Circuit board clamping device

Abstract

This invention provides a circuit board clamping device, comprising: a bracket including two abutting sides, two clamping sides, and a connecting cylinder, wherein an movable space is formed between the two abutting sides and the two clamping sides; two pressing modules respectively assembled below the two abutting sides of the bracket, each pressing module including an elastic pressure plate, and one of the pressing modules being assembled to a movable plate of an adjustment part, wherein the movable plate is positioned on the abutting side and can be adjusted horizontally; and two clamping modules respectively assembled below the two clamping sides of the bracket, wherein the device clamps the preset circuit board assembly by driving the rotating component to rotate and the belt to rotate in a first direction according to the driving unit, and drives the robotic arm to move the preset circuit board assembly to a preset position, and releases the preset circuit board assembly to the preset position by driving the rotating component to rotate and the belt to rotate in a second direction according to the driving unit.

Description

Technical Field

[0001] This invention relates to a circuit board gripping device, and more particularly to a device that allows a robotic arm to be mounted on a mobile machine or unmanned transport vehicle to directly transport circuit boards. Through the two-abutting side structure and two-clamping side structure of the gripper assembly, the pre-set circuit board assembly will not shake or fall during the transport process, avoiding the intermittent pauses that occur when transporting circuit boards by existing conveyor belts. This achieves various advantages such as increasing the speed of the production line, improving the production efficiency of the workpiece, simplifying the production line, and reducing costs. Background Technology

[0002] Today, the manufacturing industry faces labor shortages, rising environmental awareness, increased labor and operating costs, and pressure to transform from labor-intensive to technology-intensive industries. Most businesses respond to rising costs by relocating industries overseas or introducing foreign workers. They can also use production line automation technology and jigs to improve their operations and reduce costs, thereby reducing manpower, saving manufacturing time, and increasing production capacity.

[0003] Furthermore, in the automated operation of production lines in the manufacturing industry, various processing, inspection, cleaning, assembly, quality control, warehousing and transportation processes are carried out at different workstations within the factory. In the processing process, trolleys and conveyor belts of the conveying device are used to transport the workpieces to be processed to each workstation, and manual handling is used to pick up or change materials for the processing machines to facilitate the processing of various required components and products. This manual picking up or changing of materials is quite time-consuming and labor-intensive. Therefore, manufacturers have introduced industrial production lines with robotic arms for material handling to meet the needs of automation and special processes.

[0004] Most industrial production lines employ continuous conveying, using conveyor belts to transport workpieces sequentially to various workstations. Conveying must be paused before robotic arms can pick up or place individual workpieces. Alternatively, workpieces can be manually handled and then placed on storage racks. The intermittent pauses in conveyor belt operation often result in overly tight workpiece handling and significant delays in subsequent workpiece processing, hindering effective time and cost reduction. With the diversification of processing methods and the increasing complexity of processes, along with advancements in drive and control technologies, it is crucial to consider production line automation and process requirements. Integrating robotic arms to accelerate production lines, thereby improving workpiece production efficiency, simplifying production lines, and reducing costs, is a key area that those in this industry urgently need to research and improve. Summary of the Invention

[0005] Therefore, in view of the above-mentioned problems and deficiencies, the inventors collected relevant information and, after extensive evaluation and consideration, designed and invented this circuit board clamping device.

[0006] To achieve the above objectives, the technical solution adopted by the present invention is as follows:

[0007] A circuit board gripping device, comprising a gripper assembly mounted on a robotic arm capable of three-dimensional movement, characterized in that the gripper assembly includes:

[0008] A support includes two opposing abutting sides, and the support has a clamping side on each of the other two opposing sides. The support has a movable space through the two abutting sides and the two clamping sides. A connecting cylinder that is connected to the end of the robotic arm and capable of rotation is assembled at the center of the movable space.

[0009] Two pressure modules are respectively assembled below the two support sides of the bracket. Each of the two pressure modules includes an elastic pressure plate. One of the two pressure modules is assembled to a movable plate of an adjustment part. The movable plate is positioned on the support side and can be adjusted in the horizontal direction.

[0010] A drive unit is mounted on the top side of the bracket and includes a power device, and the power device has a rotating component that can generate rotation protrusions toward the active space.

[0011] A transmission unit is disposed in the movable space of the two clamping sides. The transmission unit includes a belt sleeved on the rotating member and pulleys pivotally connected to the two clamping sides respectively; and

[0012] Two clamping modules are respectively assembled below the two clamping sides of the bracket. Each clamping module is clamped to the outside of the belt by a belt clamping block. The drive unit drives the rotating component to rotate and the belt to rotate in a first direction, so that the two clamping modules move towards each other to clamp the two side edges of the preset circuit board assembly. The robotic arm is driven to move the preset circuit board assembly to a preset position. The elastic pressure plates of the two pressing modules press down on the other two opposite side edges of the preset circuit board assembly, so that the preset circuit board assembly is flat against the surface of the preset position. The drive unit drives the rotating component to rotate and the belt to rotate in a second direction, so that the two clamping modules move outward and release the preset circuit board assembly to the preset position.

[0013] The circuit board clamping device includes: a connecting plate between the bracket and the movable plate; a gear and a rack protruding upward toward the movable space, enabling the movable plate to move horizontally on the bracket; an electric power source consisting of a motor on the bottom side of the connecting plate, with the rotating shaft of the motor extending through the center of the gear to drive the gear and the rack to move relative to each other; a first stop block on the connecting plate for the gear to move outward to a dead point; and a second stop block on the rack for the gear to move inward to a dead point on the side facing the center of the bracket.

[0014] The circuit board clamping device further includes: the pressing module includes a telescopic mechanism fixed to the outside of a fixed seat on the pressing side and capable of vertical extension and retraction; a magnetic suction member in the shape of a long rectangular metal block is fixed on the bottom side of the telescopic mechanism; at least one magnet capable of generating magnetism is embedded in the magnetic suction member; and an elastic pressure plate in the shape of an inverted V is fixed on the inner side of the magnetic suction member of the two pressing modules.

[0015] The circuit board clamping device includes: a clamping module comprising a hanger for fixing the bottom side of the belt clamping block, and at least one linear slide rail assembly between the top side of the hanger and the bracket; a third stop block protruding downward at the edge of the bracket corresponding to the hanger; a plurality of clamping members on the bottom side of the hanger; a single clamping member comprising a connecting block whose top side is fixedly connected to the hanger; a supporting block fixedly connected to the bottom surface of the connecting block; the supporting block having a wave structure on the vertical surface facing the preset circuit board assembly to increase friction; and at least one needle protruding from the wave structure of the supporting block to penetrate the bottom side of the preset circuit board assembly and form a stable positioning.

[0016] The circuit board clamping device, wherein: the power device of the drive unit is a motor, and the rotating component is a drive wheel sleeved on the outside of the rotating shaft protruding from the motor. The drive wheel is sleeved on one side of the belt, and the drive unit has an idler wheel on each side of the rotating component that abuts against the other side of the belt and is passively rotated. The two idler wheels abut against each other to make the belt surrounding the two pulleys form an equal distance, so as to reduce the power loss of the transmission unit.

[0017] The circuit board clamping device includes: at least one support group on the machine base, the support group including a plurality of carriers in a vertically stacked structure, and the preset circuit board assembly including a cover plate made of metal on the top side and a carrier plate made of wood on the bottom side, at least one circuit board being clamped between the cover plate and the carrier plate, and a plurality of positioning rods being provided on the carrier plate facing upward, and a plurality of serial holes for fitting the positioning rods being provided through the cover plate and the circuit board.

[0018] The circuit board clamping device further includes a laser ranging module at the active space corresponding to the pressing module, which senses whether the two clamping modules are indeed clamping the two side edges of the preset circuit board assembly.

[0019] The circuit board clamping device includes an image capturing module at a preset position that senses the position image of an unmanned transport vehicle, the robotic arm, or a machine for the robotic arm assembly.

[0020] The circuit board clamping device wherein: the cover plate is made of an aluminum plate, and the carrier plate is made of a wood pulp board.

[0021] The circuit board clamping device, wherein the bracket has a hollow cross-shaped structure.

[0022] The main objective of this invention is to provide a circuit board gripping device, which refers to a gripper assembly mounted on a three-dimensionally movable robotic arm. The gripper assembly includes: a support frame with two abutting sides, two clamping sides, and a connecting cylinder, forming an active space between the two abutting sides and the two clamping sides; two pressing modules respectively assembled below the two abutting sides of the support frame, each pressing module including an elastic pressure plate, and one of the pressing modules being assembled to a movable plate of an adjustment portion, the movable plate being positioned on the abutting side and adjustable in a horizontal direction; and two clamping modules respectively assembled below the two clamping sides of the support frame. A driving unit drives a rotating component to rotate and causes a belt to rotate in a first direction to clamp a preset circuit board assembly, and drives the robotic arm to move the preset circuit board assembly to a preset position. The driving unit then drives the rotating component to rotate and causes the belt to rotate in a second direction to release the preset circuit board assembly to the preset position. Based on the above, mobile machines or unmanned transport vehicles equipped with robotic arms can directly carry out circuit board handling operations. Through the two-abutment side structure and two-clamping side structure of the gripper assembly, the pre-set circuit board assembly will not shake or fall during the handling process, avoiding the intermittent pauses caused by the existing conveyor belt conveying circuit boards. This achieves various advantages such as speeding up the production line, improving workpiece production efficiency, simplifying the production line and reducing costs.

[0023] Another object of the present invention is that a connecting plate is provided between the bracket and the movable plate. The connecting plate is provided with a gear and a rack that allow the movable plate to move horizontally on the bracket. An electric power source consisting of a motor is provided on the bottom side of the connecting plate. The rotating shaft of the motor extends into the center of the gear to drive the gear and the rack to move relative to each other. The connecting plate is also provided with a first stop block for the gear to move outward to a dead point, and the rack is provided with a second stop block for the gear to move inward to a dead point on the side facing the center of the bracket.

[0024] Another object of the present invention is that the clamping module includes a hanger for fixing the bottom side of the belt clamping block, and at least one linear slide rail assembly is provided between the top side of the hanger and the bracket. The edge of the bracket has a third stop block protruding downward at the location corresponding to the hanger. The bottom side of the hanger is provided with a plurality of clamping members. Each clamping member includes a connecting block whose top side is connected and fixed to the hanger, and a supporting block is connected and fixed to the bottom surface of the connecting block. The supporting block has a wave structure on the vertical surface facing the preset circuit board assembly to increase friction. The supporting block has at least one needle protruding in the wave structure to penetrate the bottom side of the preset circuit board assembly and form a stable positioning by inserting a carrier plate.

[0025] Another object of the present invention is that the bracket is provided with a laser ranging module at the active space corresponding to the electric gripper to sense whether the two gripping modules are indeed gripping the two side edges of the preset circuit board assembly.

[0026] Another object of the present invention is that the power device of the drive unit is a motor, and a rotating member is sleeved on the outside of the rotating shaft (not shown in the figure) protruding from the motor. The rotating member is sleeved on one side of the belt, and the drive unit has an idler pulley on each side of the rotating member that abuts against the other side of the belt and is passively rotated. The two idler pulleys abut against each other so that the belt surrounding the two pulleys forms an equal distance, thereby reducing the power loss of the transmission unit.

[0027] Another object of the present invention is that the machine base is provided with at least one support group, the support group includes a plurality of carriers and the plurality of carriers are arranged in a vertical stacking structure, and the preset circuit board assembly also includes a cover plate made of metal on the top side and a carrier plate made of wood on the bottom side, at least one circuit board is sandwiched between the cover plate and the carrier plate, and the carrier plate is provided with a plurality of positioning rods facing upward, and the cover plate and the circuit board are provided with a plurality of serial holes for fitting the positioning rods. Attached Figure Description

[0028] Figure 1 This is an implementation structural diagram of the circuit board clamping device of the present invention.

[0029] Figure 2 This is a structural diagram of the circuit board assembly of the present invention.

[0030] Figure 3 This is a three-dimensional structural diagram of the gripper assembly of the present invention.

[0031] Figure 4 This is another three-dimensional structural diagram of the gripper assembly of the present invention.

[0032] Figure 5 This is a three-dimensional structural diagram of the clamping component of the present invention.

[0033] Figure 6This is an embodiment diagram of the robotic arm of the present invention handling a preset circuit board assembly.

[0034] Explanation of reference numerals in the attached drawings: 1-Machine base; 11-Carrier; 111-Pattern; 1111-Positioning hole; 1112-Positioning groove; 1113-Alignment guide post; 1114-Through hole; 112-Foot pad; 12-Circuit board assembly; 121-Cover plate; 1211-Serial hole; 122-Circuit board; 1221-Serial hole; 123-Carrier plate; 1231-Positioning rod; 1232-Positioning post; 2-Robotic arm; 21-First arm; 22-Second arm; 23-Pivot; 3-Gripper assembly; 31-Bracket; 310-Movement space; 311-Abutting side; 312-Clamping side; 313-Connecting cylinder; 314-Base plate; 315-Fixed seat; 32-Pressure module; 321-Telescopic mechanism; 322-Magnetic suction element; 3221-Magnet; 323-Elastic pressure plate; 33-Adjustment part; 331-Moving plate; 332-Adapter plate; 333-Gear; 334-Rack; 335-Electric power source; 336-First stop block; 337-Second stop block; 34-Drive unit; 341-Power unit; 342-Rotating component; 35-Transmission unit; 351-Belt; 352-Pulley; 353-Idler wheel; 36-Clamping module; 361-Belt clamping block; 362-Hanger; 363-Linear slide rail assembly; 364-Third stop block; 365-Clamping component; 3651-Connecting block; 3652-Abutting block; 3653-Wave structure; 3654-Needle; 37-Laser ranging module; 38-Image capturing module; 4-Circuit board drilling machine; 41-Accommodation slot. Detailed Implementation

[0035] To achieve the above objectives and effects, the technical means and structure adopted by the present invention are described in detail below with reference to the preferred embodiments of the present invention, so as to facilitate a complete understanding.

[0036] Please see Figures 1 to 2The figures show the implementation structure of the circuit board gripping device and the structure of the circuit board assembly of the present invention. It can be clearly seen from the figures that the circuit board gripping device of the present invention refers to a gripper group 3 set on a robotic arm 2 that can move in three dimensions. The robotic arm 2 is set on a movable machine 1 or an unmanned guided vehicle (AGV), and the robotic arm 2 includes a first arm 21 and a second arm 22, and a pivot 23 is provided between the first arm 21 and the second arm 22. The machine 1 is provided with at least one support group 1, which includes a plurality of carriers 11 and the plurality of carriers 11 are arranged in a vertical stacking structure. Each carrier includes a tray 111 with at least one positioning hole 1111 and at least one positioning groove 1112 on each of the two opposite sides. The upper surface of the tray 111 is for placing a preset circuit board assembly 12, and the bottom surface of the preset circuit board assembly 12 is provided with at least two positioning posts 1232 that can be inserted into the positioning hole 111 and the positioning groove 1112. The upper surface of the tray 111 is further provided with a plurality of alignment guide posts 1113, which are positioned by passing through the plurality of alignment holes (not shown in the figure) on the bottom surface of the upper tray 111. A plurality of foot pads 112 are fixed to the lower surface of the tray 111, and the foot pads 112 form the space required for the placement of the preset circuit board assembly 12 on the lower tray 111. The tray 111 is further provided with a plurality of through holes 1114 to reduce the weight of the carrier, and the through holes 1114 include four larger rectangular holes and two smaller elongated rectangular holes. The preset circuit board assembly 12 also includes a cover plate 121 made of metal on the top side and a carrier plate 123 made of wood on the bottom side. At least one circuit board 122 is sandwiched between the cover plate 121 and the carrier plate 123, and the carrier plate 123 is provided with a plurality of positioning rods 1231 facing upward, and the cover plate 121 and the circuit board 122 are provided with a plurality of serial holes (1211, 1221) for fitting the positioning rods 1231. The cover plate 121 is made of an aluminum plate, while the carrier plate 123 is made of a wood pulp board.

[0037] Please see Figures 3 to 5 The figures show a three-dimensional structural diagram of the gripper assembly, another three-dimensional structural diagram of the gripper assembly, and a three-dimensional structural diagram of the clamping member of the present invention. As can be clearly seen from the figures, the gripper assembly 3 of the present invention includes: a support 31, two pressing modules 32, an adjustment part 33, a driving unit 34, a transmission unit 35, and two clamping modules 36. Its main components and features are detailed below:

[0038] The bracket 31 includes two opposing abutment sides 311, and the bracket 31 is provided with a clamping side 312 on each of the other two opposing sides. The bracket 31 forms an active space 310 between the two abutment sides 311 and the two clamping sides 312. A connecting cylinder 313 is assembled at the center of the active space 310 and is connected to the end of the robotic arm 2 and can rotate. The connecting cylinder 313 is further connected to a base plate 314 fixed at the center of the bracket 31. The bracket 31 has a hollow cross-shaped structure.

[0039] The two pressing modules 32 are respectively assembled below the two supporting sides 311 of the bracket 31. Each of the two pressing modules 32 includes an elastic pressure plate 323. One of the two pressing modules 32 is assembled to a movable plate 311 of an adjustment part 33. The movable plate 311 is positioned on the supporting side and can be adjusted in a horizontal direction.

[0040] The drive unit 34 is mounted on the top side of the bracket 31 and includes a power device 341. The power device 341 has a rotating member 342 that can generate rotation protrusions toward the active space 310.

[0041] The transmission unit 35 is disposed in the movable space 310 of the two clamping sides 312. The transmission unit 35 includes a belt 351 sleeved on the rotating member 342 and a pulley 352 pivotally connected to the two clamping sides 312.

[0042] The two clamping modules 36 are respectively assembled below the two clamping sides 312 of the bracket 31. Each of the two clamping modules 36 is clamped to the outside of the belt 351 by a belt clamp 361. According to the drive unit 34, the rotating member 342 is driven to rotate and the belt 351 is rotated in the first direction, so that the two clamping modules 36 are brought together towards each other to clamp the two side edges of the preset circuit board assembly 12. The robotic arm 2 is then driven to move the preset circuit board assembly 12 to a preset position (e.g., Figure 6 As shown, the preset position can be a circuit board drilling machine 4 that can accommodate multiple preset circuit board assemblies 12, or other devices that can accommodate multiple preset circuit board assemblies 12. The elastic pressure plate 323 of the two pressing modules 32 presses down on the other two opposite side edges of the preset circuit board assembly 12 so that the preset circuit board assembly 12 is flat against the surface of the preset position. The driving unit 34 drives the rotating member 342 to rotate and the belt 351 to rotate in the second direction so that the two clamping modules 312 move outward and release the preset circuit board assembly 12 to the preset position.

[0043] A connecting plate 332 is provided between the aforementioned bracket 31 and the movable plate 331. The connecting plate 332 has a gear 333 and a rack 334 protruding upward toward the movable space 310, which allows the movable plate 331 to move horizontally on the bracket 31. An electric power source 335 composed of a motor is provided on the bottom side of the connecting plate 332, and the rotating shaft protruding from the motor passes through the center of the gear 333 to drive the gear 333 and the rack 334 to generate relative movement. The connecting plate 332 also has a first stop block 336 for the gear 334 to move outward to a dead point, and the rack 334 has a second stop block 337 for the gear 333 to move inward to a dead point on the side facing the center of the bracket 31. The electric power source 335 composed of the aforementioned motor drives the gear 333 and the rack 334 to generate relative movement to adjust the distance between the two pressing modules 32.

[0044] The aforementioned pressing module 32 further includes a telescopic mechanism 321 fixed to the outside of a fixed base 315 on the supporting side 311 and capable of vertical extension and retraction. A magnetic suction member 322 in the form of a long rectangular metal block is fixed on the bottom side of the telescopic mechanism 321. At least one magnet 3221 that can generate magnetism in the magnetic suction member 322 is embedded therein. Furthermore, an elastic pressure plate 323 in the shape of an inverted V is fixed on the inner side of the magnetic suction member 322 of the two pressing modules 32.

[0045] The aforementioned clamping module 36 includes a hanger 362 for fixing the bottom side of the belt clamp 361, and at least one linear slide rail assembly 363 is provided between the top side of the hanger 362 and the bracket 31. The edge of the bracket 31 has a third stop block 364 protruding downward at the corresponding hanger 362. The bottom side of the hanger 362 is provided with a plurality of clamping members 365. Each clamping member 365 includes a connecting block 3651 whose top side is connected and fixed to the hanger 362. A support block 3652 is further connected and fixed to the bottom surface of the connecting block 3651. The support block 3652 has a wave structure 3653 on the vertical surface facing the preset circuit board assembly 12 to increase friction. The support block 3652 has at least one needle 3654 protruding in the wave structure 3653, which penetrates the bottom side of the preset circuit board assembly 123 and forms a stable positioning.

[0046] The power unit 341 of the aforementioned drive unit 34 refers to a motor, and the rotating member 342 refers to a drive pulley sleeved on the outside of the rotating shaft protruding from the motor. The drive pulley is sleeved on one side of the belt 351. The drive unit 34 has an idler pulley 353 on each side of the rotating member 342, which abuts against the other side of the belt 351 and is passively rotated. The two idler pulleys 353 abut against each other to make the belt 351 surrounding the two pulleys 352 form an equal distance, thereby reducing the power loss of the transmission unit 35. Those skilled in the art can also replace the motor as the power unit 341 with an air supply device with a pneumatic cylinder or an internal combustion engine to achieve the same function, and these simple variations are also within the protection scope of this invention. In addition, the transmission unit 35 using belt 351 and pulley 352 can be replaced with chain and gear module, multiple gear transmission module, worm gear and worm module, gear and rack module, or the aforementioned transmission modules can be used in combination to achieve the same function. These simple variations are also within the protection scope of this invention.

[0047] The aforementioned bracket 31 is further provided with a laser ranging module 37 at the active space 310 corresponding to the electric gripper 32, which senses whether the two gripping modules 36 are indeed gripping the two side edges of the preset circuit board assembly 12. The bracket 31 is provided with an image capturing module 38 at a preset position, which senses the position image of an unmanned transport vehicle (AGV), the robotic arm 2, or a machine 1 assembled by the robotic arm 2. The image capturing module is composed of a charge-coupled device (CCD) module.

[0048] In actual operation, the present invention first loads an automation program (Auto Application) into an industrial computer or an automation server to control the movement of the machine tool 1 and the operation of the robotic arm 2. This causes the gripper assembly 3 of the robotic arm 2 to move to one of the multiple carriers 11 on the machine tool 1. The upper surface of each carrier 11 houses at least one preset circuit board assembly 12. The drive unit 34 drives the rotating component 342 to rotate, causing the belt 351 to rotate in a first direction. This causes two clamping modules 36 to come together towards their respective inner sides, clamping the two side edges of the preset circuit board assembly 12. The robotic arm 2 is then driven to move the preset circuit board assembly 12 to a preset position (e.g., ...). Figure 6As shown, the preset position can be a circuit board drilling machine 4 that accommodates multiple preset circuit board assemblies 12. The circuit board drilling machine 4 has an internal receiving slot 41 for accommodating multiple preset circuit board assemblies 12. First, the electric power source 335, composed of a motor, drives the gear 333 and rack 334 to generate relative movement to adjust the spacing of the two pressing modules 32. Then, the elastic pressure plate 323 of the two pressing modules 32 presses down on the other two opposite side edges of the preset circuit board assembly 12 so that the preset circuit board assembly 12 is flat against the surface of the preset position. At the same time, the receiving slot 41 is used to accommodate the multiple preset circuit board assemblies 12. The surface of the groove 41 is made of a magnetic metal (e.g., stainless steel or iron). The magnetic 322 of the pressing module 32 is attracted to the surface of the receiving groove 41, which can strengthen the stress on the other two side edges of the preset circuit board assembly 12 without causing it to warp. The driving unit 34 drives the rotating component 342 to rotate and the belt 351 to rotate in the second direction, so that the two clamping modules 312 move outward and release the preset circuit board assembly 12 onto the receiving groove 41 of the circuit board drilling machine 4, thereby completing the operation of the circuit board clamping device of the present invention.

[0049] Based on the above Figures 1 to 6 The present invention is a circuit board gripping device, which refers to a gripper assembly mounted on a three-dimensionally movable robotic arm 2. The gripper assembly includes: a support, which includes two abutting sides, two clamping sides, and a connecting cylinder, with an movable space formed between the two abutting sides and the two clamping sides; two pressing modules, which are respectively assembled below the two abutting sides of the support, each of the two pressing modules including an elastic pressure plate, and one of the two pressing modules is assembled to a movable plate of an adjustment part, and the movable plate is positioned on the abutting side and can be adjusted horizontally; and two clamping modules, which are respectively assembled below the two clamping sides of the support. The drive unit drives the rotating component to rotate and the belt to rotate in a first direction to clamp the preset circuit board assembly, and drives the robotic arm to move the preset circuit board assembly to a preset position. The drive unit drives the rotating component to rotate and the belt to rotate in a second direction to release the preset circuit board assembly to the preset position. Based on the above, mobile workbenches or unmanned transport vehicles equipped with robotic arms can directly perform circuit board handling operations. Through the two-abutment and two-clamping side structures of the gripper assembly, the pre-set circuit board assemblies are prevented from shaking or falling during transport, avoiding the intermittent pauses caused by existing conveyor belts. This achieves numerous advantages, including increased production line speed, improved workpiece production efficiency, simplified production lines, and reduced costs. This invention has excellent practicality in the field of automated circuit board processing and manufacturing.

[0050] The above description is illustrative only and not restrictive of the present invention. Those skilled in the art will understand that many modifications, variations or equivalents can be made without departing from the spirit and scope defined by the claims, and all such modifications, variations or equivalents will fall within the protection scope of the present invention.

Claims

1. A circuit board gripping device, comprising a gripper assembly mounted on a robotic arm capable of three-dimensional movement, characterized in that, The gripper assembly includes: A support includes two opposing abutting sides, and a clamping side is provided on each of the other two opposing sides of the support. The support has a movable space through the two abutting sides and the two clamping sides. A connecting cylinder that is connected to the end of a robotic arm and capable of rotation is assembled at the center of the movable space. Two pressure modules are respectively assembled below the two support sides of the bracket. Each pressure module includes an elastic pressure plate. One of the two pressure modules is assembled to a movable plate of an adjustment part. The movable plate is positioned on the support side and can be adjusted in the horizontal direction. A drive unit is mounted on the top side of the support and includes a power device, and the power device has a rotating component that can generate rotation protrusions toward the active space. A transmission unit, disposed in the movable space of the two clamping sides, includes a belt sleeved on the rotating member and a pulley pivotally connected to each of the two clamping sides; and Two clamping modules are respectively assembled below the two clamping sides of the bracket. Each clamping module is clamped to the outside of the belt by a belt clamping block. The drive unit drives the rotating component to rotate and the belt to rotate in the first direction, so that the two clamping modules move towards each other to clamp the two side edges of the preset circuit board assembly. The robotic arm is driven to move the preset circuit board assembly to a preset position. The elastic pressure plates of the two pressing modules press down on the other two opposite side edges of the preset circuit board assembly, so that the preset circuit board assembly is flat against the surface of the preset position. The drive unit drives the rotating component to rotate and the belt to rotate in the second direction, so that the two clamping modules move outward and release the preset circuit board assembly to the preset position.

2. The circuit board clamping device as described in claim 1, characterized in that: A connecting plate is provided between the support and the movable plate. The connecting plate has a gear and a rack protruding upward toward the movable space, which can make the movable plate move horizontally on the support. An electric power source consisting of a motor is provided on the bottom side of the connecting plate. The rotating shaft of the motor protrudes and passes through the center of the gear to drive the gear and rack to produce relative motion. The connecting plate also has a first stop block with the gear moving outward to the dead point, and the rack has a second stop block with the gear moving inward to the dead point on the side facing the center of the support.

3. The circuit board clamping device as described in claim 1, characterized in that: The pressing module also includes a telescopic mechanism that is fixed to the outside of a fixed seat on the pressing side and can extend and retract vertically. A magnetic attractor in the shape of a long rectangular metal block is fixed on the bottom side of the telescopic mechanism. At least one magnet that can make the magnetic attractor magnetic is embedded in the magnetic attractor. An inverted V-shaped elastic pressure plate is fixed on the inner side of the magnetic attractor of each of the two pressing modules.

4. The circuit board clamping device as described in claim 1, characterized in that: The clamping module includes a hanger for fixing the bottom side of the belt clamp block, and at least one linear slide rail assembly is provided between the top side of the hanger and the bracket. A third stop block is provided downward at the edge of the bracket corresponding to the hanger. A plurality of clamping members are provided on the bottom side of the hanger. Each clamping member includes a connecting block whose top side is connected and fixed to the hanger. A support block is also connected and fixed on the bottom surface of the connecting block. The support block has a wave structure on the vertical surface facing the preset circuit board assembly to increase friction. At least one needle protrudes from the wave structure of the support block and penetrates the bottom side of the preset circuit board assembly to form a stable positioning.

5. The circuit board clamping device as described in claim 1, characterized in that: The power unit of the drive unit is a motor, and the rotating part is a drive wheel sleeved on the outside of the rotating shaft protruding from the motor. The drive wheel is sleeved on one side of the belt. The drive unit has an idler wheel on each side of the rotating part that abuts against the other side of the belt and is passively rotated. The two idler wheels abut against each other to make the belts surrounding the two pulleys form an equal distance, so as to reduce the power loss of the transmission unit.

6. The circuit board clamping device as described in claim 1, characterized in that: The machine base is provided with at least one support group, which includes a plurality of carriers and the plurality of carriers are arranged in a vertical stacking structure. The pre-set circuit board assembly also includes a cover plate made of metal on the top side and a carrier plate made of wood on the bottom side. At least one circuit board is sandwiched between the cover plate and the carrier plate. The carrier plate is provided with a plurality of positioning rods facing upward, and the cover plate and the circuit board are provided with a plurality of serial holes for fitting the plurality of positioning rods.

7. The circuit board clamping device as described in claim 1, characterized in that: The bracket is also equipped with a laser ranging module in the active space of the corresponding pressure module to sense whether the two clamping modules are indeed clamping the two side edges of the preset circuit board assembly.

8. The circuit board clamping device as described in claim 7, characterized in that: The bracket is equipped with an image capturing module at a preset position for sensing the position image of an unmanned transport vehicle, a robotic arm, or a machine for assembling a robotic arm.

9. The circuit board clamping device as described in claim 6, characterized in that: The cover plate is made of an aluminum plate, while the carrier plate is made of a wood pulp board.

10. The circuit board clamping device as described in claim 1, characterized in that: The support has a hollow, cross-shaped structure.

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