CN219926075U

CN219926075U - Paw mechanism and adsorption device

Info

Publication number: CN219926075U
Application number: CN202321244090.XU
Authority: CN
Inventors: 邱业勋; 王洋
Original assignee: Guangzhou Shiyuan Innovation Technology Co ltd; Guangzhou Shiyuan Electronics Thecnology Co Ltd
Current assignee: Guangzhou Shiyuan Innovation Technology Co ltd; Guangzhou Shiyuan Electronics Thecnology Co Ltd
Priority date: 2023-05-22
Filing date: 2023-05-22
Publication date: 2023-10-31
Anticipated expiration: 2033-05-22

Abstract

The utility model relates to the technical field of adsorption devices and discloses a paw mechanism and an adsorption device, wherein the paw mechanism comprises an installation bottom plate, a sucker assembly and an anti-falling plate assembly, a plurality of sucker assemblies are installed on the installation bottom plate and extend towards the lower side of the installation bottom plate, the sucker assemblies are flexible telescopic pieces, and each sucker assembly is communicated with vacuumizing equipment; the drop-preventing plate assembly is mounted to the mounting base plate and extends toward the underside of the mounting base plate, and is configured to be retractable and rotatable to support a workpiece in an extended state or to disengage the workpiece in a retracted state. The design of the anti-falling plate assembly of the paw mechanism can prevent the workpiece from falling after the air source pressure is reduced or suddenly broken vacuum, so that the loss is reduced and the loss is reduced.

Description

Paw mechanism and adsorption device

Technical Field

The utility model relates to the technical field of adsorption devices, in particular to a paw mechanism and an adsorption device.

Background

The existing board card grabbing mode is mainly divided into two types, wherein one type is a clamping jaw clamping type: the air cylinder or the motor is used as power to push the hard parts to directly clamp the board, and the thrust of the air cylinder or the output force of the motor is used to directly apply the force to the board substrate or the specific element to clamp and transfer the board; the method has the requirements on the board, namely the board needs to have a board edge, namely no component or opposite plug-in interface and the like are arranged in a certain distance of the edge of the board, or the board needs to have some components (such as radiating fins and the like) with enough strength for clamping. Another way is vacuum adsorption: and vacuum negative pressure generated by a vacuum generator or a vacuum pump is utilized to suck the board card through the sucking disc at a flat and open place of the board card, and then transfer is carried out. The board card is transplanted in a vacuum adsorption mode, and compared with a clamping jaw clamping mode, the board card transplanting device has the advantages that requirements on the structure of the board card are not required, and therefore the board card transplanting device is widely applied. But when snatching the integrated circuit board with this mode, mostly the mode of naked sucking disc, only the sucking disc adsorbs promptly, does not do and prevent falling the board measure, if appear that air supply pressure drops, perhaps break the vacuum after suddenly, there is the integrated circuit board directly to drop, causes the risk of damage.

Disclosure of Invention

The utility model aims to provide a paw mechanism and an adsorption device, which can avoid the problem that a board card directly falls down to cause damage after the pressure of an air source is reduced or vacuum is suddenly broken.

To achieve the purpose, the utility model adopts the following technical scheme:

the present utility model provides a gripper mechanism comprising:

a mounting base plate;

the sucker assemblies are arranged on the mounting bottom plate and extend towards the lower side of the mounting bottom plate, the sucker assemblies are flexible telescopic members, and each sucker assembly is communicated with vacuumizing equipment; a kind of electronic device with high-pressure air-conditioning system

And the anti-falling plate assembly is arranged on the mounting bottom plate and extends towards the lower side of the mounting bottom plate, and is configured to be telescopic and rotatable so as to support a workpiece in an extending state or separate from the workpiece in a retracting state.

The paw mechanism comprises a mounting bottom plate, a sucker assembly and a falling-preventing plate assembly, wherein the falling-preventing plate assembly and the sucker assemblies are all arranged on the mounting bottom plate and extend towards the lower side of the mounting bottom plate, the sucker assembly is a flexible telescopic piece, the workpiece can be adsorbed by telescopic way when being adsorbed, the falling-preventing plate assembly can be telescopic and rotated to support the workpiece in an extending state or separate from the workpiece in a retracting state, the workpiece can be prevented from falling after the pressure of an air source is reduced or suddenly broken, and loss is reduced.

As a preferred aspect of the above-mentioned gripper mechanism, the drop-preventing plate assembly includes:

the sleeve is arranged on the mounting bottom plate, and a spiral hole is formed in the sleeve along the height direction of the sleeve;

the telescopic rod is characterized in that one end of the telescopic rod stretches into the sleeve and can move along the extending direction of the sleeve, the other end of the telescopic rod stretches out of the sleeve, a stop structure is arranged at the other end of the telescopic rod, a guide part is arranged on the telescopic rod, and the guide part penetrates through the spiral hole and can move along the extending direction of the spiral hole so as to drive the telescopic rod and the stop structure to lift and rotate; a kind of electronic device with high-pressure air-conditioning system

The telescopic rod comprises a sleeve, a telescopic rod and a first elastic resetting piece, wherein the telescopic rod is sleeved with the first elastic resetting piece, and two ends of the first elastic resetting piece are respectively connected with the sleeve and the telescopic rod so as to drive the telescopic rod to reset from a compressed state.

The guide part on the telescopic rod moves along the spiral hole on the sleeve, so that the rotation and lifting of the stop structure can be realized, the workpiece can be supported or separated, the telescopic rod can be driven to automatically reset by the aid of the first elastic resetting piece, and the structural design of the anti-falling plate assembly is ingenious.

As a preferred aspect of the above paw mechanism, the anti-drop plate assembly further comprises:

the sleeve is installed on the installation bottom plate through the fixing seat.

The design of fixing base is convenient for install the board subassembly of falling prevention on mounting plate.

As a preferable mode of the above-mentioned gripper mechanism, the fixing base includes:

the fixing part is connected with the mounting bottom plate; a kind of electronic device with high-pressure air-conditioning system

Clamping parts, clamping parts set up two, two clamping parts interval sets up, two clamping parts's one end connect in fixed part, two form the centre gripping space between the clamping parts, the sleeve wears to locate in the centre gripping space, two clamping parts's the other end passes through the fastener and links to each other, in order to with the sleeve presss from both sides tightly.

The fixing seat is arranged on the mounting bottom plate through the fixing part, and the sleeve is stably clamped through the cooperation of the two clamping parts and the fastening piece.

As a preferable scheme of the above paw mechanism, a plurality of groups of the drop-proof plate components are arranged on the circumference of the mounting base plate.

The circumference of mounting plate is provided with multiunit and prevents falling board subassembly, can realize the effective support to the work piece.

As a preferred aspect of the above gripper mechanism, the suction cup assembly includes:

the fixed pipe is arranged on the mounting bottom plate and is communicated with the vacuumizing equipment;

one end of the movable tube is movably arranged in the fixed tube and is communicated with the fixed tube, the other end of the movable tube is provided with a sucker, and the sucker is provided with an adsorption hole communicated with the movable tube; a kind of electronic device with high-pressure air-conditioning system

The second elastic reset piece is arranged between the movable tube and the fixed tube and is used for driving the movable tube to move towards the direction from which the movable tube is separated from the fixed tube.

The sucker assembly can realize flexible expansion, and is simple in structure and convenient to prepare.

As a preferable mode of the paw mechanism, the sucker is a flexible sucker.

The flexible sucker adsorbs the work piece and plays a role in buffering the work piece, so that hard damage to the work piece is avoided.

As a preferable scheme of the paw mechanism, at least one manifold assembly is arranged on the mounting bottom plate, an adsorption channel and a plurality of through holes communicated with the adsorption channel are arranged on the manifold assembly, the adsorption channel is communicated with the vacuumizing device, and each through hole is respectively communicated with one group of sucker assemblies.

The manifold assembly is configured to separate the suction channels into multiple channels for communication with the suction cup assembly.

As a preferable mode of the paw mechanism, the mounting base plate is provided with a mounting flange which can be connected with the driving mechanism.

The installation of the mounting flange is convenient for the installation of the driving mechanism.

The utility model also provides an adsorption device which comprises the paw mechanism, the vacuumizing equipment and the driving mechanism, wherein the vacuumizing equipment is communicated with the paw mechanism, and the output end of the driving mechanism is connected with the paw mechanism and is used for driving the paw mechanism to move at least along the vertical direction.

The adsorption device realizes that the paw structure adsorbs the workpiece through the vacuumizing equipment, and the paw can be driven to move at least along the vertical direction through the driving mechanism so as to realize the adsorption and transplanting of the workpiece, and the workpiece can be prevented from falling through the paw mechanism.

The utility model has the beneficial effects that:

the paw mechanism comprises a mounting bottom plate, a sucker assembly and a falling-preventing plate assembly, wherein the falling-preventing plate assembly and the sucker assemblies are all arranged on the mounting bottom plate and extend towards the lower side of the mounting bottom plate, the sucker assembly is a flexible telescopic piece, the workpiece can be flexibly absorbed when the workpiece is absorbed, the falling-preventing plate assembly can be telescopic and rotated to support the workpiece in an extending state or separate from the workpiece in a retracting state, and the falling-preventing plate assembly can prevent the workpiece from falling after the air source pressure is reduced or suddenly broken vacuum, so that loss is reduced.

According to the adsorption device provided by the utility model, the claw can be driven to move at least along the vertical direction through the driving mechanism so as to realize the adsorption and the transplanting of the workpiece, and the falling of the workpiece can be avoided through the claw mechanism.

Drawings

FIG. 1 is a schematic view of the structure of the claw mechanism of the utility model when the anti-drop plate assembly is not supporting a workpiece;

FIG. 2 is a schematic view of the structure of the anti-drop plate assembly of the paw mechanism of the present utility model supporting a workpiece;

fig. 3 is a schematic structural view of the drop-preventing plate assembly provided by the utility model.

In the figure:

1. a mounting base plate; 11. a manifold assembly; 12. a mounting flange;

2. a suction cup assembly; 21. a fixed tube; 22. a movable tube; 23. a suction cup;

3. an anti-drop plate assembly; 31. a sleeve; 311. a spiral hole; 32. a telescopic rod; 321. a stop structure; 322. a guide part; 33. a fixing seat; 331. a fixing part; 332. a clamping part;

100. a workpiece.

Detailed Description

The utility model is described in further detail below with reference to the drawings and examples. It is to be understood that the specific embodiments described herein are merely illustrative of the utility model and are not limiting thereof. It should be further noted that, for convenience of description, only some, but not all of the structures related to the present utility model are shown in the drawings.

In the description of the present utility model, unless explicitly stated and limited otherwise, the terms "connected," "connected," and "fixed" are to be construed broadly, and may be, for example, fixedly connected, detachably connected, or integrally formed; can be mechanically or electrically connected; can be directly connected or indirectly connected through an intermediate medium, and can be communicated with the inside of two elements or the interaction relationship of the two elements. The specific meaning of the above terms in the present utility model will be understood in specific cases by those of ordinary skill in the art.

In the present utility model, unless expressly stated or limited otherwise, a first feature "above" or "below" a second feature may include both the first and second features being in direct contact, as well as the first and second features not being in direct contact but being in contact with each other through additional features therebetween. Moreover, a first feature being "above," "over" and "on" a second feature includes the first feature being directly above and obliquely above the second feature, or simply indicating that the first feature is higher in level than the second feature. The first feature being "under", "below" and "beneath" the second feature includes the first feature being directly under and obliquely below the second feature, or simply means that the first feature is less level than the second feature.

In the description of the present embodiment, the terms "upper", "lower", "right", etc. orientation or positional relationship are based on the orientation or positional relationship shown in the drawings, and are merely for convenience of description and simplicity of operation, and do not indicate or imply that the apparatus or elements referred to must have a specific orientation, be constructed and operated in a specific orientation, and thus should not be construed as limiting the utility model. Furthermore, the terms "first," "second," and the like, are used merely for distinguishing between descriptions and not for distinguishing between them.

The embodiment provides an adsorption device, including paw mechanism, evacuation equipment and actuating mechanism, evacuation equipment is linked together with paw mechanism to make paw mechanism adsorb the work piece, actuating mechanism's output links to each other with paw mechanism for drive paw mechanism at least along vertical direction removal. The driving mechanism drives the gripper mechanism to move, and the workpiece adsorbed by the gripper mechanism is in a falling risk. In this embodiment, the driving mechanism is a robot, and the robot can drive the gripper mechanism to move and rotate along the multidimensional direction, and the specific structure of the robot is not particularly limited herein.

In order to solve the above problems, as shown in fig. 1 and 2, the gripper mechanism comprises a mounting base plate 1, suction cup assemblies 2 and an anti-falling plate assembly 3, wherein a plurality of suction cup assemblies 2 are mounted on the mounting base plate 1 and extend towards the lower side of the mounting base plate 1, the suction cup assemblies 2 are flexible telescopic members, and each suction cup assembly 2 is communicated with a vacuumizing device; the drop plate assembly 3 is mounted to the mounting baseplate 1 and extends toward the underside of the mounting baseplate 1, the drop plate assembly 3 being configured to be able to telescope and rotate to support the workpiece 100 in an extended state or to disengage the workpiece 100 in a retracted state. The drop prevention plate assembly 3 can be extended and rotated to support the workpiece 100 in an extended state, thereby preventing the workpiece 100 from dropping after the air source pressure is lowered or the vacuum is suddenly broken, and reducing loss.

As shown in fig. 3, the drop-preventing plate assembly 3 includes a sleeve 31, a telescopic rod 32 and a first elastic restoring member (not shown), wherein the sleeve 31 is disposed on the mounting base plate 1, and a screw hole 311 is disposed on the sleeve 31 along the height direction thereof; one end of the telescopic rod 32 extends into the sleeve 31 and can move along the extending direction of the sleeve 31, the other end of the telescopic rod 32 extends out of the sleeve 31, a stop structure 321 is arranged at the other end of the telescopic rod 32, a guide part 322 is arranged on the telescopic rod 32, the guide part 322 penetrates through the spiral hole 311 and can move along the extending direction of the spiral hole 311 so as to drive the telescopic rod 32 and the stop structure 321 to lift and rotate; the first elastic restoring member is sleeved on the telescopic rod 32, and two ends of the first elastic restoring member are respectively connected with the sleeve 31 and the telescopic rod 32 to drive the telescopic rod 32 to restore from a compressed state. The anti-drop plate assembly 3 moves along the spiral hole 311 on the sleeve 31 through the guide part 322 on the telescopic rod 32, so that the stop structure 321 can rotate and lift, the workpiece 100 is supported conveniently or the workpiece 100 is separated, the telescopic rod 32 can be driven to automatically reset by the arrangement of the first elastic resetting piece, and the structural design of the anti-drop plate assembly 3 is ingenious. In this embodiment, the first elastic restoring member is a spring, and has a simple structure and low cost. The first elastic restoring member is not limited to a spring, but may be other structures as long as flexible compression of the drop prevention plate assembly 3 and automatic restoring can be achieved.

Preferably, the stop structure 321 supports the workpiece 100, and the stop structure 321 is provided with a buffer structure, so that the buffer effect can be achieved, and the workpiece 100 is protected. In this embodiment, the stopper 321 is encapsulated by using an encapsulating material, which may be a foam or other structure.

Further, as shown in fig. 2 and 3, the drop plate assembly 3 further includes a fixing base 33, and the sleeve 31 is mounted on the mounting base plate 1 through the fixing base 33. The design of the fixing seat 33 facilitates the installation of the drop-preventing plate assembly 3 on the mounting baseplate 1.

Further, the fixing base 33 includes a fixing portion 331 and two clamping portions 332, and the fixing portion 331 is connected to the mounting base plate 1; the two clamping portions 332 are arranged at intervals, one ends of the two clamping portions 332 are connected to the fixing portion 331, a clamping space is formed between the two clamping portions 332, the sleeve 31 is arranged in the clamping space in a penetrating mode, and the other ends of the two clamping portions 332 are connected through fasteners to clamp the sleeve 31. The fixing base 33 is mounted on the mounting base plate 1 through the fixing portion 331, and the sleeve 31 is stably clamped through the cooperation of the two clamping portions 332 and the fastening member.

In order to adapt to the cylindrical structure of the sleeve 31, an arc-shaped groove (not shown in the figure) may be disposed inside the two clamping portions 332, so that the arc-shaped groove can be attached to the sleeve 31 with the cylindrical structure, thereby enhancing the contact area with the sleeve 31 and improving the clamping strength of the sleeve 31.

Preferably, the mounting baseplate 1 is circumferentially provided with a plurality of sets of drop-preventing plate assemblies 3, by means of which a positive support of the workpiece 100 can be achieved. The number of the specific anti-falling plate assemblies 3 is set according to the requirements.

As shown in fig. 1, the sucker assembly 2 comprises a fixed tube 21, a movable tube 22 and a second elastic resetting piece (not shown in the figure), wherein the fixed tube 21 is arranged on the mounting base plate 1, and the fixed tube 21 is communicated with a vacuumizing device; one end of the movable tube 22 is movably arranged in the fixed tube 21 and is communicated with the fixed tube 21, the other end of the movable tube 22 is provided with a sucker 23, and the sucker 23 is provided with a suction hole communicated with the movable tube 22; the second elastic restoring member is provided between the movable tube 22 and the fixed tube 21 for driving the movable tube 22 to move in a direction of coming out of the fixed tube 21. The sucker assembly 2 can realize flexible extension and contraction, and is simple in structure and convenient to prepare. In this embodiment, the second elastic restoring member is a spring, and has a simple structure and low cost. The second elastic restoring member is not limited to a spring, and may have other structures as long as flexible expansion and contraction of the suction cup assembly 2 and automatic restoring can be realized.

Preferably, the sucker 23 is a flexible sucker, and in this embodiment, the sucker 23 is a silica gel sucker, which has better flexibility. The flexible sucker 23 adsorbs the workpiece 100 to play a role in buffering the workpiece 100, so that hard damage to the workpiece 100 is avoided.

As shown in fig. 1, the mounting base plate 1 is provided with a mounting flange 12 that can be connected to a drive mechanism. The mounting flange 12 is provided to facilitate mounting with a drive mechanism. The mounting baseplate 1 is provided with at least one manifold assembly 11, the manifold assembly 11 is provided with an adsorption channel and a plurality of through holes communicated with the adsorption channel, the adsorption channel is communicated with a vacuumizing device, and each through hole is respectively communicated with a group of sucker assemblies 2. The manifold assembly 11 is configured to divide the suction channel into multiple channels for communication with the suction cup assembly 2. In the present embodiment, the manifold assemblies 11 are provided in two groups, and of course, the number of manifold assemblies 11 is not limited to two groups, but may be three or more groups.

Taking a grabbing board card as an example for explanation:

in use, the robot drives the gripper mechanism to grasp the board on the desktop, the gripper mechanism moves to the position right above the board, and then the second elastic restoring member vertically pressed down to the sucker assembly 2 compresses about 1/2, and in this process, the telescopic rod 32 compresses and rotates synchronously, so that the stop structure 321 rotates to the outside, as shown in fig. 1. Then, the vacuum pumping device is opened, the suction cup assembly 2 adsorbs the board card, then the robot drives the paw mechanism to vertically ascend, after leaving the desktop, the telescopic rod 32 is reset, and the stop structure 321 moves downwards and rotates to a position below the board card, so that the board card is supported, as shown in fig. 2.

The anti-falling plate assembly 3 provides power by pressing down the workpiece 100 in the normal process of adsorbing the workpiece 100 through the sucker assembly 2, so that the stop structure 321 rotates to the outer side of the plate card (at the moment, the stop structure 321 does not support the plate card), interference with the action of adsorbing the workpiece 100 is avoided, and when the sucker assembly 2 drives the workpiece 100 to move upwards, the anti-falling plate assembly 3 stretches and resets, so that the stop structure 321 rotates to the lower side of the workpiece 100, and the workpiece 100 is protected. The anti-drop plate assembly 3 is ingenious in design without adding additional power and control signals.

It is to be understood that the above examples of the present utility model are provided for clarity of illustration only and are not limiting of the embodiments of the present utility model. Various obvious changes, rearrangements and substitutions can be made by those skilled in the art without departing from the scope of the utility model. It is not necessary here nor is it exhaustive of all embodiments. Any modification, equivalent replacement, improvement, etc. which come within the spirit and principles of the utility model are desired to be protected by the following claims.

Claims

1. A gripper mechanism, comprising:

a mounting base plate (1);

the sucking disc assemblies (2) are arranged on the mounting bottom plate (1) and extend towards the lower side of the mounting bottom plate (1), the sucking disc assemblies (2) are flexible telescopic members, and each sucking disc assembly (2) is communicated with vacuumizing equipment; a kind of electronic device with high-pressure air-conditioning system

And a drop prevention plate assembly (3) mounted to the mounting base plate (1) and extending toward the underside of the mounting base plate (1), the drop prevention plate assembly (3) being configured to be retractable and rotatable to support a workpiece (100) in an extended state or to disengage from the workpiece (100) in a retracted state.

2. The gripper mechanism according to claim 1, wherein the drop-off prevention plate assembly (3) comprises:

the sleeve (31) is arranged on the mounting bottom plate (1), and a spiral hole (311) is formed in the sleeve (31) along the height direction of the sleeve;

the telescopic rod (32), one end of the telescopic rod (32) stretches into the sleeve (31) and can move along the extending direction of the sleeve (31), the other end of the telescopic rod (32) stretches out of the sleeve (31), a stop structure (321) is arranged at the other end of the telescopic rod (32), a guide part (322) is arranged on the telescopic rod (32), and the guide part (322) penetrates through the spiral hole (311) and can move along the extending direction of the spiral hole (311) so as to drive the telescopic rod (32) and the stop structure (321) to lift and rotate; a kind of electronic device with high-pressure air-conditioning system

The telescopic device comprises a telescopic rod (32), a first elastic resetting piece, a sleeve (31) and a telescopic rod (32), wherein the telescopic rod (32) is sleeved with the first elastic resetting piece, and two ends of the first elastic resetting piece are respectively connected with the sleeve and the telescopic rod (32) so as to drive the telescopic rod (32) to reset from a compressed state.

3. The gripper mechanism according to claim 2, wherein the drop-off prevention plate assembly (3) further comprises:

the sleeve (31) is arranged on the mounting bottom plate (1) through the fixing seat (33).

4. A gripper mechanism according to claim 3, wherein the fixing seat (33) comprises:

a fixing portion (331), the fixing portion (331) being connected to the mounting base plate (1); a kind of electronic device with high-pressure air-conditioning system

Clamping part (332), clamping part (332) set up two, two clamping part (332) interval sets up, two the one end of clamping part (332) connect in fixed part (331), two form the centre gripping space between clamping part (332), sleeve (31) are worn to locate in the centre gripping space, two the other end of clamping part (332) is passed through the fastener and is linked to each other, in order to with sleeve (31) clamp.

5. Claw mechanism according to claim 1, wherein the mounting base plate (1) is circumferentially provided with a plurality of sets of the drop-off prevention plate assemblies (3).

6. The gripper mechanism according to claim 1, wherein the suction cup assembly (2) comprises:

the fixing pipe (21) is arranged on the mounting bottom plate (1), and the fixing pipe (21) is communicated with the vacuumizing equipment;

a movable tube (22) with one end movably arranged in the fixed tube (21) and communicated with the fixed tube (21), wherein a sucker (23) is arranged at the other end of the movable tube (22), and a suction hole communicated with the movable tube (22) is arranged on the sucker (23); a kind of electronic device with high-pressure air-conditioning system

The second elastic reset piece is arranged between the movable tube (22) and the fixed tube (21) and is used for driving the movable tube (22) to move towards the direction of being separated from the fixed tube (21).

7. The gripper mechanism of claim 6, wherein the suction cup (23) is a flexible suction cup (23).

8. Gripper mechanism according to any one of claims 1-7, characterized in that at least one manifold assembly (11) is provided on the mounting base plate (1), that a suction channel and a plurality of through holes communicating with the suction channel are provided on the manifold assembly (11), that the suction channel communicates with the evacuation device, and that each through hole communicates with a respective set of suction cup assemblies (2).

9. Claw mechanism according to claim 8, characterised in that the mounting base plate (1) is provided with a mounting flange (12) which can be connected to a drive mechanism.

10. An adsorption device, characterized by comprising the paw mechanism of any one of claims 1-9, a vacuum device and a driving mechanism, wherein the vacuum device is communicated with the paw mechanism, and an output end of the driving mechanism is connected with the paw mechanism and is used for driving the paw mechanism to move at least in a vertical direction.