Grabbing mechanism and conveying device

Abstract

The utility model relates to the technical field of circuit board processing equipment, in particular to a grabbing mechanism and a conveying device. The grabbing mechanism comprises a mounting plate, a first clamping jaw, a second clamping jaw, a first driving assembly and a mechanical arm, the mechanical arm is connected with the mounting plate and used for transferring the mounting plate, the mounting plate is provided with a first end and a second end which are opposite, the first clamping jaw is arranged at the first end of the mounting plate, and the second clamping jaw is arranged at the second end of the mounting plate; an accommodating space is formed between the first clamping jaw and the second clamping jaw; the first driving assembly is connected with the first clamping jaw and used for driving the first clamping jaw to move in the direction close to or away from the second clamping jaw, so that the first clamping jaw and the second clamping jaw clamp or loosen a workpiece. The first clamping jaw and the second clamping jaw abut against the two opposite side portions of the workpiece correspondingly to complete grabbing of the workpiece, even if the surface of the workpiece is provided with a hole structure, grabbing of the workpiece is not affected, the situation of plate falling cannot occur in the workpiece grabbing process, and the production cost is reduced.

Description

TECHNICAL FIELD

[0001] The utility model belongs to the technical field of circuit board processing equipment, especially relates to a grabbing mechanism and conveying device. BACKGROUND

[0002] With the robot is used in circuit board production in large quantities, equipment structure is also more and simple, the stability of equipment is also higher and higher, but there are still some problems in the production process of circuit board.

[0003] Such as prior art, the current main adoption sucking disc adsorption mode is transported finished product circuit board, when finished product circuit board board surface has hole, sucking disc adsorption mode is easy to appear drop board condition, leads to finished product circuit board board scrap, thereby increases production cost. INVENTION CONTENTS

[0004] The utility model solves the technical problem that: in prior art, sucking disc adsorption mode is transported finished product circuit board, when finished product circuit board board surface has hole, sucking disc adsorption mode exists easy to appear drop board problem, provides a grabbing mechanism and conveying device.

[0005] To solve the above technical problem, on the one hand, the utility model embodiment provides a kind of grabbing mechanism, including mounting plate, first jaw, second jaw, first drive component and mechanical arm, the mechanical arm is connected with the mounting plate and is used to transfer the mounting plate, the mounting plate has opposite first end and second end, the first jaw is located at the first end of the mounting plate, the second jaw is located at the second end of the mounting plate, and the first jaw and the second jaw form a containing space between them;

[0006] The first drive component is connected with the first jaw, for driving the first jaw to move towards the direction close to or away from the second jaw, so that the first jaw and the second jaw form a containing space between them, and the first jaw and the second jaw clamp or release the workpiece.

[0007] Optionally, the grabbing mechanism further includes a third jaw, a fourth jaw and a second drive component, the third jaw is arranged on the first end of the mounting plate and spaced apart from the third jaw in a first direction, the fourth jaw is arranged on the second end of the mounting plate and spaced apart from the fourth jaw in the first direction, and the direction from the first end to the second end of the mounting plate is perpendicular to the first direction.

[0008] The first jaw and the second jaw have rigidity, and the third jaw and the fourth jaw have flexibility.

[0009] The second driving assembly is connected with the third gripper and the fourth gripper, and is used for driving the third gripper and the fourth gripper to move towards or away from each other.

[0010] Optionally, the second driving assembly comprises a first cylinder and a second cylinder, and the cylinder body of the first cylinder and the cylinder body of the second cylinder are arranged on the mounting plate in sequence in the direction from the first end to the second end of the mounting plate, the outer end of the piston rod of the first cylinder is connected with the third gripper, and the outer end of the piston rod of the second cylinder is connected with the fourth gripper.

[0011] Optionally, the first driving assembly comprises a driving motor, a driving pulley, a driven pulley, a transmission belt and a fixing seat, the housing of the driving motor is arranged on the mounting plate, the driving pulley is installed on the output shaft of the driving motor, the driven pulley is arranged in the direction from the first end to the second end of the mounting plate, the transmission belt is arranged around the driving pulley and the driven pulley, and the fixing seat is installed on the transmission belt, and the first gripper is arranged on the fixing seat.

[0012] Optionally, the grabbing mechanism further comprises a connecting plate and a sliding rail, the sliding rail is installed on the mounting plate and extends in the direction from the first end to the second end of the mounting plate, the connecting plate is installed on the fixing seat and is slidably connected in the sliding rail, and the first gripper is arranged on the connecting plate.

[0013] When the grabbing mechanism needs to grab the workpiece, the first driving assembly drives the first gripper to move away from the second gripper, so that the size of the accommodation space becomes larger. At the same time, the mounting plate is transferred to the position corresponding to the workpiece to be grabbed by the mechanical arm, the first driving assembly drives the first gripper to move towards the second gripper, so that the size of the accommodation space becomes smaller, until the first gripper and the second gripper abut on the opposite two ends of the workpiece, so that the first gripper and the second gripper complete the clamping work of the workpiece. Then the first gripper, the second gripper and the mounting plate clamping the workpiece are transferred to the required position by the mechanical arm, and the first driving assembly drives the first gripper to move away from the second gripper, so as to place the workpiece at the required position, and complete the grabbing and transferring of the workpiece. Instead of the conventional way of adsorbing by a suction cup, the first gripper and the second gripper abut on the two opposite sides of the workpiece to complete the grabbing of the workpiece, so that even if the surface of the workpiece has a hole structure, it does not affect the grabbing of the workpiece by the embodiment. Further, the grabbing mechanism of the embodiment will not fall off during the process of grabbing the workpiece, thereby reducing the production cost.

[0014] In another aspect, the utility model provides a kind of conveying device, including stage and above-mentioned grabbing mechanism, the stage has support table, and the support table is used to place the workpiece.

[0015] Optionally, the conveying device further comprises a trolley, and the support table is provided with a to-be-docking area above the support table, and the trolley is used for conveying the workpiece to the to-be-docking area.

[0016] Optionally, the conveying device further comprises a lifting assembly, and the lifting assembly is connected with the support table and used for driving the support table to ascend or descend, so that the support table can dock the workpiece in the to-be-docking area.

[0017] Optionally, the conveying device further comprises a detection assembly, and the detection assembly is used for detecting the position of the workpiece on the support table.

[0018] The detection assembly is further used for detecting the size of the workpiece on the support table.

[0019] The detection assembly is further used for detecting the number of layers of the workpiece stacked on the support table.

[0020] Optionally, the conveying device further comprises a frame and a conveying mechanism, and the conveying mechanism, the grabbing mechanism and the support table are arranged in the frame, and the conveying mechanism has a to-be-placed area used for containing the workpiece transferred by the mechanical arm, and the conveying mechanism is used for transferring the workpiece in the to-be-placed area to the outside of the frame. BRIEF DESCRIPTION OF DRAWINGS

[0021] Figure 1 is a structural schematic view of a grabbing mechanism according to an embodiment of the present application;

[0022] Figure 2 is a structural schematic view of a first perspective of the grabbing mechanism after removing part of the structure according to an embodiment of the present application;

[0023] Figure 3 is a structural schematic view of a second perspective of the grabbing mechanism after removing part of the structure according to an embodiment of the present application;

[0024] Figure 4 is a structural schematic view of the conveying device after removing part of the structure according to an embodiment of the present application.

[0025] The reference signs in the specification are as follows:

[0026] 1, mounting plate; 2, first clamping jaw; 3, second clamping jaw; 4, first drive assembly; 5, accommodating space; 6, third clamping jaw; 7, fourth clamping jaw; 8, second drive assembly; 41, drive motor; 42, driving pulley; 43, driven pulley; 44, transmission belt; 45, fixing seat; 46, connecting plate; 47, slide rail; 81, first air cylinder; 82, second air cylinder; 100, mechanical arm; 200, workpiece; 300, stage; 400, carrying trolley; 500, conveying mechanism; 3001, support table; 3002, lifting assembly. DETAILED DESCRIPTION

[0027] In order to make the technical problems, technical schemes and beneficial effects solved by the utility model clearer and more apparent, the utility model will be further described in detail below in combination with the drawings and examples. It should be understood that the specific examples described herein are only used to explain the utility model and do not limit the utility model.

[0028] As shown in Figures 1 to 3 An embodiment of the utility model provides a kind of grabbing mechanism, including mounting plate 1, first clamping jaw 2, second clamping jaw 3, first drive assembly 4 and mechanical arm 100, mechanical arm 100 is connected with mounting plate 1 and is used to transfer mounting plate 1, mounting plate 1 has opposite first end and second end, first clamping jaw 2 is located at the first end of mounting plate 1, second clamping jaw 3 is located at the second end of mounting plate 1, and accommodating space 5 is formed between first clamping jaw 2 and second clamping jaw 3;

[0029] The first driving assembly 4 is connected with the first clamping jaw 2, and is used to drive the first clamping jaw 2 to move towards or away from the second clamping jaw 3, so that the space size of the containing space 5 changes, so that the first clamping jaw 2 and the second clamping jaw 3 clamp or release the workpiece 200. In the embodiment, the first end and the second end of the mounting plate 1 are two ends corresponding to the length direction of the mounting plate 1. The first clamping jaw 2 and the second clamping jaw 3 are rigid, and in other embodiments, the first clamping jaw 2 is flexible, or one of the first clamping jaw 2 and the second clamping jaw 3 is rigid and the other is flexible. In addition, in the embodiment, the first clamping jaw 2 and the second clamping jaw 3 are provided with structures for facilitating clamping of the workpiece 200, including grooves, anti-skid structures and the like. The workpiece 200 in the application can be a single-layer finished circuit board (PCB), or a multi-layer finished circuit board stacked together. When grabbing the finished circuit board, the grabbing mechanism in the embodiment can grab the finished circuit board of a certain thickness from both sides of the whole stack, improving the grabbing efficiency. At the same time, the mechanical arm 100 of the embodiment is prior art, preferably a multi-axis mechanical arm 100, a rotating member, a first connecting rod rotatably connected with the first rotating member, a second connecting rod rotatably connected with the first connecting rod, a second rotating member rotatably connected with one end of the second connecting rod, a third connecting rod rotatably connected with one end of the second rotating member, a third rotating member rotatably connected with the third connecting rod, the multi-axis mechanical arm 100 further comprising a driving assembly for driving the first rotating member, the first connecting rod, the second connecting rod, the second rotating member, the third connecting rod and the third rotating member to move, and the mounting plate 1 is installed on the third rotating member. The multi-axis mechanical arm 100 of the embodiment is prior art, preferably having six rotating shafts, which can rotate freely in a three-dimensional space, and has three rotating members, which can change the position of the end of the multi-axis mechanical arm 100 through the rotation of each rotating member.

[0030] In an embodiment, the grabbing mechanism further comprises a third clamping jaw 6, a fourth clamping jaw 7 and a second driving assembly 8, the third clamping jaw 6 is arranged on the first end of the mounting plate 1 and is spaced apart from the third clamping jaw 6 along the first direction, the fourth clamping jaw 7 is arranged on the second end of the mounting plate 1 and is spaced apart from the fourth clamping jaw 7 along the first direction, and the direction from the first end to the second end of the mounting plate 1 is perpendicular to the first direction;

[0031] The first clamping jaw 2 and the second clamping jaw 3 are rigid, and the third clamping jaw 6 and the fourth clamping jaw 7 are flexible;

[0032] The second driving assembly 8 is connected with the third clamping jaw 6 and the fourth clamping jaw 7, and is used to drive the third clamping jaw 6 and the fourth clamping jaw 7 to move towards or away from each other. In the embodiment, the mounting plate 1 is square, the direction from the first end to the second end of the mounting plate 1 is the length direction of the mounting plate 1, and the first direction is the width direction of the mounting plate 1. Meanwhile, the plane of the first clamping jaw 2 used to abut against the workpiece 200 is coplanar with the plane of the third clamping jaw 6 used to abut against the workpiece 200. When the workpiece 200 is grabbed, the two rigid clamping jaws first clamp the workpiece 200, and then the two flexible clamping jaws further clamp the workpiece 200, so that the four clamping jaws are all abutted on the workpiece 200. The flexible clamping jaws in the embodiment can play the role of bottoming, and further prevent the possibility of falling off the plate.

[0033] In an embodiment, the second driving assembly 8 includes a first air cylinder 81 and a second air cylinder 82. In the direction from the first end to the second end of the mounting plate 1, the cylinder body of the first air cylinder 81 and the cylinder body of the second air cylinder 82 are arranged on the mounting plate 1 in sequence, the outer end of the piston rod of the first air cylinder 81 is connected with the third clamping jaw 6, and the outer end of the piston rod of the second air cylinder 82 is connected with the fourth clamping jaw 7. In the embodiment, the first end of the mounting plate 1 is provided with two first clamping jaws 2, the second end of the mounting plate 1 is provided with two second clamping jaws 3, the third clamping jaw 6 is arranged between the two first clamping jaws 2, and the fourth clamping jaw 7 is arranged between the two second clamping jaws 3. In this way, the stability of clamping can be further ensured, and the situation of falling off the plate during grabbing can be prevented.

[0034] In an embodiment, the first driving assembly 4 includes a driving motor 41, a driving pulley 42, a driven pulley 43, a transmission belt 44, and a fixing seat 45. The housing of the driving motor 41 is arranged on the mounting plate 1, the driving pulley 42 is installed on the output shaft of the driving motor 41, the driven pulley 43 is arranged in the direction from the first end to the second end of the mounting plate 1 and is spaced apart from the driving pulley 42, the transmission belt 44 is wound around the driving pulley 42 and the driven pulley 43, the fixing seat 45 is installed on the transmission belt 44, and the first clamping jaw 2 is arranged on the fixing seat 45. In the embodiment, the first air cylinder 81 and the third clamping jaw 6 are also arranged on the fixing seat 45, and the driving motor 41 can drive the first air cylinder 81 and the third clamping jaw 6 to move together. In other embodiments, the first air cylinder 81 and the third clamping jaw 6 are not arranged on the mounting seat.

[0035] In an embodiment, the grabbing mechanism further comprises a connecting plate 46 and a sliding rail 47, the sliding rail 47 is installed on the mounting plate 1 and extends along the direction from the first end to the second end of the mounting plate 1, the connecting plate 46 is installed on the fixing seat 45 and is slidingly connected in the sliding rail 47, and the first jaw 2 is arranged on the connecting plate 46. In this embodiment, two sliding rails 47 are arranged on the mounting plate 1, and the two sliding rails 47 are arranged on the same side of the mounting plate 1 in the first direction, and the conveying belt 44 is located between the two sliding rails 47, so that the stability of the movement of the fixing seat 45 is improved, and the workpiece 200 can be clamped stably.

[0036] According to the grabbing mechanism of the embodiment, when the grabbing mechanism needs to grab the workpiece 200, the first driving assembly 4 drives the first jaw 2 to move away from the second jaw 3, so that the size of the accommodation space 5 becomes larger. At the same time, the mechanical arm 100 moves the mounting plate 1 to the position corresponding to the workpiece 200 to be grabbed, and the first driving assembly 4 drives the first jaw 2 to move towards the second jaw 3, so that the size of the accommodation space 5 becomes smaller, until the first jaw 2 and the second jaw 3 abut on the opposite two ends of the workpiece 200, so that the first jaw 2 and the second jaw 3 complete the clamping of the workpiece 200. Then the mechanical arm 100 moves the first jaw 2, the second jaw 3 and the mounting plate 1 clamping the workpiece 200 to the required position, and the first driving assembly 4 drives the first jaw 2 to move away from the second jaw 3, so as to place the workpiece 200 at the required position, and complete the grabbing and transferring of the workpiece 200. Instead of the conventional suction adsorption by the suction cup, the embodiment completes the grabbing of the workpiece 200 by the abutting of the first jaw 2 and the second jaw 3 on the two opposite sides of the workpiece 200, which does not affect the grabbing of the workpiece 200 even if the surface of the workpiece 200 has a hole structure. Further, the grabbing mechanism of the embodiment does not fall off during the grabbing of the workpiece 200, which reduces the production cost. The workpiece 200 can be a single-layer or multi-layer circuit board, or other plate-shaped workpiece 200.

[0037] In addition, as shown in the drawings, Figure 4 The utility model discloses an embodiment provides a conveying device, including stage 300 and above-mentioned embodiment's grabbing mechanism, stage 300 has support table 3001, and support table 3001 is used for placing workpiece 200.

[0038] In an embodiment, the conveying device further comprises a trolley 400, the upper portion of the support table 3001 has a region to be docked, and the trolley 400 is used to carry the workpiece 200 to the region to be docked. In the embodiment, the trolley 400 can be moved by rollers or can be moved in the track by sliding connection. Meanwhile, the trolley 400 has a structure similar to the support arm of a forklift, and the trolley 400 carries the workpiece 200 to the region to be docked through the support arm and waits for docking with the support table 3001.

[0039] In an embodiment, the conveying device further comprises a lifting assembly 3002, the lifting assembly 3002 is connected with the support table 3001 and is used to drive the support table 3001 to ascend or descend, so that the support table 3001 can dock with the workpiece 200 in the region to be docked. In the embodiment, when the trolley 400 carries the workpiece 200 to the region to be docked, the lifting assembly 3002 drives the support table 3001 to ascend, so that the support table 3001 receives the workpiece 200 on the trolley 400 in the region to be docked, then the trolley 400 moves away, the lifting assembly 3002 drives the support table 3001 to descend to the initial state, and the grabbing mechanism waits to grab the workpiece 200. In the embodiment, the lifting assembly 3022 can be a cylinder, a motor screw, etc. The support table 3001 is provided with a carrier, and the carrier has the function of supporting and positioning the workpiece 200.

[0040] In an embodiment, the conveying device further comprises a detection assembly, the detection assembly is used to detect the position of the workpiece 200 on the support table 3001;

[0041] The detection assembly is further used to detect the size of the workpiece 200 on the support table 3001;

[0042] The detection assembly is further used to detect the number of layers of the workpiece 200 stacked on the support table 3001. In the embodiment, the detection assembly comprises an industrial camera comprising a light source, the industrial camera can measure the size, number of layers and position of the workpiece 200 (finished PCB) by taking a photo, and guide the robot arm 100 (robot) to adjust the size of the clamping jaw mechanism to grab the workpiece 200 (finished PCB). In the embodiment, the industrial camera can be installed on the frame.

[0043] In an embodiment, the conveying device further comprises a frame and a conveying mechanism 500, the conveying mechanism 500, the grabbing mechanism and the carrier 300 are arranged inside the frame, the conveying mechanism 500 has a to-be-placed area for containing the workpiece 200 transferred by the mechanical arm 100, and the conveying mechanism 500 is used for transferring the workpiece 200 in the to-be-placed area to the outside of the frame. In this embodiment, the conveying mechanism 500 comprises a conveying roller and a conveying belt wound on the conveying roller, the conveying belt has the to-be-placed area, the mechanical arm 100 grabs the workpiece 200 to the to-be-placed area for temporary storage, and when the workpiece 200 is required by an external machine, the conveying mechanism 500 conveys the workpiece 200 in the to-be-placed area to a required position outside the frame.

[0044] The above merely describes the preferred embodiments of the present application and is not intended to limit the present application, and any modification, equivalent replacement and improvement made within the spirit and principle of the present application shall be included in the protection scope of the present application.

Claims

1. A gripping mechanism, characterized in that, The device comprises a mounting plate, a first clamping jaw, a second clamping jaw, a first driving assembly and a mechanical arm, the mechanical arm is connected with the mounting plate and is used for transferring the mounting plate, the mounting plate has opposite first and second ends, the first clamping jaw is arranged at the first end of the mounting plate, the second clamping jaw is arranged at the second end of the mounting plate, and a containing space is formed between the first clamping jaw and the second clamping jaw. The first driving assembly is connected with the first clamping jaw and is used for driving the first clamping jaw to move towards or away from the second clamping jaw, so that the space size of the containing space changes, and the first clamping jaw and the second clamping jaw clamp or release the workpiece.

2. The grasping mechanism of claim 1, wherein, The device further comprises a third clamping jaw, a fourth clamping jaw and a second driving assembly, the third clamping jaw is arranged at the first end of the mounting plate and is spaced apart from the third clamping jaw along a first direction, the fourth clamping jaw is arranged at the second end of the mounting plate and is spaced apart from the fourth clamping jaw along the first direction, and the direction from the first end to the second end of the mounting plate is perpendicular to the first direction. The first clamping jaw and the second clamping jaw have rigidity, and the third clamping jaw and the fourth clamping jaw have flexibility. The second driving assembly is connected with the third clamping jaw and the fourth clamping jaw and is used for driving the third clamping jaw and the fourth clamping jaw to move towards or away from each other.

3. The grasping mechanism of claim 2, wherein, The second driving assembly comprises a first cylinder and a second cylinder, along the direction from the first end to the second end of the mounting plate, the cylinder body of the first cylinder and the cylinder body of the second cylinder are arranged on the mounting plate in sequence, the outer end of the piston rod of the first cylinder is connected with the third clamping jaw, and the outer end of the piston rod of the second cylinder is connected with the fourth clamping jaw.

4. The grasping mechanism of claim 1, wherein, The first driving assembly comprises a driving motor, a driving pulley, a driven pulley, a transmission belt and a fixed seat, the housing of the driving motor is arranged on the mounting plate, the driving pulley is installed on the output shaft of the driving motor, along the direction from the first end to the second end of the mounting plate, the driven pulley is arranged in a spaced manner with the driving pulley, the transmission belt is arranged around the driving pulley and the driven pulley, the fixed seat is installed on the transmission belt, and the first clamping jaw is arranged on the fixed seat.

5. The grasping mechanism of claim 4, wherein, The device further comprises a connecting plate and a sliding rail, the sliding rail is installed on the mounting plate and extends along the direction from the first end to the second end of the mounting plate, the connecting plate is installed on the fixed seat and is connected in a sliding manner in the sliding rail, and the first clamping jaw is arranged on the connecting plate.

6. A delivery device characterized by, The device comprises a support table and the grabbing mechanism of any one of claims 1-5, and the support table is used for placing the workpiece.

7. The delivery device of claim 6, wherein, The device further comprises a carrying trolley, an upper portion of the support table has a to-be-docked area, and the carrying trolley is used for carrying the workpiece to the to-be-docked area.

8. The delivery device of claim 7, wherein, The device further comprises a lifting assembly, the lifting assembly is connected with the support table and is used for driving the support table to rise or fall, so that the support table can dock the workpiece in the to-be-docked area.

9. The delivery device of claim 6, wherein, The device further comprises a detection assembly, the detection assembly is used for detecting the position of the workpiece on the support table. The detection assembly is also used for detecting the size of the workpiece on the support table; The detection assembly is also used for detecting the number of layers of the workpiece stacked on the support table.

10. The delivery device of claim 6, wherein, Further comprising a frame and a conveying mechanism, the conveying mechanism, the grabbing mechanism and the carrier are arranged inside the frame, the conveying mechanism has a to-be-placed area for containing the workpiece transferred by the mechanical arm, and the conveying mechanism is used for transferring the workpiece in the to-be-placed area to the outside of the frame.

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