CN221234845U - Plate grabbing manipulator and laser processing equipment - Google Patents

Abstract

The utility model discloses a plate grabbing mechanical arm and laser processing equipment, wherein the plate grabbing mechanical arm comprises a bracket, an adsorption assembly and a lifting assembly, the adsorption assembly is used for adsorbing a plate to be processed, and the adsorption assembly is arranged on the bracket; the lifting assembly comprises a first driving mechanism, a first dry section bar and a plurality of lifting suckers for adsorbing plates to be processed, wherein the first driving mechanism is fixed on a support, the first dry section bar is installed at the output end of the first driving mechanism, the first dry section bar is provided with a first air guide channel which is communicated with an external central negative pressure generator, the lifting suckers are installed on the first dry section bar at intervals along the length direction of the first dry section bar, and the lifting suckers are communicated with the first air guide channel, and the first driving mechanism can drive the first dry section bar and the lifting suckers to reciprocate along the first direction so as to separate the plates to be processed. When the position of the lifting sucker is adjusted, the position of the first supporting section bar on the output end of the first driving mechanism is only required to be adjusted.

Description

Plate grabbing manipulator and laser processing equipment

Technical Field

The utility model relates to the technical field of PCB processing equipment, in particular to a plate grabbing manipulator and laser processing equipment.

Background

At present, in the traditional PCB processing industry, the board to be processed of preparation PCB board is the state of stacking in the feed bin, because the cooling is not enough after waiting to process the board oxidation, can produce partial vacuum between two smooth boards to be processed in surface, in addition stacks the thick state of putting and can produce reasons such as great pressure for the board to be processed of below, can appear two boards to be processed laminating difficult detached phenomenon.

As shown in fig. 1, the laser processing equipment such as laser drilling/laser cutting is provided with a collecting and releasing plate manipulator for grabbing a plate to be processed, the collecting and releasing plate manipulator comprises a fixing frame 10, an adsorption module 20 and a lifting module 30, the adsorption module 20 and the lifting module 30 are all installed on the fixing frame 10, the lifting module 30 comprises two shaking cylinders 31 fixed on the fixing frame 10 and two adsorption units 32 installed on the output ends of the two shaking cylinders 31 respectively, the adsorption module 20 and the adsorption units 32 on the lifting module 30 are suitable for grabbing the plate to be processed with the thickness of 0.1-3 mm and no hole, and each adsorption unit 32 is provided with a small right-angle vacuum device 33, and the attached plate to be processed is separated by shaking of the shaking cylinders 31 on the lifting module 30.

However, the lifting module 30 only has two material shaking cylinders 31 to drive the corresponding adsorption units 32 to move up and down, the adsorption units 32 on the adsorption module 20 cannot move up and down among the material shaking cylinders 31, when the material is shaken, the adsorption units 32 of the material shaking cylinders 31 and the adsorption units 32 of the adsorption module 20 have a height difference, the risk of material falling is caused, and a plurality of hundreds of holes with different sizes are usually arranged on the board to be processed, so that the board to be processed is easily dropped due to insufficient suction force in the material shaking process after the lifting module 30 adsorbs a plurality of boards to be processed, and the adhered boards to be processed are extruded and scrapped in the equipment when the situation that the boards to be processed are dropped is found; meanwhile, each adsorption unit 32 on the existing lifting module 30 is independently adjusted, and the defect of complicated and time-consuming adjustment is not highlighted when the number of the adsorption units 32 is small, and when the number of the adsorption units 32 is large, the position adjustment of the adsorption units 32 becomes time-consuming.

Disclosure of utility model

The utility model provides a plate grabbing mechanical arm and laser processing equipment, and aims to solve the technical problems that in the prior art, only two shaking cylinders can drive corresponding adsorption units to move up and down, three adsorption units belonging to the adsorption modules between the shaking cylinders cannot move up and down, when shaking materials, the adsorption units of the shaking cylinders and the adsorption units of the adsorption modules have a height difference, the risk of material falling exists, meanwhile, each adsorption unit on the lifting module is independently regulated, the complicated and time-consuming regulation is not highlighted when the quantity is small, and when the quantity of the adsorption units is increased, the position of the adsorption units is regulated.

The utility model provides a plate grabbing manipulator, which comprises the following components:

a bracket;

The adsorption component is used for adsorbing the plate to be processed and is arranged on the bracket;

The lifting assembly comprises a first driving mechanism, a first branch section bar and a plurality of lifting suckers used for adsorbing the plates to be processed, wherein the first driving mechanism is fixed on the support, the first branch section bar is installed on the output end of the first driving mechanism, the first branch section bar is provided with a first air guide channel used for being communicated with an external central negative pressure generator, the lifting suckers are installed on the first branch section bar at intervals along the length direction of the first branch section bar, the lifting suckers are communicated with the first air guide channel, and the first driving mechanism can drive the first branch section bar and the lifting suckers installed on the first branch section bar to reciprocate along a first direction so that the plates to be processed are separated.

Further, each lifting sucker comprises a first pipe joint, a second pipe joint, a first hose and a first suction nozzle arranged on the first branch section, one end of the first pipe joint is arranged on the first suction nozzle and communicated with the first suction nozzle, a plurality of first mounting holes which are communicated with the first air guide channel are formed in the first branch section along the length direction at intervals, one end of the second pipe joint is arranged in one of the first mounting holes and communicated with the first air guide channel, and two ends of the first hose are respectively connected with the other end of the first pipe joint and the other end of the second pipe joint.

Further, the adsorption component comprises at least one second branch section and a plurality of adsorption suction cups for adsorbing the plates to be processed, the second branch section is slidably mounted on the support along a second direction, the second branch section is provided with a second air guide channel which is communicated with an external central negative pressure generator, the adsorption suction cups are mounted on the second branch section at intervals along the length direction of the second branch section, the adsorption suction cups are communicated with the second air guide channel, and the second direction is perpendicular to the first direction.

Further, each adsorption chuck includes third coupling, fourth union coupling, second hose and install in second suction nozzle on the first section bar that drips, the one end of third coupling install in on the second suction nozzle and with the second suction nozzle communicates, the second section bar is provided with a plurality of second mounting holes all with second air duct intercommunication along its length direction interval, the one end of fourth union coupling install in a plurality of in the second mounting hole and with second air duct intercommunication, the both ends of second hose respectively with the other end of third union coupling and the other end of fourth union coupling are connected.

Further, the plate grabbing manipulator further comprises at least one locking assembly, the locking assembly comprises a buckle cover, at least one fastener and at least one nut, the buckle cover is connected with the second branch profile, the support is provided with at least one strip-shaped limiting groove, the nut is slidably mounted in the limiting groove along the second direction, the buckle cover is provided with at least one through hole in a penetrating mode, and the fastener penetrates through the through hole to be connected with the nut.

Further, the support comprises a main section bar, the second main section bar is provided with a groove which is arranged in a penetrating mode and at least one sliding block which is arranged on the inner wall of the groove in a protruding mode, the outer side wall of the main section bar in the length direction of the main section bar is provided with at least one sliding groove, the main section bar stretches into the groove, and the sliding block slides in the sliding groove.

Further, the plate grabbing manipulator further comprises a negative pressure divider connected with the external central negative pressure generator, the negative pressure divider is provided with a plurality of dividing ports, and each dividing port is correspondingly communicated with the first air guide channel and the second air guide channel respectively.

Further, the plate grabbing mechanical arm further comprises a second driving mechanism, and the output end of the second driving mechanism is connected with the support to drive the support to reciprocate along the first direction.

Further, the plate grabbing manipulator further comprises at least one sensor for sensing the plate to be processed, and the sensor is mounted on the support.

The utility model also provides laser processing equipment, which comprises the plate grabbing manipulator, wherein the manipulator is used for grabbing the plate to be processed, and the plate to be processed is a flexible PCB.

Compared with the prior art, the utility model has the beneficial effects that at least:

According to the utility model, the lifting suckers of the grabbing plate manipulator are arranged on the first branch section bar at intervals along the length direction of the first branch section bar, a row of lifting suckers are arranged on the first branch section bar for shaking materials, other types of suckers are not arranged between the lifting suckers, the risk of stripping of a plate to be processed can be reduced, when the position of the lifting sucker is regulated, only the position of the first branch section bar on the output end of the first driving mechanism is required to be regulated, and the whole regulation process is convenient and quick; the traditional air compressor is changed into a central negative pressure generator, a vacuum device is omitted, the production cost and weight of each sucker can be reduced, and further the production cost of the whole plate grabbing manipulator can be reduced.

Drawings

Fig. 1 is a schematic structural diagram of a retractable board manipulator provided in the background art;

fig. 2 is a schematic structural diagram of a plate grabbing manipulator grabbing a plate to be processed according to an embodiment of the present utility model;

Fig. 3 is a schematic structural diagram of a plate grabbing manipulator according to an embodiment of the present utility model;

FIG. 4 is an enlarged partial schematic view of FIG. 3A;

FIG. 5 is an enlarged partial schematic view at B in FIG. 3;

FIG. 6 is an enlarged partial schematic view of FIG. 3 at C;

fig. 7 is a schematic structural diagram of a second support section provided in an embodiment of the present utility model;

FIG. 8 is a cross-sectional view taken along line D-D of FIG. 7;

Fig. 9 is a schematic structural diagram of a plate grabbing manipulator according to an embodiment of the present utility model when an air pipe is installed;

FIG. 10 is an enlarged partial schematic view of FIG. 9 at E;

FIG. 11 is a schematic diagram of a pull assembly according to an embodiment of the present utility model;

fig. 12 is a partially enlarged schematic view of fig. 11 at F.

In the figure:

10. A fixing frame; 20. an adsorption module; 30. a lifting module; 31. a shaking cylinder; 32. an adsorption unit; 33. a vacuum; 40. a bracket; 41. a backbone profile; 411. a limit groove; 412. a chute; 50. an adsorption assembly; 51. a second branch section; 511. a second air guide channel; 512. a second mounting hole; 513. a groove; 514. a slide block; 52. adsorbing a sucker; 521. a third pipe joint; 522. a fourth pipe joint; 523. a second hose; 524. a second suction nozzle; 60. a lifting assembly; 61. a first driving mechanism; 62. a first branch section; 621. a main body is dried; 622. a sealing gasket; 623. an end cap; 624. bending sheets; 63. lifting the sucker; 631. a first pipe joint; 632. a second pipe joint; 633. a first hose; 634. a first suction nozzle; 6341. a hollow rod; 6342. a collar; 6343. a nozzle head; 6344. a screw cap; 70. a plate to be processed; 80. a locking assembly; 81. a buckle cover; 82. a fastener; 83. a nut; 90. a second driving mechanism; 100. a negative pressure divider; 200. an air pipe; 300. an inductor;

X, a first direction; y, second direction; z, third direction.

Detailed Description

The present utility model will be further described with reference to the accompanying drawings and detailed description, wherein it is to be understood that, on the premise of no conflict, the following embodiments or technical features may be arbitrarily combined to form new embodiments.

Referring to fig. 2 to 8, an embodiment of the utility model discloses a plate grabbing manipulator for use in a laser processing apparatus, the plate grabbing manipulator includes a support 40, an adsorption assembly 50 and a lifting assembly 60, the adsorption assembly 50 and the lifting assembly 60 are both mounted on the support 40, the lifting assembly 60 is located at a side edge position of the support 40, the adsorption assembly 50 and the lifting assembly 60 are correspondingly mounted on two sides of the support 40, and the adsorption assembly 50 and the lifting assembly 60 can be used for jointly adsorbing a plate 70 to be processed.

The to-be-processed plate 70 can be a flexible PCB board, a plurality of holes with small inner diameters are formed in the to-be-processed plate 70, before the plate grabbing manipulator works, the to-be-processed plates 70 are stacked in a bin below the plate grabbing manipulator, after the adsorption assembly 50 and the lifting assembly 60 adsorb the uppermost to-be-processed plate 70, the lifting assembly 60 can reciprocate along a first direction X relative to the adsorption assembly 50, the first direction X is a vertical direction, so that the to-be-processed plate 70 is bent back and forth relative to the support 40, vibration is performed, two or more to-be-processed plates 70 adhered together generate gaps, the gaps are further enlarged along with vibration time, finally, the to-be-processed plates 70 adhered together are separated, the to-be-processed plates 70 directly adsorbed by the adsorption assembly 50 are conveyed to a processing platform for processing through the plate grabbing manipulator, and the rest to-be-processed plates 70 fall after being separated, so that the plate grabbing manipulator can normally feed, and stability and safety of a laser processing device in a processing process are ensured.

In this embodiment, the lifting assembly 60 includes a first driving mechanism 61, a first dry-type section bar 62 and a plurality of lifting suction cups 63 for sucking the plate 70 to be processed, the first driving mechanism 61 is fixed on the leftmost position of the bracket 40, the first dry-type section bar 62 is installed on the output end of the first driving mechanism 61, the first dry-type section bar 62 is provided with a first air guide channel for communicating with an external central negative pressure generator, each lifting suction cup 63 is installed on the first dry-type section bar 62 at intervals along the length direction of the first dry-type section bar 62, each lifting suction cup 63 is communicated with the first air guide channel, each lifting suction cup 63 jointly sucks one end of the plate 70 to be processed, the first driving mechanism 61 can drive the first dry-type section bar 62 and each lifting suction cup 63 to reciprocate along a first direction X, and vibrate, so that one end of the plate 70 to be processed is bent reciprocally along the first direction X, two or more to be processed 70 are separated, a gripper can grip a gripper, a first cylinder can drive the plate 62 to be used for driving the first dry-type section bar 62, and a cylinder can be driven by a first cylinder to be used for driving the first dry-type section bar 61, and can be used for driving the first cylinder to a cylinder to move up and down, and a cylinder can be used for driving the first cylinder to a cylinder to be used for driving the first dry-type section bar 61.

It should be noted that, in the present embodiment, in order to take into consideration the cost, a central negative pressure generator is selectively built to provide negative pressure for all production devices, such as vacuum adsorption of a host machine, adsorption of a mechanical arm, and the like, so that the vacuum generator has an adsorption function, thus greatly reducing the air consumption, saving energy, protecting environment, and reducing the weight of the vacuum device 33.

Secondly, although hundreds of thousands of holes with different sizes are formed in the plate 70 to be processed, the number of the lifting suction cups 63 in the lifting assembly 60 of the embodiment may be at least three, more than two in the background art, the lifting assembly 60 can effectively avoid the phenomenon that the lifting suction cups 63 fall off due to insufficient suction force in the material shaking process after the plate 70 to be processed is adsorbed by the lifting assembly 60, in the embodiment, the number of the lifting suction cups 63 is twelve, so as to adapt to the plate 70 to be processed with a large size, ensure that the edge of the whole side of the plate 70 to be processed can be lifted rather than a part, the effect of the plate 70 to be processed with a whole row of vibration bonding is better and is not easy to shake off, and the number of the lifting suction cups 63 can be set according to requirements.

Each lifting sucker 63 includes a first pipe joint 631, a second pipe joint 632, a first hose 633 and a first suction nozzle 634 mounted on the first trunk section 62, the first suction nozzle 634 can be adjusted in height relative to the first trunk section 62 along the vertical direction, the first pipe joint 631 and the second pipe joint 632 are two-way air pipe joints, one end of the first pipe joint 631 is mounted on the first suction nozzle 634 and is communicated with the first suction nozzle 634, the first trunk section 62 is provided with a plurality of first mounting holes which are all communicated with the first air guide channel at intervals along the length direction, one end of the second pipe joint 632 is mounted on one of the plurality of first mounting holes and is communicated with the first air guide channel, two ends of the first hose 633 are respectively connected with the other end of the first pipe joint 631 and the other end of the second pipe joint 632, so that negative pressure in the first air guide channel can be uniformly dispersed to each first suction nozzle 634.

In some embodiments, the frequency of the first driving mechanism 61 driving the lifting chuck 63 to reciprocate along the first direction X is once for two seconds, so as to prevent the material from shaking off too fast to make the plate 70 to be processed that needs to be shaken off fall off without reaction time, and avoid being absorbed by the plate 70 to be processed above.

In this embodiment, the adsorption assembly 50 includes at least one second supporting section 51 and a plurality of adsorption chucks 52 for adsorbing the to-be-processed plate 70, the second supporting section 51 is slidably mounted on the bracket 40 along a second direction Y, the second supporting section 51 is provided with a second air guide channel 511 for communicating with an external central negative pressure generator, each adsorption chuck 52 is mounted on the second supporting section 51 at intervals along a length direction of the second supporting section 51, each adsorption chuck 52 is communicated with the second air guide channel 511, the adsorption chucks 52 can adsorb an end portion of the to-be-processed plate 70, the second supporting section 51 can slide on the bracket 40 so as to adsorb to-be-processed plates 70 with different sizes, in an initial state, bottom positions of the lifting chucks 63 and the adsorption chucks 52 are on the same horizontal plane, and the second direction Y is perpendicular to the first direction X.

In this embodiment, the first dry section bar 62 in the lifting assembly 60 is disposed at an edge position on one side of the support 40 through the first driving mechanism 61, the number of the second dry section bars 51 in the adsorbing assembly 50 is plural, the plurality of second dry section bars 51 are disposed in a middle position of the support 40 and an edge position on the other side of the support 40 side by side, the number of the second dry section bars 51 can be limited according to the size of the support 40, and the mounting position of the first dry section bar 62 is at the outermost layer on one side of the gripper manipulator.

Each suction cup 52 includes a third pipe joint 521, a fourth pipe joint 522, a second hose 523, and a second suction nozzle 524 mounted on the first stem section 62, one end of the third pipe joint 521 is mounted on the second suction nozzle 524 and communicates with the second suction nozzle 524, the second stem section 51 is provided with a plurality of second mounting holes 512 each communicating with the second air guide passage 511 at intervals along its length direction, one end of the fourth pipe joint 522 is mounted on one of the plurality of second mounting holes 512 and communicates with the second air guide passage 511, and both ends of the second hose 523 are connected with the other end of the third pipe joint 521 and the other end of the fourth pipe joint 522, respectively, so that the negative pressure in the second air guide passage 511 can be uniformly dispersed onto each second suction nozzle 524.

The plate grabbing manipulator further comprises at least one locking assembly 80, the locking assembly 80 comprises a buckle cover 81, at least one fastening piece 82 and at least one nut 83, the buckle cover 81 is fixedly connected with the second branch profile 51, the support 40 is provided with at least one strip-shaped limiting groove 411, the nut 83 is slidably mounted in the limiting groove 411 along the second direction Y, the buckle cover 81 penetrates through at least one through hole, the fastening piece 82 penetrates through the through hole to be connected with the nut 83, so that the relative position of the adsorption assembly 50 on the support 40 can be adjusted, the requirements of plates 70 to be processed with different specifications can be met, and the fastening piece 82 can be a screw.

In this embodiment, each buckle cover 81 is provided with four fasteners 82 and two nuts 83, the number of the limiting slots 411 is two, the two nuts 83 slide in the two limiting slots 411 respectively, the middle part of the buckle cover 81 is locked on the second branch profile 51 by two fasteners 82, two through holes are formed in one side of the buckle cover 81, and the remaining two fasteners 82 respectively pass through the two through holes and are connected with the two nuts 83, so that the second branch profile 51 is stably fixed on the support 40, the adsorption position is convenient to adjust, and the second branch profile 51 can be pushed by loosening the two fasteners 82 on the two nuts 83, so that the whole row of adjustment is realized.

The bracket 40 includes a main section 41, the second branch section 51 has a groove 513 extending therethrough and at least one sliding block 514 protruding from an inner wall of the groove 513, at least one sliding groove 412 is provided on an outer sidewall of the main section 41 along a length direction of the main section 41, the number of sliding grooves 412 and sliding blocks 514 in this embodiment is two, the main section 41 extends into the groove 513, and the sliding blocks 514 slide in the corresponding sliding grooves 412, so that the second branch section 51 can stably slide on the main section 41, the main section 41 is an aluminum section, the overall weight of the gripper manipulator can be reduced, the second direction Y is a length direction of the main section 41, a width direction of the main section 41 is defined as a third direction Z, the second branch section 51 cannot slide relative to the main section 41 along the third direction Z, and the first direction X, the second direction Y and the third direction Z are perpendicular to each other.

The leftmost fixed point of the plate grabbing manipulator is set, the plate 70 to be processed is moved to the position below the fixed point through the platform, the plate grabbing manipulator can be adjusted according to the size of the plate 70 to be processed, the positions of other parts except the leftmost lifting assembly 60 are adjustable, the positions of the adsorption assemblies 50 can be adjusted left and right according to the condition of holes of the plate 70 to be processed in batches, and a plurality of macropores are avoided.

Referring to fig. 2 and 9-12, in this embodiment, the plate grabbing manipulator further includes a second driving mechanism 90, and an output end of the second driving mechanism 90 is connected to the support 40 to drive the support 40 to reciprocate along the first direction X, so as to completely separate the plate 70 to be processed, which is just lifted from one side, from the next plate 70 to be processed.

The plate grabbing manipulator further comprises a negative pressure divider 100 connected with an external central negative pressure generator, the negative pressure divider 100 is arranged on the side face of the second driving mechanism 90, the negative pressure divider 100 is provided with a plurality of pressure dividing ports, each pressure dividing port can be correspondingly communicated with the first air guide channel and the second air guide channel 511 through a plurality of air pipes 200, the number of the pressure dividing ports is four, the number of the first branch section bars 62 is one, the number of the second branch section bars 51 is three, and the four pressure dividing ports can be respectively communicated with one first air guide channel and three second air guide channels 511.

In this embodiment, the first and second branch profiles 62 and 51 may be used as pressure dividing blocks in addition to the fixed lifting suction cups 63 and the suction cups 52, and are connected to the total negative pressure divider 100, so that the pressure is more uniform when the first and second branch profiles 62 and 51 are used as pressure dividing, and the exposed air pipe 200 is less, convenient to maintain, and more attractive.

The first branch profile 62 and the second branch profile 51 each comprise a branch main body 621, a sealing pad 622 and an end cover 623, the branch main body 621 is provided with a concave gas circulation cavity, the circulation cavity is provided with two cavity openings, the end cover 623 is arranged at one cavity opening position of the circulation cavity through the sealing pad 622 and seals the cavity opening, the other cavity opening is communicated with the negative pressure divider 100, the end cover 623, the sealing pad 622 and the inner wall of the circulation cavity jointly enclose to form the first air guide channel or the second air guide channel 511, each first mounting hole or each second mounting hole 512 is arranged on the branch main body 621, the sealing pad 622 is a silica gel pad and has the function of pressing the sealing of the end cover 623, and the grooves 513 and the sliding blocks 514 are all arranged on the branch main body 621 of the second branch profile 51.

The first suction nozzle 634 and the second suction nozzle 524 respectively comprise a hollow rod 6341, a spring, a collar 6342, a nozzle head 6343 and two nuts 6344, the first support section bar 62 and the second support section bar 51 respectively further comprise a plurality of bending sheets 624 respectively installed on the support main body 621, the bending sheets 624 are provided with through holes in a penetrating mode, the collar 6342 is sleeved on the outer wall of the middle portion of the hollow rod 6341 through the spring, the nozzle head 6343 is installed at the bottom of the hollow rod 6341, external threads matched with the nuts 6344 are arranged on the outer wall of the collar 6342, the collar 6342 penetrates through the through holes, the two nuts 6344 are installed on the hollow rod 6341 and respectively abutted to the upper end face and the lower end face of the bending sheets 624, and accordingly the first suction nozzle 634 or the second suction nozzle 524 is fixed on the bending sheets 624, and the first suction nozzle 634 and the second suction nozzle 524 can be adjusted in height along the vertical direction through the corresponding two nuts 6344 so that a plate 70 to be processed can be adsorbed stably.

In some embodiments, the sheet handling robot further comprises at least one sensor 300 for sensing the sheet 70 to be processed, the sensor 300 being mounted on the support 40 for identifying whether the sheet 70 to be processed has been sucked.

The utility model also discloses laser processing equipment, which comprises a mechanical arm and the plate grabbing mechanical arm, wherein the plate grabbing mechanical arm is connected with the mechanical arm, the laser processing equipment can transfer a single plate 70 to be processed clamped by the plate grabbing mechanical arm to an external appointed platform through the mechanical arm, the plate grabbing mechanical arm has strong adsorption force, the adsorption position of each adsorption sucker 52 is convenient to adjust, the plate grabbing mechanical arm can be directly connected with a central negative pressure generator provided by a circuit board factory, and the plate grabbing mechanical arm can be widely used in PCB processing such as punching, printing and other collecting and releasing plates.

The number of the first dry profile bars 62 in the plate grabbing mechanical arm of this embodiment is one, 12 lifting suction cups 63 are installed on the first dry profile bars 62, the number of the second dry profile bars 51 is three, and 12 suction cups 52 are installed on each second dry profile bar 51, so that 48 lifting suction cups 63 and 52 in the whole plate grabbing mechanical arm are shared, and 192 lifting suction cups 63 and 52 in the whole laser processing device are shared by four plate grabbing mechanical arms, therefore, the central negative pressure generator firstly transmits negative pressure to the negative pressure voltage divider 100, and the negative pressure voltage divider 100 distributes the negative pressure to one first dry profile bar 62 and three second dry profile bars 51, and then distributes the negative pressure to each lifting suction cup 63 and each suction cup 52.

Working principle of laser processing equipment:

At the beginning, the first driving mechanism 61 is in an extending state, the second driving mechanism 90 is in a contracting state, the lifting sucking disc 63 and the sucking disc 52 are in the same horizontal plane, when the mechanical arm moves the plate grabbing mechanical arm to a designated position, the second driving mechanism 90 extends out and drives the support 40 to descend, after the plate grabbing mechanical arm sucks the plate 70 to be machined, the first driving mechanism 61 performs periodic telescopic motion to enable the left edge of the plate 70 to be machined to perform reciprocating bending motion, the left edge of the sucked plate 70 to be machined is bent upwards in a reciprocating manner, the lower plate 70 to be machined is firstly peeled off from the left edge of the lower plate 70 to be machined under the action of self tension, a large amount of air flows into the layers after the second driving mechanism 90 is contracted, so that the upper plate 70 to be machined is completely separated from the lower plate 70 after the lifting assembly 60 moves for a plurality of times, the lower plate 70 to be machined drops into the bin, the single plate 70 to be machined clamped by the mechanical arm is transferred to an external designated platform, and finally, the mechanical arm and the second driving mechanism 90 performs reset operation on the plate 70 to be machined.

In summary, the number of the lifting chucks 63 in the lifting assembly 60 of the grabbing plate manipulator of the present utility model may be at least three, the lifting assembly 60 may absorb the plate 70 to be processed, and then the lifting chucks 63 may be effectively avoided from falling off due to insufficient suction force due to the increased number of the lifting chucks 63 in the material shaking process, and each lifting chuck 63 is mounted on the first dry profile 62 along the length direction of the first dry profile 62, a row of lifting chucks 63 are mounted on the first dry profile 62 for shaking, no other types of chucks are provided between the lifting chucks 63, so that the risk of stripping the plate 70 to be processed may be reduced.

The above embodiments are only preferred embodiments of the present utility model, and the scope of the present utility model is not limited thereto, but any insubstantial changes and substitutions made by those skilled in the art on the basis of the present utility model are intended to be within the scope of the present utility model as claimed.

Claims (10)

1. A plate grabbing manipulator, comprising:

a bracket;

The adsorption component is used for adsorbing the plate to be processed and is arranged on the bracket;

The lifting assembly comprises a first driving mechanism, a first branch section bar and a plurality of lifting suckers used for adsorbing the plates to be processed, wherein the first driving mechanism is fixed on the support, the first branch section bar is installed on the output end of the first driving mechanism, the first branch section bar is provided with a first air guide channel used for being communicated with an external central negative pressure generator, the lifting suckers are installed on the first branch section bar at intervals along the length direction of the first branch section bar, the lifting suckers are communicated with the first air guide channel, and the first driving mechanism can drive the first branch section bar and the lifting suckers installed on the first branch section bar to reciprocate along a first direction so that the plates to be processed are separated.

2. The plate grabbing mechanical arm according to claim 1, wherein each lifting sucker comprises a first pipe joint, a second pipe joint, a first hose and a first suction nozzle mounted on the first branch section, one end of the first pipe joint is mounted on the first suction nozzle and communicated with the first suction nozzle, a plurality of first mounting holes which are all communicated with the first air guide channel are formed in the first branch section at intervals along the length direction of the first branch section, one end of the second pipe joint is mounted in one of the first mounting holes and communicated with the first air guide channel, and two ends of the first hose are connected with the other end of the first pipe joint and the other end of the second pipe joint respectively.

3. The plate grabbing mechanical arm according to claim 1, wherein the adsorption assembly comprises at least one second branch section and a plurality of adsorption suction cups for adsorbing the plates to be processed, the second branch section is slidably mounted on the support in a second direction, the second branch section is provided with a second air guide channel for communicating with an external central negative pressure generator, each adsorption suction cup is mounted on the second branch section at intervals along the length direction of the second branch section, each adsorption suction cup is communicated with the second air guide channel, and the second direction is perpendicular to the first direction.

4. The plate grabbing mechanical arm as claimed in claim 3, wherein each of the adsorption suction cups includes a third pipe joint, a fourth pipe joint, a second hose and a second suction nozzle mounted on the first branch section, one end of the third pipe joint is mounted on the second suction nozzle and is communicated with the second suction nozzle, a plurality of second mounting holes which are all communicated with a second air guide channel are formed in the second branch section at intervals along the length direction of the second branch section, one end of the fourth pipe joint is mounted in one of the second mounting holes and is communicated with the second air guide channel, and two ends of the second hose are respectively connected with the other end of the third pipe joint and the other end of the fourth pipe joint.

5. A plate grabbing manipulator according to claim 3, further comprising at least one locking assembly, wherein the locking assembly comprises a buckle cover, at least one fastener and at least one nut, the buckle cover is connected with the second branch profile, the bracket is provided with at least one bar-shaped limit groove, the nut is slidably mounted in the limit groove along the second direction, the buckle cover is provided with at least one through hole in a penetrating manner, and the fastener passes through the through hole to be connected with the nut.

6. A plate grabbing manipulator according to claim 3, wherein the support comprises a backbone profile, the second backbone profile is provided with a groove which is arranged in a penetrating manner and at least one sliding block which is arranged on the inner wall of the groove in a protruding manner, the outer side wall of the backbone profile along the length direction of the backbone profile is provided with at least one sliding groove, the backbone profile stretches into the groove, and the sliding block slides in the sliding groove.

7. A plate grabbing manipulator as claimed in claim 3, further comprising a negative pressure divider for connection with an external central negative pressure generator, the negative pressure divider being provided with a plurality of dividing ports, each of the dividing ports being in corresponding communication with the first and second air guide channels, respectively.

8. The plate grabbing manipulator of claim 1, further comprising a second drive mechanism, an output of the second drive mechanism being coupled to the support to drive the support to reciprocate in the first direction.

9. The plate grabbing robot of claim 1, further comprising at least one sensor for sensing the plate to be processed, the sensor being mounted on the support.

10. A laser processing apparatus comprising a board grabbing manipulator according to any one of claims 1-9 for grabbing the board to be processed, the board to be processed being a flexible PCB board.