CN108393875A - Draw overturning truss manipulator - Google Patents

Abstract

The invention discloses a manipulator for sucking and flipping a truss, which belongs to a manipulator, and its structure includes a vacuum suction manipulator, a clamping and turning manipulator, a driving mechanism for moving the manipulator and a truss. , and are respectively connected to the truss through the manipulator mobile drive mechanism. Compared with the prior art, the sucking and flipping truss manipulator of the present invention has the characteristics of saving labor, reducing labor intensity, improving production efficiency, avoiding production equipment downtime and long waiting time, and making the workpiece high and stable in quality, so it has a good promotion and application value.

Description

Suction Flip Truss Manipulator

technical field

The invention relates to a manipulator, in particular to a manipulator for sucking and flipping trusses used in the production process of PCB boards.

Background technique

The existing nailing and encapsulating process in the PCB board industry is generally composed of pretreated copper plates, fiberboards and aluminum films, and consists of two process routes: manual nailing and encapsulation. These two routes are independent of each other, and are connected to each other through the operation process, from the pre-treated copper plate to the plastic-covered stacking, and then transferred to the nailing process through the workshop transport trolley, and then manually set the positioning holes of the fiberboard on the nailed copper plate Then manually put the aluminum film on the other side of the copper plate, and complete the assembly of the workpiece through four times of glue coating, namely:

Nailing process: manual loading → nailing → stacking;

Laminating process: manual loading → assembly of fiber board, copper plate and aluminum film → four times of encapsulation → stacking;

It can be seen from the above process that the existing PCB board production process has the following defects:

After the nailing of the copper plate is completed, the copper plate needs to be manually transported to the encapsulation process. After the encapsulation is completed, the PCB board needs to be transported and unloaded manually, and multiple transport and loading and unloading operations are performed. The production equipment is shut down and the waiting time is long; labor High strength; after repeated handling and loading and unloading operations, it is easy to cause scratches on the copper plate and aluminum film, the surface quality is unstable, the production efficiency is low, and the labor cost is high; the production equipment layout is scattered, intersecting each other and can not be concentrated production.

Contents of the invention

The technical task of the present invention is to provide a suction and flip truss manipulator for the deficiencies in the above-mentioned prior art, which can save labor, reduce labor intensity, improve production efficiency, avoid production equipment downtime and long waiting time, and can Features that make the workpiece quality high and stable.

The technical scheme adopted by the present invention to solve the technical problem is: it includes a vacuum suction manipulator, a clamping and turning manipulator, a manipulator moving drive mechanism and a truss, and the vacuum suction manipulator and the clamping and turning manipulator are respectively arranged at the left and right ends of the truss , and are respectively connected to the truss through the manipulator mobile drive mechanism.

The vacuum suction manipulator includes a vacuum suction manipulator frame and a suction vacuum chuck, the suction vacuum chuck is arranged on the lower part of the vacuum suction manipulator frame, and the upper part of the vacuum suction manipulator frame is connected with the manipulator moving drive mechanism.

The clamping and turning manipulator includes a clamping plate, a turning plate, a cylinder jaw, a turning drive mechanism for the turning plate, a moving driving mechanism for the clamping plate, and a clamping and turning manipulator frame. The upper part of the clamping and turning manipulator frame is It is connected with the moving driving mechanism of the manipulator, and the lower part of the clamping and flipping manipulator frame is provided with two clamping plates. The clamping plate is connected with the moving driving mechanism of the clamping plate. The left and right sides of each turning plate are respectively provided with cylinder jaws, and each turning plate is respectively connected with the turning driving mechanism of the turning plate.

The rotating drive mechanism of the turning plate includes a rotating cylinder, a connecting shaft of the turning plate, a pulley of the rotating cylinder, a pulley of the connecting shaft of the turning plate and a synchronous belt. The rotating cylinder is arranged on the clamping plate, and the turning plate and the A turning plate connecting shaft is arranged between the clamping plates, a rotating cylinder pulley is arranged on the cylinder rod of the rotating cylinder, and a turning plate connecting shaft pulley is arranged on the turning plate connecting shaft, and the turning plate The connecting shaft pulley is connected with the rotating cylinder pulley through a synchronous belt.

The clamping plate moving drive mechanism includes a clamping plate moving drive motor, a clamping plate moving positive and negative lead screw, a clamping plate moving screw nut, a clamping plate moving guide block and a clamping plate moving guide rail. The positive and negative lead screws for moving the clamping plate are longitudinally arranged on the lower part of the clamping and flipping manipulator frame, and one end thereof is connected with the driving motor for moving the clamping plate. Two clamps are arranged on the positive and negative lead screws for moving the clamping plate The moving nut of the clamping plate, the lower part of each moving nut of the clamping plate is respectively connected with a moving guide block of the clamping plate. The top of the tight board is attached.

The drive mechanism for moving the manipulator includes a drive mechanism for horizontal movement of the manipulator and an elevating drive mechanism for the manipulator. The drive mechanism for horizontal movement of the manipulator includes a drive motor for the horizontal movement of the manipulator, a gear for the drive motor for the horizontal movement of the manipulator, and a drive rack for the horizontal movement of the manipulator. The motor shaft of the manipulator horizontal movement drive motor is provided with a manipulator horizontal movement drive motor gear, the manipulator horizontal movement drive motor gear is connected with the manipulator horizontal movement drive rack, and the manipulator horizontal movement drive rack is horizontally arranged on the upper part of the truss, The drive motor for the horizontal movement of the manipulator is arranged on the drive motor seat for the horizontal movement of the manipulator. The drive mechanism for lifting the manipulator includes a drive motor for lifting the manipulator, a gear for the drive motor for lifting the manipulator, and a rack for driving the lift of the manipulator. The drive motor for lifting the manipulator The motor shaft is provided with a manipulator lifting drive motor gear, the manipulator lifting drive motor gear is connected with the manipulator lifting drive rack, and the manipulator lifting drive rack is vertically arranged on the vacuum suction manipulator frame or/and clamping and flipping manipulator frame The upper part of the body, the manipulator lift drive motor is arranged on the manipulator lift drive motor seat, and the manipulator lift drive motor seat is connected with the manipulator horizontal movement drive motor seat.

Compared with the prior art, the absorbing and flipping truss manipulator of the present invention has the following prominent beneficial effects: automatic loading and unloading can save labor, reduce labor intensity, improve production efficiency, avoid production equipment shutdown and long waiting time, and improve workpiece quality. High and stable features.

Description of drawings

Accompanying drawing 1 is the perspective view of absorbing and turning over the truss manipulator;

Accompanying drawing 2 is a schematic diagram of the connection between the vacuum suction manipulator and the mobile drive mechanism of the manipulator;

Accompanying drawing 3 is the second schematic diagram of the connection between the vacuum suction manipulator and the mobile drive mechanism of the manipulator;

Accompanying drawing 4 is a schematic diagram of the connection between the clamping and flipping manipulator and the mobile driving mechanism of the manipulator;

Accompanying drawing 5 is the second schematic diagram of the connection between the clamping and flipping manipulator and the mobile driving mechanism of the manipulator;

Accompanying drawing 6 is the three-dimensional view of clamping flip manipulator;

Accompanying drawing 7 is the schematic diagram of clamping plate moving drive mechanism and turnover plate rotation drive mechanism;

Explanation of reference signs:

1. Vacuum suction manipulator, 11. Vacuum suction manipulator frame, 12. Suction vacuum suction cup,

2. Clamping and flipping manipulator, 21. Clamping plate, 22. Turning plate, 23. Cylinder jaws, 24. Rotating drive mechanism of turning plate, 241. Rotary cylinder, 242. Turning plate connecting shaft, 243. Rotary cylinder belt wheel , 244, turning plate connecting shaft pulley, 25, clamping plate moving drive mechanism, 251, clamping plate moving drive motor, 252, clamping plate moving positive and negative screw, 253, clamping plate moving nut, 254 , clamping plate moving guide block, 255, clamping plate moving guide rail, 26, clamping and flipping manipulator frame body,

3. Drive mechanism for manipulator movement, 31. Manipulator horizontal movement drive mechanism, 311. Manipulator horizontal movement drive motor, 312. Manipulator horizontal movement drive motor gear, 313. Manipulator horizontal movement drive rack, 314. Manipulator horizontal movement drive motor seat, 32. Manipulator lift drive mechanism, 321. Manipulator lift drive motor, 322. Manipulator lift drive motor gear, 323. Manipulator lift drive rack, 324. Manipulator lift drive motor seat,

4. Truss.

Detailed ways

Referring to accompanying drawings 1 to 7 of the description, the suction and turning truss manipulator of the present invention will be described in detail below.

The structure of the sucking and flipping truss manipulator of the present invention includes a vacuum suction manipulator 1, a clamping and turning manipulator 2, a manipulator moving drive mechanism 3 and a truss 4, and the vacuum suction manipulator 1 and the clamping and turning manipulator 2 are respectively arranged on the sides of the truss 4 The left and right ends are respectively connected to the truss 4 through the manipulator mobile drive mechanism 3 .

Described vacuum suction manipulator 1 comprises vacuum suction manipulator frame body 11 and suction vacuum chuck 12, and described suction vacuum chuck 12 is arranged on the bottom of vacuum suction manipulator frame body 11, and the top of described vacuum suction manipulator frame body 11 and The manipulator mobile drive mechanism 3 is connected.

The clamping and turning manipulator 2 includes a clamping plate 21, a turning plate 22, a cylinder jaw 23, a turning plate rotation drive mechanism 24, a clamping plate moving drive mechanism 25 and a clamping and turning manipulator frame body 26. The top of the tight turning manipulator frame body 26 is connected with the manipulator moving drive mechanism 3, and the bottom of the clamping turning manipulator frame body 26 is provided with two clamping plates 21, and the clamping plate 21 is connected with the clamping plate moving drive mechanism 25, two The opposite inner lower part of the clamping plate 21 is respectively provided with an overturning plate 22 , and the left and right sides of each overturning plate 22 are respectively provided with cylinder jaws 23 , and each overturning plate 22 is respectively connected with an overturning plate rotation driving mechanism 24 .

The turning plate rotation drive mechanism 24 includes a rotating cylinder 241, a turning plate connecting shaft 242, a rotating cylinder pulley 243, a turning plate connecting shaft pulley 244 and a timing belt. The rotating cylinder 241 is arranged on the clamping plate 21 A turning plate connecting shaft 242 is arranged between the turning plate 22 and the clamping plate 21, a rotating cylinder pulley 243 is arranged on the cylinder rod of the rotating cylinder 241, and a rotating cylinder pulley 243 is arranged on the turning plate connecting shaft 242. There is a turning plate connection shaft pulley 244, and the turning plate connecting shaft pulley 244 is connected with the rotating cylinder pulley 243 through a synchronous belt.

The clamping plate moving drive mechanism 25 includes a clamping plate moving drive motor 251, a clamping plate moving positive and negative lead screw 252, a clamping plate moving nut 253, a clamping plate moving guide block 254 and a clamping plate moving guide block 254. Guide rail 255, the clamping plate moving positive and negative thread screw 252 is longitudinally arranged on the lower part of the clamping flip manipulator frame, one end of which is connected with the clamping plate moving drive motor 251, and the clamping plate moves positive and negative teeth Lead screw 252 is provided with two clamping plate moving screw nuts 253, the bottom of each clamping plate moving screw nut 253 is respectively connected with a clamping plate moving guide block 254, and the two clamping plate moving guide blocks 254 are respectively placed on The clamping plate moves on the guide rail 255, and its lower part is connected with the top of the clamping plate 21 respectively.

Described manipulator mobile drive mechanism 3 comprises manipulator horizontal movement drive mechanism 31 and manipulator lifting drive mechanism 32, and described manipulator horizontal movement drive mechanism 31 comprises manipulator horizontal movement drive motor 311, manipulator horizontal movement drive motor gear 312, manipulator horizontal movement Drive rack 313, the motor shaft of described manipulator horizontal movement drive motor 311 is provided with manipulator horizontal movement drive motor gear 312, manipulator horizontal movement drive motor gear 312 links to each other with manipulator horizontal movement drive rack 313, described manipulator horizontal movement The mobile drive rack 313 is horizontally arranged on the top of the truss 4, and the horizontal movement drive motor 311 of the manipulator is arranged on the drive motor seat 314 for horizontal movement of the manipulator. Drive motor gear 322, manipulator lift drive rack 323, the motor shaft of described manipulator lift drive motor 321 is provided with manipulator lift drive motor gear 322, manipulator lift drive motor gear 322 links to each other with manipulator lift drive rack 323, described The manipulator lifting drive rack 323 is vertically arranged on the upper part of the vacuum suction manipulator frame body or/and clamping and flipping manipulator frame body, and the manipulator lifting drive motor 321 is arranged on the manipulator lifting drive motor seat 324, and the manipulator The lifting drive motor base 324 is connected with the horizontally moving drive motor base 314 of the manipulator.

The vacuum suction manipulator 1 is used to absorb the nailed and flipped copper plate, and transport the copper plate to the automatic rubber encapsulation machine. When the vacuum suction manipulator 1 moves, the manipulator moving drive mechanism 3 connected to the vacuum suction manipulator 1 is started to make the manipulator lift the drive mechanism 32 Drive the vacuum suction manipulator 1 down, suck the copper plate through the vacuum suction cup 12, then the manipulator lifting drive mechanism 32 drives the vacuum suction manipulator 1 to rise, start the manipulator horizontal movement drive mechanism 31, and make the manipulator move horizontally. The drive mechanism 31 drives the vacuum suction manipulator 1 After moving to the gluing station of the automatic gluing machine, the vacuum suction manipulator 1 is driven down by the manipulator lifting drive mechanism 32, and the copper plate is placed on the automatic gluing machine;

Before the vacuum suction manipulator 1 transports the copper plate to the automatic gluing machine, the fiberboard aluminum film feeding device first places the fiberboard on the automatic gluing machine, and then places the nailed copper plate on the fiberboard, and then the fiberboard aluminum film The film feeding device then places the aluminum film on the top of the copper plate on the automatic gluing machine. At this time, the automatic gluing machine starts to work, and performs automatic gluing operation on the workpiece composed of the three. After the gluing is completed, the clamping and flipping manipulator 2 moves , start the manipulator mobile driving mechanism 3 connected with the clamping and turning manipulator 2, so that the manipulator moving driving mechanism 3 drives the clamping and turning manipulator 2 to descend, and the workpiece is clamped by the cylinder jaw 23, and then the manipulator lifting and driving mechanism 32 drives the clamping and turning over The manipulator 2 rises, and starts the manipulator horizontal movement drive mechanism 31, so that the manipulator horizontal movement drive mechanism 31 drives the clamping and turning manipulator 2 to move above the automatic unloading device at the next station, and the clamping and turning manipulator 2 rotates the drive mechanism through the turning plate 24 drives the turnover plate 22 and the cylinder jaw 23 on the turnover plate 22 to drive the workpiece to realize 180 degree turnover.

When the manipulator lifting drive mechanism 32 moves, the manipulator lifting drive motor 321 starts, the manipulator lifting drive motor 321 drives the manipulator lifting drive motor gear 322 to rotate, the manipulator lifting drive rack 323 moves up and down along the manipulator lifting drive motor gear 322, and simultaneously drives the The vacuum suction manipulator 1 or/and clamping and flipping manipulator 2 move up and down.

When the manipulator horizontally moves the driving mechanism 31, the manipulator moves horizontally and the drive motor 311 starts, and the manipulator moves horizontally. The drive motor 311 drives the manipulator to move horizontally and drives the motor gear 312 to rotate. It drives the vacuum suction manipulator 1 or/and clamping and flipping manipulator 2 connected to it to move horizontally.

The clamping and turning manipulator 2 moves, and the manipulator moving drive mechanism 3 connected to the clamping and turning manipulator 2 is started, so that the manipulator moves the driving mechanism 3 to drive the clamping and turning manipulator 2 to descend, and the workpiece is clamped by the cylinder jaw 23, and then the manipulator is driven up and down. The mechanism 32 drives the clamping and turning manipulator 2 to rise, and starts the manipulator to move horizontally. The driving mechanism 31 drives the manipulator to move horizontally. The turning plate 22 and the cylinder jaws 23 on the turning plate 22 are driven by the turning plate rotation drive mechanism 24 to drive the workpieces to turn over 180 degrees.

When clamping and turning manipulator 2 drives the workpiece to turn over 180 degrees, the rotating cylinder 241 of the turning plate rotation drive mechanism 24 is started, driving the rotating cylinder pulley 243 to rotate, and the rotating cylinder pulley 243 drives the turning plate connecting shaft pulley 244 to rotate through the synchronous belt , the turning plate connecting shaft pulley 244 drives the turning plate connecting shaft 242 and the turning plate 22 connected to the turning plate connecting shaft 242 to rotate, and the cylinder jaw 23 on the turning plate 22 drives the workpiece to rotate together.

Adjust the distance between the two turnover plates 22 according to the size of the workpiece model, that is, the clamping plate moving drive mechanism 25 works, the clamping plate moving drive motor 251 starts, and drives the clamping plate connected to it to move the positive and negative thread screw 252 to rotate, clamping The two clamping plate moving screw nuts 253 on the positive and negative thread screw 252 of the plate move horizontally move inwardly or outwardly at the same time, thereby adjusting the distance between the two flipping plates 22 to adapt to workpieces of different sizes. The cooperation of the clamping plate moving guide block 254 connected to the bottom of the tight plate moving screw nut 253 and the clamping plate moving guide rail 255 plays a guiding role.

The implementation methods listed above are only for understanding the present invention, and are not intended to limit the technical solutions described in the present invention. Those of ordinary skill in the relevant fields can also make various changes on the basis of the technical solutions described in the claims. or deformation, all equivalent changes or deformations shall fall within the protection scope of the claims of the present invention. The parts of the present invention that are not described in detail are known technologies of those skilled in the art.

Claims (6)

1. Absorb and turn over the truss manipulator, it is characterized in that: comprise vacuum suction manipulator, clamping and turning over manipulator, manipulator mobile driving mechanism and truss, described vacuum absorbing manipulator and clamping and turning over manipulator are respectively arranged on the left and right ends of truss, and respectively The driving mechanism is connected with the truss through the movement of the manipulator. 2. The suction flip truss manipulator according to claim 1, characterized in that: the vacuum suction manipulator comprises a vacuum suction manipulator frame and a vacuum suction cup, and the vacuum suction cup is arranged at the bottom of the vacuum suction manipulator frame , the upper part of the vacuum suction manipulator frame is connected with the manipulator moving drive mechanism. 3. The suction flip truss manipulator according to claim 1, characterized in that: the clamping flip manipulator includes a clamping plate, a flipping plate, a cylinder jaw, a turning drive mechanism for turning the plate, a moving drive mechanism for the clamping plate and Clamping and flipping the manipulator frame body, the upper part of the clamping and flipping manipulator frame body is connected with the mobile driving mechanism of the manipulator, and the lower part of the clamping and flipping manipulator frame body is provided with two clamping plates, and the clamping plate and the clamping plate are moved and driven The mechanism is connected, and the opposite inner lower parts of the two clamping plates are respectively provided with turning plates, and the left and right sides of each turning plate are respectively provided with cylinder jaws, and each turning plate is respectively connected with the turning driving mechanism of the turning plate. 4. The manipulator for sucking and flipping trusses according to claim 3, characterized in that: the rotating drive mechanism of the flipping plate includes a rotating cylinder, a connecting shaft of the flipping plate, a pulley of the rotating cylinder, a pulley of the connecting shaft of the flipping plate and a timing belt, The rotary cylinder is arranged on the clamping plate, the connecting shaft of the rotary plate is arranged between the flipping plate and the clamping plate, the cylinder rod of the rotary cylinder is provided with a rotary cylinder pulley, and the turning A turning plate connecting shaft pulley is arranged on the plate connecting shaft, and the turning plate connecting shaft pulley is connected with the rotating cylinder pulley through a synchronous belt. 5. The suction flip truss manipulator according to claim 3, characterized in that: the clamping plate moving drive mechanism includes a clamping plate moving drive motor, a clamping plate moving positive and negative screw, a clamping plate moving wire Female, clamping plate moving guide block and clamping plate moving guide rail, said clamping plate moving positive and negative teeth screw is longitudinally arranged on the lower part of the clamping flip manipulator frame, one end of which is connected with the clamping plate moving drive motor, Two clamping plate moving screw nuts are arranged on the clamping plate moving pros and cons. The lower part of each clamping plate moving screw nut is respectively connected with a clamping plate moving guide block, and the two clamping plates move The guide blocks are respectively sleeved on the moving guide rails of the clamping plate, and their lower parts are respectively connected with the top of the clamping plate. 6. The manipulator for absorbing and flipping trusses according to claim 1, wherein the driving mechanism for moving the manipulator includes a driving mechanism for horizontal movement of the manipulator and a driving mechanism for lifting the manipulator, and the driving mechanism for horizontal movement of the manipulator includes a driving mechanism for horizontal movement of the manipulator. Motor, manipulator horizontal movement drive motor gear, manipulator horizontal movement drive rack, the motor shaft of the manipulator horizontal movement drive motor is provided with manipulator horizontal movement drive motor gear, manipulator horizontal movement drive motor gear and manipulator horizontal movement drive rack connected, the horizontally moving driving rack of the manipulator is arranged laterally on the upper part of the truss, the driving motor for horizontally moving the manipulator is arranged on the driving motor base for horizontally moving the manipulator, and the lifting and lowering drive mechanism of the manipulator includes a lifting and lowering driving motor for the manipulator, a manipulator Lifting drive motor gear, manipulator lift drive rack, the motor shaft of the manipulator lift drive motor is provided with a manipulator lift drive motor gear, the manipulator lift drive motor gear is connected with the manipulator lift drive rack, the manipulator lift drive gear The bar is vertically arranged on the upper part of the vacuum suction manipulator frame or/and clamping and flipping manipulator frame. The manipulator lifting drive motor is arranged on the manipulator lifting drive motor base, and the manipulator lifting drive motor base moves horizontally with the manipulator. The drive motor base is connected.