CN208992699U - Robot and clamp device - Google Patents
Robot and clamp device Download PDFInfo
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- CN208992699U CN208992699U CN201821469345.1U CN201821469345U CN208992699U CN 208992699 U CN208992699 U CN 208992699U CN 201821469345 U CN201821469345 U CN 201821469345U CN 208992699 U CN208992699 U CN 208992699U
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- clamping
- circuit board
- connector
- clamping device
- clamp
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Abstract
This application provides robot and clamp devices, robot includes robot body and clamp device, clamp device is installed on robot body, clamp device includes driving mechanism and at least two clamping devices, driving mechanism includes actuator and at least two first connectors, at least one first connector is equipped with accommodating space, and at least one clamping device is movably disposed in accommodating space, so that at least one clamping device can be mobile relative at least one the first connector, at least two clipping ports that at least two clamping devices are each passed through on circuit board are to clamp circuit board, it can be interfered in this way to avoid clamping device and the component on circuit board, to effectively clamp circuit board, the spacing of clamping device can also be adjusted to clamp the circuit board of different size, to increase the versatility of robot.
Description
Technical field
This application involves robotic technology fields, more particularly to a kind of robot and clamp device.
Background technique
At present for circuit board, such as the clamping of circuit board of unwelded component generallys use the mode of sucker absorption,
But for most of components soldered circuit board, the space that sucker is drawn is limited, clamp the effect of circuit board compared with
Difference.
Utility model content
The application is able to solve in the prior art mainly solving the technical problems that provide a kind of robot and clamp device
Clamp the poor problem of circuit board effect.
In order to solve the above technical problems, the application provides a kind of robot, which includes: robot body, including
Support portion, mounting portion and at least one arm portion, the both ends at least one arm portion are movably connected in support portion and installation
Portion；Clamp device is installed on mounting portion, and for clamping circuit board, clamp device includes driving mechanism and at least two clampings
Mechanism, driving mechanism include actuator and at least two first connectors, and at least two first connectors are connect with actuator, and
At least one first connector is equipped with accommodating space, and at least two clamping devices are connect at least two first connectors, and extremely
A few clamping device is movably disposed in accommodating space, so that at least one clamping device can be relative at least one
First connector is mobile, and at least two clamping devices are used at least two clipping ports being each passed through on circuit board, and are driving
It is away from each other or close under the driving of mechanism, so that tensioning or clamping circuit board are to clamp circuit board.
In order to solve the above technical problems, the application also provides a kind of for clamping the clamp device of circuit board, clamping dress
It is set to above-mentioned clamp device.
The beneficial effect of the application is: being in contrast to the prior art, robot provided by the present application includes robot
Ontology and clamp device, clamp device are installed on robot body, and for clamping circuit board, clamp device includes driving mechanism
And at least two clamping devices, driving mechanism includes actuator and at least two first connectors, at least one first connector
Equipped with accommodating space, and at least one clamping device is movably disposed in accommodating space, so that at least one clamping machine
Structure can be mobile relative at least one the first connector, and at least two clamping devices are each passed through at least two folders on circuit board
Mouth is taken, clipping port is passed through in a manner of clamping circuit board this clamping device, it not only can be to avoid clamping device and circuit
Component on plate interferes, to more efficiently clamp circuit board, can also adjust the spacing of clamping device to clamp
The circuit board of different size, to increase the versatility of robot and clamp device.
Detailed description of the invention
In order to more clearly explain the technical solutions in the embodiments of the present application, make required in being described below to embodiment
Attached drawing is briefly described, it should be apparent that, the drawings in the following description are only some examples of the present application, to this
For the those of ordinary skill of field, without creative efforts, it can also be obtained according to these attached drawings others
Attached drawing.
Fig. 1 is the structural schematic diagram of robotic embodiment provided by the present application；
Fig. 2 is the structural schematic diagram of clamp device in Fig. 1；
Fig. 3 is the schematic cross-section of clamp device in Fig. 2；
Fig. 4 is the structural schematic diagram of the first connector in Fig. 3；
Fig. 5 is the structural schematic diagram of one other embodiments of clamp device in Fig. 1；
Fig. 6 is the schematic cross-section of clamp device in Fig. 5；
Fig. 7 is the structural schematic diagram of regulating mechanism in Fig. 5；
Fig. 8 be in Fig. 7 the second graduation mark in alignment with the partial schematic diagram of the first graduation mark.
Specific embodiment
To make those skilled in the art more fully understand the technical solution of the application, with reference to the accompanying drawing and it is embodied
Mode is described in further detail a kind of clamp device for circuit board provided herein.
Refering to fig. 1, Fig. 1 is the structural schematic diagram of robotic embodiment provided by the present application.The robot 10 of the present embodiment
Including robot body 11 and clamp device 12, clamp device 12 is installed on robot body 11.
Wherein, robot body 11 includes support portion 111, mounting portion 112 and at least one arm portion 113, at least one
The both ends in arm portion 113 are connected to support portion 111 and mounting portion 112, and in the present embodiment, mounting portion 112 is relative to support
The distance and angle in portion 111 can be adjusted by least one arm portion 112.
In the present embodiment, clamp device 12 is installed on the one end of mounting portion 112 far from least one arm portion 113, so that
Distance and angle adjustable of the clamp device 12 relative to support portion 111 are obtained, consequently facilitating clamp device 12 is clamped.
It is to be flexibly connected between three arm portions 113 so that the quantity in arm portion 113 is three as an example in the present embodiment.
Optionally, robot body 11 is mechanical arm.
The robot 10 of the present embodiment can be applied to industrial production, for example, automation clamping circuit board may be implemented, to mention
High efficiency reduces human cost.
Referring to Fig.2, Fig. 2 is the structural schematic diagram of clamp device 12 in Fig. 1.
Clamp device 12 is for clamping circuit board 101, wherein circuit board 101 is equipped at least two clipping ports 1011, also
It is welded with component 1012.
In the present embodiment, clipping port 1011 can be through-hole or notch etc., and shape can be round, rectangular, semicircle
Equal regular shapes, are also possible to other irregular shapes, this is not restricted.
It is the schematic cross-section of clamp device 12 in Fig. 2 refering to Fig. 2 and Fig. 3, Fig. 3 jointly.
Clamp device 12 includes driving mechanism 121 and at least two clamping devices 122.
Wherein, driving mechanism 121 includes actuator 1211 and at least two first connectors 1212, and at least two first connect
Fitting 1212 is connect with actuator 1211, and at least two clamping devices 122 are connect at least two first connectors 1212, at least
At least two clipping ports 1011 that two clamping devices 122 are used to be each passed through on circuit board 101, and in driving mechanism 121
It is away from each other or close under driving, to tensioning or clamp circuit board 101 to clamp circuit board 101, in the present embodiment, with first
The quantity of connector 1212 and clamping device 122 is for two.
Optionally, actuator 1211 is Pneumatic clamping jaw or electronic clamping jaw.
It is the structural schematic diagram of the first connector 1212 in Fig. 3 refering to Fig. 3 and Fig. 4, Fig. 4 jointly.
Wherein, at least one first connector 1212 is equipped with accommodating space 12121, and at least one clamping device 122 can
It is actively set in accommodating space 12121, so that at least one clamping device 122 can be relative at least one the first connection
Part 1212 is mobile, so as to be conveniently adjusted the spacing of clamping device 122 to clamp the circuit board 101 of different size, in turn
Increase the versatility of clamp device 12 and robot 10, in the present embodiment, is equipped with accommodation groove with two the first connectors 1212
For 12121.
Optionally, at least one first connector is additionally provided with fastening part 12122, in the present embodiment, is connected with two first
Part 1212 is equipped with for fastening part 12122.
Optionally, fastening part 12122 is the sliding slot extended along the driving direction of actuator 1211, in other embodiments,
Multiple mouths of fastening part 12122 or the driving direction arrangement along actuator 1211, this is not restricted.
Optionally, at least one first connector 1212 is additionally provided with the first graduation mark 12123, in the present embodiment, with two
First connector 1212 is equipped with for the first graduation mark 12123.
Optionally, driving mechanism 121 further includes at least two second connectors 1213, at least two second connectors 1213
Connect at least two first connectors 1212, and connect with actuator 1211, with driven under the driving of actuator 1211 to
Few two the first connectors 1212 are away from each other or close, and in the present embodiment, the quantity with the second connector 1213 is two and is
Example.
Optionally, clamping device 122 includes third connector 1221 and clamping piece 1222, and third connector 1221 is movable
Ground is set in accommodation groove 12121, and clamping piece 1222 is connect with third connector 1221, and at least partly exposes to third connection
Side of the part 1221 far from actuator 1211, to pass through the clipping port 1011 on circuit board 101, thus in driving mechanism 121
The lower tensioning of driving clamps circuit board 101 and clamping circuit board 101.
Optionally, clamping piece 1222 is in acicular texture, naturally it is also possible to be other structures, this is not restricted.
In the present embodiment, driving mechanism 121 drives two clamping devices 122 to be aligned with two on circuit board 101
Clipping port 1011 so that two clamping devices 122 can be each passed through two clipping ports 1011, and is passing through two clipping ports 1011
Later, driving mechanism 121 drives two clamping devices 122 away from each other or close, so that tensioning or clamping circuit board 101 are to press from both sides
Sense circuit plate 101.
In the present embodiment, driving mechanism 121 is further used for driving two clamping devices 122, electric with tensioning or clamping
It is close to each other or separate on the opposite direction of road plate 101, to unclamp to place circuit board 101.
It is to be appreciated that when driving mechanism 121 drives two clamping devices 122 away from each other to be tensioned circuit board 101 simultaneously
When clamping circuit board 101, driving mechanism 121 is further used for driving two clamping devices 122 close to each other to unclamp circuit board
101, when driving mechanism 121 drives two clamping devices 122 close to each other to clamp circuit board 101 and clamp circuit board 101,
Driving mechanism 121 is further used for driving two clamping devices 122 away from each other to unclamp circuit board 101, to place circuit
Plate 101.
Optionally, the length of clamping device 122 is greater than the height of component 1012, to clamp or place circuit board 101
When, it prevents driving mechanism 121 and component 1012 from the interference such as colliding and component 1012 is caused to be damaged.
Further, clamp device 12 further includes detector 123, and detector 123 is for detecting two clamping devices 122
Relative position is to obtain the first testing result, so that driving mechanism 121 drives two clamping devices according to the first testing result
122 is away from each other or close, so that tensioning or clamping circuit board 101 are to clamp circuit board 101.
For example, for the circuit board 101 of a certain model, if selected two specific clipping ports 1011 thereon clamp circuit
Plate 101, then the caliber size and mouth spacing of two clipping ports 1011 are all determining, using these data as initial parameter, and
Two clamping devices 122 can be debugged in conjunction with the diameter of clamping piece 1222 and the parameters such as installation site of detector 123
Motion profile, it is, when it is first distance that driving mechanism 121, which drives the distance between two clamping devices 122, two folders
Two clipping ports 1011 can be each passed through by holding mechanism 122, and driving mechanism 121 drive between two clamping devices 122 away from
When from for second distance, two clamping devices 122 are securable or clamp circuit board 101 to clamp circuit board 101, wherein first
Increment size between distance and second distance is that driving mechanism 121 drives two clamping devices 122 away from each other or close
Apart from size, after the completion of debugging, driving mechanism 121 can be according to the first testing result and first distance and the ratio of second distance
Compared with situation, drives two driving clamping devices 122 to be each passed through two clipping ports 1011 and tensioning or clamp circuit board 101 to press from both sides
Sense circuit plate 101, to realize automation clamping.
Detector 123 be further used for detect two gripping bodies 122 relative to circuit board 101 position to obtain second
Testing result so that robot body 11 drives clamp device 12 close to circuit board 101 according to the second testing result, and then makes
Obtaining two clamping devices 122 may pass through two clipping ports 1011.
Optionally, detector 123 is range sensor, in the present embodiment, is set to driving mechanism 121 with detector 123
For, during clamp device 12 clamps circuit board 101, detector 123 can be measured in real time.
It is the structural schematic diagram of 12 1 other embodiments of clamp device in Fig. 1 refering to Fig. 5, Fig. 5.The clamping of the present embodiment fills
Setting 12 further includes regulating mechanism 124.
In the present embodiment, regulating mechanism 124 is set between at least two clamping devices 122, for adjusting clamping device
122 spacing is to clamp the circuit board 101 of different size, thus the versatility of clamp device 12 and robot 10.
It is the schematic cross-section of clamping device 12 in Fig. 5 refering to Fig. 6 to Fig. 7, Fig. 6 jointly, Fig. 7 is regulating mechanism in Fig. 5
124 structural schematic diagram.
Regulating mechanism 124 is used to adjust at least two clamping devices according to the distance between at least two clipping ports 1011
The distance between 122, so that at least two clamping devices 122 can be each passed through at least two clipping ports 1011, thus extremely
Few two clamping devices 122 are each passed through after at least two clipping ports 1011, and driving mechanism 121 drives at least two clamping machines
Structure 122 is away from each other or close, and then is tensioned or clamps circuit board 101 to clamp circuit board 101.
Wherein, regulating mechanism 124 includes adjusting screw rod 1241 and at least one sliding part 1242, and at least one sliding part
1242 are placed in accommodating space 12121, and adjusting screw rod 1241 includes threaded shank 12411, and threaded shank 12411 is arranged at least one
Sliding part 1242 and at least one clamping device 122 are simultaneously engaged at least one sliding part 1242, in adjusting screw rod 1241
When rotation, at least one sliding part 1242 is moved along adjusting screw rod 1241 relative at least one first connector 1212, at least
One clamping device 122 can be connected at least one sliding part 1242, with adjust at least two clamping devices 122 between away from
From.
In the present embodiment, by taking the quantity of threaded shank 12411 and sliding part 1242 is two as an example.
Optionally, adjusting screw rod 1241 further includes adjustment portion 12412, and two threaded shanks 12411 and adjustment portion 12412 are one
Body structure, and be respectively arranged at 12412 two sides of adjustment portion, wherein two threaded shanks 12411 are machined with oppositely oriented outer respectively
Screw thread (not shown), two sliding parts 1242 are machined with the threaded hole (not shown) corresponding to external screw thread rotation direction, with
When adjusting screw rod 1241 rotates, two sliding parts 1242 are respectively along two threaded shanks 12411 relative to two the first connectors
1212 is away from each other or close, in the present embodiment, after adjusting the distance between two sliding parts 1242, and two clamping devices
122 are connected to two sliding parts 1242 respectively, to adjust two clamping machines by the distance between two sliding parts 1242
The distance between structure 122.
Optionally, two sliding parts 1242 be further used for driving mechanism 121 drive two clamping devices 122, with
When tightly or clamping close to each other or separate on the opposite direction of circuit board 101, two clamping devices 122 of backstop.
Optionally, two clamping devices 122 are set to two sliding parts 1242 relative to the inside of adjustment portion 12412 or outer
Side.
Optionally, regulating mechanism 124 further includes stressed member 1243, and stressed member 1243 connect with adjusting screw rod 1241, is used for
Receive external force and adjusting screw rod 1241 is rotated.
In the present embodiment, stressed member 1243 is screw, is set to adjustment portion 12412, naturally it is also possible in adjustment portion 12412
Upper setting annular knurl replaces screw, and this is not restricted.
Optionally, adjusting screw rod 1241 is additionally provided with the second graduation mark 12413, in the present embodiment, with the second graduation mark 12413
For being set in adjustment portion 12412, that root graduation mark pair of longest in the second graduation mark 12413 is turned in adjusting screw rod 1241
Standard is when the position of the first graduation mark 12123, as shown in figure 8, reading the distance between at least two clamping devices 122.
Further, clamping device 12 further includes fastener 125, and fastener 125 is used to finish in the adjusting of regulating mechanism 124
Afterwards, clamping device 122 and the first connector 1212 are fastenedly connected.
In the present embodiment, two clamping devices 122 are respectively arranged at two sliding parts 1242 relative to adjustment portion 12412
Outside is finished in the adjusting of regulating mechanism 124, and two fasteners 125 are fastenedly connected third connection by fastening part 12122 respectively
After part 1221 and the first connector 1212, two clamping pieces 1222 are each passed through two clipping ports 1012 on circuit board 101,
And then, actuator 1211 drives the first connector 1212 away from each other by the second connector 1213, and then third is driven to connect
Fitting 1221 away from each other so that clamping piece 1222 be tensioned circuit board 101 to clamp circuit board 101.
Further, actuator 1211 drives the first connector 1212 close to each other by the second connector 1213, in turn
Drive third connector 1221 close to each other, and stop under the backstop of sliding part 1242 it is close, at this point, two clamping pieces 1222
The distance between be the distance that adjusts at the beginning of regulating mechanism 124 so that two clamping pieces 1222 can be unclamped and be placed
Circuit board 101.
It is in contrast to the prior art, robot provided by the present application includes robot body and clamp device, clamping
Device is installed on robot body, and for clamping circuit board, and clamp device includes driving mechanism and at least two clamping devices,
Driving mechanism includes actuator and at least two first connectors, at least one first connector is equipped with accommodating space, and at least
One clamping device is movably disposed in accommodating space so that at least one clamping device can relative at least one
A connection piece is mobile, and at least two clamping devices are each passed through at least two clipping ports, passes through clamping by this clamping device
Mouth can not only be interfered, thus more in a manner of clamping circuit board to avoid clamping device and the component on circuit board
Circuit board is effectively clamped, the spacing of clamping device can also be adjusted to clamp the circuit board of different size, to increase machine
The versatility of device people and clamp device.
The foregoing is merely the section Examples of the application, are not intended to limit the protection scope of the application, all utilizations
Equivalent device made by present specification and accompanying drawing content or equivalent process transformation are applied directly or indirectly in other correlations
Technical field, similarly include in the scope of patent protection of the application.
Claims (10)
1. a kind of robot, which is characterized in that the robot includes:
Robot body, including support portion, mounting portion and at least one arm portion, the both ends difference at least one arm portion
It is connected to the support portion and the mounting portion；
Clamp device, is installed on the mounting portion, and for clamping circuit board, and the clamp device includes driving mechanism and at least
Two clamping devices, the driving mechanism include actuator and at least two first connectors, at least two first connection
Part is connect with the actuator, and at least one described first connector is equipped with accommodating space, at least two clamping device
It is connect at least two first connector, and at least one described clamping device is movably disposed in the accommodating space
It is interior, so that at least one described clamping device can be mobile relative to the first connector described at least one, described at least two
Clamping device is each passed through at least two clipping ports on the circuit board, and under the driving of the driving mechanism away from each other
Or it is close, to be tensioned or clamp the circuit board to clamp the circuit board.
2. robot according to claim 1, which is characterized in that the clamp device further comprises regulating mechanism, institute
It states regulating mechanism to be set between at least two clamping device, for according to the distance between described at least two clipping port
Adjust the distance between described at least two clamping device so that at least two clamping device can be each passed through it is described extremely
Few two clipping ports.
3. robot according to claim 2, which is characterized in that the regulating mechanism include adjusting screw rod and at least one
Sliding part, and at least one described sliding part is placed in the accommodating space, the adjusting screw rod includes threaded shank, the screw rod
Portion is arranged at least one described sliding part and at least one described clamping device and engages at least one described sliding part and sets
Set, in adjusting screw rod rotation, at least one described sliding part along the adjusting screw rod relative to it is described at least one the
A connection piece is mobile, at least one described clamping device can be connected at least one described sliding part, to adjust described at least two
The distance between a clamping device.
4. robot according to claim 3, which is characterized in that the adjusting screw rod further comprises adjustment portion, at least
One first connector is equipped with the first graduation mark, and the adjustment portion connect at least one described threaded shank and is equipped with second
Graduation mark reads institute when the adjusting screw rod turns to position of second graduation mark in alignment with first graduation mark
State the distance between at least two clamping devices.
5. robot according to claim 4, which is characterized in that the sliding part is further used in the driving mechanism
At least two clamping device is driven, it is close to each other or separate on the direction opposite with being tensioned or clamping the circuit board
When, at least one clamping device described in backstop, so that at least two clamping device can unclamp the circuit board.
6. robot according to claim 2, which is characterized in that the clamp device further comprises fastener, at least
One first connector is equipped with fastening part, and the fastener is used for after the regulating mechanism is adjusted, by described
Fastening part is fastenedly connected the clamping device and first connector.
7. robot according to claim 6, which is characterized in that the driving mechanism further comprises at least two second
Connector, at least two second connector is connect at least two first connector, and is connect with the actuator,
To drive at least two first connector away from each other or close under the driving of the actuator, the clamping device packet
Third connector and clamping piece are included, the third connector is movably disposed in the accommodation groove, the clamping piece and institute
The connection of third connector is stated, and at least partly exposes to the side of the third connector far from the actuator.
8. robot according to claim 6, which is characterized in that the fastening part is along at least one described clamping device
Moving direction extend sliding slot.
9. robot according to claim 1, which is characterized in that the circuit board is equipped with component, the clamping machine
The length of structure is greater than the height of the component.
10. a kind of for clamping the clamp device of circuit board, which is characterized in that the clamp device is that claim 1-9 is any
The clamp device.
Priority Applications (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201821469345.1U CN208992699U (en) | 2018-09-07 | 2018-09-07 | Robot and clamp device |
Applications Claiming Priority (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201821469345.1U CN208992699U (en) | 2018-09-07 | 2018-09-07 | Robot and clamp device |
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| Publication Number | Publication Date |
|---|---|
| CN208992699U true CN208992699U (en) | 2019-06-18 |
Family
ID=66799507
Family Applications (1)
| Application Number | Title | Priority Date | Filing Date |
|---|---|---|---|
| CN201821469345.1U Active CN208992699U (en) | 2018-09-07 | 2018-09-07 | Robot and clamp device |
Country Status (1)
| Country | Link |
|---|---|
| CN (1) | CN208992699U (en) |
Cited By (2)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN110992808A (en) * | 2019-12-05 | 2020-04-10 | 配天机器人技术有限公司 | Real device of instructing of robot |
| CN111629866A (en) * | 2018-09-07 | 2020-09-04 | 深圳配天智能技术研究院有限公司 | Robot and gripping device |
-
2018
- 2018-09-07 CN CN201821469345.1U patent/CN208992699U/en active Active
Cited By (2)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN111629866A (en) * | 2018-09-07 | 2020-09-04 | 深圳配天智能技术研究院有限公司 | Robot and gripping device |
| CN110992808A (en) * | 2019-12-05 | 2020-04-10 | 配天机器人技术有限公司 | Real device of instructing of robot |
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