Adjustable multi-shaft mechanical gripper device of plug-in machine

Abstract

The utility model discloses an adjustable multi-shaft mechanical gripper device of a plug-in machine, which comprises a mounting bracket and a plurality of groups of mechanical gripper structures, and the plurality of groups of mechanical gripper structures are sequentially mounted on the mounting bracket according to preset positions; the mechanical claw structure comprises a lifting assembly, a rotating assembly and a clamping assembly, the lifting assembly and the rotating assembly are installed at preset positions of the installation support correspondingly, and the top of the clamping assembly penetrates through the rotating assembly and then is fixedly installed on the lifting assembly. The lifting assembly is used for controlling the clamping assembly to move in the axial direction, and the rotating assembly is used for controlling the clamping assembly to rotate on the horizontal plane. Through cooperative arrangement of the lifting assembly, the rotating assembly and the clamping assembly of the mechanical claw structure, the clamping height of the clamping assembly is controlled through the lifting assembly, the clamping angle of the clamping assembly is controlled through the rotating assembly, the multiple mechanical claw structures can clamp electronic components of different heights and angles at the same time, and the plug-in efficiency is improved.

Description

Technical Field

[0001] The utility model relates to the technical field of plug-in machines, in particular to an adjustable multi-axis mechanical claw device for a plug-in machine. Background Technique

[0002] A plug-in machine is a mechanical device that inserts electronic components with pins into the conductive through-holes of a printed circuit board. Among them, the IC mechanical claw is the core component of the plug-in machine. In order to improve the plug-in efficiency, the IC mechanical claw generally includes multiple mechanical claw modules, and each mechanical claw module includes a mechanical claw for grasping electronic components. However, the positions of the multiple mechanical claw modules of the traditional plug-in machine are relatively fixed. When the grasping angles of multiple electronic components to be grasped are inconsistent, each mechanical claw module cannot perform differential adjustment for the grasping angles of each electronic component, and cannot achieve synchronous grasping of multiple electronic components at different angles, affecting the plug-in efficiency. Content of the Utility Model

[0003] Based on this, it is necessary to provide an adjustable multi-axis mechanical claw device for a plug-in machine. It can enable multiple mechanical claw modules to adjust the grasping angles according to the grasping angles of each electronic component, achieve synchronous grasping of multiple electronic components at different angles, and improve the plug-in efficiency.

[0004] An adjustable multi-axis mechanical claw device for a plug-in machine includes a mounting bracket and multiple groups of mechanical claw structures, and the multiple groups of mechanical claw structures are sequentially installed on the mounting bracket at preset positions;

[0005] The mechanical claw structure includes a lifting component, a rotating component and a clamping component. The lifting component and the rotating component are respectively installed at preset positions on the mounting bracket. The top of the clamping component passes through the rotating component and is fixedly installed on the lifting component. The lifting component is used to control the axial movement of the clamping component, and the rotating component is used to control the rotation of the clamping component on the horizontal plane.

[0006] In one embodiment, the lifting component includes a lifting servo motor, a lifting driving wheel, a lifting driven wheel, a lifting synchronous belt, a slide rail and a slider. The lifting servo motor is installed on the mounting bracket. The lifting driving wheel is installed on the lifting servo motor and is at the top of the slide rail. The lifting driven wheel is rotatably arranged on the mounting bracket and is at the bottom of the slide rail. Both ends of the lifting synchronous belt are respectively sleeved on the lifting driving wheel and the lifting driven wheel. The slide rail is installed on the mounting bracket and is between the lifting driving wheel and the lifting driven wheel. The slider is slidably arranged on the slide rail.

[0007] In one embodiment, the rotating assembly includes a rotary servo motor, a rotary synchronous pulley, and a rotary synchronous belt. The rotary servo motor is fixedly installed on the mounting bracket. The rotary synchronous pulley is placed on the mounting bracket. Two ends of the rotary synchronous belt are respectively sleeved on the rotary servo motor and the rotary synchronous pulley.

[0008] In one embodiment, the clamping assembly includes a jaw solenoid valve, a tracheal joint, a ball spline shaft, a ball spline shaft sleeve, a spline shaft fixing seat, and a jaw cylinder. The jaw solenoid valve is connected to the tracheal joint through a trachea. The spline shaft fixing seat is installed on the slider and fixedly connected to the lifting synchronous belt at one end. One end of the ball spline shaft penetrates into the rotary synchronous pulley and is fixedly installed on the spline shaft fixing seat. The ball spline shaft sleeve is sleeved on the ball spline shaft and fixedly installed in the rotary synchronous pulley. The tracheal joint is installed on the top of the ball spline shaft. The jaw cylinder is installed at the bottom of the ball spline shaft. The ball spline shaft is of a hollow structure and is communicated with the tracheal joint.

[0009] In one embodiment, a plurality of notches are axially formed in the ball spline shaft.

[0010] In one embodiment, the jaw cylinder is a finger cylinder.

[0011] In one embodiment, the multi-axis robotic gripper device further includes a limiting assembly. The limiting assembly includes an induction sheet and a groove type photoelectric switch. The groove type photoelectric switch is installed on the mounting bracket. The induction sheet is installed on the slider and fixedly connected to the lifting synchronous belt at one end. The induction sheet is detachably connected to the spline shaft fixing seat, and the induction sheet and the spline shaft fixing seat can move synchronously axially.

[0012] In one embodiment, the multi-axis robotic gripper device further includes a camera. The camera is installed on the mounting bracket.

[0013] In the adjustable multi-axis robotic gripper device of the above-mentioned insertion machine, through the cooperative setting of the lifting assembly, the rotating assembly, and the clamping assembly of the robotic gripper structure, the clamping height of the clamping assembly is controlled by the lifting assembly, and the clamping angle of the clamping assembly is controlled by the rotating assembly. Multiple robotic gripper structures can simultaneously clamp electronic components at different heights and angles, improving the insertion efficiency. BRIEF DESCRIPTION OF THE DRAWINGS

[0014] Figure 1 is an assembly structure schematic diagram of the adjustable multi-axis robotic gripper device of the insertion machine according to an embodiment of the present invention;

[0015] Figure 2 is Figure 1Schematic rear view assembly structure of an adjustable multi-axis mechanical claw device of an insertion machine according to an embodiment of the present utility model;

[0016] Figure 3 For Figure 1 Schematic structure diagram of a lifting component of an adjustable multi-axis mechanical claw device of an insertion machine according to an embodiment of the present utility model;

[0017] Figure 4 For Figure 1 Schematic structure diagram of a rotating component of an adjustable multi-axis mechanical claw device of an insertion machine according to an embodiment of the present utility model;

[0018] Figure 5 For Figure 1 Schematic structure diagram of a clamping component of an adjustable multi-axis mechanical claw device of an insertion machine according to an embodiment of the present utility model. Detailed implementation manners

[0019] To make the above objects, features, and advantages of the present utility model more apparent and understandable, the following detailed description of the specific implementation manners of the present utility model will be given with reference to the accompanying drawings. Many specific details are set forth in the following description in order to fully understand the present utility model. However, the present utility model can be implemented in many other ways different from those described herein, and those skilled in the art can make similar improvements without departing from the connotation of the present utility model. Therefore, the present utility model is not limited by the specific embodiments disclosed below.

[0020] It should be noted that when an element is considered to be "connected" to another element, it can be directly connected to the other element or there may be intermediate elements present. In contrast, when an element is referred to as being "directly" connected to another element, there are no intermediate elements.

[0021] Unless otherwise defined, all technical and scientific terms used herein have the same meaning as commonly understood by those skilled in the technical field to which the present utility model belongs. The terms used in the description of the present utility model herein are only for the purpose of describing specific implementation manners and are not intended to limit the present utility model. The term "and / or" used herein includes any and all combinations of one or more of the related listed items.

[0022] As Figure 1 And Figure 2 As shown, an adjustable multi-axis mechanical claw device of an insertion machine includes a mounting bracket 1 and multiple groups of mechanical claw structures 2, and the multiple groups of mechanical claw structures 2 are sequentially installed on the mounting bracket 1 at preset positions;

[0023] The mechanical claw structure 2 includes a lifting assembly 21, a rotating assembly 22, and a clamping assembly 23. The lifting assembly 21 and the rotating assembly 22 are respectively installed at preset positions on the mounting bracket 1. The top of the clamping assembly 23 passes through the rotating assembly 22 and is fixedly installed on the lifting assembly 21. The lifting assembly 21 is used to control the axial movement of the clamping assembly 23, and the rotating assembly 22 is used to control the rotation of the clamping assembly 23 on the horizontal plane.

[0024] As Figure 3 shown, the lifting assembly 21 includes a lifting servo motor 211, a lifting driving pulley 212, a lifting driven pulley 213, a lifting synchronous belt 214, a slide rail 215, and a slider 216. The lifting servo motor 211 is installed on the mounting bracket 1. The lifting driving pulley 212 is installed on the lifting servo motor 211 and is at the top of the slide rail 215. The lifting driven pulley 213 is rotatably arranged on the mounting bracket 1 and is at the bottom of the slide rail 215. Both ends of the lifting synchronous belt 214 are sleeved on the lifting driving pulley 212 and the lifting driven pulley 213 respectively. The slide rail 215 is installed on the mounting bracket 1 and is between the lifting driving pulley 212 and the lifting driven pulley 213. The slider 216 is slidably arranged on the slide rail 215.

[0025] As Figure 4 shown, the rotating assembly 22 includes a rotating servo motor 221, a rotating synchronous pulley 222, and a rotating synchronous belt 223. The rotating servo motor 221 is fixedly installed on the mounting bracket 1. The rotating synchronous pulley 222 is placed on the mounting bracket 1. Both ends of the rotating synchronous belt 223 are sleeved on the rotating servo motor 221 and the rotating synchronous pulley 222 respectively.

[0026] As Figure 5 shown, the clamping assembly 23 includes a jaw solenoid valve 231, an air pipe joint 232, a ball spline shaft 233, a ball spline shaft sleeve 234, a spline shaft fixing seat 235, and a jaw cylinder 236. The jaw solenoid valve 231 is connected to the air pipe joint 232 through an air pipe. The spline shaft fixing seat 235 is installed on the slider 216 and is fixedly connected to one end of the lifting synchronous belt 214. One end of the ball spline shaft 233 passes through the rotating synchronous pulley 222 and is fixedly installed on the spline shaft fixing seat 235. The ball spline shaft sleeve 234 is sleeved on the ball spline shaft 233 and is fixedly installed in the rotating synchronous pulley 222. The air pipe joint 232 is installed on the top of the ball spline shaft 233. The jaw cylinder 236 is installed at the bottom of the ball spline shaft 233. The ball spline shaft 233 is of a hollow structure and is communicated with the air pipe joint 232. The jaw cylinder 236 is a finger cylinder.

[0027] The multi-axis robotic gripper device further includes a camera 4, which is mounted on the mounting bracket 1.

[0028] The camera 4 can take pictures of the installation positions of electronic components on the printed circuit board to determine the insertion positions of the electronic components. The ball spline shaft 233 can serve as the rotating shaft of the rotating synchronous pulley 222. Since the ball spline shaft 233 is of a hollow structure, one end is connected and arranged with an air pipe joint 232, and the other end is connected and arranged with a jaw cylinder 236, and it can be used as the air passage of the jaw cylinder 236. An external air source is connected to the outside of the air pipe joint 232, and the on-off of the external air source is controlled by a jaw solenoid valve 231. The ball spline shaft sleeve 234 is installed in the rotating synchronous pulley 222 and rotates together with the rotating synchronous pulley 222, playing a certain fastening role for the ball spline shaft 233. When the rotating synchronous pulley 222 rotates, the ball spline shaft 233 can be driven to rotate together by the ball spline shaft sleeve 234, and the ball spline shaft 233 can also slide axially in the ball spline shaft sleeve 234.

[0029] When it is necessary to grip an electronic component, start the lifting servo motor 211. The lifting servo motor 211 drives the lifting driving pulley 212 to rotate. The lifting driving pulley 212 drives the lifting synchronous belt 214 to rotate. The lifting synchronous belt 214 then drives the lifting driven pulley 213 to rotate. During the movement of the lifting synchronous belt 214, it drives the spline shaft fixing seat 235 to move on the slide rail 215 through the slider 216, and further drives the ball spline shaft 233 to move in the rotating synchronous pulley 222 towards the electronic component to a preset position, and then the lifting servo motor 211 stops. Start the rotating servo motor 221. The rotating servo motor 221 rotates and then drives the rotating synchronous belt 223 to rotate. The rotating synchronous belt 223 drives the rotating synchronous pulley 222 to rotate, and then drives the ball spline shaft 233 to rotate to a preset angle through the ball spline shaft sleeve 234, facilitating the jaw cylinder 236 to grip the electronic component. At this time, start the jaw solenoid valve 231. The air pipe joint 232 is communicated with the external air source, and the gas enters the jaw cylinder 236 through the ball spline shaft 233 to control the jaw cylinder 236 to grip the electronic component. Multiple robotic gripper structures 2 can simultaneously complete the gripping of electronic components at multiple different heights and angles, and insert the electronic components at the corresponding positions on the printed circuit board according to the photographing positions of the camera 4.

[0030] In this way, for the adjustable multi-axis robotic gripper device of the plug-in machine, through the cooperative setting of the lifting assembly 21, the rotating assembly 22 and the clamping assembly 23 of the robotic gripper structure 2, the clamping height of the clamping assembly 23 is controlled by the lifting assembly 21, and the clamping angle of the clamping assembly 23 is controlled by the rotating assembly 22. Multiple robotic gripper structures 2 can simultaneously grip electronic components at different heights and angles, improving the plug-in efficiency.

[0031] In one embodiment, a plurality of notches 2331 are axially formed in the ball spline shaft 233.

[0032] Thus, through the provision of the plurality of notches 2331, a plurality of minute gaps can be formed between the ball spline shaft 233 and the ball spline bush 234, facilitating the axial movement of the ball spline shaft 233 and preventing the ball spline bush 234 from completely fastening the ball spline shaft 233.

[0033] In one embodiment, the multi-axis robotic gripper device further includes a limit assembly 3. The limit assembly 3 includes an induction sheet 31 and a groove-type photoelectric switch 32. The groove-type photoelectric switch 32 is mounted on the mounting bracket 1. The induction sheet 31 is mounted on the slider 216 and one end thereof is fixedly connected to the lifting synchronous belt 214. The induction sheet 31 is detachably connected to the spline shaft fixing seat 235, and the induction sheet 31 and the spline shaft fixing seat 235 can move synchronously in the axial direction.

[0034] Thus, through the provision of the limit assembly 3, when the groove-type photoelectric switch 32 detects the induction sheet 31, it sends a control signal to the control module of the lifting servo motor 211, and the control module controls the lifting servo motor 211 to stop, preventing the ball spline shaft 233 from continuing to move upward and colliding with other components of the device, causing damage.

[0035] The above embodiments merely represent several implementation manners of the present invention. The description thereof is relatively specific and detailed, but it should not be construed as a limitation to the scope of the utility model patent. It should be noted that for those of ordinary skill in the art, without departing from the concept of the present invention, several modifications and improvements can still be made, and these all belong to the protection scope of the present invention. Therefore, the protection scope of the utility model patent shall be subject to the appended claims.

Claims

1. An adjustable multi-axis mechanical claw device for an insertion machine, characterized in that: It comprises a mounting bracket and a plurality of sets of mechanical claw structures, wherein the plurality of sets of mechanical claw structures are sequentially mounted on the mounting bracket according to preset positions; The mechanical claw structure includes a lifting assembly, a rotating assembly and a clamping assembly. The lifting assembly and the rotating assembly are respectively installed at preset positions of the mounting bracket. The top of the clamping assembly is passed through the rotating assembly and then fixedly installed on the lifting assembly. The lifting assembly is used to control the axial movement of the clamping assembly, and the rotating assembly is used to control the rotation of the clamping assembly on a horizontal plane.

2. The adjustable multi-axis mechanical claw device of the insertion machine according to claim 1, characterized in that: The lifting assembly includes a lifting servo motor, a lifting driving wheel, a lifting driven wheel, a lifting synchronous belt, a slide rail and a slider. The lifting servo motor is installed on the mounting bracket, the lifting driving wheel is installed on the lifting servo motor and is located at the top of the slide rail, the lifting driven wheel is rotatably arranged on the mounting bracket and is located at the bottom of the slide rail, the two ends of the lifting synchronous belt are respectively sleeved on the lifting driving wheel and the lifting driven wheel, the slide rail is installed on the mounting bracket and is located between the lifting driving wheel and the lifting driven wheel, and the slider is slidably arranged on the slide rail.

3. The adjustable multi-axis mechanical claw device of the insertion machine according to claim 2, characterized in that: The rotating assembly includes a rotating servo motor, a rotating synchronous wheel, and a rotating synchronous belt. The rotating servo motor is fixedly mounted on the mounting bracket, the rotating synchronous wheel is placed on the mounting bracket, and the two ends of the rotating synchronous belt are respectively sleeved on the rotating servo motor and the rotating synchronous wheel.

4. The adjustable multi-axis mechanical claw device of the insertion machine according to claim 3, characterized in that: The clamping assembly includes a clamping claw solenoid valve, an air pipe joint, a ball spline shaft, a ball spline shaft sleeve, a spline shaft fixing seat, and a clamping claw cylinder. The clamping claw solenoid valve is connected to the air pipe joint through an air pipe. The spline shaft fixing seat is installed on the slider and one end is fixedly connected to the lifting synchronous belt. One end of the ball spline shaft is inserted into the rotating synchronous wheel and fixedly installed on the spline shaft fixing seat. The ball spline shaft sleeve is sleeved on the ball spline shaft and fixedly installed in the rotating synchronous wheel. The air pipe joint is installed on the top of the ball spline shaft. The clamping claw cylinder is installed on the bottom of the ball spline shaft. The ball spline shaft is a hollow structure connected to the air pipe joint.

5. The adjustable multi-axis mechanical claw device of the insertion machine according to claim 4, characterized in that: The ball spline shaft is provided with a plurality of notches along the axial direction.

6. The adjustable multi-axis mechanical claw device of the insertion machine according to claim 4, characterized in that: The clamping claw cylinder is a finger cylinder.

7. The adjustable multi-axis mechanical claw device of the insertion machine according to claim 4, characterized in that: The multi-axis mechanical claw device also includes a limit assembly, which includes a sensor plate and a slot-type photoelectric switch, the slot-type photoelectric switch is installed on the mounting bracket, the sensor plate is installed on the slider and one end is fixedly connected to the lifting synchronous belt, the sensor plate is detachably connected to the spline shaft fixing seat, and the sensor plate and the spline shaft fixing seat can move synchronously in the axial direction.

8. The adjustable multi-axis mechanical claw device of an insertion machine according to claim 1, characterized in that: The multi-axis mechanical claw device also includes a camera, which is mounted on the mounting bracket.

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