PCBA (printed circuit board assembly) robot quick-change gripping device

Abstract

The utility model relates to the field of 3C semiconductors, in particular to a PCBA (printed circuit board assembly) robot quick-change gripping device which comprises a robot butt joint end, a quick-change female disc, a quick-change male disc, a lifting cylinder, a pneumatic clamping jaw and a clamping finger which are sequentially arranged from top to bottom, an air cylinder is arranged on one side of the lifting cylinder, a suction cup spacing control part is arranged at the bottom of the air cylinder, and a vacuum suction cup is arranged at the bottom of the suction cup spacing control part. A concentrator is arranged between the suction cup distance control piece and the lifting air cylinder. According to the utility model, two functions of a vacuum system and gripper picking are integrated, so that the risks of robot interference and collision in the actual working process are avoided; mixed-line production of different products is achieved through the quick-change disc technology and the sensor technology, fool-proof and mistake-proof effects are achieved, and equipment risks caused by manual accidents are avoided.

Description

Technical Field

[0001] The utility model belongs to the field of 3C semiconductors, and relates to the feeding process before PCBA pin insertion, especially to the PCBA robot quick-change grasping device. Background Technique

[0002] In the current market, the supply of PCBA raw materials is usually sub-packed through anti-static Tray trays. These Tray trays can be stacked into trays with 15 to 20 layers using their stacking characteristics, and then the whole is sent to the depalletizing mechanism for tray separation processing. In this process, the 1# manipulator is responsible for taking out the PCBA from the Tray and putting it into the downstream process. When the PCBA in the Tray is exhausted, the 2# manipulator needs to intervene, take away the empty Tray and put it into the palletizing mechanism for secondary stacking and stacking high and sending out of the empty Tray. This process requires two manipulators to work together, but this also results in large equipment occupancy space and high costs. In a highly competitive market, this configuration is difficult to provide a cost-effective solution for customers. Content of the Utility Model

[0003] The purpose of the utility model is to provide a PCBA robot quick-change grasping device to solve the problem of huge equipment occupancy space, reduce equipment costs, and solve the problems of a large variety of customized PCBA and poor equipment compatibility.

[0004] To achieve the above purpose, the technical solution of the utility model provides a PCBA robot quick-change grasping device, which includes a robot docking end, a quick-change female disk, a quick-change male disk, a lifting cylinder, a pneumatic gripper, and fingers arranged in sequence from top to bottom. A cylinder is further arranged on one side of the lifting cylinder. A suction cup spacing control part is arranged at the bottom of the cylinder, and a vacuum suction cup is arranged at the bottom of the suction cup spacing control part. A hub is arranged between the suction cup spacing control part and the lifting cylinder.

[0005] Preferably, a manual two-position five-way valve is arranged on one side of the cylinder.

[0006] Preferably, an anti-misoperation switch and a knob handle are arranged on the suction cup spacing control part.

[0007] Preferably, pneumatic pipelines are arranged on both the quick-change female disk and the quick-change male disk.

[0008] To sum up, the utility model includes the following beneficial technical effects:

[0009] 1. Integrates two functions of the vacuum system and gripper picking, and uses the switching of the lifting cylinder and the suction cup spacing control part to avoid the risks of robot interference and collision during the actual working process;

[0010] 2. Utilize the mature quick-change disk technology and sensor technology to achieve mixed-line production of different products, and prevent misoperation and errors, avoiding equipment risks caused by human accidents. Brief Description of the Drawings

[0011] Figure 1 It is a schematic structural diagram of the quick-change grasping device of the PCBA robot of the present utility model;

[0012] Figure 2 It is a schematic structural diagram of another perspective of the quick-change grasping device of the PCBA robot of the present utility model.

[0013] Reference Numerals: 1, finger; 2, pneumatic gripper; 3, lifting cylinder; 4, quick-change female disk; 5, quick-change male disk; 6, robot docking end; 7, pneumatic pipeline; 8, manual two-position five-way valve; 9, hub; 10, vacuum suction cup; 11, knob handle; 12, suction cup spacing control member; 13, anti-misoperation switch; 14, cylinder. Detailed Embodiment

[0014] Next, the technical solutions in the embodiments of the present utility model will be clearly and completely described in conjunction with the drawings in the embodiments of the present utility model. Obviously, the described embodiments are only a part of the embodiments of the present utility model, rather than all the embodiments. Based on the embodiments of the present utility model, all other embodiments obtained by those of ordinary skill in the art without creative efforts shall fall within the protection scope of the present utility model.

[0015] The embodiment of the present utility model discloses a quick-change grasping device of a PCBA robot, which includes a robot docking end 6, a quick-change female disk 4, a quick-change male disk 5, a lifting cylinder 3, a pneumatic gripper 2, and a finger 1 arranged in sequence from top to bottom. A cylinder 14 is further arranged on one side of the lifting cylinder 3. A suction cup spacing control member 12 is arranged at the bottom of the cylinder 14. A vacuum suction cup 10 is arranged at the bottom of the suction cup spacing control member 12. A hub 9 is arranged between the suction cup spacing control member 12 and the lifting cylinder 3; A manual two-position five-way valve 8 is arranged on one side of the cylinder 14. An anti-misoperation switch 13 and a knob handle 11 are arranged on the suction cup spacing control member 12. Pneumatic pipelines 7 are arranged on both the quick-change female disk 4 and the quick-change male disk 5.

[0016] Specifically, the present utility model includes the following components:

[0017] Finger 1: A component (processed part) designed according to the product characteristics, used to adapt to products of different sizes.

[0018] Pneumatic gripper 2: This is a pneumatic actuator that realizes the actions of loosening and clamping by connecting to the air source and the reversing valve. The finger 1 is installed on this pneumatic gripper 2.

[0019] Lifting cylinder 3: This is another pneumatic actuator that is connected to the air source and the reversing valve and is used to perform extending and retracting actions, usually for adjusting the height of the equipment.

[0020] Quick-change female disc 4: This is a quick-change structure that consists of male and female parts. The female disc is fixed, while the male disc moves with the quick-change tooling. It is driven by gas, clamping when air enters from the P port and the male end falling off when air enters from the A port, and has a self-locking function.

[0021] Quick-change male disc 5: It is used in conjunction with the quick-change female disc 4 and is the male disc part.

[0022] Robot docking end 6: This is a machined part designed according to the size of the robot's end drive shaft. It is hollow in the middle for wire routing.

[0023] Pneumatic pipeline 7: This is a pipeline joint through which the air source flows and is used to connect pneumatic components.

[0024] Manual two-position five-way valve 8: This is a manual reversing valve with a spring return function and is used to control the locking and separation of the male and female discs of the quick-change disc.

[0025] Hub 9: This is a component that integrates the system circuit and is connected by multi-core wires for convenient wiring.

[0026] Vacuum chuck 10: This is the actuator for vacuum grasping and is used to suck the empty Tray.

[0027] Knob handle 11: This is a part for quick tightening and is designed to avoid using tools for tightening.

[0028] Suction cup spacing control part 12: Due to the different characteristics of the Tray cavity, the suction position of the vacuum chuck 10 and the spacing between the 4 suction cups may need to be adjusted. This part is used to change the suction cup spacing.

[0029] Error-proofing switch 13: This is an error-proofing sensor that determines whether there is an error by identifying the different characteristics of the suction cup spacing control part 12. If there is an error, the equipment will issue an alarm to alert the technician.

[0030] Cylinder 14: This is a pneumatic actuator that acts in the opposite direction to the lifting cylinder 3 and performs extending and retracting actions through the combination of the air source and the reversing valve to avoid interference between the actuators.

[0031] The technical solution of the present utility model is a combined jaw, which is composed of a cylinder 14, a gripper, a quick-change disk, a vacuum system, etc.; the lifting cylinder 3 extends, and the fingers 1 and the pneumatic gripper 2 grab the pcba from the Tray, and the robot places the pcba on the positioning fixture of the next process to complete the grasping action; after continuous grasping for multiple times, the pcba in the tray is exhausted, then the lifting cylinder 3 retracts, the cylinder 14 extends, the rubber end of the vacuum suction cup 10 is closely attached to the surface of the Tray, the vacuum generator is started, and the vacuum suction cup 10 sucks the empty Tray and places it on the stacking mechanism for stacking empty Trays;

[0032] When the equipment needs to produce another specification of pcba, press the manual two-position five-way valve 8, the gripper will automatically fall off, manually install the new gripper matching the target, release the robot docking end 6, and complete the clamping action, then the quick replacement of the gripper end is completed; the change of pcba will be accompanied by the change of the Tray for placing pcba. By replacing the suction cup spacing control part 12, the spacing of the 4 vacuum suction cups 10 is adjusted to adapt to the suction of different specifications of trays. At the same time, the anti-misoperation switch 13 is used to prevent misoperation during the change of the different differential features on the suction cup spacing control part 12, so as to complete the quick change function of the combined jaw.

[0033] The present utility model can make the production of multiple pcbas by one equipment faster and the manufacturing cost lower through the quick change of the gripper and the quick adjustment of the vacuum suction cup 10.

[0034] Finally, it should be noted that the above are only the preferred embodiments of the present utility model and are not used to limit the present utility model. Although the present utility model has been described in detail with reference to the foregoing embodiments, for those skilled in the art, they can still modify the technical solutions described in the foregoing embodiments, or perform equivalent replacements for some of the technical features. Any modifications, equivalent replacements, improvements, etc. made within the spirit and principle of the present utility model shall be included within the protection scope of the present utility model.

Claims

1. PCBA robot quick-change grasping device, characterized in that It includes a robot docking end (6), a quick-change female disc (4), a quick-change male disc (5), a lifting cylinder (3), a pneumatic gripper (2), and fingers (1) arranged in sequence from top to bottom. On one side of the lifting cylinder (3), there is another cylinder (14). At the bottom of the cylinder (14), there is a suction cup spacing control member (12). At the bottom of the suction cup spacing control member (12), there is a vacuum suction cup (10). A hub (9) is provided between the suction cup spacing control member (12) and the lifting cylinder (3).

2. The PCBA robot quick-change grasping device according to claim 1, wherein, On one side of the cylinder (14), there is a manual two-position five-way valve (8).

3. The PCBA robot quick-change grasping device according to claim 2, wherein, The suction cup spacing control member (12) is provided with a misalignment prevention switch (13) and a knob handle (11).

4. The PCBA robot quick-change grasping device according to claim 3, wherein, Pneumatic pipelines (7) are provided on both the quick-change female disc (4) and the quick-change male disc (5).

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