Double-sucker PCB (Printed Circuit Board) taking and placing structure of spider hand board collecting machine

Abstract

The utility model relates to the technical field of PCB (printed circuit board) taking and placing structures, in particular to a double-sucker PCB taking and placing structure of a spider hand board collecting machine, which comprises a parallel robot body, a mounting structure is arranged at the bottom of the parallel robot body and comprises a fixing seat, the fixing seat is fixedly connected to the bottom of the parallel robot body, a bottom plate is fixedly connected to the fixing seat, and the bottom plate is fixedly connected to the bottom of the parallel robot body. A buffer structure is arranged on the bottom plate, the buffer structure comprises four pairs of sliding sleeves, the four pairs of sliding sleeves are fixedly connected with the bottom plate, the four pairs of sliding sleeves are arranged at the two ends of the bottom plate respectively, sliding rods are connected to the sliding sleeves in a sliding mode, and a rubber plate is fixedly connected between every two adjacent pairs of sliding rods. The telescopic air cylinder pushes the two fixing blocks and the rubber plate at the bottom to move downwards, four sliding rods on the rubber plate slide relative to sliding sleeves, the stability in the sliding process is improved, a connecting plate avoids the slipping problem, and the rubber plate can be deformed to reduce interference pressure for PCBs with different thicknesses.

Description

Technical Field

[0001] This utility model relates to a spider-hand PCB take-up machine, specifically a spider-hand PCB take-up machine with a double suction cup PCB pick-and-place structure, belonging to the technical field of PCB pick-and-place structure. Background Technology

[0002] Spider-hand board handling machine is an automated equipment used in industrial production. It has multiple movable joints and can move flexibly in three-dimensional space. It is often used in circuit board production, logistics and handling and other scenarios. In particular, a board picking and placing device is often used in the production of PCB boards to efficiently and accurately pick up and place PCB boards.

[0003] However, traditional PCB pick-up machines typically use a robotic arm to move a single suction cup to a designated position and then use the suction cup to pick up the PCB board. Therefore, they can only pick up one PCB board at a time, resulting in low operating efficiency. Furthermore, when picking up and placing PCB boards of different thicknesses, the impact force generated by factors such as PCB board height error and speed when the suction cup contacts the PCB board can easily damage the suction cup itself, resulting in high cost of suction cup consumables and poor practicality. Utility Model Content

[0004] The purpose of this utility model is to provide a double-suction cup PCB pick-and-place structure for a spider-hand PCB pick-and-place machine in order to solve the above problems. The rubber plate and two vacuum suction cups are driven to move downward by the telescopic end of the telescopic cylinder, so that the two vacuum suction cups can respectively pick up two small PCBs, thereby improving the pick-and-place efficiency. At the same time, during the downward movement of the vacuum suction cups, the deformation of the rubber plate and the telescopic characteristics of the telescopic cylinder itself play a buffering role, preventing the interference pressure from damaging the vacuum suction cups.

[0005] This utility model achieves the above-mentioned objectives through the following technical solution: a spider-hand PCB pick-and-place structure with dual suction cups, comprising a parallel robot body, a mounting structure at the bottom of the parallel robot body, the mounting structure including a fixed base, a base plate fixedly connected to the bottom of the parallel robot body, a buffer structure on the base plate, the buffer structure including four pairs of sliding sleeves, all four pairs of sliding sleeves being fixedly connected to the base plate, the four pairs of sliding sleeves being respectively located at both ends of the base plate, sliding rods being slidably connected to the sliding sleeves, and rubber plates being fixedly connected between adjacent pairs of sliding rods.

[0006] Preferably, the two rubber plates are arranged symmetrically, and the rubber plates have a "convex" shaped structure.

[0007] Preferably, a connecting plate is fixedly connected between two adjacent sliding rods, and the bottom surface of the connecting plate abuts against the sliding sleeve.

[0008] Preferably, a vacuum suction cup is fixedly connected to the bottom surface of the rubber sheet, and the two vacuum suction cups are arranged symmetrically.

[0009] Preferably, the fixing seat is located at the center of the base plate, and a driving structure is connected to the base plate.

[0010] Preferably, the driving structure includes a telescopic cylinder, with a telescopic cylinder fixedly connected to each end of the base plate, a fixing block provided at the bottom of the telescopic cylinder, the fixing block being fixedly connected to an adjacent rubber plate, and the telescopic end of the telescopic cylinder being fixedly connected to the fixing block.

[0011] Preferably, the two telescopic cylinders are arranged symmetrically, and the telescopic ends of the telescopic cylinders are slidably connected to the base plate.

[0012] The beneficial effects of this utility model are as follows: The bottom of the parallel robot body is provided with an installation structure, which includes a fixed base. The fixed base is fixedly connected to the bottom of the parallel robot body, and a base plate is fixedly connected to the fixed base. The base plate is provided with a buffer structure, which includes four pairs of sliding sleeves. All four pairs of sliding sleeves are fixedly connected to the base plate. The four pairs of sliding sleeves are respectively located at both ends of the base plate. Sliding rods are slidably connected to the sliding sleeves. A rubber plate is fixedly connected between two adjacent pairs of sliding rods. The telescopic cylinder pushes the two fixed blocks and the bottom rubber plate downwards respectively. The four sliding rods on the rubber plate slide relative to the sliding sleeves, which improves the stability during the sliding process. The connecting plate avoids slippage. Furthermore, when dealing with PCB boards of different thicknesses, the rubber plate can reduce interference pressure by deforming. Attached Figure Description

[0013] Figure 1 This is a schematic diagram of the overall structure of this utility model;

[0014] Figure 2 This is a schematic diagram of the connection structure between the mounting structure and the buffer structure of this utility model.

[0015] In the diagram: 1. Parallel robot body; 2. Mounting structure; 201. Fixed base; 202. Base plate; 3. Drive structure; 301. Telescopic cylinder; 302. Fixed block; 4. Buffer structure; 401. Sliding sleeve; 402. Sliding rod; 403. Connecting plate; 404. Rubber plate; 5. Vacuum suction cup. Detailed Implementation

[0016] The technical solutions of the present utility model will be clearly and completely described below with reference to the accompanying drawings of the embodiments. Obviously, the described embodiments are only some embodiments of the present utility model, and not all embodiments. Based on the embodiments of the present utility model, all other embodiments obtained by those of ordinary skill in the art without creative effort are within the protection scope of the present utility model.

[0017] Please see Figure 1-2 As shown, the spider-hand PCB pick-and-place machine with dual suction cups includes a parallel robot body 1. The bottom of the parallel robot body 1 has an installation structure 2, which includes a fixed base 201. The fixed base 201 is fixedly connected to the bottom of the parallel robot body 1. A base plate 202 is fixedly connected to the fixed base 201. A buffer structure 4 is provided on the base plate 202. The buffer structure 4 includes four pairs of sliding sleeves 401, all of which are fixedly connected to the base plate 202. Sliding rods 402 are slidably connected to the sliding sleeves 401. Rubber plates 404 are fixedly connected between adjacent pairs of sliding rods 402. The two rubber plates 404 are symmetrically arranged and have a "convex" shape. A connecting plate 403 is fixedly connected between adjacent pairs of sliding rods 402. The bottom surface of the connecting plate 403 abuts against the sliding sleeves 401. (The last sentence appears to be incomplete and possibly refers to a telescopic cylinder.) During the outward extension of the telescopic end 301, the four sliding rods 402 on the rubber plate 404 slide relative to the sliding sleeve 401, improving the stability during the sliding process. The connecting plate 403 avoids slippage. Furthermore, when dealing with PCB boards of different thicknesses, the rubber plate 404 can reduce interference pressure by deforming. At the same time, the telescopic cylinder 301, with its own telescopic characteristics and the guidance of the sliding rods 402, allows the vacuum suction cup 5 to have a certain displacement compensation space, preventing interference pressure from damaging the vacuum suction cup 5 and reducing the consumable cost of the vacuum suction cup 5. The bottom surface of the rubber plate 404 is fixedly connected to the vacuum suction cup 5. The two vacuum suction cups 5 are symmetrically arranged. When the vacuum generator is activated and the solenoid valve is opened, the positive pressure airflow passes through the vacuum generator to generate negative pressure for suction. A vacuum is formed between the two vacuum suction cups 5 and the PCB board, generating suction force to firmly adsorb the PCB board, resulting in high suction efficiency.

[0018] As a technical optimization of this utility model, four pairs of sliding sleeves 401 are respectively disposed at both ends of the base plate 202, and the fixed seat 201 is disposed at the center of the base plate 202. The fixed seat 201 together with the parts on the base plate 202 are installed at the bottom of the parallel robot body 1. During the board retrieval process, the position of the PCB board is first locked by taking a picture with a vision camera. When the device receives the board retrieval command, the host computer algorithm software controls the parallel robot body 1 to move according to the set program. The robotic arm drives the fixed seat 201 and the parts on the base plate 202 to move above the PCB board, which facilitates the subsequent board retrieval operation.

[0019] As a technical optimization of this utility model, a driving structure 3 is connected to the base plate 202. The driving structure 3 includes a telescopic cylinder 301. A telescopic cylinder 301 is fixedly connected to each end of the base plate 202. A fixing block 302 is provided at the bottom of the telescopic cylinder 301. The fixing block 302 is fixedly connected to the adjacent rubber plate 404. The telescopic end of the telescopic cylinder 301 is fixedly connected to the fixing block 302. The two telescopic cylinders 301 are symmetrically arranged. The telescopic end of the telescopic cylinder 301 is slidably connected to the base plate 202. Then, the telescopic ends of the two telescopic cylinders 301 extend outward, driving the vacuum suction cup 5 to move downward until the vacuum suction cup 5 contacts the surface of the PCB board, thereby realizing the contact between the vacuum suction cup 5 and the PCB board.

[0020] In use, the fixed base 201, along with the parts on the base plate 202, is installed at the bottom of the parallel robot body 1. During the board retrieval process, the position of the PCB board is first locked by taking a picture with a vision camera. When the device receives the board retrieval command, the upper computer algorithm software controls the parallel robot body 1 to move according to the set program. The robotic arm moves the fixed base 201 and the parts on the base plate 202 to above the PCB board, facilitating subsequent board retrieval operations. Then, the telescopic ends of the two telescopic cylinders 301 extend outward, pushing the two fixed blocks 302 and the bottom rubber plate 404 downward respectively. The rubber plate 404 drives the vacuum suction cup 5 downward until the vacuum suction cup 5 contacts the surface of the PCB board, thus achieving contact between the vacuum suction cup 5 and the PCB board. At this time, the vacuum generator is activated, the solenoid valve is opened, and the positive pressure airflow passes through the vacuum generator to generate negative pressure for suction. A vacuum is formed between the two vacuum suction cups 5 and the PCB board, generating suction force to firmly adsorb the PCB board. The system features high suction efficiency. The two vacuum suction cups 5 facilitate quick and accurate positioning of the small PCB board. Simultaneously, as the telescopic cylinder 301 extends outwards, the four sliding rods 402 on the rubber plate 404 slide relative to the sliding sleeve 401, improving stability during sliding. The connecting plate 403 prevents slippage. Furthermore, for PCB boards of varying thicknesses, the rubber plate 404 can reduce interference pressure through deformation. The telescopic cylinder 301, with its telescopic characteristics and the guidance of the sliding rods 402, provides a certain displacement compensation space for the vacuum suction cups 5, preventing interference pressure damage and reducing consumable costs. During board placement, the parallel robot body 1 moves to the designated placement position along a preset path. The solenoid valve closes, and the positive pressure causes the vacuum generator to shut down due to negative pressure. The vacuum suction cups 5 disconnect due to negative pressure, allowing the PCB board to fall freely to the designated position under its own weight, thus completing the operation.

[0021] It will be apparent to those skilled in the art that this invention is not limited to the details of the exemplary embodiments described above, and that it can be implemented in other specific forms without departing from the spirit or essential characteristics of this invention. Therefore, the embodiments should be considered illustrative and non-limiting in all respects, and the scope of this invention is defined by the appended claims rather than the foregoing description. Thus, it is intended that all variations falling within the meaning and scope of equivalents of the claims be included within this invention. No reference numerals in the claims should be construed as limiting the scope of the claims.

[0022] Furthermore, it should be understood that although this specification describes embodiments, not every embodiment contains only one independent technical solution. This narrative style is merely for clarity. Those skilled in the art should consider the specification as a whole, and the technical solutions in each embodiment can also be appropriately combined to form other embodiments that can be understood by those skilled in the art.

Claims

1. A spider-hand PCB pick-and-place structure with dual suction cups, comprising a parallel robot body (1), characterized in that: The bottom of the parallel robot body (1) is provided with an installation structure (2). The installation structure (2) includes a fixed seat (201). The bottom of the parallel robot body (1) is fixedly connected to the fixed seat (201). A bottom plate (202) is fixedly connected to the fixed seat (201). A buffer structure (4) is provided on the bottom plate (202). The buffer structure (4) includes four pairs of sliding sleeves (401). All four pairs of sliding sleeves (401) are fixedly connected to the bottom plate (202). The four pairs of sliding sleeves (401) are respectively arranged at both ends of the bottom plate (202). A sliding rod (402) is slidably connected to the sliding sleeve (401). A rubber plate (404) is fixedly connected between adjacent pairs of sliding rods (402).

2. The spider-hand PCB pick-and-place structure with dual suction cups as described in claim 1, characterized in that: The two rubber plates (404) are symmetrically arranged. The rubber plate (404) has a "convex" - shaped structure.

3. The spider-hand PCB pick-and-place structure with dual suction cups as described in claim 1, characterized in that: A connecting plate (403) is fixedly connected between adjacent two sliding rods (402). The bottom surface of the connecting plate (403) abuts against the sliding sleeve (401).

4. The spider-hand PCB pick-and-place structure with dual suction cups as described in claim 2, characterized in that: A vacuum suction cup (5) is fixedly connected to the bottom surface of the rubber plate (404). The two vacuum suction cups (5) are symmetrically arranged.

5. The spider-hand PCB pick-and-place structure with dual suction cups as described in claim 1, characterized in that: The fixed seat (201) is arranged at the central position of the bottom plate (202). A driving structure (3) is connected to the bottom plate (202).

6. The spider-hand PCB pick-and-place structure with dual suction cups as described in claim 5, characterized in that: The driving structure (3) includes a telescopic cylinder (301). One telescopic cylinder (301) is fixedly connected to each of the two ends of the bottom plate (202). A fixed block (302) is provided at the bottom of the telescopic cylinder (301). The fixed block (302) is fixedly connected to the adjacent rubber plate (404). The telescopic end of the telescopic cylinder (301) is fixedly connected to the fixed block (302).

7. The spider-hand PCB pick-and-place structure with dual suction cups as described in claim 6, characterized in that: The two telescopic cylinders (301) are symmetrically arranged. The telescopic end of the telescopic cylinder (301) is slidably connected to the bottom plate (202).

Images