Loading and unloading manipulator

Abstract

The utility model discloses a loading and unloading manipulator which comprises a manipulator truss and at least one group of plate suction mechanisms, sliding grooves are formed in the top and the side face of each group of plate suction mechanisms, and the sliding grooves formed in the tops of the plate suction mechanisms are connected with the manipulator truss through truss framework connecting assemblies. The positions, located at the two ends, of the sliding groove formed in the top of the plate suction mechanism are connected with sheet separation mechanical arms through truss framework connecting assemblies, and the sliding groove formed in the side face of the plate suction mechanism is connected with a plurality of grabbing mechanical arms through truss framework connecting assemblies. According to the utility model, all the components are matched with one another, so that sheet suction, processing and pressing, sheet separation and PCB sheet and bakelite plate base carrying in the PCB sheet processing process can be realized.

Description

Technical Field

[0001] The utility model belongs to the field of PCB processing, and in particular relates to a loading and unloading manipulator. Background Art

[0002] With the development of the times, the processing of PCB sheets is increasingly moving towards automation and intelligence. During the processing, sheet suction, processing and pressing, sheet separation, and handling of PCB sheets and bakelite bases often require different equipment and components to be completed separately. This method is not suitable for the development direction of high integration. Therefore, it is necessary to design a robot to meet the above functions at the same time. Utility Model Content

[0003] The technical problem to be solved by the present invention is to provide a loading and unloading robot in view of the deficiencies of the above-mentioned prior art, in which the components cooperate with each other to realize sheet suction, processing and pressing, sheet separation and transportation of PCB sheets and bakelite bases during PCB sheet processing.

[0004] The technical solution adopted by the utility model is: a loading and unloading robot, including a robot truss and at least one group of suction plate mechanisms, each group of the suction plate mechanisms is provided with slide grooves on the top and sides, the slide grooves provided on the top of the suction plate mechanisms are connected to the robot truss through a truss structure connecting component, the slide grooves provided on the top of the suction plate mechanisms are located at both ends and are connected to sheet separation robots through a truss structure connecting component, and the slide grooves provided on the sides of the suction plate mechanisms are connected to a plurality of grabbing robots through a truss structure connecting component.

[0005] In one embodiment, each set of the suction plate mechanism includes a suction plate mounting base and a suction head arranged at the bottom of the suction plate mounting base, the slide groove is opened on the top and side of the suction plate mounting base, and the suction head is an array.

[0006] In one of the embodiments, the manipulator truss includes a connecting arm and a truss connecting plate disposed below the connecting arm and connected to the connecting arm, a motion connecting assembly is connected below the truss connecting plate via at least one transverse connecting bar, at least one longitudinal connecting bar is connected below the motion connecting assembly via a truss structure connecting assembly, and a plurality of pressure plate manipulators are connected to the side surfaces of the longitudinal connecting bar via a truss structure connecting assembly.

[0007] In one of the embodiments, at least one of the transverse connecting strips is provided with an air storage chamber therein.

[0008] In one of the embodiments, the motion connection assembly includes a motion connection plate and a connecting rod arranged below the motion connection plate, the connecting rod is sleeved with a compression spring, and the end of the connecting rod away from the motion connection plate is connected to a truss structure connection assembly through a transition connection plate, and the truss structure connection assembly is connected to the longitudinal connecting strip.

[0009] In one embodiment, the truss structure connection assembly includes a connection bolt and a connection block connected to the connection bolt.

[0010] In one of the embodiments, the pressure plate manipulator includes a pressure plate cylinder body and a pressure plate piston rod that moves up and down along the pressure plate cylinder body, and a PCB pressure plate is provided at one end of the pressure plate piston rod away from the pressure plate cylinder body.

[0011] In one of the embodiments, the sheet separation robot comprises a sheet separation cylinder and a sheet separation piston rod moving up and down along the sheet separation cylinder, and a sheet separation nozzle is provided at one end of the sheet separation piston rod away from the sheet separation cylinder.

[0012] In one of the embodiments, the grabbing robot includes a grabbing cylinder, and a grabbing piston and a clamping plate piston that move up and down along the grabbing cylinder are respectively provided at the bottom of the grabbing cylinder, and a grabbing plate rotating assembly is provided inside the grabbing cylinder, and the grabbing plate rotating assembly is connected to the grabbing piston and drives the grabbing piston to rotate, and a grabbing plate clamp is provided at the bottom of the grabbing piston.

[0013] In one of the embodiments, the grab plate rotating assembly includes a grab plate rotating piston and a grab plate guide rod connected to the grab plate rotating piston, and the grab plate guide rod is connected to the grab piston.

[0014] The beneficial effects of the utility model are as follows: the manipulator truss is used to connect the suction plate assembly, and the whole structure is leveled by the truss structure connection assembly and the motion connection assembly, and cooperates with the pressure plate manipulator to knock and press the PCB sheet before processing to ensure the accuracy of grasping and processing; the suction head of the suction plate assembly is used to absorb the PCB sheet when the PCB sheet is assembled on the bakelite board base, the pressure plate manipulator is used to press the PCB sheet before the PCB sheet is processed, the sheet separation manipulator is used to separate the PCB sheets adsorbed together when assembling the PCB sheet and the bakelite board base, and the grasping manipulator is used to grasp the assembled PCB sheet and bakelite board base and the processed PCB sheet and bakelite board base, so that the grasping stability can be guaranteed during the whole PCB sheet processing process, and the processing accuracy and effect can be guaranteed; the components cooperate with each other to realize the sheet suction, processing and pressing, sheet separation and handling of the PCB sheet and the bakelite board base during the PCB sheet processing process. BRIEF DESCRIPTION OF THE DRAWINGS

[0015] Figure 1 It is a schematic diagram of the structure of the utility model;

[0016] Figure 2 This is a schematic diagram of the truss structure of the robot arm of the utility model;

[0017] Figure 3 This is a schematic diagram of the structure of the motion connection assembly of the utility model;

[0018] Figure 4 This is a schematic diagram of the structure of the press plate manipulator of the utility model;

[0019] Figure 5 This is a schematic diagram of the structure of the suction plate mechanism of the utility model;

[0020] Figure 6 This is a schematic diagram of the structure of the suction plate installation base of the utility model;

[0021] Figure 7 This is a schematic diagram of the structure of the sheet separation robot of the utility model;

[0022] Figure 8 This is a schematic diagram of the structure of the grabbing manipulator of the utility model;

[0023] Fig. 9 It is a schematic diagram of the structure of the truss structure connection component of the utility model.

[0024] In the figure: 21, manipulator truss; 22, suction plate mechanism; 23, truss frame connection assembly; 211, connecting arm; 212, truss connection plate; 213, horizontal connection bar; 214, motion connection assembly; 215, longitudinal connection bar; 216, pressure plate manipulator; 2141, connecting rod; 2142, compression spring; 2143, transition connection plate; 2144, motion connection plate; 2161, pressure plate cylinder; 2162, pressure plate piston rod; 2163, PCB pressure plate; 221, suction plate Plate mounting base; 222, suction head; 223, slide; 224, sheet separation robot; 225, grabbing robot; 2241, sheet separation cylinder; 2242, sheet separation piston rod; 2243, suction nozzle; 2251, grabbing cylinder; 2252, grabbing piston; 2253, clamping plate piston; 2254, grabbing plate rotating assembly; 2255, grabbing plate clamp; 22541, grabbing plate rotating piston; 22542, grabbing plate guide rod; 231, connecting bolt; 232, connecting block. DETAILED DESCRIPTION

[0025] The present invention will be further described in detail below with reference to the accompanying drawings and specific embodiments.

[0026] like Figure 1-Figure 9As shown, a loading and unloading robot includes a robot truss 21 and at least one group of suction plate mechanisms 22, each group of the suction plate mechanisms 22 is provided with a slide groove 223 on the top and side, the slide groove 223 provided on the top of the suction plate mechanism 22 is connected to the robot truss 21 through a truss structure connection assembly 23, the slide groove 223 provided on the top of the suction plate mechanism 22 is located at both ends and is connected to a sheet separation robot 224 through the truss structure connection assembly 23, and the slide groove 223 provided on the side of the suction plate mechanism 22 is connected to a plurality of grasping robots 225 through the truss structure connection assembly 23.

[0027] In this embodiment, each set of the suction plate mechanism 22 includes a suction plate mounting base 221 and a suction head 222 arranged at the bottom of the suction plate mounting base 221, the slide groove 223 is opened on the top and side of the suction plate mounting base 221, and the suction head 222 is an array.

[0028] In this embodiment, the manipulator truss 21 includes a connecting arm 211 and a truss connecting plate 212 arranged below the connecting arm 211 and connected to the connecting arm 211, and a motion connecting component 214 is connected below the truss connecting plate 212 through at least one transverse connecting bar 213, and at least one longitudinal connecting bar 215 is connected below the motion connecting component 214 through a truss structure connecting component 23, and a plurality of pressure plate manipulators 216 are connected to the side of the longitudinal connecting bar 215 through the truss structure connecting component 23.

[0029] In this embodiment, at least one of the transverse connecting strips 213 is provided with an air storage chamber therein.

[0030] In this embodiment, the motion connection assembly 214 includes a motion connection plate 2144 and a connecting rod 2141 arranged below the motion connection plate 2144, and a compression spring 2142 is sleeved on the connecting rod 2141. The end of the connecting rod 2141 away from the motion connection plate 2144 is connected to the truss structure connection assembly 23 through a transition connection plate 2143, and the truss structure connection assembly 23 is connected to the longitudinal connecting bar 215.

[0031] In this embodiment, the truss structure connection assembly 23 includes a connection bolt 231 and a connection block 232 connected to the connection bolt 231 .

[0032] In this embodiment, the pressure plate manipulator 216 includes a pressure plate cylinder 2161 and a pressure plate piston rod 2162 that moves up and down along the pressure plate cylinder 2161 . A PCB pressure plate 2163 is provided at one end of the pressure plate piston rod 2162 away from the pressure plate cylinder 2161 .

[0033] In this embodiment, the sheet separation robot 224 includes a sheet separation cylinder 2241 and a sheet separation piston rod 2242 that moves up and down along the sheet separation cylinder 2241 . A sheet separation nozzle 2243 is provided at one end of the sheet separation piston rod 2242 away from the sheet separation cylinder 2241 .

[0034] In this embodiment, the grabbing robot 225 includes a grabbing cylinder 2251, and a grabbing piston 2252 and a clamping piston 2253 that move up and down along the grabbing cylinder 2251 are respectively provided at the bottom of the grabbing cylinder 2251. A grabbing plate rotating assembly 2254 is provided inside the grabbing cylinder 2251. The grabbing plate rotating assembly 2254 is connected to the grabbing piston 2252 and drives the grabbing piston 2252 to rotate. A grabbing plate clamp 2255 is provided at the bottom of the grabbing piston 2252.

[0035] In this embodiment, the grab plate rotating assembly 2254 includes a grab plate rotating piston 22541 and a grab plate guide rod 22542 connected to the grab plate rotating piston 22541 , and the grab plate guide rod 22542 is connected to the grab piston 2252 .

[0036] When the loading and unloading robot is working, the robot truss 21 is connected to the motion drive mechanism through the connecting arm 211 and moves accordingly. The truss connecting plate 212, the transverse connecting bar 213 and the longitudinal connecting bar 215 constitute the basic structure of the robot truss 21. The connecting rod 2141 and the compression spring 2142 of the motion connection component 214 are used together, and the connection bolt 231 of the truss structure connection component 23 is set. The leveling of the entire robot truss 21 can be achieved through the elastic force of the compression spring 2142 and the connection bolt 231, ensuring that the entire robot truss 21 is in a relatively balanced state. When the suction plate mechanism 22 sucks the PCB sheet, the suction plate mechanism 22 is in parallel contact with the surface of the PCB sheet to achieve a better suction effect. In order to ensure that the loading and unloading robot works better, a camera or other viewing angle positioning mechanism can be set to achieve more accurate positioning.

[0037] The board suction mechanism 22 is used to suck the PCB sheet when assembling the PCB sheet and the bakelite base; when the suction head 222 contacts the surface of the PCB sheet, if the surface of the PCB sheet has no holes, negative pressure is generated on the plane of the PCB sheet without holes to suck the PCB sheet; if the surface of the PCB sheet has holes, the suction head 222 contacts the surface of the PCB sheet, the suction head 222 closes the vacuum and does not generate negative pressure. To achieve a better board suction effect, the suction heads 222 of the board suction mechanism 22 can be set in double rows or three rows.

[0038] The setting of the air storage chamber can store a certain amount of compressed air inside it, providing compressed air for the pressing plate robot 216, the sheet separation robot 224 and the grasping robot 225 without the need for a separate external air source, which is more convenient to use.

[0039] The pressing plate manipulator 216 is used to press the PCB sheet before processing. When working, compressed air is introduced. Under the driving action of the compressed air, the pressing plate piston rod 2162 moves up and down, driving the PCB pressing plate 2163 to move up and down. When moving downward, the PCB pressing plate 2163 presses the PCB sheet, and when moving upward, the PCB pressing plate 2163 releases the PCB sheet. In this way, the up and down movement can realize the pressing and loosening of the PCB sheet during the processing process.

[0040] The sheet separation manipulator 224 is used to separate the PCB sheets that are adsorbed together when assembling the PCB sheets and the bakelite base; when working, compressed air is introduced, and under the action of the compressed air, the sheet separation suction nozzle 2243 contacts the surface of the PCB sheet, and at the same time generates negative pressure to tightly adsorb the PCB sheet. Since the PCB sheets are not stacked in a single piece, a vacuum will be generated between the two PCB sheets during the stacking process of the PCB sheets, thereby adsorbing the two PCB sheets together; when grabbing the board, there will be a phenomenon that grabbing one PCB sheet will bring up the second PCB sheet, and the second sheet will fall off naturally, causing damage to the PCB sheet. Therefore, under the driving action of compressed air, the sheet separation piston rod 2242 moves up and down, shaking the PCB sheet, forcing the two sheets to loosen naturally.

[0041] Several gripping manipulators 225 are provided for gripping assembled PCB sheets and bakelite board bases and processed PCB sheets and bakelite board bases. During operation, compressed air is introduced, and under the action of the compressed air, the gripping piston 2252 moves downward, and the gripping plate rotating piston 22541 and the gripping plate guide rod 22542 rotate, driving the gripping piston 2252 to rotate, thereby driving the gripping plate clamping piece 2255 to rotate to a specified angle. In order to better grip the PCB sheets and bakelite board bases, the gripping plate clamping pieces 2255 of several gripping manipulators 225 extend and rotate to the bottom of the PCB sheets and bakelite board bases, and at the same time, the PCB sheets and bakelite board bases are pulled up. At the same time, in order to achieve a better clamping effect, the clamping plate piston 2253 moves downward under the action of compressed air, pressing the PCB sheets and bakelite board bases, forming a clamping space between the gripping plate clamping piece 2255 and the gripping plate clamping piece 2255, and at the same time clamping the PCB sheets and bakelite board bases.

[0042] The above-mentioned embodiments only express the specific implementation methods of the utility model, and the description is relatively specific and detailed, but it cannot be understood as limiting the scope of the patent of the utility model. It should be pointed out that for ordinary technicians in this field, several modifications and improvements can be made without departing from the concept of the utility model, which all belong to the protection scope of the utility model.

Claims

1. A loading and unloading robot, characterized in that: It includes a manipulator truss and at least one group of suction plate mechanisms, each group of the suction plate mechanisms is provided with slide grooves on the top and sides, the slide grooves provided on the top of the suction plate mechanisms are connected to the manipulator truss through a truss structure connection component, the slide grooves provided on the top of the suction plate mechanisms are located at both ends and are connected to sheet separation manipulators through a truss structure connection component, and the slide grooves provided on the sides of the suction plate mechanisms are connected to a plurality of grabbing manipulators through a truss structure connection component.

2. A loading and unloading robot according to claim 1, characterized in that: Each set of the suction plate mechanism comprises a suction plate mounting base and a suction head arranged at the bottom of the suction plate mounting base, the slide groove is opened on the top and side of the suction plate mounting base, and the suction head is an array.

3. A loading and unloading robot according to claim 1 or 2, characterized in that: The manipulator truss includes a connecting arm and a truss connecting plate arranged below the connecting arm and connected to the connecting arm, a motion connecting component is connected to the truss connecting plate below via at least one transverse connecting bar, at least one longitudinal connecting bar is connected to the motion connecting component below via a truss structure connecting component, and a plurality of pressure plate manipulators are connected to the side surfaces of the longitudinal connecting bar via a truss structure connecting component.

4. A loading and unloading robot according to claim 3, characterized in that: At least one of the transverse connecting strips is provided with an air storage chamber therein.

5. A loading and unloading robot according to claim 3, characterized in that: The motion connection assembly includes a motion connection plate and a connection rod arranged below the motion connection plate, a compression spring is sleeved on the connection rod, and one end of the connection rod away from the motion connection plate is connected to a truss structure connection assembly through a transition connection plate, and the truss structure connection assembly is connected to the longitudinal connection strip.

6. A loading and unloading robot according to claim 5, characterized in that: The truss structure connection assembly includes a connection bolt and a connection block connected with the connection bolt.

7. A loading and unloading robot according to claim 3, characterized in that: The pressing plate manipulator comprises a pressing plate cylinder body and a pressing plate piston rod which moves up and down along the pressing plate cylinder body. A PCB pressing plate is arranged at one end of the pressing plate piston rod which is away from the pressing plate cylinder body.

8. A loading and unloading robot according to claim 1, characterized in that: The sheet separation robot comprises a sheet separation cylinder and a sheet separation piston rod which moves up and down along the sheet separation cylinder. A sheet separation suction nozzle is arranged at one end of the sheet separation piston rod which is away from the sheet separation cylinder.

9. A loading and unloading robot according to claim 1, characterized in that: The grabbing robot comprises a grabbing cylinder, the bottom of which is provided with a grabbing piston and a clamping plate piston which move up and down along the grabbing cylinder, a grabbing plate rotating assembly is provided inside the grabbing cylinder, the grabbing plate rotating assembly is connected to the grabbing piston and drives the grabbing piston to rotate, and a grabbing plate clamp is provided at the bottom of the grabbing piston.

10. A loading and unloading robot according to claim 9, characterized in that: The grab plate rotating assembly comprises a grab plate rotating piston and a grab plate guide rod connected to the grab plate rotating piston, and the grab plate guide rod is connected to the grab piston.

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