WO2021119960A1 - 一种柔性薄膜物料吸取机构 - Google Patents

一种柔性薄膜物料吸取机构 Download PDF

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Publication number
WO2021119960A1
WO2021119960A1 PCT/CN2019/125774 CN2019125774W WO2021119960A1 WO 2021119960 A1 WO2021119960 A1 WO 2021119960A1 CN 2019125774 W CN2019125774 W CN 2019125774W WO 2021119960 A1 WO2021119960 A1 WO 2021119960A1
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Prior art keywords
ejection
ejector
flexible film
suction
suction nozzle
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PCT/CN2019/125774
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English (en)
French (fr)
Inventor
龚激
曹海斌
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苏州信运比尔精密机械有限公司
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Application filed by 苏州信运比尔精密机械有限公司 filed Critical 苏州信运比尔精密机械有限公司
Priority to PCT/CN2019/125774 priority Critical patent/WO2021119960A1/zh
Priority to CN201980003152.8A priority patent/CN111225773B/zh
Publication of WO2021119960A1 publication Critical patent/WO2021119960A1/zh

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    • B—PERFORMING OPERATIONS; TRANSPORTING
    • B25—HAND TOOLS; PORTABLE POWER-DRIVEN TOOLS; MANIPULATORS
    • B25J—MANIPULATORS; CHAMBERS PROVIDED WITH MANIPULATION DEVICES
    • B25J15/00—Gripping heads and other end effectors
    • B25J15/06—Gripping heads and other end effectors with vacuum or magnetic holding means
    • B25J15/0616—Gripping heads and other end effectors with vacuum or magnetic holding means with vacuum
    • B—PERFORMING OPERATIONS; TRANSPORTING
    • B25—HAND TOOLS; PORTABLE POWER-DRIVEN TOOLS; MANIPULATORS
    • B25J—MANIPULATORS; CHAMBERS PROVIDED WITH MANIPULATION DEVICES
    • B25J9/00—Programme-controlled manipulators
    • B25J9/10—Programme-controlled manipulators characterised by positioning means for manipulator elements

Definitions

  • the invention relates to the field of machinery, in particular to a flexible film material suction mechanism.
  • the flexible film material is very easy to deform, the flexible film material is easily curled, deformed, and even torn during the picking and placement process of the flexible film material, which eventually leads to the failure of the picking and placement of the flexible film material, which not only wastes production costs but also reduces production efficiency.
  • the main purpose of the present invention is to provide a flexible film material suction mechanism, which can not only achieve the effect of the flexible film material suction mechanism through the structural design of the vacuum suction nozzle and the ejector assembly Stable suction, and can also greatly improve the peeling or release efficiency of flexible film materials from the suction nozzle, greatly improving the success rate and efficiency of picking and placing flexible film materials, and contributing to the improvement of production efficiency.
  • a flexible film material suction mechanism which includes:
  • An ejection component which is arranged between the ejection driver and the suction nozzle and is driven by the ejection driver;
  • the ejector component includes:
  • An ejector base connected to the power output end of the ejector driver
  • At least one ejector lever which is rotatably connected with the ejector base near the middle section;
  • An ejection roller rotatably connected with a corresponding one of the ejection levers
  • the front side of the suction nozzle is provided with at least one ejection accommodating groove for accommodating the ejection roller, the extension direction of the ejection accommodating groove is perpendicular to the vertical direction, and the ejection roller is in the top
  • the ejection accommodating groove is selectively entered and exited under the drive of the ejection driver.
  • a vacuum path is opened inside the suction nozzle, and a plurality of vacuum suction holes communicating with the vacuum path are arranged on the front side of the suction nozzle, wherein the vacuum path is connected with vacuum suction holes. Gas source.
  • the ejection lever includes:
  • the ejector roller is rotatably connected to the opening of the ejector cantilever;
  • a linear connecting rod one end of which is fixedly connected to the rear end of the ejector cantilever
  • a pivot pin which is rotatably connected to the junction of the connecting rod and the ejection cantilever, and the ejection lever is pivotally connected to the ejection base through the pivot pin;
  • a reset component which is connected to the ejection base and the other end of the connecting rod, the reset component acts on the connecting rod and can generate an elastic restoring force, so that when the ejection roller is located at the ejection When in the accommodating groove, the ejection cantilever is kept in a horizontal state, and when the ejection roller protrudes from the front side of the suction nozzle, the ejection cantilever is tilted upward.
  • the ejector cantilever forms an included angle ⁇ with the horizontal plane, and the angle of the included angle ⁇ is 1°-5°.
  • the angle size of the included angle ⁇ is 3°.
  • a relief groove is formed in the ejector cantilever, and the suction nozzle is always located in the relief groove.
  • a connecting rod accommodating groove for accommodating the connecting rod is opened in the ejector base.
  • two ejection levers are provided symmetrically with respect to the ejection base.
  • a traverse drive is connected to the suction substrate transmission.
  • One of the above technical solutions has the following advantages or beneficial effects: due to its structural design in which the vacuum suction nozzle is matched with the ejector component, it can not only realize the stable absorption of flexible film materials, but also greatly improve the flexibility. The efficiency of peeling or releasing the film material from the suction nozzle greatly improves the success rate and efficiency of the pick-and-place of the flexible film material and contributes to the improvement of production efficiency.
  • Figure 1 is a perspective view of a flexible film material suction mechanism proposed according to an embodiment of the present invention
  • FIG. 2 is a perspective view of the flexible film material suction mechanism according to an embodiment of the present invention from another perspective;
  • Figure 3 is a perspective view of a flexible film material suction mechanism proposed according to an embodiment of the present invention.
  • FIG. 4 is a perspective view of the ejector component in the flexible film material suction mechanism proposed according to an embodiment of the present invention
  • Fig. 5 is a longitudinal cross-sectional view of the ejector component of the flexible film material suction mechanism proposed according to an embodiment of the present invention.
  • connection refers to the relationship in which these structures are directly or indirectly fixed or attached to each other through intermediate structures, and the movable or rigid attachment or relationship, unless Other ways are clearly stated.
  • the flexible film material suction mechanism includes:
  • the ejector assembly 274 is arranged between the ejector driver 271 and the suction nozzle 273 and is driven by the ejector driver 271;
  • the ejection component 274 includes:
  • An ejector base 2741 connected to the power output end of the ejector driver 271;
  • At least one ejection lever which is rotatably connected with the ejection base 2741 near the middle section;
  • the ejection roller 2743 is rotatably connected with the corresponding one of the ejection levers;
  • the front side of the suction nozzle 273 is provided with at least one ejection accommodating groove 2731 for accommodating the ejection roller 2743, the extension direction of the ejection accommodating groove 2731 is perpendicular to the vertical direction, and the ejection roller The 2743 selectively enters and exits the ejection accommodating groove 2731 under the drive of the ejection driver 271.
  • the suction nozzle 273 is provided with a vacuum air path inside, and a plurality of vacuum suction holes communicating with the vacuum suction hole are arranged on the front side of the suction nozzle 273, wherein the vacuum air path is connected with A source of vacuum.
  • the ejection lever includes:
  • U-shaped ejector cantilever 2742 said ejector roller 2743 is rotatably connected to the opening of said ejector cantilever 2742;
  • a linear connecting rod 2745 one end of which is fixedly connected to the rear end of the ejection cantilever 2742;
  • a rotating pin 2746 which is rotatably connected to the junction of the connecting rod 2745 and the ejection cantilever 2742, and the ejection lever is rotatably connected with the ejection base 2741 through the rotating pin 2746;
  • a resetting member 2747 is connected to the other end of the ejection base 2741 and the connecting rod 2745.
  • the resetting member 2747 acts on the connecting rod 2745 and can generate an elastic restoring force, so that when the ejection roller When 2743 is located in the ejection accommodating groove 2731, the ejection cantilever 2742 remains horizontal, and when the ejection roller 2743 protrudes from the front side of the suction nozzle 273, the ejection cantilever 2742 is inclined upward Cocked.
  • the ejector roller 2743 protrudes from the front side of the suction nozzle 273, the ejector cantilever 2742 forms an angle ⁇ with the horizontal plane, and the angle of the angle ⁇ is 1°-5° .
  • the angle size of the included angle ⁇ is 3°.
  • a relief groove 2744 is formed in the ejection cantilever 2742, and the suction nozzle 273 is always located in the relief groove 2744.
  • the ejector base 2741 is provided with a connecting rod accommodating groove for accommodating the connecting rod 2745.
  • suction substrate 271 is connected with a traverse drive 23 for transmission.

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  • Engineering & Computer Science (AREA)
  • Robotics (AREA)
  • Mechanical Engineering (AREA)
  • Replacement Of Web Rolls (AREA)
  • Container, Conveyance, Adherence, Positioning, Of Wafer (AREA)
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Abstract

一种柔性薄膜物料吸取机构，包括：吸取基板（271）；固定安装于所述吸取基板（271）上的顶出驱动器与吸嘴（273），所述吸嘴（273）设于所述吸取基板（271）的前端；以及顶出组件（274），其设于所述顶出驱动器与吸嘴（273）之间并且由所述顶出驱动器所驱动；其中，所述顶出组件（274）包括：与所述顶出驱动器的动力输出端相连接的顶出基座（2741）；至少一根顶出杠杆，其在中段附近与所述顶出基座（2741）转动连接；以及与相应一根所述顶出杠杆转动连接的顶出辊（2743）。该吸取机构通过真空吸嘴与顶出组件相配合的结构设计，不仅能实现对柔性薄膜物料的稳固吸取，而且也能极大的提高柔性薄膜物料从吸嘴上剥离或释放效率，大大提高了柔性薄膜物料的取放成功率及效率，有助于生产效率的提高。

Description

一种柔性薄膜物料吸取机构 技术领域
本发明涉及机械领域，特别涉及一种柔性薄膜物料吸取机构。
背景技术
在机械领域中，采用不同结构形式的吸取机构来对形如薄膜、粘胶等柔性薄膜物料进行取放是众所周知的。在研究和实现柔性薄膜物料取放的过程中，发明人发现现有技术中的吸取机构至少存在如下问题：
由于柔性薄膜物料极易变形，由此造成柔性薄膜物料的取放过程极易发生卷曲、变形、甚至撕毁等问题，最终导致柔性薄膜物料的取放失败，不仅浪费生产成本也降低了生产效率。
有鉴于此，实有必要开发一种柔性薄膜物料吸取机构，用以解决上述问题。
发明内容
针对现有技术中存在的不足之处，本发明的主要目的是，提供一种柔性薄膜物料吸取机构，其通过真空吸嘴与顶出组件相配合的结构设计，不仅能实现对柔性薄膜物料的稳固吸取，而且也能极大的提高柔性薄膜物料从吸嘴上剥离或释放效率，大大提高了柔性薄膜物料的取放成功率及效率，有助于生产效率的提高。
为了实现根据本发明的上述目的和其他优点，提供了一种柔性薄膜物料吸取机构，包括：
吸取基板；
固定安装于所述吸取基板上的顶出驱动器与吸嘴，所述吸嘴设于所述吸取基板的前端；以及
顶出组件，其设于所述顶出驱动器与吸嘴之间并且由所述顶出驱动器所驱动；
其中，所述顶出组件包括：
与所述顶出驱动器的动力输出端相连接的顶出基座；
至少一根顶出杠杆，其在中段附近与所述顶出基座转动连接；以及
与相应一根所述顶出杠杆转动连接的顶出辊；
其中，所述吸嘴的前侧开设有至少一个用于容纳顶出辊的顶出容纳槽，所述顶出容纳槽的延伸方向与竖直方向相垂直，所述顶出辊在所述顶出驱动器的驱动下选择性进出所述顶出容纳槽。
可选的，所述吸嘴的内部开设有真空气路，所述吸嘴的前侧布置有多个与所述真空气路相连通的真空吸取孔，其中，所述真空气路连通有真空气源。
可选的，所述顶出杠杆包括：
U字形的顶出悬臂，所述顶出辊转动连接于所述顶出悬臂的开口处；
直线形的连接杆，其一端固定连接于所述顶出悬臂的后端；
转销，其转动连接于所述连接杆与所述顶出悬臂的相接处，所述顶出杠杆通过所述转销与所述顶出基座转动连接；以及
复位部件，其连接于所述顶出基座与所述连接杆的另一端，所述复位部件作用于所述连接杆并且可产生弹性回复力，使得当所述顶出辊位于所述顶出容纳槽中时，所述顶出悬臂保持水平状态，而当所述顶出辊突出于所述吸嘴的前侧面时，所述顶出悬臂斜向上翘起。
可选的，当所述顶出辊突出于所述吸嘴的前侧面时，所述顶出悬臂与水平面间成夹角α，所述夹角α的角度大小为1°～5°。
可选的，所述夹角α的角度大小为3°。
可选的，所述顶出悬臂中形成有让位槽，所述吸嘴始终位于所述让位槽中。
可选的，所述顶出基座中开设有用于容纳连接杆的连接杆容纳槽。
可选的，所述顶出杠杆关于所述顶出基座对称地设有两个。
可选的，所述吸取基板传动连接有横移驱动器。
上述技术方案中的一个技术方案具有如下优点或有益效果：由于其通过真空吸嘴与顶出组件相配合的结构设计，不仅能实现对柔性薄膜物料的稳固吸取，而且也能极大的提高柔性薄膜物料从吸嘴上剥离或释放效率，大大提高了柔性薄膜物料的取放成功率及效率，有助于生产效率的提高。
附图说明
图1为根据本发明一个实施方式提出的柔性薄膜物料吸取机构的立体图；
图2为根据本发明一个实施方式提出的柔性薄膜物料吸取机构在另一视角下的立体图；
图3为根据本发明一个实施方式提出的柔性薄膜物料吸取机构的立体图；
图4为根据本发明一个实施方式提出的柔性薄膜物料吸取机构中顶出组件的立体图；
图5为根据本发明一个实施方式提出的柔性薄膜物料吸取机构中顶出组件的纵向剖视图。
具体实施方式
下面将结合本发明实施方式中的附图，对本发明实施方式中的技术方案进行清楚、完整的描述，显然，所描述的实施方式仅仅是本发明一部分实施方式，而不是全部的实施方式。基于本发明中的实施方式，本领域普通技术人员在没有做出创造性劳动前提下所获得的所有其他实施例，都属于本发明保护的范围。
在附图中，为清晰起见，可对形状和尺寸进行放大，并将在所有图中使用相同的附图标记来指示相同或相似的部件。
在下列描述中，诸如中心、厚度、高度、长度、前部、背部、后部、左边、右边、顶部、底部、上部、下部等用词是相对于各附图中所示的构造进行定义的，特别地，“高度”相当于从顶部到底部的尺寸，“宽度”相当于从左边到右边的尺寸，“深度”相当于从前到后的尺寸，它们是相对的概念，因此有可能会根据其所处不同位置、不同使用状态而进行相应地变化，所以，也不应当将这些或者其他的方位用于解释为限制性用语。
涉及附接、联接等的术语(例如，“连接”和“附接”)是指这些结构通过中间结构彼此直接或间接固定或附接的关系、以及可动或刚性附接或关系， 除非以其他方式明确地说明。
根据本发明的一实施方式结合图1～图5的示出，可以看出，柔性薄膜物料吸取机构包括：
吸取基板271；
固定安装于所述吸取基板271上的顶出驱动器271与吸嘴273，所述吸嘴273设于所述吸取基板271的前端；以及
顶出组件274，其设于所述顶出驱动器271与吸嘴273之间并且由所述顶出驱动器271所驱动；
其中，所述顶出组件274包括：
与所述顶出驱动器271的动力输出端相连接的顶出基座2741；
至少一根顶出杠杆，其在中段附近与所述顶出基座2741转动连接；以及
与相应一根所述顶出杠杆转动连接的顶出辊2743；
其中，所述吸嘴273的前侧开设有至少一个用于容纳顶出辊2743的顶出容纳槽2731，所述顶出容纳槽2731的延伸方向与竖直方向相垂直，所述顶出辊2743在所述顶出驱动器271的驱动下选择性进出所述顶出容纳槽2731。
进一步地，所述吸嘴273的内部开设有真空气路，所述吸嘴273的前侧布置有多个与所述真空气路相连通的真空吸取孔，其中，所述真空气路连通有真空气源。
进一步地，所述顶出杠杆包括：
U字形的顶出悬臂2742，所述顶出辊2743转动连接于所述顶出悬臂2742的开口处；
直线形的连接杆2745，其一端固定连接于所述顶出悬臂2742的后端；
转销2746，其转动连接于所述连接杆2745与所述顶出悬臂2742的相接处，所述顶出杠杆通过所述转销2746与所述顶出基座2741转动连接；以及
复位部件2747，其连接于所述顶出基座2741与所述连接杆2745的另一端，所述复位部件2747作用于所述连接杆2745并且可产生弹性回复力，使得当所述顶出辊2743位于所述顶出容纳槽2731中时，所述顶出悬臂2742保持水平状态，而当所述顶出辊2743突出于所述吸嘴273的前侧面时，所述顶出悬臂2742斜向上翘起。
进一步地，当所述顶出辊2743突出于所述吸嘴273的前侧面时，所述顶出悬臂2742与水平面间成夹角α，所述夹角α的角度大小为1°～5°。
进一步地，所述夹角α的角度大小为3°。
进一步地，所述顶出悬臂2742中形成有让位槽2744，所述吸嘴273始终位于所述让位槽2744中。
进一步地，所述顶出基座2741中开设有用于容纳连接杆2745的连接杆容纳槽。
进一步地，所述顶出杠杆关于所述顶出基座2741对称地设有两个。
进一步地，所述吸取基板271传动连接有横移驱动器23。
这里说明的设备数量和处理规模是用来简化本发明的说明的。对本发明的应用、修改和变化对本领域的技术人员来说是显而易见的。
尽管本发明的实施方案已公开如上，但其并不仅限于说明书和实施方式中所列运用，它完全可以被适用于各种适合本发明的领域，对于熟悉本领域的人员而言，可容易地实现另外的修改，因此在不背离权利要求及等同范围所限定的一般概念下，本发明并不限于特定的细节和这里示出与描述的图例。

Claims (9)

  1. 一种柔性薄膜物料吸取机构，其特征在于，包括：
    吸取基板(271)；
    固定安装于所述吸取基板(271)上的顶出驱动器(271)与吸嘴(273)，所述吸嘴(273)设于所述吸取基板(271)的前端；以及
    顶出组件(274)，其设于所述顶出驱动器(271)与吸嘴(273)之间并且由所述顶出驱动器(271)所驱动；
    其中，所述顶出组件(274)包括：
    与所述顶出驱动器(271)的动力输出端相连接的顶出基座(2741)；
    至少一根顶出杠杆，其在中段附近与所述顶出基座(2741)转动连接；以及
    与相应一根所述顶出杠杆转动连接的顶出辊(2743)；
    其中，所述吸嘴(273)的前侧开设有至少一个用于容纳顶出辊(2743)的顶出容纳槽(2731)，所述顶出容纳槽(2731)的延伸方向与竖直方向相垂直，所述顶出辊(2743)在所述顶出驱动器(271)的驱动下选择性进出所述顶出容纳槽(2731)。
  2. 如权利要求1所述的柔性薄膜物料吸取机构，其特征在于，所述吸嘴(273)的内部开设有真空气路，所述吸嘴(273)的前侧布置有多个与所述真空气路相连通的真空吸取孔，其中，所述真空气路连通有真空气源。
  3. 如权利要求1所述的柔性薄膜物料吸取机构，其特征在于，所述顶出杠杆包括：
    U字形的顶出悬臂(2742)，所述顶出辊(2743)转动连接于所述顶出悬臂(2742)的开口处；
    直线形的连接杆(2745)，其一端固定连接于所述顶出悬臂(2742)的后端；
    转销(2746)，其转动连接于所述连接杆(2745)与所述顶出悬臂(2742)的相接处，所述顶出杠杆通过所述转销(2746)与所述顶出基座(2741)转动连接；以及
    复位部件(2747)，其连接于所述顶出基座(2741)与所述连接杆(2745) 的另一端，所述复位部件(2747)作用于所述连接杆(2745)并且可产生弹性回复力，使得当所述顶出辊(2743)位于所述顶出容纳槽(2731)中时，所述顶出悬臂(2742)保持水平状态，而当所述顶出辊(2743)突出于所述吸嘴(273)的前侧面时，所述顶出悬臂(2742)斜向上翘起。
  4. 如权利要求3所述的柔性薄膜物料吸取机构，其特征在于，当所述顶出辊(2743)突出于所述吸嘴(273)的前侧面时，所述顶出悬臂(2742)与水平面间成夹角α，所述夹角α的角度大小为1°～5°。
  5. 如权利要求4所述的柔性薄膜物料吸取机构，其特征在于，所述夹角α的角度大小为3°。
  6. 如权利要求3所述的柔性薄膜物料吸取机构，其特征在于，所述顶出悬臂(2742)中形成有让位槽(2744)，所述吸嘴(273)始终位于所述让位槽(2744)中。
  7. 如权利要求3所述的柔性薄膜物料吸取机构，其特征在于，所述顶出基座(2741)中开设有用于容纳连接杆(2745)的连接杆容纳槽。
  8. 如权利要求1所述的柔性薄膜物料吸取机构，其特征在于，所述顶出杠杆关于所述顶出基座(2741)对称地设有两个。
  9. 如权利要求1所述的柔性薄膜物料吸取机构，其特征在于，所述吸取基板(271)传动连接有横移驱动器(23)。
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