WO2020047864A1 - Robot and clipping device - Google Patents

Abstract

A robot (10), comprising a robot body (11) and a clipping device (12). The clipping device (12) is mounted in the robot body (11); the clipping device (12) comprises a drive mechanism (121) and at least two clipping mechanisms (122); the drive mechanism (121) comprises a drive member (1211) and at least two first connection members (1212); at least one first connection member (1212) is provided with an accommodation space (12121); at least one clipping mechanism (122) is movably provided in the accommodation space (12121) so that the at least one clipping mechanism (122) can move with respect to the at least one first connection member (1212); the at least two clipping mechanisms (122) respectively pass through at least two clipping openings (1011) on a circuit board for clipping the circuit board (11). According to the solution, the interference between the clipping mechanism and a component on the circuit board can be avoided so as to efficiently clip the circuit board, and the interval between the clipping mechanisms can be adjusted for clipping circuit boards of different specifications so as to improve the commonality of the robot.

Description

Robot and gripping device Ranch

[Technical Field]

The present application relates to the field of robotics, and in particular, to a robot and a gripping device.

 【Background technique】

At present, for circuit boards, such as circuit boards without soldered components, suction cups are usually used. However, for circuit boards that have been soldered for most components, the suction cups have limited space and the effect of clamping circuit boards is poor. .

 [Summary of the Invention]

The technical problem mainly solved by this application is to provide a robot and a gripping device, which can solve the problem of poor effect of gripping a circuit board in the prior art.

In order to solve the above technical problems, the present application provides a robot. The robot includes a robot body including a support portion, a mounting portion, and at least one arm portion. Both ends of the at least one arm portion are movably connected to the support portion and the mounting portion, respectively. A picking device is mounted on the mounting portion and is used for gripping the circuit board. The gripping device includes a driving mechanism and at least two clamping mechanisms. The driving mechanism includes a driving member and at least two first connecting members, and at least two first connecting members. Connected to the driving member, and at least one first connecting member is provided with an accommodation space, at least two clamping mechanisms are connected to at least two first connecting members, and at least one clamping mechanism is movably disposed in the accommodation space, So that the at least one clamping mechanism can be moved relative to the at least one first connecting member, the at least two clamping mechanisms respectively pass through the at least two clamping openings on the circuit board, and are moved away from or close to each other under the driving of the driving mechanism, Thereby, the circuit board is tensioned or clamped to grasp the circuit board.

In order to solve the above technical problem, the present application further provides a clamping device for clamping a circuit board, and the clamping device is the clamping device described above.

The beneficial effect of this application is that, different from the situation of the prior art, the robot provided by this application includes a robot body and a gripping device. The gripping device is installed on the robot body and is used to grip the circuit board. The gripping device includes a driving mechanism and At least two clamping mechanisms, the driving mechanism includes a driving member and at least two first connecting members, at least one of the first connecting members is provided with an accommodation space, and at least one clamping mechanism is movably disposed in the accommodation space to The at least one clamping mechanism can be moved relative to the at least one first connecting member, and the at least two clamping mechanisms respectively pass through at least two clamping openings on the circuit board. The way of taking the circuit board can not only prevent the clamping mechanism from interfering with the components on the circuit board, so as to more effectively clamp the circuit board, but also adjust the spacing of the clamping mechanism to clamp the circuit boards of different specifications, thereby increasing The versatility of the robot and the gripping device is improved.

 [Brief Description of the Drawings]

FIG. 1 is a schematic structural diagram of a robot embodiment provided by the present application;

2 is a schematic structural diagram of a clamping device in FIG. 1;

3 is a schematic cross-sectional view of the clamping device in FIG. 2;

4 is a schematic structural diagram of a first connecting member in FIG. 3;

5 is a schematic structural diagram of another embodiment of the clamping device in FIG. 1;

6 is a schematic cross-sectional view of the clamping device in FIG. 5;

7 is a schematic structural diagram of an adjustment mechanism in FIG. 5;

FIG. 8 is a partial schematic view of the second scale line aligned with the first scale line in FIG. 7.

【detailed description】

In order to explain the technical solutions in the embodiments of the present application more clearly, the drawings used in the description of the embodiments are briefly introduced below. Obviously, the drawings in the following description are just some embodiments of the application. For those of ordinary skill in the art, other drawings can be obtained based on these drawings without paying creative labor.

Referring to FIG. 1, FIG. 1 is a schematic structural diagram of a robot embodiment provided by the present application. The robot 10 of this embodiment includes a robot body 11 and a gripping device 12. The gripping device 12 is mounted on the robot body 11.

The robot body 11 includes a support portion 111, a mounting portion 112, and at least one arm portion 113. Both ends of the at least one arm portion 113 are respectively connected to the support portion 111 and the mounting portion 112. In this embodiment, the mounting portion 112 is opposite to the support. The distance and angle of the portion 111 can be adjusted by at least one arm portion 112.

In this embodiment, the gripping device 12 is mounted on an end of the mounting portion 112 away from the at least one arm portion 113, so that the distance and angle of the gripping device 12 relative to the support portion 111 can be adjusted, thereby facilitating the gripping device 12 to grip. .

In this embodiment, the number of the arm portions 113 is three as an example, and the three arm portions 113 are movably connected.

Optionally, the robot body 11 is a robot arm.

The robot 10 of this embodiment can be applied to industrial production, for example, it can realize automatic gripping of circuit boards to improve production efficiency and reduce labor costs.

Referring to FIG. 2, FIG. 2 is a schematic structural diagram of the gripping device 12 in FIG. 1.

The clamping device 12 is used for clamping the circuit board 101. The circuit board 101 is provided with at least two clamping openings 1011, and components 1012 are also soldered.

In this embodiment, the gripping opening 1011 may be a through hole or a notch, and the shape may be a regular shape such as a circle, a square, a semicircle, or other irregular shapes, which is not limited herein.

Referring to FIG. 2 and FIG. 3 together, FIG. 3 is a schematic cross-sectional view of the clamping device 12 in FIG. 2.

The gripping device 12 includes a driving mechanism 121 and at least two gripping mechanisms 122.

The driving mechanism 121 includes a driving member 1211 and at least two first connecting members 1212. At least two first connecting members 1212 are connected to the driving member 1211. At least two clamping mechanisms 122 are connected to at least two first connecting members 1212. At least two clamping mechanisms 122 are respectively used to pass through at least two clamping openings 1011 on the circuit board 101, and are driven away from or close to each other under the driving of the driving mechanism 121, so as to tension or clamp the circuit board 101 to clamp Take the circuit board 101. In this embodiment, the number of the first connecting members 1212 and the clamping mechanism 122 are two as an example.

Optionally, the driving member 1211 is a pneumatic gripper or an electric gripper.

3 and FIG. 4 together, FIG. 4 is a schematic structural diagram of the first connecting member 1212 in FIG. 3.

Wherein, at least one first connecting member 1212 is provided with an accommodating space 12121, and at least one clamping mechanism 122 is movably disposed in the accommodating space 12121, so that the at least one clamping mechanism 122 can be connected to the at least one first connection The piece 1212 moves, so that the spacing of the clamping mechanism 122 can be easily adjusted to clamp circuit boards 101 of different specifications, thereby increasing the versatility of the clamping device 12 and the robot 10. In this embodiment, two first connecting pieces are used. 1212 is provided with an accommodation groove 12121 as an example.

Optionally, at least one first connecting member is further provided with a fastening portion 12122. In this embodiment, it is exemplified that two first connecting members 1212 are provided with a fastening portion 12122 as an example.

Optionally, the fastening portion 12122 is a chute extending along the driving direction of the driving member 1211. In other embodiments, the fastening portion 12122 may also be a plurality of ports arranged along the driving direction of the driving member 1211, which is not described here. limit.

Optionally, at least one first connecting member 1212 is further provided with a first scale line 12123. In this embodiment, the two first connecting members 1212 are provided with a first scale line 12123 as an example.

Optionally, the driving mechanism 121 further includes at least two second connecting members 1213. The at least two second connecting members 1213 are connected to the at least two first connecting members 1212, and are connected to the driving member 1211. At least two first connecting members 1212 are driven away from or close to each other under the driving. In this embodiment, the number of the second connecting members 1213 is two as an example.

Optionally, the clamping mechanism 122 includes a third connecting member 1221 and a clamping member 1222. The third connecting member 1221 is movably disposed in the accommodation groove 12121, and the clamping member 1222 is connected to the third connecting member 1221. Partly exposed on the side of the third connecting member 1221 away from the driving member 1211 to pass through the clamping opening 1011 on the circuit board 101, so as to tension or clamp the circuit board 101 and clamp the circuit board under the driving of the driving mechanism 121 101.

Optionally, the clamping member 1222 has a needle-like structure, and of course, it may have other structures, which is not limited herein.

In this embodiment, the driving mechanism 121 drives the two clamping mechanisms 122 to be respectively aligned with the two clamping openings 1011 on the circuit board 101, so that the two clamping mechanisms 122 can pass through the two clamping openings 1011, respectively, and After passing through the two gripping openings 1011, the driving mechanism 121 drives the two gripping mechanisms 122 away from or close to each other, thereby tensioning or clamping the circuit board 101 to grip the circuit board 101.

In this embodiment, the driving mechanism 121 is further configured to drive the two clamping mechanisms 122 to approach or move away from each other in a direction opposite to that in which the circuit board 101 is tensioned or clamped, so as to loosen to place the circuit board 101.

Understandably, when the driving mechanism 121 drives the two clamping mechanisms 122 away from each other to tension the circuit board 101 and clamp the circuit board 101, the driving mechanism 121 is further configured to drive the two clamping mechanisms 122 closer to each other to release the circuit. Board 101, when the driving mechanism 121 drives the two clamping mechanisms 122 close to each other to clamp the circuit board 101 and clamp the circuit board 101, the driving mechanism 121 is further used to drive the two clamping mechanisms 122 away from each other to release the circuit board 101, thereby placing the circuit board 101.

Optionally, the length of the clamping mechanism 122 is greater than the height of the component 1012, so as to prevent the driving mechanism 121 from colliding with the component 1012 and the like from being damaged when the circuit board 101 is clamped or placed.

Further, the gripping device 12 further includes a detector 123, configured to detect the relative positions of the two gripping mechanisms 122 to obtain a first detection result, so that the driving mechanism 121 drives the two grippers according to the first detection result. The mechanisms 122 move away from or approach each other, thereby tensioning or clamping the circuit board 101 to grip the circuit board 101.

For example, for a certain type of circuit board 101, if two specific clamping openings 1011 are selected to clamp the circuit board 101, the diameter and the distance between the two clamping openings 1011 are determined. These data are used as initial parameters, and combined with parameters such as the diameter of the clamping member 1222 and the installation position of the detector 123, the motion trajectories of the two clamping mechanisms 122 can be debugged, that is, the two clamping mechanisms 122 are driven by the driving mechanism 121 When the distance between them is the first distance, the two clamping mechanisms 122 can pass through the two clamping openings 1011 respectively, and when the driving mechanism 121 drives the distance between the two clamping mechanisms 122 as the second distance, the two The clamping mechanisms 122 can tension or clamp the circuit board 101 to clamp the circuit board 101. The increment between the first distance and the second distance is the driving mechanism 121 driving the two clamping mechanisms 122 away from each other. Or close distance, after the debugging is completed, the driving mechanism 121 can drive the two driving clamping mechanisms 122 through the two gripping openings 1011 and 1011 respectively according to the comparison between the first detection result and the first distance and the second distance. Tensioning or clamping the circuit board 10 1 to clamp the circuit board 101 so as to realize automatic clamping.

The detector 123 is further configured to detect the positions of the two gripping mechanisms 122 with respect to the circuit board 101 to obtain a second detection result, so that the robot body 11 drives the gripping device 12 to approach the circuit board 101 according to the second detection result, so that the two The two clamping mechanisms 122 can pass through the two clamping openings 1011.

Optionally, the detector 123 is a distance sensor. In this embodiment, the detector 123 is disposed on the driving mechanism 121 as an example. The detector 123 can perform real-time detection during the clamping of the circuit board 101 by the clamping device 12.

Referring to FIG. 5, FIG. 5 is a schematic structural diagram of another embodiment of the gripping device 12 in FIG. 1. The gripping device 12 of this embodiment further includes an adjustment mechanism 124.

In this embodiment, the adjusting mechanism 124 is disposed between at least two clamping mechanisms 122, and is used to adjust the distance between the clamping mechanisms 122 to clamp circuit boards 101 of different specifications, so that the clamping device 12 and the robot 10 are versatile. .

6 to FIG. 7 together, FIG. 6 is a schematic cross-sectional view of the clamping device 12 in FIG. 5, and FIG. 7 is a structural schematic view of the adjustment mechanism 124 in FIG. 5.

The adjusting mechanism 124 is configured to adjust the distance between the at least two clamping mechanisms 122 according to the distance between the at least two clamping openings 1011, so that the at least two clamping mechanisms 122 can pass through the at least two clamping openings 1011, respectively. Therefore, after the at least two clamping mechanisms 122 pass through the at least two clamping openings 1011, respectively, the driving mechanism 121 drives the at least two clamping mechanisms 122 away from or close to each other, and then tensions or clamps the circuit board 101 to clamp. Circuit board 101.

The adjusting mechanism 124 includes an adjusting screw 1241 and at least one sliding member 1242. The at least one sliding member 1242 is accommodated in the accommodating space 12121. The adjusting screw 1241 includes a screw portion 12411. The screw portion 12411 is inserted in the at least one sliding member 1242 and At least one clamping mechanism 122 is disposed in mesh with at least one sliding member 1242. When the adjusting screw 1241 rotates, the at least one sliding member 1242 moves along the adjusting screw 1241 relative to the at least one first connecting member 1212. The at least one clamping mechanism 122 may be Abutting on at least one slider 1242 to adjust the distance between the at least two clamping mechanisms 122.

In this embodiment, the number of the screw portion 12411 and the number of the slide members 1242 are two as an example.

Optionally, the adjusting screw 1241 further includes an adjusting portion 12412. The two screw portions 12411 and the adjusting portion 12412 are integrated structures, and are respectively disposed on both sides of the adjusting portion 12412. The two screw portions 12411 are respectively processed with opposite rotation directions. Male thread (not shown), the two sliding members 1242 are machined with screw holes (not shown) corresponding to the direction of rotation of the external thread, so that when the adjusting screw 1241 rotates, the two sliding members 1242 are respectively along two The two screw portions 12411 are far from or close to each other with respect to the two first connecting members 1212. In this embodiment, after adjusting the distance between the two sliding members 1242, the two clamping mechanisms 122 abut against the two sliding members, respectively. 1242, so as to adjust the distance between the two clamping mechanisms 122 by the distance between the two sliding members 1242.

Optionally, the two sliding members 1242 are further used for the driving mechanism 121 to drive the two clamping mechanisms 122, and to stop the two clamping mechanisms when approaching or distancing from each other in a direction opposite to the tension or clamping of the circuit board 101 122.

Optionally, the two clamping mechanisms 122 are disposed on the inner side or the outer side of the two sliding members 1242 relative to the adjusting portion 12412.

Optionally, the adjustment mechanism 124 further includes a force receiving element 1243, and the force receiving element 1243 is connected to the adjustment screw 1241 for receiving an external force to cause the adjustment screw 1241 to rotate.

In this embodiment, the force receiving member 1243 is a screw and is disposed on the adjusting portion 12412. Of course, a knurling may be provided on the adjusting portion 12412 instead of the screw, which is not limited herein.

Optionally, the adjustment screw 1241 is further provided with a second scale line 12413. In this embodiment, the second scale line 12413 is provided on the adjustment portion 12412 as an example. The rotation of the adjustment screw 1241 to the second scale line 12413 is the longest. When that scale line is aligned with the position of the first scale line 12123, as shown in FIG. 8, the distance between at least two clamping mechanisms 122 is read.

Further, the clamping mechanism 12 further includes a fastener 125. The fastener 125 is used to fasten the clamping mechanism 122 and the first connecting member 1212 after the adjustment by the adjustment mechanism 124 is completed.

In this embodiment, the two clamping mechanisms 122 are respectively disposed on the outer sides of the two sliding members 1242 relative to the adjustment portion 12412, and the adjustment by the adjustment mechanism 124 is completed, and the two fasteners 125 are fastened and connected through the fastening portions 12122 respectively After the third connecting member 1221 and the first connecting member 1212, the two clamping members 1222 pass through the two clamping openings 1012 on the circuit board 101, and then, the driving member 1211 drives the first connection through the second connecting member 1213. The pieces 1212 are separated from each other, and the third connecting pieces 1221 are driven away from each other, so that the clamping member 1222 tensions the circuit board 101 to clamp the circuit board 101.

Further, the driving member 1211 drives the first connecting member 1212 to approach each other through the second connecting member 1213, and further drives the third connecting member 1221 to approach each other, and stops approaching under the stop of the sliding member 1242. At this time, the two clamps The distance between the pieces 1222 is the distance that the adjustment mechanism 124 starts to adjust, so that the two clamping pieces 1222 can be loosened and the circuit board 101 can be placed.

Different from the situation in the prior art, the robot provided in the present application includes a robot body and a gripping device. The gripping device is installed on the robot body and is used to grip the circuit board. The gripping device includes a driving mechanism and at least two clamping mechanisms. The driving mechanism includes a driving member and at least two first connecting members, at least one of the first connecting members is provided with an accommodation space, and at least one clamping mechanism is movably disposed in the accommodation space, so that the at least one clamping mechanism can be Relative to the movement of at least one first connecting member, at least two clamping mechanisms pass through at least two clamping openings, respectively. By way of this clamping mechanism passing through the clamping openings to clamp the circuit board, clamping can not only be avoided. The mechanism interferes with the components on the circuit board, so that the circuit board can be clamped more effectively, and the spacing of the clamping mechanism can be adjusted to clamp circuit boards of different specifications, thereby increasing the versatility of the robot and the clamping device.

The above description is only part of the embodiments of the present application, and therefore does not limit the scope of protection of the present application. Any equivalent device or equivalent process transformation made by using the description and drawings of the present application, or directly or indirectly used in other related The technical fields are equally included in the patent protection scope of this application.

Claims (14)

A robot, wherein the robot includes: The robot body includes a support portion, a mounting portion, and at least one arm portion, and two ends of the at least one arm portion are respectively connected to the support portion and the mounting portion; A clamping device is mounted on the mounting portion and is used for clamping a circuit board. The clamping device includes a driving mechanism and at least two clamping mechanisms, and the driving mechanism includes a driving member and at least two first connecting members. The at least two first connecting members are connected to the driving member, and at least one of the first connecting members is provided with an accommodation space, and the at least two clamping mechanisms are connected to the at least two first connecting members. And at least one of the clamping mechanisms is movably disposed in the accommodating space, so that at least one of the clamping mechanisms can move relative to at least one of the first connecting members, and the at least two clamping mechanisms The mechanisms respectively pass through at least two gripping openings on the circuit board, and are driven away from or close to each other under the driving of the driving mechanism, thereby tensioning or clamping the circuit board to clamp the circuit board. The robot according to claim 1, wherein the gripping device further comprises an adjustment mechanism disposed between the at least two gripping mechanisms for adjusting The distance between the at least two gripping mechanisms is adjusted so that the at least two gripping mechanisms can pass through the at least two gripping openings, respectively. The robot according to claim 2, wherein the adjustment mechanism includes an adjustment screw and at least one slider, and the at least one slider is accommodated in the accommodation space, the adjustment screw includes a screw portion, and A screw portion is threaded through the at least one sliding member and the at least one clamping mechanism, and is engaged with the at least one sliding member. When the adjusting screw rotates, the at least one sliding member is opposed along the adjusting screw. As the at least one first connecting member moves, at least one of the clamping mechanisms may abut against the at least one sliding member to adjust a distance between the at least two clamping mechanisms. The robot according to claim 3, wherein the adjusting screw further comprises an adjusting portion, at least one of the first connecting members is provided with a first scale line, and the adjusting portion is connected to the at least one screw portion and provided with There is a second scale line, and when the adjusting screw is rotated to a position where the second scale line is aligned with the first scale line, the distance between the at least two clamping mechanisms is read. The robot according to claim 4, wherein the adjustment mechanism further comprises a force receiving member, the force receiving member is provided on the adjustment portion, and the force receiving member is used for receiving an external force to cause the adjustment screw to rotate . The robot according to claim 1, wherein the driving mechanism is further configured to drive the at least two clamping mechanisms to approach or move away from each other in a direction opposite to tensioning or clamping the circuit board, thereby loosening Open to place the circuit board. The robot according to claim 3, wherein the slider is further configured to drive the at least two clamping mechanisms in the driving mechanism to approach each other in a direction opposite to tensioning or clamping the circuit board Or when it is away, stop the at least one clamping mechanism. The robot according to claim 2, wherein the gripping device further comprises a fastener for fasteningly connecting the clamping mechanism and the first portion after the adjustment mechanism is adjusted. A connector. The robot according to claim 8, wherein the driving mechanism further comprises at least two second connectors, the at least two second connectors are connected to the at least two first connectors, and are connected to the at least two first connectors The driving member is connected to drive the at least two first connecting members away from or close to each other under the driving of the driving member. The robot according to claim 8, wherein the clamping mechanism comprises a third connecting member and a clamping member, and the third connecting member is movably disposed in the accommodation groove, and the clamping member and The third connecting member is connected, and is at least partially exposed on a side of the third connecting member remote from the driving member. The robot according to claim 10, wherein at least one of the first connecting members is provided with a fastening portion, and the fastener is used to fasten and connect at least one of the clamping mechanism and at least one of the clamps through the fastening portion. Mentioned first connection. The robot according to claim 11, wherein the fastening portion is a chute extending in a moving direction of the at least one clamping mechanism. The robot according to claim 12, wherein components are provided on the circuit board, and a length of the clamping mechanism is greater than a height of the components. A gripping device for gripping a circuit board, wherein the gripping device is a gripping device according to any one of claims 1-13.