An automatic multi-specification glass taking gripper mechanism

Abstract

The utility model relates to a kind of automatic multi-specification glass taking gripper mechanism, including robot hand, flange, fork arm fixed seat and fork arm group, it is characterized in that, multiple-specification glass taking and placing are realized by solenoid valve control, glass specification includes G6, G8.5, G8.6, G8.7 and half board size, robot hand is connected by flange adapter disc, fork arm fixed seat (flange seat, seal plate side, seal plate top, seal plate upper, seal plate lower, partition), fork arm group (reinforced aluminum plate, carbon fiber square tube) And solenoid valve control combination are constituted.The utility model has the advantages that solenoid valve control suction cup combination is achieved, so as to achieve the glass taking and placing for multi-specification (A1, A2, B, C, D, E1 and E2) area.

Description

Technical Field

[0001] This utility model is mainly applied to the field of glass handling in the semiconductor industry, and in particular, it is an automatic multi-specification glass handling gripper mechanism. Background Technology

[0002] Currently, robotic arms are widely used on automated production assembly lines for glass handling to reduce contamination caused by manual operation. This is especially true for electronic products, where there are often many small pieces of glass to handle. Because current handling mechanisms are typically simple in design and rely heavily on the robotic arm's positioning, over-operation can sometimes cause glass pieces to be crushed by the suction cups on the rapidly lowered robotic arm. While automatic handling mechanisms exist, their suction cup assemblies lack buffer structures and have excessively large dimensions in the height direction. When dealing with glass of various sizes and limited space, existing automatic handling mechanisms can only handle one piece of glass at a time, and only one type of glass, which fails to meet the needs. Therefore, there is an urgent need to add solenoid valve control to the existing automatic handling mechanisms to simultaneously handle glass of various sizes. Summary of the Invention

[0003] The purpose of this invention is to solve the problem of handling glass of various specifications in existing automatic pick-and-place mechanisms.

[0004] This utility model designs an automatic multi-specification glass gripper mechanism, including a robotic arm, a flange, a fork arm fixing seat, and a fork arm assembly, characterized in that: The flange connects to the robotic arm, and a fork arm mounting base is installed on the flange. Five fork arm assemblies are mounted on the fork arm mounting base. Each fork arm assembly consists of a reinforcing aluminum plate, a carbon fiber square tube, and several suction cups. Each suction cup assembly comprises a suction cup adjusting seat, a buffer rod, a vacuum suction cup, and a suction cup air tube. The reinforcing aluminum plate on the fork arm assembly is bolted to the fork arm mounting base. Several vertically penetrating holes are formed in the carbon fiber square tube within each fork arm assembly. An adjusting seat fixing block is installed on the inner bottom surface of the carbon fiber square tube at each vertically penetrating hole. The adjusting seat fixing block is connected to the suction cup adjusting seat on the outer bottom surface of the carbon fiber square tube by bolts located in the vertically penetrating holes. A buffer rod is connected to the bottom of the suction cup adjusting seat, and the bottom of the buffer rod is connected to the vacuum suction cup. An air distribution block is installed inside the bottom of the fork arm mounting base. An electromagnetic valve assembly is installed inside the air distribution block. The inlet of each electromagnetic valve in the assembly is connected to the main air pipe, and the outlet of each electromagnetic valve is connected to the suction cup air pipe of the corresponding suction cup assembly. The suction cup assemblies on each fork arm assembly are equidistant, and the suction cup assemblies on adjacent fork arm assemblies are located in a straight line. All suction cup assemblies form a matrix. Four suction cup assemblies are selected in the middle and one side area of ​​the front part of the matrix. The four suction cup assemblies form a sub-matrix. An overpressure sensor is installed on the suction cup adjustment seat of each of the four suction cup assemblies. A sensor is installed on any two suction cup assemblies in the middle of the sub-matrix. The sensors are installed on the sheet metal on the side of the suction cup buffer rod, with the detection direction facing downward. One of the sensors is a deceleration sensor, and the other is an on-site sensor.

[0005] Compared with the prior art, the advantages of this utility model are: Four overpressure sensors are used to determine whether the glass will shatter due to overpressure when the gripper picks up the glass; The material of carbon fiber square tubing can greatly reduce the weight of the gripper and reduce the load; The gas distribution block and gas pipe are supplied with gas separately, and the size of the glass being sucked can be adjusted by controlling the solenoid valve; The trachea can be connected through the trachea connector inside the carbon fiber square tube, so the trachea is not visible from the outside, making the overall structure cleaner. Attached Figure Description

[0006] Appendix Figure 1 This is a schematic diagram of the overall structure of this utility model; Appendix Figure 2 This is a schematic diagram of the suction cup partition of the automatic multi-specification glass picking mechanism of this utility model; Appendix Figure 3 This is a schematic diagram of the fork arm fixing seat structure of this utility model; Appendix Figure 4 For the appendix Figure 3 Enlarged schematic diagram of part A; Appendix Figure 5 For the appendix Figure 3 Enlarged schematic diagram of part B; Appendix Figure 6 This is a schematic diagram of the fork arm assembly structure of this utility model; Appendix Figure 7 For the appendix Figure 6 Top view; Appendix Figure 8 For the appendix Figure 6 Enlarged schematic diagram of part C; Appendix Figure 9 For the appendix Figure 8 A schematic diagram of the three-dimensional structure; Appendix Figure 10 For the appendix Figure 7 Enlarged schematic diagram of part D; Appendix Figure 11 For the appendix Figure 10 A schematic diagram of the three-dimensional structure. Detailed Implementation

[0007] The technical solution of the present invention will now be clearly and completely described with reference to the accompanying drawings. Obviously, the described embodiments are only some, not all, of the embodiments of the present invention. Based on the embodiments of the present invention, all other embodiments obtained by those skilled in the art without creative effort are within the scope of protection of the present invention.

[0008] Figure 1 —An automatic multi-specification glass gripper mechanism according to the present invention includes a robotic arm 1, a flange 2, a fork arm fixing seat 3, and a fork arm assembly 4, characterized in that: A flange connects to the robotic arm, and a fork arm mounting base is installed on the flange. Five fork arm assemblies 4 are mounted on the fork arm mounting base. Each fork arm assembly consists of a reinforcing aluminum plate 5, a carbon fiber square tube 6, and several suction cup assemblies 7. Each suction cup assembly comprises a suction cup adjusting seat 8, a buffer rod 9, a vacuum suction cup 10, and a suction cup air pipe 11. The reinforcing aluminum plate on the fork arm assembly is fixed to the fork arm mounting base by bolts 12. Several vertically penetrating holes 13 are formed in the carbon fiber square tube of each fork arm assembly. An adjusting seat fixing block 14 is installed on the inner bottom surface of the carbon fiber square tube at each vertically penetrating hole. The adjusting seat fixing block is connected to the suction cup adjusting seat on the outer bottom surface of the carbon fiber square tube by bolts 15 located in the vertically penetrating holes. A buffer rod is connected to the bottom of the suction cup adjusting seat, and a vacuum suction cup is connected to the bottom of the buffer rod. An air distribution block (not shown in the figure) is installed inside the bottom of the fork arm mounting base. An electric... The solenoid valve assembly (not shown in the figure) has its inlet connected to the main air pipe 16 and its outlet connected to the suction cup air pipe of the corresponding suction cup assembly. The suction cup assemblies on each fork arm assembly are equidistant, and the suction cup assemblies on adjacent fork arm assemblies are located in a straight line. All suction cup assemblies form a matrix. Four suction cup assemblies are selected in the middle and one side area of ​​the front part of the matrix. The four suction cup assemblies form a sub-matrix. An overpressure sensor 17 is installed on the suction cup adjustment seat of each of the four suction cup assemblies. The overpressure sensing plate 18 of the overpressure sensor is installed on the upper part of the vacuum suction cup below. A sensor is installed on any two suction cup assemblies in the middle of the sub-matrix. The sensors are installed on the sheet metal on the side of the suction cup buffer rod, with the detection direction facing downward. One of the sensors is a deceleration sensor 19, and the other is an on-site sensor 20.

[0009] In specific operation, the robotic arm picks up glass 21 according to the set program. When it gets close to the glass, the deceleration sensor detects the glass, and the robotic arm slows down until the sensor detects the glass. The robotic arm slowly descends, and then the solenoid valve controls the suction cup to form a negative pressure to pick up the glass. During the process, the overpressure sensor and vacuum pressure gauge are used as auxiliary judgments for picking up the glass. When the gripper picks up the glass, it is necessary to ensure that the overpressure sensor is not ON and the vacuum value reaches the set range of -60 kPa to -80 kPa. If the requirements are met, the robotic arm takes out the glass and places it on the conveyor. Then, the solenoid valve controls the suction cup to break the vacuum and put the glass down to complete the task.

[0010] This invention can handle the handling of different types of glass, but is limited to handling glass of the same specification.

[0011] According to the following solenoid valve control diagram (as per the appendix) Figure 2 Partition):

[0012] Here's an example: When the solenoid valve controls areas A1, A2, B, C, D, E1, and E2, the gripper can pick up glass of sizes G8.7, G8.6, and G8.5. When the solenoid valve controls areas A1 and A2, it can pick up half of G6 glass. When the solenoid valve controls areas A1, A2, D, and B, it can pick up all of G6 glass. The half-plates of G8.7, G8.6, and G8.5 can be controlled according to the solenoid valve control areas shown in the diagram, thus achieving automatic multi-size glass retrieval.

[0013] Finally, it should be noted that the above embodiments are only used to illustrate the technical solutions of the present invention, and not to limit them; although the present invention has been described in detail with reference to the foregoing embodiments, those skilled in the art should understand that modifications can still be made to the technical solutions described in the foregoing embodiments, or equivalent substitutions can be made to some or all of the technical features; and these modifications or substitutions do not cause the essence of the corresponding technical solutions to deviate from the scope of the technical solutions of the embodiments of the present invention.

Claims

1. An automatic multi-specification glass gripper mechanism, comprising a robotic arm, a flange, a fork arm fixing seat, and a fork arm assembly, characterized in that: The flange connects to the robotic arm, and a fork arm mounting base is installed on the flange. Five fork arm assemblies are installed on the fork arm mounting base. Each fork arm assembly consists of a reinforcing aluminum plate, a carbon fiber square tube, and several sets of suction cups. The suction cup assembly consists of a suction cup adjustment seat, a buffer rod, a vacuum suction cup, and a suction cup air pipe. The reinforcing aluminum plate on the fork arm assembly is fixed to the fork arm mounting base with bolts. Several vertically penetrating holes are opened in the carbon fiber square tube in each fork arm assembly. An adjustment seat fixing block is set on the inner bottom surface of the carbon fiber square tube at each vertically penetrating hole. The adjustment seat fixing block is connected to the suction cup adjustment seat on the outer bottom surface of the carbon fiber square tube by bolts located in the vertically penetrating holes. A buffer rod is connected to the bottom of the suction cup adjustment seat, and the bottom of the buffer rod is connected to the vacuum suction cup. An air distribution block is installed in the bottom of the fork arm mounting base. A solenoid valve assembly is installed in the air distribution block. The inlet of each solenoid valve in the solenoid valve assembly is connected to the main air pipe, and the outlet of each solenoid valve in the solenoid valve assembly is connected to the suction cup air pipe of the corresponding suction cup assembly.

2. The automatic multi-specification glass gripper mechanism according to claim 1, characterized in that: The suction cups on each fork arm assembly are equidistant, and the suction cups on adjacent fork arm assemblies are in a straight line. All the suction cup assemblies form a matrix. Four suction cup assemblies are selected from the middle and one side of the front part of the matrix. The four suction cup assemblies form a sub-matrix. An overpressure sensor is installed on the suction cup adjustment seat of each of the four suction cup assemblies. A sensor is installed on any two suction cup assemblies in the middle of the sub-matrix. The sensors are installed on the sheet metal on the side of the suction cup buffer rod, with the detection direction facing downward. One of the sensors is a deceleration sensor, and the other is an on-seat sensor.

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