Grabbing and releasing mechanism and grabbing and releasing method suitable for double injection molding systems

Abstract

The invention belongs to the technical field of semiconductor processing equipment, and provides a grabbing and releasing mechanism and a grabbing and releasing method suitable for a double-injection-molding system, and the grabbing and releasing mechanism comprises a rack, a conveying mechanism, a translation mechanism, a lifting mechanism and a grabbing tool; the rack is provided with a lower platform and an upper platform; the conveying mechanism is installed on the surface of the lower platform and located between the upper platform and the lower platform. The translation mechanism is mounted on the surface, away from the lower platform, of the upper platform and connected with the lifting mechanism; a plurality of grippers are mounted at one end of the lifting mechanism; the gripper is provided with an adapter plate, a gripper assembly and a lifting assembly. The gripper assembly is installed on the surface of the adapter plate. The lifting assembly is installed on the surface of the adapter plate and located on one side of the gripper assembly. Layered design of the upper platform and the lower platform of the rack enables all mechanisms to be arranged in order, equipment occupied space is reduced, and the space utilization rate is increased; and a plurality of gripping apparatuses are mounted, so that the gripping apparatus can be used for gripping and releasing a plurality of workpieces at the same time, and the working efficiency is improved.

Description

Technical Field

[0001] The present invention belongs to the technical field of semiconductor processing equipment, and particularly relates to a pick-and-place mechanism and a pick-and-place method applicable to a dual-injection molding system. Background Art

[0002] In the field of semiconductor manufacturing, as the core equipment for realizing dual-mode box dual-injection molding of semiconductor packages, the production process of a dual-injection press needs to complete key links such as feeding the base material before injection molding, discharging the finished product after injection molding, and transferring workpieces between molds. The pick-and-place mechanism, as the core transfer component connecting the double punching station and the finished product collection station, its operating accuracy, cleanliness, stability, and coordination efficiency directly determine the molding quality and production capacity of semiconductor packages.

[0003] At present, there are many targeted technical defects in the pick-and-place equipment supporting dual-injection presses in the semiconductor field, which are specifically as follows: 1) The efficiency is relatively low, and it is impossible to find a balance between efficiency and quality; 2) Most of the existing equipment uses a pneumatic structure to control the gripper to grab workpieces, and a rotating mechanism is used to realize the pick-and-place of the double frame. The process is unstable, the angle is prone to deviation, and situations such as jitter and frame clamping deformation are likely to occur; 3) The coordination between the conveyor and the dual-injection press is poor. The mold opening and closing rhythm of the dual-injection press is fast, and the pick-and-place mechanism needs to be联动 with the punching runner action. However, the conveyor mechanism and the gripper control of the existing equipment are independent of each other, and the conveyor platform structure is closed. The gripper cannot directly pass through the platform to complete the grasping and releasing of workpieces in the mold, and an additional transfer station needs to be set up, which not only increases the risk of contamination of the package, but also prolongs the transfer cycle. Summary of the Invention

[0004] In order to solve the problems in the background art, the present invention proposes a pick-and-place mechanism and a pick-and-place method applicable to a dual-injection molding system.

[0005] In order to achieve the above object, the present invention adopts the following technical solutions: The present application provides a pick-and-place mechanism applicable to a dual-injection molding system, including: A bench, provided with a lower platform and an upper platform, and a plurality of platform columns are connected between the upper platform and the lower platform; A conveyor mechanism, installed on the surface of the lower platform, between the upper platform and the lower platform; the conveyor mechanism is provided with a conveyor platform, and the conveyor platform has a degree of freedom of reciprocating movement along a first direction; A translation mechanism, installed on the surface of the upper platform away from the lower platform; the translation mechanism is connected with a lifting mechanism for adjusting the position of the lifting mechanism along a second direction; one end of the lifting mechanism is installed with a plurality of grippers for adjusting the position of the grippers along a third direction; The gripper is equipped with a transfer plate, a gripper assembly, and a lifting assembly; the gripper assembly is mounted on the surface of the transfer plate and is used to grip and place workpieces; the lifting assembly is mounted on the surface of the transfer plate and is located on one side of the gripper assembly, and is used to lift the gripper in a third direction. The first direction, the second direction, and the third direction are all perpendicular to each other.

[0006] Furthermore, the lower platform is located below the upper platform, and a support base is installed on the upper surface corresponding to the position of the platform column, with the support base connected to the bottom of the platform column.

[0007] Furthermore, the lifting mechanism includes: A first mounting plate and a second mounting plate located below the first mounting plate, with several support columns fixedly connected between the first mounting plate and the second mounting plate; one side of the second mounting plate is fixedly connected to the translation mechanism. The first cylinder is mounted on the upper surface of the first mounting plate; the cylinder shaft of the first cylinder is fixedly connected to a lifting plate, the lifting plate is located between the first mounting plate and the second mounting plate, and a plurality of first guide shafts are fixedly connected to the lower surface of the lifting plate; the first guide shafts are slidably fitted with first guide sleeves; and a third mounting plate is fixedly connected to the end away from the lifting plate. The first guide sleeve is fixedly connected to the second mounting plate; The third mounting plate is fixedly connected to the fourth mounting plate, and several grippers are mounted on the surface of the fourth mounting plate away from the third mounting plate.

[0008] Furthermore, a first buffer is installed on the surface of the first mounting plate, the first buffer being used to limit the minimum distance between the lifting plate and the first mounting plate; A second buffer is installed on the surface of the lifting plate, which is used to limit the minimum distance between the lifting plate and the second mounting plate.

[0009] Furthermore, the lifting assembly of the gripper includes: The second cylinder has one end fixedly connected to the fourth mounting plate at the bottom of the lifting mechanism, and the other end of the cylinder shaft is fixedly connected to a connecting plate, which is fixedly connected to a transition plate; the second cylinder is used to drive the gripper to lift and lower in a third direction. Several second guide shafts are slidably fitted with second guide sleeves, and one end of each guide shaft is fixedly connected to a connecting plate; one end of each second guide sleeve is fixedly connected to a fourth mounting plate.

[0010] Furthermore, the gripper assembly of the gripper includes: The third cylinder is fixedly connected to the connecting plate; the cylinder shaft of the third cylinder is fixedly connected to an adapter; a wedge block is fixedly connected to the lower surface of the adapter, and the wedge block slides with the adapter plate. Two symmetrical connecting blocks, each of which is slidably connected to the adapter plate, and one end of which passes through the adapter plate and is rotatably connected to a roller; the sliding path of the wedge block is located between the two rollers; Two symmetrical gripper mounting seats, each gripper mounting seat has a symmetrical first slider fixedly connected to its upper surface, each first slider is fixedly connected to a connecting block and slidably connected to a first guide rail; the lower surface of the gripper mounting seat is used to mount the gripper; the first guide rail is fixedly mounted on the lower surface of the adapter plate; Several return springs, each return spring having a spring fixing seat fixedly connected to both ends, and the spring fixing seats being fixedly installed on the upper surface of the corresponding gripper mounting seat; The pressure plate is located between symmetrical gripper mounting bases and has the freedom to move up and down in a third direction.

[0011] Furthermore, a third guide shaft is fixedly connected to both ends of the pressure plate, and a third guide sleeve is slidably connected to the third guide shaft. The third guide sleeve is fixedly connected to the adapter plate.

[0012] Furthermore, in the gripper, a sensor bracket is fixedly connected to one side of the adapter plate. The sensor bracket is used to install a distance sensor; the distance sensor is used to measure the distance between the gripper and the lower platform.

[0013] Furthermore, the translation mechanism includes: The first motor is fixedly mounted on the surface of the upper platform; the first motor is fixedly connected to a translation screw. Several bearing housings are fixedly installed on the surface of the upper platform to support the translation screw; a protective plate is also fixedly installed on the upper surface of the bearing housing, and a wire harness drag chain is installed on the upper surface of the protective plate; The translation block, in conjunction with the translation screw, is used to reciprocate along the axis of the translation screw as it rotates; The second guide rail is fixedly installed on the surface of the upper platform and has several second sliders in sliding fit. The second sliders are fixedly connected to the lifting mechanism, and at least one second slider is fixedly connected to the translation block.

[0014] Furthermore, the conveying mechanism includes: Several conveyor columns are used to support the conveyor platform, and a third guide rail is slidably connected to the bottom of the column; The second motor is fixedly installed on the surface of the lower platform, and a conveying screw is fixedly connected to the conveying end; the conveying screw is fitted with a conveying block, and the conveying block moves along the axial direction of the conveying screw as the conveying screw rotates; The platform support plate is fixedly connected to the conveyor platform at one end and to the conveyor block at the other end; A protective shell is installed around the conveying screw to protect it.

[0015] This application also provides a gripping and releasing method, implemented through the aforementioned gripping and releasing mechanism suitable for dual injection molding systems, comprising the following steps: The workpiece is conveyed to the area below the gripper along the first direction using a conveying mechanism; The lifting assembly is used to lower the gripper. After the gripper is lowered, it grabs the workpiece. After the gripping is completed, the lifting assembly is used to raise the gripper back to its original position. The conveying mechanism 5 then moves to the subsequent station. Use the translation mechanism to translate the lifting mechanism and gripper along the second direction to the first target position; Use the lifting mechanism to lower the grab along a third direction until it reaches the second target position; At the second target position, the gripper is lowered to the third target position using the lifting assembly. Once the third target position is reached, the gripper's hand assembly is used to release the workpiece to the lower platform.

[0016] The beneficial effects of this invention are: 1. This invention achieves flexible transfer of workpieces in three-dimensional space by combining the synergistic effects of the conveying mechanism, translation mechanism, lifting mechanism and gripper lifting assembly through the two perpendicular designs of the first, second and third directions, thus meeting the gripping and placing requirements of different positions. 2. The lifting mechanism of this invention achieves coarse lifting, while the gripper lifting assembly achieves fine lifting. Combined with real-time detection by the distance sensor and guidance from each guide shaft and guide sleeve, the gripping and positioning accuracy is greatly improved. The translation mechanism and conveying mechanism adopt screw drive, which ensures smooth transmission and precise positioning, thus ensuring the coordination of workpiece conveying and gripping. 3. The platform of the present invention enhances the support stability through the support base, the lifting mechanism is equipped with a buffer to avoid hard collisions, the return spring ensures the stable return of the gripper assembly, and the protective shell and wire harness drag chain ensure the safety of the transmission components and wire harness. All of these greatly improve the overall safety and stability of the equipment. 4. The layered design of the upper and lower platforms of the present invention makes the layout of each mechanism neat and orderly. After the workpiece is grabbed, the conveying platform can leave the current workstation, improving the space utilization rate. Moreover, the present invention is equipped with multiple grippers, which can simultaneously perform gripping and releasing operations on multiple workpieces, improving work efficiency. 5. This invention uses rollers, connecting blocks, wedge blocks, return springs and third cylinders in combination. During operation, the third cylinder drives the wedge blocks to squeeze the rollers, the connecting blocks move with the rollers, and finally the power is transmitted to the gripper mounting base, so that the two gripper mounting bases can move away from or close to each other under mechanical transmission, and complete the gripping action. Compared with the traditional pneumatic transmission, it is more stable and reliable.

[0017] Other features and advantages of the invention will be set forth in the following description, and will be apparent in part from the description, or may be learned by practicing the invention. The objects and other advantages of the invention may be realized and obtained by means of the structures pointed out in the description and the drawings. Attached Figure Description

[0018] To more clearly illustrate the technical solutions in the embodiments of the present invention or the prior art, the drawings used in the description of the embodiments or the prior art will be briefly introduced below. Obviously, the drawings described below are some embodiments of the present invention. For those skilled in the art, other drawings can be obtained based on these drawings without creative effort.

[0019] Figure 1 A schematic diagram of the gripping and releasing mechanism of the present invention applicable to a dual injection molding system is shown; Figure 2a A schematic diagram of the lifting mechanism and gripper of the present invention is shown; Figure 2b It shows Figure 2a The front view; Figure 3 A schematic diagram of the top structure of the gripper of the present invention is shown; Figure 4 A schematic diagram of the gripper assembly of the present invention is shown; Figure 5 A schematic diagram of the bottom structure of the gripper of the present invention is shown; Figure 6 The present invention is shown. Figure 3 Rear view; Figure 7 A schematic diagram of the platform and translation mechanism of the present invention is shown; Figure 8 A technical schematic diagram of the translation mechanism of the present invention is shown; Figure 9 A schematic diagram of the structure of the platform, translation mechanism and conveying mechanism of the present invention is shown; Figure 10 A schematic diagram of the conveying mechanism of the present invention is shown; Figure 11 A flowchart of the gripping and releasing method of the present invention is shown.

[0020] In the diagram: 1. Lifting mechanism; 101. First cylinder; 102. First mounting plate; 103. Second mounting plate; 104. Support column; 105. Lifting plate; 106. First guide shaft; 1061. First guide sleeve; 107. Third mounting plate; 108. Fourth mounting plate; 109. First buffer; 1010. Second buffer; 2. Platform; 201. Lower platform; 202. Upper platform; 203. Platform column; 204. Support seat; 3. Grab; 301. Second cylinder; 302. Second guide shaft; 3021. Second guide sleeve; 303. Connecting plate; 304. Adapter plate; 305. Third cylinder; 306. Adapter seat; 307. Third guide shaft; 3071. Third guide sleeve; 308. 309. Pressure plate; 3010. Wedge block; 3011. Roller; 3012. Connecting block; 3013. First slider; 3014. First guide rail; 3015. Gripper mounting base; 3016. Return spring; 3017. Spring fixing base; 3018. Sensor bracket; 4. Translation mechanism; 401. First motor; 402. Bearing seat; 403. Protective plate; 404. Translation screw; 405. Translation block; 406. Second slider; 407. Second guide rail; 408. Cable chain; 5. Conveying mechanism; 501. Second motor; 502. Conveying platform; 503. Conveying column; 504. Third guide rail; 505. Platform support plate; 506. Protective shell; 507. Conveying screw; 508. Conveying block. Detailed Implementation

[0021] To make the objectives, technical solutions, and advantages of the embodiments of the present invention clearer, the technical solutions of the embodiments of the present invention will be clearly and completely described below with reference to the accompanying drawings. Obviously, the described embodiments are only some embodiments of the present invention, not all embodiments. Based on the embodiments of the present invention, all other embodiments obtained by those skilled in the art without creative effort are within the scope of protection of the present invention.

[0022] like Figure 1 As shown, this is a gripping and releasing mechanism suitable for a dual injection molding system, consisting of a lifting mechanism 1, a platform 2, a gripper 3, a translation mechanism 4, and a conveying mechanism 5. Combined with... Figure 7 It is known that the platform 2 is provided with a lower platform 201 and an upper platform 202, and a number of platform columns 203, preferably four, are connected between the upper platform 202 and the lower platform 201. In addition, a support base 204 is installed on the upper surface of the lower platform 201 at the position corresponding to the platform column 203, and the support base 204 is connected to the bottom of the platform column 203.

[0023] The conveying mechanism 5 is installed on the surface of the lower platform 201, located between the upper platform 202 and the lower platform 201; the conveying mechanism 5 is provided with a conveying platform 502, which has the freedom to reciprocate along a first direction. The translation mechanism 4 is installed on the surface of the upper platform 202 away from the lower platform 201, connected to the lifting mechanism 1, and used to adjust the position of the lifting mechanism 1 along a second direction. A plurality of grippers 3 (preferably four) are installed at the bottom of the lifting mechanism 1, used to adjust the position of the grippers 3 along a third direction. Each gripper 3 is provided with a transition plate 304, a gripper assembly, and a lifting assembly. The gripper assembly is installed on the surface of the transition plate 304 for gripping and placing workpieces; the lifting assembly is installed on the surface of the transition plate 304 and located on one side of the gripper assembly, used to lift the gripper 3 along a third direction.

[0024] It should be noted that, Figure 1 The first, second, and third directions are all perpendicular to each other. Assume... Figure 1 The gripping and releasing mechanism is installed on the workshop floor. Its first direction is equivalent to the Y-axis direction, the second direction is the X-axis direction, and the third direction is the Z-axis direction. The plane formed by the X-axis and Y-axis is parallel to the ground.

[0025] like Figure 2a and Figure 2b As shown, the lifting mechanism 1 includes a first cylinder 101, a first mounting plate 102, a second mounting plate 103, a plurality of support columns 104, a lifting plate 105, a plurality of first guide shafts 106, a plurality of first guide sleeves 1061, a third mounting plate 107, a fourth mounting plate 108, a first buffer 109, and a second buffer 1010.

[0026] like Figure 2a As shown, the first mounting plate 102 is arranged parallel to the second mounting plate 103 below it, and two support columns 104 are fixed between them to form a stable support structure. One side of the second mounting plate 103 is fixedly connected to the second slider 406 of the translation mechanism 4.

[0027] The first cylinder 101 is mounted on the upper surface of the first mounting plate 102. Its cylinder shaft passes downward through the first mounting plate 102 and is fixedly connected to the lifting plate 105. The lifting plate 105 is located between the first mounting plate 102 and the second mounting plate 103. One end of the first guide shaft 106 is fixed to the lower surface of the lifting plate 105, and the other end slides through the first guide sleeve 1061 on the second mounting plate 103 (the first guide sleeve 1061 is fixed to the second mounting plate 103) and is fixed to the third mounting plate 107. The third mounting plate 107 is fixedly connected to the fourth mounting plate 108. The gripper 3 is mounted on the surface of the fourth mounting plate 108 away from the third mounting plate 107.

[0028] like Figure 2bAs shown, the first buffer 109 is installed on the surface of the first mounting plate 102 to limit the minimum distance between the lifting plate 105 and the first mounting plate 102, so as to avoid the lifting plate 105 from colliding with the first mounting plate 102 when it rises; the second buffer 1010 is installed on the surface of the lifting plate 105 to limit the minimum distance between the lifting plate 105 and the second mounting plate 103, so as to avoid the lifting plate 105 from colliding with the second mounting plate 103 when it descends.

[0029] When the gripper 3 needs to be lifted as a whole, the cylinder shaft of the first cylinder 101 extends and retracts, causing the lifting plate 105 to move in the vertical direction. The first guide shaft 106 slides synchronously within the first guide sleeve 1061, providing guidance for the movement of the lifting plate 105 and ensuring no deviation during the lifting process. The lifting plate 105 drives the third mounting plate 107, the fourth mounting plate 108, and the gripper 3 to lift and lower synchronously through the first guide shaft 106, realizing coarse adjustment of the gripper 3 in the third direction. When the lifting plate 105 rises to near the first mounting plate 102, the first buffer 109 plays a buffering and limiting role, reducing the impact force of the collision. When the lifting plate 105 falls to near the second mounting plate 103, the second buffer 1010 plays a buffering and limiting role, ensuring the safety of the mechanism operation.

[0030] like Figure 3 As shown, the gripper assembly of the gripper 3 includes a second cylinder 301, several second guide shafts 302, several second guide sleeves 3021, and a connecting plate 303. The second guide shafts 302 and the second guide sleeves 3021 correspond one-to-one. The top end of the second cylinder 301 is fixedly connected to the bottom of the fourth mounting plate 108, and the other end of the cylinder shaft is fixed to the connecting plate 303. The connecting plate 303 is fixedly connected to the adapter plate 304. One end of the second guide shaft 302 is fixed to the connecting plate 303, and the other end slides into the second guide sleeve 3021. One end of the second guide sleeve 3021 is fixed to the fourth mounting plate 108.

[0031] During operation, when the cylinder shaft of the second cylinder 301 extends or retracts, it drives the connecting plate 303 to move along a third direction. The second guide shaft 302 slides inside the second guide sleeve 3021 to provide guidance for the connecting plate 303, thereby driving the adapter plate 304 and the gripper assembly to rise and fall synchronously, realizing the lifting and lowering of the gripper 3.

[0032] like Figures 4-6 As shown, the gripper assembly of the gripper 3 includes a third cylinder 305, an L-shaped adapter 306, a wedge block 309, two symmetrical connecting blocks 3011, two rollers 3010, two symmetrical gripper mounting seats 3014, several first sliders 3012, several first guide rails 3013, several return springs 3015, several spring fixing seats 3016, a pressure plate 308, several third guide shafts 307, and several third guide sleeves 3071.

[0033] like Figure 4 As shown, the third cylinder 305 is fixed to the connecting plate 303, its cylinder shaft is fixed to the adapter 306, and the lower surface of the adapter 306 is fixed to the wedge block 309. The wedge block 309 is in sliding engagement with the adapter plate 304; its position is detailed in [reference needed]. Figure 5 .

[0034] like Figure 5 As shown, two connecting blocks 3011 are symmetrically arranged and are slidably connected to the adapter plate 304. One end of each block passes through the adapter plate 304 and is rotatably connected to a roller 3010. The sliding path of the wedge block 309 is located between the two rollers 3010. A symmetrical first slider 3012 is fixed on the upper surface of the gripper mounting base 3014. The first slider 3012 is fixed to the connecting block 3011 and slidably engaged with the first guide rail 3013. The first guide rail 3013 is fixed to the lower surface of the adapter plate 304. The lower surface of the gripper mounting base 3014 is used to install the gripper.

[0035] Combination Figure 6 It can be seen that the two ends of the return spring 3015 are fixed to the upper surfaces of the two gripper mounting seats 3014 respectively through the spring fixing seat 3016; the pressure plate 308 is located between the two gripper mounting seats 3014, and the third guide shaft 307 fixed at both ends of the pressure plate 308 slides with the third guide sleeve 3071 on the adapter plate 304, so that the pressure plate 308 has the freedom to move up and down in the third direction.

[0036] For example, there are two return springs 3015, which are respectively installed at both ends of the gripper mounting base 3014.

[0037] In addition, a sensor bracket 3017 is fixedly connected to one side of the adapter plate 304. The sensor bracket 3017 can be equipped with a distance sensor. The distance sensor measures the distance between the gripper 3 and the lower platform 201 in real time, providing data support for the lifting and positioning of the gripper 3.

[0038] When gripping the workpiece, the third cylinder 305 drives the adapter 306 to slide the wedge block 309 on the adapter plate 304. The wedge block 309 presses against the rollers 3010 on both sides, causing the two connecting blocks 3011 to slide to both sides along the adapter plate 304. The connecting blocks 3011 drive the two gripper mounting seats 3014 away from each other through the first slider 3012. The grippers mounted on the gripper mounting seats 3014 clamp the workpiece, and at the same time, the pressure plate 308 presses the workpiece down from top to bottom under the action of gravity. When releasing the workpiece, the third cylinder 305 drives the wedge block 309 to further open the two gripper mounting seats 3014, and then the workpiece is released. After the release is completed, the wedge block 309 returns to its original position, and at the same time, the elastic restoring force of the return spring 3015 pulls the two gripper mounting seats 3014 closer to each other and returns to their original position.

[0039] like Figure 7As shown, the translation mechanism 4 is installed on the surface of the upper platform 202 away from the lower platform 201, and is used to adjust the position of the lifting mechanism 1 in the second direction.

[0040] like Figure 8 As shown, the translation mechanism includes a first motor 401, several bearing seats 402, a protective plate 403, a translation screw 404, a translation block 405, several second sliders 406, a second guide rail 407, and a wire harness drag chain 408. The first motor 401 is fixedly mounted on the surface of the upper platform 202, and its output end is fixedly connected to the translation screw 404 via a coupling or other equipment. Two bearing seats 402 are fixed to the surface of the upper platform 202 to support the translation screw 404 and ensure its smooth rotation. The protective plate 403 is fixed to the upper surface of the bearing seats 402, and the wire harness drag chain 408 is mounted on the upper surface of the protective plate 403 to store the connecting wires of the mechanism and prevent the wires from tangling during translation. The translation block 405 is threadedly engaged with the translation screw 404, the second guide rail 407 is fixed on the surface of the upper platform 202, the two second sliders 406 are slidably engaged with the second guide rail 407, and all the second sliders 406 are fixedly connected to the second mounting plate 103 of the lifting mechanism 1, and one of the second sliders 406 is fixedly connected to the translation block 405.

[0041] When it is necessary to adjust the left and right positions of the lifting mechanism 1, the first motor 401 starts and drives the translation screw 404 to rotate under the support of the bearing seat 402. The translation block 405 moves along the axial direction (i.e., the second direction) of the translation screw 404 under the action of the thread. Since the translation block 405 is fixed to the second slider 406 and the second slider 406 is fixed to the lifting mechanism 1, the translation block 405 will drive the second slider 406 to slide along the second guide rail 407, thereby realizing the smooth translation of the lifting mechanism 1 and the gripper 3 along the second direction. The wire harness drag chain 408 extends and retracts synchronously with the translation process to ensure that the wire harness layout is neat.

[0042] like Figure 9 As shown, the conveying mechanism 5 is installed on the surface of the lower platform 201 and is located in the layered space between the upper platform 202 and the lower platform 201. It is mainly used to convey workpieces along the first direction. Specifically, the mechanism includes a conveying platform 502, several conveying columns 503, a third guide rail 504, a second motor 501, a conveying screw 507, a conveying block 508, a platform support plate 505, and a protective shell 506, etc.

[0043] The conveying platform 502 has two rectangular conveying openings on its surface. The bottoms of the four conveying columns 503 are slidably engaged with the third guide rail 504 via sliders, etc., and the tops are fixedly connected to the conveying platform 502.

[0044] like Figure 10As shown, the second motor 501 is fixedly installed on the surface of the lower platform 201. Its output end is fixedly connected to the conveying screw 507 through a coupling or the like. The conveying screw 507 is threadedly engaged with the conveying block 508. At the same time, one end of the platform support plate 505 is fixed to the conveying platform 502, and the other end is fixed to the conveying block 508. The protective shell 506 is wrapped around the conveying screw 507 to prevent dust and debris from entering and affecting the thread transmission effect. In addition, both ends of the conveying screw 507 are equipped with bearing supports to ensure stable rotation of the conveying screw 507.

[0045] When a workpiece needs to be transported, the second motor 501 starts and drives the conveying screw 507 to rotate. Since the conveying block 508 is threadedly engaged with the conveying screw 507 and fixed to the conveying platform 502 through the platform support plate 505, the conveying block 508 will move along the axial direction (i.e., the first direction) of the conveying screw 507, thereby driving the platform support plate 505 and the conveying platform 502 to move synchronously. The conveying column 503 slides along the third guide rail 504, providing stable support and guidance for the conveying platform 502, and realizing the transport of the workpiece along the first direction.

[0046] like Figure 11 The image shows a gripping and releasing method, which is implemented using a gripping and releasing mechanism suitable for dual injection molding systems, and includes the following steps: S1: The conveying mechanism 5 is used to transport the workpiece to below the gripper 3 along the first direction. Specifically, the second motor 501 of the conveying mechanism 5 is started, driving the conveying screw 507 to rotate, which in turn drives the conveying block 508, platform support plate 505 and conveying platform 502 to move axially along the conveying screw 507. The conveying column 503 slides along the third guide rail 504 to guide the workpiece. After the workpiece is transported to directly below the gripper 3, the conveying screw 507 stops rotating.

[0047] S2: The lifting assembly is used to lower the gripper 3. After lowering, the gripper assembly grabs the workpiece. After grabbing, the lifting assembly is used to raise the gripper 3 back to its original position, and the conveying mechanism 5 moves to the subsequent workstation. Specifically, the second cylinder 301 of the gripper 3 extends, and the connecting plate 303 moves down along the cooperation of the second guide shaft 302 and the second guide sleeve 3021, driving the adapter plate 304 and the gripper assembly to descend to the gripping position. The third cylinder 305 extends to push the wedge block 309 to slide, and the squeezing roller 3010 causes the connecting block 3011 to drive the two gripper mounting seats 3014 to move closer to each other. The grippers on the gripper mounting seats 3014 (not shown in the gripper diagram) clamp the workpiece, and the pressure plate 308 presses the workpiece under the action of gravity. After grabbing, the second cylinder 301 retracts, driving the gripper 3 and the workpiece to rise to the initial position to achieve reset. Moreover, the conveying mechanism 5 moves along the first direction, leaving the current position and reaching the subsequent workstation.

[0048] S3: Use the translation mechanism 4 to translate the lifting mechanism 1 and the gripper 3 along the second direction to the first target position. Specifically, the first motor 401 of the translation mechanism 4 starts, driving the translation screw 404 to rotate, and the translation block 405 drives the second slider 406 to slide along the second guide rail 407, synchronously linking the lifting mechanism 1, the gripper 3 and the workpiece to translate along the second direction to the first target position, and the first motor 401 stops.

[0049] S4: Use the lifting mechanism 1 to lower the gripper 3 along a third direction until the gripper 3 reaches the second target position. Specifically, the first cylinder 101 of the lifting mechanism 1 extends, driving the gripper 3 to descend along a third direction. After reaching the second target position, the first cylinder 101 stops.

[0050] S5: At the second target position, the lifting assembly of the gripper 3 is used to lower the gripper 3 to the third target position. After reaching the third target position, the gripper assembly of the gripper 3 is used to release the workpiece to the lower platform 201. Specifically, the second cylinder 301 of the gripper 3 extends, driving the gripper assembly to descend to the second target position with slight adjustment; then the third cylinder 305 drives the wedge block 309 to continue moving forward, and the two gripper mounting seats 3014 continue to move away, and the gripper releases the workpiece, causing it to fall to the lower platform 201; finally, the second cylinder 301 retracts and resets, the lifting mechanism 1 drives the gripper 3 to rise, and all mechanisms return to their initial state.

[0051] It should be noted that S2 is the gripping stroke, during which the lifting mechanism 1 does not participate in the operation; S4 and S5 are the release strokes, during which both the lifting mechanism 1 and the gripper 3 participate in the operation. Furthermore, the workpiece is placed on a pallet before gripping, and the pallet is placed on the conveyor platform 502. Additionally, the translation mechanism 4 can adjust the relative position of the gripper 3 and the workpiece according to different types of workpieces, and is not limited to step S3.

[0052] Although the present invention has been described in detail with reference to the foregoing embodiments, those skilled in the art should understand that modifications can still be made to the technical solutions described in the foregoing embodiments, or equivalent substitutions can be made to some of the technical features; and these modifications or substitutions do not cause the essence of the corresponding technical solutions to deviate from the spirit and scope of the technical solutions of the embodiments of the present invention.

Claims

1. A gripping and releasing mechanism suitable for a dual injection molding system, characterized in that, include: The platform (2) is provided with a lower platform (201) and an upper platform (202), and a number of platform columns (203) are connected between the upper platform (202) and the lower platform (201). The conveying mechanism (5) is installed on the surface of the lower platform (201) and located between the upper platform (202) and the lower platform (201); the conveying mechanism (5) is provided with a conveying platform (502), which has a degree of freedom to reciprocate along a first direction; A translation mechanism (4) is installed on the surface of the upper platform (202) away from the lower platform (201); the translation mechanism (4) is connected to a lifting mechanism (1) for adjusting the position of the lifting mechanism (1) in a second direction; a plurality of grippers (3) are installed at one end of the lifting mechanism (1) for adjusting the position of the grippers (3) in a third direction; The gripper (3) is provided with a transition plate (304), a gripper assembly and a lifting assembly; the gripper assembly is installed on the surface of the transition plate (304) for gripping and placing workpieces; the lifting assembly is installed on the surface of the transition plate (304) and located on one side of the gripper assembly for lifting the gripper (3) in a third direction. The first direction, the second direction, and the third direction are perpendicular to each other.

2. The gripping and releasing mechanism for a dual injection molding system according to claim 1, characterized in that, The lower platform (201) is located below the upper platform (202), and a support base (204) is installed on the upper surface corresponding to the position of the platform column (203). The support base (204) is connected to the bottom of the platform column (203).

3. The gripping and releasing mechanism for a dual injection molding system according to claim 1, characterized in that, The lifting mechanism (1) includes: A first mounting plate (102) and a second mounting plate (103) located below the first mounting plate (102), wherein a plurality of support columns (104) are fixedly connected between the first mounting plate (102) and the second mounting plate (103); one side of the second mounting plate (103) is fixedly connected to the translation mechanism (4); A first cylinder (101) is mounted on the upper surface of a first mounting plate (102); a lifting plate (105) is fixedly connected to the cylinder shaft of the first cylinder (101), the lifting plate (105) is located between the first mounting plate (102) and the second mounting plate (103), and a plurality of first guide shafts (106) are fixedly connected to the lower surface of the lifting plate (105); the first guide shafts (106) are slidably fitted with first guide sleeves (1061); and a third mounting plate (107) is fixedly connected to the end away from the lifting plate (105). The first guide sleeve (1061) is fixedly connected to the second mounting plate (103); The third mounting plate (107) is fixedly connected to the fourth mounting plate (108), and a plurality of the grippers (3) are mounted on the surface of the fourth mounting plate (108) away from the third mounting plate (107).

4. The gripping and releasing mechanism for a dual injection molding system according to claim 3, characterized in that, A first buffer (109) is mounted on the surface of the first mounting plate (102), and the first buffer (109) is used to limit the minimum distance between the lifting plate (105) and the first mounting plate (102); A second buffer (1010) is installed on the surface of the lifting plate (105), the second buffer (1010) is used to limit the minimum distance between the lifting plate (105) and the second mounting plate (103).

5. The gripping and releasing mechanism for a dual injection molding system according to claim 1, characterized in that, The lifting assembly of the gripper (3) includes: The second cylinder (301) is fixedly connected at one end to the fourth mounting plate (108) at the bottom of the lifting mechanism (1), and the cylinder shaft at the other end is fixedly connected to a connecting plate (303), and the connecting plate (303) is fixedly connected to the adapter plate (304); the second cylinder (301) is used to drive the gripper (3) to lift and lower in a third direction; Several second guide shafts (302) are slidably fitted with second guide sleeves (3021), and one end is fixedly connected to the connecting plate (303); one end of the second guide sleeve (3021) is fixedly connected to the fourth mounting plate (108).

6. The gripping and releasing mechanism for a dual injection molding system according to claim 5, characterized in that, The gripper assembly of the gripper (3) includes: The third cylinder (305) is fixedly connected to the connecting plate (303); the cylinder shaft of the third cylinder (305) is fixedly connected to the adapter (306); the lower surface of the adapter (306) is fixedly connected to the wedge block (309), and the wedge block (309) is slidably engaged with the adapter plate (304); Two symmetrical connecting blocks (3011), each connecting block (3011) is slidably connected to the adapter plate (304), and one end of the adapter plate (304) is rotatably connected to a roller (3010); the sliding path of the wedge block (309) is located between the two rollers (3010); Two symmetrical gripper mounting seats (3014) are provided. Each gripper mounting seat (3014) has a symmetrical first slider (3012) fixedly connected to its upper surface. Each first slider (3012) is fixedly connected to the connecting block (3011) and slidably connected to a first guide rail (3013). The lower surface of the gripper mounting seat (3014) is used to mount the gripper. The first guide rail (3013) is fixedly mounted on the lower surface of the adapter plate (304). A plurality of return springs (3015), each of which is fixedly connected to a spring fixing seat (3016) at both ends, wherein the spring fixing seats (3016) are respectively fixedly installed on the upper surface of the corresponding gripper mounting seat (3014); The pressure plate (308) is located between the symmetrical gripper mounting bases (3014) and has the freedom to move up and down in a third direction.

7. A gripping and releasing mechanism suitable for a dual injection molding system according to claim 6, characterized in that, The pressure plate (308) is fixedly connected to two ends of a third guide shaft (307), the third guide shaft (307) is slidably connected to a third guide sleeve (3071), and the third guide sleeve (3071) is fixedly connected to the adapter plate (304).

8. The gripping and releasing mechanism for a dual injection molding system according to claim 1, characterized in that, In the gripper (3): A sensor bracket (3017) is fixedly connected to one side of the adapter plate (304). The sensor bracket (3017) is used to install a distance sensor. The distance sensor is used to measure the distance between the gripper (3) and the lower platform (201).

9. A gripping and releasing mechanism suitable for a dual injection molding system according to claim 1, characterized in that, The translation mechanism (4) includes: The first motor (401) is fixedly installed on the surface of the upper platform (202); the first motor (401) is fixedly connected to a translation screw (404). Several bearing seats (402) are fixedly installed on the surface of the upper platform (202) to support the translation screw (404); a protective plate (403) is also fixedly installed on the upper surface of the bearing seat (402), and a wire harness drag chain (408) is installed on the upper surface of the protective plate (403). The translation block (405) cooperates with the translation screw (404) and is used to reciprocate along the axial direction of the translation screw (404) as the translation screw (404) rotates; The second guide rail (407) is fixedly installed on the surface of the upper platform (202) and has a plurality of second sliders (406) in sliding engagement; the second sliders (406) are fixedly connected to the lifting mechanism (1), and at least one second slider (406) is fixedly connected to the translation block (405).

10. A gripping and releasing mechanism suitable for a dual injection molding system according to claim 1, characterized in that, The conveying mechanism (5) includes: A plurality of conveying columns (503) are provided to support the conveying platform (502), and a third guide rail (504) is slidably connected to the bottom of the conveying column (503). The second motor (501) is fixedly installed on the surface of the lower platform (201), and a conveying screw (507) is fixedly connected to the conveying end; the conveying screw (507) is fitted with a conveying block (508), and the conveying block (508) moves along the axial direction of the conveying screw (507) as the conveying screw (507) rotates; The platform support plate (505) is fixedly connected at one end to the conveying platform (502) and at the other end to the conveying block (508); A protective shell (506) is installed around the conveying screw (507) to protect the conveying screw (507).

11. A gripping and releasing method, implemented by a gripping and releasing mechanism suitable for a dual injection molding system as described in any one of claims 1-10, characterized in that, Includes the following steps: The workpiece is conveyed to the underside of the gripper (3) in the first direction using the conveying mechanism (5); The lifting assembly is used to lower the gripper (3). After the gripper is lowered, it grabs the workpiece. After the gripping is completed, the lifting assembly is used to raise the gripper (3) back to its original position. The conveying mechanism (5) moves to the next work station. The translation mechanism (4) is used to translate the lifting mechanism (1) and the gripper (3) along the second direction to the first target position; Use the lifting mechanism (1) to lower the gripper (3) along the third direction until the second target position is reached; At the second target position, the lifting assembly of the gripper (3) is used to lower the gripper (3) to the third target position. After reaching the third target position, the gripper assembly of the gripper (3) is used to release the workpiece to the lower platform (201).

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