Automatic plate changing tool structure

Abstract

The utility model relates to the technical field of tool clamps, in particular to an automatic plate changing tool structure which is characterized by comprising a machine frame. The vacuum adsorption assembly is arranged on the surface of one side of the rack and used for adsorbing, taking and placing the plates; the gripper assembly is movably arranged on the machine frame, the gripper assembly can move in a reciprocating mode towards the side where the vacuum adsorption assembly is located, a clamping concave part is arranged on the gripper assembly, and the gripper assembly is movably connected to the periphery of a plate in a buckled mode through the clamping concave part so as to limit loosening of the plate. The clamping stability of the tool structure can be improved.

Description

TECHNICAL FIELD

[0001] The utility model relates to tool fixture technical field especially relates to a kind of automatic change board tool structure. BACKGROUND

[0002] Mainboard is the core component of electronic equipment, as the basic platform of various electronic components (such as processor, storage, input output interface), the performance of mainboard determines the expansibility, performance stability of equipment, with the continuous progress of science and technology, mainboard product is increasingly intelligent, integrated in design, therefore its production difficulty also increasingly increases.

[0003] Among them, automated testing is an important link in the production process of mainboard product, in the process, mainboard needs to be taken and placed multiple times;In this process, corresponding change board tool needs to be used, change board tool is usually arranged on mechanical hand, and the displacement brought by mechanical hand is combined to realize the transfer of plate by clamping plate through change board tool.

[0004] But the conventional tool structure still has many deficiencies, for example, in the process of taking and placing plate, plate is easy to fall under the fast transfer and multi-angle swing of mechanical hand, and there is the problem of unstable grabbing, therefore, the prior art needs to be improved.

[0005] The above information is given as background information only to assist an understanding of the present disclosure and has not been determined or acknowledged as prior art in relation to the present disclosure. CONTENT OF THE UTILITY MODEL

[0006] The utility model provides a kind of automatic change board tool structure to solve the problem of insufficient clamping stability of tool structure in prior art.

[0007] To achieve the above purpose, the utility model provides the following technical scheme:

[0008] A kind of automatic change board tool structure, comprising:

[0009] Frame;

[0010] Vacuum adsorption component, is set to the side surface of the frame, for the adsorption of plate and place;

[0011] And pawl component, movably set in the frame, the pawl component can reciprocate displacement towards the side where the vacuum adsorption component is, the pawl component has clamping recess on it, and the pawl component is movably connected to the periphery of plate by the clamping recess, to limit plate to loosen.

[0012] Preferably, pawl component includes:

[0013] Mounting seat, fixedly set in the frame;

[0014] a driving cylinder fixedly arranged in the mounting base;

[0015] a connecting member rotatably arranged in the mounting base and movably connected with the telescopic rod of the driving cylinder, the driving cylinder being used to drive the connecting member to rotate;

[0016] and a clamping jaw, the clamping jaw being connected with the connecting member and used to be driven by the connecting member to reciprocate.

[0017] Preferably, the connecting member comprises:

[0018] a first connecting arm, the middle part of which is rotatably arranged in the mounting base, and the two ends of which are rotatably connected with the telescopic rod of the driving cylinder and the clamping jaw, respectively;

[0019] and a second connecting arm parallel to the first connecting arm, the two ends of which are rotatably connected with the mounting base and the clamping jaw, respectively.

[0020] Preferably, the inner wall of the clamping groove is provided with an anti-static soft pad layer.

[0021] Preferably, the anti-static soft pad layer is provided with a mounting protrusion, and the clamping groove is provided with a mounting groove for embedding the mounting protrusion.

[0022] Or the clamping groove is provided with a mounting protrusion, and the anti-static soft pad layer is provided with a mounting groove for embedding the mounting protrusion.

[0023] Preferably, the hand jaw assembly is arranged in multiple groups, and the multiple groups of the hand jaw assembly are arranged on different sides of the rack.

[0024] Preferably, an airflow channel is embedded in the rack, the airflow channel has an air inlet end and an air outlet end, and the air outlet end is connected with the vacuum adsorption assembly.

[0025] Preferably, the vacuum adsorption assembly comprises:

[0026] a suction nozzle body fixedly arranged in the rack and having a first air hole penetrating through both ends, the first air hole being connected with the air outlet end of the airflow channel;

[0027] and a suction disc member fixedly arranged at the end of the suction nozzle body, the suction disc member having a second air hole connected with the first air hole, the suction disc member being used to form a negative pressure area for taking and placing a plate.

[0028] Preferably, the rack is further connected with a displacement mechanism, and the displacement mechanism is used to drive the rack to reciprocate and adjust.

[0029] Preferably, the displacement mechanism comprises:

[0030] A displacement cylinder;

[0031] And a connecting frame fixedly connected with the telescopic rod of the displacement cylinder and the rack.

[0032] Compared with the prior art, the displacement mechanism has the following beneficial effects:

[0033] The automatic plate changing tool structure provided by the utility model can first attract and hold the plate through the vacuum adsorption assembly to realize picking up the plate, and then can limit the plate by starting the paw assembly and buckling the periphery of the plate into the clamping recess, so that the plate can be prevented from loosening in the process of rapid starting and stopping of the manipulator, and the clamping stability of the tool structure is further optimized and improved.

[0034] The utility model has other characteristics and advantages, which will be apparent from or set forth in the accompanying drawings and subsequent detailed description incorporated herein, which together serve to explain certain principles of the utility model. BRIEF DESCRIPTION OF DRAWINGS

[0035] In order to more clearly illustrate the technical scheme in the embodiments of the utility model or prior art, the drawings needed to be used in the embodiment or prior art description will be briefly introduced below, and obviously, the drawings in the following description are only some embodiments of the utility model, and for those skilled in the art, other drawings can also be obtained according to these drawings without creative labor.

[0036] Figure 1 It is the structure schematic diagram of automatic plate changing tool structure provided by the utility model embodiment;

[0037] Figure 2 It is the structure schematic diagram of vacuum adsorption assembly provided by the utility model embodiment;

[0038] Figure 3 It is the sectional view of rack provided by the utility model embodiment;

[0039] Figure 4 It is the structure schematic diagram of paw assembly in the state of grabbing plate provided by the utility model embodiment;

[0040] Figure 5 It is the structure schematic diagram of paw assembly in the state of loosening plate provided by the utility model embodiment;

[0041] Figure 6 is a structure schematic diagram of another view angle of the automatic plate changing tool structure provided by the embodiment of the present application.

[0042] Reference signs:

[0043] 1, rack; 2, vacuum suction assembly; 21, suction nozzle body; 22, suction disc piece; 3, hand claw assembly; 31, mounting seat; 32, driving cylinder; 33, connecting piece; 331, first connecting arm; 332, second connecting arm; 34, clamping claw; 341, clamping position concave part; 4, air flow channel; 5, anti-static soft cushion layer; 51, mounting protrusion; 52, mounting groove; 6, displacement mechanism; 61, displacement cylinder; 62, connecting frame. DETAILED DESCRIPTION

[0044] In order to make the purpose, features and advantages of the present application more obvious and easy to understand, the technical solutions in the embodiments of the present application will be described clearly and completely in combination with the drawings in the embodiments of the present application. Obviously, the following described embodiments are only part of the embodiments of the present application, but not all the embodiments. Based on the embodiments in the present application, all other embodiments obtained by those skilled in the art without creative labor are within the scope of protection of the present application.

[0045] In the description of the present application, it should be understood that when one component is considered to be "connected" to another component, it can be directly connected to the other component or there can be a component arranged in the middle. When one component is considered to be "arranged on" another component, it can be directly arranged on the other component or there can be a component arranged in the middle.

[0046] In addition, the terms "long", "short", "inner", "outer" and the like indicate the orientation or positional relationship based on the orientation or positional relationship shown in the drawings, and are only used to facilitate the description of the present application, and do not indicate or imply that the device or element referred to must have this particular orientation, be constructed in this particular orientation, and be operated in this particular orientation. It cannot be understood as a limitation of the present application.

[0047] The technical solutions of the present application will be further described below in combination with the specific embodiments. Figures 1-6 The technical solutions of the present application will be further described below in combination with the specific embodiments.

[0048] Please refer to Figure 1 The embodiment of the present application provides an automatic plate changing tool structure, which comprises a rack 1, a vacuum suction assembly 2 and a hand claw assembly 3, and the rack 1 is used to provide mounting positions for the vacuum suction assembly 2 and the hand claw assembly 3.

[0049] In the embodiment, the rack 1 is in a planar frame structure, and a plurality of hollow holes are arranged through the middle part of the rack 1, which play a role of reducing the weight of the rack 1. On the basis of meeting the use strength, the weight of the structure is further reduced, and the structure is more portable. It can be understood that the specific structure of the rack 1 can be adjusted according to actual needs, and the specific structure of the rack 1 is not limited here.

[0050] At the same time, the vacuum suction assembly 2 is arranged on one side surface of the rack 1. Generally, the rack 1 is arranged horizontally in the actual application state, and at this time, the vacuum suction assembly 2 can be arranged at the bottom surface of the rack 1. At this time, the vacuum suction assembly 2 can generate a vacuum negative pressure area through suction, and is used for suction and taking and placing the plate up and down.

[0051] On this basis, the gripper assembly 3 is movably arranged on the rack 1. Specifically, in the embodiment, the gripper assembly 3 is located at the peripheral position of the rack 1, and the gripper assembly 3 can reciprocally displace towards the side where the vacuum suction assembly 2 is located. Further, the gripper assembly 3 has a clamping recess 341, and the gripper assembly 3 is movably connected to the periphery of the plate through the clamping recess 341. In combination with the suction action of the vacuum suction assembly 2 on the plate, the plate can be prevented from loosening.

[0052] In the above scheme, when the plate is transferred, the plate is first suctioned and fixed by the vacuum suction assembly 2, and then the edge position of the plate is clamped and reinforced under the action of the gripper assembly 3. The plate will not fall off due to the rapid movement of the mechanical hand in the transfer process, and the clamping stability of the tool structure is significantly improved.

[0053] Further, in order to realize suction and taking and placing of the plate, the vacuum suction assembly 2 can be arranged in a plurality, such as five, ten or twenty, etc. A plurality of vacuum suction assemblies 2 are uniformly arranged on the rack 1, and then the plate is suctioned and taken and placed at multiple points to improve the suction stability. It should be noted that the specific number and arrangement mode of the vacuum suction assembly 2 can be adjusted according to the actual needs of the plate, and the specific number and arrangement mode of the vacuum suction assembly 2 are not limited here.

[0054] Referring to Figure 2 In the embodiment, the vacuum suction assembly 2 includes a suction nozzle body 21 and a suction disc piece 22. One end of the suction nozzle body 21 is fixedly arranged on the rack 1, and the suction disc piece 22 is fixedly arranged at the other end of the suction nozzle body 21. The suction nozzle body 21 has a first air hole penetrating through both ends, and the suction disc piece 22 has a second air hole in communication with the first air hole. The first air hole and the second air hole can be used for air flow, so as to form a vacuum negative pressure space at the suction disc piece 22.

[0055] In one embodiment, the output of the vacuum generator is usually connected to the nozzle body 21 through an air pipe, which forms the air flow channel 4 that is in communication with the first air hole. Then, the vacuum generator is started to suck the air in the second air hole through the air flow channel 4 and the first air hole. The suction cup member 22 usually has a soft wing part, which is attached to the surface of the plate to form a negative pressure area for picking and placing the plate on the suction cup member 22, so as to suck and grab the plate. When the plate needs to be placed down, the vacuum generator is stopped, the negative pressure area disappears, and the plate is placed down, finally completing the picking and placing action.

[0056] However, in the above embodiment, when the number of vacuum suction assemblies 2 is large, a large number of air pipe structures are required, which leads to a messy line, on the one hand, it is not beautiful, on the other hand, it also affects the subsequent maintenance and repair.

[0057] Therefore, with reference to Figure 3 In this embodiment, the air flow channel 4 is embedded in the rack 1. At this time, it is equivalent to integrating multiple air pipe structures in the rack 1, which can effectively simplify the layout number of the air pipe.

[0058] Specifically, when the air flow channel 4 is arranged, a plurality of branch airways that pass through all the vacuum suction assemblies 2 can be formed in the rack 1 by punching. Then, the plurality of branch airways are connected to a main airway by punching again, and then the remaining holes are filled, so that the air flow channel 4 has an air inlet end and an air outlet end.

[0059] It can be understood that the number of air outlet ends is matched with the number of vacuum suction assemblies 2, and the plurality of air outlet ends are respectively in communication with the first air holes of the plurality of vacuum suction assemblies 2. Under this condition, only the air inlet end of the air flow channel 4 needs to be connected with the vacuum generator, so as to realize the synchronous control action of the plurality of vacuum suction assemblies 2. At this time, not only the flow action of the gas can be realized, but also the air pipe layout can be simplified and the air pipe failure can be reduced.

[0060] Further, with reference to Figure 1 In order to improve the structural stability of the grabbing action, the hand claw assembly 3 is arranged in multiple groups. For example, it can be two groups, five groups or ten groups, and the specific number of hand claw assemblies 3 can be adjusted according to actual needs, which is not limited here. In addition, the plurality of hand claw assemblies 3 are arranged on different sides of the rack 1 in different directions, which are used to clamp and reinforce the plate in multiple directions, so as to better improve the grabbing stability of the plate.

[0061] In one embodiment, a plurality of gripper assemblies 3 can be arranged on opposite sides of the frame 1, so that the board is clamped on opposite sides to balance the force and achieve good reinforcement effect.

[0062] In this embodiment, a plurality of gripper assemblies 3 are distributed around the frame 1, so that the board can be clamped and reinforced on all sides, and the fixing effect of the board is further optimized and improved, and the board is not easy to loosen during transportation.

[0063] Further, referring to Figure 4 and Figure 5 , the gripper assembly 3 includes a mounting seat 31, a driving cylinder 32, a connecting piece 33 and a clamping jaw 34. The mounting seat 31 is fixedly arranged at the peripheral position of the frame 1 and serves as a mounting position for other components.

[0064] The driving cylinder 32 is fixedly arranged on the mounting seat 31. Specifically, a receiving cavity can be provided in the mounting seat 31, and the driving cylinder 32 is located in the receiving cavity to improve the compactness of the structure, and the output shaft of the driving cylinder 32 faces the side where the board is located.

[0065] At the same time, the connecting piece 33 is rotatably arranged on the mounting seat 31 and is rotatably connected with the telescopic rod of the driving cylinder 32. The connecting piece 33 can be driven to rotate by starting the driving cylinder 32. Further, the clamping jaw 34 is connected with the connecting piece 33, and the connecting piece 33 is used to drive the clamping jaw 34 to reciprocate. During the reciprocation of the clamping jaw 34, the edge of the board can be quickly clamped or loosened, and the above arrangement can achieve the effect of quickly clamping and fixing the board.

[0066] Further, to improve the stability of the clamping jaw 34 during movement, the connecting piece 33 includes a first connecting arm 331 and a second connecting arm 332. The first connecting arm 331 is closer to the driving cylinder 32 than the second connecting arm 332, the second connecting arm 332 is parallel to the first connecting arm 331, and the middle part of the first connecting arm 331 is rotatably arranged on the mounting seat 31. Usually, a rotating shaft can be installed between the first connecting arm 331 and the mounting seat 31 to realize the rotating connection of the first connecting arm 331.

[0067] On this basis, the two ends of the first connecting arm 331 are rotatably connected with the telescopic rod of the driving cylinder 32 and the clamping jaw 34, respectively, and the two ends of the second connecting arm 332 are rotatably connected with the mounting seat 31 and the clamping jaw 34, respectively. In the process of rotatably connecting the first connecting arm 331 and the second connecting arm 332 to the clamping jaw 34, a rotating shaft can also be installed, and the specific rotating connection mode is not described here.

[0068] But in the process of connecting the first connecting arm 331 with the telescopic rod of the driving cylinder 32, in order to meet the structural freedom of movement, the embodiment is provided with a sliding groove on the first connecting arm 331, and the sliding groove extends along the length direction of the first connecting arm 331. At this time, the rotating shaft is rotatably arranged on the telescopic rod of the driving cylinder 32 and is slidably installed in the sliding groove. In this way, the freedom of movement of the first connecting arm 331 and the driving cylinder 32 when they are connected can be improved to avoid structural jamming. Based on the above arrangement, the driving cylinder 32 can directly drive the first connecting arm 331 to rotate.

[0069] At this time, the first connecting arm 331, the second connecting arm 332 and the clamping jaw 34 form a rocker structure. When the driving cylinder 32 drives the first connecting arm 331 to rotate, the end of the first connecting arm 331 connected with the clamping jaw 34 forms a circular motion. At this time, under the guidance of the second connecting arm 332, the second connecting arm 332 swings together with the first connecting arm 331, thereby driving the clamping jaw 34 to perform a circular displacement. On the one hand, when the clamping jaw 34 is in a closed state (which can also be understood as a state of grabbing the plate), the telescopic rod of the driving cylinder 32 is retracted to drive the clamping jaw 34 to extend outward and approach the position of the plate until the plate is clamped. Conversely, the telescopic rod of the driving cylinder 32 is extended to retract the clamping jaw 34, which moves away from and releases the plate. At this time, the clamping jaw 34 is in a retracted state.

[0070] Based on the above arrangement, the first connecting arm 331 and the second connecting arm 332 provide stable guidance to the clamping jaw 34, so that the clamping jaw 34 can stably perform clamping or retraction actions. Moreover, only one power source is needed to drive the clamping jaw 34 to perform extension and approach actions, which is high in grabbing efficiency, compact in structure and low in manufacturing cost.

[0071] Further, in the process of grabbing the plate, if the equipment has static electricity, the electronic components on the mainboard will be burned out. In addition, if the clamping force is too large, the plate will be deformed. Based on this, continuing to refer to Figure 5 The inner wall of the clamping recess 341 is provided with an anti-static soft pad layer 5. The anti-static soft pad layer 5 can abut against the plate during clamping. On the one hand, it can avoid static electricity from being transferred to the plate. On the other hand, it can also provide flexible support for the plate to reduce the possibility of deformation of the plate.

[0072] Further, in order to improve the installation stability of the anti-static soft pad layer 5, in one embodiment, the anti-static soft pad layer 5 is provided with a mounting protrusion 51, and the clamping recess 341 is provided with a mounting groove 52 for embedding the mounting protrusion 51. In another embodiment, the clamping recess 341 is provided with a mounting protrusion 51, and the anti-static soft pad layer 5 is provided with a mounting groove 52 for embedding the mounting protrusion 51.

[0073] Based on the above setting, the mounting protrusion 51 and the mounting groove 52 can improve the mounting stability between the anti-static soft pad layer 5 and the clamping jaw 34, so that the anti-static soft pad layer 5 is not easy to fall off during long-term use. The specific setting position of the mounting protrusion 51 and the mounting groove 52 is not limited here.

[0074] Referring to Figure 6 In order to further optimize the action stability of the plate taking and placing process, the embodiment further comprises a displacement mechanism 6. The rack 1 is connected with the displacement mechanism 6, and the displacement mechanism 6 is used to drive the rack 1 to reciprocate and adjust. Specifically, the displacement mechanism 6 drives the rack 1 to reciprocate towards the position of the plate, so as to provide a displacement action perpendicular to the plane of the plate during taking and placing the plate, thereby avoiding deviation during taking and placing the plate, and making the taking and placing action more stable and accurate.

[0075] In the embodiment, the displacement mechanism 6 comprises a displacement cylinder 61 and a connecting frame 62. The displacement cylinder 61 is fixedly arranged on the swing arm of the manipulator, and the telescopic rod of the displacement cylinder 61 is perpendicular to the frame body. At the same time, the connecting frame 62 is fixedly connected with the telescopic rod of the displacement cylinder 61 and the rack 1 respectively. Based on the above structure, when the telescopic rod of the displacement cylinder 61 is telescoped, the connecting frame 62 can drive the frame body to reciprocate, which is fast and efficient and smoothly realizes the taking and placing actions.

[0076] Optionally, in order to realize the automatic grabbing function of the tooling structure, the vacuum suction assembly 2, the hand jaw assembly 3 and the displacement mechanism 6 mentioned in the embodiment can be connected to the same PLC controller. By programming in the PLC controller, the components and mechanisms can be automatically controlled. The specific control principle of the PLC controller is not described here.

[0077] The embodiment has the following beneficial effects:

[0078] 1. The hand jaw assembly 3 can quickly reinforce the plate, so that the plate is limited by multiple points.

[0079] 2. The built-in airflow channel 4 structure can reduce the number of air pipes and also reduce the failure rate of air pipe vacuum.

[0080] 3. The overall grabbing scheme of suction and clamping can enable the manipulator to adjust at multiple angles during plate transfer, and can stably grab the plate during emergency stop, which is beneficial to improving the running and transfer speed of the manipulator.

[0081] The foregoing embodiments are merely used to illustrate the technical solutions of the present application, but not to limit the present application; although the present application has been described in detail with reference to the foregoing embodiments, it should be understood by those skilled in the art that the technical solutions recorded in the foregoing embodiments can be modified, or some technical features can be replaced equivalently; and these modifications or replacements do not make the essence of the corresponding technical solutions deviate from the spirit and scope of the technical solutions of the embodiments of the present application.

Claims

1. An automatic plate changing tool structure characterized by comprising: The utility model relates to a kind of plate conveying device, including: Rack (1); Vacuum suction assembly (2) is arranged in the side surface of the rack (1), for plate is adsorbed and is taken and is placed; And hand claw subassembly (3) is movably arranged in the rack (1), the hand claw subassembly (3) can be reciprocated displacement towards the side where the vacuum suction assembly (2) is located, the hand claw subassembly (3) has clamping recess (341) on it, and the hand claw subassembly (3) is movably buckled to the periphery of plate by the clamping recess (341), to limit plate to loosen.

2. The automatic board changing tool structure according to claim 1, wherein The hand claw subassembly (3) includes: Mounting seat (31) is fixedly arranged in the rack (1); Drive cylinder (32) is fixedly arranged in the mounting seat (31); Connecting piece (33) is rotatably arranged in the mounting seat (31), and is movably connected with the telescopic rod of the drive cylinder (32), and the drive cylinder (32) is used to drive the connecting piece (33) to rotate; And clamp jaw (34), the clamping recess (341) is located on the clamp jaw (34), and the clamp jaw (34) is connected with the connecting piece (33), and the connecting piece (33) is used to drive the clamp jaw (34) to swing back and forth.

3. The automatic board changing tool structure according to claim 2, wherein The connecting piece (33) includes: First connecting arm (331) is rotatably arranged in the middle of the mounting seat (31), and two ends are rotatably connected with the telescopic rod of the drive cylinder (32) and the clamp jaw (34) respectively; And second connecting arm (332) is parallel with the first connecting arm (331), and two ends of the second connecting arm (332) are rotatably connected with the mounting seat (31) and the clamp jaw (34) respectively.

4. The automatic board changing tool structure according to claim 1, wherein The inner wall of the clamping recess (341) is provided with an anti-static soft pad layer (5).

5. The automatic board changing tool structure according to claim 4, wherein The anti-static soft pad layer (5) is provided with a mounting protrusion (51), and the clamping recess (341) is provided with a mounting groove (52) for embedding the mounting protrusion (51); Or the clamping recess (341) is provided with a mounting protrusion (51), and the anti-static soft pad layer (5) is provided with a mounting groove (52) for embedding the mounting protrusion (51).

6. The automatic board changing tool structure according to claim 1, wherein The hand claw subassembly (3) is provided as multiple groups, and multiple groups of the hand claw subassembly (3) are arranged in different directions of the rack (1) respectively.

7. The automatic board changing tool structure according to claim 1, wherein The rack (1) is internally embedded with an airflow channel (4), the airflow channel (4) has an air inlet end and an air outlet end, and the air outlet end is communicated with the vacuum suction assembly (2).

8. The automatic board changer tooling structure of claim 7, wherein, The vacuum suction assembly (2) includes: Suction nozzle body (21) is fixedly arranged in the rack (1), and has a first air hole penetrating through both ends, and the first air hole is communicated with the air outlet end of the airflow channel (4); And suction disc part (22) is fixedly arranged at the end of the suction nozzle body (21), and the suction disc part (22) has a second air hole communicated with the first air hole, and the suction disc part (22) is used to form the negative pressure area of taking and placing plate.

9. The automatic board changer tooling structure of claim 1, wherein, It also includes displacement mechanism (6), and the rack (1) is connected with the displacement mechanism (6), and the displacement mechanism (6) is used to drive the rack (1) to reciprocate displacement adjustment.

10. The automatic board changer tooling structure of claim 9, wherein, The displacement mechanism (6) includes: A displacement cylinder (61); And a connecting frame (62) is fixedly connected with the telescopic rod of the displacement cylinder (61) and the rack (1) respectively.

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