Vacuum pick-up device for manipulator

Abstract

The invention discloses a vacuum material extracting device for a manipulator, and belongs to the technical field of automatic equipment. The vacuum material extracting device for the manipulator comprises a manipulator connecting plate and a sheet absorbing and holding elastic deforming mechanism; a left guide rail is fixed to the edge part of the lower part of the left side in the length direction of the manipulator connecting plate, and a right guide rail is fixed to the edge part of the lower part of the right side in the length direction of the manipulator connecting plate; both the leftguide rail and the right guide rail extend from the front end of the connecting plate to the rear end of the connecting plate; the sheet absorbing and holding elastic deforming mechanism is used for absorbing and holding the two ends of a sheet and enabling the two ends of the sheet to produce elastic deformation upwards simultaneously; and the sheet absorbing and holding elastic deforming mechanism corresponds to the position below the manipulator connecting plate, is in sliding fit with the left guide rail and the right guide rail, and is also connected with the manipulator connecting plate.The vacuum material extracting device for the manipulator can ensure that one sheet is extracted each time; relative friction between upper and lower adjacent two sheets in a sheet extracting processis avoided, so that the sheet is protected; and the vacuum material extracting device for the manipulator is simple in overall structure, stable and reliable in action and light in weight, and can meet matching and connecting requirements of the manipulator.

Description

technical field [0001] The invention belongs to the technical field of automation equipment, and in particular relates to a vacuum retrieving device for a manipulator. Background technique [0002] The aforementioned vacuum reclaiming device is a device matched with the manipulator, which is driven by the manipulator to automatically reclaim materials, thereby significantly improving production efficiency and saving valuable labor resources. For sheet materials, usually by means of a suction cup, the sheet is sucked by the suction cup under the action of negative pressure, and the sheet is lifted and transferred to a subsequent station such as a transfer station under the action of a robot. Typical but not limited examples of the aforementioned sheet materials are light guide plates, silicon wafers (single crystal silicon or polycrystalline silicon), screen sheets, various metal sheets, PCB boards, etc. The neat and orderly stacked state is led to the station where the vacu...

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Problems solved by technology

[0005] Chinese patents CN203143679U (a retrieving device), CN205602253U (a vacuum shaking mask folding machine) and CN206087471U (enhanced shaking suction and feeding mask folding machine) are not limited to the examples of these patents that can absorb more sheets Shaking off to ensure that only one sheet is picked up each time, but the disadvantage of this method of picking up materials is that shaking off the whole sheet in the extraction state may damage the shaken sheet (drop damage ) and the position of the shaken-off sheet changes to affect the accuracy of the next picking position

[0006] CN106218956A recommends "a vacuum adsorption rubbing type separation and retrieving mechanism and method", because the patented scheme is designed for the retrieving of specific facial mask sheet products, so the upper and lower parts are attached to each other by rubbing Separation of masks together can work, but when faced with products such as the aforementioned light guide plate silicon chips, screen chips, various metal sheets and PCB boards, etc., then this method (rubbing method) will be due to " Unaccustomed to the environment” and cannot be used

[0007] CN106494898A provides "a method for taking and extracting sheets for conveying sheets", the structure of which is: including a transverse conveying mechanism, on which a suction sheet lifting mechanism for sucking the end of the sheet is arranged ; Also includes a limiting mechanism for limiting the sheet, lifts one end of the sheet by the suction sheet lifting mechanism, and restricts the other end of the sheet by the limiting mechanism, in the position lifted by the suction sheet lifting mechanism When one end of the sheet is bent and a separation space is formed between the adjacent sheet, the horizontal transfer mechanism drives the suction sheet lifting mechanism to move laterally to extract the sheet (see paragraph 0024 of the patent specification for details), Although this patent solution can realize the technical effect described in paragraph 0016 of its description, it has the following shortcomings: First, because the suction sheet lifting mechanism only absorbs one end of the sheet and makes the end of the sheet elastically bend and deform, the In the process of drawing out the sheet horizontally, there will be dragging friction between the upper layer, that is, the part of the top sheet that has not undergone elastic bending deformation, and the lower sheet, and the dragging friction between the upper and lower adjacent sheets when retrieving the material is called Pull-out friction is extremely unfavorable for delicate products such as light guide plates, silicon wafers, screen sheets, PCB boards, etc., that is, there is a risk of damage to the sheet materials; The synergy with the gas separation mechanism can extract the sheets one by one, so the structure is relatively complicated, which is not conducive to manufacturing, assembly and daily management; thirdly, through the transmission line introduced in the specification of the patent (instruction No. 0025) It can be seen that this patent is not and cannot be matched with the manipulator, and the retrieving device matched with the manipulator usually requires simple structure, stable and reliable action, light weight, and convenient use and daily maintenance.

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