Design And Research Of Printed Circuit Board Grabbing Manipulator

The automatic production of printed circuit board can help to improve the production efficiency and reduce the rejection rate.It has important practical significance for realizing automatic production and improving product quality.In this paper,the automatic production transformation of printed circuit board(PCB)production line of a company in Qingdao is carried out in order to replace of the four workstations of dividing,inspection,packing and labeling of PCB,especially the research and design of the detection workstation and the grab workstation.According to the parameters and technical requirements put forward by the company,this paper designs and studies the scheme of grasping manipulator of PCB,and then uses 3D modeling software of Pro/E to build the 3D model of the Cartesian-coordinate robot and grasping manipulator.This workstation is matched with the dividing workstation of front and the packing workstation of back in order to achieve the automatic production of PCB.The main contents of this article are as follows:Firstly,the present situation at home and abroad of grasping manipulator and handling manipulator is reviewed,and the structure and operation mode of grasping robot in industrial automation production line are analyzed.According to the technical parameters and technical requirements proposed by the company,the automated production process and production process plan of PCB are formulated.According to the two different types of PCB given by the company,the design parameters and technical requirements of the robot are presented.Secondly,this paper analyzes and compares three kinds of robot's motion plan(Cartesian-coordinate robot,cylindrical-coordinate robot,horizontal-articulated robot).The Cartesian-coordinate robot is chosen the according to the actual working conditions.The guide,screw and motor of Cartesian-coordinate robot are checked and selected,and the robot is assembled by Pro/E.Thirdly,according to the comparison of three kinds of grasping methods,such as humanoid grasping,adsorptive grasping and clamp grasping,the grasping method of flexible clamp is adopted finally,and then the flexible end finger is designed.Then,the overall design of the flexible small claws and the selection of key components such as cylinders are selected and calculated.In order to complete the grasp of two different types of PCB,the manipulator for grasping large-sized PCB and the manipulator for grasping small-sized PCB are assembled together,and interference check on the movement state of the two manipulator is made.Fourthly,the design of carrier,probe plate and test fixture in the detection device is designed.By testing the performance of printed circuit boards,it is verified that the design device is reasonable.Finally,the key parts,such as manipulator's big claw,connecting pin and integral bracket,are optimized and analyzed by ANSYS,and the equivalent stress cloud map and the deformation distribution cloud map of each component are obtained.The analysis shows that the quality of the designed scaffold is too heavy.After the optimization of the structure,the structure is reanalyzed to ensure that the design meets the requirements.