Multi-jaw gripping mechanism

Abstract

The utility model provides a kind of multi-claw gripping mechanism, for clamping material box, it includes gripping assembly and transverse drive component;Gripping assembly is along two groups of transverse arrangement, gripping assembly includes moving frame and multiple clamps;Moving frame is along transverse movable arrangement;Multiple clamps are along longitudinal arrangement, and around longitudinal rotation setting in moving frame;The bottom of each clamp is provided with hook portion, hook portion is located the side of clamp towards another gripping assembly, for hooking the top wall of material box;Transverse drive component is connected to two gripping assemblies, for driving two gripping assemblies along transverse each other close or far away movement.When two sets of gripping assemblies each other close movement, certain hook portion abuts on the side wall of material box, clamp rotates towards the direction of deviating from material box, avoid the damage of the rigidity contact of this hook portion and the side wall of material box to clamp, other hook portion can normally enter to the top wall below of material box and carry out hooking, ensure operating safety and reliability.

Description

Technical Field

[0001] This utility model relates to the field of clamping technology, and in particular to a multi-claw gripping mechanism. Background Technology

[0002] After being packaged by packaging equipment, chips are formed into wafers, with multiple chips mounted on a single wafer. To facilitate transport, the wafers are stacked in a wafer cassette. For example... Figure 1 As shown, the material box 900 has a box-like structure with openings at both ends in the horizontal direction. Multiple slots are provided on the two opposite inner sidewalls of the material box 900, and the opposite edges of the material pieces are inserted into these slots. During operations such as lifting and transferring the material box, it needs to be clamped, usually from the openings at both ends. Because the size and position of the material boxes vary, and the position of the sidewalls is not fixed, if the clamp gets caught on the sidewall of the material box, the clamp may be damaged. Utility Model Content

[0003] This invention provides a multi-claw gripping mechanism that can safely and reliably grip a material box.

[0004] This utility model provides a multi-claw gripping mechanism for gripping a material box; the gripping components are two sets arranged laterally, each gripping component including a movable frame and multiple grippers; the movable frame is movably arranged laterally; the multiple grippers are arranged longitudinally and rotatably mounted on the movable frame about the longitudinal direction; each gripper has a hook at its bottom, the hook being located on the side of the gripper facing the other gripping component, for hooking onto the top wall of the material box; The lateral drive component is connected to the two gripping components and is used to drive the two gripping components to move closer to or further away from each other in the lateral direction.

[0005] The movable frame is equipped with a magnetic suction component, which magnetically engages with the gripper. The magnetic suction component provides a force to the gripper, causing the hook to rotate toward another gripping component.

[0006] The gripper has a rotating block at its top, and the rotating block and the hook are located on the same side of the gripper in the transverse direction. The rotating block has a rotating hole. The moving frame has a rotating shaft, which is arranged in the longitudinal direction Y and passes through each of the rotating holes. The magnetic suction member is located vertically between the rotating block and the hook.

[0007] The movable frame is provided with a mounting groove, and the rotating shaft and the rotating block are both housed in the mounting groove.

[0008] The movable frame is provided with a stop block, which is a long strip arranged in the longitudinal direction. The stop block is located on the side of the multiple grippers away from the other gripping component, and the stop block and the grippers are spaced apart.

[0009] The bottom of the stop extends below the hook and is used to abut against multiple material boxes in the lateral direction to align the multiple material boxes in the lateral direction.

[0010] The stop block is provided with a receiving groove, the upper end of the receiving groove and the side facing the gripper are both open, and when the gripper is magnetically connected to the magnetic attractor, the hook protrudes from the receiving groove.

[0011] The gripper is a sheet-like structure with its thickness along the longitudinal direction.

[0012] The multi-gripper grasping mechanism further includes a mounting plate. The lateral drive assembly is disposed on the mounting plate and includes a lateral movement motor, a gear, and two racks. The lateral movement motor is located above the mounting plate, and the gear and the two racks are located below the mounting plate. The gear is rotatably arranged about the vertical direction and is connected to the lateral movement motor to rotate under the drive of the lateral movement motor. The gear meshes between the two racks. Both racks are movably arranged laterally and are respectively connected to the two grasping assemblies.

[0013] The two gripping components are located below the mounting plate, and a linear guide mechanism is provided between them and the bottom surface of the mounting plate.

[0014] The multi-claw gripping mechanism provided by this utility model allows the grippers to rotate away from the material box when two sets of gripping components move closer to each other and a hook abuts against the side wall of the material box. This prevents the hook from rigidly contacting the side wall of the material box and damaging the gripper. Other hooks can then normally enter the area below the top wall of the material box for hooking, ensuring operational safety and reliability. Attached Figure Description

[0015] To more clearly illustrate the technical solutions in the embodiments of this utility model or the prior art, the drawings used in the embodiments are briefly introduced below. The drawings described below are only the corresponding drawings of some embodiments of this utility model.

[0016] Figure 1 This is a schematic diagram of the structure of a material box used to hold the material sheets; Figure 2 This is a schematic diagram of the structure of the multi-claw gripping mechanism provided in a preferred embodiment of the present invention; Figure 3 yes Figure 2 An exploded view of the gripping components of a multi-gripper gripping mechanism; Figure 4 yes Figure 3 A breakdown diagram of the grabbing component from another angle; Figure 5 yes Figure 3 A cross-sectional view of the component being captured. Detailed Implementation

[0017] The technical solutions of the present utility model will be clearly and completely described below with reference to the accompanying drawings of the embodiments. Obviously, the described embodiments are only some embodiments of the present utility model, and not all embodiments. Based on the embodiments of the present utility model, all other embodiments obtained by those skilled in the art without creative effort are within the protection scope of the present utility model.

[0018] The terms "first" and "second" in this utility model are used for descriptive purposes only and should not be construed as indicating or implying relative importance, nor as a restriction on the order of events.

[0019] In this utility model, unless otherwise explicitly specified and limited, the terms "installation," "connection," "joining," and "fixing," etc., should be interpreted broadly. For example, they can refer to a fixed connection, a detachable connection, or an integral part; 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; they can refer to the internal communication of two components or the interaction between 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.

[0020] Please see Figure 2 This utility model, in a preferred embodiment, provides a multi-claw gripping mechanism for gripping multiple material boxes. The multi-claw gripping mechanism includes gripping components 1 and a transverse drive component 2. The gripping components 1 are arranged in two sets along the transverse direction X. The transverse drive component 2 is connected to the two gripping components 1 and drives the two gripping components 1 to move closer to or further apart along the transverse direction X, so as to align and grip the material boxes 900. When the two gripping components 1 move closer to each other, the material box 900 can be gripped; when the two gripping components 1 move further apart, the material box 900 is released. The multi-claw gripping mechanism can grip multiple material boxes 900, and has a compact structure.

[0021] In this embodiment, the multi-gripper grasping mechanism also includes a mounting plate 6. A lateral drive assembly 2 is disposed on the mounting plate 6. The lateral drive assembly 2 includes a lateral movement motor 21, a gear 22, and two racks 23. The lateral movement motor 21 is located above the mounting plate 6, while the gear 22 and the two racks 23 are located below the mounting plate 6, resulting in a reasonable layout and compact structure. The gear 22 is rotatably disposed about the vertical Z-axis and connected to the lateral movement motor 21, allowing it to rotate under the drive of the lateral movement motor 21. The gear 22 meshes between the two racks 23. Both racks 23 are movably disposed along the lateral X-axis and are respectively connected to the two grasping assemblies 1. When the gear 22 rotates, it can drive the two racks 23 to move along the lateral X-axis, thereby driving the two grasping assemblies 1 to move along the lateral X-axis.

[0022] Two gripping components 1 are located below the mounting plate 6, and a linear guide mechanism is provided between them and the bottom surface of the mounting plate 6 to ensure the stability and reliability of the two gripping components 1 moving laterally (X). The linear guide mechanism includes a guide block 4 and a guide rail 5. The guide rail 5 is set along the bottom surface of the mounting plate 6 laterally (X), and the guide block 4 is mounted on the gripping component 1. The guide block 4 and the guide rail 5 are slidably engaged, thereby facilitating the lateral (X) movement of the gripping component 1.

[0023] like Figure 2 , Figure 3 , Figure 4 and Figure 5 As shown, the gripping assembly 1 includes a movable frame 11 and multiple grippers 12. The movable frame 11 is slidably engaged with the mounting plate 6 along the transverse X direction, and a linear guide mechanism is disposed between the movable frame 11 and the mounting plate 6. Two movable frames 11 are movably disposed along the transverse X direction and are connected to the transverse drive assembly 2 via a rack 23, so that the entire gripping assembly 1 can move along the transverse X direction under the drive of the transverse drive assembly 2.

[0024] Multiple grippers 12 are arranged along the longitudinal direction Y and are rotatably mounted on the movable frame 11 around the longitudinal direction Y. Each gripper 12 has a hook 121 at its bottom. The hook 121 is located on the side of the gripper 12 facing another gripping component 1 and is used to hook the top wall of the material box 900. After the two gripping components 1 move closer to each other, the hook 121 can move to below the top wall of the material box 900.

[0025] When the two sets of gripping components 1 move closer to each other and a hook 121 abuts against the side wall of the material box 900, the gripper 12 rotates in the direction away from the material box 900 to avoid the hook 121 rigidly contacting the side wall of the material box 900 and damaging the gripper 12. Other hooks 121 can normally enter the area below the top wall of the material box for hooking, ensuring operational safety and reliability.

[0026] A magnetic suction element 13 is provided on the movable frame 11. The magnetic suction element 13 magnetically engages with the gripper 12, providing a force to the gripper 12 that causes the hook 121 to rotate toward another gripping component 1. Using the magnetic suction element 13, the hook 121 can be held in the gripping position, preventing friction between the grippers 12 from causing the gripper 12, which is not in contact with the material box 900, to rotate. This ensures that the hook 121 is located below the top wall of the material box 900, improving gripping reliability. If the hook 121 abuts against the side wall of the material box 900, the gripper 12 rotates against the force of the magnetic suction element 13. Of course, in other embodiments, the hook 121 can also be held in the gripping position by the gravity of the gripper 12 itself.

[0027] A rotating block 122 is provided on the top of the gripper 12, and the rotating block 122 and the hook 121 are located on the same side of the gripper 12 in the transverse direction X. A rotating hole 120 is provided on the rotating block 122. A rotating shaft 14 is provided on the movable frame 11, and the rotating shaft 14 is arranged in the longitudinal direction Y and passes through the rotating hole 120 of each gripper 12. Through the rotational engagement of the rotating hole 120 and the rotating shaft 14, the gripper 12 can rotate around the longitudinal direction Y.

[0028] The magnetic suction component 13 is located between the rotating block 122 and the hook 121 in the vertical Z direction, which makes the overall structure of the gripping component 1 compact, reduces the space occupied, and facilitates the magnetic attraction between the magnetic suction component 13 and the gripper 12.

[0029] The movable frame 11 is provided with a mounting groove 110, and the rotating shaft 14 and the rotating block 122 are both housed in the mounting groove 110, so as to make the structure compact and allow the magnetic suction member 13 to be closer to the gripper, so as to abut against the gripper.

[0030] The movable frame 11 is also provided with a stop 15. The stop 15 is a long strip arranged along the longitudinal direction Y. The stop 15 is located on the side of the multiple grippers 12 away from the other gripping component 1, and the stop 15 and the grippers 12 are spaced apart. The stop 15 can reserve space for the rotation of the grippers 12.

[0031] The bottom of the stop 15 extends below the hook 121 to abut against the plurality of material boxes 900 in the lateral X direction. When gripping a plurality of material boxes arranged longitudinally, the stop 15 can be used to align the plurality of material boxes 900 in the lateral X direction.

[0032] like Figure 5As shown, the stop block 15 is provided with a receiving groove 150. The upper end of the receiving groove 150 and the side facing the gripper 12 are both open. When the gripper 12 is magnetically connected to the magnetic suction member 13, the hook 121 protrudes from the receiving groove 150 so as to extend into the material box 900. The receiving groove 150 facilitates the reception of the gripper 12, and the bottom structure of the stop block 15 is located below the hook 121 to prevent the hook 121 from colliding with other objects and damaging the gripper 12 during the downward movement of the multi-grip gripping mechanism. When the hook 121 moves into the receiving groove 150, the bottom structure of the stop block 15 abuts against the multiple material boxes 900 in the horizontal X direction, thereby using the stop block 15 to align the multiple material boxes 900 in the horizontal X direction to facilitate subsequent sorting operations.

[0033] The gripper 12 has a sheet-like structure with its thickness in the longitudinal Y direction, so that more grippers 12 can be arranged in the longitudinal Y direction, thereby increasing the number of grippers 12 and ensuring gripping reliability.

[0034] In summary, although the present invention has been disclosed above with reference to preferred embodiments, the above preferred embodiments are not intended to limit the present invention. Those skilled in the art can make various modifications and refinements without departing from the spirit and scope of the present invention. Therefore, the scope of protection of the present invention shall be determined by the scope defined in the claims.

Claims

1. A multi-claw gripping mechanism for gripping a material box; characterized in that, Includes grabbing components and lateral driving components; The gripping components are arranged in two sets along the horizontal direction. Each gripping component includes a movable frame and multiple grippers. The movable frame is movably arranged along the horizontal direction. The multiple grippers are arranged along the vertical direction and are rotatably mounted on the movable frame around the vertical direction. Each gripper has a hook at its bottom, which is located on the side of the gripper facing the other gripping component and is used to hook onto the top wall of the material box. The lateral drive component is connected to the two gripping components and is used to drive the two gripping components to move closer to or further away from each other in the lateral direction.

2. The multi-claw gripping mechanism according to claim 1, characterized in that, The movable frame is equipped with a magnetic suction component, which magnetically engages with the gripper. The magnetic suction component provides a force to the gripper, causing the hook to rotate toward another gripping component.

3. The multi-claw gripping mechanism according to claim 2, characterized in that, A rotating block is provided on the top of the gripper, and the rotating block and the hook are located on the same side of the gripper in the transverse direction; a rotating hole is provided on the rotating block; a rotating shaft is provided on the moving frame, the rotating shaft is arranged in the longitudinal direction Y and passes through each of the rotating holes, and the magnetic suction member is located in the vertical direction between the rotating block and the hook.

4. The multi-claw gripping mechanism according to claim 3, characterized in that, The movable frame is provided with a mounting groove, and the rotating shaft and the rotating block are both housed in the mounting groove.

5. The multi-claw gripping mechanism according to claim 2, characterized in that, The movable frame is provided with a stop block, which is a long strip arranged in the longitudinal direction. The stop block is located on the side of the multiple grippers away from the other gripping component, and the stop block and the grippers are spaced apart.

6. The multi-claw gripping mechanism according to claim 5, characterized in that, The bottom of the stop extends below the hook and is used to abut against multiple material boxes in the lateral direction to align the multiple material boxes in the lateral direction.

7. The multi-claw gripping mechanism according to claim 6, characterized in that, The stop block is provided with a receiving groove, the upper end of the receiving groove and the side facing the gripper are both open, and when the gripper is magnetically connected to the magnetic attractor, the hook protrudes from the receiving groove.

8. The multi-claw gripping mechanism according to any one of claims 1-7, characterized in that, The gripper has a sheet-like structure with its thickness along the longitudinal direction.

9. The multi-claw gripping mechanism according to any one of claims 1-7, characterized in that, The multi-gripper gripping mechanism further includes a mounting plate. The lateral drive assembly is disposed on the mounting plate. The lateral drive assembly includes a lateral movement motor, a gear, and two racks. The lateral movement motor is located above the mounting plate, and the gear and the two racks are located below the mounting plate. The gear is rotatably arranged about the vertical direction and is connected to the lateral movement motor to rotate under the drive of the lateral movement motor. The gear meshes between the two racks. Both racks are movably arranged laterally and are respectively connected to the two gripping assemblies.

10. The multi-claw gripping mechanism according to claim 9, characterized in that, The two gripping components are located below the mounting plate, and a linear guide mechanism is provided between them and the bottom surface of the mounting plate.

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