CN216070856U - Tear film executor and robot - Google Patents
Tear film executor and robot Download PDFInfo
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- CN216070856U CN216070856U CN202121974639.1U CN202121974639U CN216070856U CN 216070856 U CN216070856 U CN 216070856U CN 202121974639 U CN202121974639 U CN 202121974639U CN 216070856 U CN216070856 U CN 216070856U
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- tear film
- film tearing
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Abstract
The utility model provides an end effector and a film tearing robot with the same, relates to the technical field of film tearing equipment, and aims to solve the problems of low film tearing efficiency and low success rate of the existing film tearing mode. This end effector includes the support frame and tears the membrane subassembly, tears the membrane subassembly including installing in the dyestripping sucking disc of support frame, swing joint in the clamping jaw of support frame and be used for driving the dyestripping power spare of clamping jaw motion, tears the membrane power spare and installs in the support frame, and the clamping jaw has clamping position and release position, and wherein, clamping position cooperatees the position with common centre gripping protection film for clamping jaw and dyestripping sucking disc, and release position keeps away from the position of dyestripping sucking disc with the release protection film for the clamping jaw. The film tearing robot comprises the end effector. The film tearing device is high in film tearing efficiency and success rate.
Description
Technical Field
The utility model relates to the technical field of film tearing equipment, in particular to a film tearing actuator and a robot.
Background
Many links of electronic product production all have the protection film, are used for protecting electronic product surface, prevent that electronic product surface from being contaminated even by the fish tail. Because the protective film is usually tightly attached to the electronic product, the protective film needs to be peeled off first in the assembly production process, and the peeling process of the protective film is difficult.
At present, the film tearing in the electronic production industry generally adopts manual operation, and the film tearing mode has the advantages of high repeated action strength, easiness in fatigue of operators, low film tearing efficiency, easiness in damage to a rubber surface and reduction in product quality.
In response to the above problems, some manufacturers have used end tools to accomplish the film tearing. There are two main types of common end tools: one is a sucker, the tail end tool is only suitable for film tearing operation of small films, and the success rate of film tearing of large-scale protective films is extremely low; the other type is a clamping jaw, and the clamping jaw is large in size and limited by a product structure, so that the clamping jaw is difficult to stretch into to clamp a film, and the universality is poor.
SUMMERY OF THE UTILITY MODEL
The utility model aims to provide a film tearing actuator, which aims to solve the technical problems of low film tearing efficiency and low success rate in the existing film tearing mode.
The utility model provides a film tearing actuator which comprises a support frame and a film tearing assembly, wherein the film tearing assembly comprises a film tearing sucker arranged on the support frame, a clamping jaw movably connected to the support frame and a film tearing power piece used for driving the clamping jaw to move, the film tearing power piece is arranged on the support frame, the clamping jaw is provided with a clamping position and a releasing position, the clamping position is a position where the clamping jaw and the film tearing sucker are matched to clamp a protective film together, and the releasing position is a position where the clamping jaw is far away from the film tearing sucker to release the protective film.
Further, the clamping jaw through the pivot rotate connect in the support frame, tear membrane power part and be used for the drive the clamping jaw rotates.
Further, the clamping jaw includes claw hook portion and connecting rod portion, claw hook portion be used for with the dyestripping sucking disc cooperatees, the bar groove has been seted up to the connecting rod portion, dyestripping power piece includes sharp power piece, wherein, the fixed part fixed connection of sharp power piece in the support frame, the movable part fixedly connected with of sharp power piece drives the round pin, it locates to drive the round pin slip the bar groove.
Further, the claw hook part and the connecting rod part are arranged on two sides of the rotating shaft.
Further, the linear power part comprises a film tearing air cylinder.
Further, the tear film executor also comprises a first adsorption assembly, the first adsorption assembly comprises a first linear driving piece and a first suction cup, wherein a fixing part of the first linear driving piece is fixedly connected to the support frame, and the first suction cup is mounted on a movable part of the first linear driving piece.
Further, the tear film executor still includes second adsorption component, second adsorption component includes second straight line driving piece and second sucking disc, wherein, the fixed part fixed connection of second straight line driving piece in the support frame, the second sucking disc install in the movable part of second straight line driving piece.
Further, the first linear drive comprises a first cylinder, and/or the second linear drive comprises a second cylinder.
Further, the support frame is provided with a terminal flange, and the terminal flange is used for being connected with the body of the robot.
The film tearing actuator has the beneficial effects that:
through setting up the dyestripping executor that mainly comprises support frame and tear membrane module, wherein, tear the membrane module and include dyestripping sucking disc, clamping jaw and dyestripping power spare, tear the membrane sucking disc and install in the support frame, clamping jaw swing joint in support frame, tear membrane power spare and be used for driving the clamping jaw and switch between clamping position and release position. Specifically, the clamping position is a position where the clamping jaw is matched with the film tearing sucker, and at the position, the clamping jaw and the film tearing sucker clamp the protective film together; the release position is a position where the clamping jaw is far away from the film tearing sucking disc, and in the position, the clamping jaw releases the protective film.
The film tearing process of the film tearing actuator is described by taking the film tearing actuator as an example of a robot. When the protective film on the surface of the electronic product needs to be torn off, the robot can drive the film tearing actuator to move to the position of the protective film, a vacuum generator connected with a film tearing vacuum pipe joint of the film tearing sucker is opened for vacuumizing, and one corner of the protective film is sucked by the film tearing sucker; then, the film tearing power part acts to drive the clamping jaw to move to the clamping position, so that the clamping jaw is matched with the film tearing sucker to clamp the sucked part of the protective film together; and then, when the robot controls the film tearing actuator to act, the protective film is torn off from the surface of the electronic product. When the protective film needs to be put down, the film tearing power part acts again to drive the clamping jaw to move to the release position, so that the clamping jaw is far away from the film tearing sucker, and then the vacuum source of the film tearing sucker is disconnected, and the torn protective film can be put down.
This dyestripping executor utilizes the dyestripping sucking disc earlier and absorbs the one corner with the protection film, then, recycles clamping jaw and dyestripping sucking disc's cooperation and grasps the protection film, when robot control dyestripping executor action, can tear above-mentioned protection film fast, and it is efficient to tear the membrane, and tears the membrane success rate height. Moreover, the film tearing mode basically does not need manual participation, and the automation degree is higher, so that the situations of high repeated action strength and easy fatigue of operators in manual film tearing are effectively improved.
In addition, the film tearing is realized through the mechanical device of the film tearing actuator, the consistency of the film tearing process is good, so that the risk of damage to the adhesive surface is effectively reduced, and the product quality is improved.
The second purpose of the utility model is to provide a robot to solve the technical problems of low film tearing efficiency and low success rate of the existing film tearing mode.
The robot provided by the utility model comprises a machine body and the film tearing actuator, wherein the film tearing actuator is connected to the machine body.
The robot of the utility model has the following beneficial effects:
by providing the above-mentioned tear film actuator in the robot, accordingly, the robot has all the advantages of the above-mentioned tear film actuator, which are not described in detail herein.
Drawings
In order to more clearly illustrate the embodiments of the present invention or the technical solutions in the prior art, the drawings used in the description of the embodiments or the prior art will be briefly described below, it is obvious that the drawings in the following description are only embodiments of the present invention, and for those skilled in the art, other drawings can be obtained according to the provided drawings without creative efforts.
FIG. 1 is a schematic diagram of a tear away actuator provided in accordance with an embodiment of the present invention with jaws in a release position;
FIG. 2 is a schematic diagram of a tear away actuator provided in accordance with an embodiment of the present invention with the jaws in a clamped position;
fig. 3 is an enlarged view of a portion of a tear-off actuator according to an embodiment of the present invention.
Description of reference numerals:
100-a support frame; 200-a tear film assembly; 300-a first adsorption component; 400-a second adsorption component; 500-end flange;
210-tear suction cup; 220-a clamping jaw; 230-a tear film power; 240-a drive pin; 250-a connecting flange; 260-tear film vacuum pipe joint; 270-a rotating shaft;
221-a claw hook portion; 222-a link portion; 223-a strip groove; 224-a non-slip portion;
310-a first linear drive; 320-a first suction cup; 330-a first bracket; 340-a first vacuum coupling;
410-a second linear drive; 420-a second suction cup; 430-a second bracket; 440-second vacuum coupling.
Detailed Description
In order to make the aforementioned objects, features and advantages of the present invention comprehensible, embodiments accompanied with figures are described in detail below. It should be understood that the specific embodiments described herein are merely illustrative of the utility model and are not intended to limit the utility model.
Fig. 1 is a schematic structural diagram of a tear film actuator provided in this embodiment when a clamping jaw is in a release position, and fig. 2 is a schematic structural diagram of the tear film actuator provided in this embodiment when the clamping jaw is in a clamping position. As shown in fig. 1 and fig. 2, the present embodiment provides a film tearing actuator, which includes a support frame 100 and a film tearing assembly 200, specifically, the film tearing assembly 200 includes a film tearing suction cup 210 mounted on the support frame 100, a clamping jaw 220 movably connected to the support frame 100, and a film tearing power part 230 for driving the clamping jaw 220 to move, the film tearing power part 230 is mounted on the support frame 100, the clamping jaw 220 has a clamping position and a releasing position, wherein the clamping position is a position where the clamping jaw 220 cooperates with the film tearing suction cup 210 to clamp a protective film together, and the releasing position is a position where the clamping jaw 220 is far away from the film tearing suction cup 210 to release the protective film.
The film tearing process of the film tearing actuator is described by taking the film tearing actuator as an example of a robot. When the protective film on the surface of the electronic product needs to be torn off, the robot can drive the film tearing actuator to move to the position of the protective film, a vacuum generator connected with a film tearing vacuum pipe joint 260 of the film tearing sucker 210 is opened for vacuumizing, and one corner of the protective film is sucked by the film tearing sucker 210; then, the film tearing power part 230 acts to drive the clamping jaw 220 to move to the clamping position, so that the clamping jaw 220 is matched with the film tearing suction cup 210 to clamp the sucked part of the protective film together; and then, when the robot controls the film tearing actuator to act, the protective film is torn off from the surface of the electronic product. When the protective film needs to be put down, the film tearing power part 230 acts again to drive the clamping jaw 220 to move to the release position, so that the clamping jaw 220 is far away from the film tearing suction cup 210, and then the vacuum source of the film tearing suction cup 210 is disconnected, so that the torn protective film can be put down.
This tear film executor utilizes tear film sucking disc 210 earlier and absorbs the protection film one corner, then, recycles clamping jaw 220 and tear film sucking disc 210's cooperation and live the protection film centre gripping, when robot control tear film executor action, can tear above-mentioned protection film fast, and it is efficient to tear the membrane, and tears the membrane success rate height. Moreover, the film tearing mode basically does not need manual participation, and the automation degree is higher, so that the situations of high repeated action strength and easy fatigue of operators in manual film tearing are effectively improved.
In addition, the film tearing is realized through the mechanical device of the film tearing actuator, the consistency of the film tearing process is good, so that the risk of damage to the adhesive surface is effectively reduced, and the product quality is improved.
Fig. 3 is an enlarged view of a partial structure of the tear film actuator provided in this embodiment. Referring to fig. 1 and fig. 2 in combination with fig. 3, in the present embodiment, the clamping jaw 220 is rotatably connected to the supporting frame 100 through a rotating shaft 270, and the film tearing power component 230 is used for driving the clamping jaw 220 to rotate.
According to the arrangement mode that the clamping jaw 220 is rotatably connected to the supporting frame 100 through the rotating shaft 270, the supporting frame 100 is utilized to form an installation carrier of the clamping jaw 220, so that the weight of the clamping jaw 220 is completely borne by the supporting frame 100, the film tearing power piece 230 is only used for providing power for driving the clamping jaw 220 to rotate, the load borne by the film tearing power piece 230 is reduced, the bearing requirement on the film tearing power piece 230 is reduced, the service life of the film tearing power piece 230 is prolonged, and the cost of the film tearing power piece 230 is reduced.
Referring to fig. 1 and fig. 2, and with reference to fig. 3, in this embodiment, the clamping jaw 220 may include a jaw portion 221 and a connecting rod portion 222, specifically, the jaw portion 221 is configured to be matched with the film tearing suction cup 210, the connecting rod portion 222 is configured with a strip-shaped groove 223, the film tearing power piece 230 includes a linear power piece, a fixed portion of the linear power piece is fixedly connected to the support frame 100, a movable portion of the linear power piece is fixedly connected to the driving pin 240, and the driving pin 240 is slidably inserted in the strip-shaped groove 223.
With this arrangement, the drive pin 240 can be slid in the strip-shaped groove 223 of the link portion 222 by the extension and retraction of the movable portion of the linear power member, thereby driving the claw hook portion 221 to rotate about the rotating shaft 270 to clamp or release the protective film. The arrangement form of the film tearing power part 230 and the clamping jaw 220 is simple to control, saves the operation space and is beneficial to the miniaturization design of the film tearing actuator.
Referring to fig. 3, in the present embodiment, the claw hook 221 is provided with a non-slip portion 224.
So set up, increased claw hook portion 221's frictional force for when claw hook portion 221 is in the centre gripping position, can effectively carry out the centre gripping to the protection film, reduce the risk that drops of protection film in the centre gripping transportation.
In this embodiment, the anti-slip portion 224 has a trapezoidal tooth structure.
Referring to fig. 3, in the present embodiment, the claw hook portion 221 and the connecting rod portion 222 are disposed on two sides of the rotating shaft 270.
Through setting up claw hook portion 221 and connecting rod portion 222 in the both sides of pivot 270, on the one hand, can guarantee that when tearing membrane power component 230 moves, clamping jaw 220 takes place reliably to rotate, reduces clamping jaw 220 and takes place the risk of jam, and on the other hand, also be convenient for installation and debugging.
Referring to fig. 1 to fig. 3, in the present embodiment, the tear film assembly 200 further includes a connecting flange 250, and the driving pin 240 is fixedly connected to the movable portion of the tear film power member 230 through the connecting flange 250. So set up, not only can guarantee to drive the reliable connection of pin 240 with tear film power piece 230, moreover, need not to tear film power piece 230 and carry out special processing to the processing cost has been reduced.
In this embodiment, the linear power member includes a film tearing cylinder. Wherein, the cylinder body of the film tearing cylinder forms the fixed part of the film tearing power part 230, and the piston rod of the film tearing cylinder forms the movable part of the film tearing power part 230. That is, the body of the film tearing cylinder is fixedly connected with the support frame 100, and the driving pin 240 is connected to the piston rod of the film tearing cylinder through the connecting flange 250.
With continued reference to fig. 1 and fig. 2, in this embodiment, the tear film actuator may further include a first adsorption assembly 300, specifically, the first adsorption assembly 300 includes a first linear driving element 310 and a first suction disc 320, wherein a fixed portion of the first linear driving element 310 is fixedly connected to the support frame 100, and the first suction disc 320 is mounted on a movable portion of the first linear driving element 310.
Through set up first absorption subassembly 300 in this dyestripping executor, can realize getting the clamp of the protection film of small model, assist above-mentioned dyestripping subassembly 200 to getting the clamp of the protection film of large model for this embodiment dyestripping executor is applicable to the clamp of multiple specification protection film and gets the operation, and the universalization is strong.
Specifically, the first linear driving element 310 includes a first cylinder, a cylinder body of the first cylinder is fixedly connected to the supporting frame 100, and the first suction disc 320 is connected to a piston rod of the first cylinder; the first suction assembly 300 is provided with a first vacuum fitting 340 for passing a vacuum source to the first suction cup 320.
In this embodiment, the first suction cup 320 is connected to the piston rod of the first cylinder through the first bracket 330. The arrangement of using the first bracket 330 as a connection medium between the first cylinder and the first suction cup 320 does not require special processing of the first cylinder, thereby further reducing the processing cost. In addition, the first suction disc 320 is driven by the first air cylinder, the air source is used as the driving force, secondary pollution to electronic products is avoided, and the control strategy is simple.
With reference to fig. 1 and fig. 2, in this embodiment, the film tearing actuator may further include a second suction assembly 400, specifically, the second suction assembly 400 includes a second linear driving element 410 and a second suction cup 420, wherein a fixed portion of the second linear driving element 410 is fixedly connected to the supporting frame 100, and the second suction cup 420 is mounted on a movable portion of the second linear driving element 410.
Through set up second adsorption component 400 in this dyestripping executor, can realize taking the absorption and the transport of film electronic product, moreover, second adsorption component 400 and first adsorption component 300 simultaneous action can also realize the transport to the material tray, have further richened this embodiment dyestripping executor's function for this dyestripping executor's application is more comprehensive, diversified, intelligent.
Specifically, the second linear driving element 410 includes a second cylinder, a cylinder body of the second cylinder is fixedly connected to the supporting frame 100, and the second suction cup 420 is connected to a piston rod of the second cylinder; the second suction assembly 400 is provided with a second vacuum coupling 440 for coupling a vacuum source to the second suction cup 420.
In this embodiment, the second suction cup 420 is connected to the piston rod of the second cylinder through the second bracket 430. The arrangement mode of using the second support 430 as a connecting medium between the second cylinder and the second suction cup 420 does not need to specially process the second cylinder, and further reduces the processing cost. In addition, the second air cylinder is used for driving the second sucker 420, the air source is used as the driving force, secondary pollution to electronic products is avoided, and the control strategy is simple.
In this embodiment, the tear suction cup 210, the first suction cup 320 and the second suction cup 420 are all located at the lower portion of the supporting frame 100.
Referring to fig. 1 and fig. 2, in the present embodiment, the supporting frame 100 may be provided with an end flange 500, wherein the end flange 500 is used for connecting with the body of the robot.
Through setting up end flange 500 at support frame 100 for this dyestripping executor can be connected to the organism of robot through end flange 500 quick change, connects fast, convenient, reliably.
In addition, the embodiment further provides a robot, which comprises a machine body and the film tearing actuator, wherein the film tearing actuator is connected to the machine body through the end flange 500.
By providing the above-mentioned tear film actuator in the robot, accordingly, the robot has all the advantages of the above-mentioned tear film actuator, which are not described in detail herein.
It should be noted that how the robot controls the action of the film tearing actuator is obtained by those skilled in the art according to the prior art, and this embodiment does not improve this, and therefore, the detailed description is omitted.
Although the present invention is disclosed above, the present invention is not limited thereto. Various changes and modifications may be effected therein by one skilled in the art without departing from the spirit and scope of the utility model as defined in the appended claims.
Finally, it should also be noted that, herein, relational terms such as first and second, and the like may be used solely to distinguish one entity or action from another entity or action without necessarily requiring or implying any actual such relationship or order between such entities or actions. Also, the terms "comprises," "comprising," or any other variation thereof, are intended to cover a non-exclusive inclusion, such that a process, method, article, or apparatus that comprises a list of elements does not include only those elements but may include other elements not expressly listed or inherent to such process, method, article, or apparatus. Without further limitation, an element defined by the phrase "comprising an … …" does not exclude the presence of other identical elements in a process, method, article, or apparatus that comprises the element.
In the above embodiments, the descriptions of the orientations such as "upper", "lower", "side", and the like are based on the drawings.
The previous description of the disclosed embodiments is provided to enable any person skilled in the art to make or use the present invention. Various modifications to these embodiments will be readily apparent to those skilled in the art, and the generic principles defined herein may be applied to other embodiments without departing from the spirit or scope of the utility model. Thus, the present invention is not intended to be limited to the embodiments shown herein but is to be accorded the widest scope consistent with the principles and novel features disclosed herein.
Claims (10)
1. The utility model provides a tear film executor, characterized by, includes support frame (100) and tear film subassembly (200), tear film subassembly (200) including install in tear film sucking disc (210) of support frame (100), swing joint in clamping jaw (220) of support frame (100) and be used for the drive tear film power (230) of clamping jaw (220) motion, tear film power (230) install in the support frame (100), clamping jaw (220) have clamping position and release position, wherein, clamping position be clamping jaw (220) with tear film sucking disc (210) cooperate with the position of common centre gripping protection film, release position is that clamping jaw (220) are kept away from tear film sucking disc (210) is with the position of release the protection film.
2. The tear film actuator of claim 1, wherein the clamping jaw (220) is rotatably connected to the supporting frame (100) through a rotating shaft (270), and the tear film power member (230) is used for driving the clamping jaw (220) to rotate.
3. The film tearing actuator according to claim 2, wherein the clamping jaw (220) comprises a clamping jaw portion (221) and a connecting rod portion (222), the clamping jaw portion (221) is used for being matched with the film tearing suction cup (210), the connecting rod portion (222) is provided with a strip-shaped groove (223), the film tearing power piece (230) comprises a linear power piece, a fixed portion of the linear power piece is fixedly connected to the support frame (100), a movable portion of the linear power piece is fixedly connected with a driving pin (240), and the driving pin (240) is slidably inserted into the strip-shaped groove (223).
4. The tear film actuator of claim 3, wherein the claw portion (221) and the link portion (222) are disposed on opposite sides of the shaft (270).
5. The tear film actuator of claim 3, wherein said linear power member comprises a tear film cylinder.
6. The tear film actuator according to any one of claims 1 to 5, further comprising a first suction assembly (300), wherein the first suction assembly (300) comprises a first linear driving member (310) and a first suction cup (320), wherein a fixed portion of the first linear driving member (310) is fixedly connected to the support frame (100), and the first suction cup (320) is mounted to a movable portion of the first linear driving member (310).
7. The tear film actuator of claim 6, further comprising a second suction assembly (400), wherein the second suction assembly (400) comprises a second linear driving member (410) and a second suction cup (420), wherein a fixed portion of the second linear driving member (410) is fixedly connected to the support frame (100), and the second suction cup (420) is mounted to a movable portion of the second linear driving member (410).
8. The tear film actuator of claim 7, wherein the first linear drive (310) comprises a first air cylinder and/or the second linear drive (410) comprises a second air cylinder.
9. The tear film actuator according to any one of claims 1 to 5, wherein the support frame (100) is provided with an end flange (500), the end flange (500) being adapted to be connected to a body of a robot.
10. A robot comprising a body and a tear actuator as claimed in any one of claims 1 to 9, the tear actuator being connected to the body.
Priority Applications (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN202121974639.1U CN216070856U (en) | 2021-08-20 | 2021-08-20 | Tear film executor and robot |
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| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN202121974639.1U CN216070856U (en) | 2021-08-20 | 2021-08-20 | Tear film executor and robot |
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| Publication Number | Publication Date |
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| CN216070856U true CN216070856U (en) | 2022-03-18 |
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| Application Number | Title | Priority Date | Filing Date |
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| CN202121974639.1U Active CN216070856U (en) | 2021-08-20 | 2021-08-20 | Tear film executor and robot |
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Cited By (1)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN114905835A (en) * | 2022-05-12 | 2022-08-16 | 凌云光技术股份有限公司 | Film tearing mechanism |
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2021
- 2021-08-20 CN CN202121974639.1U patent/CN216070856U/en active Active
Cited By (2)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN114905835A (en) * | 2022-05-12 | 2022-08-16 | 凌云光技术股份有限公司 | Film tearing mechanism |
| CN114905835B (en) * | 2022-05-12 | 2023-12-05 | 凌云光技术股份有限公司 | Dyestripping mechanism |
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