CN110744579A - Manipulator anchor clamps and flow divider thereof - Google Patents
Manipulator anchor clamps and flow divider thereof Download PDFInfo
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- CN110744579A CN110744579A CN201911151925.5A CN201911151925A CN110744579A CN 110744579 A CN110744579 A CN 110744579A CN 201911151925 A CN201911151925 A CN 201911151925A CN 110744579 A CN110744579 A CN 110744579A
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- Prior art keywords
- flow divider
- negative pressure
- main body
- air
- cylinder
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- B—PERFORMING OPERATIONS; TRANSPORTING
- B25—HAND TOOLS; PORTABLE POWER-DRIVEN TOOLS; MANIPULATORS
- B25J—MANIPULATORS; CHAMBERS PROVIDED WITH MANIPULATION DEVICES
- B25J15/00—Gripping heads and other end effectors
- B25J15/06—Gripping heads and other end effectors with vacuum or magnetic holding means
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- B—PERFORMING OPERATIONS; TRANSPORTING
- B25—HAND TOOLS; PORTABLE POWER-DRIVEN TOOLS; MANIPULATORS
- B25J—MANIPULATORS; CHAMBERS PROVIDED WITH MANIPULATION DEVICES
- B25J15/00—Gripping heads and other end effectors
- B25J15/06—Gripping heads and other end effectors with vacuum or magnetic holding means
- B25J15/0616—Gripping heads and other end effectors with vacuum or magnetic holding means with vacuum
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- B—PERFORMING OPERATIONS; TRANSPORTING
- B65—CONVEYING; PACKING; STORING; HANDLING THIN OR FILAMENTARY MATERIAL
- B65G—TRANSPORT OR STORAGE DEVICES, e.g. CONVEYORS FOR LOADING OR TIPPING, SHOP CONVEYOR SYSTEMS OR PNEUMATIC TUBE CONVEYORS
- B65G47/00—Article or material-handling devices associated with conveyors; Methods employing such devices
- B65G47/74—Feeding, transfer, or discharging devices of particular kinds or types
- B65G47/90—Devices for picking-up and depositing articles or materials
- B65G47/91—Devices for picking-up and depositing articles or materials incorporating pneumatic, e.g. suction, grippers
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- F—MECHANICAL ENGINEERING; LIGHTING; HEATING; WEAPONS; BLASTING
- F16—ENGINEERING ELEMENTS AND UNITS; GENERAL MEASURES FOR PRODUCING AND MAINTAINING EFFECTIVE FUNCTIONING OF MACHINES OR INSTALLATIONS; THERMAL INSULATION IN GENERAL
- F16K—VALVES; TAPS; COCKS; ACTUATING-FLOATS; DEVICES FOR VENTING OR AERATING
- F16K11/00—Multiple-way valves, e.g. mixing valves; Pipe fittings incorporating such valves
- F16K11/10—Multiple-way valves, e.g. mixing valves; Pipe fittings incorporating such valves with two or more closure members not moving as a unit
- F16K11/20—Multiple-way valves, e.g. mixing valves; Pipe fittings incorporating such valves with two or more closure members not moving as a unit operated by separate actuating members
- F16K11/22—Multiple-way valves, e.g. mixing valves; Pipe fittings incorporating such valves with two or more closure members not moving as a unit operated by separate actuating members with an actuating member for each valve, e.g. interconnected to form multiple-way valves
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- F—MECHANICAL ENGINEERING; LIGHTING; HEATING; WEAPONS; BLASTING
- F16—ENGINEERING ELEMENTS AND UNITS; GENERAL MEASURES FOR PRODUCING AND MAINTAINING EFFECTIVE FUNCTIONING OF MACHINES OR INSTALLATIONS; THERMAL INSULATION IN GENERAL
- F16K—VALVES; TAPS; COCKS; ACTUATING-FLOATS; DEVICES FOR VENTING OR AERATING
- F16K31/00—Actuating devices; Operating means; Releasing devices
- F16K31/12—Actuating devices; Operating means; Releasing devices actuated by fluid
- F16K31/122—Actuating devices; Operating means; Releasing devices actuated by fluid the fluid acting on a piston
- F16K31/1225—Actuating devices; Operating means; Releasing devices actuated by fluid the fluid acting on a piston with a plurality of pistons
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- Engineering & Computer Science (AREA)
- Mechanical Engineering (AREA)
- General Engineering & Computer Science (AREA)
- Robotics (AREA)
- Manipulator (AREA)
Abstract
The invention discloses a manipulator clamp and a diverter valve thereof.A slide rail frame assembly is arranged at the upper end and the lower end of the diverter valve, two clamp sucker negative pressure box bodies are connected to each slide rail frame assembly in a sliding manner, and the distance between the two clamp sucker negative pressure box bodies can be adjusted by adjusting a sliding locking device, so that the manipulator clamp is suitable for circuit boards with different sizes and specifications; the structure is simple and the use is convenient, an air chamber is arranged in the flow divider, the air chamber is communicated with an external vacuum pumping device through a wire pipe air outlet hole, and an upper air pumping channel and a lower air pumping channel are formed by two wire pipe air inlets and the negative pressure box of the clamp suckers at the upper end and the lower end; automatic ventilation control switches are respectively arranged on the upper air exhaust channel and the lower air exhaust channel, and the control system can completely control the upper and lower suction plates and the lower suction plate through controlling the automatic ventilation control switches; the structure is simple, and the control is convenient; the fixture sucker negative pressure box body is adopted, each adsorption air hole is communicated with the negative pressure cavity, and the adsorption force is more balanced.
Description
Technical Field
The invention belongs to the technical field of circuit board detection equipment, and particularly relates to a shunt valve and a manipulator clamp thereof.
Background
At present, in the process of processing and producing a PC-version circuit board, in order to save labor cost, a robot is adopted for automatic operation, for example, in an automatic board loading and unloading system for double-sided AOI detection of a circuit board and a process flow thereof in patent CN105600436B, a manipulator clamp is disclosed, a machine can suck boards on two sides, and the operation is more flexible for board taking, board placing and board turning; however, in the existing manipulator clamp capable of sucking the plates from two sides, a small-sized sucking disc is arranged at a sucking point, the pipeline structure is relatively complex, the sucking force of each sucking disc is unbalanced, and the plate taking and placing are not convenient to control uniformly; meanwhile, the distance between every two suckers cannot be adjusted, so that the automatic feeding device is not suitable for circuit boards of different sizes, and is not strong in applicability.
Disclosure of Invention
In order to overcome the defects of the prior art, the invention has one of the purposes that: the manipulator clamp can absorb boards on two sides, has balanced absorption force, is more suitable for circuit boards with different sizes and specifications, and has strong applicability.
The technical scheme adopted by the invention for solving the technical problem of one purpose of the invention is as follows:
the utility model provides a manipulator anchor clamps which characterized in that: the device comprises a flow divider valve, a sliding rail frame component, a sliding locking device and a clamp sucker negative pressure box body;
the fixture sucker negative pressure box body comprises a box main body, wherein a negative pressure cavity is arranged in the box main body, one side surface of the box main body is an adsorption plane, and a plurality of adsorption air holes which are communicated with the negative pressure cavity and used for adsorbing products are formed in the adsorption plane of the box main body; the box main body is provided with an exhaust pipe connector communicated with the negative pressure cavity;
the flow divider is fixedly arranged on the wall of the manipulator; the two ends of the flow divider valve are symmetrically provided with sliding rail frame assemblies; each sliding rail frame component is connected with two fixture sucker negative pressure box bodies in a sliding manner, and each fixture sucker negative pressure box body is connected to the sliding rail frame component in a sliding manner through a sliding locking device; the sliding locking device is used for adjusting the relative distance between the two fixture sucker negative pressure box bodies on the same sliding rail frame component or locking the relative positions of the two fixture sucker negative pressure box bodies;
the fixture sucker negative pressure box body arranged at the upper end of the flow divider valve and the fixture sucker negative pressure box body arranged at the lower end of the flow divider valve are arranged in a reverse direction, and the upper side surface of the fixture sucker negative pressure box body arranged at the upper end and the lower side surface of the fixture sucker negative pressure box body arranged at the lower end are adsorption planes;
an air chamber is arranged inside the flow divider; the flow divider is provided with a spool air outlet hole communicated with the air chamber and two spool air inlet holes communicated with the air chamber; the line pipe air outlet is used for being communicated with an external air exhaust pipeline; one spool air inlet is communicated with two clamp sucker negative pressure box bodies arranged at the upper end of the flow divider through a three-way pipeline to form an upper air exhaust channel; the other line pipe air inlet is communicated with two clamp sucker negative pressure box bodies arranged at the lower end of the flow divider main body through a three-way pipeline to form a lower air exhaust channel; the upper air exhaust channel and the lower air exhaust channel are respectively provided with an automatic ventilation control switch for controlling the connection or disconnection of the air exhaust channels.
According to the technical scheme, the manipulator clamp is provided with the shunt valve, the upper end and the lower end of the shunt valve are provided with the slide rail frame assemblies, each slide rail frame assembly is connected with two clamp sucker negative pressure box bodies in a sliding mode, the distance between the two clamp sucker negative pressure box bodies can be adjusted by adjusting the sliding locking device, and therefore the manipulator clamp is suitable for circuit boards of different sizes and specifications; the structure is simple and the use is convenient, an air chamber is arranged in the flow divider, the air chamber is communicated with an external vacuum pumping device through a wire pipe air outlet hole, and an upper air pumping channel and a lower air pumping channel are formed by two wire pipe air inlets and the negative pressure box of the clamp suckers at the upper end and the lower end; automatic ventilation control switches are respectively arranged on the upper air exhaust channel and the lower air exhaust channel, and the control system can completely control the upper and lower suction plates and the lower suction plate through controlling the automatic ventilation control switches; the structure is simple, and the control is convenient; the fixture sucker negative pressure box body is adopted, each adsorption air hole is communicated with the negative pressure cavity, and the adsorption force is more balanced.
In some embodiments, the negative pressure cavity of the negative pressure box body of the clamp sucker comprises a front end cavity at the front end and a rear end cavity at the rear end, and a communication control device for controlling the communication or non-communication of the front end cavity and the rear end cavity is arranged between the front end cavity and the rear end cavity; the front end cavity and the rear end cavity are both provided with a plurality of adsorption air holes which penetrate through the lower surface of the box main body and are used for adsorbing products; the air exhaust pipe connecting port is communicated with the front end cavity or the rear end cavity. Further promote the suitability to different size specification circuit boards.
In certain embodiments, the diverter valve comprises a connecting flange, a diverter valve body; the main body of the flow divider is fixedly connected to one end of a connecting flange, and the other end of the connecting flange is used for connecting a mechanical arm; mounting plates for mounting the sliding rail frame assemblies are arranged at the two ends of the flow divider main body; an air chamber is arranged in the flow divider main body; the main body of the flow divider is provided with a spool air outlet hole communicated with the air chamber and two spool air inlet holes communicated with the air chamber; the other side that the flow divider main part corresponds every spool inlet port all is equipped with the cylinder mounting hole, cylinder mounting hole department seal installation has the cylinder, the telescopic link of cylinder is located the air chamber, be equipped with the end cap on the telescopic link, the end cap is used for the shutoff to close corresponding spool inlet port or open corresponding spool inlet port under cylinder telescopic control. The cylinder is an implementation mode of an automatic ventilation control switch.
In some embodiments, the slide locking device comprises a slider mounting seat, a locking press block, a locking threaded shaft and a locking handle; the fixture sucker negative pressure box body is fixedly connected to the slide block mounting seat, and two ends of the locking seat stretch over the slide rail of the slide rail frame component and are fixed on the slide block mounting seat and respectively positioned at two sides of the slide rail; the middle part of the locking seat is provided with a through threaded hole corresponding to the slide rail, a locking threaded shaft is arranged in the through threaded hole, and one end of the locking threaded shaft, which is close to the slide rail, is provided with a locking pressing block; a locking handle is arranged at one end of the locking threaded shaft, which is far away from the sliding rail; the locking handle is rotated, and the locking threaded shaft is adjusted to enable the locking pressing block and the sliding rail to be close to each other and abut against each other, so that the locking position is possible; through rotatory locking handle, thereby adjust locking threaded shaft and make locking briquetting and slide rail keep away from each other thereby open the locking position also can.
In some embodiments, the slide rail frame assembly comprises two parallel slide rails; the two ends of the sliding rail frame component connected with the upper end of the flow divider valve and the two ends of the sliding rail frame component connected with the lower end of the flow divider valve are respectively provided with an I-shaped supporting rod for supporting connection.
In some embodiments, the manipulator clamp is respectively provided with a diffuse reflection inductor for inducing whether the upper and lower adsorption planes are adsorbed with the circuit board;
the communication control device comprises a cylinder mounting plate, an isolation baffle plate, a movable baffle plate and a small telescopic cylinder; the isolation baffle is arranged between the front end cavity and the rear end cavity to seal and isolate the two cavities; the isolation baffle is provided with a first communication opening for communicating the front end cavity with the rear end cavity; the cylinder mounting plate is fixed on the box main body and is provided with a second communication opening; the small telescopic cylinder is fixed on the cylinder mounting plate; the telescopic rod of the small telescopic cylinder penetrates through the first communication opening of the isolation baffle and is connected with the movable baffle; the movable baffle is matched with the first communication opening and used for sealing the first communication opening under the telescopic control of the telescopic rod or opening the first communication opening under the telescopic control of the telescopic rod;
the isolating baffle is provided with a guide rail, the movable baffle is in sliding connection and matching with the guide rail, and the small telescopic cylinder controls the movable baffle to slide on the guide rail to open or block the first communicating opening;
the box body is characterized in that a cylinder connector used for communicating the small telescopic cylinder with an external pneumatic control device is arranged on the wall body of the box body, the outer side wall of the cylinder connector is hermetically arranged on the wall body of the box body, one end of the cylinder connector, which is positioned in the negative pressure cavity, is used for being connected with the small telescopic cylinder, and one end of the cylinder connector, which is positioned outside the negative pressure cavity, is used for being connected with the external pneumatic control device;
the lower surface of case main part is equipped with one deck sponge sucking disc, the sponge sucking disc corresponds the absorption gas pocket and is equipped with the perforating hole.
The second object of the present invention is: a diverter valve is provided for use in the above-described robot clamp.
The second purpose of the invention is solved by the application, and the adopted technical scheme is as follows:
a flow divider valve, its characterized in that: comprises a connecting flange and a main body of the flow divider; the main body of the flow divider is fixedly connected to one end of a connecting flange, and the other end of the connecting flange is used for connecting a mechanical arm; the upper end and the lower end of the flow divider main body are respectively provided with a mounting plate for mounting the sliding rail frame assembly; an air chamber is arranged in the flow divider main body; at least one spool air outlet hole communicated with the air chamber is formed in the left side surface or the right side surface of the flow divider main body; the main body of the diverter valve is provided with at least two line pipe air inlets communicated with the air chamber; the other side that the flow divider main part corresponds every spool inlet port all is equipped with the cylinder mounting hole that corresponds with the spool inlet port, cylinder mounting hole department seal installation has the cylinder, the telescopic link of cylinder is located the air chamber, be equipped with the end cap on the telescopic link, the end cap is used for the shutoff to close corresponding spool inlet port or open corresponding spool inlet port under cylinder telescopic control.
In some embodiments, the plug comprises a sealing gasket pressing block, a plug gasket and a plug connecting seat, the plug connecting seat is fixedly connected to a telescopic rod of the air cylinder, the plug gasket is fixed to one end, close to the spool air inlet, of the plug connecting seat through a plug gasket pressing block screw, the diameter of the plug gasket is larger than that of the spool air inlet, and the diameter of the plug electric pressing block is smaller than or equal to that of the spool air inlet.
In some embodiments, the connecting flange is a hollow pipe, and the main body of the diverter valve is provided with flange connecting ports at the middle positions of the front side surface and the rear side surface; one end of the connecting flange penetrates through a flange connecting port on the rear side face of the main body of the flow divider, the outer side wall of the end part of the connecting flange is hermetically connected to the flange connecting port on the front side face of the main body of the flow divider, and the end part of the connecting flange is provided with a sealing plug of a sealing hollow pipe; the other end of the connecting flange is connected with an external device in a sealed hollow tube manner.
In some embodiments, a section of the hollow tube located in the gas chamber is provided with through gas holes for facilitating gas fluid.
The invention has the beneficial effects that: the invention discloses a manipulator clamp.A slide rail frame assembly is arranged at the upper end and the lower end of a flow divider valve, each slide rail frame assembly is connected with two clamp sucker negative pressure box bodies in a sliding way, and the distance between the two clamp sucker negative pressure box bodies can be adjusted by adjusting a sliding locking device, so that the manipulator clamp is suitable for circuit boards with different sizes and specifications; the structure is simple and the use is convenient, an air chamber is arranged in the flow divider, the air chamber is communicated with an external vacuum pumping device through a wire pipe air outlet hole, and an upper air pumping channel and a lower air pumping channel are formed by two wire pipe air inlets and the negative pressure box of the clamp suckers at the upper end and the lower end; automatic ventilation control switches are respectively arranged on the upper air exhaust channel and the lower air exhaust channel, and the control system can completely control the upper and lower suction plates and the lower suction plate through controlling the automatic ventilation control switches; the structure is simple, and the control is convenient; the fixture sucker negative pressure box body is adopted, each adsorption air hole is communicated with the negative pressure cavity, and the adsorption force is more balanced.
According to the flow divider, the automatic ventilation control switch is arranged on the flow divider, so that the flow divider is stable in structure and convenient to use, and can be suitable for the manipulator clamp; but also can be applied to other devices of the same type.
Drawings
The invention is further illustrated with reference to the following figures and examples.
FIG. 1 is a schematic diagram of a robot clamp according to an embodiment of the present disclosure;
FIG. 2 is an enlarged schematic view of region A of FIG. 1;
fig. 3 is a schematic structural view of an appearance of a flow dividing valve according to an embodiment of the present application;
FIG. 4 is a schematic axial side perspective view of a diverter valve as described in certain embodiments herein;
FIG. 5 is a schematic cross-sectional view of a diverter valve as described in an embodiment of the present application;
FIG. 6 is a schematic cross-sectional view of a suction box of a chuck of an embodiment of the present application;
FIG. 7 is a schematic top view of a perspective internal structure of a fixture suction cup vacuum box as described in an embodiment of the present application;
fig. 8 is a schematic perspective axial view of a suction cup vacuum box of a clamp according to an embodiment of the present disclosure.
Detailed Description
The present invention will now be described in further detail with reference to the accompanying drawings. These drawings are simplified schematic views illustrating only the basic structure of the present invention in a schematic manner, and thus show only the constitution related to the present invention.
In the description of the present application, it is to be understood that the terms "longitudinal," "radial," "length," "width," "thickness," "upper," "lower," "left," "right," "front," "rear," "vertical," "horizontal," "top," "bottom," "inner," "outer," and the like are used in the orientations and positional relationships indicated in the drawings for convenience in describing the present invention and for simplicity in description, and are not intended to indicate or imply that the referenced devices or elements must have a particular orientation, be constructed and operated in a particular orientation, and are not to be construed as limiting the present invention. In the description of the present application, "a plurality" means two or more unless otherwise specified.
In the description of the present application, it is to be noted that, unless otherwise explicitly specified or limited, the terms "mounted," "connected," and "connected" are to be construed broadly, e.g., as meaning either a fixed connection, a removable connection, or an integral connection; can be mechanically or electrically connected; they may be connected directly or indirectly through intervening media, or they may be interconnected between two elements. The specific meaning of the above terms in the present application can be understood in a specific case by those of ordinary skill in the art.
A manipulator clamp 100 as shown in fig. 1-8, comprising a diverter valve 1, a sliding rack assembly 2, a sliding locking device 3, a clamp sucker negative pressure box 4;
the fixture sucker negative pressure box body 4 comprises a box main body, wherein a negative pressure cavity 41 is arranged in the box main body, one side surface of the box main body is an adsorption plane, and a plurality of adsorption air holes 42 which are communicated with the negative pressure cavity 41 and used for adsorbing products are arranged on the adsorption plane of the box main body; the box main body is provided with an exhaust pipe connecting port 43 communicated with the negative pressure cavity;
the diverter valve 1 is used for being fixedly arranged on a manipulator wall (not shown); two ends of the flow divider are symmetrically provided with a slide rail frame assembly 2; each sliding rail frame component 2 is connected with two fixture sucker negative pressure box bodies 4 in a sliding manner, and each fixture sucker negative pressure box body 4 is connected to the sliding rail frame component 2 in a sliding manner through a sliding locking device 3; the sliding locking device 3 is used for adjusting the relative distance between the two clamp sucker negative pressure box bodies 4 on the same slide rail frame assembly 2 or locking the relative positions of the two clamp sucker negative pressure box bodies 4;
the fixture sucker negative pressure box body 4 arranged at the upper end of the flow divider valve 1 and the fixture sucker negative pressure box body 4 arranged at the lower end of the flow divider valve 1 are arranged in a reverse direction, and the upper side surface of the fixture sucker negative pressure box body 4 arranged at the upper end and the lower side surface of the fixture sucker negative pressure box body 4 arranged at the lower end are adsorption planes;
as shown in fig. 3-5, an air chamber 11 is arranged inside the flow dividing valve 1; the flow divider 1 is provided with a spool air outlet hole 12 communicated with the air chamber 11 and two spool air inlet holes 13 communicated with the air chamber 11; the line pipe air outlet 12 is used for communicating with an external air suction pipeline (not shown); a spool air inlet 13 is communicated with two clamp sucker negative pressure box bodies 4 arranged at the upper end of the flow divider 1 through a three-way pipeline to form an upper air exhaust channel; the other line pipe air inlet 13 is communicated with two clamp sucker negative pressure box bodies 4 arranged at the lower end of the flow divider 1 through a three-way pipeline to form a lower air exhaust channel; the upper air exhaust channel and the lower air exhaust channel are respectively provided with an automatic ventilation control switch for controlling the connection or disconnection of the air exhaust channels.
According to the technical scheme, the manipulator clamp 100 is provided with the shunt valve 1, the upper end and the lower end of the shunt valve 1 are provided with the slide rail frame assemblies 2, each slide rail frame assembly 2 is connected with two clamp sucker negative pressure box bodies 4 in a sliding mode, the distance between the two clamp sucker negative pressure box bodies 4 can be adjusted by adjusting the sliding locking device 3, and therefore the manipulator clamp is suitable for circuit boards of different sizes and specifications; the structure is simple, the use is convenient, the air chamber 11 is arranged in the flow divider 1, the air chamber 11 is communicated with an external vacuum pumping device through a wire pipe air outlet 12, and an upper air pumping channel and a lower air pumping channel are formed by two wire pipe air inlets 13 and the clamp sucker negative pressure box bodies 4 at the upper end and the lower end; automatic ventilation control switches are respectively arranged on the upper air exhaust channel and the lower air exhaust channel, and the control system can completely control the upper and lower suction plates and the lower suction plate through controlling the automatic ventilation control switches; the structure is simple, and the control is convenient; by adopting the clamp sucker negative pressure box body 4, each adsorption air hole 42 is communicated with the negative pressure cavity 41, and the adsorption force is more balanced. The automated ventilation control switch may use any existing automated electrical control switch.
As shown in fig. 6 to 8, in some embodiments, the negative pressure chamber 41 of the fixture suction cup negative pressure box 4 includes a front end chamber 411 at the front end and a rear end chamber 412 at the rear end, and a communication control device 5 for controlling the communication or non-communication between the front end chamber 411 and the rear end chamber 412 is disposed between the front end chamber 411 and the rear end chamber 412; the front end chamber 411 and the rear end chamber 412 are both provided with a plurality of adsorption air holes 42 which penetrate through the lower surface of the box body and are used for adsorbing products; the suction pipe connection port 43 communicates with the front end chamber 411 or the rear end chamber 412. Further promote the suitability to different size specification circuit boards. When the clamp sucking disc negative pressure box body is used, one cavity or two cavities can be selected for adsorption according to the size of the circuit board, and the adsorption length of the clamp sucking disc negative pressure box body 4 is controlled.
As shown in fig. 3-5, in some embodiments, the diverter valve 1, includes a connecting flange 14, a diverter valve body 10; the flow dividing valve body 10 is fixedly connected to one end of a connecting flange 14, and the other end of the connecting flange 14 is used for connecting a mechanical arm (not shown); mounting plates 16 for mounting the slide rail frame assembly 2 are arranged at two ends of the flow divider main body 10; an air chamber 11 is arranged in the flow divider main body 10; the flow divider main body 10 is provided with a conduit outlet hole 12 communicated with the air chamber 11 and two conduit inlet holes 13 communicated with the air chamber 11; the opposite side that flow divider main part 10 corresponds every spool inlet port 13 all is equipped with the cylinder mounting hole, cylinder mounting hole department seal mounting has cylinder 15, the telescopic link of cylinder 15 is located air chamber 11, be equipped with the end cap on the telescopic link, the end cap is used for the shutoff to close corresponding spool outlet port 13 or open corresponding spool outlet port 13 under cylinder 15 telescopic control, cylinder 15 is the implementation mode of an automatic ventilation control switch promptly.
As shown in fig. 1-2, in some embodiments, the slide locking device 3 includes a slider mounting seat 31, a locking seat 32, a locking press 33, a locking threaded shaft 34, and a locking handle 35; the slide block mounting seat 31 is provided with a slide block for being connected to a slide rail of the slide rail assembly 2 in a sliding manner, the fixture sucker negative pressure box body 4 is fixedly connected to the slide block mounting seat 31, and two ends of the locking seat 32 stretch over the slide rail of the slide rail assembly 2 to be fixed on the slide block mounting seat 31 and are respectively positioned at two sides of the slide rail; the middle part of the locking seat 32 is provided with a through threaded hole corresponding to the slide rail, a locking threaded shaft 34 is arranged in the through threaded hole, and one end of the locking threaded shaft 34 close to the slide rail is provided with a locking pressing block 33; a locking handle 35 is arranged at one end of the locking threaded shaft 34 far away from the slide rail; by rotating the locking handle 35, the locking threaded shaft 34 is adjusted to enable the locking pressing block 33 and the sliding rail to be close to each other and abut against each other, so that the locking position is possible; it is also possible to open the locked position by rotating the locking knob 35 and adjusting the locking threaded shaft 34 to move the locking press 33 and the slide away from each other.
As shown in fig. 1, in some embodiments, the rack assembly 2 includes two parallel racks; and two ends of the slide rail frame assembly 2 connected with the upper end of the flow divider 1 and two ends of the slide rail frame assembly 2 connected with the lower end of the flow divider 1 are respectively provided with an I-shaped support rod 21 for supporting connection. The structure is more stable and firm. In some embodiments, the I-shaped support rod 21 is preferably a removable mounting structure.
As shown in fig. 1, in some embodiments, the robot clamp 100 is respectively provided with a diffuse reflection sensor 101 for sensing whether the circuit board is adsorbed on the upper and lower adsorption planes;
as shown in fig. 6-8, the communication control device 5 comprises a cylinder mounting plate 51, an isolation baffle plate 52, a movable baffle plate 53, and a small telescopic cylinder 54; the isolation baffle 52 is arranged between the front end chamber 411 and the rear end chamber 412 to seal and isolate the two chambers; the isolation baffle 52 is provided with a first communication opening 521 for communicating the front end chamber 411 and the rear end chamber 412; the cylinder mounting plate 51 is fixed to the box main body and is provided with a second communication opening 511; the small telescopic cylinder 54 is fixed on the cylinder mounting plate 51; the telescopic rod of the small telescopic cylinder 54 passes through the first communication opening 521 of the isolation baffle plate 52 and is connected with the movable baffle plate 53; the movable baffle 53 is matched with the first communication opening 521 and is used for sealing the first communication opening 521 under the telescopic control of the telescopic rod or opening the first communication opening 521 under the telescopic control of the telescopic rod;
the isolating baffle 53 is provided with a guide rail 522, the movable baffle 53 is in sliding connection and matching with the guide rail 522, and the small telescopic cylinder 54 controls the movable baffle 53 to slide on the guide rail 522 to open or close the first communication opening 521;
a cylinder connector 44 for communicating the small telescopic cylinder 54 with an external pneumatic control device is arranged on the wall body of the box main body, the outer side wall of the cylinder connector 44 is hermetically installed on the wall body of the box main body, one end of the cylinder connector 44, which is positioned in the negative pressure cavity 41, is used for being connected with the small telescopic cylinder 54, and one end of the cylinder connector 44, which is positioned outside the negative pressure cavity 41, is used for being connected with the external pneumatic control device (not shown);
the lower surface of the box main body is provided with a layer of sponge suction cups 45, and the sponge suction cups 45 are provided with through holes 451 corresponding to the adsorption air holes 41.
The second object of the present invention is: a diverter valve 1 is provided that can be used in the robot clamp 100 described above.
The second purpose of the invention is solved by the application, and the adopted technical scheme is as follows:
a diverter valve 1 as shown in fig. 3-5, comprising a connecting flange 14, a diverter valve body 10; the main body 10 of the flow dividing valve is fixedly connected to one end of a connecting flange 14, and the other end of the connecting flange 14 is used for connecting an external device (in this embodiment, the external device may be a mechanical arm); the upper end and the lower end of the flow divider main body 10 are respectively provided with a mounting plate 16 for mounting a slide rail frame assembly; an air chamber 11 is arranged in the flow divider main body 10; the left side surface or the right side surface of the flow divider main body 10 is provided with at least one conduit outlet hole 12 (in some embodiments, a plurality of conduit outlet holes 12 can be arranged as required) communicated with the air chamber 11; the flow divider body 10 is provided with at least two conduit inlet holes 13 (in some embodiments, more conduit outlet holes can be provided as required) which are communicated with the air chamber 11; the opposite side that flow divider main part 10 corresponds every spool inlet port 13 all is equipped with the cylinder mounting hole that corresponds with spool inlet port 13, cylinder mounting hole department seal mounting has cylinder 15, the telescopic link of cylinder 15 is located air chamber 11, be equipped with the end cap on the telescopic link, the end cap is used for the shutoff to close corresponding spool inlet port 13 or open corresponding spool inlet port 13 under the flexible control of cylinder.
As shown in fig. 5, in some embodiments, the plug includes a sealing gasket pressing block 18, a plug gasket 17, and a plug connecting seat 16, the plug connecting seat 16 is fixedly connected to the telescopic rod of the air cylinder 15, the plug gasket 17 is fixed to one end of the plug connecting seat 16 close to the conduit inlet hole 13 through a plug gasket pressing block 18, the diameter of the plug gasket 17 is greater than that of the conduit inlet hole 13, and the diameter of the plug electronic pressing block 18 is smaller than or equal to that of the conduit inlet hole 13.
In some embodiments, as shown in fig. 5, the connecting flange 14 is a hollow tube, and the main body 10 of the diverter valve is provided with flange connecting ports at the middle positions of the front and rear sides; one end of the connecting flange 14 penetrates through a flange connecting port on the rear side surface of the main body of the diverter valve, the outer side wall of the end part of the connecting flange is hermetically connected to the flange connecting port on the front side surface of the main body 10 of the diverter valve, and the end part of the end of the connecting flange 14 is provided with a sealing plug 141 of a sealing hollow pipe; the other end of the connecting flange 14 is connected with an external device in a sealed hollow tube type. In this embodiment, the external device is a robot arm, and in other embodiments, the external device may be other automatic devices for movement.
In some embodiments, the section of the hollow tube located in the air chamber 11 is provided with through air holes 142 for facilitating the air circulation.
In light of the foregoing description of the preferred embodiment of the present invention, many modifications and variations will be apparent to those skilled in the art without departing from the spirit and scope of the invention. The technical scope of the present invention is not limited to the content of the specification, and must be determined according to the scope of the claims.
Claims (10)
1. The utility model provides a manipulator anchor clamps which characterized in that: the device comprises a flow divider valve, a sliding rail frame component, a sliding locking device and a clamp sucker negative pressure box body;
the fixture sucker negative pressure box body comprises a box main body, wherein a negative pressure cavity is arranged in the box main body, one side surface of the box main body is an adsorption plane, and a plurality of adsorption air holes which are communicated with the negative pressure cavity and used for adsorbing products are formed in the adsorption plane of the box main body; the box main body is provided with an exhaust pipe connector communicated with the negative pressure cavity;
the flow divider is fixedly arranged on the wall of the manipulator; the two ends of the flow divider valve are symmetrically provided with sliding rail frame assemblies; each sliding rail frame component is connected with two fixture sucker negative pressure box bodies in a sliding manner, and each fixture sucker negative pressure box body is connected to the sliding rail frame component in a sliding manner through a sliding locking device; the sliding locking device is used for adjusting the relative distance between the two fixture sucker negative pressure box bodies on the same sliding rail frame component or locking the relative positions of the two fixture sucker negative pressure box bodies;
the fixture sucker negative pressure box body arranged at the upper end of the flow divider valve and the fixture sucker negative pressure box body arranged at the lower end of the flow divider valve are arranged in a reverse direction, and the upper side surface of the fixture sucker negative pressure box body arranged at the upper end and the lower side surface of the fixture sucker negative pressure box body arranged at the lower end are adsorption planes;
an air chamber is arranged inside the flow divider; the flow divider is provided with a spool air outlet hole communicated with the air chamber and two spool air inlet holes communicated with the air chamber; the line pipe air outlet is used for being communicated with an external air exhaust pipeline; one spool air inlet is communicated with two clamp sucker negative pressure box bodies arranged at the upper end of the main body of the flow divider through a three-way pipeline to form an upper air exhaust channel; the other line pipe air inlet is communicated with two clamp sucker negative pressure box bodies arranged at the lower end of the flow divider main body through a three-way pipeline to form a lower air exhaust channel; the upper air exhaust channel and the lower air exhaust channel are respectively provided with an automatic ventilation control switch for controlling the connection or disconnection of the air exhaust channels.
2. The manipulator clamp according to claim 1, characterized in that: the negative pressure cavity of the negative pressure box body of the clamp sucker comprises a front end cavity chamber positioned at the front end and a rear end cavity chamber positioned at the rear end, and a communication control device for controlling the communication or non-communication of the front end cavity chamber and the rear end cavity chamber is arranged between the front end cavity chamber and the rear end cavity chamber; the front end cavity and the rear end cavity are both provided with a plurality of adsorption air holes which penetrate through the lower surface of the box main body and are used for adsorbing products; the air exhaust pipe connecting port is communicated with the front end cavity or the rear end cavity.
3. The manipulator clamp according to claim 1, characterized in that: the flow divider comprises a connecting flange and a flow divider main body; the main body of the flow divider is fixedly connected to one end of a connecting flange, and the other end of the connecting flange is used for connecting a mechanical arm; mounting plates for mounting the sliding rail frame assemblies are arranged at the two ends of the flow divider main body; an air chamber is arranged in the flow divider main body; the main body of the flow divider is provided with a spool air outlet hole communicated with the air chamber and two spool air inlet holes communicated with the air chamber; the other side that the flow divider main part corresponds every spool inlet port all is equipped with the cylinder mounting hole, cylinder mounting hole department seal mounting has the cylinder, the telescopic link of cylinder is located the air chamber, be equipped with the end cap on the telescopic link, the end cap is used for the shutoff to close corresponding spool venthole or open corresponding spool venthole under cylinder telescopic control.
4. The manipulator clamp according to claim 1, characterized in that: the sliding locking device comprises a sliding block mounting seat, a locking pressing block, a locking threaded shaft and a locking handle; the fixture sucker negative pressure box body is fixedly connected to the slide block mounting seat, and two ends of the locking seat stretch over the slide rail of the slide rail frame component and are fixed on the slide block mounting seat and respectively positioned at two sides of the slide rail; the middle part of the locking seat is provided with a through threaded hole corresponding to the slide rail, a locking threaded shaft is arranged in the through threaded hole, and one end of the locking threaded shaft, which is close to the slide rail, is provided with a locking pressing block; a locking handle is arranged at one end of the locking threaded shaft, which is far away from the sliding rail; the locking handle is rotated, and the locking threaded shaft is adjusted to enable the locking pressing block and the sliding rail to be close to each other and abut against each other, so that the locking position is possible; through rotatory locking handle, thereby adjust locking threaded shaft and make locking briquetting and slide rail keep away from each other thereby open the locking position also can.
5. The manipulator clamp according to claim 1, characterized in that: the slide rail frame assembly comprises two slide rails which are arranged in parallel; the two ends of the sliding rail frame component connected with the upper end of the flow divider valve and the two ends of the sliding rail frame component connected with the lower end of the flow divider valve are respectively provided with an I-shaped supporting rod for supporting connection.
6. The manipulator clamp according to claim 2, characterized in that: the manipulator clamp is respectively provided with a diffuse reflection inductor for inducing whether the upper and lower adsorption planes are adsorbed with the circuit board;
the communication control device comprises a cylinder mounting plate, an isolation baffle plate, a movable baffle plate and a small telescopic cylinder; the isolation baffle is arranged between the front end cavity and the rear end cavity to seal and isolate the two cavities; the isolation baffle is provided with a first communication opening for communicating the front end cavity with the rear end cavity; the cylinder mounting plate is fixed on the box main body and is provided with a second communication opening; the small telescopic cylinder is fixed on the cylinder mounting plate; the telescopic rod of the small telescopic cylinder penetrates through the first communication opening of the isolation baffle and is connected with the movable baffle; the movable baffle is matched with the first communication opening and used for sealing the first communication opening under the telescopic control of the telescopic rod or opening the first communication opening under the telescopic control of the telescopic rod;
the isolating baffle is provided with a guide rail, the movable baffle is in sliding connection and matching with the guide rail, and the small telescopic cylinder controls the movable baffle to slide on the guide rail to open or block the first communicating opening;
the box body is characterized in that a cylinder connector used for communicating the small telescopic cylinder with an external pneumatic control device is arranged on the wall body of the box body, the outer side wall of the cylinder connector is hermetically arranged on the wall body of the box body, one end of the cylinder connector, which is positioned in the negative pressure cavity, is used for being connected with the small telescopic cylinder, and one end of the cylinder connector, which is positioned outside the negative pressure cavity, is used for being connected with the external pneumatic control device;
the lower surface of case main part is equipped with one deck sponge sucking disc, the sponge sucking disc corresponds the absorption gas pocket and is equipped with the perforating hole.
7. A flow divider valve, its characterized in that: comprises a connecting flange and a main body of the flow divider; the main body of the flow divider is fixedly connected with one end of a connecting flange, and the other end of the connecting flange is used for connecting an external device; the upper end and the lower end of the flow divider main body are respectively provided with a mounting plate for mounting the sliding rail frame assembly; an air chamber is arranged in the flow divider main body; at least one spool air outlet hole communicated with the air chamber is formed in the left side surface or the right side surface of the flow divider main body; the main body of the diverter valve is provided with at least two line pipe air inlets communicated with the air chamber; the other side that the flow divider main part corresponds every spool inlet port all is equipped with the cylinder mounting hole that corresponds with the spool inlet port, cylinder mounting hole department seal installation has the cylinder, the telescopic link of cylinder is located the air chamber, be equipped with the end cap on the telescopic link, the end cap is used for the shutoff to close corresponding spool inlet port or open corresponding spool inlet port under cylinder telescopic control.
8. The diverter valve of claim 7, wherein: the plug is including sealed briquetting, plug gasket, plug connecting seat of filling up, plug connecting seat fixed connection is on the telescopic link of cylinder, the plug gasket passes through plug pad briquetting screw fixation in the one end that the plug connecting seat is close to the spool inlet port, the diameter of plug gasket is greater than the diameter of spool inlet port, the diameter less than or equal to of plug electricity briquetting spool inlet port.
9. The diverter valve of claim 7, wherein: the connecting flange is a hollow pipe, and flange connecting ports are formed in the middle positions of the main body of the flow divider, which are positioned on the front side face and the rear side face; one end of the connecting flange penetrates through a flange connecting port on the rear side face of the main body of the flow divider, the outer side wall of the end part of the connecting flange is hermetically connected to the flange connecting port on the front side face of the main body of the flow divider, and the end part of the connecting flange is provided with a sealing plug of a sealing hollow pipe; the other end of the connecting flange is connected with an external device in a sealed hollow tube manner.
10. The diverter valve of claim 7, wherein: one section of the hollow pipe located in the air chamber is provided with a through air hole convenient for air circulation.
Priority Applications (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201911151925.5A CN110744579A (en) | 2019-11-21 | 2019-11-21 | Manipulator anchor clamps and flow divider thereof |
Applications Claiming Priority (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201911151925.5A CN110744579A (en) | 2019-11-21 | 2019-11-21 | Manipulator anchor clamps and flow divider thereof |
Publications (1)
| Publication Number | Publication Date |
|---|---|
| CN110744579A true CN110744579A (en) | 2020-02-04 |
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Family Applications (1)
| Application Number | Title | Priority Date | Filing Date |
|---|---|---|---|
| CN201911151925.5A Pending CN110744579A (en) | 2019-11-21 | 2019-11-21 | Manipulator anchor clamps and flow divider thereof |
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| Country | Link |
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| CN (1) | CN110744579A (en) |
Cited By (2)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN114760773A (en) * | 2022-05-26 | 2022-07-15 | 嘉兴光弘科技电子有限公司 | A prevent displacement paster device for SMT chip mounter |
| CN117091829A (en) * | 2023-10-18 | 2023-11-21 | 理文科技(山东)股份有限公司 | Vehicle air conditioner expansion valve testing platform |
-
2019
- 2019-11-21 CN CN201911151925.5A patent/CN110744579A/en active Pending
Cited By (3)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN114760773A (en) * | 2022-05-26 | 2022-07-15 | 嘉兴光弘科技电子有限公司 | A prevent displacement paster device for SMT chip mounter |
| CN117091829A (en) * | 2023-10-18 | 2023-11-21 | 理文科技(山东)股份有限公司 | Vehicle air conditioner expansion valve testing platform |
| CN117091829B (en) * | 2023-10-18 | 2024-01-05 | 理文科技(山东)股份有限公司 | Vehicle air conditioner expansion valve testing platform |
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