Positioning and clamping device and PCB assembly equipment

Abstract

The utility model relates to the field of PCB assembly, and discloses a positioning and clamping device and PCB assembly equipment. The positioning and clamping device comprises a grabbing unit which can grab a to-be-assembled plate, and the to-be-assembled plate is provided with a positioning hole. The grabbing driving mechanism comprises a fixed end and a movable end, and the grabbing unit is in driving connection with the movable end; and the positioning pin shaft is connected with the movable end, and the positioning pin shaft penetrates through the positioning hole and moves up and down relative to the positioning hole in the process that the movable end moves in the direction facing or away from the to-be-assembled plate relative to the fixed end. The positioning pin shaft can be connected with a to-be-assembled plate in a penetrating mode and fix the to-be-assembled plate to the to-be-assembled area. Compared with the prior art, when the positioning and clamping device is affected by factors such as residual friction force of the suction cups (the factor possibly driving the to-be-assembled plate to leave a set position), the to-be-assembled plate is still fixed to the to-be-assembled area in a penetrating and connecting mode through the positioning pin shaft. Therefore, the positioning and clamping device and the PCB assembly equipment can improve the positioning precision of the to-be-assembled plate.

Description

Technical Field

[0001] This application belongs to the field of PCB assembly, specifically, it relates to a positioning and clamping device and PCB assembly equipment. Background Technology

[0002] A PCB, or Printed Circuit Board, is the support structure for electronic components and the carrier for their electrical interconnections. During assembly, the PCB is typically gripped and mounted onto a mounting base using a suction cup or jaws. A common characteristic of these two gripping methods is that they only handle gripping and placement, not positioning. Poor positioning accuracy can lead to misalignment of screw mounting holes, affecting subsequent assembly. For example... Figure 1 As shown, in existing gripping methods, when the PCB gripping device detaches from the PCB, factors such as the residual friction of the suction cup may cause the PCB to be pulled away from its predetermined position by the gripping device, resulting in PCB positioning deviation and affecting subsequent installation. Utility Model Content

[0003] The purpose of this application is to provide a positioning clamping device and PCB assembly equipment to improve the installation accuracy of PCBs.

[0004] To achieve the above objectives, this application provides a positioning and gripping device, which includes:

[0005] The gripping unit is capable of gripping the workpiece to be assembled, and the workpiece to be assembled has positioning holes.

[0006] The gripping drive mechanism includes a fixed end and a movable end, and the gripping unit is connected to the movable end drive.

[0007] The positioning pin is connected to the movable end. As the movable end moves relative to the fixed end in a direction toward or away from the plate to be assembled, the positioning pin passes through the positioning hole and moves up and down relative to the positioning hole.

[0008] In some implementations, the gripping drive mechanism includes:

[0009] Fixing plate;

[0010] Cylinder, the cylinder is mounted on a fixed plate;

[0011] The movable plate has a gripping unit and a positioning pin installed on the side of the movable plate away from the fixed plate, and the piston rod of the cylinder passes through and connects to the movable plate.

[0012] The guide rod is connected to the fixed plate at one end, and the other end is movable and guides through the movable plate.

[0013] In some embodiments, there are multiple cylinders, each arranged near one end of the fixed plate.

[0014] In some embodiments, the locating pin is sleeved with an elastic element, one end of which is connected to the side of the movable plate opposite to the fixed plate, and the other end extends to the end of the locating pin opposite to the movable plate.

[0015] In some implementations, the end of the locating pin that faces away from the movable plate is tapered.

[0016] In some implementations, the gripping unit is either a suction cup or a gripper.

[0017] In some embodiments, the number of positioning holes is the same as the number of positioning pins, and there are at least two of them. Multiple positioning pins are arranged at intervals and correspond one-to-one with the positioning holes.

[0018] In some implementations, the number of gripping units is multiple and they are evenly spaced.

[0019] This application also protects a PCB assembly device, which includes the aforementioned positioning and gripping device.

[0020] In some implementations, the PCB assembly equipment includes a drive mechanism;

[0021] The drive mechanism is connected to the fixed end of the positioning and clamping device, and the drive mechanism can drive the fixed end to move.

[0022] Through the above technical solution, the positioning and gripping device provided in this application embodiment has the following beneficial effects:

[0023] In the technical solution of this application, by setting a positioning pin at the movable end of the gripping drive mechanism, the positioning and gripping device places the board to be assembled in the assembly area. This aligns the positioning hole of the board with the mounting hole in the assembly area, allowing the positioning pin to pass through the positioning hole and the mounting hole, thus fixing the board to be assembled to the assembly area. Compared to existing technologies where PCB gripping devices use suction cups or jaws to pick up the board, the board may be pulled away from its intended position when the suction cup or jaws detach from the board, due to factors such as residual friction from the suction cup or asynchronous release time of the jaws. This makes it difficult to avoid positioning deviations. The positioning pin in this application can fix the board to be assembled in the assembly area, ensuring that the gripping unit does not affect the board when it detaches, thereby improving the positioning accuracy of the board.

[0024] Other features and advantages of the embodiments of this application will be described in detail in the following detailed description section. Attached Figure Description

[0025] The accompanying drawings are provided to further illustrate the embodiments of this application and form part of the specification. They are used together with the following detailed description to explain the embodiments of this application, but do not constitute a limitation on the embodiments of this application. For those skilled in the art, other drawings can be obtained based on the structures shown in these drawings without any inventive effort. In the drawings:

[0026] Figure 1 This is a schematic diagram of the structure of a PCB clamping device in the prior art;

[0027] Figure 2 This is a schematic diagram of the positioning and gripping device according to a specific embodiment of this application;

[0028] Figure 3 for Figure 2 Axonometric view of the positioning and clamping device in the image;

[0029] Figure 4 for Figure 2 A schematic diagram of the cylinder structure.

[0030] Explanation of reference numerals in the attached figures

[0031] 100 Plate to be assembled; 110 Positioning holes

[0032] 200 Positioning and gripping device 210 Gripping unit

[0033] 220 Gripping unit drive mechanism 221 Cylinder

[0034] 221a Piston rod 222 Fixing plate

[0035] 223 Movable panel 224 Guide rod

[0036] 230 Positioning Pin V-Cup Suction Cup Device Detailed Implementation

[0037] The specific embodiments of this application will be described in detail below with reference to the accompanying drawings. It should be understood that the specific embodiments described herein are for illustration and explanation only and are not intended to limit this application.

[0038] The positioning and gripping device 200 and PCB assembly equipment according to this application are described below with reference to the accompanying drawings.

[0039] This application discloses a novel positioning and gripping device 200, such as... Figure 2 As shown, a positioning and gripping device 200 in one specific embodiment includes:

[0040] The gripping unit 210 is capable of gripping the board 100 to be assembled, wherein the board 100 to be assembled can be a PCB board and the board 100 to be assembled has positioning holes 110.

[0041] The gripping drive mechanism includes a fixed end and a movable end, and the gripping unit 210 is driven by the movable end.

[0042] The positioning pin 230 is connected to the movable end. During the process of the movable end moving relative to the fixed end in a direction toward or away from the plate to be assembled 100, the positioning pin 230 passes through the positioning hole 110 and moves up and down relative to the positioning hole 110.

[0043] Specifically, see Figure 2 and Figure 3 The gripping unit 210 can be driven by the gripping drive mechanism and moves in the direction toward the plate 100 to be assembled, thereby placing the plate 100 to be assembled in the assembly area. Since the movable end of the gripping unit drive mechanism is connected to the positioning pin 230, the plate 100 to be assembled is fixed to the assembly area by the positioning pin 230 passing through the positioning hole 110 of the plate 100 and the mounting hole of the assembly area. After the assembly of the plate 100 is completed, the gripping unit 210 releases the plate 100 and moves away from the plate 100 to prepare for the next gripping action. At this time, the positioning pin 230 disengages from the mounting hole of the assembly area and moves upward along the positioning hole 110, but the positioning pin 230 always passes through the positioning hole 110, so that the gripping unit 210 keeps the plate 100 stationary during the gripping process, so as to achieve better positioning. When the gripping unit 210 releases the plate to be assembled 100, the plate to be assembled 100 remains fixed in the assembly area. In other words, during the operation of the gripping unit 210, the positioning pin 230 always plays a positioning and guiding role, preventing the plate to be assembled 100 from moving away from its predetermined position. Therefore, compared to... Figure 1 In the prior art shown, the PCB clamping device is affected by factors such as the residual friction of the suction cup. When the suction cup is detached from the board to be assembled 100, the board to be assembled 100 may be driven away from the predetermined position by the suction cup, making it difficult to avoid the positioning deviation of the board to be assembled 100. The positioning clamping device 200 of this application can improve the positioning accuracy of the board to be assembled 100.

[0044] In this embodiment, such as Figure 2 As shown, the gripping drive mechanism may include:

[0045] Fixing plate 222;

[0046] Cylinder 221, which is mounted on the fixed plate 222;

[0047] The movable plate 223 has a gripping unit 210 and a positioning pin 230 installed on the side of the movable plate 223 away from the fixed plate 222. The piston rod 221a of the cylinder 221 passes through and connects to the movable plate 223.

[0048] The guide rod 224 is connected to the fixed plate 222 at one end and is movable through the movable plate 223 at the other end.

[0049] See Figure 3 and Figure 4 With this configuration, the extension and retraction of the piston rod 221a can drive the gripping unit 210 to move, and the guide rod 224 can improve the extension and retraction stability of the movable plate 223, thereby ensuring the accurate placement of the plate 100 to be assembled. Of course, the configuration of the guide rod 224 is not limited to one end connecting to the fixed plate 222 and the other end moving through the movable plate 223, but can also be one end connecting to the movable plate 223 and the other end moving through the fixed plate 222; the movement of the gripping unit 210 is not limited to the cylinder 221 mentioned above, but can also be a hydraulic cylinder, electric cylinder, etc.

[0050] In this embodiment, such as Figure 2 and Figure 3 As shown, the number of cylinders 221 can be multiple, and they are arranged close to both ends of the fixed plate 222. Setting the number of cylinders 221 multiple times helps to improve the load capacity of the positioning and gripping device 200. Furthermore, the arrangement of the cylinders 221 close to both ends of the fixed plate 222 can also allow them to be spaced apart from each other. This helps to ensure the force balance of the movable plate 223 during movement. Those skilled in the art will understand that the number of cylinders 221 is not limited to the two shown in the figure, and can be set to other numbers according to load or size requirements. The cylinders 221 can also be pneumatic-hydraulic damping cylinders with built-in springs for assisting release. The cylinders 221 will slowly return to their original position without external force to prevent the gripping unit 210 from releasing the plate 100 at a high speed, which would cause the plate 100 to deviate from its intended position due to the release action of the gripping unit 210.

[0051] In engineering machinery manufacturing, due to cost considerations, the dimensional accuracy of components is generally limited, and there may be a certain assembly gap between the positioning hole 110 and the positioning pin 230. Therefore, when the gripping unit 210 disengages from the plate to be assembled 100, it may cause the plate to move within the assembly gap. To further improve the positioning accuracy of the plate to be assembled 100, in some embodiments, the positioning pin 230 may be fitted with an elastic element. One end of the elastic element is connected to the side of the movable plate 223 opposite to the fixed plate 222, and the other end extends to the end of the positioning pin 230 opposite to the movable plate 223.

[0052] Specifically, during the process of the positioning and gripping device 200 placing the plate to be assembled 100 into the assembly area, one end of the elastic element abuts against the plate to be assembled 100. After being compressed, the elastic element generates a clamping force, thereby pressing the plate to be assembled 100 into the assembly area. When the gripping unit 210 disengages and moves away from the plate to be assembled 100, the elastic element recovers its deformation but still maintains contact with the plate to be assembled 100, ensuring that the disengagement action of the gripping unit 210 will not cause the plate to be assembled 100 to move, thereby further improving the installation accuracy of the plate to be assembled 100. Those skilled in the art will understand that the sleeve connection between the elastic element and the positioning pin 230 does not directly affect the clamping effect of the elastic element on the plate 100 to be assembled, but rather facilitates the fixing of the elastic element. Therefore, the setting position of the elastic element should not be limited to the above-mentioned sleeve connection with the positioning pin 230. It can also be directly installed on the side of the movable plate 223 away from the fixed plate 222, or even directly installed on the fixed plate 222. The elastic element can also be a spring, a rubber ring, or even a rubber column, etc.

[0053] In this embodiment, such as Figure 2 As shown, the end of the positioning pin 230 facing away from the movable plate 223 can be in a constricted shape. This constricted shape facilitates smooth insertion between the positioning pin 230 and the positioning hole 110. Of course, the end of the positioning pin 230 facing away from the movable plate 223 is not limited to the hemispherical shape shown in the figure; it can also be inverted conical, rhomboid, etc.

[0054] In this embodiment, the gripping unit 210 can be either a suction cup or a gripper. Specifically, since the suction cup exerts relatively low pressure on the surface of the plate to be assembled 100, and to avoid damage to the plate to be assembled 100 during handling, the gripping unit 210 in this embodiment uses a suction cup. However, those skilled in the art will understand that the gripping unit 210 can also be a gripper, or even a lifting device adapted to the plate to be assembled 100.

[0055] In this embodiment, the number of positioning holes 110 and the number of positioning pins 230 are the same and at least two, and the multiple positioning pins 230 are arranged at intervals and correspond one-to-one with the positioning holes 110. Specifically, see [link to documentation]. Figure 2To avoid positioning errors caused by rotational movement of the plate 100 to be assembled, at least two positioning holes 110 and positioning pins 230 should be provided to further restrict the degrees of freedom of the plate 100. The positioning holes 110 should be spaced far apart to ensure stable positioning of the positioning pins 230 on the plate 100. Existing threaded holes on the plate 100 can be used as positioning holes 110, or separate positioning holes 110 can be machined on the plate 100 solely for positioning. Of course, the number of positioning holes 110 is not limited to the number shown in the figure and can be other numbers.

[0056] In this embodiment, such as Figure 2 As shown, the gripping units 210 are multiple and evenly spaced. Increasing the number of gripping units 210 helps ensure that the positioning and gripping device 200 firmly grips the plate to be assembled 100. The evenly spaced arrangement of the gripping units 210 also helps to balance the forces on the plate to be assembled 100, thereby improving the reliability of the positioning and gripping device 200. Of course, the number of gripping units 210 is not limited to the number shown in the figure, and can be set to other numbers according to the size and weight of the plate to be assembled 100.

[0057] This application discloses a novel PCB assembly equipment. One specific embodiment of the PCB assembly equipment includes the aforementioned positioning and clamping device 200. Clearly, this PCB assembly equipment possesses all the technical effects of the aforementioned positioning and clamping device 200, and therefore will not be elaborated upon here.

[0058] In this embodiment, the PCB assembly equipment includes a drive mechanism; wherein the drive mechanism is drivenly connected to the fixed end of the positioning and gripping device 200, and the drive mechanism can drive the fixed end to move. Specifically, the PCB assembly equipment also includes a storage station for storing PCBs. After the positioning and gripping device 200 picks up the PCB from the storage station through the gripping unit 210, the drive mechanism immediately drives the fixed end of the positioning and gripping device 200 to move to the assembly area, and the movable end of the positioning and gripping device 200 completes the placement of the PCB. The drive mechanism can be in various forms such as a robotic arm, a mobile cart, or a servo mechanism.

[0059] In the description of this application, it should be understood that the terms "first" and "second" are used for descriptive purposes only and should not be construed as indicating or implying relative importance or implicitly specifying the number of technical features indicated. Therefore, a feature defined as "first" or "second" may explicitly or implicitly include at least one of that feature. In the description of this application, "multiple" means at least two, such as two, three, etc., unless otherwise explicitly specified.

[0060] In this application, unless otherwise expressly specified and limited, the terms "installation," "connection," "linking," and "fixing," etc., should be interpreted broadly. For example, they can refer to a fixed connection, a detachable connection, or an integral part; they can refer to a mechanical connection, an electrical connection, or a connection that allows communication between components; they can refer to a direct connection or an indirect connection through an intermediate medium; they can refer to the internal communication of two components or the interaction between two components, unless otherwise expressly limited. Those skilled in the art can understand the specific meaning of the above terms in this application based on the specific circumstances.

[0061] In the description of this specification, the references to terms such as "one embodiment," "some embodiments," "example," "specific example," or "some examples," etc., refer to specific features, structures, materials, or characteristics described in connection with that embodiment or example, which are included in at least one embodiment or example of this application. In this specification, the illustrative expressions of the above terms do not necessarily refer to the same embodiment or example. Furthermore, the specific features, structures, materials, or characteristics described may be combined in any suitable manner in one or more embodiments or examples. Moreover, without contradiction, those skilled in the art can combine and integrate the different embodiments or examples described in this specification, as well as the features of different embodiments or examples.

Claims

1. A positioning gripper device, characterized in that The positioning and gripping device (200) includes: The gripping unit (210) is capable of gripping the plate to be assembled (100), wherein the plate to be assembled (100) is provided with positioning holes (110); The gripping drive mechanism includes a fixed end and a movable end, and the gripping unit (210) is driven to be connected to the movable end; The positioning pin (230) is connected to the movable end. During the movement of the movable end relative to the fixed end in a direction toward or away from the plate to be assembled (100), the positioning pin (230) passes through the positioning hole (110) and moves up and down relative to the positioning hole (110).

2. The positioning gripper device according to claim 1, characterized in that The grasping drive mechanism includes: Fixing plate (222); Cylinder (221), the cylinder (221) is mounted on the fixed plate (222); The movable plate (223) is equipped with the gripping unit (210) and the positioning pin (230) on the side of the movable plate (223) away from the fixed plate (222), and the piston rod (221a) of the cylinder (221) passes through and connects to the movable plate (223). The guide rod (224) is connected to the fixed plate (222) at one end and is movably guided through the movable plate (223) at the other end.

3. The positioning gripper device according to claim 2, characterized in that The number of cylinders (221) is multiple and they are arranged close to both ends of the fixed plate (222).

4. The positioning gripper device according to claim 2, characterized in that The positioning pin (230) is sleeved with an elastic element. One end of the elastic element is connected to the side of the movable plate (223) away from the fixed plate (222), and the other end extends to the end of the positioning pin (230) away from the movable plate (223).

5. The positioning gripper device according to claim 2, characterized in that The end of the positioning pin (230) facing away from the movable plate (223) is tapered.

6. The positioning gripper device according to any one of claims 1 to 5, characterized in that The gripping unit (210) is either a suction cup or a gripper.

7. The positioning gripper device according to any one of claims 1 to 5, characterized in that The number of positioning holes (110) is the same as the number of positioning pins (230) and there are at least two of them. The multiple positioning pins (230) are arranged at intervals and correspond one-to-one with the positioning holes (110).

8. The positioning gripper device according to any one of claims 1 to 5, characterized in that The number of gripping units (210) is multiple and they are evenly spaced.

9. A PCB assembly apparatus, characterized by, The PCB assembly equipment includes a positioning and clamping device (200) according to any one of claims 1 to 8.

10. The PCB assembly apparatus of claim 9, wherein, The PCB assembly equipment includes a drive mechanism; The driving mechanism is connected to the fixed end of the positioning and clamping device (200), and the driving mechanism can drive the fixed end to move.

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