Cartridge grabbing mechanism

Abstract

The utility model discloses a cartridge grabbing mechanism which comprises a mechanism body, clamping parts are horizontally connected to the two sides of the mechanism body in a sliding mode, and locking parts used for limiting the clamping parts are vertically connected to the two sides of the mechanism body in a sliding mode. Each clamping part comprises a positioning supporting plate connected with the mechanism main body in a sliding manner, and a positioning surface matched with a cartridge is arranged on the outer side of each positioning supporting plate, so that the two clamping parts are arranged, and bulges with triangular structures are arranged on the outer sides of the positioning supporting plates of the clamping parts to serve as the positioning surfaces; the two positioning supporting plates can still quickly position the cartridge even if the position of the cartridge is changed under the cooperation of the positioning surfaces while the simultaneous movement distance on the guide mechanism is ensured to be relatively concentric, so that the concentricity in the working direction can be ensured, and the aim of centering and positioning with a vertical plane in the working direction can also be ensured.

Description

Technical Field

[0001] The utility model relates to the technical field of card box grabbing equipment, in particular to a card box grabbing mechanism. Background Art

[0002] In the field of liquid crystal semiconductor processing, in order to improve product processing efficiency and reduce processing costs, cassettes are used as operating tools when processing liquid crystal panels and semiconductors. However, how to quickly and stably locate and grasp the cassette and securely lock it has become an obstacle to automated processing. Utility Model Content

[0003] The purpose of the utility model is to provide a cassette grabbing mechanism to solve the problems raised in the above background technology.

[0004] In order to achieve the above purpose, the utility model provides the following technical solutions:

[0005] A cassette grabbing mechanism comprises a mechanism body, two sides of the mechanism body are horizontally slidably connected with clamping parts, and two sides of the mechanism body are provided with locking parts vertically slidably connected with the clamping parts for limiting the clamping parts;

[0006] The clamping part comprises a positioning support plate which is slidably connected to the mechanism body, and a positioning surface which cooperates with the cassette is arranged on the outer side of the positioning support plate.

[0007] As a further solution of the utility model: a connecting portion is provided at the upper end of the mechanism body, and the connecting portion is a connecting flange.

[0008] As a further solution of the utility model: a guide mechanism is provided at the lower end of the mechanism body, and the positioning support plate is slidably connected to the lower end of the mechanism body through the guide mechanism.

[0009] As a further solution of the utility model: a clamping cylinder is provided at the lower end of the mechanism body, and a piston end of the clamping cylinder is connected to the positioning support plate.

[0010] As a further solution of the utility model: the positioning support plate includes a vertical plate close to the mechanism body, and the bottom of the vertical plate extends away from the mechanism body to form a horizontal plate.

[0011] As a further solution of the utility model: the middle part of the positioning support plate bulges away from the mechanism main body to form a positioning surface, and the cassette is provided with a cassette positioning surface that cooperates with the positioning surface.

[0012] As a further solution of the utility model: the locking part includes a locking cylinder fixedly connected to the mechanism body, the piston of the locking cylinder is fixedly connected to a locating pin through a locating pin fixing plate, and the locating support plate is provided with a locating groove matching the locating pin.

[0013] As a further solution of the utility model: an overpressure sensing component, a cassette detection component, and a stroke adjustment component are provided on one side of the mechanism body.

[0014] Compared with the prior art, the utility model has the following beneficial effects: the utility model provides two clamping parts, and a triangular-structured protrusion is provided on the outer side of the positioning support plate of the clamping part as a positioning surface. While the distance is moved on the guide mechanism at the same time to ensure relative concentricity and with the cooperation of the positioning surface, even if the position of the cassette changes, the two positioning support plates can still quickly position the cassette, which can ensure the concentricity of the working direction and the centering positioning of the plane perpendicular to the working direction. BRIEF DESCRIPTION OF THE DRAWINGS

[0015] Figure 1 This is a schematic diagram of the structure of the cassette grabbing mechanism of this embodiment;

[0016] Figure 2 for Figure 1 The enlarged schematic diagram at A in the middle;

[0017] Figure 3 This is a schematic diagram of the locking mechanism of this embodiment;

[0018] Figure 4 This is a schematic diagram of the gripping mechanism in use in this embodiment.

[0019] In the figure: 1-clamping part, 11-positioning support plate, 12-positioning surface, 13-clamping position, 14-retracted position, 15-positioning groove, 2-locking part, 21-positioning pin fixing plate, 22-positioning pin, 3-connecting part, 4-clamping cylinder, 5-overpressure sensing component, 6-stroke adjustment component, 7-guide mechanism, 8-cassette detection component, 9-cassette positioning surface. DETAILED DESCRIPTION

[0020] 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.

[0021] See also Figure 1-4In an embodiment of the utility model, a cartridge grabbing mechanism includes a mechanism body, a connecting portion 3 is provided at the upper end of the mechanism body, and the connecting portion 3 is a connecting flange. The grabbing mechanism of this embodiment is connected to a robot arm through the connecting portion. Clamping portions 1 are horizontally slidably connected on both sides of the mechanism body, and locking portions 2 for limiting the clamping portions 1 are vertically slidably connected on both sides of the mechanism body. An overpressure sensing component 5, a cartridge detection component 8, and a stroke adjustment component 6 are provided on one side of the mechanism body. In this embodiment, the overpressure sensing component is a slot-type photoelectric EE_SPX303N and a spring rod, which can be written as an overpressure sensing component. The cartridge detection component is a photoelectric sensor E3Z-D61, which is a sensing component on the seat. The stroke adjustment component is an "adjustment bolt". Since the above-mentioned sensing elements are all prior art, they will not be described in detail.

[0022] The clamping part 1 includes a positioning support plate 11 which is slidably connected to the main body of the mechanism. The lower end of the main body of the mechanism is provided with a guide mechanism 7. The positioning support plate 11 is slidably connected to the lower end of the main body of the mechanism through the guide mechanism 7. The lower end of the main body of the mechanism is provided with a clamping cylinder 4. The piston end of the clamping cylinder 4 is connected to the positioning support plate 11, and then the positioning support plate 11 can be pushed by the cylinder 4 to slide horizontally on the guide mechanism 7. A positioning surface 12 cooperating with the cassette is provided on the outer side of the positioning support plate 11. The positioning support plate 11 includes a vertical plate close to the main body of the mechanism, and the bottom of the vertical plate extends away from the main body of the mechanism to form a horizontal plate, that is, the positioning support plate 11 is an outwardly folded L-shaped structure, and the middle part of the positioning support plate 11 is raised in the direction away from the main body of the mechanism to form the positioning surface 12. The cassette is provided with a cassette positioning surface 9 cooperating with the positioning surface 12. In this embodiment, the positioning surface 12 is a triangular structure, and the cassette positioning surface 9 on the cassette is a triangular groove structure, and then the cassette can be positioned and fixed by the positioning surface.

[0023] The locking part 2 comprises a locking cylinder fixedly connected to the mechanism body, a piston of the locking cylinder is fixedly connected to a positioning pin 22 via a positioning pin fixing plate 21 , and a positioning groove 15 cooperating with the positioning pin 22 is provided on the positioning support plate 11 .

[0024] When the utility model is in use, after receiving the clamping instruction, the robot arm is instructed to drive the connecting part 3 to the first preset position, and the clamping cylinder 4 drives the clamping part 1 along the guide mechanism 7 along the working direction toward the first preset distance, and reaches the first clamping distance. At this time, the spacing between the clamping parts 1 on both sides is smaller than the distance between the cassette positioning surfaces 9 on the cassette, and then the robot arm drives the connecting part 3 to descend to the second preset position. At this time, the clamping parts 1 on both sides are located between the cassette positioning surfaces 9 on both sides of the upper part of the cassette, as shown in the attached figure. Figure 4 The clamping cylinder 4 drives the clamping assembly 1 to move relatively along the guide mechanism 7 along the working direction by a second preset distance, and stops after reaching the second clamping distance. At this time, the L-shaped positioning support plate 11 clamps the cassette, and the positioning surface 12 is guided and fitted with the cassette positioning surface 9 for positioning. Figure 4The clamping position 13 in the clamping part 1 is thus stably clamped on the cartridge, and the piston of the locking cylinder of the locking part 2 is extended to drive the positioning pin 22 to extend into the positioning groove 15, completing the locking, and the robot arm can move the grasping mechanism clamping the cartridge to the next specified position.

[0025] It is obvious to those skilled in the art that the present invention is not limited to the details of the exemplary embodiments described above, and that the present invention can be implemented in other specific forms without departing from the spirit or essential features of the present invention. Therefore, the embodiments should be regarded as exemplary and non-restrictive from any point of view, and the scope of the present invention is defined by the appended claims rather than the above description, and it is intended that all changes falling within the meaning and scope of the equivalent elements of the claims be included in the present invention. Any reference numeral in a claim should not be regarded as limiting the claim to which it relates.

[0026] In addition, it should be understood that although the present specification is described according to implementation modes, not every implementation mode contains only one independent technical solution. This description of the specification is only for the sake of clarity. Those skilled in the art should regard the specification as a whole. The technical solutions in each embodiment may also be appropriately combined to form other implementation modes that can be understood by those skilled in the art.

Claims

1. A cassette grabbing mechanism, comprising a mechanism body, characterized in that: Clamping parts (1) are horizontally slidably connected on both sides of the mechanism body, and locking parts (2) are vertically slidably connected on both sides of the mechanism body and are used to limit the clamping parts (1); The clamping portion (1) comprises a positioning support plate (11) slidably connected to the mechanism body, and a positioning surface (12) cooperating with the cassette is provided on the outer side of the positioning support plate (11).

2. A cassette grabbing mechanism according to claim 1, characterized in that: A connecting portion (3) is provided at the upper end of the mechanism body, and the connecting portion (3) is a connecting flange.

3. A cassette grabbing mechanism according to claim 1, characterized in that: A guide mechanism (7) is provided at the lower end of the mechanism body, and the positioning support plate (11) is slidably connected to the lower end of the mechanism body via the guide mechanism (7).

4. A cassette grabbing mechanism according to claim 3, characterized in that: A clamping cylinder (4) is provided at the lower end of the mechanism body, and a piston end of the clamping cylinder (4) is connected to the positioning support plate (11).

5. A cassette grabbing mechanism according to claim 1, characterized in that: The positioning support plate (11) comprises a vertical plate close to the mechanism body, and the bottom of the vertical plate extends away from the mechanism body to form a horizontal plate.

6. A cassette grabbing mechanism according to claim 1 or 5, characterized in that: The middle part of the positioning support plate (11) is raised in a direction away from the mechanism body to form a positioning surface (12), and the cassette is provided with a cassette positioning surface (9) that matches the positioning surface (12).

7. A cassette grabbing mechanism according to claim 1, characterized in that: The locking part (2) comprises a locking cylinder fixedly connected to the mechanism body, the piston of the locking cylinder is fixedly connected to a positioning pin (22) via a positioning pin fixing plate (21), and the positioning support plate (11) is provided with a positioning groove (15) matching the positioning pin (22).

8. A cassette grabbing mechanism according to claim 1, characterized in that: An overpressure sensing component (5), a cassette detection component (8), and a stroke adjustment component (6) are provided on one side of the mechanism body.

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