A quick change system for gripper jaws

Abstract

The application discloses a kind of clamping jaw quick replacement systems, it is related to electronic component insertion technology field, including multiple clamping jaw assemblies, multiple clamping jaw assemblies are respectively used to clamp different specifications of electronic component;Base, multiple positioning structures are respectively with multiple clamping jaw assemblies abut, to make multiple clamping jaw assemblies respectively through multiple positioning structures be positioned on base;Adapter mechanism, locking assembly is equipped on adapter mechanism, locking assembly can be with clamping jaw assembly abut, to make clamping jaw assembly be connected on adapter mechanism by locking assembly;First drive assembly, first drive assembly can drive locking assembly to separate from the abut of clamping jaw assembly, to make clamping jaw assembly separate from the connection of adapter mechanism and abut on the positioning structure on base.The clamping jaw quick replacement system does not need electronic component insertion machine to replace clamping jaw assembly by the mode of stopping machine, corresponding clamping jaw assembly of electronic component specification can be quickly replaced, it is favorable to improve the insertion efficiency of electronic component.

Description

Technical Field

[0001] This invention relates to the field of electronic component insertion technology, and in particular to a quick-change gripper system. Background Technology

[0002] Electronic components are the fundamental building blocks of electronic devices and circuits, used to control the flow of current, voltage, and signals. They are basic components in the field of electronic engineering, used to design and manufacture various electronic products and systems. An electronic component insertion machine is an automated device used to insert electronic components (such as resistors, capacitors, and integrated circuit chips) into specific locations on a circuit board. Electronic component insertion machines typically consist of a robotic arm and a gripper assembly. The gripper assembly holds the electronic components, and the robotic arm then moves the gripper assembly, allowing the electronic components on the gripper assembly to be inserted into specific positions on the circuit board.

[0003] In existing technologies, a single gripper assembly can only hold one type of electronic component. When different types of electronic components need to be inserted, the electronic component insertion machine must be stopped before the gripper assembly can be replaced. Frequent shutdowns of the electronic component insertion machine increase production line downtime and are detrimental to improving the insertion efficiency of electronic components. Summary of the Invention

[0004] This invention aims to solve at least one of the technical problems existing in the prior art. To this end, this invention proposes a quick-change gripper system, which is beneficial to improving the insertion efficiency of electronic components.

[0005] A gripper quick-change system according to an embodiment of the present invention includes:

[0006] Multiple gripper assemblies, each of which is used to grip electronic components of different specifications;

[0007] The base has a number of positioning structures that are the same as the number of gripper assemblies. The multiple positioning structures correspond one-to-one with the multiple gripper assemblies. The multiple positioning structures are distributed along the front-back direction and abut against the multiple gripper assemblies respectively, so that the multiple gripper assemblies are positioned on the base by the multiple positioning structures. The base is used to connect to the frame of the electronic component insertion machine.

[0008] A transfer mechanism is provided, wherein a locking component is provided on the transfer mechanism, the locking component can abut against the gripper assembly, so that the gripper assembly is connected to the transfer mechanism through the locking component, and the transfer mechanism is used to connect to the output end of the robot arm of the electronic component insertion machine;

[0009] A first driving component is disposed on the base. The first driving component can drive the locking component to disengage from the gripper component, so that the gripper component disengages from the adapter mechanism and abuts against the positioning structure on the base.

[0010] It has at least the following beneficial effects:

[0011] Multiple gripper assemblies are used to grip electronic components of different specifications. A transfer mechanism connects to the output end of the robotic arm in the electronic component insertion machine. The base connects to the frame of the electronic component insertion machine, and the base has multiple positioning structures, each corresponding to one of the gripper assemblies. These positioning structures abut against the gripper assemblies, positioning them on the base. When a specific electronic component needs to be gripped, the robotic arm first moves the transfer mechanism to the gripper assembly on the base corresponding to that component's specifications. The locking component on the transfer mechanism then abuts against the corresponding gripper assembly, connecting it to the transfer mechanism via the locking component. When a different electronic component needs to be clamped, the robotic arm drives the adapter mechanism and the gripper assembly on the adapter mechanism to move to the corresponding positioning structure on the base. Then, the drive assembly on the base drives the locking assembly to disengage from the gripper assembly, causing the gripper assembly to disengage from the adapter mechanism and abut against the corresponding positioning structure. Next, the robotic arm drives the adapter mechanism to move to the gripper assembly on the base that corresponds to the specifications of the other electronic component. The locking assembly on the adapter mechanism abuts against the gripper assembly corresponding to the specifications of the other electronic component, thus connecting the gripper assembly corresponding to the specifications of the other electronic component to the adapter mechanism. This quick-change gripper system eliminates the need for the electronic component insertion machine to stop for gripper assembly replacement, allowing for rapid replacement of gripper assemblies that correspond to the specifications of electronic components, thereby improving the insertion efficiency of electronic components.

[0012] According to an embodiment of the present invention, a quick-change gripper system includes a transfer mechanism comprising a support, a first slider, a second slider, and a second drive assembly. Both the first slider and the second slider are slidably connected to the support, which is used to connect to the output end of the robotic arm of the electronic component insertion machine. The second drive assembly is disposed on the support. The gripper assembly includes a first gripper portion and a second gripper portion. Both the first gripper portion and the second gripper portion are detachably connected to the first slider and the second slider respectively via a locking assembly. The second drive assembly is used to drive the first slider and the second slider to move closer or further apart from each other, so that the first gripper portion and the second gripper portion grip or release the electronic component.

[0013] According to an embodiment of the present invention, the first gripper portion is provided with a plurality of first positioning posts, the first slider is provided with a plurality of first positioning holes, and the plurality of first positioning posts can be respectively inserted into the plurality of first positioning holes; the second gripper portion is provided with a plurality of second positioning posts, the second slider is provided with a plurality of second positioning holes, and the plurality of second positioning posts can be respectively inserted into the plurality of second positioning holes.

[0014] According to an embodiment of the present invention, a quick-change gripper system includes a locking assembly comprising a first elastic element, a first top post, a second elastic element, and a second top post. A first guide hole is provided on the first slider, communicating with one of the first positioning holes. The first top post passes through the first guide hole, with its left end extending out of the first guide hole. The first elastic element can drive the right end of the first top post to extend into one of the first positioning holes and abut against one of the first positioning posts, thereby fixing one of the first positioning posts to the inner wall of one of the first positioning holes. A second guide hole is provided on the second slider, communicating with one of the second positioning holes. The second top post passes through the first elastic element, communicating with one of the second positioning holes. Within the two guide holes, the right end of the second top post extends out of the second guide hole. The second elastic element can drive the left end of the second top post to extend into one of the second positioning holes and abut against one of the second positioning posts, so that one of the second positioning posts is fixed to the inner wall of one of the second positioning holes. The first driving component can drive the first top post and the second top post to move away from each other, so that the first top post and the second top post respectively disengage from the abutment of one of the first positioning posts and one of the second positioning posts, thereby causing the first gripper portion and the second gripper portion to disengage from the connection of the first slider and the second slider respectively, and causing the first gripper portion and the second gripper portion to abut against the positioning structure.

[0015] According to an embodiment of the present invention, the right end of the first top post is provided with a first tip, and a first annular positioning groove is provided on one of the first positioning posts, the first tip being able to abut against the inner wall of the first annular positioning groove. The left end of the second top post is provided with a second tip, and a second annular positioning groove is provided on one of the second positioning posts, the second tip being able to abut against the inner wall of the second annular positioning groove.

[0016] According to an embodiment of the present invention, a quick-change gripper system is provided at the left end of the first top post and at the right end of the second top post. The first drive assembly includes a first cylinder and a second cylinder. The cylinder bodies of the first cylinder and the second cylinder are both connected to the base. The piston rods of the first cylinder and the second cylinder can respectively abut against the first and second baffles, so that the first cylinder and the second cylinder respectively drive the first and second baffles to move away from each other.

[0017] The gripper quick-change system according to an embodiment of the present invention further includes a first slide plate and a second slide plate. Both the first slide plate and the second slide plate are slidably connected to the base in a left-right direction. The first slide plate is provided with a plurality of first levers, each of which corresponds to a plurality of positioning structures. Each of the plurality of first levers is provided with a first clearance groove for the left end of the first top column to pass through. The plurality of second slide plates are provided with second levers, each of which corresponds to a plurality of positioning structures. Each of the plurality of second levers is provided with a second clearance groove for the right end of the second top column to pass through. The first slide plate is connected to the piston rod of the first cylinder, and the second slide plate is connected to the piston rod of the second cylinder. The first cylinder and the second cylinder can respectively drive the first slide plate and the second slide plate to move away from each other, so that the first levers and the second levers respectively drive the first baffle and the second baffle to move away from each other.

[0018] According to an embodiment of the present invention, a quick-change gripper system is provided on a first slide plate, wherein the first slide plate is provided with a plurality of first protrusions, and the plurality of first protrusions correspond one-to-one with a plurality of positioning structures. A second slide plate is provided with a plurality of second protrusions, and the plurality of second protrusions correspond one-to-one with a plurality of positioning structures. A first cylinder and a second cylinder can respectively drive the first slide plate and the second slide plate to move away from each other, so that the plurality of first protrusions respectively abut against a plurality of first gripper portions on the positioning structures, and the plurality of second protrusions respectively abut against a plurality of second gripper portions on the positioning structures, thereby fixing the plurality of first gripper portions and the plurality of second gripper portions on the base. The first cylinder and the second cylinder can respectively drive the first slide plate and the second slide plate to move closer to each other, so that the plurality of first protrusions respectively disengage from abutting against a plurality of first gripper portions on the positioning structures, and the plurality of second protrusions respectively disengage from abutting against a plurality of second gripper portions on the positioning structures.

[0019] According to the quick-change gripper system of the present invention, a plurality of first gripper portions are provided with first lugs, and a plurality of first protrusions can respectively abut against the upper surface of the plurality of first lugs; a plurality of second gripper portions are provided with second lugs, and a plurality of second protrusions can respectively abut against the upper surface of the plurality of second lugs.

[0020] According to an embodiment of the present invention, the quick-change gripper system includes a positioning structure comprising a plurality of third positioning posts and a plurality of fourth positioning posts. The first gripper portion is provided with a plurality of third positioning holes, and the plurality of third positioning posts can be respectively inserted into the plurality of third positioning holes. The second gripper portion is provided with a plurality of fourth positioning holes, and the plurality of fourth positioning posts can be respectively inserted into the plurality of fourth positioning holes.

[0021] Additional aspects and advantages of the invention will be set forth in part in the description which follows, and in part will be obvious from the description, or may be learned by practice of the invention. Attached Figure Description

[0022] The present invention will be further described below with reference to the accompanying drawings and embodiments, wherein:

[0023] Figure 1 This is a schematic diagram of the gripper quick-change system according to an embodiment of the present invention;

[0024] Figure 2 This is a cross-sectional view of the adapter mechanism, the first gripper part, and the second gripper part in the quick gripper change system according to an embodiment of the present invention.

[0025] Figure 3 This is a schematic diagram of the structure of the first and second sliding plates of the gripper quick-change system in an embodiment of the present invention after they are moved away from each other;

[0026] Figure 4 for Figure 3 A magnified schematic diagram of the local structure at point A;

[0027] Figure 5 This is a schematic diagram of the structure of the first and second sliding plates of the gripper quick-change system in an embodiment of the present invention after they are brought close together;

[0028] Figure 6 for Figure 5 A magnified schematic diagram of the local structure at point B;

[0029] Figure 7 This is a schematic diagram of the structure of the second gripper part in the gripper quick-change system of the present invention;

[0030] Figure label:

[0031] Gripper assembly 100; first gripper portion 110; first positioning post 111; first annular positioning groove 112; first lug 113; second gripper portion 120; second positioning post 121; second annular positioning groove 122; second lug 123;

[0032] Base 200; positioning structure 210; third positioning post 211; fourth positioning post 212; first sliding plate 220; first protrusion 221; first lever 222; first clearance groove 223; second sliding plate 230; second protrusion 231; second lever 232; second clearance groove 233;

[0033] First drive assembly 300; Second cylinder 310;

[0034] Adapter mechanism 400; first slider 410; first positioning hole 411; first guide hole 412; second slider 420; second positioning hole 421; second guide hole 422; second drive assembly 430; support 440;

[0035] Locking assembly 500; first top post 510; first baffle 511; second top post 520; second baffle 521. Detailed Implementation

[0036] Embodiments of the present invention are described in detail below. Examples of these embodiments are shown in the accompanying drawings, wherein the same or similar reference numerals denote the same or similar elements or elements having the same or similar functions throughout. The embodiments described below with reference to the accompanying drawings are exemplary and are only used to explain the present invention, and should not be construed as limiting the present invention.

[0037] In the description of this invention, it should be understood that the orientation descriptions, such as up, down, front, back, left, right, etc., are based on the orientation or positional relationship shown in the accompanying drawings. They are only for the convenience of describing this invention and simplifying the description, and do not indicate or imply that the device or element referred to must have a specific orientation, or be constructed and operated in a specific orientation. Therefore, they should not be construed as limiting this invention.

[0038] In the description of this invention, "multiple" refers to two or more. The use of "first" and "second" is for distinguishing technical features only and should not be construed as indicating or implying relative importance, or implicitly indicating the number of indicated technical features or their sequential relationship.

[0039] In the description of this invention, unless otherwise explicitly defined, terms such as "set up," "install," and "connect" should be interpreted broadly, and those skilled in the art can reasonably determine the specific meaning of the above terms in this invention in conjunction with the specific content of the technical solution.

[0040] refer to Figures 1 to 3According to an embodiment of the present invention, a quick-change gripper system includes:

[0041] Multiple gripper assemblies 100, each gripper assembly 100 is used to clamp electronic components of different specifications;

[0042] The base 200 has a number of positioning structures 210 that are the same as the number of gripper assemblies 100. The multiple positioning structures 210 correspond one-to-one with the multiple gripper assemblies 100. The multiple positioning structures 210 are distributed along the front-back direction and abut against the multiple gripper assemblies 100 respectively, so that the multiple gripper assemblies 100 are positioned on the base 200 by the multiple positioning structures 210. The base 200 is used to connect to the frame of the electronic component insertion machine.

[0043] The adapter mechanism 400 is equipped with a locking component 500. The locking component 500 can abut against the gripper assembly 100 so that the gripper assembly 100 is connected to the adapter mechanism 400 through the locking component 500. The locking component 500 can disengage from the gripper assembly 100 so that the gripper assembly 100 is disconnected from the adapter mechanism 400. The adapter mechanism 400 is used to connect to the output end of the robot arm of the electronic component insertion machine.

[0044] The first drive assembly 300 is disposed on the base 200. The first drive assembly 300 can drive the locking assembly 500 to disengage from the gripper assembly 100, so that the gripper assembly 100 disengages from the connection with the adapter mechanism 400 and abuts against the positioning structure 210 on the base 200.

[0045] Understandably, multiple gripper assemblies 100 are used to grip electronic components of different specifications; the adapter mechanism 400 is connected to the output end of the robot in the electronic component insertion machine; the base 200 is connected to the frame of the electronic component insertion machine, and the base 200 is provided with multiple positioning structures 210, each corresponding to one of the gripper assemblies 100, and abutting against each gripper assembly 100, so that the gripper assemblies 100 are positioned on the base 200 by the positioning structures 210. When a type of electronic component needs to be gripped, the robot first drives the adapter mechanism 400 to move to the gripper assembly 100 on the base 200 that corresponds to the specification of the electronic component. The locking component 500 on the adapter mechanism 400 abuts against the gripper assembly 100 corresponding to the specification of the electronic component, so that the gripper assembly 100 corresponding to the specification of the electronic component is connected to the adapter mechanism 400 by the locking component 500. When another electronic component needs to be clamped, the robotic arm drives the adapter mechanism 400 and the gripper assembly 100 on the adapter mechanism 400 to move to the positioning structure 210 on the base 200 corresponding to the gripper assembly 100. Then, the drive assembly on the base 200 drives the locking assembly 500 to disengage from the gripper assembly 100, causing the gripper assembly 100 to disengage from the adapter mechanism 400 and abut against the positioning structure 210 corresponding to the gripper assembly 100. Next, the robotic arm drives the adapter mechanism 400 to move to the gripper assembly 100 on the base 200 that corresponds to the specifications of the other electronic component. The locking assembly 500 on the adapter mechanism 400 abuts against the gripper assembly 100 that corresponds to the specifications of the other electronic component, thus connecting the gripper assembly 100 that corresponds to the specifications of the other electronic component to the adapter mechanism 400. This quick-change gripper system eliminates the need for the electronic component insertion machine to stop operating to replace the gripper assembly 100. It allows for rapid replacement of the gripper assembly 100 with one that matches the specifications of the electronic component, thereby improving the insertion efficiency of electronic components.

[0046] refer to Figure 2 and Figure 7The adapter mechanism 400 includes a support 440, a first slider 410, a second slider 420, and a second drive assembly 430. The first slider 410 and the second slider 420 are both slidably connected to the support 440. The support 440 is used to connect to the output end of the robot arm of the electronic component insertion machine. The second drive assembly 430 is disposed on the support 440. The gripper assembly 100 includes a first gripper portion 110 and a second gripper portion 120. The first gripper portion 110 and the second gripper portion 120 are detachably connected to the first slider 410 and the second slider 420 respectively through a locking assembly 500. The second drive assembly 430 is used to drive the first slider 410 and the second slider 420 to move closer or further apart from each other, so that the first gripper portion 110 and the second gripper portion 120 grip or release the electronic components. In this embodiment of the invention, the gap between the first gripper portion 110 and the second gripper portion 120 is used for electronic components to pass through. The second driving component 430 drives the first slider 410 and the second slider 420 to move closer to each other, thereby causing the first gripper portion 110 and the second gripper portion 120 to move closer to each other and thus clamp the electronic components. The second driving component 430 drives the first slider 410 and the second slider 420 to move away from each other, thereby causing the first gripper portion 110 and the second gripper portion 120 to move away from each other and thus release the electronic components.

[0047] In this embodiment of the invention, the positioning structure 210 corresponding to the gripper assembly 100 is the positioning structure 210 corresponding to the first gripper portion 110 and the second gripper portion 120. The number of positioning structures 210 is the same as the number of gripper assemblies 100. The gripper assembly 100 includes the first gripper portion 110 and the second gripper portion 120, that is, the number of positioning structures 210 is the same as the number of the first gripper portion 110, and the number of positioning structures 210 is the same as the number of the second gripper portion 120.

[0048] refer to Figure 2The first gripper portion 110 is provided with a plurality of first positioning pins 111, and the first slider 410 is provided with a plurality of first positioning holes 411. The plurality of first positioning pins 111 can be respectively inserted into the plurality of first positioning holes 411. The second gripper portion 120 is provided with a plurality of second positioning pins 121, and the second slider 420 is provided with a plurality of second positioning holes 421. The plurality of second positioning pins 121 can be respectively inserted into the plurality of second positioning holes 421. Understandably, when it is necessary to clamp an electronic component, the robotic arm first moves the support 440 above the first gripper portion 110 and the second gripper portion 120 on the base 200, corresponding to the specifications of the electronic component. This aligns the multiple first positioning holes 411 on the first slider 410 with the multiple first positioning posts 111 on the first gripper portion 110, corresponding to the specifications of the electronic component, and the multiple second positioning holes 421 on the second slider 420 with the multiple second positioning posts 121 on the second gripper portion 120, corresponding to the specifications of the electronic component. Next, the robotic arm first lowers the support 440, causing the multiple first positioning posts 111 to insert into the multiple first positioning holes 411, and the multiple second positioning posts 121 to insert into the multiple second positioning holes 421. Specifically, there are three first positioning posts 111 and three first positioning holes 411, and three second positioning posts 121 and three second positioning holes 421.

[0049] refer to Figure 2The locking assembly 500 includes a first elastic element, a first top post 510, a second elastic element, and a second top post 520. A first guide hole 412 is provided on the first slider 410, communicating with one of the first positioning holes 411. The first top post 510 passes through the first guide hole 412, with its left end extending out of the first guide hole 412. The first elastic element drives the right end of the first top post 510 into one of the first positioning holes 411, abutting against one of the first positioning posts 111, thereby fixing one of the first positioning posts 111 to the inner wall of one of the first positioning holes 411. A second guide hole 422 is provided on the second slider 420, communicating with one of the second positioning holes 421. The second top post 520 passes through the second guide hole 422. The right end of the second top post 520 extends out of the second guide hole 422. The second elastic member is used to drive the left end of the second top post 520 into one of the second positioning holes 421 and abut against one of the second positioning posts 121, so that one of the second positioning posts 121 is fixed to the inner wall of one of the second positioning holes 421. The first driving assembly 300 can drive the first top post 510 and the second top post 520 away from each other, so that the first top post 510 and the second top post 520 are respectively disengaged from the abutment of one of the first positioning posts 111 and one of the second positioning posts 121, thereby causing the first gripper portion 110 and the second gripper portion 120 to disengage from the connection of the first slider 410 and the second slider 420, and causing the first gripper portion 110 and the second gripper portion 120 to abut against the positioning structure 210.

[0050] Understandably, during the process of inserting one of the first positioning pins 111 into one of the first positioning holes 411, the upper end of one of the first positioning pins 111 abuts against the right end of the first top pin 510, and gradually compresses the first elastic member; under the elastic force of the first elastic member, the right end of the first top pin 510 presses against one of the first positioning pins 111, so that one of the first positioning pins 111 is fixed to the inner wall of one of the first positioning holes 411, thereby making the first gripper part 110 connected to the first slider 410 through one of the first positioning pins 111. During the insertion of one of the second positioning pins 121 into one of the second positioning holes 421, the upper end of one of the second positioning pins 121 abuts against the left end of the second top pin 520, gradually compressing the second elastic member. Under the elastic force of the second elastic member, the left end of the second top pin 520 presses against one of the second positioning pins 121, fixing one of the second positioning pins 121 to the inner wall of one of the second positioning holes 421, thereby connecting the second gripper portion 120 to the second slider 420 through one of the second positioning pins 121. As an embodiment of the present invention, one end of the first elastic member is connected to the first slider 410, and the other end of the first elastic member is connected to the first top pin 510; one end of the second elastic member is connected to the second slider 420, and the other end of the second elastic member is connected to the second top pin 520; both the first elastic member and the second elastic member are springs.

[0051] refer to Figure 2 The first top post 510 has a first tip at its right end, and a first annular positioning groove 112 is provided on one of the first positioning posts 111. The first tip can abut against the inner wall of the first annular positioning groove 112. The second top post 520 has a second tip at its left end, and a second annular positioning groove 122 is provided on one of the second positioning posts 121. The second tip can abut against the inner wall of the second annular positioning groove 122. Understandably, as the support 440 continues to descend, the first tip of the first top post 510 will extend into the first annular positioning groove 112 and abut against the inner wall of the first annular positioning groove 112. The first tip and the inner wall of the first annular positioning groove 112 play a positioning role for the first gripper 110, preventing the first gripper 110 from moving vertically relative to the first slider 410 during the process of the robot driving the support 440 to move, which is beneficial to improving the accuracy of electronic component insertion. The second tip of the second top post 520 will extend into the second annular positioning groove 122 and abut against the inner wall of the second annular positioning groove 122. The second tip and the inner wall of the second annular positioning groove 122 play a positioning role for the second gripper 120, preventing the second gripper 120 from moving vertically relative to the second slider 420 during the process of the robot driving the support 440 to move, which is beneficial to improving the accuracy of electronic component insertion.

[0052] refer to Figure 2 The first top post 510 has a first baffle 511 at its left end, and the second top post 520 has a second baffle 521 at its right end. The first drive assembly 300 includes a first cylinder and a second cylinder 310. The cylinder bodies of the first cylinder and the second cylinder 310 are both connected to the base 200. The piston rods of the first cylinder and the second cylinder 310 can respectively abut against the first baffle 511 and the second baffle 521, so that the first cylinder and the second cylinder 310 respectively drive the first baffle 511 and the second baffle 521 away from each other. It can be understood that the first cylinder and the second cylinder 310 can respectively drive the first baffle 511 and the second baffle 521 away from each other, thereby causing the first baffle 511 and the second baffle 521 to respectively drive the first top post 510 and the second top post 520 away from each other. The right end of the first top post 510 disengages from abutting against one of the first positioning posts 111, and the left end of the second top post 520 disengages from abutting against one of the second positioning posts 121. The robotic arm drives the support 440 to rise. Under the weight of the first gripper 110 and the second gripper 120, the multiple first positioning pins 111 are pulled out from the multiple first positioning holes 411, and the multiple second positioning pins 121 are pulled out from the multiple second positioning holes 421, thereby causing the first gripper 110 and the second gripper 120 to abut against the positioning structure 210 corresponding to the first gripper 110 and the second gripper 120.

[0053] refer to Figures 3 to 6The gripper quick-change system also includes a first slide plate 220 and a second slide plate 230. Both the first slide plate 220 and the second slide plate 230 are slidably connected to the base 200 in the left and right directions. The first slide plate 220 is provided with a plurality of first levers 222, which correspond one-to-one with a plurality of positioning structures 210. Each of the plurality of first levers 222 has a first clearance groove 223 for the left end of the first top post 510 to pass through. The plurality of second slide plates 230 are provided with second levers 232 and second levers 233. 2. Each of the multiple positioning structures 210 corresponds to a second sliding block 232, and each of the multiple second sliding blocks 232 is provided with a second clearance groove 233 for the right end of the second top post 520 to pass through. The first sliding plate 220 is connected to the piston rod of the first cylinder, and the second sliding plate 230 is connected to the piston rod of the second cylinder 310. The first cylinder and the second cylinder 310 can respectively drive the first sliding plate 220 and the second sliding plate 230 away from each other, so that the first sliding block 222 and the second sliding block 232 respectively drive the first baffle 511 and the second baffle 521 away from each other. In this embodiment of the invention, the multiple first sliding blocks 222 correspond to the multiple positioning structures 210 one-to-one, that is, the multiple first sliding blocks 222 correspond to the multiple clamping components one-to-one, that is, the multiple first sliding blocks 222 correspond to the multiple first gripper portions 110 one-to-one; the multiple second sliding blocks 232 correspond to the multiple positioning structures 210 one-to-one, that is, the multiple second sliding blocks 232 correspond to the multiple clamping components one-to-one, that is, the multiple second sliding blocks 232 correspond to the multiple second gripper portions 120 one-to-one.

[0054] Understandably, when another electronic component needs to be clamped, the robotic arm drives the support 440 and the first gripper portion 110 and the second gripper portion 120 on the support 440 to move above the positioning structure 210 on the base 200 corresponding to the first gripper portion 110 and the second gripper portion 120; then, the robotic arm drives the support 440 to descend, so that the first gripper portion 110 and the second gripper portion 120 both abut against the positioning structure 210. At this time, the left end of the first top post 510 passes through the first clearance groove 223 on the first lever 222 corresponding to the first gripper portion 110, and the second top post... The right end of 520 passes through the second clearance groove 233 on the second lever 232 corresponding to the second gripper 120; then, the first cylinder and the second cylinder 310 respectively drive the first slide plate 220 and the second slide plate 230 to move away from each other, thereby causing the first lever 222 to abut against the first baffle 511, and the second lever 232 to abut against the second baffle 521. The first baffle 511 and the second baffle 521 respectively drive the first top post 510 and the second top post 521 to move away from each other, so that the first gripper 110 and the second gripper 120 can be disengaged from the first slider 410 and the second slider 420 respectively. The first clearance groove 223 on the first lever 222 allows the left end of the first top post 510 to pass through, which can increase the contact area between the first lever 222 and the first baffle 511; the second clearance groove 233 on the second lever 232 allows the right end of the second top post 520 to pass through, which can increase the contact area between the second lever 232 and the second baffle 521, thereby improving the stability of the movement of the first top post 510 and the second top post 520.

[0055] refer to Figures 3 to 6 The first slide plate 220 is provided with a plurality of first protrusions 221, each corresponding to a plurality of positioning structures 210. The second slide plate 230 is provided with a plurality of second protrusions 231, each corresponding to a plurality of positioning structures 210. The first cylinder and the second cylinder 310 can respectively drive the first slide plate 220 and the second slide plate 230 away from each other, so that the plurality of first protrusions 221 respectively abut against the plurality of first gripper portions 110 on the positioning structure 210, and the plurality of second protrusions 231 separate. The first and second cylinders 310 can respectively drive the first slide plate 220 and the second slide plate 230 to move closer to each other, so that the first protrusions 221 disengage from the abutment of the first gripper portions 110 on the positioning structure 210, and the second protrusions 231 disengage from the abutment of the second gripper portions 120 on the positioning structure 210.

[0056] Understandably, when another electronic component needs to be clamped, the robotic arm drives the support 440 and the first gripper portion 110 and the second gripper portion 120 on the support 440 to move above the positioning structure 210 on the base 200 corresponding to the first gripper portion 110 and the second gripper portion 120; then, the robotic arm drives the support 440 to descend, so that the first gripper portion 110 and the second gripper portion 120 both abut against the positioning structure 210; then, the first cylinder and the second cylinder 310 respectively drive the first slide plate 22 The first slider 410 and the second slider 420 move away from each other, causing the first push block 222 and the second push block 232 to drive the first top column 510 and the second top column 520 away from each other, causing the first gripper 110 and the second gripper 120 to disengage from the first slider 410 and the second slider 420, respectively. At the same time, multiple first protrusions 221 abut against multiple first gripper 110 on the positioning structure 210, and multiple second protrusions 231 abut against multiple second gripper 120 on the positioning structure 210. Under the action of the first protrusions 221 and the second protrusions 231, the multiple first gripper 110 and the multiple second gripper 120 are fixed on the base 200, preventing the first gripper 110 and the second gripper 120 from rising with the support 440 after the robot arm drives the support 440 to rise. On the other hand, it also prevents the first gripper portion 110 and the second gripper portion 120 on the base 200 from shaking during the operation of the electronic component insertion machine, thus improving the accuracy of replacing the gripper assembly 100.

[0057] refer to Figures 2 to 7 Each of the multiple first gripper portions 110 is provided with a first lug 113, and multiple first protrusions 221 can respectively abut against the upper surface of the multiple first lugs 113. Each of the multiple second gripper portions 120 is provided with a second lug 123, and multiple second protrusions 231 can respectively abut against the upper surface of the multiple second lugs 123. It can be understood that the multiple first protrusions 221 can respectively abut against the upper surface of the multiple first lugs 113, and the multiple second protrusions 231 can respectively abut against the upper surface of the multiple second lugs 123, thereby allowing the multiple first gripper portions 110 and the multiple second gripper portions 120 to be fixed on the base 200.

[0058] refer to Figure 4 and Figure 6 The positioning structure 210 includes multiple third positioning posts 211 and multiple fourth positioning posts 212. The first gripper portion 110 has multiple third positioning holes, into which the multiple third positioning posts 211 can be respectively inserted. The second gripper portion 120 has multiple fourth positioning holes, into which the multiple fourth positioning posts 212 can be respectively inserted. Specifically, there are two third positioning posts 211 and two third positioning holes, and two fourth positioning posts 212 and two fourth positioning holes.

[0059] The upper ends of the first positioning post 111, the second positioning post 121, the third positioning post 211, and the fourth positioning post 212 are all provided with rounded corners.

[0060] The workflow of the quick-change gripper system in this embodiment of the invention, which mounts the gripper assembly 100 onto the adapter mechanism 400, is roughly as follows:

[0061] Step 1: When it is necessary to clamp an electronic component, the robot first drives the support 440 to move above the first gripper 110 and the second gripper 120 corresponding to the specifications of the electronic component, so that the multiple first positioning holes 411 on the first slider 410 on the support 440 are respectively aligned with the multiple first positioning posts 111 on the first gripper 110, and the multiple second positioning holes 421 on the second slider 420 on the support 440 are respectively aligned with the multiple second positioning posts 121 on the second gripper 120.

[0062] Step 2: The first cylinder and the second cylinder 310 respectively drive the first slide plate 220 and the second slide plate 230 to move closer to each other, so that the multiple first protrusions 221 disengage from the first lugs 113 on the multiple first gripper portions 110, and the multiple second protrusions 231 disengage from the second lugs 123 on the multiple second gripper portions 120.

[0063] Step 3: The robotic arm drives the support 440 to descend, causing the multiple first positioning pins 111 on the first gripper 110 to be inserted into the multiple first positioning holes 411 on the first slider 410, and causing the multiple second positioning pins 121 on the second gripper 120 to be inserted into the multiple second positioning holes 421 on the second slider 420. Under the action of the first top pin 510 and the first elastic element, the first gripper 110 is connected to the first slider 410, and under the action of the second top pin and the second elastic element, the second gripper 120 is connected to the second slider 420.

[0064] Step 4: The robotic arm drives the support 440 to rise, and the first cylinder and the second cylinder 310 drive the first slide plate 220 and the second slide plate 230 to move away from each other, so that the multiple first protrusions 221 abut against the upper surface of the first lugs 113 on the multiple first gripper portions 110, and the multiple second protrusions 231 abut against the upper surface of the second lugs 123 on the multiple second gripper portions 120, thereby completing the installation of the gripper assembly 100 corresponding to an electronic component onto the adapter mechanism 400.

[0065] The workflow of the quick-change gripper system in this embodiment of the invention for removing the gripper assembly 100 from the adapter mechanism 400 is roughly as follows:

[0066] Step 1: The robotic arm drives the support 440 and the first gripper 110 and the second gripper 120 on the support 440 to move, so that the multiple third positioning holes on the first gripper 110 are respectively aligned with the multiple third positioning posts 211 corresponding to the first gripper 110, and the multiple fourth positioning holes on the second gripper 120 are respectively aligned with the multiple fourth positioning posts 212 corresponding to the second gripper 120 (at this time, the multiple third positioning posts 211 and multiple fourth positioning posts 212 corresponding to the first gripper 110 and the second gripper 120 do not have the first gripper 110 and the second gripper 120 on them).

[0067] Step 2: The first cylinder and the second cylinder 310 respectively drive the first slide plate 220 and the second slide plate 230 to move closer to each other, so as to prevent the first protrusion 221 from obstructing the descent of the first gripper 110 and to prevent the second protrusion 231 from obstructing the descent of the second gripper.

[0068] Step 3: The robotic arm drives the support 440 and the first gripper 110 and the second gripper 120 on the support 440 to descend, so that the left end of the first top post 510 passes through the first clearance groove 223 on the first lever 222 corresponding to the first gripper 110, and the right end of the second top post 520 passes through the second clearance groove 233 on the second lever 232 corresponding to the second gripper 120. The multiple third positioning posts 211 are respectively inserted into the multiple third positioning holes on the first gripper 110, and the multiple fourth positioning posts 212 are respectively inserted into the multiple fourth positioning holes on the second gripper 120.

[0069] Step 4: The first cylinder and the second cylinder 310 drive the first slide plate 220 and the second slide plate 230 away from each other, so that the multiple first protrusions 221 abut against the upper surface of the first lugs 113 on the multiple first gripper portions 110, and the multiple second protrusions 231 abut against the upper surface of the second lugs 123 on the multiple second gripper portions 120, thereby fixing the multiple first gripper portions 110 and the multiple second gripper portions 120 to the base 200.

[0070] Step 5: The robotic arm drives the support 440 to rise, thereby completing the removal of the first gripper 110 and the second gripper 120 from the first slider 410 and the second slider 420, respectively.

[0071] The technical features of the above embodiments can be combined in any way. For the sake of brevity, not all possible combinations of the technical features in the above embodiments are described. However, as long as there is no contradiction in the combination of these technical features, they should be considered to be within the scope of this specification.

[0072] Of course, the present invention is not limited to the above-described embodiments. Those skilled in the art can make equivalent modifications or substitutions without departing from the spirit of the present invention. All such equivalent modifications or substitutions are included within the scope defined by the claims of this application.

Claims

1. A gripper quick-change system, characterized in that, include: Multiple gripper assemblies, each of which is used to grip electronic components of different specifications; The base has a number of positioning structures that are the same as the number of gripper assemblies. The multiple positioning structures correspond one-to-one with the multiple gripper assemblies. The multiple positioning structures are distributed along the front-back direction and abut against the multiple gripper assemblies respectively, so that the multiple gripper assemblies are positioned on the base by the multiple positioning structures. The base is used to connect to the frame of the electronic component insertion machine. A transfer mechanism is provided, wherein a locking component is provided on the transfer mechanism, the locking component can abut against the gripper assembly, so that the gripper assembly is connected to the transfer mechanism through the locking component, and the transfer mechanism is used to connect to the output end of the robot arm of the electronic component insertion machine; A first driving component is disposed on the base. The first driving component can drive the locking component to disengage from the gripper component, so that the gripper component disengages from the connection with the adapter mechanism and abuts against the positioning structure on the base. The adapter mechanism includes a support, a first slider, a second slider, and a second drive assembly. Both the first slider and the second slider are slidably connected to the support. The support is used to connect to the output end of the robot arm of the electronic component insertion machine. The second drive assembly is disposed on the support. The gripper assembly includes a first gripper portion and a second gripper portion. Both the first gripper portion and the second gripper portion are detachably connected to the first slider and the second slider respectively through the locking assembly. The second drive assembly is used to drive the first slider and the second slider to move closer or further away from each other, so that the first gripper portion and the second gripper portion clamp or release the electronic component. The first gripper portion is provided with a plurality of first positioning pins, and the first slider portion is provided with a plurality of first positioning holes. The plurality of first positioning pins can be respectively inserted into the plurality of first positioning holes. The second gripper portion is provided with a plurality of second positioning pins, and the second slider portion is provided with a plurality of second positioning holes. The plurality of second positioning pins can be respectively inserted into the plurality of second positioning holes. The locking assembly includes a first elastic element, a first top post, a second elastic element, and a second top post. The first slider has a first guide hole communicating with one of the first positioning holes. The first top post passes through the first guide hole, with its left end extending out of the first guide hole. The first elastic element can drive the right end of the first top post to extend into one of the first positioning holes and abut against one of the first positioning posts, thereby fixing one of the first positioning posts to the inner wall of one of the first positioning holes. The second slider has a second guide hole communicating with one of the second positioning holes. The second top post passes through the second guide hole. The right end of the top post extends out of the second guide hole. The second elastic element can drive the left end of the second top post to extend into one of the second positioning holes and abut against one of the second positioning posts, so that one of the second positioning posts is fixed to the inner wall of one of the second positioning holes. The first driving component can drive the first top post and the second top post to move away from each other, so that the first top post and the second top post are respectively disengaged from the abutment of one of the first positioning posts and one of the second positioning posts, thereby causing the first gripper portion and the second gripper portion to disengage from the connection of the first slider and the second slider, and causing the first gripper portion and the second gripper portion to abut against the positioning structure.

2. The gripper quick-change system according to claim 1, characterized in that: The first top post has a first tip at its right end, and one of the first positioning posts has a first annular positioning groove. The first tip can abut against the inner wall of the first annular positioning groove. The second top post has a second tip at its left end, and one of the second positioning posts has a second annular positioning groove. The second tip can abut against the inner wall of the second annular positioning groove.

3. The gripper quick-change system according to claim 1, characterized in that: The first top column has a first baffle plate at its left end and the second top column has a second baffle plate at its right end. The first drive assembly includes a first cylinder and a second cylinder. The cylinder bodies of the first cylinder and the second cylinder are both connected to the base. The piston rods of the first cylinder and the second cylinder can respectively abut against the first baffle plate and the second baffle plate, so that the first cylinder and the second cylinder respectively drive the first baffle plate and the second baffle plate away from each other.

4. The gripper quick-change system according to claim 3, characterized in that: It also includes a first sliding plate and a second sliding plate, both of which are slidably connected to the base in the left-right direction. The first sliding plate is provided with a plurality of first levers, each of which corresponds to a plurality of positioning structures. Each of the plurality of first levers is provided with a first clearance groove for the left end of the first top column to pass through. The plurality of second sliding plates are provided with second levers, each of which corresponds to a plurality of positioning structures. Each of the plurality of second levers is provided with a second clearance groove for the right end of the second top column to pass through. The first sliding plate is connected to the piston rod of the first cylinder, and the second sliding plate is connected to the piston rod of the second cylinder. The first cylinder and the second cylinder can respectively drive the first sliding plate and the second sliding plate to move away from each other, so that the first levers and the second levers respectively drive the first baffle and the second baffle to move away from each other.

5. The gripper quick-change system according to claim 4, characterized in that: The first slide plate is provided with a plurality of first protrusions, each corresponding to a plurality of positioning structures. The second slide plate is provided with a plurality of second protrusions, each corresponding to a plurality of positioning structures. The first cylinder and the second cylinder can respectively drive the first slide plate and the second slide plate away from each other, so that the plurality of first protrusions respectively abut against a plurality of first gripper portions on the positioning structures, and the plurality of second protrusions respectively abut against a plurality of second gripper portions on the positioning structures, thereby fixing the plurality of first gripper portions and the plurality of second gripper portions to the base. The first cylinder and the second cylinder can respectively drive the first slide plate and the second slide plate closer to each other, so that the plurality of first protrusions respectively disengage from abutting against a plurality of first gripper portions on the positioning structures, and the plurality of second protrusions respectively disengage from abutting against a plurality of second gripper portions on the positioning structures.

6. The gripper quick-change system according to claim 5, characterized in that: Each of the first gripper portions is provided with a first lug, and the first lugs can respectively abut against the upper surface of the first lugs. Each of the second gripper portions is provided with a second lug, and the second lugs can respectively abut against the upper surface of the second lugs.

7. The gripper quick-change system according to claim 1, characterized in that: The positioning structure includes multiple third positioning posts and multiple fourth positioning posts. The first gripper portion is provided with multiple third positioning holes, and the multiple third positioning posts can be respectively inserted into the multiple third positioning holes. The second gripper portion is provided with multiple fourth positioning holes, and the multiple fourth positioning posts can be respectively inserted into the multiple fourth positioning holes.

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