CN216511296U - Jam grabbing mechanism and system - Google Patents

Abstract

The utility model relates to a jam grabbing mechanism and a jam grabbing system, wherein the jam grabbing mechanism comprises a supporting frame, an electric clamping jaw, a grabbing detection device and a visual positioning component, the electric clamping jaw is arranged on the supporting frame and is provided with a grabbing structure for grabbing a jam, the visual positioning component is used for photographing and positioning the jam and a station where the jam is located, the grabbing detection device monitors the grabbing condition of the jam by the grabbing structure, and the electric clamping jaw, the visual positioning component and the grabbing detection device are tightly matched, so that the jam grabbing mechanism can conveniently realize operation by a robot and can guarantee efficient, complete and stable grabbing of the jam.

Description

Jam grabbing mechanism and system

Technical Field

The utility model relates to the field of semiconductor equipment, in particular to a jam grabbing mechanism and a jam grabbing system.

Background

The card plug 10 shown in fig. 1 includes a housing and an internal card slot array disposed in the housing, and is mainly used for stacking sheet-like structural products in the semiconductor industry or the liquid crystal display panel industry. The clamping plug 10 has a good containing effect on the sheet structure product, and is convenient for taking out the sheet structure product quickly in the follow-up process.

The conventional mobile blocking device mainly depends on manpower, has low efficiency and is not beneficial to realizing automatic operation on a production line.

SUMMERY OF THE UTILITY MODEL

Based on this, it is necessary to provide a jam grabbing mechanism system, which can effectively grab the jam and is beneficial to realizing automatic operation.

The technical scheme of the utility model is as follows:

the utility model provides a plug grabbing mechanism, wherein two opposite outer side walls of a plug are respectively provided with a cross-shaped bulge, the plug grabbing mechanism comprises a supporting frame and an electric clamping jaw, the electric clamping jaw is arranged on the supporting frame, the electric clamping jaw is at least provided with two oppositely arranged hand grips, and the two oppositely arranged hand grips are respectively provided with a cross-shaped groove for clamping and matching with the two cross-shaped bulges of the plug.

In some preferred embodiments, the jam capture mechanism further comprises a capture detection device, the capture detection device is arranged on the electric clamping jaw or the supporting frame, and a sensor is used for monitoring whether the electric clamping jaw captures the jam and the position of the jam.

In some preferred embodiments, the card plug grabbing mechanism further comprises a visual positioning component for photographing and positioning the card plug and the station environment where the card plug is located.

Preferably, the vision positioning subassembly includes camera and mounting bracket, camera electric connection snatch detection device, the camera passes through the mounting bracket is located braced frame is last for shoot the jam and the station environment that is located thereof. Further, the visual positioning assembly further comprises a protective cover, and the protective cover is arranged on the mounting frame and laterally surrounds the camera.

Preferably, the visual positioning assembly further comprises a light source for assisting the photographing positioning.

In some of these embodiments, the grip is generally of a bent construction.

The utility model provides a jam grabbing system which comprises a controller, a mechanical arm and the jam grabbing mechanism, wherein the mechanical arm is connected with a supporting frame, and the controller is respectively connected with the mechanical arm, an electric clamping jaw and a camera.

In some embodiments, the card plug grabbing system further comprises a workbench and a bracket, wherein the bracket is arranged on the workbench to form a station environment and is used for obliquely placing the card plug and exposing the cross-shaped bulge of the card plug.

Compared with the prior art, this application card stopper snatchs mechanism contains the tongs of cross recess through design and card stopper cross protruding phase-match to can realize relying on electronic clamping jaw to snatch the card stopper on the station, further realize snatching the security, steadiness and the reliability of process through utilizing again to snatch detection device and vision positioning assembly feedback control, be convenient for promote the automatic operation of semiconductor trade or liquid crystal display panel trade etc. in assembling slice product.

Drawings

Fig. 1 is a schematic structural diagram of a card plug.

Fig. 2 is a schematic view of a card-jam capturing mechanism according to an embodiment.

Fig. 3 is another perspective view of the jam capture mechanism of fig. 2.

Fig. 4 is a schematic view of a card jam capture system according to an embodiment.

Detailed Description

To facilitate an understanding of the present application, the present application will now be described more fully with reference to the accompanying drawings. Embodiments of the present application are set forth in the accompanying drawings. This application 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.

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 application belongs. The terminology used herein in the description of the present application is for the purpose of describing particular embodiments only and is not intended to be limiting of the application.

It will be understood that spatial relationship terms, such as "under", "below", "beneath", "below", "over", "above", and the like, may be used herein to describe one element or feature's relationship to another element or feature as illustrated in the figures. It will be understood that the spatially relative terms are intended to encompass different orientations of the device in use or operation in addition to the orientation depicted in the figures. For example, if the device in the figures is turned over, elements or features described as "below" or "beneath" other elements or features would then be oriented "above" the other elements or features. Thus, the exemplary terms "under" and "under" can encompass both an orientation of above and below. In addition, the device may also include additional orientations (e.g., rotated 90 ℃ or other orientations) and the spatial descriptors used herein interpreted accordingly.

It will be understood that when an element is referred to as being "connected" to another element, it can be directly connected to the other element or be connected to the other element through intervening elements. The "connection" in the following embodiments is understood as "electrical connection", "communication connection", or the like if the connected circuits, modules, units, or the like have electrical signals or data transmission therebetween.

As used herein, the singular forms "a", "an" and "the" may include the plural forms as well, unless the context clearly indicates otherwise. It will be further understood that the terms "comprises/comprising," "includes" or "including," etc., specify the presence of stated features, integers, steps, operations, components, parts, or combinations thereof, but do not preclude the presence or addition of one or more other features, integers, steps, operations, components, parts, or combinations thereof.

As shown in fig. 1, the inventor team finds key features of the material to be grabbed by exploring: the two opposite outer side walls of the clamping plug 10 are provided with cross-shaped protrusions 11, and the clamping operation process can be guaranteed to be more stably grabbed by using the cross-shaped protrusions 11 in the middle.

As shown in fig. 2 and 3, an embodiment of a jam capture mechanism 100 includes a support frame 110, a motorized jaw 120, a capture detection device 130, and a vision positioning assembly 140.

In the present embodiment, the supporting frame 110 includes an L-shaped bent frame structure formed by assembling a plurality of supporting plates, and each supporting plate is provided with a mounting hole for conveniently connecting a structural element.

In this embodiment, the electric clamping jaw 120 has two grippers 121, and the inner surfaces of the two grippers 121 are respectively provided with a cross-shaped groove 1211 matching with the cross-shaped protrusion 11 of the clamping plug 10, so as to ensure the stability of the clamping process. Motorized jaws 120 are provided on support frame 110, preferably bolted, for ease of assembly and maintenance.

Preferably, the grip 121 has a bent structure as a whole, which not only can tightly grip both sidewalls of the card plug 10 by using the cross-shaped groove 1211, but also the bent section can block the sheet product located in the card plug 10 from falling.

In this embodiment, the grabbing detection device 130 is electrically connected to the electric clamping jaw 120, the grabbing detection device 130 at least includes two detection sensors, and the two detection sensors are respectively disposed on the upper and lower sides of the non-grabbing area of the electric clamping jaw, and are used for performing feedback control on the clamping and releasing processes to the controller by grabbing and detecting the clamped position. The sensor in the grabbing detection device is preferably arranged in a non-clamping area of the electric clamping jaw 120, and the sensor is used for monitoring whether the grabbing hand of the electric clamping jaw 120 grabs the jam and the position of the jam. In other embodiments, the number and location of the sensors can be adjusted based on changes in the structure of the jam and changes in the environment of the change station.

In this embodiment, the vision positioning component 140 is used to photograph and position the card plug 10 and the workstation environment where the card plug is located. The visual positioning assembly 140 includes a camera 141 and a mounting bracket 142, the camera 141 is electrically connected to the grabbing detection device 130, and the camera 141 is disposed on the supporting frame 110 through the mounting bracket 142 and is used for shooting the jam 10 and the station environment where the jam is located. Preferably, the visual positioning assembly 140 in this embodiment further comprises a light source for assisting the positioning of the photographing. Further, the visual positioning assembly 140 further includes a protective cover 143, and the protective cover 143 is disposed on the mounting frame 142 and laterally surrounds the camera 141.

As shown in fig. 4, the present invention also provides a jam grasping system including a controller (not numbered), a robot arm 200, and a jam grasping mechanism 100, the robot arm 200 being coupled to the support frame 100 by bolts. The controller is a PLC (programmable logic controller) and is respectively and electrically connected with the mechanical arm 200, the electric clamping jaw 120 and the camera 141.

In this embodiment, the card plug grasping system further includes a work table and a bracket 300, and the bracket 300 is disposed on the work table to form a work station environment for obliquely placing the card plug 10 and exposing the cross-shaped protrusion 11 thereof.

The automatic grabbing operation method of the jam grabbing system comprises the following steps:

(1) the offset of the different placement positions of the jam 10 is acquired by photographing with a camera 141 (industrial camera), and then the offset is transmitted to the controller or the robot arm 200 so as to guide the robot arm 200 to move to the correct pre-grasping position.

(2) The card plug catching mechanism 100 moves forward in a direction perpendicular to the upper surface of the card plug 10 until the two fingers 121 (left finger and right finger) are parallel to the left and right side surfaces of the card plug 10, respectively, and the inner cross-shaped groove 1211 of the left/right finger can be aligned with the cross-shaped protrusion 11 of the card plug 10 at any time during the movement, and simultaneously, the distances between the side surfaces of the left finger and the right finger and the left and right side surfaces of the card plug 10 are ensured to be equal as much as possible, and the position of the card plug catching mechanism is the catching position. The plug catching mechanism 100 moves in a direction parallel to the upper and lower surfaces of the plug 10 to start to clamp the plug 10, the cross-shaped grooves 1211 of the left finger and the right finger play a role in catching and positioning in the clamping process, finally, the plug catching mechanism completely clamps the plug 10, and the left side surface and the right side surface of the plug 10 enter the left finger and the right finger.

Compared with the prior art, the jam grabbing mechanism and the system thereof have the advantages that the grabbing hands 121 which are matched with the cross-shaped bulges 11 of the jam and comprise the cross-shaped grooves 1211 are designed, so that the jam 10 on a station can be grabbed by the electric clamping jaws 120, and the grabbing process is further controlled by the grabbing detection device 130 and the visual positioning assembly 140 in a feedback mode to achieve safety, stability and reliability, so that the automatic operation of the semiconductor industry or the liquid crystal display panel industry and the like in assembling sheet products is facilitated.

The above description is only for the purpose of illustrating the preferred embodiments of the present invention and is not to be construed as limiting the utility model, and any modifications, equivalents, improvements and the like that fall within the spirit and principle of the present invention are intended to be included therein.

Claims (9)

1. The utility model provides a jam snatchs mechanism, all has the cross arch on two relative lateral walls of jam, a serial communication port, the jam snatchs mechanism includes braced frame and electronic clamping jaw, electronic clamping jaw is located braced frame is last, electronic clamping jaw has the tongs of two relative settings at least, all be equipped with the cross recess on the tongs of two relative settings for with the protruding screens cooperation of two crosses of jam.

2. The jam capture mechanism of claim 1 further including a capture detection device, the capture detection device being located on the motorized gripper or on the support frame, and a sensor being used to monitor whether the motorized gripper has captured the jam and its location.

3. The card plug grabbing mechanism is characterized by further comprising a visual positioning component for photographing and positioning the card plug and the station environment where the card plug is located.

4. The jam capturing mechanism according to claim 3, wherein the visual positioning assembly includes a camera and a mounting bracket, the camera is electrically connected to the capturing and detecting device, and the camera is arranged on the supporting frame through the mounting bracket and used for shooting the jam and the station environment where the jam is located.

5. The card plug capturing mechanism of claim 4, wherein the visual positioning assembly further comprises a light source for assisting in positioning the photograph.

6. The jam capture mechanism of claim 4, further comprising a protective shield disposed on the mounting bracket and laterally surrounding the camera.

7. The jam capture mechanism of any one of claims 1 to 6, wherein the fingers are generally of a bent configuration.

8. A jam capture system comprising a controller, a robotic arm and the jam capture mechanism of any one of claims 4 to 6, the robotic arm being connected to the support frame, the controller being connected to the robotic arm, the motorized gripper jaw and the camera respectively.

9. The card plug capturing system of claim 8, further comprising a table and a bracket disposed on said table to form a station environment for angularly positioning the card plug and exposing the cross-shaped projection thereof.

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