CN207390448U - A kind of robot clamp carried for cell phone mainboard - Google Patents
A kind of robot clamp carried for cell phone mainboard Download PDFInfo
- Publication number
- CN207390448U CN207390448U CN201721263578.1U CN201721263578U CN207390448U CN 207390448 U CN207390448 U CN 207390448U CN 201721263578 U CN201721263578 U CN 201721263578U CN 207390448 U CN207390448 U CN 207390448U
- Authority
- CN
- China
- Prior art keywords
- vacuum
- installing plate
- cell phone
- camera
- vision
- Prior art date
- Legal status (The legal status is an assumption and is not a legal conclusion. Google has not performed a legal analysis and makes no representation as to the accuracy of the status listed.)
- Active
Links
Landscapes
- Manipulator (AREA)
Abstract
A kind of robot clamp carried for cell phone mainboard, including connecting flange and installing plate；A set of above relatively independent fetching device is provided on installing plate, which includes vacuum generator and pick and place component, vacuum generator and picks and places component and is relatively fixed to respectively on installing plate；Pick and place that component includes accurate slider cylinder, vacuum divides air parcel and more than one vacuum cup, the cylinder body of accurate slider cylinder is fixedly connected with installing plate, body of rod driving vacuum divides air parcel elevating movement, and vacuum cup is fixedly connected with vacuum and divides air parcel；Vacuum divides air parcel to be equipped with and divides gas gas circuit, and the pumping end connection of vacuum generator divides the outlet side of gas gas circuit, and vacuum cup connects the inlet end for dividing gas gas circuit.The utility model picks and places circuit board by using robot, can avoid electrostatic damage, improves qualification rate and stability, and reduces labor intensity, reduces cost of labor；In addition, by setting more set fetching devices, reduction picks and places transfer number, and raising picks and places efficiency.
Description
Technical field
The utility model is related to a kind of robot clamp, more particularly to a kind of robot folder carried for cell phone mainboard
Tool can be applied to the automatic loading/unloading of cell phone mainboard test, the automatic blanking of cell phone mainboard cutting or glue-dropping tool and fill automatically
Carry the occasion of mainboard.
Background technology
The carrying of conventional mobile phone circuit board is there are two types of mode, and one kind is that gripping, one kind are to draw, and common robot presss from both sides
Tool picks and places circuit board of mobile phone using single clip tool, and such mode is caused due to that can only pick and place single circuit board of mobile phone every time
Pick and place transfer often, work efficiency is low.Chinese patent literature CN104808018A disclosed one kind on July 29th, 2015
For the test fixture of iPhone mainboard, specifically disclose：Including matrix, positioning pin, steel ball, folder, loosening pressure set, elastic packing
It encloses, clamp head, is provided with positioning pin in described matrix, the positioning pin is located at matrix center position, and the positioning pin right end is set
Steel ball is equipped with, folder, loosening pressure set are additionally provided in described matrix, the folder, loosening pressure set inside are provided with clamp head.The fixture uses
The mode of machinery gripping carries cell phone mainboard, and cell phone mainboard is easily damaged during gripping, causes the qualification for influencing cell phone mainboard
Rate, and can only carry one piece of cell phone mainboard every time, the transfer number picked and placeed is more, and work efficiency is low, therefore, it is necessary to do into
One step is improved.
Utility model content
The purpose of this utility model be intended to provide it is a kind of it is simple and reasonable, reduce and pick and place transfer number, improve and pick and place effect
The robot clamp carried for cell phone mainboard of rate, to overcome shortcoming of the prior art.
By a kind of robot clamp carried for cell phone mainboard of this purpose design, the company including being used to connect robot
Acting flange and the installing plate for loading each mechanism, connecting flange are connected with each other with installing plate；It is characterized in that：The installing plate
On be provided with a set of above relatively independent fetching device, which includes the vacuum generator to complement one another and picks and places group
Part, vacuum generator and picks and places component and is relatively fixed to respectively on installing plate；The component that picks and places includes accurate slider cylinder, true
Space division air parcel and more than one vacuum cup, wherein, the cylinder body of accurate slider cylinder is fixedly connected with installing plate, body of rod driving vacuum
Divide air parcel elevating movement, vacuum cup is fixedly connected with vacuum and divides air parcel；The vacuum divides air parcel to be equipped with and divides gas gas circuit, vacuum hair
The pumping end connection of raw device divides the outlet side of gas gas circuit, and vacuum cup connects the inlet end for dividing gas gas circuit.
The vacuum cup and vacuum are provided with vacuum control check valve between dividing air parcel, and vacuum cup is connected by vacuum control check valve
The inlet end of reduction of fractions to a common denominator gas gas circuit.
Vision-based detection mechanism is provided on the installing plate, which includes camera annular light source and vision phase
Machine, camera annular light source are located on the camera shooting direction of vision camera, the camera shooting direction of vision camera and pick and place component pick and place work
Part direction is consistent.
The vision-based detection mechanism further includes the first connecting plate and adjustable plate, and vision camera is fixed on the first connecting plate,
Camera annular light source is fixed on adjustable plate, and adjustable plate, which is adjusted, to be slided on the first connecting plate, to adjust vision camera camera shooting end
The distance between camera annular light source；Vision-based detection mechanism is fixedly connected with installing plate by the first connecting plate.
Height finder structure is provided on the installing plate, is located at vision-based detection mechanism offside；The height finder structure using
Laser, which is realized, surveys H.D laser-measured height sensor, and the Laser emission direction of the laser-measured height sensor is with picking and placeing taking for component
It is substantially vertical to put workpiece direction.
The solenoid valve block being made of more than one vacuum solenoid, each vacuum solenoid and phase are provided on the installing plate
The fetching device answered matches.
Serial communication I/O module is provided on the installing plate, is located at vacuum generator offside.
The fetching device sets four sets, wherein, four vacuum generator side-by-sides are integrated in one, and are relatively fixed to
Installing plate one side, four groups pick and place component matrix pattern and are in the layout of below installing plate.
The utility model has the advantages that：
1. the mode that loading and unloading are carried by using robot picks and places circuit board, artificial loading and unloading are effectively avoided
Cause the electrostatic damage problem generated, further improve product qualification rate and the stability of product；And circuit board picked and placeed
Cheng Wuxu worker participates in, and reduces the labor intensity of worker, moreover it is possible to reduce cost of labor.
2. for fixture by setting more set fetching devices, effective reduce picks and places transfer number, and has significantly improved and taken
Efficiency is put, suitable for the production line of batch production.
3. carrying out camera shooting comparison to access position by installing vision camera on fixture, can effectively Compensating Robot take
Error during circuit board is put, it is relatively reliable to make to pick and place performance, stability higher.
Description of the drawings
Fig. 1 is the working state schematic representation of one embodiment of the utility model.
Fig. 2 is the assembled state stereogram of one embodiment of the utility model.
Fig. 3 is the assembled state stereogram in the another orientation of one embodiment of the utility model.
Fig. 4 is the explosive view of one embodiment of the utility model.
Fig. 5 is the assembling structure schematic diagram that component is picked and placeed in one embodiment of the utility model.
Fig. 6 is the exploded view that component is picked and placeed in one embodiment of the utility model.
Fig. 7 is the assembling structure schematic diagram of vision-based detection mechanism in one embodiment of the utility model.
Fig. 8 is the exploded view of vision-based detection mechanism in one embodiment of the utility model.
Specific embodiment
The utility model is further described with reference to the accompanying drawings and embodiments.
Referring to Fig. 1-Fig. 8, robot fixture carries out dispensing (or test etc.) work for carrying mobile phone PCBA mainboards C；
Robot clamp includes connecting the connecting flange 1 of robot A and installing plate 2 for loading each mechanism, connecting flange 1 with
Installing plate 2 is mutually permanently connected, and the robot being related to can be four axis robots or six-joint robot；Wherein, set on installing plate 2
It is equipped with four sets of relatively independent fetching devices；The fetching device includes the vacuum generator 4 to complement one another and picks and places component, four
4 side-by-side of vacuum generator is integrated in one, and is integrally fastened to 2 one side of installing plate, and four groups pick and place component matrix pattern and are in the layout of
2 lower section of installing plate；It respectively picks and places component and divides air parcel 11 and three vacuum cups 8 (according to mainboard including accurate slider cylinder 3, vacuum
Depending on upper absorption position), wherein, the cylinder body of accurate slider cylinder 3 is fixedly connected with 2 bottom of installing plate, body of rod driving vacuum divides gas
11 elevating movement of block, the precision slider cylinder 3 can switch over mobile phone PCBA mainboards C, avoid picking and placeing during material and dispensing
Gauge (or test machine etc.) is interfered；Vacuum cup 8 is fixedly connected with vacuum and divides air parcel 11 bottom；Vacuum divides air parcel 11 to be equipped with and divides gas
Gas circuit 11.1, the pumping end connection of vacuum generator 4 divide the outlet side of gas gas circuit 11.1, and each vacuum cup 8 is respectively communicated with a point gas
The inlet end of gas circuit 11.1 divides air parcel 11 by replacing vacuum, can quickly be compatible with the mainboard of other models.This structure by using
The mode that loading and unloading are carried by robot carries out carrying loading and unloading to mobile phone PCBA mainboards C, and artificial loading and unloading is effectively avoided to cause
The electrostatic damage problem of generation further improves product qualification rate and the stability of product；And mobile phone PCBA mainboards C is removed
Fortune process is participated in without worker, reduces the labor intensity of worker, moreover it is possible to reduce cost of labor；In addition, it is picked and placeed by setting four sets
Mechanism, effective reduce pick and place transfer number, and pick and place efficiency as original four times, suitable for the production line of batch production.
Furtherly, vacuum cup 8 and vacuum are provided with vacuum control check valve 7 between dividing air parcel 11, and vacuum cup 8 is by true
Empty check-valves 7 connects the inlet end for dividing gas gas circuit 11.1, which can effectively prevent some vacuum cup 8 from not inhaling
To or drawing imbalance causes vacuum degree to inhale unstable phenomenon caused by being not achieved, make to pick and place more reliable performance.Accurate slide unit gas
The body of rod and vacuum of cylinder 3 are provided with transition installing plate 13 and driver plate 15 between dividing air parcel 11；Driver plate 15 is L-shaped, and precision is sliding
The body of rod of platform cylinder 3 is connected with 15 bottom of driver plate, and transition installing plate 13 is assemblied in driver plate 15 and vacuum is divided between air parcel 11,
Wherein, vacuum is divided between air parcel 11 and transition installing plate 13 and is positioned by axis pin, therefore can reach fast only with a screw locking
The purpose that speed is replaced.Quick coupling 12 is provided on the cylinder body of accurate slider cylinder 3, so that accurate slider cylinder 3 quickly connects
Source of the gas.
Furtherly, vision-based detection mechanism is provided on installing plate 2, which includes camera annular light source 5
With vision camera 6, camera annular light source 5 is located on the camera shooting direction of vision camera 6, and the camera shooting direction of vision camera 6 is with picking and placeing
Component to pick and place workpiece direction consistent；This vision-based detection mechanism can be to the MARK points of mobile phone PCBA mainboards C and the MARK points of gauge
It takes pictures, after taking pictures to the mobile phone PCBA mainboards C in feeding position and blowing position, then picks and places product, mended so as to reach
Repay the purpose for picking and placeing material error.
Furtherly, vision-based detection mechanism further includes first connecting plate 16 of " 7 " font and the adjustable plate 17 of L-shaped, vision
Camera 6 is fixed on 16 top of the first connecting plate, and camera annular light source 5 is fixed on 17 bottom of adjustable plate, and adjustable plate 17 is equipped with two
The vertical regulating tank 17.1 of item, adjusting screw 18 are spirally connected after passing through regulating tank 17.1 with the first connecting plate 16,18 phase of adjusting screw
To sliding in regulating tank 17.1, and pass through and tighten or unscrew adjusting screw 18, adjust adjustable plate 17 and slide in the first connection
On plate 16, the distance between end and camera annular light source 5 are imaged to adjust vision camera 6；Vision-based detection mechanism connects by first
Fishplate bar 16 is fixedly connected with installing plate 2.
Furtherly, height finder structure is provided on installing plate 2, is located at vision-based detection mechanism offside；The height finder structure bag
It includes and realizes the H.D laser-measured height sensor 10 of survey using laser, the Laser emission direction of the laser-measured height sensor 10 is with taking
Put component to pick and place workpiece direction substantially vertical；Laser-measured height sensor 10 is fixed on installing plate 2 one by the second connecting plate 16
Side；This height finder structure is engaged with vision camera 6, ensures for measuring the height after glue-dropping tool loading mobile phone PCBA mainboards C
Mobile phone PCBA mainboards C can be accurately put on glue-dropping tool.
Furtherly, the solenoid valve block being made of four vacuum solenoids 9, each vacuum solenoid 9 are provided on installing plate 2
Match with corresponding fetching device, and side-by-side is integrated in one each other, is fixed on installation entirely through the 3rd connecting plate 20
On plate 2.
Furtherly, on installing plate 2 set 12 into 12 go out have serial communication I/O module 14, be located at vacuum generator 4
Offside, serial communication I/O module 14 are fixed on 2 one side of installing plate by the 4th connecting plate 21；This serial communication I/O module 14 utilizes
Robot A carries out serial communication, reduces vacuum solenoid 9, vacuum generator 4 and the wiring on cylinder sensor, robot folder
Tool only needs a gas main and a serial communication cable that can be connected with robot A, improves the reliability of robot clamp
And stability.
The basic principle, main feature of the utility model has been shown and described in the above-mentioned preferred embodiment for the utility model
And the advantages of the utility model.Those skilled in the art should be recognized that the present utility model is not limited to the above embodiments, on
The principle for simply illustrating the utility model described in embodiment and specification is stated, is not departing from the spirit and scope of the utility model
On the premise of the utility model also have various changes and modifications, it is new that these changes and improvements both fall within this claimed practicality
In the range of type.The utility model requires protection scope is defined by appended claims and its equivalent.
Claims (8)
1. a kind of robot clamp carried for cell phone mainboard, including being used to connect the connecting flange (1) of robot and being used for
The installing plate (2) of each mechanism is loaded, connecting flange (1) is connected with each other with installing plate (2)；It is characterized in that：The installing plate (2)
On be provided with a set of above relatively independent fetching device, which includes the vacuum generator (4) to complement one another and takes
It puts component, vacuum generator (4) and picks and places component and be relatively fixed to respectively on installing plate (2)；The component that picks and places includes precision
Slider cylinder (3), vacuum divide air parcel (11) and more than one vacuum cup (8), wherein, the cylinder body of accurate slider cylinder (3) is consolidated
Determine connection plate (2), the body of rod driving vacuum divide air parcel (11) elevating movement, vacuum cup (8) is fixedly connected with vacuum and divides air parcel
(11)；The vacuum divides air parcel (11) to be equipped with and divides gas gas circuit (11.1), and the pumping end connection of vacuum generator (4) divides gas gas circuit
(11.1) outlet side, vacuum cup (8) connect the inlet end for dividing gas gas circuit (11.1).
2. the robot clamp carried according to claim 1 for cell phone mainboard, it is characterised in that：The vacuum cup
(8) divide between air parcel (11) with vacuum and be provided with vacuum control check valve (7), vacuum cup (8) passes through vacuum control check valve (7) connection point
The inlet end of gas gas circuit (11.1).
3. the robot clamp carried according to claim 2 for cell phone mainboard, it is characterised in that：The installing plate (2)
On be provided with vision-based detection mechanism, which includes camera annular light source (5) and vision camera (6), and camera is annular
Light source (5) is located on the camera shooting direction of vision camera (6), the camera shooting direction of vision camera (6) and pick and place component pick and place workpiece
Direction is consistent.
4. the robot clamp carried according to claim 3 for cell phone mainboard, it is characterised in that：The vision testing machine
Structure further includes the first connecting plate (16) and adjustable plate (17), and vision camera (6) is fixed on the first connecting plate (16), camera annular
Light source (5) is fixed on adjustable plate (17), and adjustable plate (17), which is adjusted, to be slided on the first connecting plate (16), to adjust vision camera
(6) the distance between end and camera annular light source (5) are imaged；Vision-based detection mechanism is fixedly connected with peace by the first connecting plate (16)
Loading board (2).
5. the robot clamp carried according to claim 4 for cell phone mainboard, it is characterised in that：The installing plate (2)
On be provided with height finder structure, be located at vision-based detection mechanism offside；The height finder structure realizes that survey is H.D using laser
Laser-measured height sensor (10), the Laser emission direction of the laser-measured height sensor (10) and pick and place component pick and place workpiece direction
It is substantially vertical.
6. the robot clamp carried according to claim 5 for cell phone mainboard, it is characterised in that：The installing plate (2)
On be provided with the solenoid valve block being made of more than one vacuum solenoid (9), each vacuum solenoid (9) and corresponding fetching device
Match.
7. the robot clamp carried according to claim 6 for cell phone mainboard, it is characterised in that：The installing plate (2)
On be provided with serial communication I/O module (14), be located at vacuum generator (4) offside.
8. the robot clamp carried according to claim any one of 1-7 for cell phone mainboard, it is characterised in that：It is described to take
Laying mechanism sets four sets, wherein, four vacuum generator (4) side-by-sides are integrated in one, and are relatively fixed to installing plate (2) one
Side, four groups pick and place component matrix pattern and are in the layout of below installing plate (2).
Priority Applications (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201721263578.1U CN207390448U (en) | 2017-09-27 | 2017-09-27 | A kind of robot clamp carried for cell phone mainboard |
Applications Claiming Priority (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201721263578.1U CN207390448U (en) | 2017-09-27 | 2017-09-27 | A kind of robot clamp carried for cell phone mainboard |
Publications (1)
| Publication Number | Publication Date |
|---|---|
| CN207390448U true CN207390448U (en) | 2018-05-22 |
Family
ID=62330525
Family Applications (1)
| Application Number | Title | Priority Date | Filing Date |
|---|---|---|---|
| CN201721263578.1U Active CN207390448U (en) | 2017-09-27 | 2017-09-27 | A kind of robot clamp carried for cell phone mainboard |
Country Status (1)
| Country | Link |
|---|---|
| CN (1) | CN207390448U (en) |
Cited By (3)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN107572252A (en) * | 2017-09-27 | 2018-01-12 | 广东利迅达机器人***股份有限公司 | A kind of robot clamp carried for cell phone mainboard |
| CN111469152A (en) * | 2020-04-30 | 2020-07-31 | 上海工程技术大学 | Automatic change and go up unloading machinery and grab |
| CN112548356A (en) * | 2020-12-16 | 2021-03-26 | 遂宁欧菲斯电子科技有限公司 | Automatic laser marking device |
-
2017
- 2017-09-27 CN CN201721263578.1U patent/CN207390448U/en active Active
Cited By (3)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN107572252A (en) * | 2017-09-27 | 2018-01-12 | 广东利迅达机器人***股份有限公司 | A kind of robot clamp carried for cell phone mainboard |
| CN111469152A (en) * | 2020-04-30 | 2020-07-31 | 上海工程技术大学 | Automatic change and go up unloading machinery and grab |
| CN112548356A (en) * | 2020-12-16 | 2021-03-26 | 遂宁欧菲斯电子科技有限公司 | Automatic laser marking device |
Similar Documents
| Publication | Publication Date | Title |
|---|---|---|
| CN107572252A (en) | A kind of robot clamp carried for cell phone mainboard | |
| CN207390448U (en) | A kind of robot clamp carried for cell phone mainboard | |
| CN110039308A (en) | Water temperature sensor assembles equipment and its working method | |
| CN103831604B (en) | A kind of full-automatic shim pack installation | |
| CN101769974B (en) | Chip testing processor | |
| CN103252644A (en) | Article assembling device using robot | |
| CN106060531A (en) | Fully automatic four-station pick-up head testing machine | |
| CN105144864B (en) | Electronic component carrying device | |
| CN103738734A (en) | Flexible printed circuit board automatically feeding and blanking device | |
| CN103447816A (en) | Automatic assembling equipment for wireless receivers | |
| CN109552874A (en) | A kind of automatic electric logging device | |
| CN109896283A (en) | A kind of glass bracket installation detecting device | |
| CN105691717A (en) | Device for capturing bulk auxiliary material package by robot and package searching method | |
| CN206631953U (en) | A kind of automatic Weighing classifier | |
| CN109353815A (en) | The method and system of secondary boot piece uploading are carried out using existing visual sensor | |
| CN208094687U (en) | A kind of assembling equipment of camera module | |
| KR20140027874A (en) | Selection unit of tape feeder, surface mounting device, and tape feeder | |
| CN203638722U (en) | Automatic soft plate feeding device | |
| CN105325070B (en) | Component mounting system and component mounting method | |
| CN105169587A (en) | Automatic assembly system of dry powder extinguisher | |
| CN209337611U (en) | A kind of lift-on/lift-off type high speed pick-and-place material platform | |
| CN205793080U (en) | A kind of full-automatic four station Camera Test machines | |
| CN204855735U (en) | Circuit board automated inspection equipment | |
| CN105181703A (en) | Material appearance automatic detecting device | |
| CN209985814U (en) | Piston processing letter sorting line |
Legal Events
| Date | Code | Title | Description |
|---|---|---|---|
| GR01 | Patent grant | ||
| GR01 | Patent grant |