A plate suction robot

Abstract

This utility model relates to a sheet metal suction robot, comprising a linear module, an aluminum profile I mounted on the slider of the linear module, two sets of clamping mechanisms I mounted in the middle of the aluminum profile I, a profile support mounted at the tail of the linear module, an aluminum profile II mounted at the bottom of the tail of the profile support, and a set of clamping mechanisms II mounted in the middle of the aluminum profile II. Multiple suction cup sets are mounted on both aluminum profile I and aluminum profile II, and each suction cup set is connected to the vacuum port of a vacuum generator through a set of suction pipes. The advantages are: since each suction cup set is connected to the vacuum port of a vacuum generator through a set of suction pipes, even if some suction cup sets have through holes at their suction positions on the sheet metal, it will not affect the normal suction of the sheet metal by other suction cup sets; the clamping mechanisms I and II clamp the edges of the sheet metal during handling to prevent the sheet metal from falling off due to its weight or vibration during handling.

Description

Technical Field

[0001] This utility model relates to the field of material handling robot technology, and in particular to a plate-picking robot. Background Technology

[0002] Due to process technology and circuit design requirements, outer layer PCBs often have through holes in their forming area. Furthermore, the diverse designs of PCBs make it difficult to uniformly identify the location of these holes. When using traditional board pick-up devices for handling, the presence of multiple through holes at the pick-up location often leads to significant vacuum leakage, preventing the device from providing sufficient suction force. This results in boards falling off or pick-up failures during operation.

[0003] Furthermore, the current trend of PCB board design and production towards multi-layer and high-density components results in heavier boards. Relying solely on the suction force of vacuum chucks can easily lead to boards falling off during handling.

[0004] In addition, the different sizes of the boards make it difficult to adjust the distance of the vacuum suction cup using traditional board picking devices. Utility Model Content

[0005] The purpose of this utility model is to overcome the above-mentioned problems existing in the prior art and to provide a board picking robot.

[0006] To achieve the above-mentioned technical objectives and effects, this utility model is implemented through the following technical solution:

[0007] A sheet metal suction robot includes a linear module. An aluminum profile is mounted on the slider of the linear module. Two sets of symmetrically arranged clamping mechanisms are mounted in the middle of the aluminum profile. A profile support is mounted at the tail of the linear module. An aluminum profile is mounted at the bottom of the tail of the profile support. A clamping mechanism is mounted in the middle of the aluminum profile. Multiple suction cup sets are mounted on the aluminum profile and the aluminum profile. Each suction cup set is connected to the vacuum port of a vacuum generator through a set of air extraction pipes.

[0008] The linear module has a U-shaped adapter mounted on the center of its back side, and the adapter is screwed onto the end of the robotic arm.

[0009] The clamping mechanism includes an L-shaped cylinder bracket, a guide rod cylinder, a rectangular clamping plate, and a pneumatic clamp. The vertical part of the cylinder bracket is mounted on the aluminum profile using T-bolts and manual nuts. The guide rod cylinder is mounted at the bottom of the horizontal part of the cylinder bracket. The clamping plate is mounted at the bottom of the moving plate of the guide rod cylinder. The pneumatic clamp is mounted in the mounting hole on the clamping plate.

[0010] The clamping mechanism two includes an L-shaped cylinder bracket two, a guide rod cylinder two, a rectangular clamping jaw mounting plate two, and a pneumatic clamping jaw. The horizontal part of the cylinder bracket two is mounted on the aluminum profile two with screwed T-bolts and manual nuts. The guide rod cylinder two is mounted on one side of the vertical part of the cylinder bracket two. The clamping jaw mounting plate two is mounted on the bottom end of the moving plate of the guide rod cylinder two. The pneumatic clamping jaw is mounted in the mounting hole on the clamping jaw mounting plate two.

[0011] The pneumatic gripper includes a cylindrical cylinder, gripper one, and gripper two. The tail of gripper one is clamped to the cylinder body of the cylindrical cylinder using a clamp-type mounting method. A hinge block is installed at the bottom end of the cylinder body of the cylindrical cylinder. Gripper two is hinged to the hinge block via a hinge shaft. A trigger rod is installed at the tail of gripper two. The end of the piston rod of the cylindrical cylinder faces the middle of the trigger rod. The weight of the head of gripper two is greater than the weight of the tail of gripper two. When the piston rod of the cylindrical cylinder extends, the head of gripper two moves closer to the head of gripper one. When the piston rod of the cylindrical cylinder retracts, the head of gripper two moves away from the head of gripper one under the action of gravity.

[0012] Preferably, a silicone block is installed at the bottom of the head of the first gripper and at the top of the head of the second gripper.

[0013] Each suction cup group includes a suction cup mounting plate, which is mounted on aluminum profile one or aluminum profile two by screwing in T-bolts and manual nuts. At least two vacuum suction cups with buffer function are mounted on the suction cup mounting plate.

[0014] Each set of the aforementioned air extraction pipeline network includes a main air extraction pipe, a multi-pipe gas distribution manifold, and at least two branch air extraction pipes. One end of the main air extraction pipe is connected to the vacuum port of the vacuum generator, and the other end of the main air extraction pipe is connected to the main connection port of the multi-pipe gas distribution manifold. One end of the branch air extraction pipe is connected to the secondary connection port of the multi-pipe gas distribution manifold, and the other end of the branch air extraction pipe is connected to the vacuum connection port of the vacuum suction cup.

[0015] The profile bracket includes two parallel side connecting plates and an L-shaped end connecting plate. The head of the side connecting plate is connected to the rear side of the linear module with screws. The vertical part of the end connecting plate is connected to the rear end of the side connecting plate with screws. The middle part of the aluminum profile is installed at the bottom of the horizontal part of the end connecting plate with a screw-in T-bolt and a hexagonal nut.

[0016] The beneficial effects of this utility model are:

[0017] 1. The linear module drives the slider to move, adjusting the distance between aluminum profile one and aluminum profile two, thereby adjusting the distance between the suction cup group installed on aluminum profile one and the suction cup group installed on aluminum profile two, as well as adjusting the distance between clamping mechanism one and clamping mechanism two, so as to pick up plates of different sizes.

[0018] 2. Each suction cup group is connected to the vacuum port of a vacuum generator through a set of air extraction pipelines, so that each suction cup group has an independent vacuum source. Even if there are through holes in the suction position of some suction cup groups on the board, it will not affect the normal suction of other suction cup groups. At the same time, it will not affect the loss of vacuum in other suction cup groups, which helps to reduce the suction force fluctuation range of the board suction robot.

[0019] 3. Set up clamping mechanism one and clamping mechanism two to clamp the edges of the board during the handling process to prevent the board from falling off due to its weight or shaking. Attached Figure Description

[0020] The accompanying drawings, which are included to provide a further understanding of the present invention and form part of this application, illustrate exemplary embodiments of the present invention and, together with the description thereof, serve to explain the present invention and do not constitute an undue limitation thereof. In the drawings:

[0021] Figure 1 This is a three-dimensional structural diagram of the plate-type suction robot part of this utility model;

[0022] Figure 2 This is a side view of the planar structure of the plate-mounted suction robot part of this utility model;

[0023] Figure 3 This is a three-dimensional structural diagram of the adapter frame in this utility model;

[0024] Figure 4 This is a three-dimensional structural diagram of the profile bracket of this utility model;

[0025] Figure 5 This is a three-dimensional structural diagram of the clamping mechanism one in this utility model;

[0026] Figure 6This is a schematic diagram of the side view of the clamping mechanism in this utility model;

[0027] Figure 7 This is a three-dimensional structural diagram of the clamping mechanism two in this utility model;

[0028] Figure 8 This is a schematic diagram of the two side views of the clamping mechanism in this utility model.

[0029] Figure 9 This is a three-dimensional structural diagram of the suction cup assembly in this utility model;

[0030] Figure 10 This is a schematic diagram of the connection between the air extraction pipeline and the vacuum generator in this utility model;

[0031] The following are the labels in the diagram: Linear module 1, Adapter frame 11, Aluminum profile 1 2, Clamping mechanism 1 3, Cylinder bracket 1 31, Guide rod cylinder 1 32, Motion plate 321, Gripper mounting plate 1 33, Mounting hole 331, Profile bracket 4, Side connecting plate 41, End connecting plate 42, Aluminum profile 2 5, Clamping mechanism 2 6, Cylinder bracket 2 61, Guide rod cylinder 2 62, Motion plate 621, Gripper mounting plate 2 63, Mounting hole 631, Suction cup assembly 7, Suction cup mounting plate 71, Vacuum suction cup 72, Air extraction network 8, Main air extraction pipe 81, Multi-pipe air distribution 82, Branch air extraction pipe 83, Vacuum generator 9, Pneumatic gripper 10, Cylindrical cylinder 101, Gripper 1 102, Gripper 2 103, Hinge block 104, Hinge shaft 105, Trigger rod 106, Silicone block 107. Detailed Implementation

[0032] The present invention will now be described in detail with reference to the accompanying drawings and embodiments.

[0033] like Figures 1 to 10 As shown, a panel-grabbing robot includes a linear module 1, with a U-shaped adapter 11 mounted on the center of the back of the linear module 1. The adapter 11 is screwed onto the end of the robot arm.

[0034] The slider of the linear module 1 is equipped with an aluminum profile 2. The specific installation structure is as follows: a long strip-shaped mounting block is installed at the bottom of the slider with screws, and the two ends of the aluminum profile 2 are connected with T-bolts and nuts.

[0035] Two sets of symmetrically arranged clamping mechanisms 3 are installed in the middle of the aluminum profile 2, and the two sets of clamping mechanisms 3 are symmetrical about the linear module 1. The clamping mechanism 3 includes an L-shaped cylinder bracket 31, a guide rod cylinder 32, a rectangular gripper mounting plate 33, and a pneumatic gripper 10. The vertical part of the cylinder bracket 31 is installed on the aluminum profile 2 with T-bolts and manual nuts. The guide rod cylinder 32 is installed at the bottom of the horizontal part of the cylinder bracket 31. The gripper mounting plate 33 is installed at the bottom of the moving plate 321 of the guide rod cylinder 32. The pneumatic gripper 10 is installed in the mounting hole 331 on the gripper mounting plate 33. The telescopic movement of the guide rod cylinder 32 drives the gripper mounting plate 33 and the pneumatic gripper 10 to move up and down, adjusting the height position of the pneumatic gripper 10 installed on the gripper mounting plate 33.

[0036] The tail of the linear module 1 is equipped with a profile bracket 4. The profile bracket 4 includes two parallel side connecting plates 41 and an L-shaped end connecting plate 42. The head of the side connecting plate 41 is connected to the side of the tail of the linear module 1 with screws, and the vertical part of the end connecting plate 42 is connected to the tail end of the side connecting plate 41 with screws.

[0037] An aluminum profile 2 5 is installed at the bottom of the tail of the profile bracket 4. Specifically, the middle part of the aluminum profile 2 5 is installed at the bottom of the horizontal part of the end connecting plate 42 with a screw-in T-bolt and a hexagonal nut.

[0038] A clamping mechanism 26 is installed in the middle of aluminum profile 25. Clamping mechanism 26 includes an L-shaped cylinder bracket 261, a guide rod cylinder 262, a rectangular gripper mounting plate 263, and a pneumatic gripper 10. The horizontal part of the cylinder bracket 261 is installed on the aluminum profile 25 using T-bolts and manual nuts. The guide rod cylinder 262 is installed on one side of the vertical part of the cylinder bracket 261. The gripper mounting plate 263 is installed at the bottom end of the moving plate 621 of the guide rod cylinder 262. The pneumatic gripper 10 is installed in the mounting hole 631 on the gripper mounting plate 263. The telescopic movement of the guide rod cylinder 262 drives the gripper mounting plate 263 and the pneumatic gripper 10 to move up and down, adjusting the height position of the pneumatic gripper 10 installed on the gripper mounting plate 263.

[0039] Multiple suction cup assemblies 7 are installed on aluminum profile 1 2 and aluminum profile 2 5 respectively. Each suction cup assembly 7 includes a suction cup mounting plate 71. In this embodiment, four vacuum suction cups 72 with buffer function are installed on the suction cup mounting plate 71. Specifically, the vacuum suction cups 72 are screwed into the screw holes on the suction cup mounting plate 71. The suction cup mounting plate 71 is installed on aluminum profile 1 2 by screwing in T-bolts and manual nuts, so that the suction cup assembly 7 is installed on aluminum profile 1 2. The suction cup mounting plate 71 is installed on aluminum profile 2 5 by screwing in T-bolts and manual nuts, so that the suction cup assembly 7 is installed on aluminum profile 2 5.

[0040] Each suction cup group 7 is connected to the vacuum port of a vacuum generator 9 via a set of suction pipe network 8. Each set of suction pipe network 8 includes a main suction pipe 81, a multi-pipe gas distribution row 82, and four branch suction pipes 83. In this embodiment, the multi-pipe gas distribution row 82 has one main connection port and four secondary connection ports. One end of the main suction pipe 81 is connected to the vacuum port of the vacuum generator 9, and the other end of the main suction pipe 81 is connected to the main connection port of the multi-pipe gas distribution row 82. One end of the branch suction pipe 83 is connected to the secondary connection port of the multi-pipe gas distribution row 82, and the other end of the branch suction pipe 83 is connected to the vacuum connection port of the vacuum suction cup 82.

[0041] The air supply port of vacuum generator 9 is connected to a positive pressure air source through a pipe. After the positive pressure air source is introduced into vacuum generator 9, a negative pressure is generated due to the positive pressure airflow. The gas in the vacuum suction cup is extracted through the air extraction pipe network 8, so that a vacuum is formed in the vacuum suction cup to hold the plate.

[0042] The pneumatic gripper 10 includes a cylindrical cylinder 101, gripper one 102, and gripper two 103. The tail of gripper one 102 is clamped onto the cylinder body of the cylindrical cylinder 101 using a clamp-type installation method. Specifically, a circular through hole is opened at the tail of gripper one 102, and a strip-shaped slot connected to the circular through hole is opened at the tail of gripper one 102. The cylindrical cylinder 101 is fitted into the circular through hole. The grippers one 102 on both sides of the strip-shaped slot are connected with half-thread bolts, so that the tails of the grippers one 102 on both sides of the strip-shaped slot come closer to each other until the tails of grippers one 102 clamp the cylindrical cylinder 101 tightly.

[0043] The cylindrical cylinder 101 is installed on the gripper mounting plate 33 and the gripper mounting plate 63 in the same way as the gripper 102 is installed on the cylindrical cylinder 101, both using a clamp-type installation method.

[0044] A hinge block 104 is screwed to the bottom of the cylinder body of the cylindrical cylinder 101. A second gripper 103 is hinged to the hinge block 104 via a hinge shaft 105. A trigger rod 106 is installed at the tail of the second gripper 103. The end of the piston rod of the cylindrical cylinder 101 faces the middle of the trigger rod 106. The weight of the head of the second gripper 103 is greater than the weight of its tail. When the piston rod of the cylindrical cylinder 101 extends, it presses against the tail of the second gripper 103. The piston rod moves away from the cylindrical cylinder 101, causing the head of the second gripper 103 to move closer to the head of the first gripper 102, so that the head of the second gripper 103 engages with the head of the first gripper 102 to clamp the edge of the plate. When the piston rod of the cylindrical cylinder 101 retracts, under the action of gravity, the head of the gripper 643 moves away from the head of the first gripper 102, and the head of the second gripper 103 moves downward, causing the edge of the plate to separate from the first gripper 102 and the second gripper 103 in turn.

[0045] When the robotic arm clamps or releases the edge of the plate, the linear module 1 is in a horizontal state. This ensures that, without the driving force of the cylindrical cylinder 101, the head of the second gripper 103 is in a low position due to gravity, so that the head of the second gripper 103 is in an open state with the head of the first gripper 102.

[0046] A silicone block 107 is installed at the bottom of the head of gripper 102 and at the top of the head of gripper 103 to reduce wear on the edges of the sheet metal when clamping it. The silicone block 107 is installed by adhesive or by screw connection.

[0047] Before gripping the edge of the board, guide rod cylinder 32 and guide rod cylinder 62 are in a retracted state, as is cylindrical cylinder 101, causing grippers 102 and 103 to open, so that the bottom of the silicone block 107 mounted on gripper 102 is higher than the bottom of the suction cup assembly. When the suction cup assembly picks up the board and separates it from its original stacking position, guide rod cylinder 32 and guide rod cylinder 62 extend, bringing the bottom of the silicone block 107 on gripper 102 into contact with the top of the board. Then, cylindrical cylinder 101 extends, bringing the top of the silicone block 107 on gripper 103 into contact with the bottom of the board. Thus, with the cooperation of grippers 102 and 103, the board is clamped to prevent it from falling off during transport due to its weight or vibration.

[0048] Vacuum generator 9, guide rod cylinder 1 32, guide rod cylinder 2 62, and cylindrical cylinder 101 are all driven by a positive pressure air source.

[0049] A T-shaped groove with a "T"-shaped cross-section is opened at the top of aluminum profile 12 and aluminum profile 25 respectively. The head of the T-bolt is stuck in the T-shaped groove so that the T-bolt cannot rotate.

[0050] The foregoing has shown and described the basic principles, main features, and advantages of this utility model. Those skilled in the art should understand that this utility model is not limited to the above embodiments. The embodiments and descriptions in the specification are merely illustrative of the principles of this utility model. Various changes and modifications can be made to this utility model without departing from its spirit and scope, and all such changes and modifications fall within the scope of the claimed utility model.

Claims

1. A sheet metal suction robot, characterized in that: The system includes a linear module, on which an aluminum profile is mounted. Two sets of symmetrically arranged clamping mechanisms are mounted in the middle of the aluminum profile. A profile bracket is mounted at the tail of the linear module. An aluminum profile is mounted at the bottom of the tail of the profile bracket. A set of clamping mechanisms is mounted in the middle of the aluminum profile. Multiple sets of suction cups are mounted on the aluminum profile and the aluminum profile. Each set of suction cups is connected to the vacuum port of a vacuum generator through a set of air extraction pipes.

2. The plate-handling robot according to claim 1, characterized in that: A U-shaped adapter is installed in the middle of the back of the linear module, and the adapter is screwed to the end of the robotic arm.

3. The plate-handling robot according to claim 1, characterized in that: The clamping mechanism includes an L-shaped cylinder bracket, a guide rod cylinder, a rectangular clamping plate, and a pneumatic clamp. The vertical part of the cylinder bracket is mounted on the aluminum profile using T-bolts and manual nuts. The guide rod cylinder is mounted at the bottom of the horizontal part of the cylinder bracket. The clamping plate is mounted at the bottom of the moving plate of the guide rod cylinder. The pneumatic clamp is mounted in the mounting hole on the clamping plate.

4. The plate-handling robot according to claim 1, characterized in that: The clamping mechanism two includes an L-shaped cylinder bracket two, a guide rod cylinder two, a rectangular clamping jaw mounting plate two, and a pneumatic clamping jaw. The horizontal part of the cylinder bracket two is mounted on the aluminum profile two with screwed T-bolts and manual nuts. The guide rod cylinder two is mounted on one side of the vertical part of the cylinder bracket two. The clamping jaw mounting plate two is mounted on the bottom end of the moving plate of the guide rod cylinder two. The pneumatic clamping jaw is mounted in the mounting hole on the clamping jaw mounting plate two.

5. The plate-handling robot according to claim 3 or 4, characterized in that: The pneumatic gripper includes a cylindrical cylinder, gripper one, and gripper two. The tail of gripper one is clamped to the cylinder body of the cylindrical cylinder using a clamp-type mounting method. A hinge block is installed at the bottom end of the cylinder body of the cylindrical cylinder. Gripper two is hinged to the hinge block via a hinge shaft. A trigger rod is installed at the tail of gripper two. The end of the piston rod of the cylindrical cylinder faces the middle of the trigger rod. The weight of the head of gripper two is greater than the weight of the tail of gripper two. When the piston rod of the cylindrical cylinder extends, the head of gripper two moves closer to the head of gripper one, so that gripper two and gripper one cooperate to clamp the edge of the plate. When the piston rod of the cylindrical cylinder retracts, the head of gripper two moves away from the head of gripper one under the action of gravity.

6. The plate-handling robot according to claim 5, characterized in that: A silicone block is installed at the bottom of the head of the first gripper and at the top of the head of the second gripper.

7. The plate-lifting robot according to claim 1, characterized in that: Each suction cup assembly includes a suction cup mounting plate, which is mounted on aluminum profile one or aluminum profile two by screwing in T-bolts and manual nuts. At least two vacuum suction cups with buffer function are mounted on the suction cup mounting plate.

8. The plate-handling robot according to claim 7, characterized in that: Each set of the aforementioned air extraction pipeline network includes a main air extraction pipe, a multi-pipe gas distribution manifold, and at least two branch air extraction pipes. One end of the main air extraction pipe is connected to the vacuum port of the vacuum generator, and the other end of the main air extraction pipe is connected to the main connection port of the multi-pipe gas distribution manifold. One end of each branch air extraction pipe is connected to the secondary connection port of the multi-pipe gas distribution manifold, and the other end of each branch air extraction pipe is connected to the vacuum connection port of the vacuum suction cup.

9. The plate-handling robot according to claim 1, characterized in that: The profile bracket includes two parallel side connecting plates and an L-shaped end connecting plate. The head of the side connecting plate is connected to the rear side of the linear module with screws. The vertical part of the end connecting plate is connected to the rear end of the side connecting plate with screws. The middle part of the aluminum profile is installed at the bottom of the horizontal part of the end connecting plate with a screw-in T-bolt and a hexagonal nut.

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