CN110451253A - A kind of circuit board automatic moving loader - Google Patents

A kind of circuit board automatic moving loader Download PDF

Info

Publication number
CN110451253A
CN110451253A CN201910832911.3A CN201910832911A CN110451253A CN 110451253 A CN110451253 A CN 110451253A CN 201910832911 A CN201910832911 A CN 201910832911A CN 110451253 A CN110451253 A CN 110451253A
Authority
CN
China
Prior art keywords
plate
circuit board
rod
movable plate
sliding rail
Prior art date
Legal status (The legal status is an assumption and is not a legal conclusion. Google has not performed a legal analysis and makes no representation as to the accuracy of the status listed.)
Pending
Application number
CN201910832911.3A
Other languages
Chinese (zh)
Inventor
曾琦
唐锋
蔡跃祥
李振果
林雄武
Current Assignee (The listed assignees may be inaccurate. Google has not performed a legal analysis and makes no representation or warranty as to the accuracy of the list.)
Xiamen Hongtai Technology Research Institute Co Ltd
Original Assignee
Xiamen Hongtai Technology Research Institute Co Ltd
Priority date (The priority date is an assumption and is not a legal conclusion. Google has not performed a legal analysis and makes no representation as to the accuracy of the date listed.)
Filing date
Publication date
Application filed by Xiamen Hongtai Technology Research Institute Co Ltd filed Critical Xiamen Hongtai Technology Research Institute Co Ltd
Priority to CN201910832911.3A priority Critical patent/CN110451253A/en
Publication of CN110451253A publication Critical patent/CN110451253A/en
Pending legal-status Critical Current

Links

Classifications

    • BPERFORMING OPERATIONS; TRANSPORTING
    • B25HAND TOOLS; PORTABLE POWER-DRIVEN TOOLS; MANIPULATORS
    • B25JMANIPULATORS; CHAMBERS PROVIDED WITH MANIPULATION DEVICES
    • B25J15/00Gripping heads and other end effectors
    • B25J15/0052Gripping heads and other end effectors multiple gripper units or multiple end effectors
    • BPERFORMING OPERATIONS; TRANSPORTING
    • B25HAND TOOLS; PORTABLE POWER-DRIVEN TOOLS; MANIPULATORS
    • B25JMANIPULATORS; CHAMBERS PROVIDED WITH MANIPULATION DEVICES
    • B25J15/00Gripping heads and other end effectors
    • B25J15/06Gripping heads and other end effectors with vacuum or magnetic holding means
    • B25J15/0616Gripping heads and other end effectors with vacuum or magnetic holding means with vacuum
    • B25J15/0683Details of suction cup structure, e.g. grooves or ridges
    • BPERFORMING OPERATIONS; TRANSPORTING
    • B65CONVEYING; PACKING; STORING; HANDLING THIN OR FILAMENTARY MATERIAL
    • B65GTRANSPORT OR STORAGE DEVICES, e.g. CONVEYORS FOR LOADING OR TIPPING, SHOP CONVEYOR SYSTEMS OR PNEUMATIC TUBE CONVEYORS
    • B65G47/00Article or material-handling devices associated with conveyors; Methods employing such devices
    • B65G47/74Feeding, transfer, or discharging devices of particular kinds or types
    • B65G47/90Devices for picking-up and depositing articles or materials
    • B65G47/907Devices for picking-up and depositing articles or materials with at least two picking-up heads
    • BPERFORMING OPERATIONS; TRANSPORTING
    • B65CONVEYING; PACKING; STORING; HANDLING THIN OR FILAMENTARY MATERIAL
    • B65GTRANSPORT OR STORAGE DEVICES, e.g. CONVEYORS FOR LOADING OR TIPPING, SHOP CONVEYOR SYSTEMS OR PNEUMATIC TUBE CONVEYORS
    • B65G47/00Article or material-handling devices associated with conveyors; Methods employing such devices
    • B65G47/74Feeding, transfer, or discharging devices of particular kinds or types
    • B65G47/90Devices for picking-up and depositing articles or materials
    • B65G47/91Devices for picking-up and depositing articles or materials incorporating pneumatic, e.g. suction, grippers
    • B65G47/918Devices for picking-up and depositing articles or materials incorporating pneumatic, e.g. suction, grippers with at least two picking-up heads

Abstract

The present invention relates to the manufacture fields of circuit board, more particularly to a kind of circuit board automatic moving loader, including rack, grasping mechanism, machine frame inside is equipped with mobile mould group, mobile mould group is connected to grasping mechanism, the movement of mobile mould group control manipulator in the X, Y, Z direction, the handgrip component that manipulator passes through the four bar linkage of parallelogram, screw rod is driven by first motor, screw rod band movable slider slides up and down on shifting sledge, it is hinged on sliding block upper shifting board and acts on the folding of four bar linkage, to drive the opening and clamping of grasping plate.The present invention passes through the handgrip component of mobile mould group and four bar linkage composition, the circuit board on flow chart can be grabbed well, the present invention is also equipped with vacuum chuck component, also it is suitble to the absorption of null circuit plate fast vacuum, as auxiliary transfer, the symmetrical multiple grasping plates in the both sides of handgrip component realize and grab to the equilibrium of circuit board, can damage to avoid crawl process to circuit board.

Description

A kind of circuit board automatic moving loader
Technical field
The present invention relates to the manufacture field of circuit board more particularly to a kind of circuit board automatic moving loaders.
Background technique
Currently, circuit board during processing, detection, is needed through the mechanical devices of artificial or other feedings from one A place or a process are transferred to another place or process processing, in order to improve working efficiency, lower the people of enterprise Work cost, it will usually substitute the movement manually grabbed, but existing manipulator using manipulator, mostly use screw rod and screw rod spiral shell greatly The mode of parent phase cooperation, the precision of crawl is not high, is easy to make a mess of fragile circuit board, especially in huge communication products circuit board In, since the length and width of circuit board is bigger, the component value installed on circuit board is high, needs two people both sides cooperations It lifts and moves, existing mechanical device is unsuitable to grab such circuit board.
Summary of the invention
The purpose of the present invention is to provide a kind of circuit board automatic moving loaders, solve the huge communication products electricity of the prior art The crawl of road plate, mobile difficult problem.
In order to achieve the above objectives, solution of the invention is:
A kind of circuit board automatic moving loader, including rack, manipulator are equipped with mobile mould group, the shifting in rack Dynamic model group is connected to the manipulator, and the manipulator includes handgrip component, gripper frame, and gripper frame is connected to the shifting Dynamic model group and the handgrip component, the handgrip component include the tool of connecting plate and multiple movable plates, multiple connecting rods composition There are more bar linkage mechanisms, which connects a mobilizable driver plate connected with gripper frame, in the gripper frame First motor is set, screw rod is connected on the output shaft of first motor, screw rod bottom is connected with sliding block group, sliding block group and mobile cunning Rail cooperation, two driver plates are hinged in sliding block group, and first motor drives screw rod, screw rod band movable slider group on shifting sledge on Lower slider, the driver plate being hinged in sliding block group act on more bar linkage mechanisms, are driven by the folding of more bar linkage mechanisms mechanical The opening and crawl of hand.
Further, the mobile mould group, including two Y sliding rails, an X sliding rail, a Z sliding rail and X-motor, Y electricity Machine, Z motor, two Y sliding rails are fixedly connected on the two sides of rack, X sliding rail and the cooperation of Y sliding rail, Z sliding rail and the cooperation of X sliding rail, Y electricity Machine controls mobile mould group and moves on Y sliding rail, and X-motor controls mobile mould group and moves on X sliding rail, the mobile mould group of Z motor control It is moved on Z sliding rail.The Z sliding rail of the mobile mould group is connected to the manipulator, is existed by mobile mould group control manipulator X, Y, the movement in Z-direction.
Further, the handgrip component includes connecting plate, the first movable plate, the second movable plate, third movable plate, grabs Plate, first connecting rod, second connecting rod and third connecting rod, two the first movable plates and two the second movable plates are connected to by connecting shaft On fishplate bar, the first movable plate is located on the outside of the second movable plate, and other end and the first connecting rod of two the first movable plates are connected to A first activity board group with a linkage effect, the other end and second connecting rod of two the second movable plates are formed together Link together one the second activity board group with a linkage effect of composition, and the second activity board group is connect with third connecting rod, First movable plate and the second movable plate are connected and are constituted by first connecting rod and second connecting rod by third movable plate Linkage unit with linkage effect, connecting plate, the first movable plate, the second movable plate and third movable plate, which constitute one, to be had The four bar linkage of parallelogram, connecting plate and third movable plate are parallelogram horizontal sides, the first movable plate and the Two movable plates are mobilizable bevel edge, and grasping plate is connected on third movable plate.
Further, connecting hole is provided in the grasping plate, by connecting hole by grasping plate and third movable plate axis connection Together.
It further, further include the first card slot, the second card slot and grabbing groove in the grasping plate, the first card slot and first connect Bar cooperation, the first card slot are stuck on first connecting rod, and the second card slot and second connecting rod cooperation, the second card slot are stuck on second connecting rod. The third movable plate of grasping plate and handgrip component interlocks, the electricity on folding crawl flow chart that grabbing groove passes through four bar linkage Road plate, upward, downward, for grasping plate during grabbing circuit board, grasping plate is with its connection for the second card slot notch for the first card slot notch Hole is fulcrum, and there is the first card slot stress upward to be clamped on first connecting rod, and the second card slot slot has downward stress clamping On second connecting rod, therefore, the stress in grasping plate can divide equally on four bar linkage well.
Further, the manipulator further includes the Suction cup assembly being connected on connecting plate, and Suction cup assembly includes sucker, Sucker is connected with vacuum plant, is vacuumized by vacuum plant, realizes absorption of the Suction cup assembly to circuit board.
Further, the Suction cup assembly, height are at least above grasping plate height when handgrip component maximum opening.
Further, the rack is provided with wheel and card base, card base threadedly adjustable height thereon Degree when mobile, more than the height adjustment to wheel of card base, when needing to place stopping, card base being adjusted, will take turns subcard Firmly.
The opening of handgrip component of the present invention and clamping are that screw rod is driven by first motor, and screw rod band movable slider is slided mobile It is slided up and down on rail, is hinged on sliding block upper shifting board and acts on third connecting rod, the four-rod linkage machine of linkage is driven by third connecting rod Structure, the first movable plate of four bar linkage and the second movable plate are opposite with connecting plate angulation change, to realize connecting plate two sides Four bar linkage relative size change, to adapt to the crawl and clamping of different size circuit board.
Suction cup assembly of the invention extracts vacuum suction circuit board by vacuum plant, and Suction cup assembly passes through mobile mould group The adjustment realized to product space is moved up and down in Z-direction, Suction cup assembly adsorption process, handgrip component is in the open state, So that the sucker on Suction cup assembly protrudes from handgrip component, realize sucker to the vacuum suction of circuit board.
Beneficial effects of the present invention: the present invention passes through the handgrip component of mobile mould group and four bar linkage composition, can The circuit board on flow chart is grabbed well, is especially suitable for grabbing the circuit board of huge communication products, meanwhile, the present invention is also Equipped with vacuum chuck component, also it is suitble to the absorption of null circuit plate (circuit board of no component) fast vacuum, as auxiliary transfer, grabs Symmetrically multiple grasping plates, realization grab the equilibrium of circuit board on the both sides of hand component, can be to avoid crawl process to circuit board Damage.
Detailed description of the invention
Fig. 1 is stereoscopic schematic diagram of the invention.
Fig. 2 is the stereoscopic schematic diagram of the mobile mould group of the present invention.
Fig. 3 is the stereoscopic schematic diagram of manipulator of the present invention.
Fig. 4 is the right view of manipulator of the present invention.
Fig. 5 is the stereoscopic schematic diagram of grasping plate of the present invention.
Wherein: 1- rack, 11- card base, 12- wheel, 2- mobile mould group, 21-X sliding rail, 22-Y sliding rail, 23-Z sliding rail, 24- X-motor, 25-Y motor, 26-Z motor, 3- manipulator, 31- handgrip component, 311- connecting plate, the first movable plate of 312-, 313- Two movable plates, 314- third movable plate, 315- grasping plate, 315a- connecting hole, the first card slot of 315b-, the second card slot of 315c-, 315d- grabbing groove, 316- first connecting rod, 317- second connecting rod, 318- third connecting rod, 319- connecting shaft, 32- gripper frame, 321- are moved Dynamic sliding rail, 322- sliding block group, 323- first motor, 324- screw rod, 325- driver plate, 33- Suction cup assembly, 331- sucker.
Specific embodiment
Brief description is made to embodiments of the present invention with reference to the accompanying drawing.
The present invention discloses a kind of circuit board transfer automatic moving loader, and referring to Fig.1, which includes rack 1, machinery Hand 3 is equipped with mobile mould group 2, the card that the wheel 12 for machine frame movement is provided in rack 1 and is stopped for wheel 12 in rack 1 Foot 11, device need the circuit board of transfer by the crawl of handgrip component 31 of manipulator 3 or by 33 vacuum suction of Suction cup assembly, And the transfer by the mobile realization of manipulator 3 to circuit board.
Referring to Fig. 2, being mounted on the mobile mould group 2 inside rack 1 includes two Z of X sliding rail 21, one of Y sliding rail 22, one sliding Rail 23 and X-motor 24, Y-motor 25, Z motor 26, two Y sliding rails 22 are fixedly connected on the two sides of rack 1, X sliding rail 21 and Y sliding rail 22 cooperations, Z sliding rail 23 and X sliding rail 21 cooperate, and Y-motor 25 controls mobile mould group 2 and moves on Y sliding rail 22, and the control of X-motor 24 moves Dynamic model group 2 moves on X sliding rail 21, and Z motor 26 controls mobile mould group 2 and moves on Z sliding rail 23, the Z sliding rail 23 of mobile mould group 2 It is connected to manipulator 3, the movement of manipulator 3 in the X, Y, Z direction is controlled by mobile mould group 2.
Referring to Fig. 3, manipulator 3 includes handgrip component 31, gripper frame 32 and Suction cup assembly 33, and handgrip component 31 is two right The four bar linkage of title, the connecting plate 311 of handgrip component 31, the first movable plate 312, the second movable plate 313, third movable plate 314 constitute the four bar linkage with parallelogram, and connecting plate 311 is parallel four side with third movable plate 314 Shape horizontal sides, the first movable plate 312 and the second movable plate 313 are mobilizable bevel edge, and two the first movable plates 312 and two the Two movable plates 313 are connected on connecting plate 311 by connecting shaft 319, and the first movable plate 312 is located on the outside of the second movable plate 313, and two A first movable plate, 312 other end and first connecting rod 316, which link together composition one, has the first of a linkage effect Activity board group, two 313 other ends of the second movable plate and second connecting rod 317 connect composition one, and there is a linkage to make Second activity board group, third movable plate 314 is by first connecting rod 316 and second connecting rod 317 by the first movable plate 312 and the Two movable plates 313, which connect, constitutes the linkage unit with linkage effect, and grasping plate 315 is connected to by connecting hole 315a On three movable plates 314, the first card slot 315b notch of grasping plate 315 is clamped on upward on first connecting rod 316, and the second of grasping plate 315 Card slot 315c notch is clamped on downward on second connecting rod 317, and handgrip component 31 is connected under gripper frame 32 by connecting plate 311 Side, gripper frame 32 include shifting sledge 321 and two movable plates 325, inside first motor 323, first motor 323 are installed Output shaft on be connected with screw rod 324,324 bottom of screw rod is connected with sliding block group 322, and sliding block group 322 and shifting sledge 321 are matched It closes, two movable plates 325 are hinged in sliding block group 322, and the other end of two movable plates 325 and the third of handgrip component 31 connect Bar 318 connects.
Referring to Fig. 3, manipulator 3 of the present invention is also provided with Suction cup assembly 33, and Suction cup assembly 33 connects under connecting plate 311 Side, Suction cup assembly 33 include multiple suckers 331, and sucker 331 is connected with vacuum plant, vacuumized by vacuum plant, realize and inhale Disk group 33 adsorb circuit board, the height of grasping plate 315 when the height of Suction cup assembly 33 is at least above grabbing assembly maximum opening.
The present invention can be grabbed to circuit board or vacuum suction, realizes the transfer process of circuit board, handgrip component 31 The symmetrical multiple grasping plates 315 in both sides realize and grab to the equilibrium of circuit board, can damage to avoid crawl process to circuit board, The bigger circuit board of length, width can be grabbed, the crawl of the huge communication products circuit board of the prior art is efficiently solved, moves Move difficult problem.
It is obvious to a person skilled in the art that invention is not limited to the details of the above exemplary embodiments, Er Qie In the case where without departing substantially from spirit or essential attributes of the invention, the present invention can be realized in other specific forms.Therefore, no matter From the point of view of which point, the present embodiments are to be considered as illustrative and not restrictive, and the scope of the present invention is by appended power Benefit requires rather than above description limits, it is intended that all by what is fallen within the meaning and scope of the equivalent elements of the claims Variation is included within the present invention.Any reference signs in the claims should not be construed as limiting the involved claims.
In addition, it should be understood that although this specification is described in terms of embodiments, but not each embodiment is only wrapped Containing an independent technical solution, this description of the specification is merely for the sake of clarity, and those skilled in the art should It considers the specification as a whole, the technical solutions in the various embodiments may also be suitably combined, forms those skilled in the art The other embodiments being understood that.

Claims (8)

1. a kind of circuit board automatic moving loader, it is characterised in that: including rack, manipulator, mobile mould group is installed in rack, The mobile mould group connection manipulator, the manipulator include handgrip component and gripper frame, described in gripper frame connection Mobile mould group and the handgrip component, the handgrip component include connecting plate and multiple movable plates, multiple connecting rods composition Have more bar linkage mechanisms, the linkage mechanism connect a mobilizable driver plate connected with gripper frame, the handgrip First motor is set in frame, is connected with screw rod on the output shaft of first motor, screw rod bottom is connected with sliding block group, sliding block group and shifting Dynamic sliding rail cooperation, two driver plates are hinged in sliding block group, and first motor drives screw rod, and screw rod band movable slider group is in shifting sledge On slide up and down, the driver plate being hinged in sliding block group acts on more bar linkage mechanisms, by more bar linkage mechanisms folding drive The opening and crawl of manipulator.
2. a kind of circuit board automatic moving loader according to claim 1, it is characterised in that: the mobile mould group includes Two Y sliding rails, an X sliding rail, a Z sliding rail and X-motor, Y-motor, Z motor, two Y sliding rails are fixedly connected on the two of rack Side, X sliding rail and the cooperation of Y sliding rail, Z sliding rail and the cooperation of X sliding rail, Y-motor control mobile mould group and move on Y sliding rail, X-motor control Mobile mould group moves on X sliding rail, and the mobile mould group of Z motor control moves on Z sliding rail, and the Z sliding rail of mobile mould group is connected to institute The manipulator stated, by the movement of mobile mould group control manipulator in the X, Y, Z direction.
3. a kind of circuit board automatic moving loader according to claim 1, it is characterised in that: the handgrip component, packet Include connecting plate, the first movable plate, the second movable plate, third movable plate, grasping plate, first connecting rod, second connecting rod, third connecting rod, two A first movable plate and two the second movable plates are connected on connecting plate by connecting shaft, and the first movable plate is located at outside the second movable plate Side, two the first movable plates, other end and first connecting rod link together composition one with linkage effect the One activity board group, the other end and second connecting rod of two the second movable plates link together composition one, and there is a linkage to make Second activity board group, the second activity board group are connect with third connecting rod, and third movable plate passes through first connecting rod and second connecting rod First movable plate and the second movable plate are linked together and constitute the linkage unit with linkage effect, connecting plate, First movable plate, the second movable plate, third movable plate constitute the four bar linkage with parallelogram, connecting plate It is parallelogram horizontal sides with third movable plate, the first movable plate and the second movable plate are mobilizable bevel edge, grasping plate connection On third movable plate.
4. a kind of circuit board automatic moving loader according to claim 1, it is characterised in that: the grasping plate is set thereon Set connecting hole, by connecting hole by grasping plate and third movable plate axis connection together.
5. a kind of circuit board automatic moving loader according to claim 4, it is characterised in that: the grasping plate, thereon also Including the first card slot, the second card slot and grabbing groove, the first card slot and first connecting rod cooperation, the first card slot are stuck on first connecting rod, Second card slot and second connecting rod cooperation, the second card slot is stuck on second connecting rod, the first card slot notch upward, the second card slot notch court Under.
6. a kind of circuit board automatic moving loader according to claim 1, it is characterised in that: the manipulator further includes The Suction cup assembly being connected on connecting plate, Suction cup assembly include sucker, and sucker is connected with vacuum plant.
7. a kind of circuit board automatic moving loader according to claim 6, it is characterised in that: the Suction cup assembly, Grasping plate height when height is at least above grabbing assembly maximum opening.
8. a kind of circuit board automatic moving loader according to claim 1, it is characterised in that: the rack is set thereon Wheel and card base are set, card base is threadedly to adjust height.
CN201910832911.3A 2019-09-04 2019-09-04 A kind of circuit board automatic moving loader Pending CN110451253A (en)

Priority Applications (1)

Application Number Priority Date Filing Date Title
CN201910832911.3A CN110451253A (en) 2019-09-04 2019-09-04 A kind of circuit board automatic moving loader

Applications Claiming Priority (1)

Application Number Priority Date Filing Date Title
CN201910832911.3A CN110451253A (en) 2019-09-04 2019-09-04 A kind of circuit board automatic moving loader

Publications (1)

Publication Number Publication Date
CN110451253A true CN110451253A (en) 2019-11-15

Family

ID=68490759

Family Applications (1)

Application Number Title Priority Date Filing Date
CN201910832911.3A Pending CN110451253A (en) 2019-09-04 2019-09-04 A kind of circuit board automatic moving loader

Country Status (1)

Country Link
CN (1) CN110451253A (en)

Cited By (2)

* Cited by examiner, † Cited by third party
Publication number Priority date Publication date Assignee Title
CN110950075A (en) * 2019-12-25 2020-04-03 苏州精濑光电有限公司 Material taking device
CN111703674A (en) * 2020-05-29 2020-09-25 深圳市海铭德科技有限公司 Double-station marking device

Cited By (3)

* Cited by examiner, † Cited by third party
Publication number Priority date Publication date Assignee Title
CN110950075A (en) * 2019-12-25 2020-04-03 苏州精濑光电有限公司 Material taking device
CN110950075B (en) * 2019-12-25 2021-09-17 苏州精濑光电有限公司 Material taking device
CN111703674A (en) * 2020-05-29 2020-09-25 深圳市海铭德科技有限公司 Double-station marking device

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