WO2013063847A1 - Fully automated punching mechanical hand - Google Patents

Fully automated punching mechanical hand Download PDF

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Publication number
WO2013063847A1
WO2013063847A1 PCT/CN2011/084434 CN2011084434W WO2013063847A1 WO 2013063847 A1 WO2013063847 A1 WO 2013063847A1 CN 2011084434 W CN2011084434 W CN 2011084434W WO 2013063847 A1 WO2013063847 A1 WO 2013063847A1
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WO
WIPO (PCT)
Prior art keywords
axis
driving
flexible circuit
moving
circuit board
Prior art date
Application number
PCT/CN2011/084434
Other languages
French (fr)
Chinese (zh)
Inventor
史洪智
Original Assignee
深圳市麦肯机电有限公司
Priority date (The priority date is an assumption and is not a legal conclusion. Google has not performed a legal analysis and makes no representation as to the accuracy of the date listed.)
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Publication date
Priority to CN 201120423586 priority Critical patent/CN202292880U/en
Priority to CN201120423586.4 priority
Application filed by 深圳市麦肯机电有限公司 filed Critical 深圳市麦肯机电有限公司
Publication of WO2013063847A1 publication Critical patent/WO2013063847A1/en

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Classifications

    • HELECTRICITY
    • H05ELECTRIC TECHNIQUES NOT OTHERWISE PROVIDED FOR
    • H05KPRINTED CIRCUITS; CASINGS OR CONSTRUCTIONAL DETAILS OF ELECTRIC APPARATUS; MANUFACTURE OF ASSEMBLAGES OF ELECTRICAL COMPONENTS
    • H05K3/00Apparatus or processes for manufacturing printed circuits
    • H05K3/0011Working of insulating substrates or insulating layers
    • H05K3/0044Mechanical working of the substrate, e.g. drilling or punching
    • H05K3/005Punching of holes
    • BPERFORMING OPERATIONS; TRANSPORTING
    • B25HAND TOOLS; PORTABLE POWER-DRIVEN TOOLS; MANIPULATORS
    • B25JMANIPULATORS; CHAMBERS PROVIDED WITH MANIPULATION DEVICES
    • B25J9/00Programme-controlled manipulators
    • B25J9/02Programme-controlled manipulators characterised by movement of the arms, e.g. cartesian coordinate type
    • B25J9/023Cartesian coordinate type
    • B25J9/026Gantry-type

Abstract

Disclosed is a fully automated punching mechanical hand used for punching flexible circuit boards, and comprising a machine frame (1). Provided on the machine frame (1) are a discharge apparatus (2), a transporting mechanism (3), a loading grip mechanism (4) and an unloading grip mechanism (5), wherein the transporting mechanism (3) comprises a Y-axis moving mechanism, a Y-axis driving mechanism, an x-axis moving mechanism, an x-axis driving mechanism and a clamp seat (31). The clamp seat (31) is used for clamping a flexible circuit board. The clamp seat (31) moves synchronously with the x-axis driving mechanism, and the x-axis driving mechanism drives the motion of the x-axis moving mechanism in the direction of the x-axis. The x-axis moving mechanism moves synchronously with the x-axis driving mechanism and the y-axis driving mechanism, and the y-axis driving mechanism drives the motion of the y-axis moving mechanism in the direction of the y-axis. On the basis of the automated delivery system, the automated punching mechanical hand is augmented, punching being automated and material loading and unloading being automated, saving labour and increasing efficiency.

Description

全自动沖孔机械手  Fully automatic punching robot
技术领域 Technical field
本实用新型属于印刷电路板技术领域, 具体涉及一种直接加装于现 有半自动沖孔机上的全自动沖孔机械手。 背景技术  The utility model belongs to the technical field of printed circuit boards, and particularly relates to a fully automatic punching manipulator directly attached to an existing semi-automatic punching machine. Background technique
随着 FPC即柔性线路板和薄膜开关近年来的快速发展, 产量增大, 沖孔工序所需人数大幅增加。  With the rapid development of FPC, namely flexible circuit boards and membrane switches, in recent years, the output has increased, and the number of people required for the punching process has increased significantly.
一般厂家所使用的沖孔机为半自动, 人手工送料到有效范围, 沖孔 机自动对准完成沖孔, 人手再送到下个位置。 缺点是效率低、 劳动强度 大。 随着经济的发展, 人力成本的不断上升以及熟练工人的锐减, 已成 为制约 FPC和薄膜开关产业发展的重要问题。 针对这点, 我公司之前已 研发沖孔机自动送料系统, 并获得实用新型专利, 使用该系统, 可以一 人操作 3至 4台沖孔机。 但其局限性是每次只能加工一张板, 加工完后 需要人工更换下一张板, 对于板面孔数较少的情况, 发挥不出节省人力 的作用。 实用新型内容  The punching machine used by the general manufacturer is semi-automatic, and the manual feeding is carried out to the effective range. The punching machine automatically aligns to complete the punching, and the manual is sent to the next position. The disadvantages are low efficiency and high labor intensity. With the development of the economy, the rising cost of labor and the sharp decline of skilled workers have become important issues restricting the development of FPC and membrane switch industry. In response to this, our company has previously developed an automatic feeding system for punching machines and obtained a utility model patent. With this system, 3 to 4 punching machines can be operated by one person. However, the limitation is that only one board can be processed at a time, and the next board needs to be manually replaced after processing. For the case where the number of faces is small, the effect of saving manpower is not exerted. Utility model content
本实用新型的目的在于提供一种直接加装在现有半自动沖孔机构 上的全自动沖孔机械手, 彻底解放人力、 提高效率, 劳动强度低, 工伤 风险低。  The purpose of the utility model is to provide a fully automatic punching manipulator directly attached to the existing semi-automatic punching mechanism, which completely liberates manpower, improves efficiency, has low labor intensity and low risk of work injury.
为解决上述技术问题, 本实用新型提供一种全自动沖孔机械手, 用 于对柔性电路板的沖孔, 包括机架, 机架上设有:  In order to solve the above technical problem, the utility model provides a fully automatic punching manipulator for punching a flexible circuit board, including a frame, and the frame is provided with:
放料装置, 其上放置有柔性电路板;  a discharging device on which a flexible circuit board is placed;
般运机构, 其般运柔性电路板至少通过上板位、 沖孔位和下料位; 上料手抓机构, 将放料装置上放置的柔性电路板运送至上板位; 下料手抓机构, 将沖孔后柔性电路板运送至下料位;  The general transport mechanism, the flexible circuit board is generally transported through at least the upper plate position, the punching position and the lowering position; the loading hand grasping mechanism transports the flexible circuit board placed on the discharging device to the upper plate position; , transporting the punched flexible circuit board to the blanking position;
所述搬运机构包括 Y轴移动机构、 Y轴驱动机构、 X轴移动机构、 X 轴驱动机构和夹持座, 所述夹持座用于夹持柔性电路板, 所述夹持座与The transport mechanism includes a Y-axis moving mechanism, a Y-axis driving mechanism, an X-axis moving mechanism, and an X a shaft driving mechanism and a clamping seat, the clamping seat is for clamping a flexible circuit board, and the clamping seat is
X轴驱动机构同步移动, X轴驱动机构带动 X轴移动机构在 X轴方向上 移动, 所述 X轴移动机构与 X轴驱动机构与 Y轴驱动机构同步移动, Y 轴驱动机构带动 Y轴移动机构在 Y轴方向上移动。 The X-axis driving mechanism moves synchronously, and the X-axis driving mechanism drives the X-axis moving mechanism to move in the X-axis direction, the X-axis moving mechanism moves synchronously with the X-axis driving mechanism and the Y-axis driving mechanism, and the Y-axis driving mechanism drives the Y-axis to move The mechanism moves in the Y-axis direction.
为更好的实现柔性电路板的夹持, 本实用新型改进有, 所述夹持座 包括座体、托盘、 电磁铁和铁片, 托盘上设置铁片, 并放置柔性电路板, 所述电磁铁设置在座体上对应托盘的铁片位置, 并对铁片吸合或释放。  In order to better realize the clamping of the flexible circuit board, the utility model is improved, the clamping seat comprises a seat body, a tray, an electromagnet and an iron piece, an iron piece is arranged on the tray, and a flexible circuit board is placed, the electromagnetic The iron is placed on the seat body corresponding to the position of the iron piece of the tray, and the iron piece is sucked or released.
为更好实现夹持座的 X轴方向移动, 本实用新型改进有, 所述 X轴 移动机构包括 X轴横梁和 X轴滑块, X轴横梁上设置有 X轴方向的 槽, X轴滑块上装设有滚动轮, 滚动轮在凹槽内滚动, 所述 X轴驱动机构带 动 X轴滑块在凹槽上移动。  In order to better realize the X-axis direction movement of the clamping seat, the X-axis moving mechanism comprises an X-axis beam and an X-axis slider, and the X-axis beam is provided with an X-axis groove, and the X-axis slides. A rolling wheel is mounted on the block, and the rolling wheel rolls in the groove, and the X-axis driving mechanism drives the X-axis sliding block to move on the groove.
其中, 所述 X轴驱动机构包括 X轴驱动电机和 X轴带传动机构, X 轴带传动机构包括 X轴主动轮、 X轴从动轮和 X轴皮带, X轴皮带绕设 在 X轴主动轮和 X轴从动轮上,所述 X轴驱动电机驱动 X轴主动轮转动, 所述 X轴滑块的一侧与 X轴皮带相连, 并与 X轴皮带同步移动。  Wherein, the X-axis driving mechanism comprises an X-axis driving motor and an X-axis belt transmission mechanism, and the X-axis belt transmission mechanism comprises an X-axis driving wheel, an X-axis driven wheel and an X-axis belt, and the X-axis belt is wound around the X-axis driving wheel. And the X-axis driven wheel drives the X-axis driving wheel to rotate, one side of the X-axis slider is connected to the X-axis belt, and moves synchronously with the X-axis belt.
为更好实现夹持座的 Y轴方向移动, 本实用新型改进有, 所述 Y轴 移动机构包括 Y轴导轨和 Y轴滑块, Y轴滑块在 Y轴驱动装置的驱动下 在 Y轴导轨上滑动, 所述 Y轴驱动装置包括 Y轴驱动电机和 Y轴带传动 机构, Y轴带传动机构包括 Y轴主动轮、 Y轴从动轮和 Y轴皮带, Y轴皮 带绕设在 Y轴主动轮和 Y轴从动轮上, 所述 Y轴驱动电机驱动 Y轴主动 轮转动,所述 Y轴滑块的一侧与 Y轴皮带相连,并与 Y轴皮带同步移动。  In order to better realize the Y-axis direction movement of the clamping seat, the utility model is improved. The Y-axis moving mechanism comprises a Y-axis guide rail and a Y-axis slide block, and the Y-axis slide block is driven by the Y-axis drive device on the Y-axis. Slide on the guide rail, the Y-axis driving device includes a Y-axis driving motor and a Y-axis belt transmission mechanism, and the Y-axis belt transmission mechanism includes a Y-axis driving wheel, a Y-axis driven wheel and a Y-axis belt, and the Y-axis belt is wound around the Y-axis On the driving wheel and the Y-axis driven wheel, the Y-axis driving motor drives the Y-axis driving wheel to rotate, and one side of the Y-axis slider is connected to the Y-axis belt and moves synchronously with the Y-axis belt.
为更好的实现自动上料, 本实用新型改进有, 所述上料手抓机构包 括真空吸嘴、 真空吸嘴安装板、 固定座和移动导轨, 所述固定座在移动 导轨的导向下可从放料装置移动至上板位并可升降运动, 真空吸嘴安装 在真空吸嘴安装板上, 所述真空吸嘴安装板可旋转的设置在固定座下 方。  In order to achieve a better automatic loading, the utility model is improved, the loading gripping mechanism comprises a vacuum nozzle, a vacuum nozzle mounting plate, a fixing seat and a moving rail, and the fixing seat can be guided by the moving rail. Moving from the discharging device to the upper plate position and lifting movement, the vacuum nozzle is mounted on the vacuum nozzle mounting plate, and the vacuum nozzle mounting plate is rotatably disposed under the fixing seat.
作为本实用新型的改进, 所述固定座上设置有旋转气缸, 所述旋转 气缸的活塞杆顶端固定在真空吸嘴安装板上。  As an improvement of the present invention, the fixed seat is provided with a rotary cylinder, and the top end of the piston rod of the rotary cylinder is fixed on the vacuum nozzle mounting plate.
本实用新型的有益效果是: 针对柔性电路板与薄膜开关的特殊要 求, 在原有沖孔机自动送料系统的基础上, 增加自动沖孔机械手, 使之 成为全自动机械手, 配上半自动沖孔机即可成为一台真正意义上的全全 自动沖孔机械手, 一次可以装上百张板料, 自动沖孔加工并自动收料, 打破原有的适用范围局限, 彻底节约人力并提高效率, 彻底解放人力:The beneficial effects of the utility model are: special requirements for flexible circuit boards and membrane switches On the basis of the original automatic feeding system of the punching machine, the automatic punching manipulator is added to make it a fully automatic manipulator. With a semi-automatic punching machine, it can become a fully automatic punching manipulator in a true sense. It can be loaded with hundreds of sheets, automatically punched and automatically received, breaking the limitations of the original scope of application, completely saving manpower and improving efficiency, completely liberating manpower:
1人可看管 1 0台以上沖孔机, 相对于之前 1人 1台大幅节省了人力; 品 质稳定: 整个沖孔过程中最大程度减少了人为因素的影响, 不再依赖熟 练工人; 节约投资: 直接加装在原有半全自动沖孔机械手上, 不需要淘 汰原有运行良好的设备; 适用范围广: 不再受每张板上孔数目多少的限 制。 附图说明 One person can take care of more than 10 punching machines, which saves manpower compared with the previous one. The quality is stable: the impact of human factors is minimized during the whole punching process, and no longer depends on skilled workers; It is directly installed in the original semi-automatic punching robot, and it is not necessary to eliminate the original well-operated equipment; it has a wide range of applications: it is no longer limited by the number of holes per plate. DRAWINGS
附图 1为本实用新型的全自动沖孔机械手的结构示意图;  1 is a schematic structural view of a fully automatic punching manipulator of the present invention;
附图 2 为本实用新型的全自动沖孔机械手的搬运机构的结构示意 图;  2 is a schematic structural view of a handling mechanism of a fully automatic punching robot of the present invention;
附图 3为本实用新型的全自动沖孔机械手的上料手抓机构。  Figure 3 is a loading and gripping mechanism of the fully automatic punching robot of the present invention.
标号说明: 1-机架; 2-放料装置; 3-搬运机构; 31- 夹持座; 31 1-座体; 31 3 -电磁铁; 32-X轴横梁; 33-X 轴滑块; 34-Y 轴导轨; 35-Y 轴滑块; 4 -上料手抓机构; 41-真空吸嘴; 42-真空吸嘴安装板; 43-固定座; 44-旋转 气缸; 5-下料手抓机构。 具体实施方式  DESCRIPTION OF REFERENCE NUMERALS: 1-rack; 2-discharge device; 3-porting mechanism; 31-clamping seat; 31 1-seat; 31 3 - electromagnet; 32-X-axis beam; 33-X-axis slider; 34-Y axis guide; 35-Y axis slide; 4 - loading grip mechanism; 41-vacuum nozzle; 42-vacuum nozzle mounting plate; 43-fixing seat; 44-rotating cylinder; 5-feeding hand Grab the institution. detailed description
为详细说明本实用新型的技术内容、构造特征、所实现目的及效果, 以下结合实施方式并配合附图详予说明。  The detailed description of the technical contents, structural features, and the objects and effects of the present invention will be described in detail below with reference to the embodiments.
参照附图 1及附图 2 , 附图所示本实用新型提供一种全自动沖孔机 械手的实施例, 用于对柔性电路板或薄膜开关的沖孔, 以下以柔性电路 板为例, 具体的: 包括机架 1 , 机架 1上设有  Referring to Figure 1 and Figure 2, the present invention provides an embodiment of a fully automatic punching robot for punching a flexible circuit board or a membrane switch. The following is an example of a flexible circuit board. Included: Rack 1 is provided on Rack 1
放料装置 2 , 其上放置有柔性电路板;  a discharging device 2 on which a flexible circuit board is placed;
搬运机构 3 , 其搬运柔性电路板至少通过上板位、 沖孔位和下料位; 上料手抓机构 4 ,将放料装置 2上放置的柔性电路板运送至上板位; 下料手抓机构 5 , 将沖孔后柔性电路板从下料位进行下料; 所述搬运机构 3包括 Y轴移动机构、 Y轴驱动机构、 X轴移动机构、 X轴驱动机构和夹持座 31 , 所述夹持座 31用于夹持柔性电路板, 所述 夹持座 31与 X轴驱动机构同步移动, X轴驱动机构带动 X轴移动机构在 X轴方向上移动, 所述 X轴移动机构与 X轴驱动机构与 Y轴驱动机构同 步移动, Y轴驱动机构带动 Y轴移动机构在 Y轴方向上移动。 The transport mechanism 3, which carries the flexible circuit board through at least the upper plate position, the punching position and the blanking position; Feeding the gripping mechanism 4, transporting the flexible circuit board placed on the discharging device 2 to the upper plate position; the feeding hand grasping mechanism 5, cutting the punched flexible circuit board from the blanking position; the handling mechanism 3 The utility model comprises a Y-axis moving mechanism, a Y-axis driving mechanism, an X-axis moving mechanism, an X-axis driving mechanism and a clamping seat 31, wherein the clamping seat 31 is used for clamping a flexible circuit board, and the clamping seat 31 and the X-axis drive The mechanism moves synchronously, and the X-axis driving mechanism drives the X-axis moving mechanism to move in the X-axis direction, the X-axis moving mechanism moves synchronously with the X-axis driving mechanism and the Y-axis driving mechanism, and the Y-axis driving mechanism drives the Y-axis moving mechanism in Y Move in the direction of the axis.
夹持座 31在 X轴及 Y轴方向上可以移动, 至少经过上板位、 沖孔 位和下料位, 使用时, 首先将柔性电路板放置在放料装置 2上, 启动设 备, 上料手抓机构 4从放料装置 2抓取一张柔性电路板, 这时夹持座 31 移动至上板位, 上料手抓机构 4 将柔性电路板放置上板位, 夹持座 31 在上板位将柔性电路板夹住, 之后夹持座 31 移动将柔性电路板送至半 自动沖孔机的沖孔机构的范围内, 即移动至沖孔位, 沖孔机构对柔性电 路板进行沖孔, 夹持板将沖孔后的柔性电路板运送至下料位, 下料手抓 机构 5将柔性电路板从下料位运送至下料板或其他下料机构进行下料, 同时上料手抓机构 4在从放料装置 2再抓取一张柔性电路板, 继续进行 循环。  The clamping seat 31 can be moved in the X-axis and Y-axis directions, at least through the upper plate position, the punching position and the lowering position. When in use, the flexible circuit board is first placed on the discharging device 2, the device is started, and the feeding is performed. The gripping mechanism 4 grabs a flexible circuit board from the discharging device 2, at which time the clamping seat 31 moves to the upper plate position, and the loading gripping mechanism 4 places the flexible circuit board on the upper plate position, and the clamping seat 31 is on the upper plate. The position of the flexible circuit board is clamped, and then the movement of the clamping seat 31 sends the flexible circuit board to the range of the punching mechanism of the semi-automatic punching machine, that is, moves to the punching position, and the punching mechanism punches the flexible circuit board. The clamping plate transports the punched flexible circuit board to the blanking position, and the feeding hand gripping mechanism 5 transports the flexible circuit board from the lowering level to the lowering plate or other unloading mechanism for cutting, and simultaneously feeding the hand The mechanism 4 picks up another flexible circuit board from the discharge device 2 and continues the cycle.
其中,参照附图 3 ,附图所示所述上料手抓机构 4包括真空吸嘴 41、 真空吸嘴安装板 42、 固定座 43和移动导轨, 所述固定座 43在移动导轨 的导向下可从放料装置 2移动至上板位并可升降运动, 真空吸嘴安装在 真空吸嘴安装板 42上, 所述真空吸嘴安装板 42可旋转的设置在固定座 43下方。  Referring to FIG. 3, the loading gripping mechanism 4 shown in the drawing includes a vacuum suction nozzle 41, a vacuum nozzle mounting plate 42, a fixing seat 43 and a moving rail, and the fixing seat 43 is guided by the moving rail. It can be moved from the discharging device 2 to the upper plate position and can be moved up and down. The vacuum suction nozzle is mounted on the vacuum nozzle mounting plate 42, and the vacuum nozzle mounting plate 42 is rotatably disposed below the fixing seat 43.
由于夹持座 31 夹持了一部分柔性电路板, 一般不能一次性进行整 个表面的沖孔, 一般是先沖孔一半的柔性电路板, 之后旋转 180度后进 行第二次沖裁, 因此, 在第一次沖孔后, 夹持座 31 将柔性电路板夹住 回到上板为之后放开柔性电路板, 上料手抓机构 4的真空吸嘴 41吸附 柔性电路板, 其真空吸嘴安装板 42旋转 180度后放下, 夹持座 31将柔 性电路板夹住继续运送至沖孔位, 完成第二次的沖孔, 实现整体的沖孔 动作。 本实施例中, 参照附图 3 , 附图所示固定座 43可以在移动导轨的导 向下左右移动及上下移动, 具体的可以采用多个移动导轨实现, 进而带 动真空吸嘴安装板 42 可以实现上下左右的移动, 在一实施例中, 所述 固定座 43上设置有旋转气缸 44 ,所述旋转气缸 44的活塞杆顶端固定在 真空吸嘴安装板 42上, 采用旋转气缸 44带动真空吸嘴安装板 42旋转, 可以根据真空吸嘴安装板 42 的具体要求来选择旋转气缸 44 的旋转角 度。 Since the clamping seat 31 holds a part of the flexible circuit board, it is generally impossible to punch the entire surface at one time. Generally, the flexible circuit board is half punched first, and then rotated 180 degrees to perform the second blanking. Therefore, After the first punching, the clamping seat 31 clamps the flexible circuit board back to the upper board to release the flexible circuit board, and the vacuum suction nozzle 41 of the loading gripping mechanism 4 adsorbs the flexible circuit board, and the vacuum nozzle is installed. After the plate 42 is rotated 180 degrees and then lowered, the holder 31 clamps the flexible circuit board and continues to transport to the punching position, and completes the second punching to realize the overall punching operation. In this embodiment, referring to FIG. 3, the fixing seat 43 can be moved left and right under the guidance of the moving rail and moved up and down. Specifically, a plurality of moving rails can be used, and the vacuum nozzle mounting plate 42 can be realized. In the embodiment, the fixed seat 43 is provided with a rotary cylinder 44. The top end of the piston rod of the rotary cylinder 44 is fixed on the vacuum nozzle mounting plate 42 and the rotary nozzle 44 is used to drive the vacuum nozzle. The mounting plate 42 is rotated, and the rotation angle of the rotary cylinder 44 can be selected in accordance with the specific requirements of the vacuum nozzle mounting plate 42.
本实施例中, 参照附图 2 , 附图所示所述夹持座 31包括座体 311、 托盘、 电磁铁 313和铁片, 托盘上设置铁片, 并放置柔性电路板, 所述 电磁铁 313设置在座体 311上对应托盘的铁片位置, 并对铁片吸合或释 放。  In the present embodiment, referring to FIG. 2, the holder 31 includes a seat body 311, a tray, an electromagnet 313 and an iron piece. The tray is provided with an iron piece, and a flexible circuit board is placed, and the electromagnet is placed. 313 is disposed on the seat body 311 corresponding to the position of the iron piece of the tray, and sucks or releases the iron piece.
具体的, 参照附图 2 , 附图所示所述座体 311上可设置有安装电磁 铁 313的凹孔, 或者突出设置安装架来固定电磁铁 313 , 与托盘上的铁 片相适配, 整体座体 311与托盘都采用不锈钢材质, 通电后电磁铁 313 可以吸附铁片是防止柔性电路板的托盘牢牢吸附在座体 311上, 而断电 后, 则托盘与柔性电路板都落下。  Specifically, referring to FIG. 2, the seat body 311 of the drawing may be provided with a recessed hole for mounting the electromagnet 313, or a mounting bracket may be protruded to fix the electromagnet 313 to be matched with the iron piece on the tray. The whole base body 311 and the tray are made of stainless steel. After the electric current is applied, the electromagnet 313 can adsorb the iron piece to prevent the tray of the flexible circuit board from being firmly adsorbed on the base 311, and after the power is off, the tray and the flexible circuit board are both dropped.
所述夹持座 31 不一定采用电磁铁 313吸附, 另一实施例中, 可采 用真空吸嘴带动, 夹持座 31 上设置真空吸嘴, 在使用时, 真空吸嘴吸 附柔性电路板, 之后移动至沖孔位后, 真空吸嘴松开进行沖孔。  The clamping seat 31 is not necessarily adsorbed by the electromagnet 313. In another embodiment, the vacuum suction nozzle can be used to drive the clamping seat 31, and the vacuum suction nozzle is used to adsorb the flexible circuit board. After moving to the punching position, the vacuum nozzle is released for punching.
本实施例中, 参照附图 2 , 附图所示所述 X轴移动机构包括 X轴横 梁 32和 X轴滑块 33 , X轴横梁 32上设置有 X轴方向的凹槽, X轴滑块 33上装设有滚动轮, 滚动轮在凹槽内滚动, 所述 X轴驱动机构带动 X轴 滑块 33在凹槽上移动。  In the present embodiment, referring to FIG. 2, the X-axis moving mechanism shown in the drawing includes an X-axis beam 32 and an X-axis slider 33. The X-axis beam 32 is provided with a groove in the X-axis direction, and the X-axis slider The scrolling wheel is mounted on the 33, and the rolling wheel rolls in the groove. The X-axis driving mechanism drives the X-axis slider 33 to move on the groove.
凹槽对滚动轮进行导向, 之后在 X轴驱动机构的驱动下, 使得滚动 轮可以在凹槽内滚动进而带动 X轴滑块 33移动, 本实施例中, 夹持座 31与 X轴滑块 33采用螺纹、 铆接、 粘结、 焊接等固定连接方式连接在 一起, 并随着 X轴滑块 33移动而移动, 根据夹持座 31的体积和重量可 以设置多个 X轴滑块 33 , 本实用新型不限制其数量。  The groove guides the rolling wheel, and then the X-axis driving mechanism drives the rolling wheel to roll in the groove to drive the X-axis slider 33 to move. In this embodiment, the clamping seat 31 and the X-axis slider 33 is connected by a fixed connection such as threading, riveting, bonding, welding, etc., and moves as the X-axis slider 33 moves, and a plurality of X-axis sliders 33 can be set according to the volume and weight of the clamping seat 31, Utility models do not limit their quantity.
其他实施例中, 其凹槽为 X轴导轨, 为凸出的燕尾槽或者普通线性 导轨, 而 X轴滑块 33与 X轴导轨相适配并在 X轴导轨上滑动, 或者在 另外的实施例夹持座 31直接设置有与 X轴导轨配合的凹槽状,直接在 X 轴导轨上滑动。 In other embodiments, the groove is an X-axis guide rail, which is a convex dovetail groove or a common linear The guide rail, and the X-axis slide 33 is adapted to the X-axis guide rail and slides on the X-axis guide rail, or in another embodiment, the clamp base 31 is directly provided with a groove shape matching the X-axis guide rail, directly on the X-axis. Slide on the rails.
本实施例中, 所述 X轴驱动机构包括 X轴驱动电机和 X轴带传动机 构, X轴带传动机构包括 X轴主动轮、 X轴从动轮和 X轴皮带, X轴皮带 绕设在 X轴主动轮和 X轴从动轮上, 所述 X轴驱动电机驱动 X轴主动轮 转动, 所述 X轴滑块 33的一侧与 X轴皮带相连, 并与 X轴皮带同步移 动。  In this embodiment, the X-axis driving mechanism includes an X-axis driving motor and an X-axis belt transmission mechanism, and the X-axis belt transmission mechanism includes an X-axis driving wheel, an X-axis driven wheel and an X-axis belt, and the X-axis belt is wound around the X. On the shaft driving wheel and the X-axis driven wheel, the X-axis driving motor drives the X-axis driving wheel to rotate, and one side of the X-axis slider 33 is connected to the X-axis belt and moves synchronously with the X-axis belt.
X轴驱动电机带动 X轴主动轮,可以通过齿轮组带动或者直接带动, 之后在带动皮带的旋转, 根据需要, 可以使用张紧轮等机构, X轴驱动 电机可以采用伺服电机或者步进电机等, 带动 X轴滑块 33 可以在凹槽 导轨上前后滑动。  The X-axis drive motor drives the X-axis drive wheel, which can be driven by the gear set or directly driven. After that, the belt can be rotated. If necessary, a tensioner or the like can be used. The X-axis drive motor can be a servo motor or a stepper motor. , the X-axis slider 33 can be driven to slide back and forth on the groove guide.
本实施例中, 所述 Y轴移动机构包括 Y轴导轨 34和 Y轴滑块 35 , Y 轴滑块 35在 Y轴驱动装置的驱动下在 Y轴导轨 34上滑动, 所述 Y轴驱 动装置包括 Y轴驱动电机和 Y轴带传动机构, Y轴带传动机构包括 Y轴 主动轮、 Y轴从动轮和 Y轴皮带, Y轴皮带绕设在 Y轴主动轮和 Y轴从 动轮上, 所述 Y轴驱动电机驱动 Y轴主动轮转动, 所述 Y轴滑块 35的 一侧与 Y轴皮带相连, 并与 Y轴皮带同步移动。  In this embodiment, the Y-axis moving mechanism includes a Y-axis guide 34 and a Y-axis slider 35. The Y-axis slider 35 slides on the Y-axis guide 34 under the driving of the Y-axis driving device, and the Y-axis driving device Including Y-axis drive motor and Y-axis belt drive mechanism, Y-axis belt drive mechanism includes Y-axis drive wheel, Y-axis driven wheel and Y-axis belt, and Y-axis belt is wound around Y-axis drive wheel and Y-axis driven wheel. The Y-axis drive motor drives the Y-axis drive wheel to rotate, and one side of the Y-axis slide 35 is connected to the Y-axis belt and moves synchronously with the Y-axis belt.
相同的, Y轴移动机构与 Y轴驱动机构与上述 X轴驱动机构和 X轴 移动机构类似, 本实施例中, Y轴移动机构为两个, 设置在 X轴横梁 32 的两侧, 实现 X轴横梁 32的平稳滑动。  Similarly, the Y-axis moving mechanism and the Y-axis driving mechanism are similar to the X-axis driving mechanism and the X-axis moving mechanism. In this embodiment, the Y-axis moving mechanism is two, and is disposed on both sides of the X-axis beam 32 to realize X. Smooth sliding of the shaft beam 32.
其他实施例中的 Y轴移动机构或 X轴移动机构可以采用滚组丝杆来 带动滑块移动, 本实用新型不限制 Y轴驱动装置的具体方案。  The Y-axis moving mechanism or the X-axis moving mechanism in other embodiments may use a rolling set screw to drive the slider to move, and the present invention does not limit the specific scheme of the Y-axis driving device.
以上所述仅为本实用新型的实施例, 并非因此限制本实用新型的专 利范围, 凡是利用本实用新型说明书及附图内容所作的等效结构或等效 流程变换, 或直接或间接运用在其他相关的技术领域, 均同理包括在本 实用新型的专利保护范围内。  The above is only the embodiment of the present invention, and thus does not limit the scope of the patent of the present invention. Any equivalent structure or equivalent process transformation made by using the specification and the drawings of the present invention may be directly or indirectly applied to other The related technical fields are all included in the scope of patent protection of the present invention.

Claims

权 利 要 求 书 Claim
1、 一种全自动沖孔机械手, 用于对柔性电路板的沖孔, 其特征在 于, 包括机架, 机架上设有:  1. A fully automatic punching manipulator for punching a flexible circuit board, characterized in that it comprises a frame, and the frame is provided with:
放料装置, 其上放置有柔性电路板;  a discharging device on which a flexible circuit board is placed;
般运机构, 其般运柔性电路板至少通过上板位、 沖孔位和下料位; 上料手抓机构, 将放料装置上放置的柔性电路板运送至上板位; 下料手抓机构, 将沖孔后柔性电路板运送至下料位;  The general transport mechanism, the flexible circuit board is generally transported through at least the upper plate position, the punching position and the lowering position; the loading hand grasping mechanism transports the flexible circuit board placed on the discharging device to the upper plate position; , transporting the punched flexible circuit board to the blanking position;
所述搬运机构包括 Y轴移动机构、 Y轴驱动机构、 X轴移动机构、 X 轴驱动机构和夹持座, 所述夹持座用于夹持柔性电路板, 所述夹持座与 The transport mechanism includes a Y-axis moving mechanism, a Y-axis driving mechanism, an X-axis moving mechanism, an X-axis driving mechanism and a clamping seat, the clamping seat is for clamping a flexible circuit board, and the clamping seat is
X轴驱动机构同步移动, X轴驱动机构带动 X轴移动机构在 X轴方向上 移动, 所述 X轴移动机构与 X轴驱动机构与 Y轴驱动机构同步移动, Y 轴驱动机构带动 Y轴移动机构在 Y轴方向上移动。 The X-axis driving mechanism moves synchronously, and the X-axis driving mechanism drives the X-axis moving mechanism to move in the X-axis direction, the X-axis moving mechanism moves synchronously with the X-axis driving mechanism and the Y-axis driving mechanism, and the Y-axis driving mechanism drives the Y-axis to move The mechanism moves in the Y-axis direction.
2、 根据权利要求 1 所述的全自动沖孔机械手, 其特征在于, 所述 夹持座包括座体、 托盘、 电磁铁和铁片, 托盘上设置铁片, 并放置柔性 电路板, 所述电磁铁设置在座体上对应托盘的铁片位置, 并对铁片吸合 或释放。  2. The fully automatic punching robot according to claim 1, wherein the holder comprises a seat body, a tray, an electromagnet and an iron piece, an iron piece is disposed on the tray, and a flexible circuit board is placed, The electromagnet is placed on the seat body corresponding to the position of the iron piece of the tray, and the iron piece is sucked or released.
3、 根据权利要求 1所述的全自动沖孔机械手, 其特征在于, 所述 X 轴移动机构包括 X轴横梁和 X轴滑块, X轴横梁上设置有 X轴方向的 槽, X轴滑块上装设有滚动轮, 滚动轮在凹槽内滚动, 所述 X轴驱动机 构带动 X轴滑块在凹槽上移动。  3. The fully automatic punching robot according to claim 1, wherein the X-axis moving mechanism comprises an X-axis beam and an X-axis slider, and the X-axis beam is provided with an X-axis groove, and the X-axis slides. A rolling wheel is mounted on the block, and the rolling wheel rolls in the groove, and the X-axis driving mechanism drives the X-axis sliding block to move on the groove.
4、 根据权利要求 3所述的全自动沖孔机械手, 其特征在于, 所述 X 轴驱动机构包括 X轴驱动电机和 X轴带传动机构, X轴带传动机构包括 X轴主动轮、 X轴从动轮和 X轴皮带, X轴皮带绕设在 X轴主动轮和 X轴 从动轮上, 所述 X轴驱动电机驱动 X轴主动轮转动, 所述 X轴滑块的一 侧与 X轴皮带相连, 并与 X轴皮带同步移动。  4. The fully automatic punching robot according to claim 3, wherein the X-axis driving mechanism comprises an X-axis driving motor and an X-axis belt transmission mechanism, and the X-axis belt transmission mechanism comprises an X-axis driving wheel and an X-axis. The driven wheel and the X-axis belt are disposed on the X-axis driving wheel and the X-axis driven wheel, and the X-axis driving motor drives the X-axis driving wheel to rotate, and one side of the X-axis sliding block and the X-axis belt Connected and moved in sync with the X-axis belt.
5、 根据权利要求 3所述的全自动沖孔机械手, 其特征在于, 所述 Y 轴移动机构包括 Y轴导轨和 Y轴滑块, Y轴滑块在 Y轴驱动装置的驱动 下在 Y轴导轨上滑动, 所述 Y轴驱动装置包括 Y轴驱动电机和 Y轴带传 动机构, Y轴带传动机构包括 Y轴主动轮、 Y轴从动轮和 Y轴皮带, Y轴 皮带绕设在 Y轴主动轮和 Y轴从动轮上, 所述 Y轴驱动电机驱动 Y轴主 权 利 要 求 书 5. The fully automatic punching robot according to claim 3, wherein the Y-axis moving mechanism comprises a Y-axis guide and a Y-axis slide, and the Y-axis slide is driven by the Y-axis drive on the Y-axis. Slide on the guide rail, the Y-axis driving device includes a Y-axis driving motor and a Y-axis belt transmission mechanism, and the Y-axis belt transmission mechanism includes a Y-axis driving wheel, a Y-axis driven wheel and a Y-axis belt, and the Y-axis belt is wound around the Y-axis On the driving wheel and the Y-axis driven wheel, the Y-axis driving motor drives the Y-axis main Claim
动轮转动, 所述 Y轴滑块的一侧与 Y轴皮带相连, 并与 Y轴皮带同步移 动。 The moving wheel rotates, and one side of the Y-axis slider is connected to the Y-axis belt and moves synchronously with the Y-axis belt.
6、 根据权利要求 1 所述的全自动沖孔机械手, 其特征在于, 所述 上料手抓机构包括真空吸嘴、 真空吸嘴安装板、 固定座和移动导轨, 所 述固定座在移动导轨的导向下可从放料装置移动至上板位并可升降运 动, 真空吸嘴安装在真空吸嘴安装板上, 所述真空吸嘴安装板可旋转的 设置在固定座下方。  6. The fully automatic punching robot according to claim 1, wherein the loading gripping mechanism comprises a vacuum nozzle, a vacuum nozzle mounting plate, a fixing seat and a moving rail, and the fixing seat is on the moving rail. The guiding can be moved from the discharging device to the upper plate position and can be moved up and down. The vacuum nozzle is mounted on the vacuum nozzle mounting plate, and the vacuum nozzle mounting plate is rotatably disposed under the fixing seat.
7、 根据权利要求 6 所述的全自动沖孔机械手, 其特征在于, 所述 固定座上设置有旋转气缸, 所述旋转气缸的活塞杆顶端固定在真空吸嘴 安装板上。  7. The fully automatic punching robot according to claim 6, wherein the fixed seat is provided with a rotary cylinder, and a top end of the piston rod of the rotary cylinder is fixed on the vacuum nozzle mounting plate.
PCT/CN2011/084434 2011-10-31 2011-12-22 Fully automated punching mechanical hand WO2013063847A1 (en)

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