A PCB board grabbing device for a robot hand

Abstract

The utility model is suitable for PCB board processing equipment technical field provides a kind of snatch device of PCB board for mechanical hand end, including device main body, device main body includes mounting plate;Snatch structure, snatch structure includes paw plate, sliding plate, cylinder and sucking disc, each pair of paw plate is respectively fixedly installed in each sliding plate side edge, sliding plate is slidably placed in mounting plate, and sucking disc is installed in mounting plate lower end face;In the utility model, mechanical hand drives mounting plate to move to the just above of PCB board;Cylinder extends, to drive sliding plate to move away, drive paw plate to move away;Then mechanical hand drives paw plate to continue to move down, until the end portion of paw plate extension is placed below PCB board;Cylinder retracts, and paw plate moves towards, until two pairs of paw plate clamp PCB board side wall;Multiple sucking discs placed in mounting plate lower end face adsorb PCB board upper end face, avoid PCB board to fall in the process of moving, ensure that the process of transporting PCB board is carried out smoothly.

Description

Technical Field

[0001] This utility model belongs to the technical field of PCB board processing equipment, and in particular relates to a PCB board gripping device for the end effector of a robotic arm. Background Technology

[0002] The PCB board gripping device at the end of a robotic arm is a specialized device for gripping and transporting PCB boards in automated production lines. It primarily addresses the issues of low efficiency and easy damage to parts caused by manual operation. Its core functions include gripping, positioning, and releasing PCB boards, and it is suitable for scenarios such as ICT testing and sorting. This device uses a robotic arm to precisely grip PCB boards, replacing manual operation, significantly improving the efficiency of the production line, and reducing the problem of workpiece surface damage or parts falling off due to improper operation.

[0003] Existing robotic arm end effectors for gripping PCBs typically employ suction cups. However, in actual operation, the suction performance of suction cups is constrained by various factors. When a suction cup breaks or its suction force is insufficient, it may lead to failure in gripping the PCB or the PCB falling off midway. Furthermore, the surface of the PCB is usually uneven, preventing the suction cup from adhering completely, thereby reducing the suction force and significantly decreasing the gripping stability of the suction cup. Therefore, a robotic arm end effector for gripping PCBs is needed to solve the above problems. Utility Model Content

[0004] The purpose of this utility model embodiment is to provide a gripping device for a PCB board at the end of a robotic arm to solve the problems mentioned in the background art.

[0005] To achieve the above objectives, this utility model provides the following technical solution:

[0006] A gripping device for a PCB board at the end effector of a robotic arm, comprising:

[0007] The device body includes a mounting plate for mounting to the end effector of a robotic arm;

[0008] The gripping structure includes two pairs of gripper plates, a pair of sliding plates, a pair of cylinders, and multiple suction cups. Each pair of gripper plates is fixedly installed on the side of each sliding plate. The output shaft of each cylinder is installed on each sliding plate. The cylinder is installed on the upper surface of the mounting plate. A pair of sliding plates is slidably placed on the upper surface of the mounting plate. Multiple suction cups are installed on the lower surface of the mounting plate. The two pairs of gripper plates are placed on opposite sides of the mounting plate, and the lower end of each pair of gripper plates extends a predetermined distance toward the other pair of gripper plates.

[0009] In a further technical solution, the upper surface of the mounting plate has two pairs of limiting plates and two pairs of slide rails. The sliding plate has a pair of limiting grooves. The lower end of the sliding plate is slidably placed on the slide rails. Each pair of limiting plates is placed between each pair of slide rails, and the limiting plate is placed in the limiting groove.

[0010] In a further technical solution, the main body of the device also includes multiple buffer springs and multiple dampers, with each buffer spring sleeved on each damper, and the buffer springs and dampers mounted on the upper surface of the mounting plate.

[0011] In a further technical solution, the gripping structure also includes multiple height-limiting positioning posts, with each suction cup installed at the lower end of each height-limiting positioning post.

[0012] In a further technical solution, the main body of the device also includes a height sensor, which is mounted on the side of the mounting plate.

[0013] In a further technical solution, the main body of the device also includes a fixing plate, which is horizontally mounted on the upper surface of the mounting plate at a predetermined distance via positioning pins, and the two ends of the buffer spring are connected to the fixing plate and the mounting plate.

[0014] Compared with the prior art, the beneficial effects of this utility model are:

[0015] This invention features a gripping structure comprising two pairs of gripper plates, a sliding plate, a cylinder, and multiple suction cups. Each pair of gripper plates is fixedly mounted on the side of each sliding plate, and the output shaft of each cylinder is mounted on each sliding plate. The cylinder is mounted on the upper surface of the mounting plate, and the sliding plate is slidably placed on the upper surface of the mounting plate. Multiple suction cups are mounted on the lower surface of the mounting plate. The two pairs of gripper plates are positioned on opposite sides of the mounting plate, with the lower end of each pair of gripper plates extending a predetermined distance toward the other gripper plate. Upon activation, the robotic arm moves the mounting plate directly above the PCB board to be gripped. Subsequently, the cylinder extends to... The drive slide plates move in opposite directions along the slide rails, which in turn causes each gripper plate on each slide plate to move in opposite directions. Then, the robot arm drives the gripper plates to continue moving downwards until one end of the gripper plate is positioned below the PCB board. The cylinder retracts, causing the slide plates and gripper plates to move towards each other until the two pairs of gripper plates clamp the side walls of the PCB board. Multiple suction cups placed on the lower end face of the mounting plate attract the upper end face of the PCB board, and finally the robot arm can move the PCB board to the designated position. In this way, by setting up the cooperation between the gripper plates and suction cups, the PCB board is prevented from falling during the movement, ensuring the smooth transportation of the PCB board.

[0016] This invention, by setting height-limiting positioning posts, with each suction cup installed under each height-limiting positioning post, ensures that the distance between the suction cup and the PCB board remains consistent, guaranteeing that the suction cup can adsorb the PCB board and ensuring smooth operation.

[0017] To more clearly illustrate the structural features and effects of this utility model, the following detailed description of this utility model is provided in conjunction with the accompanying drawings and specific embodiments. Attached Figure Description

[0018] Figure 1 This is a three-dimensional schematic diagram of the present invention;

[0019] Figure 2 This is a schematic diagram of the main body of the device of this utility model;

[0020] Figure 3 This is a structural diagram of the gripping structure of this utility model from one angle;

[0021] Figure 4 This is a structural diagram of the gripping structure of this utility model from another angle.

[0022] In the diagram: 1. Main body of the device; 11. Mounting plate; 111. Limiting plate; 112. Slide rail; 12. Buffer spring; 13. Damper; 14. Height sensor; 15. Fixing plate; 2. Gripping structure; 21. Gripper plate; 22. Sliding plate; 221. Limiting groove; 23. Cylinder; 24. Suction cup; 25. Height limiting positioning post. Detailed Implementation

[0023] To make the objectives, technical solutions, and advantages of this utility model clearer, the present utility model will be further described in detail below with reference to the accompanying drawings and embodiments. It should be understood that the specific embodiments described herein are merely illustrative of the present utility model and are not intended to limit the present utility model.

[0024] The specific implementation of this utility model will be described in detail below with reference to specific embodiments.

[0025] like Figures 1 to 4 As shown, this embodiment of the utility model provides a PCB board gripping device for a robotic arm end effector, comprising:

[0026] Device body 1, the device body 1 includes a mounting plate 11 for mounting to the end of a robotic arm;

[0027] The gripping structure 2 includes two pairs of gripper plates 21, a pair of sliding plates 22, a pair of cylinders 23, and multiple suction cups 24. Each pair of gripper plates 21 is fixedly installed on the side of each sliding plate 22. The output shaft of each cylinder 23 is installed on each sliding plate 22. The cylinders 23 are installed on the upper end face of the mounting plate 11. The pair of sliding plates 22 are slidably placed on the upper end face of the mounting plate 11. Multiple suction cups 24 are installed on the lower end face of the mounting plate 11. The two pairs of gripper plates 21 are placed on opposite sides of the mounting plate 11, and the lower end of each pair of gripper plates 21 extends a predetermined distance toward the other pair of gripper plates 21.

[0028] In this embodiment, after activation, the robotic arm moves the mounting plate 11 directly above the PCB board to be gripped. Then, the cylinder 23 extends to drive a pair of sliding plates 22 to move back-to-back along the slide rail 112, thereby causing each pair of gripper plates 21 on each sliding plate 22 to move back-to-back. The robotic arm then moves the gripper plates 21 further downwards until one end of the gripper plate 21 is positioned below the PCB board. Next, the cylinder 23 retracts to move the sliding plates 22 and gripper plates 21 towards each other until the two pairs of gripper plates 21 clamp the sidewalls of the PCB board. Simultaneously, multiple suction cups 24 placed on the lower surface of the mounting plate 11 attract the upper surface of the PCB board, and finally, the robotic arm moves the PCB board to the designated position. In this way, by coordinating the gripper plates 21 and the suction cups 24, the PCB board is prevented from falling during movement, ensuring smooth transport of the PCB board.

[0029] Specifically, the upper surface of the mounting plate 11 has two pairs of limiting plates 111 and two pairs of slide rails 112, the sliding plate 22 has a pair of limiting grooves 221, the lower end of the sliding plate 22 is slidably placed on the slide rail 112, each pair of limiting plates 111 is placed between each pair of slide rails 112, and the limiting plates 111 are placed in the limiting grooves 221.

[0030] In this embodiment, by setting a limiting plate 111 and a slide rail 112, the sliding process of the cylinder 23 driving the sliding plate 22 is made more stable, and the position of the sliding plate 22 is limited to ensure stable operation of the equipment.

[0031] Specifically, the main body 1 of the device also includes a plurality of buffer springs 12 and a plurality of dampers 13, each buffer spring 12 being sleeved on each damper 13, and the buffer springs 12 and dampers 13 being mounted on the upper end face of the mounting plate 11.

[0032] In this embodiment, a portion of the vibration force generated during the movement of the robotic arm along the mounting plate 11 is absorbed by the buffer spring 12 and the damper 13, so as to prevent the excessive vibration force from causing the PCB board to fall after being gripped.

[0033] Specifically, the gripping structure 2 also includes multiple height-limiting positioning posts 25, with each suction cup 24 installed at the lower end of each height-limiting positioning post 25;

[0034] In this embodiment, by setting a height-limiting positioning post 25, the distance between the suction cup 24 and the PCB board is always kept consistent, ensuring that the suction cup 24 can adsorb the PCB board and ensuring the smoothness of the operation.

[0035] Specifically, the main body 1 of the device also includes a height sensor 14, which is mounted on the side of the mounting plate 11;

[0036] In this embodiment, a height sensor 14 is set to detect the relative height between the PCB board and the robot arm, thereby facilitating the gripping structure 2 to grip the PCB board.

[0037] Specifically, the main body 1 of the device also includes a fixing plate 15, which is horizontally mounted at a predetermined distance on the upper surface of the mounting plate 11 by means of a positioning pin, and the two ends of the buffer spring 12 are connected to the fixing plate 15 and the mounting plate 11.

[0038] The working principle of this utility model is as follows:

[0039] When in use, the robotic arm, after being started, moves the mounting plate 11 to directly above the PCB board to be gripped; then, the cylinder 23 extends to drive a pair of sliding plates 22 to move back to back along the slide rail 112, thereby driving each pair of gripper plates 21 on each sliding plate 22 to move back to back; then the robotic arm drives the gripper plates 21 to continue to move down until one end of the gripper plate 21 is placed under the PCB board.

[0040] Then, cylinder 23 retracts to drive sliding plate 22 and gripper plate 21 to move towards each other until the two gripper plates 21 clamp the side wall of the PCB board; at the same time, multiple suction cups 24 placed on the lower end face of mounting plate 11 adsorb the upper end face of the PCB board, and finally the robot can move the PCB board to the designated position; in this way, by setting the gripper plate 21 and suction cups 24 to work together, the PCB board is prevented from falling during the movement, ensuring that the PCB board transportation process is carried out smoothly.

[0041] The above description is only a preferred embodiment of the present utility model and is not intended to limit the present utility model. Any modifications, equivalent substitutions and improvements made within the spirit and principles of the present utility model should be included within the protection scope of the present utility model.

Claims

1. A gripping device for a PCB board at the end effector of a robotic arm, characterized in that, include: The device body (1) includes a mounting plate (11) for mounting to the end of a robotic arm. The gripping structure (2) includes two pairs of gripper plates (21), a pair of sliding plates (22), a pair of cylinders (23), and a plurality of suction cups (24). Each pair of gripper plates (21) is fixedly installed on the side of each sliding plate (22). The output shaft of each cylinder (23) is installed on each sliding plate (22). The cylinder (23) is installed on the upper end face of the mounting plate (11). A pair of sliding plates (22) is slidably placed on the upper end face of the mounting plate (11). A plurality of suction cups (24) are installed on the lower end face of the mounting plate (11). The two pairs of gripper plates (21) are respectively placed on opposite sides of the mounting plate (11), and the lower end of each pair of gripper plates (21) extends a predetermined distance toward the other pair of gripper plates (21).

2. The gripping device for a PCB board at the end of a robotic arm according to claim 1, characterized in that: The upper surface of the mounting plate (11) has two pairs of limiting plates (111) and two pairs of slide rails (112). The sliding plate (22) has a pair of limiting grooves (221). The lower end of the sliding plate (22) is slidably placed on the slide rails (112). Each pair of limiting plates (111) is placed between each pair of slide rails (112), and the limiting plate (111) is placed in the limiting groove (221).

3. The gripping device for a PCB board at the end of a robotic arm according to claim 2, characterized in that: The main body (1) of the device also includes a plurality of buffer springs (12) and a plurality of dampers (13), each of the buffer springs (12) being sleeved on each of the dampers (13), and the buffer springs (12) and the dampers (13) being mounted on the upper end face of the mounting plate (11).

4. The gripping device for a PCB board at the end of a robotic arm according to claim 3, characterized in that: The gripping structure (2) also includes multiple height-limiting positioning posts (25), and each suction cup (24) is installed at the lower end of each height-limiting positioning post (25).

5. The gripping device for a PCB board at the end of a robotic arm according to claim 4, characterized in that: The main body (1) of the device also includes a height sensor (14), which is mounted on the side of the mounting plate (11).

6. The gripping device for a PCB board at the end of a robotic arm according to claim 5, characterized in that: The main body (1) of the device also includes a fixing plate (15), which is horizontally installed at a predetermined distance on the upper surface of the mounting plate (11) by a positioning pin, and the two ends of the buffer spring (12) are connected to the fixing plate (15) and the mounting plate (11).

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