Carrier clamping jaw module

Abstract

The utility model discloses a carrier clamping jaw module which comprises a clamping jaw moving assembly, a clamping jaw fixing plate, an air cylinder fixing plate, a lifting air cylinder and a clamping jaw assembly, the clamping jaw moving assembly is connected with a working platform in a sliding mode, a linear module is installed on the working platform, the linear module can drive the clamping jaw moving assembly to move on the working platform, and the lifting air cylinder is installed on the working platform. One side of the lifting air cylinder is fixed to the clamping jaw moving assembly, the other side of the lifting air cylinder is fixed to the clamping jaw fixing plate, the clamping jaw fixing plate is fixed to the output end of the lifting air cylinder, the two sides of the clamping jaw fixing plate are each provided with at least one pair of clamping jaw assemblies, and the clamping jaw assemblies are used for clamping the workpiece to be cleaned. According to the clamping jaw module, the workpiece to be cleaned can be grabbed and placed on the cleaning platform, and the cleaned workpiece can be grabbed and placed on a connection assembly line. The alloy clamping jaw is adopted, and the contact surface of the clamping jaw is the side edge of a product to be cleaned, so that the cleaning surface is not influenced by temperature and is not polluted.

Description

Technical Field

[0001] This utility model belongs to the technical field of plasma cleaning machines, specifically relating to a carrier gripper module. Background Technology

[0002] Plasma cleaners are devices that use plasma to effectively remove organic contaminants from the surface of materials, thereby achieving cleaning, coating, and other purposes. As a brand-new cleaning technology, plasma cleaners can achieve results that conventional cleaning methods cannot. Plasma cleaners are commonly used in the fields of semiconductor packaging and LED packaging.

[0003] Most plasma cleaners are currently semi-automatic, requiring manual operation for some tasks, such as placing and removing items to be cleaned. These tasks are primarily performed by the gripping mechanism, which is mostly a vacuum suction cup structure. This structure is not suitable for high-temperature environments. After plasma cleaning, the product surface will retain residual heat, which will affect the lifespan of the vacuum suction cup and also contaminate the cleaned surface. Utility Model Content

[0004] To address the aforementioned problems in the existing technology, this utility model provides a carrier gripper module. This utility model can achieve the purpose of automatic feeding, automatic cleaning, and automatic unloading. This utility model uses alloy grippers, and the gripper contact surface is the side of the product to be cleaned, so it will not be affected by temperature or contaminate the cleaning surface.

[0005] To solve the above-mentioned technical problems, the present invention adopts the following technical solution:

[0006] A carrier gripper module includes a gripper moving assembly, a gripper fixing plate, a cylinder fixing plate, a lifting cylinder, and a gripper assembly. The gripper moving assembly is slidably connected to a work platform. A linear module is installed on the work platform, which can drive the gripper moving assembly to move on the work platform. One side of the lifting cylinder is fixed to the gripper moving assembly, and the other side of the lifting cylinder is fixed to the gripper fixing plate. The output end of the lifting cylinder is fixed to the gripper fixing plate. At least one pair of gripper assemblies are installed on both sides of the gripper fixing plate. The gripper assemblies are used to grip the workpiece to be cleaned.

[0007] Furthermore, the gripper assembly includes a gripper cylinder and a gripping claw fixed to the output end of the gripper cylinder, wherein the gripping claw has an "L" shaped plate structure.

[0008] Furthermore, the gripper cylinder is a slide cylinder.

[0009] Furthermore, at least one guide assembly is provided between the gripper fixing plate and the cylinder fixing plate. The guide assembly includes a guide shaft fixed on the gripper fixing plate, a linear bearing mounted on the cylinder fixing plate, and a fixing ring fixed to the end of the guide shaft. The guide shaft passes through the linear bearing.

[0010] Furthermore, the gripper moving assembly includes a horizontal mounting plate and side sliding plates fixed on both sides of the horizontal mounting plate. The horizontal mounting plate is used to fix the gripper assembly. A cleaning assembly is provided downstream of the gripper module. The cleaning assembly includes a liftable cleaning platform and a vacuum chamber corresponding to the cleaning platform. The vacuum chamber is installed on the working platform.

[0011] Guide rails are fixedly installed on both sides of the cleaning platform. The guide rails are installed along the length of the working platform, and one end of each side sliding plate is slidably connected to a guide rail.

[0012] Furthermore, the horizontal mounting plate is fixed to the upper part of the lifting cylinder, and the number of guide components is four.

[0013] Compared with existing technologies, the beneficial effects of this solution are:

[0014] This invention provides a carrier gripper module, including a gripper moving assembly, a gripper fixing plate, a cylinder fixing plate, a lifting cylinder, and a gripper assembly. The gripper module can grip and place workpieces to be cleaned onto a cleaning platform and place cleaned workpieces onto a connecting production line. This invention uses alloy grippers, with the gripper contact surface being the side of the product to be cleaned, thus avoiding temperature effects and contamination of the cleaning surface. By setting up a connecting production line and corresponding gripper modules, automatic feeding can be achieved, and it can connect to upstream and downstream equipment and integrate with a client-side MES system. Attached Figure Description

[0015] Figure 1 This is the main view of the plasma cleaner;

[0016] Figure 2 This is a schematic diagram of the structure of the plasma cleaner (with the upper frame removed).

[0017] Figure 3 This is a schematic diagram of the cleaning component structure;

[0018] Figure 4 Axonometric view of the connecting assembly line;

[0019] Figure 5 Top view of the assembly line connection;

[0020] Figure 6 This is a schematic diagram of the fixed-side component and the moving-side component.

[0021] Figure 7 This is a schematic diagram of the barcode scanning component structure;

[0022] Figure 8 This is a schematic diagram of the blocking cylinder assembly structure;

[0023] Figure 9 This is a schematic diagram of the gripper module structure;

[0024] Figure 10 This is the main view of the gripper module.

[0025] The reference numerals in the attached figures are as follows:

[0026] Frame 1, Work Platform 11, Upper Frame 12, Lower Frame 13, Tri-color Light 14, Vacuum Pump 15, Guide Rail 16, Linear Slide Rail 17, Connecting Production Line 2, Side Mounting Plate 21, Synchronous Belt 211, Synchronous Pulley 212, Idler Pulley 213, Tensioner Pulley 214, Trapezoidal Lead Screw 22, Adjustment Knob 221, Drive Assembly 23, Motor Mounting Plate 231, Drive Motor 232, Transmission Shaft 233, Barcode Scanning Assembly 24, First Adjustment Shaft 241, Second Adjustment Shaft 242, Barcode Scanner 243, First Adjustment Component 244, Second Adjustment Component 245, ... Three adjusting components 246, gripper module 3, gripper moving assembly 31, gripper fixing plate 32, cylinder fixing plate 33, lifting cylinder 331, gripper assembly 34, gripper cylinder 341, gripper gripper 342, guide assembly 35, guide shaft 351, linear bearing 352, fixing ring 353, cleaning assembly 4, cleaning platform 41, platform plate 411, cavity bottom plate 412, lifting cylinder 413, vacuum cavity 42, cavity fixing component 43, microwave source 44, blocking cylinder assembly 5, blocking cylinder 51, first adjusting block 52, second adjusting block 53. Detailed Implementation

[0027] The present invention will now be described in further detail with reference to the accompanying drawings.

[0028] A plasma cleaner, such as Figure 1 and Figure 2 As shown, it includes:

[0029] Frame 1, wherein a work platform 11 is mounted on the frame 1;

[0030] A connecting conveyor line 2 is installed on the work platform 11. The connecting conveyor line 2 is used to transport the workpiece to be cleaned. The connecting conveyor line 2 is located on one side of the work platform 11.

[0031] The gripper module 3 corresponding to the connecting assembly line 2 is mounted on the work platform 11; and

[0032] A cleaning assembly 4 is located downstream of the gripper module 3. The cleaning assembly 4 includes a liftable cleaning platform 41 and a vacuum chamber 42 corresponding to the cleaning platform 41. The vacuum chamber 42 is installed on the working platform 11.

[0033] The gripper module 3 is used to move the workpiece to be cleaned onto the cleaning platform 41. After the cleaning platform 41 is raised, it can form a sealed cleaning space with the vacuum chamber 42.

[0034] According to a specific embodiment of the present invention, the frame 1 includes a lower frame 131 and an upper frame 121. The upper frame 121 is equipped with a tri-color light 14 and is fastened to the lower frame 131. The working platform 11 is installed on the upper part of the lower frame 131. The working platform 11 is a rectangular plate structure. The connecting production line 2 is located on the width side. The cleaning component 4 is located on the other width side of the working platform 11. A gripper module 3 is provided between the cleaning component 4 and the connecting production line 2. The side of the vacuum chamber 42 is installed on the working platform 11 through a chamber fixing member 43. The chamber fixing member 43 is also equipped with a microwave source 44 for generating plasma. The microwave source 44 is an array-type high-density microwave plasma source, which generates plasma density 1 to 2 orders of magnitude higher than that of a conventional microwave source 44, and can significantly improve cleaning efficiency. The lower frame 131 is equipped with a vacuum pump 15, which is used to draw air into the vacuum chamber 42 to form a vacuum.

[0035] This utility model relates to a fully automated plasma cleaning device. By setting up a connecting production line 2 and corresponding gripper modules 3 on the connecting production line 2, automatic loading and unloading can be achieved. Automatic cleaning is achieved through the automatic lifting and lowering of the cleaning platform 41, and automatic unloading is achieved through the cooperation of the gripper modules 3 and the connecting production line 2. It can also connect to upstream and downstream equipment and integrate with a client-side MES system, realizing fully automated cleaning operations without manual intervention. The client-side MES system, or Manufacturing Execution System (MES), is an integrated software system designed for the manufacturing industry. Its goal is to improve the execution efficiency of the entire production process, coordinate various production stages, monitor production activities in real time, and provide detailed production data. The MES system plays a crucial role in modern manufacturing environments, helping enterprises achieve higher levels of production efficiency and more effectively meet market demands.

[0036] Furthermore, such as Figure 3As shown, the cleaning platform 41 includes a platform plate 411, a cavity bottom plate 412, and a lifting cylinder 413. The lifting cylinder 413 is fixedly installed on the working platform 11. The output end of the lifting cylinder 413 is connected to the bottom of the cavity bottom plate 412. At least one linear bearing 352 is installed between the cavity bottom plate 412 and the working platform 11. The platform plate 411 is fixed on the upper part of the cavity bottom plate 412 and is used to place the workpiece to be cleaned.

[0037] According to a specific embodiment of this utility model, the vacuum chamber 42 has an opening at the bottom, and a bottom plate 412 is provided corresponding to the opening of the vacuum chamber 42. The opening of the vacuum chamber 42 has a sealing strip. After the bottom plate 412 is raised, it covers the opening of the vacuum chamber 42 to form a seal. With the help of the vacuum pump 15, the cleaning environment can be evacuated to a vacuum state, which can improve the cleaning efficiency. The bottom plate 412 of the cleaning platform 41 is a liftable platform. Grooves are opened around the platform plate 411 corresponding to the clamping claws 342, so that the clamping claws 342 can extend into the grooves to clamp and lift the workpiece to be cleaned on the platform plate 411. The platform plate 411 has a flow channel structure. The introduction of silicone oil can quickly heat and cool, which can significantly improve the effect of plasma cleaning. The lifting cylinder 413 is vertically installed at the bottom of the working platform 11. In this embodiment, there are four linear bearings 352, which are used to limit the vertical movement of the bottom plate 412 to only when pushed by the lifting cylinder 413.

[0038] Furthermore, such as Figure 4 and Figure 5 As shown, the connecting assembly line 2 includes a fixed side component fixedly installed on the work platform 11, a movable side component disposed opposite to the fixed side component, a width adjustment component, a drive component 23, and a barcode scanning component 24 for scanning the workpiece to be cleaned.

[0039] The mobile side component is slidably mounted on the working platform 11, the fixed side component is equipped with the width adjustment component, the width adjustment component is connected to the mobile side component, and the width adjustment component is used to move the mobile side component closer to or away from the fixed side component. The barcode scanning component 24 is mounted on the fixed side component and extends towards the mobile side component.

[0040] The drive component 23 is installed on one side of the moving side component. Both the fixed side component and the moving side component are equipped with a conveyor belt assembly for driving the workpiece to be cleaned forward. The drive component 23 is used to drive the conveyor belt assembly.

[0041] According to a specific embodiment of the present invention, the variable width connecting production line 2 connects upstream and downstream equipment and realizes the transfer of workpieces to be cleaned, thereby improving the degree of automation of production. The variable width allows the production line to be compatible with more sizes of workpieces to be cleaned.

[0042] Specifically, the fixed-side component and the movable-side component are arranged parallel to each other. The fixed-side component is fixed to the working platform 11 with screws as the reference side. In this embodiment, the side mounting plates 21 of the fixed-side component and the movable-side component can have different structures, which can be determined according to the actual installation requirements. The side mounting plate 21 of the movable-side component is connected to the linear slide rail 17 with screws and thus slidably mounted on the working platform 11 as the movable side. There are two linear slide rails 17, which are fixed to the working platform 11 parallel to each other and are arranged perpendicular to the fixed-side component. The barcode scanning component 24 is installed at the upstream end of the fixed-side component to facilitate barcode scanning.

[0043] Furthermore, such as Figure 6 As shown, both the fixed-side assembly and the movable-side assembly include a side mounting plate 21, a timing belt 211, a timing pulley 212, and an idler pulley 213. The side mounting plate 21 is fixed on the working platform 11. The side mounting plates 21 of the fixed-side assembly and the movable-side assembly are arranged parallel to each other. The timing belt 211 is mounted on the side mounting plate 21 and is arranged along the length direction of the side mounting plate 21. The timing pulley 212 that cooperates with the timing belt 211 is mounted on the side mounting plate 21. The idler pulley 213 is mounted at both ends of the side mounting plate 21 and is connected to the timing belt 211.

[0044] According to a specific embodiment of the present invention, the side mounting plates 21 of the fixed side assembly and the movable side assembly are arranged along the length direction of the work platform 11. The workpiece to be cleaned is placed on the synchronous belt 211 of the side mounting plate 21 for transportation. The synchronous pulley 212 can be installed in the middle of the side mounting plate 21. A tensioning pulley 214 is also provided on both sides of the synchronous pulley 212. The tensioning pulley 214 is used to press the synchronous belt 211 against both sides of the synchronous pulley 212. The idler pulley 213 is used to passively transmit the power of the synchronous pulley 212.

[0045] Furthermore, the width adjustment component includes a trapezoidal lead screw 22, which is threadedly connected to the side mounting plate 21 of the moving side component. One end of the trapezoidal lead screw 22 is rotatably connected to the side mounting plate 21 of the fixed side component, and this end of the trapezoidal lead screw 22 has an adjustment knob 221.

[0046] According to a specific embodiment of the present invention, a trapezoidal lead screw 22 is arranged between the fixed side component of the connecting assembly line 2 and the motor mounting plate 231. The nut of the trapezoidal lead screw 22 is connected to the moving side component. An adjustment knob 221 is connected to the end of the trapezoidal lead screw 22. The width of the connecting assembly line 2 can be adjusted by adjusting the adjustment knob 221 (the end of the trapezoidal lead screw 22 can also be driven by a motor to rotate).

[0047] Furthermore, such as Figure 5 As shown, the drive assembly 23 includes a motor mounting plate 231, a drive motor 232 mounted on the work platform 11 via the motor mounting plate 231, and a transmission shaft 233. The drive motor 232 is driven by the transmission shaft 233 via a belt drive. The transmission shaft 233 is rotatably mounted on the motor mounting plate 231. After extending, the transmission shaft 233 passes through the side mounting plates 21 of the moving side assembly and the fixed side assembly, respectively, and the transmission shaft 233 is keyed to the synchronous pulley 212 on the side mounting plate 21.

[0048] Among them, the synchronous wheel 212 of the moving side component can slide along the drive shaft 233.

[0049] According to a specific embodiment of this utility model, the transmission shaft 233 is perpendicular to the side mounting plate 21 of the fixed side component and the moving side component. A keyway is formed along the length of the transmission shaft 233, allowing the synchronous pulley 212 of the moving side component to slide along the transmission shaft 233. This achieves power transmission without hindering the width adjustment of the moving side component. The transmission shaft 233 is arranged between the fixed side component and the motor mounting plate 231. One end of the transmission shaft 233 is connected to the synchronous pulley 212, which is driven by the drive motor 232. In this embodiment, the drive motor 232 can be a servo motor, a stepper motor, or a speed-regulating motor. The transmission shaft 233 and the drive motor 232 are connected by belt drive, or a motor coupling can be used to directly drive the transmission shaft 233, thereby driving the transmission shaft 233 to achieve the operation of the synchronous belt 211 of the connecting assembly line 2, and thus causing the synchronous belt 211 to rotate.

[0050] Furthermore, such as Figure 7 As shown, the barcode scanning assembly 24 includes a first adjustment shaft 241 arranged vertically, a second adjustment shaft 242 arranged horizontally, and a barcode scanner 243. One end of the first adjustment shaft 241 is mounted on the side mounting plate 21 of the fixed side assembly via a first adjustment member 244. The height of the first adjustment shaft 241 can be adjusted relative to the first adjustment member 244. A second adjustment member 245 is mounted on the first adjustment shaft 241. The second adjustment member 245 is fixedly mounted on the second adjustment shaft 242. The horizontal position of the second adjustment shaft 242 can be adjusted relative to the second adjustment member 245. The barcode scanner 243 is mounted on the second adjustment shaft 242 via a third adjustment member 246.

[0051] According to a specific embodiment of this utility model, a plurality of connecting holes are horizontally formed along the length direction on the side mounting plate 21 of the fixed side assembly. The first adjusting member 244 can be installed on the side mounting plate 21 of the fixed side assembly by selecting appropriate connecting holes. In this embodiment, the barcode scanning assembly 24 can change the height position of the barcode scanner 243 by setting the first adjusting shaft 241, and can change the horizontal position of the barcode scanner 243 by setting the second adjusting shaft 242. At the same time, the barcode scanner 243 can also change its angle by rotating around the second adjusting shaft 242 via the third adjusting member 246, and the second adjusting member 245 can also change its angle by rotating around the first adjusting shaft 241.

[0052] In this embodiment, a barcode scanner 24 is installed on the fixed-side assembly. A first adjusting member 244 is fixed to the mounting plate 21 on the fixed-side assembly. The first adjusting member 244 has a slotted hole structure, allowing the barcode scanner 24 to be adjusted in position along the length of the work platform 11. A second adjusting member 245 can be adjusted vertically and angularly on the first adjusting shaft 241 and then fixed. These adjustments allow the barcode scanner 243 to be adjusted in the X / Y / Z directions and angular directions, covering the scanning needs of different workpieces to be cleaned and at different positions. The first adjusting member 244, the second adjusting member 245, and the third adjusting member 246 can be selected according to appropriate structures based on actual production needs; this embodiment uses a "C"-shaped clamp structure.

[0053] The plasma cleaner of this utility model also includes a blocking cylinder assembly 5, such as... Figure 8 As shown, there are two blocking cylinder assemblies 5. One blocking cylinder assembly 5 is located upstream of the connecting conveyor line 2, and the other blocking cylinder assembly 5 is located downstream of the connecting conveyor line 2. The blocking cylinder assembly 5 includes a blocking cylinder 51, a first adjusting block 52, and a second adjusting block 53. The first adjusting block 52 is installed on the working platform 11. The length direction of the first adjusting block 52 is parallel to the transmission shaft 233. The first adjusting block 52 has a sliding groove along its length direction. The second adjusting block 53 is fixed to the first adjusting block 52 through the sliding groove. The second adjusting block 53 can change its installation position on the first adjusting block 52. The blocking cylinder 51 is fixed on the second adjusting block 53. The blocking cylinder 51 is used to block the workpiece to be cleaned from the synchronous belt 211.

[0054] This utility model's plasma cleaner integrates a blocking cylinder assembly 5, which is used to block the workpiece to be cleaned. During barcode scanning, the workpiece to be cleaned is blocked at the blocking cylinder 51 upstream of the connecting conveyor line 2. When the workpiece to be cleaned is blocked at the blocking cylinder 51 downstream of the connecting conveyor line 2, it can be gripped and cleaned by the gripper module 3. The first adjusting block 52 has several oblong holes along the direction of the synchronous belt 211, and multiple mounting holes along its length, allowing the position of the blocking cylinder 51 to be adjusted in the X / Y directions, thereby preventing workpieces of different sizes from being cleaned from moving.

[0055] The workflow for connecting to production line 2 is as follows:

[0056] S1. Adjust the width of the production line, the position of the barcode scanner 243 and the position of the blocking cylinder 51 in advance according to the size of the workpiece to be cleaned.

[0057] S2. When the workpiece to be cleaned from the previous station enters the plasma cleaner of this utility model through the connecting line 2, it is blocked at the position of the blocking cylinder 51 at the upstream of the connecting line 2. At this time, the barcode scanner 243 scans the barcode and uploads the scanned information to the client MES system.

[0058] S3. After the barcode scanner 243 finishes scanning, the blocking cylinder 51 at the upstream of the connecting line 2 retracts, and the workpiece to be cleaned continues to flow to the next position. It is blocked at the position of the blocking cylinder 51 at the downstream of the connecting line 2. At this time, the gripper moving assembly 31 grabs the workpiece to be cleaned and puts it into the vacuum chamber 42 for cleaning.

[0059] S4. After the workpiece is cleaned, the gripper moving assembly 31 picks up the cleaned workpiece and puts it back into the connecting production line 2. The blocking cylinder 51 at the downstream end of the connecting production line 2 retracts, and the cleaned workpiece flows to the next station.

[0060] Furthermore, such as Figure 9 and Figure 10 As shown, the gripper module 3 includes a gripper moving assembly 31, a gripper fixing plate 32, a cylinder fixing plate 33, a lifting cylinder 331, and a gripper assembly 34. The gripper moving assembly 31 is slidably connected to the work platform 11. A linear module (not visible in the figure) is installed on the work platform 11. The linear module can drive the gripper moving assembly 31 to move on the work platform 11. One side of the lifting cylinder 331 is fixed to the gripper moving assembly 31, and the other side of the lifting cylinder 331 is fixed to the gripper fixing plate 32. The output end of the lifting cylinder 331 is fixed to the gripper fixing plate 32. At least one pair of gripper assemblies 34 are installed on both sides of the gripper fixing plate 32. The gripper assemblies 34 are used to clamp the workpiece to be cleaned.

[0061] According to a specific embodiment of this utility model, the gripper module 3 can grip and place the workpiece to be cleaned onto the cleaning platform 41, and grip and place the cleaned workpiece onto the connecting assembly line 2. Specifically, the upper end of the lifting cylinder 331 is fixed to the gripper moving assembly 31, the lower end of the lifting cylinder 331 is fixed to the gripper fixing plate 32, and the output end of the lifting cylinder 331 is fixed to the gripper fixing plate 32. The gripper moving assembly 31 has an overall "n" shaped structure. Guide rails 16 are fixedly installed on both sides of the cleaning platform 41. The guide rails 16 are installed on the working platform 11 along the length direction of the working platform 11. The two ends of the gripper moving assembly 31 bypass the cleaning platform 41 and slide to connect with the guide rails 16. The lifting cylinder 331 drives the gripper fixing plate 32 to rise and fall. At least one pair of gripper assemblies 34 are installed on both sides of the gripper fixing plate 32. The gripper assemblies 34 are used to clamp the workpiece to be cleaned. The gripper assemblies 34 are installed on the side of the gripper fixing plate 32 that is parallel to the length direction of the working platform 11. In this embodiment, there are two pairs of gripper assemblies 34.

[0062] Furthermore, the gripper assembly 34 includes a gripper cylinder 341 and a gripping claw 342 fixed to the output end of the gripper cylinder 341. The gripping claw 342 has an "L" shaped plate structure.

[0063] At least one guide assembly 35 is further provided between the gripper fixing plate 32 and the cylinder fixing plate 33. The guide assembly 35 includes a guide shaft 351 fixed on the gripper fixing plate 32, a linear bearing 352 mounted on the cylinder fixing plate 33, and a fixing ring 353 fixed to the end of the guide shaft 351. The guide shaft 351 passes through the linear bearing 352. The guide assembly 35 is used to ensure linear movement between the gripper fixing plate 32 and the cylinder fixing plate 33. In this embodiment, the gripper cylinder 341 is a slide cylinder. This utility model uses alloy grippers, and the gripper contact surface is the side of the product to be cleaned, so it will not be affected by temperature or contaminate the cleaning surface.

[0064] Specifically, the gripper moving assembly 31 includes a horizontal mounting plate and side sliding plates fixed on both sides of the horizontal mounting plate. The horizontal mounting plate is used to fix the gripper assembly 34. Guide rails 16 are fixedly installed on both sides of the cleaning platform 41. The guide rails 16 are installed along the length direction of the working platform 11. One end of each side sliding plate is slidably connected to a guide rail 16.

[0065] Furthermore, the horizontal mounting plate is fixed to the upper part of the lifting cylinder 331, and four guide components 35 are provided, which are respectively located at the four corners of the cylinder fixing plate 33.

[0066] The working steps of the gripper module 3 in this embodiment are as follows:

[0067] S1. A tray containing workpieces to be cleaned flows in from the previous station through the connecting conveyor line 2.

[0068] S2. The tray containing the workpiece to be cleaned stops at the position of the blocking cylinder 51 upstream of the connecting assembly line 2.

[0069] S3, the gripper moving component 31 moves precisely above the connecting assembly line 2 to grab the tray;

[0070] S4. The gripper moving assembly 31 grips the tray, moves it, and places it on the cleaning platform 41;

[0071] S5, the gripper moving component 31 moves to the top of the connecting assembly line 2;

[0072] S6. The lifting cylinder 413 of the cleaning platform 41 lifts the mold to perform the cleaning process;

[0073] S7. After cleaning is completed, the bottom lifting cylinder 413 retracts.

[0074] S8, the gripper moving component 31 moves to the cleaning station, grabs the tray and places it on the connecting assembly line 2;

[0075] S9, the tray flows out to the next station.

[0076] In addition, this utility model also claims protection for a cleaning method using any of the above-mentioned plasma cleaners, which further includes the following steps:

[0077] S1. Adjust the position of the moving side component relative to the fixed side component and the position of the barcode scanner 243 in advance according to the size of the workpiece to be cleaned;

[0078] S2. The workpiece to be cleaned after processing at the previous station enters this equipment and is scanned by barcode scanner 243. Barcode scanner 243 then uploads the scanned information to the client MES system.

[0079] S3. After the barcode scanner 243 finishes scanning, the workpiece to be cleaned continues to flow to the next position through the connecting assembly line 2. At this time, the gripper module 3 grabs the workpiece to be cleaned and puts it into the vacuum chamber 42 for cleaning.

[0080] S4. After the vacuum chamber 42 is cleaned, the gripper module 3 picks up the cleaned workpiece and puts it back into the connecting production line 2, and the workpiece flows to the next station.

[0081] Finally, it should be noted that in the description of this utility model, the terms "vertical," "upper," "lower," "horizontal," etc., indicate the orientation or positional relationship based on the orientation or positional relationship shown in the accompanying drawings. They are only for the convenience of describing this utility model and simplifying the description, and do not indicate or imply that the device or element referred to must have a specific orientation, or be constructed and operated in a specific orientation. Therefore, they should not be construed as limitations on this utility model.

[0082] In the description of this utility model, it should also be noted that, unless otherwise explicitly specified and limited, the terms "set," "install," "connect," and "link" should be interpreted broadly. For example, they can refer to a fixed connection, a detachable connection, or an integral connection; they can refer to a mechanical connection or an electrical connection; they can refer to a direct connection or an indirect connection through an intermediate medium; and they can refer to the internal connection of two components. Those skilled in the art can understand the specific meaning of the above terms in this utility model according to the specific circumstances.

[0083] The above description is merely a preferred embodiment of the present utility model and is not intended to limit the present utility model. Although the present utility model has been described in detail with reference to the foregoing embodiments, those skilled in the art can still modify the technical solutions described in the foregoing embodiments or make equivalent substitutions for some of the technical features. Any modifications, equivalent substitutions, improvements, etc., made within the spirit and principles of the present utility model should be included within the protection scope of the present utility model.

Claims

1. A vehicle gripper module, characterized in that: The device includes a gripper moving assembly, a gripper fixing plate, a cylinder fixing plate, a lifting cylinder, and a gripper assembly. The gripper moving assembly is slidably connected to a work platform. A linear module is installed on the work platform, which can drive the gripper moving assembly to move on the work platform. One side of the lifting cylinder is fixed to the gripper moving assembly, and the other side of the lifting cylinder is fixed to the gripper fixing plate. The output end of the lifting cylinder is fixed to the gripper fixing plate. At least one pair of gripper assemblies are installed on both sides of the gripper fixing plate. The gripper assemblies are used to clamp the workpiece to be cleaned.

2. The vehicle gripper module according to claim 1, characterized in that: The gripper assembly includes a gripper cylinder and a gripper fixed to the output end of the gripper cylinder. The gripper has an "L" shaped plate structure.

3. A vehicle gripper module according to claim 2, characterized in that: The gripper cylinder is a slide cylinder.

4. A vehicle gripper module according to any one of claims 1-3, characterized in that: At least one guide assembly is also provided between the gripper fixing plate and the cylinder fixing plate. The guide assembly includes a guide shaft fixed on the gripper fixing plate, a linear bearing mounted on the cylinder fixing plate, and a fixing ring fixed at the end of the guide shaft. The guide shaft passes through the linear bearing.

5. A vehicle gripper module according to claim 4, characterized in that: The gripper moving assembly includes a horizontal mounting plate and side sliding plates fixed on both sides of the horizontal mounting plate. The horizontal mounting plate is used to fix the gripper assembly. A cleaning assembly is provided downstream of the gripper module. The cleaning assembly includes a liftable cleaning platform and a vacuum chamber corresponding to the cleaning platform. The vacuum chamber is installed on the working platform. The cleaning platform is fixedly installed with guide rails on both sides, and the guide rails are installed along the length of the working platform. One end of each side sliding plate is slidably connected to a guide rail.

6. A vehicle gripper module according to claim 5, characterized in that: The horizontal mounting plate is fixed to the upper part of the lifting cylinder, and the number of guide components is four.

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