TW202009118A - Gripper device for insertion - Google Patents

Abstract

A gripper device for insertion comprises a driving assembly and two gripper elements. The two gripper elements are connected to the driving assembly and the driving assembly drives at least one of the two gripper elements to move in a horizontal driving direction, so as to have the two gripper elements be close to each other. Each gripper element includes a vertical portion and a gripper portion. The vertical portion includes a first end and a second end, in which the first end is connected to the driving assembly while the gripper portion is connected to the second end. Gripper portions of the two gripper element are arranged to be parallel to each other and perpendicular to the horizontal driving direction. By utilizing the gripper device, working space on two side surfaces of the electronic device to be gripped is able to be effectively minimized.

Description

Clamping device for plug-in

The invention relates to a gripping device, in particular to a gripping device for an insert.

The plug-in operation of the current circuit board, that is, the operation of inserting the connection pins 2 of the electronic component 1 into the conductive through holes of the circuit board, is performed using the plug-in device. The plug-in device is provided with a clamping jaw 4 driven by a pneumatic cylinder 3, and the electronic component 1 is gripped by the feeding mechanism, and the electronic component 1 is moved to the circuit board to insert the pin 2 into the corresponding conductive through hole, and then the electronic component 1 is released On the circuit board.

FIG. 1 illustrates a ceramic capacitor as an example of the electronic component 1. The ceramic capacitor has a flat body. After the two clamping jaws 4 extend downward, they extend horizontally toward each other to clamp the body from the two flat sides of the electronic component 1 respectively. Therefore, the operating space S of the clamping jaw 4 must be reserved outside the two flat sides of the body to allow the clamping jaw 4 to move the electronic component 1 to the plug-in position and then open and release the electronic component 1.

However, the optimized spatial arrangement of the flat electronic components 1 is such that the flat sides are arranged parallel to each other, and the separation distance between adjacent electronic components 1 is reduced as much as possible. In order to ensure that the jaws 4 can be operated, this separation distance is often limited by the operating space S of the jaws 4 and cannot be arbitrarily reduced, which affects the space utilization efficiency on the circuit board. Even if the electronic component 1 is not a ceramic capacitor, such as a cylindrical electrolytic capacitor, an operation space S of the clamping jaw 4 needs to be reserved between adjacent electrolytic capacitors.

In order to solve the technical problem of reducing the operation space reserved for the clamping jaws and thereby shortening the separation distance between adjacent electronic components, the present invention proposes a clamping device for an insert to solve the aforementioned technical problem.

The invention provides a clamping device for an insert, which comprises a driving assembly and two clamping jaws. The two clamping jaws are connected to the driving assembly, and the driving assembly drives at least one of the two clamping jaws to move close to each other in the horizontal driving direction; the two clamping jaws respectively have a vertical portion and a clamping portion, and the vertical portion has a first end and The second end, the first end is connected to the driving assembly, and the clamping part is connected to the second end; the clamping parts of the two clamping jaws are arranged parallel to each other and perpendicular to the horizontal driving direction.

In at least one embodiment, the gripping device further includes a horizontal actuating portion, the vertical portion of at least one of the two jaws is connected to the horizontal actuating portion, and the horizontal actuating portion drives at least one of the two jaws to Move in the horizontal drive direction.

In at least one embodiment, each clamping part has at least one positioning groove, which is located on a side of the two clamping parts facing each other, and the positioning grooves of the two clamping parts are configured in pairs and can be combined into one Position perforation.

In at least one embodiment, one of the two gripping portions has at least one positioning groove, and the other gripping portion has at least one positioning protrusion, and the positioning groove and the positioning protrusion are respectively located in the two gripping portions On one side facing each other, the positioning groove and the positioning projection are arranged in pairs, and the height of the projection of the positioning projection is smaller than the depth of the recess in the positioning groove.

In at least one embodiment, each jaw further includes a horizontal extension extending from the second end, the horizontal extension of each jaw extends toward the other jaw, and the gripping portion extends indirectly from the horizontal extension Connect to the second end.

In at least one embodiment, the horizontal extension is parallel to the horizontal driving direction.

In at least one embodiment, the gripping device further includes a support rod connected to the driving assembly, and the support rod has a support portion. The support portion is located between the two gripping portions and is parallel to the two gripping portions.

In at least one embodiment, the support rod further includes a connecting portion, one end of the connecting portion is connected to the driving assembly, and the supporting portion is connected to the other end of the connecting portion.

In at least one embodiment, a clamping plane is defined between the top edges of the two clamping parts, and the top surface of the supporting part is located on the clamping plane.

In at least one embodiment, a clamping plane is defined between the top edges of the two clamping parts, and the clamping plane is located between the top surface of the support part and the drive assembly.

Through the aforementioned gripping device, the operating space reserved for the front and rear sides of the body of the electronic component for the clamping jaws can be effectively reduced, so that the separation distance between the electronic component and other electronic components in the front and rear can be shortened, and the circuit is improved The utilization rate of the electronic component configuration space on the board.

Referring to FIG. 2, FIG. 3 and FIG. 4, it is a clamping device 100 for an insert according to the first embodiment of the present invention. Insertion refers to the operation of inserting the pins 220 of the electronic component 200 into the conductive through holes 310 (Plating Through Hole) of the circuit board 300. The aforementioned electronic component 200 includes a body 210 and a plurality of pins 220; a specific embodiment of the electronic component 200 is a ceramic capacitor having a flat body 210 and two parallel pins 220. The clamping device 100 is used for clamping the electronic component 200 from the feeding mechanism or the feeding tray, placing the electronic component 200 on a circuit board 300, and inserting the pins 220 into the conductive through holes 310 of the circuit board 300. Subsequent to the soldering operation, the pins 220 are fixed to the conductive through holes 310, so that the electronic component 200 and the circuit board 300 are electrically connected.

As shown in FIGS. 2 and 3, the gripping device 100 of the first embodiment includes a driving assembly 110 and two gripping claws 120. The driving assembly 110 is used to move in the card insertion direction Y and the translation direction X, and the card insertion direction Y is perpendicular to the translation direction X. The translation direction X is parallel to the surface of the circuit board 300, and the insertion direction Y is perpendicular to the surface of the circuit board 300. The driving assembly 110 also drives the two clamping jaws 120 toward or away from each other in the horizontal driving direction Z to grip or release the electronic component 200. At the same time, the driving assembly 110 is used to drive the clamping jaw 120 to move toward or away from the circuit board 300 along the insertion direction Y, so as to place the electronic component 200 on the circuit board 300 and insert the pin 220 into the conductive through hole 310 in. In a specific embodiment, the driving assembly 110 is disposed on the two-axis mobile platform, and the two-axis mobile platform drives the translation, and moves between the feeding mechanism and the circuit board 300 along the translation direction X, and the two-axis mobile platform can The drive assembly 110 is moved up and down along the plug-in direction Y so that the drive assembly 110 can approach the circuit board 300 along the plug-in direction Y.

As shown in FIGS. 2, 3 and 4, the two jaws 120 are connected to the driving assembly 110. The driving assembly 110 has at least one horizontal actuating portion 112, at least one of the two clamping jaws 120 is connected to the horizontal actuating portion 112, and the horizontal actuating portion 112 drives at least one of the two clamping jaws 120 in the horizontal driving direction Z mobile. The two clamping jaws 120 each have a vertical portion 122 and a clamping portion 124. The vertical portion 122 has a first end 1221 and a second end 1222. The first end 1221 is connected to the driving assembly 110, and the clamping portion 124 is directly or indirectly connected to the second end 1222. When the jaws 120 and the driving assembly 110 are actually arranged, the extending direction of the vertical portion 122 is perpendicular to the horizontal driving direction Z and parallel to the card insertion direction Y, and the driving assembly 110 extends toward the surface of the circuit board 300.

As shown in FIGS. 2, 3 and 4, the driving assembly 110 is used to drive at least one of the two jaws 120 to move, so that the two jaws 120 are close to each other, thereby utilizing the gripping portion of the two jaws 120 124 Clip the body 210 of the electronic component 200. In a specific embodiment, the vertical portion 122 of one of the two clamping jaws 120 is connected to the horizontal actuating portion 112 of the driving assembly 110 with its first end 1221 so that one clamping jaw 120 can be perpendicular to the horizontal driving direction The Z direction moves and approaches toward the other clamping jaw 120, so that the second clamping portion 124 clamps the electronic component 200. The preferred configuration is that the vertical portions 122 of the two clamping jaws 120 are connected to the horizontal actuating portion 112 at the first end 1221 respectively, and the horizontal actuating portion 112 can drive the two clamping jaws 120 to move in opposite directions in the horizontal driving direction. , And drive the jaws 120 to move closer or farther away from each other.

As shown in FIG. 4, the gripping portions 124 of the two gripping claws 120 are arranged parallel to each other and perpendicular to the horizontal driving direction Z, and the gripping portion 124 laterally grips the body 210. When the gripping device 100 performs a plug-in operation on the circuit board 300 that is placed horizontally (parallel to the translation direction X), the gripping portion 124 may be parallel to the horizontal plane, which is beneficial to exert a balanced force on the electronic component 200.

The gripping portion 124 of the two gripping claws 120 can directly grip the body 210 of the electronic component 200, in particular, contact the two flat sides of the flat body 210 for gripping. In the electronic component 200, there are only two pins 220, or there are more than two pins 220 and the pins 220 are arranged parallel to each other on the same plane, and the pinching portion 124 can also pinch the pins 220.

As shown in FIGS. 2, 3 and 4, each jaw 120 further includes a horizontally extending portion 126 extending from the second end 1222 of the vertical portion 122, and the horizontally extending portion 126 may be parallel to the horizontal driving direction Z. The horizontal extension 126 of each jaw 120 extends toward the other jaw 120, while the horizontal extension 126 of the two jaws 120 extends relatively. Each clamping portion 124 extends from each horizontal extension 126 and is indirectly connected to each second end 1222.

As shown in the figure, through the arrangement of the horizontally extending portion 126, the separation distance between the two vertical portions 122 does not need to be equal to the separation distance between the two gripping portions 124, that is, between the gripping portions 124 The separation distance can be adjusted through the horizontal extension 126 without being limited to the separation distance between the vertical parts 122. Therefore, the vertical portion 122 of the clamping jaw 120 can still be connected to the relatively large-sized driving assembly 110, and the interval between the clamping portions 124 can be adjusted through the horizontal extension portion 126, which is still suitable for clamping small-sized electrons. Element 200.

As shown in FIG. 2, FIG. 3 and FIG. 4, each clamping portion 124 has at least one positioning groove 1242 on one side of the two clamping portions 124 facing each other, and the positioning grooves of the two clamping portions 124 1242 is configured in pairs and can be combined into a positioning through hole 125. In the two clamping jaws 120 designed for the electronic component 200 with two pins 220, each clamping portion 124 has two positioning grooves 1242 respectively, and two pairs of positioning grooves 1242 are formed on the two clamping portions 124.

As shown in FIGS. 5 and 6, when the clamping portions 124 are close to each other, the two pairs of positioning grooves 1242 form two positioning through holes 125, the two positioning through holes 125 are parallel to the insertion direction Y, and the two positioning through holes 125 The separation distance between them is equal to the separation distance between the two pins 220. The positioning through hole 125 is used for accommodating the pin 220 so that the pin 220 will not slide in the translation direction X, and the positioning through hole 125 can also form a restraining effect on the pin 220 in the insertion direction Y so that the pin 220 will not be skewed , And can be accurately inserted into the pin 220 jack of the circuit board 300. In a specific embodiment, the diameter of the positioning through hole 125 is equal to or smaller than the diameter of the pin 220 to ensure that the two pinching portions 124 can pinch the pin 220.

Referring to FIG. 7, when there are more than two pins 220 and the pins 220 are arranged parallel to each other on the same plane, the number of positioning grooves 1242 is also set to be the same as the number of pins 220. For example, when the number of pins 220 is three, the number of positioning grooves 1242 increases to three, and the separation distance between adjacent positioning grooves 1242 is equal to the separation distance between adjacent pins 220. Three pairs of positioning grooves 1242 are formed on the two clamping parts 124. When the clamping parts 124 are close to each other, the three pairs of positioning grooves 1242 form three positioning through holes 125 for clamping three pins 220.

Refer to FIG. 8 and FIG. 9 for another variation of the positioning structure. One of the two clamping parts 124 has at least one positioning groove 1242, and the other clamping part 124 has a positioning protrusion 1246, and the positioning groove 1242 and the positioning protrusion 1246 are respectively located on the two clamping parts 124 facing each other One side, and the positioning groove 1242 and the positioning projection 1246 are paired. The height of the positioning protrusion 1246 protruding from the clamping portion 124 is smaller than the depth of the positioning groove 1242 recessed in the clamping portion 124, so that the positioning groove 1242 and the positioning protrusion 1246 can be combined into a positioning space 128. When actually pinching the pin 220, the positioning protrusion 1246 is used to press the pin 220, and the pin 220 is pressed and fixed in the positioning groove 1242.

As shown in FIG. 10, the two clamping portions 124 are parallel and parallel, and extend horizontally from the vertical portion 122 toward the same side. When the gripping device 100 grips the electronic component 200, the two gripping portions 124 extend from one side of the electronic component 200 into the body 210, instead of moving downward from the top of the body 210 to both sides of the body 210. After the electronic component 200 is released, the gripping portion 124 also moves horizontally first, and separates from one side of the body 210. Therefore, there is no need to reserve a large space on both sides of the body 210 for the clamping portion 124 to move up and down. The spacing distance between adjacent electronic components 200 can be reduced, and only one side needs to be reserved for the clamping portion 124 of the clamping claw 120 to move along Just move in the translation direction X.

Referring to FIG. 11 again, in the case where there is no restriction on the operation space, the gripping portion 124 can still extend from the side of the body 210 into the bottom of the body 210, and the two gripping portions 124 respectively abut one from the outer side of the pin 220 The pin 220 grabs the pin 220 with an appropriate pressure. At this time, the positioning grooves 1242 arranged in pairs on the second clamping portion 124 can be inserted into the pins 220 to prevent the pins 220 from sliding laterally and causing the electronic component 200 to fall off between the two clamping portions 124.

Referring to FIG. 12, FIG. 13 and FIG. 14, it is a clamping device 100 for an insert according to a second embodiment of the present invention. The electronic component 200 applicable to the gripping device 100 of the second embodiment includes a body 210 and a plurality of pairs of pins 220 arranged in pairs. The pins 220 are symmetrically disposed on both sides of the body 210 and extend toward the same direction.

As shown in FIGS. 12 and 13, the gripping device 100 of the second embodiment includes a driving assembly 110, two jaws 120 and a support bar 130. The driving assembly 110 and the two clamping jaws 120 are substantially the same as those of the first and second embodiments. The support rod 130 is connected to the driving assembly 110 and is located between the two jaws 120. The support rod 130 has at least a connection portion 132 and a support portion 134. One end of the connecting portion 132 is connected to the driving assembly 110, and the supporting portion 134 is connected to the other end of the connecting portion 132, so that the supporting portion 134 is located between the two clamping portions 124 for carrying the body 210 of the electronic component 200, and each A pair of pins 220 are symmetrically located on both sides of the support portion 134. The supporting portion 134 is substantially parallel to the translation direction X, that is, the supporting portion 134 is parallel to the second clamping portion 124, so that the second clamping portion 124 can clamp the body 210 or clamp the pins 220 on both sides of the supporting portion 134 .

As shown in FIG. 15, in the second embodiment, a clamping plane C is defined between the top edges of the two clamping parts 124, and the top surface of the support part 134 is substantially located on the clamping plane C. That is to say, after the two clamping parts 124 continue to approach each other, the two clamping parts 124 will finally clamp the support part 134 or clamp the pin 220. In this embodiment, the support portion 134 is used to support the bottom of the body 210 of the electronic component 200, that is, to support the body 210 on the support portion 134. After the two gripping portions 124 continue to approach each other, they respectively contact the symmetrically arranged pins 220 with an appropriate force to fix the electronic component 200 on the support portion 134. Through this clamping method, the extension direction of the pin 220 can be kept directed toward the surface of the circuit board 300, and the pin 220 can be smoothly inserted when the driving assembly 110 is moved toward the circuit board 300 along the insertion direction Y Conductive via 310.

FIG. 16 is another relative positional relationship between the clamping portion 124 and the support rod 130. Similarly, a clamping plane C is defined between the top edges of the two clamping parts 124, and the clamping plane C is located between the top surface of the support part 134 and the driving assembly 110. That is, when the driving assembly 110 is up and the clamping jaws 120 are down, the height of the clamping plane C is higher than the height of the top surface of the support portion 134. The supporting portion 134 is also used to support the bottom of the body 210 of the electronic component 200, and the supporting body 210 is supported on the supporting portion 134. At this time, the clamping plane C penetrates through the body 210. Therefore, when the two clamping parts 124 continue to approach each other, the two clamping parts 124 clamp the body 210, thereby fixing the electronic component 200 on the supporting part 134. This clamping method can effectively fix the body 210, and likewise make the extension direction of the pin 220 point to the surface of the circuit board 300.

Through the gripping device 100 of the foregoing embodiment, when the plug-in operation is performed to grip the electronic component 200, the gripping device 100 extends laterally into the bottom of the electronic component 200 to perform gripping. After releasing the electronic component 200, the gripping device 100 100 is also laterally disengaged by the electronic component 200 without passing through the front and rear sides of the body 210 of the electronic component 200. Therefore, the operation space reserved for the jaws 120 on the front and rear sides of the body 210 can be effectively reduced, so that the separation distance between the electronic component 200 and other electronic components 200 in front and back can be shortened, and the electronic on the circuit board 300 is improved The utilization of the configuration space of the element 200.

1‧‧‧Electronic component 2‧‧‧Pin 3‧‧‧Pneumatic cylinder 4‧‧‧Clamp S‧‧‧Operating space 100‧‧‧Clamping device 110‧‧‧‧Drive assembly 112‧‧‧ Movable part 120‧‧‧Claw 122‧‧‧Vertical part 1221‧‧‧First end 1222‧‧‧Second end 124‧‧‧Clamping part 1242‧‧‧Locating groove 1246‧‧‧Locating projection 125 ‧‧‧Positioning perforation 126‧‧‧horizontal extension 128‧‧‧positioning space 130‧‧‧support bar 132‧‧‧connecting part 134‧‧‧support part 200‧‧‧electronic component 210‧‧‧main body 220‧‧ ‧Lead 300‧‧‧Circuit board 310‧‧‧Conducting through hole X‧‧‧Pan direction Y‧‧‧Plug direction Z‧‧‧Horizontal drive direction C‧‧‧Clamping plane

Fig. 1 is a front view of a jaw in the prior art. 2 is an exploded perspective view of the gripping device in the first embodiment of the present invention. Fig. 3 is a perspective view of the gripping device in the first embodiment of the present invention. 4 is another perspective view of the gripping device in the first embodiment of the present invention, showing the gripping device gripping electronic components and performing plug-in operations. FIG. 5 is a top view of the clamping portion in the first embodiment of the present invention, showing the positioning grooves arranged in pairs. FIG. 6 is another top view of the clamping portion in the first embodiment of the present invention, showing that the positioning groove is combined into a positioning jack. FIG. 7 is another top view of the clamping portion in the first embodiment of the present invention, showing that each clamping portion has more than two positioning grooves. FIG. 8 is another plan view of the gripping portion in the first embodiment of the present invention, showing the positioning grooves and positioning projections arranged in pairs. 9 is another plan view of the gripping portion in the first embodiment of the present invention, showing that the positioning groove and the positioning protrusion are combined into a positioning space. FIG. 10 is another perspective view of the gripping device in the first embodiment of the present invention, showing the direction of movement of the gripping device away from the electronic component after completing the plug-in operation. 11 is another perspective view of the gripping device in the first embodiment of the present invention, showing the gripping device gripping an electronic component. 12 is an exploded perspective view of the gripping device in the second embodiment of the present invention. 13 is a perspective view of a gripping device in a second embodiment of the invention. 14 is another perspective view of the gripping device in the second embodiment of the present invention, showing the gripping device gripping electronic components. 15 is a front view of the gripping portion and the support portion in the second embodiment of the present invention, showing the gripping plane, the relative position of the gripping portion and the support portion. 16 is another front view of the gripping portion and the support portion in the second embodiment of the present invention, showing the gripping plane, the relative position of the gripping portion and the support portion.

100‧‧‧ gripping device

110‧‧‧Drive assembly

120‧‧‧jaw

122‧‧‧Vertical Department

124‧‧‧Clamping Department

126‧‧‧Horizontal extension

200‧‧‧Electronic components

210‧‧‧Body

220‧‧‧pin

300‧‧‧ circuit board

310‧‧‧conductive through hole

X‧‧‧Pan direction

Y‧‧‧Plug direction

Z‧‧‧Horizontal drive direction

Claims (10)

A clamping device for an insert includes: a driving assembly; and two clamping jaws connected to the driving assembly, and the driving assembly drives at least one of the two clamping jaws to move in a horizontal driving direction Close to each other; the two clamping jaws respectively have a vertical portion and a clamping portion, the vertical portion has a first end and a second end, the first end is connected to the driving assembly, and the clamping portion is connected to The second end; the gripping portions of the two jaws are arranged parallel to each other and perpendicular to the horizontal driving direction. The gripping device for an insert as described in claim 1, further comprising a horizontal actuating portion, at least one of the vertical portions of the two jaws is connected to the horizontal actuating portion, and the horizontal actuating portion is driven At least one of the two jaws moves in the horizontal driving direction. The clamping device for an insert as claimed in claim 1, wherein each of the clamping parts respectively has at least one positioning groove located on a side of the two clamping parts facing each other, and the two clamping parts The positioning grooves are arranged in pairs and can be combined into a positioning through hole. The gripping device for an insert as claimed in claim 1, wherein one of the two gripping parts has at least one positioning groove, and the other of the gripping parts has at least one positioning protrusion, the positioning concave The groove and the positioning protrusion are respectively located on a side of the two clamping portions facing each other, the positioning groove and the positioning protrusion are arranged in pairs, and the height of the positioning protrusion protruding is less than the depth of the recess of the positioning groove . The clamping device for an insert as claimed in claim 1, wherein each of the clamping jaws further includes a horizontal extension extending to the second end, and the horizontal extension of each of the clamping jaws faces the other clamping The claw extends, and the gripping portion extends from the horizontally extending portion and is indirectly connected to the second end. The gripping device for an insert according to claim 1, wherein the horizontal extension is parallel to the horizontal driving direction. The gripping device for an insert as described in claim 1, further comprising a support rod connected to the driving assembly, and the support rod has a support portion between the two gripping portions, and Parallel to the two gripping parts. The gripping device for an insert as described in claim 7, wherein the support rod further includes a connecting portion, one end of the connecting portion is connected to the driving assembly, and the supporting portion is connected to the other end of the connecting portion . The clamping device for an insert as claimed in claim 7, wherein a clamping plane is defined between the top edges of the two clamping parts, and a top surface of the supporting part is located on the clamping plane. The clamping device for an insert as described in claim 7, wherein a clamping plane is defined between the top edges of the two clamping parts, and the clamping plane is located on a top surface of the support part and the driving assembly between.

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