Gripping device, robot and PCB processing apparatus

Abstract

The application belongs to the field of industrial automation and provides a grabbing device, a robot and a PCB processing device. The PCB processing device comprises a robot, the robot comprises a grabbing device, the grabbing device comprises a support, a suction mechanism and a clamping jaw mechanism; the suction mechanism is arranged on the support; the clamping jaw mechanism is arranged on the support; the clamping jaw mechanism comprises two clamping assemblies, a first driving assembly and a second driving assembly, the two clamping assemblies are respectively located on opposite sides of the suction mechanism along a first direction; the first driving assembly is in transmission connection with at least one clamping assembly and is used for driving the two clamping assemblies to relatively approach or move away along the first direction; the second driving assembly is in transmission connection with the two clamping assemblies and is used for driving the two clamping assemblies to elongate or shorten along a second direction. The application realizes that the clamping jaw mechanism can be flexibly adjusted in two dimensions of the first direction and the second direction, and the suction mechanism can cooperate with the clamping jaw mechanism to adapt to the grabbing requirements of a plurality of different sizes of plates.

Description

Technical Field

[0001] This application belongs to the field of industrial automation technology, and more specifically, relates to a gripping device, a robot, and PCB processing equipment. Background Technology

[0002] With the rapid development of intelligent manufacturing technology, the printed circuit board (PCB) processing field is also moving towards full-process automation. Among them, the automation level of the PCB drilling process, as a key process in PCB manufacturing, directly affects the overall production efficiency and the progress of unmanned operation.

[0003] Currently, industrial robots are gradually being used in the loading and unloading processes of PCB manufacturing. However, the gripping devices at the end of these robots used in PCB drilling and loading / unloading processes often have a relatively simple clamping layout design, only able to grip PCBs of specific sizes and unable to adapt to PCBs of various sizes. In actual production, due to changes in PCB product models and differences in the length, width, and thickness of PCBs processed by different drilling machines, it is necessary to frequently change gripping devices of different sizes to adapt to different PCB dimensions. This cumbersome operation severely restricts production continuity and makes it difficult to meet the high-efficiency operation requirements of automated production processes. Utility Model Content

[0004] In order to overcome the problems existing in the prior art, the main purpose of this application is to provide a gripping device, a robot and PCB processing equipment.

[0005] To achieve the above objectives, this application specifically adopts the following technical solution:

[0006] According to a first aspect of the embodiments of this application, a grasping device is provided, comprising:

[0007] support;

[0008] An adsorption mechanism, mounted on the support, is used to pick up the sheet material; and

[0009] A gripper mechanism is disposed on the bracket and is used to grip the plate material sucked up by the adsorption mechanism. The gripper mechanism includes two gripping components, a first driving component, and a second driving component. The two gripping components are respectively located on opposite sides of the adsorption mechanism along the first direction. The first driving component is drivenly connected to at least one of the gripping components and is used to drive the two gripping components to move closer or further apart relative to each other along the first direction. The second driving component is drivenly connected to the two gripping components and is used to drive the two gripping components to extend or shorten along a second direction intersecting the first direction, so as to adjust the range of the gripping components in gripping the plate material in the second direction.

[0010] Optionally, the adsorption mechanism includes an adsorption unit, which includes a mounting plate and a plurality of suction cups. The plurality of suction cups are disposed on the mounting plate and are distributed at intervals along the circumferential edge of the mounting plate.

[0011] Optionally, the mounting plate has four mounting areas, which are arranged diagonally in pairs, and each mounting area is provided with a suction cup.

[0012] Optionally, the thickness direction of the support is a third direction, and the adsorption mechanism includes an adsorption unit and a lifting drive assembly. The lifting drive assembly is disposed on the support and is connected to the adsorption unit for driving the adsorption unit to move up and down along a third direction. The first direction, the second direction and the third direction are perpendicular to each other.

[0013] Optionally, the gripper mechanism further includes at least two clamping components, which are respectively disposed on the two gripping components.

[0014] Optionally, the clamping assembly includes two clamping members, each clamping member including a moving rod and a claw hook. The claw hook is disposed at the end of the moving rod away from the other clamping member. The pressing assembly includes a drive source and a pressing block. The drive source is disposed on the moving rod or the claw hook. The pressing block is connected to the drive source and is disposed correspondingly to the claw hook.

[0015] Optionally, the gripper mechanism further includes two movable frames, and the two gripping components are respectively movably mounted on the two movable frames; the first driving component includes a first power source and a first transmission component, the first power source is mounted on the bracket and connected to the first transmission component, and the first transmission component is connected to the two movable frames.

[0016] Optionally, the first transmission assembly includes two lead screws, which are connected to the first power source and threadedly connected to the two movable frames respectively.

[0017] Optionally, the second drive assembly includes a second power source and a second transmission assembly. The second power source is disposed on the bracket and connected to the second transmission assembly, and the second transmission assembly is connected to the two clamping assemblies.

[0018] Optionally, the gripper mechanism further includes two movable frames, and the two gripping components are respectively disposed on the two movable frames. The second transmission component includes a first transmission unit and two second transmission units. The first transmission unit is connected to the second power source, and the two second transmission units are respectively disposed on the two movable frames and connected to the first transmission unit, and respectively connected to the two gripping components.

[0019] Optionally, the clamping assembly includes two clamping members, which are slidably connected to the corresponding movable frame along the second direction; the first transmission unit includes a first rotating shaft, a driving wheel, a driven wheel, and a first transmission belt, with both ends of the first rotating shaft rotatably connected to the two movable frames respectively, the driving wheel being sleeved on the output shaft of the second power source, the driven wheel being sleeved on the first rotating shaft, and the first transmission belt being wound around the driving wheel and the driven wheel; the second transmission unit includes a second rotating shaft, a first transmission wheel, a second transmission wheel, a gear, a second transmission belt, and two racks, with the second rotating shaft rotatably mounted on the corresponding movable frame, the first transmission wheel being sleeved on the first rotating shaft, the second transmission wheel and the gear being sleeved on both ends of the second rotating shaft respectively, the second transmission belt being wound around the first transmission wheel and the second transmission wheel, and the two racks being respectively mounted on the two clamping members of the clamping assembly and meshing with the opposite sides of the gear respectively.

[0020] According to a second aspect of the embodiments of this application, a robot is provided, including a robotic arm and the grasping device described in any of the preceding claims, wherein the end of the robotic arm is connected to the support.

[0021] According to a third aspect of the embodiments of this application, a PCB processing device is provided, including the robot described above.

[0022] The beneficial effects of the gripping device, robot, and PCB processing equipment provided in this application are as follows: Compared with the prior art, the gripping device of this application uses a first driving component to drive two gripping components to move closer or further apart along a first direction to adjust the gripping distance of the gripping mechanism. A second driving component drives the gripping components to extend or shorten along a second direction to adjust the gripping range. Therefore, the gripping mechanism can be flexibly adjusted in both the first and second directions to adapt to the gripping needs of different sized boards, enabling the gripping of various sizes of boards without frequent changes to the gripping device, simplifying the operation process and improving production continuity and automation. After the adsorption mechanism picks up the board, the two gripping components of the gripping mechanism then grip the board, effectively avoiding interference between the two gripping components and the board, which could lead to gripping failure. Furthermore, the coordinated gripping of the board by the adsorption mechanism and the gripping mechanism improves the stability of the gripping. In addition, by integrating the adsorption mechanism and the gripping mechanism onto the bracket, the overall size of the gripping device is more compact, while effectively ensuring that the adsorption mechanism and the gripping mechanism maintain a high degree of coordination during gripping operations, guaranteeing gripping reliability. Attached Figure Description

[0023] To more clearly illustrate the technical solutions in the embodiments of this application, the drawings used in the description of the embodiments or the prior art will be briefly introduced below. Obviously, the drawings described below are only some embodiments of this application. For those skilled in the art, other drawings can be obtained based on these drawings without creative effort.

[0024] Figure 1 A three-dimensional structural diagram of the gripping device provided in one embodiment of this application. Figure 1 ;

[0025] Figure 2 A three-dimensional structural diagram of the gripping device provided in one embodiment of this application. Figure 2 ;

[0026] Figure 3 A three-dimensional structural diagram of the adsorption mechanism provided in one embodiment of this application. Figure 1 ;

[0027] Figure 4 A three-dimensional structural diagram of the adsorption mechanism provided in one embodiment of this application. Figure 2 ;

[0028] Figure 5 A three-dimensional structural diagram of a gripper mechanism provided in one embodiment of this application. Figure 1 ;

[0029] Figure 6 A three-dimensional structural diagram of a gripper mechanism provided in one embodiment of this application. Figure 2 ;

[0030] Figure 7 This is a partial three-dimensional structural diagram of a gripper mechanism provided in one embodiment of this application.

[0031] Explanation of key figure labels:

[0032] 100. Bracket; 110. Slide rail; 200. Adsorption mechanism; 10. Adsorption unit; 11. Mounting plate; 111. Mounting area; 12. Center part; 13. Edge part; 14. Suction cup; 20. Lifting drive assembly; 21. Mounting bracket; 22. Driver; 23. Threaded rod; 24. Limiting bracket; 300. Gripper mechanism; 30. Clamping assembly; 31. Clamping element; 32. Moving rod; 33. Claw hook; 40. First drive assembly; 41. First power source; 42. First transmission assembly; 43. Lead screw; 50. Second drive assembly; 51. Second power source; 52. Second transmission assembly; 53. First transmission unit; 531, first rotating shaft; 532, driving wheel; 533, driven wheel; 534, first transmission belt; 54, second transmission unit; 541, second rotating shaft; 542, first transmission wheel; 543, second transmission wheel; 544, second transmission belt; 545, gear; 546, rack; 60, movable frame; 61, first fixed block; 611, nut; 62, second fixed block; 63, slider; 64, third fixed block; 65, fourth fixed block; 70, clamping assembly; 71, drive source; 72, pressure block; 400, plate; X, first direction; Y, second direction; Z, third direction. Detailed Implementation

[0033] To make the technical problems, technical solutions, and beneficial effects to be solved by this application clearer, the following detailed description is provided in conjunction with the accompanying drawings and embodiments. It should be understood that the specific embodiments described herein are merely illustrative and are not intended to limit the scope of this application.

[0034] It should be noted that when a component is referred to as being "fixed to" or "set on" another component, it can be directly on or indirectly on that other component. When a component is referred to as being "connected to" another component, it can be directly connected to or indirectly connected to that other component.

[0035] It should be understood that the terms "length", "width", "upper", "lower", "front", "rear", "left", "right", "vertical", "horizontal", "top", "bottom", "inner", "outer", etc., indicate the orientation or positional relationship based on the orientation or positional relationship shown in the accompanying drawings. They are only for the convenience of describing this application and simplifying the description, and do not indicate or imply that the device or element referred to must have a specific orientation, or be constructed and operated in a specific orientation. Therefore, they should not be construed as limitations on this application.

[0036] Furthermore, the terms "first" and "second" are used for descriptive purposes only and should not be construed as indicating or implying relative importance or implicitly specifying the number of technical features indicated. Thus, a feature defined as "first" or "second" may explicitly or implicitly include one or more of that feature. In the description of this application, "multiple" means two or more, unless otherwise explicitly specified.

[0037] Please refer to the following: Figures 1 to 7 The gripping device provided in the embodiments of this application will now be described. The gripping device is used to grip a sheet material 400, wherein the sheet material 400 may be, but is not limited to, a PCB or a glass plate.

[0038] Combined with appendix Figure 1 and Figure 2 A gripping device includes a support 100, an adsorption mechanism 200, and a gripper mechanism 300. The adsorption mechanism 200 is disposed on the support 100 and is used to adsorb a sheet material 400. The gripper mechanism 300 is disposed on the support 100 and is used to grip the sheet material 400 adsorbed by the adsorption mechanism 200. The gripper mechanism 300 includes two gripping components 30, a first driving component 40, and a second driving component 50. The two gripping components 30 are located on opposite sides of the adsorption mechanism 200 along a first direction X. The first driving component 40 is drivenly connected to at least one gripping component 30 and is used to drive the two gripping components 30 to move closer or further apart relative to each other along the first direction X. The second driving component 50 is drivenly connected to the two gripping components 30 and is used to drive the two gripping components 30 to extend or shorten along a second direction Y to adjust the range of the gripping components 30 in gripping the sheet material 400 in the second direction Y, wherein the second direction Y intersects the first direction X.

[0039] Optionally, the first direction X is the length direction of the support 100, and the second direction Y is the width direction of the support 100; or, the first direction X is the width direction of the support 100, and the second direction Y is the length direction of the support 100. The third direction Z is the thickness direction of the support 100. Understandably, the first direction X, the second direction Y, and the third direction Z are mutually perpendicular, and a three-dimensional coordinate system is established using the first direction X, the second direction Y, and the third direction Z as coordinate axes, such as... Figure 1 .

[0040] For example, the board 400 is a PCB, the gripping device is in a horizontal state, the first direction X is the length direction of the support 100 and is consistent with the horizontal direction, the second direction Y is the width direction of the support 100 and is consistent with the horizontal direction, and the third direction Z is the thickness direction of the support 100 and is consistent with the vertical direction. In the PCB drilling and unloading process, before gripping the PCB, according to the length of the PCB, the first driving component 40 drives the two clamping components 30 to move closer or further apart along the first direction X until the distance between the two clamping components 30 in the first direction X reaches a preset clamping distance so that the preset clamping distance is adapted to the length of the PCB; according to the width of the PCB, the second driving component 50 drives the two clamping components 30 to extend or shorten along the second direction Y until the length of the clamping components 30 in the second direction Y reaches a preset length so that the preset length is adapted to the width of the PCB. When gripping the PCB, the adsorption mechanism 200 adsorbs and fixes the PCB surface located on the bearing plane. When the adsorption mechanism 200 picks up the PCB and leaves the bearing plane, the first driving component 40 drives the two clamping components 30 to move closer to each other along the first direction X, so that the two clamping components 30 clamp the PCB on opposite sides along the first direction X.

[0041] Compared with the prior art, the gripping device provided in this application has a gripper mechanism 300 that drives two gripping components 30 to move closer or further apart along the first direction X via a first drive component 40 to adjust the gripping distance of the gripper mechanism 300. The gripping components 30 are also driven to extend or shorten along the second direction Y via a second drive component 50 to adjust the gripping range of the gripping components 30. Thus, the gripper mechanism 300 can be flexibly adjusted in two dimensions, the first direction X and the second direction Y, to adapt to the gripping needs of different sized plates 400, so as to grip a variety of different sized plates 400 without the need for frequent changes of the gripping device, simplifying the operation process and improving the continuity of production and the degree of automation. After the adsorption mechanism 200 picks up the plate 400, the two gripping components 30 of the gripper mechanism 300 then grip the plate 400. This effectively avoids interference between the two gripping components 30 and the plate 400, which could lead to gripping failure. Furthermore, the coordinated gripping of the plate 400 by the adsorption mechanism 200 and the gripper mechanism 300 improves the stability of gripping the plate 400. In addition, by integrating the adsorption mechanism 200 and the gripper mechanism 300 onto the bracket 100, the overall size of the gripping device is more compact, while effectively ensuring that the adsorption mechanism 200 and the gripper mechanism 300 maintain a high degree of coordination during gripping operations, guaranteeing gripping reliability.

[0042] Combined with appendix Figure 3 and Figure 4It is understood that the adsorption mechanism 200 includes a mounting plate 11 and a plurality of suction cups 14, which are disposed on the mounting plate 11 and are spaced apart along the circumferential edge of the mounting plate 11. The suction cups 14 are connected to an external vacuum pump through air pipes.

[0043] The above technical solution, by distributing multiple suction cups 14 at intervals along the circumferential edge of the mounting plate 11, can quickly expel the air between the suction cups 14 and the plate 400 when the multiple suction cups 14 simultaneously contact the surface of the plate 400. This rapidly creates a stable negative pressure vacuum environment at the contact surface between the suction cups 14 and the plate 400, ensuring a rapid response of the adsorption action. Specifically, when the multiple suction cups 14 simultaneously contact the surface of the plate 400, they form a multi-point sealing area. When the vacuum pump is started, each suction cup 14 independently draws air, shortening the air discharge path between the suction cups 14 and the plate 400, achieving rapid air discharge between the suction cups 14 and the plate 400, and quickly reaching the set negative pressure vacuum value. In addition, the multiple suction cups 14 can form an effective torque balance through relatively uniform adsorption force, effectively counteracting the detachment torque generated by the sagging edge of the plate 400, effectively preventing the plate 400 from detaching from the adsorption mechanism 200 due to local force imbalance, making the adsorption effect of the adsorption mechanism 200 on the PCB plate 400 more stable and reliable.

[0044] Combined with appendix Figure 3 It is understood that the mounting plate 11 has four mounting areas 111, which are arranged diagonally in pairs, and each mounting area 111 is equipped with a suction cup 14. By arranging suction cups 14 at the four diagonals of the mounting plate 11, it is beneficial to enhance the torque balance effect of the adsorption mechanism 200 on the edge of the plate 400.

[0045] Combined with appendix Figure 3 and Figure 4 Optionally, each installation area 111 may be provided with one suction cup 14, i.e., the number of suction cups 14 is four. Alternatively, each installation area 111 may be provided with two suction cups 14, i.e., the number of suction cups 14 is eight. Of course, the number of suction cups 14 can also be other numbers, depending on the actual needs.

[0046] Combined with appendix Figure 3 Optionally, the mounting plate 11 includes a central portion 12 and edge portions 13. The four edge portions 13 are connected to the circumferential edge of the central portion 12 and are arranged along the diagonal. In other words, the mounting plate 11 is X-shaped, and the mounting area 111 is formed on the edge portion 13. That is, the adsorption unit 10 is X-shaped as a whole.

[0047] Combined with appendix Figure 3 and Figure 4It is understandable that suction cup 14 is a sponge suction cup. The sponge suction cup has a multi-microporous structure and good elastic deformation capability. When the sponge suction cup contacts the surface of the board 400, it can adapt to the microscopic unevenness or slight warping of the board 400 surface, increasing the actual sealing contact area and reducing air leakage caused by surface defects of the board 400. This creates a more reliable negative pressure environment between the sponge suction cup and the board 400. Even after drilling holes in the board 400, the sponge suction cup can still stably adhere to the board 400. At the same time, the cushioning properties of the sponge material reduce the impact force when the suction cup 14 contacts the board 400, avoiding indentations or damage to brittle boards 400 such as PCBs.

[0048] Combined with appendix Figure 3 and Figure 4 It is understood that the adsorption mechanism 200 also includes a lifting drive assembly 20, which is mounted on the bracket 100 and is connected to the adsorption unit 10 via a transmission. The lifting drive assembly 20 is used to drive the adsorption unit 10 to move up and down along the third direction Z.

[0049] During the gripping operation, the lifting drive assembly 20 first drives the adsorption unit 10 to descend to contact the plate 400 and complete the adsorption and fixation. Then, the gripper mechanism 300 performs the clamping action. By adsorbing and lifting the plate 400 through the adsorption mechanism 200 before clamping, the clamping assembly 30 can complete the clamping action in a safe space away from the bearing plane of the plate 400, effectively avoiding the risk of interference and collision between the clamping assembly 30 and the bearing plane, reducing the risk of equipment damage, and effectively preventing the plate 400 from falling off or being damaged due to collision. In addition, pre-adsorption can prevent the plate 400 from shifting or warping during the clamping process, effectively ensuring that the gripper mechanism 300 can accurately align with the edge of the plate 400, improving the reliability of clamping.

[0050] Optionally, the lifting drive assembly 20 includes a mounting bracket 21 and a driver 22. The mounting bracket 21 is connected to the bracket 100, and the driver 22 is connected to the mounting plate 11.

[0051] The actuator 22 can be, but is not limited to, a motor or a cylinder. For example, the actuator 22 is a motor. The actuator 22 is connected to the mounting plate 11 through a threaded rod 23. When the actuator 22 drives the threaded rod 23 to rotate, the threaded rod 23 drives the mounting plate 11 to move up and down, thereby driving the entire adsorption unit 10 to move up and down.

[0052] The lifting drive assembly 20 also includes a limiting frame 24, which is connected to the bracket 100. The limiting frame 24 is movably inserted through the adsorption unit 10, restricting the adsorption unit 10 from rotating, so that the adsorption unit 10 can move up and down under the drive of the driver 22, but cannot rotate.

[0053] Combined with appendix Figure 2 and Figure 5 It is understood that the gripper mechanism 300 also includes at least two clamping components 70, which are respectively disposed on the two gripping components 30. When the gripping components 30 clamp the plate 400, the clamping components 70 press the edge of the plate 400 against the gripping components 30, effectively preventing the plate 400 from slipping due to excessive speed during the transfer process of the robotic arm driving the gripping device, which helps to improve the stability of the gripping device in gripping the plate 400.

[0054] Combined with appendix Figure 5 and Figure 7 It is understood that the clamping assembly 30 includes two clamping members 31. Each clamping member 31 includes a moving rod 32 and a claw hook 33. The claw hook 33 is located at the end of the moving rod 32 away from the other clamping member 31. The pressing assembly 70 includes a drive source 71 and a pressing block 72. The drive source 71 is located on the moving rod 32 or the claw hook 33. The pressing block 72 is connected to the drive source 71 and is correspondingly set with the claw hook 33.

[0055] During the clamping process, the claw hook 33 first extends into the lower surface of the plate 400 to provide basic support. Then, the drive source 71 drives the pressure block 72 to descend vertically and directly abut against the upper surface of the plate 400, forming clamping forces in both the upper and lower directions.

[0056] In the above technical solution, when clamping the plate 400, the claw hook 33 supports the lower surface of the edge of the plate 400 from below, and the pressure block 72, under the action of the drive source 71, presses against the upper surface of the edge of the plate 400 from above, enhancing the stability of the gripper mechanism 300 in clamping the plate 400 and effectively preventing the plate 400 from slipping or shaking due to inertia during high-speed transfer. By setting the claw hook 33 at the end of the moving rod 32 away from the other clamping member 31, and the pressure block 72 correspondingly set with the claw hook 33, the pressure block 72 and the claw hook 33 cooperate to clamp the two ends of the plate 400 approximately along the second direction Y, complementing the adsorption mechanism 200 adsorbing the central area of ​​the plate 400, effectively improving the stability of the gripping device in gripping the plate 400.

[0057] Optionally, the drive source 71 may be, but is not limited to, an electric motor or a cylinder.

[0058] Combined with appendix Figure 2 and Figure 5It is understood that the gripper mechanism 300 also includes two movable frames 60, which are arranged at a relative interval along the first direction X. Two clamping components 30 are respectively disposed on the two movable frames 60. The first drive component 40 is drivenly connected to the two movable frames 60, that is, the first drive component 40 is indirectly connected to the clamping components 30 through the movable frames 60. The first drive component 40 includes a first power source 41 and a first transmission component 42. The first power source 41 is disposed on the bracket 100 and connected to the first transmission component 42. The first transmission component 42 is connected to the two movable frames 60.

[0059] When the first power source 41 is started, it drives the first transmission assembly 42 to drive the two movable frames 60 to move in opposite directions. That is, the first transmission assembly 42 drives one of the movable frames 60 to move along the first direction X, and drives the other movable frame 60 to move in the opposite direction to the first direction X. This causes the two movable frames 60 to move closer or further apart along the first direction X, thereby causing the two clamping assemblies 30 to move closer or further apart along the first direction X, thus adjusting the distance between the two clamping assemblies 30 in the first direction X. For example, when the first power source 41 drives the first transmission assembly 42 to bring the two movable frames 60 closer together along the first direction X, the two movable frames 60 drive the two clamping assemblies 30 to move closer together, thereby reducing the distance between the two clamping assemblies 30 in the first direction X; when the first power source 41 drives the first transmission assembly 42 to move the two movable frames 60 further apart along the first direction X, the two movable frames 60 drive the two clamping assemblies 30 to move further apart, thereby increasing the distance between the two clamping assemblies 30 in the first direction X.

[0060] The above technical solution, by setting two movable frames 60 to support two clamping components 30 respectively, provides a stable mounting carrier for the clamping components 30. Simultaneously, it facilitates the position adjustment of the clamping components 30 in the first direction X along with the movable frames 60 as a whole, ensuring the structural stability of the clamping components 30 during spacing adjustment. Only one first power source 41 is needed to synchronously drive the two movable frames 60 and the two clamping components 30 via the first transmission component 42, eliminating the need for a separate first power source 41 for each clamping component 30. This significantly reduces the number of driving components, simplifies the overall structure of the gripper mechanism 300, reduces manufacturing costs, lightens the overall weight of the gripping device, and improves the device's ease of operation and spatial adaptability. Furthermore, since the two movable frames 60 are driven by the same first power source 41 through the same transmission component, the relative movements of the two movable frames 60 and the two clamping components 30 in the first direction X have higher synchronicity and coordination. This effectively avoids problems such as action delay, displacement deviation, or uneven force that may occur due to multiple independent first power sources 41, thereby ensuring the accuracy of clamping distance adjustment, ensuring adaptability to different lengths of plates 400 and clamping stability, and improving the reliability of gripping operations. In addition, the synchronous movement of the two clamping components 30 driven by the same first power source 41 ensures that the movement amplitude and position of the two clamping components 30 in the first direction X remain symmetrical. When clamping the plate 400, the plate 400 can be subjected to uniform clamping force, avoiding deformation or damage to the plate 400 due to uneven clamping force, and effectively ensuring the quality of the plate 400 during the gripping process.

[0061] Alternatively, the first drive assembly 40 is connected to one of the clamping assemblies 30, and the other clamping assembly 30 is fixedly mounted on the bracket 100. The first drive assembly 40 drives one of the clamping assemblies 30 to move along the first direction X, so that the clamping assembly 30 moves closer to or further away from the clamping assembly 30 fixedly mounted on the bracket 100 along the first direction X, thereby realizing that the two clamping assemblies 30 move closer to or further away from each other along the first direction X.

[0062] Combined with appendix Figure 5 It is understood that the first transmission assembly 42 includes two lead screws 43, which are connected to the first power source 41 and threadedly connected to the two movable frames 60 respectively.

[0063] The axial direction of the lead screw 43 is consistent with the first direction X, and the thread directions of the two lead screws 43 are opposite. When the first power source 41 drives the two first lead screws 43 to rotate, the two lead screws 43 drive the two movable frames 60 to move in opposite directions, thereby causing the two movable frames 60 to move closer or further away from each other along the first direction X, and thus causing the two clamping components 30 to move closer or further away from each other.

[0064] The above technical solution connects both lead screws 43 to the first power source 41 and then threadedly connects them to the two movable frames 60. When the first power source 41 is activated, it drives the two lead screws 43 to rotate synchronously. The threaded connection between the lead screws 43 and the movable frames 60 has precise transmission characteristics. When the first power source 41 drives the lead screws 43 to rotate, the movable frames 60 can achieve smooth and precise linear displacement along the lead screws 43. This allows for precise and stable adjustment of the distance between the two clamping components 30 in the first direction X, thereby accurately adjusting the clamping distance of the gripper mechanism 300 to better adapt to the gripping needs of plates 400 of different lengths. This further improves the adaptability of the gripping device to plates 400 of different sizes and the accuracy of gripping. In addition, the threaded transmission itself has a self-locking function. After adjustment, relative slippage between the movable frames 60 and the lead screws 43 is not likely to occur, allowing the clamping components 30 to be stably maintained in the preset position. This avoids instability in gripping due to positional deviation of the clamping components 30 during the gripping process, further enhancing the reliability of the gripping operation.

[0065] Optionally, the first power source 41 may be, but is not limited to, an electric motor or a rotary cylinder.

[0066] Combined with appendix Figure 5 The movable frame 60 is provided with a first fixing block 61 and a second fixing block 62. A nut 611 is provided on the first fixing block 61. The second fixing block 62 is located on the side of the first fixing block 61 away from the first power source 41. The lead screw 43 passes through the nuts 611 on the two first fixing blocks 61 and is threadedly engaged with the nuts 611. The two ends of the lead screw 43 are rotatably connected to the two second fixing blocks 62 respectively.

[0067] Alternatively, the first transmission component 42 can also be a gear and rack transmission component, a synchronous belt transmission component, or a cam transmission component, etc.

[0068] The movable frame 60 and the support 100 slide in a first direction X. By sliding the movable frame 60 and the support 100 in a first direction X, the movement of the movable frame 60 is guided, ensuring that the two clamping components 30 stably move closer or further apart relative to each other in the first direction X under the drive of the first drive component 40, effectively preventing the clamping components 30 from shifting during movement.

[0069] Optionally, the bracket 100 is provided with a slide rail 110, the length direction of the slide rail 110 is consistent with the first direction X, and the movable frame 60 is provided with a slider 63, which is slidably connected to the slide rail 110. Alternatively, the bracket 100 is provided with a slider 63, the movable frame 60 is provided with a slide rail 110, the length direction of the slide rail 110 is consistent with the first direction X, and the slider 63 is slidably connected to the slide rail 110.

[0070] The clamping member 31 is slidably connected to the corresponding movable frame 60 along the second direction Y. Specifically, the moving rod 32 is slidably connected to the movable frame 60 along the second direction Y, and at least a portion of the two moving rods 32 of the clamping member 31 are arranged opposite each other along the third direction Z. The clamping assembly 30 is extended or shortened by moving the two moving rods 32 along the second direction Y.

[0071] Combined with appendix Figure 5 and Figure 6 It is understood that the second drive assembly 50 includes a second power source 51 and a second transmission assembly 52. ​​The second power source 51 is mounted on the bracket 100 and connected to the second transmission assembly 52. ​​The second transmission assembly 52 is connected to two clamping assemblies 30.

[0072] When the second power source 51 is started, the second power source 51 drives the second transmission component 52 to drive, and the second transmission component 52 drives the two clamping components 30 to extend or shorten synchronously to adjust the clamping range of the clamping components 30. In other words, the second drive component 50 is used to adjust the distance between the two claw hooks 33 of the clamping component 30 along the second direction Y.

[0073] The above technical solution allows two gripping components 30 to extend or retract synchronously via a single second power source 51 and a second transmission assembly 52. ​​This eliminates the need for a separate second power source 51 for each gripping component 30's extension or retraction, significantly reducing the number of driving components. This simplifies the overall structure of the gripper mechanism 300, lowers manufacturing costs, and reduces the overall weight of the gripping device, improving its ease of operation and spatial adaptability. Furthermore, the fact that both gripping components 30 are driven by the same second power source 51 and the same transmission assembly ensures greater synchronicity and coordination in the extension and retraction of the two gripping components in the second direction Y, effectively avoiding problems such as action delays, displacement deviations, or uneven force that might occur with multiple independent second power sources 51.

[0074] Optionally, the second power source 51 may be, but is not limited to, an electric motor or a rotary cylinder.

[0075] Combined with appendix Figure 5 and Figure 6 It is understood that the second transmission assembly 52 includes a first transmission unit 53 and two second transmission units 54. The first transmission unit 53 is connected to the second power source 51. The two second transmission units 54 are respectively mounted on two movable frames 60. The two second transmission units 54 are connected to the first transmission unit 53 and are respectively connected to the two clamping assemblies 30.

[0076] For example, when the second power source 51 drives the first transmission unit 53, the first transmission unit 53 drives two second transmission units 54 to drive, and the two second transmission units 54 respectively drive the two clamping components 30 to extend or shorten along the second direction Y.

[0077] The above technical solution connects the first transmission unit 53 to the second power source 51, and the two second transmission units 54 are respectively set on the two movable frames 60 and connected to the same first transmission unit 53, and respectively connected to the two clamping components 30. This allows the second power source 51 to synchronously distribute power to the two clamping components 30 through the first transmission unit 53 and the two second transmission units 54, ensuring that the extension and retraction movements of the two clamping components 30 in the second direction Y are completely consistent, effectively improving the adjustment accuracy and clamping coordination.

[0078] Combined with appendix Figures 5 to 7 It is understood that the first transmission unit 53 includes a first rotating shaft 531, a driving wheel 532, a driven wheel 533, and a first transmission belt 534. The two ends of the first rotating shaft 531 are rotatably connected to two movable frames 60 respectively. The driving wheel 532 is sleeved on the output shaft of the second power source 51, and the driven wheel 533 is sleeved on the first rotating shaft 531. The first transmission belt 534 is wound around the driving wheel 532 and the driven wheel 533. The first rotating shaft 531 is connected to the second transmission unit 54 for transmission.

[0079] The second transmission unit 54 includes a second rotating shaft 541, a first transmission wheel 542, a second transmission wheel 543, a second transmission belt 544, two racks 546, and a gear 545. The second rotating shaft 541 is rotatably mounted on the corresponding movable frame 60. The first transmission wheel 542 is sleeved on the first rotating shaft 541, the second transmission wheel 543 is sleeved on one end of the second rotating shaft 541, and the gear 545 is sleeved on the other end of the second rotating shaft 541. The second transmission belt 544 is wound around the first transmission wheel 542 and the second transmission wheel 543. The two racks 546 are respectively mounted on the two clamping members 31 of the corresponding clamping assembly 30. Specifically, the two racks 546 are respectively mounted on the moving rods 32 of the two clamping members 31. The two racks 546 are arranged opposite each other and mesh with the opposite sides of the gear 545.

[0080] When the second power source 51 is started, the rotational power output by the second power source 51 is transmitted to the first rotating shaft 531 through the driving wheel 532, the transmission belt and the driven wheel 533. The first transmission wheel 542, which is sleeved on the first rotating shaft 531, rotates synchronously with the first rotating shaft 531. The rotational motion is transmitted to the second rotating shaft 541 through the second transmission belt 544 which is wound around the first transmission wheel 542 and the second transmission wheel 543. When the second rotating shaft 541 rotates, the gear 545, which is sleeved on the second rotating shaft 541, rotates synchronously with the second rotating shaft 541. When the gear 545 rotates, it drives the racks 546 on both sides to move in opposite directions in a straight line along the second direction Y, thereby driving the two clamping members 31 to extend or shorten synchronously along the second direction Y, thereby adjusting the clamping range of the clamping assembly 30 in the second direction Y.

[0081] The above technical solution, through the cooperation of the first rotating shaft 531, the driving wheel 532, the driven wheel 533, and the second transmission belt 544, stably transmits the power output from the second power source 51 to the second transmission unit 54. Through the cooperation of the first transmission wheel 542, the second transmission belt 544, and the second transmission wheel 543, the stable transmission of power from the first rotating shaft 531 to the second rotating shaft 541 is realized. The first transmission belt 534 and the second transmission belt 544 have buffering and vibration absorption characteristics, which can reduce the impact and noise during the power transmission process and improve the smoothness of operation. At the same time, by utilizing the meshing structure of the gear 545 and the two oppositely arranged racks 546, when the gear 545 rotates with the second rotating shaft 541, it can synchronously drive the two racks 546 and the clamping member 31 connected to them to move in opposite directions, ensuring that the two clamping members 31 move in a highly synchronized manner, avoiding clamping offset or uneven force due to movement delay. It is especially suitable for gripping precision boards 400 such as PCBs, ensuring clamping accuracy and reliability.

[0082] Understandably, the first drive component 40 of the gripping device of this application realizes that a first power source 41 drives two clamping components 30 to move closer or further apart along the first direction X through a multi-linkage transmission method. The second drive component 50 uses a second power source 51 to drive the two clamping components 30 to extend or shorten synchronously along the second direction Y, which effectively simplifies the structure of the gripping device and reduces its weight. The overall weight of the gripping device is less than 10kg, realizing the gripping of the end effector of the lightweight collaborative robot.

[0083] Combined with appendix Figure 5Optionally, the first rotating shaft 531 is a splined shaft. A third fixing block 64 and a fourth fixing block 65 are provided on the movable frame 60. A spline sleeve is provided on the third fixing block 64, and the fourth fixing block 65 is located on the side of the third fixing block 64 away from the second power source 51. Both ends of the first rotating shaft 531 pass through the spline sleeves on the two third fixing blocks 64 and engage with them. Both ends of the first rotating shaft 531 are rotatably connected to the two fourth fixing blocks 65 respectively. Understandably, when the first drive mechanism drives the two movable frames 60 to move closer or further apart along the first direction X, the spline sleeve moves relative to the splined shaft along the first direction X, and the fourth fixing block 65 moves relative to the splined shaft along the first direction X. That is, the two movable frames 60, the two clamping assemblies 30, and the two second transmission units 54 can all move relative to the first rotating shaft 531 along the first direction X.

[0084] This application also provides a robot, including a robotic arm and any of the above-described exemplary grasping devices, wherein the end of the robotic arm is connected to a support 100.

[0085] The robot provided in this application employs the aforementioned grasping device, thereby possessing all the beneficial effects of a grasping device.

[0086] This application also provides a PCB processing equipment, including the robot described above.

[0087] Optionally, PCB processing equipment may include, but is not limited to, drilling machines, etc.

[0088] The PCB processing equipment provided in this application employs a robot, and the robot employs the aforementioned gripping device, thereby possessing all the beneficial effects of the gripping device.

[0089] The above description is merely a preferred embodiment of this application and is not intended to limit this application. Any modifications, equivalent substitutions, and improvements made within the spirit and principles of this application should be included within the protection scope of this application.

Claims

1. A gripping device, characterized in that, include: support; An adsorption mechanism, which is mounted on the support, is used to pick up the sheet material; A gripper mechanism is disposed on the support and is used to grip the plate material picked up by the adsorption mechanism. The gripper mechanism includes two gripping components, a first driving component, and a second driving component. The two gripping components are respectively located on opposite sides of the adsorption mechanism along a first direction. The first driving component is drivenly connected to at least one of the gripping components and is used to drive the two gripping components to move closer or further apart relative to each other along the first direction. The second driving component is drivenly connected to the two gripping components and is used to drive the two gripping components to extend or shorten along a second direction intersecting the first direction, so as to adjust the range of the gripping components in gripping the plate material in the second direction.

2. The gripping device as described in claim 1, characterized in that: The adsorption mechanism includes an adsorption unit, which includes a mounting plate and multiple suction cups. The multiple suction cups are disposed on the mounting plate and are distributed at intervals along the circumferential edge of the mounting plate.

3. The gripping device as described in claim 2, characterized in that: The mounting plate has four mounting areas, which are arranged diagonally in pairs, and each mounting area is provided with a suction cup.

4. The gripping device as described in claim 1, characterized in that: The adsorption mechanism includes an adsorption unit and a lifting drive assembly. The lifting drive assembly is mounted on the bracket and is connected to the adsorption unit for driving the adsorption unit to move up and down along a third direction. The first direction, the second direction, and the third direction are perpendicular to each other.

5. The gripping device as described in claim 1, characterized in that: The gripper mechanism further includes at least two clamping components, which are respectively disposed on the two clamping components.

6. The gripping device as described in claim 5, characterized in that: The clamping assembly includes two clamping members, each clamping member including a moving rod and a claw hook. The claw hook is disposed at the end of the moving rod away from the other clamping member. The pressing assembly includes a drive source and a pressing block. The drive source is disposed on the moving rod or the claw hook. The pressing block is connected to the drive source and is disposed correspondingly to the claw hook.

7. The gripping device according to any one of claims 1-6, characterized in that: The gripper mechanism further includes two movable frames, and the two gripping components are respectively movably mounted on the two movable frames; the first driving component includes a first power source and a first transmission component, the first power source is mounted on the bracket and connected to the first transmission component, and the first transmission component is connected to the two movable frames.

8. The gripping device as described in claim 7, characterized in that: The first transmission assembly includes two lead screws, which are connected to the first power source and threadedly connected to the two movable frames respectively.

9. The gripping device according to any one of claims 1-6, characterized in that: The second drive assembly includes a second power source and a second transmission assembly. The second power source is mounted on the bracket and connected to the second transmission assembly. The second transmission assembly is connected to the two clamping assemblies.

10. The gripping device as described in claim 9, characterized in that: The gripper mechanism further includes two movable frames, and the two gripping components are respectively disposed on the two movable frames. The second transmission component includes a first transmission unit and two second transmission units. The first transmission unit is connected to the second power source. The two second transmission units are respectively disposed on the two movable frames and connected to the first transmission unit, and respectively connected to the two gripping components.

11. The gripping device as described in claim 10, characterized in that: The clamping assembly includes two clamping members, which are slidably connected to the corresponding movable frame along the second direction. The first transmission unit includes a first rotating shaft, a driving wheel, a driven wheel, and a first transmission belt. The two ends of the first rotating shaft are rotatably connected to the two movable frames respectively. The driving wheel is sleeved on the output shaft of the second power source, and the driven wheel is sleeved on the first rotating shaft. The first transmission belt is wound around the driving wheel and the driven wheel. The second transmission unit includes a second rotating shaft, a first transmission wheel, a second transmission wheel, a gear, a second transmission belt, and two racks. The second rotating shaft is rotatably mounted on the corresponding movable frame. The first transmission wheel is sleeved on the first rotating shaft. The second transmission wheel and the gear are respectively sleeved on the two ends of the second rotating shaft. The second transmission belt is wound around the first transmission wheel and the second transmission wheel. The two racks are respectively mounted on the two clamping members of the clamping assembly and respectively mesh with the opposite sides of the gear.

12. A robot, characterized in that, It includes a robotic arm and the gripping device according to any one of claims 1-11, wherein the end of the robotic arm is connected to the support.

13. A PCB processing equipment, characterized in that, Including the robot as described in claim 12.

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