Auxiliary mechanisms and circuit board processing equipment

Abstract

This application relates to an auxiliary mechanism and circuit board processing equipment. The auxiliary mechanism is used for clamping and / or removing pins. The auxiliary mechanism includes a gripper assembly and a second drive assembly. The second drive assembly includes a first drive module and a second drive module connected to each other. One end of the second drive module, away from the first drive module, is connected to the gripper assembly. The first drive module can drive the second drive module to move, so that the second drive module pushes the gripper assembly to achieve a first stroke opening and closing action. The second drive module can drive the gripper assembly to achieve a second stroke opening and closing action. In use, the auxiliary mechanism of this application determines the required opening and closing degree of the gripper assembly based on the size of the pin to be clamped. When the pin size is small, the gripper assembly can be kept in a half-open state. If the pin size is large, the second drive module can be moved further, thereby causing the gripper assembly to open further to a fully open state.

Description

Technical Field

[0001] This application relates to the field of PCB board processing technology, and in particular to an auxiliary mechanism and circuit board processing equipment. Background Technology

[0002] A PCB (Printable Circuit Board) CNC milling machine is a mechatronic product specifically designed for milling PCB boards. Based on CNC technology, it utilizes computer-controlled coordinates of the machine's x, y, and z axes to achieve precision PCB forming. In the actual machining process, the most common method is to use cylindrical pins to fix the PCB workpiece to a support plate before milling. Commonly used pin outer diameters range from φ0.8mm to φ5mm.

[0003] The specific process for driving the pin is as follows: a high-speed electric spindle drives a drill bit to drill a pin hole on the support plate, and then an auxiliary mechanism drives the pin into the hole. In existing auxiliary mechanisms, the pin is first held by a clamping assembly, and then a corresponding lifting assembly moves the clamping assembly downwards to drive the pin into the pin hole.

[0004] However, the existing auxiliary mechanisms have limited clamping range, a narrow range of applicable pin sizes, and poor flexibility and versatility. They cannot adequately meet the pinning needs of different sized pins, requiring replacement or adjustment of the clamping mechanism, which increases the complexity and cost of operation. Utility Model Content

[0005] Therefore, it is necessary to provide an auxiliary mechanism and circuit board processing equipment to address the problem of the limited clamping range of the auxiliary mechanism.

[0006] This application provides an auxiliary mechanism for driving and / or removing pins, the auxiliary mechanism comprising:

[0007] gripper assembly;

[0008] The second drive assembly includes a first drive module and a second drive module connected to each other. The end of the second drive module opposite to the first drive module is connected to the gripper assembly. The first drive module can drive the second drive module to move so that the second drive module drives the gripper assembly to open a first stroke, and the second drive module can drive the gripper assembly to open a second stroke.

[0009] In one embodiment, the second drive assembly includes a clamping cylinder having a first cavity and a second cavity that are mutually sealed and isolated from each other;

[0010] The first drive module includes a first piston and a first piston rod. The first piston is disposed in the first cavity, one end of the first piston rod is disposed in the first cavity and connected to the first piston, and the other end of the first piston rod extends into the second cavity.

[0011] The second drive module includes a second piston and a second piston rod. The second piston is disposed in the second cavity, one end of the second piston rod is disposed in the second cavity and connected to the second piston, and the other end of the second piston rod is connected to the gripper assembly.

[0012] In one embodiment, the gripper assembly includes at least two grippers, and a plurality of the grippers are arranged at intervals around a first direction, the first direction being the lifting direction of the second drive assembly;

[0013] The second piston rod has a first sliding part at the end away from the second piston;

[0014] The gripper is provided with a second sliding part, and the first sliding part is slidably connected to the second sliding part, so that the second piston rod can drive the first sliding part to move along the second sliding part, so that the gripper opens.

[0015] In one embodiment, the gripper includes a clamping portion and a mating portion connected together, the clamping portion being used to clamp the pin, and the mating portion being provided with the second sliding portion.

[0016] In one embodiment, the second piston rod includes a straight rod portion and at least two sliding members arranged circumferentially around the straight rod portion, wherein the sliding members are provided with the first sliding portion;

[0017] The mating part is provided with a sliding groove, and a second sliding part is provided on one wall of the sliding groove. The sliding member is slidably connected to the sliding groove.

[0018] In one embodiment, the slider is provided with a third sliding part, and a fourth sliding part is provided on one wall of the sliding groove. The third sliding part is slidably connected to the fourth sliding part so that the second piston rod can drive the gripper to close.

[0019] In one embodiment, the slider includes a first segment and a second segment, one end of the second segment being connected to the straight rod portion and the other end being connected to the first segment;

[0020] The first segment protrudes from the second segment and forms a step. The first sliding part is provided at the end of the first segment away from the second segment, and the step is provided with the third sliding part.

[0021] In one embodiment, a sensor assembly is also included, the sensor assembly including a sensing sheet and a sensor, the sensing sheet being disposed on the gripper and the sensor being disposed on the clamping cylinder.

[0022] In one embodiment, the end faces of the plurality of grippers that are close to each other include a gripping area and a non-gripping area. The non-gripping area is an inclined plane, and the angle between the inclined plane and a first direction is in the range of 0.5°-2°. The first direction is the lifting direction of the second drive component.

[0023] In one embodiment, the auxiliary mechanism further includes a first drive component, the first drive component comprising:

[0024] The lifting cylinder is connected to the second drive assembly;

[0025] A lifting piston and a lifting piston rod are provided. The lifting piston is located inside the lifting cylinder, and one end of the lifting piston rod is connected to the lifting piston, while the other end extends out of the lifting cylinder.

[0026] This application also provides a circuit board processing device, including a fixed platform, a tool library, and an auxiliary mechanism as described in any of the above. The tool library and the auxiliary mechanism are both disposed on the fixed platform. The tool library is provided with pins, and the auxiliary mechanism is capable of clamping the pins and performing driving and / or pulling actions.

[0027] The aforementioned auxiliary mechanism connects the first drive module and the second drive module, and connects the end of the second drive module away from the first drive module to the gripper assembly. The first drive module drives the second drive module to move, thereby causing the second drive module to push the gripper assembly to achieve a first stroke opening and closing action, that is, to make the gripper assembly open or close and move a first stroke. The second drive module can also drive the gripper assembly to achieve a second stroke opening and closing action, that is, to make the gripper assembly open or close and move a second stroke.

[0028] The auxiliary mechanism of this application, during use, determines the required opening and closing degree of the gripper assembly based on the size of the pin to be gripped. When the pin is small, the gripper assembly can be in a half-open state. In this case, the first drive module drives the second drive module to move, which pushes the gripper assembly to the half-open state (i.e., the gripper assembly opens its first stroke), thus facilitating the gripping of the pin. If the pin is large, the second drive module can move further, thereby causing the gripper assembly to open further to a fully open state (i.e., the gripper assembly opens its second stroke). Attached Figure Description

[0029] Figure 1 A schematic diagram of the auxiliary mechanism provided in the embodiments of this application.

[0030] Figure 2 A cross-sectional view of the auxiliary mechanism provided in the embodiments of this application from a first perspective.

[0031] Figure 3 A cross-sectional view of the auxiliary mechanism provided in the embodiments of this application from a second perspective.

[0032] Figure 4 This is a schematic diagram of the structure of the second piston rod provided in an embodiment of this application.

[0033] Figure 5 This is a schematic diagram of the mating part of the gripper provided in an embodiment of this application.

[0034] Figure 6 This is a schematic diagram of the gripper structure provided in an embodiment of this application.

[0035] Figure 7 This is a schematic diagram of the gripping part of the gripper provided in an embodiment of this application.

[0036] Figure 8 This is a first-view structural schematic diagram of the sensor assembly provided in an embodiment of this application.

[0037] Figure 9 This is a schematic diagram of the sensor assembly provided in an embodiment of this application from a second perspective.

[0038] Figure label:

[0039] 100. First drive assembly; 110. Lifting cylinder block; 120. Lifting piston; 121. Lifting piston seal ring; 130. Lifting piston rod; 131. Lifting piston rod seal ring; 140. Lifting cylinder head; 141. Lifting cylinder head seal ring; 150. Bushing;

[0040] 200. Second drive assembly; 210. Clamping cylinder; 211. First chamber; 212. Second chamber; 213. Cylinder fastener; 220. First piston; 230. First piston rod; 231. First piston rod seal ring; 240. Second piston; 241. Second piston seal ring; 250. Second piston rod; 251. Straight rod portion; 252. Sliding member; 252a. First section; 252b. Second section; 2521. First sliding part; 2522. Third sliding part; 253. Floating bolt; 260. Partition plate; 261. Partition plate mounting retaining ring; 270. Clamping cylinder head; 271. Clamping cylinder head seal ring; 280. First buffer pad; 290. Second buffer pad;

[0041] 300, gripper; 310, clamping part; 311, non-clamping area; 320, mating part; 321, sliding groove; 3211, second sliding part; 3212, fourth sliding part; 330, gripper fastener;

[0042] 400, Floating joint;

[0043] 510. Induction plate; 520. Sensor; 530. Clamping induction mounting base; 540. Gripper half-open induction mounting base;

[0044] 610. Slide rail; 620. Slider. Detailed Implementation

[0045] To make the above-mentioned objectives, features, and advantages of this application more apparent and understandable, the specific embodiments of this application are described in detail below with reference to the accompanying drawings. Many specific details are set forth in the following description to provide a thorough understanding of this application. However, this application can be implemented in many other ways different from those described herein, and those skilled in the art can make similar modifications without departing from the spirit of this application. Therefore, this application is not limited to the specific embodiments disclosed below.

[0046] In the description of this application, it should be understood that if terms such as "center", "longitudinal", "lateral", "length", "width", "thickness", "upper", "lower", "front", "rear", "left", "right", "vertical", "horizontal", "top", "bottom", "inner", "outer", "clockwise", "counterclockwise", "axial", "radial", "circumferential" appear, these terms indicate the orientation or positional relationship based on the orientation or positional relationship shown in the accompanying drawings, and 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, and therefore should not be construed as a limitation of this application.

[0047] Furthermore, where the terms "first" and "second" appear, these terms are 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 with "first" or "second" may explicitly or implicitly include at least one of that feature. In the description of this application, where the term "multiple" appears, "multiple" means at least two, such as two, three, etc., unless otherwise explicitly specified.

[0048] In this application, unless otherwise expressly specified and limited, the terms "installation," "connection," "joining," and "fixing," etc., should be interpreted broadly. For example, they can refer to a fixed connection, a detachable connection, or an integral part; they can refer to a mechanical connection or an electrical connection; they can refer to a direct connection or an indirect connection through an intermediate medium; they can refer to the internal communication of two components or the interaction between two components, unless otherwise expressly limited. Those skilled in the art can understand the specific meaning of the above terms in this application based on the specific circumstances.

[0049] In this application, unless otherwise expressly specified and limited, the use of descriptions such as "above" or "below" the second feature indicates that the first and second features are in direct contact or indirect contact via an intermediate medium. Furthermore, "above," "on top of," and "over" the second feature can mean that the first feature is directly above or diagonally above the second feature, or simply that the first feature is at a higher horizontal level than the second feature. Similarly, "below," "below," and "under" the second feature can mean that the first feature is directly below or diagonally below the second feature, or simply that the first feature is at a lower horizontal level than the second feature.

[0050] It should be noted that if an element is referred to as being "fixed to" or "set on" another element, it can be directly on the other element or there may be an intervening element. If an element is considered to be "connected to" another element, it can be directly connected to the other element or there may be an intervening element. If so, the terms "vertical," "horizontal," "upper," "lower," "left," "right," and similar expressions used in this application are for illustrative purposes only and do not represent the only possible implementation.

[0051] This application provides an auxiliary mechanism for driving and / or removing pins, such as... Figures 1 to 3 As shown, the auxiliary mechanism includes a gripper assembly and a second drive assembly 200. The second drive assembly 200 includes a first drive module and a second drive module connected to each other. The end of the second drive module opposite to the first drive module is connected to the gripper assembly. The first drive module can drive the second drive module to move, so that the second drive module drives the gripper assembly to open a first stroke, and the second drive module can drive the gripper assembly to open a second stroke.

[0052] The aforementioned auxiliary mechanism connects the first drive module and the second drive module, and connects the end of the second drive module away from the first drive module to the gripper assembly. The first drive module drives the second drive module to move, thereby causing the second drive module to push the gripper assembly to open for a first stroke; the second drive module can also drive the gripper assembly to open for a second stroke.

[0053] The auxiliary mechanism of this application, during use, determines the required opening and closing degree of the gripper assembly based on the size of the pin to be gripped. When the pin is small, the gripper assembly can be in a half-open state, i.e., the second drive module is driven by the first drive module to move, thus pushing the gripper assembly to the half-open state (i.e., the gripper assembly opens its first stroke), facilitating the gripping of the pin. If the pin is large, the second drive module can move further, thereby causing the gripper assembly to open further to a fully open state (i.e., the gripper assembly opens its second stroke).

[0054] In one embodiment, such as Figures 1 to 3 As shown, the second drive assembly 200 includes a clamping cylinder 210, which has a first cavity 211 and a second cavity 212 that are mutually sealed and isolated.

[0055] The first drive module includes a first piston 220 and a first piston rod 230. The first piston 220 is disposed in the first cavity 211. One end of the first piston rod 230 is disposed in the first cavity 211 and connected to the first piston 220. The other end of the first piston rod 230 extends into the second cavity 212.

[0056] The second drive module includes a second piston 240 and a second piston rod 250. The second piston 240 is disposed in the second cavity 212. One end of the second piston rod 250 is disposed in the second cavity 212 and connected to the second piston 240. The other end of the second piston rod 250 is connected to the gripper assembly.

[0057] By providing a first piston 220 within the first cavity 211 of the clamping cylinder 210, the first piston 220 drives the first piston rod 230 to move. The first piston rod 230 pushes the second piston 240 and the second piston rod 250 connected to the second piston 240 to move, thereby causing the second piston rod 250 to push the gripper assembly to open its first stroke. The second piston 240 can continue to move, thereby driving the second piston rod 250 to continue moving, thereby causing the gripper assembly to further open its second stroke.

[0058] In one embodiment, such as Figures 2 to 6As shown, the gripper assembly includes at least two grippers 300, and the plurality of grippers 300 are arranged at intervals around a first direction, which is the lifting direction of the second drive assembly 200. A first sliding portion 2521 is provided at the end of the second piston rod 250 away from the second piston 240. Each gripper 300 is provided with a second sliding portion 3211, and the first sliding portion 2521 is slidably connected to the second sliding portion 3211, so that the second piston rod 250 can drive the first sliding portion 2521 to move along the second sliding portion 3211, thereby opening the grippers 300. By providing a second sliding portion 3211 on each gripper 300, when the second piston rod 250 moves along the first direction, the first sliding portion 2521 of the second piston rod 250 slides along the second sliding portion 3211, converting the thrust along the first direction into a radial thrust along the second piston rod 250, thereby pushing the plurality of grippers 300 away from each other.

[0059] In one embodiment, the first sliding portion 2521 and the second sliding portion 3211 can be an inclined surface, a slider, a ball, etc. In this embodiment, both the first sliding portion 2521 and the second sliding portion 3211 are inclined surfaces. In this embodiment, as... Figures 2 to 6 As shown, the gripper 300 includes a clamping part 310 and a mating part 320 connected to each other. The clamping part 310 is used to clamp the pin, and the mating part 320 is provided with a second sliding part 3211. By providing the clamping part 310 to clamp or release the pin, the clamping part 310 is connected to the mating part 320, and the second sliding part 3211 is provided on the mating part 320 to achieve a sliding engagement between the gripper 300 and the second piston rod 250. By sliding the mating part 320, the clamping part 310 can be opened and closed.

[0060] In this embodiment, as Figures 2 to 6 As shown, the clamping part 310 is connected to the mating part 320 by the jaw fastener 330.

[0061] In this embodiment, as Figures 2 to 6 As shown, the second piston rod 250 includes a straight rod portion 251 and at least two sliding members 252 arranged circumferentially around the straight rod portion 251. Each sliding member 252 has a first sliding portion 2521. The mating portion 320 has a sliding groove 321, and one wall of the sliding groove 321 has a second sliding portion 3211. The sliding member 252 is slidably connected to the sliding groove 321. When the second piston rod 250 descends along the first direction, the end face of the first segment 252a of the second piston rod 250 facing away from the second segment 252b adheres to one wall of the sliding groove 321 of the mating portion 320 and slides relative to it (i.e., the first sliding portion 2521 adheres to the second sliding portion 3211 and slides relative to it), thereby causing the multiple grippers 300 to open away from each other.

[0062] In this embodiment, as Figures 2 to 6As shown, the slider 252 is provided with a third sliding part 2522, and a fourth sliding part 3212 is provided on one wall of the sliding groove 321. The third sliding part 2522 is slidably connected to the fourth sliding part 3212 so that the second piston rod 250 can drive the gripper 300 to close. When the second piston rod 250 rises in the first direction, the end face of the first segment 252a of the second piston rod 250 facing away from the second segment 252b is attached to a wall of the sliding groove 321 of the mating part 320 and slides relative to it (that is, the third sliding part 2522 is attached to the fourth sliding part 3212 and slides relative to it), thereby causing the multiple grippers 300 to approach and close together.

[0063] In one embodiment, the third sliding portion 2522 and the fourth sliding portion 3212 can be inclined surfaces, sliders, balls, etc. In this embodiment, both the third sliding portion 2522 and the fourth sliding portion 3212 are inclined surfaces.

[0064] In one embodiment, such as Figures 2 to 6 As shown, the sliding member 252 includes a first segment 252a and a second segment 252b. One end of the second segment 252b is connected to the straight rod portion 251, and the other end is connected to the first segment 252a. The first segment 252a protrudes from the second segment 252b and forms a step. A first sliding part 2521 is provided at the end of the first segment 252a opposite to the second segment 252b. The first segment 252a protruding from the second segment 252b to form a step structure allows the sliding member 252 and the sliding groove 321 to form a limiting fit, effectively preventing displacement or misalignment during sliding. The first sliding part 2521 at the end of the first segment 252a opposite to the second segment 252b and a third sliding part 2522 at the step can play a guiding role in the assembly or initial sliding stage, reducing the collision resistance between components and improving assembly efficiency and sliding smoothness.

[0065] In this embodiment, the slider 252 has a T-shaped structure. In other embodiments, the slider 252 may also have an L-shaped structure.

[0066] In this embodiment, as Figure 5 As shown, the sliding groove 321 has a T-shaped structure. The sliding groove 321 includes a first groove and a second groove. The first groove is used to accommodate the first segment 252a, and the second groove is used to accommodate the second segment 252b. The first groove has a first groove wall (second sliding part 3211) and a second groove wall (fourth sliding part 3212) arranged opposite to each other. The first groove wall is the second sliding part 3211, and the second groove wall is the fourth sliding part 3212.

[0067] When the second piston rod 250 descends in the first direction, the end face of the first segment 252a of the second piston rod 250 facing away from the second segment 252b (i.e., the first sliding part 2521) is attached to the first groove wall of the sliding groove 321 of the mating part 320 (i.e., the second sliding part 3211) and slides relative to each other.

[0068] When the second piston rod 250 rises in the first direction, the first sliding part 2521 separates from the second sliding part 3211. The end face of the first segment 252a of the second piston rod 250 near the second segment 252b (the third sliding part 2522) fits against the second groove wall (the fourth sliding part 3212) of the sliding groove 321 of the mating part 320 and slides relative to each other, thereby causing the multiple grippers 300 to approach and close together.

[0069] It should be noted that, along the first direction towards the side closer to the gripper 300 (i.e., in...) Figure 2 From a visual perspective (in the direction downward along the first direction), the first sliding part 2521 tilts towards the side closer to the straight rod part 251.

[0070] In this embodiment, as Figure 2 As shown, the second drive assembly 200 also includes a floating bolt 253, and the second piston 240 is connected to the straight rod portion 251 of the second piston rod 250 via the floating bolt 253.

[0071] In this embodiment, as Figure 2 As shown in this embodiment, Figure 2 As shown, the second drive assembly 200 includes a partition 260, and the clamping cylinder 210 has a receiving cavity. The partition 260 is disposed in the receiving cavity, dividing the receiving cavity into a first cavity 211 and a second cavity 212. The first piston rod 230 passes through the partition 260 and extends into the second cavity 212. By providing the partition 260, the receiving cavity of the clamping cylinder 210 is divided into a first cavity 211 and a second cavity 212.

[0072] In this embodiment, as Figure 2 As shown, the second drive assembly 200 includes a partition mounting retaining ring 261, and the partition 260 is mounted in the receiving cavity through the partition mounting retaining ring 261.

[0073] In this embodiment, the second drive assembly 200 includes a partition sealing ring, which is sandwiched between the partition 260 and the cavity wall of the receiving cavity.

[0074] In this embodiment, as Figure 2 As shown, the second drive assembly 200 includes a first piston rod seal ring 231, which is sandwiched between the first piston rod 230 and the partition plate 260.

[0075] In this embodiment, as Figure 2As shown, the second drive assembly 200 includes a first piston seal ring, which is sandwiched between the first piston 220 and the cavity wall of the first cavity 211.

[0076] In this embodiment, as Figure 2 As shown, the second drive assembly 200 includes a second piston seal ring 241, which is sandwiched between the second piston 240 and the cavity wall of the second chamber 212.

[0077] In this embodiment, as Figure 2 As shown, the second drive assembly 200 includes a clamping cylinder head 270 connected to a clamping cylinder body 210 to block the receiving cavity of the clamping cylinder body 210.

[0078] In this embodiment, as Figure 2 As shown, the second drive assembly 200 includes a cylinder head clamping seal ring 271, which is used to seal the gap between the clamping cylinder head 270 and the clamping cylinder block 210.

[0079] In this embodiment, as Figure 2 As shown, the second drive assembly 200 includes a cylinder head mounting retaining ring, and the cylinder head 270 is mounted on the lifting cylinder body 110 via the cylinder head mounting retaining ring.

[0080] In this embodiment, as Figure 2 As shown, the second drive assembly 200 includes a first buffer pad 280, which is disposed at the end of the first piston rod 230 away from the first piston 220, and is used to abut against the second piston 240.

[0081] In this embodiment, as Figure 2 As shown, the second drive assembly 200 includes a second buffer pad 290, which is disposed on the inner wall of the second cavity 212 away from the first cavity 211. The second buffer pad 290 is used to abut against the second piston 240.

[0082] In this embodiment, as Figure 3 As shown, the clamping cylinder 210 is connected to the lifting cylinder 110 of the first drive assembly 100 via cylinder fasteners 213.

[0083] In summary, with Figure 2 From this perspective, the motion states of the second drive component 200 and the gripper component of this application are illustrated by example:

[0084] Initially, the mating part 320 and the gripper 300 are in a closed state;

[0085] The first piston 220 is driven by pressure (air pressure) to move the first piston rod 230 downward in the first direction (applying force to the second piston 240 requires overcoming the weak upward air pressure of the second piston 240), causing the second piston 240 and the second piston rod 250 to move downward in the first direction. The first sliding part 2521 and the second sliding part 3211 slide relative to each other, and the mating part 320 moves along the radially opposite sides of the second piston rod 250. Figure 2 The mating part 320 moves to the right, causing multiple grippers 300 to move away from each other. When the first piston 220 completes its movement, the gripper assembly completes a half-opening action to hold a thinner pin.

[0086] The second piston 240 is driven by downward air pressure to move the second piston rod 250 downward. The mating part 320 drives the jaw 300 to continue moving along the radially opposite side of the second piston rod 250. The jaw assembly completes the fully open action to clamp the thicker pin.

[0087] Note: The second piston 240 experiences both strong and weak air pressure upwards. When the gripper assembly is closed or partially open, it switches to weak upward pressure; however, it switches to strong pressure when the gripping action is complete. (P) 第二活塞240向上强压 >P 第一活塞220 >P 第二活塞240向上弱压 )

[0088] In one embodiment, such as Figure 7 As shown, the end faces of the multiple grippers 300 that are close to each other include a gripping area and a non-gripping area. The non-gripping area 311 is an inclined plane, and the angle between the inclined plane and the first direction is between 0.5° and 2°. The first direction is the lifting direction of the second drive assembly 200. Making the inclined plane of the non-gripping area form an angle of 0.5° to 2° with the lifting direction of the second drive assembly effectively reduces the contact area between the grippers and the side or surrounding parts of the object being gripped during lifting, reduces frictional resistance, avoids wear of parts due to friction, and prevents interference between the grippers and other structures, ensuring smooth operation of the equipment.

[0089] In this embodiment, the angle between the inclined plane and the first direction is 1°.

[0090] It should be noted that the clamping area refers to the area where the jaws 300 are in contact with the pin, while the non-clamping area 311 refers to the area that is not in contact with the pin.

[0091] In one embodiment, such as Figure 8 and Figure 9As shown, the auxiliary mechanism also includes a sensor assembly, which includes a sensing element 510 and a sensor 520. The sensing element 510 is disposed on the gripper 300, and the sensor 520 is disposed on the clamping cylinder 210. By setting the sensing element 510 on the gripper 300 and the sensor 520 on the clamping cylinder 210 of the second drive assembly 200, the current position of the gripper 300 can be determined by detecting the position of the sensing element 510 using the sensor 520.

[0092] In this embodiment, two sensors 520 are provided, namely a first sensor and a second sensor. The first sensor is mounted on the clamping cylinder 210 via a clamping sensing mounting base 530. The first sensor is used to detect the relative position between the multiple grippers 300 to determine whether the gripper assembly is clamped. The second sensor is mounted on the clamping cylinder 210 via a gripper half-open sensing mounting base 540. The second sensor is used to detect the movement distance of the grippers 300 to determine whether the gripper assembly is in a half-open or fully open state.

[0093] In one embodiment, please refer to the reference. Figure 2 The auxiliary mechanism also includes a first drive assembly 100, which includes a lifting cylinder 110, a lifting piston 120, and a lifting piston rod 130. The lifting cylinder 110 is connected to the second drive assembly 200. The lifting piston 120 is located inside the lifting cylinder 110, and one end of the lifting piston rod 130 is connected to the lifting piston 120, while the other end extends out of the lifting cylinder 110. By setting the first drive assembly 100 and connecting the lifting cylinder 110 to the second drive assembly 200, after air is supplied, the gas pushes the lifting piston 120. However, since the lifting piston 120 is fixed, the reaction force pushes the lifting cylinder 110 to move, thereby driving the second drive assembly 200 to perform lifting and lowering movements.

[0094] In this embodiment, as Figure 2 As shown, the first drive assembly 100 also includes a lifting piston seal ring 121, which is sandwiched between the lifting piston rod 130 and the inner wall of the lifting cylinder 110.

[0095] In this embodiment, as Figure 1 As shown, the first drive assembly 100 also includes a lifting cylinder head 140, which is connected to the lifting cylinder body 110 to block the lifting cylinder body 110, and the lifting piston rod 130 passes through the lifting cylinder head 140.

[0096] In this embodiment, as Figure 1 As shown, the first drive assembly 100 also includes a lifting cylinder head sealing ring 141, which is used to seal the gap between the lifting cylinder body 110 and the lifting cylinder head 140.

[0097] In this embodiment, as Figure 1 As shown, the first drive assembly 100 also includes a lifting piston rod seal ring 131, which is sandwiched between the lifting piston rod 130 and the lifting cylinder head 140.

[0098] In this embodiment, as Figure 1 As shown, the first drive assembly 100 also includes a bushing 150 disposed on the lifting cylinder head 140, the axial direction of the bushing 150 being parallel to the first direction, and the lifting piston rod 130 passing through the bushing 150.

[0099] In one embodiment, such as Figure 1 As shown, the auxiliary mechanism also includes a guide assembly, which includes a sliding rail 610 and a slider 620 that are in sliding engagement. One of the slide rail 610 and the slider 620 is connected to the lifting cylinder 110, and the other is connected to the fixed platform. The length direction of the slide rail 610 is parallel to the first direction. By setting the guide assembly so that the length direction of the slide rail 610 of the guide assembly is parallel to the first direction, the sliding direction of the first drive assembly 100 is guided, so that the first drive assembly 100 can only slide along the first direction.

[0100] In this embodiment, the slide rail 610 is mounted on a fixed platform, and the slider 620 is mounted on the lifting cylinder 110 of the first drive assembly 100.

[0101] It should be noted that gas is introduced into the lifting cylinder 110 of the first drive assembly 100 and the first chamber 211 and the second chamber 212 of the clamping cylinder 210 of the second drive assembly 200, thereby driving the lifting piston 120 of the first drive assembly 100, the first piston 220 and the second piston 240 of the second drive assembly 200 to move along the first direction.

[0102] This application also provides a circuit board processing device, including a fixed platform, a tool magazine, and the aforementioned auxiliary mechanism. Both the tool magazine and the auxiliary mechanism are mounted on the fixed platform. The tool magazine contains pins, and the auxiliary mechanism can clamp the pins and perform driving and / or removing actions. By mounting the PCB board, tool magazine, and auxiliary mechanism on the fixed platform, and using the auxiliary mechanism to clamp the pins from the tool magazine, and then driving the pins into the PCB board and / or removing the pins from the PCB board, the level of automation in production is improved. The circuit board processing device can be a drilling machine, a forming machine, or a drilling and milling machine, etc.

[0103] In this embodiment, as Figure 1 and Figure 2 As shown, the lifting piston rod 130 of the auxiliary mechanism is connected to the fixed platform through the floating joint 400, and the slide rail 610 of the guide assembly is connected to the fixed platform.

[0104] Specifically, the processing equipment includes multiple auxiliary mechanisms arranged at intervals along the length of the fixed platform. These auxiliary mechanisms perform insertion and removal operations on the pins at different workstations, thereby improving work efficiency.

[0105] The technical features of the above embodiments can be combined in any way. For the sake of brevity, not all possible combinations of the technical features in the above embodiments are described. However, as long as there is no contradiction in the combination of these technical features, they should be considered to be within the scope of this specification.

[0106] The above embodiments merely illustrate several implementation methods of this application, and while the descriptions are relatively specific and detailed, they should not be construed as limiting the scope of the patent application. It should be noted that those skilled in the art can make various modifications and improvements without departing from the concept of this application, and these all fall within the protection scope of this application. Therefore, the protection scope of this patent application should be determined by the appended claims.

Claims

1. An assisting mechanism characterized by comprising: The auxiliary mechanism for driving and / or removing pins includes: gripper assembly; The second drive assembly (200) includes a first drive module and a second drive module connected to each other. The end of the second drive module opposite to the first drive module is connected to the gripper assembly. The first drive module can drive the second drive module to move so that the second drive module drives the gripper assembly to open a first stroke, and the second drive module can drive the gripper assembly to open a second stroke.

2. The assist mechanism of claim 1, wherein The second drive assembly (200) includes a clamping cylinder (210) having a first cavity (211) and a second cavity (212) that are mutually sealed and isolated. The first drive module includes a first piston (220) and a first piston rod (230). The first piston (220) is disposed in the first cavity (211). One end of the first piston rod (230) is disposed in the first cavity (211) and connected to the first piston (220). The other end of the first piston rod (230) extends into the second cavity (212). The second drive module includes a second piston (240) and a second piston rod (250). The second piston (240) is disposed in the second cavity (212). One end of the second piston rod (250) is disposed in the second cavity (212) and connected to the second piston (240). The other end of the second piston rod (250) is connected to the gripper assembly.

3. The assist mechanism of claim 2, wherein The gripper assembly includes at least two grippers (300), and a plurality of grippers (300) are arranged at intervals around a first direction, the first direction being the lifting direction of the second drive assembly (200); The second piston rod (250) has a first sliding part (2521) at the end away from the second piston (240); The gripper (300) is provided with a second sliding part (3211), the first sliding part (2521) is slidably connected to the second sliding part (3211), and the second piston rod (250) can drive the first sliding part (2521) to move along the second sliding part (3211) so that the gripper (300) opens.

4. The assist mechanism of claim 3, wherein The gripper (300) includes a clamping part (310) and a mating part (320) connected to each other. The clamping part (310) is used to clamp the pin, and the mating part (320) is provided with a second sliding part (3211).

5. The assist mechanism of claim 4, wherein, The second piston rod (250) includes a straight rod portion (251) and at least two sliding members (252) arranged circumferentially around the straight rod portion (251), wherein the sliding members (252) are provided with the first sliding portion (2521); The mating part (320) is provided with a sliding groove (321), and a second sliding part (3211) is provided on one wall of the sliding groove (321). The sliding member (252) is slidably connected to the sliding groove (321).

6. The assist mechanism of claim 5, wherein, The slider (252) is provided with a third sliding part (2522), and a fourth sliding part (3212) is provided on one wall of the sliding groove (321). The third sliding part (2522) is slidably connected to the fourth sliding part (3212) so that the second piston rod (250) can drive the gripper (300) to close.

7. The assist mechanism of claim 6, wherein The slider (252) includes a first segment (252a) and a second segment (252b), one end of the second segment (252b) is connected to the straight rod portion (251), and the other end is connected to the first segment (252a); The first segment (252a) protrudes from the second segment (252b) and surrounds it to form a step. The first sliding part (2521) is provided at the end of the first segment (252a) away from the second segment (252b), and the step is provided with the third sliding part (2522).

8. The assist mechanism of claim 6, wherein, The first sliding part (2521), the second sliding part (3211), the third sliding part (2522) and the fourth sliding part (3212) are all inclined surfaces.

9. The assistive mechanism of claim 3, wherein, It also includes a sensor assembly, which includes a sensing plate (510) and a sensor (520), the sensing plate (510) being disposed on the gripper (300) and the sensor (520) being disposed on the clamping cylinder (210).

10. The assistive mechanism of claim 3, wherein, The end faces of the multiple grippers (300) that are close to each other include a gripping area and a non-gripping area. The non-gripping area (311) is an inclined plane. The angle between the inclined plane and a first direction is in the range of 0.5°-2°. The first direction is the lifting direction of the second drive assembly (200).

11. The assistive mechanism of claim 1, wherein, The auxiliary mechanism further includes a first drive component (100), the first drive component (100) comprising: The lifting cylinder (110) is connected to the second drive assembly (200); A lifting piston (120) and a lifting piston rod (130) are provided. The lifting piston (120) is located inside the lifting cylinder (110). One end of the lifting piston rod (130) is connected to the lifting piston (120), and the other end extends out of the lifting cylinder (110).

12. A circuit board processing apparatus characterized by comprising: The device includes a fixed platform, a tool library, and an auxiliary mechanism as described in any one of claims 1-11. The tool library and the auxiliary mechanism are both disposed on the fixed platform. The tool library contains a pin, and the auxiliary mechanism is capable of clamping the pin and performing a striking and / or pulling action.

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