Anti-bending circuit board transfer robot
Through the coordination of the displacement bottom structure and the variable diameter suction structure, combined with the design of the elastic suction head and the air guide part, the problem of easy bending of the circuit board during the transfer process is solved, and the stable and efficient movement of the circuit board is achieved.
Patent Information
- Application Number
- CN202510046025.3
- Authority / Receiving Office
- CN · China
- Patent Type
- Patents(China)
- Current Assignee / Owner
- Filing Date
- 2025-01-13
- Publication Date
- 2025-05-06
- Estimated Expiration
- 2045-01-13
AI Technical Summary
Existing robots can easily cause the circuit board to bend and cannot move stably when transferring the circuit board.
An anti-bending circuit board transfer robot is adopted to avoid applying lateral pressure to the circuit board through the coordination of the displacement bottom structure and the variable diameter suction structure, and the stable suction and movement of the circuit board is achieved through the cooperation of the elastic suction head and the air guide part.
It effectively avoids bending of the circuit board during the transfer process, and realizes stable movement and efficient transfer of the circuit board.
Smart Images
Figure CN119458435B_ABST
Abstract
Description
Technical Field
[0001] The invention relates to the technical field of manipulators for circuit board processing, in particular to an anti-bending circuit board transfer manipulator. Background Art
[0002] PCB core board: also known as printed PCB core board, is the provider of electrical connections for electronic components and can be used to carry a variety of electronic components. For convenient storage and space saving, printed PCB boards are stacked together waiting for use. When loading, the stacked PCB boards are transported to the loading station, and then transported piece by piece to the conveyor line for patching by the clamping robot.
[0003] A common way to transfer circuit boards is to use a suction cup to move the circuit boards. However, as the number of holes on the circuit boards increases, the suction cup robot will not be able to form a stable negative pressure space on the circuit board due to the holes in the suction cup coverage surface, making it easy for the suction cup to separate from the circuit board. However, if a side-clamping robot is used to clamp the circuit board, the side pressure may have an angle due to the fact that the clamped surfaces of the circuit board are not completely parallel. At the same time, affected by the material of the circuit board, the circuit board may easily bend in the center due to the groups of side pressures at angles to each other. Therefore, existing robots cannot stably move the circuit board without bending the circuit board. Summary of the invention
[0004] The object of the present invention is to provide an anti-bending circuit board transfer robot to solve the problems raised in the above background technology.
[0005] To achieve the above object, the present invention provides the following technical solutions:
[0006] A bending-proof circuit board transfer robot comprises a connecting frame and also includes:
[0007] Two sets of displacement bottom supporting structures connected to the connecting frame;
[0008] Four groups of variable-diameter suction structures connected to the connecting frame, the variable-diameter suction structures include a moving part connected to the connecting frame, the moving part is movably connected with a mounting frame, the mounting frame is fixedly connected with two groups of electric telescopic rods, the moving ends of the electric telescopic rods are fixedly connected with a synchronous frame, the synchronous frame is hinged with four groups of articulated frames, each group of articulated frames is hinged with a group of articulated heads, the articulated heads are fixedly connected with sliding bars slidably connected with the synchronous frames, the articulated heads are fixedly connected with a pressing frame, the four groups of pressing frames are arranged at equal intervals along the circumferential direction, a plurality of groups of elastic spring sheets are fixedly installed between two adjacent groups of pressing frames, the elastic spring sheets and the pressing frames are jointly abutted with an elastic suction head, the elastic suction head is connected with an air guide portion, and the air guide portion is connected with a clamping portion installed on the mounting frame.
[0009] As a further improvement of the present invention: the displacement bottom support structure includes a hanger fixedly connected to the connecting frame, the hanger is fixedly connected to two groups of concave slot frames arranged in parallel, the hanger is fixedly connected to a first double-output shaft motor, the output end of the first double-output shaft motor is fixedly connected to a swing frame, a straight groove is opened on the swing frame, the straight groove is slidably connected to a pulley, the pulley is rotatably connected to a rectangular bar slidably connected to the concave slot frame, the rectangular bar is fixedly connected to a bracket, and the bracket is fixedly connected to a pressure sensor.
[0010] As a further improvement scheme of the present invention: the moving part includes a frame fixedly connected to the connecting frame, the frame is fixedly connected to two groups of L-shaped frames, the frame is slidably connected to a sliding beam, the sliding beam is slidably connected to a linkage frame, the linkage frame is movably connected to the mounting frame, the linkage frame is threadedly connected to a threaded locking piece, the threaded locking piece abuts against a brake plate slidably connected to the linkage frame, the brake plate is slidably connected to the L-shaped frame, and the L-shaped frame is slidably connected to the frame.
[0011] As a further improvement of the present invention: the air guide part includes a cover body fixedly connected to the elastic air suction head, the cover body is fixedly connected to an air guide pipe, the air guide pipe is fixedly connected to the elastic air suction head, the air guide pipe is fixedly connected to a first threaded joint, the first threaded joint is threadedly connected to a second threaded joint, the second threaded joint is fixedly connected to a hose, the air guide pipe is fixedly connected to a rectangular frame, and the rectangular frame is movably connected to the clamping part.
[0012] As a further improvement of the present invention: the clamping part includes a base fixedly connected to the mounting frame, the base is fixedly connected to a second double-output shaft motor, the output end of the second double-output shaft motor is fixedly connected to a screw rod, the screw rod is threadedly connected to a clamping arm slidably connected to the base, and the clamping arm is movably connected to the rectangular frame.
[0013] As a further improvement of the present invention: a camera is fixedly installed in the middle of the connecting frame.
[0014] As a further improvement of the present invention: a plurality of groups of rods are installed at equal intervals along the circumferential direction in the elastic suction head.
[0015] Compared with the prior art, the present invention has the following beneficial effects:
[0016] When in use, an external mechanical arm is used to connect with the connecting frame so that the mechanical arm drives the present invention to move, the air guide part is connected with the external air pressure regulating device, and the position of the mounting frame is adjusted by adjusting the moving part. The electric telescopic rod drives the synchronous frame and the mounting frame to slide relative to each other, so that the synchronous frame drives four groups of articulated frames, and the movable articulated frame drives the articulated head to move. During this period, the sliding bar moves with the articulated head and slides relative to the synchronous frame, and the movable articulated head drives the pressing frame to move. In the process of the pressing frames approaching each other, the elastic spring sheet in a bent state is further squeezed by the pressing frame, so that the elastic spring sheet is further bent. At this time, the pressing frame and the elastic spring sheet jointly squeeze the elastic suction head so that the diameter of the elastic suction head is reduced. After the elastic suction head is crimped on the circuit board, the air pressure regulating device performs suction operation on the elastic suction head through the air guide part, so that the elastic suction head absorbs the circuit board without contacting the opening on the circuit board. As the mechanical arm drives the connecting frame to rise, the absorbed circuit board is lifted into the air, and then the displacement bottom support structure provides support for the circuit board from below the suspended circuit board. The present invention avoids applying lateral pressure to the circuit board by cooperating the displacement bottom supporting structure with the variable diameter suction structure. At the same time, by avoiding opening holes and lower supporting on the circuit board, it ensures that when the present invention moves the circuit board, the circuit board is not easily bent and is moved stably. BRIEF DESCRIPTION OF THE DRAWINGS
[0017] Figure 1 It is a schematic diagram of the three-dimensional structure of the present invention;
[0018] Figure 2 It is a schematic diagram of the three-dimensional structure of the variable diameter suction structure of the present invention;
[0019] Figure 3 It is a schematic diagram of the three-dimensional structure of the displacement bottom supporting structure of the present invention;
[0020] Figure 4 It is a schematic diagram of the three-dimensional structure of the mounting frame, the electric telescopic rod, the synchronous frame, the articulated frame, the articulated head, the sliding bar, the pressing frame, the elastic spring, the elastic air suction head, the air guide part, and the clamping part of the present invention;
[0021] Figure 5 It is a schematic diagram of the structure of the mounting frame, the electric telescopic rod, the synchronous frame, the articulated frame, the articulated head, the sliding bar, the pressing frame, the elastic spring, the elastic air suction head, the air guide part, and the clamping part of the present invention;
[0022] Figure 6 It is a schematic diagram of the three-dimensional structure of the elastic air suction head, the air guide part and the clamping part of the present invention;
[0023] Figure 7 It is a schematic diagram of the three-dimensional structure of the air guide tube and the rectangular frame of the present invention;
[0024] Figure 8 It is a schematic structural diagram of the elastic suction head and the rod body of the present invention.
[0025] In the figure: 1, connecting frame; 2, displacement supporting structure; 3, variable diameter suction structure; 4, moving part; 5, mounting frame; 6, electric telescopic rod; 7, synchronous frame; 8, articulated frame; 9, articulated head; 10, sliding bar; 11, pressing frame; 12, elastic spring; 13, elastic suction head; 14, air guide; 15, clamping part; 16, hanging frame; 17, concave groove frame; 18, first double-output shaft motor; 19, straight groove; 20, pulley; 21, rectangular bar; 22. Bracket; 23. Pressure sensor; 24. Frame; 25. L-shaped frame; 26. Sliding beam; 27. Linkage frame; 28. Threaded locking member; 29. Brake plate; 30. Cover; 31. Air duct; 32. First threaded joint; 33. Second threaded joint; 34. Hose; 35. Rectangular frame; 36. Machine base; 37. Second double-axis motor; 38. Screw; 39. Clamping arm; 40. Camera; 41. Rod body; 42. Swing stand. DETAILED DESCRIPTION
[0026] The technical solution of the present invention is further described in detail below in conjunction with specific implementation methods.
[0027] Example 1, see Figures 1 to 8 As shown, a bending-resistant circuit board transfer robot comprises a connecting frame 1, on which a plurality of connecting holes connected to an external robot arm are provided, and further comprises:
[0028] Two sets of displacement supporting structures 2 connected to the connecting frame 1;
[0029] Four groups of variable-diameter suction structures 3 connected to the connecting frame 1, the variable-diameter suction structure 3 includes a moving part 4 connected to the connecting frame 1, the moving part 4 is movably connected with a mounting frame 5, the mounting frame 5 is fixedly connected with two groups of electric telescopic rods 6, the electric telescopic rods 6 are communicatively connected with an external control console, the moving end of the electric telescopic rod 6 is fixedly connected with a synchronous frame 7, the synchronous frame 7 is hinged with four groups of articulated frames 8, each group of articulated frames 8 is hinged with a group of articulated heads 9, the articulated heads 9 are fixedly connected with a sliding bar 10 slidably connected with the synchronous frame 7, the articulated heads 9 are fixedly connected with a pressing frame 11, the four groups of pressing frames 11 are arranged at equal intervals along the circumferential direction, and a plurality of groups of elastic spring sheets 12 are fixedly installed between two adjacent groups of pressing frames 11, the elastic spring sheets 12 and the pressing frame 11 are jointly abutted with an elastic suction head 13, the elastic suction head 13 is connected with an air guide portion 14, and the air guide portion 14 is connected with a clamping portion 15 installed on the mounting frame 5.
[0030] When in use, an external mechanical arm is connected to the connecting frame 1 so that the mechanical arm drives the present invention to move, the air guide portion 14 is connected to the external air pressure regulating device, and the position of the mounting frame 5 is adjusted by adjusting the moving portion 4. The electric telescopic rod 6 drives the synchronous frame 7 to slide relative to the mounting frame 5, so that the synchronous frame 7 drives four sets of articulated frames 8, and the moving articulated frame 8 drives the articulated head 9 to move. During this period, the sliding bar 10 moves with the articulated head 9 and slides relative to the synchronous frame 7. The moving articulated head 9 drives the pressing frame 11 to move. In the process of the pressing frames 11 approaching each other, the elastic spring in a bent state 12 is further squeezed by the pressing frame 11, so that the elastic spring 12 is further bent. At this time, the pressing frame 11 and the elastic spring 12 jointly squeeze the elastic suction head 13 to reduce the diameter of the elastic suction head 13. After the elastic suction head 13 is crimped on the circuit board, the air pressure regulating device performs suction operation on the elastic suction head 13 through the air guide 14, so that the elastic suction head 13 absorbs the circuit board without contacting the opening on the circuit board. As the mechanical arm drives the connecting frame 1 to rise, the sucked circuit board is lifted into the air, and then the displacement bottom support structure 2 provides support for the circuit board from below the suspended circuit board. The present invention avoids applying lateral pressure to the circuit board by cooperating with the displacement bottom support structure 2 and the variable diameter suction structure 3, and ensures that when the present invention moves the circuit board, the circuit board is not easy to bend and is stably moved by avoiding the opening and lower support on the circuit board.
[0031] In one case of the present embodiment, the displacement supporting structure 2 includes a hanger 16 fixedly connected to the connecting frame 1, the hanger 16 is fixedly connected to two groups of concave slot frames 17 arranged in parallel, the hanger 16 is fixedly connected to a first double-output shaft motor 18, the output end of the first double-output shaft motor 18 is fixedly connected to a swing frame 42, a straight groove 19 is opened on the swing frame 42, the straight groove 19 is slidably connected to a pulley 20, the pulley 20 is rotatably connected to a rectangular bar 21 slidably connected to the concave slot frame 17, the rectangular bar 21 is fixedly connected to a bracket 22, and the bracket 22 is fixedly connected to a pressure sensor 23. The first double-output shaft motor 18 drives the swing frame 42 to move. The straight groove 19 moves with the swing frame 42. The straight groove 19 drives the pulley 20 to move. The pulley 20 drives the rectangular bar 21 to slide along the concave groove frame 17, so that the rectangular bar 21 drives the bracket 22 to move, so that the bracket 22 drives the pressure sensor 23 to abut the bottom of the circuit board to provide stable support for the suspended circuit board, and the pressure sensor 23 measures the feedback pressure in real time to determine the contact status between the pressure sensor 23 and the circuit board.
[0032] In one case of the present embodiment, the movable part 4 includes a frame 24 fixedly connected to the connecting frame 1, the frame 24 is fixedly connected with two groups of L-shaped frames 25, the frame 24 is slidably connected with a sliding beam 26, the sliding beam 26 is slidably connected with a linkage frame 27, the linkage frame 27 is movably connected with the mounting frame 5, the linkage frame 27 is threadedly connected with a threaded locking member 28, and a thread threadedly connected to the linkage frame 27 is provided on the columnar surface of the threaded locking member 28, the threaded locking member 28 abuts against a brake plate 29 slidably connected to the linkage frame 27, the brake plate 29 is slidably connected to the L-shaped frame 25, the extension direction of the brake plate 29 is staggered with the extension direction of the sliding beam 26, and the L-shaped frame 25 is slidably connected to the frame 24. When the threaded locking member 28 does not abut the brake plate 29, the linkage frame 27 is moved to adjust the position of the mounting frame 5. The threaded locking member 28 is rotated so that the top end of the threaded locking member 28 presses against the brake plate 29 to limit the relative position between the linkage frame 27 and the brake plate 29. As the rising brake plate 29 squeezes the frame 24, the maximum friction force between the brake plate 29 and the frame 24 increases, thereby hindering the movement of the brake plate 29 and further limiting the movement of the linkage frame 27.
[0033] In one case of the present embodiment, the air guide portion 14 includes a cover body 30 fixedly connected to the elastic air suction head 13, the cover body 30 is fixedly connected to an air guide pipe 31, the air guide pipe 31 is fixedly connected to the elastic air suction head 13, the air guide pipe 31 is fixedly connected to a first threaded joint 32, the first threaded joint 32 is threadedly connected to a second threaded joint 33, the air guide pipe 31 is connected to the second threaded joint 33 through the first threaded joint 32, the second threaded joint 33 is fixedly connected to a hose 34, the hose 34 is used to connect an external air pressure regulating device, the air guide pipe 31 is fixedly connected to a rectangular frame 35, and the rectangular frame 35 is movably connected to the clamping portion 15. The clamping portion 15 limits the movement of the air duct 31 by clamping the rectangular frame 35. Since the air duct 31 is fixedly connected to the cover body 30, the relative positions of the elastic air suction head 13 and the clamping portion 15 are fixed. The air duct 31 is connected to the second threaded joint 33 through the first threaded joint 32, and the second threaded joint 33 is connected to the external air pressure regulating device through the hose 34, so that the air pressure regulating device can adjust the air pressure in the elastic air suction head 13.
[0034] In one case of this embodiment, the clamping portion 15 includes a base 36 fixedly connected to the mounting frame 5, the base 36 is fixedly connected to a second double-output shaft motor 37, the output end of the second double-output shaft motor 37 is fixedly connected to a screw rod 38, the screw rod 38 is threadedly connected to a clamping arm 39 slidably connected to the base 36, and the clamping arm 39 is movably connected to the rectangular frame 35. The second double-output shaft motor 37 drives the screw rod 38 to rotate, and the rotating screw rod 38 drives the clamping arm 39 to slide along the base 36, so that the two groups of clamping arms 39 clamp the rectangular frame 35.
[0035] In one case of this embodiment, a camera 40 is fixedly installed in the middle of the connecting frame 1. The camera 40 is used to shoot the circuit board so that the operator can remotely obtain the real-time image of the circuit board from the control console.
[0036] Embodiment 2, based on embodiment 1, refer to Figure 2 , Figure 5 , Figure 8 , a plurality of groups of rod bodies 41 are installed in the elastic suction head 13 at equal intervals along the circumferential direction. By arranging the rod bodies 41 in the elastic suction head 13, when the rod bodies 41 are pressed and moved, the materials at various positions of the elastic suction head 13 are synchronously driven to move, thereby facilitating the elastic spring 12 and the pressing frame 11 to more accurately adjust the shape and opening size of the elastic suction head 13.
[0037] Although the embodiments of the present invention have been shown and described, it will be appreciated by those skilled in the art that many changes, modifications, substitutions and variations may be made to the embodiments without departing from the principles and spirit of the present invention.
Claims
1. A bending-resistant circuit board transfer robot, comprising a connecting frame, characterized in that: Also includes: Two groups of displacement supporting structures connected to the connecting frame, the displacement supporting structures include a hanger fixedly connected to the connecting frame, the hanger fixedly connected to two groups of concave slot frames arranged in parallel, the hanger fixedly connected to a first double-output shaft motor, the output end of the first double-output shaft motor fixedly connected to a swing frame, a straight groove is provided on the swing frame, the straight groove is slidably connected to a pulley, the pulley is rotatably connected to a rectangular bar slidably connected to the concave slot frame, the rectangular bar is fixedly connected to a bracket, and the bracket is fixedly connected to a pressure sensor; Four groups of variable-diameter suction structures connected to the connecting frame, the variable-diameter suction structures include a moving part connected to the connecting frame, the moving part is movably connected with a mounting frame, the mounting frame is fixedly connected with two groups of electric telescopic rods, the moving ends of the electric telescopic rods are fixedly connected with a synchronous frame, the synchronous frame is hinged with four groups of articulated frames, each group of articulated frames is hinged with a group of articulated heads, the articulated heads are fixedly connected with sliding bars slidably connected with the synchronous frames, the articulated heads are fixedly connected with a pressing frame, the four groups of pressing frames are arranged at equal intervals along the circumferential direction, a plurality of groups of elastic spring sheets are fixedly installed between two adjacent groups of pressing frames, the elastic spring sheets and the pressing frames are jointly abutted with an elastic suction head, the elastic suction head is connected with an air guide portion, and the air guide portion is connected with a clamping portion installed on the mounting frame.
2. The anti-bending circuit board transfer robot according to claim 1, characterized in that: The moving part includes a frame fixedly connected to the connecting frame, the frame is fixedly connected to two groups of L-shaped frames, the frame is slidably connected to a sliding beam, the sliding beam is slidably connected to a linkage frame, the linkage frame is movably connected to the mounting frame, the linkage frame is threadedly connected to a threaded locking piece, the threaded locking piece abuts against a brake plate slidably connected to the linkage frame, the brake plate is slidably connected to the L-shaped frame, and the L-shaped frame is slidably connected to the frame.
3. The anti-bending circuit board transfer robot according to claim 1, characterized in that: The air guide part includes a cover body fixedly connected to an elastic air suction head, the cover body is fixedly connected to an air guide pipe, the air guide pipe is fixedly connected to the elastic air suction head, the air guide pipe is fixedly connected to a first threaded joint, the first threaded joint is threadedly connected to a second threaded joint, the second threaded joint is fixedly connected to a hose, the air guide pipe is fixedly connected to a rectangular frame, and the rectangular frame is movably connected to the clamping part.
4. The anti-bending circuit board transfer robot according to claim 3, characterized in that: The clamping part includes a base fixedly connected to the mounting frame, the base is fixedly connected to a second double-output shaft motor, the output end of the second double-output shaft motor is fixedly connected to a screw rod, the screw rod is threadedly connected to a clamping arm slidably connected to the base, and the clamping arm is movably connected to the rectangular frame.
5. The anti-bending circuit board transfer robot according to claim 1, characterized in that: A camera is fixedly installed in the middle of the connecting frame.
6. The anti-bending circuit board transfer robot according to claim 1, characterized in that: A plurality of rod groups are installed in the elastic suction head at equal intervals along the circumferential direction.
Citation Information
Patent Citations
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