CN215478295U

CN215478295U - Printed board grabbing device with CCD camera

Info

Publication number: CN215478295U
Application number: CN202122245084.3U
Authority: CN
Inventors: 张仁军; 李清华; 胡志强; 孙洋强; 杨海军
Original assignee: Inno Circuits Ltd
Current assignee: Inno Circuits Ltd
Priority date: 2021-09-16
Filing date: 2021-09-16
Publication date: 2022-01-11
Anticipated expiration: 2031-09-16

Abstract

The utility model discloses a printed board grabbing device with a CCD camera, which comprises a workbench (1) and a portal frame (2) erected outside the workbench (1), wherein a fixed seat (3) is fixedly arranged on the top surface of the workbench (1), a sunk groove (4) is formed in the top surface of the fixed seat (3), the outline of the sunk groove (4) is consistent with the outline of a printed board (5), the printed board (5) is placed on the bottom surface of the sunk groove (4), a screw-nut pair is arranged on the bottom surface of a cross beam of the portal frame (2), a mounting plate (6) is fixedly arranged on a nut (16) of the screw-nut pair, an air cylinder (7) and an air compressor (8) are fixedly arranged on the mounting plate (6), and a lifting plate (9) is fixedly arranged on the action end of a piston rod of the air cylinder (7). The utility model has the beneficial effects that: compact structure, prevent that the printing plate drops, reduce cost, can snatch and shift the uneven circuit board of top surface.

Description

Printed board grabbing device with CCD camera

Technical Field

The utility model relates to the technical field of printed circuit board grabbing and transferring, in particular to a printed circuit board grabbing device with a CCD camera.

Background

The structure of a printed board is shown in fig. 1, and includes a substrate 22, a circuit layer 23 disposed on the top surface of the substrate 22, and a plurality of through holes 21 disposed on the substrate 22, wherein the through holes 21 mainly perform a heat dissipation function. When a printed board is processed on one station and needs to be conveyed to another station, the printed board is generally conveyed to another station by a robot, the robot comprises a mechanical arm and a mounting plate arranged on an execution end of the mechanical arm, a plurality of suckers are arranged on the bottom surface of the mounting plate, the suckers are connected with a vacuumizing port of a vacuumizing device through pipelines, when the robot works, the mechanical arm is controlled to act, the bottom surface of each sucker is pressed on a circuit layer 23 of the printed board, the vacuumizing device is controlled to be started, the vacuumizing device vacuumizes the suckers, the suckers adsorb the printed board, and finally the mechanical arm is controlled to rotate 180 degrees, so that the printed board is transferred to another station, and the printed board is finally grabbed and transferred. However, this kind of grabbing device can only grab the smooth printed board of transfer circuit layer 23 top surface, and to the printed board that circuit layer 23 top surface is unevenness, after the sucking disc pressed on circuit layer 23, the sucking disc can not be inseparable pastes on the circuit layer, and sucking disc and atmosphere intercommunication promptly cause evacuating device during operation, can't take a vacuum to the sucking disc, and then lead to unable this printed board of grabbing. Therefore, the following technical drawbacks also exist: 1. the robot is expensive, and a plurality of robots cannot be configured in common small and medium-sized enterprises. 2. The suction force of the sucker is insufficient, even if the sucker can adsorb the printed board, in the transferring process, the printed board can fall off from the sucker due to the fact that the printed board is heavy in weight, and the printed board is damaged.

SUMMERY OF THE UTILITY MODEL

The utility model aims to overcome the defects of the prior art and provides a printed board gripping device with a CCD camera, which has the advantages of compact structure, printed board falling prevention, cost reduction and capability of gripping and transferring a circuit board with an uneven top surface.

The purpose of the utility model is realized by the following technical scheme: a printed board gripping device with a CCD camera comprises a workbench and a portal frame erected outside the workbench, wherein a fixed seat is fixedly arranged on the top surface of the workbench, a sinking groove is formed in the top surface of the fixed seat, the outline of the sinking groove is consistent with that of a printed board, the printed board is placed on the bottom surface of the sinking groove, a screw-nut pair is arranged on the bottom surface of a cross beam of the portal frame, a mounting plate is fixedly arranged on a nut of the screw-nut pair, an air cylinder and an air compressor are fixedly arranged on the mounting plate, a lifting plate is fixedly arranged on an acting end of a piston rod of the air cylinder, two air inlet pipes are welded on the lifting plate, the bottom of each air inlet pipe is sealed, the CCD camera is arranged on the bottom surface of the sealed end, the distance between the two CCD cameras is equal to the distance between the two through holes in the printed board, an inherent air bag is sleeved outside each air inlet pipe, and a groove body communicated with the air bag is formed in the cylindrical surface of each air inlet pipe, the top ports of the two air inlet pipes are connected with the air outlet of the air compressor.

The bottom surface of the sinking groove is provided with a through groove.

The groove bodies are uniformly distributed along the circumferential direction of the air inlet pipe.

The screw-nut pair comprises a rack, a power unit and a nut, the rack is fixedly arranged at the bottom of a portal frame beam, a horizontally arranged screw rod is rotatably installed in the rack, the nut is in threaded connection with the screw rod, the power unit is arranged on the beam, an output shaft of the power unit is connected with one end of the screw rod through a coupler, a guide rail is fixedly arranged on the bottom surface of the beam, a sliding groove is formed in the top of the nut, and the nut is slidably installed on the guide rail through the sliding groove.

The power unit comprises a speed reducer and a motor, the speed reducer is fixedly arranged on the bottom surface of the cross beam, an output shaft of the speed reducer is connected with one end of the screw rod, the motor is fixedly arranged at the bottom of the speed reducer, and an output shaft of the motor is connected with an input shaft of the speed reducer.

The device further comprises a controller, wherein the controller is electrically connected with the motor, the CCD camera, the air compressor and the electromagnetic valve of the air cylinder.

The utility model has the following advantages: compact structure, prevent that the printing plate drops, reduce cost, can snatch and shift the uneven circuit board of top surface.

Drawings

Fig. 1 is a schematic structural view of a printed board;

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

FIG. 3 is an enlarged view of a portion I of FIG. 2;

FIG. 4 is a top view of the fixing base;

FIG. 5 is a schematic diagram of the operation of the present invention;

in the figure, 1-workbench, 2-gantry, 3-fixed seat, 4-sink, 5-printed board, 6-mounting board, 7-cylinder, 8-air compressor, 9-lifting board, 10-air inlet pipe, 11-CCD camera, 12-air bag, 13-trough body, 14-through groove, 15-frame, 16-nut, 17-screw rod, 18-guide rail, 19-reducer, 20-motor, 21-through hole, 22-substrate and 23-circuit layer.

Detailed Description

The utility model will be further described with reference to the accompanying drawings, without limiting the scope of the utility model to the following:

as shown in fig. 2 to 4, a printed board gripping device with CCD cameras comprises a workbench 1 and a portal frame 2 erected outside the workbench 1, wherein a fixed seat 3 is fixedly arranged on the top surface of the workbench 1, a sinking groove 4 is arranged on the top surface of the fixed seat 3, the outer contour of the sinking groove 4 is consistent with the outer contour of the printed board 5, the printed board 5 is placed on the bottom surface of the sinking groove 4, a screw-nut pair is arranged on the bottom surface of a cross beam of the portal frame 2, a mounting plate 6 is fixedly arranged on a nut 16 of the screw-nut pair, an air cylinder 7 and an air compressor 8 are fixedly arranged on the mounting plate 6, a lifting plate 9 is fixedly arranged on the action end of a piston rod of the air cylinder 7, two air inlet pipes 10 are welded on the lifting plate 9, the bottom of the air inlet pipes 10 is closed, the CCD cameras 11 are arranged on the bottom surface of the closed end, the distance between the two CCD cameras 11 is equal to the distance between the two through holes 21 on the printed board 5, the air bag 12 is fixed to the outer portion of the air inlet pipe 10 in a sleeved mode, a groove body 13 communicated with the air bag 12 is formed in the cylindrical surface of the air inlet pipe 10, and top end openings of the two air inlet pipes 10 are connected with an air outlet of the air compressor 8. The screw-nut pair comprises a rack 15, a power unit and a nut 16, the rack 15 is fixedly arranged at the bottom of a cross beam of the portal frame 2, a horizontally arranged screw rod 17 is installed in the rack 15 in a rotating mode, the nut 16 is connected onto the screw rod 17 in a threaded mode, the power unit is arranged on the cross beam, an output shaft of the power unit is connected with one end of the screw rod 17 through a coupler, a guide rail 18 is fixedly arranged on the bottom surface of the cross beam, a sliding groove is formed in the top of the nut 16, the nut 16 is slidably installed on the guide rail 18 through the sliding groove, the power unit comprises a speed reducer 19 and a motor 20, the speed reducer 19 is fixedly arranged on the bottom surface of the cross beam, the output shaft of the speed reducer 19 is connected with one end of the screw rod 17, the motor 20 is fixedly arranged at the bottom of the speed reducer 19, and the output shaft of the motor 20 is connected with an input shaft of the speed reducer 19.

The bottom surface of the sinking groove 4 is provided with a through groove 14. The groove bodies 13 are uniformly distributed along the circumferential direction of the air inlet pipe 10. It still includes the controller, the controller is connected with the solenoid valve electricity of motor 20, CCD camera 11, air compressor machine 8 and cylinder 7, can control the start-up or close of motor 20 and air compressor machine 8 through the controller, can also control stretching out or retracting of cylinder 7 piston rod simultaneously, has made things convenient for workman's operation, has the characteristics that degree of automation is high.

The operation steps of transferring the printed board 5 in the sinking groove 4 to the next station are as follows:

s1, controlling the motor 20 to start, transmitting the torque of the motor 20 to the screw rod 17 through the speed reducer 19, enabling the nut 16 to move rightwards along the screw rod 17, simultaneously identifying images under the two CCD cameras 11, when the two CCD cameras 11 identify through holes 21 under the two CCD cameras at the same time, sending electric signals to the controller by the CCD cameras 11, controlling the motor 20 to be closed by the controller, and enabling the two air inlet pipes 10 to be located right above the two through holes 21 respectively;

s2, grabbing the printed board, controlling a piston rod of the cylinder 7 to move downwards, driving the lifting board 9 to move downwards by the cylinder 7, driving the two air inlet pipes 10 to move downwards synchronously by the lifting board 9, driving the air bag 12 to move downwards by the air inlet pipes 10, and when the piston rod is completely extended out, positioning the air bag 12 in the through hole 21 as shown in figure 5, and positioning the CCD camera 11 in the through groove 14; controlling the air compressor 8 to start, wherein the air compressor 8 outputs high-pressure air, the high-pressure air sequentially enters the air bag 12 through the air inlet pipe 10 and the groove body 13, the air bag 12 radially swells, and the inner wall of the through hole 21 of the printed board 5 is supported, so that the printed board 5 is grabbed; therefore, the device fixes the two through holes 21 through the two air bags 12, realizes two-point fixing of the printed board, has larger grasping force compared with the traditional sucking disc adsorption fixing, and avoids the printed board falling off in the process of transferring the printed board. In addition, the clamping points are arranged on the inner walls of the two through holes 21 instead of the circuit layer, so that the circuit board clamping device can be suitable for grabbing circuit boards with uneven top surfaces, and has the characteristic of higher universality.

S3, the piston rod of the control cylinder 7 retracts upwards, after retraction, the control motor 20 is started again, and the nut 16 moves rightwards along the length direction of the screw rod 17, so that the printed board to be grabbed is transferred to another station;

and S4, after transfer, the air compressor 8 is closed, the air bag 12 is communicated with the atmosphere, the printed board is taken down, the motor 20 is controlled to rotate reversely, and then the next printed board is placed in the sinking groove 4, so that continuous grabbing and transfer of the printed board can be realized.

Finally, it should be noted that: although the present invention has been described in detail with reference to the foregoing embodiments, it will be apparent to those skilled in the art that changes may be made in the embodiments and/or equivalents thereof without departing from the spirit and scope of the utility model. Any modification, equivalent replacement, or improvement made within the spirit and principle of the present invention should be included in the protection scope of the present invention.

Claims

1. The utility model provides a printing board grabbing device with CCD camera which characterized in that: it includes workstation (1) and erects portal frame (2) in workstation (1) outside, has set firmly fixing base (3) on the top surface of workstation (1), has seted up heavy groove (4) on the top surface of fixing base (3), and the outline of heavy groove (4) is unanimous with the outline of printed board (5), has placed printed board (5) on the basal surface of heavy groove (4), be provided with screw-nut pair on the basal surface of portal frame (2) crossbeam, has set firmly mounting panel (6) on screw-nut pair's nut (16), has set firmly cylinder (7) and air compressor machine (8) on mounting panel (6), has set firmly lifter plate (9) on the effect end of cylinder (7) piston rod, and the welding has two intake pipe (10) on lifter plate (9), and the bottom of intake pipe (10) is sealed, and is provided with CCD camera (11) on the basal surface of blind end, and the interval between two camera (11) and the distance between two through-hole (21) on printed board (5) apart from distance The air inlet pipe is characterized in that the air inlet pipe is equal to the air outlet pipe, an inherent air bag (12) is sleeved outside the air inlet pipe (10), a groove body (13) communicated with the air bag (12) is formed in the cylindrical surface of the air inlet pipe (10), and top end openings of the two air inlet pipes (10) are connected with an air outlet of the air compressor (8).

2. The printed board gripping device with the CCD camera as claimed in claim 1, wherein: the bottom surface of the sinking groove (4) is provided with a through groove (14).

3. The printed board gripping device with the CCD camera as claimed in claim 1, wherein: the groove bodies (13) are uniformly distributed along the circumferential direction of the air inlet pipe (10).

4. The printed board gripping device with the CCD camera as claimed in claim 1, wherein: the screw-nut pair comprises a rack (15), a power unit and a nut (16), wherein the rack (15) is fixedly arranged at the bottom of a cross beam of the portal frame (2), a horizontally arranged screw rod (17) is installed in the rack (15) in a rotating manner, the nut (16) is in threaded connection with the screw rod (17), the power unit is arranged on the cross beam, an output shaft of the power unit is connected with one end of the screw rod (17) through a coupler, a guide rail (18) is fixedly arranged on the bottom surface of the cross beam, a sliding groove is formed in the top of the nut (16), and the nut (16) is slidably arranged on the guide rail (18) through the sliding groove.

5. The printed board gripping device with the CCD camera as claimed in claim 4, wherein: the power unit comprises a speed reducer (19) and a motor (20), the speed reducer (19) is fixedly arranged on the bottom surface of the cross beam, an output shaft of the speed reducer (19) is connected with one end of the screw rod (17), the motor (20) is fixedly arranged at the bottom of the speed reducer (19), and an output shaft of the motor (20) is connected with an input shaft of the speed reducer (19).

6. The printed board gripping device with the CCD camera as claimed in claim 1, wherein: the device also comprises a controller, wherein the controller is electrically connected with the motor (20), the CCD camera (11), the air compressor (8) and the electromagnetic valve of the air cylinder (7).