Manipulator with circuit board clamp and using method

Abstract

The invention relates to the field of mechanical arms, and discloses a mechanical arm with a circuit board clamp and a using method, the mechanical arm with the circuit board clamp is characterized by comprising a mechanical arm and a grabbing part arranged at the movable end of the mechanical arm, and the grabbing part comprises a mounting plate arranged in the grabbing part; the plurality of positioning plates are arranged on the mounting plate; through the preliminary clamping effect of the elastic piece, the circuit board can keep a stable posture in the moving process of the positioning shaft, and it is guaranteed that the positioning shaft cannot extrude or damage pins of the circuit board in the expanding process. The system can provide proper clamping force and supporting force regardless of the thickness difference of the circuit board, the height difference of the pins or the front and back states of the circuit board, so that the circuit board is effectively prevented from being subjected to unnecessary pressure or damage in the transfer and operation process, and the production efficiency is improved. The problem that in the prior art, grabbing is difficult due to different positive and negative states of the circuit board is solved.

Description

Technical Field

[0001] The present invention relates to the technical field of manipulators, and in particular to a manipulator with a circuit board clamp and a use method thereof. Background Art

[0002] In the modern industrial automation production process, robots are widely used in various production lines and assembly processes, especially in the electronics manufacturing industry. As one of the core components of electronic products, the accuracy and efficiency of circuit board processing and assembly are crucial to the overall quality of the product. In the electronics manufacturing process, different process steps require different operations on the front and back of the circuit board. For example, the front side needs component placement and optical inspection, while the back side needs welding or other processing. Due to different processing procedures, there are different front and back sides.

[0003] Pins are used to connect circuit boards to other circuit components (such as connectors, sockets, other circuit boards) to ensure that electrical signals and power can be transmitted. The pin surface of the circuit board is usually slightly higher than other areas.

[0004] When the fixture or robot attempts to clamp, the height of the pins can lift the circuit board, allowing a certain gap between the circuit board and the platform. This gap helps the clamping process go smoothly, ensuring that the fixture can contact the surface of the circuit board more effectively, and improving the stability and safety of clamping. The other side of the circuit board is usually in an unprocessed state when no electronic components are installed. This side will be in direct contact with the platform and the pins cannot be used to lift the circuit board. It is more likely to be deformed and unstable during clamping. Therefore, the design of the robot fixture must fully consider the characteristics of the circuit board to prevent damage during the clamping process. Summary of the invention

[0005] In view of the deficiencies in the prior art, the present invention provides a robot arm with a circuit board clamp and a use method thereof, aiming to alleviate the above-mentioned problems at least to a certain extent.

[0006] The above technical objectives of the present invention are achieved through the following technical solutions: A manipulator with a circuit board fixture comprises a manipulator arm and a grasping portion arranged on a movable end of the manipulator arm, wherein the grasping portion comprises: a mounting plate disposed within the gripping portion; A plurality of positioning plates are arranged on the mounting plate, wherein the plurality of positioning plates are divided into a plurality of groups, each group including two positioning plates; A clamping plate disposed on one side of the positioning plate, with an elastic member disposed between the clamping plate and the positioning plate; A positioning shaft is arranged on the upper and lower sides of the positioning plate, and an air bag is arranged on the positioning shaft; A locking component provided between the positioning shaft and the clamping plate, used for locking the position of the positioning shaft; A positioning component provided between the gripping portion and the positioning plate, used to move a plurality of groups of the positioning plates, with two positioning plates in each group moving closer to each other, and the positioning component can trigger a locking component to unlock the positioning shaft when the positioning plates are moved to a predetermined position and the elastic member is compressed; A gas injection component disposed between the gripping portion and the positioning shaft, used to inject gas into the airbag on the positioning shaft to expand it; When the positioning shaft is unlocked, it can move along the path of the positioning plate. When the positioning shaft moves to a first predetermined position, the positioning plate resets to an initial position. When the positioning shaft moves to a second predetermined position, the gas injection component injects gas into the positioning shaft.

[0007] Preferably, the positioning component includes a connecting frame slidably connected to the mounting plate, the positioning plate is connected to the connecting frame, a first spring is connected between the connecting frame and the mounting plate, a diamond bar is connected to the connecting frame, a moving frame is provided on the grabbing portion, and a top touch rod is connected to the moving frame.

[0008] Preferably, the locking component includes a connecting rod connected to one side of the clamping plate, the connecting rod is slidably connected to the positioning plate and extends to one side of the positioning plate, the connecting rod is connected to a locking strip, the positioning plate is connected to a first connecting strip, the first connecting strip is slidably connected to a second connecting strip slidably sleeved with the positioning shaft, a second spring is connected between the first connecting strip and the second connecting strip, the second connecting strip is provided with a locking opening adapted to the locking strip, the second connecting strip is also provided with an oblique opening, a limiting ring is connected to the positioning shaft, and an avoidance opening is provided on the positioning plate.

[0009] Preferably, a pushing rack is slidably connected to the mounting plate, a third spring is connected between the pushing rack and the mounting plate, a fixed rack is connected to the pushing rack, a connecting tube is provided on the fixed sleeve of the positioning shaft, a bracket slidably connected to the connecting tube is slidably connected to the fixed rack, the bracket is provided with a spring rod, one end of the spring rod is semi-spherical, and a plurality of slots adapted to the semi-spherical end of the spring rod are provided on the connecting tube.

[0010] Preferably, a guide tube is connected to the mounting plate, a traction rope is connected to one side of the pushing frame, one end of the traction rope passes through the guide tube and extends to the top of the moving frame, and is connected to the top of the moving frame.

[0011] Preferably, the top-touch rod is slidably connected to one end of the movable frame, and a fourth spring is connected between the top-touch rod and the movable frame.

[0012] Preferably, the gas injection component includes a gas injection pipe connected to the mounting plate, the gas injection pipe is connected to a telescopic tube, a slidable end of the telescopic tube is connected to a fixed tube, the positioning shaft is fixed to the fixed tube, the grasping part is connected to a box body, a piston is slidably connected to the box body, and a delivery pipe is connected between the box body and the gas injection pipe.

[0013] Preferably, a sealing plug which is sleeved with the fixing tube is connected inside the positioning shaft, and a plurality of air holes are formed on the sealing plug.

[0014] Preferably, an electric push rod is provided on the top of the grabbing part, a push plate is connected to the bottom of the telescopic shaft of the electric push rod, a fifth spring is connected between the push plate and the movable frame, a pressure plate is slidably connected to the box body, a connecting rod is rotatably connected between the pressure plate and the piston, and a sixth spring is connected between the piston and the box body.

[0015] A method for using a manipulator with a circuit board fixture is applicable to any of the above-mentioned manipulators with a circuit board fixture, and the specific steps are as follows: Step 1: Use the robotic arm to cover the gripping part on the circuit board on the platform, and the positioning plate and the clamping plate are located on both sides of the circuit board; Step 2: Use the positioning component to move the position of the positioning plate, so that each group of two positioning plates are close to each other, and adjust the position of the clamping plate through the elastic member. After the clamping plate contacts the circuit board, the positioning plate continues to move to compress the elastic member, and the potential energy of the elastic member initially clamps the circuit board; Step 3: The positioning shaft moves on the positioning plate path, and the outer wall moves along the positioning plate, expanding upward and downward; Step 4: When the positioning shaft moves to the first predetermined position, the positioning component resets the positioning plate, the elastic member releases potential energy, the clamping plate no longer clamps the circuit board, and the circuit board naturally falls onto the positioning shaft, and the weight is supported by the positioning shaft; Step 5: The pin gap of the pin surface of the circuit board is inserted into the positioning shaft, or the plane of the circuit board falls onto the positioning shaft; Step 6: When the positioning shaft moves to the second predetermined position, the gas injection component injects gas into the airbag on the positioning shaft, and the airbag expands to provide additional fixation and protection to keep the circuit board in a stable posture.

[0016] In summary, the present invention mainly has the following beneficial effects: The present invention can adapt to the changes of different thicknesses, pin heights and the front and back states of the circuit board by setting multiple groups of positioning plates and clamping plates, so as to realize stable clamping and support of the circuit board. The positioning shaft is accurately expanded under the shape restriction of the positioning plate. When the circuit board loses the clamping force, the free fall of the circuit board can not only allow the gaps between the pins to be plugged into the positioning shaft, but also directly support the plane of the circuit board, thereby ensuring that the positioning shaft can safely and stably support the circuit board regardless of whether the pins are facing up or down. At the same time, the expansion of the airbag provides additional flexible support for the circuit board to avoid damage to the circuit board during the clamping process. Through the initial clamping effect of the elastic member, the circuit board can maintain a stable posture during the movement of the positioning shaft, ensuring that the positioning shaft will not squeeze or damage the pins of the circuit board during the expansion process. Regardless of the thickness difference of the circuit board, the difference in pin height, or the front and back states of the circuit board, the system can provide appropriate clamping force and support force, thereby effectively avoiding unnecessary pressure or damage to the circuit board during transportation and operation, and solving the problem of difficulty in grasping due to different front and back states of the circuit board in the prior art. BRIEF DESCRIPTION OF THE DRAWINGS

[0017] Figure 1 It is a schematic diagram of the overall structure of the present invention; Figure 2 It is a schematic diagram of the structure of the grabbing part of the present invention; Figure 3 It is a schematic diagram of the mounting plate structure of the present invention; Figure 4 yes Figure 3 A schematic diagram of the enlarged local structure at point A in the middle; Figure 5 yes Figure 4 A magnified schematic diagram of the local structure at B in the middle; Figure 6 It is a schematic diagram of the structure of the push rack of the present invention; Figure 7 It is a schematic diagram of the structure of the mobile rack of the present invention; Figure 8 yes Figure 7 A magnified schematic diagram of the local structure at C in the middle; Fig. 9 It is a schematic diagram of the positioning plate and the clamping plate structure of the present invention; Fig.10 It is a schematic diagram of the positioning shaft structure of the present invention; Fig.11 It is a schematic diagram of the connecting pipe structure of the present invention; Fig.12 It is a schematic diagram of the locking component structure of the present invention; Fig.13 It is a schematic diagram of the sealing plug structure of the present invention; Fig.14It is a schematic diagram of the box structure of the present invention.

[0018] Reference numerals: 100. Robotic arm; 101. Grasping unit; 102, mounting plate; 103, positioning plate; 104, clamping plate; 105, elastic member; 106, positioning shaft; 107, airbag; 200, connecting frame; 201, first spring; 202, diamond bar; 203, moving frame; 204, top contact rod; 300, connecting rod; 301, locking strip; 302, first connecting strip; 303, second connecting strip; 304, second spring; 305, locking opening; 306, oblique opening; 307, limiting ring; 308, avoidance opening; 309, pushing frame; 310, third spring; 311, fixing frame; 312, connecting pipe; 313, bracket; 314, spring rod; 315, slot; 316, guide pipe; 317, traction rope; 318, fourth spring; 400, gas injection pipe; 401, telescopic pipe; 402, fixed pipe; 403, box body; 404, piston; 405, delivery pipe; 406, sealing plug; 407, air vent; 408, electric push rod; 409, push plate; 410, fifth spring; 411, pressure plate; 412, connecting rod; 413, sixth spring. DETAILED DESCRIPTION

[0019] The following will be combined with the drawings in the embodiments of the present invention to clearly and completely describe the technical solutions in the embodiments of the present invention. Obviously, the described embodiments are only part of the embodiments of the present invention, not all of the embodiments. Based on the embodiments of the present invention, all other embodiments obtained by ordinary technicians in this field without creative work are within the scope of protection of the present invention.

[0020] refer to Figure 1-Figure 14 A manipulator with a circuit board fixture includes a manipulator arm 100 and a gripping portion 101 disposed on a movable end of the manipulator arm 100, wherein the gripping portion 101 includes: A mounting plate 102 disposed within the gripping portion 101; A plurality of positioning plates 103 are arranged on the mounting plate 102, wherein the plurality of positioning plates 103 are divided into a plurality of groups, each group including two positioning plates 103; A clamping plate 104 is disposed on one side of the positioning plate 103, and an elastic member 105 is disposed between the clamping plate 104 and the positioning plate 103; A positioning shaft 106 is disposed on the upper and lower sides of the positioning plate 103, and an air bag 107 is disposed on the positioning shaft 106; A locking component provided between the positioning shaft 106 and the clamping plate 104, used to lock the position of the positioning shaft 106; A positioning component disposed between the gripping portion 101 and the positioning plate 103, used to move multiple groups of positioning plates 103, with each group of two positioning plates 103 moving closer to each other, and the positioning component can trigger the locking component to unlock the positioning shaft 106 when the positioning plate 103 is moved to a predetermined position and the elastic member 105 is compressed; The gas injection component provided between the gripping portion 101 and the positioning shaft 106 is used to inject gas into the airbag 107 on the positioning shaft 106 to expand it; When the positioning shaft 106 is unlocked, it can move along the path of the positioning plate 103. When the positioning shaft 106 moves to the first predetermined position, the positioning plate 103 is reset to the initial position. When the positioning shaft 106 moves to the second predetermined position, the gas injection component injects gas into the positioning shaft 106. By setting the gripping part 101, the operator can use the robot arm 100 to cover the gripping part 101 on the circuit board on the platform. The positioning plate 103 and the clamping plate 104 are located on both sides of the circuit board. When in use, the positioning components can be used to move the positions of multiple groups of positioning plates 103. The two positioning plates 103 in each group move closer to each other, and the position of the clamping plate 104 is moved by the elastic member 105. Multiple groups of positioning plates 103 are set, and the height of each group of positioning plates 103 is different, so that circuit boards with different thicknesses and different pin heights can be adapted. Taking the bottom group of positioning plates 103 as an example, when the clamping plate 104 on it contacts the circuit board, the position of the clamping plate 104 is restricted, and the positioning plate 103 continues to move. At this time, the elastic member 1 05 is compressed, and at this time the locking component unlocks the positioning shaft 106 at the corresponding positioning plate 103, and the positioning shaft 106 on the upper and lower sides of the positioning plate 103 can move, and the positioning shaft 106 moves along the path of the positioning plate 103, and is restricted by the shape of the positioning plate 103, and begins to expand to the upper and lower sides of the positioning plate 103, and the outer wall of the positioning shaft 106 can move against the positioning plate 103. Since the circuit board is initially clamped on the clamping plate 104 by the force of the elastic member 105, the positioning shaft 106 can move and be plugged into the upper and lower sides of the circuit board. When the positioning shaft 106 moves to the first predetermined position, the positioning component can reset the position of the positioning plate 103, and the positioning plate 103 moves to release the potential energy of the elastic member 105, and the clamping plate 104 no longer gives the circuit The circuit board clamping force, after the circuit board is relaxed, can naturally fall on the positioning shaft 106, and the weight of the circuit board is supported by the positioning shaft 106. Since the movement process of the outer wall of the positioning shaft 106 is limited by the shape design of the positioning plate 103, it can accurately expand to the upper and lower sides of the circuit board to form a safe support for the upper and lower sides of the circuit board. When the positioning shaft 106 moves to the second predetermined position, the gas injection component begins to inject gas into the airbag 107 on the positioning shaft 106. The expansion of the airbag 107 can additionally fix and protect the circuit board. Through the flexible support of the airbag 107, the circuit board can maintain a stable posture without being damaged by external forces and is in a completely fixed state. When the pins of the circuit board are facing downwards, the positioning shaft 106 is electrically The gaps between the natural falling pins of the circuit board can be plugged into the positioning shaft 106 to support the circuit board. When the pins of the circuit board are facing upward, the positioning shaft 106 can also support the plane of the circuit board. The design of the positioning shaft 106 can be plugged into the gaps between the pins of the circuit board and can directly support the plane of the circuit board. No matter the pins of the circuit board are facing upward or downward, safe and stable support can be achieved. In addition, the movement process of the outer wall of the positioning shaft 106 is limited by the shape design of the positioning plate 103, and it can be accurately extended to the upper and lower sides of the circuit board. During this process, the circuit board is still initially clamped by the elastic member 105. The movement of the positioning shaft 106 will not affect the pins on the circuit board, so that the movement trajectory of the positioning shaft 106 is optimized.Ensure that the circuit board is stably supported and fixed without touching or squeezing the pins. In this way, whether the pins are facing upward or downward, the positioning shaft 106 can smoothly move and support the circuit board to avoid damage or deformation of the pins. In addition, the gap between the two adjacent positioning plates 103 and the clamping plate 104 is set up without gaps, and the bottom height of the bottom positioning plate 103 and the clamping plate 104 is flush with the bottom height of the grasping portion 101. When the circuit board is initially positioned by the force of the elastic member 105, the circuit board can be stably clamped. The subsequent positioning shaft 106 and the expanded airbag 107 can stably clamp the circuit board, preventing the subsequent mechanical arm 100 from tilting or sliding when transporting the grasping portion 101, and ensuring the safety of the circuit board during the clamping process. In this application, whether it is the difference in thickness of the circuit board, the difference in pin height, or whether the circuit board is on the front or back, the system can adapt and provide appropriate clamping force and support force to avoid unnecessary pressure or damage to the circuit board, solving the problem of difficulty in grasping caused by different states of the circuit board on the platform in the prior art. ,

[0021] As a further solution of the present invention, the positioning component includes a connecting frame 200 slidably connected to the mounting plate 102, the positioning plate 103 is connected to the connecting frame 200, a first spring 201 is connected between the connecting frame 200 and the mounting plate 102, a diamond bar 202 is connected to the connecting frame 200, a moving frame 203 is provided on the grabbing portion 101, and a top contact rod 204 is connected to the moving frame 203; By setting the connecting frame 200, the connecting frame 200 and the first spring 201 can limit the initial position of the positioning plate 103, ensuring that the multiple positioning plates 103 and the clamping plates 104 thereon are in the same vertical line. When in use, the position of the movable frame 203 can be displaced downward. The movement of the movable frame 203 can allow the top contact rod 204 to squeeze the diamond bar 202. The diamond bar 202 is forced to move and compress the first spring 201, preparing for the subsequent resetting of the positioning plate 103. When the diamond bar 202 moves, it can drive the connecting frame 200 to move. The movement of the connecting frame 200 can allow the positioning plate 103 to move, thereby achieving the purpose of moving each group of two positioning plates 103 closer to each other. When the positioning plate 103 moves, the clamping plate 104 can be moved by the elastic member 105. When the clamping plate 104 contacts the circuit board, the positioning plate 103 is still moving. At this time, the force of the elastic member 105 can be used to achieve the purpose of preliminary clamping and positioning of the circuit board.

[0022] As a further solution of the present invention, the locking component includes a connecting rod 300 connected to one side of the clamping plate 104, the connecting rod 300 is slidably connected to the positioning plate 103 and extends to one side of the positioning plate 103, a locking strip 301 is connected to the connecting rod 300, a first connecting strip 302 is connected to the positioning plate 103, a second connecting strip 303 slidably sleeved with the positioning shaft 106 is slidably connected to the first connecting strip 302, a second spring 304 is connected between the first connecting strip 302 and the second connecting strip 303, a locking opening 305 adapted to the locking strip 301 is provided on the second connecting strip 303, an oblique opening 306 is also provided on the second connecting strip 303, a limiting ring 307 is connected to the positioning shaft 106, and an avoidance opening 308 is provided on the positioning plate 103; By setting the locking strip 301, the cooperation between the locking strip 301 and the locking opening 305 can limit the position of the second connecting strip 303. In the initial state, one end of the connecting rod 300 axis touches the slope surface of the positioning plate 103, and the positioning shaft 106 is limited in the up and down displacement, which can ensure that the positioning shaft 106 is in a locked state. When the positioning plate 103 moves, the position of the limiting ring 307 can be pushed by the first connecting strip 302 and the second connecting strip 303. The movement of the limiting ring 307 can push the positioning shaft 106 to move with the positioning plate 103. When multiple positioning plates 103 and the clamping plates 104 move, one of the clamping plates 104 contacts the circuit board. After the position is restricted, the positioning plate 103 continues to move and can slide on the connecting rod 300. At this time, the locking strip 301 is disengaged from the locking opening 305. When the positioning shaft 106 is moved again, the positioning shaft 106 can move along the positioning plate 103. The inclined surface of the positioning plate 103 expands toward the upper and lower sides, so that the positioning shaft 106 is located at the upper and lower sides of the circuit board. In addition, the inclined opening 306 is convenient for the subsequent clamping of the circuit board. During the subsequent resetting of the positioning shaft 106, the locking bar 301 is conveniently arranged with the locking opening 305 on the second connecting bar 303 again to prepare for the next clamping work. Furthermore, the purpose of this setting is that after one group of positioning plates 103 and the clamping plate 104 are clamped to the circuit board, only the positioning shaft 106 on the group of positioning plates 103 is moved, and the other positioning plates 103 and their positioning shafts 106 that have not contacted the circuit board will remain in place to avoid other actions that affect the position of the circuit board. In addition, when the positioning shaft 106 expands along the inclined surface of the positioning plate 103, it will gradually insert into both sides of the circuit board to accurately complete the support work of the circuit board. The design of the sloped surface on the positioning plate 103 ensures that the positioning axis 106 can avoid interfering with the pins or surface of the circuit board when expanding, ensuring that the integrity and functionality of the circuit board are not affected. This design can not only adapt to circuit boards of different thicknesses and sizes, but also accurately capture the position of the circuit board, avoid unnecessary mechanical movements, ensure that only necessary components are operated, prevent unnecessary components from following the movement, and avoid equipment wear or misoperation caused by unnecessary movements. Further, Figure 6As shown, the accompanying drawings of the present application show six groups of positioning plates 103 and clamping plates 104, the top group of positioning plates 103 is provided with two groups of positioning shafts 106, the second group of positioning plates 103 is provided with three groups of positioning shafts 106, the third group of positioning plates 103 is provided with two groups of positioning shafts 106, and so on, and the positioning shafts 106 on each group of upper and lower adjacent positioning plates 103 are staggered, and avoidance openings 308 are opened on the upper and lower groups of positioning plates 103 corresponding to the positioning shafts 106, which can ensure that there is no gap between the upper and lower adjacent clamping plates 104, so as to better clamp circuit boards in different states and different heights, and avoid the position of the positioning shaft 106. The setting of the avoidance opening 308 ensures that even during the movement of the positioning shaft 106, it will not affect the clamping and supporting state of the circuit board, thereby further improving the adaptability and reliability of the system, and no matter what direction or position the circuit board is in, it can ensure its stable fixation and precise operation.

[0023] As a further solution of the present invention, a push rack 309 is slidably connected to the mounting plate 102, a third spring 310 is connected between the push rack 309 and the mounting plate 102, a fixed rack 311 is connected to the push rack 309, a connecting tube 312 is fixedly sleeved on the positioning shaft 106, a bracket 313 slidably connected to the fixed rack 311 is slidably connected to the connecting tube 312, the bracket 313 is provided with a spring rod 314, one end of the spring rod 314 is semi-spherical, and a plurality of card slots 315 adapted to the semi-spherical end of the spring rod 314 are opened on the connecting tube 312; By setting the push rack 309, after the position of the positioning plate 103 is moved by the moving rack 203, the top contact rod 204, and the diamond bar 202, when one set of the positioning plates 103 and the clamping plate 104 are clamped to the circuit board, the corresponding positioning shaft 106 thereon is unlocked, and the position of the push rack 309 can be moved. The movement of the push rack 309 can move the position of the bracket 313 through the fixed rack 311. When the bracket 313 moves, the friction force generated by the spring rod 314 and the card slot 315 can move the positioning shaft 106, and the rest is clamped to the circuit board. The positioning plate 103 and the clamping plate 104 of the board do not unlock the positioning shaft 106, the position of the remaining positioning shaft 106 remains unchanged, the spring rod 314 is forced to shrink, the spring rod 314 is separated from the card slot 315, and the bracket 313 slides on the fixing frame 311, so that the unlocked positioning shaft 106 can move and slide on the upper and lower sides of the circuit board, while the unlocked positioning shaft 106 remains unchanged. Through this design, the system can realize the unlocked positioning shaft 106 to move to the upper and lower sides of the circuit board, while the unlocked positioning shaft 106 remains unchanged. In this way, the circuit boards at different positions can be effectively supported and fixed to ensure that the circuit boards are accurately fixed and protected between the upper and lower positioning shafts 106, while avoiding unnecessary shaft movement to affect the operation of other panels. Since the positioning shafts 106 are designed to be unlocked and moved in groups, the entire system can increase or decrease the number of positioning shafts 106 according to needs to adapt to the operation of circuit boards of different specifications. This modular design facilitates the adjustment and upgrade of the system and enhances the flexibility and adaptability of the equipment.

[0024] As a further solution of the present invention, a guide tube 316 is connected to the mounting plate 102, a traction rope 317 is connected to one side of the pushing frame 309, one end of the traction rope 317 passes through the guide tube 316 and extends to the top of the moving frame 203, and is connected to the top of the moving frame 203; By setting the traction rope 317, in the initial state, a part of the traction rope 317 is in a relaxed state. When the movable frame 203 initially moves the connecting frame 200, the traction rope 317 will not pull the pushing frame 309 to move. When the movable frame 203 presses the connecting frame 200 and moves the connecting frame 200, the positioning plate 103, and the clamping plate 104 to the preset position, the top contact rod 204 has not yet separated from the diamond bar 202. When the movable frame 203 moves downward to the preset position, the traction rope 317 can be straightened. When the movable frame 203 continues to move downward, the position of the pushing frame 309 can be pulled by the traction rope 317, so that the pushing frame 309 can be moved, thereby achieving the purpose of unlocking the position of the positioning shaft 106 when the positioning plate 103 is moved to the predetermined position and then moving the positioning shaft 106.

[0025] As a further solution of the present invention, the top-touch rod 204 is slidably connected to one end of the moving frame 203, and a fourth spring 318 is connected between the top-touch rod 204 and the moving frame 203; By setting the fourth spring 318, the fourth spring 318 can limit the position of the top contact rod 204, ensuring that the top contact rod 204 is at an oblique position above the diamond bar 202. When the moving frame 203 moves downward, the top contact rod 204 can squeeze the diamond bar 202 to move horizontally, so that the positioning plate 103 is displaced to allow the clamping plate 104 to clamp the circuit board. The moving frame 203 continues to move downward, and the top contact rod 204 slides on the side plane of the diamond bar 202. At this time, the diamond bar 202 is no longer in the The movable frame 203 can be displaced by pulling the push frame 309 with the traction rope 317, so that the unlocked positioning shaft 106 can be displaced and plugged into the upper and lower sides of the circuit board. When the movable frame 203 moves downward to a predetermined position, the diamond bar 202 is separated from the top contact rod 204. At this time, the first spring 201 releases the potential energy to allow the connecting frame 200 to reset and move, and the positioning plate 103 and the clamping plate 104 are reset accordingly. The elastic member 105 no longer applies force to the circuit board. After the circuit board is no longer clamped, it can fall from the right onto the positioning shaft 106. Subsequently, the positioning shaft 106 can be inflated to expand the airbag 107 to complete the stable clamping of the circuit board. The purpose of setting the fourth spring 318 and the diamond bar 202 is that the diamond bar 202 can be separated from the top contact rod 204 to achieve the purpose of allowing the circuit board to fall from the right. When the circuit board is released during the subsequent relaxation work, the movable frame 203 is reset and moved upward. After the top contact rod 204 contacts the slope surface below the diamond bar 202, the fourth spring 318 is compressed and the top contact rod 204 is displaced laterally. The purpose of this design is to ensure that the movable frame 203 no longer affects the position of the connecting frame 200, the positioning plate 103, and the clamping plate 104 during the upward reset process, so as to ensure that the position of the locking bar 301 does not change, and avoid affecting the problem that the locking port 305 on the second connecting bar 303 cannot be set with the locking bar 301 again. This design can ensure the accuracy and stability of the system, while reducing the errors that may occur during the clamping and releasing process.

[0026] As a further solution of the present invention, the gas injection component includes a gas injection pipe 400 connected to the mounting plate 102, the gas injection pipe 400 is connected to a telescopic pipe 401, a slidable end of the telescopic pipe 401 is connected to a fixed pipe 402, the positioning shaft 106 is fixed to the fixed pipe 402, the gripping portion 101 is connected to a box body 403, a piston 404 is slidably connected in the box body 403, and a delivery pipe 405 is connected between the box body 403 and the gas injection pipe 400; By setting the piston 404, the position of the piston 404 can be moved during application. When the piston 404 moves, the air in the box body 403 can be pressed into the gas injection tube 400. The gas in the gas injection tube 400 can enter the positioning shaft 106 through the telescopic tube 401 and the fixed tube 402, and finally the airbag 107 can be expanded to achieve stable clamping of the circuit board. After the airbag 107 is expanded, the circuit board can be firmly fixed on the positioning shaft 106, avoiding the circuit board from moving or tilting during operation, and ensuring the accuracy of positioning. When the circuit board needs to be released, the piston 404 can be controlled to move in the opposite direction to form a negative pressure in the box body 403, suck out the gas in the airbag 107, and then let the airbag 107 shrink and release the clamping of the circuit board. In addition, the telescopic tube 401 can make up for the distance change caused by the fixed tube 402 following the upward and downward displacement of the positioning shaft 106, ensuring that the continuity of gas delivery is not affected during the movement of the positioning shaft 106.

[0027] As a further solution of the present invention, a sealing plug 406 is connected to the positioning shaft 106 and is sleeved with the fixing tube 402. The sealing plug 406 is provided with a plurality of air holes 407. By setting the sealing plug 406, the sealing plug 406 and the fixed tube 402 are sleeved in the initial state, and one end of the fixed tube 402 can be sealed to block the entry of gas. When the positioning shaft 106 is unlocked and moves, the sealing plug 406 follows the positioning shaft 106 and can leave the fixed tube 402. At this time, the fixed tube 402 is opened, while the sealing plugs 406 in other positioning shafts 106 that are not unlocked are still in the state of sealing the fixed tube 402, that is, the unlocked positioning shaft 106 will not receive the gas delivery, and the gas will only be delivered to the unlocked positioning shaft 106 to expand the airbag 107 thereon. The purpose of this design is to prevent all the airbags 107 from expanding at the same time, and to avoid the problem that the airbags 107 on both sides of the circuit board cannot be fully expanded due to the obstruction of the circuit board, resulting in insufficient clamping force. Through this precise control, only the airbags 107 in the correct position are allowed to expand, thereby ensuring the stable clamping of the circuit board and improving the operating accuracy and efficiency of the device.

[0028] As a further solution of the present invention, an electric push rod 408 is provided on the top of the grabbing part 101, a push plate 409 is connected to the bottom of the telescopic shaft of the electric push rod 408, a fifth spring 410 is connected between the push plate 409 and the moving frame 203, a pressing plate 411 is slidably connected to the box body 403, a connecting rod 412 is rotatably connected between the pressing plate 411 and the piston 404, and a sixth spring 413 is connected between the piston 404 and the box body 403; By setting the electric push rod 408, the electric push rod 408 can give the push plate 409 a force to move downward. When the push plate 409 moves downward, the movable frame 203 can be moved by the force of the sixth spring 413. After the push plate 409 and the movable frame 203 move downward to allow the positioning plate 103 and the clamping plate 104 to move to the predetermined position, when the positioning shaft 106 moves to the second predetermined position, the movable frame 203 contacts the position of the box body 403 and is restricted. The electric push rod 408 continues to work, and the push plate 409 continues to move downward to compress The sixth spring 413 contacts the pressure plate 411, which can drive the pressure plate 411 to move downward. When the pressure plate 411 moves downward, it can push the piston 404 through the connecting rod 412, so that the gas can be injected into the airbag 107. The entire grasping and supporting process can proceed smoothly. The movement of the positioning shaft 106, the initial clamping of the clamping plate 104, the expansion support of the airbag 107 and the release process of the circuit board are coordinated. The design of the entire system is highly intelligent, which not only reduces the need for manual adjustment, but also improves the accuracy and safety of the grasping process.

[0029] A method for using a manipulator with a circuit board fixture is applicable to any of the above-mentioned manipulators with a circuit board fixture, and the specific steps are as follows: Step 1: Use the robot arm 100 to cover the gripping part 101 on the circuit board on the platform, and the positioning plate 103 and the clamping plate 104 are located on both sides of the circuit board; Step 2: Use the positioning component to move the position of the positioning plate 103, so that each group of two positioning plates 103 are close to each other, and the position of the clamping plate 104 is adjusted by the elastic member 105. After the clamping plate 104 contacts the circuit board, the positioning plate 103 continues to move to compress the elastic member 105, and the potential energy of the elastic member 105 initially clamps the circuit board; Step 3: The positioning shaft 106 moves on the path of the positioning plate 103, and the outer wall moves along the positioning plate 103, expanding upward and downward; Step 4: When the positioning shaft 106 moves to the first predetermined position, the positioning component resets the positioning plate 103, the elastic member 105 releases potential energy, the clamping plate 104 no longer clamps the circuit board, and the circuit board naturally falls onto the positioning shaft 106, and the weight is supported by the positioning shaft 106; Step 5: The pin gap of the pin surface of the circuit board is inserted into the positioning shaft 106, or the plane of the circuit board falls onto the positioning shaft 106; Step 6: When the positioning shaft 106 moves to the second predetermined position, the gas injection component injects gas into the airbag 107 on the positioning shaft 106, and the airbag 107 expands to provide additional fixation and protection to keep the circuit board in a stable posture.

[0030] Although embodiments of the present invention have been shown and described, it will be appreciated by those skilled in the art that various changes, modifications, substitutions and variations may be made to the embodiments without departing from the principles and spirit of the present invention, and that the scope of the present invention is defined by the appended claims and their equivalents.

Claims

1. A manipulator with a circuit board fixture, It is characterized in that It comprises a mechanical arm (100) and a grasping portion (101) provided on a movable end of the mechanical arm (100), wherein the grasping portion (101) comprises: A mounting plate (102) disposed in the gripping portion (101); A plurality of positioning plates (103) disposed on the mounting plate (102), the plurality of positioning plates (103) being divided into a plurality of groups, each group comprising two positioning plates (103); A clamping plate (104) provided on one side of the positioning plate (103), an elastic member (105) being provided between the clamping plate (104) and the positioning plate (103); A positioning shaft (106) is provided on the upper and lower sides of the positioning plate (103), and an air bag (107) is provided on the positioning shaft (106); a locking component provided between the positioning shaft (106) and the clamping plate (104), used for locking the position of the positioning shaft (106); a positioning component provided between the grasping portion (101) and the positioning plate (103), used for moving a plurality of groups of the positioning plates (103), with two positioning plates (103) in each group moving closer to each other, the positioning component being capable of triggering a locking component to unlock the positioning shaft (106) when the positioning plates (103) are moved to a predetermined position and the elastic member (105) is compressed; A gas injection component provided between the grasping portion (101) and the positioning shaft (106), used for injecting gas into the air bag (107) on the positioning shaft (106) to expand it; When the positioning shaft (106) is unlocked, it can move along the path of the positioning plate (103); when the positioning shaft (106) moves to a first predetermined position, the positioning plate (103) is reset to an initial position; when the positioning shaft (106) moves to a second predetermined position, the gas injection component injects gas into the positioning shaft (106).

2. A robot with a circuit board fixture according to claim 1, It is characterized in that The positioning component comprises a connecting frame (200) slidably connected to the mounting plate (102); the positioning plate (103) is connected to the connecting frame (200); a first spring (201) is connected between the connecting frame (200) and the mounting plate (102); a diamond-shaped bar (202) is connected to the connecting frame (200); a moving frame (203) is provided on the grasping portion (101); and a top contact rod (204) is connected to the moving frame (203).

3. A robot with a circuit board fixture according to claim 2, It is characterized in that The locking component comprises a connecting rod (300) connected to one side of the clamping plate (104), the connecting rod (300) being slidably connected to the positioning plate (103) and extending to one side of the positioning plate (103), the connecting rod (300) being connected to a locking strip (301), the positioning plate (103) being connected to a first connecting strip (302), the first connecting strip (302) being slidably connected to a second connecting strip (303) slidably sleeved with the positioning shaft (106), a second spring (304) being connected between the first connecting strip (302) and the second connecting strip (303), the second connecting strip (303) being provided with a locking opening (305) adapted to the locking strip (301), the second connecting strip (303) being further provided with an oblique opening (306), the positioning shaft (106) being connected to a limiting ring (307), and the positioning plate (103) being provided with an avoidance opening (308).

4. A robot with a circuit board fixture according to claim 3, It is characterized in that A pushing frame (309) is slidably connected to the mounting plate (102), a third spring (310) is connected between the pushing frame (309) and the mounting plate (102), a fixing frame (311) is connected to the pushing frame (309), a connecting tube (312) is fixedly sleeved on the positioning shaft (106), a bracket (313) slidably connected to the connecting tube (312) and connected to the fixing frame (311), the bracket (313) is provided with a spring rod (314), one end of the spring rod (314) is semi-spherical, and a plurality of slots (315) adapted to the semi-spherical end of the spring rod (314) are provided on the connecting tube (312).

5. A robot with a circuit board fixture according to claim 4, It is characterized in that A guide tube (316) is connected to the mounting plate (102), a traction rope (317) is connected to one side of the pushing frame (309), and one end of the traction rope (317) passes through the guide tube (316) and extends to the top of the moving frame (203), and is connected to the top of the moving frame (203).

6. A robot with a circuit board fixture according to claim 2, It is characterized in that The top-touch rod (204) is slidably connected to one end of the moving frame (203), and a fourth spring (318) is connected between the top-touch rod (204) and the moving frame (203).

7. A robot with a circuit board fixture according to claim 2, It is characterized in that The gas injection component comprises a gas injection tube (400) connected to the mounting plate (102), the gas injection tube (400) being connected to a telescopic tube (401), a slidable end of the telescopic tube (401) being connected to a fixed tube (402), the positioning shaft (106) being fixed to the fixed tube (402), the grasping portion (101) being connected to a box body (403), a piston (404) being slidably connected inside the box body (403), and a delivery tube (405) being connected between the box body (403) and the gas injection tube (400).

8. A robot with a circuit board fixture according to claim 7, It is characterized in that A sealing plug (406) sleeved with the fixing tube (402) is connected inside the positioning shaft (106), and a plurality of air holes (407) are provided on the sealing plug (406).

9. A robot with a circuit board fixture according to claim 7, It is characterized in that An electric push rod (408) is provided at the top of the grabbing portion (101); a push plate (409) is connected to the bottom of the telescopic shaft of the electric push rod (408); a fifth spring (410) is connected between the push plate (409) and the movable frame (203); a pressure plate (411) is slidably connected to the box body (403); a connecting rod (412) is rotatably connected between the pressure plate (411) and the piston (404); and a sixth spring (413) is connected between the piston (404) and the box body (403).

10. A method for using a manipulator with a circuit board fixture, applicable to the manipulator with a circuit board fixture according to any one of claims 1 to 9, the specific steps are as follows: Step 1: Using a mechanical arm (100) to cover the gripping portion (101) on the circuit board on the platform, the positioning plate (103) and the clamping plate (104) are located on both sides of the circuit board; Step 2: Using the positioning component to move the position of the positioning plate (103), each group of two positioning plates (103) are moved closer to each other, and the position of the clamping plate (104) is adjusted by the elastic member (105); after the clamping plate (104) contacts the circuit board, the positioning plate (103) continues to move to compress the elastic member (105), and the potential energy of the elastic member (105) initially clamps the circuit board; Step 3: The positioning shaft (106) moves on the path of the positioning plate (103), and the outer wall moves along the positioning plate (103) to expand upward and downward; Step 4: When the positioning shaft (106) moves to the first predetermined position, the positioning component resets the position of the positioning plate (103), the elastic member (105) releases potential energy, the clamping plate (104) no longer clamps the circuit board, and the circuit board naturally falls onto the positioning shaft (106), and the weight is supported by the positioning shaft (106); Step 5: The pin gap of the pin surface of the circuit board is inserted into the positioning shaft (106), or the plane of the circuit board falls onto the positioning shaft (106); Step 6: When the positioning shaft (106) moves to the second predetermined position, the gas injection component injects gas into the airbag (107) on the positioning shaft (106), and the airbag (107) expands to provide additional fixation and protection, so that the circuit board maintains a stable posture.

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