CN219507086U - Get and put telescoping device - Google Patents

Abstract

The utility model relates to the technical field of picking and placing devices, in particular to a picking and placing telescopic device which comprises a telescopic driving mechanism and a clamping module, wherein the telescopic driving mechanism comprises a mounting seat, a first telescopic frame, a second telescopic frame, a rotary driver, a main belt wheel, a belt strip, a transmission belt, a first belt clamp, a second belt clamp, two belt pressing wheels and two auxiliary belt wheels, the belt strip is arranged in parallel with the transmission belt, the belt strip is wound on the upper surface of the main belt wheel, the belt strip is in transmission connection with the main belt wheel, the two belt pressing wheels are respectively positioned on two sides of the main belt wheel and roll to press the upper surface of the belt strip, and the clamping module is assembled on the second telescopic frame. The telescopic driving mechanism can clamp and stretch the carrying tool, simplifies the structure of the telescopic driving mechanism, has simple and compact structure, can drive the first telescopic frame and the second telescopic frame to synchronously stretch or retract by one rotation driver (driving source), improves the telescopic efficiency, and has good working stability.

Description

Get and put telescoping device

Technical Field

The utility model relates to the technical field of picking and placing devices, in particular to a picking and placing telescopic device.

Background

The Foup carrier can be used to load wafers or circuit boards. The wafer or the circuit board is loaded by the Foup carrier, so that the wafer or the circuit board can be conveniently conveyed and processed. In the prior art, the Foup carrier is generally clamped by a clamping mechanism. In the prior art, chinese patent document with application number 201811191182.X discloses a telescopic system, an automatic lifting and translating system, the telescopic system comprises: the telescopic mechanism is driven to extend or retract under the driving instruction of a controller, the telescopic mechanism is provided with a plurality of sections of linkage telescopic components, so that the telescopic mechanism can be telescopic through the plurality of sections of linkage telescopic components, the plurality of sections of linkage telescopic components comprise a plurality of layers of sliding rails, the number of each layer of sliding rails is at least two, and each sliding rail is correspondingly sleeved with a sliding block matched with each sliding rail; the sliding block sleeved on each sliding rail is also fixedly connected with the adjacent sliding rail; thereby the multi-section linkage telescopic component realizes multi-section linkage telescopic.

In the sliding process of the multi-section linkage telescopic assembly extending outwards, which is horizontally arranged, the innermost slide rail slides forwards under the guiding action of the adjacent slide blocks, when the tail end of the innermost slide rail is about to reach the adjacent slide blocks, the adjacent slide blocks still continue to move forwards, at the moment, the impact of the innermost slide rail on the adjacent slide blocks can be relieved by the buffer positioning blocks, the service life is reduced due to damage, when the buffer positioning blocks contact the adjacent slide blocks, the innermost slide rail continues to move forwards, the buffer positioning blocks push the adjacent slide blocks to move forwards, the adjacent slide blocks drive the slide rail of the other fixed slide blocks to start to move forwards, and then the slide rail of the subsequent other layers can be continuously driven to slide forwards according to the process until the outermost slide rail slides forwards. Therefore, the sliding rails on the multi-section linkage telescopic assembly of the patent sequentially perform telescopic movement, and are not synchronous in telescopic movement, so that the telescopic efficiency is low, and the telescopic picking and placing carrier is low in efficiency.

Thus, the drawbacks are quite apparent and there is a need to provide a solution.

Disclosure of Invention

In order to solve the technical problems, the utility model aims to provide a picking and placing telescopic device.

In order to achieve the above purpose, the present utility model adopts the following technical scheme:

the utility model provides a get and put telescoping device, it includes flexible actuating mechanism and centre gripping module, flexible actuating mechanism includes the mount pad, flexible sliding connection is in the first expansion bracket of mount pad, with the second expansion bracket of first expansion bracket sliding connection, install in the rotation driver of mount pad, install in the main band pulley of the rotation end of rotation driver, rotate respectively and connect in two pinch rollers of mount pad, install in the strap of first expansion bracket, rotate respectively and connect two from the band pulley at the both ends of first expansion bracket, the drive belt that the drive sleeve was located two from outside the band pulley, connect in the first band clamp of drive belt and first expansion bracket and connect in the second band clamp of drive belt and second expansion bracket, first band clamp and second band clamp are located the upper and lower two band sections of drive belt respectively, strap and drive belt parallel arrangement, the strap is around locating the upper surface of main band pulley, the strap is connected with the main band pulley transmission, two pinch rollers are located the both sides of main band pulley respectively and roll the upper surface of pinch roller, centre gripping mould equipment locates the second expansion bracket.

Further, the two ends of the strap are respectively locked at the two ends of the first expansion bracket through the locking blocks.

Further, the first telescopic frame is in sliding connection with the mounting seat through the first guide assembly.

Further, the first guide assembly comprises a first sliding block arranged on the mounting seat and a first sliding rail arranged on the first telescopic frame, and the first sliding rail is in sliding connection with the first sliding block.

Further, the first telescopic frame is slidably connected with the second telescopic frame through the second guide assembly.

Further, the second guide assembly comprises a second sliding block arranged on the first telescopic frame and a second sliding rail arranged on the second telescopic frame, and the second sliding rail is in sliding connection with the second sliding block.

Further, the clamping module comprises a base, a floating unit, a floating plate, a reset driving mechanism, a clamping mechanism, an alignment plate, a positioning conical block and a lifting frame, wherein the base is arranged on the second telescopic frame, the floating unit is arranged on the base, the floating plate is connected to the floating end of the floating unit, the reset driving mechanism is arranged on the second telescopic frame and is used for driving the floating plate to reset, the clamping mechanism is arranged on the floating plate, the alignment plate is lifted and arranged in the clamping end of the clamping mechanism, the positioning conical block is arranged on the bottom surface of the alignment plate, the lifting frame is lifted and hung on the floating plate, the top end of the lifting frame is positioned above the floating plate, and the alignment plate is arranged at the bottom end of the lifting frame.

Further, the end of the floating plate is provided with a reset driving groove, the reset driving mechanism comprises a reset driver and a reset piece, the reset driver is arranged on the second telescopic frame, the reset piece is arranged on the driving end of the reset driver, the reset piece is movably arranged in the reset driving groove, and the reset piece is used for abutting against the inner wall of the reset driving groove to drive the floating plate to reset.

Further, the number of the floating units and the number of the reset driving mechanisms are two, the two floating units are respectively arranged in one-to-one correspondence with the two reset driving mechanisms, the floating ends of the two floating units are respectively connected with the two ends of the floating plate, and the clamping mechanism is arranged between the two floating units.

Further, the first expansion bracket is provided with a trigger piece, the second expansion bracket is provided with two sensors, the two sensors are respectively arranged at two ends of the second expansion bracket, the trigger piece is used for triggering the sensors, and the sensors are electrically connected with the rotation driver.

The utility model has the beneficial effects that: in practical application, the clamping module is used for clamping the carrier, and the telescopic driving mechanism is used for driving the clamping module to stretch out and draw back so as to realize taking and placing of the carrier. When the clamping module stretches, the rotary driver drives the main belt pulley to rotate, the main belt pulley is in transmission connection with the belt strips, the first telescopic frame is in sliding connection with the mounting seat, so that the main belt pulley is in meshed transmission with the belt strips to drive the belt strips to reciprocate, the belt strips which reciprocate drive the first telescopic frame to slide in a telescopic manner relative to the mounting seat, the telescopic first telescopic frame pulls the transmission belt to rotate through the first belt clamp, and the rotary transmission belt drives the second telescopic frame to slide in a telescopic manner relative to the first telescopic frame through the second belt clamp; when the first telescopic frame retracts relative to the mounting seat, the second telescopic frame retracts relative to the first telescopic frame. The telescopic driving mechanism can clamp and stretch the carrying tool, simplifies the structure of the telescopic driving mechanism, has simple and compact structure, can drive the first telescopic frame and the second telescopic frame to synchronously stretch or retract by one rotation driver (driving source), improves the telescopic efficiency, and has good working stability.

Drawings

Fig. 1 is a schematic perspective view of the present utility model.

Fig. 2 is a schematic perspective view of another view of the present utility model.

Fig. 3 is an enlarged view at a in fig. 1.

Reference numerals illustrate:

1. a telescopic driving mechanism; 2. a clamping module; 3. a mounting base; 4. a first expansion bracket; 5. the second expansion bracket; 6. a rotary driver; 7. a main belt wheel; 8. a pinch roller; 9. a strap; 10. a slave pulley; 11. a transmission belt; 12. a first belt clip; 13. a second belt clip; 14. a locking piece; 15. a first guide assembly; 16. a first slider; 17. a first slide rail; 18. a second guide assembly; 19. a second slider; 20. a second slide rail; 21. a base; 22. a floating unit; 23. a floating plate; 24. a reset driving mechanism; 25. a clamping mechanism; 26. an alignment plate; 27. positioning the conical block; 28. a lifting frame; 29. resetting the driving groove; 30. resetting the driver; 31. a reset member; 32. a sensor.

Detailed Description

The utility model will be further described with reference to examples and drawings, to which reference is made, but which are not intended to limit the scope of the utility model.

As shown in fig. 1 to 3, the utility model provides a picking and placing telescopic device, which comprises a telescopic driving mechanism 1 and a clamping module 2, wherein the telescopic driving mechanism 1 comprises a mounting seat 3, a first telescopic frame 4 which is telescopically and slidably connected with the mounting seat 3, a second telescopic frame 5 which is telescopically and slidably connected with the first telescopic frame 4, a rotary driver 6 which is arranged on the mounting seat 3, a main belt pulley 7 which is arranged at the rotary end of the rotary driver 6, two pinch rollers 8 which are respectively rotatably connected with the mounting seat 3, a belt 9 which is arranged on the first telescopic frame 4, two slave belt pulleys 10 which are respectively rotatably connected with the two ends of the first telescopic frame 4, a driving belt 11 which is sleeved outside the two slave belt pulleys 10, a first belt clamp 12 which is connected with the driving belt 11 and the first telescopic frame 4, and a second belt clamp 13 which is connected with the driving belt 11 and the second telescopic frame 5, the first belt clamp 12 and the second belt clamp 13 are respectively positioned on the upper belt section and the lower belt section of the driving belt 11, the belt 9 is parallel to the driving belt 11, the belt 9 is respectively arranged on the upper surface of the main belt pulley 7, the belt 9 is respectively rotatably connected with the two pinch rollers 7 and the two belt pulleys 7 which are respectively arranged on the two sides of the main belt pulley 7, and the second belt clamp module is respectively arranged on the two pinch rollers 2; the carrier can be a Foup carrier, a cassette box or a magazine box, etc.; the Foup carrier is a wafer transfer box capable of loading a circuit board or a wafer; specifically, the rotary driver 6 may employ a motor.

In practical application, the clamping module 2 is used for clamping the carrier, and the telescopic driving mechanism 1 is used for driving the clamping module 2 to stretch and retract so as to realize picking and placing of the carrier. When the clamping module 2 stretches and contracts, the rotation driver 6 drives the main belt pulley 7 to rotate, the main belt pulley 7 is in transmission connection with the belt strip 9, the main belt pulley 7 is fixed, the first telescopic frame 4 is in sliding connection with the mounting seat 3, so that the main belt pulley 7 is in meshing transmission with the belt strip 9 to drive the belt strip 9 to reciprocate, the belt strip 9 which reciprocates drives the first telescopic frame 4 to slide in a telescopic manner relative to the mounting seat 3, the telescopic first telescopic frame 4 pulls the transmission belt 11 to rotate through the first belt clamp 12, the rotating transmission belt 11 drives the second telescopic frame 5 to slide in a telescopic manner relative to the first telescopic frame 4 through the second belt clamp 13, and the second telescopic frame 5 stretches relative to the first telescopic frame 4 when the first telescopic frame 4 stretches relative to the mounting seat 3; when the first telescopic frame 4 is retracted relative to the mounting seat 3, the second telescopic frame 5 is retracted relative to the first telescopic frame 4. The telescopic driving mechanism 1 can clamp and stretch the picking and placing carrier, and simplifies the structure of the telescopic driving mechanism 1, so that the telescopic driving mechanism 1 has simple and compact structure, one rotary driver 6 (driving source) can drive the first telescopic frame 4 and the second telescopic frame 5 to synchronously stretch or retract, the telescopic efficiency is improved, and the working stability is good.

In this embodiment, two ends of the strap 9 are locked to two ends of the first expansion bracket 4 through locking blocks 14 respectively; compared with an annular belt, the belt 9 is convenient to disassemble, assemble and maintain, the maintenance cost is reduced, the volume of the belt body is small, and the occupied space is small.

In this embodiment, the first telescopic frame 4 is slidably connected to the mounting base 3 via the first guiding component 15; specifically, the first guiding assembly 15 includes a first slider 16 mounted on the mounting base 3 and a first sliding rail 17 mounted on the first telescopic frame 4, and the first sliding rail 17 is slidably connected with the first slider 16. This structural design has improved the stability of the flexible slip of relative mount pad 3 of first expansion bracket 4.

In this embodiment, the first telescopic frame 4 is slidably connected to the second telescopic frame 5 via the second guiding assembly 18; specifically, the second guiding assembly 18 includes a second slider 19 mounted on the first telescopic frame 4 and a second sliding rail 20 mounted on the second telescopic frame 5, and the second sliding rail 20 is slidably connected with the second slider 19. This structural design has improved the stability of second expansion bracket 5 relative first expansion bracket 4 flexible slip.

In this embodiment, the clamping module 2 includes a base 21, a floating unit 22, a floating plate 23, a reset driving mechanism 24, a clamping mechanism 25, an alignment plate 26, a positioning tapered block 27 and a lifting frame 28, the base 21 is mounted on the second telescopic frame 5, the floating unit 22 is mounted on the base 21, the floating plate 23 is connected to the floating end of the floating unit 22, the reset driving mechanism 24 is mounted on the second telescopic frame 5 and is used for driving the floating plate 23 to reset, the clamping mechanism 25 is mounted on the floating plate 23, the alignment plate 26 is lifted and arranged in the clamping end of the clamping mechanism 25, the positioning tapered block 27 is mounted on the bottom surface of the alignment plate 26, the lifting frame 28 is lifted and hung on the floating plate 23, the top end of the lifting frame 28 is positioned above the floating plate 23, and the alignment plate 26 is mounted on the bottom end of the lifting frame 28; specifically, the floating unit 22 may employ a floating centering unit.

In practical application, the telescopic driving mechanism 1 stretches to drive the base 21 to move above the top surface of the carrier, when the positioning conical block 27 is just completely aligned with the positioning conical hole on the top surface of the carrier, the floating plate 23 just hangs the lifting frame 28, the clamping mechanism 25 clamps the top surface of the carrier, air pressure is introduced into the floating unit 22, so that the floating unit 22 locks the floating plate 23 to realize accurate clamping of the carrier, and at the moment, the telescopic driving mechanism 1 drives the base 21 to move to a preset position (such as a loading and unloading position) along with the clamped carrier, and places the carrier on the preset position to realize accurate transfer of the carrier; when the positioning tapered block 27 is not fully aligned with the positioning tapered hole on the top surface of the carrier, under the self-weight effect of the lifting frame 28, the lifting frame 28 can perform adaptive lifting adjustment, and under the guiding and deviation rectifying effect of the positioning tapered block 27 on the bottom surface of the alignment plate 26 and the positioning tapered hole on the top surface of the carrier, the floating plate 23 can perform corresponding deviation relative to the floating unit 22 until the positioning tapered block 27 is fully aligned with the positioning tapered hole so as to accurately position the carrier, then the clamping mechanism 25 clamps the top surface of the carrier, air pressure is introduced into the floating unit 22, so that the floating unit 22 locks the floating plate 23 to accurately clamp the carrier, and at the moment, the telescopic driving mechanism 1 retracts to drive the clamped carrier of the base 21 to move to a preset position (such as an upper and lower material position) and place the carrier on the preset position so as to accurately transfer the carrier; after the carriers are put down, the floating unit 22 unlocks the floating plate 23 while the telescopic driving mechanism 1 stretches again to drive the base 21 to move forward, and the reset driving mechanism 24 drives the floating plate 23 to reset so as to be capable of correcting, aligning and clamping the next carrier. This centre gripping module 2 can realize automatic position correction location for the location toper Kong Jingzhun of location toper piece 27 and carrier top surface is counterpointed, with can be fast, accurately centre gripping and flexible get the carrier of putting, has improved centre gripping and flexible stability and the efficiency of getting the carrier of putting, has avoided leading to unable normal and high-efficient centre gripping and flexible carrier of getting because of errors such as machining error, positioning error, has also reduced the precision requirement that flexible actuating mechanism 1 drive base 21 removed.

In this embodiment, the end of the floating plate 23 is provided with a reset driving slot 29, the reset driving mechanism 24 includes a reset driver 30 and a reset member 31, the reset driver 30 is mounted on the second expansion bracket 5, the reset member 31 is mounted on the driving end of the reset driver 30, the reset member 31 is movably disposed in the reset driving slot 29, and the reset member 31 is used for abutting against the inner wall of the reset driving slot 29 to drive the floating plate 23 to reset; preferably, the reset driving groove 29 is a V-shaped groove, and the reset driver 30 is a cylinder.

In practical application, when the floating plate 23 is in a floating adjustment state, the reset piece 31 is at a position far away from the reset driving groove 29; when the floating plate 23 needs to be reset, the reset driver 30 drives the reset piece 31 to move towards the direction close to the reset driving groove 29, so that the reset piece 31 is in contact with the inner wall of the reset driving groove 29 until the reset piece 31 moves to the bottom of the reset driving groove 29, and accurate reset of the floating plate 23 is achieved.

In this embodiment, the number of floating units 22 and the number of reset driving mechanisms 24 are two, the two floating units 22 are respectively arranged in one-to-one correspondence with the two reset driving mechanisms 24, the floating ends of the two floating units 22 are respectively connected with the two ends of the floating plate 23, and the clamping mechanism 25 is located between the two floating units 22.

In the process of adaptively correcting the floating plate 23, the two ends of the floating plate 23 can respectively generate position deviation relative to the two floating units 22, so as to achieve the purpose of automatic correction and positioning. After the clamping mechanism 25 clamps the top surface of the carrier, the two floating units 22 lock the two ends of the floating plate 23 respectively, so as to ensure that the carrier can be stably clamped for movement. After the carrier is placed by the clamping mechanism 25, the two reset driving mechanisms 24 drive the two ends of the floating plate 23 respectively, so that the floating plate 23 is restored to the original position (reset). The structural arrangement of the two floating units 22 and the two reset driving mechanisms 24 improves the stability of the utility model in operation.

In this embodiment, the first expansion bracket 4 is provided with a trigger piece, the second expansion bracket 5 is provided with two sensors 32, the two sensors 32 are respectively arranged at two ends of the second expansion bracket 5, the trigger piece is used for triggering the sensors 32, and the sensors 32 are electrically connected with the rotation driver 6.

In practical application, when the trigger piece triggers to the sensor 32 at the rear end of the second telescopic frame 5, the second telescopic frame 5 is proved to be stretched in place, and the sensor 32 feeds back a signal to the rotary driver 6, so that the rotary driver 6 stops working, and the second telescopic frame 5 and the first telescopic frame 4 are kept in a stretched state; when the trigger piece triggers to the sensor 32 at the front end of the second telescopic frame 5, the second telescopic frame 5 is proved to retract into place, and the sensor 32 feeds back a signal to the rotary driver 6, so that the rotary driver 6 stops working, and the second telescopic frame 5 keep a retracted state.

Specifically, the clamping mechanism 25 includes a finger cylinder and two clamping plates, and the finger cylinder drives the two clamping plates to approach or separate from each other to clamp or unclamp the carrier, which is not described herein.

All technical features in the embodiment can be freely combined according to actual needs.

The foregoing embodiments are preferred embodiments of the present utility model, and in addition, the present utility model may be implemented in other ways, and any obvious substitution is within the scope of the present utility model without departing from the concept of the present utility model.

Claims (10)

1. The utility model provides a get and put telescoping device which characterized in that: the telescopic driving mechanism (1) comprises a mounting seat (3), a first telescopic bracket (4) which is telescopically and slidably connected with the mounting seat (3), a second telescopic bracket (5) which is telescopically and slidably connected with the first telescopic bracket (4), a rotary driver (6) which is arranged on the mounting seat (3), a main belt wheel (7) which is arranged at the rotary end of the rotary driver (6), two pinch rollers (8) which are respectively and rotatably connected with the mounting seat (3), a belt strip (9) which is arranged on the first telescopic bracket (4), two auxiliary belt wheels (10) which are respectively and rotatably connected with the two ends of the first telescopic bracket (4), a driving belt (11) which is sleeved outside the two auxiliary belt wheels (10), a first belt clamp (12) which is connected with the driving belt (11) and the first telescopic bracket (4) and a second belt clamp (13) which is connected with the driving belt (11) and the second telescopic bracket (5), wherein the first belt clamp (12) and the second belt clamp (13) are respectively positioned on the upper belt section and the lower belt (9) of the driving belt (11) are respectively arranged on the belt section (9) which is parallel to the surface of the main belt strip (7, the two pinch rollers (8) are respectively positioned at two sides of the main belt roller (7) and roll the upper surface of the press-holding strip (9), and the clamping module (2) is arranged on the second expansion bracket (5).

2. A pick-and-place telescopic device according to claim 1, wherein: the two ends of the strap (9) are respectively locked at the two ends of the first expansion bracket (4) through the locking blocks (14).

3. A pick-and-place telescopic device according to claim 1, wherein: the first telescopic frame (4) is connected with the mounting seat (3) in a sliding way through the first guide component (15).

4. A pick-and-place retraction device according to claim 3 wherein: the first guide assembly (15) comprises a first sliding block (16) arranged on the mounting seat (3) and a first sliding rail (17) arranged on the first telescopic frame (4), and the first sliding rail (17) is in sliding connection with the first sliding block (16).

5. A pick-and-place telescopic device according to claim 1, wherein: the first telescopic frame (4) is connected with the second telescopic frame (5) in a sliding way through the second guide assembly (18).

6. A pick-and-place retraction device according to claim 5 wherein: the second guide assembly (18) comprises a second sliding block (19) arranged on the first telescopic frame (4) and a second sliding rail (20) arranged on the second telescopic frame (5), and the second sliding rail (20) is in sliding connection with the second sliding block (19).

7. A pick-and-place telescopic device according to claim 1, wherein: the clamping module (2) comprises a base (21), a floating unit (22), a floating plate (23), a reset driving mechanism (24), a clamping mechanism (25), an alignment plate (26), a positioning conical block (27) and a lifting frame (28), wherein the base (21) is arranged on the second telescopic frame (5), the floating unit (22) is arranged on the base (21), the floating plate (23) is connected to the floating end of the floating unit (22), the reset driving mechanism (24) is arranged on the second telescopic frame (5) and is used for driving the floating plate (23) to reset, the clamping mechanism (25) is arranged on the floating plate (23), the alignment plate (26) is arranged in the clamping end of the clamping mechanism (25) in a lifting manner, the positioning conical block (27) is arranged on the bottom surface of the alignment plate (26), the lifting frame (28) is suspended on the floating plate (23) in a lifting manner, and the top end of the lifting frame (28) is arranged above the floating plate (23), and the alignment plate (26) is arranged at the bottom end of the lifting frame (28).

8. A pick-and-place retraction device according to claim 7 wherein: the end of floating board (23) is provided with reset drive groove (29), and reset drive mechanism (24) are including reset driver (30) and reset piece (31), and reset driver (30) are installed in second expansion bracket (5), and reset piece (31) are installed in the drive end of reset driver (30), and reset piece (31) activity sets up in reset drive groove (29), and reset piece (31) are used for contradicting with the inner wall of reset drive groove (29) in order to drive floating board (23) and reset.

9. A pick-and-place telescopic device according to claim 7 or 8, wherein: the number of the floating units (22) and the number of the reset driving mechanisms (24) are two, the two floating units (22) are respectively arranged in one-to-one correspondence with the two reset driving mechanisms (24), floating ends of the two floating units (22) are respectively connected with two ends of the floating plate (23), and the clamping mechanism (25) is located between the two floating units (22).

10. A pick-and-place retraction device according to any one of claims 1 to 8 wherein: the first telescopic frame (4) is provided with a trigger piece, the second telescopic frame (5) is provided with two sensors (32), the two sensors (32) are respectively arranged at two ends of the second telescopic frame (5), the trigger piece is used for triggering the sensors (32), and the sensors (32) are electrically connected with the rotation driver (6).