CN107671879A - A kind of multi-functional grate robot clamp - Google Patents
A kind of multi-functional grate robot clamp Download PDFInfo
- Publication number
- CN107671879A CN107671879A CN201711126557.XA CN201711126557A CN107671879A CN 107671879 A CN107671879 A CN 107671879A CN 201711126557 A CN201711126557 A CN 201711126557A CN 107671879 A CN107671879 A CN 107671879A
- Authority
- CN
- China
- Prior art keywords
- grate
- glue post
- clamping
- gripper
- clamping device
- Prior art date
- Legal status (The legal status is an assumption and is not a legal conclusion. Google has not performed a legal analysis and makes no representation as to the accuracy of the status listed.)
- Granted
Links
- 239000003292 glue Substances 0.000 claims abstract description 50
- 230000000712 assembly Effects 0.000 claims abstract description 18
- 238000000429 assembly Methods 0.000 claims abstract description 18
- 230000033001 locomotion Effects 0.000 claims abstract description 9
- 230000003028 elevating effect Effects 0.000 claims description 4
- 238000004519 manufacturing process Methods 0.000 description 3
- 238000004080 punching Methods 0.000 description 3
- 238000000034 method Methods 0.000 description 2
- 238000005452 bending Methods 0.000 description 1
- 230000000694 effects Effects 0.000 description 1
- 238000005516 engineering process Methods 0.000 description 1
- 230000007774 longterm Effects 0.000 description 1
- 239000000463 material Substances 0.000 description 1
- 229920002120 photoresistant polymer Polymers 0.000 description 1
- 238000003825 pressing Methods 0.000 description 1
- 238000012216 screening Methods 0.000 description 1
- 239000004065 semiconductor Substances 0.000 description 1
Classifications
-
- 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
- B25J15/02—Gripping heads and other end effectors servo-actuated
-
- 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
- B25J15/0052—Gripping heads and other end effectors multiple gripper units or multiple end effectors
Landscapes
- Engineering & Computer Science (AREA)
- Robotics (AREA)
- Mechanical Engineering (AREA)
- Manipulator (AREA)
- Coating Apparatus (AREA)
Abstract
A kind of multi-functional grate robot clamp, including jig frame, the flange for connecting robot is provided with the jig frame；The grate clamping device for clamping upper grate and lower grate is provided with jig frame, and for clamping the glue post clamping device of glue post；Grate clamping device includes the first gripper cylinder and gripper jaw, and gripper jaw sets two or more and is distributed in holding station both sides, and the first gripper cylinder sets more than one and at least drives a gripper jaw to move back and forth, and makes the gripper jaw of both sides close to each other or remote；Glue post clamping device is arranged on the inside of holding station, it includes one group to glue post clamp assemblies, the glue post clamp assemblies include one second gripper cylinder and two grip blocks, and the second gripper cylinder drives one piece or two pieces of grip blocks reciprocating motions, so that two grip blocks are close to each other or remote.The present invention makes it to clamp grate and glue post up and down simultaneously by the way that grate clamping device and glue post clamping device are integrated on same fixture.
Description
Technical field
The present invention relates to a kind of robot clamp, more particularly to a kind of multi-functional grate robot clamp.
Background technology
The punching production flow of component semiconductor includes at present：1. by manually lower grate is put on arranging machine, screening
Machine arranges product according to the technique of punching press；2. manually upper grate is put on arranging machine together with being coincide with lower grate, production
Product are steadily clipped in the inside；3. glue post is put into the glue post machine sequenced using the locating rack taken, it is ensured that after glue post is put well,
Locating rack is taken out, starts stamping machine work；4. upper and lower grate band product is put on resist remover together again after the completion of punching press, enter
Capable processing of removing photoresist, to obtain final finished product.It can be seen that in whole process, it is required for manually repeatedly picking and placeing grate and locating rack,
Such work degree is big, complicated, it is easy to causes employee tired, it is also possible to and occur and misplace position, cause product bad,
The speed of production of product is slow, long-term in this way, employee's body can be caused to overwork, or even to dedicate one's life to body fatigued, it was reported that display, state
Had there is age fault-layer-phenomenon already in state-owned enterprise, with the labor cost more and more higher of the country, it is necessary to taken using automatic system
In generation, manually completes related work.Therefore, it is necessary to it is further improved.
The content of the invention
The purpose of the present invention aims to provide a kind of simple and reasonable, dependable performance, reduces labor intensity, operating efficiency
Multi-functional grate robot clamp high, that upper and lower grate and glue post can be gripped simultaneously, to overcome weak point of the prior art.
By a kind of multi-functional grate robot clamp of this purpose design, including jig frame, set in the jig frame
There is the flange for connecting robot, it is characterised in that：It is provided with the jig frame for clamping grate and lower grate
Grate clamping device, and for clamping the glue post clamping device of glue post；The grate clamping device includes the first gripper cylinder
And gripper jaw, gripper jaw set two or more and are distributed in holding station both sides, the first gripper cylinder set more than one and extremely
Drive a gripper jaw to move back and forth less, make the gripper jaw of both sides close to each other or remote；The glue post clamping device is arranged at folder
Hold on the inside of station, it includes one group to glue post clamp assemblies, and the glue post clamp assemblies include one second gripper cylinder and two folders
Block is held, the second gripper cylinder drives one piece or two pieces of grip blocks reciprocating motions, so that two grip blocks are close to each other or remote.
The mobile support to reciprocatingly slide, grate clamping device and glue post clamping device difference are provided with the jig frame
It is arranged on the movement support, and is reciprocatingly slided with mobile support opposed jaw framework, holding station is located at below mobile support.
The glue post clamp assemblies also include being used for the lift cylinder for driving the second gripper cylinder elevating movement, the first clamping
The cylinder body of cylinder and the cylinder body of lift cylinder are individually fixed on mobile support.
The fixed component for upper grate to be pressed on lower grate is provided with the jig frame, the fixed component bottom
Portion's bending and pressing is acted on grate, and gripper jaw bottom is provided with the clamp port for being used for clamping upper grate and lower grate simultaneously.
Two grip blocks in the glue post clamp assemblies are symmetrical set, and are respectively equipped with more than one on two grip blocks
Profiling jaws, on two grip blocks mutually corresponding to profiling jaws be combined into clamping position for clamping glue post.
One first gripper cylinder complements one another with a gripper jaw to be combined and sets even number set, the gripper jaw of holding station both sides
Symmetrical two-by-two, each first gripper cylinder works simultaneously；The glue post clamp assemblies symmetrically set even number set, the clamping of glue post two-by-two
The second gripper cylinder in component drives two grip blocks to move back and forth simultaneously.
The present invention makes it to clamp simultaneously by the way that grate clamping device and glue post clamping device are integrated on same fixture
Upper and lower grate and glue post, without the artificial labor intensity for participating in work, greatly reducing worker, and operating efficiency carries significantly
Rise, the upper discharge position of workpiece is accurate, safe to use；Multiple devices setting nothing is kept an eye on using a people after this fixture, can be achieved
The effect that people keeps an eye on, greatly reduces cost of labor.
Brief description of the drawings
Fig. 1 and Fig. 2 is respectively the stereogram of one embodiment of the invention different azimuth.
Fig. 3 is the front view of one embodiment of the invention.
Fig. 4 is the top view of one embodiment of the invention.
Fig. 5 and Fig. 6 is respectively the working state schematic representation of one embodiment of the invention different azimuth.
Fig. 7 is the layout viewing of workpiece in one embodiment of the invention.
Embodiment
Below in conjunction with the accompanying drawings and embodiment the invention will be further described.
Referring to Fig. 1-Fig. 7, this multi-functional grate robot clamp, including jig frame 2, the top side of jig frame 2
It is provided with the flange 1 for connecting robot；The bottom of jig frame 2 is provided with the stove for clamping upper grate A1 and lower grate A2
Frame clamping device, and for clamping glue post A3 glue post clamping device；Grate clamping device includes the first gripper cylinder 6 and clamping
Pawl 7, one first gripper cylinder 6 complements one another with a gripper jaw 7 to be combined and sets even number set, and gripper jaw 7 is distributed in holding station b
Both sides and symmetrical two-by-two, each first gripper cylinder 6 drives the gripper jaw 7 supporting with it to move back and forth simultaneously, makes the clamping of both sides
Pawl 7 is close to each other or remote, reaches the purpose of grate above and below clamping or unloading；Glue post clamping device is arranged in holding station b
Side, it includes four groups of glue post clamp assemblies, and each glue post clamp assemblies include one second gripper cylinder 9 and two grip blocks 10, and second
Gripper cylinder 9 drives two pieces of grip blocks 10 to move back and forth simultaneously so that two grip blocks 10 are close to each other or remote, reach clamping or
Unload glue post A3 purpose.This fixture can clamp grate and glue post A3 up and down simultaneously, can cancel the frequent operation of worker, effectively drop
The labor intensity of low worker, operating efficiency improve, work quality lifting, further, since its automaticity is high, so can realize
One people keeps an eye on multiple devices, or even unattended, greatly reduces cost of labor, and meets the automation requirement of industry 4.0.
Furtherly, the bottom of jig frame 2 is provided with the mobile support 5 to reciprocatingly slide, to improve the smoothness slided, folder
Rail plate 3 and sliding block are provided between tool framework 2 and mobile support 5, rail plate 3 is fixed in jig frame 2, mobile branch
Frame 5 is fixed on sliding block, and sliding block is slided on rail plate 3, makes the slip for moving the opposed jaw framework 2 of support 5 smooth reliable；
Grate clamping device and glue post clamping device are respectively arranged on the movement support 5, and with the mobile opposed jaw framework 2 of support 5
Reciprocatingly slide, holding station b is located at the mobile lower section of support 5.Mobile support 5 can drive grate clamping device and glue post clamping device
The upper material position for reaching associated workpiece carries out feeding.
Furtherly, glue post clamp assemblies also include being used for the lift cylinder 4 for driving the elevating movement of the second gripper cylinder 9,
The cylinder body of first gripper cylinder 6 and the cylinder body of lift cylinder 4 are individually fixed on mobile support 5, pass through the clamping gas of control second
The elevating movement of cylinder 9, lifts grip block 10, to transport and unload glue post A3.
Furtherly, the bottom of jig frame 2 extends downwardly the fixation for upper grate A1 to be pressed on lower grate A2
Part 8, it is ensured that upper grate A1 is closely pressed on lower grate A2, and then make product A4 it is firm be clamped in grate A1 and lower stove
Between frame A2；The bottom fold of fixed component 8 and press act on grate A1, the bottom of gripper jaw 7 be provided be used for press from both sides simultaneously
Hold grate A1 and lower grate A2 clamp port 7.1.
Furtherly, two grip blocks 10 in glue post clamp assemblies are symmetrical set, and line is distinguished on two grip blocks 10
Property be placed with eight profiling jaws 10.1, on two grip blocks 10 mutually corresponding to profiling jaws 10.1 be combined into for clamping glue post
A3 clamping position, i.e., each glue post clamp assemblies can clamp eight glue post A3 simultaneously.
The above-mentioned preferred scheme for the present invention, general principle, principal character and the present invention of the present invention has been shown and described
The advantages of.Those skilled in the art should be recognized that the present invention is not limited to the above embodiments, above-described embodiment and specification
Described in merely illustrate the principles of the invention, without departing from the spirit and scope of the present invention the present invention also have it is various
Changes and improvements, these changes and improvements all fall within the protetion scope of the claimed invention.The claimed scope of the invention is by institute
Attached claims and its equivalent define.
Claims (6)
1. a kind of multi-functional grate robot clamp, including jig frame (2), it is provided with the jig frame (2) for connecting
The flange (1) of robot, it is characterised in that：It is provided with the jig frame (2) for clamping grate (A1) and lower grate
(A2) grate clamping device, and for clamping the glue post clamping device of glue post (A3)；The grate clamping device includes first
Gripper cylinder (6) and gripper jaw (7), gripper jaw (7) set two or more and are distributed in holding station (b) both sides, the first clamping
Cylinder (6) more than one is set and at least drive a gripper jaw (7) move back and forth, make the gripper jaw (7) of both sides close to each other or
It is remote；The glue post clamping device is arranged on the inside of holding station (b), and it includes one group to glue post clamp assemblies, the glue post
Clamp assemblies include one second gripper cylinder (9) and two grip blocks (10), and the second gripper cylinder (9) drives one piece or two pieces clamping
Block (10) moves back and forth, so that two grip blocks (10) are close to each other or remote.
2. multi-functional grate robot clamp according to claim 1, it is characterised in that：Set on the jig frame (2)
There is the mobile support (5) to reciprocatingly slide, grate clamping device and glue post clamping device are respectively arranged on the movement support (5),
And reciprocatingly slided with mobile support (5) opposed jaw framework (2), holding station (b) is located at below mobile support (5).
3. multi-functional grate robot clamp according to claim 2, it is characterised in that：The glue post clamp assemblies also include
For driving the lift cylinder (4) of the second gripper cylinder (9) elevating movement, the cylinder body and lift cylinder of the first gripper cylinder (6)
(4) cylinder body is individually fixed on mobile support (5).
4. multi-functional grate robot clamp according to claim 3, it is characterised in that：Set on the jig frame (2)
There is the fixed component (8) for upper grate (A1) to be pressed on lower grate (A2), fixed component (8) bottom fold simultaneously presses
Act on grate (A1), gripper jaw (7) bottom is provided with the clamping for being used for clamping upper grate (A1) and lower grate (A2) simultaneously
Mouth (7.1).
5. multi-functional grate robot clamp according to claim 4, it is characterised in that：Two in the glue post clamp assemblies
Grip block (10) is symmetrical set, and more than one profiling jaws (10.1) is respectively equipped with two grip blocks (10), two clampings
Mutually corresponding profiling jaws (10.1) is combined into the clamping position for clamping glue post (A3) on block (10).
6. according to any one of the claim 1-5 multi-functional grate robot clamps, it is characterised in that：One first gripper cylinder
(6) being complemented one another with a gripper jaw (7) and combine and even number set is set, the gripper jaw (7) of holding station (b) both sides is symmetrical two-by-two,
Each first gripper cylinder (6) works simultaneously；The glue post clamp assemblies symmetrically set even number set two-by-two, in glue post clamp assemblies
The second gripper cylinder (9) and meanwhile drive two grip blocks (10) move back and forth.
Priority Applications (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201711126557.XA CN107671879B (en) | 2017-11-15 | 2017-11-15 | Multifunctional furnace frame robot clamp |
Applications Claiming Priority (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201711126557.XA CN107671879B (en) | 2017-11-15 | 2017-11-15 | Multifunctional furnace frame robot clamp |
Publications (2)
| Publication Number | Publication Date |
|---|---|
| CN107671879A true CN107671879A (en) | 2018-02-09 |
| CN107671879B CN107671879B (en) | 2020-02-11 |
Family
ID=61149016
Family Applications (1)
| Application Number | Title | Priority Date | Filing Date |
|---|---|---|---|
| CN201711126557.XA Expired - Fee Related CN107671879B (en) | 2017-11-15 | 2017-11-15 | Multifunctional furnace frame robot clamp |
Country Status (1)
| Country | Link |
|---|---|
| CN (1) | CN107671879B (en) |
Cited By (3)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN112060122A (en) * | 2020-08-31 | 2020-12-11 | 西安精雕精密机械工程有限公司 | Integrated pneumatic double-claw bar grabbing mechanism |
| CN112079118A (en) * | 2020-09-22 | 2020-12-15 | 西安工程大学 | Automatic sand filling and feeding and discharging device for fuse |
| CN115092433A (en) * | 2022-06-13 | 2022-09-23 | 杭州高田生物医药有限公司 | Sterile pinch device, system and method for penicillin bottle |
Citations (7)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| JPH0999457A (en) * | 1995-10-06 | 1997-04-15 | Kanto Auto Works Ltd | Injection molding taking-out machine |
| CN201371545Y (en) * | 2009-03-18 | 2009-12-30 | 吴邦文 | Automatic feeding-gripping device of head injection machine |
| CN203956918U (en) * | 2014-06-27 | 2014-11-26 | 上海朗煜电子科技有限公司 | For the robotic arm grasping mechanism of visual identity grabbing device |
| CN204604726U (en) * | 2015-04-30 | 2015-09-02 | 苏州千裕电子科技有限公司 | A kind of manipulator splitlevel fixture |
| CN105252542A (en) * | 2015-10-30 | 2016-01-20 | 无锡大东机械制造有限公司 | Double-position adjustable robot palletizer clamp |
| CN105600429A (en) * | 2016-03-04 | 2016-05-25 | 宁夏机械研究院股份有限公司 | Novel multifunctional grabbing manipulator |
| CN206383402U (en) * | 2016-12-28 | 2017-08-08 | 深圳华数机器人有限公司 | A kind of workpiece quick fetching fixture for injection machine |
-
2017
- 2017-11-15 CN CN201711126557.XA patent/CN107671879B/en not_active Expired - Fee Related
Patent Citations (7)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| JPH0999457A (en) * | 1995-10-06 | 1997-04-15 | Kanto Auto Works Ltd | Injection molding taking-out machine |
| CN201371545Y (en) * | 2009-03-18 | 2009-12-30 | 吴邦文 | Automatic feeding-gripping device of head injection machine |
| CN203956918U (en) * | 2014-06-27 | 2014-11-26 | 上海朗煜电子科技有限公司 | For the robotic arm grasping mechanism of visual identity grabbing device |
| CN204604726U (en) * | 2015-04-30 | 2015-09-02 | 苏州千裕电子科技有限公司 | A kind of manipulator splitlevel fixture |
| CN105252542A (en) * | 2015-10-30 | 2016-01-20 | 无锡大东机械制造有限公司 | Double-position adjustable robot palletizer clamp |
| CN105600429A (en) * | 2016-03-04 | 2016-05-25 | 宁夏机械研究院股份有限公司 | Novel multifunctional grabbing manipulator |
| CN206383402U (en) * | 2016-12-28 | 2017-08-08 | 深圳华数机器人有限公司 | A kind of workpiece quick fetching fixture for injection machine |
Cited By (3)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN112060122A (en) * | 2020-08-31 | 2020-12-11 | 西安精雕精密机械工程有限公司 | Integrated pneumatic double-claw bar grabbing mechanism |
| CN112079118A (en) * | 2020-09-22 | 2020-12-15 | 西安工程大学 | Automatic sand filling and feeding and discharging device for fuse |
| CN115092433A (en) * | 2022-06-13 | 2022-09-23 | 杭州高田生物医药有限公司 | Sterile pinch device, system and method for penicillin bottle |
Also Published As
| Publication number | Publication date |
|---|---|
| CN107671879B (en) | 2020-02-11 |
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| PB01 | Publication | ||
| PB01 | Publication | ||
| SE01 | Entry into force of request for substantive examination | ||
| SE01 | Entry into force of request for substantive examination | ||
| GR01 | Patent grant | ||
| GR01 | Patent grant | ||
| CF01 | Termination of patent right due to non-payment of annual fee |
Granted publication date: 20200211 |