CN210557853U - Grabbing mechanism - Google Patents
Grabbing mechanism Download PDFInfo
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- CN210557853U CN210557853U CN201920795429.2U CN201920795429U CN210557853U CN 210557853 U CN210557853 U CN 210557853U CN 201920795429 U CN201920795429 U CN 201920795429U CN 210557853 U CN210557853 U CN 210557853U
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Abstract
The utility model relates to a snatch mechanism. The grabbing mechanism comprises a rack, a displacement assembly and a clamping assembly, wherein the displacement assembly is installed on the rack, the clamping assembly comprises an installation plate, a first clamping jaw and a second clamping jaw, the first clamping jaw and the second clamping jaw are arranged at an interval and are both in sliding connection with the installation plate, a first groove is formed in the first clamping jaw, a protrusion is arranged at the position, corresponding to the first groove, on the second clamping jaw, the installation plate is connected with the displacement assembly, and the displacement assembly can drive the installation plate to move relative to the rack. In the grabbing mechanism, the workpiece is arranged between the first clamping jaw and the second clamping jaw, and the first clamping jaw and the second clamping jaw can be respectively connected in a sliding mode relative to the mounting plate, so that the relative distance is adjusted to clamp the workpiece. The bulge of first clamping jaw setting can support and hold the work piece and take place partial deformation to in the first recess on the second clamping jaw is fixed to the work piece, so set up, can improve the fastness that the work piece was fixed, avoid the work piece to take place to skid.
Description
Technical Field
The utility model relates to an automated production equipment field especially relates to snatch mechanism.
Background
In the field of automatic production equipment, sheet products such as ceramic substrates, FPC electronic boards, silicon wafers, wafers and the like need to be transferred to a plurality of stations for processing in the processing process. However, due to the structure of the sheet product, the conventional grabbing mechanism is easy to slip and insecure in grabbing, and the grabbing effect needs to be improved.
SUMMERY OF THE UTILITY MODEL
Therefore, a grabbing mechanism with a good grabbing effect is needed.
A grasping mechanism comprising:
a frame;
the displacement assembly is arranged on the rack; and
the centre gripping subassembly, the centre gripping subassembly includes mounting panel, first clamping jaw and second clamping jaw, first clamping jaw with the second clamping jaw interval sets up, and all with mounting panel sliding connection, be equipped with first recess on the first clamping jaw, correspond on the second clamping jaw the position of first recess is equipped with the arch, the mounting panel with the displacement subassembly is connected, the displacement subassembly can drive the mounting panel is relative the frame removes.
In the grabbing mechanism, the workpiece is arranged between the first clamping jaw and the second clamping jaw, and the first clamping jaw and the second clamping jaw can be respectively connected in a sliding mode relative to the mounting plate, so that the relative distance is adjusted to clamp the workpiece. The bulge of first clamping jaw setting can support and hold the work piece and take place partial deformation to in the first recess on the second clamping jaw is fixed to the work piece, so set up, can improve the fastness that the work piece was fixed, avoid the work piece to take place to skid.
In one embodiment, the clamping device further comprises an elastic gasket, wherein the elastic gasket is arranged on one surface of the second clamping jaw close to the first clamping jaw to form the protrusion.
In one embodiment, a plurality of first grooves are formed in the first clamping jaw at intervals, a plurality of elastic gaskets are arranged in the first grooves at intervals, the first grooves are formed between adjacent elastic gaskets arranged on the first clamping jaw at intervals, a plurality of second grooves are formed in the second clamping jaw at intervals, a plurality of elastic gaskets are arranged in the second grooves at intervals, the second grooves are formed between adjacent elastic gaskets arranged on the second clamping jaw at intervals, and the elastic gaskets on the second clamping jaw and the elastic gaskets on the first clamping jaw are arranged in a staggered mode.
In one embodiment, the clamping assembly further includes a first driving member and a second driving member, the first driving member drives the first clamping jaw to move relative to the mounting plate, and the second driving member drives the second clamping jaw to move relative to the mounting plate.
In one embodiment, the clamping assembly further includes a first slider, a second slider and a guide rail, the guide rail is mounted on the mounting plate, the first slider and the second slider are both slidably disposed on the guide rail, the first driving member drives the first slider to slide, and the second driving member drives the second slider to slide.
In one embodiment, the displacement assembly includes a transmission belt, a transmission member, a sliding rail, and a third slider, the transmission member is in transmission connection with the transmission belt, the sliding rail is mounted on the rack, the third slider is slidably disposed on the sliding rail and is fixedly connected to the transmission belt, and the third slider is connected to the clamping assembly.
In one embodiment, the positioning and buffering assembly further comprises a fourth sliding block and an elastic piece, the fourth sliding block is slidably arranged on the sliding rail and connected with the third sliding block, the elastic piece is arranged on the fourth sliding block, and the elastic piece can be abutted to the rack.
In one embodiment, the transmission piece further comprises a dust cover, and the dust cover is arranged on the transmission piece.
In one embodiment, the clamping device further comprises a detection piece, wherein the detection piece is arranged on the rack and used for detecting the position of the clamping component moving relative to the rack.
In one embodiment, the device further comprises a drag chain which is arranged on one side of the frame far away from the clamping assembly.
Drawings
FIG. 1 is a schematic diagram of a pick and place mechanism according to an embodiment;
FIG. 2 is an enlarged view of the pick and place mechanism shown in FIG. 1 at A;
FIG. 3 is a front view of the pick and place mechanism shown in FIG. 1;
fig. 4 is a schematic structural view of the pick-and-place mechanism shown in fig. 1 from another perspective.
Detailed Description
In order to facilitate understanding of the present invention, the present invention will be described more fully hereinafter with reference to the accompanying drawings. The preferred embodiments of the present invention are shown in the drawings. The invention may, however, be embodied in many different forms and should not be construed as limited to the embodiments set forth herein. Rather, these embodiments are provided so that this disclosure will be thorough and complete.
It will be understood that when an element is referred to as being "secured to" another element, it can be directly on the other element or intervening elements may also be present. When an element is referred to as being "connected" to another element, it can be directly connected to the other element or intervening elements may also be present. The terms "vertical," "horizontal," "left," "right," and the like as used herein are for illustrative purposes only and do not represent the only embodiments.
Unless defined otherwise, all technical and scientific terms used herein have the same meaning as commonly understood by one of ordinary skill in the art to which this invention belongs. The terminology used herein in the description of the invention is for the purpose of describing particular embodiments only and is not intended to be limiting of the invention. As used herein, the term "and/or" includes any and all combinations of one or more of the associated listed items.
Referring to fig. 1 and 2, a gripping mechanism 10 according to an embodiment is used to move a workpiece to different positions for different processes. The grasping mechanism 10 includes a frame 100, a displacement assembly 200, and a clamping assembly 300. The clamping assembly 300 is used for clamping a workpiece, the displacement assembly 200 is mounted on the frame 100 and connected with the clamping assembly 300, and the displacement assembly 200 can drive the clamping assembly 300 to move relative to the frame 100, so as to move the workpiece. Specifically, in the present embodiment, the workpiece is mainly a sheet-like product such as a ceramic substrate, an FPC electronic board, a silicon wafer, or a wafer.
The clamping assembly 300 includes a mounting plate 310, a first clamping jaw 320, and a second clamping jaw 330. The first clamping jaw 320 and the second clamping jaw 330 are spaced apart from each other and are slidably connected to the mounting plate 310. The first clamping jaw 320 is provided with a first groove 321, the second clamping jaw 330 is provided with a protrusion corresponding to the first groove 321, the mounting plate 310 is connected with the displacement assembly 200, and the displacement assembly 200 can drive the mounting plate 310 to move relative to the rack 100.
In the above gripping mechanism 10, the workpiece is disposed between the first clamping jaw 320 and the second clamping jaw 330, and the first clamping jaw 320 and the second clamping jaw 330 can be slidably connected with respect to the mounting plate 310, so as to adjust the relative distance to clamp the workpiece. The bulge of the first clamping jaw 320 can support the workpiece to deform partially so as to be positioned in the first groove 321 of the second clamping jaw 330, thereby fixing the workpiece.
In one embodiment, the grasping mechanism 10 further includes a resilient pad 400. Resilient pad 400 is provided on a side of second jaw 330 adjacent first jaw 320 to form a protrusion. Specifically, a second notch 331 is formed on a surface of the second clamping jaw 330 close to the first clamping jaw 320, and the second notch 331 corresponds to the first notch 321. The elastic pad 400 is fixed in the second recess 331 by gluing or welding. Second recess 331 and first recess 321 are semi-circular, and elastic gasket 400 is cylindricly, and elastic gasket 400's diameter is the sum of the degree of depth of second recess 331 and the degree of depth of first recess 321, so sets up for elastic gasket 400 and first recess 321 phase-match to fix a position the work piece accurately. The elastic pad 400 has a certain deformation capability, which can prevent hard contact between the workpiece gripping mechanisms 10, provide a certain buffer, and prevent the workpiece from being damaged.
Furthermore, a plurality of first grooves 321 are arranged at intervals on the first clamping jaw 320, a plurality of elastic gaskets 400 are arranged at intervals, a plurality of elastic gaskets 400 are arranged in the first grooves 321 at intervals, a first groove 321 is arranged between adjacent elastic gaskets 400 arranged on the first clamping jaw 320, a plurality of second grooves 331 are arranged at intervals on the second clamping jaw 330, a plurality of elastic gaskets 400 are arranged in the second grooves 331 at intervals, a second groove 331 is arranged at intervals between adjacent elastic gaskets 400 arranged on the second clamping jaw 330, and the elastic gaskets 400 on the second clamping jaw 330 and the elastic gaskets 400 on the first clamping jaw 320 are arranged in a staggered mode, so that the elastic gaskets 400 on the second clamping jaw 330 and the elastic gaskets 400 on the first clamping jaw 320 respectively correspond to the first grooves 321 and the second grooves 331 which are not provided with the elastic gaskets 400, and therefore when clamping a workpiece, positioning and fixing can be carried out from two sides of the workpiece, the clamping firmness is improved. Specifically, the elastic pad 400 may be silicone or rubber.
With continued reference to fig. 2, in one embodiment, the clamping assembly 300 further includes a first drive 340 and a second drive 350. The first drive 340 drives the first jaw 320 to move relative to the mounting plate 310, and the second drive 350 drives the second jaw 330 to move relative to the mounting plate 310.
Specifically, the clamping assembly 300 further includes a first slider 360, a second slider 370, and a guide 380. The guide rail 380 is installed on the installation plate 310, and the first slider 360 and the second slider 370 are both slidably disposed on the guide rail 380. The first driving member 340 drives the first sliding block 360 to slide, and the second driving member 350 drives the second sliding block 370 to slide, so as to clamp the workpiece. In addition, the spacing distance between the first clamping jaw 320 and the second clamping jaw 330 can be changed according to the size of the workpiece, so that the compatibility of the grabbing mechanism 10 for workpieces with different sizes is improved.
Referring to fig. 1 and 3, in one embodiment, the displacement assembly 200 includes a driving belt 210, a transmission member 220, a sliding rail 230, and a third sliding block 240. The transmission member 220 is in transmission connection with the transmission belt 210, the slide rail 230 is installed on the rack 100, the third sliding block 240 is slidably disposed on the slide rail 230 and is fixedly connected with the transmission belt 210, and the third sliding block 240 is connected with the mounting plate 310. Specifically, the transmission member 220 may be a servo motor.
Further, the translation assembly further includes a first synchronizing wheel 250 and a second synchronizing wheel 260. First synchronizing wheel 250 and second synchronizing wheel 260 rotate respectively and set up in the both ends of mounting bracket, and the drive belt 210 cover is located on first synchronizing wheel 250 and second synchronizing wheel 260, and the first synchronizing wheel 250 of driving medium 220 drive rotates, drives drive belt 210 and rotates with relative mounting bracket, and the third slider 240 with drive belt 210 fixed connection slides along slide rail 230 to drive mounting panel 310 and slide, realize the translation of centre gripping subassembly 300, remove the work piece to different stations. Furthermore, the displacement assembly 200 further includes a dust cover 270, and the dust cover 270 covers the transmission member 220 to prevent dust from entering the transmission machine and affecting the transmission effect.
Referring again to fig. 1, in one embodiment, the grasping mechanism 10 further includes a positioning bumper assembly 500. The positioning buffer assembly 500 includes a fourth slider 510 and an elastic member 520. The fourth slider 510 is slidably disposed on the sliding rail 230 and connected to the third slider 240, specifically, the connection may be a connection member or a connection via a magnet. The elastic member 520 is mounted on the fourth slider 510 at an end away from the transmission member 220, and a baffle 530 is fixed on the frame 100. The elastic member 520 can abut against the chassis 100. When the third slider 240 slides towards the baffle 530, the fourth slider 510 can limit the third slider 240, and the elastic part 520 is in elastic contact with the baffle 530, so that the third slider 240 can slide in a buffering manner, and the third slider 240 is prevented from being damaged due to too fast impact. The elastic member 520 may be a nitrogen spring.
Referring to fig. 4, in one embodiment, the grasping mechanism 10 further includes a detecting member 600. The detecting member 600 is disposed on the frame 100 for detecting the position of the clamping assembly 300 moving relative to the frame 100. When the detecting member 600 detects that the workpiece reaches the target position, a signal is sent to the transmission member 220 to stop driving the transmission belt 210, so that the automation degree of the grasping mechanism 10 is improved.
In one embodiment, a tow chain 700 is also included. The drag chain 700 is installed on a side of the frame 100 away from the clamping assembly 300, and the drag chain 700 can be tied to a cable or a wire or an air pressure pipe and an oil pressure pipe to facilitate rotation and movement thereof.
The technical features of the above embodiments can be arbitrarily combined, and for the sake of brevity, all possible combinations of the technical features in the above embodiments are not described, but should be considered as the scope of the present specification as long as there is no contradiction between the combinations of the technical features.
The above examples only represent some embodiments of the present invention, and the description thereof is more specific and detailed, but not to be construed as limiting the scope of the present invention. It should be noted that, for those skilled in the art, without departing from the spirit of the present invention, several variations and modifications can be made, which are within the scope of the present invention. Therefore, the protection scope of the present invention should be subject to the appended claims.
Claims (10)
1. A grasping mechanism, comprising:
a frame;
the displacement assembly is arranged on the rack; and
the centre gripping subassembly, the centre gripping subassembly includes mounting panel, first clamping jaw and second clamping jaw, first clamping jaw with the second clamping jaw interval sets up, and all with mounting panel sliding connection, be equipped with first recess on the first clamping jaw, correspond on the second clamping jaw the position of first recess is equipped with the arch, the mounting panel with the displacement subassembly is connected, the displacement subassembly can drive the mounting panel is relative the frame removes.
2. The grasping mechanism according to claim 1, further comprising a resilient pad disposed on a face of the second jaw proximate the first jaw to form the protrusion.
3. The grasping mechanism according to claim 2, wherein a plurality of first grooves are formed in the first jaw at intervals, a plurality of elastic spacers are installed in the first grooves at intervals, the first grooves are formed between adjacent elastic spacers installed on the first jaw at intervals, a plurality of second grooves are formed in the second jaw at intervals, a plurality of elastic spacers are installed in the second grooves at intervals, the second grooves are formed between adjacent elastic spacers installed on the second jaw at intervals, and the elastic spacers on the second jaw are arranged in a staggered manner with respect to the elastic spacers on the first jaw.
4. The grasping mechanism according to claim 2, wherein the clamping assembly further includes a first drive and a second drive, the first drive driving the first jaw to move relative to the mounting plate, the second drive driving the second jaw to move relative to the mounting plate.
5. The grasping mechanism according to claim 4, wherein the clamping assembly further includes a first slider, a second slider, and a guide rail, the guide rail is mounted on the mounting plate, the first slider and the second slider are both slidably disposed on the guide rail, the first driving member drives the first slider to slide, and the second driving member drives the second slider to slide.
6. The grasping mechanism according to claim 1, wherein the displacement assembly includes a transmission belt, a transmission member, a slide rail, and a third slider, the transmission member is in transmission connection with the transmission belt, the slide rail is mounted on the frame, the third slider is slidably disposed on the slide rail and is fixedly connected with the transmission belt, and the third slider is connected with the clamping assembly.
7. The grabbing mechanism according to claim 6, further comprising a positioning buffer assembly, wherein the positioning buffer assembly comprises a fourth slider and an elastic member, the fourth slider is slidably disposed on the sliding rail and connected to the third slider, the elastic member is mounted on the fourth slider, and the elastic member can abut against the rack.
8. The grasping mechanism according to claim 6, further comprising a dust cover disposed over the drive member.
9. The grasping mechanism according to claim 1, further comprising a detecting member disposed on the frame for detecting a position at which the grasping assembly moves relative to the frame.
10. The grasping mechanism according to claim 1, further comprising a drag chain mounted on a side of the frame remote from the grasping assembly.
Priority Applications (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201920795429.2U CN210557853U (en) | 2019-05-29 | 2019-05-29 | Grabbing mechanism |
Applications Claiming Priority (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201920795429.2U CN210557853U (en) | 2019-05-29 | 2019-05-29 | Grabbing mechanism |
Publications (1)
| Publication Number | Publication Date |
|---|---|
| CN210557853U true CN210557853U (en) | 2020-05-19 |
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Family Applications (1)
| Application Number | Title | Priority Date | Filing Date |
|---|---|---|---|
| CN201920795429.2U Active CN210557853U (en) | 2019-05-29 | 2019-05-29 | Grabbing mechanism |
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| Country | Link |
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| CN (1) | CN210557853U (en) |
Cited By (1)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN112478718A (en) * | 2020-12-10 | 2021-03-12 | 无锡先导智能装备股份有限公司 | Transfer device |
-
2019
- 2019-05-29 CN CN201920795429.2U patent/CN210557853U/en active Active
Cited By (1)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN112478718A (en) * | 2020-12-10 | 2021-03-12 | 无锡先导智能装备股份有限公司 | Transfer device |
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| TR01 | Transfer of patent right |
Effective date of registration: 20220728 Address after: 518000 101, building 6, Wanyan Industrial Zone, Qiaotou community, Fuhai street, Bao'an District, Shenzhen City, Guangdong Province Patentee after: Shenzhen Han's Semiconductor Equipment Technology Co.,Ltd. Address before: 518051 Dazu laser building, 9 new West Road, North Nanshan District high tech park, Shenzhen, Guangdong Patentee before: HAN'S LASER TECHNOLOGY INDUSTRY GROUP Co.,Ltd. |