CN216686492U - Suction and gripping combined multifunctional gripper - Google Patents
Suction and gripping combined multifunctional gripper Download PDFInfo
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- CN216686492U CN216686492U CN202123384061.7U CN202123384061U CN216686492U CN 216686492 U CN216686492 U CN 216686492U CN 202123384061 U CN202123384061 U CN 202123384061U CN 216686492 U CN216686492 U CN 216686492U
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Abstract
The utility model relates to the technical field of circuit board manufacturing, in particular to a multifunctional gripper used for suction and gripping, which comprises a sucker assembly and a suction nozzle assembly; the sucker component comprises an upper sealing cover plate and a lower adsorption plate which are arranged in a sealing manner in an overlapping manner; the telescopic grabbing plate assembly comprises a telescopic grabbing plate assembly, two X axial adjusting modules and two Y axial adjusting modules; the telescopic grabbing disc assembly consists of a plurality of first clamping parts for transversely clamping workpieces and a plurality of second clamping parts for longitudinally clamping the workpieces; the suction nozzle component realizes the adsorption grabbing of the middle area of the workpiece through the suction disc component; adjusting the clamping opening degree of the X-axis adjusting module through the first clamping part; and the second clamping part adjusts the clamping opening degree in the Y-axis adjusting module so as to adapt to stable clamping of workpieces with different sizes. In the using process, the clamping device can adapt to stable clamping of workpieces with different sizes and specifications, effectively improves the success rate of workpiece grabbing, and enables the whole connecting line system to run more stably; the precision is improved, and the production efficiency of the workpiece is improved.
Description
Technical Field
The utility model relates to the technical field of circuit board manufacturing, in particular to a suction and gripping combined multifunctional gripper.
Background
At present, the wiring equipment technology in the circuit board manufacturing industry is developed very mature after long-time improvement and optimization; aiming at the problems that in the operation of the existing automatic feeding and discharging process section, a plurality of carrying modes exist, even the process needs to be transported to a higher station, a robot or a module is generally used in the market to drive a sucker or a suction nozzle module to complete the task; the workpiece can be conveyed in place by the suction disc or the suction nozzle module, but the workpiece is often dropped from the suction disc or the suction nozzle jig; the main reasons include that the air pressure supplied to the suction is fluctuated or influenced by external force (such as motion starting/stopping, module rotation, machine vibration and the like), so that the suction provided by negative pressure airflow as the only medium for conveying workpieces cannot bring good effect and cannot stably convey the workpieces; after a period of time, the connection of the equipment is interrupted or fails, so that the workpiece is scrapped, and the production is troublesome.
Due to the process requirements of VCP electroplating equipment of our company, a workpiece needs to rotate and climb to a station 3-4 m away from the ground when being transported from an upper working section to a lower working section; if the workpiece falls off and is scrapped in the equipment connecting line, great potential safety hazard is generated in production, and the maintenance difficulty of field maintenance personnel is increased; in the existing sucking and carrying mode of the sucking disc or the suction nozzle module, the suction force is used as the only medium for carrying the workpiece, the mode looks extremely thin when facing a large-size workpiece, the suction force is influenced by the size of the workpiece and the surface treatment of the workpiece, the probability of workpiece falling is increased in a curve, the automatic equipment is easy to cause line connection interruption or failure, and the mode has great potential safety hazard. In actual production, the sucking and carrying manner of the sucking disc or the suction nozzle module is adapted to each working section of the circuit board manufacturing equipment, and needs to face different sizes of workpieces, so that not only the length of the workpiece but also the width of the workpiece need to be considered, and therefore, stable sucking and clamping of the different sizes of workpieces cannot be realized only by sucking of the sucking disc or the suction nozzle module.
In order to effectively improve the success rate of grabbing the workpiece, the whole connecting line system is more stable in operation. In view of this, the present application is specifically made.
SUMMERY OF THE UTILITY MODEL
The utility model aims to provide a suction and gripping combined multifunctional gripper, which comprises a suction disc component and a suction nozzle component; the sucker component comprises an upper sealing cover plate and a lower adsorption plate which are arranged in a superposition and sealing manner; the telescopic grabbing plate assembly comprises a telescopic grabbing plate assembly, two X axial adjusting modules and two Y axial adjusting modules; the telescopic gripping disk assembly consists of a plurality of first clamping parts for transversely clamping the workpiece and a plurality of second clamping parts for longitudinally clamping the workpiece; the suction nozzle component realizes the adsorption and grabbing of the middle area of the workpiece through the suction disc component; adjusting the clamping opening degree of the X-axis adjusting module through the first clamping part; the second clamping part adjusts the clamping opening degree in the Y-axis adjusting module so as to adapt to stable clamping of workpieces with different sizes; the above technical problems have been solved.
The embodiment of the utility model is realized by the following steps:
the multifunctional gripper for suction and gripping comprises a sucker component and a suction nozzle component; the sucker assembly comprises an upper sealing cover plate and a lower adsorption plate which are arranged in a superposed and sealed mode;
the device also comprises telescopic grabbing disc assemblies arranged on two sides of the upper sealing cover plate, two X axial adjusting modules used for adjusting the transverse clamping opening degree of the telescopic grabbing disc assemblies, and two Y axial adjusting modules used for adjusting the longitudinal clamping opening degree of the telescopic grabbing disc assemblies;
the telescopic gripping disk assembly consists of a plurality of first clamping parts for transversely clamping the workpiece and a plurality of second clamping parts for longitudinally clamping the workpiece;
the suction nozzle component realizes the adsorption and grabbing of the middle area of the workpiece through the suction disc component; the clamping opening degree of the X-axis adjusting module is adjusted through the first clamping part; and the second clamping part adjusts the clamping opening degree of the Y-axis adjusting module so as to adapt to stable clamping of workpieces with different sizes.
Further, the first clamping part comprises a first clamping cylinder and a first clamping plate connected with a piston rod of the first clamping cylinder;
the second clamping part comprises a second clamping cylinder and a second clamping plate connected with a piston rod of the second clamping cylinder.
Furthermore, the X-axis adjusting module comprises an X-direction screw rod transmission module, a first moving seat in power connection with the X-direction screw rod transmission module, a vertical connecting plate welded with the first moving seat, and a horizontal supporting plate in welding connection with the vertical connecting plate;
the first clamping portion is fixed to the horizontal support plate.
Furthermore, the Y-axis adjusting module comprises a Y-direction screw rod transmission module and a second moving seat in power connection with the Y-direction screw rod transmission module;
the second clamping part is fixed on the second movable seat through a connecting plate.
Furthermore, at least one adjustable positioning column is arranged on the first clamping plate and/or the second clamping plate.
Furthermore, at least one negative pressure port is arranged on the upper sealing cover plate.
Furthermore, a plurality of sucking disc openings used for sucking workpieces are arranged on the lower sucking plate.
The technical scheme of the embodiment of the utility model has the beneficial effects that:
the suction-gripping combined multifunctional gripper provided by the embodiment of the utility model can adapt to an automatic feeding and discharging system in the using process, can adapt to stable clamping of workpieces with different sizes and specifications, effectively improves the success rate of gripping the workpieces, and enables the whole connecting line system to run more stably; the precision is improved, and the production efficiency of the workpiece is improved.
Drawings
In order to more clearly illustrate the technical solutions of the embodiments of the present invention, the drawings needed to be used in the embodiments will be briefly described below, it should be understood that the following drawings only illustrate some embodiments of the present invention and therefore should not be considered as limiting the scope, and for those skilled in the art, other related drawings can be obtained according to the drawings without inventive efforts.
FIG. 1 is a schematic three-dimensional structure diagram of a suction and gripping multi-functional grip according to an embodiment of the present invention;
FIG. 2 is a schematic structural diagram of a front view of a suction and gripping combination multi-functional grip provided in an embodiment of the present invention;
FIG. 3 is a schematic top view of a multi-functional grip for suction and gripping according to an embodiment of the present invention;
fig. 4 is a schematic perspective view of a suction cup assembly and a suction nozzle assembly for use in combination with suction according to an embodiment of the present invention.
Detailed Description
In order to make the objects, technical solutions and advantages of the embodiments of the present invention clearer, the technical solutions in the embodiments of the present invention will be clearly and completely described below with reference to the drawings in the embodiments of the present invention, and it is obvious that the described embodiments are some, but not all, embodiments of the present invention. The components of embodiments of the present invention generally described and illustrated in the figures herein may be arranged and designed in a wide variety of different configurations.
Thus, the following detailed description of the embodiments of the present invention, presented in the figures, is not intended to limit the scope of the utility model, as claimed, but is merely representative of selected embodiments of the utility model. All other embodiments, which can be derived by a person skilled in the art from the embodiments given herein without making any creative effort, shall fall within the protection scope of the present invention.
It should be noted that: like reference numbers and letters refer to like items in the following figures, and thus, once an item is defined in one figure, it need not be further defined and explained in subsequent figures.
The terms "first," "second," "third," and the like are used solely to distinguish one from another and are not to be construed as indicating or implying relative importance.
Furthermore, the terms "parallel," "perpendicular," and the like do not require that the components be absolutely parallel or perpendicular, but may be slightly inclined. For example, "parallel" merely means that the directions are more parallel relative to "perpendicular," and does not mean that the structures are necessarily perfectly parallel, but may be slightly tilted.
The terms "substantially", "essentially", and the like are intended to indicate that the relative terms are not required to be absolutely exact, but may have some deviation. For example: "substantially equal" does not mean absolute equality, but it is difficult to achieve absolute equality in actual production and operation, and some deviation generally exists. Thus, in addition to absolute equality, "substantially equal" also includes the above-described case where there is some deviation. In this case, unless otherwise specified, terms such as "substantially", and the like are used in a similar manner to those described above.
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 and may, for example, be fixedly connected, detachably connected, or integrally connected; they may be connected directly or indirectly through intervening media, or they may be interconnected between two elements. The specific meanings of the above terms in the present invention can be understood in specific cases to those skilled in the art.
Referring to fig. 1 to 4, the multi-functional grip for suction and grip combination provided in this embodiment includes: the suction cup component 1 and the suction nozzle component 2; the sucker component 1 comprises an upper sealing cover plate 11 and a lower adsorption plate 12 which are arranged in a superposition and sealing manner; wherein sucking disc subassembly 1, suction nozzle subassembly 2's connected mode and inside absorption passageway all belong to prior art, do not do the encumbrance here.
The device also comprises telescopic gripping disk assemblies 3 arranged on two sides of the upper sealing cover plate 11, two X-axis adjusting modules 4 used for adjusting the transverse clamping opening degree of the telescopic gripping disk assemblies 3, and two Y-axis adjusting modules 5 used for adjusting the longitudinal clamping opening degree of the telescopic gripping disk assemblies 3;
the telescopic gripping disk assembly 3 consists of a plurality of first clamping parts 31 for transversely clamping the workpiece and second clamping parts 32 for longitudinally clamping the workpiece;
the suction and grabbing of the middle area of the workpiece are realized through the sucker component 1 and the suction nozzle component 2; the clamping opening degree of the first clamping part 31 is adjusted in the X-axis direction adjusting module 4; and the second clamping part 32 adjusts the clamping opening degree in the Y-axis direction adjusting module 5 so as to adapt to the stable clamping of workpieces with different sizes.
Preferably, the first clamping portion 31 includes a first clamping cylinder 311 and a first clamping plate 312 connected to a piston rod of the first clamping cylinder 311;
the second clamping portion 32 includes a second clamping cylinder 321 and a second clamping plate 322 connected to a piston rod of the second clamping cylinder 321.
Preferably, the X-axis adjusting module 4 includes an X-direction screw rod transmission module 41, a first moving seat 42 in power connection with the X-direction screw rod transmission module 41, a vertical connecting plate 43 welded to the first moving seat 42, and a horizontal supporting plate 44 welded to the vertical connecting plate 43;
the first clamping portion 31 is fixed to the horizontal support plate 44. The X-direction screw rod transmission module 41 adopts a servo motor to drive the screw rod module, so that the repeated operation capability is strong, and the precision is high. The structure is firm and reliable, and the workpiece with larger load can be borne.
Preferably, the Y-axis adjusting module 5 includes a Y-direction screw rod transmission module 51, and a second moving seat 52 in power connection with the Y-direction screw rod transmission module 51;
the second clamping portion 32 is fixed to the second movable seat 52 by a coupling plate. The Y-direction screw rod transmission module 51 adopts a servo motor to drive the screw rod module, and has strong repeated operation capability and high precision. The structure is firm and reliable, and the workpiece with larger load can be borne.
Preferably, at least one adjustable positioning post is disposed on the first clamping plate 312 and/or the second clamping plate 322.
Preferably, the upper sealing cover plate 11 is provided with at least one negative pressure port 111.
Preferably, the lower suction plate 12 is provided with a plurality of suction cup ports for sucking the workpiece.
In the above implementation, specifically, when the adsorption material grabbing movement is performed, the conveying module in the production line process can descend to the predetermined position for waiting; at the moment, two X axial adjusting modules 4 and two Y axial adjusting modules 5 used in the telescopic grabbing disc assembly 3 are opened to preset positions according to the size of the workpiece; correspondingly, the first clamping cylinder 311 on the first clamping part 31 and the second clamping cylinder 321 on the second clamping part 32 wait for clamping; the carrying module descends again to enable the sucker component 1 to be attached to the workpiece, and negative pressure airflow generated by a sucker opening and a suction nozzle on the suction nozzle component 2 attracts the workpiece for the first time; at the moment, the X-axis adjusting module 4 and the Y-axis adjusting module 5 are controlled to slowly return to the preset workpiece edge; at the moment, the first clamping cylinder 311 and the second clamping cylinder 321 retract, and the workpiece is clamped and clasped by the first clamping plate 312 and the second clamping plate 322; when the workpiece is successfully grabbed, the carrying module ascends again and goes to the next working section (feeding position); after the opening and closing clamp of the transport vehicle clamps the workpiece, the first clamping cylinder 311 and the second clamping cylinder 321 extend out, and meanwhile, the negative pressure air flow stops conveying. Meanwhile, the X-axis adjusting module 4 and the Y-axis adjusting module 5 are slowly opened, and the carrying module retracts by 50mm along the Z axis; after the sucker assembly 1 and the suction nozzle assembly 2 are completely withdrawn from the horizontal plane of the workpiece, the X-axis adjusting module 4 and the Y-axis adjusting module 5 are returned to the original point, and the workpiece grabbing action is completed.
In summary, the telescopic gripper disc assembly 3 is composed of a plurality of first clamping parts 31 for transversely clamping the workpiece and a plurality of second clamping parts 32 for longitudinally clamping the workpiece; the suction and grabbing of the middle area of the workpiece are realized through the sucker component 1 and the suction nozzle component 2; the clamping opening degree of the first clamping part 31 is adjusted in the X-axis direction adjusting module 4; and the second clamping part 32 adjusts the clamping opening degree in the Y-axis direction adjusting module 5 so as to adapt to the stable clamping of workpieces with different sizes. The suction cup component 1, the suction nozzle component 2 and the retractable grabbing disc component 3 which can be opened and closed and is adaptive to the size of a workpiece; the machine structure can adapt to the sizes of workpieces with different sizes in production, and can meet the occasions with various size requirements. The working strength is reduced; the auxiliary clamping of the clamping cylinder greatly reduces the falling probability of the workpiece and improves the production efficiency. The claw disc assembly can adapt to the space condition among the workpieces in the existing multi-row loading and unloading system, and a good avoiding effect is achieved; the space is saved, the carrying requirement in a narrow space is met, and reasonable avoidance of automatic connection is facilitated. In combination with actual conditions, after the equipment is upgraded on site, available space inside the machine table is sacrificed after the material loading and unloading systems are arranged in multiple rows, and production efficiency is remarkably improved instead. The avoiding space between the workpieces is compressed to 510mm, the volume of the material grabbing and conveying equipment must be controlled within a certain range, otherwise, the interference is easy to generate when the workpieces are placed, and the workpieces fall off due to serious situations. Through above-mentioned institutional advancement, can save space, strengthen equipment wholeness.
In a word, the multifunctional gripper for suction gripping and simultaneous use provided by the embodiment of the utility model can adapt to an automatic loading and unloading system in the use process, can adapt to stable clamping of workpieces with different sizes and specifications, effectively improves the success rate of gripping the workpieces, and enables the whole connecting line system to run more stably; the precision is improved, and the production efficiency of the workpiece is improved.
It needs to be supplemented that the retractable catch tray assembly 3 is designed to be opened and closed, so that the problem of different sizes of workpieces can be solved, and the working strength is reduced; certainly, the opening and closing size of the telescopic grabbing disc assembly 3 can be set by software quickly; similarly, when this embodiment is implemented specifically, flexible catch tray subassembly 3 needs accurate location to the flange edge of work piece, avoids too hard and damage the work piece when snatching the motion, makes the work piece scrap, can bring the loss in a certain extent for production.
In summary, the above-mentioned embodiments are only preferred embodiments of the present invention, and are not intended to limit the present invention, and it will be apparent to those skilled in the art that various modifications and variations can be made in the present invention. 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 (7)
1. The multifunctional gripper for sucking and gripping comprises a sucker component (1) and a suction nozzle component (2); the sucker component (1) comprises an upper sealing cover plate (11) and a lower adsorption plate (12) which are arranged in a superposition and sealing manner; the method is characterized in that:
the device is characterized by further comprising telescopic grabbing disc assemblies (3) arranged on two sides of the upper sealing cover plate (11), two X-axis adjusting modules (4) used for adjusting the transverse clamping opening degree of the telescopic grabbing disc assemblies (3), and two Y-axis adjusting modules (5) used for adjusting the longitudinal clamping opening degree of the telescopic grabbing disc assemblies (3);
the telescopic gripping disk assembly (3) consists of a plurality of first clamping parts (31) for transversely clamping workpieces and second clamping parts (32) for longitudinally clamping the workpieces;
the suction nozzle component (2) realizes the adsorption and grabbing of the middle area of the workpiece through the sucker component (1); the clamping opening degree of the X-axis adjusting module (4) is adjusted through the first clamping part (31); and the second clamping part (32) adjusts the clamping opening degree in the Y-axis adjusting module (5) so as to adapt to stable clamping of workpieces with different sizes.
2. The suction and gripping multi-functional hand grip of claim 1, wherein:
the first clamping part (31) comprises a first clamping cylinder (311) and a first clamping plate (312) connected with a piston rod of the first clamping cylinder (311);
the second clamping part (32) comprises a second clamping cylinder (321) and a second clamping plate (322) connected with a piston rod of the second clamping cylinder (321).
3. The suction and gripping multi-functional hand grip of claim 1, wherein:
the X-axis adjusting module (4) comprises an X-direction screw rod transmission module (41), a first moving seat (42) in power connection with the X-direction screw rod transmission module (41), a vertical connecting plate (43) welded with the first moving seat (42), and a horizontal supporting plate (44) welded with the vertical connecting plate (43);
the first clamping portion (31) is fixed to the horizontal support plate (44).
4. The suction and gripping multi-functional hand grip of claim 1, wherein:
the Y-axis adjusting module (5) comprises a Y-direction screw rod transmission module (51) and a second moving seat (52) in power connection with the Y-direction screw rod transmission module (51);
the second clamping portion (32) is fixed to the second movable seat (52) by a connecting plate.
5. The suction and gripping multi-functional hand grip of claim 2, wherein:
at least one adjustable positioning column is arranged on the first clamping plate (312) and/or the second clamping plate (322).
6. The suction and gripping multi-functional hand grip of claim 1, wherein:
the upper sealing cover plate (11) is provided with at least one negative pressure port (111).
7. The suction and gripping multi-functional hand grip of claim 1 wherein:
the lower adsorption plate (12) is provided with a plurality of sucking disc openings for adsorbing workpieces.
Priority Applications (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN202123384061.7U CN216686492U (en) | 2021-12-30 | 2021-12-30 | Suction and gripping combined multifunctional gripper |
Applications Claiming Priority (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN202123384061.7U CN216686492U (en) | 2021-12-30 | 2021-12-30 | Suction and gripping combined multifunctional gripper |
Publications (1)
| Publication Number | Publication Date |
|---|---|
| CN216686492U true CN216686492U (en) | 2022-06-07 |
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Family Applications (1)
| Application Number | Title | Priority Date | Filing Date |
|---|---|---|---|
| CN202123384061.7U Active CN216686492U (en) | 2021-12-30 | 2021-12-30 | Suction and gripping combined multifunctional gripper |
Country Status (1)
| Country | Link |
|---|---|
| CN (1) | CN216686492U (en) |
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2021
- 2021-12-30 CN CN202123384061.7U patent/CN216686492U/en active Active
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