CN210655188U - A circuit board automatic transfer device - Google Patents
A circuit board automatic transfer device Download PDFInfo
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- CN210655188U CN210655188U CN201921465365.6U CN201921465365U CN210655188U CN 210655188 U CN210655188 U CN 210655188U CN 201921465365 U CN201921465365 U CN 201921465365U CN 210655188 U CN210655188 U CN 210655188U
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- circuit board
- movable plate
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Abstract
本实用新型涉及电路板的加工领域，尤其涉及一种电路板自动移载装置，包括机架、抓取机构，机架内部安装有移动模组，移动模组连接了抓取机构，移动模组控制机械手在X、Y、Z方向上的移动，机械手通过平行四边形的四杆联动机构的抓手组件，由第一电机驱动丝杆，丝杆带动滑块在移动滑轨上上下滑动，铰接在滑块上移动板作用于四杆联动机构的开合，从而带动抓板的打开和夹紧。本实用新型通过移动模组及四杆联动机构组成的抓手组件，能够很好地抓取作业工序上的电路板，本实用新型还配有真空吸盘组件，也适合空电路板快速真空吸附，作为辅助移载，抓手组件的两边对称的多个抓板，实现对电路板的均衡抓取，可以避免抓取过程对电路板的损伤。
The utility model relates to the processing field of circuit boards, in particular to an automatic transfer and loading device for circuit boards, which comprises a frame and a grabbing mechanism. A moving module is installed inside the frame, and the moving module is connected with a grabbing mechanism. Control the movement of the manipulator in the X, Y, and Z directions. The manipulator passes through the gripper assembly of the parallelogram four-bar linkage mechanism, and is driven by the first motor to drive the screw rod. The screw rod drives the slider to slide up and down on the moving rail, and is hinged on The moving plate on the slider acts on the opening and closing of the four-bar linkage mechanism, thereby driving the opening and clamping of the grab plate. The utility model adopts the gripper assembly composed of the moving module and the four-bar linkage mechanism, which can well grasp the circuit board in the operation process. As an auxiliary transfer, multiple gripping plates are symmetrical on both sides of the gripper assembly to achieve balanced gripping of the circuit board, which can avoid damage to the circuit board during the gripping process.
Description
Technical Field
The utility model relates to a processing field of circuit board especially relates to an automatic device that moves of carrying of circuit board.
Background
At present, in the process of processing and detecting a circuit board, the circuit board needs to be transferred from one place or one process to another place or another process through manual work or other mechanical devices for feeding, in order to improve the working efficiency and reduce the labor cost of enterprises, a mechanical arm is usually adopted to replace the action of manual grabbing, but the existing mechanical arm mostly adopts a mode of matching a screw rod and a screw rod nut, the grabbing precision is not high, the fragile circuit board is easy to damage, particularly in a circuit board of a huge communication product, because the length and the width of the circuit board are large, components mounted on the circuit board have high value, two sides of two people are required to be matched to lift up and move, and the existing mechanical device is not suitable for grabbing the circuit board of the type.
SUMMERY OF THE UTILITY MODEL
An object of the utility model is to provide an automatic device that moves of circuit board carries solves the huge communication product circuit board of prior art snatchs, removes difficult problem.
In order to achieve the above purpose, the utility model discloses a solution is:
an automatic circuit board transfer device comprises a frame and a manipulator, wherein a moving module is installed on the frame and connected with the manipulator, the manipulator comprises a gripper assembly and a gripper frame, the gripper frame is connected with the moving module and the gripper assembly, the gripper assembly comprises a connecting plate, a plurality of movable plates and a plurality of connecting rods, and is provided with a multi-rod linkage mechanism, the linkage mechanism is connected with a movable transmission plate connected with the gripper frame, a first motor is arranged in the gripper frame, an output shaft of the first motor is connected with a lead screw, the bottom of the lead screw is connected with a slider group, the slider group is matched with a moving slide rail, two transmission plates are hinged on the group, the first motor drives the lead screw, the lead screw drives the slider group to slide up and down on the moving slide rail, the transmission plate hinged on the slider group acts on the multi-rod linkage mechanism, the opening and the grasping of the mechanical arm are driven by the opening and the closing of the multi-rod linkage mechanism.
Further, the mobile module comprises two Y slide rails, an X slide rail, a Z slide rail, an X motor, a Y motor and a Z motor, wherein the two Y slide rails are fixedly connected to two sides of the rack, the X slide rail is matched with the Y slide rail, the Z slide rail is matched with the X slide rail, the Y motor controls the mobile module to move on the Y slide rail, the X motor controls the mobile module to move on the X slide rail, and the Z motor controls the mobile module to move on the Z slide rail. The Z slide rail of the moving module is connected with the manipulator, and the moving module controls the manipulator to move in the direction X, Y, Z.
Further, the gripper assembly comprises a connecting plate, a first movable plate, a second movable plate, a third movable plate, a gripper plate, a first connecting rod, a second connecting rod and a third connecting rod, wherein the two first movable plates and the two second movable plates are connected to the connecting plate through connecting shafts, the first movable plate is positioned on the outer side of the second movable plate, the other ends of the two first movable plates are connected with the first connecting rod to form a first movable plate group with a linkage effect, the other ends of the two second movable plates are connected with the second connecting rod to form a second movable plate group with a linkage effect, the second movable plate group is connected with the third connecting rod, the third movable plate connects the first movable plate and the second movable plate through the first connecting rod and the second connecting rod to form a linkage assembly with a linkage effect, and the connecting plate, the first movable plate, the second movable plate and the third movable plate form a four-bar linkage mechanism with a parallelogram, the connecting plate and the third movable plate are parallelogram horizontal edges, the first movable plate and the second movable plate are movable inclined edges, and the grabbing plate is connected to the third movable plate.
Furthermore, the grabbing plate is provided with a connecting hole, and the grabbing plate and the third movable plate are connected together through the connecting hole.
Furthermore, the grabbing plate further comprises a first clamping groove, a second clamping groove and a grabbing groove, the first clamping groove is matched with the first connecting rod, the first clamping groove is clamped on the first connecting rod, the second clamping groove is matched with the second connecting rod, and the second clamping groove is clamped on the second connecting rod. The grabbing plate is linked with the third movable plate of the grabbing component, the grabbing groove grabs a circuit board on an operation procedure through opening and closing of the four-bar linkage mechanism, a first clamping groove notch faces upwards, a second clamping groove notch faces downwards, the grabbing plate takes a connecting hole of the grabbing plate as a fulcrum in the circuit board grabbing process, the first clamping groove is clamped on the first connecting rod in an upward stress mode, the second clamping groove is clamped on the second connecting rod in a downward stress mode, and therefore the stress on the grabbing plate can be well equally distributed on the four-bar linkage mechanism.
Further, the manipulator still including connecting the sucking disc subassembly on the connecting plate, the sucking disc subassembly contains the sucking disc, the sucking disc is connected with vacuum apparatus, through vacuum apparatus evacuation, realizes sucking of sucking disc subassembly to the circuit board.
Furthermore, the height of the sucker component is at least higher than that of the grabbing plate when the grabbing component is at the maximum opening.
Further, the frame, set up wheel and card foot on it, the card foot passes through the screw thread mode and can height-adjusting, during the removal, the altitude mixture control of card foot is more than the wheel, when needing to place and stop, can adjust the card foot, blocks the wheel.
The utility model discloses opening and pressing from both sides of tongs subassembly is through first motor drive lead screw, and the lead screw drives the slider and slides from top to bottom on the sliding rail, articulates the movable plate and acts on the third connecting rod on the slider, drives the four-bar linkage of linkage by the third connecting rod, and the first fly leaf of four-bar linkage and second fly leaf change with the connecting plate angle relatively to realize that the four-bar linkage of connecting plate both sides changes with the relative size, with snatching and pressing from both sides tight that adapts to different specification circuit boards.
The utility model discloses a sucking disc subassembly passes through vacuum apparatus extraction vacuum adsorption circuit board, and the sucking disc subassembly reciprocates through the Z of removing the module in the side and realizes the adjustment to the product position, and sucking disc subassembly adsorbs the process, and the tongs subassembly is in the open mode for sucking disc protrusion in the tongs subassembly on the sucking disc subassembly realizes the sucking disc and to the vacuum adsorption of circuit board.
The utility model has the advantages that: the utility model discloses a remove the tongs subassembly that module and four-bar linkage constitute, can snatch the circuit board on the operation process well, especially be fit for snatching the circuit board of huge communication product, simultaneously, the utility model discloses still be furnished with the vacuum chuck subassembly, also be fit for the quick vacuum adsorption of empty circuit board (the circuit board of no components and parts), move as supplementary carrying, a plurality of grabs the board of the bilateral symmetry of tongs subassembly realizes snatching the equilibrium of circuit board, can avoid snatching the damage of process to the circuit board.
Drawings
Fig. 1 is a perspective view of the present invention.
Fig. 2 is a schematic perspective view of the mobile module of the present invention.
Fig. 3 is a schematic perspective view of the manipulator of the present invention.
Fig. 4 is a right side view of the manipulator of the present invention.
Fig. 5 is a schematic perspective view of the grasping plate of the present invention.
Wherein: 1-rack, 11-clamping feet, 12-wheels, 2-moving module, 21-X sliding rail, 22-Y sliding rail, 23-Z sliding rail, 24-X motor, 25-Y motor, 26-Z motor, 3-manipulator, 31-gripper component, 311-connecting plate, 312-first movable plate, 313-second movable plate, 314-third movable plate, 315-gripper plate, 315 a-connecting hole, 315 b-first clamping groove, 315 c-second clamping groove, 315 d-gripper groove, 316-first connecting rod, 317-second connecting rod, 318-third connecting rod, 319-connecting shaft, 32-gripper frame, 321-moving sliding rail, 322-sliding block set, 323-first motor, 324-screw rod, 325-transmission plate, 33-suction cup component, 331-suction cup.
Detailed Description
The following provides a brief description of embodiments of the present invention with reference to the accompanying drawings.
The utility model discloses a circuit board moves and carries automatic device that carries, refer to fig. 1, the device includes frame 1, manipulator 3, installs in frame 1 and removes module 2, has set up the wheel 12 that supplies the frame to remove and has supplied the card foot 11 that wheel 12 stopped in frame 1, and the device snatchs through manipulator 3's tongs subassembly 31 or need move the circuit board that carries through sucking disc subassembly 33 vacuum adsorption to realize moving to the circuit board through manipulator 3's removal.
Referring to fig. 2, the mobile module 2 installed inside the rack 1 includes two Y slide rails 22, an X slide rail 21, a Z slide rail 23, an X motor 24, a Y motor 25, and a Z motor 26, where the two Y slide rails 22 are fixedly connected to two sides of the rack 1, the X slide rail 21 is matched with the Y slide rail 22, the Z slide rail 23 is matched with the X slide rail 21, the Y motor 25 controls the mobile module 2 to move on the Y slide rail 22, the X motor 24 controls the mobile module 2 to move on the X slide rail 21, the Z motor 26 controls the mobile module 2 to move on the Z slide rail 23, the Z slide rail 23 of the mobile module 2 is connected to the manipulator 3, and the mobile module 2 controls the manipulator 3 to move in the direction X, Y, Z.
Referring to fig. 3, the robot 3 includes a gripper assembly 31, a gripper frame 32 and a suction cup assembly 33, the gripper assembly 31 is two symmetrical four-bar linkages, the connection plate 311, the first movable plate 312, the second movable plate 313 and the third movable plate 314 of the gripper assembly 31 form a four-bar linkage having a parallelogram shape, the connection plate 311 and the third movable plate 314 are horizontal sides of the parallelogram shape, the first movable plate 312 and the second movable plate 313 are movable oblique sides, the two first movable plates 312 and the two second movable plates 313 are connected to the connection plate 311 through a connection shaft 319, the first movable plate 312 is located outside the second movable plate 313, the other ends of the two first movable plates 312 are connected to the first connection rod 316 to form a first movable plate group having a linkage effect, the other ends of the two second movable plates 313 are connected to the second connection rod 317 to form a second movable plate group having a linkage effect, the third movable plate 314 connects the first movable plate 312 and the second movable plate 313 together through the first connecting rod 316 and the second connecting rod 317 to form a linkage assembly with linkage action, the grip plate 315 is connected to the third movable plate 314 through the connecting hole 315a, the first slot 315b of the grip plate 315 is upwards clamped on the first connecting rod 316, the second slot 315c of the grip plate 315 is downwards clamped on the second connecting rod 317, the gripper assembly 31 is connected below the gripper frame 32 through the connecting plate 311, the gripper frame 32 comprises a movable sliding rail 321 and two movable plates 325, the first motor 323 is installed in the first motor 323, the output shaft of the first motor 323 is connected with the screw rod 324, the bottom of the screw rod 324 is connected with the sliding block set 322, the sliding block set 322 is matched with the movable sliding rail 321, the two movable plates 325 are hinged on the sliding block set 322, and the other ends of the two movable plates 325 are connected with the third connecting rod 318 of the gripper assembly 31.
Referring to fig. 3, the utility model discloses manipulator 3 has still set up sucking disc subassembly 33, and sucking disc subassembly 33 connects the below of connecting plate 311, and sucking disc subassembly 33 contains a plurality of sucking discs 331, and sucking disc 331 and vacuum device connect, through the vacuum device evacuation, realize that sucking disc subassembly 33 adsorbs the circuit board, and sucking disc subassembly 33 highly is higher than the height of grabbing board 315 when grabbing the subassembly maximum aperture at least.
The utility model discloses can snatch or vacuum adsorption to the circuit board, realize moving the load process of circuit board, a plurality of boards 315 of grabbing of the bilateral symmetry of tongs subassembly 31 realize snatching the equilibrium of circuit board, can avoid snatching the damage of process to the circuit board, can snatch the circuit board that length, width are great, solve grabbing, the difficult problem of removal of the huge communication product circuit board of prior art effectively.
It is obvious to a person skilled in the art that the invention is not restricted to details of the above-described exemplary embodiments, but that it can be implemented in other specific forms without departing from the spirit or essential characteristics of the invention. The present embodiments are therefore to be considered in all respects as illustrative and not restrictive, the scope of the invention being indicated by the appended claims rather than by the foregoing description, and all changes which come within the meaning and range of equivalency of the claims are therefore intended to be embraced therein. Any reference sign in a claim should not be construed as limiting the claim concerned.
Furthermore, it should be understood that although the present description refers to embodiments, not every embodiment may contain only a single embodiment, and such description is for clarity only, and those skilled in the art should integrate the description, and the embodiments may be combined as appropriate to form other embodiments understood by those skilled in the art.
Claims (8)
Priority Applications (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201921465365.6U CN210655188U (en) | 2019-09-04 | 2019-09-04 | A circuit board automatic transfer device |
Applications Claiming Priority (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201921465365.6U CN210655188U (en) | 2019-09-04 | 2019-09-04 | A circuit board automatic transfer device |
Publications (1)
| Publication Number | Publication Date |
|---|---|
| CN210655188U true CN210655188U (en) | 2020-06-02 |
Family
ID=70837365
Family Applications (1)
| Application Number | Title | Priority Date | Filing Date |
|---|---|---|---|
| CN201921465365.6U Expired - Fee Related CN210655188U (en) | 2019-09-04 | 2019-09-04 | A circuit board automatic transfer device |
Country Status (1)
| Country | Link |
|---|---|
| CN (1) | CN210655188U (en) |
Cited By (4)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN110451253A (en) * | 2019-09-04 | 2019-11-15 | 厦门宏泰科技研究院有限公司 | A kind of circuit board automatic moving loader |
| CN113889657A (en) * | 2021-11-02 | 2022-01-04 | 芜湖天弋能源科技有限公司 | Assembly quality of battery module |
| CN114966215A (en) * | 2022-07-28 | 2022-08-30 | 广东天原施莱特新材料有限公司 | Testing device and method for new chemical material product |
| CN117755813A (en) * | 2024-01-19 | 2024-03-26 | 江苏泰柯伟尔自动化设备有限公司 | Jacking transfer machine for automatic production line |
-
2019
- 2019-09-04 CN CN201921465365.6U patent/CN210655188U/en not_active Expired - Fee Related
Cited By (5)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN110451253A (en) * | 2019-09-04 | 2019-11-15 | 厦门宏泰科技研究院有限公司 | A kind of circuit board automatic moving loader |
| CN113889657A (en) * | 2021-11-02 | 2022-01-04 | 芜湖天弋能源科技有限公司 | Assembly quality of battery module |
| CN113889657B (en) * | 2021-11-02 | 2023-08-22 | 芜湖天弋能源科技有限公司 | Assembling device of battery module |
| CN114966215A (en) * | 2022-07-28 | 2022-08-30 | 广东天原施莱特新材料有限公司 | Testing device and method for new chemical material product |
| CN117755813A (en) * | 2024-01-19 | 2024-03-26 | 江苏泰柯伟尔自动化设备有限公司 | Jacking transfer machine for automatic production line |
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Legal Events
| Date | Code | Title | Description |
|---|---|---|---|
| GR01 | Patent grant | ||
| GR01 | Patent grant | ||
| CF01 | Termination of patent right due to non-payment of annual fee |
Granted publication date: 20200602 |