Mechanical gripper for falling at different heights

Abstract

The utility model discloses a mechanical gripper aiming at different height positions, which comprises a base and a linear guide mechanism arranged on the base, a longitudinal lifting mechanism is arranged on the linear guide mechanism, a miniature linear guide rail is arranged on the longitudinal lifting mechanism, the miniature linear guide rail is provided with a mechanical arm, and the mechanical arm is connected with the longitudinal lifting mechanism. And a circulating gripper is arranged at the end part of the mechanical arm. The linear guide mechanism and the longitudinal lifting mechanism are combined to form a displacement action part of the mechanical gripper, meanwhile, the miniature linear guide rail is arranged, the tray and the circulating gripper can fall in place by means of the self weight when the tray is taken and placed, the structure is compact, the space utilization rate can be reduced, and the production cost is reduced. Particularly, a complicated structure is not needed in the height direction for positioning; falling is achieved when the material disc is taken and placed through the micro linear guide rail, and the safety and reliability of falling can be improved; the whole design is beautiful and compact, the installation is convenient and fast, and the device can be better compatible with chip production equipment.

Description

Technical Field

[0001] The utility model belongs to the technical field of mechanical grippers, and in particular relates to a mechanical gripper for positioning at different heights. Background Art

[0002] In the chip manufacturing process, it is usually necessary to circulate trays carrying chips or empty trays. Robots are commonly used automated equipment for tray circulation. When the tray flies to the predetermined pick-up or placement position, a robotic gripper is installed in the area to pick up or put down the tray.

[0003] Existing mechanical grippers usually use a specific lifting mechanism to meet the height requirements of picking and placing materials, and then use complex circuits to meet the requirements of different directional displacements of the manipulator. However, the space of existing chip production equipment is limited. Installing existing mechanical grippers on the equipment will result in low space utilization, cluttered equipment space, poor aesthetics, etc., and cannot meet the diverse needs of users.

[0004] The information disclosed in this background technology section is only intended to increase the understanding of the overall background of the present invention, and should not be regarded as an admission or any form of suggestion that the information constitutes the prior art already known to those skilled in the art. Utility Model Content

[0005] The purpose of the present invention is to provide a mechanical gripper for different height positions, thereby overcoming the above-mentioned defects in the prior art.

[0006] In order to achieve the above-mentioned purpose, the utility model provides a mechanical gripper for different height positions, including a base, a linear guide mechanism arranged on the base, the linear guide mechanism is provided with a longitudinal lifting mechanism, the longitudinal lifting mechanism is provided with a micro linear guide rail, the micro linear guide rail is provided with a mechanical arm, and the end of the mechanical arm is provided with a flow gripper.

[0007] Further, preferably, the linear guide mechanism includes a linear guide rail and a synchronous belt arranged on the base; the longitudinal lifting mechanism includes a slider and a lifting cylinder arranged on the slider, and the slider is arranged on the linear guide rail and the synchronous belt.

[0008] Furthermore, preferably, the linear guide rails are provided in two groups, and the synchronous belt is located between the two groups of linear guide rails.

[0009] Furthermore, preferably, the lifting cylinder is a double-rod cylinder.

[0010] Furthermore, preferably, limit blocks are provided at both ends of the linear guide rail.

[0011] Furthermore, preferably, the micro linear guide rails are provided in two groups.

[0012] Further, preferably, the robotic arm includes a longitudinal support plate arranged on a micro linear guide rail, a cantilever structure connected to the longitudinal support plate, and a support top plate connected to the cantilever structure, and the flow transfer handle is arranged at the end of the support top plate.

[0013] Furthermore, preferably, the cantilever structures are provided in a pair, a plurality of mounting holes are provided on the pair of cantilever structures, and the support top plate is connected to the pair of cantilever structures through the mounting holes.

[0014] Compared with the prior art, the present invention has the following beneficial effects:

[0015] The utility model adopts a linear guide mechanism and a longitudinal lifting mechanism combined design to form the displacement action component of the mechanical gripper. At the same time, a micro linear guide rail is provided. When taking and placing the material tray, the tray and the weight of the flow gripper can be used for positioning. The structure is compact and can save space utilization. In particular, no complex structure is required for positioning in the height direction.

[0016] The utility model realizes the placement of the material tray by using a micro linear guide rail when taking and placing the material tray, which can improve the safety and reliability of the placement;

[0017] The overall design of the utility model is beautiful and compact, and the installation is convenient and quick, and can be better compatible with chip production equipment. BRIEF DESCRIPTION OF THE DRAWINGS

[0018] Figure 1 This is a schematic diagram of the structure of a mechanical gripper for different height positions of the present invention;

[0019] Figure 2 This is an enlarged schematic diagram of a linear guide mechanism for a mechanical gripper positioned at different heights according to the present invention;

[0020] Figure 3 This is an enlarged schematic diagram of a longitudinal lifting mechanism of a mechanical gripper for different landing heights in the present invention;

[0021] Figure markings: 1-base, 2-linear guide mechanism, 21-linear guide rail, 22-synchronous belt, 23-limiting block, 3-longitudinal lifting mechanism, 31-slider, 32-lifting cylinder, 4-micro linear guide rail, 5-robotic arm, 51-longitudinal support plate, 52-cantilever structure, 53-support top plate, 54-installation hole, 6-flow gripper. DETAILED DESCRIPTION

[0022] The specific implementation methods of the present invention are described in detail below, but it should be understood that the protection scope of the present invention is not limited by the specific implementation methods.

[0023] The following is a brief summary of one or more aspects to provide a basic understanding of these aspects. This summary is not an exhaustive overview of all conceivable aspects and is neither intended to identify key or critical elements of all aspects nor to define the scope of any or all aspects. Its sole purpose is to present some concepts of one or more aspects in a simplified form as a prelude to the more detailed description that will be provided later.

[0024] like Figure 1-3 As shown, a mechanical gripper for positioning at different heights includes a base 1, a linear guide mechanism 2 arranged on the base 1, a longitudinal lifting mechanism 3 is provided on the linear guide mechanism 2, a micro linear guide rail 4 is provided on the longitudinal lifting mechanism 3, a mechanical arm 5 is provided on the micro linear guide rail 4, and a flow gripper 6 is provided at the end of the mechanical arm 5.

[0025] In this embodiment, as a specific solution, the linear guide mechanism 2 includes a linear guide rail 21 and a synchronous belt 22 arranged on the base 1; the longitudinal lifting mechanism 3 includes a slider 31 and a lifting cylinder 32 arranged on the slider 31, and the slider 31 is arranged on the linear guide rail 21 and the synchronous belt 22.

[0026] Principle description: During operation, the lifting cylinder 31 lifts the robot arm 5 to the height of the pallet to be grabbed, and then the synchronous belt 22 drives the slider 31 to move to the predetermined pallet grabbing position on the linear guide 21. After the flow gripper 6 grabs the pallet, the synchronous belt 22 drives the slider 31 to move to the disk placement position on the linear guide 21. The pallet is lowered into place by the weight of the flow gripper 6, which makes the positioning safer and more reliable.

[0027] In this embodiment, as a specific solution, two groups of linear guide rails 21 are provided, and the synchronous belt 22 is located between the two groups of linear guide rails 21; the use of two groups of linear guide rails 21 can make the slider 31 more stable during linear displacement.

[0028] In this embodiment, as a specific solution, the synchronous belt 22 can be driven by a stepping motor.

[0029] In this embodiment, as a specific solution, the lifting cylinder 32 adopts a double-rod cylinder; similarly, the lifting cylinder 32 adopts a double-rod cylinder to improve the stability during lifting displacement.

[0030] In this embodiment, as a specific solution, limit blocks 23 are provided at both ends of the linear guide rail 21; the limit blocks 32 can limit the moving distance of the slider 31, thereby improving the safety and reliability of the equipment.

[0031] In this embodiment, as a specific solution, the miniature linear guide rails 4 are provided with two groups; similarly, the use of two groups of designs can improve the stability of the tray when it is placed in position.

[0032] In this embodiment, as a specific solution, the robotic arm 5 includes a longitudinal support plate 51 arranged on the micro linear guide rail 4, a cantilever structure 52 connected to the longitudinal support plate 51, and a support top plate 53 connected to the cantilever structure 52, and the flow transfer hand 6 is arranged at the end of the support top plate 53.

[0033] More specifically, the cantilever structures 52 are provided in a pair, each of which is provided with a plurality of mounting holes 54. The support top plate 53 is connected to the cantilever structures 52 at the mounting holes 54. During installation, the connection position of the support top plate 53 and the mounting holes 54 can be adjusted to meet the adjustment of the installation position of the flow gripper 6.

[0034] The utility model adopts a linear guide mechanism 2 and a longitudinal lifting mechanism 3 as a combined design to form the displacement action component of the mechanical gripper, and is also provided with a micro linear guide rail 4. When taking or placing the material tray, the material tray and the weight of the flow gripper can be used for positioning. The structure is compact and can save space utilization. In particular, no complex structure is required for positioning in the height direction. Moreover, the micro linear guide rail 4 is used to achieve positioning when taking or placing the material tray, which can improve the safety and reliability of positioning.

[0035] The overall design of the utility model is beautiful and compact, and the installation is convenient and quick, and can be better compatible with chip production equipment.

[0036] The foregoing descriptions of specific exemplary embodiments of the present invention are for purposes of illustration and description. These descriptions are not intended to limit the present invention to the precise forms disclosed, and it is apparent that many modifications and variations are possible in light of the foregoing teachings. The exemplary embodiments have been selected and described for the purpose of explaining the specific principles of the present invention and their practical application, thereby enabling those skilled in the art to realize and utilize a variety of exemplary embodiments of the present invention and various options and variations. The scope of the present invention is intended to be defined by the claims and their equivalents.

Claims

1. A mechanical gripper for different height positions, characterized by: It includes a base and a linear guide mechanism arranged on the base. The linear guide mechanism is provided with a longitudinal lifting mechanism. The longitudinal lifting mechanism is provided with a micro linear guide rail. The micro linear guide rail is provided with a mechanical arm. The end of the mechanical arm is provided with a flow gripper.

2. The mechanical gripper for different height positions according to claim 1, characterized in that: The linear guide mechanism includes a linear guide rail and a synchronous belt arranged on a base; the longitudinal lifting mechanism includes a slider and a lifting cylinder arranged on the slider, and the slider is arranged on the linear guide rail and the synchronous belt.

3. The mechanical gripper for different height positions according to claim 2, characterized in that: The linear guide rails are provided in two groups, and the synchronous belt is located between the two groups of linear guide rails.

4. The mechanical gripper for different height positions according to claim 2, characterized in that: The lifting cylinder adopts a double-rod cylinder.

5. The mechanical gripper for different height positions according to claim 2, characterized in that: Limit blocks are provided at both ends of the linear guide rail.

6. The mechanical gripper for different height positions according to claim 1, characterized in that: The miniature linear guide rails are provided with two groups.

7. The mechanical gripper for different height positions according to claim 1, characterized in that: The robotic arm includes a longitudinal support plate arranged on a micro linear guide rail, a cantilever structure connected to the longitudinal support plate, and a support top plate connected to the cantilever structure, and the flow gripper is arranged at the end of the support top plate.

8. The mechanical gripper for different height positions according to claim 7, characterized in that: The cantilever structures are provided in a pair, and a plurality of mounting holes are provided on the cantilever structures. The supporting top plate is connected to the cantilever structures through the mounting holes.

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