CN116038668B

CN116038668B - Grabbing manipulator for processing precise electronic device

Info

Publication number: CN116038668B
Application number: CN202310336497.3A
Authority: CN
Inventors: 李尤; 温晓茹; 杜雯婷
Original assignee: Shenzhen Boshang Precision Manufacturing Co ltd
Current assignee: Shenzhen Boshang Precision Manufacturing Co ltd
Priority date: 2023-03-31
Filing date: 2023-03-31
Publication date: 2023-06-02
Anticipated expiration: 2043-03-31
Also published as: CN116038668A

Abstract

The invention discloses a grabbing manipulator for processing precision electronic devices, which relates to the field of manipulators and comprises a mounting seat, wherein a telescopic cylinder is arranged at the bottom of the mounting seat, a longitudinal connecting bin is fixed on the outer side of the telescopic cylinder through a bolt, a movable frame is sleeved on the outer side of a fixed guide rod and extends to the bottom of the transverse connecting bin, a clamping plate is connected to the bottom of the movable frame through a positioning connecting piece, a clamping device guide assembly connected with the output end of the telescopic cylinder is arranged on the inner side of the movable frame, and the clamping device guide assembly is connected with the movable frame through a position stopper. According to the clamp guide assembly, when the telescopic cylinder is contracted, the rope connecting plate can pull the movable sleeve plate through the traction rope, so that the clamping plates can carry out self-adaptive clamping on cylindrical electronic devices with different specifications and sizes, the moving distance of the clamping plates is not required to be adjusted by staff, and the labor intensity of the staff is reduced.

Description

Grabbing manipulator for processing precise electronic device

Technical Field

The invention relates to the field of manipulators, in particular to a grabbing manipulator for processing a precise electronic device.

Background

A manipulator is an automatic operating device that mimics certain motion functions of a human hand and arm for grasping, handling objects or operating tools in a fixed program. The electronic device is characterized in that various expected operations can be completed through programming, the structure and the performance of the electronic device have the advantages of a human body and a mechanical mobile phone, and the mechanical arm is required to take and shift the electronic device when the precise electronic device is processed.

When the electronic components are grabbed, the common manipulator needs to adjust the manipulator claw according to the sizes of the electronic components, the manipulator claw after the adjustment can only grab the electronic components with one specification and size, and when the electronic components with the other specification and size are grabbed, the manipulator claw needs to be adjusted again, so that the manipulator claw is very inconvenient to use.

Disclosure of Invention

The invention aims at: in order to solve the problem that electronic devices of different specifications cannot be adaptively grasped, a grasping manipulator for processing precise electronic devices is provided.

In order to achieve the above purpose, the present invention provides the following technical solutions: the utility model provides a snatch manipulator for accurate electronic component processing, includes the mount pad, flexible cylinder is installed to the bottom of mount pad, the outside of flexible cylinder is fixed with vertical even storehouse through the bolt fastening, the outside of vertical even storehouse is fixed with four horizontal even storehouse, and four horizontal even storehouse are distributed along the central axis equidistance of vertical even storehouse, the inner wall of horizontal even storehouse is fixed with the guide arm, the movable frame has been cup jointed in the outside of fixing the guide arm, and the movable frame extends to the bottom of horizontal even storehouse, the bottom of movable frame is connected with splint through the piece of putting in place, the inboard of movable frame is provided with the clamp guide assembly that links to each other with flexible cylinder output, the clamp guide assembly passes through the stopper and links to each other with the movable frame.

As still further aspects of the invention: the clamp guide assembly comprises a rope connecting plate arranged at the output end of the telescopic cylinder, the outer side of the rope connecting plate is attached to the inner wall of the longitudinal connecting bin, one side of the movable frame is fixedly provided with a clamp spring, one end of the clamp spring is connected with a movable pull sleeve plate, the movable pull sleeve plate is sleeved on the outer side of the fixed guide rod, one side of the movable pull sleeve plate is provided with a reset spring connected with the inner wall of the transverse connecting bin, the inner wall of the transverse connecting bin is provided with a fixed pulley, the fixed pulley is located below the rope connecting plate, and one end of the movable pull sleeve plate is provided with a traction rope connected with the rope connecting plate.

As still further aspects of the invention: the swing connecting piece comprises a fixed swing frame fixed at the bottom of the movable frame, the bottom of the fixed swing frame is rotationally connected with a swing shaft through a bearing, two ends of the swing shaft are connected with the top of the clamping plate, the outer side of the swing shaft is fixedly provided with clamping wheels, four clamping holes are formed in the outer side of the clamping wheels and distributed along the circle center of the clamping wheels at equal distances, the inner side of each clamping hole is provided with a magnetic attraction block, the inner side of the bottom of the movable frame is slidably connected with a position supporting plate, and the bottom of the position supporting plate is fixedly provided with clamping pins extending to the inner side of each clamping hole.

As still further aspects of the invention: the diameter of the clamping hole is opposite to that of the clamping pin, and the movable distance of the position supporting plate relative to the movable frame is greater than the depth of the clamping hole.

As still further aspects of the invention: the stopper is including being fixed in the interlink spring at flexible cylinder inner wall top, interlink spring cup joints in the outside of flexible cylinder output, interlink spring's bottom is fixed with the cover position ring, the outside of cover position ring is provided with draws the interlock frame, draws the interlock frame to extend to the outside of vertical even storehouse, draw the bottom of interlock frame to be fixed with and draw the bayonet lock, the top of horizontal even storehouse is fixed with and props and link the frame, prop the top of linking the frame and rotate through the pivot and be connected with the cam, one side of cam is fixed with and draws the connecting rod, draw the one end of connecting rod to be fixed with and directly link the guide rail, directly link the guide rail to be located the outside of bayonet lock, around the wheel groove's inboard is seted up and is connected with the top and is linked the round pin, the bottom of top even pin is fixed with the tooth pressing bar, the bottom of tooth pressing bar is fixed with the interlock rack, the inside of movable frame is rotated through the pivot and is connected with the spur gear, the inner wall bottom of horizontal even storehouse is fixed with and props the rack, the both sides of tooth pressing bar are provided with the position of linking with the unit that links to each other with splint.

As still further aspects of the invention: the outside of vertical even storehouse is provided with the spout that matches with drawing the linking frame top mutually, the bottom of linking the rack, the top of standing the rack all meshes with the outside of straight gear.

As still further aspects of the invention: the position finding unit is including being fixed in the depression bar frame of pressing the rack both sides, the bottom of depression bar frame is provided with the slide bar, the outside of slide bar has cup jointed the guide ejector pad, the outside of guide ejector pad is pegged graft and is had the movable position storehouse, the bottom of guide ejector pad is fixed with the compression spring that is located the movable position storehouse inboard, one side in movable position storehouse is fixed with leads and even inserts, leads and even inserts sliding connection in the both sides of splint, the both sides sliding connection of splint has L type traction pin, the outside of L type traction pin has cup jointed the oblique guide rail, and the oblique guide rail is fixed in the bottom that leads even inserts, the one end of L type traction pin is connected with the sloping roof through the pivot rotation, the one end of sloping roof is connected with the patch board through the pivot rotation, the patch storehouse is installed to one side of splint, the one side of patch board extends to the inboard in patch storehouse, the battery compartment is installed to one side of patch, the one end of patch board has the pull position contact piece, installs the inside of patch contact piece, the contact piece is located the one side of patch, and the contact piece is located the internal position of patch.

As still further aspects of the invention: the pulling contact piece is electrically connected with a battery in the battery bin through a lead, and the conveying connecting contact piece is electrically connected with the buzzer through a lead.

As still further aspects of the invention: the lower part of the transverse connecting bin is provided with two clamping plates symmetrically arranged, and the outer sides of the clamping plates are provided with positioning units.

As still further aspects of the invention: the bottom outside of guide ejector pad is laminated with the inner wall in movable position storehouse mutually, the movable distance of guide ejector pad equals with the biggest flexible distance of compression spring.

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

1. through setting up the clamp and draw the subassembly, when flexible cylinder contracts the operation, it pulls the movable sleeve board to link the rope board, return spring contracts in this process, movable sleeve board drives the movable frame through the clamp spring simultaneously and moves, thereby make and move towards the central axis of vertical even storehouse, when splint and electronic device take place to contact, movable sleeve board continues to move, the movable sleeve board of drawing is kept moving and just can stretch clamp spring this moment, if the specification of electronic device is great, the displacement distance of splint relatively transversely even storehouse is shorter at this moment, the extension distance of clamp spring is great simultaneously, if the specification of electronic device is less, the displacement distance of splint relatively transversely even storehouse is great, simultaneously the extension distance of clamp spring is less, so alright make splint carry out big to great electronic device clamping dynamics to less electronic device, so as to prevent less electronic device and damage because of receiving too big clamping dynamics, so alright make splint carry out self-adaptation centre gripping to the cylindric electronic device of different specification size, the staff has alleviateed the clamp plate's of the displacement distance of staff, the intensity of staff who has adjusted splint;

2. through setting up the stopper, the splint moves along the movable frame in the in-process that the telescopic cylinder moved, in this process spur gear rotates along standing the rack, can make the rope connecting board push to the cover bit ring when the telescopic cylinder contracts completely, pull the linkage frame and will move up relative to longitudinal even storehouse at this moment, pull the linkage frame and pull one end of the pull connecting rod through pulling bayonet lock, direct connection guide rail at the same time, so alright make the cam swing relatively to prop the linkage frame, at this moment, the top connecting pin will drive the rack pressing down and move down under the guide of winding the wheel groove, so alright make the rack of moving buckle to the top of spur gear, so can limit the movable frame, thus has increased the stability that the splint snatched the movement to the electronic device;

3. through setting up the location link, can pull the support bit plate first when snatching the cubic electronic device, make screens pin and screens hole separation, then rotatable splint, make splint rotate ninety degrees, make it be parallel with the bottom of horizontal even storehouse, another screens hole in the screens wheel outside just can align with screens pin at this moment, then press the support bit plate, make screens pin insert another screens hole in, the magnetism in the screens hole absorbs the screens pin simultaneously, so can carry out spacing fixation to the splint after rotating, thereby rotate ninety degrees with two splint of symmetry setting, can carry out the centre gripping to the cubic electronic device through two rotatory splint when the telescopic cylinder is operated, thereby increase the application scope of equipment;

4. through setting up the position unit, when splint carry out the centre gripping to electronic device, when the depression bar frame moves down along with pressing the rack, one side and the electronic device of the position board that mends this moment laminate mutually, the position board just can not remove relatively splint this moment, guide ejector pad just can move down the position storehouse relatively, if there is not electronic device in the below in vertical even storehouse, splint just can not carry out the centre gripping to electronic device when moving this moment, the one end of position board just can lack the shielding of electronic device this moment, when guide ejector pad moves down, move the position storehouse just can move down under the effect of compression spring, guide the L type traction pin of inserting the piece just can make splint both sides through linking the guide to one side mutually be close to, so alright extrude the position board through the sloping roof, make the position board remove relatively splint this moment, the position contact piece is contacted with linking the position contact piece, the battery compartment is the buzzer power supply, so alright make the buzzer remind the staff, prevent that this equipment from being in the situation that electronic device on to the conveying equipment snatch completely after, thereby reduce the waste of resources can be placed on the equipment in time to the conveying equipment.

Drawings

FIG. 1 is a schematic diagram of the structure of the present invention;

FIG. 2 is a partial cross-sectional view of a longitudinal and transverse linked cartridge of the present invention;

FIG. 3 is a schematic diagram showing the connection of the movable frame and the movable pull sleeve plate according to the present invention;

FIG. 4 is a schematic view of the connection of the movable frame and the clamping plate according to the present invention;

FIG. 5 is a partial cross-sectional view of the movable and fixed carriages of the present invention;

FIG. 6 is a schematic diagram illustrating the connection of the guide push block and the patch panel according to the present invention;

FIG. 7 is a schematic view of the internal structure of the connecting plate bin of the invention;

FIG. 8 is a schematic diagram illustrating the connection of the pull link frame and the compression bar frame according to the present invention;

fig. 9 is a schematic diagram of the internal structure of the movable position cabin of the present invention.

In the figure: 1. a mounting base; 2. a telescopic cylinder; 3. longitudinally connecting bins; 4. a transverse connecting bin; 501. a support connecting frame; 502. a connecting rod is pulled; 503. a movable connecting rack; 504. a cam; 505. pulling the linkage frame; 506. a pressing rod frame; 507. a movable position bin; 508. a clamping plate; 509. compressing the spring; 510. a top connecting pin; 511. a tooth pressing rod; 512. a movable frame; 513. a buzzer; 514. a connecting piece bin; 515. a guide rod is fixed; 516. a rope connecting plate; 517. a fixed pulley; 518. a traction rope; 519. standing the rack; 520. a movable pull sleeve plate; 521. spur gears; 522. a clamp spring; 523. a return spring; 524. a winding wheel groove; 525. a sleeve ring; 526. a interlink spring; 527. guiding the pushing block; 528. a support plate; 529. a swing frame is fixed; 530. an L-shaped traction pin; 531. a guide rail is connected obliquely; 532. a position compensating plate; 533. a clamping wheel; 534. rotating the pendulum shaft; 535. a guide and connection plug block; 536. an inclined top plate; 537. a clamping hole; 538. a clamping pin; 539. a magnetic suction block; 540. a battery compartment; 541. pulling the position contact piece; 542. a connecting contact; 543. pulling the bayonet lock; 544. a guide rail is directly connected; 545. a slide bar.

Detailed Description

The following description of the embodiments of the present invention will be made clearly and completely with reference to the accompanying drawings, in which it is apparent that the embodiments described are only some embodiments of the present invention, but not all embodiments. All other embodiments, which can be made by those skilled in the art based on the embodiments of the invention without making any inventive effort, are intended to be within the scope of the invention.

In the description of the present invention, it should be noted that the directions or positional relationships indicated by the terms "center", "upper", "lower", "left", "right", "vertical", "horizontal", "inner", "outer", etc. are based on the directions or positional relationships shown in the drawings, are merely for convenience of describing the present invention and simplifying the description, and do not indicate or imply that the devices or elements referred to must have a specific orientation, be configured and operated in a specific 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 explicitly specified and limited otherwise, the terms "mounted," "connected," and "configured" are to be construed broadly, and may be, for example, fixedly connected, detachably connected, or integrally connected; can be mechanically or electrically connected; can be directly connected or indirectly connected through an intermediate medium, and can be communication between two elements. The specific meaning of the above terms in the present invention will be understood in specific cases by those of ordinary skill in the art. Hereinafter, an embodiment of the present invention will be described in accordance with its entire structure.

Referring to fig. 1 to 9, in the embodiment of the invention, a grabbing manipulator for processing a precision electronic device includes a mounting seat 1, a telescopic cylinder 2 is mounted at the bottom of the mounting seat 1, a longitudinal connecting bin 3 is fixed at the outer side of the telescopic cylinder 2 through bolts, four transverse connecting bins 4 are fixed at the outer side of the longitudinal connecting bin 3, the four transverse connecting bins 4 are equidistantly distributed along the central axis of the longitudinal connecting bin 3, a fixed guide rod 515 is fixed at the inner wall of the transverse connecting bin 4, a movable frame 512 is sleeved at the outer side of the fixed guide rod 515, the movable frame 512 extends to the bottom of the transverse connecting bin 4, a clamping plate 508 is connected at the bottom of the movable frame 512 through a positioning connecting piece, a clamping device guiding component connected with the output end of the telescopic cylinder 2 is arranged at the inner side of the movable frame 512, and the clamping device guiding component is connected with the movable frame 512 through a stopper.

In this embodiment, when the device is used, the device is required to be mounted on a mechanical arm through the mounting seat 1, the longitudinal connecting bin 3 is moved to the upper side of the electronic device through the operation of the mechanical arm, then the telescopic cylinder 2 is started, the clamping plate 508 can clamp cylindrical electronic devices with different diameters through the operation of the clamp guide assembly, then the stopper can limit the clamping plate 508 through the continuous operation of the telescopic cylinder 2, so that the stability of the clamping plate 508 to the electronic devices is improved, a worker can rotate two symmetrical clamping plates 508 to the position parallel to the bottom of the transverse connecting bin 4 through the positioning connecting piece, at this time, the telescopic cylinder 2 can adaptively clamp the block-shaped electronic devices through the residual two symmetrical clamping plates 508, no worker is required to adjust the positions of the clamping plates 508 according to the cylindrical electronic devices or the block-shaped electronic devices with different specifications, the operation is simple and the application range of the device is also increased.

Referring to fig. 1, 2 and 3, the clamp guide assembly comprises a rope connecting plate 516 installed at the output end of the telescopic cylinder 2, the outer side of the rope connecting plate 516 is attached to the inner wall of the longitudinal connecting bin 3, one side of the movable frame 512 is fixedly provided with a clamp spring 522, one end of the clamp spring 522 is connected with a movable pull sleeve plate 520, the movable pull sleeve plate 520 is sleeved on the outer side of the fixed guide rod 515, one side of the movable pull sleeve plate 520 is provided with a return spring 523 connected with the inner wall of the transverse connecting bin 4, the inner wall of the transverse connecting bin 4 is provided with a fixed pulley 517, the fixed pulley 517 is located below the rope connecting plate 516, and one end of the movable pull sleeve plate 520 is provided with a traction rope 518 connected with the rope connecting plate 516.

In this embodiment, when the telescopic cylinder 2 is contracted, the rope connecting plate 516 pulls the movable pull sleeve plate 520 through the pulling rope 518, the restoring spring 523 is contracted in the process, and meanwhile, the movable pull sleeve plate 520 drives the movable frame 512 to move through the clamp spring 522, so that 608 moves towards the central axis of the longitudinal continuous bin 3, when the clamping plate 508 contacts with an electronic device, the movable pull sleeve plate 520 continues to move, at this time, the movable pull sleeve plate 520 continues to move to stretch the clamp spring 522, if the specification of the electronic device is larger, at this time, the moving distance of the clamping plate 508 relative to the transverse continuous bin 4 is shorter, and meanwhile, the stretching distance of the clamp spring 522 is larger, and if the specification of the electronic device is smaller, the moving distance of the clamping plate 508 relative to the transverse continuous bin 4 is larger, and meanwhile, the stretching distance of the clamp spring 522 is smaller, so that the clamping force of the clamping plate 508 is larger electronic device is enabled to be larger, and the clamping force of the smaller electronic device is prevented from being damaged due to overlarge clamping force, so that the self-adapting to the moving distance of the clamping plate 508 to the cylindrical clamping plate 508 is not needed, and the working personnel is not required to be adjusted.

Referring to fig. 3, 4 and 5, the positioning connecting piece includes a fixed swing frame 529 fixed at the bottom of the movable frame 512, a swing shaft 534 is rotatably connected to the bottom of the fixed swing frame 529 through a bearing, two ends of the swing shaft 534 are connected to the top of the clamping plate 508, a clamping wheel 533 is fixed to the outer side of the swing shaft 534, four clamping holes 537 are provided on the outer side of the clamping wheel 533, the four clamping holes 537 are equidistantly distributed along the center of the clamping wheel 533, a magnetic attraction block 539 is mounted on the inner side of the clamping hole 537, a supporting plate 528 is slidably connected to the inner side of the bottom of the movable frame 512, and a clamping pin 538 extending to the inner side of the clamping hole 537 is fixed to the bottom of the supporting plate 528.

In this embodiment, when the block electronic device is grabbed, the supporting plate 528 can be pulled first, so that the clamping pin 538 is separated from the clamping hole 537, then the clamping plate 508 can be rotated, so that the clamping plate 508 rotates ninety degrees to make the clamping plate 508 and the bottom of the transverse connecting bin 4 in parallel, at this time, the other clamping hole 537 on the outer side of the clamping wheel 533 is aligned with the clamping pin 538, then the supporting plate 528 is pressed, so that the clamping pin 538 is inserted into the other clamping hole 537, and meanwhile, the magnetic attraction block 539 in the clamping hole 537 can adsorb the clamping pin 538, so that the rotated clamping plate 508 can be limited and fixed, thereby rotating the two symmetrically arranged clamping plates 508 by ninety degrees, and when the telescopic cylinder 2 operates, the block electronic device can be clamped by the two clamping plates 508 which are not rotated, so that the application range of the device is increased.

Referring to fig. 5, the diameters of the locking holes 537 and the locking pins 538 are opposite, and the movable distance of the supporting plate 528 relative to the movable frame 512 is greater than the depth of the locking holes 537.

In this embodiment, the structure is provided to completely separate the retaining pin 538 from the retaining hole 537 when the retainer plate 528 is moved to the highest position, and to limit the clamping plate 508 when the bottom of the retaining pin 538 is inserted into the inner side of the retaining hole 537, so as to increase the stability of the connection of the clamping plate 508 to the swing frame 529.

Referring to fig. 1, 2 and 8, the stopper includes a interlink spring 526 fixed on the top of the inner wall of the telescopic cylinder 2, the interlink spring 526 is sleeved on the outer side of the output end of the telescopic cylinder 2, a sleeve ring 525 is fixed on the bottom of the interlink spring 526, a pull linkage frame 505 is arranged on the outer side of the sleeve ring 525, the pull linkage frame 505 extends to the outer side of the longitudinal linkage bin 3, a pull clamping pin 543 is fixed on the bottom of the pull linkage frame 505, a supporting linkage frame 501 is fixed on the top of the transverse linkage bin 4, the top of the supporting linkage frame 501 is rotatably connected with a cam 504 through a rotating shaft, a pull connecting rod 502 is fixed on one side of the cam 504, a direct connecting guide rail 544 is fixed on one end of the pull connecting rod 502, the direct connecting guide rail 544 is positioned on the outer side of the pull clamping pin 543, a winding wheel groove 524 is formed on the inner side of the cam 504, a top connecting pin 510 is slidably connected with an inner side of the winding wheel groove 524, a tooth pressing rod 519 is fixed on the bottom of the top connecting pin 510, a movable connecting rack 503 is fixed on the bottom of the tooth pressing rod 511, the inner side of the movable rack 512 is rotatably connected with a rotating shaft 521, two sides of the inner wall of the transverse linkage bin 4 are fixedly connected with a pressing rack 508, and the static clamping plate is connected with a static clamping plate.

In this embodiment, the clamping plate 508 moves along with the movable frame 512 during the moving process of the telescopic cylinder 2, the spur gear 521 rotates along the standing rack 519 during the moving process, when the telescopic cylinder 2 is completely contracted, the rope connecting plate 516 pushes the positioning ring 525, at this time, the pulling linkage frame 505 moves up relative to the longitudinal connecting bin 3, and at the same time, the pulling linkage frame 505 pulls one end of the pulling linkage 502 through the pulling clamping pin 543 and the direct connecting guide rail 544, so that the cam 504 swings relative to the supporting linkage frame 501, at this time, the top connecting pin 510 moves downwards under the guiding and pressing of the round wheel groove 524 to drive the toothed bar 511, so that the moving linkage rack 503 is buckled to the top of the spur gear 521, so that the movable frame 512 is limited, thereby increasing the stability of the clamping plate 508 for grabbing and moving the electronic device.

Referring to fig. 2, the outer side of the longitudinal connecting bin 3 is provided with a sliding groove matching with the top of the pulling linkage frame 505, and the bottom of the linkage rack 503 and the top of the standing rack 519 are both meshed with the outer side of the spur gear 521.

In the present embodiment, the structure is provided to enable the sleeve 525 to drive the pulling linkage frame 505 to move upwards when being extruded by the rope connecting plate 516, so as to enable the moving linkage rack 503 to be buckled on the outer side of the spur gear 521, thereby locking the spur gear 521, and further increasing the stability of the clamping plate 508.

Referring to fig. 1, fig. 2, fig. 3, fig. 4, fig. 6, fig. 7, and fig. 9, the positioning unit includes a compression bar 506 fixed on two sides of the compression bar 511, a sliding bar 545 is disposed at the bottom of the compression bar 506, a guiding push block 527 is sleeved on the outer side of the sliding bar 545, a movable position cabin 507 is inserted on the outer side of the guiding push block 527, a compression spring 509 located on the inner side of the movable position cabin 507 is fixed on the bottom of the guiding push block 527, a guiding connection block 535 is fixed on one side of the movable position cabin 507, the guiding connection block 535 is slidably connected on two sides of the clamping plate 508, two sides of the clamping plate 508 are slidably connected with L-shaped traction pins 530, a diagonal guide 531 is sleeved on the outer side of the L-shaped traction pin 530, the diagonal guide 531 is fixed on the bottom of the guiding connection block 535, one end of the L-shaped traction pin 530 is rotatably connected with a diagonal top 536 through a rotating shaft, one end of the diagonal top 536 is rotatably connected with a patch plate 532, one side of the clamping plate 508 is provided with a patch cabin 514, one end of the patch cabin 532 extends to the inner side of the patch cabin 514, one side of the patch cabin is provided with a patch 541, one side of the patch 541 is provided with a patch 541, and one side of the patch 541 is located in the patch cabin 541 is mounted on one side of the patch cabin 541.

In this embodiment, when the clamping plate 508 clamps an electronic device, when the pressing rod frame 506 moves down along with the tooth pressing rod 511, one side of the position supplementing plate 532 is attached to the electronic device, at this time, the position supplementing plate 532 cannot move relative to the clamping plate 508, at this time, the guide pushing block 527 can move down relative to the position supplementing plate 507, if no electronic device exists below the longitudinal connecting bin 3, at this time, the clamping plate 508 cannot clamp the electronic device when moving, at this time, one end of the position supplementing plate 532 can lack shielding of the electronic device, when the guide pushing block 527 moves down, the position supplementing bin 507 can move down under the action of the pressing spring 509, at this time, the guide inserting block 535 can make the L-shaped traction pins 530 on two sides of the clamping plate 508 to be close to each other through the oblique connecting guide rail 531, so that the position supplementing plate 532 can be extruded relative to the clamping plate 508 through the oblique top plate 536, at this time, the position pulling contact piece 541 is contacted with the connecting piece 542, the battery bin is the buzzer 513, so that the buzzer 513 can operate, thereby the buzzer 513 can remind a worker of wasting the electronic device on the equipment, and the equipment can be completely and completely grabbed by the equipment, and the equipment can be completely and empty.

Referring to fig. 7, the pull-position contact 541 is electrically connected to the battery in the battery compartment 540 through a wire, and the conveying-position contact 542 is electrically connected to the buzzer 513 through a wire.

In the present embodiment, the buzzer 513 is operated when the pull-up contact 541 is brought into contact with the link contact 542 by providing this structure, so that the operation timing of the buzzer 513 is controlled.

Referring to fig. 1 and 8, a positioning unit is disposed outside only two symmetrically disposed clamping plates 508 below the transverse connecting bin 4.

In the present embodiment, the rotation of the clamping plate 508 with the side unit with respect to the movable frame 512 is prevented by providing this structure.

Referring to fig. 9, the outer side of the bottom of the guiding pushing block 527 is attached to the inner wall of the movable position cabin 507, and the movable distance of the guiding pushing block 527 is equal to the maximum telescopic distance of the compression spring 509.

In this embodiment, this structure is provided to increase the stability of the connection between the guide pushing block 527 and the movable position cabin 507, and at the same time, the guide pushing block 527 has a certain movable space relative to the movable position cabin 507.

The foregoing description is only a preferred embodiment of the present invention, but the scope of the present invention is not limited thereto, and any person skilled in the art, who is within the scope of the present invention, should make equivalent substitutions or modifications according to the technical solution of the present invention and the inventive concept thereof, and should be covered by the scope of the present invention.

Claims

1. The utility model provides a snatch manipulator for accurate electronic parts processing, includes mount pad (1), its characterized in that, telescopic cylinder (2) are installed to the bottom of mount pad (1), the outside of telescopic cylinder (2) is fixed with vertically and is even storehouse (3) through the bolt, the outside of vertically even storehouse (3) is fixed with four transversely and is even storehouse (4), four transversely even storehouse (4) are distributed along the central axis equidistance of vertically even storehouse (3), the inner wall of transversely even storehouse (4) is fixed with fixed guide arm (515), fixed guide arm (515) outside has cup jointed movable frame (512), and movable frame (512) extend to the bottom of transversely even storehouse (4), the bottom of movable frame (512) is connected with splint (508) through the pendulum position link, the inboard of movable frame (512) is provided with the clamp guide component that links to each other with telescopic cylinder (2) output, the clamp guide component links to each other with movable frame (512) through the stopper;

the clamp guide assembly comprises a rope connecting plate (516) arranged at the output end of the telescopic cylinder (2), the outer side of the rope connecting plate (516) is attached to the inner wall of the longitudinal connecting bin (3), a clamp spring (522) is fixed on one side of the movable frame (512), a movable pull sleeve plate (520) is connected to one end of the clamp spring (522), the movable pull sleeve plate (520) is sleeved on the outer side of the fixed guide rod (515), a reset spring (523) connected with the inner wall of the transverse connecting bin (4) is arranged on one side of the movable pull sleeve plate (520), a fixed pulley (517) is arranged on the inner wall of the transverse connecting bin (4), the fixed pulley (517) is located below the rope connecting plate (516), and a traction rope (518) connected with the rope connecting plate (516) is arranged at one end of the movable pull sleeve plate (520);

the swing connecting piece comprises a fixed swing frame (529) fixed at the bottom of a movable frame (512), a swing shaft (534) is rotatably connected to the bottom of the fixed swing frame (529) through a bearing, two ends of the swing shaft (534) are connected with the top of a clamping plate (508), a clamping wheel (533) is fixed to the outer side of the swing shaft (534), four clamping holes (537) are formed in the outer side of the clamping wheel (533), the four clamping holes (537) are distributed at equal intervals along the center of the clamping wheel (533), magnetic attraction blocks (539) are mounted on the inner side of the clamping holes (537), a supporting plate (528) is slidably connected to the inner side of the bottom of the movable frame (512), and clamping pins (538) extending to the inner side of the clamping holes (537) are fixed to the bottom of the supporting plate (528).

2. The grasping manipulator for precision electronic device processing according to claim 1, wherein the diameter of the detent hole (537) is opposite to the diameter of the detent pin (538), and the movable distance of the holding plate (528) relative to the movable frame (512) is greater than the depth of the detent hole (537).

3. The grabbing mechanical arm for precision electronic device processing according to claim 1, wherein the stopper comprises a interlink spring (526) fixed at the top of the inner wall of the telescopic cylinder (2), the interlink spring (526) is sleeved on the outer side of the output end of the telescopic cylinder (2), a sleeve position ring (525) is fixed at the bottom of the interlink spring (526), a pull linkage frame (505) is arranged on the outer side of the sleeve position ring (525), the pull linkage frame (505) extends to the outer side of the longitudinal linking bin (3), a pull clamping pin (543) is fixed at the bottom of the pull linkage frame (505), a supporting linkage frame (501) is fixed at the top of the transverse linking bin (4), a cam (504) is rotatably connected to the top of the supporting linkage frame (501) through a rotating shaft, a guide pull connecting rod (502) is fixed at one side of the cam (504), a straight connecting guide rail (544) is fixed at the outer side of the pull clamping pin (543), a tooth wheel (524) is arranged on the inner side of the cam (504), a tooth wheel (511) is arranged at the inner side of the cam (524), a tooth top (511) is arranged at the bottom of the tooth bar (511), the inner side of the movable frame (512) is rotatably connected with a spur gear (521) through a rotating shaft, a standing rack (519) is fixed at the bottom of the inner wall of the transverse connecting bin (4), and positioning units connected with the clamping plates (508) are arranged on two sides of the tooth pressing rod (511).

4. A grabbing manipulator for precision electronic device processing according to claim 3, wherein a chute which is matched with the top of the pulling linkage frame (505) is arranged on the outer side of the longitudinal linkage bin (3), and the bottom of the moving linkage frame (503) and the top of the standing rack (519) are meshed with the outer sides of the spur gears (521).

5. The grabbing mechanical arm for precision electronic device processing according to claim 3, wherein the positioning unit comprises a compression bar (506) fixed on two sides of a tooth pressing bar (511), a sliding bar (545) is arranged at the bottom of the compression bar (506), a guide pushing block (527) is sleeved on the outer side of the sliding bar (545), a movable position bin (507) is inserted on the outer side of the guide pushing block (527), a compression spring (509) positioned on the inner side of the movable position bin (507) is fixed on the bottom of the guide pushing block (527), a guide connection inserting block (535) is fixed on one side of the movable position bin (507), the guide connection inserting block (535) is connected to two sides of a clamping plate (508) in a sliding manner, an L-shaped traction pin (530) is connected to two sides of the clamping plate (508) in a sliding manner, an oblique connection guide rail (531) is sleeved on the outer side of the L-shaped traction pin (530), one end of the L-shaped traction pin (530) is connected with an oblique rotation plate (536), one end of the oblique connection plate (532) is connected with one end of the rotating plate (532) of the rotating plate (514), one end of the rotating plate (532) is connected with one end of the rotating plate (514), the battery compartment (540) is installed to one side of linking piece storehouse (514), draw position contact (541) are installed to one end of mending position board (532), draw position contact (541) to be located the inside of linking piece storehouse (514), link position contact (542) are installed to the inner wall of drawing position contact (541), link position contact (542) to be located one side of drawing position contact (541).

6. The grabbing manipulator for precision electronic device processing according to claim 5, wherein the pull-position contact (541) is electrically connected to a battery in the battery compartment (540) through a wire, and the conveying connection contact (542) is electrically connected to the buzzer (513) through a wire.

7. The grabbing manipulator for precision electronic device processing according to claim 1, wherein only two symmetrically arranged clamping plates (508) are arranged below the transverse connecting bin (4) and a positioning unit is arranged outside the clamping plates.

8. The grabbing manipulator for precision electronic device processing according to claim 5, wherein the outer side of the bottom of the guiding pushing block (527) is attached to the inner wall of the moving position bin (507), and the movable distance of the guiding pushing block (527) is equal to the maximum telescopic distance of the compression spring (509).