A sorting robot for circuit board scrap recycling

Abstract

The utility model discloses a sorting robot for circuit board waste recovery relates to circuit board waste recovery technical field, including support frame, the inside movable setting of support frame has two groups longitudinal slide base, the bottom of longitudinal slide base is provided with the traction plate, the meshing drive of gear interval through three drive sprocket, driven sprocket, range sprocket, the rotation of the rotating shaft is converted to the swing of drive arm, since the jaw is hauled by the traction link, so when the jaw overturns to a certain angle downward and cannot continue to overturn, the rotation of driven sprocket and range sprocket can drive the horizontal transverse motion of jaw at this moment, thereby realize the stable clamping to circuit board waste board, thereby the jaw will carry out overturning motion first when clamping the waste board, then carry out horizontal motion, guarantee can form the stable clamping to the thin waste board at the same time, also reduced its required motion space, provides great convenience for the production process of circuit board.

Description

Technical Field

[0001] This utility model relates to the field of circuit board waste recycling technology, specifically to a sorting robot for circuit board waste recycling. Background Technology

[0002] Circuit boards are the core physical support structure and electrical connection carrier of electronic devices. Their core function is to connect various electronic components (chips, resistors, capacitors, etc.) through pre-designed conductive lines to form a complete electronic system.

[0003] In the circuit board production process, batches of circuit boards are transported on a conveyor belt. The conveyor belt is equipped with a camera inspection mechanism to inspect the circuit boards. When a damaged or non-compliant circuit board is identified, it is sorted by a sorting robot set on the conveyor belt. However, most existing sorting robots use grippers to pick up and sort waste circuit boards by flipping or horizontally moving the grippers. The flipping motion is difficult to grip thinner circuit boards, and the horizontal movement requires a large amount of space. Both of these cause many inconveniences to the sorting of waste circuit boards.

[0004] In summary, existing circuit board waste sorting robots suffer from several problems during use: the gripper arm flipping motion is difficult to grip thinner circuit boards, while the lateral movement requires a large amount of space. Utility Model Content

[0005] The purpose of this utility model is to provide a sorting robot for recycling waste circuit boards, so as to solve the technical problem that most existing waste circuit board sorting robots have difficulty gripping thinner circuit boards when using the arm flipping motion mode, while the lateral movement mode requires a large movement space.

[0006] The technical problem to be solved by this utility model can be achieved through the following technical solution:

[0007] A sorting robot for recycling circuit board waste.

[0008] The device includes a support frame, inside which two sets of longitudinal slides are movably arranged. A traction plate is provided at the bottom of each longitudinal slide. A driven gear and a limiting gear are rotatably arranged on one side of the traction plate. A drive arm is provided at the bottom of both the driven gear and the limiting gear. A gripper for gripping a circuit board is rotatably arranged at the bottom end of each drive arm. Traction links for traction of the gripper are provided on both sides of the traction plate. A turntable is rotatably nested at the top of the traction plate. A drive gear is provided on one side of the limiting groove, meshing with the driven gear. A rotating shaft for driving the turntable and the drive gear is rotatably arranged at the bottom of the support frame.

[0009] Preferably, a rubber pad is provided on the side of the bottom end of the gripper that is close to each other, and the surface of the rubber pad is provided with anti-slip texture.

[0010] Preferably, telescopic electric shafts are symmetrically arranged at both ends of the top of the support frame.

[0011] Preferably, the top end of the telescopic electric shaft is provided with a top plate, and a transverse sliding block is provided at the center of the top of the top plate.

[0012] Preferably, the transverse slide block is internally provided with a transverse lead screw and a transverse slide rod, and the transverse lead screw and the transverse slide block are threadedly connected, while the transverse slide rod and the transverse slide block are slidably connected.

[0013] Preferably, gantry frames are provided at both ends of the transverse lead screw and the transverse slide rod, and the gantry frames are rotatably connected to the transverse lead screw, while the gantry frames are fixedly connected to the transverse slide rod.

[0014] Preferably, a motor for driving the transverse lead screw to rotate is provided on one side of the gantry frame.

[0015] Preferably, the upper inner end of the support frame is provided with a longitudinal lead screw for guiding and limiting the movement of the longitudinal slide block and a longitudinal slide rod for driving the longitudinal slide block to move.

[0016] Preferably, a limiting groove for mounting a turntable is provided on one side of the traction plate, and the diameter of the limiting groove is larger than the diameter of the drive gear plate.

[0017] Preferably, one end of the support frame is provided with a second motor for driving the rotating shaft to rotate.

[0018] The beneficial effects of this utility model are:

[0019] 1. In this utility model, the active gear plate, the driven gear plate, and the limiting gear plate are driven by the meshing of gears to convert the rotation of the shaft into the swing of the drive arm. Since the gripper is pulled by the traction link, it cannot continue to rotate after it is flipped downward to a certain angle. At this time, the rotation of the driven gear plate and the limiting gear plate will drive the gripper to make a horizontal movement, thereby achieving stable clamping of the waste board of the circuit board. Thus, when the gripper clamps the waste board, it will first perform a flipping movement and then a horizontal movement. While ensuring stable clamping of thinner waste boards, it also reduces the required movement space, which greatly facilitates the production process of the circuit board.

[0020] 2. In this utility model, the limiting gear can limit the rotation range of the driven gear, ensuring the movement accuracy of the gripper. By replacing the limiting gear with different numbers of teeth, the clamping distance of the gripper can be adjusted, thereby clamping waste circuit boards of different widths. The longitudinal slide drives the traction plate and the gripper to move longitudinally, thereby changing the longitudinal distance between the grippers, which can clamp waste circuit boards of different lengths. The device is more flexible and further improves the versatility of the device. Attached Figure Description

[0021] The present invention will be further described below with reference to the accompanying drawings.

[0022] Figure 1 This is one of the overall three-dimensional schematic diagrams of the device in this utility model;

[0023] Figure 2 This is the second overall three-dimensional schematic diagram of the device in this utility model;

[0024] Figure 3 This is a utility model Figure 2 Enlarged view of point A in the middle;

[0025] Figure 4 This is a schematic diagram of the cooperation between the drive arm and the gripper in this utility model.

[0026] In the diagram: 1. Gantry frame; 2. Transverse lead screw; 3. Transverse slide bar; 4. Transverse sliding block; 5. Top plate; 6. Motor 1; 7. Telescopic electric shaft; 8. Support frame; 9. Longitudinal lead screw; 10. Longitudinal slide bar; 11. Longitudinal sliding block; 12. Traction plate; 13. Driven gear plate; 14. Limiting gear plate; 15. Drive arm; 16. Circuit board; 17. Gripper; 18. Traction link; 19. Limiting groove; 20. Turntable; 21. Drive gear plate; 22. Rotating shaft; 23. Motor 2. Detailed Implementation

[0027] The specific embodiments of this utility model are described in detail below, but it should be understood that the scope of protection of this utility model is not limited to the specific embodiments.

[0028] like Figures 1-3 As shown, a sorting robot for recycling circuit board waste.

[0029] The system includes a support frame 8, with telescopic electric shafts 7 symmetrically arranged at both ends of the top of the support frame 8. A top plate 5 is located at the top of the telescopic electric shafts 7, and a transverse slide block 4 is located at the center of the top of the top plate 5. A transverse lead screw 2 and a transverse sliding rod 3 are movably arranged inside the transverse slide block 4, with the lead screw 2 and the slide block 4 being threadedly connected, and the sliding rod 3 and the slide block 4 being slidably connected. A gantry frame 1 is located at both ends of the lead screw 2 and the slide block 3, with the gantry frame 1 being rotatably connected to the lead screw 2 and fixedly connected to the slide block 3. A motor 6 for driving the lead screw 2 to rotate is located on one side of the gantry frame 1. The support frame 8 has two sets of longitudinal slides 11 movably arranged inside. The upper part of the support frame 8 is equipped with a longitudinal lead screw 9 for guiding and limiting the movement of the longitudinal slides 11, and a longitudinal slide rod 10 for driving the longitudinal slides 11. A traction plate 12 is provided at the bottom of the longitudinal slides 11. A driven gear 13 and a limiting gear 14 are rotatably arranged on one side of the traction plate 12, meshing with each other. A drive arm 15 is provided at the bottom of both the driven gear 13 and the limiting gear 14. A gripper 17 for clamping the circuit board 16 is rotatably arranged at the bottom end of the drive arm 15. The traction plate 12 has grippers on both sides for traction of the gripper 17. The traction link 18 is used to rotatably mount the turntable 20 at the top of the traction plate 12. A drive gear 21 that meshes with the driven gear 13 is provided on one side of the limiting groove 19. A limiting groove 19 for mounting the turntable 20 is provided on one side of the traction plate 12, and the diameter of the limiting groove 19 is larger than the diameter of the drive gear 21. A rotating shaft 22 for driving the turntable 20 and the drive gear 21 is rotatably mounted at the bottom of the support frame 8. A motor 23 for driving the rotating shaft 22 is provided at one end of the support frame 8. The gantry frame 1 serves as the main support structure of the entire sorting robot, providing installation positions for other structures. This ensures the overall stability of the device during use. During operation, the gantry frame 1 spans the conveyor belt, which transports circuit boards (specifically model BM634A779051). When the detection mechanism detects a damaged circuit board, it sends a start signal to motor 6. Motor 6 drives the transverse lead screw 2 to rotate. Since the transverse lead screw 2 is threadedly connected to the transverse slide block 4, and the transverse slide rod 3 is slidably connected to the transverse slide block 4, under the guidance of the transverse slide rod 3, the transverse slide block 4 drives the top plate 5 and the entire support frame 8 to move laterally, causing the gripper 17 to reach above the location of the waste circuit board.The telescopic electric shaft 7 drives the gripper 17 to descend. The telescopic electric shaft 7 can adjust the height of the top plate 5 and the gripper 17 according to actual needs to adapt to the sorting scenario of circuit board waste of different thicknesses. When the gripper 17 reaches the predetermined point, the motor 23 drives the rotating shaft 22 to rotate. The rotating shaft 22 drives the turntable 20 and the active gear disk 21 to rotate. The active gear disk 21 meshes with the driven gear disk 13, thereby driving the driven gear disk 13 to rotate. The driven gear disk 13 meshes with the limiting gear disk 14, thereby realizing the relative rotation of the driven gear disk 13 and the limiting gear disk 14. As a result, the drive arm 15 drives the gripper 17 to swing at a certain angle. The active gear disk 21, the driven gear disk 13, and the limiting gear disk 14 are transmitted through the meshing of gears, which converts the rotation of the rotating shaft 22 into the swing of the drive arm 15, thereby driving the gripper 17 to realize the gripping and releasing action. The limiting gear disk 14 can restrict the rotation of the driven gear disk 13. The range ensures the movement accuracy of the gripper 17. The clamping distance of the gripper 17 can be adjusted by changing the limit gear 14 with different tooth counts, thus allowing for the clamping of circuit board scraps of different widths. Since the gripper 17 is pulled by the traction link 18, it cannot continue to rotate after flipping downwards to a certain angle. At this point, the rotation of the driven gear 13 and the limit gear 14 drives the gripper 17 to make a horizontal lateral movement, thereby achieving stable clamping of the circuit board scrap. By rotating the longitudinal lead screw 9, under the guiding and limiting action of the longitudinal slide rod 10, the longitudinal slide block 11 drives the traction plate 12 and the gripper 17 to move longitudinally, thereby changing the longitudinal distance between the grippers 17. This allows for the clamping of circuit board scraps of different lengths, making the device more flexible and further improving its versatility. The limiting groove 19 provides space for the installation and rotation of the turntable 20 and the active gear 21.

[0030] In this embodiment, specifically, a rubber pad is provided on the side of the bottom end of the gripper 17 that is close to each other, and the surface of the rubber pad is provided with anti-slip texture.

[0031] The contents not described in detail in this specification are existing technologies known to those skilled in the art.

[0032] The working principle of this utility model is as follows: When the imaging and detection mechanism on the conveyor belt detects a damaged circuit board, it sends a corresponding start signal to motor 6. Motor 6 drives the transverse lead screw 2 to rotate, which in turn drives the transverse slide 4 to move the top plate 5 and the entire support frame 8 laterally, so that the gripper 17 reaches above the location of the waste circuit board. The telescopic electric shaft 7 drives the gripper 17 to descend. When the gripper 17 reaches the predetermined position, motor 23 drives the rotating shaft 22 to rotate. The rotating shaft 22 drives the turntable 20 and the driving gear 21 to rotate, thereby driving the driven gear 13 to rotate. This achieves relative rotation between the driven gear 13 and the limiting gear 14, thereby driving the arm 15 to move the gripper. The claw 17 swings at a certain angle. Since the claw 17 is pulled by the traction link 18, it cannot continue to rotate after it flips downward to a certain angle. At this time, the rotation of the driven toothed plate 13 and the limit toothed plate 14 will drive the claw 17 to make a horizontal lateral movement, thereby achieving stable clamping of the waste circuit board. By rotating the longitudinal lead screw 9, under the guidance and limiting action of the longitudinal slide bar 10, the longitudinal slide block 11 drives the traction plate 12 and the claw 17 to move longitudinally, thereby changing the longitudinal distance between the claws 17. It can clamp waste circuit boards of different lengths. After clamping, the waste circuit board is transported to the designated sorting position.

[0033] The above-disclosed embodiments are only a few specific examples of the present utility model. However, the embodiments of the present utility model are not limited thereto. Any changes that can be conceived by those skilled in the art should fall within the protection scope of the present utility model.

Claims

1. A sorting robot for recycling circuit board waste, characterized in that: Includes a support frame (8), inside which two sets of longitudinal slides (11) are movably arranged. A traction plate (12) is provided at the bottom of each longitudinal slide (11). A driven gear plate (13) and a limiting gear plate (14) are rotatably arranged on one side of the traction plate (12). A drive arm (15) is provided at the bottom of both the driven gear plate (13) and the limiting gear plate (14). A gripper (17) for clamping a circuit board (16) is rotatably arranged at the bottom end of each drive arm (15). The traction plate (13)... 2) is provided with traction connecting rods (18) on both sides for traction of the gripper (17). The top of the traction plate (12) is rotatably nested with a turntable (20). A limiting groove (19) for mounting the turntable (20) is provided on one side of the traction plate (12). A driving gear (21) that meshes with the driven gear (13) is provided on one side of the limiting groove (19). A rotating shaft (22) for driving the turntable (20) and the driving gear (21) to rotate is rotatably provided at the bottom of the support frame (8).

2. A sorting robot for recycling circuit board waste according to claim 1, characterized in that, A rubber pad is provided on the side of the bottom end of the gripper (17) that is close to each other, and the surface of the rubber pad is provided with anti-slip texture.

3. A sorting robot for recycling circuit board waste according to claim 1, characterized in that, Telescopic electric shafts (7) are symmetrically arranged at both ends of the top of the support frame (8).

4. A sorting robot for recycling circuit board waste according to claim 3, characterized in that, The top of the telescopic electric shaft (7) is provided with a top plate (5), and a transverse slide (4) is provided at the center of the top of the top plate (5).

5. A sorting robot for recycling circuit board waste according to claim 4, characterized in that, The transverse slide (4) is internally equipped with a transverse lead screw (2) and a transverse slide rod (3), and the transverse lead screw (2) and the transverse slide (4) are threadedly connected, while the transverse slide rod (3) and the transverse slide (4) are slidably connected.

6. A sorting robot for recycling circuit board waste according to claim 5, characterized in that, The transverse lead screw (2) and the transverse slide bar (3) are provided with gantry frames (1) at both ends, and the gantry frames (1) and the transverse lead screw (2) are rotatably connected, while the gantry frames (1) and the transverse slide bar (3) are fixedly connected.

7. A sorting robot for recycling circuit board waste according to claim 6, characterized in that, A motor (6) is provided on one side of the gantry frame (1) for driving the transverse lead screw (2) to rotate.

8. A sorting robot for recycling circuit board waste according to claim 1, characterized in that, The upper inner end of the support frame (8) is provided with a longitudinal lead screw (9) for guiding and limiting the movement of the longitudinal slide (11) and a longitudinal slide rod (10) for driving the longitudinal slide (11) to move.

9. A sorting robot for recycling circuit board waste according to claim 1, characterized in that, The diameter of the limiting groove (19) is larger than the diameter of the active gear plate (21).

10. A sorting robot for recycling circuit board waste according to claim 1, characterized in that, One end of the support frame (8) is provided with a motor (23) for driving the rotating shaft (22) to rotate.

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