CN115781637A - Robot and circuit board multi-processing assembly line - Google Patents

Abstract

The invention discloses a robot and circuit board multi-processing assembly line, wherein the robot comprises a mechanical arm, a control panel, a base, a negative pressure generating piece and a plurality of sucker components, wherein the control panel is electrically connected with the mechanical arm; the base is arranged at the front end of the mechanical arm, a driving assembly is arranged on the base and is electrically connected with the control panel, and the sucker assemblies are in driving connection with the driving assembly so as to adjust the distance among the plurality of sucker assemblies; the suction end of the negative pressure generating piece is connected with the sucker assembly, and the negative pressure generating piece is electrically connected with the control panel. The technical scheme of the invention can be suitable for grabbing circuit boards with different sizes and models, and the universality of the sucker component of the robot is improved.

Description

Robots and circuit board multi-processing lines

technical field

The invention relates to the technical field of electronic production and manufacturing auxiliary equipment, in particular to a robot and a circuit board multi-processing assembly line.

Background technique

With the continuous improvement of my country's industrial level and industrial automation level, the application of industrial automation is becoming more and more extensive. However, when processing circuit boards, the robots currently on the market can only grab circuit boards of fixed size models. When it is necessary to grab different For circuit boards of different sizes and models, it is necessary to replace the sucker components of the robot to adapt to the grasping of circuit boards of different sizes and models. It can be seen that the sucker components of robots currently on the market are relatively weak in versatility.

Contents of the invention

The main purpose of the present invention is to provide a robot, aiming to solve the problem of weak versatility of the suction cup assembly of the robot.

In order to achieve the above object, the robot proposed by the present invention includes:

mechanical arm;

a control panel, the control panel is electrically connected to the mechanical arm;

a base, the base is arranged at the front end of the mechanical arm, the base is provided with a drive assembly, and the drive assembly is electrically connected to the control panel;

a plurality of suction cup assemblies, the suction cup assemblies are drivingly connected to the drive assembly to adjust the distance between the plurality of suction cup assemblies; and

The negative pressure generating part, the suction end of the negative pressure generating part is connected with the suction cup assembly, and the negative pressure generating part is electrically connected with the control panel.

Optionally, the suction cup assembly includes a carrier suction cup and a material suction cup, the carrier suction cup is arranged corresponding to the carrier, and the material suction cup is arranged corresponding to the circuit board workpiece to be processed.

Optionally, the carrier suction cup includes a first telescopic rod and a first disc body, both ends of the first telescopic rod are respectively connected to the first disc body and the drive assembly; and/or

The material sucker includes a second telescopic rod and a second disc body, and two ends of the second telescopic rod are respectively connected to the second disc body and the driving assembly.

Optionally, the first disc body and/or the second disc body are configured as organ-type suction cups.

Optionally, the base is provided with a driving assembly corresponding to each suction cup assembly.

Optionally, there are at least two bases, the bases are stacked and spaced apart, and each base is provided with a part of the drive assembly.

Optionally, the drive assembly includes a motor and a hinge, the motor is drivingly connected to the hinge, and an end of the hinge away from the motor is connected to the suction cup assembly; and/or

The negative pressure generating member is configured as a vacuum generator.

Optionally, the robot further includes an identification device, the identification device is electrically connected to the control panel, and the identification device acquires material information.

Optionally, the identification device includes a code scanning gun and a label, the code scanning gun is set on the base and is electrically connected to the control panel, and the label is set on the material.

The present invention also proposes a circuit board multi-processing assembly line, including the above-mentioned robot.

The above robot at least includes the following beneficial effects:

The technical solution of the present invention adopts a drive assembly on the base, and the drive assembly is electrically connected to the suction cup assembly, so that the distance between multiple suction cup assemblies can be adjusted by the drive assembly, so that the robot can grab circuits of different sizes and models Moreover, the base is arranged at the front end of the mechanical arm, and the mechanical arm can be used to drive the base to run, and then drive the suction cup assembly to move. When the robot is running, the controller will control the driving component to drive and adjust the distance of multiple suction cup components according to the size and model of the circuit board. At the same time, the control panel will control the mechanical arm to move towards the position where the circuit board is placed. When placing the board, the controller will control the negative pressure generator to form a negative pressure at the gripping end of the suction cup assembly, and then grip the circuit board. It can be seen that the technical solution of the present invention can adapt to the grasping of circuit boards of different sizes and models, which increases the versatility of the suction cup assembly of the robot.

Description of drawings

In order to more clearly illustrate the technical solutions in the embodiments of the present invention or the prior art, the following will briefly introduce the drawings that need to be used in the description of the embodiments or the prior art. Obviously, the accompanying drawings in the following description are only These are some embodiments of the present invention. For those skilled in the art, other drawings can also be obtained according to the structures shown in these drawings without creative effort.

Fig. 1 is the structural representation of robot of the present invention;

Fig. 2 is a partial enlarged view of place A in Fig. 1;

Fig. 3 is a schematic structural view of the substrate and the sucker of the robot of Fig. 1;

Fig. 4 is a structural schematic diagram of an embodiment of the circuit board multi-processing line of the present invention;

Fig. 5 is a partial enlarged view of place B in Fig. 4;

FIG. 6 is a schematic structural diagram of the carrier transport assembly of the circuit board multi-processing line in FIG. 1 .

Explanation of reference numbers:

label name label name 100 robotic arm 322 The second disc body 200 base 400 Hinge 300 Suction cup assembly 500 Carrier Transport Components 311 first telescoping rod 510 Transmission 320 Material suction cup 520 bracket 321 Second telescoping rod 600 Circuit board processing parts

The realization of the purpose of the present invention, functional characteristics and advantages will be further described in conjunction with the embodiments and with reference to the accompanying drawings.

Detailed ways

The following will clearly and completely describe the technical solutions in the embodiments of the present invention with reference to the accompanying drawings in the embodiments of the present invention. Obviously, the described embodiments are only part of the embodiments of the present invention, not all of them. Based on the embodiments of the present invention, all other embodiments obtained by persons of ordinary skill in the art without creative efforts fall within the protection scope of the present invention.

It should be noted that all directional indications (such as up, down, left, right, front, back...) in the embodiments of the present invention are only used to explain the relationship between the components in a certain posture (as shown in the accompanying drawings). Relative positional relationship, movement conditions, etc., if the specific posture changes, the directional indication will also change accordingly.

In the present invention, unless otherwise specified and limited, the terms "connection" and "fixation" should be understood in a broad sense, for example, "fixation" can be a fixed connection, a detachable connection, or an integral body; It can be a mechanical connection or an electrical connection; it can be a direct connection or an indirect connection through an intermediary, and it can be an internal communication between two elements or an interaction relationship between two elements, unless otherwise clearly defined. Those of ordinary skill in the art can understand the specific meanings of the above terms in the present invention according to specific situations.

In addition, if there are descriptions involving "first", "second" and so on in the embodiments of the present invention, the descriptions of "first", "second" and so on are only for descriptive purposes, and should not be interpreted as indicating or implying Its relative importance or implicitly indicates the number of technical features indicated. Thus, the features defined as "first" and "second" may explicitly or implicitly include at least one of these features. In addition, the meaning of "and/or" appearing in the whole text includes three parallel schemes, taking "A and/or B" as an example, including scheme A, scheme B, or schemes that both A and B satisfy. In addition, the technical solutions of the various embodiments can be combined with each other, but it must be based on the realization of those skilled in the art. When the combination of technical solutions is contradictory or cannot be realized, it should be considered that the combination of technical solutions does not exist , nor within the scope of protection required by the present invention.

The present invention proposes a robot.

Referring to Fig. 1 to Fig. 3, in an embodiment of the present invention, the robot includes a mechanical arm 100, a control panel, a base 200, a plurality of suction cup assemblies 300 and negative pressure generating parts; the control panel is electrically connected to the mechanical arm 100; The seat 200 is arranged on the front end of the mechanical arm 100, and the base 200 is provided with a driving assembly, which is electrically connected to the control panel; the suction cup assembly 300 is drivingly connected to the driving assembly to adjust the distance between the plurality of suction cup assemblies 300; The suction end of the pressure generating element is connected to the suction cup assembly 300, and the negative pressure generating element is electrically connected to the control panel.

Specifically, a drive assembly is provided on the base 200, and the drive assembly is electrically connected to the suction cup assembly 300, so that the distance between a plurality of suction cup assemblies 300 can be adjusted by the drive assembly, so that the robot can grab circuits of different sizes and models. Moreover, the base 200 is arranged at the front end of the mechanical arm 100 , and the mechanical arm 100 can be used to drive the base 200 to move, and then drive the suction cup assembly 300 to move. When the robot is running, the controller will control the drive assembly to drive and adjust the distance of multiple suction cup assemblies 300 according to the size and model of the circuit board. When 300 moves to the placement position of the circuit board, the controller will control the negative pressure generator to form a negative pressure at the grasping end of the suction cup assembly 300, and then grasp the circuit board. It can be seen that the technical solution of the present invention can adapt to grasping circuit boards of different sizes and types, and increases the versatility of the suction cup assembly of the robot.

Optionally, the suction cup assembly 300 includes a carrier suction cup and a material suction cup 320, the carrier suction cup is set corresponding to the carrier, and the material suction cup 320 is set corresponding to the circuit board workpiece 600 to be processed; it can be understood that during the processing of the circuit board workpiece 600 to be processed, Generally, a carrier is used, and a carrier suction cup and a material suction cup 320 are provided respectively corresponding to the carrier and the circuit board workpiece 600 to be processed, so as to prevent damage to the circuit board caused by excessive suction. Of course, the present invention is not limited thereto. In other embodiments, the suction cup assembly 300 may only include a plurality of material suction cups 320 .

Optionally, in one embodiment, the carrier suction cup includes a first telescopic rod 311 and a first disc body, and the two ends of the first telescopic rod 311 are respectively connected to the first disc body and the drive assembly; it can be understood that the first disc body The body is arranged on the first telescopic part, so that when the size and model of the carrier and the circuit board part 600 to be processed change, so that when the position between the carrier and the circuit board part 600 changes, the first telescopic rod 311 to shrink, to prevent the material sucker 320 from rigidly pressing against the circuit board workpiece 600 to be processed, thereby avoiding damage to the circuit board workpiece 600 to be processed.

Further, the first telescoping rod 311 has a first gas channel, and the two ends of the first gas channel communicate with the negative pressure cavity of the first disc body and the suction pipe of the negative pressure generating element respectively.

Further, the air outlet end of the first telescopic rod 311 is provided with several air outlet holes, and the first air channel communicates with the negative pressure cavity of the first disk body through the air outlet holes.

Further, the air outlet end of some of the first telescopic rods 311 is provided with one air outlet, and the air outlet end of some of the first telescopic rods 311 is provided with two air outlets, so that the appropriate first disc body can be selected according to the different types of carriers. Increase product adaptability. Of course, the present invention is not limited thereto. In other embodiments, two air outlets may be provided at the air outlets of some of the first telescopic rods 311, and three air outlets may be provided at the air outlets of some of the first telescopic rods 311. The quantity of the air outlet holes at the air outlet end of a telescopic rod 311 is specifically limited.

Further, the first telescopic rod 311 includes a first telescopic section, a second telescopic section and a first reset member. Between the segment and the second telescopic segment, it is used to restore the contracted second telescopic segment to its original state.

It should be noted that the robot first grabs the carrier, and then grabs the circuit board workpiece 600 to be processed. When grabbing the circuit board workpiece 600 to be processed, the first telescopic rod 311 is squeezed and shrinks. The active force of the first telescopic rod 311 disappears, and the second telescopic section of the first telescopic rod 311 returns to its original state under the action of the first reset member.

Further, the first return member is configured as a return spring, and the return spring is sleeved on one end of the second telescopic section disposed in the accommodating cavity, and the two ends of the return spring are respectively fixed to the first telescopic section and the second telescopic section. Of course, the present invention is not limited thereto. In other embodiments, the first reset member can also be configured as an elastic sheet, the elastic sheet is arranged in the accommodating cavity, and the two ends of the elastic sheet are respectively connected to the cavity bottom of the accommodating cavity and the second telescopic section. fixed.

Optionally, in one embodiment, the material sucker 320 includes a second telescopic rod 321 and a second disc body 322, and the two ends of the second telescopic rod 321 are respectively connected to the second disc body 322 and the driving assembly; it can be understood that the second The second disc body 322 is arranged on the second telescopic part, so that when the size and model of the carrier and the circuit board part 600 to be processed change, so that the position between the carrier and the circuit board part 600 to be processed changes, the second The second telescopic rod 321 shrinks to prevent the material suction cup 320 from rigidly pressing against the circuit board piece 600 to be processed, thereby avoiding damage to the circuit board piece 600 to be processed.

Further, the second telescoping rod 321 has a second gas channel, and the two ends of the second gas channel communicate with the negative pressure cavity of the second disk body 322 and the suction pipe of the negative pressure generating element respectively.

Further, the air outlet end of the second telescopic rod 321 is provided with several air outlet holes, and the second air channel is connected with the negative pressure chamber of the second disc body 322 through the air outlet holes.

Further, the air outlet end of part of the second telescopic rod 321 is provided with an air outlet, and the air outlet end of part of the second telescopic rod 321 is provided with two air outlets, so that it is possible to select a suitable air outlet according to the type of the circuit board workpiece 600 to be processed. The second disc body 322 increases the adaptability of the product.

Further, the second telescopic rod 321 includes a third telescopic section, a fourth telescopic section and a second reset member, the fourth telescopic section is movably arranged in the accommodation cavity of the third telescopic section, and the second reset member is arranged in the fourth telescopic section. segment and the third telescopic segment to restore the contracted fourth telescopic segment to its original state.

It should be noted that the robot first grabs the carrier, and then grabs the circuit board workpiece 600 to be processed. When grabbing the circuit board workpiece 600 to be processed, the second telescopic rod 321 is squeezed and shrinks. The active force of the second telescopic rod 321 disappears, and the fourth telescopic section of the second telescopic rod 321 returns to its original state under the action of the second reset member.

Further, the second return member is configured as a return spring, and the return spring is sleeved on one end of the fourth telescopic section disposed in the accommodating cavity, and the two ends of the return spring are respectively fixed to the third telescopic section and the fourth telescopic section. Of course, the present invention is not limited thereto. In other embodiments, the second reset member can also be configured as an elastic sheet, the elastic sheet is arranged in the accommodating cavity, and the two ends of the elastic sheet are respectively connected to the cavity bottom of the accommodating cavity and the fourth telescopic section. fixed.

Optionally, the first disk body and/or the second disk body 322 are configured as organ-type suction cups; this is because the organ-type suction cups can be used to absorb workpieces with uneven surfaces, thereby increasing the stability of the robot's grasping, and the organ-type suction cups It has multiple layers of wrinkles and has a certain amount of cushioning, which can reduce the impact on the circuit board. Of course, the present invention is not limited thereto, and in other embodiments, the first disc body and/or the second disc body 322 can also be configured as a flat suction cup.

Further, a plurality of suction cup assemblies 300 are separately arranged on the outer sides of two opposite edges of the base 200 , so that the circuit board can be grasped from both ends, thereby increasing the stability of grasping the circuit board. Of course, the present invention is not limited thereto, and in other embodiments, a plurality of suction cup assemblies 300 may also be arranged around the side of the base 200 at intervals.

Optionally, in one embodiment, the base 200 is provided with a drive assembly corresponding to each suction cup assembly 300; it can be understood that a drive assembly is provided corresponding to each suction cup assembly 300 to facilitate individual regulation of each suction cup assembly 300, thereby facilitating adjustment The distance between each suction cup assembly 300 increases the flexibility of the suction cup assembly 300 .

Further, in the second embodiment, a driving assembly may also be provided corresponding to the suction cup assemblies 300 on the same side, that is, corresponding to the suction cup assemblies 300 arranged on the outer sides of the opposite two peripheral edges of the base 200, a suction cup assembly is respectively provided. 300.

Optionally, at least two bases 200 are provided, and the bases 200 are stacked and arranged at intervals, and each base 200 is provided with some driving components, so that mutual interference between the driving components can be avoided.

Further, in an embodiment, there are two bases 200 . In the second embodiment, three bases 200 may also be provided, and the specific number of bases 200 is not specifically limited here.

Optionally, the driving assembly includes a motor and a hinge 400, the motor is connected to the hinge 400, and the end of the hinge 400 away from the motor is connected to the suction cup assembly 300; in this way, the combined structure of the hinge 400 and the motor is simple, the material is easy to purchase, and it is convenient for popularization and application. Of course, the present invention is not limited thereto. In other embodiments, the driving assembly only includes a motor, and the motor directly drives the suction cup assembly 300 .

The negative pressure generator is configured as a vacuum generator. This is because the vacuum generator is driven by compressed air to generate vacuum, which does not require electricity and can save energy. Moreover, the vacuum generator has low noise, no heat, small size and light weight, and can be installed in narrow spaces. within the space. Of course, the present invention is not limited thereto, and in other embodiments, the negative pressure generator can also be a cylinder.

Optionally, the robot also includes an identification device, the identification device is electrically connected to the control panel, and the identification device obtains the information of the material; it can be understood that the identification device can obtain the information of the circuit board workpiece 600 to be processed, and then transmit the obtained information to the control panel , the control panel will control the mechanical arm 100 to send the circuit board workpiece 600 to be processed to a designated processing point for processing.

Optionally, the identification device includes a code scanning gun and a label, the code scanning gun is set on the base 200 and is electrically connected to the control panel, and the label is set on the material. This is because the code scanning gun can read and interpret labels very fast, can identify a variety of product labels, and has good shock resistance, drop resistance, and dust protection functions. Furthermore, the code scanning gun can identify wear, blur, and label printing at high speed Abnormal tags such as poor quality can increase the speed and service life of the identification device to read information. Of course, the present invention is not limited thereto. In other embodiments, the identification device can also be configured as a camera module, and the camera module is used to identify the state of the circuit board workpiece 600 to be processed.

Further, the label may be a barcode, a DM code, a QR code, etc., and the specific form of the label is not limited here.

Furthermore, information such as product signals and processing parameters are stored on the label.

Referring to Fig. 4 to Fig. 6, the present invention also proposes a circuit board multi-processing line, which includes a robot. All the technical solutions of the above-mentioned embodiments, therefore at least have all the beneficial effects brought by the technical solutions of the above-mentioned embodiments, and will not be repeated here.

Optionally, the circuit board multi-processing line also includes a carrier transfer assembly 500, which is used to return the carrier; it can be understood that setting the carrier transfer assembly 500 to return the carrier can save the cost of manual handling, and then Reduce the cost of circuit board processing.

Further, the carrier transmission assembly 500 includes a bracket 520 and a transmission member 510 disposed on the top of the bracket 520 , such a carrier transmission assembly 500 has a simple structure and is easy to install.

Further, the support frame 520 includes a plurality of support frames, and at least one support frame is provided at both ends of the transmission member 510. It can be understood that such a support frame 520 has a simple structure and is easy to install, and the transmission member 510 is fixed from both ends of the transmission member 510. It is beneficial to increase the stability of fixing the transmission member 510 . Of course, the present invention is not limited thereto. In other embodiments, the bracket 520 can also be configured as a plurality of support rods and a support frame, and the plurality of support rods are arranged at intervals on one side of the support frame.

Further, the supporting frame includes two supporting legs, and a connecting rod arranged on the top of the supporting legs, the two ends of the connecting rod are respectively connected to the two supporting legs, and the connecting rod is fixed to the transmission member 510 . Such a support frame has a simple structure and is convenient for installation. Of course, the present invention is not limited thereto. In other embodiments, the supporting frame may also include two supporting rods and two reinforcing rods. One end of the reinforcing rod is connected to the top of one supporting rod, and the other end is connected to the bottom of the other supporting rod.

Further, the height of the support frame close to the starting point of the return flow of the carrier is higher than that of the support frame away from the starting point of the return flow of the carrier, so that the return flow of the carrier can be made by using gravity, so that the return flow of the carrier is more labor-saving.

Furthermore, the transmission member 510 is configured as a fluent strip, which is because the fluent strip is easy to operate, does not require regular maintenance, is reliable and durable, and the fluent strip is environmentally friendly, energy-saving, pollution-free and does not require any energy to operate. Furthermore, fluency bars can reduce or completely eliminate item damage. Of course, the present invention is not limited thereto, and in other embodiments, the transmission member 510 can also be configured as a conveyor belt.

Further, there are multiple fluent strips, and at least one fluent strip is provided at each end of the connecting rod.

Further, a limiting plate is provided on a side of the fluent strip at the end of the connecting rod away from the fluent strip at the end of the other connecting rod, and the setting of the limiting plate can prevent the carrier from slipping out of the transmission member 510 .

The above descriptions are only optional embodiments of the present invention, and do not limit the patent scope of the present invention. Under the inventive concept of the present invention, the equivalent structural transformation made by using the description of the present invention and the contents of the accompanying drawings, or direct/indirect Application in other related technical fields is included in the patent protection scope of the present invention.

Claims (10)

1. A robot, characterized in that, comprising: mechanical arm; a control panel, the control panel is electrically connected to the mechanical arm; a base, the base is arranged at the front end of the mechanical arm, the base is provided with a drive assembly, and the drive assembly is electrically connected to the control panel; a plurality of suction cup assemblies, the suction cup assemblies are drivingly connected to the drive assembly to adjust the distance between the plurality of suction cup assemblies; and The negative pressure generating part, the suction end of the negative pressure generating part is connected with the suction cup assembly, and the negative pressure generating part is electrically connected with the control panel. 2. The robot according to claim 1, wherein the suction cup assembly comprises a carrier suction cup and a material suction cup, the carrier suction cup is arranged corresponding to the carrier, and the material suction cup is arranged corresponding to the circuit board to be processed. 3. The robot according to claim 2, wherein the carrier suction cup comprises a first telescopic rod and a first disc body, and the two ends of the first telescopic rod are connected to the first disc body and the first disc body respectively. drive components described above; and/or The material sucker includes a second telescopic rod and a second disc body, and two ends of the second telescopic rod are respectively connected to the second disc body and the driving assembly. 4. The robot according to claim 3, wherein the first disc body and/or the second disc body are configured as organ-type suction cups. 5 . The robot according to claim 1 , wherein the base is provided with a driving assembly corresponding to each of the suction cup assemblies. 6. The robot according to claim 5, wherein at least two of the bases are provided, and the bases are stacked and spaced apart, and each of the bases is provided with a part of the drive assembly . 7. The robot according to claim 1, wherein the drive assembly includes a motor and a hinge, the motor is drivingly connected to the hinge, and the end of the hinge away from the motor is connected to the suction cup assembly; and / or The negative pressure generating member is configured as a vacuum generator. 8. The robot according to any one of claims 1 to 7, characterized in that, the robot further comprises an identification device, the identification device is electrically connected to the control panel, and the identification device acquires material information. 9. The robot according to claim 8, wherein the identification device comprises a code scanning gun and a label, the code scanning gun is arranged on the base, and is electrically connected to the control panel, and the label is arranged on the said material. 10. A circuit board multi-processing line, characterized by the robot according to any one of claims 1 to 9.

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