A PCB board lifting and flipping mechanism

Abstract

The present invention discloses a lifting and flipping mechanism for a PCB board, including a suction device, which is adsorbed on one side of the PCB board; a lifting and flipping mechanism, which is equipped with a horizontal flipping rod, both ends of which are connected to vertical linear modules, one end of which is connected to a servo motor, and a suction device is mounted on the flipping rod, and the flipping rod has vertical lifting freedom and rotation freedom around its own axis; an assembly line, including a streamline platform and an exposure platform respectively arranged above and below the flipping rod, and the flow directions of the streamline platform and the exposure platform are parallel and opposite; a manipulator, a manipulator with a suction device is provided in the same end direction of the streamline platform and the exposure platform. This invention combines the material picking function and the flipping function together, and is arranged just above the exposure machine platform, making full use of the vertical space, and the overall structure is compact. It is close to the exposure machine, has a small flipping action, and is highly efficient.

Description

Technical Field

[0001] The invention relates to the field of printed circuit board processing equipment, and in particular to a PCB board lifting and turning mechanism. Background Art

[0002] PCB boards are printed circuit boards. Currently, most of the PCB boards on the market are turned over manually or by single-machine equipment. First of all, manual turning takes a long time and is inefficient. In addition, there is a risk of damage to the PCB board due to misoperation, which affects production progress. Secondly, single-machine turning equipment takes up a lot of space in the workshop and has a high overall cost. Summary of the invention

[0003] The problem to be solved by the present invention is to provide a PCB lifting and flipping mechanism, which combines the material taking function and the flipping function, is arranged directly above the exposure machine platform, fully utilizes the vertical space, has a compact overall structure, is close to the exposure machine, has a small flipping action and high efficiency.

[0004] In order to solve the above problems, the present invention provides a PCB board lifting and flipping mechanism. In order to achieve the above purpose, the technical solution adopted by the present invention to solve its technical problems is:

[0005] A PCB lifting and flipping mechanism comprises: a suction device, which is adsorbed on one side of the PCB; a lifting and flipping mechanism, which is provided with a horizontal flipping rod, both ends of which are connected with vertical linear modules, one end of which is connected with a servo motor, the flipping rod is equipped with a suction device, and the flipping rod has vertical lifting freedom and rotation freedom around its own axis; an assembly line, which comprises a streamline platform and an exposure platform respectively arranged above and below the flipping rod, and the flow directions of the streamline platform and the exposure platform are parallel and opposite; a manipulator, wherein a manipulator with a suction device is provided at the same end direction of the streamline platform and the exposure platform.

[0006] The beneficial effects of adopting the above technical solution are: this technical solution saves the equipment's occupied area in the workshop, combines the material picking function and the flipping function together, and is located directly above the exposure machine platform, making full use of the Z-direction space, and the overall structure is compact. It makes full use of the equipment's own characteristics, is close to the exposure machine, has a small flipping action, and a simple structure. It makes the flipping action faster and more convenient. It solves the problem of high cost and low efficiency of manual flipping. It combines the material picking function and the flipping function into one, reduces the process, saves costs, and simplifies the equipment process.

[0007] The PCB board is circulated along the exposure platform, the suction device of the flip rod, the suction device of the robot, and the streamline platform in sequence. The lifting and flipping mechanism simplifies the movement complexity of the robot, shortens the movement path of the robot, and reduces the requirements for the robot. The lifting and flipping mechanism realizes the compound movement of lifting and tilting the PCB board, which is convenient for exposing the originally covered lower surface of the PCB board, facilitating the flipping of the PCB board, and facilitating subsequent processing.

[0008] The input end of the streamline platform is directly above the output end of the exposure platform, and the streamline platform makes full use of the space above the exposure platform. The two vertical linear modules also make room for the flipping of the PCB board.

[0009] As a further improvement of the present invention, the axis of the servo motor itself is vertical, the servo motor is fitted and fixed with a vertical linear module, the servo motor is assembled with one end of the flip rod through a gear set, and both ends of the flip rod are provided with bearings.

[0010] The beneficial effects of adopting the above technical solution are: the servo motor facilitates the control of the flip angle. The layout of the servo motor further reduces the space required in the axial direction of the flip rod, making the overall device narrower. The bearing reduces the friction resistance during flipping.

[0011] As a further improvement of the present invention, the flip rod has a plurality of T-slots, the length direction of the T-slots is parallel to the length direction of the flip rod itself, and the suction device connected to the flip rod is fixed with a first L-shaped fixing seat and a second L-shaped fixing seat that are in contact with each other, and the first L-shaped fixing seat and the second L-shaped fixing seat are respectively fixed to the T-slots on a pair of opposite surfaces of the flip rod.

[0012] The beneficial effect of adopting the above technical solution is that the T-slot and the L-shaped fixing seat facilitate the stable assembly of the flip rod and the suction device.

[0013] As a further improvement of the present invention, the vertical projections of the streamline platform and the exposure platform coincide with each other, and the suction device connected to the flip rod is located within the vertical projections of the streamline platform and the exposure platform.

[0014] The beneficial effect of adopting the above technical solution is that the vertical overlap of the flip rod, the streamline platform and the exposure platform is high, which means that the space is compact.

[0015] As a further improvement of the present invention, the flip rod is lifted and rotated synchronously, and the vertical highest limit position of the flip rod does not exceed the height of the centroid of the vertical linear module; when the flip rod moves from the lowest limit position to the highest limit position, the degree of unidirectional rotation of the flip rod itself is 45°.

[0016] The beneficial effect of adopting the above technical solution is: it shows the general action of the flip rod, which is mainly used in conjunction with the manipulator to reduce the ineffective actions of both parties and make each flow action faster and more stable.

[0017] As a further improvement of the present invention, the streamline platform includes two roller groups arranged in parallel, the two roller groups are at the same horizontal height, and each roller group has a plurality of roller elements arranged at intervals.

[0018] The beneficial effect of adopting the above technical solution is that in some cases, the streamlined platform can circulate two groups of PCB boards at the same time with high efficiency.

[0019] As a further improvement of the present invention, the suction device includes a suction cup assembly arm and a suction cup mechanism; the suction cup assembly arm includes a fixed arm and a movable arm arranged in parallel, and a fixed plate and a slide seat are movably connected between the fixed arm and the movable arm; the suction cup mechanism includes an auxiliary suction cup fixed on the fixed plate and the slide seat; the fixed arm and the movable arm are each provided with a side suction cup group at both ends, and a middle suction cup group is located between the side suction cup groups at both ends, the auxiliary suction cup, the side suction cup group and the middle suction cup group are all oriented in the same direction and their suction cup openings coincide with the same spatial plane; the movable arm has a linear translational degree of freedom perpendicular to its own length direction; the middle suction cup groups of the fixed arm and the movable arm are the same air path, and the side suction cup groups of the fixed arm and the movable arm are another air path.

[0020] The beneficial effects of adopting the above technical solution are: the technical solution realizes the adsorption and turnover of PCB boards, replaces manual labor, saves production time, and ensures the quality of PCB boards. Only by adjusting the distance between the fixed arm and the movable arm, it can adapt to PCB boards of different sizes. The applicability of PCB boards is wider. When the area of ​​two small-sized PCB boards is approximately equal to that of a large-sized PCB board, the technical solution can also adsorb two small-sized PCB boards at the same time, which is equivalent to doubling the adsorption turnover efficiency, and also shows that the technical solution has abundant modification space. When the area of ​​the adsorbed PCB board is small, it is only necessary to let the middle suction cup group contact and adsorb the PCB board. When the area of ​​the adsorbed PCB board is large, let the middle suction cup group and the side suction cup group contact and adsorb the PCB board. The technical solution can control the work and no work of the suction cup, and has a high utilization rate of negative pressure energy. At the same time, the auxiliary suction cup is located in the middle of the PCB board, which plays a role in auxiliary adsorption, increases the contact points, and ensures that the local forces on the PCB board are not too different when the PCB board is adsorbed by the suction cup, thereby ensuring the straightness of the PCB board.

[0021] As a further improvement of the present invention, the fixed arm is assembled with the fixed plate, the movable arm is assembled with the sliding seat, the sliding seat and the fixed plate are assembled through two parallel linear guide rails, a linear module is arranged in parallel between the two linear guide rails, and the linear module includes a screw driven by a rotating motor; the movable arm is provided with a hollow hole for the linear module and the linear guide rail to pass through; a fixed seat in contact with the flip rod or the manipulator is fixed on the fixed plate.

[0022] The beneficial effects of adopting the above technical solution are: the linear guide rail and the slide seat can provide the limit and guidance of the linear reciprocating motion. The linear drive mode of the linear module makes the overall motion stable and controllable. The hollow hole is convenient for the linear module and the linear guide rail to pass through to avoid interference. The fixed seat is convenient for assembly with external manipulators and other equipment.

[0023] As a further improvement of the present invention, a control valve for distinguishing air paths is provided on the fixed plate; a sensor is provided on the movable arm, and the orientation of the sensor is the same as that of the middle suction cup group.

[0024] The beneficial effects of adopting the above technical solution are: the control valve facilitates the connection of the soft air pipe and the synchronization of different suction cups. It solves the problem of manual debugging when switching between large and small PCB boards, and automatically recognizes large and small PCB boards through the automatic edge finding of the sensor, and automatically adjusts the spacing of the mechanism to adapt to the current specifications.

[0025] As a further improvement of the present invention, the suction cup mechanism contacts one side of the PCB board, and the auxiliary suction cup and the middle suction cup group are in the same air path; the auxiliary suction cup includes a plurality of suction cup elements in a rectangular array, and the side suction cup group and the middle suction cup group each have a plurality of suction cup elements, and the number of suction cup elements included in the side suction cup group is less than the number of suction cup elements included in the middle suction cup group.

[0026] The beneficial effect of adopting the above technical solution is that the auxiliary suction cup and the middle suction cup group can act synchronously at the same time because they are relatively centrally located. The suction cup group is composed of small suction cup elements, which has better reliability and high freedom of arrangement of the suction cups. The side suction cup group and the middle suction cup group mainly adsorb the vicinity of a pair of parallel opposite sides of the PCB board. BRIEF DESCRIPTION OF THE DRAWINGS

[0027] In order to more clearly illustrate the embodiments of the present invention or the technical solutions in the prior art, the drawings required for use in the embodiments or the description of the prior art will be briefly introduced below. Obviously, the drawings described below are only some embodiments of the present invention. For ordinary technicians in this field, other drawings can be obtained based on these drawings without paying creative work.

[0028] Figure 1 is a perspective view of an embodiment of the present invention;

[0029] Figure 2 is a perspective view of an embodiment of the present invention;

[0030] Figure 3 is a three-dimensional diagram of a lifting and flipping mechanism according to an embodiment of the present invention;

[0031] Figure 4 is a perspective view of a suction device according to an embodiment of the present invention;

[0032] Figure 5 is a perspective view of a suction device according to an embodiment of the present invention;

[0033] Figure 6 It is a partial enlarged view of A of a suction device according to an embodiment of the present invention;

[0034] Figure 7 is a perspective view of a suction device according to an embodiment of the present invention;

[0035] Figure 8 is a perspective view of a suction device according to an embodiment of the present invention;

[0036] Fig. 9 It is a three-dimensional view of a suction device according to an embodiment of the present invention.

[0037] 1-first PCB board; 2-second PCB board; 3-rotating motor; 4-control valve; 5-screw; 6-fixed plate; 7-linear guide rail; 8-slide; 9-fixed seat; 10-fixed arm; 11-movable arm; 11a-hollow hole; 12-auxiliary suction cup; 13-sensor; 14-middle suction cup group; 15-side suction cup group; 16-vertical linear module; 17-flip rod; 17a-T-slot; 18-streamline platform; 18a-roller group; 19-exposure platform; 20-manipulator; 21-first L-shaped fixed seat; 22-second L-shaped fixed seat; 23-bearing; 24-servo motor; 25-gear group. DETAILED DESCRIPTION

[0038] The present invention is further described in detail below in conjunction with specific embodiments:

[0039] In order to achieve the purpose of the present invention, a PCB board lifting and flipping mechanism includes: a suction device, which is adsorbed on one side of the PCB board; a lifting and flipping mechanism, which has a horizontal flip rod 17, both ends of the flip rod 17 are connected to vertical linear modules 16, one end of the flip rod 17 is connected to a servo motor 24, the flip rod 17 is equipped with a suction device, and the flip rod 17 has vertical lifting freedom and rotation freedom around its own axis; an assembly line, including a streamline platform 18 and an exposure platform 19 respectively arranged above and below the flip rod 17, and the flow directions of the streamline platform 18 and the exposure platform 19 are parallel and opposite; a manipulator 20, a manipulator 20 with a suction device is provided in the same end direction of the streamline platform 18 and the exposure platform 19.

[0040] The beneficial effects of adopting the above technical scheme are: this technical scheme saves the occupied area of ​​the equipment in the workshop, combines the material picking function and the flipping function together, and is arranged directly above the exposure machine platform, making full use of the space in the Z direction, and the overall structure is compact. Make full use of the characteristics of the equipment itself, close to the exposure machine, small flipping action, and simple structure. Make the flipping action faster and more convenient. Solve the problem of high cost and low efficiency of manual flipping. Combine the material picking function and the flipping function into one, reduce the process, save costs, and simplify the equipment process. The PCB board is circulated along the exposure platform, the suction device of the flip rod, the suction device of the manipulator, and the streamline platform in turn. The lifting and flipping mechanism simplifies the movement complexity of the manipulator, shortens the movement path of the manipulator, and reduces the requirements for the manipulator. The lifting and flipping mechanism realizes the compound movement of lifting and tilting the PCB board, which is convenient for exposing the originally covered lower surface of the PCB board, facilitating the flipping of the PCB board, and facilitating subsequent processing. The input end of the streamline platform is directly above the output end of the exposure platform, and the streamline platform fully utilizes the space above the exposure platform. The two vertical linear modules also make room for the flipping of the PCB board.

[0041] In some other embodiments of the present invention, the axis of the servo motor 24 is vertical, the servo motor 24 is fixed to a vertical linear module 16, the servo motor 24 is assembled to one end of the flip rod 17 through a gear set 25, and the two ends of the flip rod 17 are provided with bearings 23.

[0042] The beneficial effects of adopting the above technical solution are: the servo motor facilitates the control of the flip angle. The layout of the servo motor further reduces the space required in the axial direction of the flip rod, making the overall device narrower. The bearing reduces the friction resistance during flipping.

[0043] In some other embodiments of the present invention, the flip rod 17 has a plurality of T-slots 17a, the length direction of the T-slots 17a is parallel to the length direction of the flip rod 17 itself, and the suction device connected to the flip rod 17 is fixed with a first L-shaped fixing seat 21 and a second L-shaped fixing seat 22 that are in contact with each other, and the first L-shaped fixing seat 21 and the second L-shaped fixing seat 22 are respectively fixed to the T-slots 17a on a pair of opposite surfaces of the flip rod 17.

[0044] The beneficial effect of adopting the above technical solution is that the T-slot and the L-shaped fixing seat facilitate the stable assembly of the flip rod and the suction device.

[0045] In some other embodiments of the present invention, the vertical projections of the streamline platform 18 and the exposure platform 19 coincide with each other, and the suction device connected to the flip rod 17 is located within the vertical projections of the streamline platform 18 and the exposure platform 19.

[0046] The beneficial effect of adopting the above technical solution is that the vertical overlap of the flip rod, the streamline platform and the exposure platform is high, which means that the space is compact.

[0047] In some other embodiments of the present invention, the flip rod 17 is lifted and rotated synchronously, and the vertical highest limit position of the flip rod 17 does not exceed the height of the centroid of the vertical linear module 16; when the flip rod 17 moves from the lowest limit position to the highest limit position, the degree of unidirectional rotation of the flip rod 17 itself is 45°.

[0048] The beneficial effect of adopting the above technical solution is: it shows the general action of the flip rod, which is mainly used in conjunction with the manipulator to reduce the ineffective actions of both parties and make each flow action faster and more stable.

[0049] In some other embodiments of the present invention, the streamline platform 18 includes two roller groups 18a arranged in parallel, the two roller groups 18a are at the same level, and each roller group 18a has a plurality of roller elements arranged at intervals.

[0050] The beneficial effect of adopting the above technical solution is that in some cases, the streamlined platform can circulate two groups of PCB boards at the same time with high efficiency.

[0051] In some other embodiments of the present invention, the suction device includes: a suction cup assembly arm, including a fixed arm 10 and a movable arm 11 arranged in parallel, and a fixed plate 6 and a slide 8 are movably connected between the fixed arm 10 and the movable arm 11; a suction cup mechanism, including an auxiliary suction cup 12 fixed on the fixed plate 6 and the slide 8; the fixed arm 10 and the movable arm 11 are each provided with a side suction cup group 15 at both ends, and a middle suction cup group 14 is between the side suction cup groups 15 at both ends, and the auxiliary suction cup 12, the side suction cup group 15, and the middle suction cup group 14 are oriented in the same direction and their suction cup openings coincide with the same spatial plane; the movable arm 11 has a linear translational degree of freedom perpendicular to its own length direction; the middle suction cup group 14 of the fixed arm 10 and the movable arm 11 are the same air path, and the side suction cup group 15 of the fixed arm 10 and the movable arm 11 are another air path.

[0052] The beneficial effects of adopting the above technical solution are: the technical solution realizes the adsorption and turnover of PCB boards, replaces manual labor, saves production time, and ensures the quality of PCB boards. Only by adjusting the distance between the fixed arm and the movable arm, it can adapt to PCB boards of different sizes. The applicability of PCB boards is wider. When the area of ​​two small-sized PCB boards is approximately equal to that of a large-sized PCB board, the technical solution can also adsorb two small-sized PCB boards at the same time, which is equivalent to doubling the adsorption turnover efficiency, and also shows that the technical solution has abundant modification space. When the area of ​​the adsorbed PCB board is small, it is only necessary to let the middle suction cup group contact and adsorb the PCB board. When the area of ​​the adsorbed PCB board is large, let the middle suction cup group and the side suction cup group contact and adsorb the PCB board. The technical solution can control the work and no work of the suction cup, and has a high utilization rate of negative pressure energy. At the same time, the auxiliary suction cup is located in the middle of the PCB board, which plays a role in auxiliary adsorption, increases the contact points, and ensures that the local forces on the PCB board are not too different when the PCB board is adsorbed by the suction cup, thereby ensuring the straightness of the PCB board.

[0053] In other embodiments of the present invention, the fixed arm 10 is assembled with the fixed plate 6, the movable arm 11 is assembled with the slide 8, the slide 8 and the fixed plate 6 are assembled through two parallel linear guides 7, and a linear module is arranged in parallel between the two linear guides 7, and the linear module includes a screw 5 driven by a rotating motor 3.

[0054] The beneficial effects of adopting the above technical solution are: the linear guide rail and the slide seat can provide the limit and guidance of the linear reciprocating motion. The linear drive mode of the linear module makes the overall motion stable and controllable.

[0055] In some other embodiments of the present invention, the movable arm 11 is provided with a hollow hole 11 a for the linear module and the linear guide rail 7 to pass through.

[0056] The beneficial effect of adopting the above technical solution is that the hollow hole facilitates the linear module and the linear guide rail to pass through and avoids interference.

[0057] In other embodiments of the present invention, Figure 1 As shown, there are two suction devices. A fixing seat 9 that contacts with a turning rod 17 or a manipulator 20 is fixed on the fixing plate 6.

[0058] The beneficial effect of adopting the above technical solution is that the fixing seat is convenient for assembly with external manipulators and other equipment.

[0059] In some other embodiments of the present invention, a control valve 4 for distinguishing gas paths is provided on the fixing plate 6 .

[0060] The beneficial effects of adopting the above technical solution are: the control valve facilitates the connection of the soft air pipe and facilitates the control of the synchronization of different suction cups.

[0061] In some other embodiments of the present invention, a sensor 13 is provided on the movable arm 11 , and the orientation of the sensor 13 is the same as that of the middle suction cup group 14 .

[0062] The beneficial effects of adopting the above technical solution are: solving the problem of manual debugging when switching between large and small PCB boards, automatically identifying large and small PCB boards through automatic edge finding by sensors, and automatically adjusting the mechanism spacing to adapt to the current specifications.

[0063] In some other embodiments of the present invention, the suction cup mechanism contacts one side of the PCB board, and the auxiliary suction cup 12 and the middle suction cup 14 form a same air path.

[0064] The beneficial effect of adopting the above technical solution is that the auxiliary suction cup and the middle suction cup group can move synchronously at the same time because they are relatively centrally located.

[0065] In some other embodiments of the present invention, the auxiliary suction cup 12 includes a plurality of suction cup elements in a rectangular array, and the side suction cup group 15 and the middle suction cup group 14 each have a plurality of suction cup elements, and the number of suction cup elements included in the side suction cup group 15 is less than the number of suction cup elements included in the middle suction cup group 14.

[0066] The beneficial effect of adopting the above technical solution is: using small suction cup elements to form a suction cup group has better reliability and a high degree of freedom in the arrangement of the suction cups.

[0067] In other embodiments of the present invention, the suction cup elements of the side suction cup group 15 and the middle suction cup group 14 on the fixed arm 10 are arranged in a single row, and the suction cup elements of the side suction cup group 15 and the middle suction cup group 14 on the movable arm 11 are arranged in a single row.

[0068] The beneficial effect of adopting the above technical solution is that the side suction cup group and the middle suction cup group mainly adsorb the vicinity of a pair of parallel opposite sides of the PCB board.

[0069] Figure 1 compared to Figure 2 , Figure 1 A robot 20 is shown in FIG. Figure 2 compared to Figure 3 , Figure 2 The streamline platform 18 and the exposure platform 19 are shown in FIG.

[0070] in, Figure 4 and Figure 5 The distance between the fixed arm 10 and the movable arm 11 is equal. Figure 7 , Figure 8 and Fig. 9 The spacing between the middle fixed arm 10 and the movable arm 11 is equal.

[0071] According to the size, two types of PCB boards are shown in the figure, namely the first PCB board 1 and the second PCB board 2. Figure 4 and Figure 5 The PCB board is shown in FIG. Figure 1 The relatively small second PCB board 2, Figure 7 In the middle is a relatively large first PCB board 1.

[0072] The suction cup is controlled by the control valve 4. When different sizes of plates are required, the suction cups of the fixed arm 10 and the movable arm 11 can be opened and closed. Figure 4 As shown, the auxiliary suction cup 12 and the middle suction cup group 14 apply negative pressure adsorption, while the side suction cup group 15 is closed; Figure 7 As shown, the auxiliary suction cup 12, the middle suction cup group 14, and the side suction cup group 15 all apply negative pressure adsorption.

[0073] like Figure 1 As shown, the robot 20 uses a suction device to grab the PCB board and place it on the exposure platform 19. After the exposure is completed, the flip rod 17 moves downward to the exposure platform 19 under the drive of the vertical linear module 16. At this time, the suction device fixed on the flip rod 17 is used to grab the PCB board.

[0074] When the PCB board is picked up, the turning rod 17 moves upward and turns a certain angle under the drive of the vertical linear module 16, so as to facilitate the grabbing of the manipulator 20. Then the manipulator 20 grabs the PCB board and places the PCB board on the next streamline platform 18.

[0075] At this time, the surface grabbed by the suction device of the flip rod 17 is the front side of the PCB board. When the manipulator 20 grabs the PCB board and places it on the streamline platform 18, the surface on the streamline platform 18 is the back side of the PCB board. It can be seen that the conversion of the front and back sides of the PCB board is achieved with the help of this technical solution.

[0076] The above embodiments are only for illustrating the technical concept and features of the present invention, and their purpose is to enable people familiar with this technology to understand the content of the present invention and implement it. They cannot be used to limit the protection scope of the present invention. Any equivalent changes or modifications made according to the spirit of the present invention should be included in the protection scope of the present invention.

Claims

1. A PCB lifting and flipping mechanism, characterized in that: include: A suction device is attached to one side of the PCB board; The lifting and flipping mechanism comprises a horizontal flipping rod, both ends of which are connected to vertical linear modules, one end of which is connected to a servo motor, a suction device is mounted on the flipping rod, and the flipping rod has vertical lifting freedom and rotation freedom around its own axis; The assembly line comprises an assembly line platform and an exposure platform respectively arranged above and below the flip rod, wherein the assembly line platform and the exposure platform have parallel and opposite flow directions; A manipulator, wherein a manipulator with a suction device is provided at the same end direction of the streamline platform and the exposure platform; The vertical projections of the streamline platform and the exposure platform coincide with each other, and the suction device connected to the flip rod is located within the vertical projections of the streamline platform and the exposure platform; The vertical highest limit position of the flip rod does not exceed the height of the centroid of the vertical linear module; when the flip rod moves from the lowest limit position to the highest limit position, the degree of unidirectional rotation of the flip rod itself is 45°.

2. The PCB lifting and flipping mechanism according to claim 1 is characterized in that: The axis of the servo motor itself is vertical. The servo motor is fitted and fixed with a vertical linear module. The servo motor is assembled with one end of a flip rod through a gear set. Both ends of the flip rod are provided with bearings.

3. The PCB lifting and flipping mechanism according to claim 1 is characterized in that: The flip rod has a plurality of T-slots, the length direction of the T-slots is parallel to the length direction of the flip rod itself, and the suction device connected to the flip rod is fixed with a first L-shaped fixing seat and a second L-shaped fixing seat that are in contact with each other, and the first L-shaped fixing seat and the second L-shaped fixing seat are respectively fixed to the T-slots on a pair of opposite surfaces of the flip rod.

4. The PCB lifting and flipping mechanism according to claim 1 is characterized in that: The streamline platform comprises two roller groups arranged in parallel, the two roller groups are at the same level, and each roller group is provided with a plurality of roller elements arranged at intervals.

5. The PCB lifting and flipping mechanism according to claim 1 is characterized in that: The suction device comprises a suction cup assembly arm and a suction cup mechanism; The suction cup assembly arm comprises a fixed arm and a movable arm arranged in parallel, wherein a fixed plate and a sliding seat are movably connected between the fixed arm and the movable arm; The suction cup mechanism includes an auxiliary suction cup fixed on a fixed plate and a sliding seat; the fixed arm and the movable arm are provided with side suction cup groups at both ends, and a middle suction cup group is provided between the side suction cup groups at both ends; the auxiliary suction cup, the side suction cup group, and the middle suction cup group are all oriented in the same direction and their suction cup openings overlap in the same spatial plane; The movable arm has a linear translational freedom perpendicular to its own length direction; the middle suction cup group of the fixed arm and the movable arm is in the same air path, and the side suction cup group of the fixed arm and the movable arm is in another air path.

6. The PCB lifting and flipping mechanism according to claim 5, characterized in that: The fixed arm is assembled with the fixed plate, the movable arm is assembled with the slide seat, the slide seat and the fixed plate are assembled through two parallel linear guide rails, a linear module is arranged in parallel between the two linear guide rails, and the linear module includes a screw driven by a rotating motor; the movable arm is provided with a hollow hole for the linear module and the linear guide rail to pass through; a fixed seat in contact with the flip rod or the manipulator is fixed on the fixed plate.

7. The PCB lifting and flipping mechanism according to claim 6 is characterized in that: The fixed plate is provided with a control valve for distinguishing air paths; the movable arm is provided with a sensor, and the orientation of the sensor is the same as that of the middle suction cup group.

8. The PCB lifting and flipping mechanism according to claim 7, characterized in that: The suction cup mechanism contacts one side of the PCB board, and the auxiliary suction cup and the middle suction cup group share the same air path; the auxiliary suction cup comprises a plurality of suction cup elements in a rectangular array, and the side suction cup group and the middle suction cup group each comprise a plurality of suction cup elements, and the number of suction cup elements included in the side suction cup group is less than the number of suction cup elements included in the middle suction cup group.

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