CN217971533U - Robot clamping device - Google Patents
Robot clamping device Download PDFInfo
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- CN217971533U CN217971533U CN202222290332.0U CN202222290332U CN217971533U CN 217971533 U CN217971533 U CN 217971533U CN 202222290332 U CN202222290332 U CN 202222290332U CN 217971533 U CN217971533 U CN 217971533U
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- clamping
- base plate
- inclined part
- handle
- robot
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Abstract
The utility model discloses a robot clamping device, including the arm, one side of arm is equipped with the adaptor, one side of adaptor is equipped with actuating mechanism, actuating mechanism's output is connected with clamping jaw assembly: the clamping jaw assembly is connected to a handle, and the handle is arranged on the aluminum material box; the jaw assemblies are attached to both sides of the lead frame cassette. The utility model discloses can press from both sides not unidimensional aluminium magazine and lead frame box of getting, enlarge mechanical equipment's application scope, improve the arm and snatch efficiency.
Description
Technical Field
The utility model relates to the technical field of robot, specific is a robot clamping device.
Background
The semiconductor packaging and disassembling processes are independent from one another and are used as important raw materials in semiconductor manufacturing, equipment is needed for conveying material sheets in transition among the processes, the lead frame is used as a carrier for conveying materials of the semiconductor packaging process and needs to be placed in an aluminum material box and a lead frame box for carrying, and in the existing situation, the aluminum material box and the lead frame box are generally carried in a material pushing trolley mode by people, so that the efficiency is low, and mistakes are easy to make.
Disclosure of Invention
The purpose of the invention is as follows: to the prior art, a robot clamping device is provided.
The utility model provides a robot clamping device, includes the arm, one side of arm is equipped with the adaptor, one side of adaptor is equipped with actuating mechanism, actuating mechanism's output is connected with clamping jaw subassembly:
the clamping jaw assembly is connected to a handle, and the handle is arranged on the aluminum material box;
the jaw assemblies are attached to both sides of the lead frame box.
Preferably, the clamping jaw assembly comprises two clamping jaws, the two clamping jaws are symmetrically arranged at the output end of the driving mechanism, each clamping jaw comprises a first substrate, a second substrate and a third substrate, the first substrate is located on the X axis of a space coordinate system, the second substrate and the third substrate are respectively located on the Y axis and the Z axis of the space coordinate system, and the first substrate is connected to the output end of the driving mechanism;
a first clamping groove is formed in the second substrate, an elastic piece is arranged in the first clamping groove, and the elastic piece is attached to and connected with two sides of the lead frame box;
and a second clamping groove is formed in the third substrate, and the second clamping groove is attached to and connected with the handle.
Preferably, the handle includes a horizontal portion and a vertical portion, two ends of the horizontal portion are symmetrically provided with a fixture block, the fixture block includes a first upper inclined portion and a first lower inclined portion, the second clamping groove includes a second upper inclined portion and a second lower inclined portion, the first upper inclined portion is attached to the second upper inclined portion, and the first lower inclined portion is attached to the second lower inclined portion.
Preferably, the included angle between the second upper inclined portion and the horizontal line is 25-35 degrees, and the included angle between the second lower inclined portion and the horizontal line is 55-65 degrees.
Preferably, the tail end of the vertical part is connected with a square boss, a square groove is formed above the aluminum material box, and the square boss is connected with the square groove in a sliding mode.
Preferably, the driving mechanism is driven electrically or pneumatically.
Preferably, the drive mechanism is internally provided with a torque sensor which detects the clamping acting force of the two clamping jaws.
Has the advantages that:
1) The utility model, guided by the inclined part, causes the second clamping groove to enter the inclined part of the handle to lift the aluminum material box;
2) The utility model clamps the lead frame box by arranging the elastic piece in the first clamping groove;
3) The utility model discloses can press from both sides not unidimensional aluminium magazine and lead frame box of getting, enlarge mechanical equipment's application scope, improve the arm and snatch efficiency.
Drawings
Fig. 1 is a schematic view of the overall structure of the present invention;
fig. 2 is a schematic structural view of the lead frame box of the present invention;
fig. 3 is a schematic front view of the present invention;
fig. 4 is a schematic diagram of the second slot of the present invention.
In the figure: the mechanical arm 3, the adaptor 8, the driving mechanism 2, the handle 5, the aluminum material box 6, the lead frame box 7, the clamping jaw 1, the first clamping groove 11, the elastic piece 4, the second clamping groove 12, the first upper inclined part 500, the first lower inclined part 501, the second upper inclined part 100, the second lower inclined part 101, the square boss 51 and the square groove 61.
Detailed Description
The invention is further explained below with reference to the drawings.
The utility model provides a robot clamping device, includes arm 3, one side of arm 3 is equipped with adaptor 8, one side of adaptor 8 is equipped with actuating mechanism 2, actuating mechanism 2's output is connected with clamping jaw assembly:
the clamping jaw assembly is connected to a handle 5, and the handle 5 is arranged on an aluminum material box 6;
the jaw assemblies are attached to both sides of the lead frame cassette 7.
The clamping jaw assembly comprises two clamping jaws 1, the two clamping jaws 1 are symmetrically arranged at the output end of the driving mechanism 2, each clamping jaw 1 comprises a first substrate, a second substrate and a third substrate, the first substrate is located on the X axis of a space coordinate system, the second substrate and the third substrate are respectively located on the Y axis and the Z axis of the space coordinate system, and the first substrate is connected to the output end of the driving mechanism 2;
a first clamping groove 11 is formed in the second substrate, an elastic piece 4 is arranged in the first clamping groove 11, and the elastic piece 4 is attached to and connected with two sides of the lead frame box 7;
and a second clamping groove 12 is formed in the third substrate, and the second clamping groove 12 is attached to the handle 5.
The handle 5 comprises a horizontal part and a vertical part, two ends of the horizontal part are symmetrically provided with a clamping block, the clamping block comprises a first upper inclined part 500 and a first lower inclined part 501, the second clamping groove 12 comprises a second upper inclined part 100 and a second lower inclined part 101, the first upper inclined part 500 is attached to the second upper inclined part 100, and the first lower inclined part 501 is attached to the second lower inclined part 101.
The tail end of the vertical part is connected with a square boss 51, a square groove 61 is formed above the aluminum material box 6, and the square boss 51 is connected with the square groove 61 in a sliding mode.
The driving mechanism 2 is driven electrically or pneumatically.
The driving mechanism 2 is internally provided with a torque sensor which detects the clamping acting force of the two clamping jaws 1.
The operation principle is as follows:
1) Clamping the aluminum material box 6: as shown in fig. 1, first, a driving mechanism 2 is started, an output end of the driving mechanism 2 is connected to a first substrate (located on an X axis of a spatial coordinate system) to drive the first substrate to move left and right, so as to drive a third substrate (located on a Z axis of the spatial coordinate system) to move left and right, a second clamping groove 12 formed in the third substrate is in contact connection with clamping blocks symmetrically arranged at two ends of a horizontal portion of a handle 5, under the action of a transverse clamping force, a first upper inclined portion 500 is attached to and connected with a second upper inclined portion 100, a first lower inclined portion 501 is attached to and connected with a second lower inclined portion 101, the clamping blocks are clamped and connected with the second clamping groove 12, a vertical end of the handle 5 is inserted into a square groove 61 formed above an aluminum material box 6, and the horizontal portion is directly connected above the aluminum material box 6 through bolts; after the fixing, the aluminum material box 6 can be moved.
2) Clamping lead frame box 7: as shown in fig. 2, similarly, the driving mechanism 2 is started, the output end of the driving mechanism 2 is connected to the first substrate (located on the X axis of the spatial coordinate system) to drive the first substrate to move left and right, so as to drive the second substrate (located on the Y axis of the spatial coordinate system) to move left and right, the second substrate is provided with a first clamping groove 11, an elastic member 4 is arranged in the first clamping groove 11, and the elastic member 4 is attached to and connected with two sides of the lead frame box 7, so that the lead frame box 7 is clamped by the elastic member 4; after the fixing, the lead frame magazine 7 can be moved.
The foregoing is only a preferred embodiment of the present invention, and it should be noted that, for those skilled in the art, various modifications and decorations can be made without departing from the principle of the present invention, and these modifications and decorations should also be regarded as the protection scope of the present invention.
Claims (6)
1. The utility model provides a robot clamping device, its characterized in that, includes arm (3), one side of arm (3) is equipped with adaptor (8), one side of adaptor (8) is equipped with actuating mechanism (2), the output of actuating mechanism (2) is connected with clamping jaw assembly:
the clamping jaw assembly is connected to a handle (5), and the handle (5) is arranged on the aluminum material box (6);
the jaw assemblies are attached to both sides of a lead frame cassette (7).
2. The robot clamping device according to claim 1, wherein the clamping jaw assembly comprises two clamping jaws (1), the two clamping jaws (1) are symmetrically arranged at the output end of the driving mechanism (2), each of the two clamping jaws (1) comprises a first base plate, a second base plate and a third base plate, the first base plate, the second base plate and the third base plate are sequentially connected in series, the first base plate, the second base plate and the third base plate are respectively located at an X axis, a Y axis and a Z axis of a space coordinate system, and the first base plate is connected to the output end of the driving mechanism (2);
a first clamping groove (11) is formed in the second substrate, an elastic piece (4) is arranged in the first clamping groove (11), and the elastic piece (4) is attached to and connected with two sides of the lead frame box (7);
and a second clamping groove (12) is formed in the third substrate, and the second clamping groove (12) is attached to the handle (5).
3. The robot clamping device as claimed in claim 2, wherein the handle (5) comprises a horizontal part and a vertical part, the horizontal part is bolted above the aluminum material box (6), two ends of the horizontal part are symmetrically provided with clamping blocks, the clamping blocks comprise a first upper inclined part (500) and a first lower inclined part (501), the second clamping groove (12) comprises a second upper inclined part (100) and a second lower inclined part (101), the first upper inclined part (500) is in fit connection with the second upper inclined part (100), and the first lower inclined part (501) is in fit connection with the second lower inclined part (101).
4. The robot clamping device according to claim 3, wherein a square boss (51) is connected to the end of the vertical part, a square groove (61) is formed above the aluminum material box (6), and the square boss (51) is slidably connected to the square groove (61).
5. A robot clamping device according to claim 1, characterised in that the driving means (2) is driven electrically or pneumatically.
6. A robot clamping device according to claim 1, characterised in that the drive means (2) incorporates a torque sensor which detects the clamping force of the two clamping jaws (1).
Priority Applications (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN202222290332.0U CN217971533U (en) | 2022-08-30 | 2022-08-30 | Robot clamping device |
Applications Claiming Priority (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN202222290332.0U CN217971533U (en) | 2022-08-30 | 2022-08-30 | Robot clamping device |
Publications (1)
| Publication Number | Publication Date |
|---|---|
| CN217971533U true CN217971533U (en) | 2022-12-06 |
Family
ID=84262797
Family Applications (1)
| Application Number | Title | Priority Date | Filing Date |
|---|---|---|---|
| CN202222290332.0U Active CN217971533U (en) | 2022-08-30 | 2022-08-30 | Robot clamping device |
Country Status (1)
| Country | Link |
|---|---|
| CN (1) | CN217971533U (en) |
-
2022
- 2022-08-30 CN CN202222290332.0U patent/CN217971533U/en active Active
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