A multi-specification copper-clad plate feeding mechanical hand

Abstract

The utility model relates to industrial automation and robot technical field, concretely relates to a multi -specification copper -clad plate feeding manipulator, including stand, electric sliding rail subassembly no.

Description

Technical Field

[0001] This utility model relates to the field of industrial automation and robotics, and in particular to a robotic arm for loading multi-specification copper-clad laminates. Background Technology

[0002] Copper clad laminates are the core substrate for printed circuit board manufacturing. Before entering subsequent processing steps such as drilling, lamination, and cutting, they need to be accurately, efficiently, and without damage transported from the loading area to the worktable of various processing equipment. As electronic products become smaller and more diversified, the specifications of copper clad laminates are also becoming more and more diverse. This places higher demands on the flexibility of automated loading processes. Therefore, the ability to quickly adapt to different specifications of boards has become a key factor in measuring the performance of loading robots and affecting overall production efficiency.

[0003] However, in existing technologies, most traditional copper clad laminate loading robots adopt a fixed-spaced suction cup layout, which lacks adaptive adjustment capabilities. They can only be adjusted through tedious manual intervention, such as manually disassembling and repositioning the suction cups. This method is not only time-consuming and labor-intensive, but also makes it difficult to guarantee the accuracy of repeated positioning. As a result, the production line has low adaptation efficiency when switching between different specifications of copper clad laminates, which seriously affects the continuity of the loading process and the overall production rhythm.

[0004] Therefore, it is necessary to design a robotic arm for loading copper-clad laminates of various specifications to solve the above-mentioned technical problems. Utility Model Content

[0005] To overcome the shortcomings of traditional copper clad laminate loading robots, which mostly use fixed suction cup layouts, lack self-adaptive capabilities, and rely on tedious manual adjustments, resulting in low adjustment accuracy and poor efficiency, which seriously affects production continuity and overall rhythm, this utility model provides a multi-specification copper clad laminate loading robot.

[0006] The technical implementation scheme of this utility model is as follows: A multi-specification copper-clad laminate loading robot includes columns, electric slide rail assembly one, electric slide rail assembly two, electric slide rail assembly three, electric rotary table, rotating frame, dual-axis motor one, screw one, moving frame, and pneumatic suction cups. Two vertically arranged columns share a horizontally arranged electric slide rail assembly one at their tops. Electric slide rail assembly two is slidably connected to electric slide rail assembly one. A slider is slidably connected to electric slide rail assembly two. A vertically arranged electric slide rail assembly three is mounted on the slider. The slide rail of electric slide rail assembly three is slidably connected to the slider. An electric rotary table is mounted at the bottom of electric slide rail assembly three. A rotating frame is mounted at the output end of the electric rotary table. A dual-axis motor one is mounted in the middle of the rotating frame. The output shafts at both ends of the dual-axis motor one are respectively connected to a horizontally arranged screw one. The two screws one are rotatably connected to the corresponding side walls of the rotating frame through bearings. A moving frame is threadedly connected to each of the two screws one. The moving frame is slidably connected to the rotating frame. A pneumatic suction cup is slidably connected to the front and rear sides of each of the two moving frames.

[0007] As an improvement to the above solution, it also includes a control console and an emergency stop button. The control console and the emergency stop button are respectively installed on one of the columns. The control console is electrically connected to electric slide rail assembly one, electric slide rail assembly two, electric slide rail assembly three, electric rotary table and dual-axis motor one.

[0008] As an improvement to the above solution, it also includes a dual-axis motor and a screw. The dual-axis motor is installed in the middle of both moving frames. The output shafts of the two dual-axis motors are connected to the screws on the front and rear sides respectively. The two screws are rotatably connected to the corresponding moving frames through bearings. The front and rear sides of the two screws are threadedly connected to the corresponding pneumatic suction cups respectively. The control console is electrically connected to the dual-axis motor.

[0009] As an improvement to the above solution, it also includes a protective cover and a vision recognition device. The protective cover is installed in the middle of the bottom of the rotating frame, and the vision recognition device is installed inside the protective cover. The control console is electrically connected to the vision recognition device.

[0010] As an improvement to the above solution, it also includes a servo motor, a storage compartment, a first baffle, bolts, an air pump, a second baffle, and torsion springs. A servo motor is installed on the top left side of the rotating frame. The output axis of the servo motor extends rearward and is connected to the storage compartment. The top of the storage compartment is detachably connected to the first baffle by multiple bolts. Air pumps are installed on the outer walls of the front and rear sides of the right side of the storage compartment. The suction ends of the two air pumps extend into the storage compartment. An inlet groove is opened on the left side wall of the storage compartment. The second baffle is hinged to the left side wall of the storage compartment by two torsion springs set at the front and rear. The control console is electrically connected to the servo motor and the air pumps respectively.

[0011] As an improvement to the above scheme, an electromagnet is also included. An electromagnet is installed on the right side wall of the middle part of the second baffle, and another electromagnet is installed at the bottom middle position inside the storage compartment.

[0012] The beneficial effects of this utility model are as follows: 1. This utility model uses a dual-axis motor to synchronously drive two screws to rotate, so that the two moving frames can move in a straight line towards or away from each other, thereby quickly and accurately adjusting the overall span between the pneumatic suction cup assemblies on the left and right sides, thus adapting to copper-clad laminates of different widths and significantly reducing the time required for changing or adjusting due to changes in the width of the board.

[0013] 2. This utility model achieves rapid and accurate three-dimensional spatial positioning and picking of copper-clad laminate stacks by setting up a three-axis rectangular coordinate motion system composed of electric slide rail components one, two and three, and combining it with a vision recognition device for real-time feedback and guidance. It effectively replaces the traditional manual or simple mechanical feeding method, and achieves the effect of improving the feeding positioning accuracy and operation efficiency.

[0014] 3. This utility model uses a dual-axis motor to drive two screws to rotate, enabling each pneumatic suction cup to independently and precisely adjust its position along the front and back direction of the moving frame. This allows it to further adapt to copper-clad laminates of different lengths or with special gripping point distributions, based on the already adjusted width, thus enhancing the flexibility of the gripping layout and adaptability to different specifications of board shapes.

[0015] 4. This utility model, through the cooperation of servo motors, storage bins, air pumps and other components, can immediately perform negative pressure adsorption cleaning after picking up copper-clad boards, effectively removing dust and particles from the board surface, achieving the effect of completing the cleaning operation simultaneously during the handling process and ensuring the quality of subsequent processing procedures. Attached Figure Description

[0016] Figure 1 This is a three-dimensional structural diagram of the present invention.

[0017] Figure 2 This is a three-dimensional sectional view of the electric rotary table, rotary frame, and motor of this utility model.

[0018] Figure 3 This is a three-dimensional structural diagram of the rotating frame, motor, and storage compartment of this utility model.

[0019] Figure 4 This is a three-dimensional sectional view of the baffle, torsion spring, and electromagnet of this utility model.

[0020] Figure 5 This is a three-dimensional sectional view of the storage compartment, the second baffle, and the torsion spring of this utility model.

[0021] Figure 6 This is a three-dimensional sectional view of the storage compartment and the inlet channel of this utility model.

[0022] The following are marked in the diagram: 1. Column, 2. Control console, 3. Emergency stop button, 4. Electric slide rail assembly one, 5. Electric slide rail assembly two, 6. Electric slide rail assembly three, 7. Electric rotary table, 80. Rotating frame, 81. Dual-axis motor one, 82. Screw one, 83. Moving frame, 84. Dual-axis motor two, 85. Screw two, 86. Pneumatic suction cup, 87. Protective cover, 88. Vision recognition device, 90. Servo motor, 91. Storage compartment, 92. Baffle one, 93. Bolt, 94. Air pump, 95. Baffle two, 96. Torsion spring, 97. Electromagnet, 98. Guide groove. Detailed Implementation

[0023] Example: A robotic arm for loading multi-specification copper-clad laminates, such as... Figure 1 , Figure 2 and Figure 3 As shown, it includes a column 1, an electric slide rail assembly 4, an electric slide rail assembly 5, an electric slide rail assembly 6, an electric rotary table 7, a rotary frame 80, a dual-axis motor 81, a screw 82, a moving frame 83, and a pneumatic suction cup 86. The tops of the two vertically positioned columns 1 are jointly mounted with a horizontally positioned electric slide rail assembly 4. The horizontally positioned electric slide rail assembly 5 is slidably connected to the electric slide rail assembly 4. A slider is slidably connected to the electric slide rail assembly 5, and a vertically positioned electric slide rail assembly 6 is mounted on the slider. The slide rail of the electric slide rail assembly 6 slides with the slider. The electric slide rail assembly 6 is connected to an electric rotary table 7 at its bottom. The output end of the electric rotary table 7 is equipped with a rotating frame 80. A dual-axis motor 81 is installed in the middle of the rotating frame 80. The output shafts at the left and right ends of the dual-axis motor 81 are respectively connected to a horizontally set screw 82. The two screws 82 are rotatably connected to the two side walls of the corresponding rotating frame 80 through bearings. A movable frame 83 is threadedly connected to each of the two screws 82. The movable frame 83 is slidably connected to the rotating frame 80. A pneumatic suction cup 86 is slidably connected to the front and rear sides of the two movable frames 83 respectively.

[0024] like Figure 1 As shown, it also includes a control console 2 and an emergency stop button 3. The control console 2 and the emergency stop button 3 are respectively installed on one of the columns 1. The control console 2 is electrically connected to the electric slide rail assembly 1 4, the electric slide rail assembly 2 5, the electric slide rail assembly 3 6, the electric rotary table 7 and the dual-axis motor 1 81.

[0025] like Figure 2As shown, it also includes a dual-axis motor 84 and a screw 85. The dual-axis motor 84 is installed in the middle of both moving frames 83. The output shafts on the front and rear sides of the two dual-axis motors 84 are respectively connected to the screw 85. The two screws 85 are rotatably connected to the corresponding moving frames 83 through bearings. The front and rear sides of the two screws 85 are respectively threaded to the corresponding pneumatic suction cups 86. The control console 2 is electrically connected to the dual-axis motor 84.

[0026] like Figure 2 As shown, it also includes a protective cover 87 and a vision recognition device 88. The protective cover 87 is installed in the middle of the bottom of the rotating frame 80, and the vision recognition device 88 is installed inside the protective cover 87. The control console 2 is electrically connected to the vision recognition device 88.

[0027] like Figure 1 , Figure 3 , Figure 4 , Figure 5 and Figure 6 As shown, it also includes a servo motor 90, a storage compartment 91, a first baffle 92, bolts 93, an air pump 94, a second baffle 95, a torsion spring 96, and an electromagnet 97. The servo motor 90 is installed on the top left side of the rotating frame 80. The output axis of the servo motor 90 extends rearward and is connected to the storage compartment 91. The top of the storage compartment 91 is detachably connected to the first baffle 92 by multiple bolts 93. Air pumps 94 are installed on the outer walls of the front and rear sides of the right side of the storage compartment 91, and the suction ends of the two air pumps 94 extend into the storage compartment 91. An inlet groove 98 is provided on the left side wall of the storage compartment 91. The second baffle 95 is hinged to the left side wall inside the storage compartment 91 by two torsion springs 96 arranged front and rear. An electromagnet 97 is provided on the right side wall of the middle part of the second baffle 95. Another electromagnet 97 is provided at the middle position of the bottom of the storage compartment 91. The control console 2 is electrically connected to the servo motor 90 and the air pump 94 respectively.

[0028] At the start of operation, the operator activates the system via console 2. The spatial positioning of the robotic arm is accomplished collaboratively by three linear motion units: First, electric slide rail assembly 2 5 moves left and right along electric slide rail assembly 1 4 to position itself above the target area; then, electric slide rail assembly 3 6 moves forward and backward along electric slide rail assembly 2 5; finally, electric slide rail assembly 3 6 moves up and down along the slider, thereby driving its entire end component at the bottom to accurately reach the three-dimensional coordinate point of the target height. During the coarse positioning process, the vision recognition device 88, protected by protective cover 87, works synchronously to accurately scan and analyze the copper-clad laminate stack below, identify the precise edges, positions, and surface conditions of the board to be grasped, and feed the data back to console 2 in real time, guiding the three slide rail assemblies to complete the final closed-loop precise positioning.

[0029] After accurate positioning, the robotic arm begins to adjust itself to adapt to the specific board specifications. For the width direction of the board, the control console 2 drives the dual-axis motor 81 to rotate, which drives the two screws 82 to rotate synchronously, causing the two moving frames 83 to move towards or away from each other, thereby adjusting the spacing of the pneumatic suction cups 86 on the left and right sides. For the length direction of the board, the control console 2 drives the two dual-axis motors 84 to rotate the two screws 85, which in turn causes the screws 85 to move the pneumatic suction cups 86 on the front and rear sides independently, thereby matching the length of the board. After adjustment, the electric rotary table 7 can finely adjust the angle of the rotating frame 80 so that the plane of all pneumatic suction cups 86 is parallel to the surface of the board. Then, the electric slide rail assembly 6 drives the entire end component to descend, so that the pneumatic suction cups 86 contact the board surface and generate negative pressure, firmly adsorbing the copper-clad board, and then lifting to complete the pickup.

[0030] After picking up and lifting the copper-clad laminate, the console 2 instructs the servo motor 90 to drive the storage chamber 91 to rotate 90 degrees to the left, so that the guide groove 98 on it is aligned with the upper surface of the picked-up board. Then, the air pump 94 starts, generating a strong negative pressure airflow in the storage chamber 91. This airflow overcomes the elasticity of the torsion spring 96 and "blows open" the baffle 95 hinged at the guide groove 98, thereby opening the channel. Dust and particles on the surface of the copper-clad laminate are sucked into the storage chamber 91. After the operation is completed, the air pump 94 stops, and the baffle 95 automatically resets and closes under the action of the torsion spring 96. The operator can periodically unscrew the bolt 93 and remove the baffle 92 to clean the dust. The electromagnet 97 is used to assist in locking the open state of the baffle 95.

[0031] After cleaning, the robotic arm performs the handling task. The three sets of electric slide rail assemblies work together again to transfer the cleaned copper-clad board to the target workstation. The electric rotary table 7 performs the final angle calibration. Then, the electric slide rail assembly 6 drives the robotic arm to descend to the set height. The pneumatic suction cup 86 releases the vacuum and accurately releases the copper-clad board. After placement, the robotic arm's axes reset and wait for the new work cycle. At any stage of the entire workflow, if an abnormality occurs, the operator can trigger the emergency stop button 3 to stop all moving parts immediately to ensure safety. The protective cover 87 continuously protects the vision recognition device 88 from the effects of on-site dust and accidental collisions.

Claims

1. A robotic arm for loading multi-specification copper-clad laminates, characterized in that: The system includes a column (1), an electric slide rail assembly one (4), an electric slide rail assembly two (5), an electric slide rail assembly three (6), an electric rotary table (7), a rotating frame (80), a dual-axis motor one (81), a screw one (82), a moving frame (83), and a pneumatic suction cup (86). The tops of the two vertically set columns (1) are jointly equipped with a horizontally set electric slide rail assembly one (4). The electric slide rail assembly one (4) is slidably connected to the horizontally set electric slide rail assembly two (5). The electric slide rail assembly two (5) is slidably connected to a slider. The slider is equipped with a vertically set electric slide rail assembly three (6). The slide rail of the electric slide rail assembly three (6) slides with the slider. The electric slide rail assembly three (6) is connected to an electric rotary table (7) at the bottom. The output end of the electric rotary table (7) is equipped with a rotating frame (80). The rotating frame (80) is equipped with a dual-axis motor (81) in the middle. The output shafts of the left and right ends of the dual-axis motor (81) are respectively connected to a horizontally set screw (82). The two screws (82) are respectively rotatably connected to the side walls of the corresponding rotating frame (80) through bearings. A movable frame (83) is threadedly connected to each of the two screws (82). The movable frame (83) is slidably connected to the rotating frame (80). A pneumatic suction cup (86) is slidably connected to the front and rear sides of the two movable frames (83).

2. The multi-specification copper-clad laminate loading robot as described in claim 1, characterized in that: It also includes a control panel (2) and an emergency stop button (3), with the control panel (2) and the emergency stop button (3) installed on one of the columns (1). The control panel (2) is electrically connected to the electric slide rail assembly 1 (4), the electric slide rail assembly 2 (5), the electric slide rail assembly 3 (6), the electric rotary table (7), and the dual-axis motor 1 (81).

3. The multi-specification copper-clad laminate loading robot as described in claim 2, characterized in that: It also includes a dual-axis motor (84) and a screw (85). The dual-axis motor (84) is installed in the middle of both moving frames (83). The output shafts of the two dual-axis motors (84) are connected to the screws (85) on the front and rear sides respectively. The two screws (85) are rotatably connected to the corresponding moving frames (83) through bearings. The front and rear sides of the two screws (85) are threaded to the corresponding pneumatic suction cups (86) respectively. The control console (2) is electrically connected to the dual-axis motor (84).

4. The multi-specification copper-clad laminate loading robot as described in claim 3, characterized in that: It also includes a protective cover (87) and a vision recognition device (88). The protective cover (87) is installed in the middle of the bottom of the rotating frame (80). The vision recognition device (88) is installed inside the protective cover (87). The control console (2) is electrically connected to the vision recognition device (88).

5. The multi-specification copper-clad laminate loading robot as described in claim 4, characterized in that: It also includes a servo motor (90), a storage compartment (91), a baffle (92), bolts (93), an air pump (94), a baffle (95), and a torsion spring (96). The servo motor (90) is installed on the top left side of the rotating frame (80). The output axis of the servo motor (90) extends backward and is connected to the storage compartment (91). The top of the storage compartment (91) is detachably connected to the baffle (92) by multiple bolts (93). Air pumps (94) are installed on the outer walls of the front and rear sides of the right side of the storage compartment (91). The suction ends of the two air pumps (94) extend out of the storage compartment (91). An inlet groove (98) is opened on the left side wall of the storage compartment (91). The baffle (95) is hinged on the left side wall inside the storage compartment (91) by two torsion springs (96) set in the front and rear. The control console (2) is electrically connected to the servo motor (90) and the air pump (94).

6. The multi-specification copper-clad laminate loading robot as described in claim 5, characterized in that: It also includes an electromagnet (97), an electromagnet (97) is installed on the right side wall of the middle part of the baffle (95), and another electromagnet (97) is installed in the middle of the bottom of the storage compartment (91).

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