CN218778334U

CN218778334U - Double-layer sucker frame

Info

Publication number: CN218778334U
Application number: CN202221541279.0U
Authority: CN
Inventors: 封任
Original assignee: Shenzhen Fudewai Intelligent Technology Co ltd
Current assignee: Shenzhen Fudewai Intelligent Technology Co ltd
Priority date: 2022-06-20
Filing date: 2022-06-20
Publication date: 2023-03-31
Anticipated expiration: 2032-06-20

Abstract

The utility model provides a double-deck sucking disc frame, include: the pipeline fixing device comprises a robot connecting arm connected with a robot, wherein a pipeline supporting mechanism and a middle fixing mechanism are sequentially fixed on the robot connecting arm along the X direction, the pipeline supporting mechanism is used for fixing a pipeline, and sucking disc mechanisms are respectively fixed at two ends of the middle fixing mechanism; each sucking disc mechanism is including setting up in the gas circuit section bar at upper and lower both ends, and a plurality of sucking discs are installed on the gas circuit section bar, the sucking disc at upper and lower both ends is located the coplanar respectively. The robot controls the robot connecting arm to rotate, and the sucker component fixed by the middle fixing mechanism also rotates along with the robot connecting arm, so that the rotation of the double-layer sucker frame is realized; and the suckers at the upper end and the lower end are respectively positioned on the same plane, so that the PCB can be stably sucked, and the PCB can not fall off in the process that the robot moves the double-layer sucker frame. In addition, the pipeline is distributed on the pipeline supporting mechanism, so that the equipment is not easy to break down, and the working efficiency of the equipment is improved.

Description

Double-layer sucker frame

Technical Field

The utility model relates to an anchor clamps technical field, in particular to double-deck sucking disc frame.

Background

In the process of mechanically taking and placing a Printed Circuit Board (PCB), a suction cup holder is generally used for taking and placing the PCB. Because the sizes of the existing PCB boards are different and various processing techniques are changed, the corresponding sucker frame is required to have certain adjustment or function. The existing suction disc frame comprises an adjustable suction range and an unadjustable suction range, wherein the suction disc frame with the adjustable suction range is divided into a mode of manual adjustment, motor adjustment and the like.

In an Automatic Optical Inspection (AOI) process of PCB production, both sides of a PCB need to be inspected, that is, after one side of the PCB is inspected, the PCB is turned over by 180 degrees and then placed in an AOI Inspection apparatus for Inspection. In the automatic production process, the sucker frame is usually installed on the robot, so that the sucker frame is required to ensure the integrity of pipelines and lines in the movement of the robot such as repeated rotation by 180 degrees, and meanwhile, the weight of the sucker frame is ensured to meet the repeated movement of the robot, and the situations such as robot alarm and the like do not occur.

Although the existing suction cup frame or suction cup clamp has the functions required by AOI detection equipment, the existing suction cup frame or suction cup clamp has insufficient consideration on the pipeline, so that the pipeline has the conditions of poor contact, air leakage, fracture, abrasion, accelerated line aging and the like before entering the suction cup frame or suction cup clamp, and the use of the suction cup frame is influenced; the condition that the suction cup frame is overweight exists, the running speed of the robot is influenced, and the capacity of the PCB is further reduced.

Therefore, in the field of clamp technology, a double-layer suction cup holder which is light and simple in structure and can prevent pipelines from interfering with equipment components is needed.

SUMMERY OF THE UTILITY MODEL

In view of this, the present invention provides a light and handy double-layer suction cup holder with a simple structure, which prevents the pipeline from interfering with the equipment components. In order to achieve the above purpose, the utility model adopts the following technical scheme.

In a first aspect, there is provided a double-deck suction cup holder comprising: the pipeline fixing device comprises a robot connecting arm connected with a robot, wherein a pipeline supporting mechanism and a middle fixing mechanism are sequentially fixed on the robot connecting arm along the X direction, the pipeline supporting mechanism is used for fixing a pipeline, and sucking disc mechanisms are respectively fixed at two ends of the middle fixing mechanism; each sucking disc mechanism is including setting up in the gas circuit section bar at upper and lower both ends, and a plurality of sucking discs are installed on the gas circuit section bar, the sucking disc at upper and lower both ends is located the coplanar respectively.

In another embodiment, the pipeline enters the suction cup frame through a corrugated pipe in the pipeline supporting mechanism, and the corrugated pipe is sleeved in the pipeline horn seat; the pipeline fixing seat is sleeved on the pipeline horn seat and enables the pipeline horn seat to rotate in a horn-shaped mode, and the pipeline fixing seat is fixed on the robot connecting arm through the connecting metal plate.

In a further embodiment, at least one bellows mount is provided on the robot connecting arm.

In another embodiment, the middle fixing mechanism comprises a plurality of fixing plates and a carbon fiber round bar, wherein at least one fixing plate is installed on the robot connecting arm, and the carbon fiber round bar penetrates through the fixing plates along the Y direction and is connected with the sucking disc parts at the two ends.

In further embodiments, a crash ball is sleeved over the bellows.

In another embodiment, a motor enables a lead screw to adjust the distance between at least one sucker mechanism and the fixing plate through a coupler, the motor is installed on the fixing plate, the lead screw penetrates through the fixing plate along the Y direction, and the end portion of the lead screw is fixedly connected with a sucker moving mechanism on the sucker mechanism.

In another embodiment, the double-layer suction cup rack further comprises a drag chain fixedly connected with the middle fixing mechanism and the suction cup moving mechanism, and the pipeline in the suction cup moving mechanism is arranged in the drag chain.

In another embodiment, the end of the lead screw is not arranged, and the end part of the carbon fiber round rod is fixed on a sucker fixing end mechanism on the sucker mechanism; one end of the lead screw is arranged, and the end part of the carbon fiber round rod is fixed on a fixed end mechanism behind the sucker moving mechanism.

In another embodiment, the upper end and the lower end of the sucker fixing end mechanism and the sucker moving mechanism are respectively provided with an air channel profile.

In another embodiment, the center of the sucker moving mechanism is a moving fixed plate, and spring mechanisms are arranged on the periphery of the moving fixed plate; the sliding sleeve and the lead screw nut are installed on the movable fixing plate, the carbon fiber round bar penetrates through the sliding sleeve, and the lead screw penetrates through the lead screw nut.

In the utility model, the robot controls the robot connecting arm to rotate, and the part fixed on the robot connecting arm also rotates along with the robot connecting arm, thereby realizing the rotation of the double-layer suction cup frame; and the suckers at the upper end and the lower end are respectively positioned on the same plane, so that the PCB can be stably sucked, and the PCB can be prevented from falling off in the process that the robot moves the double-layer sucker frame. In addition, because the robot connecting arm is long enough, therefore double-deck sucking disc frame is difficult to take place to interfere with the robot when rotatory, and the pipeline overall arrangement is in simultaneously pipeline supporting mechanism with in the tow chain, the pipeline can not expose outside and take place to interfere with equipment part, and the pipeline overall arrangement is scientific, even under the condition that double-deck sucking disc frame rotates repeatedly, is difficult to appear contact failure, gas leakage, fracture, wearing and tearing, accelerates the condition such as circuit ageing.

Drawings

Fig. 1 is a schematic structural view of a double-layer suction cup holder of the present invention;

fig. 2 is a schematic structural view of a double-layer suction cup holder of the present invention;

fig. 3 is a schematic structural view of the double-layered suction cup holder according to another view angle of the present invention;

fig. 4 is a schematic structural view of the sucker moving mechanism of the present invention.

Description of the main element symbols:

a pipeline supporting mechanism 1; an intermediate fixing mechanism 2; a robot connecting arm 3; a sucker fixing end mechanism 4; a fixed end mechanism 5; a suction cup moving mechanism 6; a drag chain 7;

a first air channel section a; a second gas circuit profile b; a third gas path profile c; a fourth gas path profile d;

a pipeline fixing base 101; a pipeline horn mount 102; a bellows 103; a crash ball 104;

a fixing plate 200; a carbon fiber round bar 201; a motor 202; a coupling 203; a lead screw 204;

a connecting metal plate 301; a bellows mount 302; a bellows retaining head 303;

the device comprises a movable fixing plate 601, a spring mechanism 602, a sliding sleeve 603, a lead screw nut 604, a suction cup 605 and an air pipe connector 606.

Detailed Description

In order to make the objects, principles, technical solutions and advantages of the present invention more clearly understood, the present invention is further described in detail with reference to the accompanying drawings and embodiments. It is to be understood that the specific embodiments described herein are for purposes of illustration and not limitation, as the invention may be practiced.

It should be particularly noted that, in the description of the present invention, the terms "center", "longitudinal", "transverse", "upper", "lower", "front", "rear", "left", "right", "vertical", "horizontal", "top", "bottom", "inner", "outer" and the like indicate orientations or positional relationships that can be determined based on the orientations or positional relationships shown in the drawings, and the connections or positional relationships are partially omitted or not shown in the drawings for the sake of simplicity.

In an Automatic Optical Inspection (AOI) process of PCB production, both sides of a PCB need to be inspected, that is, after one side of the PCB is inspected, the PCB is turned over 180 degrees and then placed in an AOI Inspection apparatus for Inspection. Although the existing chuck frame or chuck clamp has the function of turning over the PCB required by the AOI detection device, for example, in a chinese invention patent with application number 201710685557.7 (hereinafter, collectively referred to as "57.7 patent"), a double-layer automatic AOI board collecting and releasing machine with double-sided switching is disclosed, and when a continuous AOI process is performed, only one AOI device is needed, and a double-sided adsorption and transplanting system is required to turn over the PCB for at least four times, for example, performing AOI on the a-side of the PCB: first face sucking disc group adsorbs the PCB that awaits measuring and moves to AOI test platform top in the two-sided absorption system of transplanting, the upset of two-sided absorption system of transplanting makes second sucking disc group down, adsorb the PCB board that has tested the completion on the AOI test table face through second face sucking disc group, the upset once more of two-sided absorption system of transplanting makes first sucking disc group down, put the PCB that awaits measuring to AOI test platform by first face sucking disc group, then move the PCB that the test was accomplished to identification code printing device by second face sucking disc group. Because only one AOI device is provided, the process of carrying out the AOI on the B surface of the PCB needs to be carried out by turning over the PCB manually or by turning over a plate suction plate, and the process of carrying out the AOI on the B surface of the PCB is the same as the process of carrying out the AOI on the A surface. On the premise of the AOI process, the double-sided sucker frame on the robot needs to be turned over for multiple times, but the pipeline layout on the double-sided sucker frame in the prior art is not considered sufficiently, so that the pipeline has the conditions of poor contact, air leakage, fracture, abrasion, accelerated line aging and the like before entering the sucker frame or the sucker clamp, and the use of the sucker frame is influenced; the condition that the suction cup frame is overweight exists, the running speed of the robot is influenced, and the capacity of the PCB is further reduced. Therefore, the utility model provides a light and handy, simple structure, pipeline can not take place the double-deck sucking disc frame of interference with equipment unit.

First aspect, as the structural schematic diagram of the double-layer suction cup holder shown in fig. 1, the utility model provides a double-layer suction cup holder, include: a robot connecting arm 3 connected to the robot, it being noted that the length of said robot connecting arm 3 is sufficiently long. The robot connecting arm 3 is sequentially fixed with a pipeline supporting mechanism 1 and a middle fixing mechanism 2 along the X direction, the pipeline supporting mechanism 1 is used for fixing a pipeline, sucker mechanisms 8 are respectively fixed at two ends of the middle fixing mechanism 2, and each sucker mechanism comprises a sucker fixing mechanism and a sucker moving mechanism 6; each sucking disc mechanism 8 comprises an air path section bar arranged at the upper end and the lower end, a plurality of sucking discs 605 are arranged on the air path section bar, and the sucking discs 605 at the upper end and the lower end are respectively positioned on the same plane. The robot controls the robot connecting arm 3 to rotate, and a part fixed on the robot connecting arm 3 also rotates along with the robot connecting arm 3, so that the rotation of the double-layer suction cup frame is realized; and the suckers 605 at the upper end and the lower end are respectively positioned on the same plane, so that the PCB can be stably sucked, and the PCB can not fall off in the process that the robot moves the double-layer sucker frame.

In a specific embodiment, a pipeline enters a sucker frame through a corrugated pipe 103 in the pipeline supporting mechanism 1, the length of the corrugated pipe 103 is determined according to the sucker mechanism and a robot, the corrugated pipe 103 is sleeved in a pipeline horn seat 102, and an opening of the pipeline horn seat 102 is in a horn shape; pipeline fixing base 101 entangles pipeline horn seat 102, but the open end of pipeline horn seat 102 can trumpet formula rotate, for example pipeline horn seat 102 can trumpet formula rotate 60, pipeline fixing base 101 is fixed in through connecting panel beating 301 robot linking arm 3. The corrugated pipe 103 protects the pipeline, the pipeline horn seat 102, the pipeline fixing seat 101 and other parts are fixed on the corrugated pipe 103, the opening end of the pipeline horn seat 102 can rotate in a horn mode, the pipeline can also rotate at the opening end of the pipeline horn seat 102, and the pipeline can rotate for 360 degrees by combining the rotation of the two parts, so that the problems that the pipeline cannot rotate flexibly and is bent to cause pipeline damage, unsmooth ventilation and the like are solved. When the whole sucker frame is turned over, due to the action of gravity, the falling directions of the pipeline and the corrugated pipe 103 are changed, and if no fixed part exists, the corrugated pipe 103 can block the operation of the sucker frame, so that equipment failure error reporting is caused; if the fixing member does not consider the turning space of the bellows 103 and the pipeline, the bellows 103 may be worn after a plurality of turns, and thus, the pipeline inside may be worn.

In another embodiment, the anti-collision ball 104 is sleeved on the bellows 103 to block the bellows 103 from colliding with other parts, so as to prevent the bellows 103 from being damaged due to abrasion and collision to cause the internal pipeline to be exposed. The robot connecting arm 3 is provided with at least one corrugated pipe fixing seat 302 for fixing the corrugated pipe 103, and the corrugated pipe fixing seat 302 can prevent the corrugated pipe from interfering with other parts in the working process, so that equipment failure is caused, and the production efficiency is influenced; it should be understood that the bellows retaining head 303 is also used to retain the bellows, and only for the purpose of distinguishing the bellows retaining member from the other bellows retaining member, the bellows retaining head 303 and the bellows retaining base 302 may be used alternatively in connection therewith. In a specific embodiment, the double-layer suction cup frame further comprises a drag chain 7 fixedly connected with the middle fixing mechanism 2 and the suction cup moving mechanism 6, and pipelines in the suction cup moving mechanism 6 are arranged in the drag chain 7; with this arrangement, in the case where the corrugated pipe can be fixed without the robot attaching arm 3 or the like, the pipeline can be protected by being laid out in the drag chain 7, and the pipeline can be prevented from interfering with other components.

The utility model discloses with AOI duplex unloading equipment's on going up and down sucking disc frame synergism, the utility model discloses a double-deck sucking disc frame is used for AOI to detect and shifts PCB board in-process and only needs rotatory twice 180, under the scene that current AOI equipment two-sided detection time measuring fixture need multitime rotation, takes place easily to interfere between pipeline and the part when sucking disc frame is rotatory, leads to the pipeline contact failure, leaks gas, fracture, wearing and tearing, accelerates the ageing scheduling problem of circuit. The utility model discloses in, the robot makes whole sucking disc frame take place rotatoryly through rotatory robot linking arm 3, and robot linking arm 3 length is enough, double-deck sucking disc frame can not interfere with the robot in rotatory, pipeline supporting mechanism 1 also has the certain distance with robot rotation center, and the pipeline is fixed with pipeline supporting mechanism 1 and tow chain 7, pipeline layout science, even under the condition that double-deck sucking disc frame is rotatory repeatedly, be difficult to appear contact failure, gas leakage, the fracture, wearing and tearing, accelerate the condition such as circuit ageing.

In a specific embodiment, the middle fixing mechanism 2 comprises a plurality of fixing plates 200 and carbon fiber round bars 201, at least one fixing plate 200 is mounted on the robot connecting arm 3, and the carbon fiber round bars 201 penetrate through the fixing plates 200 along the Y direction and are connected with the sucking disc mechanisms at two ends. Carbon fiber pole 201 mainly plays fixed and supporting role to the fixed plate 200 at double-deck sucking disc frame middle part extends as the fulcrum and to both ends, and the end fixing sucking disc mechanism of carbon fiber pole 201, thereby fixed stay sucking disc mechanism, and carbon fiber pole 201 has certain structural strength, is enough to support sucking disc framework and PCB's weight, still has the light and handy advantage of quality concurrently, reduces the holistic quality of equipment, reduces the load of robot and reports wrong frequency, improves production efficiency.

In a specific embodiment, the position of at least one suction cup mechanism can be adjusted, for example, the motor 202 enables the lead screw to adjust the distance between the at least one suction cup mechanism and the fixing plate 200 through the coupling 203, so that the double-layer suction cup rack can adjust the suction range of the suction cup 605 according to the size of the PCB, and thus the application range of the double-layer suction cup rack is wider, and the double-layer suction cup rack is suitable for various situations in the PCB production process. In a specific embodiment, the motor 202 is mounted on the fixing plate 200, the lead screw penetrates through the fixing plate 200 along the Y direction, and an end of the lead screw is fixedly connected with the suction cup moving mechanism 6 on the suction cup mechanism. Specifically, the motor 202 controls the rotation of the lead screw through the coupling 203, and adjusts the distance between the sucker moving mechanism 6 and the fixing plate 200, that is, adjusts the suction range of the double-layer sucker frame, so as to adapt to PCB boards of different sizes.

In another embodiment, one end of the lead screw is not provided, and the end of the carbon fiber round rod 201 is fixed on the sucker fixing end mechanism 4 on the sucker mechanism; one end of a lead screw is arranged, and the end part of the carbon fiber round rod 201 is fixed on a fixed end mechanism 5 behind the sucker moving mechanism 6. In a specific embodiment, the first air channel profile a and the third air channel profile c are respectively installed at the upper end and the lower end of the suction cup fixing end mechanism 4, and the second air channel profile b and the fourth air channel profile d are respectively installed at the upper end and the lower end of the suction cup moving mechanism 6. It should be understood that the motor 202 controls the contraction or elongation of the lead screw through the coupling 203, and the fixed end mechanism 5 fixed with the carbon fiber round bar 201 does not move, but the suction cup moving mechanism 6 fixed with the lead screw moves. Specifically, the center of the suction cup moving mechanism 6 is a moving fixing plate 601, the spring mechanisms 602 are installed around the moving fixing plate 601, and similarly, the spring mechanisms 602 can also be installed around the fixing plate 401 of the suction cup fixing end mechanism 4 to buffer the suction force of the suction cup and prevent the suction force of the suction cup on the PCB from damaging the PCB; the sliding sleeve 603 and the lead screw nut 604 are mounted on the movable fixing plate 601, the carbon fiber round bar 201 penetrates through the sliding sleeve 603, and the lead screw penetrates through the lead screw nut 604. The motor 202 drives the coupler 203 to rotate the lead screw along the thread of the lead screw nut 604, so as to adjust the position of the movable fixing plate 601, and thus adjust the suction range of the double-layer suction cup holder. The air path section bars a, the air path section bars b, the air path section bars c and the air path section bars d are all provided with the suckers 605 and the air pipe connectors 606, the air path section bars are all designed in a hollow mode, the effect of replacing air pipes is achieved while the weight is reduced, the suckers 605 are directly installed on the air path section bars, the installation of the air pipe connectors 606 is reduced, and the weight can be further reduced. Meanwhile, the suckers 605 are arranged in a linear mode, so that the number of parts such as adjusting handles is reduced, the weight is further reduced, and the light design required by the sucker frame is fully considered.

It should be noted that, in the foregoing embodiment, each included module is only divided according to functional logic, but is not limited to the above division as long as the corresponding function can be implemented; in addition, the specific names of the functional units are also only for the convenience of distinguishing from each other, and are not used to limit the scope of the present invention. Unless expressly stated or limited otherwise, the terms "mounted," "connected," and "coupled" are to be construed broadly and encompass, for example, both fixed and removable coupling as well as integral coupling; 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 creation of the present invention can be understood by those of ordinary skill in the art through specific situations.

The above description is only for the purpose of illustrating the preferred embodiments of the present invention and is not intended to limit the present invention, and any modifications, equivalents, improvements, etc. made within the spirit and principles of the present invention should be included within the scope of the present invention.

Claims

1. A double-layer suction cup holder is characterized by comprising: the pipeline fixing device comprises a robot connecting arm connected with a robot, wherein a pipeline supporting mechanism and a middle fixing mechanism are sequentially fixed on the robot connecting arm along the X direction, the pipeline supporting mechanism is used for fixing a pipeline, and sucking disc mechanisms are respectively fixed at two ends of the middle fixing mechanism;

each sucking disc mechanism is including setting up in the gas circuit section bar at upper and lower both ends, and a plurality of sucking discs are installed on the gas circuit section bar, the sucking disc at upper and lower both ends is located the coplanar respectively.

2. The double-deck suction cup holder according to claim 1, wherein at least one bellows fixing seat is provided on the robot connection arm.

3. The double-layer sucker rack of claim 1, wherein the middle fixing mechanism comprises a plurality of fixing plates and a carbon fiber round rod, at least one fixing plate is arranged on the robot connecting arm, and the carbon fiber round rod penetrates through the fixing plates in the Y direction and is connected with the sucker parts at two ends.

4. The double-layer sucker rack of claim 3, wherein a motor enables a lead screw to adjust the distance between at least one sucker mechanism and the fixing plate through a coupler, the motor is installed on the fixing plate, the lead screw penetrates through the fixing plate along the Y direction, and the end part of the lead screw is fixedly connected with a sucker moving mechanism on the sucker mechanism.

5. The double-layer suction cup rack as claimed in claim 3, further comprising a drag chain fixedly connected with the middle fixing mechanism and the suction cup moving mechanism, wherein the pipeline in the suction cup moving mechanism is arranged in the drag chain.

6. The double-layer suction cup frame as claimed in claim 4, wherein the end of the lead screw is not provided, and the end of the carbon fiber round rod is fixed on a suction cup fixing end mechanism on the suction cup mechanism; one end of a lead screw is arranged, and the end part of the carbon fiber round bar is fixed on a fixed end mechanism behind the sucker moving mechanism.

7. The double-layer suction cup rack as claimed in claim 6, wherein the suction cup fixing end mechanism and the suction cup moving mechanism are respectively provided with air channel profiles at upper and lower ends thereof.

8. The double-layer suction cup rack as claimed in claim 7, wherein the center of the suction cup moving mechanism is a moving fixing plate, and spring mechanisms are arranged around the moving fixing plate; the sliding sleeve and the lead screw nut are installed on the movable fixing plate, the carbon fiber round bar penetrates through the sliding sleeve, and the lead screw penetrates through the lead screw nut.