CN223659282U - Material handling mechanism, robot and PCB processing equipment - Google Patents

Abstract

This utility model belongs to the field of PCB manufacturing technology, and specifically relates to a material handling mechanism, a robot, and PCB processing equipment. The material handling mechanism includes a mounting frame, a first motion component, a clamping component, and an adsorption component. The adsorption component is mounted on the mounting frame and is used to pick up the material board. The first motion component is mounted on the mounting frame, and the clamping component is mounted on the first motion component. The first motion component can drive the clamping component to move along a first direction, so that the clamping component can clamp the material board picked up by the adsorption component. When clamping thin and easily deformable material boards, this mechanism achieves a material handling operation of first adsorption and then clamping, reducing damage to the material board, reducing the scrap rate, and reducing damage to the worktable caused by the clamping component.

Description

Material taking mechanism, robot and PCB processing equipment

Technical Field

The utility model belongs to the technical field of PCB production, and particularly relates to a material taking mechanism, a robot and PCB processing equipment.

Background

In the PCB processing industry, PCBs are in a stacked state in a storage bin, a material taking mechanism for grabbing the PCBs is matched with processing equipment, and the PCBs are conveyed to the processing equipment for processing after the PCBs are taken from the storage bin by the material taking mechanism.

However, when the PCB is laid flat on the table top of the processing apparatus, due to the characteristics of light weight and easy deformation, the PCB is easily damaged due to improper clamping force or deviation of clamping positions, thereby increasing production cost and rejection rate, and the table top is easily scratched by the manipulator during the clamping process, thereby affecting the drilling precision and efficiency.

Disclosure of utility model

The utility model aims to solve the technical problem that the PCB is damaged due to improper clamping force or clamping position deviation of the existing material taking mechanism, and provides the material taking mechanism, the robot and the PCB processing equipment.

In order to solve the technical problems, in one aspect, an embodiment of the utility model provides a material taking mechanism, which comprises a mounting frame, a first moving assembly, a clamping piece and an adsorption piece, wherein the adsorption piece is mounted on the mounting frame and is used for sucking a material taking plate;

The first motion assembly is installed in the mounting bracket, the clamping piece install in the first motion assembly, the first motion assembly can drive the clamping piece moves along a first direction, so that the clamping piece can be used for clamping the material plate absorbed by the absorbing piece.

Optionally, the first motion assembly includes a first driving member and two sub-moving members, the clamping member includes two sub-clamping members, and any one of the sub-clamping members is mounted on one of the sub-moving members;

The first driving piece can drive at least one of the two sub-moving pieces to move along the first direction, so that the two sub-clamping pieces can clamp or unclamp the material plate.

Optionally, the two sub-clamping members are oppositely arranged at two opposite sides of the conveying end of the first driving member, and the first driving member is used for driving the two sub-clamping members to approach or separate simultaneously so as to clamp or loosen the material plate.

Optionally, the first driving piece includes two sub-driving pieces, two output ends of the sub-driving pieces are respectively connected to each sub-moving piece in a one-to-one correspondence manner, the sub-driving pieces are used for driving the sub-moving pieces to move along the first direction so as to drive the sub-clamping pieces to move along the first direction, and the material plate is clamped or loosened through the two sub-clamping pieces.

Optionally, two sub-clamping members are disposed on two opposite sides of the conveying end of the first driving member, wherein one sub-moving member is fixedly disposed relative to the first driving member, and the other sub-moving member is driven by the first driving member to move along the first direction, so that the two sub-clamping members can clamp or unclamp the material plate.

Optionally, the first moving component further includes an adapter, the first moving component is connected to the mounting rack through the adapter, the two sub-moving parts are located at two opposite sides of the adapter along the second direction, and the two sub-moving parts respectively move along opposite directions in the first direction;

The two sub-clamping pieces are oppositely arranged along the first direction, and the first direction and the second direction are intersected.

Optionally, the first driving piece comprises a motor and a transmission piece, the motor is installed on the adapter seat, and the transmission piece is connected with the output end of the motor;

The transmission piece is arranged between the two sub-moving pieces in the second direction, the transmission piece is in transmission connection with the two sub-moving pieces, and the motor can drive the transmission piece to rotate so that the two sub-moving pieces move in opposite directions in the first direction.

Optionally, the sub-moving member comprises a bottom plate and a rack installed on the bottom plate, the bottom plate is slidably connected to the adapter, and the sub-clamping member is installed at one end of the bottom plate far away from the other sub-clamping member;

The transmission part is a gear which is meshed with the racks of the two sub-moving parts at the same time.

Optionally, the material taking mechanism further includes a second moving component, the first moving component is connected to the mounting frame through the second moving component, the second moving component is used for driving the first moving component and the clamping piece to move along a second direction, and the first direction is intersected with the second direction.

Optionally, the second motion assembly includes a second driving member, a driving wheel, a driven wheel, and a synchronous belt, wherein an output end of the second driving member is connected with the driving wheel, the driven wheel is mounted on the mounting frame, and the synchronous belt is wound around the driving wheel and the driven wheel;

The synchronous belt is connected with the first motion assembly.

Optionally, the second motion assembly includes third driving piece, lead screw and screw nut, the output of third driving piece with the lead screw is connected, screw nut with screw threaded connection, screw nut connect in first motion assembly.

Optionally, the first moving components are provided with a plurality of clamping pieces, and the clamping pieces are connected with the first moving components in a one-to-one correspondence manner;

The first motion components are connected to the mounting frame and arranged at intervals along the second direction, and the first direction is intersected with the second direction.

Optionally, the mounting frame is provided with a plurality of linear guide rails, the linear guide rails extend along the second direction, and each first motion assembly can move along the corresponding linear guide rail.

Optionally, the absorbing member is slidably connected to the mounting frame through a third moving assembly.

Optionally, the material taking mechanism further comprises a camera, wherein the camera is mounted on the mounting frame and used for identifying the position of the material plate.

In another aspect, an embodiment of the present utility model provides a robot, including an automatic guided vehicle, a manipulator, and a material taking mechanism as described above, where the manipulator is mounted on the automatic guided vehicle, and the material taking mechanism is connected to the manipulator through the mounting frame.

In still another aspect, an embodiment of the present utility model provides a PCB processing apparatus, including a processing machine, a bin, and a robot as described above, where the bin is configured to store the material plate, and the manipulator is capable of driving the material taking mechanism to move, so that the material plate can be exchanged between the bin and the processing machine, and the processing machine is configured to process the material plate.

According to the material taking mechanism provided by the embodiment of the utility model, when the material plate on the table top of the processing equipment is taken, the material plate can be absorbed through the absorption part, so that the material plate absorbed by the absorption part is separated from the table top of the processing machine. The clamping piece is driven to move through the first motion assembly, so that the clamping piece can clamp the material plate, the material taking operation of absorbing before clamping is realized, damage to the light and thin material plate which is easy to deform due to improper clamping force is reduced, rejection rate is reduced, and damage to the table top caused by the clamping piece can be reduced.

Drawings

FIG. 1 is a schematic illustration of a take off mechanism provided in accordance with one embodiment of the present utility model;

FIG. 2 is an assembly view of a second motion assembly on a mounting bracket provided in accordance with one embodiment of the present utility model;

FIG. 3 is a schematic view of a first motion assembly and clamp provided in accordance with an embodiment of the present utility model;

Fig. 4 is a schematic view of a robot according to an embodiment of the present utility model.

Reference numerals in the specification are as follows:

10. A material taking mechanism;

1. 11, a linear guide rail;

2. The first motion component, 21, the adapter, 22, the first driving piece, 221, the motor, 222, the transmission piece, 23, the sub-moving piece, 231, the bottom plate, 232 and the rack;

3. The second motion assembly, 31, a second driving piece, 32, a driving wheel, 33, a driven wheel, 34 and a synchronous belt;

4. 41, sub-clamping pieces;

5. Suction piece 51, suction cup;

6. A camera;

20. 30, automatically guiding the transport vehicle;

a. A first direction, b, a second direction.

Detailed Description

In order to make the technical problems, technical schemes and beneficial effects solved by the utility model more clear, the utility model is further described in detail below with reference to the accompanying drawings and embodiments. It should be understood that the specific embodiments described herein are for purposes of illustration only and are not intended to limit the scope of the utility model.

As shown in fig. 1 to 3, an extracting mechanism 10 according to an embodiment of the present utility model includes a mounting frame 1, a first moving component 2, a clamping member 4, and an absorbing member 5, where the absorbing member 5 is mounted on the mounting frame 1, and the absorbing member 5 is used for absorbing an extracting plate. The light and thin material plate can be sucked up through the suction piece 5, so that damage to the material plate is reduced.

The first motion assembly 2 is installed in the mounting bracket 1, and the clamping piece 4 is installed in the first motion assembly 2, and the first motion assembly 2 can drive the clamping piece 4 and follow first direction a and remove to make the clamping piece 4 can carry out the centre gripping to the flitch that is absorbed by adsorbing piece 5.

When getting the material to the flitch on the processing board of PCB processing equipment, inhale the flitch through absorbing piece 5, can fix a position the position of flitch, after the flitch that is absorbed by absorbing piece 5 breaks away from the mesa of processing board, first motion subassembly 2 drives clamping piece 4 motion for clamping piece 4 can carry out the centre gripping to the flitch, realized absorbing earlier the material operation of centre gripping afterwards, to ordinary sheet material, can improve the steadiness that the sheet material snatched the process, to frivolous and yielding, and the flitch of difficult direct centre gripping can reduce the damage that causes the flitch because of clamping force is improper, can also reduce simultaneously that clamping piece 4 causes the damage to the mesa.

In this embodiment, the material is extracted by combining the absorbing member 5 and the clamping member 4, so that the extracting mechanism 10 can adapt to the material plates with different shapes, sizes and materials. The suction member 5 can adapt to the material plates with different surface characteristics by adjusting the suction force, the number and the layout of the suction cups 51 and the like. The clamping range of the clamping piece 4 can be adjusted through the first moving component 2 according to the shape and the size of the material plate, so that the application range of the material taking mechanism 10 is enlarged.

In one embodiment, as shown in fig. 3, the first moving assembly 2 includes a first driving member 22 and two sub-moving members 23, and the clamping member 4 includes two sub-clamping members 41, and any one sub-clamping member 41 is mounted on one sub-moving member 23.

The first driving member 22 is capable of driving at least one of the two sub-moving members 23 to move in the first direction a so that the two sub-clamping members 41 can clamp or unclamp the material sheet. When the material plate needs to be clamped, the first driving member 22 drives one or two sub-moving members 23 to move along the first direction a, so that the two sub-clamping members 41 gradually approach until the two sub-clamping members 41 contact the material plate and exert a certain clamping force. In contrast, when the material plate needs to be released, the first driving member 22 drives one or both of the sub-moving members 23 to move in the first direction a, so that the clamping of the material plate is released when the two sub-clamping members 41 are separated.

By controlling the output of the first driving member 22, the movement distance of one or both of the sub-moving members 23 can be adjusted, and thus the clamping ranges of the two sub-clamping members 41 can be adjusted, so that the clamping members 4 can accommodate different sizes of material plates.

Specifically, the output end of the first driving member 22 is connected to one of the sub-moving members 23, the other sub-moving member 23 is kept stationary, the sub-moving member 23 connected thereto is driven to move by the first driving member 22, and the sub-clamping member 41 on the sub-moving member 23 can move toward the other sub-clamping member 41 or away from the other sub-clamping member 41, thereby achieving clamping or unclamping of the two sub-clamping members 41.

Or the output of the first driving member 22 is connected to both of the sub-moving members 23. The first driving member 22 can drive the two sub-moving members 23 to move simultaneously, so that the two sub-clamping members 41 can be close to or far away from each other simultaneously, and clamping or loosening of the two sub-clamping members 41 on the material plate is achieved.

The two cases are described below by way of specific examples. For convenience of description and understanding, the two sub-movers 23 are distinguished by "first sub-mover" and "second sub-mover", and the two sub-movers 41 are distinguished by "first sub-gripper" and "second sub-gripper".

In one embodiment, as shown in fig. 3, the two sub-moving members 23 are located on opposite sides of the output end of the first driving member 22 in the second direction b, the two sub-clamping members 41 are disposed on opposite sides of the conveying end of the first driving member 22 in the first direction a, and the first driving member 22 is used for driving the two sub-clamping members 41 to approach or separate at the same time so as to clamp or unclamp the material plate.

The output end of the first driving piece 22 is arranged between the two sub-moving pieces 23, and the output end of the first driving piece 22 is in transmission connection with the two sub-moving pieces 23 at the same time, and the first driving piece 22 can drive the two sub-moving pieces 23 to synchronously move along opposite directions in the first direction a, so that the two sub-clamping pieces 41 are simultaneously close to or far away from each other in the first direction a, and clamping or loosening of a material plate is realized.

As an example, the output end of the first driving member 22 is connected to the first sub-moving member and the second sub-moving member at the same time, the first sub-clamping member is mounted on the first sub-moving member, the second sub-clamping member is mounted on the second sub-moving member, the first sub-clamping member and the second sub-clamping member are oppositely disposed in the first direction a, and the first driving member 22 can drive the first sub-moving member and the second sub-moving member to move in opposite directions in the first direction a, so as to drive the first sub-clamping member and the second sub-clamping member to synchronously approach or separate from each other, so that the first sub-clamping member and the second sub-clamping member can clamp or release the material plate.

In an embodiment, two sub-moving members 23 are disposed on opposite sides of the conveying end of the first driving member 22 in the first direction a, two sub-clamping members 41 are disposed on opposite sides of the conveying end of the first driving member 22 in the second direction b, the output end of the first driving member 22 is connected to one sub-moving member 23, one sub-moving member 23 is fixedly disposed relative to the first driving member 22, and the other sub-moving member 23 can move along the first direction a under the driving of the first driving member 22, so that the two sub-clamping members 41 can clamp or release the material plate. The sub-moving member 23 connected with the first driving member 22 can move along the first direction a under the driving of the first driving member 22, so that one sub-clamping member 41 is driven to be far away from or close to the other sub-clamping member 41, and clamping or loosening of the material plate is achieved.

As an example, taking the case where the output end of the first driving member 22 is connected to the first sub-moving member, the position of the output end of the first driving member 22 is not limited to being disposed between the two sub-moving members 23.

The first sub-clamping piece is arranged on the first sub-moving piece, the second sub-clamping piece is arranged on the second sub-moving piece, the second sub-moving piece is kept motionless relative to the first driving piece 22, the first driving piece 22 can drive the first sub-moving piece to move along the first direction a, and then the first sub-clamping piece is driven to move along the first direction a, so that the distance between the first sub-clamping piece and the second sub-clamping piece is changed. When the first sub-clamping member approaches the second sub-clamping member under the driving of the first driving member 22, the material plate can be clamped. When the first sub-clamping member is driven by the first driving member 22 to move away from the second sub-clamping member, the material plate is released.

In another embodiment, not shown, the first driving member 22 includes two sub driving members, the output ends of the two sub driving members are respectively connected to each sub moving member 23 in a one-to-one correspondence manner, and the sub driving members are used for driving the sub moving members 23 to move along the first direction a so as to drive the sub clamping members 41 to move along the first direction a, and the two sub clamping members 41 clamp or unclamp the material plate. When the material plate needs to be clamped, the two sub-driving members simultaneously receive control signals, and each sub-driving member starts and pushes the sub-moving member 23 connected with the sub-driving member to move along the first direction a, so that the two sub-clamping members 41 are driven to synchronously move, and clamping and loosening actions are cooperatively completed through the two sub-clamping members 41.

In one embodiment, as shown in fig. 1 and 3, the first moving assembly 2 further includes a adaptor 21, the first driving member 22 is mounted on the adaptor 21, and the two sub-moving members 23 are movably connected to the adaptor 21. The first moving assembly 2 is connected to the mounting frame 1 through the adapter 21, the two sub-moving members 23 are located on two opposite sides of the adapter 21 along the second direction b, and the two sub-clamping members 41 are oppositely arranged along the first direction a, and the first direction a and the second direction b intersect. The output end of the first driving member 22 is simultaneously connected with the two sub-moving members 23, so that the two sub-moving members 23 respectively move along opposite directions in the first direction a, and the two sub-clamping members 41 are driven to approach or separate from each other in the first direction a, so that clamping or loosening operation of the two sub-clamping members 41 on the material plate is realized.

Wherein, adapter 21 is along second direction b sliding connection on mounting bracket 1 to this removal that realizes first motion subassembly 2 for mounting bracket 1, and clamping piece 4 can follow first motion subassembly 2 and remove together, makes clamping piece 4 can carry out the material operation in the different positions on mounting bracket 1.

In one embodiment, as shown in fig. 3, the first driving member 22 includes a motor 221 and a transmission member 222, the motor 221 is disposed on the adapter 21, and the transmission member 222 is connected to an output end of the motor 221. The motor 221 can drive the driving member 222 to rotate. The motor 221 can precisely control the rotation angle and the number of turns thereof, thereby precisely controlling the rotation of the transmission member 222, and finally precisely controlling the moving distance of the two sub-moving members 23. This allows the take off mechanism 10 to accurately position the two sub-clamps 41 to accommodate different sized web clamping requirements.

The transmission piece 222 is arranged between the two sub-moving pieces 23 in the second direction b, the transmission piece 222 is in transmission connection with the two sub-moving pieces 23, the motor 221 can drive the transmission piece 222 to rotate, so that the two sub-moving pieces 23 respectively move in opposite directions in the first direction a, further the two sub-clamping pieces 41 are driven to approach or separate in the first direction a, the transmission piece 222 is in transmission connection with the two sub-moving pieces 23, the movement synchronism of the two sub-moving pieces 23 is ensured, the synchronism of the two sub-clamping pieces 41 is further ensured, the two sub-clamping pieces 41 can simultaneously contact a material plate and apply uniform clamping force, and clamping and loosening actions can be rapidly realized.

In an embodiment, as shown in fig. 3, the sub-moving member 23 includes a bottom plate 231 and a rack 232 mounted on the bottom plate 231, the bottom plate 231 is slidably connected to the adaptor 21, the sub-clamping members 41 are mounted on the bottom plate 231, and the two sub-clamping members 41 are correspondingly mounted on the bottom plates 231 of the two sub-moving members 23, and the sub-clamping members 41 can be driven to move by sliding the bottom plate 231 relative to the adaptor 21. Wherein, the bottom plates 231 of the two sub-moving members 23 are both slidably connected to the adaptor 21, and the bottom plates 231 are slidably connected to the adaptor 21 through linear guide rails.

The two sub-moving members 23 are located at opposite sides of the adapter 21 along the second direction b, and the two sub-clamping members 41 are disposed opposite to each other along the first direction a, and one sub-clamping member 41 is mounted at an end of the bottom plate 231 away from the other sub-clamping member 41 among the two sub-clamping members 41. Specifically, the first sub-clamping member and the second sub-clamping member are disposed opposite to each other in the first direction a, and the first sub-clamping member is mounted on the end of the bottom plate 231 of the first sub-moving member away from the second sub-clamping member, so that the first sub-clamping member and the second sub-clamping member can approach each other or separate from each other in the first direction a when the two sub-moving members 23 move synchronously in the first direction a, thereby realizing the expansion and contraction of the clamping member 4. When the material plate is clamped, the first sub-clamping piece and the second sub-clamping piece are clamped on two sides of the material plate.

The transmission member 222 is a gear, and the gear is simultaneously meshed with racks 232 of the two sub-moving members 23. The motor 221 drives the gear to rotate, the gear is located between the racks 232 of the two sub-moving members 23 in the second direction b, and under the engagement of the gear and the two racks 232, the gear can drive the racks 232 of the two sub-moving members 23 to move synchronously, so that the two sub-moving members 23 move in opposite directions in the first direction a, and further the two sub-clamping members 41 are close to or far away from each other in the first direction a, so that the clamping or loosening of the material plate is realized.

In one embodiment, the rack 232 is a spur or helical rack and the gear is a spur or helical gear, respectively.

In another embodiment, not shown, the first driving member 22 comprises two sub-driving members, which are identical in structure, each comprising a motor 221 and a gear. The gears of the two sub-driving members are engaged with the racks 232 of the two sub-moving members 23, respectively.

In an embodiment, as shown in fig. 1 and 2, the material taking mechanism 10 further includes a second moving component 3, the first moving component 2 is connected to the mounting frame 1 through the second moving component 3, that is, the second moving component 3 is mounted on the mounting frame 1, the first moving component 2 is connected to the second moving component 3, and the second moving component 3 is used for driving the first moving component 2 and the clamping member 4 to move along the second direction b, where the first direction a and the second direction b intersect. The adjustment of the position of the first movement assembly 2 and the clamping element 4 in the second direction b can be achieved by the drive of the second movement assembly 3.

As an example, as shown in fig. 1 and 2, the material taking mechanism 10 includes a first moving assembly 2 and a second moving assembly 3, and the first moving assembly 2 can drive the gripping member 4 to move in a first direction a, so as to adjust the gripping range of the gripping member 4. Can drive clamping piece 4 through second motion subassembly 3 and move in second direction b, increased the motion of clamping piece 4 in second direction b, through the cooperation of second motion subassembly 3 and first motion subassembly 2, can make clamping piece 4 fix a position the flitch position more fast, improve and get the material flexibility.

In one embodiment, as shown in fig. 2, the second motion assembly 3 includes a second driving member 31, a driving wheel 32, a driven wheel 33, and a synchronous belt 34, wherein an output end of the second driving member 31 is connected with the driving wheel 32, the driven wheel 33 is mounted on the mounting frame 1, and the synchronous belt 34 is wound around the driving wheel 32 and the driven wheel 33. The synchronous belt 34 is connected with the first moving assembly 2, and the second driving piece 31 drives the driving wheel 32 to rotate, so that the synchronous belt 34 is driven to move, and the first moving assembly 2 and the clamping piece 4 connected with the first moving assembly 2 can move along the second direction b.

Preferably, the second driving member 31 is a motor.

In another embodiment, the second moving assembly 3 includes a third driving member, a screw rod and a screw nut, where an output end of the third driving member is connected to the screw rod, the screw nut is in threaded connection with the screw rod, the screw rod is connected to the first moving assembly 2, and extends along the second direction b, and under the driving of the third driving member, the screw rod can rotate and drive the screw nut to perform linear motion along the screw rod, so as to drive the first moving assembly 2 and the clamping member 4 connected to the first moving assembly 2 to move along the second direction b. Preferably, the third driving member is a motor.

In one embodiment, the first moving assembly 2 is provided with a plurality of clamping members 4, and the plurality of clamping members 4 are connected with the plurality of first moving assemblies 2 in a one-to-one correspondence. The first moving assemblies 2 are connected to the mounting frame 1 and are arranged at intervals along the second direction b, and the first direction a and the second direction b intersect. The adapter seats 21 of the plurality of first moving assemblies 2 are all connected with the synchronous belt 34, and the second driving piece 31 drives the synchronous belt 34 to move, so that the plurality of first moving assemblies 2 can move in the second direction b.

As shown in fig. 1, taking two first moving assemblies 2 as an example, two clamping members 4 are provided, and the two clamping members 4 are connected to the two first moving assemblies 2 in a one-to-one correspondence. Two clamping pieces 4 are arranged at intervals in the second direction b, the material plate is clamped together through the two clamping pieces 4, the clamping force is increased, and the clamping stability of the material plate is improved.

The second driving member 31 can drive at least one of the two first moving assemblies 2 to move along the second direction b, so as to adjust the distance between the two first moving assemblies 2 in the second direction b, so that the material taking mechanism 10 can flexibly cope with the clamping of the material plates of different plate pairs.

The adapter seats 21 of the two first moving assemblies 2 are both connected with the synchronous belt 34, in the up-down direction in fig. 2, the adapter seat 21 of one first moving assembly 2 is connected at a first position of the synchronous belt 34, the adapter seat 21 of the other first moving assembly 2 is connected at a second position of the synchronous belt 34, and the first position is located above the second position, so that when the synchronous belt 34 moves, the adapter seat 21 at the first position and the adapter seat 21 at the second position can move in opposite directions or move in opposite directions, thereby enabling the two first moving assemblies 2 to approach or separate from each other, and further realizing adjustment of the distance between the two first moving assemblies 2 in the second direction b.

In an embodiment, as shown in fig. 1 and 2, the mounting frame 1 is provided with a plurality of linear guide rails 11, the linear guide rails 11 extend along the second direction b, and each first moving component 2 can move along the corresponding linear guide rail 11. The adapter 21 of the first motion assembly 2 is connected to the linear guide 11, and precise guiding is provided for the adapter 21 of the first motion assembly 2 through the linear guide 11, so that the movement of the first motion assembly 2 in the second direction b can be strictly performed along the direction of the linear guide 11, and the movement of the first motion assembly 2 can be smoother through the linear guide 11.

In fig. 2, at least one linear guide 11 is disposed on each of the left and right sides of the mounting frame 1, the left linear guide 11 is connected to the adapter 21 of the left first moving assembly 2, and the right linear guide 11 is connected to the adapter 21 of the right first moving assembly 2.

In one embodiment, as shown in fig. 1, the suction member 5 includes a vacuum pump for sucking air so that the suction cup 51 can be sucked on the material plate, and a suction cup 51.

Preferably, the suction member 5 is an electric suction member having a self-powered power source connected to a vacuum pump.

In one embodiment, the suction member 5 is fixedly mounted on the mounting frame 1.

In an alternative embodiment, the absorbing member 5 is slidably connected to the mounting frame 1 through a third moving component, and the absorbing member 5 can be driven to move on the mounting frame 1 through the third moving component, so that the absorbing member 5 can reach a designated position for absorbing operation. The third movement assembly generally comprises a power source, which may be a motor 221, a cylinder, etc., and a transmission mechanism connected to the suction member 5. Taking the motor 221 as an example, the motor 221 generates a rotary motion after being electrified, and the rotary motion is converted into a linear motion of the absorbing member 5 through a transmission mechanism such as belt transmission, chain transmission, screw nut transmission and the like, so that the motion of the absorbing member 5 is realized.

In an embodiment, as shown in fig. 1, the material taking mechanism 10 further includes a camera 6, the camera 6 is mounted on the mounting frame 1, the camera 6 is used for identifying the position of the material plate, and the position of the material plate is positioned by the camera 6, so that the clamping member 4 can more accurately grasp the material plate when taking materials. The camera 6 is a commonly used CCD industrial camera 6.

On the other hand, as shown in fig. 4, the embodiment of the present utility model provides a robot, which includes an automatic guiding carrier 30, a manipulator 20 and the material taking mechanism 10 of the above embodiment, wherein the manipulator 20 is mounted on the automatic guiding carrier 30, and the material taking mechanism 10 is connected with the manipulator 20 through a mounting frame 1. The robot can be moved as a whole by the automated guided vehicle 30.

The manipulator 20 is a multi-axis manipulator, and the multi-axis manipulator can drive the material taking mechanism 10 to rotate or translate, so that the clamping piece 4 can clamp the material plate conveniently.

In still another aspect, an embodiment of the present utility model provides a PCB processing apparatus, including a processing machine, a bin, and a robot in the foregoing embodiment, where the bin is used to store a material plate, and the manipulator 20 can drive the feeding mechanism 10 to move, so that the material plate can be exchanged between the bin and the processing machine, and the processing machine is used to process the material plate.

When feeding, the automatic guiding carrier 30 moves to one side of the processing machine, the manipulator 20 drives the material taking mechanism 10 to move to the storage bin, after the clamping piece 4 stretches out and draws back in the first direction a and clamps the material taking plate, the manipulator 20 drives the material taking mechanism 10 to move to the upper part of the processing machine, the material taking mechanism 10 releases the material plate, and after the material plate is placed on the processing machine, the processing of the material plate is performed.

In one embodiment, the processing machine is a multi-axis drilling machine, the multi-axis drilling machine has a plurality of stations, and after the manipulator 20 sequentially places the material plates on the stations, the main shaft of the multi-axis drilling machine drills the material plates on the stations.

The foregoing description of the preferred embodiments of the utility model is not intended to be limiting, but rather is intended to cover all modifications, equivalents, and alternatives falling within the spirit and principles of the utility model.

Claims (17)

1. The material taking mechanism is characterized by comprising a mounting frame, a first moving assembly, a clamping piece and an adsorption piece, wherein the adsorption piece is mounted on the mounting frame and is used for sucking a material taking plate;

The first motion assembly is installed in the mounting bracket, the clamping piece install in the first motion assembly, the first motion assembly can drive the clamping piece moves along a first direction, so that the clamping piece can be used for clamping the material plate absorbed by the absorbing piece.

2. A take-up mechanism according to claim 1 wherein said first motion assembly includes a first drive member and two sub-movers, said gripper members including two sub-gripper members, either of said sub-gripper members being mounted on one of said sub-movers;

The first driving piece can drive at least one of the two sub-moving pieces to move along the first direction, so that the two sub-clamping pieces can clamp or unclamp the material plate.

3. A take out mechanism according to claim 2, wherein two of said sub-grippers are oppositely disposed on opposite sides of said delivery end of said first drive member, said first drive member being adapted to drive two of said sub-grippers toward and away from each other simultaneously to grip or release a web.

4. The take-up mechanism of claim 2, wherein the first driving member includes two sub-driving members, the output ends of the two sub-driving members are respectively connected to the sub-moving members in a one-to-one correspondence manner, the sub-driving members are used for driving the sub-moving members to move along the first direction so as to drive the sub-clamping members to move along the first direction, and the material plate is clamped or unclamped by the two sub-clamping members.

5. The take-up mechanism of claim 2, wherein two of said sub-grippers are disposed opposite to each other on opposite sides of said delivery end of said first driving member, one of said sub-movers being fixedly disposed relative to said first driving member, and the other of said sub-movers being movable in said first direction by said first driving member, so that said two sub-grippers can grip or release said material sheet.

6. The take-off mechanism of claim 2, wherein the first moving assembly further comprises an adapter, the first moving assembly being coupled to the mounting bracket via the adapter, two of the sub-moving members being positioned on opposite sides of the adapter in a second direction, the two sub-moving members being respectively moved in opposite directions in the first direction;

The two sub-clamping pieces are oppositely arranged along the first direction, and the first direction and the second direction are intersected.

7. The take-up mechanism of claim 6, wherein the first drive member comprises a motor and a transmission member, the motor being disposed on the adapter, the transmission member being coupled to an output of the motor;

The transmission piece is arranged between the two sub-moving pieces in the second direction, the transmission piece is in transmission connection with the two sub-moving pieces, and the motor can drive the transmission piece to rotate so that the two sub-moving pieces can respectively move in opposite directions in the first direction.

8. The take out mechanism of claim 7, wherein said sub-mover comprises a base plate and a rack mounted to said base plate, said base plate being slidably connected to said adapter, said sub-gripper being mounted to an end of said base plate remote from the other sub-gripper;

The transmission part is a gear which is meshed with the racks of the two sub-moving parts at the same time.

9. The take-off mechanism of claim 1, further comprising a second motion assembly, wherein the first motion assembly is coupled to the mounting bracket via the second motion assembly, wherein the second motion assembly is configured to move the first motion assembly and the gripping member in a second direction, wherein the first direction and the second direction intersect.

10. The take-up mechanism of claim 9, wherein the second motion assembly comprises a second driving member, a driving wheel, a driven wheel, and a timing belt, wherein an output end of the second driving member is connected with the driving wheel, the driven wheel is mounted on the mounting frame, and the timing belt is wound around the driving wheel and the driven wheel;

The synchronous belt is connected with the first motion assembly.

11. The take-up mechanism of claim 9, wherein the second motion assembly includes a third drive member, a screw, and a screw nut, an output of the third drive member being coupled to the screw, the screw nut being threadably coupled to the screw, the screw nut being coupled to the first motion assembly.

12. The take-up mechanism of claim 1, wherein a plurality of said first moving assemblies are provided, a plurality of said gripping members are provided, and a plurality of said gripping members are connected in one-to-one correspondence with a plurality of said first moving assemblies;

the first motion components are connected to the mounting frame and arranged at intervals along the second direction, and the first direction is intersected with the second direction.

13. A take out mechanism according to claim 12, wherein said mounting frame is provided with a plurality of linear guides extending in said second direction, each said first motion assembly being movable along a corresponding said linear guide.

14. The take-off mechanism of claim 1, wherein the suction member is slidably coupled to the mounting bracket via a third motion assembly.

15. The take off mechanism of claim 1, further comprising a camera mounted to the mounting bracket, the camera for identifying the position of the web.

16. A robot comprising an automated guided vehicle, a manipulator and the reclaiming mechanism of any one of claims 1-15, the manipulator being mounted to the automated guided vehicle, the reclaiming mechanism being connected to the manipulator by the mounting bracket.

17. The PCB processing equipment is characterized by comprising a processing machine table, a bin and the robot of claim 16, wherein the bin is used for storing the material plate, the manipulator can drive the material taking mechanism to move so that the material plate can be exchanged between the bin and the processing machine table, and the processing machine table is used for processing the material plate.