Plate taking robot

Abstract

The plate taking robot provided by the utility model comprises a moving assembly and a grabbing assembly, a first piece is arranged at the moving end of the moving assembly, the grabbing assembly comprises a second piece, the first piece is connected with the second piece, the moving assembly drives the grabbing assembly to be horizontally movable and liftable, the grabbing assembly comprises a negative pressure suction head; further comprising an elastic piece, a position detection unit and a detected piece; the elastic piece is connected between the first piece and the second piece along the lifting direction of the first piece; the position detection unit is connected with the first piece, the detected piece is connected with the second piece, and under the restoring force of the elastic piece, the detected piece is located at a non-detection position, and the non-detection position is located below the detection area of the position detection unit; when the second piece moves upwards relative to the first piece, the elastic piece is compressed, and the detected piece can be lifted from the non-detection position to the detection area. The plate taking robot can judge the posture error of the circuit board through detection to avoid damaging the circuit board.

Description

Technical Field

[0001] This utility model relates to the field of automatic equipment technology, specifically to a board-retrieving robot. Background Technology

[0002] A board-retrieving robot for circuit boards includes a moving component and a gripping component. The moving component includes a first linear module, a second linear module, and a lifting device connected in sequence. The first linear module is arranged along a first horizontal direction, and the second linear module is arranged along a second horizontal direction perpendicular to the first horizontal direction. The gripping component is connected to the lifting part of the lifting device. The gripping component mainly includes an adsorption mechanism, which includes a silicone suction head connected to a negative pressure generating device.

[0003] When using the existing material handling robot to pick up a circuit board placed flat in the positioning slot, the board may be damaged when the gripping component descends to the preset board-picking height set by the program. Utility Model Content

[0004] The purpose of this invention is to provide a board removal robot that can avoid damaging circuit boards through detection and judgment.

[0005] The first objective of this utility model is to provide a board-retrieving robot comprising a moving component and a gripping component. The moving component has a first component at its moving end. Driven by the moving component, the gripping component includes a second component. The first and second components are connected. The gripping component includes a negative pressure suction head and is capable of horizontal and vertical movement. It also includes an elastic element, a position detection unit, and a component to be detected. The elastic element is vertically connected between the first and second components. One of the position detection unit and the component to be detected is connected to the first component, and the other is connected to the second component. Under the restoring force of the elastic element, the component to be detected is located in a non-detection position, which is below the detection area of ​​the position detection unit. When the second component moves upward relative to the first component, the elastic element is compressed, and the component to be detected can move vertically from the non-detection position to the detection area.

[0006] As can be seen from the above solution, the main reason for the damage to the circuit board when the gripping component descends to the preset retrieval height is the incorrect placement of the circuit board. Because the circuit board to be gripped is placed in the positioning groove, and the baffles on both sides of the positioning groove only leave a narrow gap with the circuit board to restrict its movement, and the circuit board has a certain thickness, if the circuit board is tilted vertically or slightly misaligned, one side of the circuit board will be stuck at a slightly higher position by the baffles of the positioning groove. If the gripping component descends to the preset retrieval height, it will damage the circuit board. Although the negative pressure suction head is generally installed with a buffer rod and has a certain spring force, the floating range of the negative pressure suction head is limited. It can only buffer the instability caused by the descent acceleration of the moving component when the circuit board is placed flat and correctly, and therefore cannot solve the problem of damage caused by incorrect placement of the circuit board. This utility model provides a spring component, a position detection unit, and a detected component in the first part of the moving end and the second part of the gripping component. If the circuit board is placed correctly, after the gripping component moves down normally, the elastic force of the elastic element will eliminate the spring force of the suction cup to a certain extent, thus stabilizing the adsorption of the circuit board. If the circuit board is not placed correctly and is too high, when the negative pressure suction head touches the board, the gripping component stops, and the first piece continues to descend. The second piece moves upward relative to the first piece, and the elastic element is compressed. The piece to be detected can rise from the non-detection position to the detection area. Then, the system issues a pause control signal and an alarm signal based on the detection signal, notifying the staff to adjust and handle the circuit board in time to avoid damaging the circuit board.

[0007] A further embodiment is that the first component has a vertical sliding groove and a blocking part that blocks the sliding groove from above, and the second component includes a slider part that is vertically movable and disposed in the sliding groove, with an elastic member abutting between the slider part and the blocking part.

[0008] As can be seen from the above, the cooperation between the slider and the sliding groove ensures that the relative lifting motion of the two mating parts that cooperate with the elastic element is relatively stable, thereby improving the detection accuracy of the position detection unit on the detected part.

[0009] A further alternative is that the elastic element is a spring; the slider part is provided with an upward-opening first insertion hole, and one end of the spring is disposed in the first insertion hole; and / or, the blocking part is provided with a downward-opening second insertion hole, and the other end of the spring is disposed in the second insertion hole.

[0010] As can be seen from the above, the first insertion hole and / or the second insertion hole can keep the spring in its current position and prevent the spring from coming loose.

[0011] A further embodiment is that the opposite ends of the spring are respectively inserted into the first insertion hole and the second insertion hole; the depth of the first insertion hole or the second insertion hole is greater than half the length of the spring, and / or the first insertion hole is longer than the second insertion hole.

[0012] As can be seen above, spring bending affects its spring force, causing changes in the relative stroke between the gripping assembly and the first piece, which can affect detection and even normal gripping. This design allows the first and second insertion holes to have a greater degree of coverage around the spring from the outer periphery, thus preventing the spring from bending and deforming from the outer periphery.

[0013] Another further option is that the first component includes a detachably connected first component and a second component, a sliding groove is provided in the first component and has a vertical opening, a part of the second component serves as a blocking part, and the first component and the second component are connected vertically.

[0014] As can be seen above, removing the second component allows for easy adjustment and replacement of the spring.

[0015] Another further solution is that the position detection unit includes a slotted switch with a vertically continuous detection slot along its edge; the component being detected is a detection piece.

[0016] Another further option is to include vertically arranged linear guides connecting the first and second parts; the two sets of linear guides are respectively arranged on opposite sides of the elastic element.

[0017] A further solution is to use crossed roller guides for the linear guides.

[0018] As can be seen from the above, the two sets of linear guides arranged opposite each other ensure the straightness of the lifting and lowering movement of the gripping component. An even better solution is to use cross roller guides for the linear guides, which can eliminate swaying and have better stability.

[0019] Another further solution is that the gripping component includes a mounting bracket and multiple negative pressure suction heads, which are distributed on opposite sides of the mounting bracket.

[0020] As can be seen above, this setting grips the board from multiple points to improve gripping stability.

[0021] A further proposed solution is that the gripping assembly also includes a drive unit and a flexible transmission assembly; the mounting bracket is rotatably connected to the second component around an axis, the drive unit is connected to the second component, the rotation output end of the drive unit is connected to the input end of the flexible transmission assembly, and the output end of the flexible transmission assembly drives the mounting bracket to rotate.

[0022] As can be seen above, this setting enables the gripping component to meet the requirements for plate rotation. Attached Figure Description

[0023] Figure 1 This is a structural diagram of an embodiment of the board-retrieving robot of this utility model.

[0024] Figure 2This is a structural diagram of the gripping component and the first piece in an embodiment of the board-grabbing robot of this utility model.

[0025] Figure 3 This is an exploded view of the gripping component and the first piece in an embodiment of the board-grabbing robot of this utility model.

[0026] Figure 4 This is a cross-sectional view of the gripping component and the first piece in an embodiment of the board-grabbing robot of this utility model.

[0027] Figure 5 This is a schematic diagram of the board-grabbing robot of this utility model grasping a board in the correct orientation.

[0028] Figure 6 This is a schematic diagram of the board-grabbing robot of this utility model grasping a board with an incorrectly placed posture. Detailed Implementation

[0029] Example of a board-retrieving robot See Figures 1 to 6 Each attached figure establishes a unified spatial rectangular coordinate system, in which the y-axis represents the first horizontal direction, the x-axis represents the second horizontal direction, and the z-axis represents the vertical direction.

[0030] See Figure 1 The board-retrieving robot in this embodiment includes a moving component 1 and a gripping component 2.

[0031] The moving component 1 includes a first linear module 11, a lifting device 12, and a second linear module 13 connected in sequence. The fixed portion of the first linear module 11 is supported by two brackets 14 and extends along the y-axis. The moving portion of the first linear module 11 can translate along the y-axis. The fixed portion of the lifting device 12 is connected to the moving portion of the first module 11, and the lifting portion of the lifting device 12 can move up and down. The fixed portion of the second linear module 13 is connected to the lifting portion of the lifting device 12 and extends along the x-axis. The moving portion of the second linear module 13 can move along the x-axis. The moving component 1 also includes a first piece 19 connected to the moving portion of the second linear module 13. The moving portion of the second linear module 13 and the first piece 19 are fixedly connected and constitute the moving end of the moving component 1 of this invention. A gripping component 2 is connected to the first piece 19. Driven by the moving component 1, the first piece 19 and the gripping component 2 can translate along the x-axis, translate along the y-axis, and move up and down along the z-axis.

[0032] The first linear module 11, the lifting device 12, and the second linear module 13 are all existing technologies in the mechanical field. Unlike the prior art, the connection order of the two linear modules and the lifting device is different. In the connection method of this embodiment, a larger part of the moving component 1 is tilted to the side in the x-axis direction, and the moving end is located above the grasping area in the form of a cantilever, which has a better avoidance effect and is conducive to the deployment of the automation system.

[0033] See Figure 2 and Figure 3 The gripping component 2 includes a second part 21, which is connected to the first part 19. The first part 19 includes a first component 191 and a second component 192 that are detachably connected along the z-axis. The first component 191 is connected to the moving part of the second linear module 13 by bolts.

[0034] The first component 191 is provided with a vertically oriented sliding groove 190, which opens along the positive y-axis and the positive z-axis. The second component 192 is bolted to the upper side of the first component 191 and blocks the opening of the sliding groove 190 along the positive z-axis from above. The portion of the second component 192 that blocks the sliding groove 190 serves as the blocking part of this invention. In this embodiment, the sliding groove 190 is a square groove.

[0035] The second component 21 includes a slider portion 211 protruding along the negative y-axis. In this embodiment, the slider portion 211 is cuboid in shape. The top of the slider portion 211 is provided with an upward-opening first insertion hole 210, and the bottom of the blocking portion of the second component 192 is provided with a second insertion hole 1920. Both the first insertion hole 210 and the second insertion hole 1920 are circular blind holes.

[0036] See Figures 2 to 4 The slider 211 is movably mounted in the sliding groove 190 along the z-axis. The board-grabbing robot also includes two sets of linear guides 32, which are cross roller guides, a technology already known in the mechanical field. The two linear guides 32 extend along the z-axis and are respectively arranged on both sides of the slider 211 along the x-axis. Each linear guide 32 connects the first component 191 and the second component 21. Thus, the second component 21 and the gripping assembly 2 containing it can move smoothly and accurately up and down along a straight line relative to the first component 191.

[0037] The board-retrieving robot also includes a position detection unit 41 and a workpiece 419 to be detected. The position detection unit 41 adopts a slotted switch, with the detection slot of the slotted switch arranged vertically through it. The workpiece 419 is a detection plate. The position detection unit 41 is connected to the first component 191, and the workpiece 419 is connected to the second component 21. When the second component 21 moves up and down relative to the first component 19, the detection plate can also move up and down relative to the slotted switch, entering and exiting the detection slot, that is, entering and exiting the detection range of the slotted switch.

[0038] Combined Figure 5 Figure 5 In order to make it easier to display the position detection unit 41 and the detected object 419, the position detection unit 41 and the detected object 419 are moved from their original positions to a position that can be observed in the figure, but the position detection unit 41 and the detected object 419 are kept at their original horizontal height.

[0039] The board-grabbing robot also includes an elastic element 31, which in this embodiment is a compression spring. The first insertion hole 210 is located below the second insertion hole 1920, and is concentric with the second insertion hole 1920 and opposite to it along the z-axis. The elastic element 31 abuts between the slider part 211 and the blocking part, and the lower end of the elastic element 31 is disposed in the first insertion hole 210, and the upper end of the elastic element 31 is disposed in the second insertion hole 1920. Thus, under the restoring force of the elastic element 31, the gripping component 2 is held at the lower limit position relative to the first part 19, while the detected part 419 is located in the non-detection position 801, which is located below the detection area 802 of the position detection unit 41.

[0040] When the gripping component 2 can move upward relative to the first piece 19, the elastic element 31 is compressed, and the detected piece 419 moves upward from the non-detection position 801 until it enters the detection area 802 of the detection unit 41. Here, the gripping component 2 can move upward relative to the first piece 19, which refers to the relative movement between the two. For example, when the gripping component 2 is used as a stationary reference, the first piece 19 moves downward.

[0041] In addition, such as Figure 4 As shown, in this embodiment, the first insertion hole 210 is longer than the second insertion hole 1920, and the depth of the first insertion hole 210 is greater than half the length of the elastic member 31. As the lower mounting hole of the elastic member 31, the depth of the first insertion hole 210 is large enough to ensure the installation reliability of the elastic member 31.

[0042] Furthermore, spring bending affects its spring force, causing changes in the relative stroke between the gripping assembly 2 and the first piece 19, which can affect detection and even normal gripping. In this configuration, with the diameters of the first insertion hole 210 and the second insertion hole 1920 only slightly larger than the outer diameter of the spring, the sufficiently deep first insertion hole 210 provides a greater degree of coverage around the spring from the outer periphery, effectively preventing spring bending deformation from the outer periphery.

[0043] See Figure 4 The second component 21 also includes a base 212. The gripping assembly 2 also includes a rotating member 22, a mounting bracket 6, a negative pressure suction head 69, a drive unit 59, and a flexible transmission assembly 5. The mounting bracket 6 is coaxially connected to the rotating member 22, and the rotating member 22 is rotatably connected to the base 212 via bearings, so that the mounting bracket 6 can rotate relative to the second component 21 about its axis in the z-direction. The drive unit 59 is a motor, and the main body of the drive unit 59 is fixedly connected to the second component 21. The rotation output shaft of the drive unit 59 extends along the z-direction.

[0044] The flexible transmission assembly 5 is a belt drive assembly with a first pulley 51 as its input end and a second pulley 53 as its output end. The flexible transmission assembly 5 also includes a belt 52 connecting the first pulley 51 and the second pulley 53. The rotation output end of the drive unit 59 is rotatably connected to the first pulley 51 on the same axis, and the second pulley 53 is rotatably connected to the rotating member 22 on the same axis. When the drive unit 59 operates, the flexible transmission assembly 5 drives the rotating member 22 and the mounting bracket 6 to rotate.

[0045] The negative pressure suction head 69 is mounted on the mounting bracket 6, and multiple negative pressure suction heads 69 are distributed on opposite sides of the mounting bracket 6. The negative pressure suction head is mounted via a buffer rod. Although the negative pressure suction head is mounted via the buffer rod and has a certain vertical buffering spring force, the floating range of the negative pressure suction head is limited and can only ensure that it can buffer the instability caused by the downward acceleration of the moving components when the circuit board is placed correctly.

[0046] See Figure 5 When the circuit board 91 is correctly placed in the positioning slot 92, the moving component 1 drives the gripping component 2 to move until it reaches the gripping position at the preset height. However, the gripping component 2 does not rise relative to the first piece 19. Therefore, the detected piece 419 remains in the non-detection position 801, and the position detection unit 41 does not respond.

[0047] See Figure 6When the circuit board 91 is placed in the wrong position, one side of the circuit board 91 is stuck in a higher position by the edge of the positioning groove 92. During the process of the moving component 1 driving the gripping component 2 to move until it reaches the gripping position at the preset height, the negative pressure suction head 69 will come into contact with the raised side of the circuit board 91 earlier. The gripping component 2 stops descending while the first piece 19 continues to descend. The piece to be tested 419 can rise from the non-detection position to the detection area 802. Then, the system issues a pause control signal according to the detection signal to avoid continuing to descend and damaging the circuit board 9, and issues an alarm signal to notify the staff to adjust and handle the circuit board 9 in time.

[0048] In other embodiments, the first linear module, the lifting device, and the second linear module may be connected in a different order than in the above embodiment.

[0049] In other embodiments, the linear module adopts a lead screw mechanism linear module.

[0050] In other embodiments, the mounting bracket cannot be rotated relative to the second component.

[0051] In other embodiments, multiple negative pressure suction heads are arranged in a circular pattern.

[0052] In other embodiments, the detected component is connected to the first component, and the position detection unit is connected to the second component.

[0053] Finally, it should be emphasized that the above description is only a preferred embodiment of the present utility model and is not intended to limit the present utility model. For those skilled in the art, the present utility model can have various changes and modifications. Any modifications, equivalent substitutions, improvements, etc., 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 board-retrieving robot, comprising a moving component and a gripping component, wherein the moving end of the moving component is provided with a first component, the gripping component includes a second component, the first component and the second component are connected, the gripping component includes a negative pressure suction head, and the gripping component can move horizontally and can be raised and lowered under the drive of the moving component; Its features are: It also includes elastic elements, position detection units, and the component being detected; The elastic element is vertically connected between the first element and the second element; One of the position detection unit and the detected component is connected to the first component, and the other of the position detection unit and the detected component is connected to the second component. Under the restoring force of the elastic component, the detected component is located in a non-detection position. When the second piece moves upward relative to the first piece, the elastic element is compressed, and the piece being tested can move vertically from the non-detection position to the detection area.

2. The board-retrieving robot according to claim 1, characterized in that: The first component has a vertical sliding groove and a blocking part that blocks the sliding groove from above. The second component includes a slider part that is vertically movable within the sliding groove. The elastic member abuts between the slider part and the blocking part.

3. The board-retrieving robot according to claim 2, characterized in that: The elastic element is a spring; The slider portion is provided with an upward-opening first insertion hole, one end of the spring is disposed in the first insertion hole, and / or, the blocking portion is provided with a downward-opening second insertion hole, the other end of the spring is disposed in the second insertion hole.

4. The board-retrieving robot according to claim 3, characterized in that: The two opposite ends of the spring are respectively inserted into the first insertion hole and the second insertion hole; The depth of the first insertion hole or the second insertion hole is greater than half the length of the spring, and / or the first insertion hole is longer than the second insertion hole.

5. The board-retrieving robot according to claim 3, characterized in that: The first component includes a detachably connected first component and a second component. The sliding groove is disposed on the first component and opens vertically into the first component. A portion of the second component serves as the blocking portion. The first component and the second component are vertically connected.

6. The board-retrieving robot according to any one of claims 1 to 5, characterized in that: The position detection unit includes a slotted switch, wherein the detection slot of the slotted switch extends vertically. The item being tested is a test piece.

7. The board-retrieving robot according to any one of claims 1 to 5, characterized in that: It also includes a vertically arranged linear guide rail, which connects the first piece and the second piece; The two sets of linear guides are respectively arranged on opposite sides of the elastic element.

8. The board-retrieving robot according to claim 7, characterized in that: The linear guide rail is a cross roller guide rail.

9. The board-retrieving robot according to any one of claims 1 to 5, characterized in that: The gripping assembly includes a mounting frame and a plurality of negative pressure suction heads, which are distributed on opposite sides of the mounting frame.

10. The board-retrieving robot according to claim 9, characterized in that: The gripping component also includes a drive unit and a flexible transmission component; The mounting bracket is rotatably connected to the second component about an axis. The drive unit is connected to the second component. The rotation output end of the drive unit is connected to the input end of the flexible transmission assembly. The output end of the flexible transmission assembly drives the mounting bracket to rotate.

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