CN210061178U

CN210061178U - PCB grabbing jig based on manipulator

Info

Publication number: CN210061178U
Application number: CN201920430921.XU
Authority: CN
Inventors: 饶建伟
Original assignee: CHENGDU TIANCHUANG PRECISION MOULD Co Ltd
Current assignee: Chengdu Tianchuang Precision Industry Co ltd
Priority date: 2019-04-01
Filing date: 2019-04-01
Publication date: 2020-02-14
Anticipated expiration: 2029-04-01

Abstract

The utility model discloses a PCB grabbing jig based on a manipulator, which relates to the technical field of PCB ICT testing and comprises a base, a first clamping unit sliding up and down relative to the base, a first driving mechanism driving the first clamping unit to slide up and down, and two second clamping units respectively arranged at two sides of the base; the first clamping unit comprises two first clamping jaws sliding in opposite directions and a second driving mechanism for driving the two first clamping jaws to slide in opposite directions; the second clamping unit comprises two second clamping jaws sliding in opposite directions and a third driving mechanism for driving the two second clamping jaws to slide in opposite directions. The utility model discloses a first clamp is got the top that the unit pressed from both sides tight PCB board to press from both sides the lateral part that the unit pressed from both sides tight PCB board through the second clamp, make and snatch the PCB board more stable, avoided the PCB board to take place to rock at the transfer in-process.

Description

PCB grabbing jig based on manipulator

Technical Field

The utility model belongs to the technical field of PCB board ICT test, concretely relates to PCB board snatchs tool based on manipulator.

Background

At present, in a production line for testing ICT of PCB boards, taking out the PCB boards from a packing box is completed by a manipulator. The PCB board is vertical to be inserted in the standing groove of packing box, for avoiding the too much and other PCB board collisions of PCB board slope, the PCB board spills the part of standing groove shorter, and the anchor clamps centre gripping position that leads to on the manipulator is shorter, at the in-process of manipulator transfer PCB board, because the speed of manipulator is very fast (>1m/s), the PCB board takes place to rock easily, leads to the manipulator to place the position of PCB board at every turn and changes, and then arouses the erroneous judgement, damages the PCB board even.

SUMMERY OF THE UTILITY MODEL

In order to solve the in-process that the manipulator shifted the PCB board, the technical problem that the PCB board took place to rock easily, the utility model aims to provide a PCB board snatchs tool based on manipulator. The utility model discloses a first clamp is got the top that the unit pressed from both sides tight PCB board to press from both sides the lateral part of getting the tight PCB board of unit clamp through the second clamp, make and snatch the PCB board more stable, avoided the PCB board to take place to rock at the quick transfer in-process.

The utility model discloses the technical scheme who adopts does:

a PCB grabbing jig based on a manipulator comprises a base, a first clamping unit, a first driving mechanism and two second clamping units, wherein the first clamping unit slides up and down relative to the base;

the first clamping unit comprises two first clamping jaws sliding in opposite directions and a second driving mechanism for driving the two first clamping jaws to slide in opposite directions;

the second clamping unit comprises two second clamping jaws sliding in opposite directions and a third driving mechanism for driving the two second clamping jaws to slide in opposite directions.

As a further alternative of the manipulator-based PCB grabbing jig, the manipulator-based PCB grabbing jig further comprises a distance adjusting structure for adjusting a distance between the two second clamping units.

As a further alternative of the manipulator-based PCB grabbing jig, the distance adjusting structure comprises two sliders, a first driving member for driving the two sliders to slide in opposite directions, a limiting block arranged between the two sliders, and a second driving member for driving the limiting block to slide; the two sliding blocks are respectively connected with the two second clamping units.

As a further alternative of the manipulator-based PCB grabbing jig, sliding guide structures are arranged between the two sliding blocks and the base.

As a further alternative of the manipulator-based PCB grabbing jig, the first clamping units are respectively provided with two, and the two first clamping units are respectively arranged on the two second clamping units in a vertically sliding manner.

As a further alternative of the manipulator-based PCB grabbing jig, the first driving mechanism comprises a screw rod rotatably supported on the base, a screw rod nut in threaded connection with the screw rod, and a rotary driving member in transmission connection with one end of the screw rod; the two first clamping units are connected with the screw rod nut in a sliding mode, and the sliding directions of the two first clamping units relative to the screw rod nut are the same as the sliding directions of the second clamping units.

As a further alternative of the manipulator-based PCB grabbing jig, the manipulator-based PCB grabbing jig further comprises a vision assembly; the visual assembly comprises a camera fixed on the base, a lens fixed on the camera and a light source fixed on the base.

As a further alternative of the manipulator-based PCB board grabbing jig, the first grabbing unit further comprises a mounting member, a sensor, and an elastic element; the mounting piece is connected with the output end of the first driving mechanism; the second driving mechanism is provided with an induction piece corresponding to the sensor, and the second driving mechanism is arranged on the mounting piece in a vertically sliding manner; the sensor is fixed on the mounting piece; the resilient element is disposed between the mount and the second drive mechanism.

The utility model has the advantages that:

the utility model clamps the top of the PCB through the first clamping unit and clamps the side part of the PCB through the second clamping unit, so that the PCB can be more stably grabbed, and the PCB is prevented from shaking in the rapid transfer process; secondly, the utility model acquires the position information of the PCB to be grabbed by arranging the visual assembly, so as to realize the quick positioning of the PCB and the quick adjustment of the position of the grabbing jig; and, the utility model discloses a set up interval adjustment structure, adjust two second clamps and get the interval of unit for this PCB board snatchs tool can adapt to the PCB board of equidimension not.

Other advantageous effects of the present invention will be described in detail in the detailed description of the invention.

Drawings

In order to more clearly illustrate the technical solution of the present invention, the drawings required for the description of the embodiments will be briefly introduced below, it should be understood that the drawings in the following description are some embodiments of the present invention, and for those skilled in the art, other drawings can be obtained according to the drawings without creative efforts.

Fig. 1 is a schematic structural view of a manipulator-based PCB gripping jig of the present invention;

fig. 2 is a schematic structural view of the back surface of the robot-based PCB gripping jig shown in fig. 1;

fig. 3 is a schematic structural view of a first driving mechanism in the robot-based PCB gripping jig shown in fig. 1;

fig. 4 is a schematic structural view of a first clamping unit in the robot-based PCB board gripping jig shown in fig. 1;

fig. 5 is a schematic structural view of a second clamping unit and a spacing adjustment structure in the robot-based PCB board gripping jig shown in fig. 1;

fig. 6 is a schematic structural view of a pitch adjusting structure of the robot-based PCB gripping jig shown in fig. 1 (first driving member and slider are omitted).

Detailed Description

The technical solutions in the embodiments of the present invention will be described clearly and completely with reference to the accompanying drawings in the embodiments of the present invention, and it is obvious that the described embodiments are only some embodiments of the present invention, not all embodiments. Based on the embodiments of the present invention, all other embodiments obtained by a person of ordinary skill in the art without creative efforts belong to the protection scope of the present invention. It is to be understood that the drawings are designed solely for the purposes of illustration and description and not as a definition of the limits of the invention. The connection relationships shown in the drawings are for clarity of description only and do not limit the manner of connection.

It will be understood that when an element is referred to as being "connected" to another element, it can be directly connected to the other element or intervening elements may also be present. Unless defined otherwise, all technical and scientific terms used herein have the same meaning as commonly understood by one of ordinary skill in the art to which this invention belongs. The terminology used in the description of the invention herein is for the purpose of describing particular embodiments only and is not intended to be limiting of the invention.

The present invention will be further described with reference to the accompanying drawings and specific embodiments.

Example 1:

as shown in fig. 1, the robot-based PCB grabbing jig in this embodiment includes a base 100, a first grabbing unit 200 sliding up and down relative to the base 100, a first driving mechanism 600 driving the first grabbing unit 200 to slide up and down, and two second grabbing units 300 respectively disposed at two sides of the base 100; the first gripping unit 200 includes two first gripping claws 207 that slide toward each other and a second driving mechanism 206 that drives the two first gripping claws 207 to slide toward each other; the second gripping unit 300 includes two second jaws 303 that slide toward each other and a third driving mechanism 302 that drives the two second jaws 303 to slide toward each other.

When the PCB grabbing jig is used, the base 100 is fixed at the output end of the manipulator, then the manipulator moves the PCB grabbing jig to the upper side of a packaging box (not shown in the figure), the first clamping unit 200 is located right above one PCB 400 to be grabbed in the packaging box, then the second driving mechanism 206 drives the two first clamping jaws 207 to be closed to clamp the top of the PCB 400, then the first driving mechanism 600 drives the first clamping unit 200 to move upwards to the position, then the third driving mechanism 302 drives the two second clamping jaws 303 to be closed to clamp the side of the PCB 400, and finally the manipulator (not shown in the figure) moves the PCB grabbing jig to a target place.

The first gripping unit 200 may be provided in one or more than one, depending on the use requirement.

The first driving mechanism 600 may be a cylinder, an oil cylinder, an electric cylinder, a slider-crank mechanism, or other devices that drive a load to move linearly in the prior art.

The second driving mechanism 206 and the third driving mechanism 302 may be any devices for driving the jaws to open or close, such as a finger cylinder.

Example 2:

the present embodiment is different from embodiment 1 in that a pitch adjustment structure 500 is provided to adjust the pitch between the two second gripping units 300. The distance between the two second clamping units 300 is adjusted, so that the PCB grabbing jig in the embodiment can adapt to PCBs of different sizes, and the universality is improved.

The interval adjustment structure 500 may be a plurality of sets of mounting holes machined on the base 100, each set of mounting holes being used for connection between the second clamping unit 300 and the base 100. The two second clamping units 300 are respectively installed in different groups of installation holes, so that the adjustment of the distance between the two second clamping units 300 can be realized; the distance adjusting structure 500 may also be a driving device, and the driving device drives the second clamping units 300 to move so as to adjust the distance between the two second clamping units 300; the driving device may drive any one of the two second gripping units 300 to move, or may drive the two second gripping units 300 to move at the same time. It is apparent that the function of the spacing adjustment structure 500 can also be realized by other adjustment mechanisms in the prior art.

As shown in fig. 5, the spacing adjustment structure 500 in this embodiment includes two sliders 503, a first driving member 501 for driving the two sliders 503 to slide toward each other, a stopper 502 disposed between the two sliders 503, and a second driving member 504 for driving the stopper 502 to slide; the two sliders 503 are respectively connected to the two second gripping units 300, and specifically, the two sliders 503 are respectively fixedly connected to the moving plate 301.

The first driving member 501 can be implemented by a device for driving a load to move linearly in the prior art, such as an air cylinder or an oil cylinder. In this embodiment, the first driving member 501 is implemented by a clamping jaw cylinder, and the two sliding blocks 503 are respectively fixedly connected to two fingers of the clamping jaw cylinder.

The second driving member 504 can be implemented by using a cylinder, an oil cylinder, an electric cylinder, a slider-crank mechanism, and other devices in the prior art for driving a load to move linearly. In this embodiment, as shown in fig. 6, the second driving member 504 is implemented by a cylinder.

As shown in FIG. 6, a sliding sleeve 505 is sleeved outside the stop block 502, and the sliding sleeve 505 is fixed on the base 100. The sliding sleeve 505 plays a role in sliding and guiding the limiting block 502.

In order to increase the rigidity of the spacing adjustment structure 500, in the present embodiment, as shown in fig. 5, a sliding guide structure is disposed between each of the two sliders 503 and the base 100. The sliding guide structure can be realized by adopting the existing linear guide rail, bush guide shaft structure and the like.

Example 3:

on the basis of embodiment 2, in the present embodiment, as shown in fig. 3, two first gripping units 200 are provided, respectively, and two first gripping units 200 are provided on two second gripping units 300 to slide up and down, respectively. Two first clamping units 200 are arranged to clamp two ends of the top of the PCB 400 respectively, so that clamping is more reliable. The two first clamping units 200 are respectively arranged on the two second clamping units 300, so that the distance between the two first clamping units 200 can be adjusted, and the application range of the PCB clamping jig is enlarged.

As shown in fig. 3, each moving plate 301 is fixed with a sliding block 203, each sliding block 203 is inserted with a guide rail 201, and the two first clamping units 200 are respectively fixed at one ends of the two guide rails 201.

Example 4:

on the basis of embodiment 3, as shown in fig. 3, the first driving mechanism 600 in this embodiment includes a lead screw 607 rotatably supported on the base 100, a lead screw nut 604 threadedly coupled to the lead screw 607, and a rotary driving member 606 drivingly coupled to one end of the lead screw 607; the two first clamping units 200 are both slidably connected to the screw nut 604, and the sliding directions of the two first clamping units 200 relative to the screw nut are the same as the sliding direction of the second clamping unit 300. Specifically, as shown in fig. 3, a connection plate 605 is fixed on the screw nut 604, two sliding plates 202 sliding relative to each other are provided on the connection plate 605, and the two sliding plates 202 are respectively fixedly connected with the two guide rails 201.

The first driving mechanism 600 in this embodiment can lift and lower the two first gripping units 200 at the same time, reducing the number of driving mechanisms.

The rotary drive 606 may be implemented using a hydraulic motor, a pneumatic motor, an electric motor, or the like.

The transmission connection can be gear transmission, belt transmission or chain transmission and the like; in this embodiment, as shown in fig. 3, the rotary driving member 606 is implemented by a servo motor; a driving belt pulley 601 is fixed at the output end of the driving piece 606; one end of the screw 607 is fixed with a driven pulley 603; the driving pulley 601 and the driven pulley 603 are connected by a belt 602, so that the screw 607 and the rotary driving member 606 are in transmission connection.

Example 5:

on the basis of embodiment 3 or 4, as shown in fig. 4, the first gripping unit 200 in the present embodiment further includes a mount 204, a sensor 205, and an elastic member 208; the mounting member 204 is connected with the output end of the first driving mechanism 600; a sensing piece 209 corresponding to the sensor 205 is arranged on the second driving mechanism 206, and the second driving mechanism 206 is arranged on the mounting piece 204 in a vertical sliding manner; the sensor 205 is fixed to the mount 204; a resilient element 208 is disposed between the mount 204 and the second drive mechanism 206. The sensor 205 is electrically connected to the second driving mechanism 206 via a controller such as a single chip microcomputer or PLC. Specifically, as shown in fig. 3, one end of the mounting member 204 is fixed to the rail 201; a sensing member 209 and a second drive mechanism 206 are secured to the other end of the mounting member 204.

There may be a difference in vertical height of different PCB boards 400, resulting in poor consistency of the gripping position, and therefore the present embodiment avoids this problem by providing the sensor 205, the sensing member 209, and the elastic member 208. Specifically, the manipulator drives the PCB grabbing jig to move downwards, the first clamping unit 200 abuts against the PCB 400, the first clamping unit 200 moves upwards, the sensor 205 is triggered by the sensing part 209, the sensor 205 transmits a signal to the controller, the controller controls the manipulator to stop moving downwards, and the second driving mechanism 206 is controlled to close the two first clamping jaws 207 to clamp the top of the PCB 400.

The sensor 205 may be implemented using existing sensors such as proximity sensors, photoelectric sensors, etc.

Example 6:

on the basis of the embodiment 1 or 2 or 3 or 4 or 5, as shown in fig. 2, the PCB gripping jig in this embodiment further includes a vision component 700; the vision assembly 700 includes a camera 701 fixed to the base 100, a lens 702 fixed to the camera 701, and a light source 703 fixed to the base 100.

Since each packing box has a different size, if the position of the PCB 400 is determined by positioning the packing box, the PCB 400 may be inaccurately positioned, and the action of positioning the packing box may be increased. This embodiment avoids this problem by using the vision assembly 700 for this purpose. Specifically, the camera 701 shoots an image of the PCB 400 in the packaging box, and then calculates the actual position of the PCB 400 to be grabbed, and the manipulator moves the PCB grabbing jig in place according to the obtained actual position information of the PCB 400, so that the first clamping unit 200 is located right above the PCB 400 to be grabbed.

The camera 701 may be implemented using existing technologies, such as CV-X series cameras sold by KEYENCE corporation and 2D cameras sold by COGNEX corporation.

The present invention is not limited to the above-mentioned optional embodiments, and any other products in various forms can be obtained by anyone under the teaching of the present invention, and any changes in the shape or structure thereof, all the technical solutions falling within the scope of the present invention, are within the protection scope of the present invention.

Claims

1. The utility model provides a PCB board snatchs tool based on manipulator which characterized in that: the clamping device comprises a base (100), a first clamping unit (200) which slides up and down relative to the base (100), a first driving mechanism (600) which drives the first clamping unit (200) to slide up and down, and two second clamping units (300) which are respectively arranged on two sides of the base (100);

the first clamping unit (200) comprises two first clamping jaws (207) sliding towards each other and a second driving mechanism (206) for driving the two first clamping jaws (207) to slide towards each other;

the second clamping unit (300) comprises two second clamping jaws (303) sliding towards each other and a third driving mechanism (302) for driving the two second clamping jaws (303) to slide towards each other.

2. The manipulator-based PCB grabbing jig of claim 1, wherein: the PCB grabbing jig based on the manipulator further comprises a spacing adjusting structure (500) for adjusting the spacing between the two second clamping units (300).

3. The manipulator-based PCB grabbing jig of claim 2, wherein: the spacing adjustment structure (500) comprises two sliding blocks (503), a first driving piece (501) for driving the two sliding blocks (503) to slide oppositely, a limiting block (502) arranged between the two sliding blocks (503) and a second driving piece (504) for driving the limiting block (502) to slide; the two sliders (503) are respectively connected with the two second clamping units (300).

4. The manipulator-based PCB grabbing jig of claim 3, wherein: sliding guide structures are arranged between the two sliding blocks (503) and the base (100).

5. The manipulator-based PCB grabbing jig of claim 2, wherein: the first clamping units (200) are respectively provided with two, and the two first clamping units (200) are respectively arranged on the two second clamping units (300) in a vertically sliding manner.

6. The manipulator-based PCB grabbing jig of claim 5, wherein: the first driving mechanism (600) comprises a screw rod (607) rotatably supported on the base (100), a screw rod nut (604) in threaded connection with the screw rod (607), and a rotary driving piece (606) in transmission connection with one end of the screw rod (607); the two first clamping units (200) are connected with the screw nut (604) in a sliding mode, and the sliding directions of the two first clamping units (200) relative to the screw nut (604) are the same as the sliding directions of the second clamping unit (300).

7. The manipulator-based PCB grabbing jig of claim 1, wherein: the PCB grabbing jig based on the manipulator further comprises a vision component (700); the visual component (700) comprises a camera (701) fixed on the base (100), a lens (702) fixed on the camera (701) and a light source (703) fixed on the base (100).

8. The manipulator-based PCB grabbing jig of claim 1, wherein: the first gripping unit (200) further comprises a mount (204), a sensor (205) and an elastic element (208); the mounting piece (204) is connected with the output end of the first driving mechanism (600); a sensing piece (209) corresponding to the sensor (205) is arranged on the second driving mechanism (206), and the second driving mechanism (206) is arranged on the mounting piece (204) in a vertical sliding mode; the sensor (205) is fixed on the mounting piece (204); a resilient element (208) is disposed between the mount (204) and the second drive mechanism (206).