Electric mechanical clamping jaw for grabbing PCB

Abstract

The utility model belongs to the technical field of mechanical clamping jaws, and particularly relates to an electric mechanical clamping jaw for grabbing a PCB (printed circuit board), which comprises a support frame, a horizontal slide rail is mounted at the bottom of the support frame, a clamping jaw component is slidably sleeved below the horizontal slide rail, the clamping jaw component comprises two vertical clamping pieces which are symmetrical to each other and are provided with downward openings, and the vertical clamping pieces are connected with the horizontal slide rail in a sliding manner. The outer side of the vertical clamping piece is connected with a telescopic air cylinder, and the upper portion of the vertical clamping piece is in driving connection with a linear lead screw. The mechanical telescopic clamping jaw provided by the utility model can quickly and stably take and place PCBs, can be quickly adjusted and adaptively clamp PCB bodies with different widths as required, and is beneficial to improving the production efficiency and the product quality of the PCBs.

Description

TECHNICAL FIELD

[0001] The utility model relates to mechanical gripper technical field, specifically, relate to a kind of electric mechanical gripper for grabbing PCB. BACKGROUND

[0002] PCB (Printed Circuit Board) is the carrier of electrical connection of electronic components. In industry, in order to realize mass production of PCB, generally, multiple PCBs are made on a board, and then a PCB boarder cuts each PCB.

[0003] In the process of PCB board separation, the online separator traditionally uses suction cups to take and place materials. However, this traditional method has many shortcomings, with slow response being the most prominent. In addition, the materials are prone to shift during transportation, which seriously hinders the improvement of production efficiency and has gradually failed to meet the needs of fierce market competition.

[0004] In the patent document with patent number CN202021970213.4 and the name "online automatic separator", the disclosed separator structure includes a main board, a main support frame, and a secondary support frame. The main board is connected with the main support frame and the secondary support frame on the upper surface. The first sensing block is connected with the first support block on one surface. The first support block is connected with the first support plate on the lower surface. The second sensing block is connected with the second support block on one surface. The second support block is connected with the first hydraulic device on the lower surface. The first hydraulic device is connected with the first hydraulic column on the lower surface. The first hydraulic column is connected with the first suction base plate on the lower surface. The secondary slide rail is connected with the base plate suction machine and the plate edge suction machine inside. The utility model controls the movement of the first sensing block through the controller, so that the first suction base plate places the plate body into the separation clamp from the plate body placing box. This facilitates cutting of the plate body. The plate edge suction machine and the base plate suction machine are provided to facilitate placing the cut plate edge into the plate edge placing box and placing the base plate into the base plate placing box to achieve automatic cutting and separation. UTILITY MODEL CONTENTS

[0005] Since the online automatic separator currently commonly uses pneumatic suction cups for PCB taking and placing operations, there are many problems such as slow response, PCB shaking and shifting, which seriously hinder the improvement of production efficiency. Therefore, an electric mechanical gripper for grabbing PCB is provided.

[0006] An electric mechanical gripper for grabbing PCB includes a support frame, the bottom of which is installed with a horizontal slide rail. A gripper assembly is slidably connected to the lower part of the horizontal slide rail. The gripper assembly includes two vertically symmetrical vertical clamps with openings downward. The outer side of the vertical clamps is connected with a telescopic air cylinder, and the upper part of the vertical clamps is drivingly connected with a linear lead screw.

[0007] Further, servo motors are mounted above the linear lead screws on the support frame, and the servo motors are drivingly connected with the linear lead screws through synchronous pulley.

[0008] Further, the clamping jaw assembly comprises a sliding block slidingly connected with the horizontal sliding rail, the vertical clamping pieces are installed on the lower side of the sliding block, the linear lead screw is threadedly connected with a nut arranged on the sliding block, and the telescopic cylinder is drivingly connected with another sliding block.

[0009] Further, the vertical clamping pieces are in inverted L shape, and weight-reducing hollow holes are formed in the vertical clamping pieces.

[0010] Further, circuit board clamping grooves are arranged on the inner sides of the vertical clamping pieces.

[0011] Further, induction sheets are connected with the outer sides of the vertical clamping pieces, induction switches are arranged on the support frame corresponding to the induction sheets, and the induction switches and the linear lead screw are electrically connected with an industrial control module.

[0012] Further, a proximity sensor is arranged on the clamping jaw assembly, and the proximity sensor and the telescopic cylinder are electrically connected with the industrial control module.

[0013] Further, a height sensor is installed on the outer side of the clamping jaw assembly, and the height sensor is electrically connected with the telescopic cylinder and the industrial control module.

[0014] Further, a displacement driving assembly is connected with the support frame, and the displacement driving assembly is electrically connected with the height sensor and the industrial control module.

[0015] Further, a plurality of threaded butt joints are arranged on the top and the outer side of the support frame.

[0016] The utility model discloses the advantages are in:

[0017] By setting the lead screw drive and telescopic cylinder on the clamping jaw, the interval of the two clamping jaws can be adjusted by the lead screw, and the PCB board of various width sizes can be adapted. The telescopic cylinder has a high running speed, and is used for driving the opening and closing of the clamping jaw to realize efficient PCB board taking and placing. The clamping piece type design with grooves can ensure that the clamping jaw does not deviate when moving the PCB board. In addition, the overall structure of the clamping jaw is compact and light in weight, and various moving mechanisms can be conveniently connected. BRIEF DESCRIPTION OF DRAWINGS

[0018] In order to more clearly illustrate the technical scheme in the embodiments of the utility model or the prior art, the following will briefly introduce the drawings needed to be used in the embodiment or the prior art description, and obviously, the drawings in the following description are only some embodiments of the utility model, and those skilled in the art can also obtain other drawings according to these drawings without creating creative labor.

[0019] Fig. 1 Structure diagram of the electric mechanical gripper for grabbing PCB;

[0020] Fig. 2 Structure diagram of the electric mechanical gripper for grabbing PCB;

[0021] Fig. 3 Structure diagram of the electric mechanical gripper for grabbing PCB;

[0022] The accompanying drawings are included to provide a further understanding of the application, and are incorporated herein and constitute a part of this application.

[0023] 1, support frame; 101, threaded butt joint hole; 2, horizontal slide rail; 3, gripper assembly; 301, vertical clamping piece; 302, sliding block; 4, linear screw; 401, servo motor; 402, synchronous pulley; 403, nut; 5, telescopic cylinder; 6, lightening hollow hole; 7, circuit board card slot; 8, inductive switch; 801, inductive sheet; 9, proximity sensor; 10, height sensor. DETAILED DESCRIPTION

[0024] Since the pneumatic suction cup is usually used in the online automatic board separating machine for PCB taking and placing operation, there are many problems such as slow response speed, PCB easy to shake and offset, which seriously hinder the improvement of production efficiency, and the electric mechanical gripper for grabbing PCB is provided.

[0025] In order to make the purpose, technical scheme and advantages of the embodiments of the present application more clear, the technical scheme in the embodiments of the present application will be described clearly and completely below in combination with the drawings in the embodiments of the present application. Obviously, the described embodiments are part of the embodiments of the present application, rather than all the embodiments. Based on the embodiments in the present application, all other embodiments obtained by those skilled in the art without creative labor fall within the scope of protection of the present application.

[0026] It should be noted that the terms such as "inner", "middle" and "one" cited in the present specification are only for the convenience of clear description, and are not used to limit the scope of the present application. The change or adjustment of the relative relationship without substantial change of technical content is also regarded as the scope of the present application, and it is stated in advance.

[0027] In the description of the utility model, it is understood that the terms "upper", "lower", "front", "rear", "left", "right", "vertical", "horizontal" and the like indicate the orientation or positional relationship shown in the drawings, and are only for the convenience of describing the utility model and simplifying the description, and do not indicate or imply that the indicated device or element must have a particular orientation, be constructed and operated in a particular orientation, and therefore cannot be understood as limiting the utility model. In addition, the terms "first", "second" and the like are only for the purpose of description, and cannot be understood as indicating or implying relative importance or implicitly indicating the number of the indicated technical features. Therefore, the features limited by "first", "second" and the like can explicitly or implicitly include one or more features. In the description of the utility model, it should be explained that, unless otherwise explicitly specified and limited, the terms "mounting", "connection", "connection" should be understood in a broad sense, for example, it can be fixedly connected, or it can be detachably connected, or integrally connected, it can be directly connected, or indirectly connected through an intermediate medium, or the communication between two elements. For ordinary skilled in the art, the specific meaning of the above terms in the utility model can be understood according to the specific circumstances.

[0028] As shown in Figs. 1 to 3 The utility model provides a kind of electric mechanical gripper for grabbing PCB, including support frame 1, the bottom of the support frame 1 is equipped with horizontal slide rail 2, the horizontal slide rail 2 is slidably sleeved with gripper assembly 3 below, the gripper assembly 3 includes two mutually symmetrical and open downward vertical clamping pieces 301, the outer side of the vertical clamping piece 301 is connected with telescopic cylinder 5, and the upper side of vertical clamping piece 301 is drivingly connected with linear lead screw 4. The gripper assembly 3 includes sliding block 302 connected on horizontal slide rail 2, the vertical clamping piece 301 is installed on the lower side of sliding block 302, the linear lead screw 4 is threadedly connected with nut 403 arranged on the left sliding block 302, and the telescopic cylinder 5 is drivingly connected with the right sliding block 302.

[0029] When gripper runs, the interval between two vertical clamping pieces 301 is adjusted using linear lead screw 4 according to the width of PCB to be grabbed, and the interval value is slightly smaller than the width of PCB, so that PCB can be clamped. And telescopic cylinder 5 can drive one side of vertical clamping piece 301 to open and shrink, so as to realize taking and placing action.

[0030] Servo motor 401 is installed on the upper side of linear lead screw 4 on the support frame 1, and the servo motor 401 is drivingly connected with linear lead screw 4 through synchronous pulley 402. The length of the up-down layout lead screw driving mechanism is short, and the occupied volume is small, which is convenient for connecting displacement equipment.

[0031] The vertical clamping piece 301 is in inverted L shape, and a lightening hollow hole 6 is formed in the vertical clamping piece 301. The clamping piece structure in inverted L shape is relatively firm and not easy to shake. The plurality of lightening hollow holes 6 on the vertical clamping piece 301 can help to reduce the load of the displacement driving of the clamping jaw while ensuring the structural strength.

[0032] The inner side of the vertical clamping piece 301 is provided with a circuit board clamping groove 7 outwardly recessed. The long strip-shaped circuit board clamping groove 7 can clamp the PCB when the clamping jaw clamps the circuit board, avoid its shaking and offset, and improve the movement stability of clamping the PCB.

[0033] The outer side of the vertical clamping piece 301 is connected with a sensing sheet 801, and the support frame 1 is provided with a sensing switch 8 corresponding to the sensing sheet 801, and the sensing switch 8 and the linear guide 4 are electrically connected with an industrial control module (not marked in the figure). The sensing switch 8 can automatically close the linear guide 4 when the distance between the two vertical clamping pieces 301 is set to be out of limit, to avoid damage to the structure caused by excessive movement. The industrial control module can use the commonly used industrial computer on the market to adjust the operating parameters of each component.

[0034] The clamping jaw assembly 3 is provided with a proximity sensor 9, and the proximity sensor 9 and the telescopic cylinder 5 are electrically connected with the industrial control module. The proximity sensor 9 is used to detect whether the PCB has been transported to the lower side of the clamping jaw, to realize the automatic operation of the clamping jaw.

[0035] The outer side of the clamping jaw assembly 3 is provided with a height sensor 10, and the height sensor 10 is electrically connected with the telescopic cylinder 5 and the industrial control module. If the PCB is not placed horizontally, the outer side will be upwardly tilted or downwardly tilted, at this time, the height sensor 10 detects that the distance value between the clamping jaw and the PCB will be smaller or larger, so as to realize the detection of the offset of the PCB. In the embodiment, the height sensor 10 is installed on the outer side of the left vertical clamping piece 301 which is fixed and immovable when the clamping jaw operates.

[0036] The support frame 1 is connected with a displacement driving assembly (not marked in the figure), and the displacement driving assembly is electrically connected with the height sensor 10 and the industrial control module. The displacement driving assembly can use the three-axis mechanical arm or multi-axis lifting slide table on the market, to facilitate the accurate positioning of the relative height of the vertical clamping piece 301 and the PCB by the height sensor 10, so that the PCB is accurately clamped into the circuit board clamping groove 7 when clamping.

[0037] The top and outer side of the support frame 1 are provided with a plurality of threaded butt joints 101. The threaded butt joints 101 facilitate the butt joint of the clamping jaw to various displacement driving assemblies.

[0038] The above is further detailed description of the utility model in combination with specific preferred embodiments, and cannot be determined that the specific implementation of the utility model is limited to these descriptions, that is, all equivalent changes and modifications made within the scope of the present application should still be within the scope of the utility model.

Claims

1. An electro-mechanical gripper for grabbing a PCB, characterized in that, Including support frame, the bottom of support frame is installed with horizontal slide rail, the lower side of horizontal slide rail is sleeved with clamping jaw assembly, clamping jaw assembly includes two mutually symmetrical vertical clamping pieces which are opened downward, the outer side of vertical clamping piece is connected with telescopic air cylinder, the upper side of vertical clamping piece is drivenly connected with linear lead screw.

2. The electromechanical gripper for grabbing PCBs according to claim 1, characterized in that, The upper side of support frame is installed with servo motor corresponding to linear lead screw, and servo motor is drivenly connected with linear lead screw through synchronous pulley.

3. The electromechanical gripper for grabbing PCBs according to claim 1, characterized in that, The clamping jaw assembly includes sliding block that is slidably connected on horizontal slide rail, the lower side of vertical clamping piece is installed on sliding block, the linear lead screw is threadedly connected with nut arranged on one sliding block, and the telescopic air cylinder is drivenly connected with another sliding block.

4. The electromechanical gripper for grabbing PCBs of claim 1, wherein, The vertical clamping piece is inverted L-shaped, and the weight-reducing hollow hole is formed in the vertical clamping piece.

5. The electromechanical gripper for grabbing PCBs according to claim 4, characterized in that, The inner side of vertical clamping piece is provided with circuit board clamping groove that is outwardly recessed.

6. The electro-mechanical gripper for grabbing PCBs according to any of claims 1-5, characterized in that, The outer side of vertical clamping piece is connected with induction sheet, the support frame is provided with induction switch corresponding to induction sheet, and the induction switch and linear lead screw are electrically connected with industrial control module.

7. The electromechanical gripper for grabbing PCBs according to claim 6, characterized in that, The clamping jaw assembly is provided with proximity sensor, and the proximity sensor and telescopic air cylinder are electrically connected with industrial control module.

8. The electromechanical gripper for grabbing PCBs according to claim 6, characterized in that, The outer side of clamping jaw assembly is installed with height sensor, and the height sensor is electrically connected with telescopic air cylinder and industrial control module.

9. The electromechanical gripper for grabbing PCBs according to claim 8, characterized in that, The support frame is connected with displacement driving assembly, and the displacement driving assembly is electrically connected with height sensor and industrial control module.

10. The electromechanical gripper for grabbing PCBs of claim 1, wherein, The top and outer side of support frame are provided with a plurality of threaded butt joints.

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