CN214818659U

CN214818659U - Gripping device with mechanical clamping jaw

Info

Publication number: CN214818659U
Application number: CN202023114401.XU
Authority: CN
Inventors: 白杏哲; 王洋; 张善凯; 缪玉喜
Original assignee: Shanghai Serenco Electromechanical Equipment Co ltd
Current assignee: Shanghai Serenco Electromechanical Equipment Co ltd
Priority date: 2020-12-22
Filing date: 2020-12-22
Publication date: 2021-11-23
Anticipated expiration: 2030-12-22

Abstract

The utility model relates to the technical field of PCB board production equipment, in particular to a gripping device with a mechanical clamping jaw, which comprises a crossbeam, a movable valve island, a fixed valve island and a sucker, and the utility model can effectively absorb the PCB board through the combination of a pneumatic shifting finger and the sucker, can effectively solve the problem that the PCB board with different thicknesses and different qualities and multiple holes is also provided with a traceless pad on the pneumatic shifting finger, ensures that the PCB board is not damaged by clamping, simultaneously improves the working speed of a robot, does not influence the stability of the absorbing device, ensures the continuous reliability and high efficiency of production, has simple structure and convenient installation, is suitable for the requirements of various occasions, and is a simple and efficient absorbing scheme; through the motion of step motor module drive and control slider, realize the regulation of removal valve island, and then realize automatically regulated size according to circuit board size of a dimension, the manifold characteristics of kind in the adaptation PCB production process improve work efficiency.

Description

Gripping device with mechanical clamping jaw

Technical Field

The utility model relates to a PCB board production facility technical field specifically is a take grabbing device of mechanical clamping jaw.

Background

At present, in the production of PCB boards, automation equipment is increasingly used, so that the production efficiency of enterprises is improved. In the apparatus for manufacturing the PCB, the transfer of the PCB directly affects the production efficiency. Currently, most of PCB transportation mainly depends on a vacuum chuck to realize grabbing. Because the PCB has the characteristics of different sizes and thicknesses of the external dimensions, different non-holes or multiple holes, irregular hole position distribution and the like. Consequently, the board phenomenon can appear falling by singly relying on vacuum chuck to snatch the PCB board to need artifical supplementary production, directly lead to production efficiency low, and appear condemned problem easily. Meanwhile, the valve terminal is adjusted manually to adapt to the sizes of different circuit boards in a production line. For the sake of safety, the machine needs to be stopped to adjust, production efficiency is directly influenced, and the gripping device with the mechanical clamping jaws is designed aiming at the problems.

SUMMERY OF THE UTILITY MODEL

An object of the utility model is to provide a take mechanical clamping jaw's grabbing device to solve the problem that proposes among the above-mentioned background art.

In order to achieve the above object, the utility model provides a following technical scheme: a gripping device with a mechanical gripping jaw comprises a beam, a movable valve island, a fixed valve island and a sucker, the middle of the top of the cross beam is connected with a robot quick-change clamp, one end of the bottom of the cross beam is connected with a mounting bracket, the bottom end of the mounting bracket is provided with a fixed valve island, the middle of the bottom of the cross beam is provided with a stepping motor module, one end of the stepping motor module is connected with a single-shaft module at the bottom of the cross beam, one end of the bottom of the single-shaft module is provided with a connecting block, the bottom of the connecting block is provided with a movable valve island, the two ends of the movable valve island and the fixed valve island are provided with pneumatic shifting fingers, a plurality of brackets are fixedly arranged in the middle of the top parts of the movable valve island and the fixed valve island, a buffer rod is connected in the middle of the top parts of the brackets, the bottom end of the buffer rod is connected with a sucker at the bottom of the support, and pneumatic heads are arranged on the side surfaces of the movable valve island and the fixed valve island at the corresponding positions of the support.

Preferably, the unipolar module is connected with the step motor module through the shaft coupling, the connecting block is connected with the unipolar module through the slider, and slider and unipolar module looks gomphosis sliding connection, and the motion of the step motor module drive of being convenient for and control slider realizes the regulation of removal valve island, and then realizes the automatically regulated size according to circuit board size of dimensions, and the manifold characteristics of kind in the adaptation PCB production process also can realize not shutting down the operation of adjusting the sucking disc frame simultaneously, improves work efficiency.

Preferably, it is characterized in that: and two clamping heads arranged at the bottom of the pneumatic shifting finger are provided with traceless pads, so that the PCB is prevented from being damaged by clamping.

Preferably, a magnetic ring is arranged at the bottom of the support between the buffer rod and the sucker, the magnetic ring is a collision sensor, and in the grabbing and releasing processes, the stroke of the action of the robot for quickly grabbing in the grabbing and releasing plate is determined according to signals of the sensor.

Preferably, the sucking disc is connected with the vacuum generator through the pneumatic head, so that the sucking disc can generate suction force conveniently to adsorb the PCB.

Compared with the prior art, the beneficial effects of the utility model are that: the utility model adsorbs the PCB board through the combination of the pneumatic finger and the sucker, can effectively solve the problem that the PCB board with different thickness and different quality and multiple holes is provided with the traceless pad on the pneumatic finger, ensures that the PCB board is not damaged by clamping, simultaneously improves the working speed of the robot, does not affect the stability of the adsorption device, ensures the continuous reliability and high efficiency of production, has simple structure and convenient installation, meets the requirements of various occasions, and is a simple and efficient adsorption scheme; be connected with the unipolar module through the slider, and slider and unipolar module looks gomphosis sliding connection, the step motor module drive of being convenient for and the motion of control slider realize the regulation of removal valve island, and then realize the automatically regulated size according to circuit board size of dimensions, adapt to the manifold characteristics of kind in the PCB production process, improve work efficiency.

Drawings

Fig. 1 is a schematic perspective view of the present invention;

FIG. 2 is a schematic structural view of the initial working state of the present invention;

fig. 3 is a schematic structural diagram of the working clamping state of the present invention.

In the figure: 1. pneumatic finger poking; 2. a buffer rod; 3. moving the valve island; 4. connecting blocks; 5. a slider; 6. a single axis module; 7. the robot quickly changes the clamp; 8. a cross beam; 9. mounting a bracket; 10. fixing the valve island; 11. a traceless pad; 12. a stepping motor module; 13. a magnetic ring; 14. a suction cup; 15. and (4) a bracket.

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 in the present invention, all other embodiments obtained by a person skilled in the art without creative work belong to the protection scope of the present invention.

In the description of the present invention, it should be noted that the terms "vertical", "upper", "lower", "horizontal", and the like indicate orientations or positional relationships based on the orientations or positional relationships shown in the drawings, and are only for convenience of description and simplification of description, but do not indicate or imply that the device or element referred to must have a specific orientation, be constructed in a specific orientation, and be operated, and thus should not be construed as limiting the present invention.

In the description of the present invention, it should also be noted that, unless otherwise explicitly specified or limited, the terms "disposed," "mounted," "connected," and "connected" are to be construed broadly, e.g., as meaning either a fixed connection, a removable connection, or an integral connection; can be mechanically or electrically connected; they may be connected directly or indirectly through intervening media, or they may be interconnected between two elements. The specific meaning of the above terms in the present invention can be understood according to specific situations by those skilled in the art.

Referring to fig. 1-3, the present invention provides a technical solution: a gripping device with a mechanical gripping jaw, which comprises a beam 8 and a movable valve island 3, fixing valve island 10 and sucking disc 14, 8 top intermediate junctions of crossbeam have quick change anchor clamps 7 of robot, 8 bottom one end of crossbeam are connected with installing support 9, installing support 9 bottom is provided with fixing valve island 10, install step motor module 12 in the middle of the 8 bottom of crossbeam, step motor module 12 one end is connected with unipolar module 6 in the 8 bottom of crossbeam, connecting block 4 is installed to unipolar module 6 bottom one end, 4 bottoms of connecting block are provided with moving valve island 3, pneumatic finger 1 of dialling is installed at the both ends of moving valve island 3 and fixing valve island 10, fixed mounting has a plurality of support 15 in the middle of the top of moving valve island 3 and fixing

valve island

10, 15 top intermediate junctions of support have buffer beam 2, buffer beam 2 bottom is connected with sucking disc 14 in support 15 bottom, pneumatic head 16 is installed in the department that corresponds of support 15 to the side of moving valve island 3 and fixing valve island 10.

Further, unipolar module 6 is connected with step motor module 12 through the shaft coupling, connecting block 4 is connected with unipolar module 6 through slider 5, and slider 5 and the 6 looks gomphosis sliding connection of unipolar module, be convenient for step motor module 12 drive and control slider 5's motion, realize the regulation of removal valve island 3, and then realize the automatically regulated size according to circuit board size of dimensions, adapt to the manifold characteristics of kind in the PCB production process, also can realize not shutting down the operation of adjusting the sucking disc frame simultaneously, and the work efficiency is improved.

Further, it is characterized in that: and two clamping heads arranged at the bottom of the pneumatic shifting finger 1 are provided with traceless pads 11, so that the PCB is prevented from being damaged by clamping.

Furthermore, a magnetic ring 13 is arranged at the bottom of the support 15 between the buffer rod 2 and the sucker 14, the magnetic ring 13 is a collision sensor, and in the grabbing and releasing processes, the stroke of the action of the robot for quickly grabbing in the grabbing and releasing plate is determined according to signals of the sensor.

Further, the suction cup 14 is connected to a vacuum generator through a pneumatic head 16, so that the suction cup 14 generates suction force to suck the PCB.

The working principle is as follows: when the board is stored and released, the robot moves the sucker 14 to the position above the PCB according to the planned path, then descends, the sucker 14 contacts the PCB until the magnetic ring 13 generates a signal, as shown in fig. 2, the vacuum sucker 14 works to generate vacuum adsorption force to suck the circuit board, the circuit board is lifted to the working range of the pneumatic shifting finger 1, the pneumatic shifting finger 1 starts working, the pneumatic shifting finger 1 is changed from an open state to a clamping state to clamp the circuit board, as shown in fig. 3, after the circuit board is clamped, adsorbed and fixed, the robot can transport and store and release the board.

The utility model discloses a pneumatic group indicates 1 and sucking disc 14 combination to adsorb the PCB board, can effectively solve and deal with different thickness different quality and porous circuit board, again install no trace pad 11 on pneumatic group indicates, guarantee that the centre gripping can not cause the damage to the PCB board, improve the work speed of robot simultaneously, can not exert an influence to the stability of adsorption equipment, guarantee to produce continuous reliability and high efficiency, and its simple structure, simple to operate adapts to the needs of multiple occasion, is a simple efficient adsorption scheme; be connected with unipolar module 6 through slider 5, and slider 5 and 6 looks gomphosis sliding connection of unipolar module, the step motor module 12 drive of being convenient for and the motion of control slider 5 realize moving valve island 3's regulation, and then realize the automatically regulated size according to circuit board size of a dimension, and the manifold characteristics of kind in the adaptation PCB production process improve work efficiency.

Although embodiments of the present invention have been shown and described, it will be appreciated by those skilled in the art that changes, modifications, substitutions and alterations can be made in these embodiments without departing from the principles and spirit of the invention, the scope of which is defined in the appended claims and their equivalents.

Claims

1. The utility model provides a take grabbing device of mechanical clamping jaw, includes crossbeam (8), removes valve island (3), fixed valve island (10) and sucking disc (14), its characterized in that: the quick-change robot clamp is characterized in that a robot quick-change clamp (7) is connected in the middle of the top of the beam (8), one end of the bottom of the beam (8) is connected with an installation support (9), a fixed valve island (10) is arranged at the bottom of the installation support (9), a stepping motor module (12) is installed in the middle of the bottom of the beam (8), one end of the stepping motor module (12) is connected with a single-shaft module (6) at the bottom of the beam (8), a connecting block (4) is installed at one end of the bottom of the single-shaft module (6), a movable valve island (3) is arranged at the bottom of the connecting block (4), pneumatic shifting fingers (1) are installed at two ends of the movable valve island (3) and the fixed valve island (10), a plurality of supports (15) are fixedly installed in the middle of the tops of the movable valve island (3) and the fixed valve island (10), and a buffer rod (2) is connected in the middle of the tops of the supports (15), the bottom end of the buffer rod (2) is connected with a sucker (14) at the bottom of the support (15), and pneumatic heads (16) are arranged on the side surfaces of the movable valve island (3) and the fixed valve island (10) at the corresponding positions of the support (15).

2. Gripping device with mechanical jaw according to claim 1, characterized in that: unipolar module (6) are connected with step motor module (12) through the shaft coupling, connecting block (4) are connected with unipolar module (6) through slider (5), and slider (5) and unipolar module (6) gomphosis sliding connection mutually.

3. Gripping device with mechanical jaw according to claim 1, characterized in that: and two clamping heads arranged at the bottom of the pneumatic shifting finger (1) are provided with traceless pads (11).

4. Gripping device with mechanical jaw according to claim 1, characterized in that: a magnetic ring (13) is arranged at the bottom of the support (15) between the buffer rod (2) and the sucker (14).

5. Gripping device with mechanical jaw according to claim 1, characterized in that: the suction cup (14) is connected with a vacuum generator through a pneumatic head (16).