Elastic sheet clamping manipulator

Abstract

The utility model discloses an elastic piece clamping manipulator which comprises a clamping driving device, a wedge block, two elastic pieces, two side plates, two rotating shafts and a plurality of sets of drill point clamping pieces, an output shaft of the clamping driving device is in transmission connection with the wedge block, and the two elastic pieces are fixed to the inclined faces of the two sides of the wedge block in a V shape. The side plates are fixed to the two ends of the clamping driving device respectively, each set of drill point clamping piece comprises a spring and two oppositely-arranged clamping jaws, the two ends of each spring are fixed into oppositely-formed through holes in the lower portions of the corresponding set of clamping jaws respectively, and the rotating shaft penetrates through the side plate on one side and the middles of the clamping jaws arranged side by side in parallel and then is connected with the side plate on the other side. The top of each clamping jaw is fixedly provided with a transmission wheel, the two elastic pieces are located between the transmission wheels arranged side by side on the two sides, and the outer walls of the elastic pieces abut against the wheel walls of the corresponding transmission wheels on the same side. According to the drill point clamping device, a row of drill points can be clamped at a time, efficiency is high, effective clamping can be achieved, and clamping accuracy and stability are improved.

Description

Technical Field

[0001] This utility model relates to the field of gripping robot technology, and more specifically, to a spring-loaded gripping robot. Background Technology

[0002] In PCB manufacturing, multiple sets of circular holes with diameters ranging from 0.1 to 0.02 mm need to be drilled on the board to secure the pins of electronic components. PCB drill bits are specialized tools used to drill these holes. After prolonged use, the cutting edges of PCB drill bits wear down and require resharpening (one drill bit can be resharpened up to 5 times). Before sharpening, it is necessary to clean the cutting edge and the chip removal grooves of the PCB drill bit to remove adhering dust and entangled cutting chips. These residues not only affect drilling quality but also reduce the drill bit's efficiency and shorten its lifespan. During the cleaning process, a robotic arm is usually needed to hold the drill bit for subsequent cleaning operations. However, most robotic arms on the market have significant shortcomings. They can generally only hold a single drill bit, unable to hold a row of drill bits simultaneously, resulting in low efficiency. Furthermore, the gripping precision of existing robotic arms is low, which can cause drill bit misalignment or loosening, especially when gripping tiny drill bits, easily leading to unstable gripping, affecting the cleaning effect, and even damaging the drill bits. Utility Model Content

[0003] The purpose of this invention is to overcome the above-mentioned defects in the prior art and provide a spring clip gripper that can clamp a row of drill bits at once, suitable for the high-precision and high-efficiency drill bit clamping requirements in PCB production lines.

[0004] To achieve the above objectives, this utility model provides a spring-loaded gripper, comprising a gripping drive device, a wedge block, two spring plates, two side plates, two rotating shafts, and several sets of drill bit grippers. The output shaft of the gripping drive device is connected to the wedge block. The two spring plates are fixedly connected in a V-shape to the inclined surfaces on both sides of the wedge block. The side plates are fixedly connected to both ends of the gripping drive device. Each set of drill bit grippers includes a spring and two opposing grippers. The two ends of each spring are fixedly inserted into through holes opened opposite each other at the bottom of each set of grippers. The rotating shafts pass parallel to one side plate and the middle of the side-by-side grippers and are fixedly connected to the other side plate. A transmission wheel is fixedly provided at the top of each gripper. The two spring plates are located between the side-by-side transmission wheels on both sides, and their outer walls abut against the wheel walls of the corresponding transmission wheels on the same side.

[0005] Preferably, each gripper has a groove at its bottom end for engaging with the opposite gripper and for positioning and clamping the drill bit. The groove is a V-groove or a semi-circular groove.

[0006] Preferably, the clamping drive device includes a clamping cylinder and a top plate. The clamping cylinder is fixed downward on the top surface of the top plate. The top surface of the wedge block is connected to the output shaft of the clamping cylinder passing through the top plate. The side plates are respectively fixedly connected to both ends of the top plate.

[0007] Preferably, the longitudinal section of the wedge block is arranged in an inverted isosceles trapezoid.

[0008] Preferably, the side plate has a groove in the middle that is slidably connected to the protrusions at both ends of the wedge block.

[0009] Preferably, each spring piece has several strip grooves evenly spaced from bottom to top, so that the lower part of the spring piece is divided into several abutment pieces, and the outer wall of each abutment piece abuts against the wheel wall of its corresponding transmission wheel.

[0010] Preferably, a gasket fitted on its corresponding rotating shaft is provided between each pair of adjacent grippers and between the outermost gripper and the side plate.

[0011] Preferably, it also includes two baffles, which are fixedly connected to the front and back of the top plate and the two side plates, respectively.

[0012] Compared with the prior art, the beneficial effects of this utility model are as follows:

[0013] This utility model features a novel structure and reasonable design. The clamping drive device synchronously moves the wedge block and two spring plates downwards between two rows of transmission wheels, forcing the transmission wheels to move the upper end of each gripper inwards around its axial direction. This causes the lower end of each gripper to open outwards and then rise and retract, thus achieving the clamping action on the drill bit. The design employs multiple sets of drill bit clamping components, enabling the clamping of a row of drill bits at once. Each gripper effectively positions and clamps the drill bit, ensuring it will not fall out during clamping. This improves the accuracy and stability of the clamping process, making it suitable for the high-precision, high-efficiency drill bit clamping requirements in PCB production lines. Attached Figure Description

[0014] To more clearly illustrate the technical solutions in the embodiments of this utility model or the prior art, the drawings used in the description of the embodiments or the prior art will be briefly introduced below. Obviously, the drawings described below are some embodiments of this utility model. For those skilled in the art, other drawings can be obtained based on these drawings without creative effort.

[0015] Figure 1 This is a front view schematic diagram of a spring clip gripper provided in an embodiment of this utility model;

[0016] Figure 2This is a bottom view schematic diagram of a spring clip gripper provided in an embodiment of this utility model;

[0017] Figure 3 This is an explosion diagram of a shrapnel gripper provided in an embodiment of the present invention;

[0018] Figure 4 This is a side view schematic diagram of a spring clip gripper provided in an embodiment of the present utility model;

[0019] Figure 5 This is an exploded view of a portion of the structure of a shrapnel gripper provided in this embodiment of the utility model. Figure 1 ;

[0020] Figure 6 This is a schematic diagram of the structure of a spring clip of a spring clip gripper provided in an embodiment of the present invention;

[0021] Figure 7 This is an exploded view of a portion of the structure of a shrapnel gripper provided in this embodiment of the utility model. Figure 2 ;

[0022] Figure 8 This is an assembly diagram of a spring clip gripper provided in an embodiment of the present invention. Detailed Implementation

[0023] To make the objectives, technical solutions, and advantages of the embodiments of this utility model clearer, the technical solutions of the embodiments of this utility model will be clearly and completely described below with reference to the accompanying drawings. Obviously, the described embodiments are only some embodiments of this utility model, not all embodiments. Based on the embodiments of this utility model, all other embodiments obtained by those skilled in the art without creative effort are within the protection scope of this utility model.

[0024] Please refer to Figure 1 The present invention provides a spring clip gripper, including a gripper drive device 5, a wedge block 54, two spring clips 55, two side plates 56, two rotating shafts 57, and several sets of drill bit grippers, etc. The components of this embodiment will be described in detail below with reference to the accompanying drawings.

[0025] like Figures 1 to 3 As shown, the output shaft of the clamping drive device 5 can be connected to the wedge block 54 in a transmission connection. Two spring plates 55 are fixedly connected in a V-shape on the two inclined surfaces of the wedge block 54, and the side plates 56 are fixedly connected to both ends of the clamping drive device 5.

[0026] like Figure 5As shown, each set of drill bit holders may include a spring 52 and two opposing jaws 51. The two ends of each spring 52 are fixedly inserted into the through holes 512 that are opened opposite each other at the bottom of each set of jaws 51. The rotating shaft 57 passes parallel through the side plate 56 on one side and the middle of the jaws 51 arranged side by side, and is fixedly connected to the side plate 56 on the other side. The top of each jaw 51 is fixedly provided with a transmission wheel 513. Two spring plates 55 are located between the transmission wheels 513 arranged side by side on both sides and their outer walls abut against the wheel walls of the corresponding transmission wheels 513 on the same side.

[0027] The rotating shaft 57 passes through the middle of the side plate 56 and the gripper 51, serving to connect and support the gripper 51, allowing the gripper 51 to rotate around the rotating shaft 57 to achieve opening and closing actions. This ensures the flexibility and accuracy of the gripper 51's movement and provides reliable support for the stable clamping of the gripper 51. The design of multiple sets of drill bit clamping components can clamp an entire row of drill bits at once, significantly improving clamping efficiency. The spring 52 is connected between two grippers 51, providing the restoring force of the gripper 51, so that the drill bit clamping components can quickly and automatically close when the clamping drive device 5 retracts.

[0028] Preferably, the longitudinal section of the wedge block 54 can be arranged as an inverted isosceles trapezoid.

[0029] Specifically, the clamping drive device 5 includes a clamping cylinder 53 and a top plate 531. The clamping cylinder 53 is fixed downwards on the top surface of the top plate 531. The top surface of the wedge block 54 is connected to the output shaft of the clamping cylinder 53, which passes through the top plate 531. Side plates 56 are fixedly connected to both ends of the top plate 531. The stroke of the clamping cylinder 53 is adjustable, allowing for adjustment of the opening width of the drill bit clamping component according to different drill bit sizes or requirements, providing high flexibility.

[0030] In this embodiment, the clamping cylinder 53 drives the wedge block 54 to move up and down through the extension and retraction of its output shaft. The wedge block 54 converts the linear motion of the clamping cylinder 53 into the opening and closing motion of the jaws 51. Its inverted isosceles trapezoidal design allows the inclined surfaces on both sides to push the spring 55, thereby driving the jaws 51 to open and close, realizing the clamping and release of the drill bit. The spring 55 has elastic deformation, which can provide a certain amount of buffering and toughness, ensuring the accuracy and stability of the clamping action. The clamping force can also be adjusted according to actual needs.

[0031] In this embodiment, each gripper 51 may have a groove 511 at its bottom end for engaging with the opposite gripper 51 and for positioning and clamping the drill bit. The groove 511 may be a V-groove or a semi-circular groove.

[0032] In practice, when the clamping cylinder 53 drives the wedge block 54 to descend, the two spring pieces 55 move downward between the two rows of transmission wheels 513 and force the transmission wheels 513 to drive the upper end of each gripper 51 to move inward around the rotating shaft 57, while forcing the lower end of each gripper 51 to open outward and so that its respective clamping groove 511 is located on both sides of the drill bit. Then the clamping cylinder 53 rises, drives the spring pieces 55 to rise, and resets the transmission wheels 513, thereby achieving the clamping of the drill bit.

[0033] Among them, the clamping groove 511 can effectively achieve positioning and clamping with the corresponding drill bit, ensuring stability during the clamping process.

[0034] like Figure 4 As shown, the middle part of the side plate 56 may have a groove 561 for sliding connection between the protrusions 541 protruding at both ends of the wedge block 54, which ensures that the wedge block 54 can move up and down smoothly, and improves the coordination and reliability of the clamping action.

[0035] like Figure 6 As shown, each spring piece 55 has several strip grooves 551 evenly spaced from bottom to top, so that the lower part of the spring piece 55 is divided into several abutment pieces 552, and the outer wall of each abutment piece abuts against the wheel wall of its corresponding transmission wheel 513.

[0036] This design allows each contact piece 552 to make more uniform contact with each transmission wheel 513, enhancing the toughness of the spring piece 55 and improving the transmission efficiency and stability between them.

[0037] like Figure 7 As shown, a shim 540 can be provided between each pair of adjacent grippers 51 and between the outermost gripper 51 and the side plate 56, and is fitted onto its corresponding rotating shaft. The shim 540 reduces friction between adjacent grippers 51, prevents the grippers 51 from shifting during operation, and improves clamping accuracy.

[0038] like Figure 8 As shown, in order to prevent foreign objects from entering and affecting the normal operation of its robotic arm, it may also include two baffles 58, which are fixedly connected to the front and back of the top plate 531 and the two side plates 56, respectively.

[0039] Among them, the baffle 58 serves as a protective and shielding element, while also enhancing the overall integrity of the structure.

[0040] In summary, this utility model adopts a multi-set drill bit clamping design, which can clamp a row of drill bits at one time, with high efficiency and high coordination reliability. Each jaw can effectively position and clamp the drill bit, ensuring that the drill bit will not fall off during clamping, thus improving the accuracy and stability of clamping. It is suitable for the high-precision and high-efficiency drill bit clamping requirements in PCB production lines.

[0041] The above embodiments are preferred embodiments of the present utility model, but the embodiments of the present utility model are not limited to the above embodiments. Any changes, modifications, substitutions, combinations, or simplifications made without departing from the spirit and principle of the present utility model shall be considered equivalent substitutions and shall be included within the protection scope of the present utility model.

Claims

1. A spring clip gripper, characterized in that: The device includes a clamping drive device (5), a wedge block (54), two spring plates (55), two side plates (56), two rotating shafts (57), and several sets of drill bit clamping components. The output shaft of the clamping drive device (5) is connected to the wedge block (54) via a transmission. The two spring plates (55) are fixedly connected in a V-shape to the inclined surfaces on both sides of the wedge block (54). The side plates (56) are fixedly connected to both ends of the clamping drive device (5). Each set of drill bit clamping components includes a spring (52) and two opposing jaws (51). The two ends of the spring (52) are respectively fixedly inserted into the through holes (512) opened opposite each other at the bottom of each set of grippers (51). The rotating shaft (57) passes through the side plate (56) on one side and the middle of the grippers (51) arranged side by side, and is fixedly connected to the side plate (56) on the other side. The top of each gripper (51) is fixedly provided with a transmission wheel (513). The two spring pieces (55) are located between the transmission wheels (513) arranged side by side on both sides and their outer walls abut against the wheel walls of the corresponding transmission wheels (513) on the same side.

2. The spring clip gripper according to claim 1, characterized in that: Each gripper (51) has a groove (511) at its bottom end for engaging with the gripper (51) opposite to it and for positioning and clamping the drill bit. The groove (511) is a V-groove or a semi-circular groove.

3. The spring clip gripper according to claim 1, characterized in that: The clamping drive device (5) includes a clamping cylinder (53) and a top plate (531). The clamping cylinder (53) is fixed downward on the top surface of the top plate (531). The top surface of the wedge block (54) is connected to the output shaft of the clamping cylinder (53) through the top plate (531). The side plates (56) are fixedly connected to both ends of the top plate (531).

4. The spring clip gripper according to claim 1, characterized in that: The longitudinal section of the wedge block (54) is arranged in an inverted isosceles trapezoid.

5. A spring clip gripper according to claim 1, characterized in that: The side plate (56) has a groove (561) in the middle that is slidably connected to the protrusions (541) at both ends of the wedge block (54).

6. The spring clip gripper according to claim 1, characterized in that: Each spring piece (55) has several strip grooves (551) evenly spaced from bottom to top, so that the lower part of the spring piece (55) is divided into several abutment pieces (552), and the outer wall of each abutment piece abuts against the wheel wall of its corresponding transmission wheel (513).

7. A spring clip gripper according to claim 1, characterized in that: A gasket (540) fitted on its corresponding pivot (57) is provided between each pair of adjacent grippers (51) and between the outermost gripper (51) and the side plate (56).

8. A spring clip gripper according to claim 3, characterized in that: It also includes two baffles (58), which are fixedly connected to the front and back of the top plate (531) and the two side plates (56), respectively.

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