A bearing disc grabbing mechanism, a sorting device and a cutting and sorting all-in-one machine

Abstract

The utility model relates to a technical field of semiconductor processing equipment, especially to a bearing disc grabbing mechanism, sorting equipment and cutting sorting integrated machine. Bearing disc grabbing mechanism includes bottom plate, cylinder, first connecting plate and clamping arm. When the cylinder drives first connecting plate to rise, the first end of clamping arm slides towards the end of guide groove, the middle part of clamping arm rotates, makes the second end of clamping arm located at the both sides of bottom plate mutually close to clamp bearing disc, when the cylinder drives first connecting plate to descend, the first end of clamping arm slides towards the center of guide groove, the middle part of clamping arm reversely rotates, makes the second end of clamping arm located at the both sides of bottom plate mutually far away to release bearing disc. Thus, through single cylinder cooperation clamping arm forms connecting rod mechanism, can realize the synchronous linkage of multiple clamping arms, reduces the false alarm caused by the indirect judgment of clamping state according to sensor, simplifies control logic, improves semiconductor sorting efficiency.

Description

Technical Field

[0001] This utility model relates to the field of semiconductor processing equipment technology, and in particular to a carrier plate gripping mechanism, sorting equipment and cutting and sorting integrated machine. Background Technology

[0002] In existing chip sorting equipment, the pallet transport arm employs a four-jaw independent gripping structure, with each jaw corresponding to a single-acting cylinder. The gripping action is achieved by extending (jaw opening) and retracting (jaw closing) the cylinder piston rod. This type of pallet transport arm typically uses a single compressed air supply line to connect all four cylinders, allowing simultaneous control of the four jaws. Factors such as the length and bends of the air supply line can affect the synchronicity of the jaw opening and closing.

[0003] The conventional solution is to detect the gripping state of each gripper using photoelectric switches. Each gripper is independently equipped with a self-reflective photoelectric switch to determine its current gripping state. The specific logic is as follows: (1-1) When the grippers open, the light spot of the photoelectric switch is blocked by the end of the grippers, and the system does not issue an alarm; (1-2) The gripper closes and clamps the carrier plate in the correct position. At this time, the light spot of the photoelectric switch is received by itself through the end of the gripper, and the system does not issue an alarm. (1-3) The gripper is closed, but it fails to grip the carrier plate. At this time, the light spot of the photoelectric switch is blocked by the end of the gripper, and the system issues an alarm.

[0004] Furthermore, when the photoelectric switch is blocked, the software logic needs to further determine the current working status and then decide whether to issue an alarm, which is prone to misjudgment and will lead to complex control logic. Utility Model Content

[0005] The present invention aims to solve at least one of the technical problems existing in the prior art or related technologies.

[0006] To address this, the present invention provides a carrier plate gripping mechanism that enables synchronous linkage of multiple gripping arms, reduces false alarms caused by indirect judgment of gripping status based on sensors, simplifies control logic, and improves semiconductor sorting efficiency.

[0007] This utility model also provides a sorting device including the above-mentioned bearing plate gripping mechanism.

[0008] This utility model also provides a cutting and sorting integrated machine that includes the above-mentioned bearing plate gripping mechanism or sorting equipment.

[0009] A pallet gripping mechanism according to a first aspect of the present invention includes a base plate, a cylinder, a first connecting plate, and clamping arms. The cylinder is disposed above the base plate. The first connecting plate is disposed on the cylinder, and a first mounting seat is provided at the bottom of the first connecting plate. A guide groove is formed on the first mounting seat along the width direction of the first connecting plate. Multiple clamping arms are symmetrically distributed on both sides of the base plate along the width direction. The middle part of the clamping arm is rotatably disposed on the base plate, and the first end of the clamping arm is slidably connected to the guide groove. When the cylinder drives the first connecting plate to rise, the first end of the clamping arm slides toward the end of the guide groove, and the middle part of the clamping arm rotates, so that the second ends of the clamping arms located on both sides of the base plate move closer to each other to clamp the pallet. When the cylinder drives the first connecting plate to fall, the first end of the clamping arm slides toward the center of the guide groove, and the middle part of the clamping arm rotates in the opposite direction, so that the second ends of the clamping arms located on both sides of the base plate move away from each other to release the pallet.

[0010] Optionally, a second mounting base is provided on the base plate, and the middle part of the clamping arm is hinged to the second mounting base through a hinge; the first end of the clamping arm is provided with a first guide shaft, which is slidably engaged in the guide groove.

[0011] Optionally, the cylinder includes a cylinder body and a piston rod. A first magnetic switch and a second magnetic switch are sequentially provided on the cylinder body, and a magnetic ring is provided on the piston rod. A first connecting plate is connected to the piston rod. When the piston rod is not extended, the magnetic ring is located at the first stroke position, and the first magnetic switch is set to correspond to the first stroke position. When the piston rod extends to clamp the bearing plate with multiple clamping arms, the magnetic ring is located at the second stroke position, and the piston rod has not reached the limit stroke position, and the second magnetic switch is set to correspond to the second stroke position.

[0012] Optionally, the carrier plate gripping mechanism further includes a pressure plate, which is disposed below the first connecting plate and is used to support the carrier plate; the clamping arm includes a transmission rod at the first end and a gripper at the second end, with the gripper and transmission rod forming a bend so that when the clamping arm rotates relative to the base plate, the gripper can bypass the pressure plate and clamp the carrier plate.

[0013] Optionally, the carrier plate gripping mechanism further includes a first positioning block and a second positioning block. Multiple first positioning blocks are symmetrically arranged on both sides of the base plate along the length direction, and the first positioning blocks extend downward to below the pressure plate. The first positioning blocks are used to position the carrier plate along the length direction. Multiple second positioning blocks are symmetrically arranged on both sides of the base plate along the width direction, and the second positioning blocks extend downward to below the pressure plate. The second positioning blocks are used to position the carrier plate along the width direction.

[0014] Optionally, the bearing plate gripping mechanism further includes a second guide shaft. A guide hole is provided on the base plate, and the second guide shaft is disposed on the pressure plate and slidably passes through the guide hole. A stop is also provided on the second guide shaft so that the pressure plate slides along the second guide shaft within the stroke range defined by the stop.

[0015] Optionally, the bearing plate gripping mechanism further includes a second connecting plate and a buffer pad. The second connecting plate is disposed above the pressure plate; the buffer pad is disposed above the second connecting plate and is sleeved on the second guide shaft; when the pressure plate contacts the bearing plate and presses down, the buffer pad undergoes elastic deformation, so that the pressure plate slides along the second guide shaft.

[0016] Optionally, the carrier plate gripping mechanism also includes a detection sensor, which is mounted on the pressure plate and has its detection end penetrating through the pressure plate. The detection sensor is used to detect whether there is a carrier plate under the pressure plate.

[0017] Optionally, the carrier plate gripping mechanism also includes an air source, which is connected to the cylinder through an air supply pipe and is used to supply air to the cylinder; the air supply pipe is equipped with a speed regulating valve, which is used to control the airflow to the cylinder to adjust the speed and force of the gripping arm when gripping and releasing the carrier plate.

[0018] A sorting device according to a second aspect of the present invention includes a carrier plate gripping mechanism as described in the first aspect embodiment.

[0019] A cutting and sorting integrated machine according to a third aspect of the present invention includes a bearing plate gripping mechanism as described in the first aspect embodiment; or, it includes a sorting device as described in the second aspect embodiment.

[0020] One of the above technical solutions has at least the following advantages or beneficial effects: In one embodiment of this utility model, a carrier plate gripping mechanism is formed by a single cylinder and a clamping arm to form a linkage mechanism, which can realize the synchronous linkage of multiple clamping arms, reduce false alarms caused by indirect judgment of clamping status based on sensors, simplify control logic, and improve semiconductor sorting efficiency.

[0021] The sorting equipment provided in this embodiment of the utility model is equipped with the bearing plate gripping mechanism described above. Since the bearing plate gripping mechanism has the above-mentioned technical effects, the sorting equipment equipped with the bearing plate gripping mechanism should also have the corresponding technical effects.

[0022] The cutting and sorting integrated machine provided in this embodiment of the utility model is equipped with the above-mentioned bearing plate gripping mechanism or sorting device. Since both the bearing plate gripping mechanism and the sorting device have the above-mentioned technical effects, the cutting and sorting integrated machine equipped with the bearing plate gripping mechanism or sorting device should also have the corresponding technical effects. Attached Figure Description

[0023] Figure 1 This diagram shows a first-view structural schematic of a carrier disk gripping mechanism according to an embodiment of the present invention. Figure 2This is a schematic diagram of the bearing disk gripping mechanism according to an embodiment of the present invention from a second perspective. Figure 3 This diagram shows a structural schematic of the bearing disk gripping mechanism according to an embodiment of the present invention from a third perspective. Figure 4 The diagram shows a fourth view of the bearing plate gripping mechanism according to an embodiment of the present invention.

[0024] Explanation of reference numerals in the attached figures: 100. Base plate; 110. Second mounting base; 120. First positioning block; 130. Second positioning block; 140. Connecting upright plate; 200. Cylinder; 300, First connecting plate; 310, First mounting base; 320, Guide groove; 400, clamping arm; 410, hinge; 420, first guide shaft; 430, transmission rod; 440, gripper; 500. Loading plate; 600, Pressure plate; 610, Second guide shaft; 620, Stop block; 630, Second connecting plate; 640, Buffer pad; 700. Detection sensor. Detailed Implementation

[0025] To better explain and facilitate understanding of this utility model, the present utility model will be described in detail below with reference to the accompanying drawings and specific embodiments.

[0026] In existing chip sorting equipment, the pallet transport arm uses a four-jaw independent gripping structure, with each jaw corresponding to a single-acting cylinder. The gripping action is achieved by the extension (jaw opening) and retraction (jaw closing) of the cylinder piston rod. This type of pallet transport arm has the following drawbacks: (2-1) This type of pallet handling arm is usually connected to four cylinders by one compressed air supply, so as to control four grippers at the same time. Factors such as the length of the air supply line and the difference in the bends of the line will affect the synchronicity of the opening and closing of the grippers. (2-2) Complex control logic: When the photoelectric switch is blocked, the software logic needs to further determine the current working state, which is prone to misjudgment; (2-3) High workpiece machining accuracy requirements: For example, the light-transmitting groove at the end of the gripper, if the position is slightly off, will cause the equipment to misjudge, resulting in an alarm and shutdown; (2-4) The closing / opening force of the single-acting cylinder is fixed and cannot be adjusted, which can easily cause the disc to vibrate, causing the material that has fallen into the correct position on the bearing plate to deviate. (2-5) It is impossible to directly determine whether there is a carrier disk.

[0027] To address at least one of the technical problems existing in the prior art or related technologies, this utility model provides a pallet gripping mechanism, including a base plate, a cylinder, a first connecting plate, and clamping arms. When the cylinder drives the first connecting plate to rise, the first end of the clamping arm slides towards the end of the guide groove, and the middle of the clamping arm rotates, causing the second ends of the clamping arms located on both sides of the base plate to move closer together, thereby clamping the pallet. When the cylinder drives the first connecting plate to fall, the first end of the clamping arm slides towards the center of the guide groove, and the middle of the clamping arm rotates in the opposite direction, causing the second ends of the clamping arms located on both sides of the base plate to move away from each other, thereby releasing the pallet. The pallet gripping mechanism provided by this utility model, through a linkage mechanism formed by a single cylinder and clamping arms, can achieve synchronous linkage of multiple clamping arms, reduce false alarms caused by indirect judgment of clamping status based on sensors, simplify control logic, and improve semiconductor sorting efficiency.

[0028] The following description, with reference to the accompanying drawings, describes a carrier plate gripping mechanism, sorting equipment, and integrated cutting and sorting machine according to some embodiments provided by the present invention.

[0029] See Figures 1 to 4 This utility model provides a pallet gripping mechanism, including a base plate 100, a cylinder 200, a first connecting plate 300, and gripping arms 400. The cylinder 200 is disposed above the base plate 100, and the first connecting plate 300 is disposed on the piston rod of the cylinder 200 in a direction parallel to the base plate 100. A first mounting seat 310 is provided at the bottom of the first connecting plate 300, and a guide groove 320 is formed on the first mounting seat 310 along the width direction of the first connecting plate 300. Multiple gripping arms 400 are symmetrically distributed on both sides of the base plate 100 along the width direction, enabling the multiple gripping arms 400 to grip the pallet 500 in the width direction. The middle part of each gripping arm 400 is rotatably disposed on the base plate 100, and the first end of each gripping arm 400 is slidably connected to the guide groove 320. Therefore, when the piston rod of the cylinder 200 drives the first connecting plate 300 to rise and fall, the multiple clamping arms 400 can rotate synchronously relative to the base plate 100 under the drive of the first connecting plate 300, so that the second ends of the multiple clamping arms 400 can clamp and release the bearing plate 500 synchronously.

[0030] It should be noted that in the bearing plate gripping mechanism provided by this utility model, multiple gripping arms 400 are all controlled by the same cylinder 200, thus enabling synchronous linkage of multiple gripping arms 400 and ensuring that the gripping state of each gripping arm 400 is consistent. Therefore, there is no need to set up additional sensors to detect the gripping state of each gripping arm 400. See also [link to relevant embodiments]. Figure 4 It is equipped with four sets of clamping arms 400, which are symmetrically arranged on both sides of the base plate 100 along the width direction.

[0031] Specifically, when the cylinder 200 drives the first connecting plate 300 to rise, the first end of the clamping arm 400 slides toward the end of the guide groove 320, and the middle part of the clamping arm 400 rotates, causing the second ends of the clamping arms 400 located on both sides of the base plate 100 to move closer together, thereby clamping the carrier plate 500. When the cylinder 200 drives the first connecting plate 300 to fall, the first end of the clamping arm 400 slides toward the center of the guide groove 320, and the middle part of the clamping arm 400 rotates in the opposite direction, causing the second ends of the clamping arms 400 located on both sides of the base plate 100 to move away from each other, thereby releasing the carrier plate 500.

[0032] Therefore, the bearing plate gripping mechanism provided by this utility model, through a single cylinder 200 and a clamping arm 400 forming a linkage mechanism, can realize the synchronous linkage of multiple clamping arms 400, reduce false alarms caused by indirect judgment of clamping status based on sensors, simplify control logic, and improve semiconductor sorting efficiency.

[0033] The length direction refers to the direction along the longer side edge; the width direction refers to the direction along the shorter side edge; the length direction of the base plate 100, the first connecting plate 300, the bearing plate 500 and other components are all consistent, and the width direction of the base plate 100, the first connecting plate 300, the bearing plate 500 and other components is all consistent.

[0034] In some possible implementations, see [link to relevant documentation]. Figure 1 and Figure 3 A second mounting base 110 is provided on the base plate 100. The middle part of the clamping arm 400 is hinged to the second mounting base 110 through a hinge 410, so that the clamping arm 400 can rotate around the hinge 410 as the rotation center. The first end of the clamping arm 400 is provided with a first guide shaft 420, which is slidably engaged in the guide groove 320. When the cylinder 200 drives the first mounting base 310 to rise and fall, the first end of the clamping arm 400 can slide along the guide groove 320, and the clamping arm 400 rotates synchronously around the hinge 410.

[0035] Here, the stroke of the cylinder 200, the width of the base plate 100, the length of the clamping arm 400, and the length and position of the guide groove 320 need to be coordinated to ensure that within one complete stroke of the cylinder 200, each first guide shaft 420 slides only on the side closest to its clamping arm 400, and does not slide along the guide groove 320 to the opposite side. When the above conditions are met, the multiple clamping arms 400 can be arranged completely symmetrically on both sides of the base plate 100 along the width direction, thus making the clamping arms 400 more stable when gripping the carrier plate 500.

[0036] In some possible embodiments, the cylinder 200 includes a cylinder body and a piston rod. A first magnetic switch and a second magnetic switch are sequentially mounted on the cylinder body, and a magnetic ring is mounted on the piston rod. A first connecting plate 300 is connected to the piston rod. It is understood that when the magnetic ring reaches the position corresponding to the magnetic switch, the magnetic ring can trigger the magnetic switch, causing the magnetic switch to light up. This allows the travel of the magnetic ring to be determined based on whether the magnetic switch is lit.

[0037] When the piston rod is not extended, the magnetic ring is in the first stroke position, and the first magnetic switch is set accordingly to the first stroke position. When the piston rod extends and the multiple clamping arms 400 clamp the carrier plate 500, the magnetic ring is in the second stroke position, and the piston rod has not reached the limit stroke position, and the second magnetic switch is set accordingly to the second stroke position.

[0038] It should be noted that the operating logic of cylinder 200 using this structure is as follows: (A) When the piston rod is not extended and the clamping arm 400 is in the open state, the magnetic ring is in the first stroke position and the first magnetic switch is continuously triggered to light up; (B) When the gripping action is performed, the piston rod extends and, before reaching the limit stroke position, the gripping arm 400 accurately grips the carrier plate 500. At this time, the magnetic ring is in the second stroke position and the second magnetic switch is continuously triggered to light up. (C) When the gripping action is performed, the piston rod extends, but the gripping arm 400 fails to grip the carrier plate 500, causing the piston rod to continue extending (stopping at the limit stroke position). The magnetic ring crosses the second stroke position, and the second magnetic switch is briefly triggered to light up and then turn off.

[0039] Here, when the pallet gripping mechanism is in normal operating state (A) or (B), a magnetic switch is continuously triggered and illuminated; while when the pallet gripping mechanism is in abnormal state (C), no magnetic switch is continuously triggered and illuminated. Therefore, it is possible to determine whether the pallet gripping mechanism is in normal operating state based on the status of the magnetic switch illumination, and to issue an alarm when an abnormal state is detected, thereby simplifying the control logic.

[0040] In some possible implementations, see [link to relevant documentation]. Figures 1 to 2 The pallet gripping mechanism also includes a pressure plate 600. The pressure plate 600 is positioned below the first connecting plate 300 and supports the pallet 500, thus preventing the pallet 500 from tilting and causing material to deviate from its correct position during gripping. When the pallet gripping mechanism is equipped with the pressure plate 600, the clamping arm 400 includes a transmission rod 430 at a first end and a gripper 440 at a second end. The gripper 440 is bent relative to the transmission rod 430, allowing the gripper 440 to bypass the pressure plate 600 and clamp the pallet 500 when the clamping arm 400 rotates relative to the base plate 100.

[0041] In some possible implementations, see [link to relevant documentation]. Figure 1 , Figure 2 and Figure 4 The carrier plate gripping mechanism also includes a first positioning block 120 and a second positioning block 130. Multiple first positioning blocks 120 are symmetrically arranged on both sides of the base plate 100 along its length, extending downwards to below the pressure plate 600. The first positioning blocks 120 are used to position the carrier plate 500 along its length. Multiple second positioning blocks 130 are symmetrically arranged on both sides of the base plate 100 along its width, extending downwards to below the pressure plate 600. The second positioning blocks 130 are used to position the carrier plate 500 along its width.

[0042] In this embodiment, by setting multiple first positioning blocks 120 and multiple second positioning blocks 130, the carrier disk 500 can be located within the area formed by the multiple first positioning blocks 120 and multiple second positioning blocks 130 when clamping the carrier disk 500, thereby improving the clamping position accuracy. Here, the positions of the first positioning blocks 120 and the second positioning blocks 130 on the base plate 100 are adjustable, so that the carrier disk gripping mechanism is suitable for gripping and clamping carrier disks 500 of different models.

[0043] In some possible implementations, see [link to relevant documentation]. Figures 1 to 2 The bearing plate gripping mechanism also includes a second guide shaft 610. A guide hole is provided on the base plate 100, and the second guide shaft 610 is disposed on the pressure plate 600 in a direction perpendicular to the pressure plate 600, and the second guide shaft 610 slidably passes through the guide hole. A stop 620 is also provided on the second guide shaft 610 to allow the pressure plate 600 to slide along the second guide shaft 610 within the stroke range defined by the stop 620.

[0044] It should be noted that when the carrier plate gripping mechanism grips the carrier plate 500, the servo motor, in conjunction with the linear module, first drives the carrier plate gripping mechanism to descend along the Z-axis, causing the pressure plate 600 to press against the carrier plate 500. Then, the clamping arm 400 is controlled to rotate to clamp the carrier plate 500. By setting the pressure plate 600 to be movable within a certain stroke range, when clamping carrier plates 500 of different thicknesses, the pressure plate 600 can always press against the upper surface of the carrier plate 500, while the clamping arm 400 can bypass the pressure plate 600 and clamp the side and lower surfaces of the carrier plate 500.

[0045] In some possible implementations, see [link to relevant documentation]. Figures 1 to 2The bearing plate gripping mechanism also includes a second connecting plate 630 and a buffer pad 640. The second connecting plate 630 is positioned above the pressure plate 600, and the buffer pad 640 is positioned above the second connecting plate 630. The buffer pad 640 is sleeved on the second guide shaft 610, so that the pressure plate 600 will not move along the second guide shaft 610 when no force is applied. When the pressure plate 600 contacts and presses down on the bearing plate 500, the buffer pad 640 undergoes elastic deformation due to pressure, causing the pressure plate 600 to slide along the second guide shaft 610. This provides a buffering effect when gripping the bearing plate 500, preventing vibration that could cause the material in the bearing plate 500 to deviate from its correct position or even damage the bearing plate 500.

[0046] In some possible implementations, see [link to relevant documentation]. Figures 1 to 3 The bearing plate gripping mechanism also includes a detection sensor 700. The detection sensor 700 is mounted on the pressure plate 600, and the detection end of the detection sensor 700 penetrates through the pressure plate 600. The detection sensor 700 is used to directly detect whether there is a bearing plate 500 below the pressure plate 600.

[0047] Specifically, when gripping the carrier plate 500, the carrier plate gripping mechanism descends along the Z-axis until the detection sensor 700 contacts the carrier plate 500. At this point, the detection sensor 700 is triggered and illuminates, indicating that the carrier plate gripping mechanism has descended to the correct position, and the pressure plate 600 presses the carrier plate 500 firmly. This avoids the misjudgment caused by using a photoelectric switch to determine the presence or absence of the carrier plate 500 based on distance and position detection, as is done in existing technologies.

[0048] Preferably, the detection sensor 700 is a contact sensor, and two contact sensors are respectively arranged on both sides of the pressure plate 600; when the two contact sensors are triggered at the same time, it indicates that the pressure plate 600 is pressing the bearing plate 500 and the bearing plate 500 is in a horizontal state.

[0049] In some possible embodiments, the pallet gripping mechanism further includes an air source. The air source is connected to the cylinder 200 via an air supply pipe, and is used to supply air to the cylinder 200, thereby controlling the start and stop of the cylinder 200. A speed control valve is provided on the air supply pipe, which controls the airflow to the cylinder 200 to adjust the speed and force with which the gripping arm 400 grips and releases the pallet 500. Preferably, a speed control valve with a gear-type adjustment function is used here, which can improve the control accuracy of the airflow and ensure consistent equipment debugging.

[0050] A sorting device according to one embodiment of the present invention includes the carrier plate gripping mechanism of any of the above embodiments. Since the sorting device of this embodiment includes any of the carrier plate gripping mechanisms in the first aspect above, it has the beneficial effects of any of the above embodiments, which will not be repeated here.

[0051] The base plate 100 of the bearing plate gripping mechanism is also provided with a connecting plate 140, which is used to connect with the sorting equipment so that the bearing plate gripping mechanism can be installed on the sorting equipment.

[0052] Here, the sorting equipment can be at least one of conventional chip sorting machines or high-precision chip sorting machines.

[0053] One embodiment of the present invention provides a cutting and sorting integrated machine, including the carrier plate gripping mechanism or sorting device of any of the above embodiments. Since the cutting and sorting integrated machine of this embodiment includes any of the carrier plate gripping mechanism or sorting device in the first aspect described above, it has the beneficial effects of any of the above embodiments, which will not be repeated here.

[0054] Here, the integrated cutting and sorting machine includes a cutting device and a sorting device, which are used to complete the cutting and sorting processes of semiconductor wafers, respectively. When the integrated cutting and sorting machine includes the carrier plate gripping mechanism in any of the above embodiments, the carrier plate gripping mechanism is mounted on the sorting device of the integrated cutting and sorting machine via a connecting plate 140.

[0055] In the description of this utility model, it should be understood that the terms "first" and "second" are used for descriptive purposes only and should not be construed as indicating or implying relative importance or implicitly specifying the number of indicated technical features. Therefore, a feature defined as "first" or "second" may explicitly or implicitly include one or more of that feature. In the description of this utility model, "a plurality of" means two or more, unless otherwise explicitly specified.

[0056] 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. For those skilled in the art, the specific meaning of the above terms in this utility model can be understood according to the specific circumstances.

[0057] In this utility model, unless otherwise explicitly specified and limited, "above" or "below" the second feature can mean that the first feature is in direct contact with the second feature, or that the first feature is in indirect contact with the second feature through an intermediate medium. Furthermore, "above," "on top of," and "over" the second feature can mean that the first feature is directly above or diagonally above the second feature, or simply indicates that the first feature is at a higher horizontal level than the second feature. "Below," "below," and "beneath" the second feature can mean that the first feature is directly below or diagonally below the second feature, or simply indicates that the first feature is at a lower horizontal level than the second feature.

[0058] In the description of this specification, the terms "one embodiment," "some embodiments," "embodiment," "exemplary embodiment," "example," "specific example," or "some examples," etc., refer to specific features, structures, materials, or characteristics described in connection with that embodiment or example, which are included in at least one embodiment or example of the present invention. In this specification, the illustrative expressions of the above terms do not necessarily refer to the same embodiment or example. Furthermore, the specific features, structures, materials, or characteristics described may be combined in any suitable manner in one or more embodiments or examples. Moreover, without contradiction, those skilled in the art can combine and integrate the different embodiments or examples described in this specification, as well as the features of different embodiments or examples.

[0059] Although embodiments of the present invention have been shown and described above, it is understood that the above embodiments are exemplary and should not be construed as limiting the present invention. Those skilled in the art can make modifications, alterations, substitutions and variations to the above embodiments within the scope of the present invention.

Claims

1. A bearing plate gripping mechanism, characterized in that, include: Base plate (100); A cylinder (200) is disposed above the base plate (100); A first connecting plate (300) is disposed on the cylinder (200). A first mounting seat (310) is provided at the bottom of the first connecting plate (300). A guide groove (320) is provided on the first mounting seat (310) along the width direction of the first connecting plate (300). Clamping arms (400), a plurality of clamping arms (400) are symmetrically distributed on both sides of the base plate (100) along the width direction, the middle part of the clamping arm (400) is rotatably disposed on the base plate (100), and the first end of the clamping arm (400) is slidably connected to the guide groove (320). When the cylinder (200) drives the first connecting plate (300) to rise, the first end of the clamping arm (400) slides toward the end of the guide groove (320), and the middle part of the clamping arm (400) rotates, so that the second ends of the clamping arms (400) located on both sides of the base plate (100) come closer to each other to clamp the bearing plate (500). When the cylinder (200) drives the first connecting plate (300) to descend, the first end of the clamping arm (400) slides toward the center of the guide groove (320), and the middle part of the clamping arm (400) rotates in the opposite direction, so that the second ends of the clamping arms (400) located on both sides of the base plate (100) move away from each other, so as to release the carrier plate (500).

2. The bearing disk gripping mechanism according to claim 1, characterized in that, The base plate (100) is provided with a second mounting seat (110), and the middle part of the clamping arm (400) is hinged to the second mounting seat (110) through a hinge (410). The first end of the clamping arm (400) is provided with a first guide shaft (420), which is slidably engaged in the guide groove (320).

3. The bearing disk gripping mechanism according to claim 2, characterized in that, The cylinder (200) includes a cylinder body and a piston rod. The cylinder body is provided with a first magnetic switch and a second magnetic switch in sequence, and the piston rod is provided with a magnetic ring. The first connecting plate (300) is connected to the piston rod. When the piston rod is not extended, the magnetic ring is located at the first stroke position, and the first magnetic switch is set to correspond to the first stroke position; When the piston rod extends to clamp the bearing plate (500) with the multiple clamping arms (400), the magnetic ring is in the second stroke position and the piston rod has not reached the limit stroke position. The second magnetic switch is set to correspond to the second stroke position.

4. The carrier plate gripping mechanism according to any one of claims 1 to 3, characterized in that, Also includes: A pressure plate (600) is disposed below the first connecting plate (300), and the pressure plate (600) is used to support the bearing plate (500). The clamping arm (400) includes a transmission rod (430) at a first end and a jaw (440) at a second end. The jaw (440) is bent with respect to the transmission rod (430) so that when the clamping arm (400) rotates relative to the base plate (100), the jaw (440) can bypass the pressure plate (600) and clamp the bearing plate (500).

5. The bearing disk gripping mechanism according to claim 4, characterized in that, Also includes: First positioning block (120), a plurality of first positioning blocks (120) are symmetrically arranged on both sides of the base plate (100) along the length direction. The first positioning block (120) extends downward to the bottom of the pressure plate (600). The first positioning block (120) is used to position the bearing plate (500) along the length direction. Second positioning block (130), a plurality of second positioning blocks (130) are symmetrically arranged on both sides of the base plate (100) along the width direction. The second positioning block (130) extends downward to the bottom of the pressure plate (600). The second positioning block (130) is used to position the bearing plate (500) along the width direction.

6. The bearing disk gripping mechanism according to claim 4, characterized in that, Also includes: The second guide shaft (610) is provided on the base plate (100) with a guide hole. The second guide shaft (610) is disposed on the pressure plate (600) and is slidably inserted through the guide hole. The second guide shaft (610) is also provided with a stop (620) so that the pressure plate (600) slides along the second guide shaft (610) within the stroke range defined by the stop (620).

7. The bearing disk gripping mechanism according to claim 6, characterized in that, Also includes: The second connecting plate (630) is disposed above the pressure plate (600); A buffer pad (640) is disposed above the second connecting plate (630), and the buffer pad (640) is sleeved on the second guide shaft (610). When the pressure plate (600) contacts and presses down on the bearing plate (500), the buffer pad (640) undergoes elastic deformation, causing the pressure plate (600) to slide along the second guide shaft (610).

8. The bearing disk gripping mechanism according to claim 4, characterized in that, Also includes: A detection sensor (700) is disposed on the pressure plate (600), and the detection end of the detection sensor (700) penetrates through the pressure plate (600). The detection sensor (700) is used to detect whether there is a bearing plate (500) below the pressure plate (600).

9. The bearing disk gripping mechanism according to claim 1, characterized in that, Also includes: An air source is connected to the cylinder (200) via an air supply pipe, and the air source is used to supply air to the cylinder (200); The air supply pipe is equipped with a speed regulating valve, which is used to control the airflow to the cylinder (200) to adjust the speed and force of the gripping arm (400) when gripping and releasing the carrier plate (500).

10. A sorting device, characterized in that, Includes the carrier plate gripping mechanism as described in any one of claims 1 to 9.

11. A cutting and sorting integrated machine, characterized in that, It includes the carrier plate gripping mechanism as described in any one of claims 1 to 9; or, it includes the sorting device as described in claim 10.

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