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Número de publicaciónCN103236412 A
Tipo de publicaciónSolicitud
Número de solicitudCN 201310121428
Fecha de publicación7 Ago 2013
Fecha de presentación10 Abr 2013
Fecha de prioridad10 Abr 2013
También publicado comoCN103236412B
Número de publicación201310121428.7, CN 103236412 A, CN 103236412A, CN 201310121428, CN-A-103236412, CN103236412 A, CN103236412A, CN201310121428, CN201310121428.7
Inventores岳东海, 颜鹏, 贾健明, 陈剑鹤
Solicitante常州信息职业技术学院
Exportar citaBiBTeX, EndNote, RefMan
Enlaces externos:  SIPO, Espacenet
Manipulator device for overall carrying of diodes
CN 103236412 A
Resumen
The invention discloses a manipulator device for overall carrying of diodes. The manipulator comprises a base plate, a handle component, an upper locking piece component, a lower locking piece component, a handle supporting mechanism, a locking driving mechanism, a separator, a separation driving mechanism and a stand plate. The front portions of handles are provided with an upper row and a lower row of grabbing grooves capable of respectively accommodating leads of two poles of the diodes. The front portions of upper locking pieces and the front portions of lower locking pieces are respectively provided with a row of bevel-angle grooves capable of hooking the leads of the diodes. Through the handles, the diodes in trays can be entirely grabbed by one step; since the diodes are locked through the upper locking piece component, the lower locking piece component and the locking driving mechanism, fall-off of diodes during carrying is avoided; the handles are pulled open with required line spacing through the separator and the separation driving mechanism, so that automatic carrying of demolding processes in diode production are realized; and components are ingenious in design and compact in structure, productivity is effectively saved, and production efficiency is improved.
Reclamaciones(9)  traducido del chino
1.用于二极管整体搬运的机械手装置,其特征在于:包括底板(I)、手抓组件(2)、上锁紧片组件(3)、下锁紧片组件(4)、手抓支撑机构(5)、锁紧驱动机构(6)、分离器(7)、分离驱动机构(8)和立板(9);所述手抓组件(2)、上锁紧片组件(3)和下锁紧片组件(4)分别由数量相同的多个手抓、上锁紧片和下锁紧片组成;所述上锁紧片组件(3)和下锁紧片组件(4)分别设置在手抓组件(2)的上方和下方;所述手抓的前部设有能分别容纳二极管(10)的两极引线的上下两排抓槽;所述上锁紧片的前部和下锁紧片的前部均设有一排能够勾住二极管(10)的引线的斜角槽;所述手抓组件(2)中位于中间的一个手抓的后部与手抓支撑机构(5)固定连接,其它手抓的后部与手抓支撑机构(5)滑动连接;所述锁紧驱动机构(6)驱动上锁紧片组件(3)和下锁紧片组件(4)前后移动;所述分离器(7)设置在手抓组件(2)的后部上方;所述分离驱动机构(8)驱动分离器(7)上下移动;所述手抓支撑机构(5)、锁紧驱动机构(6 )和立板(9 )均固定在底板(I)上;所述分离驱动机构(8 )固定在立板(9 )上。 1. For diode overall handling robot apparatus comprising: a base plate (I), the clutch assembly (2), the locking plate assembly (3), under the locking plate assembly (4), grasping support mechanism (5), locking the drive mechanism (6), the separator (7), separated from the drive mechanism (8) and vertical plate (9); said clutch assembly (2), the locking plate assembly (3) and a lower the locking plate assembly (4) respectively, by the same number of a plurality of the clutch, the lock plate and lower locking slices; the locking plate assembly (3) and the lower locking plate assembly (4) are provided in clutch assembly (2) above and below; the upper and lower front portion of the clutch is provided can accommodate diode (10) bipolar lead two rows catch slot; lock piece of the upper front and lower locking the front piece has a row of diodes can be hooked (10) leads the bevel groove; said clutch assembly (2) in the middle of a clutch and clutch rear support mechanism (5) is fixedly connected other grasping the rear and clutch support mechanism (5) slide; said locking drive mechanism (6) drive locking plate assembly (3) and lower locking plate assembly (4) moves back and forth; the separator (7) is disposed above the rear portion of the clutch assembly (2); and the separation drive mechanism (8) drives the separator (7) to move up and down; supporting said grasping means (5), locking the drive mechanism ( 6) and the vertical plate (9) are fixed on the floor (I); said separate drive mechanism (8) is fixed to the vertical plate (9).
2.根据权利要求1所述的用于二极管整体搬运的机械手装置,其特征在于:所述上锁紧片的前部和下锁紧片上的斜角槽的斜角为45°。 The manipulator apparatus for handling overall diode according to claim 1, wherein: the oblique angle of the bevel groove of the lock piece and the lower front portion of the lock piece 45 °.
3.根据权利要求1所述的用于二极管整体搬运的机械手装置,其特征在于:所述手抓支撑机构(5)包括支撑框(51)、光杠(52)和复位弹簧(53);所述支撑框(51)固定在底板(I)上;所述光杠(52 )设有两根,且均横向固定在支撑框(51)内;所述手抓组件(2 )的后部与两根光杠(52) 滑动连接;所述每根光杠(52)上均套有两个分别位于手抓组件(2)两侧的复位弹簧(53)。 3. The diode overall robotic handling apparatus according to claim 1, characterized in that: said grasping support means (5) includes a support frame (51), the light bar (52) and a return spring (53); The rear portion of the clutch assembly (2); said support frame (51) fixed to the base plate (I); said light bar (52) is provided with two, and are fixed to the transverse support frame (51) and two light bars (52) slide; said each light bar (52) are two sets of which are located in the clutch assembly (2) on both sides of the return spring (53).
4.根据权利要求1所述的用于二极管整体搬运的机械手装置,其特征在于:所述锁紧驱动机构(6)包括锁紧电机(61)、牵引板(62)和锁紧框(63);所述锁紧电机(61)固定在底板(I)上;所述锁紧电机(61)带动牵引板(62)前后移动;所述锁紧框(63)固定在牵引板(62)上;所述上锁紧片组件(3)和下锁紧片组件(4)的后部分别与锁紧框(63)的内顶面和内底面横向滑动连接。 The diode overall handling robot apparatus according to claim 1, wherein: said locking drive mechanism (6) comprising a locking motor (61), the traction plate (62) and the locking frame (63 ); said locking motor (61) fixed to the base plate (I); said locking motor (61) driven by the traction plate (62) to move back and forth; said locking frame (63) fixed to the drag plate (62) on; rear locking plate assembly (3) and lower locking plate assembly (4) on the underside of the top surface of each inner lateral sliding and locking the connector box (63).
5.根据权利要求4所述的用于二极管整体搬运的机械手装置,其特征在于:所述锁紧驱动机构(6 )的锁紧电机(61)采用步进电机。 5. A manipulator apparatus for handling overall diode according to claim 4, characterized in that: said drive locking mechanism (6) locking the motor (61) by a stepping motor.
6.根据权利要求1所述的用于二极管整体搬运的机械手装置,其特征在于:所述分离器(7)整体呈倒三角形;所述分离器(7)的下部并排设有多个分离插条,每个分离插条的底部均设有分离刃。 6. The diode overall handling apparatus for a robot according to claim 1, characterized in that: the separator (7) integrally inverted triangle; the lower part of the separator (7) is provided with a plurality of separate parallel interpolation bar at the bottom of each of the separated cuttings have separated edges.
7.根据权利要求1所述的用于二极管整体搬运的机械手装置,其特征在于:所述分离驱动机构(8)包括分离电机(81)、联轴器(82)、滚珠丝杠(83)、滚珠丝杠螺母(84)、滑块组件(85)和直线导轨(86);所述分离电机(81)和直线导轨(86)均固定在立板(9)上;所述分离电机(81)的输出轴通过联轴器(82)与滚珠丝杠(83)固定连接;所述滚珠丝杠(83)与滚珠丝杠螺母(84)螺纹连接;所述滚珠丝杠螺母(84)和分离器(7)均固定在滑块组件(85)上;所述滑块组件(85)与直线导轨(86)滑动连接。 7. The diode overall handling apparatus for a robot according to claim 1, wherein: said separation drive mechanism (8) comprises a separate motor (81), the coupling (82), a ball screw (83) the ball screw nut (84), the slider assembly (85) and the linear guide (86); the separation motor (81) and the linear guides (86) are fixed to the vertical plate (9); the separation motors ( 81) the output shaft through the coupling (82) and ball screw (83) is fixed; said ball screw (83) with a ball screw nut (84) threaded connection; the ball screw nut (84) and the separator (7) are fixed to the slider assembly (85); said slider assembly (85) and the linear guide (86) slidably connected.
8.根据权利要求7所述的用于二极管整体搬运的机械手装置,其特征在于:所述分离驱动机构(8)的分离电机(81)采用步进电机。 8. A manipulator apparatus for handling overall diode according to claim 7, characterized in that: said disconnecting drive mechanism (8) separating the motor (81) by a stepping motor.
9.根据权利要求7所述的用于二极管整体搬运的机械手装置,其特征在于:所述分离驱动机构(8 )的滑块组件(85 )包括滑块(851)、丝杠螺母连接板(852 )和滑块安装板(853 );所述滑块(851)与直线导轨(86)滑动连接;所述丝杠螺母连接板(852)和滑块安装板(853)均与滑块(851)固定连接;所述滚珠丝杠螺母(84)固定在丝杠螺母连接板(852)上;所述分离器(7)固定在滑块安装板(853)上。 9. A manipulator apparatus for handling overall diode according to claim 7, characterized in that: said disconnecting drive mechanism (8) of the slide assembly (85) comprises a slider (851), the connecting plate screw nut ( 852) and a slider mounting plate (853); said slide (851) and the linear guide (86) slidably connected; the lead screw nut plate (852) and the slider mounting plate (853) were associated with the slider ( 851) fixedly connected; said ball screw nut (84) fixed to the screw nut plate (852); said separator (7) is fixed to the slider mounting plate (853) on.
Descripción  traducido del chino

用于二极管整体搬运的机械手装置 Diode overall handling robot means for

技术领域 Technical Field

[0001 ] 本发明涉及用于二极管整体搬运的机械手装置。 [0001] The present invention relates to a diode integral means for handling robot.

背景技术 Background

[0002]目前国内大部分二极管生产厂家“离模”工序是由人工手持特定工具搬运完成。 [0002] At present, most of the diode manufacturers, "the release" a step by a human hand to complete a specific tool carriers. 将每个托盘(24行*50列)上1200只二极管经过24次搬运至24个模条上。 Each tray (24 rows x 50 columns) diode on 1200 after moving to 24th on 24 molding strips. 这道工序对工人的手感和熟练程度要求很高,必须经过长时间的工作经验累积才能达到速度要求。 This process is to feel and proficiency of workers demanding, it must go through a long period of work experience accumulated in order to achieve speed requirements. 这种操作方式的工人劳动强度大、效率低。 Labor intensity of this mode of operation, low efficiency.

[0003] 随着现代生产技术的发展,用机械手完成这步工序是最佳选择,由于二极管本身体积小、重量轻、刚度低,一般的机械手无法完成对二极管的抓取。 [0003] With the development of modern production technology, complete this step by step the robot is the best choice, since the diode itself is small, light weight, low stiffness, general mechanical hand can not be completed on the diode crawl. 基于上述原因目前国内二极管生产“离模”工序仍然以手工操作为主。 Currently diode production, "the release" is still mainly manual process based on the above reasons.

发明内容 DISCLOSURE

[0004] 本发明所要解决的技术问题是提供一种用于二极管整体搬运的机械手装置,能够一次性整体抓取托盘中的二极管,然后移动至模条组上方并拉开规定行距,最后整体落下将整个托盘中的二级管移动至模条上,完成“离模”工序。 [0004] The technical problem to be solved by the present invention is to provide an overall diode means for handling robot can grab time overall tray diode, then moved to the top of the module of the group and opened a predetermined spacing, and finally the overall fall the whole tray moves to the upper mold diode bar, complete "off-mode" step.

[0005] 为了解决上述技术问题,本发明所提供的技术方案是:一种用于二极管整体搬运的机械手装置,包括底板、手抓组件、上锁紧片组件、下锁紧片组件、手抓支撑机构、锁紧驱动机构、分离器、分离驱动机构和立板;所述手抓组件、上锁紧片组件和下锁紧片组件分别由数量相同的多个手抓、上锁紧片和下锁紧片组成;所述上锁紧片组件和下锁紧片组件分别设置在手抓组件的上方和下方;所述手抓的前部设有能分别容纳二极管的两极引线的上下两排抓槽;所述上锁紧片的前部和下锁紧片的前部均设有一排能够勾住二极管的引线的斜角槽;所述手抓组件中位于中间的一个手抓的后部与手抓支撑机构固定连接,其它手抓的后部与手抓支撑机构滑动连接;所述锁紧驱动机构驱动上锁紧片组件和下锁紧片组件前后移动;所述分离器设置在手抓组件的后部上方;所述分离驱动机构驱动分离器上下移动;所述手抓支撑机构、锁紧驱动机构和立板均固定在底板上;所述分离驱动机构固定在立板上。 [0005] In order to solve the above problems, the technical aspect of the present invention provides that: a diode overall handling robot apparatus, comprising base plate clutch assembly, the locking plate assembly under locking plate assembly, clutch support mechanism, locking the drive mechanism, separator, the drive mechanism and the vertical plate; the clutch assembly, the locking plate assembly and lower locking tab assembly respectively, by the same number of a plurality of the clutch, the lock plate and Under the lock piece integral; locking plate assembly and the lower assembly of the lock piece respectively disposed above and below the clutch assembly; wherein the front portion of the clutch is provided with upper and lower bipolar diode can accommodate two rows of leads catch groove; and the front portion of the front portion of the locking fingers under lock piece has a row of diodes can be hooked lead bevel groove; the clutch assembly is located in the middle of the back of a clutch fixedly connected to the clutch support mechanism, the other grasping the rear and clutch sliding support mechanism; said locking lock plate assembly and move back and forth under the locking tab assembly drive mechanism; said separator disposed in hand grasping the top rear of the assembly; the separation drive mechanism moves up and down separator; supporting the clutch mechanism, locking the drive mechanism and the vertical boards are fixed to the base; a separate drive mechanism is fixed in vertical board.

[0006] 所述上锁紧片的前部和下锁紧片上的斜角槽的斜角为45°。 [0006] angled bevel groove locking piece front and lower lock piece is 45 ° on the upper.

[0007] 所述手抓支撑机构包括支撑框、光杠和复位弹簧;所述支撑框固定在底板上;所述光杠设有两根,且均横向固定在支撑框内;所述手抓组件的后部与两根光杠滑动连接;所述每根光杠上均套有两个分别位于手抓组件两侧的复位弹簧。 [0007] The clutch support mechanism includes a support frame, light bars and a return spring; the supporting frame fixed to the base; the light bar has two, and are laterally fixed to the support frame; the clutch with two sliding rear light bar connection assembly; said each light bar are set on two clutch components are located on both sides of the return spring.

[0008] 所述锁紧驱动机构包括锁紧电机、牵引板和锁紧框;所述锁紧电机固定在底板上;所述锁紧电机带动牵引板前后移动;所述锁紧框固定在牵引板上;所述上锁紧片组件和下锁紧片组件的后部分别与锁紧框的内顶面和内底面横向滑动连接。 [0008] The locking mechanism includes a locking motor drive, traction and locking plate frame; said locking motor fixed to the base; a locking front and rear drive traction motor moves the plate; the lock box fixed on the traction plate; the rear upper locking plate assembly and the lower lock piece assembly are connected to the inner bottom surface of the top surface of the transverse frame and the slide lock.

[0009] 所述锁紧驱动机构的锁紧电机采用步进电机。 [0009] The locking mechanism locking the drive motor is a stepper motor.

[0010] 所述分离器整体呈倒三角形;所述分离器的下部并排设有多个分离插条,每个分离插条的底部均设有分离刃。 [0010] The separator overall inverted triangle; the lower part of the separator provided with a plurality of separate parallel cutting, the bottom of each separate cuttings have separated edges.

[0011] 所述分离驱动机构包括分离电机、联轴器、滚珠丝杠、滚珠丝杠螺母、滑块组件和直线导轨;所述分离电机和直线导轨均固定在立板上;所述分离电机的输出轴通过联轴器与滚珠丝杠固定连接;所述滚珠丝杠与滚珠丝杠螺母螺纹连接;所述滚珠丝杠螺母和分离器均固定在滑块组件上;所述滑块组件与直线导轨滑动连接。 [0011] The separation of the drive mechanism includes a separate motor, coupling, ball, ball screw, and linear guide slider assembly; motors and linear guides are fixed on the vertical plate separation; the separation motor The output shaft is connected through a coupling with a ball screw fixed; the ball screw is connected to the ball screw nut; the ball screw nut and separator are fixed on the slider assembly; the slider assembly linear guide sliding connection.

[0012] 所述分离驱动机构的分离电机采用步进电机。 [0012] The separating means separating the motor drive stepping motor.

[0013] 所述分离驱动机构的滑块组件包括滑块、丝杠螺母连接板和滑块安装板;所述滑块与直线导轨滑动连接;所述丝杠螺母连接板和滑块安装板均与滑块固定连接;所述滚珠丝杠螺母固定在丝杠螺母连接板上;所述分离器固定在滑块安装板上。 [0013] the separation slider assembly drive mechanism includes a slider, screw nut connecting plate and a slider mounting plate; slide the slider and the rail line connecting; the lead screw nut and slide the mounting plate are connecting plate fixedly connected with the slider; the ball screw nut screw nut on the connecting plate; the separator is fixed to the slider mounting plate.

[0014] 采用了上述技术方案后,本发明具有以下的有益效果:本发明通过手抓一次性整体抓取托盘中的二极管,通过上锁紧片组件、下锁紧片组件和锁紧驱动机构锁紧二极管,防止二极管在搬运过程中脱离,通过分离器和分离驱动机构使手抓拉开规定的行距,从而实现了二极管生产“离模”工序的自动化搬运,各部件设计巧妙,结构紧凑,有效地节约了生产力、提闻了生广效率。 After the [0014] With the above technical solutions, the present invention has the following beneficial effects: The present invention clutch time overall crawl tray diode, through the locking plate assembly under locking plate assembly and lock the drive mechanism Locking diodes, diode in the handling process to prevent detachment and separation by a separator clutch pull drive mechanism prescribed spacing, enabling diode production, "the release" a step in the automation of handling various parts cleverly designed, compact structure, effectively saving productivity mention the smell of raw wide efficiency.

附图说明 Brief Description

[0015] 为了使本发明的内容更容易被清楚地理解,下面根据具体实施例并结合附图,对本发明作进一步详细的说明,其中 [0015] In order to make the content of the present invention are more likely to be clearly understood that the specific embodiments below in conjunction with the accompanying drawings, the present invention will be further described in detail, including

[0016] 图1为本发明的结构示意图。 [0016] FIG. 1 a schematic structural view of the present invention.

[0017] 图2为图1的A处放大图。 [0017] A of FIG. 2 is an enlarged view of FIG. 1.

[0018] 图3为图1的B处放大图。 [0018] FIG. 3 is an enlarged view of B at 1.

[0019] 附图中的标号为: [0019] reference numerals as in:

[0020] 底板1、手抓组件2、上锁紧片组件3、下锁紧片组件4、手抓支撑机构5、支撑框51、光杠52、复位弹簧53、锁紧驱动机构6、锁紧电机61、牵引板62、锁紧框63、分离器7、分离驱动机构8、分离电机81、联轴器82、滚珠丝杠83、滚珠丝杠螺母84、滑块组件85、滑块851、丝杠螺母连接板852、滑块安装板853、直线导轨86、立板9、二极管10。 [0020] The base plate 1, the clutch assembly 2, the locking plate assembly 3, under the locking plate assembly 4, grasping support mechanism 5, the support frame 51, the light bar 52, the return spring 53, locking the drive mechanism 6 locks tight motor 61, traction plate 62, the locking block 63, a separator 7, and disconnecting drive mechanism 8, the separation motor 81, coupling 82, ball screw 83, ball screw nut 84, slider assembly 85, the slider 851 , screw nut connecting plate 852, the slider mounting plate 853, a linear guide 86, the vertical plate 9, diode 10.

具体实施方式 DETAILED DESCRIPTION

[0021](实施例1) [0021] (Example 1)

[0022] 见图1至图3,本实施例的机械手装置用于二极管整体搬运,包括底板1、手抓组件 [0022] Figure 1 to Figure 3, the robot apparatus of the present embodiment is used for handling whole diodes, comprises a base plate 1, the clutch assembly

2、上锁紧片组件3、下锁紧片组件4、手抓支撑机构5、锁紧驱动机构6、分离器7、分离驱动机构8和立板9。 2, the locking plate assembly 3, under the locking plate assembly 4, 5 Finger support mechanism, locking the drive mechanism 6, separator 7, separate drive mechanism 8 and the vertical plate 9.

[0023] 手抓组件2、上锁紧片组件3和下锁紧片组件4分别由数量相同的多个手抓、上锁紧片和下锁紧片组成。 [0023] The clutch assembly 2, the locking plate assembly 3 and the lower lock piece assembly 4 respectively, by the same number of a plurality of the clutch, the lock plate and lower locking slices. 上锁紧片组件3和下锁紧片组件4分别设置在手抓组件2的上方和下方。 The locking plate assembly 3 and the lower locking tab assembly 4 are disposed above and below the clutch assembly 2. 手抓的前部设有能分别容纳二极管10的两极引线的上下两排抓槽。 The front clutch is provided bipolar diode can accommodate up and down two rows of leads 10 catch groove. 上锁紧片的前部和下锁紧片的前部均设有一排能够勾住二极管10的引线的斜角槽。 The front and the front portion of the lock piece under lock piece has a row of diodes can be hooked lead 10 bevel groove. 手抓组件2中位于中间的一个手抓的后部与手抓支撑机构5固定连接,其它手抓的后部与手抓支撑机构5滑动连接。 Clutch assembly 2 located in the middle of the back of a clutch and clutch supporting mechanism 5 is fixedly connected with the other grasping the rear clutch mechanism 5 supported slidably connected. 锁紧驱动机构6驱动上锁紧片组件3和下锁紧片组件4前后移动。 The locking plate assembly 3 and the lower locking plate assembly 4 is moved back and forth driving mechanism 6 drives the lock. 分离器7设置在手抓组件2的后部上方。 Separator 7 is disposed above the rear portion of the clutch assembly 2. 分离驱动机构8驱动分离器7上下移动。 Separate drive means 8 drives the separator 7 moves up and down. 手抓支撑机构5、锁紧驱动机构6和立板9均固定在底板I上。 Clutch support mechanism 5, locking the drive mechanism 6 and the vertical plate 9 are fixed to the base I. 分离驱动机构8固定在立板9上。 Separate drive mechanism 8 is fixed to the vertical plate 9.

[0024] 上锁紧片的前部和下锁紧片的斜角槽的斜角优选为45°。 [0024] On the front portion of the lock piece and the lock piece lower bevel bevel groove is preferably 45 °.

[0025] 手抓支撑机构5包括支撑框51、光杠52和复位弹簧53。 [0025] grasping support mechanism 5 includes a support frame 51, a light bar 52 and a return spring 53. 支撑框51固定在底板I上。 A support frame 51 fixed to the base I. 光杠52设有两根,且均横向固定在支撑框51内。 52 is provided with two light bars, and are laterally fixed within the support frame 51. 手抓组件2的后部与两根光杠52滑动连接。 Clutch components and two rear light bar 52 2 sliding connection. 每根光杠52上均套有两个分别位于手抓组件2两侧的复位弹簧53。 On each light bar 52 are two sets of clutch assembly 2 are located on both sides of the return spring 53.

[0026] 锁紧驱动机构6包括锁紧电机61、牵引板62和锁紧框63。 [0026] The locking mechanism 6 includes a locking drive motor 61, traction plate 62 and locking frame 63. 锁紧电机61固定在底板I上。 Locking motor 61 fixed to the base I. 锁紧电机61带动牵引板62前后移动。 Locking drive motor 61 to move back and forth pulling plate 62. 锁紧框63固定在牵引板62上。 Locking frame 63 is fixed on the plate 62 in traction. 上锁紧片组件3和下锁紧片组件4的后部分别与锁紧框63的内顶面和内底面横向滑动连接。 On the rear of the locking plate assembly 3 and the lower locking tab assembly 4 are connected to the inner top surface of the bottom surface of the locking block 63 to slide laterally and inside.

[0027] 分离驱动机构8包括分离电机81、联轴器82、滚珠丝杠83、滚珠丝杠螺母84、滑块组件85和直线导轨86。 [0027] separate drive mechanism 8 includes a separate motor 81, coupling 82, ball 83, the ball screw nut 84, the slider assembly 85 and linear guide 86. 分离电机81和直线导轨86均固定在立板9上。 Separation motor 81 and linear guide 86 are fixed to the vertical plate 9. 分离电机81的输出轴通过联轴器82与滚珠丝杠83固定连接。 Separating the motor output shaft 81 through the coupling 82 is fixedly connected with the ball screw 83. 滚珠丝杠83与滚珠丝杠螺母84螺纹连接。 The ball screw 83 is connected with the ball screw nut 84 threads. 滚珠丝杠螺母84和分离器7均固定在滑块组件85上。 The ball screw nut 84 and the separator 7 are fixed to the slider assembly 85. 滑块组件85与直线导轨86滑动连接。 Slider assembly 85 and the linear guide 86 slidably connected.

[0028] 分离驱动机构8的滑块组件85包括滑块851、丝杠螺母连接板852和滑块安装板853。 [0028] The slider assembly 85 separate drive mechanism 8 includes a slider 851, screw nut connector plate 852 and a slider mounting plate 853. 滑块851与直线导轨86滑动连接。 851 and linear guide slider 86 slidably connected. 丝杠螺母连接板852和滑块安装板853均与滑块851固定连接。 Screw nut connecting plate 852 and a slider mounting plate 853 are fixedly connected to the slider 851. 滚珠丝杠螺母84固定在丝杠螺母连接板852上。 The ball screw nut 84 is fixed to the connecting plate 852 screw nut. 分离器7固定在滑块安装板853上。 7 fixed separator plate 853 is installed on the slider.

[0029] 锁紧驱动机构6的锁紧电机61和分离驱动机构8的分离电机81均采用步进电机。 [0029] The locking mechanism locking the drive motor 61 and separation motor drive mechanism 6 81 8 are separated by a stepping motor. 分离器7整体呈倒三角形。 Separator 7 overall inverted triangle. 分离器7的下部并排设有多个分离插条,每个分离插条的底部均设有分离刃。 The lower portion of the separator 7 side by side with a plurality of discrete cutting the bottom of each of the separated cuttings have separated edges.

[0030] 本实施例的机械手装置与三轴线性模组配合,完成“离模”工序中二极管的整体搬运,其动作过程为:三轴线性模组带动机械手装置至托盘上方合适位置,使得二极管10进入手抓的抓槽内,锁紧电机61带动牵引板62、锁紧框63、上锁紧片组件3和下锁紧片组件4向后移动,当二极管10的引线进入上锁紧片和下锁紧片的斜角槽底部时,二极管10被束缚到手抓的抓槽内,使得所有二极管10在搬运过程中不会脱落。 [0030] The robotic device with three-axis linear module of the present embodiment with the completion of "the release" a step in the overall transport diode, its course of action is: the three-axis linear modules driven robotic device to the appropriate location above the tray so that the diode 10 into the clutch grip groove locking traction motor 61 to drive plate 62, the locking block 63, the locking plate assembly 3 and the lower lock piece assembly 4 moves backward, when the lead diode 10 enters the lock piece at the bottom of the bevel groove and lock piece, diode 10 is bound to grip the clutch grooves so that all diode 10 will not fall off during handling. 锁紧动作完成后,三轴线性模组抬起,使所有二极管10脱离托盘,并移动至模条组上方合适位置。 After the locking action is completed, the three-axis linear modules lifted, so that all of the diodes 10 from the tray, and move to the proper position over the mold section group. 在移动过程中,分离电机81正转通过联轴器82带动滚珠丝杠83转动,使滚珠丝杠螺母84向下移动,进而带动滑块组件85及分离器7向下移动,使得分离器7插入到手抓之间的缝隙中,随着分离器7的移动,手抓依次向两边分散,完成分离过程。 During the move, the separation motor 81 forward coupling 82 driven ball screw 83 is rotated by the ball screw nut 84 moves downward, thereby bringing the slider assembly 85 and the separator 7 is moved downward so that the separator 7 inserted into the gap between the clutch, with the movement of the separator 7, grasping both sides in order to disperse, to complete the separation process. 此时三轴线性模组带动机械手装置向下移动,将所有二极管10插入到模条组中。 At this three-axis linear modules driven robot device moves down, all the diode 10 is inserted into the mold strip group. 完成“离模”工序后,三轴线性模组带动机械手装置离开模条组,分离电机81反转带动分离器7向上移动。 After completing "the release" a step, three-axis linear modules driven robot device exits the die-Pack, separate drive motors 81 reverse splitter 7 is moved upward. 在复位弹簧53作用下手抓、上锁紧片、下锁紧片向中间移动,当分离器7完全离开手抓组件2时,整个手抓组件合并完成。 The clutch, the lock piece, under lock piece moving to the center role in the return spring 53, when the separator 7 completely off the clutch assembly 2, the entire clutch assembly completion of the merger. 手抓组件2中位于中间的一个手抓的后部与手抓支撑机构5固定连接,能够保证各个手抓回到初始位置,避免复位后手抓组件的位置出现偏移。 Clutch assembly 2 located in the middle of the back of a clutch and clutch mechanism 5 is fixedly connected to support, to ensure that each clutch back to the initial position, the position of the clutch assembly to avoid the appearance of an offset after reset.

[0031] 以上所述的具体实施例,对本发明的目的、技术方案和有益效果进行了进一步详细说明,所应理解的是,以上所述仅为本发明的具体实施例而已,并不用于限制本发明,凡在本发明的精神和原则之内,所做的任何修改、等同替换、改进等,均应包含在本发明的保护范围之内。 Specific Example [0031] above, objectives, technical solutions and advantages of the present invention has been described in further detail, as it should be understood that the above description is only the specific embodiment of the present invention but not to limit The present invention within the spirit and principles of the present invention, made any modifications, equivalents, improvements should be included within the scope of the present invention.

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Clasificaciones
Clasificación internacionalB25J11/00, B25J15/00, H01L21/687
Eventos legales
FechaCódigoEventoDescripción
7 Ago 2013C06Publication
4 Sep 2013C10Entry into substantive examination
30 Sep 2015C14Grant of patent or utility model
3 May 2017CB03
3 May 2017TR01