CN103236412A - Manipulator device for overall carrying of diodes - Google Patents
Manipulator device for overall carrying of diodes Download PDFInfo
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- CN103236412A CN103236412A CN2013101214287A CN201310121428A CN103236412A CN 103236412 A CN103236412 A CN 103236412A CN 2013101214287 A CN2013101214287 A CN 2013101214287A CN 201310121428 A CN201310121428 A CN 201310121428A CN 103236412 A CN103236412 A CN 103236412A
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- hand
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- locking
- driving mechanism
- grabbed
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Abstract
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.
Description
Technical field
The present invention relates to the robot device for the whole carrying of diode.
Background technology
Present domestic most of diode production producer " from mould " operation is to be finished by artificial hand-held particular tool carrying.Last 1200 diodes of each pallet (24 row *, 50 row) are carried on 24 mould bars through 24 times.This procedure is very high to workman's feel and qualification requirement, must just can reach rate request through long working experience accumulation.The labor strength of this mode of operation is big, efficient is low.
Along with the development of modern production technology, finishing this step operation with manipulator is optimal selection, because the volume of diode own is little, in light weight, rigidity is low, general manipulator can't be finished the extracting to diode.Present for these reasons domestic diode production " from mould " operation is still based on manual operations.
Summary of the invention
Technical problem to be solved by this invention provides a kind of robot device for the whole carrying of diode, can disposable integral grasp the diode in the pallet, move to mould bar group top then and draw back the regulation line-spacing, last integral body falls the diode in the whole pallet is moved on the mould bar, finishes " from mould " operation.
In order to solve the problems of the technologies described above, technical scheme provided by the present invention is: a kind of robot device for the whole carrying of diode, comprise base plate, hand grab assembly, on lock chip module, stay assembly, hand are grabbed supporting mechanism, locking driving mechanism, separator, separation driving mechanism and riser down; Described hand grab assembly, on lock chip module and following stay assembly and grab, go up stay and following stay is formed by the identical a plurality of hands of quantity respectively; The described locking chip module of going up is separately positioned on the above and below that hand is grabbed assembly with following stay assembly; The front portion that described hand is grabbed is provided with the two rows of the two poles of the earth lead-in wire that can hold diode respectively and grabs groove; The front portion of described upward stay and the front portion of following stay are equipped with the oblique angle groove that a row can catch on the lead-in wire of diode; Described hand is grabbed rear portion that a hand in the middle of being positioned in the assembly grabs and is grabbed supporting mechanism with hand and fixedly connected, and the rear portion that other hand is grabbed and hand are grabbed supporting mechanism and be slidingly connected; Described locking driving mechanism drives upward, and the locking chip module moves forward and backward with following stay assembly; Described separator is arranged on the top, rear portion that hand is grabbed assembly; Described separation driving mechanism drives separator and moves up and down; Described hand is grabbed supporting mechanism, locking driving mechanism and riser and all is fixed on the base plate; Described separation driving mechanism is fixed on the riser.
The front portion of described upward stay and the oblique angle of the oblique angle groove on the following stay are 45 °.
Described hand is grabbed supporting mechanism and is comprised carriage, feed rod and back-moving spring; Described carriage is fixed on the base plate; Described feed rod is provided with two, and equal crosswise fixed is in carriage; Rear portion and two feed rods that described hand is grabbed assembly are slidingly connected; All be with two on the described every feed rod and lay respectively at the back-moving spring that hand is grabbed the assembly both sides.
Described locking driving mechanism comprises locking motor, towing plate and locking frame; Described locking motor is fixed on the base plate; Described locking motor drives towing plate and moves forward and backward; Described locking frame is fixed on the towing plate; Described rear portion of going up locking chip module and following stay assembly laterally is slidingly connected with inner top surface and the inner bottom surface of locking frame respectively.
The locking motor of described locking driving mechanism adopts stepping motor.
Described whole separator is del; The bottom of described separator is provided with a plurality of separation side by side and transplants a cutting, and each separates the bottom of transplanting a cutting and is equipped with the separation sword.
Described separation driving mechanism comprises separation motor, shaft coupling, ball-screw, ball-screw nut, slide block assembly and line slideway; Described separation motor and line slideway all are fixed on the riser; The output shaft of described separation motor is fixedlyed connected with ball-screw by shaft coupling; Described ball-screw is threaded with ball-screw nut; Described ball-screw nut and separator all are fixed on the slide block assembly; Described slide block assembly and line slideway are slidingly connected.
The separation motor of described separation driving mechanism adopts stepping motor.
The slide block assembly of described separation driving mechanism comprises slide block, feed screw nut connecting plate and slide block mounting panel; Described slide block and line slideway are slidingly connected; Described feed screw nut connecting plate is all fixedlyed connected with slide block with the slide block mounting panel; Described ball-screw nut is fixed on the feed screw nut connecting plate; Described separator is fixed on the slide block mounting panel.
After having adopted technique scheme, the present invention has following beneficial effect: the present invention grabs disposable integral by hand and grasps diode in the pallet, by last locking chip module, following stay assembly and locking driving mechanism locking diode, prevent that diode breaks away from handling process, by separator with separate the line-spacing that driving mechanism is grabbed hand to draw back regulation, thereby realized the automated handling of diode production " from mould " operation, each parts design is ingenious, compact conformation has been saved productivity effectively, has been improved production efficiency.
Description of drawings
Content of the present invention is easier to be expressly understood in order to make, and according to specific embodiment also by reference to the accompanying drawings, the present invention is further detailed explanation, wherein below
Fig. 1 is structural representation of the present invention.
Fig. 2 is the A place enlarged drawing of Fig. 1.
Fig. 3 is the B place enlarged drawing of Fig. 1.
Label in the accompanying drawing is:
Base plate 1, hand grab assembly 2, on lock chip module 3, down stay assembly 4, hand are grabbed supporting mechanism 5, carriage 51, feed rod 52, back-moving spring 53, locking driving mechanism 6, locking motor 61, towing plate 62, locking frame 63, separator 7, separate driving mechanism 8, are separated motor 81, shaft coupling 82, ball-screw 83, ball-screw nut 84, slide block assembly 85, slide block 851, feed screw nut connecting plate 852, slide block mounting panel 853, line slideway 86, riser 9, diode 10.
Embodiment
(embodiment 1)
See Fig. 1 to Fig. 3, the robot device of present embodiment is used for the whole carrying of diode, comprise base plate 1, hand grab assembly 2, on lock chip module 3, stay assembly 4, hand are grabbed supporting mechanism 5, locking driving mechanism 6, separator 7, are separated driving mechanism 8 and riser 9 down.
The oblique angle of the oblique angle groove of the front portion of last stay and following stay is preferably 45 °.
Hand is grabbed supporting mechanism 5 and is comprised carriage 51, feed rod 52 and back-moving spring 53.Carriage 51 is fixed on the base plate 1.Feed rod 52 is provided with two, and equal crosswise fixed is in carriage 51.Rear portion and two feed rods 52 that hand is grabbed assembly 2 are slidingly connected.All be with two on the every feed rod 52 and lay respectively at the back-moving spring 53 that hand is grabbed assembly 2 both sides.
Locking driving mechanism 6 comprises locking motor 61, towing plate 62 and locking frame 63.Locking motor 61 is fixed on the base plate 1.Locking motor 61 drives towing plate 62 and moves forward and backward.Locking frame 63 is fixed on the towing plate 62.The rear portion of last locking chip module 3 and following stay assembly 4 laterally is slidingly connected with inner top surface and the inner bottom surface of locking frame 63 respectively.
Separate driving mechanism 8 and comprise separation motor 81, shaft coupling 82, ball-screw 83, ball-screw nut 84, slide block assembly 85 and line slideway 86.Separating motor 81 and line slideway 86 all is fixed on the riser 9.The output shaft that separates motor 81 is fixedlyed connected with ball-screw 83 by shaft coupling 82.Ball-screw 83 is threaded with ball-screw nut 84.Ball-screw nut 84 and separator 7 all are fixed on the slide block assembly 85.Slide block assembly 85 is slidingly connected with line slideway 86.
The slide block assembly 85 that separates driving mechanism 8 comprises slide block 851, feed screw nut connecting plate 852 and slide block mounting panel 853.Slide block 851 is slidingly connected with line slideway 86.Feed screw nut connecting plate 852 is all fixedlyed connected with slide block 851 with slide block mounting panel 853.Ball-screw nut 84 is fixed on the feed screw nut connecting plate 852.Separator 7 is fixed on the slide block mounting panel 853.
The locking motor 61 of locking driving mechanism 6 all adopts stepping motor with the separation motor 81 that separates driving mechanism 8.Separator 7 integral body are del.The bottom of separator 7 is provided with a plurality of separation side by side and transplants a cutting, and each separates the bottom of transplanting a cutting and is equipped with the separation sword.
The robot device of present embodiment cooperates with three axis linear modules, finish the integral body carrying of diode in " from mould " operation, its course of action is: three axis linear modules drive robot device to pallet top correct position, make diode 10 enter grabbing in the groove that hand grabs, locking motor 61 drives towing plate 62, locking frame 63, last locking chip module 3 and following stay assembly 4 are mobile backward, when the lead-in wire of diode 10 enters the oblique angle trench bottom of stay and following stay, diode 10 grabbing in the groove of grabbing in one's hands in bond make all diodes 10 can not come off in handling process.After locking action was finished, three axis linear modules lifted, and made all diodes 10 break away from pallet, and moved to mould bar group top correct position.In moving process, separating motor 81 is just changeing by 83 rotations of shaft coupling 82 drive ball-screws, ball-screw nut 84 is moved down, and then drive slide block assembly 85 and separator 7 moves down, make separator 7 insert in the slit between in one's hands the grabbing, along with the movement of separator 7, hand is grabbed successively and is disperseed to both sides, finishes separation process.Three axis linear modules drive this moment robot device moves down, and all diodes 10 are inserted in the mould bar group.After finishing " from mould " operation, three axis linear modules drive robot device and leave mould bar group, separate motor 81 counter-rotating drive separators 7 and move up.Set about to grab in back-moving spring 53 effect, on stay, stay moves to the centre down, when separator 7 left hand fully and grabs assembly 2, whole hand was grabbed assembly and is merged and finish.Hand is grabbed rear portion that a hand in the middle of being positioned in the assembly 2 grabs and is grabbed supporting mechanism 5 with hand and fixedly connected, and can guarantee that each hand is grabbed to get back to initial position, and being offset appears in the position that the defensive position of avoiding resetting is grabbed assembly.
Above-described specific embodiment; purpose of the present invention, technical scheme and beneficial effect are further described; institute is understood that; the above only is specific embodiments of the invention; be not limited to the present invention; within the spirit and principles in the present invention all, any modification of making, be equal to replacement, improvement etc., all should be included within protection scope of the present invention.
Claims (9)
1. be used for the robot device of the whole carrying of diode, it is characterized in that: comprise base plate (1), hand grab assembly (2), on lock chip module (3), stay assembly (4), hand are grabbed supporting mechanism (5), locking driving mechanism (6), separator (7), are separated driving mechanism (8) and riser (9) down; Described hand grab assembly (2), on lock chip module (3) and following stay assembly (4) and grab, go up stay and following stay is formed by the identical a plurality of hands of quantity respectively; Described upward locking chip module (3) and following stay assembly (4) are separately positioned on the above and below that hand is grabbed assembly (2); The front portion that described hand is grabbed is provided with the two rows of the two poles of the earth lead-in wire that can hold diode (10) respectively and grabs groove; The front portion of described upward stay and the front portion of following stay are equipped with the oblique angle groove that a row can catch on the lead-in wire of diode (10); Described hand is grabbed rear portion that a hand in the middle of being positioned in the assembly (2) grabs and is grabbed supporting mechanism (5) with hand and fixedly connected, and the rear portion that other hand is grabbed and hand are grabbed supporting mechanism (5) and be slidingly connected; Locking chip module (3) and following stay assembly (4) move forward and backward in described locking driving mechanism (6) driving; Described separator (7) is arranged on the top, rear portion that hand is grabbed assembly (2); Described separation driving mechanism (8) drives separator (7) and moves up and down; Described hand is grabbed supporting mechanism (5), locking driving mechanism (6) and riser (9) and all is fixed on the base plate (1); Described separation driving mechanism (8) is fixed on the riser (9).
2. according to claim 1 for the whole robot device of carrying of diode, it is characterized in that: the front portion of described upward stay and the oblique angle of the oblique angle groove on the following stay are 45 °.
3. according to claim 1 for the whole robot device of carrying of diode, it is characterized in that: described hand is grabbed supporting mechanism (5) and is comprised carriage (51), feed rod (52) and back-moving spring (53); Described carriage (51) is fixed on the base plate (1); Described feed rod (52) is provided with two, and equal crosswise fixed is in carriage (51); Rear portion and two feed rods (52) that described hand is grabbed assembly (2) are slidingly connected; All be with two on the described every feed rod (52) and lay respectively at the back-moving spring (53) that hand is grabbed assembly (2) both sides.
4. according to claim 1 for the whole robot device of carrying of diode, it is characterized in that: described locking driving mechanism (6) comprises locking motor (61), towing plate (62) and locking frame (63); Described locking motor (61) is fixed on the base plate (1); Described locking motor (61) drives towing plate (62) and moves forward and backward; Described locking frame (63) is fixed on the towing plate (62); Described rear portion of going up locking chip module (3) and following stay assembly (4) laterally is slidingly connected with inner top surface and the inner bottom surface of locking frame (63) respectively.
5. the robot device for the whole carrying of diode according to claim 4 is characterized in that: locking motor (61) the employing stepping motor of described locking driving mechanism (6).
6. according to claim 1 for the whole robot device of carrying of diode, it is characterized in that: described separator (7) integral body is del; The bottom of described separator (7) is provided with a plurality of separation side by side and transplants a cutting, and each separates the bottom of transplanting a cutting and is equipped with the separation sword.
7. according to claim 1 for the whole robot device of carrying of diode, it is characterized in that: described separation driving mechanism (8) comprises separation motor (81), shaft coupling (82), ball-screw (83), ball-screw nut (84), slide block assembly (85) and line slideway (86); Described separation motor (81) and line slideway (86) all are fixed on the riser (9); The output shaft of described separation motor (81) is fixedlyed connected with ball-screw (83) by shaft coupling (82); Described ball-screw (83) is threaded with ball-screw nut (84); Described ball-screw nut (84) and separator (7) all are fixed on the slide block assembly (85); Described slide block assembly (85) is slidingly connected with line slideway (86).
8. the robot device for the whole carrying of diode according to claim 7 is characterized in that: separation motor (81) the employing stepping motor of described separation driving mechanism (8).
9. according to claim 7 for the whole robot device of carrying of diode, it is characterized in that: the slide block assembly (85) of described separation driving mechanism (8) comprises slide block (851), feed screw nut connecting plate (852) and slide block mounting panel (853); Described slide block (851) is slidingly connected with line slideway (86); Described feed screw nut connecting plate (852) is all fixedlyed connected with slide block (851) with slide block mounting panel (853); Described ball-screw nut (84) is fixed on the feed screw nut connecting plate (852); Described separator (7) is fixed on the slide block mounting panel (853).
Priority Applications (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201310121428.7A CN103236412B (en) | 2013-04-10 | 2013-04-10 | For the robot device of diode entirety carrying |
Applications Claiming Priority (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201310121428.7A CN103236412B (en) | 2013-04-10 | 2013-04-10 | For the robot device of diode entirety carrying |
Publications (2)
| Publication Number | Publication Date |
|---|---|
| CN103236412A true CN103236412A (en) | 2013-08-07 |
| CN103236412B CN103236412B (en) | 2015-09-30 |
Family
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Family Applications (1)
| Application Number | Title | Priority Date | Filing Date |
|---|---|---|---|
| CN201310121428.7A Expired - Fee Related CN103236412B (en) | 2013-04-10 | 2013-04-10 | For the robot device of diode entirety carrying |
Country Status (1)
| Country | Link |
|---|---|
| CN (1) | CN103236412B (en) |
Citations (5)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| US6492187B1 (en) * | 1994-04-18 | 2002-12-10 | Micron Technology, Inc. | Method for automatically positioning electronic die within component packages |
| CN201307585Y (en) * | 2008-09-28 | 2009-09-09 | 常州新区佳讯电子器材有限公司 | Full automatic material combing conversion die |
| CN101577239A (en) * | 2009-06-19 | 2009-11-11 | 常州新区佳讯电子器材有限公司 | Fully-automatic diode combing machine |
| CN202549817U (en) * | 2012-04-20 | 2012-11-21 | 常州信息职业技术学院 | Elastic hand grasping device for carrying diodes |
| CN203266649U (en) * | 2013-04-10 | 2013-11-06 | 常州信息职业技术学院 | Mechanical arm device for carrying diodes integrally |
-
2013
- 2013-04-10 CN CN201310121428.7A patent/CN103236412B/en not_active Expired - Fee Related
Patent Citations (5)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| US6492187B1 (en) * | 1994-04-18 | 2002-12-10 | Micron Technology, Inc. | Method for automatically positioning electronic die within component packages |
| CN201307585Y (en) * | 2008-09-28 | 2009-09-09 | 常州新区佳讯电子器材有限公司 | Full automatic material combing conversion die |
| CN101577239A (en) * | 2009-06-19 | 2009-11-11 | 常州新区佳讯电子器材有限公司 | Fully-automatic diode combing machine |
| CN202549817U (en) * | 2012-04-20 | 2012-11-21 | 常州信息职业技术学院 | Elastic hand grasping device for carrying diodes |
| CN203266649U (en) * | 2013-04-10 | 2013-11-06 | 常州信息职业技术学院 | Mechanical arm device for carrying diodes integrally |
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| Publication number | Publication date |
|---|---|
| CN103236412B (en) | 2015-09-30 |
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| C06 | Publication | ||
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| C10 | Entry into substantive examination | ||
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| C14 | Grant of patent or utility model | ||
| GR01 | Patent grant | ||
| CB03 | Change of inventor or designer information | ||
| CB03 | Change of inventor or designer information |
Inventor after: Yue Donghai Inventor after: Yan Peng Inventor after: Jia Jianming Inventor after: Chen Jianhe Inventor after: Xu Muqin Inventor before: Yue Donghai Inventor before: Yan Peng Inventor before: Jia Jianming Inventor before: Chen Jianhe |
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| TR01 | Transfer of patent right | ||
| TR01 | Transfer of patent right |
Effective date of registration: 20170410 Address after: 515064 Shantou, Jinping District, Qishan City, the streets of the second industrial zone Patentee after: Guangdong Shantou Helry Automation Equipment Co., Ltd. Address before: 213164 Changzhou University City, Jiangsu,, Changzhou College of Information Technology Patentee before: Changzhou College of Information Technology |
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| CF01 | Termination of patent right due to non-payment of annual fee | ||
| CF01 | Termination of patent right due to non-payment of annual fee |
Granted publication date: 20150930 Termination date: 20200410 |