Clamp and manipulator
By introducing fixture design for fixing plates, support cylinders and solenoid valves into the robot hand, combined with rotary clamping cylinders and buffers, the problem of plate drop during the PCB board grabbing process is solved, achieving more stable grasping and handling.
Patent Information
- Application Number
- CN202422661834.9
- Authority / Receiving Office
- CN · China
- Patent Type
- Utility models(China)
- Current Assignee / Owner
- Filing Date
- 2024-10-31
- Publication Date
- 2025-09-05
- Estimated Expiration
- 2034-10-31
AI Technical Summary
Traditional robots have a risk of plate dropping during the PCB board grabbing process, especially due to unstable suction cup grabbing methods and air leakage caused by through holes, which increases the probability of plate dropping.
The clamp design is adopted, including a fixing plate, support cylinder and solenoid valve. The support cylinder is controlled by the solenoid valve to provide stable support force, and the rotary clamping cylinder and buffer are combined to ensure the stability of the gripping process.
It improves the stability of the PCB board grabbing process, reduces the risk of plate dropping, and prevents the plate from tilting or sliding down during handling.
Smart Images
Figure CN223301711U_ABST
Abstract
Description
Technical Field
[0001] The utility model relates to the technical field of circuit board processing, in particular to a clamp and a manipulator. Background Art
[0002] In traditional laser processing of printed circuit boards (PCBs), robots typically use vacuum suction to remove PCBs from a hopper. These robots are often equipped with multiple vacuum suction units, each consisting of a vacuum device, a buffer suction column, and a suction cup.
[0003] However, this gripping method, which relies solely on suction cups, carries a significant risk of board drop in practice. For example, to avoid scratching the center of a PCB, some manufacturers require suction cups to only adhere to the edges. This can easily cause the PCB to shift or tilt during handling, increasing the risk of board drop. Furthermore, through-holes in the PCB can cause air leakage from the suction cup, compromising its grip and further increasing the likelihood of board drop. Utility Model Content
[0004] Based on this, it is necessary to provide a clamp and a manipulator to solve the problem that the existing grasping method has a high risk of board falling.
[0005] A clamp, comprising:
[0006] A fixed plate connected to a fixing part of the manipulator;
[0007] A supporting cylinder, fixedly connected to the fixing plate;
[0008] The electromagnetic valve is connected to the air inlet of the supporting cylinder so that the supporting cylinder provides support for the object to be grasped after the electromagnetic valve is operated.
[0009] In one embodiment, the supporting cylinder is a rotary clamping cylinder, the telescopic end of the rotary clamping cylinder linearly telescopes and rotates after the solenoid valve is operated, and the clamping cantilever of the rotary clamping cylinder is fixedly connected to the telescopic end and is perpendicular to the telescopic end.
[0010] In one embodiment, the rotary clamping cylinder further comprises:
[0011] The first elastic member is arranged on the top of the first side of the clamping cantilever, and the second side of the clamping cantilever is fixedly connected to the telescopic end.
[0012] In one embodiment, the fixture further comprises:
[0013] A buffer is fixedly connected to the fixed plate and is arranged parallel to the rotary clamping cylinder, and the height of the bottom of the buffer is set to be higher than or equal to the height of the clamping cantilever.
[0014] In one embodiment, the buffer further comprises:
[0015] The second elastic member is fixedly arranged at the bottom of the buffer, and the height of the bottom of the second elastic member is arranged to be higher than or equal to the height of the clamping cantilever.
[0016] In one embodiment, the supporting cylinder is a pneumatic clamping cylinder, which includes a piston and a clamping claw. After the solenoid valve is operated, the piston drives the clamping claw to clamp the object to be grasped or release the object to be grasped.
[0017] In one embodiment, the first side of the fixing plate is fixedly connected to the supporting cylinder, and at least one adjustable positioning hole is provided on the second side of the fixing plate. The positioning member passes through the adjustable positioning hole and is connected to the fixing member of the manipulator, and the positioning position of the adjustable positioning hole and the positioning member is adjustable.
[0018] A robot arm comprises a plurality of adsorption units and a plurality of the above-mentioned clamps.
[0019] In one embodiment, under the premise that the clamp is not working, the supporting cylinder is arranged outside the area covered by the multiple adsorption units.
[0020] The utility model provides a clamp and a manipulator, which includes a fixed plate, a solenoid valve, and a support cylinder. The fixed plate is connected to the fixing part of the manipulator and serves as the basic support structure of the clamp. The support cylinder is fixedly connected to the fixed plate, and the solenoid valve is connected to the air inlet of the support cylinder. By controlling the airflow of the support cylinder, a stable support force is provided for the object to be grasped during the grasping process. This can assist the suction unit of the manipulator in working, improve the stability of the entire grasping process, and reduce the risk of the object falling. BRIEF DESCRIPTION OF THE DRAWINGS
[0021] In order to more clearly illustrate the embodiments of the present invention or the technical solutions in the prior art, the following briefly introduces the drawings required for use in the embodiments or the description of the prior art. Obviously, the drawings described below are only some embodiments of the present invention. For ordinary technicians in this field, other drawings can be obtained based on these drawings without paying any creative work.
[0022] in:
[0023] Figure 1 is a structural block diagram of a clamp in one embodiment;
[0024] Figure 2 This is an exploded diagram of the fixture;
[0025] Figure 3 This is the assembly diagram of the fixture;
[0026] Figure 4 This is a schematic diagram of the overall structure of the manipulator when the fixture is in a relaxed state;
[0027] Figure 5 This is the main view of the manipulator when the fixture is relaxed;
[0028] Figure 6 It is a schematic diagram of the overall structure of the manipulator in the clamping state;
[0029] Figure 7 This is the main view of the robot when the fixture is clamped. DETAILED DESCRIPTION
[0030] The following will be combined with the accompanying drawings in the embodiments of the present invention to clearly and completely describe the technical solutions in the embodiments of the present invention. Obviously, the embodiments described are only part of the embodiments of the present invention, not all of the embodiments. Based on the embodiments of the present invention, all other embodiments obtained by ordinary technicians in this field without making creative efforts are within the scope of protection of the present invention.
[0031] The terms "first," "second," and the like in the specification and claims of this application and the accompanying drawings are used to distinguish between different objects, not to describe a particular order. Furthermore, the terms "including," "having," and any variations thereof, are intended to cover non-exclusive inclusions. For example, a process, method, system, product, or apparatus comprising a series of steps or elements is not limited to the listed steps or elements but may optionally include steps or elements not listed, or may optionally include other steps or elements inherent to the process, method, product, or apparatus.
[0032] References herein to "embodiments" mean that a particular feature, structure, or characteristic described in connection with the embodiments may be included in at least one embodiment of the present application. The appearance of this phrase in various places in the specification does not necessarily refer to the same embodiment, nor does it constitute an independent or alternative embodiment that is mutually exclusive of other embodiments. It is understood, both explicitly and implicitly, by those skilled in the art that the embodiments described herein may be combined with other embodiments.
[0033] like Figure 1 As shown, Figure 1 This is a structural block diagram of a fixture in one embodiment. The fixture 100 in this embodiment includes:
[0034] The fixing plate 101 is connected to the fixing parts of the manipulator. The fixing plate 101 is the basic supporting structure of the clamp 100 and is connected to the fixing parts of the manipulator (such as the slot, support arm, etc.) to ensure the stability of the clamp 100.
[0035] The support cylinder 102 is fixedly connected to the fixing plate 101. Bolts and nuts can be used to secure the base of the support cylinder 102 to the fixing plate 101. Alternatively, the bracket or base of the support cylinder 102 can be permanently secured to the fixing plate 101 by welding. Other methods are also possible and are not specifically limited here.
[0036] The solenoid valve 103 is connected to the air inlet 1021 of the support cylinder 102, enabling the support cylinder 102 to provide support for the object being grasped when the solenoid valve 103 is activated. Specifically, the solenoid valve 103 uses electrical signals to switch the airflow on and off, thereby controlling the operating state of the support cylinder 102. In the operating state, the cylinder uses the incoming airflow to generate a certain supporting force and provide it to the object being grasped, thereby preventing the object from tilting or shifting during handling.
[0037] The above-mentioned clamp 100 combines the functions of the supporting cylinder 102 and the solenoid valve 103. This design ensures the stability and safety of the clamp 100 during the entire grasping process and reduces the risk of the board falling due to improper support.
[0038] Optional, see Figure 2 and Figure 3 ,in Figure 2 is an exploded schematic diagram of the fixture 100, Figure 3 Schematic diagram of the assembly of the clamp 100.
[0039] Optionally, in a specific embodiment, the supporting cylinder 102 is a rotary clamping cylinder 102A, and the telescopic end 1022 of the rotary clamping cylinder 102A linearly telescopes and rotates after the solenoid valve 103 operates, and the clamping cantilever 1023 of the rotary clamping cylinder 102A is fixedly connected to the telescopic end 1022 and is perpendicular to the telescopic end 1022.
[0040] Specifically, when solenoid valve 103 begins operating, it introduces compressed gas into the cylinder from one inlet 1021, pushing the piston forward, causing the piston to linearly extend the connected telescopic end 1022. Conversely, solenoid valve 103 introduces compressed gas into the cylinder from the other inlet 1021, pushing the piston in the reverse direction, causing the piston to linearly contract the connected telescopic end 1022. Furthermore, rotary clamping cylinder 102A is equipped with helical gears or other mechanisms that convert the piston's linear motion into rotational motion. This allows clamp 100 to not only extend and retract, but also rotate to a certain angle as needed.
[0041] The clamping arm 1023 is fixedly connected to the telescopic end 1022 and is perpendicular to the telescopic end 1022. Optionally, the clamping arm 1023 can be clamped to the telescopic end 1022 using a dedicated clamp 100, and the clamp 100 can be adjusted to maintain the two perpendicular. Alternatively, an embedded structure can be provided between the telescopic end 1022 and the clamping arm 1023. The base or connecting end of the arm can be embedded into a groove in the telescopic end 1022, thereby naturally forming a vertical connection. The structure can then be further secured using other means such as bolts or pins. Other configurations are also possible and are not specifically limited here. In this way, the clamping arm 1023 can rise or fall in response to the extension and contraction of the telescopic end 1022, and rotate in response to the rotation of the telescopic end 1022, until the clamping arm 1023 is in close contact with the bottom of the PCB board, providing support for the board and ensuring a stable grip throughout the entire grasping process.
[0042] The clamp 100 in the above specific embodiment, through the cooperation of the solenoid valve 103 and the rotary clamping cylinder 102A, allows the clamping cantilever 1023 to adjust the position, ensuring reliable support for PCB boards of different thicknesses and reducing the risk of board falling.
[0043] Optionally, in a specific embodiment, the rotary clamping cylinder 102A further includes: a first elastic member 1024 , which is disposed on the top of the first side of the clamping cantilever 1023 , and the second side of the clamping cantilever 1023 is fixedly connected to the telescopic end 1022 .
[0044] It is understood that the primary function of the first elastic member 1024 is to provide a certain elastic buffer for the clamp 100, preventing the clamp 100 from inflicting excessive pressure or damage to the PCB. Furthermore, the first elastic member 1024 may also have a certain coefficient of friction, thereby increasing friction with the surface of the object during clamping, ensuring that the object does not slip or fall. The first elastic member 1024 may be made of elastic glue, rubber, or other materials that exhibit good flexibility and resilience.
[0045] Optionally, in a specific embodiment, the clamp 100 further includes: a buffer 104, which is fixedly connected to the fixed plate 101 and is arranged parallel to the rotary clamping cylinder 102A, and the height of the bottom of the buffer 104 is set to be higher than or equal to the height of the clamping cantilever 1023.
[0046] It is understandable that the buffer 104 here can be a pneumatic buffer 104, a hydraulic buffer 104, etc. The buffer 104 is a device for absorbing the impact or vibration of mechanical movement, and plays a protective role in the clamp 100, especially during the clamping or placement process, to prevent the clamp 100 from directly exerting excessive pressure or impact on the PCB board. Setting the height of the bottom of the buffer 104 to be higher than or equal to the height of the clamping cantilever 1023 can ensure that the clamping cantilever 1023 does not touch the buffer 104 when performing various actions. And when the thickness of the board changes, the buffer 104 can absorb the displacement caused by the thickness change to avoid damaging the PCB board. For example, when the board thickness changes from 1mm to 3mm, the clamp 100 bends the board edge by 2mm under the action of the cylinder, and the buffer 104 pushes in the corresponding 2mm to ensure that the PCB board will not be clamped and damaged.
[0047] Optionally, in a specific embodiment, the buffer 104 further includes: a second elastic member 1041 fixedly disposed at the bottom of the buffer 104 , and the height of the bottom of the second elastic member 1041 is set to be higher than or equal to the height of the clamping cantilever 1023 .
[0048] It is understandable that the second elastic member 1041 is made of a soft material (such as elastic glue, rubber, etc.) to further enhance the buffering and adaptability of the clamp 100 to reduce damage to the PCB board or other grasped objects.
[0049] Optionally, in a specific embodiment, the first side of the fixed plate 101 is fixedly connected to the rotary clamping cylinder 102A, and at least one adjustable positioning hole 1011 is provided on the second side of the fixed plate 101. The positioning member passes through the adjustable positioning hole 1011 and is connected to the fixing member of the manipulator. The positioning position of the adjustable positioning hole 1011 and the positioning member are adjustable.
[0050] It is understood that by adjusting the positioning position, the position of the fixing plate 101 can be moved within a certain range. This can change the distance between the manipulator fixing member and the rotary clamping cylinder 102A, thereby adjusting the position of the clamp 100 holding the PCB board, thereby adapting the clamp 100 to PCB boards of varying thicknesses. For example, if the PCB to be clamped changes from a small size to a large size, the fixing plate 101 can be first slid outward, and then the fixed position of the positioning member in the hole can be adjusted to ensure that the clamp 100 is always in the optimal position for the gripping operation.
[0051] Optionally, in another specific embodiment, the supporting cylinder 102 is a pneumatic clamping cylinder, which includes a piston and a clamping claw. After the solenoid valve 103 is operated, the piston drives the clamping claw to clamp or release the object to be grasped.
[0052] Specifically, after the solenoid valve 103 starts working, when the solenoid valve 103 opens the air flow channel, compressed air is introduced into the cylinder, pushing the piston forward, and the jaws close accordingly, so that the two jaws of the jaws are almost parallel, clamping the piece to be grasped. At this time, the clamping force of the jaws ensures that the piece to be grasped is firmly fixed in the fixture 100. When the solenoid valve 103 closes the air flow channel, the air pressure in the pneumatic jaw cylinder decreases, the piston returns to its position under the action of a spring or gravity, and the jaws open until there is 180° between the two jaws of the jaws. This process allows the fixture 100 to flexibly grasp and place the piece to be grasped. The pneumatic jaw cylinder has a simple and rapid action, can achieve rapid clamping and release, and is suitable for high-frequency grasping operations, but it takes up more space than the rotary clamping cylinder 102A.
[0053] Furthermore, the present invention also provides a robot arm, which includes multiple adsorption units and multiple clamps 100 as described above.
[0054] See also Figure 4-Figure 7 The supporting cylinder 102 here is a rotary clamping cylinder 102A, and of course a pneumatic clamping cylinder can also be used. Figure 4 This is a schematic diagram of the overall structure of the manipulator when the clamp 100 is in a relaxed state. Figure 5 for Figure 4 The main view, Figure 6 This is a schematic diagram of the overall structure of the manipulator in the clamping state of the fixture 100. Figure 7 for Figure 6 main view.
[0055] The robot arm includes multiple suction units 200, each of which incorporates a suction cup. These units grasp and secure PCBs through suction, enabling them to be stably lifted and moved from a workbench or silo. Furthermore, these multiple clamps 100, combined with the support cylinder 102 and solenoid valve 103, provide stable support for the gripper, assisting the robot arm's suction units 200 in their operations, improving the stability of the entire gripping process and reducing the risk of PCB drop.
[0056] Optionally, when the clamp 100 is not in operation, the supporting cylinder 102 is positioned outside the area covered by the plurality of suction units 200. This is because when the clamp 100 is not in operation, the lower end of the clamp 100 is located outside the PCB, where it could contact the PCB and damage its edges. When the clamp 100 is in operation, it firmly holds the PCB, preventing it from slipping or shifting during handling.
[0057] Furthermore, the number of suction units 200 and clamps 100 in the robot can be adjusted according to the size and weight of the PCB. Typically, the robot's four clamps 100 are located at the four corners of the PCB, ensuring that each clamp 100 can stably grip the board and work in conjunction with the suction units 200. Alternatively, the number of clamps 100 can be reduced to at least two locations, with at least one clamp 100 positioned on the opposite side to grip the edge of the PCB. Despite the reduced number of clamps 100, stable gripping and handling can still be achieved through the coordination of the suction units 200.
[0058] It should be noted that the above-mentioned clamp 100 and the manipulator belong to a general utility model concept, and the contents in the embodiments of the clamp 100 and the manipulator are applicable to each other.
[0059] The technical features of the above embodiments can be combined arbitrarily. To make the description concise, not all possible combinations of the technical features in the above embodiments are described. However, as long as there is no contradiction in the combination of these technical features, they should be considered to be within the scope of this specification.
[0060] The above embodiments merely illustrate several implementation methods of the present application. While the descriptions are relatively specific and detailed, they should not be construed as limiting the scope of the present invention. It should be noted that a person skilled in the art could make various modifications and improvements without departing from the spirit of the present invention, all of which fall within the scope of protection of the present invention. Therefore, the scope of protection of the present invention shall be determined by the appended claims.
Claims
1. A clamp, characterized in that: The fixture comprises: A fixed plate connected to a fixing part of the manipulator; A supporting cylinder, fixedly connected to the fixing plate; The electromagnetic valve is connected to the air inlet of the supporting cylinder so that the supporting cylinder provides support for the object to be grasped after the electromagnetic valve is operated.
2. The clamp according to claim 1, characterized in that The supporting cylinder is a rotary clamping cylinder. The telescopic end of the rotary clamping cylinder linearly telescopes and rotates after the solenoid valve is operated. The clamping cantilever of the rotary clamping cylinder is fixedly connected to the telescopic end and is perpendicular to the telescopic end.
3. The clamp according to claim 2, characterized in that The rotary clamping cylinder also includes: The first elastic member is arranged on the top of the first side of the clamping cantilever, and the second side of the clamping cantilever is fixedly connected to the telescopic end.
4. The clamp according to claim 2, characterized in that The fixture further comprises: A buffer is fixedly connected to the fixed plate and is arranged parallel to the rotary clamping cylinder, and the height of the bottom of the buffer is set to be higher than or equal to the height of the clamping cantilever.
5. The clamp according to claim 4, characterized in that The buffer further comprises: The second elastic member is fixedly arranged at the bottom of the buffer, and the height of the bottom of the second elastic member is arranged to be higher than or equal to the height of the clamping cantilever.
6. The clamp according to claim 1, wherein: The supporting cylinder is a pneumatic clamping cylinder, which includes a piston and a clamping claw. After the solenoid valve is operated, the piston drives the clamping claw to clamp the object to be grasped or release the object to be grasped.
7. The clamp according to claim 1, wherein: The first side of the fixing plate is fixedly connected to the supporting cylinder, and at least one adjustable positioning hole is provided on the second side of the fixing plate. The positioning member passes through the adjustable positioning hole and is connected to the fixing member of the manipulator. The positioning positions of the adjustable positioning hole and the positioning member are adjustable.
8. A robot, characterized in that: It comprises a plurality of adsorption units and a plurality of clamps according to any one of claims 1 to 7.
9. The robot according to claim 8, characterized in that: Under the premise that the clamp is not working, the supporting cylinder is arranged outside the area covered by the multiple adsorption units.