Material taking robot and injection molding and stamping equipment having the material taking robot

Abstract

The present invention discloses a material picking robot and an injection molding and stamping equipment having the material picking robot. The material picking robot comprises a first hinged part, provided with a clearance hole; a first hinge seat is extended toward the clearance hole on the side wall in the clearance hole; a second hinged part, provided with a second hinge seat is extended toward the clearance hole; a first clamping part, the first hinge seat and the second hinge seat are respectively hinged to the first clamping part at a first hinge point and a second hinge point, the first hinge point and the second hinge point are both located at the first end of the first clamping part; a second clamping part is connected to the first hinge; a clamping drive mechanism, the first hinge and the second hinge are respectively connected to the clamping drive mechanism. The material picking robot of the present invention has the advantages of simple and compact structure, stable operation, stable clamping, easy assembly, low manufacturing cost, strong compatibility and the like.

Description

Technical Field

[0001] The invention relates to the technical field of injection molding, in particular to a material taking manipulator and injection molding stamping equipment having the material taking manipulator. Background Art

[0002] Semiconductor devices are electronic devices with conductivity between good conductors and insulators. They use the special electrical properties of semiconductor materials to perform specific functions. They can be used to generate, control, receive, transform, amplify signals and perform energy conversion.

[0003] With the development of technology, miniaturization and multifunctionalization of electronic products have become the main development direction. The miniaturization of electronic products requires that semiconductor devices not only need to be smaller in size, but also need to ensure their structural strength and anti-pollution and anti-corrosion performance. Therefore, it is necessary to use injection molding to encapsulate semiconductor devices; however, in the existing technology, the unloading of semiconductor injection molding packaging boards still requires manual unloading, which has low production efficiency and greatly restricts the development of intelligent devices. Therefore, providing a retrieving manipulator with a simple and compact structure, stable operation, and stable clamping has become a problem that must be solved at present. Summary of the invention

[0004] The technical problem solved by the present invention is to provide a material taking manipulator with a simple and compact structure and stable clamping, and an injection molding and stamping equipment with the material taking manipulator.

[0005] In one aspect, the present invention discloses a material retrieving manipulator, the material retrieving manipulator comprising:

[0006] The first hinged member is provided with a clearance hole; a first hinged seat is provided on a side wall in the clearance hole and extends toward the clearance hole;

[0007] A second hinged member, extending toward the clearance hole and provided with a second hinged seat;

[0008] A first clamping member, wherein the first hinge seat and the second hinge seat are hinged to the first clamping member at a first hinge point and a second hinge point respectively, and the first hinge point and the second hinge point are both located at a first end of the first clamping member;

[0009] a second clamping member connected to the first hinged member;

[0010] A clamping drive mechanism, wherein the first hinge and the second hinge are respectively connected to the clamping drive mechanism; the first hinge is driven by the clamping drive mechanism to move relative to the second hinge, thereby driving the first end of the first clamping member to move, so that the second end of the first clamping member and the second clamping member clamp the material together.

[0011] Preferably, a third hinge seat is further extended toward the making way hole on the side wall in the making way hole, and the third hinge seat and the first hinge seat are arranged on two side walls in opposite positions in the making way hole facing each other;

[0012] The second hinge seat and the third hinge seat are hinged to the second clamping member at a third hinge point and a fourth hinge point respectively, and the third hinge point and the fourth hinge point are both located at the first end of the second clamping member;

[0013] The first hinge member moves relative to the second hinge member to drive the first end of the second clamping member to move, so that the second end of the first clamping member and the second end of the second clamping member clamp the material together.

[0014] Preferably, the first clamping member comprises:

[0015] A hinge portion, disposed at the first end of the first clamping member, and hingedly connected to the first hinge seat and the second hinge seat respectively;

[0016] A connecting arm, wherein a first end of the connecting arm is connected to the hinge portion, and a second end of the connecting arm is inclined and extends downward in a direction away from the second clamping member;

[0017] A clamping portion, wherein a first end of the clamping portion is connected to the second end of the connecting arm.

[0018] Preferably, the first clamping member further comprises:

[0019] The supporting portion is connected to the second end of the clamping portion and forms an L-shaped structure with the clamping portion.

[0020] Preferably, the hinge portion is provided with a first hinge hole and a second hinge hole side by side, and the first hinge hole and the second hinge hole are located at the first hinge point and the second hinge point respectively.

[0021] Preferably, the first hinge seat and the third hinge seat are detachably connected to the first hinge member respectively.

[0022] Preferably, the first hinged member is provided with a limiting groove matched with the first hinged seat, and the limiting groove is provided on the side wall in the clearance hole.

[0023] Preferably, a through hole is provided on the second hinge, and the body of the clamping drive mechanism is arranged on the side of the second hinge facing away from the first hinge; the pushing rod of the clamping drive mechanism passes through the through hole and is connected to the first hinge.

[0024] Preferably, the material retrieving manipulator further comprises:

[0025] The connecting seat is connected to a side of the second hinged member facing away from the first hinged member and is provided with an accommodating groove for accommodating the clamping drive mechanism.

[0026] On the other hand, the present invention further discloses an injection molding and stamping equipment, comprising a material picking robot, wherein the material picking robot is the material picking robot described above.

[0027] In summary, the present invention provides a material picking robot and an injection molding and stamping equipment having the material picking robot; the material picking robot includes a first hinged part, provided with a clearance hole; a first hinged seat is extended toward the clearance hole on the side wall in the clearance hole; a second hinged part, a second hinged seat is extended toward the clearance hole; a first clamping part, the first hinged seat and the second hinged seat are respectively hinged to the first clamping part at a first hinge point and a second hinge point, the first hinge point and the second hinge point are both located at the first end of the first clamping part; a second clamping part is connected to the first hinged part; a clamping drive mechanism, the first hinged part and the second hinged part are respectively connected to the clamping drive mechanism; the first hinged part is driven by the clamping drive mechanism to move relative to the second hinged part, thereby driving the first end of the first clamping part to move, so that the second end of the first clamping part and the second clamping part clamp the material together. Therefore, the material picking robot provided by the present invention has the advantages of simple and compact structure, stable operation, and stable clamping. BRIEF DESCRIPTION OF THE DRAWINGS

[0028] Figure 1 It is a structural schematic diagram of a first perspective of a preferred embodiment of the material retrieving robot holding materials of the present invention.

[0029] Figure 2 It is a structural schematic diagram from a second perspective of a preferred embodiment of the material retrieving robot holding materials of the present invention.

[0030] Figure 3 yes Figure 2 A magnified schematic diagram of area A in the middle.

[0031] Figure 4 It is a structural schematic diagram of the coordination of some components of a preferred embodiment of the material reclaiming robot of the present invention. DETAILED DESCRIPTION

[0032] The present invention is described in detail below in conjunction with the accompanying drawings and embodiments. It should be noted that, if there is no conflict, the embodiments of the present invention and the various features in the embodiments can be combined with each other, all within the protection scope of the present invention.

[0033] See also Figures 1 to 4 The present invention discloses a material retrieving manipulator, the material retrieving manipulator comprising:

[0034] The variable pitch drive mechanism 1 comprises a sliding guide rail 1a, a first clamping jaw 1b movably connected to the sliding guide rail 1a, a second clamping jaw 1c movably connected to the sliding guide rail 1a, and a driving component (not shown in the figure) for driving the first clamping jaw 1b and the second clamping jaw 1c to move toward each other or away from each other; the first clamping jaw 1b and the second clamping jaw 1c are arranged in opposite positions;

[0035] The limiter 2 is connected to the variable distance driving mechanism 1 and is used to limit the travel of the first clamping jaw 1b in the direction away from the second clamping jaw 1c, so as to adapt to the distance between materials when taking materials.

[0036] A first manipulator 3, connected to the first clamping claw 1b, for clamping the first material 71;

[0037] The second manipulator 4 is connected to the second clamping claw 1c and is used to clamp the second material 72; the material taking manipulator and the second manipulator 4 are arranged side by side;

[0038] The variable pitch drive mechanism 1 drives the material retrieving manipulator and the second manipulator 4 to move toward or away from each other, so that the distance between the material retrieving manipulator and the second manipulator 4 changes, so that when the material retrieving manipulator clamps the material, it can clamp multiple materials at the same time according to the distance between the materials; and the material retrieving manipulator can change the distance between the first material 71 and the second material 72 when unloading materials to adapt to the distance between different unloading stations. In this embodiment, the distance between the first material 71 and the second material 72 is reduced by the variable pitch drive mechanism 1 to improve the space utilization rate of materials such as the first material 71 and the second material 72. Therefore, the material retrieving manipulator provided by the present invention has the advantages of simple and compact structure, and can reduce the distance between materials when unloading materials, improve space utilization rate, etc.

[0039] In this embodiment, the variable distance drive mechanism 1 is a pneumatic parallel gripper (also known as a finger cylinder), and the first gripper 1b and the second gripper 1c of the pneumatic gripper are respectively connected to the material picking robot and the second robot 4, so as to drive the material picking robot and the second robot 4 to clamp the material; in other embodiments, the variable distance drive mechanism 1 may also be an electric gripper, which is not specifically limited here.

[0040] Preferably, the limiting member 2 comprises:

[0041] A connecting plate 2a connected to the main body of the variable pitch drive mechanism 1;

[0042] An extension arm 2b, wherein a first end of the extension arm 2b is connected to the connecting plate 2a, and a second end of the extension arm 2b extends to a side of the first clamping jaw 1b away from the second clamping jaw 1c; an adjustment screw hole is provided at the second end of the extension arm 2b;

[0043] The fine-tuning screw 2c passes through the adjusting screw hole and cooperates with the internal thread of the fine-tuning screw hole; the axial direction of the fine-tuning screw 2c is parallel to the guide of the sliding guide rail 1a and is arranged toward the first clamping jaw 1b. By adjusting the position of the fine-tuning screw 2c, the distance between the material retrieving manipulator and the second manipulator 4 when the material retrieving manipulator clamps the material can be adjusted; the distance between the material retrieving manipulator and the second manipulator 4 can be adjusted according to the different distances between the materials. Therefore, the material retrieving manipulator has the advantages of simple and compact structure and strong compatibility.

[0044] Preferably, the first manipulator 3 comprises:

[0045] The first hinged member 10 is provided with a clearance hole 12; a first hinge seat 11 is provided on a side wall of the clearance hole 12 and extends toward the clearance hole 12;

[0046] A second hinged member 20 is connected to the first clamping jaw 1b; the second hinged member 20 is extended toward the clearance hole 12 to be provided with a second hinged seat 21;

[0047] A first clamping member 30, wherein the first hinge seat 11 and the second hinge seat 21 are respectively hinged to the first clamping member 30 at a first hinge point 31 and a second hinge point 32, wherein the first hinge point 31 and the second hinge point 32 are both located at a first end of the first clamping member 30;

[0048] A second clamping member 40 connected to the first hinge member 10;

[0049] The clamping drive mechanism 50, the first hinge 10 and the second hinge 20 are respectively connected to the clamping drive mechanism 50; the first hinge 10 is driven by the clamping drive mechanism 50 to move relative to the second hinge 20, thereby driving the first end of the first clamp 30 to move, so that the second end of the first clamp 30 and the second clamp 40 jointly clamp the first material 71.

[0050] Specifically, when the clamping drive mechanism 50 drives the first hinge 10 to move toward the second hinge 20, the second hinge seat 21 is inserted into the clearance hole 12, and the first hinge point 31 moves upward with the first hinge 10, thereby driving the second end of the first clamp 30 to move in a direction away from the second clamp 40, thereby achieving the opening of the first clamp 30.

[0051] When the clamping drive mechanism 50 drives the first hinge 10 to move away from the second hinge 20, the second hinge seat 21 gradually moves away from the clearance hole 12, and the first hinge point 31 moves downward with the first hinge 10; thereby driving the second end of the first clamping member 30 to move toward the second clamping member 40; thereby achieving the clamping of the material by the first clamping member 30; therefore, it has the advantages of simple and compact structure, smooth operation, and stable clamping.

[0052] In this embodiment, a third articulated seat 13 is extended toward the make way hole 12 on the side wall inside the make way hole 12, and the third articulated seat 13 and the first articulated seat 11 are arranged on the two side walls opposite to each other in the make way hole 12; the make way hole 12 is not only convenient for accommodating the first articulated seat 11, the second articulated seat 21, the third articulated seat 13, the first clamping member 30 and the second clamping member 40; it can also reduce the weight to make the material picking robot lighter.

[0053] The second hinge seat 21 and the third hinge seat 13 are respectively hinged to the second clamping member 40 at a third hinge point 41 and a fourth hinge point 42, and the third hinge point 41 and the fourth hinge point 42 are both located at the first end of the second clamping member 40;

[0054] The first hinge 10 moves relative to the second hinge 20 to drive the first end of the second clamp 40 to move, so that the second end of the first clamp 30 and the second end of the second clamp 40 clamp the first material 71 together.

[0055] Specifically, when the clamping drive mechanism 50 drives the first hinge 10 to move toward the second hinge 20, the second hinge seat 21 is inserted into the clearance hole 12, and the fourth hinge point 42 moves upward with the first hinge 10; thereby driving the second end of the second clamp 40 to move in a direction away from the first clamp 30; thereby achieving the opening of the second clamp 40 and the first clamp 30.

[0056] When the clamping drive mechanism 50 drives the first hinge 10 to move away from the second hinge 20, the second hinge seat 21 gradually moves away from the clearance hole 12, and the fourth hinge point 42 moves downward with the first hinge 10; thereby driving the second end of the second clamping member 40 to move toward the first clamping member 30; thereby achieving the joint clamping of the first material 71 by the second clamping member 40 and the first clamping member 30; therefore, it has the advantages of simple and compact structure, smooth operation, and stable clamping.

[0057] In other embodiments, the second clamping member 40 may also be directly fixedly connected to the first hinge member 10, and only the first clamping member 30 moves toward the second clamping member 40 to clamp the first material 71. No specific limitation is given here.

[0058] Preferably, the first clamping member 30 comprises:

[0059] The hinge portion 33 is disposed at the first end of the first clamping member 30 and is hingedly connected to the first hinge seat 11 and the second hinge seat 21 respectively;

[0060] A connecting arm 34, wherein a first end of the connecting arm 34 is connected to the hinge portion 33, and a second end of the connecting arm 34 is inclined and extends downward in a direction away from the second clamping member 40;

[0061] The clamping portion 35, the first end of the clamping portion 35 is connected to the second end of the connecting arm 34. It can be understood that the second clamping member 40 has the same structure as the first clamping member 30, which will not be repeated here. The number of the first articulated seat 11, the third articulated seat 13, the first clamping member 30 and the second clamping member 40 can be one or more, which is not specifically limited here. The distance between the clamping portion 35 of the first clamping member 30 and the clamping portion 35 of the second clamping member 40 is enlarged by the connecting arm 34 to facilitate clamping of materials. Therefore, the material retrieving manipulator has the advantage of simple and compact structure.

[0062] Preferably, the first clamping member 30 further includes:

[0063] The supporting portion 36 is connected to the second end of the clamping portion 35 and forms an L-shaped structure with the clamping portion 35, so that when clamping the first material 71, the clamping portion 35 can abut against the side wall of the first material 71; the supporting portion 36 can abut against the bottom of the first material 71 to carry the first material 71. Therefore, the material-retrieving manipulator has the advantages of stable clamping and the like.

[0064] Preferably, the hinge portion 33 is provided with a first hinge hole (not shown in the figure) and a second hinge hole (not shown in the figure) in parallel, and the first hinge hole and the second hinge hole are respectively located at the first hinge point 31 and the second hinge point 32. The first clamping member 30 is hinged to the first hinge seat 11 through a hinge shaft 37 that passes through the first hinge hole and is hinged to the first hinge seat 11; the first clamping member 30 is hinged to the second hinge seat 21 through a hinge shaft 37 that passes through the second hinge hole and is hinged to the second hinge seat 21. Therefore, the material retrieving manipulator has the advantages of simple and compact structure, easy assembly, low manufacturing cost, etc.

[0065] Preferably, a shaft elastic retaining ring 38 is also provided at the end of the articulated shaft 37 to prevent the articulated shaft 37 from falling off. Therefore, the retrieving manipulator has the advantages of simple and compact structure, stable and reliable connection, and easy assembly.

[0066] Preferably, the first articulated seat 11 and the third articulated seat 13 are detachably connected to the first articulated member 10, respectively, so as to facilitate replacement of the first articulated seat 11, the third articulated seat 13, the first clamping member 30 and the second clamping member 40 of different sizes according to different material sizes. Therefore, the material retrieving manipulator has the advantages of convenient maintenance and assembly, strong compatibility, etc.

[0067] Preferably, the first hinged member 10 is provided with limiting grooves 14 respectively matched with the first hinge seat 11 and the third hinge seat 13, and the limiting grooves 14 are arranged on the side wall of the clearance hole 12, so as to facilitate the assembly of the first hinge seat 11 and the third hinge seat 13.

[0068] Preferably, a through hole (not shown) is provided on the second hinge 20, and the body 51 of the gripping drive mechanism 50 is provided on the side of the second hinge 20 facing away from the first hinge 10; the push rod 52 of the gripping drive mechanism 50 passes through the through hole and is connected to the first hinge 10. Therefore, the material retrieving manipulator has the advantage of simple and compact structure.

[0069] Preferably, the material retrieving manipulator further comprises:

[0070] The connecting seat 60 is respectively connected to the first clamping jaw 1b and the side of the second hinged member 20 facing away from the first hinged member 10, and is provided with a receiving groove 61 for receiving the clamping drive mechanism 50. Therefore, the material retrieving manipulator has the advantages of simple and compact structure, stable structure, long service life, etc.

[0071] In this embodiment, the gripping drive mechanism 50 is a cylinder; in other embodiments, the gripping drive mechanism 50 may also be an electric push rod, which is not specifically limited here. It can be understood that the second manipulator 4 has the same structure as the material-retrieving manipulator, which will not be described in detail here.

[0072] The present invention also discloses an injection molding and stamping equipment, comprising a material taking robot, and the material taking robot is the material taking robot described above.

[0073] In summary, the present invention provides a material-grabbing manipulator and an injection molding and stamping device having the material-grabbing manipulator; the material-grabbing manipulator comprises a first hinged member 10, provided with a clearance hole 12; a first hinged seat 11 is provided on the side wall inside the clearance hole 12 and extends toward the clearance hole 12; a second hinged member 20, provided with a second hinged seat 21 extending toward the clearance hole 12; a first clamping member 30, the first hinged seat 11 and the second hinged seat 21 are respectively hinged to the first clamping member 30 at a first hinge point 31 and a second hinge point 32, the first hinge The joint 31 and the second hinge point 32 are both located at the first end of the first clamping member 30; the second clamping member 40 is connected to the first hinge 10; the clamping drive mechanism 50, the first hinge 10 and the second hinge 20 are respectively connected to the clamping drive mechanism 50; the clamping drive mechanism 50 drives the first hinge 10 to move relative to the second hinge 20, thereby driving the first end of the first clamping member 30 to move, so that the second end of the first clamping member 30 and the second clamping member 40 clamp the material together. Therefore, the material retrieving manipulator provided by the present invention has the advantages of simple and compact structure, stable operation, and stable clamping.

[0074] The above is a detailed introduction to the material retrieving manipulator and the injection molding and stamping equipment with the material retrieving manipulator provided by the present invention. The principle and implementation mode of the present invention are described in this article using specific examples. The description of the above embodiments is only used to help understand the method and core idea of ​​the present invention. At the same time, for those skilled in the art, according to the idea of ​​the present invention, there will be changes in the specific implementation mode and application scope. In summary, the content of this specification is only the implementation mode of the present invention, and does not limit the patent scope of the present invention. Any equivalent structure or equivalent process transformation made by using the content of the present specification and drawings, or directly or indirectly used in other related technical fields, are also included in the patent protection scope of the present invention. It should not be understood as a limitation of the present invention.

Claims

1. A material taking manipulator, characterized in that: The reclaiming manipulator comprises: The first hinged member is provided with a clearance hole; a first hinged seat is provided on a side wall in the clearance hole and extends toward the clearance hole; A second hinged member is provided with a second hinged seat extending toward the clearance hole; A first clamping member, wherein the first hinge seat and the second hinge seat are hinged to the first clamping member at a first hinge point and a second hinge point respectively, and the first hinge point and the second hinge point are both located at a first end of the first clamping member; a second clamping member connected to the first hinged member; A gripping drive mechanism, wherein the first hinge and the second hinge are respectively connected to the gripping drive mechanism; the first hinge is driven by the gripping drive mechanism to move relative to the second hinge, thereby driving the first end of the first clamping member to move, so that the second end of the first clamping member and the second clamping member clamp the material together; A third hinge seat is also provided on the side wall of the clearance hole and extends toward the clearance hole. The third hinge seat and the first hinge seat are arranged on two side walls of the clearance hole at opposite positions. The second hinge seat and the third hinge seat are hinged to the second clamping member at a third hinge point and a fourth hinge point respectively, and the third hinge point and the fourth hinge point are both located at the first end of the second clamping member; When the clamping drive mechanism drives the first hinged member to move toward the second hinged member, the second hinged seat is inserted into the clearance hole, and the fourth hinge point moves upward with the first hinged member; thereby driving the second end of the second clamping member to move in a direction away from the first clamping member; thereby realizing the opening of the second clamping member and the first clamping member; When the clamping drive mechanism drives the first hinge to move away from the second hinge, the second hinge seat gradually moves away from the clearance hole, and the fourth hinge point moves downward with the first hinge; then the second end of the second clamp is driven to move toward the first clamp, so that the first hinge moves relative to the second hinge, driving the first end of the second clamp to move, so that the second end of the first clamp and the second end of the second clamp clamp together clamp the material.

2. The material reclaiming manipulator according to claim 1, characterized in that: The first clamping member comprises: A hinge portion, disposed at the first end of the first clamping member, and hingedly connected to the first hinge seat and the second hinge seat respectively; A connecting arm, wherein a first end of the connecting arm is connected to the hinge portion, and a second end of the connecting arm is arranged to extend downwardly and obliquely in a direction away from the second clamping member; A clamping portion, wherein a first end of the clamping portion is connected to the second end of the connecting arm.

3. The material reclaiming manipulator according to claim 2, characterized in that: The first clamping member further comprises: The supporting portion is connected to the second end of the clamping portion and forms an L-shaped structure with the clamping portion.

4. The material reclaiming manipulator according to claim 3 is characterized in that: The hinge portion is provided with a first hinge hole and a second hinge hole side by side, and the first hinge hole and the second hinge hole are respectively located at the first hinge point and the second hinge point.

5. The material reclaiming manipulator according to claim 1, characterized in that: The first hinge seat and the third hinge seat are respectively detachably connected to the first hinge member.

6. The material reclaiming manipulator according to claim 5, characterized in that: The first hinged member is provided with a limiting groove matched with the first hinged seat, and the limiting groove is arranged on the side wall in the clearance hole.

7. The material reclaiming manipulator according to any one of claims 1 to 6, characterized in that: A through hole is provided on the second hinge, and the body of the clamping drive mechanism is arranged on a side of the second hinge facing away from the first hinge; a push rod of the clamping drive mechanism passes through the through hole and is connected to the first hinge.

8. The material reclaiming manipulator according to claim 7, characterized in that: The material taking manipulator also includes: The connecting seat is connected to a side of the second hinged member facing away from the first hinged member and is provided with an accommodating groove for accommodating the clamping drive mechanism.

9. An injection molding and stamping equipment, including a material taking manipulator, characterized in that: The material retrieving robot is the material retrieving robot described in any one of claims 1 to 8.

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