TWI665069B - Gripper device for insertion - Google Patents

Abstract

A clamping device for an insert card includes 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 in the horizontal driving direction to approach each other; the two clamping jaws have a vertical portion and a gripping portion, respectively, and the vertical portion has a first end and The second end, the first end is connected to the driving assembly, and the clamping portion is connected to the second end; the clamping portions of the two clamping jaws are arranged in parallel with each other and perpendicular to the horizontal driving direction. With this clamping device, the operation space reserved for the clamping claws on the front and rear sides of the body of the electronic component can be effectively reduced.

Description

Gripping device for insert

The present invention relates to a gripping device, and more particularly to a gripping device for a card.

The current plug-in operation of the circuit board, that is, the operation of inserting the connection pin 2 of the electronic component 1 into the conductive through hole of the circuit board, is performed using a plug-in device. The plug-in device is provided with a clamping jaw 4 driven by a pneumatic cylinder 3, 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.

Figure 1 illustrates a ceramic capacitor as an example of the electronic component 1. The ceramic capacitor has a flat body. After the two clamping claws 4 extend downward, they horizontally extend toward each other, so as to clamp the bodies from the two flat sides of the electronic component 1 respectively. Therefore, the operating space S of the gripper 4 must be reserved outside the two flat sides of the body, so that the gripper 4 can open and release the electronic component 1 after the electronic component 1 is moved to the insertion position.

However, the optimized spatial configuration of the flat electronic components 1 is such that flat sides are arranged in parallel to each other, and the distance between adjacent electronic components 1 is reduced as much as possible. In order to ensure that the clamping claw 4 can be operated, this interval is often limited by the operating space S of the clamping claw 4 and cannot be arbitrarily reduced, which affects the space utilization efficiency of the circuit board. Even if the electronic component 1 is not a ceramic capacitor, such as a cylindrical electrolytic capacitor, an operating space S of the clamping claw 4 still 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 distance between adjacent electronic components, the present invention proposes a clamping device for a plug-in, which is used to solve the aforementioned technical problem.

The invention proposes a clamping device for a card, 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 in the horizontal driving direction to approach each other; the two clamping jaws have a vertical portion and a gripping portion, respectively, and the vertical portion has a first end and The second end, the first end is connected to the driving assembly, and the clamping portion is connected to the second end; the clamping portions of the two clamping jaws are arranged in parallel with each other and perpendicular to the horizontal driving direction.

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

In at least one embodiment, each gripping portion has at least one positioning groove, which is located on a side of the two gripping portions facing each other, and the positioning grooves of the two gripping portions are configured in pairs and can be combined into one. Position the 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. The positioning groove and the positioning protrusion are respectively located in the two gripping portions. On a side facing each other, the positioning groove and the positioning projection are arranged in pairs, and the protruding height of the positioning projection is smaller than the depth of the indentation of the positioning groove.

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

In at least one embodiment, the horizontally extending portion is parallel to the horizontal driving direction.

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

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

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

In at least one embodiment, a clamping plane is defined between the top edges of the two clamping portions, and the clamping plane is located between the top surface of the support portion and the driving assembly.

Through the aforementioned clamping device, the operation space reserved for the clamping claws on the front and rear sides of the electronic component body can be effectively reduced, so that the distance between the electronic component and other electronic components in the front and rear can be shortened, and the circuit can be improved. Utilization of space for electronic components on board.

Referring to FIG. 2, FIG. 3 and FIG. 4, a first embodiment of the present invention is a clamping device 100 for a card. 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 main body 210 and a plurality of pins 220. A specific embodiment of the electronic component 200 is a ceramic capacitor, which has a flat body 210 and two parallel pins 220. The clamping device 100 is used to clamp the electronic component 200 from the feeding mechanism or the feeding tray, place the electronic component 200 on a circuit board 300, and insert the pins 220 into the conductive through holes 310 of the circuit board 300. Subsequently, the lead 220 is fixed to the conductive through hole 310 through a soldering operation, so that the electronic component 200 and the circuit board 300 are electrically connected.

As shown in FIG. 2 and FIG. 3, the clamping device 100 of the first embodiment includes a driving assembly 110 and two clamping jaws 120. The driving assembly 110 is configured to move in the plug-in direction Y and the translation direction X, and the plug-in 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 plug-in 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 clamp or release the electronic component 200. At the same time, the driving assembly 110 is used to drive the gripper 120 to move toward or away from the circuit board 300 along the plug-in direction Y 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 is driven to translate by the two-axis mobile platform, and moves along the translation direction X between the feeding mechanism and the circuit board 300, and the two-axis mobile platform can be The drive assembly 110 is moved up and down along the plug-in direction Y so that the drive assembly 110 can be approached toward the circuit board 300 along the plug-in direction Y.

As shown in FIGS. 2, 3 and 4, the two clamping 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 grippers 120 is connected to the horizontal actuating portion 112, and the horizontal actuating portion 112 drives at least one of the two grippers 120 in the horizontal driving direction Z. mobile. The two clamping jaws 120 each include 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 gripping portion 124 is directly or indirectly connected to the second end 1222. When the gripper 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 plug-in direction Y, and the driving assembly 110 extends toward the surface of the circuit board 300.

As shown in FIG. 2, FIG. 3, and FIG. 4, the driving assembly 110 is used to drive at least one of the two clamping jaws 120 to move, so that the two clamping jaws 120 are close to each other, thereby utilizing the clamping portion of the two clamping jaws 120. 124 clamps 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 the first end 1221 thereof, so that one clamping jaw 120 can be perpendicular to the horizontal driving direction. The electronic device 200 moves in the direction of Z and approaches toward the other clamping claw 120, so that the two clamping portions 124 clamp the electronic component 200. The preferred configuration is that the vertical portions 122 of the two jaws 120 are connected to the horizontal actuation portion 112 with the first ends 1221, respectively, and the horizontal actuation portion 112 can drive the two jaws 120 to move in opposite directions in the horizontal driving direction. , And the driving jaws 120 move to approach each other or away from each other.

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

The clamping portion 124 of the two clamping claws 120 can directly clamp the main body 210 of the electronic component 200, in particular, the two flat side surfaces contacting the flat body 210 for clamping. The number of pins 220 of the electronic component 200 is only two, or the number of pins 220 is more than two, and the pins 220 are arranged parallel to each other on the same plane, and the gripping portion 124 can also grip the pins 220.

As shown in FIG. 2, FIG. 3 and FIG. 4, each gripper 120 further includes a horizontal extension portion 126 extending from the second end 1222 of the vertical portion 122, and the horizontal extension portion 126 may be parallel to the horizontal driving direction Z. The horizontal extending portion 126 of each clamping jaw 120 extends toward the other clamping jaw 120, and the horizontal extending portions 126 of the two clamping jaws 120 extend relatively. Each gripping portion 124 extends from each horizontally extending portion 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 need not be equal to the separation distance between the two clamping portions 124, that is, the distance between the clamping portions 124 The separation distance can be adjusted through the horizontal extension portion 126 without being limited by the separation distance between the vertical portions 122. Therefore, the vertical portion 122 of the clamping jaw 120 can still be connected to a relatively large-sized drive assembly 110, and the distance between the clamping portions 124 can be adjusted by the horizontal extension portion 126, which is still suitable for clamping small-sized electronics. Component 200.

As shown in FIG. 2, FIG. 3, and FIG. 4, each gripping portion 124 has at least one positioning groove 1242, which is located on a side of the two gripping portions 124 facing each other, and the positioning grooves of the two gripping portions 124. 1242 is a pair configuration and can be combined into a positioning perforation 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, and two pairs of positioning grooves 1242 are formed on the two clamping portions 124.

As shown in FIG. 5 and FIG. 6, when the gripping portions 124 are close to each other, two pairs of positioning grooves 1242 form two positioning holes 125, the two positioning holes 125 are parallel to the inserting direction Y, and The separation distance is equal to the separation distance between the two pins 220. The positioning hole 125 is used to receive the pin 220 so that the pin 220 does not slide in the translation direction X, and the positioning hole 125 can also restrain the pin 220 in the plug-in direction Y so that the pin 220 does not deflect , And can be accurately inserted into the 220-pin 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 clamping portions 124 can clamp the pin 220.

Referring to FIG. 7, when there are more than two pins 220 and the pins 220 are arranged in parallel on the same plane, the number of the 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 is increased 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 portions 124. When the clamping portions 124 are close to each other, the three positioning grooves 1242 form three positioning holes 125 for clamping three pins 220.

Refer to FIG. 8 and FIG. 9, which are modified examples of another positioning structure. One of the two gripping portions 124 has at least one positioning groove 1242, and the other gripping portion 124 has a positioning protrusion 1246. The positioning groove 1242 and the positioning protrusion 1246 are respectively located on the two gripping portions 124 facing each other. On one side, the positioning groove 1242 and the positioning projection 1246 are arranged in pairs. The height of the positioning protrusion 1246 protruding from the gripping portion 124 is smaller than the depth of the positioning groove 1242 recessed in the gripping portion 124, so that the positioning groove 1242 and the positioning protrusion 1246 can be combined into a positioning space 128. When the pin 220 is actually clamped, the positioning pin 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 to each other 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 below the main body 210, instead of moving downward from the top of the main body 210 to both sides of the main body 210. After the electronic component 200 is released, the gripping portion 124 is also first moved horizontally, and is separated from one side of the main body 210. Therefore, there is no need to leave a large space on both sides of the body 210 for the gripping portion 124 to move up and down, and the distance between adjacent electronic components 200 can be reduced. Only one side of the gripping portion 124 for the gripper 120 needs to be kept along. Just move in the pan direction X.

Referring again to FIG. 11, in the case that there is no operating space limitation, the gripping portion 124 can still extend below the body 210 from the side of the body 210, and the two gripping portions 124 abut against one of the pins 220 from the outside. The pin 220 grasps the pin 220 with an appropriate pressure. At this time, the positioning grooves 1242 arranged in pairs on the two clamping portions 124 can be inserted into the pins 220 to prevent the electronic components 200 from falling off between the two clamping portions 124 due to the lateral sliding of the pins 220.

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

As shown in FIG. 12 and FIG. 13, the gripping device 100 of the second embodiment includes a driving assembly 110, two clamping jaws 120, and a supporting rod 130. The driving assembly 110 and the two clamping jaws 120 are substantially the same as the driving assembly 110 and the clamping jaws 120 of the first and second embodiments. The support rod 130 is connected to the driving assembly 110 and is located between the two clamping jaws 120. The support rod 130 includes 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 gripping 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 supporting portion 134. The support portion 134 is substantially parallel to the translation direction X, that is, the support portion 134 is parallel to the two gripping portions 124, so that the two gripping portions 124 can grip the body 210 or the pins 220 located on both sides of the support portion 134. .

As shown in FIG. 15, in the second embodiment, a gripping plane C is defined between the top edges of the two gripping portions 124, and the top surface of the supporting portion 134 is substantially located at the gripping plane C. That is, after the two clamping portions 124 continue to approach each other, the two clamping portions 124 finally clamp the supporting portion 134 or the pin 220. In this embodiment, the supporting portion 134 is used to support the bottom of the body 210 of the electronic component 200, that is, the supporting body 210 is supported on the supporting portion 134. After the two clamping portions 124 continue to approach each other, they respectively contact the symmetrically disposed pins 220 with an appropriate force, so as to fix the electronic component 200 on the supporting portion 134. Through this clamping method, the extension direction of the pin 220 can be kept pointing to 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 in the plug-in 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 portions 124, and the clamping plane C is located between the top surface of the support portion 134 and the driving assembly 110. That is, when the driving assembly 110 is up and the clamping claw 120 is 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 main body 210 of the electronic component 200, and the supporting body 210 is supported on the supporting portion 134. At this time, the gripping plane C penetrates the body 210, so after the two gripping portions 124 continue to approach each other, the two gripping portions 124 grip the body 210, thereby fixing the electronic component 200 on the supporting portion 134. This clamping method can effectively fix the body 210, and similarly, the extension direction of the pin 220 is directed 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 from the side of the electronic component 200 to the underside of the electronic component 200 to perform gripping, and the gripping device is released after the electronic component 200 is released. 100 is also separated from the side of the electronic component 200 without passing through the front side and the rear side of the body 210 of the electronic component 200. Therefore, the operation space reserved for the gripper 120 on the front side and the rear side of the body 210 can be effectively reduced, so that the distance between the electronic component 200 and other electronic components 200 in the front and rear can be shortened, and the electronics on the circuit board 300 can be improved. Utilization of the space for the configuration of the component 200.

1‧‧‧Electronic components

2‧‧‧ pins

3‧‧‧ pneumatic cylinder

4‧‧‧Jaw

S‧‧‧Operating space

100‧‧‧Clamping device

110‧‧‧Drive Assembly

112‧‧‧Horizontal Actuator

120‧‧‧Claw

122‧‧‧Vertical

1221‧‧‧ the first end

1222‧‧‧Second End

124‧‧‧Pick-up section

1242‧‧‧Pocket

1246‧‧‧Positioning bump

125‧‧‧ positioning perforation

126‧‧‧Horizontal extension

128‧‧‧ positioning space

130‧‧‧ support bar

132‧‧‧Connection Department

134‧‧‧ support

200‧‧‧Electronic components

210‧‧‧ Ontology

220‧‧‧pin

300‧‧‧Circuit Board

310‧‧‧ conductive via

X‧‧‧ pan direction

Y‧‧‧plugin direction

Z‧‧‧Horizontal driving direction

C‧‧‧Clamping plane

FIG. 1 is a front view of a clamping jaw in the prior art. FIG. 2 is an exploded perspective view of a gripping device in the first embodiment of the present invention. 3 is a perspective view of a gripping device in the first embodiment of the present invention. FIG. 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 a plug-in operation. FIG. 5 is a plan view of a gripping portion in a first embodiment of the present invention, showing positioning grooves arranged in pairs. FIG. 6 is another plan view of the clamping portion in the first embodiment of the present invention, showing that the positioning groove is combined into a positioning socket. FIG. 7 is another plan 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 clamping portion in the first embodiment of the present invention, showing the positioning grooves and the positioning protrusions arranged in pairs. FIG. 9 is another plan view of the clamping portion in the first embodiment of the present invention, showing that the positioning groove and the positioning projection 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 moving direction of the gripping device away from the electronic component after the insertion operation is completed. FIG. 11 is another perspective view of the gripping device in the first embodiment of the present invention, showing the gripping device gripping electronic components. FIG. 12 is an exploded perspective view of a gripping device in a second embodiment of the present invention. 13 is a perspective view of a gripping device in a second embodiment of the present invention. FIG. 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 a gripping portion and a supporting portion in a second embodiment of the present invention, showing a gripping plane, and relative positions of the gripping portion and the supporting portion. FIG. 16 is another front view of the gripping portion and the supporting portion in the second embodiment of the present invention, showing the gripping plane, and the relative positions of the gripping portion and the supporting portion.

Claims (9)

A clamping device for a plug-in includes: a driving assembly; 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 to each other Close to; the two clamping jaws have a vertical portion and a clamping portion, respectively, the vertical portion has a first end and a second end, the first end is connected to the drive assembly, and the clamping portion is connected to the The second end; the gripping portions of the two clamping jaws are arranged in parallel with each other and perpendicular to the horizontal driving direction; and a supporting rod connected to the driving assembly, and the supporting rod has a supporting portion, the supporting portion It is located between the two clamping portions and is parallel to the two clamping portions. The gripping device for a plug-in according to claim 1, further comprising a horizontal actuating portion, a 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 clamping jaws moves in the horizontal driving direction. The gripping device for a plug-in according to claim 1, wherein each of the gripping portions has at least one positioning groove, which is located on a side of the two gripping portions facing each other, and the two gripping portions The positioning grooves are arranged in pairs and can be combined into one positioning perforation. The gripping device for a plug-in according to claim 1, wherein one of the two gripping portions has at least one positioning groove, and the other gripping portion has at least one positioning protrusion, the positioning recess The groove and the positioning projection are respectively located on a side facing each other of the two gripping portions. The positioning groove and the positioning projection are arranged in pairs, and the protruding height of the positioning projection is less than the depth of the recess of the positioning groove. . The clamping device for a plug-in according to claim 1, wherein each of the clamping jaws further includes a horizontal extending portion extending to the second end, and each of the horizontal extending portions of the clamping jaws faces another clamping portion. The claw extends, and the grip portion extends from the horizontal extension portion and is indirectly connected to the second end. The gripping device for a card according to claim 5, wherein the horizontally extending portion is parallel to the horizontal driving direction. The gripping device for a plug-in according to claim 1, wherein the supporting 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 a plug-in according to claim 1, wherein a clamping plane is defined between the top edges of the two clamping portions, and a top surface of the supporting portion is located on the clamping plane. The clamping device for a plug-in according to claim 1, wherein a clamping plane is defined between the top edges of the two clamping portions, and the clamping plane is located on a top surface of the supporting portion and the driving assembly. between.