A high-precision mechanical hand clamp and drilling machine for processing circuit board

Abstract

The utility model discloses a kind of mechanical hand clamp and drilling machine for high-precision circuit board processing, it is related to drilling machine equipment technical field.The high-precision circuit board processing is used for mechanical hand clamp of drilling machine, wherein, the drilling machine includes processing main shaft;The mechanical hand clamp further includes: sliding mechanism and lifting mechanism, the sliding mechanism includes sliding seat and the sliding curved plate of movably arranged in the sliding seat, wherein, the sliding curved plate is circular arc surface, and first clamping hole and second clamping hole are interval arranged;The fixed end of the lifting mechanism is connected with the processing main shaft, and movable end is connected with the sliding seat, and it is used for driving the sliding seat can be displaced along vertical direction by using the technology provided in the utility model, so that mechanical hand clamp can be adaptively adjusted according to the size of drill bit to be replaced.

Description

Technical Field

[0001] This utility model relates to the field of drilling machine equipment technology, specifically to a high-precision robotic gripper and drilling machine tool for circuit board processing. Background Technology

[0002] During the drilling process, drill bits on drilling machines will gradually wear out, need to be replaced due to workpiece changes, and adjustments to the machining process. Therefore, the current mainstream approach is to install a tool magazine on one side of the machine tool. When a tool change is needed, the spindle enters tool-changing mode and moves to the tool magazine. A tool-changing robot first grabs the drill bit to be replaced from the tool magazine and moves it to the tool-changing point, then grabs the old drill bit from the spindle. At this point, the spindle moves to perform the tool change.

[0003] However, this method requires the robotic arm to first grab the new drill bit from the tool magazine, then grab the old drill bit from the spindle, and finally return the old drill bit to the tool magazine after the spindle completes the tool change. These steps are overly cumbersome and place high demands on the robotic arm. Furthermore, to accommodate different drill bit sizes, some robotic arm fixtures require two opposing clamping plates to be compatible with all drill bits. Since drill bits are cylindrical, this type of clamping plate design carries a certain risk of instability. Utility Model Content

[0004] This invention provides a high-precision robotic gripper and drilling machine for circuit board processing, to solve the problem of low compatibility of existing robotic grippers with drill bits of different sizes.

[0005] To solve the above-mentioned technical problems, the present invention provides a high-precision robotic gripper for circuit board processing. This high-precision robotic gripper is used on a drilling machine tool, wherein the drilling machine tool includes a processing spindle. The robotic gripper further includes a sliding mechanism and a lifting mechanism. The sliding mechanism includes a sliding seat and a sliding curved plate movably disposed on the sliding seat. The sliding curved plate is an arc surface and has a first clamping hole and a second clamping hole spaced apart. The fixed end of the lifting mechanism is connected to the processing spindle, and the movable end is connected to the sliding seat, and is used to drive the sliding seat to move vertically.

[0006] The beneficial effects of the technical solution provided by this utility model compared to the prior art are as follows: The sliding mechanism adjusts the contact point between the robotic gripper and the tool magazine by moving the sliding curved plate. This allows either the first or second clamping hole to hold the drill bits within the tool magazine. Compared to the conventional method of using two clamping plates, the first and second clamping holes are better suited to the cylindrical shape of the drill bits, providing a tighter fit and reducing wobbling and errors during clamping, thus improving stability and accuracy. Specifically, each drill bit in the tool magazine is vertically arranged. After aligning the first or second clamping hole with the drill bit to be retrieved, the lifting mechanism drives the sliding mechanism downwards so that the drill bit can pass through the first or second clamping hole. Then, when the lifting mechanism moves upwards, the corresponding drill bit can be retrieved.

[0007] Because the drill bit has cutting edges at both ends and a mounting collar in the middle, the arc shape of the sliding plate, combined with the first and second clamping holes, allows the robotic gripper to have a "loose outside, tight inside" constraint. This means the internal constraint force of the gripper is strong, while the external constraint force is weak, facilitating the insertion of the drill bit into the first or second clamping hole while improving clamping stability. Furthermore, the first and second clamping holes can be set with different diameters, allowing for adaptive adjustments based on the size of the drill bit to be replaced.

[0008] In some embodiments, the sliding mechanism further includes a sliding motor, which is fixedly connected to the sliding seat, and the drive end of the sliding motor is connected to the sliding curved plate to drive the sliding curved plate to move horizontally. By adopting the above technical solution, the sliding motor enables automated horizontal displacement of the sliding curved plate and improves the alignment accuracy between the first or second clamping hole and the drill bit in the tool magazine.

[0009] In some embodiments, the sliding curved plate and the lifting mechanism are located at both ends of the sliding seat in a vertical direction. This technical solution ensures that the first clamping hole and the second clamping hole are vertically aligned with the drill bit.

[0010] In some embodiments, a first rubber pad is embedded in the first clamping hole, and / or a second rubber pad is embedded in the second clamping hole.

[0011] By adopting the above technical solution, the first rubber pad can increase the friction between the first clamping hole and the drill bit, and the second rubber pad can increase the friction between the second clamping hole and the drill bit, thereby further improving the stability of the manipulator gripper in holding the drill bit.

[0012] In some embodiments, the aperture of the second rubber clamp is larger than that of the first rubber clamp. This technical solution allows for the selection of a suitable first or second clamping hole based on the drill bit's aperture size.

[0013] Furthermore, the inner wall of the first rubber pad is provided with an expansion notch, wherein the diameter of the first rubber pad is less than or equal to 1.0 mm. By adopting the above technical solution, the expansion notch design of the first rubber pad enables it to have better adaptability and clamping force when holding small-diameter drill bits. Specifically, the diameter of the first rubber pad is less than or equal to 1.0 mm to make it more suitable for small-sized (less than or equal to 1.0 mm) drill bits.

[0014] In some embodiments, the second rubber pad is circumferentially spirally provided with multiple annular openings, wherein the diameter of the second rubber pad is greater than or equal to 1.0 mm. By adopting the above technical solution, the annular opening design of the second rubber pad enables it to have better elastic deformation capability when clamping large-diameter drill bits, thereby improving clamping stability and reliability. Specifically, the diameter of the second rubber pad is greater than 1.0 mm to make it more suitable for large-size (greater than or equal to 1.0 mm) drill bits.

[0015] In some embodiments, this application also provides a drilling machine tool, including the above-mentioned high-precision circuit board processing robotic gripper, and further including: a machining spindle, on one side of which the robotic gripper is provided; a worktable, the worktable including a drilling plane and a tool changing plane, wherein the tool changing plane is provided with a tool changer and a tool magazine in sequence along the horizontal direction.

[0016] By adopting the above technical solution, the above-mentioned robotic arm fixture is applied to a drilling machine tool to realize automated tool changing operation. Specifically, the machining spindle is connected to the robotic arm fixture so that the two can use a set of integral moving mechanisms at the same time, and the participation of the machining spindle in the tool changing action is increased.

[0017] In some implementations, the tool changer includes a first tool changer and a second tool changer, wherein the first tool changer is used to place an old drill bit on the machining spindle, and the second tool changer is used to place a new drill bit on the robotic arm fixture.

[0018] By adopting the above technical solution, a first tool changer and a second tool changer are set up to achieve orderly operation of old and new drill bits. That is, compared with the traditional method of replacing all drill bits by a robot arm, the machining spindle participates in the tool changing action to put the old drill bit down in the first tool changer.

[0019] In some embodiments, the worktable further includes longitudinal transfer mechanisms disposed on both sides of the drilling plane, wherein the drilling machine tool further includes a processing plate, the processing plate being slidably disposed on the longitudinal transfer mechanism and provided with a transverse transfer mechanism slidably connected to the processing spindle.

[0020] By adopting the above technical solution, the longitudinal and transverse transfer mechanisms are used to achieve precise movement and positioning of the processing plate on the drilling plane, thereby driving the drilling and tool changing operations of the processing spindle. Attached Figure Description

[0021] To more clearly illustrate the technical solutions in the embodiments of this utility model, the drawings used in the description of the embodiments will be briefly introduced below. Obviously, the drawings described below are only some embodiments of this utility model. For those skilled in the art, other drawings can be obtained based on these drawings without creative effort, wherein: Figure 1 This is a front view of an embodiment of a high-precision robotic gripper for circuit board processing provided by this utility model; Figure 2 This is a bottom view of an embodiment of the sliding mechanism of a high-precision circuit board processing robotic gripper provided by this utility model; Figure 3 This is a simplified layout diagram of an embodiment of a drilling machine tool provided by this utility model; Figure 4 This is a schematic diagram of the structure of the first clamping hole of a high-precision circuit board processing robotic gripper provided by this utility model; Figure 5 This is a schematic diagram of the structure of the first clamping hole of a high-precision circuit board processing robotic gripper provided by this utility model; Figure 6 This is a three-dimensional structural schematic diagram of an embodiment of the lifting mechanism of a high-precision circuit board processing robotic gripper provided by this utility model.

[0022] In the picture: 10. Sliding mechanism; 11. Sliding seat; 12. Sliding curved plate; 120. First clamping hole; 121. Second clamping hole; 122. First rubber clamping pad; 1220. Expansion notch; 123. Second rubber clamping pad; 1230. Ring opening; 13. Sliding motor; 20. Lifting mechanism; 21. Fixed end; 22. Movable end; 23. Sensor; 30. Machining spindle; 40. Machining spindle; 41. Drilling plane; 42. Tool changing plane; 420. Tool changer; 4200. First tool changer; 4201. Second tool changer; 421. Tool magazine; 422. Longitudinal transfer mechanism; 50. Machining plate; 51. Transverse transfer mechanism. Detailed Implementation

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

[0024] It is worth noting that the terms "first," "second," etc., used in the specification and claims of this application are used to distinguish similar objects and not to describe a specific order or sequence. It should be understood that such use of data can be interchanged where appropriate so that embodiments of this application can be implemented in orders other than those illustrated or described herein, and the objects distinguished by "first," "second," etc., are generally of the same class and are not limited in number; for example, a first object can be one or more. Furthermore, in the specification and claims, "and / or" indicates at least one of the connected objects, and the character " / " generally indicates that the preceding and following objects are in an "or" relationship.

[0025] See Figures 1 to 3 As shown, Figure 1 This paper shows a front view of an embodiment of a high-precision robotic gripper for circuit board processing provided in this application; Figure 2 A bottom view of an embodiment of the sliding mechanism 10 of a high-precision circuit board processing robotic gripper provided in this application is shown; Figure 3 A schematic layout diagram of an embodiment of a drilling machine tool provided in this application is shown.

[0026] In some embodiments, the high-precision circuit board processing robotic gripper is used in a drilling machine tool, wherein the drilling machine tool includes a processing spindle 4030; the robotic gripper further includes a sliding mechanism 10 and a lifting mechanism 20, wherein the sliding mechanism 10 includes a sliding seat 11 and a sliding curved plate 12 movably disposed on the sliding seat 11, wherein the sliding curved plate 12 is an arc surface and is provided with a first clamping hole 120 and a second clamping hole 121 at intervals; the fixed end 21 of the lifting mechanism 20 is connected to the processing spindle 4030, and the movable end 22 is connected to the sliding seat 11 and is used to drive the sliding seat 11 to move in the vertical direction.

[0027] In this embodiment, the sliding curved plate 12 of the sliding mechanism 10 can be moved to adjust the contact point between the robotic gripper and the tool magazine 421, allowing the first clamping hole 120 or the second clamping hole 121 to clamp the drill bits arranged in the tool magazine 421. Compared to the conventional method of clamping with two clamping plates, the first clamping hole 120 and the second clamping hole 121 are more suitable for the cylindrical shape of the drill bit, allowing for a tighter fit and reducing shaking and errors during clamping, thereby improving the stability and accuracy of clamping. Specifically, each drill bit in the tool magazine 421 is arranged vertically. After the first clamping hole 120 or the second clamping hole 121 is aligned with the drill bit to be retrieved, the lifting mechanism 20 drives the sliding mechanism 10 to move downward so that the drill bit can pass through the first clamping hole 120 or the second clamping hole 121. Thus, when the lifting mechanism 20 moves upward, the corresponding drill bit can be retrieved.

[0028] Because the drill bit has cutting edges at both ends and a mounting collar in the middle, the arc-shaped structure of the sliding plate, combined with the first clamping hole 120 and the second clamping hole 121, allows the robotic gripper to have a "loose outside, tight inside" constraint. This means the internal constraint force of the robotic gripper is strong, while the external constraint force is weak. This facilitates the insertion of the drill bit into the first clamping hole 120 or the second clamping hole 121 while improving clamping stability. Furthermore, the first clamping hole 120 and the second clamping hole 121 can be set with different diameters, allowing for adaptive adjustments based on the size of the drill bit to be replaced.

[0029] Combination Figure 3 As shown, by changing the structure of the above-mentioned mechanical fixture, the working process of the spindle and the fixture can be adjusted in practical applications. That is, compared with the traditional method where all tool changes are performed by the fixture, by simplifying the fixture mechanism, some tool changing functions can be transferred to the machining spindle 4030.

[0030] In some embodiments, the sliding mechanism 10 further includes a sliding motor 13, which is fixedly connected to the sliding seat 11, and the drive end of the sliding motor 13 is connected to the sliding curved plate 12 to drive the sliding curved plate 12 to move horizontally. In this embodiment, the sliding motor 13 realizes the automated horizontal displacement of the sliding curved plate 12 and improves the alignment accuracy between the first clamping hole 120 or the second clamping hole 121 and the drill bit in the tool magazine 421. Exemplarily, the sliding motor 13 only needs to drive the sliding plate to move a very short distance according to the electrical signal. Therefore, the sliding motor 13 can use a low-power motor independently of other drive mechanisms to save costs.

[0031] In some embodiments, the sliding curved plate 12 and the lifting mechanism 20 are located at both ends of the sliding seat 11 in a vertical direction. For example... Figure 1 As shown, the sliding curved plate 12 is located at the bottom of the sliding seat 11, and the lifting mechanism 20 is located at the top of the sliding seat 11 to ensure that the first clamping hole 120 and the second clamping hole 121 are vertically aligned with the drill bit.

[0032] See Figure 4 As shown, Figure 4 This paper shows a schematic diagram of the structure of an embodiment of the first clamping hole 120 of a high-precision circuit board processing robotic gripper provided in this application.

[0033] In some embodiments, a first rubber pad 122 is embedded within the first clamping hole 120. Exemplarily, the inner wall of the first rubber pad 122 is provided with an expansion notch 1220, wherein the diameter of the hole in the first rubber pad 122 is less than or equal to 1.0 mm. The expansion notch 1220 of the first rubber pad 122 is designed to provide better adaptability and clamping force when clamping small-diameter drill bits. Specifically, the diameter of the hole in the first rubber pad 122 is less than or equal to 1.0 mm to make it more suitable for small-sized (less than or equal to 1.0 mm) drill bits.

[0034] In this embodiment of the application, combined with Figure 4 As shown, Figure 4 The shaded area represents rubber. The inner rubber layer with expansion notches 1220 has a different thickness than the outer rubber layer. The rubber material combined with multiple expansion notches 1220 can enhance the friction between the first rubber pad 122 and the drill bit, and can expand using the elasticity of the rubber to adapt to and clamp drill bits of different sizes.

[0035] Combination Figure 5 As shown, Figure 5 This paper shows a schematic diagram of the structure of the second clamping hole 121 of a high-precision circuit board processing robotic gripper provided in this application. In some embodiments, a second rubber pad 123 is embedded within the second clamping hole 121. Exemplarily, the second rubber pad 123 has multiple annular openings 1230 spirally arranged circumferentially, wherein the diameter of the second rubber pad 123 is greater than or equal to 1.0 mm. The annular openings 1230 design of the second rubber pad 123 enables it to have better elastic deformation capability when clamping large-diameter drill bits, thereby improving clamping stability and reliability. Specifically, the diameter of the second rubber pad 123 is greater than 1.0 mm to better accommodate large-size (greater than or equal to 1.0 mm) drill bits. In this embodiment, the second rubber pad 123 can increase the friction between the second clamping hole 121 and the drill bit, thereby further improving the stability of the robotic gripper in clamping the drill bit.

[0036] In some embodiments, the aperture of the second rubber pad 123 is larger than that of the first rubber pad 122. This allows for the selection of either the first clamping hole 120 or the second clamping hole 121 to match the drill bit with different aperture sizes. Furthermore, as... Figure 4 and Figure 6The first clamping hole 120 and the second clamping hole 121 shown can both utilize the deformability and high coefficient of friction of rubber to make the first clamping hole 120 fit and clamp small-sized drill bits, and the second clamping hole 121 fit and clamp large-sized drill bits.

[0037] In some implementation schemes, combined Figure 6 As shown, Figure 6 This paper shows a perspective structural schematic diagram of a lifting mechanism 20 of a high-precision circuit board processing robotic gripper provided in this application. Multiple sensors 23 are arranged on the side of the fixed end 21 of the lifting mechanism 20 facing the sliding seat 11 to detect the lifting state of the sliding seat 11 and whether the sliding seat 11 is in a horizontal state.

[0038] In some implementation schemes, continue to combine Figure 3 As shown, this application also provides a drilling machine tool, including the above-mentioned high-precision circuit board processing robotic gripper, and further including: a processing spindle 4030, on one side of the processing spindle 4030, the robotic gripper is provided; a worktable, the worktable including a drilling plane 41 and a tool changing plane 42, wherein the tool changing plane 42 is provided with a tool changer 420 and a tool magazine 421 in sequence along the horizontal direction.

[0039] In this embodiment, the above-mentioned robotic arm fixture is applied to a drilling machine tool to realize automated tool changing operation. Specifically, the machining spindle 4030 is connected to the robotic arm fixture so that the two can use a set of integral moving mechanisms at the same time, and the participation of the machining spindle 4030 in the tool changing action is increased.

[0040] For example, the tool changer 420 includes a first tool changer 4200 and a second tool changer 4201. The first tool changer 4200 is used to place the old drill bit on the machining spindle 4030, and the second tool changer 4201 is used to place the new drill bit in the robotic arm gripper. The arrangement of the first tool changer 4200 and the second tool changer 4201 enables the orderly operation of old and new drill bits. That is, compared to the traditional method where the entire drill bit is held and replaced by the robotic arm, the machining spindle 4030 participates in the tool changing action to place the old drill bit in the first tool changer 4200.

[0041] Specifically, the spindle moves to the first tool changer 4200 and inserts the old drill bit into the tool changer 420 to release the drill bit. The robotic arm gripper moves to the tool magazine 421 to retrieve a new drill bit and inserts it into the second tool changer 4201. The spindle moves to the second tool changer 4201 to install the new drill bit, thus completing the tool change operation and executing the next drilling operation. The aforementioned retrieval, placement, and installation can all be performed according to pre-programmed electrical instructions, which are conventional techniques in tool changing systems and will not be elaborated upon here.

[0042] In some embodiments, the worktable further includes longitudinal transfer mechanisms 422 disposed on both sides of the drilling plane 41. The drilling machine tool also includes a processing plate 50, which is slidably mounted on the longitudinal transfer mechanism 422 and has a transverse transfer mechanism 51 slidably connected to the machining spindle 4030. In this embodiment, the longitudinal transfer mechanism 422 and the transverse transfer mechanism 51 are used to achieve precise movement and positioning of the processing plate 50 on the drilling plane 41, thereby driving the drilling operation and tool changing operation of the machining spindle 4030. Exemplarily, the longitudinal transfer mechanism 422 and the transverse transfer mechanism 51 may each consist of a guide rail and a drive motor.

[0043] The above description is merely an embodiment of this utility model and does not limit the patent scope of this utility model. Any equivalent structural or procedural transformations made based on the description and drawings of this utility model, or direct or indirect applications in other related technical fields, should be included within the protection scope of this utility model.

Claims

1. A high-precision mechanical hand clamp for a circuit board processing, for a drilling machine, wherein, The drilling machine tool includes a machining spindle; characterized in that it further includes: A sliding mechanism, comprising a sliding seat and a sliding curved plate movably disposed on the sliding seat, wherein the sliding curved plate is an arc surface and is provided with a first clamping hole and a second clamping hole at intervals; A lifting mechanism, wherein the fixed end of the lifting mechanism is connected to the machining spindle and the movable end is connected to the sliding seat, and is used to drive the sliding seat to move in the vertical direction.

2. The high-precision mechanical hand clamp for processing a circuit board according to claim 1, wherein The sliding mechanism also includes a sliding motor, which is fixedly connected to the sliding seat, and the driving end of the sliding motor is connected to the sliding curved plate to drive the sliding curved plate to move horizontally.

3. The high-precision mechanical hand clamp for processing a circuit board according to claim 1, wherein The sliding curved plate and the lifting mechanism are located at both ends of the sliding seat in the vertical direction.

4. The high-precision mechanical hand clamp for processing a circuit board according to claim 1, wherein The first clamping hole is fitted with a first rubber clamping pad, and / or the second clamping hole is fitted with a second rubber clamping pad.

5. The high-precision mechanical hand clamp for processing a circuit board according to claim 4, wherein The aperture of the second rubber pad is larger than that of the first rubber pad.

6. The high-precision mechanical hand clamp for processing a circuit board according to claim 5, wherein The inner wall of the first rubber pad is provided with an expansion notch, wherein the aperture of the first rubber pad is less than or equal to 1.0 mm.

7. The high-precision mechanical hand gripper for a printed circuit board according to claim 5, wherein The second rubber pad has multiple annular openings rotated circumferentially, wherein the diameter of the holes in the second rubber pad is greater than or equal to 1.0 mm.

8. A drilling machine, characterized in that The high-precision robotic gripper for circuit board processing as described in any one of claims 1 to 7 further includes: A machining spindle, wherein the robotic gripper is provided on one side of the machining spindle; The worktable includes a drilling plane and a tool changing plane, wherein a tool changer and a tool magazine are arranged sequentially along the horizontal direction on the tool changing plane.

9. The drill press of claim 8, wherein, The tool changer includes a first tool changer and a second tool changer. The first tool changer is used to place old drill bits on the machining spindle, and the second tool changer is used to place new drill bits on the robotic arm fixture.

10. The drill press of claim 8, wherein, The worktable also includes a longitudinal transfer mechanism disposed on both sides of the drilling plane. The drilling machine tool also includes a processing plate, which is slidably disposed on the longitudinal transfer mechanism and is provided with a transverse transfer mechanism that is slidably connected to the processing spindle.

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