CN220210684U

CN220210684U - Automatic grabbing mechanism

Info

Publication number: CN220210684U
Application number: CN202320978631.5U
Authority: CN
Inventors: 卢胜男
Original assignee: Shanghai Aokewei Intelligent Equipment Co ltd; Shanghai Kelai Shengluo Automation Equipment Co ltd; SHANGHAI KELAI ELECTROMECHANICAL AUTOMATION ENGINEERING CO LTD
Current assignee: Shanghai Aokewei Intelligent Equipment Co ltd; Shanghai Kelai Shengluo Automation Equipment Co ltd; SHANGHAI KELAI ELECTROMECHANICAL AUTOMATION ENGINEERING CO LTD
Priority date: 2023-04-26
Filing date: 2023-04-26
Publication date: 2023-12-19
Anticipated expiration: 2033-04-26

Abstract

The utility model discloses an automatic grabbing mechanism, and belongs to the technical field of grabbing mechanisms. The automatic grabbing mechanism comprises a supporting bottom plate and is provided with a clamping unit; the spring positioning pin is arranged on the supporting bottom plate along the vertical direction and is used for being inserted into a positioning hole of the circuit board; the elastic plane compression columns are arranged on the supporting bottom plate along the vertical direction, the extending length of the elastic plane compression columns relative to the supporting bottom plate is larger than that of the spring positioning pins relative to the supporting bottom plate, and the extending lower end faces of the elastic plane compression columns are the same as the spacing between the circuit board compression points; the photoelectric element detector is arranged on the upper end face of the supporting bottom plate, and a detection port of the photoelectric element detector is positioned right above the top end of the spring positioning pin; and the monitoring unit is arranged on the supporting bottom plate and used for detecting the opening and closing states of the clamping unit. The utility model can grasp the circuit board stably and firmly, and can not fall off.

Description

Automatic grabbing mechanism

Technical Field

The utility model relates to the technical field of grabbing mechanisms, in particular to an automatic grabbing mechanism.

Background

The names of the circuit boards are: ceramic circuit boards, alumina ceramic circuit boards, aluminum nitride ceramic circuit boards, PCB boards, aluminum substrates, high frequency boards, thick copper plates, impedance boards, PCBs, ultra-thin circuit boards, printed (copper etching technology) circuit boards, and the like. The precise circuit board enables the circuit to be miniaturized and visualized, and plays an important role in mass production of fixed circuits and optimizing the layout of electrical appliances.

In the production process of precision circuit boards, different process treatments are often required to be carried out on different equipment, so that a mechanical arm is often required to transfer products from one equipment to the other equipment along the conveying direction between the different two equipment, most grabbing mechanisms conventionally used in the prior art are complex in structure, the precision circuit boards are not firmly grabbed, and the risk of falling off occurs in the moving process of the precision circuit boards.

For this reason, it is desirable to provide an automatic gripping mechanism to solve the above-described problems.

Disclosure of Invention

The utility model aims to provide an automatic grabbing mechanism which is stable and firm in grabbing a circuit board and cannot fall off in the moving process.

In order to achieve the above object, the following technical scheme is provided:

automatic snatch mechanism includes:

a supporting base plate provided with a clamping unit;

the spring positioning pin is arranged on the supporting bottom plate along the vertical direction and is used for being inserted into a positioning hole of the circuit board;

the elastic plane compression columns are arranged on the supporting bottom plate along the vertical direction, the extending length of the elastic plane compression columns relative to the supporting bottom plate is larger than that of the spring positioning pins relative to the supporting bottom plate, and the extending lower end faces of the elastic plane compression columns are the same as the spacing between the circuit board compression points;

the photoelectric element detector is arranged on the upper end face of the supporting bottom plate, and a detection port of the photoelectric element detector is positioned right above the top end of the spring positioning pin;

and the monitoring unit is arranged on the supporting bottom plate and used for detecting the opening and closing states of the clamping unit.

As an alternative scheme of the automatic grabbing mechanism, the clamping unit comprises a clamping jaw cylinder and supporting clamping jaws arranged on two sides of the clamping jaw cylinder, the clamping jaw cylinder is connected with the lower end face of the supporting bottom plate, and the two supporting clamping jaws are selectively close to or far away from each other.

As an alternative of the automatic grabbing mechanism, the supporting clamping jaw comprises a first clamping plate and a second clamping plate which are vertically connected, one end, away from the second clamping plate, of the first clamping plate is connected with the telescopic body of the clamping jaw cylinder, the first clamping plate is used for limiting the movement of the circuit board in the horizontal direction, and the second clamping plate is used for limiting the movement of the circuit board in the vertical direction.

As an alternative to the automatic gripping mechanism, two second clamping plates are provided at an end of the first clamping plate at intervals.

As the alternative scheme of automatic grabbing mechanism, the monitoring unit include the mounting panel with set up in the sensor of mounting panel, the mounting panel set up in the lower terminal surface of supporting baseplate, the detection hole has been seted up to the flexible body of clamping jaw jar, the sensor is used for detecting the open and shut state of flexible body.

As an alternative scheme of the automatic grabbing mechanism, an adjusting waist hole is formed in the mounting plate, and the sensor is mounted at the adjusting waist hole.

As an alternative scheme of the automatic grabbing mechanism, two adjusting waist holes are formed, and the two adjusting waist holes and the two telescopic bodies of the clamping jaw cylinder are arranged in one-to-one correspondence.

As an alternative scheme of the automatic grabbing mechanism, the upper end face of the supporting bottom plate is provided with a mounting part, and the mounting part is used for connecting a mechanical arm.

Compared with the prior art, the utility model has the beneficial effects that:

according to the automatic grabbing mechanism provided by the utility model, the clamping unit and the monitoring unit are arranged on the supporting bottom plate, the monitoring unit can detect the opening and closing states of the clamping unit in real time, and the clamped state of the circuit board can be monitored in time; the plurality of elastic plane compression columns and the plurality of spring positioning pins are arranged on the supporting bottom plate along the vertical direction, the extending length of the elastic plane compression columns is larger than that of the spring positioning pins, when the automatic grabbing mechanism moves downwards, the elastic plane compression columns are firstly contacted with the circuit board to enable the circuit board to be in a flat state, then the clamping unit acts, the second clamping plate extends into the lower part of the circuit board, then the upper top surface of the second clamping plate abuts against the lower bottom surface of the circuit board in the initial slow-speed stage of upwards moving, and the spring positioning pins are inserted into positioning holes of the circuit board, so that the positioning accuracy and reliable clamping are ensured; through the cooperation of clamping between unit, the elastic plane compression column and the spring locating pin, the movement of omnidirectional restriction circuit board guarantees that snatch steadily firmly to the circuit board, can not take place to drop at the removal in-process.

Drawings

In order to more clearly illustrate the technical solutions of the embodiments of the present utility model, the following description will briefly explain the drawings needed in the description of the embodiments of the present utility model, and it is obvious that the drawings in the following description are only some embodiments of the present utility model, and other drawings may be obtained according to the contents of the embodiments of the present utility model and these drawings without inventive effort for those skilled in the art.

Fig. 1 is a schematic structural view of an automatic grabbing mechanism and a first view angle of a circuit board according to an embodiment of the present utility model;

fig. 2 is a schematic structural diagram of an automatic grabbing mechanism and a second view angle of a circuit board according to an embodiment of the present utility model;

fig. 3 is a schematic structural view of the automatic grabbing mechanism and a third view angle of the circuit board according to the embodiment of the present utility model.

Reference numerals:

100. a circuit board;

1. a support base plate; 2. a gripping unit; 3. a spring positioning pin; 4. an elastic plane compression column; 5. a photo-element detector; 6. a monitoring unit; 7. a mounting part;

11. avoidance holes;

21. a jaw cylinder; 211. a main body; 212. a telescopic body; 22. a support jaw; 221. a first clamping plate; 222. a second clamping plate;

61. a mounting plate; 611. adjusting the waist hole; 62. a sensor.

Detailed Description

For the purpose of making the objects, technical solutions and advantages of the embodiments of the present utility model more apparent, the technical solutions of the embodiments of the present utility model will be clearly and completely described below with reference to the accompanying drawings in the embodiments of the present utility model, and it is apparent that the described embodiments are some embodiments of the present utility model, but not all embodiments of the present utility model. The components of the embodiments of the present utility model 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 utility model, as 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 made by those skilled in the art based on the embodiments of the utility model without making any inventive effort, are intended to be within the scope of the utility model.

It should be noted that: like reference numerals and letters denote like items in the following figures, and thus once an item is defined in one figure, no further definition or explanation thereof is necessary in the following figures.

In the description of the present utility model, it should be noted that, directions or positional relationships indicated by terms such as "upper", "lower", "left", "right", "vertical", "horizontal", "inner", "outer", etc., are directions or positional relationships based on those shown in the drawings, or are directions or positional relationships conventionally put in use of the inventive product, are merely for convenience of describing the present utility model and simplifying the description, and are not indicative or implying that the apparatus or element to be referred to must have a specific direction, be configured and operated in a specific direction, and thus should not be construed as limiting the present utility model. Furthermore, the terms "first," "second," "third," and the like are used merely to distinguish between descriptions and should not be construed as indicating or implying relative importance. In the description of the present utility model, unless otherwise indicated, the meaning of "a plurality" is two or more.

In the description of the present utility model, it should also be noted that, unless explicitly specified and limited otherwise, the terms "disposed", "connected" and "connected" are to be construed broadly, and may be, for example, fixedly connected, detachably connected or integrally connected; either mechanically or electrically. The specific meaning of the above terms in the present utility model will be understood in specific cases by those of ordinary skill in the art.

In the present utility model, unless expressly stated or limited otherwise, a first feature "above" or "below" a second feature may include both the first and second features being in direct contact, as well as the first and second features not being in direct contact but being in contact with each other through additional features therebetween. Moreover, a first feature being "above," "over" and "on" a second feature includes the first feature being directly above and obliquely above the second feature, or simply indicating that the first feature is higher in level than the second feature. The first feature being "under", "below" and "beneath" the second feature includes the first feature being directly under and obliquely below the second feature, or simply means that the first feature is less level than the second feature.

Embodiments of the present utility model are described in detail below, examples of which are illustrated in the accompanying drawings, wherein like or similar reference numerals refer to like or similar elements or elements having like or similar functions throughout. The embodiments described below by referring to the drawings are illustrative only and are not to be construed as limiting the utility model.

The mechanical arm is often required to be used for transferring products from one device to the other device along the conveying direction between two different devices, most of the grabbing devices of the mechanical arm conventionally used in the prior art are complex in structure, the grabbing of the precise circuit board is not firm, and the risk hidden danger that the precise circuit board falls off in the moving process exists.

In order to grasp the circuit board stably and firmly without falling off during the moving process, the present embodiment provides an automatic grasping mechanism, and the details of the present embodiment are described in detail below with reference to fig. 1 to 3.

In this embodiment, the automatic gripping mechanism includes a support base plate 1, a plurality of spring positioning pins 3, a plurality of elastic plane pressing posts 4, a photoelectron electron detector 5, and a monitoring unit 6.

Wherein the support base plate 1 is provided with a gripping unit 2. The spring positioning pin 3 is disposed on the support base plate 1 along a vertical direction, and the spring positioning pin 3 is inserted into a positioning hole of the circuit board 100. The elastic plane compression columns 4 are arranged on the supporting bottom plate 1 along the vertical direction, the extending length of the elastic plane compression columns 4 relative to the supporting bottom plate 1 is larger than that of the spring positioning pins 3 relative to the supporting bottom plate 1, and the extending lower end faces of the elastic plane compression columns 4 are identical to the spacing between the pressing points of the circuit board 100. The photoelectric element detector 5 is arranged on the upper end face of the supporting bottom plate 1, and a detection port of the photoelectric element detector 5 is positioned right above the top end of the spring positioning pin 3. The monitoring unit 6 is disposed on the supporting base plate 1, and is used for detecting the open-close state of the clamping unit 2.

In short, according to the automatic grabbing mechanism provided by the utility model, the clamping unit 2 and the monitoring unit 6 are arranged on the supporting bottom plate 1, the monitoring unit 6 can detect the open and close states of the clamping unit 2 in real time, and the clamped state of the circuit board 100 can be monitored in time; the plurality of elastic plane compression columns 4 and the plurality of spring positioning pins 3 are arranged on the supporting bottom plate 1 along the vertical direction, the extending length of the elastic plane compression columns 4 is larger than that of the spring positioning pins 3, when the automatic grabbing mechanism moves downwards, the elastic plane compression columns 4 are firstly contacted with the circuit board 100, so that the circuit board 100 is in a flat state, then the upper top surface of the second clamping plate 222 is abutted against the lower bottom surface of the circuit board 100 in the initial slow-speed stage of upward movement, and the spring positioning pins 3 are inserted into positioning holes of the circuit board 100, so that the positioning accuracy is ensured; through the cooperation of clamping unit 2, elasticity plane compress tightly between post 4 and the spring locating pin 3, the omnidirectional restriction circuit board 100's removal guarantees to snatch steadily firmly circuit board 100, can not drop at the removal in-process.

Further, the gripping unit 2 includes a jaw cylinder 21 and holding jaws 22 provided on both sides of the jaw cylinder 21, the jaw cylinder 21 being connected to the lower end face of the support base plate 1, the two holding jaws 22 being selectively moved toward or away from each other. The clamping jaw cylinder 21 is electrically connected with the control module, and when the circuit board 100 needs to be clamped, the control module gives a first instruction signal to enable the telescopic bodies 212 at the two ends of the clamping jaw cylinder 21 to drive the supporting clamping jaws 22 to be close to each other; when the circuit board 100 needs to be loosened, the control module gives out a second instruction signal, so that the telescopic bodies 212 at the two ends of the clamping jaw cylinder 21 drive the supporting clamping jaws 22 to be far away from each other.

Further, the holding jaw 22 includes a first clamping plate 221 and a second clamping plate 222 vertically connected, one end of the first clamping plate 221 away from the second clamping plate 222 is connected with the telescopic body 212 of the jaw cylinder 21, the first clamping plate 221 is used for roughly limiting the movement of the circuit board 100 in the horizontal direction, and the second clamping plate 222 is used for limiting the movement of the circuit board 100 in the vertical direction. The angle between the first clamping plate 221 and the second clamping plate 222 is 90 degrees, and the first clamping plate 221 is mounted to the end of the telescopic body 212 of the jaw cylinder 21 by a fastener such as a screw. Furthermore, two second clamping plates 222 are disposed at one end of the first clamping plate 221 at intervals, and a gap is formed between the two second clamping plates 222, so that structural interference with parts on the circuit board 100 can be avoided, the weight of the holding clamping jaw 22 can be reduced, the driving force required by the clamping jaw cylinder 21 is reduced, and energy consumption is saved.

Further, an avoidance hole 11 is formed in the middle position of the supporting bottom plate 1, and the main body 211 of the clamping jaw cylinder 21 extends out of the avoidance hole 11. By adding the avoiding holes 11, not only the structural interference between the main body 211 of the clamping jaw cylinder 21 and the supporting base plate 1 can be avoided, but also the weight of the supporting base plate 1 can be reduced.

Further, the monitoring unit 6 further includes a mounting plate 61 and a sensor 62 disposed on the mounting plate 61, the mounting plate 61 is disposed on the lower bottom surface of the supporting base plate 1, the telescopic body 212 of the clamping jaw cylinder 21 is provided with a detection hole, and the sensor 62 is used for detecting the open and close state of the telescopic body 212 of the clamping jaw cylinder 21. The sensor 62 emits laser to the telescopic body 212, and the working state of the clamping jaw cylinder 21 is monitored by the sensor 62 through shielding the laser light of the sensor 62 by the telescopic body 212 or passing through the detection hole.

Further, the mounting plate 61 is provided with an adjusting waist hole 611, and the sensor 62 is mounted at the adjusting waist hole 611. The adjustment waist hole 611 extends in the horizontal direction, so that the position of the sensor 62 relative to the mounting plate 61 in the horizontal direction can be adjusted, and the transmitting end of the sensor 62 can be opposite to the telescopic body 212 or the detection hole of the clamping jaw cylinder 21.

Specifically, in the present embodiment, two adjusting waist holes 611 are provided, and the two adjusting waist holes 611 are provided in one-to-one correspondence with the two telescopic bodies 212 of the clamping jaw cylinder 21, for monitoring the working states of the two telescopic bodies 212.

Further, an installation part 7 is arranged on the upper end surface of the supporting bottom plate 1 and is used for connecting a mechanical arm. By adding the mounting part 7, the automatic grabbing mechanism is convenient to assemble on the mechanical arm.

Further, an alarm indicator is arranged on the supporting bottom plate 1, and when the fact that the clamping of the circuit board 100 is not firm is detected, an alarm is sent out to remind maintenance personnel of maintenance.

In summary, the working principle of the automatic grabbing mechanism is as follows: when the automatic grabbing mechanism moves downwards, the elastic plane compressing column 4 is firstly contacted with the upper top surface of the circuit board 100 and continues to move downwards, the elastic plane compressing column 4 is compressed, the circuit board 100 is compressed in the positioning clamp under the action of the spring force of the elastic plane compressing columns 4 (wherein the positioning clamp is positioned on the workbench, the clamp positioning pin and the accommodating space for accommodating the circuit board 100 are arranged on the positioning clamp), meanwhile, the elastic positioning pin 3 contracts under the action of the upper top of the clamp positioning pin, the clamping jaw cylinder 21 contracts, the second clamping plate 222 stretches into the lower part of the clamping position of the circuit board 100, the distance between the upper top surface of the second clamping plate 222 and the lower bottom surface of the circuit board 100 is smaller than the compression amount of the elastic plane compressing column 4 (so that the elastic plane compressing column 4 is always in a compressed state), the automatic grabbing mechanism slowly moves upwards, the spring positioning pin 3 and the elastic plane compressing column 4 stretch out under the action of the spring, the upper top surface of the second clamping plate 222 contacts the lower bottom surface of the circuit board 100 under the action of the spring force of the elastic plane compressing column 4, the circuit board 100 is compressed on the upper top surface of the second clamping plate 222, the automatic grabbing mechanism stretches out of the lower surface of the clamp 100, and the circuit board 100 continues to stretch out of the positioning pin 100 in the positioning mechanism (the circuit board 100 is positioned in the accurate picture-switched positioning section) and the circuit board 100). Thus, reliable and accurate grabbing of the precise devices of the circuit board 100 is completed. And in the grabbing process, no impact is generated on the circuit board 100, so that the surface of the product is ensured to be intact.

Note that the above is only a preferred embodiment of the present utility model and the technical principle applied. It will be understood by those skilled in the art that the present utility model is not limited to the particular embodiments described herein, but is capable of various obvious changes, rearrangements and substitutions as will now become apparent to those skilled in the art without departing from the scope of the utility model. Therefore, while the utility model has been described in connection with the above embodiments, the utility model is not limited to the embodiments, but may be embodied in many other equivalent forms without departing from the spirit or scope of the utility model, which is set forth in the following claims.

Claims

1. Automatic snatch mechanism, its characterized in that includes:

a supporting base plate (1) provided with a clamping unit (2);

the spring positioning pin (3) is arranged on the supporting bottom plate (1) along the vertical direction, and the spring positioning pin (3) is used for being inserted into a positioning hole of the circuit board (100);

the elastic plane compression columns (4) are arranged on the supporting bottom plate (1) along the vertical direction, the extending length of the elastic plane compression columns (4) relative to the supporting bottom plate (1) is larger than the extending length of the spring positioning pins (3) relative to the supporting bottom plate (1), and the distances between the extending lower end surfaces of the elastic plane compression columns (4) and the circuit board compression points are the same;

the photoelectric element detector (5) is arranged on the upper end face of the supporting bottom plate (1), and a detection port of the photoelectric element detector (5) is positioned right above the top end of the spring positioning pin (3);

and the monitoring unit (6) is arranged on the supporting bottom plate (1) and is used for detecting the opening and closing state of the clamping unit (2).

2. The automatic gripping mechanism according to claim 1, wherein the gripping unit (2) includes a jaw cylinder (21) and supporting jaws (22) provided on both sides of the jaw cylinder (21), the jaw cylinder (21) is connected to a lower end surface of the support base plate (1), and the two supporting jaws (22) are selectively moved toward or away from each other.

3. The automatic grabbing mechanism according to claim 2, wherein the supporting clamping jaw (22) comprises a first clamping plate (221) and a second clamping plate (222) which are vertically connected, one end of the first clamping plate (221) away from the second clamping plate (222) is connected with the telescopic body (212) of the clamping jaw cylinder (21), the first clamping plate (221) is used for limiting the movement of the circuit board (100) in the horizontal direction, and the second clamping plate (222) is used for limiting the movement of the circuit board (100) in the vertical direction.

4. An automatic gripping mechanism according to claim 3, characterized in that one end of the first clamping plate (221) is provided with two second clamping plates (222) at intervals.

5. An automatic grabbing mechanism as claimed in claim 3, wherein the monitoring unit (6) comprises a mounting plate (61) and a sensor (62) arranged on the mounting plate (61), the mounting plate (61) is arranged on the lower end face of the supporting base plate (1), the telescopic body (212) of the clamping jaw cylinder (21) is provided with a detection hole, and the sensor (62) is used for detecting the open and close state of the telescopic body (212).

6. The automatic grabbing mechanism as claimed in claim 5, wherein the mounting plate (61) is provided with an adjustment waist hole (611), and the sensor (62) is mounted at the adjustment waist hole (611).

7. The automatic grabbing mechanism as claimed in claim 6, wherein two adjusting waist holes (611) are provided, and the two adjusting waist holes (611) are arranged in one-to-one correspondence with the two telescopic bodies (212) of the clamping jaw cylinder (21).

8. The automatic grabbing mechanism as claimed in any one of claims 1-7, wherein the upper end surface of the support base plate (1) is provided with a mounting portion (7), the mounting portion (7) being adapted to be connected to a robot arm.