CN215589162U

CN215589162U - A inhale and press from both sides all-in-one manipulator for board receiving machine

Info

Publication number: CN215589162U
Application number: CN202121837104.XU
Authority: CN
Inventors: 陈艺波; 颜朝信; 赵卫平; 朱辉
Original assignee: Symtek Automation Dongguan Co Ltd
Current assignee: Symtek Automation Dongguan Co Ltd
Priority date: 2021-08-06
Filing date: 2021-08-06
Publication date: 2022-01-21
Anticipated expiration: 2031-08-06

Abstract

The utility model relates to the technical field of plate collecting machines, in particular to a suction and clamping integrated manipulator for a plate collecting machine, which comprises a mechanical arm, a lifting driving mechanism arranged at the output end of the mechanical arm, a connecting plate connected to the output end of the lifting driving mechanism, two material clamping components respectively arranged at two ends of the connecting plate and a material suction mechanism arranged on the connecting plate, wherein the material suction mechanism is positioned between the two material clamping components, the two material clamping components are oppositely arranged, and the material suction mechanism comprises a material suction frame connected with the connecting plate, a plurality of material suction nozzles arranged on the material suction frame and one or more shaking material suction components arranged on the material suction frame. The material sucking and clamping device integrates the functions of sucking and clamping materials, has the advantages of simple and compact structure, wide application range, good universality and high utilization rate, can shake the sucked materials through the shaking sucking component when the materials are sucked so as to separate the two adjacent materials, and improves the stability and the accuracy of the picked materials.

Description

A inhale and press from both sides all-in-one manipulator for board receiving machine

Technical Field

The utility model relates to the technical field of plate collecting machines, in particular to an integrated sucking and clamping manipulator for a plate collecting machine.

Background

During the production process of the circuit board, the circuit board needs to be stacked on the bearing frame so as to be convenient for transferring the circuit board. The stacking of circuit boards is typically accomplished by board loaders. In the existing board collecting machine, at least two manipulators are needed, one manipulator is used for picking up an empty bearing frame to a board collecting position, and the other manipulator is used for picking up a circuit board or partition paper into the bearing frame so as to realize the stacking of the circuit board. Because the function singleness of every manipulator in the board receiving machine, a manipulator can only accomplish a fixed action, leads to the quantity of required manipulator more, has improved the cost of production, and the volume of machine is more. Therefore, the drawbacks are obvious, and a solution is needed.

SUMMERY OF THE UTILITY MODEL

In order to solve the technical problems, the utility model aims to provide an absorbing and clamping integrated mechanical arm for a plate collecting machine.

In order to achieve the purpose, the utility model adopts the following technical scheme:

the utility model provides an inhale and press from both sides mechanical hand for board receiving machine, its includes the arm, set up in the lift actuating mechanism of the output of arm, connect in the connecting plate of lift actuating mechanism's output, install respectively in two clamp material subassemblies at the both ends of connecting plate and install in inhaling of connecting plate material mechanism, inhale material mechanism and be located between two clamp material subassemblies, two clamp material subassemblies set up relatively, inhale material mechanism and include the work or material rest of inhaling that is connected with the connecting plate, install in inhaling a plurality of material mouths of work or material rest and install in inhaling one or more shake of work or material rest and inhale the material subassembly.

Furthermore, the shaking material sucking component comprises a shaking driver arranged on the material sucking frame and a suction nozzle arranged at the output end of the shaking driver.

Further, the number of the material suction mechanisms is two.

Further, inhale the work or material rest and include the installation pole of being connected with the connecting plate and connect in a plurality of material arms of inhaling of installation pole, a plurality of material arms of inhaling are arranged along the length direction of installation pole and are set up, inhale the material mouth and shake and inhale the material subassembly and install respectively in inhaling the material arm.

Further, the material sucking frame further comprises a sliding block connected with the mounting rod and a first locking piece detachably connected with the sliding block, the sliding block is connected with the connecting plate in a sliding mode, and the first locking piece is used for locking the sliding block on the connecting plate.

Further, inhale the work or material rest still include with the second locking part that installation pole detachably is connected, the installation pole is provided with the installation spout, inhale the material arm be provided with the adjustment tank of installation spout intercommunication, the second locking part runs through the adjustment tank in proper order and is connected with the installation pole behind the installation spout.

Further, the installation rod is provided with an air passage, and the air passage is communicated with a material suction nozzle or a shaking material suction assembly through an air pipe.

Furthermore, the clamping component comprises a clamping driver arranged on the connecting plate and a clamping piece arranged at the output end of the clamping driver, and the clamping driver is used for driving the clamping piece to move in a reciprocating manner.

Furthermore, the clamping assembly further comprises an adjusting plate, and the clamping driver is mounted on the connecting plate through the adjusting plate.

Further, the lifting driving mechanism comprises a rotating driver arranged in the output end of the mechanical arm, a worm wheel arranged at the output end of the rotating driver, a worm arranged at the output end of the mechanical arm in a lifting mode and a connector arranged at the bottom end of the worm, the worm wheel is in driving connection with the worm, the rotating driver is used for driving the worm wheel to rotate, and the connecting plate is connected with the connector.

The utility model has the beneficial effects that: in practical application, when the bearing frame needs to be clamped, the mechanical arm drives the lifting driving mechanism to move to the position above the bearing frame together with the connecting plate, the material clamping assembly and the material sucking mechanism, then the lifting driving mechanism drives the material clamping assembly and the material sucking mechanism to synchronously descend until the bearing frame is located between the two material clamping assemblies, the two material clamping assemblies are started, the two material clamping assemblies are matched to clamp the bearing frame, and after the bearing frame is clamped, the mechanical arm and the lifting driving mechanism work cooperatively to place the bearing frame at a preset position so as to realize material taking and placing of the bearing frame; when materials (such as separation paper or a circuit board and the like) need to be sucked, the mechanical arm drives the lifting driving mechanism to move to the position above the materials together with the connecting plate, the material clamping assembly and the material sucking mechanism, then the lifting driving mechanism drives the material clamping assembly and the material sucking mechanism to synchronously descend until the material sucking ends of the plurality of material sucking nozzles and the material sucking ends of the shaking material sucking assemblies are in contact with the materials to suck the materials, after the materials are sucked, the mechanical arm and the lifting driving mechanism work cooperatively to place the materials on a preset position to achieve material taking and placing, in the process, the shaking material sucking assembly shakes the materials, the materials are shaken while the materials are sucked, the purpose of separating two adjacent materials is achieved, the phenomenon of material stacking is avoided, only one material can be sucked each time, and the stability and the accuracy of material picking are improved. Or after the material sucking mechanism stably sucks the material, the two material clamping assemblies are matched to clamp the sucked material, so that the stability of taking and placing the material is improved. The material sucking and clamping device integrates the functions of sucking and clamping materials, has the advantages of simple and compact structure, wide application range, good universality and high utilization rate, can shake the sucked materials through the shaking sucking component when the materials are sucked so as to separate the two adjacent materials, and improves the stability and the accuracy of the picked materials.

Drawings

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

Fig. 2 is an enlarged view of a point a in fig. 1.

Description of reference numerals:

21. a mechanical arm; 22. a lifting drive mechanism; 221. a worm; 222. a connector; 23. a connecting plate; 24. a material clamping component; 241. a material clamping driver; 242. clamping the material; 243. an adjusting plate; 25. a material sucking mechanism; 250. a second locking member; 251. a material sucking frame; 252. a material suction nozzle; 253. shaking and sucking the material assembly; 254. a dither driver; 255. a suction nozzle; 256. mounting a rod; 2561. installing a chute; 2562. an airway; 257. a suction arm; 2571. an adjustment groove; 258. a slider; 259. a first locking member.

Detailed Description

In order to facilitate understanding of those skilled in the art, the present invention will be further described with reference to the following examples and drawings, which are not intended to limit the present invention.

As shown in fig. 1 and fig. 2, the utility model provides an integrated sucking and clamping manipulator for a plate collecting machine, which includes a mechanical arm 21, a lifting driving mechanism 22 disposed at an output end of the mechanical arm 21, a connecting plate 23 connected to an output end of the lifting driving mechanism 22, two clamping components 24 respectively disposed at two ends of the connecting plate 23, and a sucking mechanism 25 disposed on the connecting plate 23, wherein the sucking mechanism 25 is located between the two clamping components 24, the two clamping components 24 are disposed opposite to each other, and the sucking mechanism 25 includes a sucking frame 251 connected to the connecting plate 23, a plurality of sucking nozzles 252 disposed on the sucking frame 251, and one or more shaking sucking components 253 disposed on the sucking frame 251.

In practical application, when a carrying frame needs to be clamped, the mechanical arm 21 drives the lifting driving mechanism 22 to move to the position above the carrying frame together with the connecting plate 23, the material clamping assemblies 24 and the material sucking mechanism 25, then the lifting driving mechanism 22 drives the material clamping assemblies 24 and the material sucking mechanism 25 to synchronously descend until the carrying frame is located between the two material clamping assemblies 24, the two material clamping assemblies 24 are started, the two material clamping assemblies 24 are matched to clamp the carrying frame, and after the carrying frame is clamped, the mechanical arm 21 and the lifting driving mechanism 22 work cooperatively to place the carrying frame at a preset position so as to realize the material taking and placing of the carrying frame; when materials (such as paper separation or circuit boards and the like) need to be sucked, the mechanical arm 21 drives the lifting driving mechanism 22 to move to the upper part of the materials together with the connecting plate 23, the clamping assembly 24 and the sucking mechanism 25, then the lifting driving mechanism 22 drives the clamping component 24 and the material sucking mechanism 25 to descend synchronously until the material sucking ends of the plurality of material sucking nozzles 252 and the material sucking end of the shaking material sucking component 253 are respectively contacted with the material to suck the material, after the material is sucked, the robotic arm 21 and the lift drive mechanism 22 work in concert to place the material in a predetermined position, to effect the material pick-and-place, in this process, the shaking material-sucking component 253 shakes the material, so that the material is shaken while being sucked, the purpose of separating two adjacent materials is achieved, the phenomenon of material stacking is avoided, the utility model is ensured to only absorb one material each time, and the stability and the accuracy of material picking are improved. Or after the material sucking mechanism 25 stably sucks the material, the two material clamping assemblies 24 cooperate to clamp the sucked material, so that the stability of taking and placing the material is improved. The material sucking and clamping device integrates the functions of sucking and clamping materials, has a simple and compact structure, a wide application range, good universality and a high utilization rate, can shake the sucked materials through the shaking sucking component 253 when sucking the materials so as to separate two adjacent materials, and improves the stability and the accuracy of the picked materials.

In this embodiment, the shaking material-sucking assembly 253 includes a shaking driver 254 installed on the material-sucking frame 251 and a suction nozzle 255 installed at the output end of the shaking driver 254; preferably, the dither drive 254 is an air cylinder. After the suction nozzle 255 sucks the material, the output end of the shaking driver 254 is extended and contracted at a high speed to produce a shaking effect, thereby shaking the material to effectively separate two adjacent materials.

In this embodiment, the number of the material suction mechanisms 25 is two, and the two material suction mechanisms 25 are symmetrically arranged on the connecting plate 23. In practical application, the two material suction mechanisms 25 suck one material together, so that the stability of sucking the material is improved; or, two material suction mechanisms 25 respectively suck one material, so that the material suction efficiency is improved.

In this embodiment, the material suction frame 251 includes an installation rod 256 connected to the connection plate 23 and a plurality of material suction arms 257 connected to the installation rod 256, the connection plate 23 is perpendicular to the installation rod 256, the material suction arms 257 are parallel to the connection plate 23, the material suction arms 257 are arranged along the length direction of the installation rod 256, and the material suction nozzles 252 and the shaking material suction assemblies 253 are respectively installed on the material suction arms 257. This structural design has realized inhaling the modularization of work or material rest 251, is convenient for inhale the dismouting and the maintenance of work or material rest 251, has reduced the cost of manufacturing. Preferably, the number of the shake suction assemblies 253 is two, and all the suction nozzles 252 on each suction mechanism 25 are positioned between the two shake suction assemblies 253. The two shaking material sucking assemblies 253 are positioned at the corner positions of the materials, so that the two adjacent materials can be separated more conveniently.

In this embodiment, the material sucking frame 251 further includes a sliding block 258 connected to the mounting rod 256 and a first locking member 259 detachably connected to the sliding block 258, the sliding block 258 is slidably connected to the connecting plate 23, and the first locking member 259 is configured to lock the sliding block 258 on the connecting plate 23; preferably, the first locking member 259 is a bolt, and the first locking member 259 is threadedly coupled to the connection plate 23. In practical application, when the position of the material suction mechanism 25 on the connecting plate 23 needs to be adjusted or the distance between two material suction mechanisms 25 needs to be adjusted, the first locking piece 259 is loosened, so that the sliding block 258 can slide relative to the connecting plate 23, and the sliding block 258 drives the mounting rod 256, the material suction arm 257, the material suction nozzle 252 and the shaking material suction assembly 253 to move so as to adjust the positions of the material suction nozzle 252 and the shaking material suction assembly 253, so that the flexibility is good, and the adjustment is convenient; after adjustment is completed, the first locking member 259 is tightened so that the first locking member 259 locks the slider 258 to the attachment plate 23. The position of the material sucking mechanism 25 is adjusted or the distance between the two material sucking mechanisms 25 is adjusted, so that the material sucking mechanism 25 can pick and place materials in different positions or different specifications.

In this embodiment, the material sucking frame 251 further includes a second locking member 250 detachably connected to the mounting rod 256, the mounting rod 256 is provided with a mounting chute 2561, the material sucking arm 257 is provided with an adjusting groove 2571 communicated with the mounting chute 2561, and the second locking member 250 sequentially penetrates through the adjusting groove 2571 and the mounting chute 2561 and then is connected to the mounting rod 256; preferably, the second locking member 250 is a bolt, and the second locking member 250 is threadedly coupled to the mounting rod 256. In practical application, when the distance between two adjacent material suction arms 257 needs to be adjusted, the second locking member 250 is loosened, so that the material suction arms 257 can move relative to the mounting rod 256 along the mounting chute 2561, the position of the material suction arms 257 on the mounting rod 256 is adjusted, and after the adjustment is completed, the second locking member 250 is screwed, so that the material suction arms 257 are locked on the mounting rod 256 by the second locking member 250; when the effective length of the material suction arm 257 needs to be adjusted, the second locking member 250 is loosened, so that the material suction arm 257 moves relative to the mounting rod 256 along the adjusting groove 2571, the effective length of the material suction arm 257 is adjusted, and after the adjustment is completed, the second locking member 250 is screwed, so that the material suction arm 257 is locked on the mounting rod 256 by the second locking member 250. Through adjusting the position and the effective length of the suction arm 257, the material taking and placing at different positions or different specifications can be met.

In this embodiment, the mounting rod 256 is provided with an air passage 2562, and the air passage 2562 is communicated with the material suction nozzle 252 or the shaking material suction assembly 253 through an air pipe; the vacuum device is in communication with air passage 2562. This structural design, the gas circuit is simple, has reduced tracheal use amount, avoids appearing the trachea and ties or the phenomenon in disorder.

In this embodiment, the material clamping assembly 24 includes a material clamping driver 241 disposed on the connecting plate 23 and a material clamping member 242 disposed at an output end of the material clamping driver 241, and the material clamping driver 241 is configured to drive the material clamping member 242 to reciprocate; preferably, the material clamping driver 241 is an air cylinder. In practical applications, when the carrier frame is located between the two clamping assemblies 24, the clamping driver 241 drives the clamping member 242 to move toward the direction close to the carrier frame until the clamping member 242 abuts against one side of the carrier frame, the clamping members 242 of the two clamping assemblies 24 abut against two sides of the carrier frame, and the two clamping members 242 cooperate to clamp the carrier frame.

Specifically, the clamping piece 242 is provided with an elastic pad; when the bearing frame is clamped, the elastic pad is in contact with the bearing frame, the elastic pad plays roles in buffering protection and shock absorption and noise reduction, and the bearing frame is prevented from being damaged due to overlarge clamping force.

In this embodiment, the clamping assembly 24 further includes an adjusting plate 243, and the clamping driver 241 is mounted on the connecting plate 23 via the adjusting plate 243. The position of the adjusting plate 243 on the connecting plate 23 is adjusted to adjust the distance between the two clamping assemblies 24, so that the bearing frames with different specifications can be clamped.

In this embodiment, the lifting driving mechanism 22 includes a rotation driver disposed in the output end of the mechanical arm 21, a worm wheel disposed in the output end of the rotation driver, a worm 221 disposed in the output end of the mechanical arm 21 in a lifting manner, and a connector 222 disposed at the bottom end of the worm 221, the worm wheel is in driving connection with the worm 221, the rotation driver is configured to drive the worm wheel to rotate, and the connecting plate 23 is connected to the connector 222; preferably, the rotary drive is an electric motor.

In practical application, the rotation driver drives the worm wheel to rotate, the rotating worm wheel is meshed with the worm 221 to drive the worm 221 to move up and down, the worm 221 moving up and down drives the connector 222, the connecting plate 23, the material clamping assembly 24 and the material suction mechanism 25 to synchronously lift up and down, and the lifting stability is good.

All the technical features in the embodiment can be freely combined according to actual needs.

The above embodiments are preferred implementations of the present invention, and the present invention can be implemented in other ways without departing from the spirit of the present invention.

Claims

1. The utility model provides a inhale and press from both sides all-in-one manipulator for board receiving machine which characterized in that: including the arm, set up in the lift actuating mechanism of the output of arm, connect in the connecting plate of lift actuating mechanism's output, install respectively in two clamping components at the both ends of connecting plate and install in inhaling of connecting plate material mechanism, inhale material mechanism and be located between two clamping components, two clamping components set up relatively, inhale material mechanism and include the work or material rest of inhaling that is connected with the connecting plate, install in inhaling a plurality of material mouths of work or material rest and install in inhaling one or more shake of work or material rest and inhale the material subassembly.

2. The plate collecting machine integrated sucking and clamping manipulator as claimed in claim 1, characterized in that: the shaking material sucking component comprises a shaking driver arranged on the material sucking frame and a suction nozzle arranged at the output end of the shaking driver.

3. The plate collecting machine integrated sucking and clamping manipulator as claimed in claim 1, characterized in that: the number of the material sucking mechanisms is two.

4. The plate collecting machine integrated sucking and clamping manipulator as claimed in claim 1, characterized in that: inhale the work or material rest and include the installation pole of being connected with the connecting plate and connect in a plurality of material arms of inhaling of installation pole, a plurality of material arms of inhaling are arranged along the length direction of installation pole and are set up, inhale material mouth and shake and inhale the material subassembly and install respectively in inhaling the material arm.

5. The plate collecting machine integrated sucking and clamping manipulator as claimed in claim 4, characterized in that: the material sucking frame further comprises a sliding block connected with the mounting rod and a first locking piece detachably connected with the sliding block, the sliding block is connected with the connecting plate in a sliding mode, and the first locking piece is used for locking the sliding block on the connecting plate.

6. The plate collecting machine integrated sucking and clamping manipulator as claimed in claim 1, characterized in that: inhale the work or material rest still include the second locking part of being connected with installation pole detachably, the installation pole is provided with the installation spout, inhale the material arm be provided with the adjustment tank of installation spout intercommunication, the second locking part is connected with the installation pole after running through adjustment tank and installation spout in proper order.

7. The plate collecting machine integrated sucking and clamping manipulator as claimed in claim 4, characterized in that: the installation rod is provided with an air passage, and the air passage is communicated with a material suction nozzle or a shaking material suction assembly through an air pipe.

8. The plate collecting machine integrated sucking and clamping manipulator as claimed in claim 1, characterized in that: the clamping assembly comprises a clamping driver arranged on the connecting plate and a clamping piece arranged at the output end of the clamping driver, and the clamping driver is used for driving the clamping piece to move in a reciprocating mode.

9. The plate collecting machine integrated sucking and clamping manipulator as claimed in claim 8, wherein: the clamping assembly further comprises an adjusting plate, and the clamping driver is arranged on the connecting plate through the adjusting plate.

10. The plate collecting machine integrated sucking and clamping manipulator as claimed in claim 1, characterized in that: the lifting driving mechanism comprises a rotating driver arranged at the output end of the mechanical arm in the mechanical arm, a worm wheel arranged at the output end of the rotating driver, a worm arranged at the output end of the mechanical arm in a lifting mode and a connector arranged at the bottom end of the worm, wherein the worm wheel is in driving connection with the worm, the rotating driver is used for driving the worm wheel to rotate, and the connecting plate is connected with the connector.