CN207273230U - A circuit board automatic grabbing robot - Google Patents

A circuit board automatic grabbing robot Download PDF

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Publication number
CN207273230U
CN207273230U CN201720900219.6U CN201720900219U CN207273230U CN 207273230 U CN207273230 U CN 207273230U CN 201720900219 U CN201720900219 U CN 201720900219U CN 207273230 U CN207273230 U CN 207273230U
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China
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fixed
running track
circuit board
vertical
plate
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Expired - Fee Related
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CN201720900219.6U
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Chinese (zh)
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赵志豪
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Dongguan Lianzhou Intellectual Property Operation and Management Co Ltd
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Dongguan Lianzhou Intellectual Property Operation and Management Co Ltd
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Abstract

The utility model discloses an automatic circuit board grabbing robot, which comprises a running track and a moving seat, wherein the running track is an I-shaped strip block, the moving seat is inserted in the running track, supporting end plates are fixed at two ends of the running track, a moving screw is arranged above the running track, two ends of the moving screw are hinged on the two supporting end plates, a driving motor is fixed on the outer side wall of one of the two supporting end plates, an output shaft of the driving motor is a spline shaft, the spline shaft is inserted in a spline hole formed in one end of the moving screw, and the moving seat is screwed in the moving screw; the top surface of the moving seat is fixed with a vertical frame, the vertical frame is provided with a vertical screw rod, two ends of the vertical screw rod are hinged to a top plate and a bottom plate of the vertical frame, and a lifting motor is fixed in the middle of the top surface of the top plate of the vertical frame. The utility model discloses can get the material at the staff at the during operation, the plate body centre gripping of carrying on the conveyer belt automatically, wait to take after the staff accomplishes, need not to stop the conveyer belt, it is very convenient.

Description

一种电路板自动抓取机器人A circuit board automatic grabbing robot

技术领域:Technical field:

本实用新型涉及机器人加工设备技术领域,更具体的说涉及一种电路板自动抓取机器人。The utility model relates to the technical field of robot processing equipment, in particular to a circuit board automatic grasping robot.

背景技术:Background technique:

现有的电路板进行加工时一般采用的是流水线输送,在输送时,其一般采用的是人工将一条输送带上到位的板体人工取下进行相应的操作,其取下时,需要人工停止之前还没有完成的工作,或者是输送带停止,等人工完成手上工作再去拿取,输送带停止会影响整体的工作流程,如输送带上输送的是多个工件,均是分别给不同的工作人员,当其中一个工作人员把输送带停止时,其他工件就无法提供给其他人,这样就大大影响了其他工作人员的工作进程,以上都影响了工作的效率。Existing circuit boards are generally processed by assembly line transportation. During transportation, they generally use manual removal of the board body in place on a conveyor belt for corresponding operations. When it is removed, it needs to be manually stopped. The work that has not been completed before, or the conveyor belt stops, and the manual work is completed before picking it up. The stop of the conveyor belt will affect the overall workflow. When one of the staff stops the conveyor belt, other workpieces cannot be provided to others, which greatly affects the work process of other staff, and all of the above affect the efficiency of work.

实用新型内容:Utility model content:

本实用新型的目的是克服现有技术的不足,提供一种电路板自动抓取机器人,它可以在工作人员在工作时,自动将输送带上输送的板体夹持取料,等工作人员完成后拿取,无需将输送带停止,非常方便。The purpose of this utility model is to overcome the deficiencies of the prior art and provide a robot for automatically grabbing circuit boards, which can automatically clamp and take out the boards conveyed on the conveyor belt when the staff is working, and wait for the staff to complete the work. It is very convenient to take it later without stopping the conveyor belt.

为实现上述目的,本实用新型解决所述技术问题的方案是:In order to achieve the above object, the solution of the utility model to solve the technical problem is:

一种电路板自动抓取机器人,包括运行轨道和移动座,所述运行轨道为工字型条形块体,移动座插套在运行轨道中,运行轨道的两端固定有支撑端板,运行轨道的上方设有移动螺杆,移动螺杆的两端铰接在两个支撑端板上,其中一个支撑端板的外侧壁上固定有驱动电机,驱动电机的输出轴为花键轴,花键轴插套在移动螺杆的一端具有的花键孔中,移动座螺接在移动螺杆中;A circuit board automatic grabbing robot, including a running track and a moving seat, the running track is an I-shaped bar-shaped block, the moving seat is inserted into the running track, the two ends of the running track are fixed with supporting end plates, and the running There is a moving screw above the track, and the two ends of the moving screw are hinged on two supporting end plates, and a drive motor is fixed on the outer wall of one of the supporting end plates. The output shaft of the driving motor is a spline shaft, and the spline shaft is inserted into the Set in the spline hole at one end of the moving screw, and the moving seat is screwed into the moving screw;

所述移动座的顶面固定有竖直架,竖直架上设有竖直螺杆,竖直螺杆的两端铰接在竖直架的顶板和底板上,竖直架的顶板的顶面中部固定有提升电机,提升电机的输出轴为花键轴,花键轴插套在竖直螺杆的顶端具有的花键孔中,抓取移动臂螺接在竖直螺杆中,抓取移动臂的一侧固定有夹持气缸,夹持气缸的推杆穿过抓取移动臂并固定有下夹持板,抓取移动臂与下夹持板对应处的一端底面固定有上夹持板,上夹持板和下夹持板的相对的壁面上均固定有主夹持块。The top surface of the mobile seat is fixed with a vertical frame, and the vertical frame is provided with a vertical screw rod, and the two ends of the vertical screw rod are hinged on the top plate and the bottom plate of the vertical frame, and the middle part of the top surface of the top plate of the vertical frame is fixed. There is a lifting motor, the output shaft of the lifting motor is a spline shaft, and the spline shaft is inserted into the spline hole on the top of the vertical screw rod, and the grabbing moving arm is screwed in the vertical screw rod, and a part of the grabbing moving arm A clamping cylinder is fixed on the side, and the push rod of the clamping cylinder passes through the grabbing moving arm and is fixed with a lower clamping plate. The bottom surface of one end of the grabbing moving arm corresponding to the lower clamping plate is fixed with an upper clamping plate. Main clamping blocks are fixed on opposite wall surfaces of the holding plate and the lower clamping plate.

所述两个主夹持块的相对壁面上均固定有弹性防护层。Elastic protective layers are fixed on opposite wall surfaces of the two main clamping blocks.

所述下夹持板的后部固定有竖直导向杆,竖直导向杆伸出抓取移动臂。The rear portion of the lower clamping plate is fixed with a vertical guide rod, and the vertical guide rod stretches out to grab the moving arm.

所述抓取移动臂靠近竖直架的一侧固定有自润滑块,自润滑块压靠在竖直架的竖直板的内侧壁上。A self-lubricating block is fixed on the side of the grasping mobile arm close to the vertical frame, and the self-lubricating block is pressed against the inner side wall of the vertical plate of the vertical frame.

所述移动座的底面中部具有通槽,运行轨道的上部插套在通槽中,通槽的上部内侧壁具有限位凹槽,限位凹槽的内侧壁上固定有内自润滑层,运行轨道的上部两侧的凸起部插套在限位凹槽中,内自润滑层紧贴运行轨道的顶面和两侧凸起部的侧壁和底面上。The middle part of the bottom surface of the moving seat has a through groove, the upper part of the running track is inserted into the through groove, the inner side wall of the upper part of the through groove has a limit groove, and the inner self-lubricating layer is fixed on the inner side wall of the limit groove, and the running The protrusions on both sides of the upper part of the track are inserted into the limit groove, and the inner self-lubricating layer is close to the top surface of the running track and the side walls and bottom surfaces of the protrusions on both sides.

所述移动座的底面固定有自润滑板,自润滑板压靠在运行轨道的底部两侧成型有的延伸边的顶面上。A self-lubricating plate is fixed on the bottom surface of the moving seat, and the self-lubricating plate is pressed against the top surface of the extending edge formed on both sides of the bottom of the running track.

本实用新型的突出效果是:与现有技术相比,它可以在工作人员在工作时,自动将输送带上输送的板体夹持取料,等工作人员完成后拿取,无需将输送带停止,非常方便。The outstanding effect of the utility model is: compared with the prior art, it can automatically clamp and take out the plate body conveyed on the conveyor belt when the staff is working, and take it after the staff is finished, without the need to move the conveyor belt stop, very convenient.

附图说明:Description of drawings:

图1是本实用新型的结构示意图;Fig. 1 is the structural representation of the utility model;

图2是本实用新型的局部剖视图。Fig. 2 is a partial sectional view of the utility model.

具体实施方式:Detailed ways:

实施例,见如图1至图2所示,一种电路板自动抓取机器人,包括运行轨道10和移动座20,所述运行轨道10为工字型条形块体,移动座20插套在运行轨道10中,运行轨道10的两端固定有支撑端板11,运行轨道10的上方设有移动螺杆12,移动螺杆12的两端铰接在两个支撑端板11上,其中一个支撑端板11的外侧壁上固定有驱动电机13,驱动电机13的输出轴为花键轴,花键轴插套在移动螺杆12的一端具有的花键孔中,移动座20螺接在移动螺杆12中;Embodiment, as shown in Fig. 1 to Fig. 2, a kind of circuit board automatic grasping robot comprises a running track 10 and a moving seat 20, the running track 10 is an I-shaped bar-shaped block, and the moving seat 20 is inserted into a sleeve In the running track 10, the two ends of the running track 10 are fixed with supporting end plates 11, and the top of the running track 10 is provided with a moving screw 12, and the two ends of the moving screw 12 are hinged on the two supporting end plates 11, and one of the supporting ends The drive motor 13 is fixed on the outer wall of the plate 11, the output shaft of the drive motor 13 is a spline shaft, and the spline shaft is inserted into the spline hole provided at one end of the moving screw 12, and the moving seat 20 is screwed on the moving screw 12. middle;

所述移动座20的顶面固定有竖直架21,竖直架21上设有竖直螺杆22,竖直螺杆22的两端铰接在竖直架21的顶板和底板上,竖直架21的顶板的顶面中部固定有提升电机23,提升电机23的输出轴为花键轴,花键轴插套在竖直螺杆22的顶端具有的花键孔中,抓取移动臂24螺接在竖直螺杆22中,抓取移动臂24的一侧固定有夹持气缸25,夹持气缸25的推杆穿过抓取移动臂24并固定有下夹持板26,抓取移动臂24与下夹持板26对应处的一端底面固定有上夹持板27,上夹持板27和下夹持板26的相对的壁面上均固定有主夹持块28。The top surface of described mobile base 20 is fixed with vertical frame 21, is provided with vertical screw rod 22 on the vertical frame 21, and the two ends of vertical screw rod 22 are hinged on the top plate and the base plate of vertical frame 21, and vertical frame 21 The middle part of the top surface of the top plate is fixed with a lifting motor 23, the output shaft of the lifting motor 23 is a spline shaft, and the spline shaft is inserted in the spline hole that the top of the vertical screw rod 22 has, and the grabbing arm 24 is screwed on In the vertical screw rod 22, one side of grabbing the moving arm 24 is fixed with a clamping cylinder 25, and the push rod of the clamping cylinder 25 passes through the grabbing moving arm 24 and is fixed with a lower clamping plate 26, grabbing the moving arm 24 and An upper clamping plate 27 is fixed on the bottom surface of one end corresponding to the lower clamping plate 26 , and a main clamping block 28 is fixed on opposite walls of the upper clamping plate 27 and the lower clamping plate 26 .

进一步的说,所述两个主夹持块28的相对壁面上均固定有弹性防护层29。Further speaking, elastic protective layers 29 are fixed on opposite walls of the two main clamping blocks 28 .

进一步的说,所述下夹持板26的后部固定有竖直导向杆261,竖直导向杆261伸出抓取移动臂24。Further speaking, a vertical guide rod 261 is fixed at the rear of the lower clamping plate 26 , and the vertical guide rod 261 protrudes out of the grasping and moving arm 24 .

进一步的说,所述抓取移动臂24靠近竖直架21的一侧固定有自润滑块241,自润滑块241压靠在竖直架21的竖直板的内侧壁上。Furthermore, a self-lubricating block 241 is fixed on the side of the grabbing arm 24 close to the vertical frame 21 , and the self-lubricating block 241 is pressed against the inner side wall of the vertical plate of the vertical frame 21 .

进一步的说,所述移动座20的底面中部具有通槽201,运行轨道10的上部插套在通槽201中,通槽201的上部内侧壁具有限位凹槽15,限位凹槽15的内侧壁上固定有内自润滑层16,运行轨道10的上部两侧的凸起部插套在限位凹槽15中,内自润滑层16紧贴运行轨道10的顶面和两侧凸起部的侧壁和底面上。Further, the middle part of the bottom surface of the moving seat 20 has a through groove 201, the upper part of the running track 10 is inserted into the through groove 201, and the inner side wall of the upper part of the through groove 201 has a limit groove 15, and the limit groove 15 An inner self-lubricating layer 16 is fixed on the inner wall, and the protrusions on both sides of the upper part of the running track 10 are inserted into the limiting groove 15, and the inner self-lubricating layer 16 is close to the top surface of the running track 10 and the protrusions on both sides side walls and bottom of the unit.

进一步的说,所述移动座20的底面固定有自润滑板202,自润滑板202压靠在运行轨道10的底部两侧成型有的延伸边的顶面上。Further speaking, a self-lubricating plate 202 is fixed on the bottom surface of the moving seat 20 , and the self-lubricating plate 202 presses against the top surface of the extending sides formed on both sides of the bottom of the running track 10 .

工作原理:通过驱动电机13运行,实现移动座20移动,使得上夹持板27和下夹持板26靠近输送带,下夹持板26处于输送带上放置有的电路板的边部下方,电路板的边部伸出输送带,而上夹持板27靠近电路板的顶面,然后,通过夹持气缸25的推杆提升,从而使得电路板被上夹持板27和下夹持板26夹持,然后,提升电机23运行,将电路板提升,然后,驱动电机13运行,移动座20后移即可,非常方便。Working principle: the moving seat 20 is moved by driving the motor 13, so that the upper clamping plate 27 and the lower clamping plate 26 are close to the conveyor belt, and the lower clamping plate 26 is located below the edge of the circuit board placed on the conveyor belt. The edge of the circuit board stretches out from the conveyor belt, and the upper clamping plate 27 is close to the top surface of the circuit board, then, the push rod of the clamping cylinder 25 is lifted, so that the circuit board is held by the upper clamping plate 27 and the lower clamping plate. 26 clamping, then, lifting motor 23 runs, and circuit board is promoted, and then, driving motor 13 runs, and moving seat 20 moves back and gets final product, very convenient.

最后,以上实施方式仅用于说明本实用新型,而并非对本实用新型的限制,有关技术领域的普通技术人员,在不脱离本实用新型的精神和范围的情况下,还可以做出各种变化和变型,因此所有等同的技术方案也属于本实用新型的范畴,本实用新型的专利保护范围应由权利要求限定。Finally, the above embodiments are only used to illustrate the utility model, but not to limit the utility model. Those of ordinary skill in the relevant technical fields can also make various changes without departing from the spirit and scope of the utility model. and variants, so all equivalent technical solutions also belong to the category of the utility model, and the patent protection scope of the utility model should be defined by the claims.

Claims (6)

1. a kind of circuit board captures robot, including running track (10) and Mobile base (20) automatically, it is characterised in that:The fortune Row track (10) is I-shaped bar shaped block, and Mobile base (20) sleeve is in running track (10), the both ends of running track (10) Support end plate (11) is fixed with, the top of running track (10) is equipped with mobile screw (12), and the both ends of mobile screw (12) are hinged Supported at two on end plate (11), driving motor (13), driving electricity are fixed with the lateral wall of one of support end plate (11) The output shaft of machine (13) is splined shaft, and splined shaft sleeve is in the splined hole that one end of mobile screw (12) has, Mobile base (20) it is screwed onto in mobile screw (12);
The top surface of the Mobile base (20) is fixed with vertical stand (21), and vertical stand (21) is equipped with vertical screw rod (22), vertical spiral shell The both ends of bar (22) are hinged on the top plate and bottom plate of vertical stand (21), and the top surface of the top plate of vertical stand (21), which is fixedly arranged in the middle of, to be carried Lifting motor (23), the output shaft of lifting motor (23) is splined shaft, and splined shaft sleeve has on the top of vertical screw rod (22) In splined hole, crawl moving arm (24) is screwed onto in vertical screw rod (22), and the side of crawl moving arm (24) is fixed with clamping gas Cylinder (25), the push rod of gripper cylinder (25) through crawl moving arm (24) and are fixed with lower grip block (26), capture moving arm (24) one end bottom surface with lower grip block (26) corresponding position is fixed with grip block (27), upper grip block (27) and lower grip block (26) main grip block (28) is respectively and fixedly provided with opposite wall.
2. a kind of circuit board according to claim 1 captures robot automatically, it is characterised in that:Described two main grip blocks (28) elastic protection layer (29) is respectively and fixedly provided with relative wall.
3. a kind of circuit board according to claim 1 captures robot automatically, it is characterised in that:The lower grip block (26) Rear portion be fixed with and be vertically directed bar (261), be vertically directed bar (261) and stretch out crawl moving arm (24).
4. a kind of circuit board according to claim 1 captures robot automatically, it is characterised in that:The crawl moving arm (24) self-lubricating block (241) is fixed with close to the side of vertical stand (21), self-lubricating block (241) is pressed against the perpendicular of vertical stand (21) On the madial wall of straight panel.
5. a kind of circuit board according to claim 1 captures robot automatically, it is characterised in that:The Mobile base (20) There is straight slot (201) in the middle part of bottom surface, the top sleeve of running track (10) is in straight slot (201), the upper inner of straight slot (201) Wall has limiting groove (15), and interior self-lubricating layer (16) is fixed with the madial wall of limiting groove (15), running track (10) For the lug boss sleeve of top both sides in limiting groove (15), interior self-lubricating layer (16) is close to the top surface and two of running track (10) On the side wall and bottom surface of side lug boss.
6. a kind of circuit board according to claim 5 captures robot automatically, it is characterised in that:The Mobile base (20) Bottom surface is fixed with self-lubricating plate (202), and self-lubricating plate (202) is pressed against the extension that the two bottom sides of running track (10) form On the top surface on side.
CN201720900219.6U 2017-07-24 2017-07-24 A circuit board automatic grabbing robot Expired - Fee Related CN207273230U (en)

Priority Applications (1)

Application Number Priority Date Filing Date Title
CN201720900219.6U CN207273230U (en) 2017-07-24 2017-07-24 A circuit board automatic grabbing robot

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Application Number Priority Date Filing Date Title
CN201720900219.6U CN207273230U (en) 2017-07-24 2017-07-24 A circuit board automatic grabbing robot

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Cited By (3)

* Cited by examiner, † Cited by third party
Publication number Priority date Publication date Assignee Title
CN107243907A (en) * 2017-07-24 2017-10-13 东莞市联洲知识产权运营管理有限公司 A kind of circuit board captures robot automatically
CN109079834A (en) * 2018-09-02 2018-12-25 梁显梅 A kind of mechanical arm for product transhipment
CN110329770A (en) * 2019-04-28 2019-10-15 韩秀良 A kind of gripper type intelligence file access device

Cited By (4)

* Cited by examiner, † Cited by third party
Publication number Priority date Publication date Assignee Title
CN107243907A (en) * 2017-07-24 2017-10-13 东莞市联洲知识产权运营管理有限公司 A kind of circuit board captures robot automatically
CN109079834A (en) * 2018-09-02 2018-12-25 梁显梅 A kind of mechanical arm for product transhipment
CN109079834B (en) * 2018-09-02 2021-08-06 山东省金鋆建材有限公司 Mechanical arm for transferring products
CN110329770A (en) * 2019-04-28 2019-10-15 韩秀良 A kind of gripper type intelligence file access device

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Granted publication date: 20180427

Termination date: 20180724