Clamping jaw device for PCBA assembly
By designing a gripper device with double-layer grippers and positioning pins, combined with vacuum adsorption technology, the problems of coarse and fine positioning in the existing technology have been solved, and continuous production with clamping force controlled within 20N has been achieved, meeting the PCBA assembly requirements.
Patent Information
- Application Number
- CN202423153140.0
- Authority / Receiving Office
- CN · China
- Patent Type
- Utility models(China)
- Current Assignee / Owner
- Filing Date
- 2024-12-20
- Publication Date
- 2025-12-09
- Estimated Expiration
- 2034-12-20
AI Technical Summary
Existing PCBA gripper devices cannot simultaneously satisfy both coarse and fine positioning functions, and the clamping force is difficult to control, which can easily damage the PCBA.
Design a gripper device for PCBA assembly, which uses a combination of double-layer grippers and double-layer positioning pins, combined with a vacuum adsorption mechanism to achieve two positioning methods, and controls the clamping force to within 20N through a SUNK cylinder and a clamping cylinder.
It achieves the clamping requirements of both coarse and fine positioning, with a clamping force of less than 20N, enabling 1 million continuous production cycles and avoiding damage to the PCBA.
Smart Images
Figure CN223643709U_ABST
Abstract
Description
Technical Field
[0001] This utility model relates to the field of steering system technology, specifically a gripper device for PCBA assembly. Background Technology
[0002] In ECU assembly production, at station ST144 of the ECU production line, the PCBA gripper's function is to correctly clamp the PCBA from the material box and install it into the housing. This gripper needs to perform two positioning methods simultaneously: coarse positioning for gripping from the material box, ensuring accurate PCBA gripping even with significant fluctuations in the material box size; and fine positioning for accurately assembling the PCBA into the housing. During assembly into the housing, the gripper needs to be completely released to avoid collisions with the housing. At this point, a separate vacuum mechanism is required to hold the PCBA in place until assembly is complete. Simultaneously, the clamping force of the gripper must be less than 20N to avoid damaging the PCBA.
[0003] To achieve the above functions, the dimensions of a conventional gripper are often very difficult to control. Therefore, this new gripper device is designed. This device integrates functions from the design stage, minimizing space usage. Through the cooperation between double-layer grippers and double-layer locating pins, it meets assembly requirements. Summary of the Invention
[0004] To overcome the shortcomings of the prior art, this utility model provides a gripper device for PCBA assembly, which meets assembly requirements through the cooperation between double-layer grippers and double-layer positioning pins.
[0005] To achieve the above objectives, a gripper device for PCBA assembly is designed, comprising a gripper base plate, a SUNK cylinder, and a vacuum nozzle. The device is characterized in that: the lower part of the gripper base plate is connected to the vacuum nozzle; guide pin telescopic mechanisms are respectively provided on the left and right sides of the vacuum nozzle; the SUNK cylinder is connected to one side of the lower outer part of the gripper base plate, and the drive shaft of the SUNK cylinder is connected to the SUNK gripper; a clamping gripper is connected to the other side of the lower outer part of the gripper base plate via a gripper clamping cylinder; an I / O interface is provided on one side of the upper part of the gripper base plate; and a PCBA in-situ sensor is connected to the other side of the upper part of the gripper base plate.
[0006] The double-layer guide pin telescopic mechanism includes a double-layer guide pin and a guide pin telescopic cylinder. The top of the guide pin telescopic cylinder is connected to a gripper base plate located on the outer side of the top of the vacuum nozzle, and the bottom of the guide pin telescopic cylinder is connected to the double-layer guide pin.
[0007] The two jaws of the SUNK gripper and the clamping jaw are arranged at a 120° interval from each other.
[0008] The jaws of the SUNK gripper and the clamping gripper have an E-shaped double-layer gripper structure.
[0009] The vacuum nozzle is connected to an external air source via an air passage.
[0010] Compared with the prior art, this utility model provides a gripper device for PCBA assembly, which meets the assembly requirements through the cooperation between double-layer grippers and double-layer positioning pins.
[0011] This utility model's gripper device can simultaneously achieve two positioning methods, meeting two different clamping accuracy requirements. During assembly, the gripper can be opened, and the vacuum mechanism can be activated without affecting the PCBA's positioning. Simultaneously, the gripper's clamping force needs to be less than 20N, and it can achieve 1 million continuous production cycles. Attached Figure Description
[0012] Figure 1 This is a three-dimensional view of the structure of this utility model.
[0013] Figure 2 This is the main view of the structure of this utility model.
[0014] Figure 3 This is a schematic diagram of the double-layer guide pin telescopic mechanism in this utility model.
[0015] Figure 4 This is a schematic diagram of the SMACK gripper structure in this utility model.
[0016] Figure 5 This is a schematic diagram of the clamping claw structure in this utility model. Detailed Implementation
[0017] The present invention will be further described below with reference to the accompanying drawings.
[0018] like Figures 1 to 5 As shown, the lower part of the gripper base plate 11 is connected to the vacuum nozzle 4. Guide pin telescopic mechanisms are respectively provided on the left and right sides of the vacuum nozzle 4. The lower outer side of the gripper base plate 11 is connected to the SUNK cylinder 10, and the drive shaft of the SUNK cylinder 10 is connected to the SUNK gripper 1. The other lower outer side of the gripper base plate 11 is connected to the clamping gripper 2 through the gripper clamping cylinder 6. The upper side of the gripper base plate 11 is provided with an IO interface 7. The upper other side of the gripper base plate 11 is connected to the PCBA in-situ sensor 5.
[0019] The double-layer guide pin telescopic mechanism includes a double-layer guide pin and a guide pin telescopic cylinder. The top of the guide pin telescopic cylinder 9 is connected to the gripper base plate 11 located on the outer side of the top of the vacuum nozzle 4, and the bottom of the guide pin telescopic cylinder 9 is connected to the double-layer guide pin 8.
[0020] The two jaws of the SUNK gripper 1 and the clamping jaw 2 are arranged at 120° intervals.
[0021] The jaw heads of the SUNK jaw 1 and clamping jaw 2 are double-layered jaw structures with an E-shaped structure.
[0022] Vacuum nozzle 4 is connected to an external air source via an air passage.
[0023] In this invention, the SUNK cylinder 10 connecting the SUNK gripper 1 is connected to the gripper base plate 11, and the clamping gripper 2 is connected to the gripper clamping cylinder 6. The clamping function of the parts is achieved through the two double-layer grippers of the SUNK gripper 1 and the one double-layer gripper of the clamping gripper 2, with the installation angles of the two double-layer grippers of the SUNK gripper 1 and the one double-layer gripper of the clamping gripper 2 being 120° apart. The three double-layer grippers clamp at three points to achieve the positioning of the PCBA 3. The elastic mechanism of the SUNK cylinder 10 ensures that the gripper force is controlled within 50N. The horizontally mounted gripper clamping cylinder 6 enhances the compatibility of the clamping gripper 2 with PCBAs of different shapes.
[0024] The double-layer guide pin telescopic mechanism is connected to the gripper base plate 11. The double-layer guide pin 8 has a double-layer structure, with the lower layer in a coarse positioning state. During clamping, the three double-layer grippers close first, and then the double-layer guide pin 8 extends, accommodating material position fluctuations of ±0.5mm. The state of the double-layer grippers is maintained horizontally by the robot arm and the parts. If clamping misalignment occurs, the double-layer grippers cannot close properly, and the PCBA in-position sensor 5 will detect this and trigger an alarm.
[0025] When using the upper layer of the double-layer gripper, the double-layer guide pin 8 extends first, and then the double-layer gripper closes to ensure the positioning accuracy of the upper layer. During product installation, the vacuum nozzle 4 starts working, the double-layer guide pin 8 continues to extend, and after the double-layer gripper opens, the robotic arm inserts the PCBA3 into the housing.
[0026] This utility model structure can simultaneously achieve two positioning methods and meet two clamping accuracy requirements.
Claims
1. A gripper device for PCBA assembly, comprising a gripper substrate, a SUNK cylinder, and a vacuum nozzle, characterized in that: The lower part of the gripper base plate (11) is connected to the vacuum nozzle (4). Guide pin telescopic mechanisms are provided on the left and right sides of the vacuum nozzle (4). The lower outer side of the gripper base plate (11) is connected to the SUNK cylinder (10). The drive shaft of the SUNK cylinder (10) is connected to the SUNK gripper (1). The lower outer side of the gripper base plate (11) is connected to the clamping gripper (2) through the gripper clamping cylinder (6). The upper side of the gripper base plate (11) is provided with an IO interface (7). The upper other side of the gripper base plate (11) is connected to the PCBA in-situ sensor (5).
2. The gripper device for PCBA assembly according to claim 1, characterized in that: The guide pin telescopic mechanism includes a double-layer guide pin and a guide pin telescopic cylinder. The top of the guide pin telescopic cylinder (9) is connected to the gripper base plate (11) located on the outer side of the top of the vacuum nozzle (4), and the bottom of the guide pin telescopic cylinder (9) is connected to the double-layer guide pin (8).
3. The gripper device for PCBA assembly according to claim 1, characterized in that: The two jaws of the SUNK gripper (1) and the clamping jaw (2) are arranged at a 120° interval from each other.
4. A gripper device for PCBA assembly according to claim 1 or 3, characterized in that: The jaw heads of the described Shunke jaws (1) and clamping jaws (2) are double-layered jaw structures with an E-shaped structure.
5. A gripper device for PCBA assembly according to claim 1, characterized in that: The vacuum nozzle (4) is connected to an external air source through an air passage.