A clamping manipulator for processing electronic components

Abstract

The present invention relates to the field of mechanical clamping technology. The present invention discloses a clamping manipulator for processing electronic components, including a clamping frame, a connecting rod for connection is fixed to the upper end of the clamping frame, and a hydraulic cylinder is also fixed to the upper end of the clamping frame; a clamping component is also installed inside the clamping frame, and the lower end of the hydraulic cylinder has a telescopic shaft for extension and retraction, and the end of the telescopic shaft is connected to the clamping component, and the telescopic shaft is used to control the clamping movement of the clamping component; the lower end of the clamping component is also provided with an elastic merging part, and the elastic merging part is used to clamp the electronic components. The present invention clamps the electronic components under the contraction elastic force of the elastic strip 1 by putting the elastic strip 1 and the elastic strip 2 in a stretched state, and the contact plate layers on both sides have a simple structure and are not easy to be damaged.

Description

Technical Field

[0001] The invention relates to the technical field of mechanical clamping, in particular to a clamping manipulator for processing electronic components. Background Art

[0002] In the manufacturing and processing of electronic components, clamping equipment plays a vital role. They can stably fix electronic components and ensure the accuracy and efficiency of the processing process.

[0003] Among them, the commonly used clamping equipment is the mechanical clamping device, which realizes the clamping function through mechanical structures such as springs, connecting rods, sliders, etc. It has the characteristics of simple structure and convenient operation, and can be used for clamping a variety of electronic components.

[0004] Since there are many types of electronic components, and most of them are flat and relatively small, it is difficult to clamp electronic components from a flat surface with simple mechanical clamping. Even if it can be clamped, simple mechanical clamping requires controlled force. If the force is too strong, it is easy to cause the electronic components to be clamped and damaged. If the force is too weak, it is easy to cause the electronic components to fall after being clamped, causing the electronic components to fall and be damaged. Although complex mechanical clamping can be precisely controlled, its cost is relatively high and the probability of damage is also greater.

[0005] In addition to the above-mentioned disadvantages of mechanical clamping, mechanical clamping also has the problem of difficulty in clamping different types of electronic components. Since different types of electronic components have different shapes and masses, the mechanical clamping method is generally that the mechanical claws on both sides move closer to the middle to clamp the electronic components in the middle. When flat and tortuous electronic components are clamped, the contact area with the mechanical claws is limited, which makes it easier for the electronic components to fall. Summary of the invention

[0006] The object of the present invention is to provide a clamping robot for processing electronic components to solve the problems raised in the above-mentioned background technology.

[0007] In order to solve the above technical problems, the present invention provides the following technical solutions: A clamping manipulator for processing electronic components, comprising a clamping frame, a connecting rod for connection is fixed to the upper end of the clamping frame, and a hydraulic cylinder is also fixed to the upper end of the clamping frame;

[0008] A clamping component is also installed inside the clamping frame, and a telescopic shaft for telescoping is provided at the lower end of the hydraulic cylinder, and the end of the telescopic shaft is connected to the clamping component, and the telescopic shaft is used to control the clamping movement of the clamping component;

[0009] The lower end of the clamping component is also provided with an elastic merging portion, and the elastic merging portion is used to clamp the electronic components.

[0010] Furthermore, the clamping component includes two control rods hinged at the lower end of the telescopic shaft, the lower end of the control rod is hinged with a control strip, a guide shaft body is fixed in the clamping frame, the guide shaft body passes through the control strips on both sides, and is used to limit the control strips on both sides. The control strips on both sides can slide along the guide shaft body. When the telescopic shaft moves upward, the control strips on both sides approach each other, and when the telescopic shaft moves downward, the control strips on both sides move away from each other.

[0011] Furthermore, a clamping plate is fixed to the lower end of the control strip, and two clamping rods are provided inside the clamping frame. The clamping rods are perpendicular to the clamping plate, and the elastic merging portion is installed between the two clamping plates and the two clamping rods.

[0012] Furthermore, the guide shaft is in an inverted "V" shape, and the control strips on both sides are close to the middle, which will produce an upward movement effect. The guide shaft is cylindrical, and both ends of the control strips on both sides are in contact with the inner wall of the clamping frame.

[0013] Furthermore, the elastic merging portion includes a first elastic strip, a contact plate layer and a second elastic strip;

[0014] The elastic strip 1, the contact plate layer and the elastic strip 2 are each provided with two groups, the outer ends of the two groups of the elastic strip 2 are respectively connected to the clamping plates on both sides, the inner ends of the two groups of the elastic strip 2 are respectively connected to the contact plate layers on both sides, the outer ends of the two groups of the elastic strip 1 are respectively fixed to the two groups of clamping rods, the inner ends of the two groups of the elastic strip 1 are both divided into two, one group of the elastic strip 1 divided into two is fixed to one end of the two groups of contact plate layers, and the other group of the elastic strip 1 divided into two is fixed to the other end of the two groups of contact plate layers, the elastic strip 1 and the elastic strip 2 are both elastic, and the two groups of the contact plate layers are used to clamp electronic components.

[0015] Furthermore, the contact plate layer includes a plurality of arranged sheets, both sides of the plurality of sheets are smoothly transitioned, the lower ends of the plurality of sheets are provided with matching holes for clamping, and a U-shaped frame is clamped in the matching holes of two adjacent sheets, and the two sheets can be bent and deformed through the U-shaped frame;

[0016] The upper ends of the plurality of sheets are all formed with extension strips, and the contact plate layer also includes a clamping strip, and the lower end of the clamping strip is provided with an extension opening that cooperates with the extension strip, and the clamping strip is used to limit the plurality of sheets.

[0017] Furthermore, a threaded sleeve is fixed on the outer side of the sheet body, the inner ends of the two elastic strips are threadedly connected to the threaded sleeve, the outer ends of the two elastic strips pass through the clamping plate, and the outer ends are fixed with end circles for clamping with the clamping plate. The two elastic strips in one group correspond one-to-one to multiple groups of sheet bodies.

[0018] Furthermore, the elastic strips 1 on both sides are respectively fixed to the outermost sides of the plurality of sheet bodies, and the elastic strips 1 are the source of the clamping force.

[0019] Furthermore, guide plates 2 for guiding are fixed on the inner walls on both sides of the clamping frame, and guide plate 1 is fixed on the upper end of the control strip. The end of the clamping rod and the position near the end are slidably arranged in guide plate 2 and guide plate 1 respectively.

[0020] Furthermore, one side where the plurality of sheets are clamped has a rubber layer and is rough.

[0021] Compared with the prior art, the beneficial effects achieved by the present invention are:

[0022] 1. The first elastic strip and the second elastic strip are both in a stretched state, and the contact plate layers on both sides clamp the electronic components under the contraction elastic force of the first elastic strip, so the structure is simple and not easy to be damaged.

[0023] 2. Since the two sets of control strips move along the guide axis, the electronic components are lifted to ensure successful clamping, and then transported, which can prevent the electronic components from falling and being damaged. In the process of lifting the electronic components, even if they are not clamped firmly and fall, the falling distance is limited, which will not cause damage to the electronic components, reducing the damage rate of electronic components. There is no need to set up multiple sensors, which minimizes the damage rate of the robot.

[0024] 3. The contact plate layer can also be formed into multiple hinged sheets. When clamping electronic components of different shapes, the multiple hinged sheets can be attached to the outside of the electronic components. It is also possible to set the multiple hinged sheets with one section fixed in a straight line and one section hinged, which is suitable for electronic components of different shapes and increases the clamping area.

[0025] 4. The second elastic strip can be replaced, which can change the degree of stretching of the first elastic strip, and change the spacing between the two contact plate layers, so as to facilitate the rapid clamping of different electronic components and avoid the failure to clamp the electronic components due to upward movement while clamping. BRIEF DESCRIPTION OF THE DRAWINGS

[0026] The accompanying drawings are used to provide a further understanding of the present invention and constitute a part of the specification. Together with the embodiments of the present invention, they are used to explain the present invention and do not constitute a limitation of the present invention. In the accompanying drawings:

[0027] Figure 1 It is a schematic diagram of the overall structure of the present invention;

[0028] Figure 2 It is a schematic diagram of the internal structure of the clamping frame of the present invention;

[0029] Figure 3It is a schematic diagram of the structure of the clamping component and the elastic merging part of the present invention;

[0030] Figure 4 It is a schematic diagram of the top view of the elastic merging part of the present invention;

[0031] Figure 5 It is a schematic diagram of the connection structure of the elastic merging part of the present invention;

[0032] Figure 6 The present invention is Figure 5 A is a schematic diagram of the partially enlarged structure of the middle part;

[0033] Figure 7 Schematic diagram of the contact plate layer structure of the present invention;

[0034] Figure 8 It is a main structural schematic diagram of the present invention.

[0035] In the figure: 1. clamping frame; 2. connecting rod; 3. hydraulic cylinder; 31. telescopic shaft; 4. clamping component; 41. control rod; 42. control strip; 43. guide shaft body; 44. guide plate 1; 45. guide plate 2; 46. clamping plate; 47. clamping rod; 5. elastic merging part; 51. elastic strip 1; 52. contact plate layer; 521. sheet body; 522. matching hole; 523. U-shaped frame; 524. extension strip; 525. clamping strip; 526. extension port; 53. elastic strip 2; 531. end circle; 532. threaded sleeve. DETAILED DESCRIPTION

[0036] The following will be combined with the drawings in the embodiments of the present invention to clearly and completely describe the technical solutions in the embodiments of the present invention. Obviously, the described embodiments are only part of the embodiments of the present invention, not all of the embodiments. Based on the embodiments of the present invention, all other embodiments obtained by ordinary technicians in this field without creative work are within the scope of protection of the present invention.

[0037] See also Figure 1-Figure 8 The present invention provides a technical solution: a clamping manipulator for processing electronic components, such as Figure 1 As shown, it comprises a clamping frame 1, a connecting rod 2 for connection is fixed on the upper end of the clamping frame 1, and a hydraulic cylinder 3 is also fixed on the upper end of the clamping frame 1;

[0038] like Figure 2 As shown, the hydraulic cylinder 3 needs to be controlled to clamp, and the telescopic effect of the hydraulic cylinder 3 is converted into a clamping effect. A clamping component 4 is also installed inside the clamping frame 1. The lower end of the hydraulic cylinder 3 has a telescopic shaft 31 for telescoping. The end of the telescopic shaft 31 is connected to the clamping component 4. The telescopic shaft 31 is used to control the clamping movement of the clamping component 4.

[0039] like Figure 2As shown, after the clamping is achieved, the clamping action needs to be replaced with a softer clamping action. The lower end of the clamping member 4 is further provided with an elastic merging portion 5, which is used to clamp the electronic components.

[0040] like Figure 2 As shown, the clamping component 4 includes two control rods 41 hinged at the lower end of the telescopic shaft 31, and the lower end of the control rod 41 is hinged with a control strip 42. A guide shaft body 43 is fixed in the clamping frame 1. The guide shaft body 43 passes through the control strips 42 on both sides and is used to limit the control strips 42 on both sides. The control strips 42 on both sides can slide along the guide shaft body 43. When the telescopic shaft 31 moves upward, the control strips 42 on both sides approach each other. When the telescopic shaft 31 moves downward, the control strips 42 on both sides move away from each other. In the process of telescopic shaft 31 extending and retracting, the control strips 42 on both sides are realized to approach or move away.

[0041] A clamping plate 46 is also fixed to the lower end of the control strip 42 , and two clamping rods 47 are also provided inside the clamping frame 1 . The clamping rods 47 are perpendicular to the clamping plate 46 , and the elastic merging portion 5 is installed between the two clamping plates 46 and the two clamping rods 47 .

[0042] like Figure 3 and Figure 3 As shown, in order to prevent the clamped electronic components from falling during transportation, it is necessary to ensure that the electronic components are clamped stably. For this purpose, the guide shaft 43 is in an inverted "V" shape, and the control strips 42 on both sides move closer to the middle, which will produce an upward movement. The guide shaft 43 is cylindrical, and both ends of the control strips 42 on both sides are in contact with the inner wall of the clamping frame 1. When the control strips 42 on both sides move toward the middle, an upward movement will be generated, moving along the guide shaft 43, as shown in FIG. Figure 8 Floor plan shown.

[0043] like Figure 3 As shown, in order to achieve a flexible clamping effect, the elastic merging portion 5 includes an elastic strip 1 51, a contact plate layer 52 and an elastic strip 2 53;

[0044] The elastic strip 1 51, the contact plate layer 52 and the elastic strip 2 53 are each provided with two groups, the outer ends of the two groups of elastic strip 2 53 are respectively connected to the clamping plates 46 on both sides, the inner ends of the two groups of elastic strip 2 53 are respectively connected to the contact plate layers 52 on both sides, the outer ends of the two groups of elastic strip 1 51 are respectively fixed to the two groups of clamping rods 47, the inner ends of the two groups of elastic strip 1 51 are divided into two, one group of the elastic strip 1 51 divided into two is fixed to one end of the two groups of contact plate layers 52, and the other group of the elastic strip 1 51 divided into two is fixed to the other end of the two groups of contact plate layers 52, the elastic strip 1 51 and the elastic strip 2 53 are both elastic, and the two groups of contact plate layers 52 are used to clamp the electronic components, and the elastic strip 1 51 and the elastic strip 2 53 interact with each other to achieve flexible clamping, thereby avoiding excessive or insufficient clamping force, and avoiding damage to the electronic components, such as Figure 4 The two groups of contact plate layers 52 are clamped relative to each other.

[0045] like Figure 6 and Figure 7 As shown, in order to clamp electronic components of different shapes, a contact plate layer 52 is required to limit the electronic components. The contact plate layer 52 includes a plurality of arranged sheets 521. Both sides of the plurality of sheets 521 are smoothly transitioned. The lower ends of the plurality of sheets 521 are provided with matching holes 522 for clamping. U-shaped frames 523 are clamped in the matching holes 522 of two adjacent sheets 521. The two sheets 521 can be bent and deformed through the U-shaped frame 523, and can fit with the surfaces of different electronic components to maximize the contact area.

[0046] Extension strips 524 are formed at the upper ends of the multi-piece bodies 521, and the contact plate layer 52 also includes a clamping strip 525. An extension opening 526 cooperating with the extension strip 524 is opened at the lower end of the clamping strip 525. The clamping strip 525 is used to limit the multi-piece bodies 521. The length of the clamping strip 525 can be replaced to adapt to different electronic components and make the multi-piece bodies 521 of different lengths appear in a straight line.

[0047] like Figure 6 As shown, in order to clamp electronic components of different sizes, the elastic merging part 5 will move upward during the clamping process to ensure that the electronic components are clamped. The gap between the contact plate layers 52 on both sides can be changed by changing the length of the elastic strip 53 to ensure that the electronic components are clamped and then move upward. A threaded sleeve 532 is fixed to the outer side of the sheet body 521, and the inner end of the elastic strip 53 is threadedly connected to the threaded sleeve 532. The outer end of the elastic strip 53 passes through the clamping plate 46, and an end circle 531 is fixed to its outer end for clamping with the clamping plate 46. The elastic strips 53 in one group correspond one to one with multiple groups of sheet bodies 521.

[0048] The elastic strips 1 51 on both sides are respectively fixed to the outermost sides of the multi-piece body 521 . The elastic strips 1 51 are the source of the clamping force and control the clamping strength.

[0049] like Figure 3 As shown, in order to keep the clamping rod 47 stable, guide plates 45 for guiding are fixed on the inner walls on both sides of the clamping frame 1, and a guide plate 44 is fixed on the upper end of the control strip 42. The end of the clamping rod 47 and the position near the end are slidably arranged in the guide plates 45 and 44 respectively.

[0050] One side of the multiple sheets 521 clamped has a rubber layer and is rough to increase friction.

[0051] The working principle of the present invention is as follows: Figure 2As shown, the telescopic shaft 31 is in a downwardly extending state, that is, the clamping component 4 and the elastic merging part 5 are in an expanded state. When clamping, the elastic merging part 5 has electronic components, and the telescopic shaft 31 moves upward, so that the control rods 41 on both sides move toward the middle, realizing the movement of the contact plate layers 52 on both sides toward the middle. At the same time, the elastic strip 51 contracts, and the contact plate layers 52 on both sides clamp the electronic components.

[0052] During the clamping process, the elastic strip 1 51 and the elastic strip 2 53 are both in a stretched state, the contact plate layers 52 on both sides approach each other, the elastic strip 1 51 contracts, and the elastic strip 2 53 remains relatively unchanged. The contact plate layers 52 on both sides clamp the electronic components under the elastic force of the elastic strip 1 51 contraction, and the structure is simple and not easy to be damaged.

[0053] Secondly, since the two groups of control strips 42 move along the guide shaft 43 and move upward at an angle, during the movement of the two groups of control strips 42, the contact plate layers 52 on both sides clamp the electronic components, and the two groups of control strips 42 continue to move, producing an upward movement effect, causing the electronic components to move upward. Finally, the manipulator transports the electronic components, first lifts the electronic components to ensure successful clamping, and then transports them. This prevents the electronic components from falling and being damaged. In the process of lifting the electronic components, even if they fall without being firmly clamped, the falling distance is limited, which will not cause damage to the electronic components, thereby reducing the damage rate of the electronic components. There is no need to set up multiple sensors, thereby minimizing the damage rate of the manipulator.

[0054] Secondly, the contact plate layer 52 can also be deformed into multiple hinged sheets 521. When the multiple sheets 521 need to be in a straight line, they are limited by the clamping strips 525. Then, when clamping electronic components of different shapes, the multiple hinged sheets 521 can be attached to the outside of the electronic components. It is also possible to set the multiple hinged sheets 521 with one section fixed in a straight line and one section hinged, which is suitable for electronic components of different shapes and increases the clamping area.

[0055] The second elastic strip 53 can be replaced to change the degree to which the first elastic strip 51 is stretched, thereby changing the spacing between the two contact plate layers 52, thereby facilitating fast clamping of different electronic components and avoiding failure to clamp the electronic components due to upward movement while clamping.

[0056] It should be noted that, in this article, relational terms such as first and second, etc. are only used to distinguish one entity or operation from another entity or operation, and do not necessarily require or imply any such actual relationship or order between these entities or operations. Moreover, the terms "include", "comprise" or any other variants thereof are intended to cover non-exclusive inclusion, so that a process, method, article or device including a series of elements includes not only those elements, but also other elements not explicitly listed, or also includes elements inherent to such process, method, article or device.

[0057] Finally, it should be noted that the above description is only a preferred embodiment of the present invention and is not intended to limit the present invention. Although the present invention has been described in detail with reference to the aforementioned embodiments, those skilled in the art can still modify the technical solutions described in the aforementioned embodiments or replace some of the technical features therein by equivalents. Any modification, equivalent replacement, improvement, etc. made within the spirit and principle of the present invention shall be included in the protection scope of the present invention.

Claims

1. A clamping robot for processing electronic components, comprising a clamping frame (1), wherein a connecting rod (2) for connection is fixed at the upper end of the clamping frame (1), characterized in that: A hydraulic cylinder (3) is also fixed to the upper end of the clamping frame (1); A clamping component (4) is also installed inside the clamping frame (1), and a telescopic shaft (31) for telescoping is provided at the lower end of the hydraulic cylinder (3), wherein the telescopic shaft (31) is used to control the clamping movement of the clamping component (4); The lower end of the clamping component (4) is also provided with an elastic merging portion (5), and the elastic merging portion (5) is used to clamp the electronic component; The clamping component (4) comprises two control rods (41) hinged at the lower end of the telescopic shaft (31), the lower end of the control rod (41) being hinged with a control strip (42), a guide shaft body (43) being fixed in the clamping frame (1), the guide shaft body (43) passing through the control strips (42) on both sides, and being used to limit the control strips (42) on both sides, the control strips (42) on both sides being able to slide along the guide shaft body (43), when the telescopic shaft (31) moves upward, the control strips (42) on both sides are close to each other, and when the telescopic shaft (31) moves downward, the control strips (42) on both sides are away from each other; A clamping plate (46) is also fixed to the lower end of the control strip (42), and two clamping rods (47) are also provided inside the clamping frame (1), wherein the clamping rods (47) are perpendicular to the clamping plate (46), and the elastic merging portion (5) is installed between the two clamping plates (46) and the two clamping rods (47); The elastic merging portion (5) comprises an elastic strip 1 (51), a contact plate layer (52) and an elastic strip 2 (53); The elastic strip one (51), the contact plate layer (52) and the elastic strip two (53) are each provided with two groups, the outer ends of the two groups of the elastic strip two (53) are respectively connected to the clamping plates (46) on both sides, the inner ends of the two groups of the elastic strip two (53) are respectively connected to the contact plate layers (52) on both sides, the outer ends of the two groups of the elastic strip one (51) are respectively fixed to the two groups of clamping rods (47), the inner ends of the two groups of the elastic strip one (51) are both divided into two, one group of the elastic strip one (51) divided into two is fixed to one end of the two groups of contact plate layers (52), and the other group of the elastic strip one (51) divided into two is fixed to the other end of the two groups of contact plate layers (52), the elastic strip one (51) and the elastic strip two (53) are both elastic, and the two groups of the contact plate layers (52) are used to clamp electronic components.

2. The gripping robot for electronic component processing according to claim 1, characterized in that: The guide shaft body (43) is in an inverted "V" shape, and the control strips (42) on both sides are brought together to produce an upward movement effect. The guide shaft body (43) is cylindrical, and both ends of the control strips (42) on both sides are in contact with the inner wall of the clamping frame (1).

3. The clamping robot for electronic component processing according to claim 1, characterized in that: The contact plate layer (52) comprises a plurality of arranged sheets (521), both sides of the plurality of sheets (521) are smoothly transitioned, the lower ends of the plurality of sheets (521) are provided with matching holes (522) for clamping, and U-shaped frames (523) are clamped in the matching holes (522) of two adjacent sheets (521), and the two sheets (521) can be bent and deformed by means of the U-shaped frames (523); The upper ends of the plurality of sheets (521) are all formed with extension strips (524), and the contact plate layer (52) further comprises a clamping strip (525). The lower end of the clamping strip (525) is provided with an extension opening (526) that cooperates with the extension strip (524), and the clamping strip (525) is used to limit the position of the plurality of sheets (521).

4. The gripping robot for electronic component processing according to claim 3, characterized in that: A threaded sleeve (532) is fixed on the outer side of the sheet body (521), the inner end of the second elastic strip (53) is threadedly connected to the threaded sleeve (532), the outer end of the second elastic strip (53) passes through the clamping plate (46), and an end circle (531) is fixed on the outer end thereof for clamping with the clamping plate (46), and the second elastic strip (53) in one group corresponds to multiple groups of sheet bodies (521) one by one.

5. The gripping robot for electronic component processing according to claim 3, characterized in that: The elastic strips 1 (51) on both sides are respectively fixed to the outermost sides of the multiple sheet bodies (521), and the elastic strips 1 (51) are the source of the clamping force.

6. The gripping robot for electronic component processing according to claim 1, characterized in that: A second guide plate (45) for guiding is also fixed on the inner walls on both sides of the clamping frame (1), and a first guide plate (44) is also fixed on the upper end of the control strip (42). The end portion and a position close to the end portion of the clamping rod (47) are slidably disposed in the second guide plate (45) and the first guide plate (44), respectively.

7. The gripping robot for electronic component processing according to claim 3, characterized in that: One side of the plurality of sheets (521) clamped thereon has a rubber layer and is rough.

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