CN207757647U - Gripper and interposer substrate recycling machine - Google Patents
Gripper and interposer substrate recycling machine Download PDFInfo
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- CN207757647U CN207757647U CN201721860757.3U CN201721860757U CN207757647U CN 207757647 U CN207757647 U CN 207757647U CN 201721860757 U CN201721860757 U CN 201721860757U CN 207757647 U CN207757647 U CN 207757647U
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- clamping jaw
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- gripper
- carrier
- jaw portion
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Abstract
The utility model provides a kind of gripper and interposer substrate recycling machine, gripper include：Bottom plate；Connector is arranged on bottom plate, is connected with the executing agency of interposer substrate recycling machine；Fixture, fixture include driving portion and clamping jaw portion, and driving portion is arranged on bottom plate, and clamping jaw portion is connected with driving portion；Sucker is arranged on bottom plate, for drawing power supply printing plate.A kind of gripper provided by the utility model, executing agency can move with gripper, action is picked and placeed with realize fixture and sucker, fixture includes driving portion and clamping jaw portion, clamping jaw portion is for gripping pressing plate and carrier, and sucker is arranged on bottom plate, for drawing power supply printing plate, drawing power supply printing plate using sucker will not be limited by power supply printing plate shape, while can promote the gravity of bigger.
Description
Technical field
The utility model is related to power supply plant-scale equipment technical fields, in particular to a kind of gripper and switching base
Plate recycling machine.
Background technology
Currently, interposer substrate recycling is divided into opening in action and links closely and removes pressing plate, and it is transported to pressing plate return wire；
Power supply printing plate is gripped, and is transported to power supply printing plate conveyer belt；Carrier is gripped, and is transported to carrier return wire.Because process is more,
Act that relative complex, moving object shape difference is big, this station can only take manual work in the past, to ensure normal continuous life
Production, the operation of this station have to take operating type in shifts.And interposer substrate recycles this station close to tin stove lower slope section, makees
Industry person is often in the range of scatter for the irritative gas that tin stove overflows, though there is labour protection article as protection, body still can be one
Determine to come to harm in degree.
Utility model content
The utility model aims to solve at least one of technical problems existing in the prior art or related technologies.
For this purpose, the first aspect of the utility model provides a kind of gripper.
The second aspect of the utility model additionally provides a kind of interposer substrate recycling machine.
In view of this, the first aspect of the utility model proposes a kind of gripper, it to be used for interposer substrate recycling machine, machinery
Pawl includes：Bottom plate；Connector is arranged on bottom plate, is connected with the executing agency of interposer substrate recycling machine；Fixture, fixture packet
Driving portion and clamping jaw portion are included, driving portion is arranged on bottom plate, and clamping jaw portion is connected with driving portion；Sucker is arranged on bottom plate, uses
In absorption power supply printing plate.
A kind of gripper provided by the utility model, including bottom plate, connector, fixture and sucker, connector are arranged the bottom of at
On plate, for gripper and executing agency to link together, executing agency can move with gripper, with realize fixture and
Sucker picks and places action, and fixture includes driving portion and clamping jaw portion, and clamping jaw portion is clamping jaw portion for gripping pressing plate and carrier, driving portion
Gripping action provide power, sucker be arranged on bottom plate, for drawing power supply printing plate, when power supply printing plate is in irregular shape
When, it is often subject to limit with clamping jaw gripping power supply printing plate, frequently occurs not press from both sides or power supply printing plate is caused to be destroyed
Situation, and drawing power supply printing plate using sucker will not be limited by power supply printing plate shape, while the weight of bigger can be promoted
Power.When in face of corresponding process, state and the position of corresponding fixture or sucker need to be only adjusted, you can complete pressing plate, carrier
With the separation and carrying of power supply printing plate.
Further, clamping jaw portion is two clamp hands being oppositely arranged, and two clamp hands are arranged in the both sides of driving portion.
According to above-mentioned gripper provided by the utility model, there can also be following additional technical feature：
In the above-mentioned technical solutions, it is preferable that sucker includes：Integrated vacuum generator；Connecting plate, respectively with bottom plate sum aggregate
It is connected at vacuum generator.
In the technical scheme, sucker includes integrated vacuum generator and connecting plate, and connecting plate is by integrated vacuum generator
It links together with executing agency so that sucker can be moved with the movement of executing agency.Specifically, vacuum generator is multiple
Box-like sucker, with high speed aspiration rates, and then can avoid draw power supply printing plate when gas leakage the phenomenon that.
In any of the above-described technical solution, it is preferable that clamping jaw portion includes：Pressing plate clamping jaw portion, pressing plate clamping jaw portion and driving portion
It is connected；Carrier clamping jaw portion, carrier clamping jaw portion are connected with driving portion.
In the technical scheme, clamping jaw portion includes pressing plate clamping jaw portion and carrier clamping jaw portion, and pressing plate clamping jaw portion is pressed for gripping
Plate, carrier clamping jaw portion realize the reflow process of pressing plate and carrier, in addition, pressing plate clamping jaw portion and carrier folder for gripping carrier
Claw is connected with driving portion, the overall weight of machinery folder is effectively alleviated, to reduce interposer substrate recycling machine
Production cost improves production efficiency.
In any of the above-described technical solution, it is preferable that driving portion includes：Ontology；Guide rod, guide rod passes through ontology, with ontology
It is connected；Pneumatic clamper, pneumatic clamper are oppositely arranged on the both ends of guide rod, and guide rod can drive pneumatic clamper relative motion or mutually from movement；And/or
Driving portion is double acting parallelly opening-and-closing formula cylinder.
In the technical scheme, driving portion includes ontology, guide rod and pneumatic clamper, and guide rod is connected across ontology with ontology,
I.e. ontology is exposed at the both ends of guide rod, and pneumatic clamper is mounted on the both ends of guide rod, and is oppositely arranged, and the flexible of guide rod can drive relatively
The pneumatic clamper of setting does relative motion or mutually from movement, and then realizes picking and placeing for pressing plate or carrier.
Further, driving portion is double acting parallelly opening-and-closing formula cylinder.
In any of the above-described technical solution, it is preferable that pressing plate clamping jaw portion includes：Support plate is connected with pneumatic clamper；At least two
A pressing plate clamping jaw, opposite is arranged in the inside of support plate；At least two block-dialing structures are arranged on the supporting plate, at least two
A pressing plate clamping jaw is oppositely arranged.
In the technical scheme, pressing plate clamping jaw portion includes support plate, pressing plate clamping jaw and block-dialing structure, support plate and pneumatic clamper phase
Connection, pressing plate clamping jaw are arranged in the inside of support plate, and the inside of support plate is two opposite sides of support plate, block-dialing structure
Setting on the supporting plate, is oppositely arranged with pressing plate clamping jaw, and when pressing plate clamping jaw grips pressing plate, block-dialing structure, which can be opened, makes pressing plate
Pressing plate and carrier are separated rear fender clamping jaw and walk pressing plate folder by the tight locking button being connected with carrier.
In any of the above-described technical solution, it is preferable that block-dialing structure includes：Cylinder is driven, setting is on the supporting plate；It pushes away
Block is arranged in the end of the push rod of driving cylinder；Shifting block is arranged in the mounting groove of support plate, passes through bearing pin and pushing block phase
Connection；Wherein, shifting block is rotatablely connected with support plate.
In the technical scheme, block-dialing structure includes pushing block, shifting block and driving cylinder, and driving cylinder is connected with pushing block,
For driving pushing block to move, shifting block is connected with pushing block, and when driving cylinder driving pushing block movement, pushing block drives shifting block movement,
And then pressing plate and carrier are detached.Further, protrusion is provided on shifting block, protrusion is oppositely arranged with pressing plate clamping jaw, on shifting block
Reset key, such as spring, pull rod can also be set, the reset of shifting block is used for.
In any of the above-described technical solution, it is preferable that carrier clamping jaw portion includes：At least two carrier clamping jaws, are oppositely arranged
In the outside of support plate, it is located at the end of support plate.
In the technical scheme, carrier clamping jaw portion includes carrier clamping jaw, and carrier clamping jaw is located at the outside of support plate, and outside is
For the side that two support plates being oppositely arranged are away from each other, for gripping carrier.
In any of the above-described technical solution, it is preferable that gripper further includes：Control device；First detection structure, the first inspection
Geodesic structure includes cylinder manifold and the solenoid valve on cylinder manifold, and cylinder manifold is arranged on driving portion, solenoid valve and driving portion
It is connected with control device；Second detection structure is arranged on bottom plate, is connected with sucker and control device.
In the technical scheme, gripper further includes control device, the first detection structure and the second detection structure, the first inspection
Geodesic structure includes cylinder manifold and solenoid valve, and solenoid valve is connected with driving portion and control device；Second detection structure is arranged the bottom of at
On plate, it is connected with sucker and control device, further, the second detection structure is inductor, is become by the state of inductor
Change the discrete state of detection power supply printing plate and carrier or pressing plate.
Second aspect according to the present utility model, it is also proposed that a kind of interposer substrate recycling machine, including：Executing agency；With
And the gripper such as any of the above-described technical solution, gripper are connected with executing agency.
The interposer substrate recycling machine of the offer of the utility model second aspect, because including described in any of the above-described technical solution
Gripper, therefore whole advantageous effects with the gripper.
In the above-mentioned technical solutions, it is preferable that executing agency is six-joint robot.
In the technical scheme, executing agency is six-joint robot, by by needed for each process clamping jaw or sucker integrate
In one, the separation and carrying of pressing plate, carrier and power supply printing plate may be implemented, wherein pressing plate clamping jaw portion and carrier clamping jaw portion
A driving portion is shared, the weight of gripper entirety is alleviated, thereby reduces the requirement to six-joint robot load-bearing capacity, into
And production cost is reduced, and improve the efficiency of production.
Specifically, when detaching pressing plate, carrier and power supply printing plate, six-joint robot reaches the position of crawl pressing plate,
Driving portion drives the movement of pressing plate clamping jaw portion, pressing plate clamping jaw clamping press plate, driving cylinder driving pushing block and shifting block, with open pressing plate with
The tight locking button of carrier connection, six-joint robot band dynamic pressure plate are moved perpendicular to carrier, and carrier is made to be detached with pressing plate and remove pressing plate
It transports on return wire；Six-joint robot reaches the position of power supply printing plate, and control device controls sucker and draws power supply printing plate, tool
Body, sucker draws the cooling fin of power supply printing plate, and six-joint robot is promoted perpendicular to carrier, makes power supply printing plate and carrier point
From, and then power supply printing plate is carried to return wire, wherein inductor can detect the separation shape of power supply printing plate and carrier
Condition reports an error if non-separator well；Six-joint robot reaches the position of crawl carrier, and driving portion drives carrier clamping jaw portion fortune
Dynamic, carrier clamping jaw carrier for clamping, six-joint robot drives carrier vertical movement, and carrier is transported on return wire.
The additional aspect and advantage of the utility model will become apparent in following description section, or new by this practicality
The practice of type is recognized.
Description of the drawings
The above-mentioned and/or additional aspect and advantage of the utility model will in the description from combination following accompanying drawings to embodiment
Become apparent and is readily appreciated that, wherein：
Fig. 1 shows the structural schematic diagram of the gripper of the utility model first aspect one embodiment；
Fig. 2 shows another structural schematic diagrams of the gripper of the utility model first aspect one embodiment；
Fig. 3 shows the structural schematic diagram of the pressing plate to be separated of the utility model first aspect one embodiment；
Fig. 4 shows the working state schematic representation of the separation pressing plate of the utility model first aspect one embodiment；
Fig. 5 shows the working condition signal of the separation power supply printing plate of the utility model first aspect one embodiment
Figure；
Fig. 6 shows the working state schematic representation of the separation carrier of the utility model first aspect one embodiment.
Wherein, the correspondence in Fig. 1 to Fig. 6 between reference numeral and component names is：
1 bottom plate, 2 connectors, 3 fixtures, 30 driving portions, 302 guide rods, 304 pneumatic clampers, 32 pressing plate clamping jaw portions, 320 support plates,
322 pressing plate clamping jaws, 324 block-dialing structures, 326 driving cylinders, 34 carrier clamping jaws, 4 suckers, 40 integrated vacuum generators, 42 connections
Plate, 5 first detection structures, 50 solenoid valves, 52 cylinder manifolds, 6 second detection structures, 7 pressing plates, 8 power supply printing plates, 9 carriers.
Specific implementation mode
In order to be more clearly understood that the above objects, features, and advantages of the utility model, below in conjunction with the accompanying drawings and have
The utility model is further described in detail in body embodiment.It should be noted that in the absence of conflict, this Shen
The feature in embodiment and embodiment please can be combined with each other.
Many details are elaborated in the following description in order to fully understand the utility model, still, this practicality
Novel to be implemented different from other modes described here using other, therefore, the scope of protection of the utility model is simultaneously
It is not limited by following public specific embodiment.
Referring to Fig. 1 to Fig. 6 descriptions according to described in the utility model some embodiments gripper and interposer substrate return
Receipts machine.
One embodiment of first aspect according to the present utility model, the utility model proposes a kind of grippers, are used for
Interposer substrate recycling machine, gripper include：Bottom plate 1；Connector 2 is arranged on bottom plate 1, the execution with interposer substrate recycling machine
Mechanism is connected；Fixture 3, fixture 3 include driving portion 30 and clamping jaw portion, and driving portion 30 is arranged on bottom plate 1, clamping jaw portion and driving
Portion 30 is connected；Sucker 4 is arranged on bottom plate 1, for drawing power supply printing plate 8.
As shown in Figures 1 to 6, a kind of gripper provided by the utility model, including bottom plate 1, connector 2, fixture 3 and suction
Disk 4, connector 2 are arranged on bottom plate 1, and for gripper and executing agency to link together, executing agency can be with machine
Machinery claw moves, and to realize that the action that picks and places of fixture 3 and sucker 4, fixture 3 include driving portion 30 and clamping jaw portion, clamping jaw portion is used to press from both sides
Pressure plate 7 and carrier 9, driving portion 30 provide power for the gripping action in clamping jaw portion, and sucker 4 is arranged on bottom plate 1, for drawing
Power supply printing plate 8 is often subject to limit, frequently when power supply printing plate 8 is in irregular shape with clamping jaw gripping power supply printing plate 8
There is a situation where can not press from both sides or cause power supply printing plate 8 to be destroyed, and utilizing sucker 4 to draw power supply printing plate 8 will not be by electricity
The limitation of 8 shape of source printing plate, while the gravity of bigger can be promoted.When in face of corresponding process, need to only it adjust corresponding
The state and position of fixture 3 or sucker 4, you can complete the separation and carrying of pressing plate 7, carrier 9 and power supply printing plate 8.
Further, clamping jaw portion is two clamp hands being oppositely arranged, and two clamp hands are arranged in the both sides of driving portion 30.
In the above embodiment, it is preferable that sucker 4 includes：Integrated vacuum generator 40；Connecting plate 42, respectively with bottom plate 1
It is connected with integrated vacuum generator 40.
In this embodiment, sucker 4 includes integrated vacuum generator 40 and connecting plate 42, and connecting plate 42 sends out integrated vacuum
Raw device 40 and executing agency link together so that sucker 4 can be moved with the movement of executing agency.Specifically, vacuum is sent out
Raw device is combined type sucker, with high speed aspiration rates, and then when can avoid drawing power supply printing plate 8 the phenomenon that gas leakage.
In any of the above-described embodiment, it is preferable that clamping jaw portion includes：Pressing plate clamping jaw portion 32, pressing plate clamping jaw portion 32 and driving
Portion 30 is connected；Carrier clamping jaw portion, carrier clamping jaw portion are connected with driving portion 30.
As depicted in figs. 1 and 2, in this embodiment, clamping jaw portion includes pressing plate clamping jaw portion 32 and carrier clamping jaw portion, pressing plate folder
Claw 32 realizes the reflow process of pressing plate 7 and carrier 9, separately for gripping pressing plate 7, carrier clamping jaw portion for gripping carrier 9
Outside, pressing plate clamping jaw portion 32 and carrier clamping jaw portion are connected with driving portion 30, effectively alleviate the overall weight of machinery folder, from
And the production cost of interposer substrate recycling machine is reduced, improve production efficiency.
In any of the above-described embodiment, it is preferable that driving portion 30 includes：Ontology；Guide rod 302, guide rod 302 pass through ontology,
It is connected with ontology；Pneumatic clamper 304, pneumatic clamper 304 are oppositely arranged on the both ends of guide rod 302, and guide rod 302 can drive 304 phase of pneumatic clamper
To movement or mutually from movement；And/or driving portion 30 is double acting parallelly opening-and-closing formula cylinder.
As depicted in figs. 1 and 2, in this embodiment, driving portion 30 includes ontology, guide rod 302 and pneumatic clamper 304, guide rod 302
It is connected with ontology across ontology namely ontology is exposed at the both ends of guide rod 302, pneumatic clamper 304 is mounted on the both ends of guide rod 302,
And be oppositely arranged, the flexible of guide rod 302 can drive the pneumatic clamper being oppositely arranged 304 to do relative motion or mutually from movement, Jin Ershi
Existing pressing plate 7 or carrier 9 pick and place.
Further, driving portion 30 is double acting parallelly opening-and-closing formula cylinder.
In any of the above-described embodiment, it is preferable that pressing plate clamping jaw portion 32 includes：Support plate 320 is connected with pneumatic clamper 304；
At least two pressing plate clamping jaws 322, opposite is arranged in the inside of support plate 320；At least two block-dialing structures 324, setting are being propped up
On fagging 320, it is oppositely arranged at least two pressing plate clamping jaws 322.
As depicted in figs. 1 and 2, in this embodiment, pressing plate clamping jaw portion 32 includes support plate 320, pressing plate clamping jaw 322 and dials
Block structure 324, support plate 320 are connected with pneumatic clamper 304, and pressing plate clamping jaw 322 is arranged in the inside of support plate 320, support plate 320
Inside be two opposite sides of support plate 320, block-dialing structure 324 is arranged in support plate 320, with pressing plate clamping jaw 322
It is oppositely arranged, when pressing plate clamping jaw 322 grips pressing plate 7, block-dialing structure 324 can open the lock for making pressing plate 7 be connected with carrier 9
It links closely, pressing plate 7 and carrier 9, which are separated rear fender clamping jaw 322, walks the folder of pressing plate 7.
In any of the above-described embodiment, it is preferable that block-dialing structure 324 includes：Cylinder 326 is driven, is arranged in support plate 320
On；Pushing block is arranged in the end of the push rod of driving cylinder 326；Shifting block is arranged in the mounting groove of support plate 320, passes through bearing
Pin is connected with pushing block；Wherein, shifting block is rotatablely connected with support plate 320.
In this embodiment, block-dialing structure 324 includes pushing block, shifting block and driving cylinder 326, drives cylinder 326 and pushing block
It is connected, for driving pushing block to move, shifting block is connected with pushing block, and when driving cylinder 326 to drive pushing block movement, pushing block drives
Shifting block moves, and then pressing plate 7 and carrier 9 are detached.Further, protrusion, protrusion and 322 phase of pressing plate clamping jaw are provided on shifting block
To setting, reset key, such as spring, pull rod can also be set on shifting block, are used for the reset of shifting block.
In any of the above-described embodiment, it is preferable that carrier clamping jaw portion includes：At least two carrier clamping jaws 34, are oppositely arranged
In the outside of support plate 320, it is located at the end of support plate 320.
In this embodiment, carrier clamping jaw portion includes carrier clamping jaw 34, and carrier clamping jaw 34 is located at the outside of support plate 320,
Outside is the side that two support plates 320 being oppositely arranged are away from each other, for gripping carrier 9.
In any of the above-described embodiment, it is preferable that gripper further includes：Control device；First detection structure 5, the first inspection
Geodesic structure 5 includes cylinder manifold 52 and the solenoid valve 50 on cylinder manifold 52, and cylinder manifold 52 is arranged on driving portion 30, electromagnetism
Valve 50 is connected with driving portion 30 and control device；Second detection structure 6 is arranged on bottom plate 1, with sucker 4 and control device
It is connected.
In this embodiment, gripper further includes control device, the first detection structure 5 and the second detection structure 6, the first inspection
Geodesic structure 5 includes cylinder manifold 52 and solenoid valve 50, and solenoid valve 50 is connected with driving portion 30 and control device；Second detection structure
6 are arranged on bottom plate 1, are connected with sucker 4 and control device, and further, the second detection structure 6 is inductor, passes through sense
The state change of device is answered to detect the discrete state of power supply printing plate 8 and carrier 9 or pressing plate 7.
Second aspect according to the present utility model, it is also proposed that a kind of interposer substrate recycling machine (not shown), including：
Executing agency；And the gripper such as above-mentioned any embodiment, gripper are connected with executing agency.
The interposer substrate recycling machine of the offer of the utility model second aspect, because including the machine described in any of the above-described embodiment
Machinery claw, therefore whole advantageous effects with the gripper.
In the above embodiment, it is preferable that executing agency is six-joint robot.
In this embodiment, executing agency is six-joint robot, by by needed for each process clamping jaw or sucker 4 be integrated in
One, may be implemented the separation and carrying of pressing plate 7, carrier 9 and power supply printing plate 8, wherein pressing plate clamping jaw portion 32 and carrier clamping jaw
Portion shares a driving portion 30, alleviates the weight of gripper entirety, thereby reduces and wanted to six-joint robot load-bearing capacity
It asks, and then reduces production cost, and improve the efficiency of production.
Specifically, as shown in figure 4, when detaching pressing plate 7, carrier 9 and power supply printing plate 8, six-joint robot arrival is grabbed
The position of pressure plate 7, driving portion 30 drive pressing plate clamping jaw portion 32 to move, 322 clamping press plate 7 of pressing plate clamping jaw, and driving cylinder 326 drives
Dynamic pushing block and shifting block, to open the tight locking button that pressing plate 7 is connect with carrier 9, six-joint robot band dynamic pressure plate 7 is transported perpendicular to carrier 9
It is dynamic, so that carrier 9 is detached with pressing plate 7 and pressing plate 7 is transported on return wire；As shown in figure 5, six-joint robot reaches power supply printing
The position of plate 8, control device control sucker 4 and draw power supply printing plate 8, and specifically, sucker 4 draws the heat dissipation of power supply printing plate 8
Piece, six-joint robot are promoted perpendicular to carrier 9, so that power supply printing plate 8 is detached with carrier 9, and then power supply printing plate 8 is carried to
Return wire, wherein inductor can detect the separate condition of power supply printing plate 8 and carrier 9, report an error if non-separator well；
As shown in fig. 6, six-joint robot reaches the position of crawl carrier 9, driving portion 30 drives the movement of carrier clamping jaw portion, carrier clamping jaw 34
Carrier for clamping 9, six-joint robot drive carrier 9 to move vertically, carrier 9 are transported on return wire.
In the present invention, term " multiple " then refers to two or more, unless otherwise restricted clearly.Term
The terms such as " installation ", " connected ", " connection ", " fixation " shall be understood in a broad sense, for example, " connection " may be a fixed connection,
Can be detachably connected, or be integrally connected；" connected " can be directly connected, and can also pass through the indirect phase of intermediary
Even.For the ordinary skill in the art, it can understand above-mentioned term in the present invention as the case may be
Concrete meaning.
In the description of this specification, the description of term " one embodiment ", " some embodiments ", " specific embodiment " etc.
Mean that particular features, structures, materials, or characteristics described in conjunction with this embodiment or example are contained at least the one of the utility model
In a embodiment or example.In the present specification, schematic expression of the above terms are not necessarily referring to identical embodiment
Or example.Moreover, the particular features, structures, materials, or characteristics of description can be in any one or more embodiments or example
In can be combined in any suitable manner.
The above descriptions are merely preferred embodiments of the present invention, is not intended to limit the utility model, for this
For the technical staff in field, various modifications and changes may be made to the present invention.It is all in the spirit and principles of the utility model
Within, any modification, equivalent replacement, improvement and so on should be included within the scope of protection of this utility model.
Claims (10)
1. a kind of gripper, it to be used for interposer substrate recycling machine, which is characterized in that the gripper includes：
Bottom plate；
Connector is arranged on the bottom plate, is connected with the executing agency of the interposer substrate recycling machine；
Fixture, the fixture include driving portion and clamping jaw portion, and the driving portion is arranged on the bottom plate, the clamping jaw portion and institute
Driving portion is stated to be connected；
Sucker is arranged on the bottom plate, for drawing power supply printing plate.
2. gripper according to claim 1, which is characterized in that the sucker includes：
Integrated vacuum generator；
Connecting plate is connected with the bottom plate and the integrated vacuum generator respectively.
3. gripper according to claim 1, which is characterized in that the clamping jaw portion includes：
Pressing plate clamping jaw portion, pressing plate clamping jaw portion are connected with the driving portion；
Carrier clamping jaw portion, carrier clamping jaw portion are connected with the driving portion.
4. gripper according to claim 3, which is characterized in that the driving portion includes：
Ontology；
Guide rod, the guide rod pass through the ontology, are connected with the ontology；
Pneumatic clamper, the pneumatic clamper are oppositely arranged on the both ends of the guide rod, the guide rod can drive the pneumatic clamper relative motion or
Mutually from movement；And/or
The driving portion is double acting parallelly opening-and-closing formula cylinder.
5. gripper according to claim 4, which is characterized in that pressing plate clamping jaw portion includes：
Support plate is connected with the pneumatic clamper；
At least two pressing plate clamping jaws, opposite is arranged in the inside of the support plate；
At least two block-dialing structures are arranged in the support plate, are oppositely arranged at least two pressing plate clamping jaws.
6. gripper according to claim 5, which is characterized in that the block-dialing structure includes：
Cylinder is driven, is arranged in the support plate；
Pushing block is arranged in the end of the push rod of the driving cylinder；
Shifting block is arranged in the mounting groove of the support plate, is connected with the pushing block by bearing pin；
Wherein, the shifting block is rotatablely connected with the support plate.
7. gripper according to claim 5, which is characterized in that carrier clamping jaw portion includes：
At least two carrier clamping jaws, are oppositely arranged on the outside of the support plate, are located at the end of the support plate.
8. gripper according to any one of claim 1 to 3, which is characterized in that further include：
Control device；
First detection structure, first detection structure include cylinder manifold and the solenoid valve on the cylinder manifold, described
Cylinder manifold is arranged on the driving portion, and the solenoid valve is connected with the driving portion and the control device；
Second detection structure is arranged on the bottom plate, is connected with the sucker and the control device.
9. a kind of interposer substrate recycling machine, which is characterized in that including：
Executing agency；And
Such as gripper described in any item of the claim 1 to 8, the gripper is connected with the executing agency.
10. interposer substrate recycling machine according to claim 9, which is characterized in that
The executing agency is six-joint robot.
Priority Applications (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201721860757.3U CN207757647U (en) | 2017-12-27 | 2017-12-27 | Gripper and interposer substrate recycling machine |
Applications Claiming Priority (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201721860757.3U CN207757647U (en) | 2017-12-27 | 2017-12-27 | Gripper and interposer substrate recycling machine |
Publications (1)
| Publication Number | Publication Date |
|---|---|
| CN207757647U true CN207757647U (en) | 2018-08-24 |
Family
ID=63185023
Family Applications (1)
| Application Number | Title | Priority Date | Filing Date |
|---|---|---|---|
| CN201721860757.3U Active CN207757647U (en) | 2017-12-27 | 2017-12-27 | Gripper and interposer substrate recycling machine |
Country Status (1)
| Country | Link |
|---|---|
| CN (1) | CN207757647U (en) |
Cited By (1)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN112389755A (en) * | 2020-10-23 | 2021-02-23 | 上海智能制造功能平台有限公司 | Multi-size express bag opening sealing mechanism |
-
2017
- 2017-12-27 CN CN201721860757.3U patent/CN207757647U/en active Active
Cited By (1)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN112389755A (en) * | 2020-10-23 | 2021-02-23 | 上海智能制造功能平台有限公司 | Multi-size express bag opening sealing mechanism |
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