Gripper

Abstract

The utility model discloses a hand grab which comprises at least two suction cup assemblies used for adsorbing or releasing a plate, and at least two hand grab bodies arranged on the suction cup assemblies. The transmission part is in transmission connection with the suction cup assemblies, and the transmission part can drive the two opposite suction cup assemblies to be close to or away from each other; and the material box clamping block is arranged on the suction cup assembly, and the material box clamping block can be partially embedded into the positioning concave part of the material box so as to clamp the material box. According to the scheme, the plate suction function can be achieved through the suction cup assembly, clamping of a material box can be achieved through cooperation of the transmission part and the material box clamping block, the gripper has the plate suction function and the material box clamping function, and different use requirements can be met.

Description

Technical Field

[0001] The utility model relates to the technical field of automation equipment, and particularly relates to a gripper. Background Art

[0002] In the automated production of industries such as circuit boards and semiconductors, it is necessary to pick up sheets through a manipulator structure. However, most of the existing manipulator structures have a single function and can only perform grasping, unable to well meet the usage requirements.

[0003] Therefore, there are deficiencies in the prior art and improvements are needed. Summary of the Utility Model

[0004] The purpose of the utility model is to overcome the deficiencies of the prior art and provide a gripper.

[0005] The technical solution of the utility model is as follows: The utility model provides a gripper, including: A positioning recess is provided on the outer wall of the material box. It is characterized by including:

[0006] A suction cup assembly for adsorbing or releasing the sheet, and at least two suction cup assemblies are provided;

[0007] A transmission member, which is in transmission connection with the suction cup assembly, and the transmission member can drive two opposite suction cup assemblies to approach or move away from each other;

[0008] A material box clamping block is provided on the suction cup assembly, and the material box clamping block can partially embed into the positioning recess of the material box to clamp the material box.

[0009] Further, the material box clamping block is provided on the suction cup assembly.

[0010] Further, at least two material box clamping blocks are respectively provided on each suction cup assembly.

[0011] Further, the gripper further includes a jitter cylinder for driving at least one suction cup assembly to jitter.

[0012] Further, the gripper further includes a single and double sheet detection device provided on one of the suction cup assemblies.

[0013] Further, the gripper further includes a code reader provided on the motor base.

[0014] Further, the transmission member includes a synchronous belt and several slide rail groups. The suction cup assemblies are respectively connected to the synchronous belt, and each suction cup assembly is provided on the slider of the corresponding slide rail group.

[0015] With the above solution, the beneficial effects of the present utility model are as follows: The plate adsorption function can be realized through the suction cup assembly, and the clamping of the material box can be realized through the cooperation of the transmission part and the material box clamping block, so that the gripper has the functions of plate adsorption and material box clamping, which can meet different usage requirements. Description of the Drawings

[0016] Figure 1 It is a schematic structural diagram of an embodiment of the present utility model. Detailed Embodiments

[0017] The present utility model will be described in detail below in conjunction with the drawings and specific embodiments.

[0018] Please refer to Figure 1 , in this embodiment, the present utility model provides a gripper, including: a power source 5, a transmission part 1, a jitter cylinder 4, a first suction cup assembly 9, a second suction cup assembly 6, a material box clamping block 7, and a single / double sheet detection device 2.

[0019] Specifically, the power source 5 is arranged on the motor base 3 and is connected to the transmission part 1. The power source 5 is preferably a servo motor, which can achieve precise control.

[0020] Specifically, the transmission part 1 is used to adjust the distance between the first suction cup assembly 9 and the second suction cup assembly 6, and drive the first suction cup assembly and the second suction cup assembly to approach and move away from each other, so as to adapt to different sizes of plates. More specifically, the transmission part 1 includes a synchronous belt and several slide rail groups. The first suction cup assembly 9 and the second suction cup assembly 6 are respectively connected to the synchronous belt and are both arranged on the sliders of the corresponding slide rail groups. During operation, the power source 5 drives the synchronous belt to rotate, thereby driving the first suction cup assembly 9 and the second suction cup assembly 6 to slide on the slide rails of the corresponding slide rail groups respectively, realizing the distance adjustment between the first suction cup assembly 9 and the second suction cup assembly 6, which can adapt to different plate sizes and can also drive the material box clamping block 7 to perform the clamping action of the material box 8.

[0021] Specifically, the first suction cup assembly 9 and the second suction cup assembly 6 are respectively arranged on the transmission part 1 for adsorbing or releasing the plate. The first suction cup assembly 9 and the second suction cup assembly 6 respectively include a suction cup frame and several adsorption suction cups 10 arranged on the suction cup frame.

[0022] Specifically, in this solution, the jitter cylinder 4 is only arranged at the second suction cup assembly 6. When the jitter cylinder 4 works, it drives the suction cup 10 of the second suction cup assembly 6 to jitter, which can jitter the sheet materials even when they are overlapped, so as to ensure that the suction cup 10 only adsorbs a single sheet material. In other embodiments of this solution, the jitter cylinder 4 can also be arranged on the first suction cup assembly 9 and the second suction cup assembly 6 to drive the suction cups 10 of the first suction cup assembly 9 and the second suction cup assembly 6 to jitter, or the jitter cylinder 4 is only arranged on the second suction cup assembly 6.

[0023] Specifically, the single / double sheet detection device 11 includes a detection sensor, which can be arranged on the first suction cup assembly 9 or the second suction cup assembly 6 to detect whether the number of adsorbed sheet materials is single.

[0024] Specifically, the magazine clamping block 7 can partially embed into the positioning recess of the magazine 8 to clamp the magazine 8. The magazine clamping blocks 7 are arranged on the first suction cup assembly 9 and the second suction cup assembly 6. When the transmission member 1 works to drive the first suction cup assembly 9 and the second suction cup assembly 6 to approach each other, the magazine clamping blocks 7 arranged on the first suction cup assembly 9 and the second suction cup assembly 6 correspondingly will clamp the magazine 8. Therefore, the magazine clamping blocks 7 can clamp the magazine 8 under the drive of the transmission member 1, the first suction cup assembly 9 and the second suction cup assembly 6. Two magazine clamping blocks 7 are respectively arranged on the first suction cup assembly 9 and the second suction cup assembly 6 to ensure stable clamping.

[0025] Specifically, the solution further includes a barcode reader 2, which can be arranged on the motor base 3. The barcode reader 2 is used to read the identification code of the sheet material, such as barcodes, QR codes, etc. By arranging the barcode reader 2, the identification code of the sheet material can be read before or when the sheet material is adsorbed. When the identification code is incorrect or not recognized, actions such as stopping the machine and alarming can be taken to avoid problems such as incorrect or reversed placement of the sheet materials.

[0026] Further, all the suction cups 10 of the first suction cup assembly 9 are arranged in a line, and all the suction cups 10 of the second suction cup assembly 6 are also arranged in a line, and the suction cups 10 of the first suction cup assembly 9 and the suction cups 10 of the second suction cup assembly 6 are on two parallel lines, which can achieve stable adsorption of the sheet materials.

[0027] In this solution, the entire gripper can be fixed to the end of other driving mechanisms through the motor base 9. When performing the operation of adsorbing the board, the power source 5 operates to drive the transmission member 1 to move, so as to adjust the distance between the first suction cup assembly 9 and the second suction cup assembly 6 to adapt to boards of different sizes. The code reader 2 reads the identification code to avoid the problems of incorrect stacking direction and sequence of the boards. If the code reading is incorrect, actions such as stopping the machine and alarming will be carried out, and the adsorption operation will continue after the errors are corrected. If the code reading is correct, the gripper is driven by the driving mechanism to start descending and initiate the vacuum suction operation. After sucking the board from the magazine 8, it rises a certain distance and is jolted by the jolting cylinder 4 to avoid the problem of board adhesion. After determining that there is only a single board through the single / double sheet detection device 11, the driving mechanism drives the gripper to the corresponding position to place the board. When it is necessary to clamp the magazine 8, the power source 5 operates to drive the transmission member 1 to move, so as to adjust the distance between the first suction cup assembly 9 and the second suction cup assembly 6 to the maximum range. Then, the driving mechanism drives the gripper to descend to the corresponding position. The power source 5 operates to drive the transmission member 1 to move, and the distance between the first suction cup assembly 9 and the second suction cup assembly 6 is adjusted to make the magazine clamping block 7 clamp at the positioning recess of the magazine 8. Subsequently, the driving mechanism drives the gripper to the corresponding position and then places the magazine 8.

[0028] In summary, the beneficial effects of this solution are as follows: The board adsorption function can be realized through the suction cup assembly. Through the cooperation of the transmission member 1 and the magazine clamping block 7, the clamping of the magazine 8 can be realized, so that the gripper has the functions of board adsorption and magazine 8 clamping, and can meet different usage requirements.

[0029] The above are only the preferred embodiments of the present invention and are not used to limit the present invention. Any modifications, equivalent replacements, and improvements made within the spirit and principle of the present invention shall be included in the protection scope of the present invention.

Claims

1. A gripper for grabbing a material box and a plate placed in the material box, wherein the outer wall of the material box is provided with a positioning recess, characterized in that: The gripper comprises: A suction cup assembly, the suction cup assembly is used to absorb or release the plate, and at least two suction cup assemblies are provided; A transmission member, which is in transmission connection with the suction cup assembly, and the transmission member can drive two opposite suction cup assemblies to move closer to or away from each other; The material box clamping block is arranged on the suction cup assembly, and the material box clamping block can be partially embedded in the positioning recess of the material box to clamp the material box.

2. The gripper according to claim 1, characterized in that: The material box clamping block is arranged on the suction cup assembly.

3. The gripper according to claim 2, characterized in that: At least two material box clamping blocks are respectively arranged on each of the suction cup assemblies.

4. The gripper according to any one of claims 1 to 3, characterized in that: It also includes a shaking cylinder for driving at least one suction cup assembly to shake.

5. The gripper according to any one of claims 1 to 3, characterized in that: It also includes a single or double sheet detection device arranged on the suction cup assembly.

6. The gripper according to any one of claims 1 to 3, characterized in that: The utility model also comprises a code reader arranged on the motor seat.

7. The gripper according to any one of claims 1 to 3, characterized in that: The transmission member comprises a synchronous belt and a plurality of slide rail groups, the suction cup assemblies are respectively connected to the synchronous belts, and each of the suction cup assemblies is arranged on a slider of the corresponding slide rail group.

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