CN115351775A

CN115351775A - Grabbing manipulator for high-precision electronic components

Info

Publication number: CN115351775A
Application number: CN202211277899.2A
Authority: CN
Inventors: 温晓茹; 徐蕾; 刘军
Original assignee: Shenzhen Boshang Precision Manufacturing Co ltd
Current assignee: Shenzhen Boshang Precision Manufacturing Co ltd
Priority date: 2022-10-19
Filing date: 2022-10-19
Publication date: 2022-11-18

Abstract

The invention discloses a grabbing manipulator of a high-precision electronic component, which relates to the field of manipulators and comprises a mechanical arm, wherein a support frame is fixedly connected to the bottom of the mechanical arm through a flange plate, a first connecting frame is fixedly welded to the bottom of the support frame, an electric push rod is arranged on the inner side of the support frame and above the first connecting frame, and clamping mechanisms for clamping electronic components with different diameters are distributed at the output end of the electric push rod and the outer side of the first connecting frame; and a supporting mechanism used for supporting the clamped component is arranged at the bottom of the limiting plate. According to the invention, the supporting mechanism is arranged, the electronic component can be moved through the operation of the mechanical arm after being clamped by the equipment, and the bottom of the clamped electronic component can be supported through one end of the L-shaped supporting rod in the process, so that the stability of clamping and moving the electronic component by the equipment is improved.

Description

Grabbing manipulator for high-precision electronic components

Technical Field

The invention relates to the field of manipulators, in particular to a grabbing manipulator for high-precision electronic components.

Background

A manipulator is an automatic operating device which can simulate certain action functions of human hands and arms and is used for grabbing and carrying objects or operating tools according to a fixed program.

Generally snatch the cylindric electronic components of different diameters size, need the staff to adjust mechanical gripper's displacement to this makes mechanical gripper carry out the centre gripping to the cylindric electronic components of different specifications when moving, nevertheless changes the centre gripping target once, just needs to adjust mechanical gripper, complex operation, and it is very inconvenient to use.

Disclosure of Invention

The invention aims to: in order to solve the problem that cylindrical electronic components with different diameters are inconvenient to clamp, the grabbing manipulator for the high-precision electronic components is provided.

In order to achieve the purpose, the invention provides the following technical scheme: a grabbing manipulator of a high-precision electronic component comprises a mechanical arm, wherein a support frame is fixedly connected to the bottom of the mechanical arm through a flange plate, a first connecting frame is fixedly welded to the bottom of the support frame, an electric push rod is arranged on the inner side of the support frame and above the first connecting frame, clamping mechanisms used for clamping electronic components with different diameters are distributed at the output end of the electric push rod and the outer side of the first connecting frame, each clamping mechanism comprises a gas storage pipe arranged on the outer side of the first connecting frame, an E-shaped connecting pipe is arranged at the bottom of each gas storage pipe, a gas inlet pipe is arranged at one end of each E-shaped connecting pipe, and a limiting plate is arranged at one end of each gas inlet pipe;

and a supporting mechanism used for supporting the clamped component is arranged at the bottom of the limiting plate.

As a still further scheme of the invention: fixture still including connect in the electric putter output, and be located the second link of first link top, the outside of second link is provided with run through to the inboard first piston rod of gas storage pipe, the one end of E shape connecting pipe is connected with and is located the preparation pipe of intake pipe both sides, the one end welded fastening of limiting plate has and runs through to the inboard second piston rod of intake pipe, the inboard of intake pipe is provided with and is located the third expanding spring of second piston rod both sides, the one end of limiting plate is located the outside of intake pipe is provided with and runs through to the guide bar of the limiting plate other end, the one end welded fastening of guide bar has and is located the splint of limiting plate one end, the one end of limiting plate is provided with cup joint in the first expanding spring in the guide bar outside, the guide bar is kept away from the one end welded fastening of splint has L shape link, the outside of E shape connecting pipe is rotated and is connected with first bull stick, the one end of first bull stick is provided with and is located inside the E shape connecting pipe, and is kept away from first one end of first bull stick is provided with the first baffle of E shape connecting pipe and prepare the one end and be located the gear rack is provided with the top of second rack and the exhaust pipe and the exhaust gear assembly always is provided with the first side of the gas storage pipe and is used for the gas storage pipe.

As a still further scheme of the invention: the diameter of first baffle with the second baffle all with the diameter size of E shape connecting pipe one end equals, first baffle with be ninety degrees crisscross setting between the second baffle, the length of first rack is the quarter of first straight gear girth, the intake pipe is kept away from the one end of E shape connecting pipe is provided with the bleeder vent.

As a still further scheme of the invention: the exhaust subassembly including set up in the intake pipe prepare the first connecting pipe at tub top, the top of first connecting pipe is provided with and is located the connection storehouse of first link below, the inboard of connecting the storehouse is provided with the fly leaf, the one end of fly leaf is provided with run through to connect the T shape connecting rod in the storehouse outside, the one end of connecting the storehouse be provided with cup joint in the second expanding spring in the T shape connecting rod outside, the outside welded fastening of first piston rod has the locating rack, one side of locating rack is provided with and is located the deflector of T shape connecting rod one end, the top of deflector is rotated through the pivot and is connected with V-arrangement commentaries on classics board, V-arrangement commentaries on classics board with the pivot outside that the deflector is connected with first torsion spring through the draw-in groove, the top of connecting the storehouse be provided with connect in the second connecting pipe of gas storage pipe bottom one side.

As a still further scheme of the invention: the width of fly leaf is greater than the diameter of first connecting pipe hole, the outside of fly leaf with the inner wall of connecting the storehouse is laminated mutually, the width of connecting the storehouse does twice the fly leaf width.

As a still further scheme of the invention: the supporting mechanism is including welded fastening in the first connecting block of splint bottom, the bottom of first connecting block is rotated through the bearing and is connected with the U-shaped clamp plate, the bottom of limiting plate is provided with the second connecting block, one side of second connecting block be provided with run through to the second bull stick of second connecting block opposite side, the outside welded fastening of second bull stick is located the inboard second straight-teeth gear of second connecting block, the inside of second connecting block is connected with through the draw-in groove and is located the third torsion spring in the second bull stick outside, the both sides welded fastening of second bull stick has the L shape bracing piece, the bottom of U-shaped clamp plate is provided with the locating pin, the one end bottom of second connecting block is provided with the gag lever post, the top welded fastening of gag lever post has to be located the second rack of second straight-teeth gear one end, the one end of second rack is provided with fourth expanding spring, the top of second rack is provided with the ejector pin, the locating hole has been seted up at the top of L shape bracing piece, the inside of first connecting block is connected with through the draw-in the second torsion spring in the U shape clamp plate outside.

As a still further scheme of the invention: the length of the second rack is one fourth of the perimeter of the second straight gear, the second rack is meshed with the second straight gear, and two ends of the fourth expansion spring are respectively welded and fixed to one side of the second rack and the top of one end of the limiting plate.

As a still further scheme of the invention: the bottom of the positioning pin is provided with a ball, the distance between the top of the ejector rod and the bottom of the second connecting block is smaller than the distance between the bottom of the U-shaped pressing plate and the bottom of the second connecting block, the diameter of the positioning pin is larger than that of the positioning hole, and one end of the second connecting block is provided with a through hole matched with the limiting rod.

As a still further scheme of the invention: the number of the gas storage pipes is three, the three gas storage pipes are distributed along the distance of the central axis of the electric push rod, the number of the preparation pipes is two, and the sum of the volumes of the two preparation pipes is larger than the volume of the gas storage pipes.

As a still further scheme of the invention: the central axis of locating pin extremely the distance between the central axis of locating hole, the length of first rack all with first expanding spring's scalable distance equals, the inboard of limiting plate be provided with the through-hole that the guide bar agrees with mutually.

Compared with the prior art, the invention has the beneficial effects that:

1. by arranging the clamping mechanism and the supporting mechanism, the first connecting frame can be moved to the position above the electronic component through the operation of the mechanical arm, then the clamping mechanism can clamp cylindrical components with different diameters through the extension of the electric push rod, so that the self-adaption effect of the mechanical clamping jaw is realized, and the mechanical clamping jaw is not required to be adjusted by a worker, so that the application range of the equipment is increased, the labor intensity of the worker is reduced, the bottom of the electronic component can be supported through the supporting mechanism when the electronic component is moved, the electronic component is prevented from sliding off in the moving process of the equipment, and the stability of the equipment in clamping and moving the electronic component is improved;

2. by arranging the clamping mechanism, when the electric push rod is extended, gas in the gas storage pipe can be injected into the gas inlet pipe through the first piston rod, so that the second piston rod can push the clamping plate to move towards the electronic component, when the clamping plate is pushed by the limiting plate to be attached to the limiting plate, the gas inlet pipe is shielded by the first baffle plate, and meanwhile, the shielding of the preparation pipe is lost by the second baffle plate, so that the effect of clamping cylindrical electronic components with different diameters can be realized, then, the electronic components can be released through the matching of the electric push rod and the exhaust assembly, and a worker does not need to adjust the position of the clamping plate according to the diameter of the electronic components, so that the application range of equipment is increased, and the labor intensity of the worker is reduced;

3. through setting up supporting mechanism, accessible robotic arm's operation comes to remove it after equipment carries out the centre gripping to electronic components, and the electronic components bottom after the one end of this in-process accessible L shape bracing piece supports the centre gripping to the stability of equipment to electronic components centre gripping, removal has been increased.

Drawings

FIG. 1 is a schematic structural view of the present invention;

FIG. 2 is an enlarged view of the invention at A in FIG. 1;

FIG. 3 is a schematic view of the connection of a second connector block of the present invention to an L-shaped support bar;

FIG. 4 is an enlarged view of the invention at B of FIG. 1;

FIG. 5 is a schematic view of the connection of the E-shaped connecting tube with the preparation tube and the air inlet tube according to the present invention;

FIG. 6 is a schematic view of the connection between the connection bin and the gas storage pipe according to the present invention;

FIG. 7 is a schematic view of the connection of the V-shaped rotating plate and the guide plate of the present invention;

fig. 8 is a schematic view of the internal structure of the connecting bin of the present invention.

In the figure: 1. a robot arm; 2. a support frame; 3. a first connecting frame; 4. an electric push rod; 5. a clamping mechanism; 501. a second link frame; 502. a first piston rod; 503. a gas storage pipe; 504. a positioning frame; 505. a guide plate; 506. a V-shaped rotating plate; 507. an E-shaped connecting pipe; 508. an air inlet pipe; 509. preparing a tube; 510. a first straight gear; 511. a limiting plate; 512. a splint; 513. a first extension spring; 514. an L-shaped connecting frame; 515. a first connecting pipe; 516. a second connection pipe; 517. a guide rod; 518. a connecting bin; 519. a T-shaped connecting rod; 520. a second extension spring; 521. a first rotating lever; 522. a first baffle; 523. a second baffle; 524. a first rack; 525. a second piston rod; 526. a third extension spring; 527. a movable plate; 528. a first torsion spring; 6. a support mechanism; 601. a first connection block; 602. a U-shaped pressing plate; 603. positioning pins; 604. positioning holes; 605. an L-shaped support bar; 606. a second connecting block; 607. a top rod; 608. a second spur gear; 609. a fourth extension spring; 610. a second rack; 611. a limiting rod; 612. a second torsion spring; 613. a second rotating rod; 614. a third torsion spring.

Detailed Description

The technical solutions in the embodiments of the present invention will be clearly and completely described below with reference to the drawings in the embodiments of the present invention, and it is obvious that the described embodiments are only a part of the embodiments of the present invention, and not all of the embodiments. All other embodiments, which can be obtained by a person skilled in the art without making any creative effort based on the embodiments in the present invention, belong to the protection scope of the present invention.

In the description of the present invention, it should be noted that the terms "center", "upper", "lower", "left", "right", "vertical", "horizontal", "inner", "outer", etc., indicate orientations or positional relationships based on the orientations or positional relationships shown in the drawings, and are only for convenience of description and simplicity of description, but do not indicate or imply that the device or element being referred to must have a particular orientation, be constructed and operated in a particular orientation, and thus, should not be construed as limiting the present invention. Furthermore, the terms "first," "second," and "third" are used for descriptive purposes only and are not to be construed as indicating or implying relative importance. In the description of the present invention, it should be noted that, unless otherwise explicitly specified or limited, the terms "mounted," "connected," and "disposed" are to be construed broadly and may be, for example, fixedly connected, detachably connected, or integrally connected; 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 meanings of the above terms in the present invention can be understood in specific cases to those skilled in the art. The following describes an embodiment of the present invention based on its overall structure.

Referring to fig. 1 to 8, in an embodiment of the present invention, a grabbing manipulator for a high-precision electronic component includes a mechanical arm 1, a support frame 2 is fixedly connected to the bottom of the mechanical arm 1 through a flange, a first connecting frame 3 is fixedly welded to the bottom of the support frame 2, an electric push rod 4 is disposed above the first connecting frame 3 on the inner side of the support frame 2, clamping mechanisms 5 for clamping electronic components with different diameters are distributed at the output end of the electric push rod 4 and the outer side of the first connecting frame 3, each clamping mechanism 5 includes a gas storage tube 503 disposed on the outer side of the first connecting frame 3, an E-shaped connecting tube 507 is disposed at the bottom of the gas storage tube 503, a gas inlet tube 508 is disposed at one end of the E-shaped connecting tube 507, and a limiting plate 511 is disposed at one end of the gas inlet tube 508;

the bottom of the limiting plate 511 is provided with a supporting mechanism 6 for supporting the component clamped by the clamping.

In this embodiment, the operation of accessible robotic arm 1 comes first link 3 to move to electronic components's top, later the extension of accessible electric putter 4 makes fixture 5 carry out the centre gripping to the cylindric components and parts of different diameters size, thereby realize mechanical clamping jaw's self-adaptation effect, it adjusts mechanical clamping jaw to need not the staff, thereby the application scope of equipment has been increased, staff's intensity of labour has also been alleviateed simultaneously, accessible supporting mechanism 6 supports electronic components's bottom when removing electronic components, thereby prevent that equipment from at the in-process electronic components landing of removal, the stability of equipment to electronic components centre gripping removal has been increased.

Referring to fig. 1, 2, 4, 5, 6, 7, and 8, the clamping mechanism 5 further includes a second connecting frame 501 connected to an output end of the electric push rod 4 and located above the first connecting frame 3, a first piston rod 502 penetrating to an inner side of the air storage tube 503 is disposed outside the second connecting frame 501, one end of the E-shaped connecting tube 507 is connected to a prepared tube 509 located at both sides of the air inlet tube 508, one end of the limiting plate 511 is welded and fixed with a second piston rod 525 penetrating to an inner side of the air inlet tube 508, an inner side of the air inlet tube 508 is provided with a third expansion spring located at both sides of the second piston rod 525, one end of the limiting plate 511 located outside the air inlet tube 508 is provided with a guide rod 517 penetrating to the other end of the limiting plate 511, one end of the guide rod 517 is welded and fixed with a clamp plate 512 located at one end of the limiting plate 511, one end of the limiting plate 511 is provided with a first expansion spring 513 sleeved on an outer side of the guide rod 517, one end of the guide rod 517 located far away from the L-shaped connecting frame 514 is welded and fixed with a first rotating rod 521, one end of the E-shaped connecting tube 521 is provided with a rack 522 located inside the first rotating rack 522, one end of the first rotating plate 521, and a rack rotating assembly 524 located on a side of the first rack 510 located far away from the first rack 522, which is provided with a rack 510, and used for enabling the first rack 510, and for enabling the air storage tube 510 to be engaged with a recovery gear rack 510, and a recovery gear 510, which is located on the first rack 510.

In this embodiment, when the device is used, the first connecting frame 3 may be moved to the top of the electronic component by the mechanical arm 1, then the electric push rod 4 is started, so that the electric push rod 4 extends, when the electric push rod 4 extends, the first piston rod 502 may be moved downward relative to the air storage tube 503, so that the air inside the air storage tube 503 may be pushed into the air inlet tube 508 through the E-shaped connecting tube 507 by the movement of the first piston rod 502, in this process, the second blocking plate 523 may block one end of the prepared tube 509, when the air inside the air storage tube 503 enters the air inlet tube 508, the second piston rod 525 may be pushed, in this process, the third expansion spring 526 may be contracted, so that the blocking plate 511 may be moved toward the electronic component, when the clamping plate 512 contacts the electronic component, the blocking plate 511 may move continuously, at this time, the first straight gear 510 may rotate along the first rack 524, so that the first rotating rod 521 drives the first blocking plate 522, the second blocking plate 511 may rotate, when the clamping plate 512 and the prepared gear 510 rotate right at this time, the first blocking gear 510 may move right ninety degrees to block one end of the first air storage tube 522, at this time, the remaining end of the air storage tube 508 may be pushed downward by the remaining cylinder 502, and the remaining cylinder rod 502, so that the size of the first blocking tube 502 may be increased, and the size of the cylinder barrel 502 may be suitable for pushing the device may be pushed down.

Please refer to fig. 5, the diameters of the first baffle 522 and the second baffle 523 are equal to the diameter of one end of the E-shaped connecting pipe 507, the first baffle 522 and the second baffle 523 are arranged in a staggered manner by ninety degrees, the length of the first rack 524 is one fourth of the circumference of the first straight gear 510, and one end of the air inlet pipe 508 far away from the E-shaped connecting pipe 507 is provided with an air vent.

In the present embodiment, when the first rack 524 is moved by providing such a structure, the first straight gear 510 and the first rotating rod 521 rotate the first baffle plate 522 and the second baffle plate 523, so that one end of the air inlet pipe 508 can be shielded by the first baffle plate 522, and the second baffle plate 523 can be prevented from shielding one end of the preparation pipe 509.

Please refer to fig. 1, 4, 6, 7, and 8, the exhaust assembly includes a first connection pipe 515 disposed at the top of the air inlet pipe 508 and the preparation pipe 509, a connection cabin 518 disposed below the first connection frame 3 is disposed at the top of the first connection pipe 515, a movable plate 527 is disposed inside the connection cabin 518, a T-shaped connection rod 519 penetrating to the outside of the connection cabin 518 is disposed at one end of the movable plate 527, a second expansion spring 520 sleeved outside the T-shaped connection rod 519 is disposed at one end of the connection cabin 518, a positioning frame 504 is welded and fixed to the outside of the first piston rod 502, a guide plate 505 disposed at one end of the T-shaped connection rod 519 is disposed at one side of the positioning frame 504, the top of the guide plate 505 is rotatably connected with a V-shaped rotation plate 506 through a rotation shaft, the outside of the rotation shaft where the V-shaped rotation plate 506 is connected with the guide plate 505 is connected with a first torsion spring 528 through a clamping groove, and a second connection pipe 516 connected to one side of the bottom of the air storage pipe 503 is disposed at the top of the connection cabin 518.

In this embodiment, when the electric push rod 4 extends, the second connecting frame 501 drives the first piston rod 502 to move downward relative to the first connecting frame 3, the guide plate 505 does not contact the T-shaped connecting rod 519 in the process, when the positioning frame 504 moves downward, one end of the T-shaped connecting rod 519 limits one end of the V-shaped rotating plate 506, so that the V-shaped rotating plate 506 rotates relative to the guide plate 505, the first torsion spring 528 winds up in the process, when the positioning frame 504 moves to the lowest position, the V-shaped rotating plate 506 separates from the T-shaped connecting rod 519, and the V-shaped rotating plate 506 recovers under the action of the first torsion spring 528, the movable plate 527 shields the top of the first connecting pipe 515 in the whole process, when the first piston rod 502 moves upward, the T-shaped connecting rod 519 shields the top of the V-shaped rotating plate 506, and the other end of the V-shaped rotating plate 506 limits the rotation of the V-shaped rotating plate 506, therefore, when the V-shaped rotating plate 506 moves up, the T-shaped connecting rod 519 is pushed to one end of the guide plate 505, so that the T-shaped connecting rod 519 pulls the movable plate 527 to move, the movable plate 527 loses shielding of the top of the first connecting pipe 515, and the air storage pipe 503 is connected with the air inlet pipe 508 and the preparation pipe 509 through the first connecting pipe 515, the connecting bin 518 and the second connecting pipe 516, at this time, the first piston rod 502 moves up continuously, so that the air in the air inlet pipe 508 and the preparation pipe 509 can be sucked into the air storage pipe 503 through the first connecting pipe 515, the connecting bin 518 and the second connecting pipe 516, so that the second piston rod 525 can be restored through the third expansion spring 526, when the first piston rod 502 moves to the highest position, the T-shaped connecting rod 519 is separated from the guide plate 505, at this time, the T-shaped connecting rod 519 is restored under the action of the second expansion spring 520, this allows the movable plate 527 to shield the top of the first connecting pipe 515 again, which facilitates the operation of the subsequent clamping mechanism 5.

Referring to fig. 6, 7 and 8, the width of the movable plate 527 is greater than the diameter of the inner hole of the first connection pipe 515, the outer side of the movable plate 527 is attached to the inner wall of the connection chamber 518, and the width of the connection chamber 518 is twice the width of the movable plate 527.

In this embodiment, a space is provided for the movement of the movable plate 527 by providing the structure, so that the movable plate 527 shields the top of the first connection pipe 515, and meanwhile, the movable plate 527 can also be moved to one side of the top of the first connection pipe 515 to shield the first connection pipe 515.

Please refer to fig. 1, 2, and 3, the supporting mechanism 6 includes a first connecting block 601 welded and fixed to the bottom of the clamping plate 512, the bottom of the first connecting block 601 is rotatably connected to a U-shaped pressing plate 602 through a bearing, the bottom of the limiting plate 511 is provided with a second connecting block 606, one side of the second connecting block 606 is provided with a second rotating rod 613 penetrating to the other side of the second connecting block 606, the outer side of the second rotating rod 613 is welded and fixed with a second spur gear 608 located inside the second connecting block 606, the inside of the second connecting block 606 is connected to a third torsion spring 614 located outside the second rotating rod 613 through a clamping groove, two sides of the second rotating rod 613 are welded and fixed with an L-shaped supporting rod 605, the bottom of the U-shaped pressing plate 602 is provided with a positioning pin 603, the bottom of one end of the second connecting block 606 is provided with a limiting rod 611, the top of the limiting rod 611 is welded and fixed with a second rack 610 located at one end of the second spur gear 608, one end of the second rack positioning hole 610 is provided with a fourth expansion spring 609, the top of the second rack 610 is provided with a top rod 607, the top of the L-shaped supporting rod 601, the top of the second rack 610 is provided with a torsion spring 601, and the clamping groove 602 located outside of the first connecting block 601.

In this embodiment, when the mechanical arm 1 drives the supporting frame 2 to move downward, the bottom of the limiting rod 611 contacts with the top of the worktable on which the components are placed, the limiting rod 611 is pressed along with the downward movement of the supporting frame 2, when the second connecting block 606 moves downward relative to the limiting rod 611, the top rod 607 pushes one end of the U-shaped pressing plate 602 to move upward, so that the U-shaped pressing plate 602 rotates relative to the first connecting block 601, the second connecting block 606 continues to move downward, at this time, the second rack 610 is engaged with the second spur gear 608, at this time, the second spur gear 608 rotates along the second rack 610, so that the L-shaped supporting rod 605 is driven to rotate by the second rotating rod 613, so that the L-shaped supporting rod 605 is rotated to one end of the U-shaped pressing plate 602, during this time, the fourth expanding spring 609 expands, the third torsion spring 614 winds, the second torsion spring 612 winds, then the bottom of the second connecting block 606 can be attached to the top of the worktable along with the downward movement of the supporting frame 2, the third torsion spring 614 winds, so that the second torsion spring 612 winds up and the bottom of the supporting rod 611 can clamp the lower electronic component, so that the supporting rod 603 can be clamped by the push rod 605 and the bottom of the supporting frame 605 and the electronic component clamp the supporting rod 5, so that the bottom of the supporting frame can be clamped by the supporting rod 603 can be clamped by the lower electronic clamping mechanism, so that the lower electronic component can be clamped by the lower supporting rod 607, so that the lower supporting rod 603, so that the lower electronic component clamp pin 512 is moved, and the lower electronic clamping mechanism can be clamped by the lower electronic clamping mechanism, so that the lower electronic component can be clamped by the push rod 607, thereby increase the whole stability to cylindric electronic components centre gripping, removal of equipment, U-shaped clamp plate 602 recovers under the effect of second torsion spring 612 because of losing the spacing of ejector pin 607 simultaneously to this makes locating pin 603 buckle in the locating hole 604, thereby has increased the stability of L shape bracing piece 605, provides convenience for the support of components and parts bottom.

Referring to fig. 2 and 3, the length of the second rack 610 is one fourth of the circumference of the second spur gear 608, the second rack 610 is engaged with the second spur gear 608, and two ends of the fourth expanding spring 609 are respectively welded and fixed to one side of the second rack 610 and the top of one end of the limiting plate 511.

In this embodiment, when the second rack 610 moves upward relative to the second connection block 606 by using the structure, the second rack 610 can move the second spur gear 608 to rotate, and when the second spur gear 608 rotates, the second rotating rod 613 can drive the L-shaped support rod 605 to swing, so as to rotate the bottom of the L-shaped support rod 605 to a position higher than the bottom of the second connection block 606, thereby facilitating the support of subsequent components.

Please refer to fig. 2 and 3, the bottom of the positioning pin 603 is provided with a ball, a distance between the top of the push rod 607 and the bottom of the second connecting block 606 is smaller than a distance between the bottom of the U-shaped press plate 602 and the bottom of the second connecting block 606, the diameter of the positioning pin 603 is larger than that of the positioning hole 604, and one end of the second connecting block 606 is provided with a through hole engaged with the limiting rod 611.

In this embodiment, when the structure is provided to move the limiting rod 611 upward relative to the second connecting block 606, the top rod 607 pushes one end of the U-shaped pressing plate 602, so that when the limiting rod moves, one end of the U-shaped pressing plate 602 can move above the top rod 607, so that the top rod 607 can push one end of the U-shaped pressing plate 602, thereby rotating the U-shaped pressing plate 602 relative to the first connecting block 601.

Please refer to fig. 1, 5 and 6, the number of the air storage tubes 503 is three, the three air storage tubes 503 are distributed along the central axis of the electric putter 4, the number of the preparation tubes 509 is two, and the sum of the volumes of the two preparation tubes 509 is larger than the volume of the air storage tubes 503.

In this embodiment, the gas in the gas storage pipe 503 can be stored by the spare pipe 509, so that the gas not entering the connection cabin 518 can be stored.

Please refer to fig. 1, 2, 3, and 5, the distance between the central axis of the positioning pin 603 and the central axis of the positioning hole 604 and the length of the first rack 524 are both equal to the retractable distance of the first retractable spring 513, and the inner side of the limiting plate 511 is provided with a through hole engaged with the guiding rod 517.

In this embodiment, when one end of the clamping plate 512 is attached to the limiting plate 511 by the structure, the first rack 524 just dials the first spur gear 510 to rotate ninety degrees, and when the limiting rod 611 moves relative to the second connecting block 606, the second rack 610 also dials the second spur gear 608 to rotate ninety degrees.

The working principle of the invention is as follows: when the device is used, the first connecting frame 3 can be moved to the upper part of the electronic component by the mechanical arm 1, then the first connecting frame 3 is moved downwards to make the limiting rod 611 contact with the top of the workbench, the first connecting frame 3 is continuously moved downwards to press the limiting rod 611, so that the top rod 607 shields one end of the U-shaped pressing plate 602, the U-shaped pressing plate 602 rotates relative to the first connecting block 601, the first connecting frame 3 is continuously moved downwards, the second rack 610 is engaged with the second spur gear 608, the second spur gear 608 rotates along the second rack 610, so that the L-shaped supporting rod 605 is driven to rotate by the second rotating rod 613, so that the L-shaped supporting rod can be rotated to one end of the U-shaped pressing plate 602, in the process, the fourth expansion spring 609 is expanded, the third torsion spring 614 is rolled, the second torsion spring 612 is rolled, then, the bottom of the second connecting block 606 can be attached to the top of the workbench along with the downward movement of the supporting frame 2, then the electric push rod 4 is started, so that the electric push rod 4 extends, when the electric push rod 4 extends, the first piston rod 502 can move downward relative to the air storage tube 503, meanwhile, the first piston rod 502 can drive the guide plate 505 to move downward through the positioning frame 504, in the process, the guide plate 505 is not in contact with the T-shaped connecting rod 519, so that the gas in the air storage tube 503 can be pushed into the air inlet tube 508 through the E-shaped connecting tube 507 by the movement of the first piston rod 502, in the process, the second baffle 523 can shield one end of the preparation tube 509, when the gas in the air storage tube 503 enters the air inlet tube 508, the second piston rod 525 can be pushed, in the process, the third expansion spring 526 contracts, and thus, the limiting plate 511 can move toward the electronic component, when the clamping plate 512 contacts with the electronic component, the limiting plate 511 continues to move, the first straight gear 510 rotates along the first rack 524, so that the first rotating rod 521 drives the first baffle 522 and the second baffle 523 to rotate, when the clamping plate 512 is attached to the limiting plate 511, the first straight gear 510 just rotates ninety degrees, at this time, the first baffle 522 shields one end of the air inlet pipe 508, the second baffle 523 loses shielding of one end of the preparation pipe 509, the first piston rod 502 continues to move downward, so that the remaining air in the air storage pipe 503 can be pushed into the preparation pipe 509, so that cylindrical components with different diameters can be clamped, the applicable range of the device is increased, when the positioning frame 504 continues to move downward, at this time, one end of the T-shaped connecting rod 519 limits one end of the V-shaped rotating plate 506, so that the V-shaped rotating plate 506 rotates relative to the guide plate 505, in this process, the first torsion spring 528 winds up, when the positioning frame 504 moves to the lowest position, the V-shaped connecting rod 506 separates from the T-shaped connecting rod 519, and at the bottom of the V-shaped connecting rod 519 simultaneously, the whole clamping arm 527 of the first torsion spring 528 can clamp the whole electronic component in the process, so that the whole clamping arm 527 of the first torsion spring 527 can be restored, so that the whole clamping of the whole electronic component can be restored in the supporting rod 527 can be restored, so that the supporting rod 527 can be restored in the whole supporting rod 527 of the whole supporting rod 527 can be restored in the process, so that the supporting rod 527 can be restored The moving stability, and at the same time, the U-shaped pressing plate 602 recovers under the action of the second torsion spring 612 because the limit of the top rod 607 is lost, so that the positioning pin 603 is buckled into the positioning hole 604, thereby increasing the stability of the L-shaped supporting rod 605, when the electronic component is moved to the designated position and then is aligned and released, the electric push rod 4 contracts, when the first piston rod 502 moves upwards, the T-shaped connecting rod 519 shields the top of the V-shaped rotating plate 506, and at this time, the other end of the V-shaped rotating plate 506 limits the rotation of the V-shaped rotating plate 506, so that the T-shaped connecting rod 519 is pushed to one end of the guiding plate 505 when the V-shaped rotating plate 506 moves upwards, so that the T-shaped connecting rod 519 pulls the movable plate 527 to move, and the movable plate 527 loses the shielding of the top of the first connecting pipe 515, therefore, the air storage pipe 503 is connected with the air inlet pipe 508 and the preparation pipe 509 through the first connecting pipe 515, the connecting bin 518 and the second connecting pipe 516, at this time, the first piston rod 502 moves upwards continuously to suck the air in the air inlet pipe 508 and the preparation pipe 509 into the air storage pipe 503 through the first connecting pipe 515, the connecting bin 518 and the second connecting pipe 516, so that the second piston rod 525 can be restored through the third expansion spring 526, when the first piston rod 502 moves to the highest position, the T-shaped connecting rod 519 is separated from the guide plate 505, at this time, the T-shaped connecting rod 519 is restored under the action of the second expansion spring 520, so that the movable plate 527 can shield the top of the first connecting pipe 515 again, and convenience is provided for the operation of the subsequent clamping mechanism 5.

The above description is only for the preferred embodiment of the present invention, but the scope of the present invention is not limited thereto, and any person skilled in the art should be considered to be within the technical scope of the present invention, and the technical solutions and the inventive concepts thereof according to the present invention are equivalent to or changed within the technical scope of the present invention.

Claims

1. The grabbing manipulator for the high-precision electronic components comprises a mechanical arm (1), wherein a support frame (2) is fixedly connected to the bottom of the mechanical arm (1) through a flange plate, a first connecting frame (3) is fixedly welded to the bottom of the support frame (2), and an electric push rod (4) is arranged on the inner side of the support frame (2) and located above the first connecting frame (3), and is characterized in that the clamping mechanism (5) for clamping the electronic components with different diameters is distributed at the output end of the electric push rod (4) and the outer side of the first connecting frame (3), the clamping mechanism (5) comprises an air storage pipe (503) arranged on the outer side of the first connecting frame (3), an E-shaped connecting pipe (507) is arranged at the bottom of the air storage pipe (503), an air inlet pipe (508) is arranged at one end of the E-shaped connecting pipe (507), and a limiting plate (511) is arranged at one end of the air inlet pipe (508);

and a supporting mechanism (6) for supporting the clamped component is arranged at the bottom of the limiting plate (511).

2. The grabbing manipulator of a high-precision electronic component as claimed in claim 1, wherein the clamping mechanism (5) further comprises a second connecting frame (501) connected to the output end of the electric push rod (4) and located above the first connecting frame (3), a first piston rod (502) penetrating to the inner side of the air storage tube (503) is arranged on the outer side of the second connecting frame (501), one end of the E-shaped connecting tube (507) is connected with a prepared tube (509) located on two sides of the air inlet tube (508), a second piston rod (525) penetrating to the inner side of the air inlet tube (508) is fixed to one end of the limiting plate (511) in a welding manner, a third telescopic spring (526) located on two sides of the second piston rod (525) is arranged on the inner side of the air inlet tube (508), a guide rod (517) penetrating to the other end of the limiting plate (511) is arranged on the outer side of the air inlet tube (508), a clamping plate (511) located on one end of the limiting plate (511) in a sleeving manner is provided with a clamping plate (513), and a clamping plate (512) far away from the first telescopic spring (512) is arranged on one end of the clamping plate (512) in a welding manner, the outside of E shape connecting pipe (507) is rotated and is connected with first bull stick (521), the one end of first bull stick (521) is provided with and is located inside E shape connecting pipe (507), and is located first baffle (522) of intake pipe (508) one end, first bull stick (521) are kept away from first baffle (522) one end is provided with and is located inside E shape connecting pipe (507), and is located prepare second baffle (523) of pipe (509) one end, first bull stick (521) outside is provided with first straight gear (510), L shape link (514) top be provided with first rack (524) that first straight gear (510) engaged with, one side of gas storage pipe (503) is provided with and is used for making the exhaust subassembly that limiting plate (511) recovered.

3. The grabbing manipulator of a high-precision electronic component as claimed in claim 2, wherein the diameters of the first baffle (522) and the second baffle (523) are equal to the diameter of one end of the E-shaped connecting pipe (507), the first baffle (522) and the second baffle (523) are arranged in a staggered manner by ninety degrees, the length of the first rack (524) is one fourth of the circumference of the first straight gear (510), and an air hole is formed in one end of the air inlet pipe (508) far away from the E-shaped connecting pipe (507).

4. The grabbing manipulator of a high-precision electronic component according to claim 2, wherein the exhaust assembly comprises a first connection pipe (515) disposed at the top of the air inlet pipe (508) and the preliminary pipe (509), a connection bin (518) located below the first connection rack (3) is disposed at the top of the first connection pipe (515), a movable plate (527) is disposed inside the connection bin (518), a T-shaped connection rod (519) penetrating through the outside of the connection bin (518) is disposed at one end of the movable plate (527), a second expansion spring (520) sleeved outside the T-shaped connection rod (519) is disposed at one end of the connection bin (518), a positioning frame (504) is welded and fixed to the outside of the first piston rod (502), a guide plate (505) located at one end of the T-shaped connection rod (519) is disposed at one side of the positioning frame (504), a V-shaped rotating plate (506) is rotatably connected to the top of the guide plate (505) through a rotating shaft, a V-shaped rotating plate (506) is connected to the outside of the rotating shaft connected to the guide plate (505) through a clamping groove (528), and a second connection pipe (518) is disposed at one side of the second expansion spring (518).

5. The mechanical hand for grabbing high-precision electronic components as claimed in claim 4, wherein the width of said movable plate (527) is greater than the diameter of the inner hole of said first connecting pipe (515), the outer side of said movable plate (527) is attached to the inner wall of said connecting bin (518), and the width of said connecting bin (518) is twice the width of said movable plate (527).

6. The grabbing manipulator of a high-precision electronic component as claimed in claim 4, wherein the supporting mechanism (6) comprises a first connecting block (601) welded and fixed to the bottom of the clamping plate (512), the bottom of the first connecting block (601) is rotatably connected with a U-shaped pressing plate (602) through a bearing, the bottom of the limiting plate (511) is provided with a second connecting block (606), one side of the second connecting block (606) is provided with a second rotating rod (613) penetrating to the other side of the second connecting block (606), the outer side of the second rotating rod (613) is welded and fixed with a second straight gear (608) located inside the second connecting block (606), the inside of the second connecting block (606) is connected with a third torsion spring (614) located outside the second rotating rod (613) through a clamping groove, two sides of the second rotating rod (613) are welded and fixed with L-shaped supporting rods (605), the bottom of the U-shaped pressing plate (602) is provided with a positioning pin (603), the bottom of one end of the second connecting block (606) is provided with a limiting rod (609), the top of the second torsion spring (610) is provided with a second rack (610), and a top of the second rack (610) is provided with a fourth rack (610), the top of the L-shaped supporting rod (605) is provided with a positioning hole (604), and the inside of the first connecting block (601) is connected with a second torsion spring (612) positioned on the outer side of the U-shaped pressing plate (602) through a clamping groove.

7. The grabbing manipulator of a high precision electronic component as claimed in claim 6, wherein the length of the second rack (610) is one fourth of the circumference of the second spur gear (608), the second rack (610) is engaged with the second spur gear (608), and two ends of the fourth expansion spring (609) are respectively welded and fixed to one side of the second rack (610) and the top of one end of the limiting plate (511).

8. The grabbing manipulator for the high-precision electronic component as claimed in claim 6, wherein a ball is disposed at the bottom of the positioning pin (603), a distance between the top of the top rod (607) and the bottom of the second connecting block (606) is smaller than a distance between the bottom of the U-shaped pressing plate (602) and the bottom of the second connecting block (606), the diameter of the positioning pin (603) is larger than that of the positioning hole (604), and a through hole engaged with the limiting rod (611) is disposed at one end of the second connecting block (606).

9. The grabbing manipulator of a high precision electronic component as claimed in claim 4, wherein the number of said air storage tubes (503) is three, and three said air storage tubes (503) are distributed at a distance along the central axis of said electric push rod (4), the number of said preparation tubes (509) is two, and the sum of the volumes of two said preparation tubes (509) is greater than the volume in said air storage tubes (503).

10. The grabbing manipulator of the high-precision electronic component as claimed in claim 6, wherein the distance between the central axis of the positioning pin (603) and the central axis of the positioning hole (604) and the length of the first rack (524) are both equal to the telescopic distance of the first telescopic spring (513), and a through hole matched with the guide rod (517) is arranged on the inner side of the limiting plate (511).