A nail gripping robot

Abstract

This utility model belongs to the technical field of machining equipment and discloses a nail-gripping robot, including a gripping assembly and a control seat. The gripping assembly includes a gripping mechanism and a power mechanism. The power mechanism includes a drive component, which moves axially to cause the gripping mechanism to open or close radially. The control seat is disposed on the gripping assembly, and the gripping assembly and the control seat are rotatable relative to each other. The control seat has a hole through which the drive component passes. The drive component has a mating part, and the hole has a stepped structure. One of the gripping assembly and the control seat rotates relative to the other to allow the mating part to engage with a different stepped surface of the stepped structure, thereby adjusting the axial movement distance of the drive component. This utility model can select the appropriate opening diameter based on the diameter of the positioning post and / or the spacing of the positioning holes, thus meeting the gripping requirements of positioning posts in different application scenarios and effectively expanding the applicability of the robot.

Description

Technical Field

[0001] This utility model belongs to the field of machining equipment technology, and in particular relates to a nail-grabbing robot. Background Technology

[0002] Currently, the PCB board processing equipment requires constant replacement of the positioning posts that fix the PCB board during operation. This is usually done manually by the operator. This manual operation requires repeatedly loading and unloading the positioning posts that fix the PCB board. For large-format PCB boards, due to the large number of positioning holes, replacing the positioning posts is time-consuming and inconvenient.

[0003] Therefore, the use of mechanized equipment to pick up and place positioning posts for fixing PCB boards is a necessity for industry development. This can make it easier for equipment operators to reduce the time spent replacing positioning posts for fixing PCB boards, which helps to reduce equipment downtime and improve processing efficiency.

[0004] Currently, robotic arms for gripping positioning posts can only handle positioning posts of a certain size. Since the positioning holes and / or the spacing between positioning holes on the PCB circuit board are not always the same size, the applicable scope of the current robotic arms, which can only replace positioning posts of a single diameter and / or a single hole spacing, is still relatively small. Utility Model Content

[0005] To address the aforementioned technical problems, this utility model discloses a nail-grabbing robot that can select the appropriate clamping diameter based on the diameter of the positioning post and / or the spacing of the positioning holes, thereby meeting the clamping requirements of positioning posts in different application scenarios and effectively expanding the applicability of the robot.

[0006] The specific technical solution of this utility model is as follows:

[0007] A nail-grabbing robot includes a gripping assembly and a control base. The gripping assembly includes a gripping mechanism and a power mechanism. The power mechanism includes a drive component that moves axially to cause the gripping mechanism to move radially to open or close the grip. The control base is disposed on the gripping assembly, and the gripping assembly and the control base are rotatable relative to each other.

[0008] The control base is provided with a hole, the drive component passes through the control base through the hole, the drive component is provided with a mating part, and the hole has a stepped structure;

[0009] In this configuration, one of the clamping assembly and the control seat rotates relative to the other, so that the mating part engages with a step surface of a different step structure, thereby adjusting the axial movement distance of the drive component.

[0010] The gripping mechanism's action is achieved through a power mechanism. The robotic arm converts the axial movement of the driving component into the radial gripping action of the gripping mechanism. During this process, the driving component passes through the control seat; that is, the axial movement of the driving component is achieved within a hole in the control seat, meaning at least a portion of the driving component is located within the hole. Since the hole has a stepped structure with different step surfaces and varying relative heights, in actual use, the mating part contacts the corresponding step surface based on its position. In other words, the step surface that contacts the mating part restricts the continued movement of the driving component. The axial movement distance of the driving component is related to the opening degree of the gripping mechanism; a longer axial movement distance results in a larger opening degree, and vice versa. The small size allows the relative rotation between the drive control seat and the gripping assembly to make the mating parts abut against different stepped surfaces as needed, effectively expanding the application range of the robot. Generally speaking, a large clamping opening can clamp small-sized positioning posts, but positioning posts of different sizes and spacings have different clamping requirements. If a large clamping opening is always used to clamp positioning posts of different sizes and spacings, positioning errors, uncontrollable clamping force, large invalid clamping strokes, unnecessary mechanical wear, and spatial motion interference will inevitably occur during this process, thus affecting the normal clamping of the gripping mechanism. Therefore, this application uses a control seat with a stepped structure to achieve opening control and realize the graded opening of the gripping mechanism, which can well meet the specific needs of clamping well, clamping economically, and clamping for a long time.

[0011] Preferably, the driving component includes a drive shaft and a motion seat, the mating part is disposed on the motion seat, and the drive shaft and the mating part are detachably connected;

[0012] The gripping mechanism includes:

[0013] A gripper seat, wherein a plurality of radially displaceable gripping members are arranged along its circumference, and the gripping members are connected to the motion seat in a transmission manner.

[0014] The connection relationship of the driving components in this application is simple and easy to operate; the gripper provides an assembly position for the clamping parts, so that the clamping parts can move stably under the drive of the motion seat, and realize the synchronous movement of multiple clamping parts.

[0015] Preferably, the gripper is provided with an installation space for placing the clamping member, and the clamping member slides in the installation space along a preset direction.

[0016] The installation space limits the movement direction of the clamping component, ensuring the clamping accuracy and stability of the gripping mechanism.

[0017] Preferably, the gripping mechanism further includes:

[0018] A base, wherein the gripper is mounted on the base, and the base and / or the gripper is provided with a sliding part that slides in contact with the gripper.

[0019] The sliding part has a planar structure, which can improve the movement capability of the clamping part and avoid movement jamming.

[0020] Preferably, the sliding part is made of Teflon material.

[0021] Teflon materials have an extremely low coefficient of friction and are self-lubricating, which can well meet the application requirements.

[0022] Preferably, the clamping member is provided with a first inclined surface, and the moving seat is provided with a second inclined surface that cooperates with the first inclined surface;

[0023] A reset element is provided between the gripper and the clamping member.

[0024] In this application, the clamping member opens by cooperating with the moving seat through the first inclined surface, and closes by the reset member after opening. This structure is simple and easy to implement.

[0025] Preferably, the gripping mechanism further includes:

[0026] Guide sleeve, which is connected to the motion seat;

[0027] A guide rod, one end of which is connected to a clamping seat, and the other end of which is engaged with a guide sleeve.

[0028] The cooperation between the guide rod and the guide sleeve enables the directional movement of the motion seat, thereby ensuring the driving stability of the drive component and realizing the stable opening and closing of the clamping mechanism.

[0029] Preferably, the power mechanism includes a housing one, the gripping mechanism includes a housing two, and the control seat is disposed between the housing one and the housing two, and is rotatably connected to the housing one and / or the housing two.

[0030] The power mechanism and clamping mechanism can be assembled as a whole through housing one and housing two. On this basis, the control seat is set between housing one and housing two, which helps to save the overall volume and simplify the assembly process.

[0031] Preferably, the circumferential sidewalls of the first and / or second housings are provided with limiting holes, and the control seat has a lever that extends from the limiting hole and limits the limit rotation angle of the control seat through the limiting hole.

[0032] This application achieves the rotation of the control seat relative to the clamping assembly by moving a lever, which is simple and easy to operate, and enables rapid selection of the step surface.

[0033] Preferably, the outer casing one and / or outer casing two are provided with limit blocks in the circumferential direction so that the control seat can rotate relative to the clamping assembly within a preset area.

[0034] This structure can prevent the control seat from rotating excessively and avoid the control seat from impacting the drive components.

[0035] Compared with existing technologies, this utility model, through the setting of the control seat, enables a robotic arm to simultaneously grasp and release positioning posts of different diameters and spacings, thereby realizing the processing of PCB materials with positioning holes of different spacings and diameters. This saves labor costs, reduces processing errors caused by human factors, and also reduces processing difficulties caused by equipment, thus greatly improving work efficiency. Attached Figure Description

[0036] Figure 1 This is a schematic diagram of an embodiment of the present utility model;

[0037] Figure 2 for Figure 1 A sectional view;

[0038] Figure 3 This is a schematic diagram of the control base in an embodiment of the present utility model;

[0039] Figure 4 This is a schematic diagram of the assembly of the control base in an embodiment of this utility model;

[0040] Figure 5 This is a partial assembly drawing of the gripping mechanism in an embodiment of this utility model;

[0041] Figure 6 This is a schematic diagram of the outer shell in one embodiment of the present utility model.

[0042] In the diagram: 100-clamping mechanism; 200-power mechanism; 300-boost cylinder; 1-control seat; 2-hole; 3-fitting part; 4-drive shaft; 5-movement seat; 6-outer shell one; 7-outer shell two; 8-limiting hole; 9-lever; 10-limiting block; 11-step surface one; 12-step surface two; 13-clamping seat; 14-clamping component; 15-placement space; 16-first inclined surface; 17-second inclined surface; 18-reset component; 19-body part; 20-guide pin; 21-base; 22-sliding part one; 23-sliding part two; 24-guide sleeve; 25-guide rod. Detailed Implementation

[0043] To enable those skilled in the art to better understand the technical solution of this utility model, the present utility model will be further described in detail below with reference to specific embodiments.

[0044] like Figures 1-6As shown, a nail-grabbing robot includes a gripping assembly and a control seat 1. The gripping assembly includes a gripping mechanism 100 and a power mechanism 200. The power mechanism 200 includes a drive component that moves axially to cause the gripping mechanism 100 to move radially to open or close the grip. The control seat 1 is disposed on the gripping assembly, and the gripping assembly and the control seat 1 are rotatable relative to each other. The control seat 1 has a hole 2 through which the drive component passes. The drive component has a mating part 3, and the hole 2 has a stepped structure. One of the gripping assembly and the control seat 1 rotates relative to the other so that the mating part 3 engages with a stepped surface of a different step structure to adjust the axial movement distance of the drive component.

[0045] For ease of explanation, the robotic arm is assembled in a direction perpendicular to the horizontal plane. When the driving component moves downward, the gripping mechanism 100 closes; when the driving component moves upward, the gripping mechanism 100 opens. In this embodiment, the power mechanism 200 is a power cylinder. To ensure the driving capability of the power mechanism 200, the gripping assembly also includes a booster cylinder 300. During assembly, the robotic arm, from top to bottom, consists of the booster cylinder 300, the power cylinder, the control base 1, and the gripping mechanism 100. Further, as... Figure 2 As shown, the driving component includes a drive shaft 4 and a motion seat 5. The mating part 3 is disposed on the motion seat 5, and the drive shaft 4 and the mating part 3 are detachably connected. The control seat 1 is rotatably connected to the power mechanism 200 and / or the clamping mechanism 100. The drive shaft 4 can be the output shaft of a power cylinder, or it can be another component connected to the output shaft of the power cylinder via a coupling. The free end of the drive shaft 4 has an I-shaped structure, and the mating part 3 of the motion seat 5 has a sliding groove that mates with the free end of the drive shaft 4. Therefore, when assembling the drive shaft 4 and the motion seat 5, the assembly can be completed by radially sliding the motion seat 5 at the assembly position. The structure is simple, easy to operate, and does not require additional assembly parts.

[0046] like Figure 1 and Figure 2 As shown, further, in this embodiment, the power mechanism 200 includes a first housing 6, the gripping mechanism 100 includes a second housing 7, and the control seat 1 is disposed between the first housing 6 and the second housing 7, and rotatably connected to the first housing 6 and / or the second housing 7. Even further, as... Figure 3 and Figure 6As shown, limiting holes 8 are provided on the circumferential sidewalls of the first housing 6 and / or the second housing 7. The control seat 1 has a lever 9, which extends from the limiting hole 8 and limits the limit rotation angle of the control seat 1 through the limiting hole 8. Limiting blocks 10 are provided circumferentially on the first housing 6 and / or the second housing 7 to allow the control seat 1 to rotate relative to the clamping assembly within a preset area. Specifically, in this embodiment, the control seat 1 is rotatably connected to the second housing 7, and the limiting blocks 10 are provided on the first housing 6. There are multiple limiting blocks 10, which are distributed intermittently in a ring. The limiting holes 8 are provided on the second housing 7.

[0047] like Figure 3 As shown in the illustration, for ease of explanation in this embodiment, the stepped structure has two stepped surfaces, namely stepped surface one 11 and stepped surface two 12. The relative height of stepped surface one 11 is greater than that of stepped surface two 12. Therefore, the mating part 3 can mate with two stepped surfaces, which means that two levels of opening adjustment can be achieved. Since the relative height of stepped surface one 11 is greater than that of stepped surface two 12, stepped surface one 11 protrudes downward relative to stepped surface two 12. The movement path of the moving seat 5 contacting stepped surface one 11 is shorter than the movement path of the moving seat 5 contacting stepped surface two 12. In other words, when the control seat 1 rotates and the mating part 3 is located at the position of stepped surface one 11, the opening of the gripping mechanism 100 is small; when the control seat 1 rotates and the mating part 3 is located at the position of stepped surface two 12, the opening of the gripping mechanism 100 is large. On one side of the limiting hole 8, on the outer circumferential wall of outer shell 6 or outer shell 7, the clamping dimensions can be marked. The position corresponding to the lever 9 indicates the type of positioning post the clamping mechanism 100 is used to clamp. For example, in this embodiment, φ2 and φ5 are marked on outer shell 6. When the position of lever 9 corresponds to φ2, the clamping mechanism 100 clamps positioning posts with a spacing ≤4mm and a diameter ≤2mm. When the position of lever 9 corresponds to φ5, the clamping mechanism 100 clamps positioning posts with a spacing ≤10mm and a diameter ≤5mm. Therefore, depending on the actual situation, in different embodiments, three, four, or more levels of opening adjustment structures can be set. In other words, the stepped surface of the stepped structure can have more than two steps; there can be three, four, or more.

[0048] like Figure 2 and Figure 5As shown, in this embodiment, the gripping mechanism 100 includes a gripping seat 13, and the gripping seat 13 is provided with a plurality of radially displaceable clamping members 14 along its circumference. The clamping members 14 are drively connected to the motion seat 5. Further, the gripping seat 13 is provided with an installation space for accommodating the clamping members 14, and the clamping members 14 slide in the installation space along a preset direction. The clamping members 14 and the motion seat 5 can be connected by a directional slide rail mechanism to achieve the opening or closing of the gripping mechanism 100. Based on this structure, when the motion seat 5 moves downward, it can drive the plurality of clamping members 14 to move together; when the motion seat 5 moves upward, it can drive the plurality of clamping members 14 to move apart, thereby realizing the opening and closing of the gripping mechanism 100. In this embodiment, the clamping member 14 is provided with a first inclined surface 16, and the motion seat 5 is provided with a second inclined surface 17 that cooperates with the first inclined surface 16; a reset member 18 is provided between the gripping seat 13 and the clamping member 14. Specifically, the motion seat 5 has a stepped cylindrical structure, including a mating part 3 and a body part 19. The diameter of the mating part 3 is smaller than the diameter of the body part 19. The first inclined surface 16 and the second inclined surface 17 can both be planes or both be curved surfaces. When both are curved surfaces, the second inclined surface 17 can be configured as an annular conical surface on the body part 19. When the motion seat 5 moves downward, the reset member 18 compresses and stores energy, thus closing the clamp. When the motion seat 5 moves upward, the reset member 18 releases the stored energy, thus opening the clamp. Since the upward movement distance of the motion seat 5 is limited, the opening degree of the clamp is also limited to meet the clamping requirements of positioning columns of different specifications. To improve the deformation stability of the reset member 18, the reset member 18 is sleeved on the outside of the guide pin 20. One end of the guide pin 20 is threadedly connected to the gripper seat 13. Of course, the other end of the guide pin 20 can slide with the clamping member 14 (the clamping member 14 is provided with a corresponding guide hole).

[0049] like Figure 2 and Figure 5As shown, in this embodiment, the clamping mechanism 100 further includes a base 21, the clamping seat 13 is mounted on the base 21, and the base 21 and / or the clamping seat 13 are provided with a sliding part that slides in contact with the clamping member 14. Specifically, both the base 21 and the gripper 13 are provided with sliding parts. Let the sliding part of the base 21 be sliding part one 22, and the sliding part of the gripper 13 be sliding part two 23. Further, the base 21 is provided with a groove corresponding to the position of the clamping member 14, and a Teflon slider is provided in the groove. The top surface of the gripper 13 is connected to the Teflon slider. It should be noted that Teflon material has an extremely low coefficient of friction and self-lubricating properties, so it can well meet the sliding requirements of the clamping member 14. Thus, the two Teflon sliders at different positions are respectively configured as sliding part one 22 and sliding part two 23. The clamping member 14 at the corresponding position slides in contact with sliding part one 22 and sliding part two 23. While guiding the movement of the clamping member 14 in the installation space, it effectively improves the movement capability of the clamping member 14 and avoids movement jamming and interference.

[0050] like Figure 2 As shown, to further improve clamping stability, the clamping mechanism 100 also includes a guide sleeve 24 and a guide rod 25; the guide sleeve 24 is connected to the motion seat 5; one end of the guide rod 25 is connected to the clamping seat 13, and the other end of the guide rod 25 engages with the guide sleeve 24. The directional up-and-down movement of the motion seat 5 is achieved through the cooperation of the guide sleeve 24 and the guide rod 25, effectively preventing the motion seat 5 and / or the drive shaft 4 from deviating from their axis, thereby better meeting the clamping requirements.

[0051] Therefore, in this embodiment, the booster cylinder 300 is installed on the top of the power cylinder, the bottom of the booster cylinder 300 piston acts on the upper part of the power cylinder piston, and the drive shaft 4 of the power cylinder is connected to the mating part 3 of the motion seat 5; the control seat 1 is located between the outer shell 6 and the outer shell 7, and can rotate to switch the opening of the gripping mechanism 100 according to the diameter and spacing requirements of the positioning column.

[0052] The guide pin 20 is installed on the motion seat 5, and the reset member 18 is sleeved on the outside of the guide pin 20. One end contacts the motion seat 5, and the other end slides to cooperate with the guide hole provided by the corresponding clamping member 14. The clamping seat 13 is installed inside the outer shell 7 and slides to cooperate with the motion seat 5, thereby enabling the clamping member 14 installed on the clamping seat 13 to move radially along a preset direction.

[0053] In specific operations, firstly, corresponding positioning pin holes are drilled on the PCB router's worktable. Based on the diameter and spacing of the positioning holes, a robotic arm is used to grip the corresponding positioning pins and insert them into the corresponding positioning pin holes drilled on the worktable. The PCB board to be processed is then placed for processing. When the drive shaft 4 is driven to move downward, the motion seat 5 moves downward simultaneously. At this time, the second inclined surface 17 of the motion seat 5 contacts the first inclined surface 16 of the clamping member 14 and generates a radial force F1, thereby driving the clamping member 14 to move radially inward. Since three clamping members 14 with equal angles are installed on the motion seat 5, and the three clamping members 14 move radially inward simultaneously, they are aligned with the positioning pins that have fixed the PCB board and clamp the positioning pins that fix the PCB board. This action completes the action of gripping the positioning pins. When the drive shaft 4 is driven to move upward, the motion seat 5 moves upward simultaneously. Under the elastic force of the reset member 18, the three grippers move radially outward simultaneously, and the three clamping members 14 separate from each other. At this time, the action of releasing the positioning pins is completed. Because of the control seat 1, when the control seat 1 is rotated at a certain angle as needed, the distance that the moving seat 5 can move upward can be limited. At this time, the distance between the opening of the three grippers can be adjusted, so that different positioning columns can be gripped as needed.

[0054] The above are merely preferred embodiments of this utility model. It should be noted that the above preferred embodiments should not be considered as limitations on this utility model, and the scope of protection of this utility model should be determined by the scope defined in the claims. For those skilled in the art, several improvements and modifications can be made without departing from the spirit and scope of this utility model, and these improvements and modifications should also be considered within the scope of protection of this utility model.

Claims

1. A nail-grabbing robotic arm, characterized in that, The system includes a gripping assembly and a control seat. The gripping assembly includes a gripping mechanism and a power mechanism. The power mechanism includes a drive component that moves axially to cause the gripping mechanism to move radially to open or close the grip. The control seat is disposed on the gripping assembly, and the gripping assembly and the control seat are rotatable relative to each other. The control base is provided with a hole, the drive component passes through the control base through the hole, the drive component is provided with a mating part, and the hole has a stepped structure; In this configuration, one of the clamping assembly and the control seat rotates relative to the other, so that the mating part engages with a step surface of a different step structure, thereby adjusting the axial movement distance of the drive component.

2. The nail-grabbing robotic arm as described in claim 1, characterized in that, The driving component includes a drive shaft and a motion seat, the mating part is disposed on the motion seat, and the drive shaft and the mating part are detachably connected; The gripping mechanism includes: A gripper seat, wherein a plurality of radially displaceable gripping members are arranged along its circumference, and the gripping members are connected to the motion seat in a transmission manner.

3. The nail-grabbing robotic arm as described in claim 2, characterized in that, The gripper seat is provided with an installation space for placing the clamping component, which slides in the installation space along a preset direction.

4. The nail-grabbing robotic arm as described in claim 2, characterized in that, The gripping mechanism also includes: A base, wherein the gripper is mounted on the base, and the base and / or the gripper is provided with a sliding part that slides in contact with the gripper.

5. A nail-grabbing robotic arm as described in claim 4, characterized in that, The sliding part is made of Teflon material.

6. A nail-grabbing robotic arm as described in claim 2, characterized in that, The clamping member is provided with a first inclined surface, and the moving seat is provided with a second inclined surface that cooperates with the first inclined surface; A reset element is provided between the gripper and the clamping member.

7. A nail-grabbing robotic arm as described in claim 2, characterized in that, The gripping mechanism also includes: Guide sleeve, which is connected to the motion seat; A guide rod, one end of which is connected to a clamping seat, and the other end of which is engaged with a guide sleeve.

8. A nail-grabbing robot as described in claim 1, characterized in that, The power mechanism includes a housing one, the gripping mechanism includes a housing two, and the control seat is disposed between the housing one and the housing two and is rotatably connected to the housing one and / or the housing two.

9. A nail-grabbing robot as described in claim 8, characterized in that, Limiting holes are provided on the circumferential sidewalls of the first and / or second housings, and the control seat has a lever that extends from the limiting hole and limits the limit rotation angle of the control seat through the limiting hole.

10. A nail-grabbing robot as described in claim 8, characterized in that, Limiting blocks are provided in the circumferential direction of the outer casing one and / or outer casing two to allow the control seat to rotate relative to the clamping assembly within a preset area.

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