Ceramic wafer suction manipulator convenient to position

Abstract

The utility model relates to the technical field of quartz crystal production, in particular to a ceramic wafer suction manipulator convenient to position, which comprises a rack, a suction structure and a restoration structure are arranged on the rack, the suction structure comprises n suction nozzles annularly distributed on the rack, the n suction nozzles are all arranged downwards, and the n suction nozzles are arranged in a staggered manner. The restoration structure comprises 2n mechanical claws hinged to the rack, every two mechanical claws are arranged between every two adjacent suction nozzles, and the restoration structure further comprises a driving mechanism for synchronously driving the 2n mechanical claws to open and close. Before the suction structure sucks the ceramic wafers, the restoration structure limits the ceramic wafers on the plane to the uniquely determined positions.

Description

Technical Field

[0001] The utility model relates to the technical field of quartz crystal production, in particular to a ceramic sheet suction manipulator which is easy to position. Background Art

[0002] In the process of quartz crystal production, it is necessary to use a suction nozzle to move the ceramic sheet to the corresponding position of the subsequent mechanism to sinter the Kovar ring on the ceramic sheet. In this process, there are high requirements for the position of the ceramic sheet. If it is skewed, it will cause poor sintering quality and affect the product qualification rate. The general machine that realizes this function simply sucks and moves it to the specified position. This cannot accurately guarantee the position of the ceramic sheet, resulting in a significant increase in the number of unqualified products in the subsequent operation. Therefore, whether it is possible to correctly move the ceramic sheet to the subsequent operation area and place it in the correct position while ensuring the high-precision position requirements of the ceramic sheet, creating favorable conditions for sintering the Kovar ring on the ceramic sheet and achieving the expected function is a technical difficulty. Utility Model Content

[0003] 1. Technical issues to be resolved

[0004] In view of the deficiencies in the prior art, the utility model provides a ceramic sheet suction robot which is easy to position. The ceramic sheet can be firstly oriented by a correction structure before being sucked. Before the suction structure sucks the ceramic sheet, the ceramic sheet on the plane can be restricted to a unique position by the correction structure. Then, multi-point suction is performed to ensure the accuracy of the position, so that the ceramic sheet can be highly accurately maintained in the required position direction during suction. Thereafter, the correction structure is released, and the suction structure sucks the ceramic sheet and translates it to other working areas, thereby creating more favorable conditions for the subsequent process of sintering the kovar ring on the ceramic sheet.

[0005] (II) Technical solution

[0006] To achieve the above-mentioned purpose, the utility model provides the following technical solutions: a ceramic wafer suction robot that is easy to position, comprising a frame, on which a suction structure and a correction structure are arranged, the suction structure comprising n suction nozzles distributed in a ring shape on the frame, and the n suction nozzles are all arranged downward, the correction structure comprises 2n mechanical claws hinged to the frame, and every two mechanical claws are arranged between two adjacent suction nozzles, and the correction structure also includes a driving mechanism for synchronously driving the 2n mechanical claws to open and close.

[0007] Preferably, the driving mechanism comprises a driving cylinder fixedly mounted on a frame, a lifting seat is fixedly mounted on a bottom push rod of the driving cylinder, and each of the mechanical claws is hinged to the lifting seat via a lever assembly.

[0008] Preferably, the lever assembly includes a lever bracket and a driving rod, the lever bracket is rotatably connected to the frame, the mechanical claw is fixedly connected to the lever bracket, one end of the driving rod is fixedly connected to the lever bracket, and the other end of the driving cylinder is hinged to the lifting seat.

[0009] Preferably, the frame is provided with a lifting slot which cooperates with the lifting seat in vertical sliding direction.

[0010] Preferably, it also includes a nozzle adjustment frame arranged on the frame for fine-tuning the position of the nozzle.

[0011] Preferably, n is set to 4, the number of suction nozzles is set to 4, and the number of mechanical claws is set to 8.

[0012] (III) Beneficial effects

[0013] Compared with the prior art, the utility model provides a ceramic sheet suction manipulator that is easy to position and has the following beneficial effects:

[0014] 1. The ceramic wafer suction robot which is easy to position can smoothly realize the correction of the ceramic wafer by the correction structure before suctioning it through relatively simple control according to the precise coordination between various mechanisms, and then suck it by the suction structure to ensure the directionality of the whole device for sucking the ceramic wafer, and complete the correction and suction of the ceramic wafer at one time, so as to create more favorable conditions for the subsequent processes such as sintering the kovar ring on the ceramic wafer. Compared with the ordinary ceramic wafer picking device, the suction structure and the correction structure of the utility model can ensure the directionality of the ceramic wafer while picking up the ceramic wafer, effectively reducing or even completely eliminating the problem of affecting the sintering effect due to the deviation of the position of the ceramic wafer and the incorrect placement.

[0015] 2. The mechanical claw for sucking ceramic pieces, which is easy to position, cleverly utilizes the principle of the lever structure, and utilizes the telescopic movement of the driving cylinder to drive the movement of the lifting seat, thereby moving the mechanical claw connected to the other end of the lever. Since the power sources of the 2n mechanical hands all come from the same driving cylinder, the synchronization of the movements between the mechanical claws can be guaranteed, and the ceramic piece can be clamped from several directions at the same time to correct the position of the ceramic piece. The design of the whole process is simple, compact and precise, and can well achieve the required effect. BRIEF DESCRIPTION OF THE DRAWINGS

[0016] Figure 1 It is a schematic diagram of the overall partial cross-section of the planar structure of the utility model;

[0017] Figure 2 It is a schematic diagram of the overall three-dimensional structure of the utility model.

[0018] Markings in the attached figure: 1. driving cylinder; 2. lifting seat; 3. lever bracket; 4. driving rod; 5. mechanical claw; 6. suction nozzle; 7. suction nozzle adjustment frame. DETAILED DESCRIPTION

[0019] The following will be combined with the drawings in the embodiments of the utility model to clearly and completely describe the technical solutions in the embodiments of the utility model. Obviously, the described embodiments are only part of the embodiments of the utility model, not all of the embodiments. Based on the embodiments in the utility model, all other embodiments obtained by ordinary technicians in this field without creative work are within the scope of protection of the utility model.

[0020] Example:

[0021] See also Figure 1-2 , a ceramic sheet suction robot that is easy to position, includes a frame, the frame is provided with a suction structure and a return structure, the suction structure includes n suction nozzles 6 distributed in a ring shape on the frame, and the n suction nozzles 6 are all arranged downward, the return structure includes 2n mechanical claws 5 hinged to the frame, and every two mechanical claws 5 are arranged between two adjacent suction nozzles 6, the return structure also includes a driving mechanism for synchronously driving the 2n mechanical claws 5 to open and close, further, it also includes a vacuum power source mechanism that drives the suction nozzles 6 to generate negative pressure suction, the vacuum power source mechanism is a prior art, and can be set as a group to provide negative pressure suction for n suction nozzles 6 at the same time, and can also be set as n groups to provide negative pressure suction for n suction nozzles 6 separately. The device preferably adopts a group of vacuum power source mechanisms to ensure that the n suction nozzles 6 simultaneously adsorb and release the ceramic sheet, thereby improving the stability of grasping.

[0022] The ceramic sheet sucking manipulator that is easy to position can use the manipulator structure to correct the ceramic sheet before sucking the ceramic sheet. Before the suction nozzle 6 sucks the ceramic sheet, the correction structure is used to limit the ceramic sheet on the plane to a unique and determined position, and then multi-point suction is performed to ensure the accuracy of the position, so that the ceramic sheet is highly accurately maintained in the required position and direction during suction, and then the correction structure is released, and the suction nozzle 6 sucks the ceramic sheet and moves it to other working areas, creating more favorable conditions for subsequent processes such as sintering the kovar ring on the ceramic sheet;

[0023] This easy-to-position ceramic sheet suction robot, based on the precise coordination between the driving mechanism and the 2n mechanical claws 5, can smoothly achieve the alignment of the ceramic sheet using the 2n mechanical claws 5 before sucking it through relatively simple control, and then suck it with the suction nozzle 6 to ensure the directionality of the entire device in sucking the ceramic sheet, completing the alignment and suction of the ceramic sheet at one time, creating more favorable conditions for subsequent processes such as sintering the kovar ring on the ceramic sheet. Compared with ordinary ceramic sheet picking devices, the correction and suction robot mechanism of the utility model can ensure the directionality of the ceramic sheet while picking up the ceramic sheet, effectively reducing or even completely eliminating the problem of affecting the sintering effect due to the deviation of the position of the ceramic sheet and the incorrect placement;

[0024] The ceramic sheet suction robot that is easy to position cleverly utilizes the principle of the lever structure in its correction structure, and utilizes the telescopic movement of the driving cylinder 1 to drive the lifting seat 2 to move, thereby moving the mechanical claw 5 at the other end of the lever. Since the power sources of the n mechanical claws 5 all come from the same lifting seat 2, the synchronization of the movements between the mechanical claws 5 can be ensured, and the ceramic sheet can be clamped from several directions at the same time to correct the position of the ceramic sheet. The design of the entire process is simple, compact and precise, and can well achieve the required effect.

[0025] Specifically, the driving mechanism includes a driving cylinder 1 fixedly mounted on a frame, a lifting seat 2 is fixedly mounted on the bottom push rod of the driving cylinder 1, each of the mechanical claws 5 is hinged to the lifting seat 2 through a lever assembly, and further, the driving cylinder 1 can be pneumatically driven or hydraulically driven.

[0026] Specifically, the lever assembly includes a lever bracket 3 and a driving rod 4, the lever bracket 3 is rotatably connected to the frame, the mechanical claw 5 is fixedly connected to the lever bracket 3, one end of the driving rod 4 is fixedly connected to the lever bracket 3, and the other end of the driving cylinder 1 is hinged to the lifting seat 2.

[0027] Specifically, the frame is provided with a lifting slide groove which cooperates with the lifting seat 2 in vertical sliding, so as to improve the lifting stability of the lifting seat 2.

[0028] Specifically, it also includes a nozzle adjustment frame 7 arranged on the frame for fine-tuning the position of the suction nozzle 6. Furthermore, the nozzle adjustment frame 7 includes a circumferential angle rotation adjustment groove and a contraction adjustment groove opened on the nozzle adjustment frame 7, and a circumferential angle rotation clamping column adapted to the circumferential angle rotation adjustment groove is fixedly connected to the frame, and a contraction adjustment clamping column adapted to the contraction adjustment groove is fixedly connected to the top of the suction nozzle 6.

[0029] Specifically, n is set to 4, the number of the suction nozzles 6 is set to 4, and the number of the mechanical claws 5 is set to 8.

[0030] When in use, the 2n mechanical claws 5 are initially deployed, so that the drive cylinder 1 is extended to the maximum stroke, and the control device connected to the top of the frame controls the frame to come above the ceramic sheet. After the approximate orientation is aligned, the height is lowered so that the ceramic sheet contacts the n suction nozzles 6. At this time, the suction nozzles 6 do not generate suction, and the ceramic sheet can still move on the plane. The lifting seat 2 is lifted by contracting the drive cylinder 1. The lifting of the lifting seat 2 serves as a power, and through the lever assembly, the 2n mechanical claws 5 are controlled to close inward at the same time. When the lifting seat 2 rises to the highest position, the ceramic sheet is straightened. At this time, the suction nozzles 6 generate suction to suck the ceramic sheet, completing the straightening and suction of the ceramic sheet.

[0031] It should be noted that the phrases "one embodiment", "an embodiment", "an exemplary embodiment", "some embodiments", etc. mentioned in the specification indicate that the described embodiments may include certain features, structures or characteristics, but not every embodiment may include the certain features, structures or characteristics. In addition, such phrases do not necessarily refer to the same embodiment. In addition, when describing certain features, structures or characteristics in conjunction with an embodiment, it is within the knowledge of those skilled in the art to implement such features, structures or characteristics in conjunction with other embodiments, whether explicitly or not explicitly described.

[0032] It should be easily understood that “on,” “above,” and “over” in the present disclosure should be interpreted in the broadest manner, so that “on” means not only “directly on something,” but also includes the meaning of “on something” with intervening features or layers therebetween, and “above” or “over” includes not only the meaning of “above” or “over,” but also may include the meaning of “above” or “over something” with no intervening features or layers therebetween (i.e., directly on something).

[0033] In addition, spatially relative terms, such as "below," "below," "beneath," "above," "above," etc., may be used herein for ease of description to describe the relationship of one element or feature relative to other elements or features as shown in the figures. Spatially relative terms are intended to encompass different orientations of the device in use or operation in addition to the orientation shown in the figures. The device may have other orientations (rotated 90 degrees or at other orientations), and the spatially relative descriptors used herein may likewise be interpreted accordingly.

[0034] It should be noted that, in this article, relational terms such as "first" and "second" are only used to distinguish one entity or operation from another entity or operation, and do not necessarily require or imply any such actual relationship or order between these entities or operations. Moreover, the terms "include", "comprise" or any other variants thereof are intended to cover non-exclusive inclusion, so that a process, method, article or device including a series of elements includes not only those elements, but also other elements not explicitly listed, or also includes elements inherent to such process, method, article or device. In the absence of further restrictions, the elements defined by the sentence "comprise a ..." do not exclude the existence of other identical elements in the process, method, article or device including the elements.

[0035] Finally, it should be noted that the above embodiments are only used to illustrate the technical solutions of the present application, rather than to limit it. Although the present application has been described in detail with reference to the aforementioned embodiments, those skilled in the art should understand that they can still modify the technical solutions described in the aforementioned embodiments, or replace some or all of the technical features therein with equivalents. However, these modifications or replacements do not cause the essence of the corresponding technical solutions to deviate from the scope of the technical solutions of the embodiments of the present application.

Claims

1. A ceramic sheet suction robot that is easy to position, characterized in that: The invention comprises a frame, on which a suction structure and a return structure are arranged, the suction structure comprises n suction nozzles (6) distributed in a ring shape on the frame, and the n suction nozzles (6) are all arranged downward, the return structure comprises 2n mechanical claws (5) hinged to the frame, and every two mechanical claws (5) are arranged between two adjacent suction nozzles (6), and the return structure also comprises a driving mechanism for synchronously driving the 2n mechanical claws (5) to open and close.

2. The ceramic sheet suction robot for easy positioning according to claim 1 is characterized in that: The driving mechanism comprises a driving cylinder (1) fixedly mounted on a frame, a lifting seat (2) fixedly mounted on a bottom push rod of the driving cylinder (1), and each mechanical claw (5) is hingedly connected to the lifting seat (2) via a lever assembly.

3. The ceramic sheet suction robot for easy positioning according to claim 2 is characterized in that: The lever assembly comprises a lever bracket (3) and a driving rod (4); the lever bracket (3) is rotatably connected to the frame; the mechanical claw (5) is fixedly connected to the lever bracket (3); one end of the driving rod (4) is fixedly connected to the lever bracket (3); and the other end of the driving cylinder (1) is hinged to the lifting seat (2).

4. The ceramic sheet suction robot for easy positioning according to claim 3 is characterized in that: The frame is provided with a lifting slide groove which vertically slides with the lifting seat (2).

5. The ceramic sheet suction robot for easy positioning according to claim 4 is characterized in that: It also includes a suction nozzle adjustment frame (7) arranged on the frame for finely adjusting the position of the suction nozzle (6).

6. The ceramic sheet suction robot for easy positioning according to claim 5 is characterized in that: The n is set to 4, the number of the suction nozzles (6) is set to 4, and the number of the mechanical claws (5) is set to 8.

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