catch, the hard spacing catch ensure that reliability when manipulator performs opening and closing movement.During manipulator behavior, Limit travel position limited by hard spacing catch, it is ensured that its it is all up to strokes in safe range, it is to avoid because of manipulator The operation irregularity of driver element cause to move the excess of stroke, cause inner surface collision, the tooth of the preceding shrouding 24 of sliding shoe 4 and shell 1 The generation for a problem that wheel 11 and rack 12 are disengaged from.

The sliding shoe 4 is provided with photoelectric sensor 18, and the bottom plate 3 is provided with and is moved to limitation in the sliding shoe 4 The light catch 19 of the photoelectric sensor 18 is blocked when position or dead-center position, it is public that photoelectric sensor 18 employs Japanese SUNX The PM-L24P series mini photoelectric sensors of department.When electricity on manipulator, in order to ensure that manipulator performs opening and closing movement after The absolute accuracy of middle arbitrary motion position, it is desirable to have a benchmark zero-bit will be performed and once " looked for as reference, therefore manipulator Zero " action.When the reciprocal signal that the sliding shoe 4 of manipulator moves to photoelectric sensor 18 is covered by light catch 19, now The movement position point is the benchmark zero-bit of action, and the absolute position that later any time sliding shoe 4 is moved all will be with the zero-bit It is used as reference data, it is ensured that the accuracy of moving displacement when manipulator performs opening and closing movement.In addition, taking after manipulator Put in action process, excess of stroke when causing manipulator folding if there is system exception, when sliding shoe 4 moves to the benchmark zero point position Putting can also make manipulator be stopped immediately, play a part of soft position limitation protection.

In order to avoid sliding shoe 4 is directly contacted with guide pillar 5, larger friction is produced during the linear slide for causing both relative Resistance, is respectively installed with a linear bearing 20, linear bearing 20 is led with described in two size centre bores of sliding shoe 4 Post 5 is slidably connected.The endoporus of linear bearing 20 is contacted to be formed and is slidably matched with the cylindrical side of two guide pillars 5, is greatly reduced Frictional resistance when sliding shoe 4 is moved, reduces the power attenuation of arm-and-hand system.

The beloid bottom plate 3 is in Y types, and the end of bottom plate 3 is pitched provided with two forks piece 21 for extending towards direction described in two The end of piece 21 is gradually thinning, is easy to manipulator to be successfully inserted at coiled strip tray bottom.

Upper moving plate 2 is fixedly connected by the narrow side in both sides of its rear end with sliding shoe 4, and the opening 26 is stretched out in its end, on The central part of dynamic plate 2 is provided with mounting hole.The design of its profile makes its overall center of gravity deviation rear, not only reduces itself weight Amount, while inertia when helping to reduce its motion, prevents larger deformation of trembling.Immediately below the front end of upper moving plate 2 Position is fixedly connected with the tapered retention members 22 that can extend into coiled strip center hole, is easy to manipulator performing closure gripping volume During charging tray, in the circular hole for being successfully inserted at the center of looping disk.The keeper 22, which is set, ensure that manipulator in completion After the gripping action of looping disk, multi-degree-of-freemechanical mechanical arm prevents looping disk slave in the action process carried and collected is performed Released in tool hand, ensure reliable gripping.

Adapter flange 23 is additionally provided with the housing 1, the one end of adapter flange 23 passes through the sunk screw on shell 1 and machinery Hand is fixedly connected, and the other end is fixedly connected on the end effector mounting flange of multi-degree-of-freemechanical mechanical arm by sunk screw. During actual installation, first adapter flange 23 is fixed on the end effector mounting flange of mechanical arm, then by adapter flange 23 Other end is fixed with manipulator, and erection sequence can not be anti-.

The housing 1 also includes preceding shrouding 24 and rear shrouding 25, and the preceding shrouding 24 uses sheet metal structural, reduces deadweight, The rear shrouding 25 adds part using machine.Electric interfaces are provided with the housing 1, electric interfaces are applied to manipulator and connect outside Power supply and manipulator and mechanical arm is set to carry out real-time Communication for Power by I/O passages.

The operation principle and flow of the present invention is as follows：

1) the Quick Response Code region on multi-degree-of-freemechanical mechanical arm driving mechanical hands movement to objective table；

2) vision sensor 6 will be scanned identification to the Quick Response Code on objective table；

3) scan to after the information on Quick Response Code, mechanical arm can obtain manipulator immediately relative to looping disk set-point Positional information, and make robot movement therewith to looping disk set-point；

4) manipulator is coordinated by bottom plate 3 and upper moving plate 2 performs gripping action；

5) after the completion of gripping, mechanical arm driving mechanical hands movement to looping disk disposable box position point；

6) manipulator performs and unclasps action；

7) after the completion of unclasping, mechanical arm revert to initial position, and whole operation flow terminates.

Described above is only the preferred embodiment of the present invention, is not intended to limit the invention, it is noted that for this skill For the those of ordinary skill in art field, without departing from the technical principles of the invention, can also make it is some improvement and Modification, these improvement and modification also should be regarded as protection scope of the present invention.

Claims (12)

1. a kind of manipulator for being used to grip looping disk, it is characterised in that：There is the housing of opening including one end, the housing The end of bottom plate extends towards open outer side, and gripper assembly is provided with the housing, and the gripper assembly includes

The opening is stretched out in-upper moving plate, its end, and is capable of the bottom plate of relatively described housing and vertically moves；

- driver element, for driving the upper moving plate to vertically move, including be connected with the upper moving plate sliding shoe, vertical set The guide pillar vertically moved on the bottom plate for the sliding shoe is put, and drives the sliding shoe to be vertically moved along the guide pillar Drive device.

2. the manipulator according to claim 1 for being used to grip looping disk, it is characterised in that：Inspection is additionally provided with the housing The vision sensor of the position of manipulator is surveyed, the vision sensor installs locating slot on the housing by locating piece On.

3. the manipulator according to claim 1 for being used to grip looping disk, it is characterised in that：The drive device includes electricity Machine, the decelerator with the motor connection, the gear for being arranged on decelerator output end, the gear are engaged with rack, the tooth Bar is arranged on the sliding shoe.

4. the manipulator according to claim 3 for being used to grip looping disk, it is characterised in that：The drive device also includes The controller being electrically connected with the encoder of the motor connection and with the encoder, motor.

5. the manipulator according to claim 4 for being used to grip looping disk, it is characterised in that：Be additionally provided with the bottom plate with The decelerator connects, can adjust the pivot flange of the wheel and rack centre-to-centre spacing, and the pivot flange is provided with kidney-shaped Groove, the pivot flange is connected by screw through the kidney slot with the bottom plate.

6. the manipulator according to claim 1 for being used to grip looping disk, it is characterised in that：The guide pillar end provided with pair The sliding shoe carries out spacing spacing catch.

7. the manipulator according to claim 1 for being used to grip looping disk, it is characterised in that：The sliding shoe is provided with light Electric transducer, the bottom plate is provided with and the photoelectric sensing is blocked when the sliding shoe is moved to restriction site or dead-center position The light catch of device.

8. the manipulator according to claim 1 for being used to grip looping disk, it is characterised in that：The sliding shoe is straight through having Bobbin is held, and the linear bearing is slidably connected with the guide pillar.

9. the manipulator according to claim 1 for being used to grip looping disk, it is characterised in that：The bottom end is provided with two The forks piece in direction is extended towards, the end of forks piece described in two is gradually thinning.

10. the manipulator according to claim 1 for being used to grip looping disk, it is characterised in that：The upper moving plate is provided with The tapered retention members that can extend into coiled strip center hole.

11. the manipulator according to claim 1 for being used to grip looping disk, it is characterised in that：It is additionally provided with the housing Adapter flange for connecting many free mechanical arms.

12. the manipulator according to claim 1 for being used to grip looping disk, it is characterised in that：Before the housing also includes Shrouding and rear shrouding, the preceding shrouding use sheet metal structural, and the rear shrouding adds part using machine.