CN112873227A - Carrying manipulator and laminating device - Google Patents
Carrying manipulator and laminating device Download PDFInfo
- Publication number
- CN112873227A CN112873227A CN202110046749.XA CN202110046749A CN112873227A CN 112873227 A CN112873227 A CN 112873227A CN 202110046749 A CN202110046749 A CN 202110046749A CN 112873227 A CN112873227 A CN 112873227A
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- top board
- spline shaft
- ball spline
- intermediate plate
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- 238000010030 laminating Methods 0.000 title claims description 13
- 230000007246 mechanism Effects 0.000 claims abstract description 25
- 238000001179 sorption measurement Methods 0.000 claims abstract description 18
- 238000006073 displacement reaction Methods 0.000 claims abstract description 7
- 230000033001 locomotion Effects 0.000 claims abstract description 7
- 241000446313 Lamella Species 0.000 claims description 27
- 238000009413 insulation Methods 0.000 claims description 11
- 238000010438 heat treatment Methods 0.000 claims description 10
- 230000005540 biological transmission Effects 0.000 claims description 6
- 238000010521 absorption reaction Methods 0.000 claims description 2
- 230000001174 ascending effect Effects 0.000 abstract description 2
- 230000005484 gravity Effects 0.000 abstract description 2
- 230000000670 limiting effect Effects 0.000 description 13
- 239000003638 chemical reducing agent Substances 0.000 description 8
- 239000000463 material Substances 0.000 description 8
- 239000012528 membrane Substances 0.000 description 6
- 238000010586 diagram Methods 0.000 description 5
- 239000000919 ceramic Substances 0.000 description 4
- 239000010410 layer Substances 0.000 description 4
- 230000008878 coupling Effects 0.000 description 3
- 238000010168 coupling process Methods 0.000 description 3
- 238000005859 coupling reaction Methods 0.000 description 3
- 239000003985 ceramic capacitor Substances 0.000 description 2
- 210000004907 gland Anatomy 0.000 description 2
- 230000004048 modification Effects 0.000 description 2
- 238000012986 modification Methods 0.000 description 2
- 230000009286 beneficial effect Effects 0.000 description 1
- 230000003139 buffering effect Effects 0.000 description 1
- 239000003990 capacitor Substances 0.000 description 1
- 238000013016 damping Methods 0.000 description 1
- 238000001914 filtration Methods 0.000 description 1
- 230000006872 improvement Effects 0.000 description 1
- 230000010355 oscillation Effects 0.000 description 1
- 230000002093 peripheral effect Effects 0.000 description 1
- 239000011241 protective layer Substances 0.000 description 1
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Classifications
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- B—PERFORMING OPERATIONS; TRANSPORTING
- B25—HAND TOOLS; PORTABLE POWER-DRIVEN TOOLS; MANIPULATORS
- B25J—MANIPULATORS; CHAMBERS PROVIDED WITH MANIPULATION DEVICES
- B25J11/00—Manipulators not otherwise provided for
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- B—PERFORMING OPERATIONS; TRANSPORTING
- B25—HAND TOOLS; PORTABLE POWER-DRIVEN TOOLS; MANIPULATORS
- B25J—MANIPULATORS; CHAMBERS PROVIDED WITH MANIPULATION DEVICES
- B25J15/00—Gripping heads and other end effectors
- B25J15/06—Gripping heads and other end effectors with vacuum or magnetic holding means
- B25J15/0616—Gripping heads and other end effectors with vacuum or magnetic holding means with vacuum
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- H—ELECTRICITY
- H01—ELECTRIC ELEMENTS
- H01G—CAPACITORS; CAPACITORS, RECTIFIERS, DETECTORS, SWITCHING DEVICES, LIGHT-SENSITIVE OR TEMPERATURE-SENSITIVE DEVICES OF THE ELECTROLYTIC TYPE
- H01G13/00—Apparatus specially adapted for manufacturing capacitors; Processes specially adapted for manufacturing capacitors not provided for in groups H01G4/00 - H01G11/00
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- H—ELECTRICITY
- H01—ELECTRIC ELEMENTS
- H01G—CAPACITORS; CAPACITORS, RECTIFIERS, DETECTORS, SWITCHING DEVICES, LIGHT-SENSITIVE OR TEMPERATURE-SENSITIVE DEVICES OF THE ELECTROLYTIC TYPE
- H01G4/00—Fixed capacitors; Processes of their manufacture
- H01G4/002—Details
- H01G4/018—Dielectrics
- H01G4/06—Solid dielectrics
- H01G4/08—Inorganic dielectrics
- H01G4/12—Ceramic dielectrics
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- H—ELECTRICITY
- H01—ELECTRIC ELEMENTS
- H01G—CAPACITORS; CAPACITORS, RECTIFIERS, DETECTORS, SWITCHING DEVICES, LIGHT-SENSITIVE OR TEMPERATURE-SENSITIVE DEVICES OF THE ELECTROLYTIC TYPE
- H01G4/00—Fixed capacitors; Processes of their manufacture
- H01G4/30—Stacked capacitors
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- Engineering & Computer Science (AREA)
- Power Engineering (AREA)
- Manufacturing & Machinery (AREA)
- Microelectronics & Electronic Packaging (AREA)
- Chemical & Material Sciences (AREA)
- Robotics (AREA)
- Mechanical Engineering (AREA)
- Ceramic Engineering (AREA)
- Inorganic Chemistry (AREA)
- Manipulator (AREA)
Abstract
The utility model provides a transport manipulator and fold and press device, relates to and folds and presses device technical field, transport manipulator includes top board, intermediate plate, elastic component, ball spline shaft, adsorbs platform and actuating mechanism, ball spline shaft's one end install in top board, the other end passes behind the intermediate plate with adsorb the platform and connect, ball spline shaft can be relative the intermediate plate is followed ball spline shaft's axial displacement, the elastic component set up in the top board with between the intermediate plate, the elastic component is used for making the top board with the intermediate plate has relative motion's trend, actuating mechanism connect in the top board with between the intermediate plate, actuating mechanism is used for adjusting the top board with distance between the intermediate plate. The elastic piece exerts ascending thrust to the top board to can offset the gravity of part top board and ball spline shaft, adsorption stage etc. improve actuating mechanism drive accuracy, so that the manipulator obtains higher counterpoint precision.
Description
Technical Field
The invention relates to the technical field of laminating devices, in particular to a carrying manipulator and a laminating device.
Background
The chip multilayer Ceramic capacitor (MLCC for short) has the advantages of small volume, low internal inductance, high insulation resistance, low leakage current, low dielectric loss, low price and the like, and is widely applied to oscillation, coupling, filtering and bypass circuits in various electronic machines, in particular to high-frequency circuits. Compared with other capacitors, the MLCC is particularly suitable for chip surface assembly, can greatly improve the circuit assembly density and reduce the volume of the whole machine, and the outstanding characteristic enables the chip MLCC to become a chip element with the largest use amount and the fastest development in the world at present.
In the laminated carrying mechanical arm of the chip ceramic capacitor, a blank ceramic membrane material roll is conveyed to a stripping station through a conveying mechanism, the carrying mechanical arm is aligned through an alignment mechanism and then cuts the ceramic membrane into square pieces respectively, and a protective layer (the blank ceramic membrane) and a printed dielectric layer (the ceramic membrane with printed circuit patterns) are laminated in sequence according to a set program to form an MLCC internal structure. The laminated bars are taken out by a material receiving manipulator and put into a material receiving tray. The carrying manipulator needs accurate alignment when peeling the membrane at the peeling working position so as to improve the probability of successful peeling of the membrane. However, the present transfer robot has low alignment accuracy.
Disclosure of Invention
The present invention aims to provide a carrying manipulator and a laminating device, which can solve the technical problems to a certain extent.
The invention is realized by the following steps:
a handling robot, comprising: top board, intermediate lamella, elastic component, ball spline shaft, absorption platform and actuating mechanism, ball spline shaft's one end install in top board, the other end pass behind the intermediate lamella with absorb the platform and connect, ball spline shaft can be relative the intermediate lamella is followed ball spline shaft's axial displacement, the elastic component set up in the top board with between the intermediate lamella, the elastic component is used for making the top board with the intermediate lamella has relative motion's trend, actuating mechanism connect in the top board with between the intermediate lamella, actuating mechanism is used for adjusting the top board with distance between the intermediate lamella.
In a possible embodiment, the handling robot further comprises a spline bushing through which the ball spline shaft is slidably connected with the intermediate plate.
In a possible embodiment, the elastic member is a spring, one end of the spring is fixed to the upper pressing plate through an upper spring seat, and the other end of the spring is fixed to the middle plate through a lower spring seat.
In a possible embodiment, the upper platen is provided with guide posts, which are connected with the intermediate plate by linear bearings.
In one possible embodiment, the drive mechanism includes a pull-down cylinder and a lift cylinder.
In a possible embodiment, the handling manipulator further comprises an X-direction driving assembly, the X-direction driving assembly comprises an X-direction driver and an X-direction plate, the X-direction driver is used for driving the X-direction plate to move, and the X-direction plate is in transmission connection with the middle plate.
In one possible embodiment, the handling robot further comprises a Y-drive assembly comprising: y is to guide rail, Y to board and Y to driver, Y to the guide rail with X is to the board connection, Y to the board sliding fit in Y is to the guide rail, Y is to the driver be used for driving Y to the board along Y is to the guide rail removal, Y to the board with the intermediate lamella is connected.
In one possible embodiment, the handling robot further comprises a rotational drive assembly for driving the ball spline shaft in rotation.
In a feasible embodiment, the carrying manipulator further comprises a positioning plate, a heat insulation plate and a heating plate, the ball spline shaft is connected to the top of the positioning plate, the bottom of the positioning plate is connected with the heat insulation plate, the bottom of the heat insulation plate is connected with the heating plate, and the bottom of the heating plate is connected with the adsorption platform.
The utility model provides a fold and press device, its transport manipulator that includes that adsorption stage and above-mentioned technical scheme provide, the adsorption stage of transport manipulator can with fold down and press the workstation butt in order to fold the pressure operation.
The beneficial effects of the invention at least comprise:
the application provides a transport manipulator, it includes: the top board, the intermediate lamella, the elastic component, ball spline shaft, adsorb platform and actuating mechanism, ball spline shaft's one end is installed in the top board, the other end passes behind the intermediate lamella and is connected with the adsorption stage, ball spline shaft can be relative the intermediate lamella along axial displacement, the elastic component sets up between top board and intermediate lamella, the elastic component is used for making top board and intermediate lamella have relative motion's trend, actuating mechanism connects between top board and intermediate lamella, actuating mechanism is used for adjusting the distance between top board and the intermediate lamella, thereby can drive ball spline shaft along its axial displacement through the intermediate lamella, and then drive the adsorption stage and remove. When being in operating condition, the top board is located the top of intermediate lamella, owing to be provided with the elastic component, the elastic component exerts ascending thrust to the top board to can offset the gravity of the ball spline shaft that partly top board and be connected with the top board, adsorption stage isotructure, thereby increase actuating mechanism drive accuracy, thereby can carry out more accurate regulation to the position of adsorption stage, so that the manipulator obtains higher counterpoint precision.
Drawings
In order to more clearly illustrate the technical solutions of the embodiments of the present invention, the drawings needed to be used in the embodiments will be briefly described below, it should be understood that the following drawings only illustrate some embodiments of the present invention and therefore should not be considered as limiting the scope, and for those skilled in the art, other related drawings can be obtained according to the drawings without inventive efforts.
Fig. 1 is a first schematic structural diagram of a handling robot according to an embodiment of the present invention;
FIG. 2 is a cross-sectional view of a handling robot according to an embodiment of the present invention;
fig. 3 is a second schematic structural diagram of a handling robot according to an embodiment of the present invention;
fig. 4 is a first partial schematic structural diagram of a handling robot according to an embodiment of the present invention;
fig. 5 is a schematic structural diagram of a rotation adjusting mechanism of a handling robot according to an embodiment of the present invention;
fig. 6 is a partially sectional schematic view of a rotation adjusting mechanism of a carrying robot according to an embodiment of the present invention;
fig. 7 is a partial schematic structural diagram of a second handling robot according to an embodiment of the present invention.
In the figure:
1-pressing a plate liner; 2-an upper pressing plate; 3-a guide pillar; 4-a linear bearing; 5-a middle plate; 6-Y direction plate; 7-a connecting plate; 8-X direction plate; 9-a limiting plate; 10-a fixed ring; 11-a ball spline shaft; 12-a positioning plate; 13-a heat insulation plate; 14-heating plate; 15-an adsorption stage; a 20-Y directional guide rail; 23-crossed ball collars; 231-collar outer ring; 232-inner collar of collar; 24-a lower spring seat; 25-lifting the cylinder; 26-a spring; 27-spring upper seat; 28-lifting the top column; 29-a pull-down cylinder; 30-a splined bushing; 31-spline lower connecting block; 32-spline lower washer; 34-key-free shaft bushing; a 35-Y direction screw rod female seat; a 36-Y direction trigger switch; a 37-Y direction switch frame; a 38-Y directional drive plate; a 39-Y direction driving seat; a 40-Y direction speed reducer; a 41-Y direction motor; a 42-Y direction limiting block; a 43-theta direction limiting block; a 44-theta motor; a 45-theta direction speed reducer; a 46-theta direction driving seat; 47-a guide screw; a 48-theta coupling; a screw rod supporting seat in the 49-theta direction; a 50-theta direction lead screw; a 51-theta direction screw rod female seat; a 52-theta guide rail plate; a 53-theta direction trigger switch; a 54-theta direction switch trigger plate; 55-theta to the upper guide rail; a 56-theta direction adjusting block; 57-a rotating shaft fixing seat; 58-a rotating shaft; 59-a bearing seat; 60-a bearing; 61-a gland; 62-locking nut; 63-theta to the lower guide rail; a 64-Z direction switch mounting plate; a 65-Z direction trigger switch; a 66-Z direction switch trigger plate; 67-floating joint.
Detailed Description
In order to make the objects, technical solutions and advantages of the embodiments of the present invention clearer, the technical solutions in the embodiments of the present invention will be clearly and completely described below with reference to the drawings in the embodiments of the present invention, and it is obvious that the described embodiments are some, but not all, embodiments of the present invention. The components of embodiments of the present invention generally described and illustrated in the figures herein may be arranged and designed in a wide variety of different configurations.
Thus, the following detailed description of the embodiments of the present invention, presented in the figures, is not intended to limit the scope of the invention, as claimed, but is merely representative of selected embodiments of the invention. All other embodiments, which can be derived by a person skilled in the art from the embodiments given herein without making any creative effort, shall fall within the protection scope of the present invention.
It should be noted that: like reference numbers and letters refer to like items in the following figures, and thus, once an item is defined in one figure, it need not be further defined and explained in subsequent figures.
In the description of the present invention, it should be noted that the terms "center", "upper", "lower", "left", "right", "vertical", "horizontal", "inner", "outer", etc. indicate orientations or positional relationships based on the orientations or positional relationships shown in the drawings or the orientations or positional relationships that the products of the present invention are conventionally placed in use, and are only used for convenience in describing the present invention and simplifying the description, but do not indicate or imply that the equipment or elements that are referred to must have a specific orientation, be constructed and operated in a specific orientation, and thus, should not be construed as limiting the present invention. Furthermore, the terms "first," "second," "third," and the like are used solely to distinguish one from another and are not to be construed as indicating or implying relative importance.
Furthermore, the terms "horizontal", "vertical", "overhang" and the like do not imply that the components are required to be absolutely horizontal or overhang, but may be slightly inclined. For example, "horizontal" merely means that the direction is more horizontal than "vertical" and does not mean that the structure must be perfectly horizontal, but may be slightly inclined.
In the description of the present invention, it should also be noted that, unless otherwise explicitly specified or limited, the terms "disposed," "mounted," "connected," and "connected" are to be construed broadly and may, for example, be fixedly connected, detachably connected, or integrally connected; can be mechanically or electrically connected; they may be connected directly or indirectly through intervening media, or they may be interconnected between two elements. The specific meanings of the above terms in the present invention can be understood in specific cases to those skilled in the art.
Some embodiments of the invention are described in detail below with reference to the accompanying drawings. The embodiments described below and the features of the embodiments can be combined with each other without conflict.
First embodiment
Referring to fig. 1 to 7, the present embodiment provides a carrying robot, which includes: the utility model provides a simple structure, convenient operation, simple structure, convenient to operate, last clamp plate 2, intermediate plate 5, elastic component, ball spline shaft 11, adsorb platform 15 and actuating mechanism, the one end of ball spline shaft 11 is installed in last clamp plate 2, and the other end passes behind intermediate plate 5 to be connected with adsorbing platform 15, and ball spline shaft 11 can follow relative intermediate plate 5 the axial displacement of ball spline shaft 11, the elastic component sets up between last clamp plate 2 and intermediate plate 5, and the elastic component is used for making last clamp plate 2 and intermediate plate 5 have relative motion's trend, and actuating mechanism connects between last clamp plate 2 and intermediate plate 5, and actuating mechanism is used for adjusting the distance between last clamp plate 2 and the intermediate plate 5.
In a possible embodiment, the elastic member is a spring 26, as shown in fig. 1 and 4, one end of the spring 26 is fixed to the upper press plate 2 by an upper spring seat 27, and the other end is fixed to the intermediate plate 5 by a lower spring seat 24. As shown in fig. 4, the spring upper holder 27 is connected to the upper pressure plate 2 by a guide screw 47.
In a preferred embodiment, the drive mechanism includes a pull down cylinder 29 and a lift cylinder 25. Specifically, as shown in fig. 1, 2, and 4, the number of the pull-down cylinders 29 and the lift cylinders 25 is two. Two pull-down cylinders 29 are symmetrically arranged relative to the spring 26, two lifting cylinders 25 are symmetrically arranged relative to the spring 26, and the two pull-down cylinders 29 and the two lifting cylinders 25 are respectively positioned in four peripheral directions of the spring 26, so that the weight distribution on the middle plate 5 is more balanced, and the structural stability is convenient to improve.
In the lifting cylinder 25, the cylinder body is connected to the intermediate plate 5, and the lifting top pillar 28 is connected to the upper platen 2. In the pull-down cylinder 29, the cylinder body is connected to the intermediate plate 5, and the cylinder rod is connected to the upper platen 2 through a floating joint 67.
In a possible embodiment, the handling robot further includes a spline bushing 30, and the ball spline shaft 11 is slidably connected to the intermediate plate 5 through the spline bushing 30.
The ball spline shaft 11 is connected to the upper platen 2 through a key-free bush 34.
On top of the upper platen 2, a plurality of upper platen shim plates 1 are provided. The upper pressure plate backing plate 1 is used for buffering and damping the upper pressure plate 2. As shown in fig. 3, the number of the upper platen base plates 1 is four, and the four upper platen base plates 1 are respectively connected to the upper platen 2 through bolts.
In a possible embodiment, please refer to fig. 3, the upper press plate 2 is provided with guide posts 3, and the guide posts 3 are connected with the middle plate 5 through linear bearings 4.
The axis of the ball spline shaft 11 is used as a Z-axis, and a point on the Z-axis is used as an origin to establish a spatial coordinate system, so that the axis of the ball spline shaft 11 is located on the Z-axis, the coordinate system further comprises an X-axis and a Y-axis, the X-axis and the Y-axis are perpendicular and located on the same horizontal plane, and both the X-axis and the Y-axis are perpendicular to the Z-axis.
The driving mechanism is used for driving the ball spline shaft 11 to move along the Z axis.
A Z-direction switch trigger plate 66 is provided on the upper press plate, a Z-direction switch mounting plate 64 is provided on the intermediate plate 5, and a Z-direction trigger switch 65 is provided on the Z-direction switch mounting plate 64. The Z-switch trigger plate 66 can move in a direction approaching or separating from the middle plate 5 with the upper platen 2, and can trigger the Z-switch 65 when moving to a set position. The Z-direction trigger switch 65 detects the Z-direction movement position of the upper platen 2. The Z-trigger switch 65 may be a contact switch or a photosensor.
Further, the carrying manipulator further comprises an X-direction driving assembly, a Y-direction driving assembly and a rotation driving assembly, wherein the X-direction driving assembly is used for driving the ball spline shaft 11 to move along the direction shown by the X axis and in the reverse direction of the X axis, the Y-direction driving assembly is used for driving the ball spline shaft 11 to move along the direction shown by the Y axis and in the reverse direction of the Y axis, and the rotation driving assembly is used for driving the ball spline shaft 11 to rotate around the Z axis.
In a possible embodiment, the X-direction drive assembly comprises an X-direction drive and an X-direction plate 8, the X-direction drive is used for driving the X-direction plate 8 to move along the direction shown by the X-axis and the reverse direction of the X-direction plate 8, and the X-direction plate 8 is in transmission connection with the middle plate 5.
In one possible embodiment, the Y-drive assembly includes: y-direction rail 20, Y-direction plate 6 and Y-direction driver, the extending direction of Y-direction rail 20 is the direction indicated by Y-axis and the opposite direction. The Y-direction rail 20 is connected to the X-direction plate 8, the Y-direction plate 6 is slidably fitted to the Y-direction rail 20, the Y-direction driver drives the Y-direction plate 6 to move along the Y-direction rail 20, and the Y-direction plate 6 is connected to the intermediate plate 5. Specifically, the Y-direction driver is a Y-direction motor 41. The Y-direction motor 41 is connected with one end of a Y-direction lead screw through a Y-direction speed reducer 40, and the other end of the Y-direction lead screw is rotatably connected with the Y-direction plate 6 through a Y-direction lead screw female seat 35. The Y-direction motor 41, the Y-direction reducer 40, and the Y-direction screw base 35 are all mounted on the Y-direction plate 6. A connecting plate 7 is arranged between the Y-direction plate 6 and the X-direction plate 8, the connecting plate 7 is connected to the top of the X-direction plate 8, a Y-direction rail 20 extending along the Y direction is installed on the connecting plate 7, and the Y-direction plate 6 is assembled on the Y-direction rail 20 in a sliding mode. The Y-direction lead screw is provided with a Y-direction motor 41, and the rotation of the Y-direction lead screw can drive the Y-direction driving seat 39 to move along the Y direction. The Y-drive mount 39 is fixedly connected to the connecting plate 7 via the Y-drive plate 38, such that the Y-plate 6 moves relative to the connecting plate 7 along the Y-guide rail 20 when the Y-lead screw is rotated.
Furthermore, a Y-direction limiting block 42 is arranged on the connecting plate 7, and the Y-direction limiting block 42 is abutted to the Y-direction limiting block 42 after the Y-direction plate 6 moves for a certain distance, so that a limiting effect is achieved.
Further, a Y-direction trigger switch 36 is provided between the connection plate 7 and the Y-direction plate 6, and the Y-direction trigger switch 36 detects a movement position of the Y-direction plate 6. The Y-direction trigger switch 36 is attached to the connecting plate 7 via a Y-direction switch holder 37, and the Y-direction switch trigger plate is attached to the Y-direction plate 6. The Y-direction switch trigger plate is movable with the Y-direction plate 6 and is capable of triggering the Y-direction trigger switch 36 at a set position. The Y-direction trigger switch 36 may be a contact switch or a correlation type photosensor.
In a possible embodiment, the handling robot further includes a rotational drive assembly for driving the ball spline shaft 11 to rotate.
Specifically, the X-direction plate 8 is in transmission connection with the intermediate plate 5 through a Y-direction driving assembly, and the Y-direction driving assembly is in transmission connection with the intermediate plate 5 through a rotation driving assembly.
The rotary driving assembly comprises a theta-direction motor 44, a theta-direction reducer, a theta-direction driving seat 46, a theta-direction coupler 48, a theta-direction lead screw supporting seat 49, a theta-direction lead screw 50, a theta-direction lead screw female seat 51, a theta-direction guide rail plate 52, a theta-direction upper layer guide rail 55, a theta-direction limit, a theta-direction adjusting block 56, a rotating shaft fixing seat 57, an auxiliary driver and a theta-direction lower layer guide rail 63. The theta direction is the direction of rotation about the Z axis.
The θ -direction motor 44 is drivingly connected to a θ -direction reducer 45, the θ -direction reducer 45 is connected to a θ -direction lead screw 50 through a θ -direction coupling 48, and the extending direction of the θ -direction lead screw 50 is the Y direction. The θ -direction drive base 46 is connected to the θ -direction lead screw 50 and is movable in the Y-direction by the θ -direction lead screw 50. One end of the theta direction lead screw 50 is in transmission connection with the theta direction speed reducer 45, the other end of the theta direction lead screw 50 is connected with the theta direction lead screw female seat 51, and the theta direction lead screw 50 is sleeved on the theta direction lead screw supporting seat 49. The θ -direction lower guide 63 extends in the Y-direction and is fixed to the Y-direction plate 6, and the θ -direction screw support 49 is fixed to the Y-direction plate 6. The theta direction driving seat 46 is slidably assembled on the theta direction lower layer guide rail 63, and the theta direction guide rail plate 52 is connected with the theta direction driving seat 46 to move along the Y direction under the driving of the theta direction driving seat 46. The theta upper guide rail 55 is mounted on the theta guide rail plate 52 along the X direction, the theta adjusting block 56 is slidably mounted on the theta upper guide rail 55, and the auxiliary driver is used for driving the theta adjusting block 56 to move along the theta upper guide rail 55. The rotating shaft 58 passes through the theta direction adjusting block 56, and the rotating shaft 58 is rotatably connected to the theta direction adjusting block 56 through the rotating shaft fixing seat 57. The Y-direction plate 6 is provided with a θ -direction switch, and the θ -direction rail plate 52 is provided with a θ -direction switch trigger plate 54. The θ -direction switch trigger plate 54 is movable with the θ -direction plate and can trigger the θ -direction trigger switch 53 at a set position. The θ -direction trigger switch 53 may be a contact switch or a correlation type photosensor.
The rotating shaft 58 is rotatably connected with the intermediate plate 5 through a bearing 60, the rotating shaft 58 is mounted on a bearing seat 59 through a gland 61 and a lock nut 62, and the bearing seat 59 is mounted on the intermediate plate 5.
The intermediate plate 5 and the Y-direction plate 6 are rotatably connected by a cross ball collar 23, the cross ball collar 23 includes a collar inner ring 232 and a collar outer ring 231, the collar inner ring 232 is connected to the intermediate plate 5, and the collar outer ring 231 is connected to the Y-direction plate 6.
Theta is installed on Y to the stopper 43 to board 6, and intermediate lamella 5 is the rectangular plate with Y to board 6, will offset with theta to stopper 43 after intermediate lamella 5 rotates certain angle to play limiting displacement.
In a possible embodiment, the carrying manipulator further comprises a positioning plate 12, a heat insulation plate 13 and a heating plate 14, the ball spline shaft 11 is connected to the top of the positioning plate 12, the bottom of the positioning plate 12 is connected with the heat insulation plate 13, the bottom of the heat insulation plate 13 is connected with the heating plate 14, and the bottom of the heating plate 14 is connected with the adsorption platform 15. The adsorption table 15 is communicated with an air path pipe to realize the adsorption of materials by vacuumizing through the air path pipe.
Furthermore, a limiting plate 9 is arranged between the X-direction plate 8 and the positioning plate 12, the ball spline shaft 11 and the guide pillar 3 penetrate through the limiting plate 9, and the guide pillar 3 is rotatably connected with the limiting plate 9 through a fixing ring 10. The ball spline shaft 11 is connected with the positioning plate 12 through a spline lower connecting block 31, and a spline lower washer 32 is arranged between the lower connecting block and the ball spline shaft 11.
Second embodiment
The present embodiment provides a laminating device including a lower laminating table and the carrying robot provided in the first embodiment described above, and the adsorption table 15 of the carrying robot can abut against the lower laminating table to perform laminating operation. Specifically, the carrying manipulator adsorbs the material through adsorption stage 15 to drive the material and remove to fold the top of pressing the workstation down, the carrying manipulator with fold the work area of pressing the workstation down and counterpoint the completion after, make adsorption stage 15 descend, or fold down and press the workstation to rise, so that the material is pressed and is pressed adsorption stage 15 and fold down and press between the workstation, press to the material through adsorption stage 15 and fold down and press the workstation, in order to fold and press the operation.
The laminated workbench provided by the embodiment has all the advantages of the carrying manipulator, and the description is omitted here.
The above description is only a preferred embodiment of the present invention and is not intended to limit the present invention, and various modifications and changes may be made by those skilled in the art. Any modification, equivalent replacement, or improvement made within the spirit and principle of the present invention should be included in the protection scope of the present invention.
Claims (10)
1. A handling robot, comprising: top board, intermediate lamella, elastic component, ball spline shaft, absorption platform and actuating mechanism, ball spline shaft's one end install in top board, the other end pass behind the intermediate lamella with absorb the platform and connect, ball spline shaft can be relative the intermediate lamella is followed ball spline shaft's axial displacement, the elastic component set up in the top board with between the intermediate lamella, the elastic component is used for making the top board with the intermediate lamella has relative motion's trend, actuating mechanism connect in the top board with between the intermediate lamella, actuating mechanism is used for adjusting the top board with distance between the intermediate lamella.
2. The handling robot of claim 1, further comprising a spline bushing through which the ball spline shaft is slidably connected with the intermediate plate.
3. The transfer robot of claim 1, wherein the elastic member is a spring, and one end of the spring is fixed to the upper platen by an upper spring seat and the other end of the spring is fixed to the middle platen by a lower spring seat.
4. Handling manipulator according to claim 1, characterized in that the upper press plate is provided with guide posts which are connected with the intermediate plate by means of linear bearings.
5. The transfer robot of claim 1, wherein the drive mechanism comprises a pull-down cylinder and a lift cylinder.
6. The handling manipulator according to claim 1, further comprising an X-direction driving assembly, wherein the X-direction driving assembly comprises an X-direction driver and an X-direction plate, the X-direction driver is used for driving the X-direction plate to move, and the X-direction plate is in transmission connection with the middle plate.
7. The transfer robot of claim 6, further comprising a Y-drive assembly comprising: y is to guide rail, Y to board and Y to driver, Y to the guide rail with X is to the board connection, Y to the board sliding fit in Y is to the guide rail, Y is to the driver be used for driving Y to the board along Y is to the guide rail removal, Y to the board with the intermediate lamella is connected.
8. The handling robot of claim 1, further comprising a rotational drive assembly for driving rotation of the ball spline shaft.
9. The carrying manipulator as claimed in claim 1, further comprising a positioning plate, a heat insulation plate and a heating plate, wherein the ball spline shaft is connected to the top of the positioning plate, the heat insulation plate is connected to the bottom of the positioning plate, the heating plate is connected to the bottom of the heat insulation plate, and the adsorption table is connected to the bottom of the heating plate.
10. A laminating apparatus comprising a lower laminating station and a transfer robot as claimed in any one of claims 1 to 9, the suction station of the transfer robot being capable of abutting the lower laminating station for a laminating operation.
Priority Applications (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
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| CN112873227B (en) | 2022-11-15 |
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