A multi-jaw handling mechanism

Abstract

The utility model provides a kind of multi-claw carrying mechanism belongs to base material carrying equipment technical field, comprising: support assembly, the surface of support assembly is equipped with carrying assembly, the support assembly includes support frame, the surface of support frame is equipped with two horizontal extension's first sliding seat, the surface of first sliding seat is equipped with the second electric cylinder for longitudinal adjustment, the surface of support frame is equipped with travel switch, the carrying assembly includes fixedly connected with the carrying plate of second electric cylinder piston rod surface, the scheme is moved independently in different height layer by multiple electric clamps, realize the staggered layout of electric clamp in three-dimensional space, support synchronous capture, hand over, reduce idle time, avoid interference, realize multi-station synchronous operation, greatly improve production efficiency, antiskid rubber increases contact friction, prevent precision workpiece from slipping or damage when clamping, accurate limit is combined with travel switch, reduce positioning error.

Description

Technical Field

[0001] This utility model belongs to the technical field of substrate handling equipment, specifically relating to a multi-claw handling mechanism. Background Technology

[0002] The substrate is the basic material for manufacturing PCBs. Generally, the substrate is a copper-clad laminate. In the manufacturing process of single-sided and double-sided PCBs, selective processing such as hole machining, chemical copper plating, electroplating, and etching are performed on the copper-clad laminate substrate to obtain the desired circuit pattern. Another type of PCB, the multilayer PCB, also uses a thin copper-clad laminate as its base, and alternately laminates conductive pattern layers with prepreg in a single process to form three or more interconnected conductive pattern layers. It has three functions: conductivity, insulation, and support. The performance, quality, processability, manufacturing cost, and manufacturing level of a PCB largely depend on the substrate material.

[0003] Traditional grippers require operating workpieces one by one, or uneven force during synchronous gripping can cause materials to fall off or be damaged. Single-layer grippers cannot adapt to highly differentiated workpieces, and long workpieces require multiple round trips, resulting in low efficiency. Ball bearing track grippers have weak load-bearing capacity, are prone to wear, and have a short lifespan. Therefore, we propose a multi-gripper handling mechanism. Utility Model Content

[0004] The purpose of this invention is to provide a multi-gripper handling mechanism, which aims to solve the problems mentioned in the background art.

[0005] To achieve the above objectives, this utility model provides the following technical solution:

[0006] A multi-gripper handling mechanism includes: a support assembly, a handling component provided on the surface of the support assembly, the support assembly including a support frame, two horizontally extending first sliding seats provided on the surface of the support frame, a second electric cylinder for longitudinal adjustment mounted on the surface of the first sliding seats, and a limit switch mounted on the surface of the support frame;

[0007] The conveying assembly includes a conveying plate fixedly connected to the surface of the piston rod of the second electric cylinder. The bottom of the conveying plate is provided with two horizontally extending second guide rails. The surface of the second guide rails is slidably connected to a second sliding seat. The surface of the second sliding seat is fixedly connected to a conveying frame. The surface of the conveying frame is fixedly connected to multiple horizontally extending third guide rails. The surfaces of the multiple third guide rails are slidably connected to multiple third sliding seats. The surface of the third sliding seat is fixedly connected to an electric gripper. The surface of the electric gripper is provided with anti-slip rubber.

[0008] As a preferred embodiment of this utility model, a first electric cylinder for horizontal adjustment is mounted on the surface of the support frame, and the piston rod of the first electric cylinder is fixedly connected to the bottom of the first sliding seat.

[0009] As a preferred embodiment of this utility model, mounting seats are installed on the surface of the support frame and on both sides of the first guide rail.

[0010] As a preferred embodiment of this utility model, a stopper is installed on the surface of the mounting base.

[0011] As a preferred embodiment of this utility model, protective rings are installed on the surface of the first sliding seat and on both sides of the second electric cylinder.

[0012] In a preferred embodiment of this utility model, a guide rod is slidably connected inside the protective ring, and the bottom of the guide rod is fixedly connected to the transport plate.

[0013] In a preferred embodiment of this utility model, a tank chain is fixedly connected to the surface of the first sliding seat, and the other end of the tank chain passes through the first sliding seat and is fixedly connected to the transport plate.

[0014] As a preferred embodiment of this utility model, a third electric cylinder for horizontal adjustment is installed at the bottom of the conveying plate, and the piston rod of the third electric cylinder is fixedly connected to the second sliding seat.

[0015] As a preferred embodiment of this utility model, a fourth electric cylinder for longitudinal adjustment is installed on the surface of the transport frame, and the piston rod of the fourth electric cylinder is fixedly connected to the third sliding seat.

[0016] Compared with the prior art, the beneficial effects of this utility model are:

[0017] This solution utilizes multiple electric grippers that move independently at different height levels to achieve a staggered layout of electric grippers in three-dimensional space. It supports synchronous gripping and handover, reduces idle time, avoids interference, and enables multi-station synchronous operation, significantly improving production efficiency. Anti-slip rubber increases contact friction to prevent precision workpieces from slipping or being damaged during clamping, and combined with limit switches for precise limiting, it reduces positioning errors. Attached Figure Description

[0018] The accompanying drawings are provided to further understand the present invention and form part of the specification. They are used together with the embodiments of the present invention to explain the present invention and do not constitute a limitation thereof.

[0019] In the attached diagram:

[0020] Figure 1 This is a schematic diagram of the overall structure of this utility model;

[0021] Figure 2 This is a schematic diagram of the support components in the structure of this utility model;

[0022] Figure 3 This is a first-view schematic diagram of the transport component in the structure of this utility model;

[0023] Figure 4 This is a second-view schematic diagram of the transport component in the structure of this utility model.

[0024] In the diagram: 1. Support assembly; 101. Support frame; 102. First guide rail; 103. First sliding seat; 104. First electric cylinder; 105. Mounting seat; 106. Stopper; 107. Second electric cylinder; 108. Guide rod; 109. Protective ring; 110. Tank chain; 2. Handling assembly; 201. Handling plate; 202. Second guide rail; 203. Second sliding seat; 204. Handling frame; 205. Third electric cylinder; 206. Third guide rail; 207. Third sliding seat; 208. Electric gripper; 209. Fourth electric cylinder. Detailed Implementation

[0025] The technical solutions of the present utility model will be clearly and completely described below with reference to the accompanying drawings of the embodiments. Obviously, the described embodiments are only some embodiments of the present utility model, and not all embodiments. Based on the embodiments of the present utility model, all other embodiments obtained by those of ordinary skill in the art without creative effort are within the protection scope of the present utility model.

[0026] Example

[0027] Please see Figure 1-4 The technical solution provided in this embodiment is as follows:

[0028] A multi-gripper conveying mechanism includes: a support assembly 1, a conveying assembly 2 disposed on the surface of the support assembly 1, the support assembly 1 including a support frame 101, two horizontally extending first sliding seats 103 disposed on the surface of the support frame 101, a second electric cylinder 107 for longitudinal adjustment mounted on the surface of the first sliding seats 103, and a limit switch disposed on the surface of the support frame 101; the conveying assembly 2 includes a conveying plate 201 fixedly connected to the piston rod surface of the second electric cylinder 107, two horizontally extending second guide rails 202 disposed at the bottom of the conveying plate 201, second sliding seats 203 slidably connected to the surface of the second guide rails 202, and the conveying frame 203 fixedly connected to the surface of the second sliding seats 203. 04. The surface of the conveying rack 204 is fixedly connected to multiple horizontally extending third guide rails 206. The surfaces of the multiple third guide rails 206 are slidably connected to multiple third sliding seats 207. The surfaces of the third sliding seats 207 are fixedly connected to electric grippers 208. The surfaces of the electric grippers 208 are provided with anti-slip rubber. By having multiple electric grippers 208 move independently at different height levels, the electric grippers 208 are arranged in a staggered layout in three-dimensional space, supporting synchronous gripping and handover, reducing idle time, avoiding interference, realizing multi-station synchronous operation, and greatly improving production efficiency. The anti-slip rubber increases contact friction and prevents precision workpieces from slipping or being damaged when clamped. Combined with limit switches for precise limiting, it reduces positioning errors.

[0029] Specifically, a first electric cylinder 104 for horizontal adjustment is mounted on the surface of the support frame 101, and the piston rod of the first electric cylinder 104 is fixedly connected to the bottom of the first sliding seat 103.

[0030] In a specific embodiment of this utility model, the first electric cylinder 104 drives the first sliding seat 103 to move in the horizontal direction, and adjusts the lateral position of the electric gripper 208 through the piston rod linkage, so as to realize the fine adjustment of the horizontal position of the electric gripper 208, adapt to the gripping needs of workpieces of different sizes, and improve the flexibility of the mechanism.

[0031] Specifically, mounting bases 105 are installed on the surface of the support frame 101 and on both sides of the first guide rail 102, and stoppers 106 are installed on the surface of the mounting bases 105.

[0032] In a specific embodiment of this utility model, the mounting base 105 is fixed to both sides of the support frame 101, and the stopper 106 limits the travel range of the first sliding seat 103 to prevent overtravel collision, protect the mechanical structure, and extend the equipment life.

[0033] Specifically, protective rings 109 are installed on the surface of the first sliding seat 103 and on both sides of the second electric cylinder 107. A guide rod 108 is slidably connected inside the protective ring 109, and the bottom of the guide rod 108 is fixedly connected to the transport plate 201.

[0034] In a specific embodiment of this utility model, the protective ring 109 cooperates with the guide rod 108 to provide sliding guidance when the second electric cylinder 107 is raised or lowered, thereby enhancing the stability of vertical movement, reducing piston rod wear due to off-center load, and lowering maintenance costs.

[0035] Specifically, a tank chain 110 is fixedly connected to the surface of the first sliding seat 103, and the other end of the tank chain 110 passes through the first sliding seat 103 and is fixedly connected to the transport plate 201.

[0036] In a specific embodiment of this utility model, the tank chain 110 is fixed between the first sliding seat 103 and the transport plate 201 to protect the internal cables / air pipes, prevent the cables from breaking due to repeated bending and wear, and ensure the long-term reliability of the pneumatic and electrical system.

[0037] Specifically, a third electric cylinder 205 for horizontal adjustment is installed at the bottom of the transport plate 201, and the piston rod of the third electric cylinder 205 is fixedly connected to the second sliding seat 203.

[0038] In a specific embodiment of this utility model, the third electric cylinder 205 drives the second sliding seat 203 to move laterally along the second guide rail 202, thereby realizing the overall lateral displacement of the transport frame 204 and expanding the coverage area of ​​the electric gripper 208.

[0039] Specifically, the surface of the transport frame 204 is equipped with a fourth electric cylinder 209 for longitudinal adjustment, and the piston rod of the fourth electric cylinder 209 is fixedly connected to the third sliding seat 207.

[0040] In a specific embodiment of this utility model, the fourth electric cylinder 209 pushes the third sliding seat 207 to move longitudinally along the third guide rail 206, adjusts the height of a single electric gripper 208, supports independent layered positioning of the gripper, and adapts to complex workpiece stacking scenarios.

[0041] Working principle: One electric gripper 208 descends to the ready position via the second electric cylinder 107, pushing the workpiece back to the reference point to ensure unified initial coordinates. At this time, the limit switch detects the position signal, and the control system, such as the PLC, records the initial coordinates of each electric gripper 208. The second electric gripper 208 moves along the third guide rail 206 to the dispensing station. After completing the dispensing of a section, the second electric gripper 208 is adjusted to the handover height via the fourth electric cylinder 209, and then takes over the workpiece at the gripping position. The handover process relies on the independent control of the electric grippers 208: when one electric gripper 208 releases, the other... An electric gripper 208 clamps synchronously, and anti-slip rubber ensures stable gripping force to prevent workpieces from falling off. A third electric cylinder 205 drives the transport frame 204 to move laterally, sending the workpieces sequentially to the die bonding station and the discharge port. If the workpiece length exceeds the limit, two electric grippers 208 lift and lower in layers through a fourth electric cylinder 209, respectively grabbing the first and last sections of the workpiece to achieve relay transport of long materials. The first electric cylinder 104 and the stopper 106 limit the sliding range to prevent overtravel collisions. The protective ring 109 and the guide rod 108 ensure smooth lifting and lowering. The tank chain 110 protects the cable from mechanical damage.

[0042] Finally, it should be noted that the above description is merely a preferred embodiment of this utility model and is not intended to limit the utility model. Although the utility model has been described in detail with reference to the foregoing embodiments, those skilled in the art can still modify the technical solutions described in the foregoing embodiments or make equivalent substitutions for some of the technical features. Any modifications, equivalent substitutions, improvements, etc., made within the spirit and principles of this utility model should be included within the protection scope of this utility model.

Claims

1. A multi-gripper conveying mechanism, characterized in that, include: A support assembly (1) is provided with a conveying assembly (2) on its surface. The support assembly (1) includes a support frame (101). The surface of the support frame (101) is provided with two horizontally extending first sliding seats (103). The surface of the first sliding seats (103) is equipped with a second electric cylinder (107) for longitudinal adjustment. The surface of the support frame (101) is equipped with a limit switch. The conveying assembly (2) includes a conveying plate (201) fixedly connected to the piston rod surface of the second electric cylinder (107). The bottom of the conveying plate (201) is provided with two horizontally extending second guide rails (202). The surface of the second guide rails (202) is slidably connected to a second sliding seat (203). The surface of the second sliding seat (203) is fixedly connected to a conveying frame (204). The surface of the conveying frame (204) is fixedly connected to a plurality of horizontally extending third guide rails (206). The surfaces of the plurality of third guide rails (206) are slidably connected to a plurality of third sliding seats (207). The surface of the third sliding seat (207) is fixedly connected to an electric gripper (208). The surface of the electric gripper (208) is provided with anti-slip rubber.

2. The multi-gripper conveying mechanism according to claim 1, characterized in that, The support frame (101) is equipped with a first electric cylinder (104) for horizontal adjustment, and the piston rod of the first electric cylinder (104) is fixedly connected to the bottom of the first sliding seat (103).

3. The multi-gripper conveying mechanism according to claim 1, characterized in that, Mounting seats (105) are installed on the surface of the support frame (101) and on both sides of the first guide rail (102).

4. The multi-gripper conveying mechanism according to claim 3, characterized in that, A stopper (106) is mounted on the surface of the mounting base (105).

5. A multi-gripper conveying mechanism according to claim 1, characterized in that, Protective rings (109) are installed on the surface of the first sliding seat (103) and on both sides of the second electric cylinder (107).

6. The multi-gripper conveying mechanism according to claim 5, characterized in that, The protective ring (109) is internally slidably connected to a guide rod (108), and the bottom of the guide rod (108) is fixedly connected to the transport plate (201).

7. The multi-gripper conveying mechanism according to claim 1, characterized in that, The surface of the first sliding seat (103) is fixedly connected to a tank chain (110).

8. A multi-gripper conveying mechanism according to claim 7, characterized in that, The other end of the tank chain (110) passes through the first sliding seat (103) and is fixedly connected to the transport plate (201).

9. A multi-jaw conveying mechanism according to claim 1, characterized in that, The bottom of the conveying plate (201) is equipped with a third electric cylinder (205) for horizontal adjustment, and the piston rod of the third electric cylinder (205) is fixedly connected to the second sliding seat (203).

10. A multi-gripper conveying mechanism according to claim 1, characterized in that, The surface of the transport frame (204) is equipped with a fourth electric cylinder (209) for longitudinal adjustment, and the piston rod of the fourth electric cylinder (209) is fixedly connected to the third sliding seat (207).

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