Industrial robot convenient for fixing circuit board

Abstract

The invention discloses an industrial robot capable of conveniently fixing a circuit board, and relates to the technical field of industrial robots. A material shoveling plate is fixedly installed at the end, away from the connecting frame, of the side clamping plate, an edge pressing strip is fixedly installed at the end, away from the inclined supporting plate, of the side sliding plate, and the opposite faces of the edge pressing strip and the material shoveling plate are inclined faces. After the material shoveling plate shovels the circuit board, the material shoveling plate is gradually lifted to be away from the placed table top through the inclined face, the contact pressure between the material shoveling plate and the edge pressing strip is gradually increased through the characteristic that the opposite faces of the edge pressing strip and the material shoveling plate are inclined faces, and the pressure is transmitted to the inner backing ring through the inclined supporting plate and the inner baffle. The edge pressing strip is matched with the material shoveling plate, the plate is clamped at the side edge, the inclined face of the opposite face of the material shoveling plate and the edge pressing strip is close to the side edge of the plate during clamping, and a circuit of a circuit board is prevented from being damaged.

Description

Technical Field

[0001] This invention relates to the field of industrial robot technology, specifically to an industrial robot that facilitates the fixing of circuit boards. Background Technology

[0002] Circuit board, or printed circuit board, is an indispensable basic component in electronic devices, used to realize electrical connection and mechanical support between electronic components. Industrial robots are multi-jointed manipulators or multi-degree-of-freedom mechanical devices for industrial fields. They can automatically perform work and rely on their own power and control capabilities to realize various industrial processing and manufacturing functions. Industrial robots that can fix circuit boards refer to industrial robots that can accurately and stably clamp or adsorb circuit boards to facilitate subsequent processing, assembly, testing and other operations. During the process of using industrial robots to grip and transport circuit boards, the robots only grip the boards from both sides when they come into contact with them, which can cause the boards to fall during transport and damage the internal circuitry. Summary of the Invention

[0003] To solve the above-mentioned technical problems, the present invention provides the following technical solution: an industrial robot for easily fixing circuit board materials, comprising: A base, on the top of which a rotating mechanism is mounted, and on the top of which a rotating arm mechanism is mounted; An actuator is installed at the execution end of a rotating arm mechanism and is used to clamp and fix circuit board material; The actuator includes a connecting frame with a groove at its center on the outer side. A side clamp is slidably mounted on the side of the connecting frame away from the rotating arm mechanism. The side clamps are symmetrically mounted along the center of the connecting frame's axis. The end of the side clamp away from the connecting frame is inclined outward, and a sliding groove is formed on the outer side of the side clamp. An inner baffle is slidably mounted at each sliding groove of the side clamp. An inner washer ring is fixedly mounted between the inner baffle and the side clamp. The inner washer ring is made of elastic material. Through the elastic action of the inner washer ring, the pressure strip and the scraper plate are engaged. After the scraper plate picks up the circuit board, it continues to move inward and closer, using the inclined surface to gradually raise the scraper plate away from the placed platform, while simultaneously contacting the pressure strip. Utilizing the characteristic that both the pressure strip and the scraper plate have inclined surfaces, the circuit board... As the circuit board is lifted, the contact pressure of the edge strip gradually increases. The pressure is transmitted to the inner pad ring through the diagonal brace and the inner baffle, causing the inner pad ring to deform and generate elasticity. While the circuit board is clamped on both sides of the side clamping plate, the edge strip and the scraper plate cooperate to clamp the board at the side, restricting the movement of the board. At the same time, the inclined surfaces of the scraper plate and the edge strip are close to the side of the board when clamping to avoid damaging the internal circuit of the circuit board. The scraper plate is fixedly installed at the end of the side clamping plate away from the connecting frame. The diagonal brace is fixedly installed on the outer side of the inner baffle. The side slide plate is fixedly installed at the end of the diagonal brace away from the inner baffle. The edge strip is fixedly installed at the end of the side slide plate away from the diagonal brace. The opposing surfaces of the edge strip and the scraper plate are both inclined surfaces. The edge strip is made of rubber.

[0004] Preferably, a second cylinder is fixedly installed at both ends of the connecting frame near the rotating arm mechanism. A protrusion is provided on the side of the side clamping plate near the connecting frame, and the side clamping plate slides and adapts to the groove of the connecting frame through the protrusion. The output end of the second cylinder is fixedly connected to the protrusion. The outer side of the inner baffle is evenly provided with notches, and the inner baffles are staggered by the notches. Side baffles are fixedly installed at both ends of the connecting frame. Through the cooperation of the side baffles and the inner baffles, the side baffles provide protection on both sides during clamping and transportation. At the same time, the inner baffles limit the degree of pressure deformation of the circuit board during clamping, avoiding excessive pressure deformation of the circuit board during clamping, which may lead to breakage. The non-opposing surfaces of the side baffles are inclined surfaces.

[0005] Preferably, the rotating base mechanism includes a fixed cylinder, the bottom of which is fixedly connected to the top of the base, and a first motor is fixedly installed on the inner wall of the fixed cylinder. A fixed ring is fixedly installed on the top of the fixed cylinder, and a ring groove is formed on the top of the fixed ring. A turntable is rotatably installed on the top of the fixed ring.

[0006] Preferably, a retaining ring is provided at the edge of the bottom of the turntable, and a shaft is provided at the center of the bottom of the turntable. The shaft is fixedly connected to the output end of the first motor via a coupling. An inner top ring is rotatably installed at the bottom of the fixed ring groove. The inner top ring cooperates with the limiting ring, and the top of the inner top ring is rotatably connected to the retaining ring of the turntable, creating a gap between the bottom of the retaining ring and the bottom of the groove. This gap provides storage space for lubricating grease and metal shavings generated by rotational friction during operation, preventing shavings from accumulating on the rotational friction surface and reducing equipment accuracy. At the same time, the limiting ring cooperates with the inner top ring to restrict the rotation axis of the turntable and prevent rotational deviation. The top of the inner top ring is rotatably adapted to the retaining ring of the turntable. Furthermore, the bottom of the retaining ring does not contact the bottom of the groove of the fixed ring. Side retaining rings are fixedly installed on both sides of the groove of the fixed ring. The opposite surfaces of the side retaining rings are evenly provided with arc-shaped protrusions. The side retaining rings contact the retaining ring of the turntable through the arc-shaped protrusions. Through the cooperation between the side retaining rings and the retaining ring of the turntable, during rotation, the arc-shaped protrusions of the side retaining rings contact the retaining rings, reducing the contact area with the retaining rings, reducing friction, reducing resistance during operation, and reducing wear. At the same time, there are gaps between the arc-shaped protrusions, providing a gap for lubricating grease to contact the retaining rings. Meanwhile, metal debris generated by wear can fall downwards along the gaps, avoiding obstruction of the turntable's rotation. A limit ring is fixedly installed at the bottom of the turntable, and the outer side of the limit ring contacts the inner wall of the fixed ring.

[0007] Preferably, the rotating arm mechanism includes a fixed base, a main arm rotatably mounted on the inner wall of the fixed base, a fourth motor fixedly mounted on the outer side of the fixed base, the output end of the fourth motor being fixedly connected to the main arm via a shaft, a second motor fixedly mounted on the outer end of the main arm away from the fixed base, a forearm rotatably mounted on the outer end of the main arm away from the fixed base, the output end of the second motor being fixedly connected to the forearm via a shaft, a third motor fixedly mounted on the outer end of the forearm away from the main arm, and a wrist arm rotatably mounted on the outer end of the forearm away from the main arm, the output end of the third motor being fixedly connected to the wrist arm via a shaft.

[0008] Preferably, an inner rotating column is rotatably mounted on the inner wall of the wrist arm, and a first cylinder is fixedly mounted on both ends of the inner rotating column. A slot is symmetrically opened on the side of the wrist arm away from the forearm. A connecting block is fixedly mounted on the output end of the first cylinder. The side of the connecting block away from the wrist arm is fixedly connected to the outer side of the connecting frame. A sliding plate is fixedly mounted on both ends of the connecting block near the wrist arm. Both sides of the sliding plate are inclined. Through the inclined surface of the sliding plate, in conjunction with the rubber plate fixed at the inclined surface, the first cylinder drives the connecting block to move during clamping, so that the actuator is close to the plate. At the same time, when it is hit by a collision during the movement, the inner rotating column connected to the first cylinder is rotatably mounted inside the wrist arm. Under the impact pressure, the rubber plate is deformed. The connecting block can rotate a certain angle along the inner rotating column as the axis with the actuator, providing a buffer distance and protecting the circuit board being clamped and transported inside. A limit plate is fixedly mounted on the end of the sliding plate away from the connecting block, and a rubber plate is fixedly mounted on the inclined surface of the sliding plate.

[0009] This invention provides an industrial robot for easily fixing circuit board materials. It has the following beneficial effects: (I) This industrial robot, which facilitates the fixing of circuit board materials, utilizes the elastic cooperation between the inner pad plate and the pressure strip and the scraper plate. After the scraper plate lifts the circuit board material, it continues to move inward and approach, using the inclined surface to gradually raise the scraper plate away from the table surface. At the same time, it contacts the pressure strip. Taking advantage of the fact that both the pressure strip and the scraper plate have inclined surfaces, the contact pressure of the pressure strip gradually increases as the circuit board material is lifted. The pressure is transmitted to the inner pad ring through the inclined support plate and the inner baffle, causing the inner pad ring to change shape and generate elasticity. While the side clamping plates clamp the circuit board material on both sides, the pressure strip and the scraper plate cooperate to clamp the material material at the side, restricting the movement of the material material. At the same time, the inclined surfaces of the scraper plate and the pressure strip are close to the side of the material material during clamping, avoiding damage to the internal circuitry of the circuit board.

[0010] (ii) The industrial robot that facilitates the fixing of circuit boards uses side baffles and inner baffles to protect the circuit boards on both sides during clamping and handling. At the same time, the inner baffles limit the degree of pressure deformation of the circuit boards during clamping, thus preventing the circuit boards from being broken due to excessive pressure deformation.

[0011] (III) The industrial robot that facilitates the fixing of circuit boards uses an inner top ring and a limiting ring to cooperate. The top of the inner top ring is rotatably connected to the retaining ring of the turntable, so that there is a gap between the bottom of the retaining ring and the bottom of the ring groove. The gap provides storage space for lubricating grease and metal shavings generated by rotational friction during operation, avoiding the accumulation of shavings on the rotational friction surface, which would reduce the accuracy of the equipment. At the same time, the limiting ring and the inner top ring cooperate to restrict the rotation axis of the turntable and prevent rotational deviation.

[0012] (iv) The industrial robot that facilitates the fixing of circuit boards uses a side retaining ring to cooperate with the retaining ring of the turntable. During rotation, the arc-shaped protrusion of the side retaining ring contacts the retaining ring, reducing the contact area with the retaining ring, reducing friction, reducing resistance during operation, and reducing wear. At the same time, there are gaps between the arc-shaped protrusions, which provide a gap for lubricating grease to contact the retaining ring. Meanwhile, metal debris generated by wear can fall downwards along the gaps, avoiding obstruction of the turntable rotation.

[0013] (v) The industrial robot that facilitates the fixing of circuit boards uses the inclined surface of the slide plate and the rubber plate fixed at the inclined surface. When gripping, the first cylinder drives the connecting block to move, so that the execution structure is close to the board. At the same time, when it is hit by a collision during the movement, the first cylinder is connected by the inner rotating column installed inside the wrist arm. Under the impact pressure, the rubber plate is deformed, and the connecting block can rotate a certain angle along the inner rotating column as the axis with the execution structure, providing a buffer distance and protecting the circuit board being gripped and transported inside. Attached Figure Description

[0014] Figure 1 This is a schematic diagram of the overall structure of the present invention; Figure 2 This is a side view of the overall structure of the present invention; Figure 3 This is a schematic diagram showing the positional structure of the rotary seat mechanism, the rotary arm mechanism, and the gripping mechanism of the present invention; Figure 4 This is a schematic diagram of the structure of the rotary seat mechanism of the present invention; Figure 5 This is a sectional view of the rotating seat mechanism of the present invention; Figure 6 This is a partial sectional view of the rotating seat mechanism of the present invention; Figure 7 This is a schematic diagram of the rotating arm mechanism of the present invention; Figure 8 This is a side view of the structure of the rotating arm mechanism of the present invention; Figure 9 This is a partial structural schematic diagram of the rotating arm mechanism of the present invention; Figure 10 This is a partial sectional view of the rotating arm mechanism of the present invention; Figure 11 This is a schematic diagram of the structure of the actuator of the present invention; Figure 12 This is a side view of the structure of the actuator of the present invention; Figure 13 This is a partial structural schematic diagram of the actuator of the present invention; Figure 14 For the present invention Figure 13 A magnified schematic diagram of structure A.

[0015] In the diagram: 1. Base; 2. Rotary seat mechanism; 3. Rotary arm mechanism; 4. Actuator; 21. Fixed cylinder; 22. Turntable; 23. Fixed ring; 24. Inner top ring; 25. First motor; 26. Side retaining ring; 27. Limiting ring; 301. Fixed seat; 302. Main arm; 303. Second motor; 304. Forearm; 305. Third motor; 306. Wrist arm; 307. Fourth motor; 308. First cylinder; 309. Slide plate; 310. Limiting plate; 311. Rubber plate; 312. Connecting block; 313. Inner rotating column; 401. Connecting frame; 402. Inner baffle; 403. Side clamping plate; 404. Side baffle; 405. Second cylinder; 406. Inner pad ring; 407. Diagonal brace plate; 408. Side slide plate; 409. Edge pressing strip; 410. Shovel plate. Detailed Implementation

[0016] The technical solutions of the embodiments of the present invention will be clearly and completely described below with reference to the accompanying drawings. Obviously, the described embodiments are only some embodiments of the present invention, and not all embodiments. Based on the embodiments of the present invention, all other embodiments obtained by those skilled in the art without creative effort are within the scope of protection of the present invention.

[0017] For the first embodiment, please refer to... Figures 1 to 2 and Figures 11 to 14 The present invention provides a technical solution: An industrial robot for easy fixing of circuit board materials, comprising: Base 1, a rotating mechanism 2 is installed on the top of base 1, and a rotating arm mechanism 3 is installed on the top of rotating mechanism 2; Actuator 4 is installed at the execution end of the rotating arm mechanism 3 and is used to clamp and fix the circuit board. The actuator 4 includes a connecting frame 401. A groove is formed at the center of the outer side of the connecting frame 401. A side clamping plate 403 is slidably installed on the side of the connecting frame 401 away from the rotating arm mechanism 3. The side clamping plate 403 is symmetrically installed at the center of the axis of the connecting frame 401. The end of the side clamping plate 403 away from the connecting frame 401 is inclined outward, and a sliding groove is formed on the outer side of the side clamping plate 403. An inner baffle 402 is slidably installed at each sliding groove of the side clamping plate 403. An inner washer ring 406 is fixedly installed between the inner baffle 402 and the side clamping plate 403. The inner washer ring 406 is made of elastic material. A scraper plate 410 is fixedly installed at the end of the side clamping plate 403 away from the connecting frame 401. A diagonal brace plate 407 is fixedly installed on the outer side of the inner baffle plate 402. The end of the diagonal brace plate 407 away from the inner baffle plate 402 is fixedly installed. A side slide plate 408 is fixedly installed. After the scraper plate 410 contacts both sides of the circuit board, the slope of the scraper plate 410 is used to scrape the board from the table and enter the space between the scraper plate 410 and the pressure strip 409. During the continuous clamping operation, the slope of the pressure strip 409 contacts the side of the circuit board. The pressure is transmitted to the inner pad ring 406 through the inclined support plate 407, causing the inner pad ring 406 to deform under pressure and generate elasticity. This causes the slope of the pressure strip 409 to cooperate with the slope of the scraper plate 410. While clamping the circuit board, the circuit board is also pressed at the side. The pressure strip 409 is fixedly installed at the end of the side slide plate 408 away from the inclined support plate 407. The opposite surfaces of the pressure strip 409 and the scraper plate 410 are both sloped. The pressure strip 409 is made of rubber.

[0018] A second cylinder 405 is fixedly installed at both ends of the connecting frame 401 near the rotating arm mechanism 3. A protrusion is provided on the side of the side clamping plate 403 near the connecting frame 401, and the side clamping plate 403 slides and adapts to the groove of the connecting frame 401 through the protrusion. Under the drive of the rotating arm mechanism 3 and the rotating seat mechanism 2, the connecting frame 401 causes the shovel plate 410 to contact the table surface where the circuit board is placed. Then, the output end of the second cylinder 405 is fixedly connected to the protrusion of the side clamping plate 403. The moving side clamp 403 slides in the groove of the connecting frame 401. During the sliding process, the side clamp 403 drives the scraper plate 410 to move closer to each other, causing the inner baffles 402 to move and intersect. The output end of the second cylinder 405 is fixedly connected to the protrusion. The outer side of the inner baffle 402 is evenly provided with notches, and the inner baffles 402 are intersect through the notches. The two ends of the connecting frame 401 are fixedly installed with side baffles 404, and the non-opposing surfaces of the side baffles 404 are inclined surfaces.

[0019] The second embodiment is based on the first embodiment; please refer to [link / reference]. Figures 3 to 6As shown, the rotating base mechanism 2 includes a fixed cylinder 21, the bottom of which is fixedly connected to the top of the base 1. A first motor 25 is fixedly installed on the inner wall of the fixed cylinder 21, and a fixed ring 23 is fixedly installed on the top of the fixed cylinder 21. The rotating base mechanism 3 is connected to the rotating arm mechanism 3 through a turntable 22. During operation, the first motor 25 drives the turntable 22 to rotate, and the turntable 22 drives the rotating arm mechanism 3 to turn. At the same time, during the rotation, the retaining ring of the turntable 22 is matched with the top of the inner top ring 24 and cooperates with the limiting ring 27. The outer side of the limiting ring 27 contacts the inner wall of the fixed ring 23 to limit the position of the turntable 22 and control the axis of rotation of the turntable 22. The top of the fixed ring 23 has an annular groove, and the turntable 22 is rotatably installed on the top of the fixed ring 23.

[0020] A retaining ring is provided at the bottom edge of the turntable 22, and a shaft is provided at the center of the bottom of the turntable 22. The shaft is fixedly connected to the output end of the first motor 25 via a coupling. An inner top ring 24 is rotatably installed at the bottom of the annular groove of the fixed ring 23. The top of the inner top ring 24 is adapted to the retaining ring of the turntable 22, and the bottom of the retaining ring does not contact the bottom of the annular groove of the fixed ring 23. Side retaining rings 26 are fixedly installed on both sides of the annular groove of the fixed ring 23. During the rotation of the turntable 22... In the process, the side retaining rings 26 on both sides of the groove of the fixed ring 23 restrict the retaining ring of the turntable 22. The side retaining rings 26 contact the retaining ring through the arc-shaped protrusions. The contact between the arc-shaped protrusions and the retaining ring creates a gap between the arc-shaped protrusions. The opposite surfaces of the side retaining rings 26 are evenly provided with arc-shaped protrusions, and the side retaining rings 26 contact the retaining ring of the turntable 22 through the arc-shaped protrusions. The bottom of the turntable 22 is fixedly installed with a limiting ring 27, and the outer side of the limiting ring 27 contacts the inner wall of the fixed ring 23.

[0021] The third embodiment is based on embodiments one and two; please refer to [link / reference]. Figures 7 to 10As shown, the rotating arm mechanism 3 includes a fixed base 301. A large arm 302 is rotatably mounted on the inner wall of the fixed base 301. A fourth motor 307 is fixedly mounted on the outer side of the fixed base 301. The output end of the fourth motor 307 is fixedly connected to the large arm 302 via a shaft. A second motor 303 is fixedly mounted on the outer end of the large arm 302 away from the fixed base 301. A small arm 304 is rotatably mounted on the outer end of the large arm 302 away from the fixed base 301. Through the cooperation of the fourth motor 307 and the second motor 303, during operation, the large arm 302 and the small arm 304 are driven to rotate respectively, and the movement is controlled by the wrist arm... 306 drives the actuator 4, changing the position of the actuator 4 so that the actuator 4 is close to the circuit board to be moved and clamped. When it reaches the position of the circuit board, the third motor 305 drives the wrist arm 306 to rotate, adjusting the clamping angle of the actuator 4. The output end of the second motor 303 is fixedly connected to the forearm 304 through a shaft. The third motor 305 is fixedly installed on the outer side of the forearm 304 away from the upper arm 302. The wrist arm 306 is rotatably installed on the outer side of the forearm 304 away from the upper arm 302. The output end of the third motor 305 is fixedly connected to the wrist arm 306 through a shaft.

[0022] An inner rotating column 313 is rotatably mounted on the inner wall of the wrist arm 306. A first cylinder 308 is fixedly mounted at both ends of the inner rotating column 313. A slot is symmetrically formed on the side of the wrist arm 306 away from the forearm 304. A connecting block 312 is fixedly mounted on the output end of the first cylinder 308. The side of the connecting block 312 away from the wrist arm 306 is fixedly connected to the outer side of the connecting frame 401. The first cylinder 308 drives the connecting block 312 to move. The fixed connection between the connecting block 312 and the actuator 4 allows the actuator 4 to approach the circuit board at a fixed clamping angle. Simultaneously, as the connecting block 312 moves, it causes the sliding plate 309 to slide in the slot of the wrist arm 306. As the sliding plate 309 moves... The rubber plate 311 on the inclined surface of the slide plate 309 contacts the slot. When it is accidentally hit during the clamping and handling process, the fixed connection between the first cylinder 308 and the inner rotating column 313, and the rotational connection between the inner rotating column 313 and the wrist arm 306, are used to transmit the impact pressure to the rubber plate 311, causing the rubber plate 311 to deform. At the same time, the connecting block 312 can be angularly offset by the rotation of the inner rotating column 313. The two ends of the connecting block 312 near the wrist arm 306 are fixedly installed with the slide plate 309. Both sides of the slide plate 309 are inclined. The end of the slide plate 309 away from the connecting block 312 is fixedly installed with the limit plate 310. The inclined surfaces of the slide plate 309 are all fixedly installed with the rubber plate 311.

[0023] In use, the base 1 provides support, and the rotating mechanism 2 and rotating arm mechanism 3 work together to drive the actuator 4 to approach the circuit board to be transported. After approaching the circuit board, the actuator 4 lifts the circuit board and clamps and fixes it. Then, the rotating mechanism 2 and rotating arm mechanism 3 drive the circuit board to the designated location.

[0024] In the rotary seat mechanism 2, the turntable 22 is connected to the rotating arm mechanism 3. During operation, the first motor 25 drives the turntable 22 to rotate, and the turntable 22 drives the rotating arm mechanism 3 to turn. At the same time, during the rotation, the retaining ring of the turntable 22 is adapted to the top of the inner top ring 24 and cooperates with the limiting ring 27. The outer side of the limiting ring 27 contacts the inner wall of the fixed ring 23 to restrict the position of the turntable 22 and control the axis of rotation of the turntable 22. At the same time, during the rotation of the turntable 22, the side retaining rings 26 on both sides of the annular groove of the fixed ring 23 restrict the retaining ring of the turntable 22. The side retaining rings 26 contact the retaining ring through the arc-shaped protrusions. The contact between the arc-shaped protrusions and the retaining ring creates a gap between the arc-shaped protrusions.

[0025] In the rotating arm mechanism 3, the fourth motor 307 cooperates with the second motor 303 to drive the upper arm 302 and the lower arm 304 to rotate during operation. The wrist arm 306 then drives the actuator 4, changing its position so that it approaches the circuit board to be handled and clamped. Once it reaches the circuit board, the third motor 305 drives the wrist arm 306 to rotate, adjusting the clamping angle of the actuator 4. Subsequently, the first cylinder 308 drives the connecting block 312 to move. The fixed connection between the connecting block 312 and the actuator 4 ensures that the actuator 4 is in a fixed position. The clamping angle is close to the circuit board. At the same time, during the movement of the connecting block 312, the sliding plate 309 is driven to slide in the slot of the wrist arm 306. As the sliding plate 309 moves, the rubber plate 311 on the inclined surface of the sliding plate 309 contacts the slot. When it is accidentally hit during the clamping and handling process, the fixed connection between the first cylinder 308 and the inner rotating column 313, and the rotational connection between the inner rotating column 313 and the wrist arm 306, are used to transmit the impact pressure to the rubber plate 311, causing the rubber plate 311 to deform. At the same time, the connecting block 312 can be angularly offset by the rotation of the inner rotating column 313.

[0026] In the actuator 4, driven by the rotating arm mechanism 3 and the rotating seat mechanism 2, the connecting frame 401 causes the scraper plate 410 to contact the table surface where the circuit board is placed. Then, the output end of the second cylinder 405 is fixedly connected to the protrusion of the side clamping plate 403, causing the side clamping plate 403 to slide in the groove of the connecting frame 401. Simultaneously, during this sliding process, the side clamping plates 403 cause the scraper plate 410 to move closer together, while the inner baffles 402 move alternately. After the scraper plate 410 contacts both sides of the circuit board... Using the inclined surface of the scraper plate 410, the board is scraped up from the table and enters the space between the scraper plate 410 and the pressure strip 409. During the continuous clamping operation, the inclined surface of the pressure strip 409 contacts the side of the circuit board. The pressure is transmitted to the inner pad ring 406 through the inclined support plate 407, causing the inner pad ring 406 to deform under pressure and generate elasticity. This allows the inclined surface of the pressure strip 409 to cooperate with the inclined surface of the scraper plate 410, clamping the circuit board while pressing it on the side.

[0027] It should be noted that, in this document, relational terms such as "first" and "second" are used only to distinguish one entity or operation from another, and do not necessarily require or imply any such actual relationship or order between these entities or operations. Furthermore, the terms "comprising," "including," or any other variations thereof are intended to cover non-exclusive inclusion, such that a process, method, article, or apparatus that comprises a list of elements includes not only those elements but also other elements not expressly listed, or elements inherent to such a process, method, article, or apparatus. Without further limitations, an element defined by the phrase "comprising one..." does not exclude the presence of other identical elements in the process, method, article, or apparatus that includes said element.

[0028] Although embodiments of the invention have been shown and described, it will be understood by those skilled in the art that various changes, modifications, substitutions and alterations can be made to these embodiments without departing from the principles and spirit of the invention, the scope of which is defined by the appended claims and their equivalents.

Claims

1. An industrial robot for easy fixing of circuit board materials, characterized in that, include: A base (1) is provided with a rotating mechanism (2) on its top and a rotating arm mechanism (3) on its top. An actuator (4) is installed at the execution end of the rotating arm mechanism (3) and is used to clamp and fix the circuit board. The actuator (4) includes a connecting frame (401). A groove is provided at the center of the outer side of the connecting frame (401). A side clamp (403) is slidably installed on the side of the connecting frame (401) away from the rotating arm mechanism (3). The side clamp (403) is symmetrically installed at the center of the axis of the connecting frame (401). The end of the side clamp (403) away from the connecting frame (401) is inclined outward, and a sliding groove is provided on the outer side of the side clamp (403). An inner baffle (402) is slidably installed at the sliding groove of the side clamp (403). The inner baffle (402) and the side clamp (403) are connected. An inner pad ring (406) is fixedly installed. The inner pad ring (406) is made of elastic material. A scraper plate (410) is fixedly installed at the end of the side clamp plate (403) away from the connecting frame (401). A diagonal brace plate (407) is fixedly installed on the outer side of the inner baffle (402). A side slide plate (408) is fixedly installed at the end of the diagonal brace plate (407) away from the inner baffle (402). A pressing strip (409) is fixedly installed at the end of the side slide plate (408) away from the diagonal brace plate (407). The opposing surfaces of the pressing strip (409) and the scraper plate (410) are both inclined surfaces. The pressing strip (409) is made of rubber material.

2. The industrial robot for easy fixing of circuit boards according to claim 1, characterized in that: The connecting frame (401) has a second cylinder (405) fixedly installed at both ends on the side near the rotating arm mechanism (3). The side clamp (403) has a protrusion on the side near the connecting frame (401), and the side clamp (403) slides and adapts to the groove of the connecting frame (401) through the protrusion. The output end of the second cylinder (405) is fixedly connected to the protrusion.

3. An industrial robot for easy fixing of circuit boards according to claim 2, characterized in that: The inner baffle (402) has uniformly spaced notches on its outer side, and the inner baffles (402) are intersected by the notches. Both ends of the connecting frame (401) are fixedly installed with side baffles (404), and the non-opposing surfaces of the side baffles (404) are inclined surfaces.

4. An industrial robot for easy fixing of circuit boards according to claim 1, characterized in that: The rotating base mechanism (2) includes a fixed cylinder (21), the bottom of which is fixedly connected to the top of the base (1), and a first motor (25) is fixedly installed on the inner wall of the fixed cylinder (21). A fixed ring (23) is fixedly installed on the top of the fixed cylinder (21), and a ring groove is opened on the top of the fixed ring (23). A turntable (22) is rotatably installed on the top of the fixed ring (23).

5. An industrial robot for easy fixing of circuit boards according to claim 4, characterized in that: A retaining ring is provided at the bottom edge of the turntable (22), and a shaft is provided at the center of the bottom of the turntable (22). The shaft is fixedly connected to the output end of the first motor (25) through a coupling. An inner top ring (24) is rotatably installed at the bottom of the annular groove of the fixed ring (23). The top of the inner top ring (24) is adapted to the retaining ring of the turntable (22), and the bottom of the retaining ring does not contact the bottom of the annular groove of the fixed ring (23).

6. An industrial robot for easily fixing circuit boards according to claim 5, characterized in that: Side retaining rings (26) are fixedly installed on both sides of the groove of the fixed ring (23). The opposite surfaces of the side retaining rings (26) are uniformly provided with arc-shaped protrusions, and the side retaining rings (26) are in contact with the retaining ring of the turntable (22) through the arc-shaped protrusions. A limiting ring (27) is fixedly installed at the bottom of the turntable (22), and the outer side of the limiting ring (27) is in contact with the inner wall of the fixed ring (23).

7. An industrial robot for easy fixing of circuit boards according to claim 1, characterized in that: The rotating arm mechanism (3) includes a fixed base (301), a large arm (302) is rotatably mounted on the inner wall of the fixed base (301), a fourth motor (307) is fixedly mounted on the outer side of the fixed base (301), the output end of the fourth motor (307) is fixedly connected to the large arm (302) through a shaft, and a second motor (303) is fixedly mounted on the outer end of the large arm (302) away from the fixed base (301).

8. An industrial robot for easy fixing of circuit boards according to claim 7, characterized in that: A forearm (304) is rotatably mounted on the end of the upper arm (302) away from the fixed base (301). The output end of the second motor (303) is fixedly connected to the forearm (304) via a shaft. A third motor (305) is fixedly mounted on the outer side of the forearm (304) away from the upper arm (302). A wrist arm (306) is rotatably mounted on the end of the forearm (304) away from the upper arm (302). The output end of the third motor (305) is fixedly connected to the wrist arm (306) via a shaft.

9. An industrial robot for easily fixing circuit boards according to claim 8, characterized in that: An inner rotating column (313) is rotatably installed on the inner wall of the wrist arm (306). A first cylinder (308) is fixedly installed at both ends of the inner rotating column (313). A slot is symmetrically opened on the side of the wrist arm (306) away from the forearm (304). A connecting block (312) is fixedly installed at the output end of the first cylinder (308). The side of the connecting block (312) away from the wrist arm (306) is fixedly connected to the outside of the connecting frame (401).

10. An industrial robot for easily fixing circuit boards according to claim 9, characterized in that: The connecting block (312) has a sliding plate (309) fixedly installed at both ends near the wrist arm (306). Both sides of the sliding plate (309) are inclined surfaces. A limit plate (310) is fixedly installed at the end of the sliding plate (309) away from the connecting block (312). A rubber plate (311) is fixedly installed on the inclined surface of the sliding plate (309).

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