CN107443397B - A labeling manipulator based on PCB board robot production line - Google Patents

Abstract

The invention discloses a labeling manipulator based on a PCB (printed circuit board) robot production line, which comprises a base, a first driving device, a second driving device and a third driving device arranged on the second driving device. The first driving device provided by the invention drives the first screw rod to rotate through the first motor, so that the second driving device is driven to reciprocate; the second driving device drives the third driving device to rotate 360 degrees, so that the labeling process requirements of different angles are met; finally, the cylinder electromagnetic valve group moves through driving the pressure head cylinder group, so that the guide rod moves downwards, the sucker stops downwards after contacting with the PCB, and due to the working stroke of the pressure head cylinder group, the connecting plate can continuously push the buffer spring to compress downwards, and the label is compacted and firmly stuck on the PCB, so that the damage to the precise circuit board or components due to hard contact with the label is avoided, and a good protection effect is achieved. The invention also has the advantages of simple structure, low manufacturing cost and stable and reliable operation.

Description

A labeling manipulator based on PCB board robot production line

technical field

The invention relates to the field of automation equipment, in particular to a labeling manipulator based on a PCB board (circuit board) robot production line.

Background technique

In recent years, with the continuous development of the domestic economy, labor costs have risen accordingly, and my country's manufacturing manpower advantage is no longer there. Under the background of manufacturing upgrading, "machine substitution" to improve the intelligence of manufacturing industry has become a new trend. At present, the automation rate of my country's 3C industry is still low, and there is still a huge demand for automation transformation. 3C products consist of a large number of components (for example, a mobile phone includes touch screen, display panel, main board PCB, battery, middle board, back cover and other large components, as well as other small components such as camera and structural components), and they are basically non-standard components. Standard product, small size, high assembly precision requirements. However, the related parts manufacturing technology and complete machine assembly technology (such as mobile phone shell, glass, cover plate, etc.), its technology and equipment are quite mature, the processing content is highly repetitive, the labor intensity is high, and it is in line with the characteristics of automation transformation. 3C industry Automation upgrading and transformation will be the blue ocean of intelligent transformation.

Disadvantages of the existing production line: 1) If the positioning of the sheet is not accurate, the product defect rate is high; 2) The production line produces a single product, and the change of the product line tooling and fixture changes greatly and the cycle is long; 3) It is impossible to break through a single station to complete different types of labels Automatic labeling. However, because the existing PCB production line process is completed by a single-suction head labeling machine, there are deficiencies in terms of labeling speed, labeling flexibility, and labeling reliability, and it also increases the cost of the PCB production line.

Contents of the invention

The object of the present invention is to overcome the deficiencies of the prior art, and provide a labeling manipulator for PCB board robot production line with simple structure, high-efficiency and flexible labeling.

The object of the present invention is achieved through the following technical solutions:

A labeling manipulator based on a PCB board robot production line, the labeling manipulator mainly includes a base, a first driving device installed on the base, a second driving device installed on the first driving device, and a third drive. The first driving device takes the second driving device to reciprocate linearly between the stripping area and the labeling area, and the second driving device takes the third driving device to the labeling area and then rotates at a certain angle according to the process requirements Labeling.

Specifically, the first driving device includes a motor mounting base, a first motor, a first screw, a screw seat, a first nut, and a first synchronous belt connecting the first motor and the first screw. The motor mounting base is fixed on the base, the first motor is mounted on the motor mounting base, and is connected with the first screw rod through a first synchronous belt transmission, so that the first motor drives the first screw rod to rotate. The first screw rod is arranged on the base, and its two ends are fixedly connected with the base through the screw rod seat, so that the first screw rod is fixed on the base. The first nut is installed on the first screw rod and is threadedly connected with the first screw rod. After the first motor drives the first screw rod to rotate, the first screw rod drives the first nut to reciprocate to realize the third driving device the translation.

Specifically, the second drive device includes a bracket, a second motor, a rotating shaft, a second synchronous belt, a positioning bearing, a limit plate and a limit sensor for positioning the position of the third drive device. The bracket is installed on the first nut and fixedly connected with the first nut. The second motor is fixed on the bracket, is connected to one end of the rotating shaft through a second synchronous belt, and the other end of the rotating shaft is fixedly connected to the third driving device, and drives the third driving device to rotate. The rotating shaft is vertically installed in the bracket, and its two ends are rotatably connected with the bracket through positioning bearings. The limiting plate is installed on the rotating shaft, located between the third driving device and the bracket, and rotates following the rotating shaft. The limit sensor is fixed on the bottom of the bracket, and its output end is opposite to the limit plate. The limit sensor is mainly used for whether the limit plate blocks the limit sensor when stripping the label, thereby generating a corresponding signal, and is used to assist in calculating the origin of the strip Location.

Specifically, the structure of the third driving device mainly includes a connecting flange for connecting the manipulator, a fixed plate, a fixed connecting plate, a pressure head cylinder group for driving the suction cup to move up and down, a cylinder solenoid valve group for driving the pressure head cylinder group to move, a drive Pressure head electromagnetic valve group for suction cup grabbing or releasing, pressure head mounting plate for mounting pressure head cylinder group, hard joint, connection plate, suction cup for suction or release label, guide rod for guiding suction cup up and down movement, Cushion springs to avoid hard contact with the circuit board, and guide rod mounts to mount guide rods.

Specifically, the fixed plate, the fixed connecting plate (two pieces) and the guide rod mounting seat are connected end to end to form a supporting bracket, which serves as the overall frame of the third driving device and is mainly used for supporting and installing other components. One end of the connecting flange is connected to the output shaft of the manipulator, and the other end is installed on the top of the bracket, so that the third driving device rotates according to the rotation of the output shaft of the manipulator, realizing the 360-degree rotation of the third driving device. The solenoid valve group of the cylinder is fixed on the manipulator, and is pneumatically connected with the cylinder group of the pressure head through the pipeline, so as to drive the cylinder group of the pressure head to move and make the suction cup move up and down. The electromagnetic valve group of the pressure head is fixed on the fixed connecting plate located on both sides of the bracket, and is pneumatically connected with the suction cup. More specifically, the battery valve group of the pressure head is connected with the suction cup through a pipeline, and is realized by controlling the suction and deflation of the suction cup. Pick up and release of labels. The pressure head mounting plate is fixedly connected with the guide rod mounting seat, wherein the pressure head mounting plate is located on the other two sides of the bracket; the pressure head cylinder group is installed on the pressure head mounting plate, and the output end is equipped with a The hard joint between the output end of the head cylinder group and the connecting plate. One end of the guide rod is fixedly connected with the suction cup, thereby guiding the suction cup to move up and down, and the other end of the guide rod penetrates into the guide rod mounting seat, and is slidably connected with the guide rod mounting seat. One end of the connecting plate is sleeved on the guide rod, and is slidably connected with the guide rod, and the other end is fixed with a hard joint, so that the pressure head cylinder group can drive the guide rod to move up and down with the suction cup through the connecting plate. The buffer spring is sheathed on the guide rod, one end of which abuts against the suction cup, and the other end bears against the connecting plate, so that the suction cup is in flexible contact with the circuit board under the action of the buffer spring. The guide rod is also provided with a snap ring for supporting the guide rod and limiting the position. The snap ring is fixed on the guide rod and is located between the guide rod mounting seat and the connecting plate; when the pressure head cylinder group drives the guide rod to move upward , the buffer spring resets and pushes the connecting plate, so that the connecting plate contacts the snap ring of the guide rod and lifts the guide rod upward, so that the guide rod moves upward; while the third driving device is labeling, the guide rod is under its own gravity and pressure. The head cylinder moves downward under the thrust of the cylinder group. When the label and the suction cup contact the circuit board, they stop moving downward, and the guide rod is flexibly connected to the connecting plate through the buffer spring, so when the guide rod stops moving downward, the connection The plate stops downward after further compressing the buffer spring. During the compression of the buffer spring, the third driving device has completed the labeling and pressing operation, which can ensure that the label is firmly attached and at the same time avoid hard contact with the circuit board. The damage to the precision circuit board or components effectively protects the circuit board and ensures its reliability; finally, the solenoid valve group of the pressure head drives the suction cup to release the label, and returns to the original position to complete a round of labeling operation. In addition, the "soft" contact between the suction cup and the circuit board is also suitable for the operation of taking labels. When the third driving device reaches the label taking area, the cylinder group of the pressure head drives the guide rod to move downward, so that the suction cup is in contact with the label under the action of the buffer spring. The label tray is flexible to touch, so that it absorbs and holds the labels firmly, so that the labels are not easy to fall off.

As a preferred solution of the present invention, in order to improve the labeling efficiency of the third driving device, the pressure head cylinders of the present invention are divided into two groups, which are respectively installed on both sides of the bracket, and the number of the pressure head cylinders in each group is different. less than two. Preferably, in order to stick more labels each time, the number of the pressure head cylinder groups in each group of the present invention is set to four. At the same time, in the electrical control logic of the third drive device, each cylinder of the pressure head can be independently controlled. When a label needs to be pasted on the circuit board, it only needs to control the action of a single pressure head solenoid valve. When multiple labels need to be pasted , according to the quantity and position of pasting, the pressure head solenoid valve to be called can be properly selected, so as to improve the efficiency of label pasting.

Furthermore, in order to further improve the guiding ability of the guide rod, the third driving device of the present invention further includes a bearing for smooth movement of the guide rod. The bearing is made of copper, installed on the mounting seat of the guide rod, and connected with the guide rod by sliding or rolling. After the copper sleeve bearing is installed, the guide rod is in direct contact with the copper sleeve bearing, which can greatly reduce the friction between the guide rod and the copper sleeve bearing, making the guide rod move up and down more smoothly and with less resistance, further improving the stability of the suction cup labeling sex.

As a preferred solution of the present invention, since the buffer spring needs to withstand the axial pressure of the connecting block when working, the buffer spring in the present invention adopts a compression spring with a circular cross section and can withstand the axial pressure.

Furthermore, in order to prevent sundries from entering the transmission area of the labeling manipulator and causing damage to components, the first drive device in the present invention further includes a safety cover for protecting the first synchronous belt. The safety cover is fixed on the motor mount, and the synchronous belt is closed and covered. This design well isolates the synchronous belt and the transmission structure at both ends from the outside world, thereby slowing down the aging of the transmission structure, reducing the failure rate and improving the service life.

As a preferred solution of the present invention, since the servo motor has the advantages of high positioning accuracy, strong overload capacity, and stable low-speed operation, the first motor and the second motor in the present invention are both servo motors.

As a preferred solution of the present invention, the labeling manipulator needs to be debugged and determine the origin of the label stripping after assembly. Therefore, it is necessary to use a sensor as an assistant to calculate the origin position of the servo motor. When the limit plate blocks the light signal of the photoelectric sensor, the servo motor receives After receiving the trigger signal and performing the first manual zero adjustment according to the distance from the actual origin, the labeling manipulator after zero adjustment will automatically return to the origin in the future use without manual intervention; There are errors to avoid, and the error size of each machine is different. Therefore, in order to make the limiting plate better adapt to the machine error and facilitate the debugging of the staff, the limiting plate of the present invention adopts an arc design, and its occlusion arc is 90 degrees to 180 degrees. Preferably, the shielding arc of the limiting plate is set to 180 degrees.

The working process and principle of the present invention are: the first driving device provided by the present invention drives the first screw mandrel to rotate through the first motor, thereby bringing the second driving device on the screw mandrel from the label stripping area to the labeling area. Reciprocating movement; while the second drive device rotates with the rotating shaft through the second motor, thereby driving the third drive device to rotate 360 degrees to meet the labeling process requirements at different angles; finally, the cylinder solenoid valve group drives the pressure head cylinder group Action, so that the guide rod moves downward, when the suction cup contacts the PCB board and stops downward, and due to the working stroke of the cylinder group of the pressure head, the connecting plate will continue to push the buffer spring to compress downward, and the label is compacted and firmly attached Pasted on the PCB board, the pressing process makes the flexible contact between the suction cup and the PCB board, avoiding the hard contact with it and damaging the precision circuit board or components, which plays a very good protective role. The invention also has the advantages of simple structure, low manufacturing cost and stable and reliable operation.

Compared with the prior art, the present invention also has the following advantages:

(1) The labeling manipulator based on the PCB board robot production line provided by the present invention can rotate the labeling angle by 360 degrees through the second driving device, so as to meet the labeling requirements of more occasions.

(2) The labeling manipulator based on the PCB board robot production line provided by the present invention adopts the combination of the limit plate and the limit sensor to make it convenient for the staff to adjust the origin position of the stripping label, thereby avoiding the third driving device from colliding with other machines in the process of stripping the label. The equipment is damaged due to interference, and it is also used as an auxiliary signal for the rotation and positioning of the third drive device to assist the servo motor to determine the return to the origin, thereby greatly improving the stability and reliability of the system operation.

(3) The labeling manipulator based on the PCB board robot production line provided by the present invention uses 4 to 8 sets of suction cups to peel off the label and label it flexibly, which greatly improves the efficiency, and at the same time can reduce equipment investment and floor space and ensure labeling Target quality.

(4) The labeling manipulator based on the PCB board robot production line provided by the present invention adopts a combination of a buffer spring and a guide rod as a buffer structure, so that the suction cup is in flexible contact with the circuit board during the labeling process, and the label is compacted under the action of elastic force, Make the label stick more firmly and reliably.

(5) The labeling manipulator based on the PCB robot production line provided by the present invention can adjust the number of suction cups according to the quantity and position of the labeling, effectively reducing the invalid waiting time caused by calling all the suction cups at one time, thereby improving the efficiency of stripping. Labeling and labeling efficiency.

Description of drawings

Fig. 1 is a first perspective view of a labeling manipulator provided by the present invention.

Fig. 2 is the second perspective view of the labeling manipulator provided by the present invention.

Fig. 3 is a front view of the labeling manipulator provided by the present invention.

Fig. 4 is a left view of the labeling manipulator provided by the present invention.

Fig. 5 is a partially enlarged schematic view of the labeling robot provided by the present invention.

Fig. 6 is a top view of the labeling manipulator provided by the present invention.

Fig. 7 is a perspective view of a third driving device provided by the present invention.

Fig. 8 is the front view of the third driving device provided by the present invention

Fig. 9 is a B-B sectional view of the third driving device provided by the present invention.

Explanation of the labels in the above-mentioned accompanying drawings:

11-motor mounting seat, 12-the first motor, 13-the first screw mandrel, 14-screw mandrel seat, 15-the first nut, 16-the first synchronous belt;

21-bracket, 22-second motor, 23-rotary shaft, 24-second synchronous belt, 25-limit plate, 26-limit sensor;

311-connecting flange, 312-fixed plate, 313-fixed connecting plate, 314-guide rod mounting seat, 32-pressure head cylinder group, 321-cylinder solenoid valve group, 33-pressure head solenoid valve group, 34-hard joint , 35-connecting plate, 36-suction cup, 371-guide rod, 372-buffer spring, 373-clip ring, 38-bearing, 39-pressure head mounting plate;

4- Base.

Detailed ways

In order to make the object, technical solution and advantages of the present invention more clear and definite, the present invention will be further described below with reference to the accompanying drawings and examples.

Example 1:

As shown in Fig. 1, Fig. 2, Fig. 3, Fig. 4, Fig. 5 and Fig. 6, the present invention discloses a labeling manipulator based on a PCB robot production line. The first driving device, the second driving device installed on the first driving device, and the third driving device installed on the second driving device. The first driving device takes the second driving device to reciprocate linearly between the stripping area and the labeling area, and the second driving device takes the third driving device to the labeling area and then rotates at a certain angle according to the process requirements Labeling.

Specifically, the first drive device includes a motor mounting base 11, a first motor 12, a first screw 13, a screw seat 14, a first nut 15, and a first screw connecting the first motor 12 and the first screw 13. A timing belt 16. The motor mounting base 11 is fixed on the base 4, the first motor 12 is mounted on the motor mounting base 11, and is connected with the first screw mandrel 13 through the first synchronous belt 16, so that the first motor 12 drives the first Screw mandrel 13 rotates. The first screw rod 13 is arranged on the base 4 , and its two ends are fixedly connected with the base 4 through the screw rod seat 14 , so that the first screw rod 13 is fixed on the base 4 . The first nut 15 is installed on the first screw mandrel 13 and is threadedly connected with the first screw mandrel 13. After the first motor 12 drives the first screw mandrel 13 to rotate, the first screw mandrel 13 drives the first nut 15 to reciprocate Move to realize the translation of the third driving device.

Specifically, the second drive device includes a bracket 21, a second motor 22, a rotating shaft 23, a second synchronous belt 24, a positioning bearing, and a limit plate 25 and a limit sensor 26 for positioning the position of the third drive device. . The bracket 21 is installed on the first nut 15 and fixedly connected with the first nut 15 . The second motor 22 is fixed on the bracket 21, and is connected to one end of the rotating shaft 23 through the second synchronous belt 24, and the other end of the rotating shaft 23 is fixedly connected to the third driving device and rotates with the third driving device. The rotating shaft 23 is vertically installed in the support 21, and its two ends are rotatably connected with the support 21 through positioning bearings. The limiting plate 25 is installed on the rotating shaft 23 , located between the third driving device and the bracket 21 and rotates following the rotating shaft 23 . The limit sensor 26 is fixed on the bottom of the support 21, and its output end is opposite to the limit plate 25. The limit sensor 26 is mainly used for whether the limit sensor 25 blocks the limit sensor 26 when the label is peeled off, thereby generating a corresponding signal, and using It is used to assist in calculating the origin position of the stripping label.

Specifically, as shown in Fig. 7, Fig. 8 and Fig. 9, the structure of the third driving device mainly includes a connecting flange 311 for connecting the manipulator, a fixed plate 312, a fixed connecting plate 313, and a pressure head for driving the suction cup 36 to move up and down. Cylinder group 32, cylinder solenoid valve group 321 for driving the pressure head cylinder group 32 to act, pressure head solenoid valve group 33 for driving the suction cup 36 to grab or release, pressure head mounting plate 39 for installing the pressure head cylinder group 32, hard connector 34, the connection plate 35, the sucker 36 for sucking or releasing the label, the guide rod 371 for guiding the sucker 36 to move up and down, the buffer spring 372 for avoiding hard contact with the circuit board, and the guide for installing the guide rod 371 rod mount 314 .

Specifically, the fixed plate 312, the fixed connecting plate 313 (two pieces) and the guide rod mounting seat 314 are connected end to end to form a supporting bracket 21, which is used as the overall frame of the third driving device and is mainly used for supporting and Install other components. One end of the connecting flange 311 is connected to the output shaft of the manipulator, and the other end is installed on the top of the bracket 21, so that the third driving device rotates according to the rotation of the output shaft of the manipulator, realizing a 360-degree rotation of the third driving device. The cylinder electromagnetic valve group 321 is fixed on the manipulator, and is pneumatically connected with the pressure head cylinder group 32 through a pipeline, thereby driving the pressure head cylinder group 32 to move and making the suction cup 36 move up and down. The pressure head solenoid valve group 33 is fixed on the fixed connection plate 313 located on both sides of the bracket 21, and is pneumatically connected with the suction cup 36. More specifically, the pressure head battery valve group is connected with the suction cup 36 through a pipeline, and the suction of the suction cup 36 is controlled. Air and deflate to achieve label suction and release. The pressure head mounting plate 39 is fixedly connected with the guide rod mounting seat 314, wherein the pressure head mounting plate 39 is located on the other two sides of the support 21; the pressure head cylinder group 32 is installed on the pressure head mounting plate 39, and its output end A hard joint 34 for fixing the output end of the pressure head cylinder group 32 and the connecting plate 35 is installed on the top. One end of the guide rod 371 is fixedly connected with the suction cup 36 to guide the suction cup 36 to move up and down, and the other end of the guide rod 371 penetrates into the guide rod mount 314 and is slidably connected with the guide rod mount 314 . One end of the connecting plate 35 is sleeved on the guide rod 371, and is slidably connected with the guide rod 371, and the other end is fixed with the hard joint 34, so that the pressure head cylinder group 32 can drive the guide rod 371 with the suction cup 36 through the connecting plate 35 Move up and down. The buffer spring 372 is sheathed on the guide rod 371 , one end of which abuts against the suction cup 36 , and the other end bears against the connecting plate 35 , so that the suction cup 36 is in flexible contact with the circuit board under the action of the buffer spring 372 . The guide rod 371 is also provided with a snap ring 373 for supporting the guide rod 371 and limiting the position. The snap ring 373 is fixed on the guide rod 371 and is located between the guide rod mounting seat 314 and the connecting plate 35; When the cylinder group 32 drives the guide rod 371 to move upward, the buffer spring 372 resets and pushes the connecting plate 35, so that the connecting plate 35 contacts the snap ring 373 of the guide rod 371 and lifts the guide rod 371 upwards, so that the guide rod 371 moves upward; When the third driving device is labeling, the guide rod 371 moves downward under the thrust of its own gravity and the pressure head cylinder group 32. When the label and the sucker 36 contact the circuit board, it stops moving downward, and the guide rod 371 is due to The buffer spring 372 is flexibly connected to the connecting plate 35, so when the guide rod 371 stops moving downward, the connecting plate 35 further compresses the buffer spring 372 before stopping downward. During the compression of the buffer spring 372, the third driving device The operation of labeling and pressing has been completed, which can ensure that the label is firmly pasted, and at the same time avoid hard contact with the circuit board and damage the precision circuit board or components, effectively protecting the circuit board and ensuring its reliability; finally, the pressure head electromagnetic The valve group 33 drives the suction cup 36 to release the label, and returns to the original position to complete a round of labeling operation. In addition, the "soft" contact between the sucker 36 and the circuit board is also applicable to the operation of taking the label. After the third drive device arrives at the label-taking area, the pressure head cylinder group 32 drives the guide rod 371 to move downward, so that the sucker 36 moves under the buffer spring. Under the action of 372, it is in flexible contact with the label tray, so as to absorb and hold the label firmly, so that the label is not easy to fall.

As a preferred solution of the present invention, in order to improve the labeling efficiency of the third driving device, the pressure head cylinder group 32 of the present invention is divided into two groups, which are respectively installed on both sides of the bracket 21, and each group of the pressure head cylinder group 32 The number is not less than two. Preferably, in order to paste more labels each time, the number of the pressure head cylinder groups 32 in each group of the present invention is set to four. At the same time, in the electrical control logic of the third drive device, each cylinder of the pressure head can be independently controlled. When a label needs to be pasted on the circuit board, it only needs to control the action of a single pressure head solenoid valve. When multiple labels need to be pasted , according to the quantity and position of pasting, the pressure head solenoid valve to be called can be properly selected, so as to improve the efficiency of label pasting.

Furthermore, in order to further improve the guiding ability of the guide rod 371 , the third driving device of the present invention further includes a bearing 38 for making the guide rod 371 move smoothly. The bearing 38 is made of copper, installed on the guide rod mount 314 , and connected with the guide rod 371 by sliding or rolling. After the copper sleeve bearing 38 is installed, the guide rod 371 is in direct contact with the copper sleeve bearing 38, which can greatly reduce the friction between the guide rod 371 and the copper sleeve bearing 38, making the guide rod 371 move up and down more smoothly and with less resistance. Further improve the stability of the suction cup 36 labeling.

As a preferred solution of the present invention, since the buffer spring 372 needs to withstand the axial pressure of the connecting block when working, the buffer spring 372 in the present invention adopts a compression spring with a circular cross section and can withstand the axial pressure.

Furthermore, in order to prevent sundries from entering the transmission area of the labeling manipulator and causing damage to components, the first driving device in the present invention further includes a safety cover for protecting the first synchronous belt 16 . The safety cover is fixed on the motor mount 11, and the synchronous belt is closed and covered. This design well isolates the synchronous belt and the transmission structure at both ends from the outside world, thereby slowing down the aging of the transmission structure, reducing the failure rate and improving the service life.

As a preferred solution of the present invention, the first motor 12 and the second motor 22 in the present invention both adopt servo motors because the servo motor has the advantages of high positioning accuracy, strong overload capacity, and stable low-speed operation.

As a preferred solution of the present invention, the labeling manipulator needs to be debugged and determine the origin of the stripping label after assembly, so it is necessary to use a sensor as an assistant for calculating the origin position of the servo motor. After the limit plate 25 blocks the light signal of the photoelectric sensor, the servo motor After receiving the trigger signal and performing the first manual zero adjustment according to the distance from the actual origin, the labeling manipulator after zero adjustment will automatically return to the origin during future use without manual intervention; since the machine has no Avoidably there are errors, and the error size of each machine is different. Therefore, in order to make the limiting plate 25 better adapt to the machine error and facilitate the debugging of the staff, the limiting plate 25 of the present invention adopts an arc design, and its The shielding arc is 90 degrees to 180 degrees. Preferably, the shielding arc of the limiting plate 25 is set to 180 degrees.

The working process and principle of the present invention are: the first driving device provided by the present invention drives the first screw mandrel 13 to rotate through the first motor 12, thereby bringing the second driving device on the screw mandrel from the labeling area to the labeling area reciprocating movement between them; while the second driving device rotates with the rotating shaft 23 through the second motor 22, thereby driving the third driving device to rotate 360 degrees to meet the labeling process requirements at different angles; finally, the cylinder solenoid valve group 321 passes Drive the cylinder group 32 of the pressure head to move, so that the guide rod 371 moves downward, and stop downward when the suction cup 36 contacts the PCB board, and because of the working stroke of the cylinder group 32 of the pressure head, the connecting plate 35 will continue to push the buffer spring 372 to Pressing down, the label is compacted and firmly pasted on the PCB. This pressing down process makes flexible contact between the suction cup 36 and the PCB, avoiding hard contact with it and damaging the precision circuit board or components, which plays a very good role. Protective effects. The invention also has the advantages of simple structure, low manufacturing cost and stable and reliable operation.

The above-mentioned embodiment is a preferred embodiment of the present invention, but the embodiment of the present invention is not limited by the above-mentioned embodiment, and any other changes, modifications, substitutions, combinations, Simplifications should be equivalent replacement methods, and all are included in the protection scope of the present invention.

Claims (9)

1. The robot production line labeling manipulator based on the PCB is characterized by comprising a base, a first driving device arranged on the base, a second driving device arranged on the first driving device and a third driving device arranged on the second driving device; the first driving device carries a second driving device to reciprocate in a linear motion, and the second driving device carries a third driving device to rotate;

the first driving device comprises a motor mounting seat, a first motor, a first screw rod, a screw rod seat, a first nut and a first synchronous belt connected with the first motor and the first screw rod; the motor installation seat is fixed on the base, and the first motor is installed on the motor installation seat and is in transmission connection with the first screw rod through a first synchronous belt; the first screw rod is arranged on the base, and two ends of the first screw rod are fixedly connected with the base through screw rod seats; the first nut is arranged on the first screw rod and is in threaded connection with the first screw rod, and the first screw rod drives the first nut to reciprocate;

the second driving device comprises a bracket, a second motor, a rotating shaft, a second synchronous belt, a positioning bearing, a limiting plate and a limiting sensor, wherein the limiting plate and the limiting sensor are used for positioning the position of the third driving device; the bracket is arranged on the first nut and is fixedly connected with the first nut; the second motor is fixed on the bracket, is in transmission connection with one end of the rotating shaft through a second synchronous belt, and the other end of the rotating shaft is fixedly connected with the third driving device and drives the third driving device to rotate; the rotating shaft is vertically arranged in the bracket, and two ends of the rotating shaft are rotatably connected with the bracket through positioning bearings; the limiting plate is arranged on the rotating shaft and is positioned between the third driving device and the bracket; the limiting sensor is fixed at the bottom of the bracket, and the output end of the limiting sensor is opposite to the limiting plate;

the third driving device comprises a connecting flange, a fixed plate, a fixed connecting plate, a pressure head cylinder group, a cylinder electromagnetic valve group, a pressure head mounting plate, a hard joint, a connecting plate, a sucker, a guide rod, a buffer spring and a guide rod mounting seat, wherein the connecting flange is used for connecting a rotating shaft of the manipulator;

the fixing plate, the fixing connecting plate and the guide rod mounting seat are connected end to form a support with a supporting function; one end of the connecting flange is connected with an output shaft of the manipulator, and the other end of the connecting flange is arranged on the top of the bracket; the cylinder electromagnetic valve group is fixed at the top of the bracket and is in pneumatic connection with the pressure head cylinder group through a pipeline; the pressure head electromagnetic valve group is fixed on the fixed connecting plate and is in pneumatic connection with the sucker; the pressure head air cylinder group is arranged on the pressure head mounting plate, and a hard joint is arranged at the output end of the pressure head air cylinder group; one end of the guide rod is fixedly connected with the sucker, and the other end of the guide rod penetrates into the guide rod mounting seat and is in sliding connection with the guide rod mounting seat; one end of the connecting plate is sleeved on the guide rod and is in sliding connection with the guide rod, and the other end of the connecting plate is fixed with the hard joint; the buffer spring is sleeved on the guide rod, one end of the buffer spring is abutted with the sucker, and the other end of the buffer spring is propped against the connecting plate; the guide rod is also provided with a clamping ring for supporting the guide rod and limiting, and the clamping ring is fixed on the guide rod and is positioned between the guide rod mounting seat and the connecting plate.

2. The labeling manipulator based on the PCB trigger robot production line according to claim 1, wherein the pressure head cylinder groups are divided into two groups, and are respectively arranged on two sides of the bracket, and the number of each pressure head cylinder group is not less than two.

3. The labeling robot for a PCB-based robot production line according to claim 2, wherein the number of the ram cylinder groups is four.

4. The labeling robot for a PCB-based robot production line according to claim 1, wherein the third driving means further comprises a bearing for smooth movement of the guide bar; the bearing is made of copper and is arranged on the guide rod mounting seat and is connected with the guide rod in a sliding or rolling manner.

5. The labeling manipulator of claim 1, wherein the buffer spring is a compression spring with a circular cross section and bearing axial pressure.

6. The PCB-based robotic production line labeling robot of claim 1, wherein the first driving device further comprises a safety shield for protecting the first timing belt; the safety cover is fixed on the motor mounting seat and covers the synchronous belt.

7. The labeling manipulator of claim 1, wherein the first motor and the second motor are servo motors.

8. The labeling manipulator for a robot production line based on a PCB (printed Circuit Board) machine according to claim 1, wherein the limiting plate is of an arc-shaped design, and the shielding radian of the limiting plate is 90-180 degrees.

9. The labeling manipulator of claim 8, wherein the shielding radian of the limiting plate is set to 180 degrees.