Crystal taking manipulator

Abstract

The utility model discloses a crystal material taking manipulator which comprises a first material taking module, the first material taking module is used for adsorbing a crystal in an upright posture, the first material taking module is provided with a first driving module, a first material taking seat and at least one first material taking head, and the first driving module can drive the first material taking seat to move; the first material taking head is arranged on the first material taking seat, a plurality of adsorption cavities which are arranged side by side are formed in the first material taking head, the upper ends of the crystals in the vertical posture can extend upwards into the adsorption cavities, adsorption holes which can suck the crystals are formed in the adsorption cavities, and the crystals in the vertical posture can be sucked and vertically inserted into the combined carrier.

Description

Technical Field

[0001] The utility model relates to the technical field of quartz crystal oscillator production equipment, in particular to a crystal material taking manipulator. Background Art

[0002] The full name of quartz crystal oscillator is quartz crystal resonator, which is an electronic device that generates resonant frequency and is widely used in various electronic products. Quartz crystal oscillator mainly consists of three parts: base, crystal and shell. There are two pins arranged side by side on the base. One end of the crystal is welded to the base so that the crystal is electrically connected to the two pins. The shell is covered outside the base to seal the crystal inside the shell.

[0003] At present, a combination carrier is used to position the crystal and the base. The combination carrier includes a base carrier and a crystal carrier. The base carrier is provided with a plurality of slots for the pins on the base to be inserted, and the crystal carrier is provided with a guide hole for positioning the crystal. During production, the crystal carrier is assembled onto the base carrier to form a combination carrier, and then the crystal is pushed into the guide hole so that one end of the crystal abuts against the base, and finally the crystal and the base are welded. The traditional method uses a manipulator to place the crystal in a lying position on the combination carrier. Since the lying crystal has the problem of detaching from the base in the combination carrier, it is necessary to set up a manipulator that can grab the crystal in an upright position and insert it into the combination carrier. Utility Model Content

[0004] The utility model aims at the defects of the prior art and provides a crystal material taking robot which can take up the crystal in an upright posture and vertically insert it into a combined carrier.

[0005] In order to achieve the above purpose, the utility model adopts the following technical solutions:

[0006] A crystal picking robot comprises a first picking module, wherein the first picking module is used for sucking crystals in an upright posture, the first picking module has a first driving module, a first picking seat and at least one first picking head, the first driving module can drive the first picking seat to move, the first picking head is arranged on the first picking seat, a plurality of adsorption chambers arranged side by side are arranged on the first picking head, the adsorption chamber can allow the upper end of the crystal in an upright posture to extend upward, and the adsorption chamber is provided with a suction hole for sucking the crystal.

[0007] By setting a first material picking module composed of a first driving module, a first material picking seat and at least one first material picking head, the first driving module can drive the first material picking seat to move, the first material picking head is arranged on the first material picking seat, and the first material picking head is provided with a plurality of adsorption chambers arranged side by side, the adsorption chamber can be used for the upper end of the crystal in an upright posture to extend upward, and the adsorption chamber is provided with a suction hole for sucking the crystal. When picking up materials, the first driving module is used to drive the first material picking head downward to make the upper end of the crystal in an upright posture extend upward into the adsorption chamber, and then the crystal is sucked by the suction hole. In subsequent work, the first driving module is used to drive the first material picking head to move to the top of the combined carrier and move the first material picking head downward, so that the crystal in an upright posture can be inserted into the combined carrier, so that the crystal picking robot can suck the crystal in an upright posture and vertically insert it into the combined carrier.

[0008] As a preferred solution, the opening of the suction hole faces downward, and a positioning block for limiting the upward movement of the crystal is provided on the top of the adsorption chamber. The positioning block is provided on one side of the suction hole, and the lower end of the positioning block can block the gap on the crystal.

[0009] As a preferred solution, the distance h1 between the lower surface of the positioning block and the opening at the lower end of the adsorption chamber is ≤ 1 / 2 of the crystal height h2.

[0010] As a preferred solution, a first negative pressure chamber connected to an external negative pressure device is provided in the first material taking head, a negative pressure channel is provided between the first negative pressure chamber and the suction hole, and the first negative pressure chamber, the negative pressure channel, the suction hole and the adsorption chamber are connected in sequence.

[0011] As a preferred solution, the first negative pressure chamber is connected to a mounting groove, a detachable mounting plate is provided in the mounting groove, and the negative pressure channel, suction hole, and adsorption chamber are arranged on the mounting plate in sequence from top to bottom.

[0012] As a preferred solution, the mounting plate is detachably mounted in the mounting groove by means of pins or screws.

[0013] As a preferred solution, a connecting hole is provided on the first material picking seat, and a long hole is provided on the first material picking head, the long hole extends along the X-axis direction, and the bolt passes through the long hole and the connecting hole in sequence, so that the first material picking head can be adjusted and installed on the first material picking seat along the X-axis direction.

[0014] As a preferred solution, a positioning rod is provided on the first material picking seat, a long groove is provided on the first material picking head, the long groove extends along the X-axis direction, and the positioning rod is passed through the long groove.

[0015] As a preferred solution, two first material taking heads are arranged side by side on the first material taking seat along the X-axis direction.

[0016] As a preferred solution, the first driving module comprises a Y-axis driving module and a Z-axis driving module, the driving end of the Y-axis driving module is connected to the Z-axis driving module, and the driving end of the Z-axis driving module is connected to the first material picking seat.

[0017] As a preferred solution, it also includes a second material picking module, which is used to absorb crystals in a lying position. The second material picking module has a second driving module, a second material picking seat and at least one second material picking head. The second driving module can drive the second material picking seat to move. The second material picking head is arranged on the second material picking seat. The second material picking head is provided with a plurality of suction rods arranged side by side, and a suction nozzle is provided at the lower end of the suction rod.

[0018] Compared with the prior art, the utility model has obvious advantages and beneficial effects. Specifically, by setting a first material picking module composed of a first driving module, a first material picking seat and at least one first material picking head, the first driving module can drive the first material picking seat to move, and the first material picking head is arranged on the first material picking seat. A plurality of adsorption chambers arranged side by side are provided on the first material picking head, and the adsorption chamber can be used for the upper end of the crystal in an upright posture to extend upward, and a suction hole for sucking the crystal is provided in the adsorption chamber. When picking up materials, the first driving module is used to drive the first material picking head to move downward, so that the upper end of the crystal in an upright posture extends upward into the adsorption chamber, and then the crystal is sucked by the suction hole. In subsequent work, the first driving module is used to drive the first material picking head to move to the top of the combined carrier and move the first material picking head downward, so that the crystal in an upright posture can be inserted into the combined carrier, so that the crystal picking robot can suck the crystal in an upright posture and vertically insert it into the combined carrier.

[0019] In order to more clearly explain the structural features, technical means and specific purposes and functions achieved by the present invention, the present invention is further described in detail below in conjunction with the accompanying drawings and specific embodiments: BRIEF DESCRIPTION OF THE DRAWINGS

[0020] Figure 1 It is a schematic diagram of the assembly structure of an embodiment of the utility model;

[0021] Figure 2 This is a cross-sectional schematic diagram of the working state of the first material taking head of the embodiment of the utility model;

[0022] Figure 3 This is a cross-sectional schematic diagram of the working state of the second material taking head of the embodiment of the utility model;

[0023] Figure 4 yes Figure 2 A partial enlarged schematic diagram of part A;

[0024] Figure 5 yes Figure 3A partial enlarged schematic diagram of part B;

[0025] Figure 6 It is an exploded schematic diagram of the first material taking seat and the first material taking head of the embodiment of the utility model;

[0026] Figure 7 It is a three-dimensional schematic diagram of the working state of the first material taking head of the embodiment of the utility model.

[0027] Description of the accompanying drawings:

[0028] 10-first material picking module; 11-first drive module; 111-Y-axis drive module; 112-Z-axis drive module; 12-first material picking seat; 121-connecting hole; 122-positioning rod; 13-first material picking head; 131-adsorption chamber; 132-suction hole; 133-positioning block; 134-first negative pressure chamber; 135-negative pressure channel; 136-mounting groove; 137-mounting plate; 138-long hole; 139-long groove; 20-second material picking module; 21-second drive module; 22-second material picking seat; 23-second material picking head; 231-suction rod; 232-suction nozzle; 233-second negative pressure chamber; 30-crystal; 301-notch; 31-combination carrier; 311-guide hole. DETAILED DESCRIPTION

[0029] In the description of the present invention, it should be noted that the terms "center", "up", "down", "left", "right", "vertical", "horizontal", "inside", "outside", etc. indicate directions or positional relationships based on the directions or positional relationships shown in the accompanying drawings. They are only for the convenience of describing the utility model and simplifying the description, and do not indicate or imply that the position or element referred to must have a specific direction, be constructed and operated in a specific direction. Therefore, they cannot be understood as limitations on the present invention.

[0030] In the description of the present invention, it should be noted that, unless otherwise clearly specified and limited, the terms "installation", "connection" and "connection" should be understood in a broad sense, for example, it can be a fixed connection, a detachable connection, or an integral connection; it can be a mechanical connection or an electrical connection; it can be a direct connection, or it can be indirectly connected through an intermediate medium, or it can be the internal communication of two components. For ordinary technicians in this field, the specific meanings of the above terms in the present invention can be understood according to the specific circumstances.

[0031] like Figure 1-7As shown, the utility model discloses a crystal picking robot, including a first picking module 10, wherein the first picking module 10 is used to absorb the crystal 30 in an upright posture, and the first picking module 10 has a first driving module 11, a first picking seat 12 and at least one first picking head 13. Exemplarily, two first picking heads 13 are arranged side by side on the first picking seat 12 along the X-axis direction, and the first driving module 11 can drive the first picking seat 12 to move. The first picking head 13 is arranged on the first picking seat 12, and the first picking head 13 is provided with a plurality of adsorption chambers 131 arranged side by side along the X-axis direction, and the adsorption chamber 131 can allow the upper end of the crystal 30 in an upright posture to extend upward, and the adsorption chamber 131 is provided with a suction hole 132 that can absorb the crystal 30.

[0032] The opening of the suction hole 132 faces downward, and a positioning block 133 is provided on the top of the adsorption chamber 131 to limit the upward movement of the crystal 30. The positioning block 133 is provided on one side of the suction hole 132, and the lower end of the positioning block 133 can block the notch 301 on the crystal 30; when working, the lower end of the positioning block 133 blocks the notch 301 on the crystal 30, so that when the suction hole 132 adsorbs the crystal 30, the notch 301 is prevented from leaking, and the positioning block 133 limits the upward movement of the crystal 30, so that the first material removal head 13 can stably insert the crystal 30 into the combined carrier 31.

[0033] The distance h1 between the lower surface of the positioning block 133 and the opening at the lower end of the adsorption chamber 131 is ≤ 1 / 2 of the height h2 of the crystal 30; by setting the distance h1 between the lower surface of the positioning block 133 and the opening at the lower end of the adsorption chamber 131 to be ≤ 1 / 2 of the height h2 of the crystal 30, sufficient length is reserved for the first material removal head 13 to insert the crystal 30 into the combination carrier 31, making it easy for the crystal 30 to be inserted into the combination carrier 31.

[0034] A first negative pressure chamber 134 connected to an external negative pressure device is provided in the first material taking head 13, a negative pressure channel 135 is provided between the first negative pressure chamber 134 and the suction hole 132, and the first negative pressure chamber 134, the negative pressure channel 135, the suction hole 132, and the adsorption chamber 131 are connected in sequence.

[0035] A mounting groove 136 is connected to the lower part of the first negative pressure chamber 233, and a detachable mounting plate 137 is provided in the mounting groove 136. Specifically, the mounting plate 137 is detachably mounted in the mounting groove 136 by pins or screws, and the negative pressure channel 135, the suction hole 132, and the adsorption chamber 131 are sequentially arranged on the mounting plate 137 from top to bottom; by providing the detachable mounting plate 137, the negative pressure channel 135, the suction hole 132, the adsorption chamber 131 and the positioning block 133 are all arranged on the mounting plate 137, so that the negative pressure channel 135, the suction hole 132, the adsorption chamber 131 and the positioning block 133 can be pre-processed on the mounting plate 137, and then the mounting plate 137 can be assembled into the mounting groove 136, which is convenient for processing and manufacturing, and convenient for assembly and disassembly.

[0036] The first material picking seat 12 is provided with a connecting hole 121, and the first material picking head 13 is provided with a long hole 138, which extends along the X-axis direction. Bolts pass through the long hole 138 and the connecting hole 121 in sequence, so that the first material picking head 13 can be adjustably installed on the first material picking seat 12 along the X-axis direction. The first material picking seat 12 is provided with a positioning rod 122, and the first material picking head 13 is provided with a long groove 139, which extends along the X-axis direction. The positioning rod 122 is penetrated in the long groove 139. Specifically, the number of the long hole 138 and the number of the long groove 139 are both two.

[0037] The first driving module 11 has a Y-axis driving module 111 and a Z-axis driving module 112. The driving end of the Y-axis driving module 111 is connected to the Z-axis driving module 112, and the driving end of the Z-axis driving module 112 is connected to the first material picking seat 12. The Y-axis driving module 111 and the Z-axis driving module 112 can both adopt a screw + motor driving method, or a cylinder. In addition, the positions of the Y-axis driving module 111 and the Z-axis driving module 112 are interchangeable.

[0038] The second material picking module 20 is also included. The second material picking module 20 is used to absorb the crystal 30 in a lying position. The second material picking module 20 has a second driving module 21, a second material picking seat 22 and at least one second material picking head 23. For example, two second material picking heads 23 are arranged side by side along the X-axis direction on the second material picking seat 22. The second driving module 21 can drive the second material picking seat 22 to move. The second material picking head 23 is arranged on the second material picking seat 22. The second material picking head 23 is provided with a plurality of The suction rod 231 is arranged side by side in the direction, and the lower end of the suction rod 231 is provided with a suction nozzle 232. Specifically, a second negative pressure chamber 233 is provided in the second material picking head 23, and the suction nozzle 232 is connected with the second negative pressure chamber 233. The second material picking head 23 can be adjusted and installed on the second material picking seat 22. The adjustment method and principle of the second material picking head 23 are the same as the adjustment method and principle of the first material picking head 13. The structure and principle of the second driving module 21 are the same as the first driving module 11, so they are not repeated.

[0039] The working principle of the utility model is as follows: first, the second material taking module 20 takes out the crystal 30 in a lying position from the crystal 30 loading mechanism (not shown) and places it on an external adjustment device (not shown), then the external adjustment device adjusts the crystal 30 in a lying position to an upright position, and then the first material taking module 10 takes away the crystal 30 in a three-dimensional position and inserts it downward into the guide hole 311 on the combined carrier 31.

[0040] In summary, the utility model is provided with a first material taking module 10 consisting of a first driving module 11, a first material taking seat 12 and at least one first material taking head 13. The first driving module 11 can drive the first material taking seat 12 to move. The first material taking head 13 is arranged on the first material taking seat 12. The first material taking head 13 is provided with a plurality of adsorption chambers 131 arranged side by side. The adsorption chamber 131 can be used for the upper end of the crystal 30 in an upright posture to extend upward, and the adsorption chamber 131 is provided with a suction hole 132 that can absorb the crystal 30. When taking the material, the first material taking head 13 is provided with a plurality of adsorption chambers 131 arranged side by side. The first material picking head 13 is driven downward by the first driving module 11, so that the upper end of the crystal 30 in an upright posture extends upward into the adsorption chamber 131, and then the crystal 30 is sucked by the suction hole 132. In subsequent work, the first material picking head 13 is driven to move to the top of the combined carrier 31 by the first driving module 11 and the first material picking head 13 is moved downward, so that the crystal 30 in an upright posture can be inserted into the combined carrier 31, so that the crystal picking robot can absorb the crystal 30 in an upright posture and vertically insert it into the combined carrier 31.

[0041] The above description is only a preferred embodiment of the present invention and is not intended to limit the present invention. Therefore, any modification, equivalent replacement, improvement, etc. made to the above embodiment based on the technical practice of the present invention still falls within the scope of the technical solution of the present invention.

Claims

1. A crystal material taking manipulator, characterized in that: It includes a first material picking module, which is used to absorb crystals in an upright posture. The first material picking module has a first driving module, a first material picking seat and at least one first material picking head. The first driving module can drive the first material picking seat to move. The first material picking head is arranged on the first material picking seat. The first material picking head is provided with a plurality of adsorption chambers arranged side by side. The adsorption chamber can allow the upper end of the crystal in an upright posture to extend upward, and the adsorption chamber is provided with a suction hole that can absorb the crystal.

2. The crystal material taking manipulator according to claim 1, characterized in that: The opening of the suction hole faces downwards, and a positioning block for limiting the upward movement of the crystal is arranged on the top of the adsorption chamber. The positioning block is arranged on one side of the suction hole, and the lower end of the positioning block can block the gap on the crystal.

3. The crystal material taking manipulator according to claim 2 is characterized in that: The distance h1 between the lower surface of the positioning block and the opening at the lower end of the adsorption chamber is ≤ 1 / 2 of the crystal height h2.

4. The crystal material taking manipulator according to claim 1, characterized in that: A first negative pressure chamber connected to an external negative pressure device is provided in the first material taking head, a negative pressure channel is provided between the first negative pressure chamber and the suction hole, and the first negative pressure chamber, the negative pressure channel, the suction hole and the adsorption chamber are connected in sequence.

5. The crystal material taking manipulator according to claim 4, characterized in that: The first negative pressure chamber is connected to a mounting groove, a detachable mounting plate is arranged in the mounting groove, and the negative pressure channel, the suction hole and the adsorption chamber are arranged on the mounting plate in sequence from top to bottom.

6. The crystal material taking manipulator according to claim 5, characterized in that: The mounting plate is detachably mounted in the mounting groove by means of pins or screws.

7. The crystal material taking manipulator according to claim 1, characterized in that: The first material picking seat is provided with a connecting hole, the first material picking head is provided with a long hole, the long hole extends along the X-axis direction, and the bolt passes through the long hole and the connecting hole in sequence, so that the first material picking head can be adjusted and installed on the first material picking seat along the X-axis direction.

8. The crystal material taking manipulator according to claim 1, characterized in that: The first material picking seat is provided with a positioning rod, the first material picking head is provided with a long slot, the long slot extends along the X-axis direction, and the positioning rod is passed through the long slot.

9. The crystal material taking manipulator according to claim 1, characterized in that: The first driving module comprises a Y-axis driving module and a Z-axis driving module. The driving end of the Y-axis driving module is connected to the Z-axis driving module, and the driving end of the Z-axis driving module is connected to the first material picking seat.

10. The crystal material taking manipulator according to any one of claims 1 to 9, characterized in that: It also includes a second material picking module, which is used to absorb crystals in a lying position. The second material picking module has a second driving module, a second material picking seat and at least one second material picking head. The second driving module can drive the second material picking seat to move. The second material picking head is arranged on the second material picking seat. The second material picking head is provided with a plurality of suction rods arranged side by side, and a suction nozzle is provided at the lower end of the suction rod.

Images