Movable feeding and discharging sucker manipulator

Abstract

The utility model discloses a movable feeding and discharging sucker manipulator, belongs to the field of feeding and discharging manipulators, and aims to realize automatic feeding and discharging. Comprising a mechanical arm, a suction cup gripper and a supporting body. The supporting body transversely comprises a middle supporting table and storage frames located on the two sides of the supporting table. The material storage frame comprises a material storage supporting plate for placing the printed electronic board; in the longitudinal direction of the storage supporting plate, the front end and the rear end of the storage supporting plate are each provided with a pair of limiting tongs, and the two pairs of limiting tongs are driven by a guide mechanism to linearly move close to or away from each other; a base of the mechanical arm is fixed to the supporting table. The suction cup gripper is fixed to the tail end of the mechanical arm. And the mechanical arm drives the sucker gripper to suck the printed electronic board in the storage frame. According to the automatic feeding and discharging device for the printed electronic board, the printed electronic board is sucked through the suction cup gripper to be fed and discharged, the printed electronic board is clamped through the material storage frames on the two sides in the matched feeding and discharging process, automatic feeding and discharging are achieved, and the problems that manual feeding and discharging are low in efficiency and high in quality risk are solved.

Description

TECHNICAL FIELD

[0001] The utility model belongs to the field of up and down material handling manipulator, specifically is movable up and down material suction cup manipulator. BACKGROUND

[0002] The forming process in the processing of printed electronic board includes: cutting printed electronic board, that is, cutting whole board into the shape required by design, such as rectangle, special profile, etc.; slotting, drilling, such as processing mounting hole, heat dissipation slot or special function hollow structure; making shallow groove in the board for subsequent board division; and high-precision trimming, etc. These forming processes need to be carried out on the milling machine for printed circuit board. When the milling machine is used for forming printed electronic board at present, manual up and down feeding is usually adopted, that is, manual positioning of printed electronic board on the milling machine, and manual taking of the processed printed electronic board from the milling machine. Manual up and down feeding has the following disadvantages:

[0003] Firstly, the quality risk is high: manual operation is easy to cause the inclination of the placement of printed electronic board, uneven stress, and cause milling error of the milling machine or deformation of the board, etc.

[0004] Secondly, the efficiency is low: manual up and down feeding is difficult to adapt to the processing rhythm of high-speed milling machine, and the labor intensity of workers is large. INVENTION CONTENTS

[0005] The utility model aims at providing a movable up and down material suction cup manipulator, realizing automatic up and down feeding, and avoiding the quality and efficiency problems existing in manual up and down feeding.

[0006] The utility model adopts the technical scheme: movable up and down material suction cup manipulator, including mechanical arm, suction cup grab and support main body, the support main body includes the support table of the middle part and the storage frame of the two sides of the support table along the transverse direction, one storage frame is the storage frame for feeding, and the other storage frame is the storage frame for discharging, the storage frame includes the storage tray for placing printed electronic board, a pair of limit grabs are arranged on the front and rear ends of the storage tray along the longitudinal direction of the storage tray, and the two pairs of limit grabs are driven to move linearly close to or away from each other through the guide mechanism, the base of the mechanical arm is fixed on the support table, the suction cup grab is fixed on the tail end of the mechanical arm, and the mechanical arm drives the suction cup grab to suck the printed electronic board in the storage frame.

[0007] Further, the limit grab is L-shaped, including a limiting section and an installation section, an installation block is arranged at the tail end of the installation section, and a clamping rod is vertically fixed on the top surface of the installation block;

[0008] The guide mechanism includes a guide rail and a tightening plate.

[0009] The mounting section is longitudinally arranged on the bottom surface of the storage tray, and the limiting section extends upward perpendicularly to the storage tray; the front and rear sides of the storage tray are provided with notches corresponding to the limiting section to allow the limiting section to move forward and backward;

[0010] The guide rail is movably connected with the through hole on the mounting block in the axial direction, and the two ends of the guide rail are mounted on the bottom surface of the storage tray;

[0011] The tightening plate is provided with two long holes arranged in front and back, and the two long holes are distributed in an eight-character shape; the tightening plate is located between the storage tray and the mounting section, the clamping rod of the limiting gripper on the rear side is inserted into the long hole on the rear side of the tightening plate, and the clamping rod of the limiting gripper on the front side is inserted into the long hole on the front side of the tightening plate; the clamping rod is movably connected with the long hole in the extension direction of the long hole.

[0012] Further, the limiting gripper comprises two gripping fingers, and a spacing exists between the two gripping fingers; the mounting sections of the two gripping fingers are connected through the mounting block.

[0013] Further, the guide rail is located between the two gripping fingers in the transverse direction.

[0014] Further, one side of the storage tray of the storage frame is fixed to the support table, and the other three sides are surrounded by a fence.

[0015] Further, two recessed mounting cavities are arranged on the front side of the support table in the longitudinal direction, and the two mounting cavities are arranged left and right along the support table in the transverse direction; one telescopic connecting rod for fixing to the machine tool is arranged in each mounting cavity.

[0016] Further, the support table is carried on an automatic guided vehicle.

[0017] Further, the automatic guided vehicle is provided with a lifting table, and the support table is supported on the lifting table.

[0018] Further, a plurality of telescopic supporting columns are arranged on the bottom of the storage frame.

[0019] The movable loading and unloading suction cup manipulator has the advantages that the printing electronic board is sucked and unloaded by the suction cup gripper, and the printing electronic board is clamped by the two storage frames on the left and right sides during loading and unloading, so that automatic loading and unloading are realized, and the problems of low efficiency and high quality risk of manual loading and unloading are solved.

[0020] The two pairs of limiting grippers arranged at the front and rear ends of the storage frame are driven by the guide mechanism to move linearly close to or away from each other, which not only limits the printing electronic board, but also clamps different specifications of the board on the storage tray by adjusting, so that the adaptability is better.

[0021] The upper and lower feeding suction disc manipulator can be moved through the setting of the automatic guided vehicle.

[0022] The telescopic connecting rod is arranged on the front side of the supporting table and is used for fixing and fixing the machine tool, so that the influence of vibration during use is reduced, and the forming quality is more beneficial to ensure. BRIEF DESCRIPTION OF DRAWINGS

[0023] Figure 1 It is a structural schematic diagram of the utility model;

[0024] Figure 2 It is a structural schematic diagram of the top of the material frame;

[0025] Figure 3 It is a structural schematic diagram of the bottom of the material frame;

[0026] Figure 4 It is a sectional view of the bottom of the material frame;

[0027] Figure 5 It is a structural schematic diagram of the limiting gripper;

[0028] Figure 6 It is a structural schematic diagram of the tightening plate.

[0029] In the figure, the suction disc gripper 1, the mechanical arm 2, the supporting table 3, the material storage frame 4, the material storage supporting plate 41, the limiting gripper 42, the grabbing finger 42A, the limiting section 420, the mounting section 421, the mounting block 422, the clamping rod 423, the fence 43, the notch 44, the guide rail 5, the tightening plate 6, the long hole 61, the connecting rod 7, the automatic guided vehicle 8, the supporting column 9, and the printed electronic board 10. DETAILED DESCRIPTION

[0030] The utility model will be further described below in combination with the drawings and examples as follows:

[0031] In the utility model, the terms "inner", "top", "bottom", "transverse", "longitudinal" and the like indicate the orientation or positional relationship based on the attached Figure 1 The orientation or positional relationship shown is only for the convenience of describing the utility model, and does not indicate or imply that the device or element referred to must have a particular orientation, be constructed and operated in a particular orientation, and therefore cannot be understood as a limitation on the utility model.

[0032] The movable upper and lower feeding suction disc manipulator, such as Figure 1As shown, it comprises a mechanical arm 2, a suction cup gripper 1 and a support body; the support body comprises a support table 3 in the middle and storage frames 4 on both sides of the support table 3 in the transverse direction, one of the storage frames 4 is a storage frame for feeding, and the other storage frame 4 is a storage frame for discharging; during work, the mechanical arm 2 drives the suction cup gripper 1 to move to the storage frame for feeding, the suction cup gripper 1 sucks the printed electronic board 10 in the storage frame for feeding, then the mechanical arm 2 drives the suction cup gripper 1 to move to the corresponding position of the milling machine, the printed electronic board 10 is placed on the milling machine for processing, the processed printed electronic board 10 is sucked by the suction cup gripper 1, and the suction cup gripper 1 is placed in the storage frame for discharging by the mechanical arm 2. In this way, a plurality of printed electronic boards 10 can be stacked in the storage frame for feeding for processing, and after processing, the feeding and discharging suction cup mechanical hand is moved to the next station for processing.

[0033] The storage frame 4 comprises a storage tray 41 for placing the printed electronic board 10 and a fence 43 surrounding the periphery of the storage tray 41, and the bottom surface of the storage tray 41 is provided with reinforcing ribs; a pair of limiting grippers 42 are arranged at the front and rear ends of the storage tray 41 in the longitudinal direction, and the limiting grippers 42 are located in the surrounding area of the fence 43, and the two pairs of limiting grippers 42 are driven by a guide mechanism to move linearly close to or away from each other. The top surface of the storage tray 41 is a horizontal surface, which is convenient for placing the printed electronic board 10 and keeps the printed electronic board 10 flat, facilitating the suction cup gripper 1 to suck. The limiting grippers 42 arranged at the front and rear ends are used to limit the printed electronic board 10 placed on the storage tray 41, to ensure the accurate position of the printed electronic board 10 on the storage tray 41, so that the position of the printed electronic board 10 sucked by the suction cup gripper 1 is more accurate, thereby the position of the printed electronic board 10 placed on the milling machine by the suction cup gripper 1 is more accurate, reducing the problems of placement deviation and uneven stress of the printed electronic board. The two pairs of limiting grippers 42 are driven by the guide mechanism to move linearly close to or away from each other, which not only can be used to limit the printed electronic board 10, but also can be adjusted to adapt to different specifications of the board clamped on the storage tray 41, and the adaptability is better. For example, when the two pairs of limiting grippers 42 are close to each other, the distance between them is reduced, which is suitable for printed electronic boards 10 with smaller width; when the two pairs of limiting grippers 42 are away from each other, the distance between them is increased, which is suitable for wider printed electronic boards 10.

[0034] The base of the mechanical arm 2 is fixed on the support table 3; the suction cup gripper 1 is fixed on the end of the mechanical arm 2; the mechanical arm 2 drives the suction cup gripper 1 to suck the printed electronic board 10 in the storage frame 4.

[0035] The support table 3 is provided with a power supply for supplying power to the electrical components of the mechanical arm 2 and the like.

[0036] The gear and rack structure can be directly used as the guide mechanism to realize the adjustment of the limiting gripper 42. In the embodiment, the limiting gripper 42 is preferably in L shape, including a limiting section 420 and a mounting section 421, and the end of the mounting section 421 is provided with a mounting block 422, and the top surface of the mounting block 422 is vertically fixed with a clamping rod 423. The guide mechanism includes a guide rail 5 and a tightening plate 6; the mounting section 421 is longitudinally arranged on the bottom surface of the storage tray 41; the guide rail 5 is movably connected with the through hole on the mounting block 422 along the axial direction, and the two ends of the guide rail 5 are mounted on the bottom surface of the storage tray 41. After mounting, the limiting section 420 extends vertically upward, which surrounds the outer periphery of the storage tray 41 and mainly plays a limiting role. The mounting section 421 and the mounting block 422 are both located below the storage tray 41 and do not occupy the mounting space of the printed electronic board 10. The guide rail 5 plays a guiding role in the movement of the limiting gripper 42, so that the limiting gripper 42 moves along the guide rail 5. In the embodiment, two guide rails 5 are arranged side by side, which not only determines the linear motion track of the limiting gripper 42, but also avoids the rotation of the limiting gripper 42 around the guide rail 5. Of course, three guide rails 5 or more can also be arranged, but the more the number is, the higher the cost is, and the more complex the structure is.

[0037] As shown in Figure 6 , the tightening plate 6 is provided with two long holes 61 arranged in front and back, and the two long holes 61 are distributed in an eight-character shape. Figure 3 and Figure 4 , the tightening plate 6 is located between the storage tray 41 and the mounting section 421, the clamping rod 423 of the limiting gripper 42 located at the rear side is inserted into the long hole 61 at the rear side of the tightening plate 6, and the clamping rod 423 of the limiting gripper 42 located at the front side is inserted into the long hole 61 at the front side of the tightening plate 6; the clamping rod 423 movably cooperates with the long hole 61 along the extension direction of the long hole 61. During use, one of the limiting grippers 42 is moved, and under the interaction of the long hole 61 of the tightening plate 6 and the clamping rod 423, the two limiting grippers 42 will move at the same time. This structure is simple, convenient to operate, and one of the limiting grippers 42 can be manually pushed.

[0038] The limiting section 420 and the mounting section 421 of the limiting gripper 42 can be wide plates with a certain width in the longitudinal direction. In order to save materials and reduce the overall weight, the limiting section 420 and the mounting section 421 of the limiting gripper 42 are preferably two gripping fingers 42A, as shown in Figure 5 , there is a space between the two gripping fingers 42A, and the ends of the mounting sections 421 of the two gripping fingers 42A are connected through a mounting block 422. In this way, the two gripping fingers 42A achieve the limiting effect of the wide plate, and at the same time, the materials consumed by the space between the two gripping fingers 42A are saved.

[0039] The guide rail 5 is located between the two gripping fingers 42A in the transverse direction. Compared with the guide rail 5 being arranged outside the gripping fingers 42A, the structure is simpler and more compact.

[0040] In order to facilitate the fixation of the movable feeding and discharging suction gripper to the machine tool for use, and reduce the influence of vibration during feeding and discharging, preferably, two recessed mounting cavities are arranged on the front side of the support table 3 in the longitudinal direction, the two mounting cavities are arranged left and right along the support table 3, and a retractable connecting rod 7 for fixation to the machine tool is arranged in each mounting cavity. The connecting rod 7 can be a hydraulic or pneumatic control piston rod.

[0041] In order to facilitate the movement of the movable feeding and discharging suction gripper, an automatic guided vehicle 8 is arranged to carry the support table 3. The automatic guided vehicle 8 can carry the support body, the mechanical arm 2 and the suction gripper 1 to move to the corresponding position for feeding and discharging.

[0042] In order to meet the height position requirement of feeding and discharging, preferably, a lifting platform is arranged on the top of the automatic guided vehicle 8, and the support table 3 is supported on the lifting platform. The height position of the support body can be adjusted by the lifting platform on the top of the automatic guided vehicle 8 to adapt to the height position requirement of feeding and discharging. The lifting platform can be a hydraulic jack structure.

[0043] In order to further improve the stability and reliability of feeding and discharging, a plurality of retractable support columns 9 are arranged at the bottom of the storage frame 4. When the support body is lifted into position by the lifting platform on the top of the automatic guided vehicle 8, the retractable support columns at the bottom of the support body are supported by the retractable support columns 9, then the connecting rod 7 is extended and fixedly connected to the machine tool, and finally, feeding and discharging is performed.

[0044] Although the present application is described herein with reference to the embodiments, the above embodiments are only general embodiments of the present application, and the embodiments of the present application are not limited by the above embodiments. It should be understood that any modification, equivalent replacement, improvement, etc. made within the spirit and principles of the present application should be included in the protection scope of the present application.

Claims

1. A movable loading and unloading suction cup manipulator, characterized in that The application relates to a printing electronic board conveying device, which comprises a mechanical arm (2), a suction cup gripper (1) and a supporting body; the supporting body comprises a supporting table (3) in the middle and storage frames (4) on both sides of the supporting table (3) in the transverse direction, one of the storage frames (4) is a storage frame for feeding, and the other storage frame (4) is a storage frame for discharging; the storage frame (4) comprises a storage tray (41) for placing a printing electronic board (10); a pair of limiting grippers (42) are arranged at the front and rear ends of the storage tray (41) in the longitudinal direction, and the two pairs of limiting grippers (42) are driven to move linearly close to or away from each other through a guide mechanism; the base of the mechanical arm (2) is fixed on the supporting table (3); the suction cup gripper (1) is fixed on the end of the mechanical arm (2); the mechanical arm (2) drives the suction cup gripper (1) to suck the printing electronic board (10) in the storage frame (4).

2. The movable loading and unloading suction pad robot manipulator according to claim 1, characterized in that: The limiting gripper (42) is L-shaped and comprises a limiting section (420) and a mounting section (421); the end of the mounting section (421) is provided with a mounting block (422), the top surface of the mounting block (422) is vertically fixed with a clamping rod (423); the mounting section (421) is arranged on the bottom surface of the storage tray (41) in the longitudinal direction, and the limiting section (420) extends upwards perpendicularly to the storage tray (41); the front and rear sides of the storage tray (41) are provided with notches (44) corresponding to the limiting section (420) and allowing the limiting section (420) to move forward and backward; The guide mechanism comprises a guide rail (5) and a tightening plate (6); the guide rail (5) is movably connected with the through hole on the mounting block (422) in the axial direction, and the two ends of the guide rail (5) are mounted on the bottom surface of the storage tray (41); the tightening plate (6) is provided with two long strip holes (61) arranged in front and back; the two long strip holes (61) are distributed in an eight-character shape; the tightening plate (6) is located between the storage tray (41) and the mounting section (421); the clamping rod (423) of the limiting gripper (42) located at the rear side is inserted into the long strip hole (61) at the rear side of the tightening plate (6), and the clamping rod (423) of the limiting gripper (42) located at the front side is inserted into the long strip hole (61) at the front side of the tightening plate (6); the clamping rod (423) movably cooperates with the long strip hole (61) in the extension direction of the long strip hole (61).

3. The movable loading and unloading suction pad robot manipulator according to claim 2, characterized in that: The limiting gripper (42) comprises two gripping fingers (42A), and the two gripping fingers (42A) are connected through the mounting block (422).

4. The movable loading and unloading suction pad robot manipulator according to claim 3, characterized in that: The guide rail (5) is located between the two gripping fingers (42A) in the transverse direction.

5. The movable loading and unloading suction pad robot manipulator according to any one of claims 1 to 4, characterized in that: One side of the storage tray (41) of the storage frame (4) is fixed on the supporting table (3), and the other three sides are surrounded by a fence (43).

6. The movable loading and unloading suction pad robot hand according to any one of claims 1-4, characterized in that: In the longitudinal direction, two recessed mounting cavities are arranged on the front side of the supporting table (3), and the two mounting cavities are arranged on the left and right sides of the supporting table (3) in the transverse direction; one telescopic connecting rod (7) for fixing on a machine tool is arranged in each mounting cavity.

7. The movable loading and unloading suction pad robot manipulator according to claim 6, characterized in that: The supporting table (3) is carried on an automatic guided vehicle (8). The application relates to a printing electronic board conveying device, which comprises a mechanical arm (2), a suction cup gripper (1) and a supporting body; the supporting body comprises a supporting table (3) in the middle and storage frames (4) on both sides of the supporting table (3) in the transverse direction, one of the storage frames (4) is a storage frame for feeding, and the other storage frame (4) is a storage frame for discharging; the storage frame (4) comprises a storage tray (41) for placing a printing electronic board (10); a pair of limiting grippers (42) are arranged at the front and rear ends of the storage tray (41) in the longitudinal direction, and the two pairs of limiting grippers (42) are driven to move linearly close to or away from each other through a guide mechanism; the base of the mechanical arm (2) is fixed on the supporting table (3); the suction cup gripper (1) is fixed on the end of the mechanical arm (2); the mechanical arm (2) drives the suction cup gripper (1) to suck the printing electronic board (10) in the storage frame (4).

8. The movable loading and unloading suction pad robot manipulator according to claim 7, characterized in that: The automatic guiding vehicle (8) is provided with a lifting platform on the top, and the supporting platform (3) is supported on the lifting platform.

9. The movable loading and unloading suction pad robot manipulator according to claim 8, characterized in that: The bottom of the storage frame (4) is provided with a plurality of telescopic supporting columns (9).

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