Scaling mechanism and gear-type handling mechanism

Abstract

The present invention discloses a telescopic mechanism and a gear-type handling mechanism, which includes two parallelogram link mechanisms and a first driving assembly. The two parallelogram link mechanisms are arranged at intervals in the transverse direction. Each parallelogram link mechanism includes at least four linkages that are hinged to each other. The multiple linkages form a first hinged driving part and a first hinged mounting part that are oppositely arranged in the transverse direction. The two first hinged mounting parts have a moving stroke of approaching and separating. The two parallelogram link mechanisms can convert the rotation of the first hinged driving part into the movement between the two first hinged mounting parts. The first hinged mounting part is used to mount the adsorption assembly, and the first driving assembly is used to simultaneously drive the rotation of the two first hinged driving parts. When the width of the printed circuit board changes, the adsorption assembly can move transversely under the drive of the parallelogram link mechanism until it moves to the optimal position where it can adsorb the printed circuit board.

Description

Technical Field

[0001] The present invention relates to the technical field of handling, and particularly to a telescopic mechanism and a gear-type handling mechanism. Background Art

[0002] In the existing automated production of printed circuit boards, a manipulator is usually used to drive an adsorption component to fix and handle the printed circuit board. However, since the length, width, and outer dimensions of each printed circuit board are inconsistent, manual adjustment is usually required to adjust the position of the adsorption component on the manipulator to assist in completing the handling work of the printed circuit board, which greatly increases the production cost of the printed circuit board and reduces the production efficiency. Summary of the Invention

[0003] The main object of the present invention is to provide a telescopic mechanism and a gear-type handling mechanism, aiming to provide a telescopic mechanism and a gear-type handling mechanism with high efficiency, low cost, and automatic adjustable adsorption distance.

[0004] To achieve the above object, the telescopic mechanism proposed by the present invention includes:

[0005] Two parallelogram link mechanisms are arranged at intervals in the horizontal direction. Each parallelogram link mechanism includes at least four links hinged to each other. A plurality of the links form a first hinged driving part and a first hinged mounting part arranged oppositely in the horizontal direction. The two first hinged mounting parts have a moving stroke of approaching and separating. The two parallelogram link mechanisms can convert the rotation of the first hinged driving part into the movement between the two first hinged mounting parts. The first hinged mounting part is used to mount the adsorption component; and,

[0006] A first driving component is used to simultaneously drive the rotation of the two first hinged driving parts.

[0007] Optionally, the parallelogram link mechanism includes:

[0008] A mounting frame;

[0009] A first link, the first link is arranged parallel to the mounting frame;

[0010] Two second links are arranged at intervals in the vertical direction and are used to rotatably connect the mounting frame and the first link;

[0011] The first hinged mounting part includes the first link;

[0012] The first hinged driving part includes the second link.

[0013] Optionally, the parallelogram link mechanism includes a rectangular rod group and two third links arranged at intervals in the vertical direction;

[0014] Among them, the two second link rods and the two third link rods are respectively hinged to both sides of the rectangular rod group along the width direction of the rectangular rod group. The other ends of the two second link rods are hinged to the mounting bracket, and the two third link rods are hinged to the first link rod.

[0015] Optionally, the first driving assembly includes:

[0016] A first motor, mounted on the mounting bracket and having a rotating part that rotates along the vertical axis; and,

[0017] A driving gear and a driven gear, the driving gear is fixedly connected to the rotating part, and the driven gear includes:

[0018] Two first driven gears, rotatably arranged at the mounting ends of one of the two second link rods and the mounting seat, and the lower end surfaces of the first driven gears are fixedly connected to the upper end surfaces of the second link rods;

[0019] Two second driven gears, rotatably arranged at the mounting ends of one of the two second link rods and the rectangular rod group, and the lower end surfaces of the second driven gears are fixedly connected to the upper end surfaces of the second link rods;

[0020] Two third driven gears, rotatably arranged at the mounting ends of one of the two third link rods and the rectangular rod group, and the lower end surfaces of the third driven gears are fixedly connected to the upper end surfaces of the third link rods;

[0021] Among them, the driving gear meshes with one of the two first driven gears, the two first driven gears mesh with each other, and the two second driven gears respectively mesh with the two third driven gears.

[0022] Optionally, a long installation groove is provided on the driving gear to adjust the installation position of the driving gear; and / or,

[0023] A long installation groove is provided on the driven gear to adjust the installation position of the driven gear. The present invention also provides a gear-type handling mechanism, and the gear-type handling mechanism includes a telescopic mechanism, and the telescopic mechanism includes:

[0024] Two parallelogram link mechanisms are arranged at intervals in the transverse direction. Each of the parallelogram link mechanisms includes at least four links that are hinged to each other. A plurality of the links form a first hinged driving part and a first hinged mounting part that are oppositely arranged in the transverse direction. The two first hinged mounting parts have a moving stroke of approaching and separating. The two parallelogram link mechanisms can convert the rotation of the first hinged driving part into the movement between the two first hinged mounting parts. The first hinged mounting part is used for mounting an adsorption assembly; and,

[0025] A first driving assembly is used to drive the rotation of the two first hinged driving parts simultaneously.

[0026] The gear-type handling mechanism further includes a robotic arm. The telescopic mechanism is fixedly connected to the robotic arm through the mounting bracket.

[0027] Optionally, the adsorption assembly of the gear-type handling mechanism includes a plurality of first suction cups arranged at intervals in the longitudinal direction;

[0028] The suction cup is arranged on the first hinged mounting part.

[0029] Optionally, the first link includes a first rod part and a second rod part arranged at intervals in the transverse direction. The height of the first rod part is higher than that of the second rod part. The suction cup is arranged on the second rod part;

[0030] Between the first rod part and the second rod part, a position compensation mechanism is arranged. The position compensation mechanism includes:

[0031] A guide post and a guide groove that cooperate with each other. One of them is connected to the first rod part, and the other is connected to the second rod part. The guide post is movably arranged in the guide groove and can slide up and down along the guide groove; and,

[0032] A spring is arranged in the guide groove and is used to connect the bottom of the guide post and the bottom of the guide groove.

[0033] Optionally, the gear-type handling mechanism further includes an auxiliary material taking mechanism;

[0034] The auxiliary material taking mechanism includes:

[0035] A mounting plate. The mounting plate is movably arranged on the first hinged mounting part and has a moving stroke along the length direction of the first hinged mounting part;

[0036] A driving member is fixedly mounted on the mounting plate and forms a telescopic part that moves in the up and down direction;

[0037] A second suction cup is fixedly connected to the telescopic part.

[0038] Optionally, the auxiliary material taking mechanism further includes a fan;

[0039] The fan is movably installed on the first hinge mounting portion and has a moving stroke along the length direction of the first hinge mounting portion.

[0040] In the technical solution of the present invention, the telescopic mechanism includes two parallelogram link mechanisms and a first driving component. Each parallelogram link mechanism includes at least four links that are hinged to each other. A plurality of the links form a first hinge driving portion and a first hinge mounting portion that are relatively arranged transversely. The two first hinge mounting portions have a moving stroke of approaching and separating. The two parallelogram link mechanisms can convert the rotation of the first hinge driving portion into the movement between the two first hinge mounting portions. The first driving component is used to simultaneously drive the two first hinge driving portions to rotate. The adsorption component is installed on the first hinge mounting portion. Thus, when the width of the printed circuit board changes, the adsorption component can move transversely under the drive of the parallelogram link mechanism until it moves to the optimal position where it can adsorb the printed circuit board. Description of the Drawings

[0041] In order to more clearly illustrate the technical solutions in the embodiments of the present invention or the prior art, the following will briefly introduce the drawings required for use in the description of the embodiments or the prior art. Obviously, the following drawings are only some embodiments of the present invention. For those of ordinary skill in the art, without creative efforts, other drawings can also be obtained based on the structures shown in these drawings.

[0042] Figure 1 A three-dimensional structural diagram of an embodiment of the gear-type handling mechanism provided by the present invention;

[0043] Figure 2 For Figure 1 A three-dimensional structural diagram of an embodiment of the telescopic mechanism in

[0044] Figure 3 For Figure 1 A three-dimensional structural diagram of another embodiment of the telescopic mechanism in

[0045] Figure 4 For Figure 3 A three-dimensional structural diagram of the link telescopic mechanism in

[0046] Figure 5 For Figure 3 A three-dimensional structural diagram of the second driving component and the auxiliary telescopic mechanism in

[0047] Figure 6 For Figure 3 A three-dimensional structural diagram of the limiting mechanism in

[0048] Figure 7 is Figure 3 a three-dimensional structural schematic diagram of the auxiliary material taking mechanism in

[0049] Figure 8 is Figure 3 a three-dimensional structural schematic diagram of the position compensation mechanism in

[0050] Explanation of the reference numerals in the drawings:

[0051]

[0052]

[0053] The realization, functional features and advantages of the object of the present invention will be further described with reference to the embodiments and the accompanying drawings. Specific embodiments

[0054] Next, the technical solutions in the embodiments of the present invention will be clearly and completely described with reference to the accompanying drawings in the embodiments of the present invention. Obviously, the described embodiments are only a part of the embodiments of the present invention, rather than all the embodiments. Based on the embodiments of the present invention, all other embodiments obtained by those of ordinary skill in the art without creative efforts shall fall within the protection scope of the present invention.

[0055] It should be noted that all the directional indications (such as up, down, left, right, front, back...) in the embodiments of the present invention are only used to explain the relative position relationship and movement conditions between components in a specific posture (as shown in the drawings). If the specific posture changes, the directional indications will also change accordingly.

[0056] In addition, the descriptions involving "first", "second", etc. in the present invention are only for descriptive purposes, and cannot be understood as indicating or implying their relative importance or implicitly indicating the quantity of the indicated technical features. Thus, the features defined with "first" and "second" may explicitly or implicitly include at least one such feature. In addition, the technical solutions between the various embodiments can be combined with each other, but it must be based on the fact that those of ordinary skill in the art can implement it. When the combination of technical solutions appears to be contradictory or unable to be implemented, it should be considered that such a combination of technical solutions does not exist and is not within the protection scope required by the present invention.

[0057] In the existing automated production of printed circuit boards, a robotic arm is usually used to drive an adsorption component to fix and transport the printed circuit board. However, since the length, width, and external dimensions of each printed circuit board are inconsistent, manual adjustment is usually required to adjust the position of the adsorption component on the robotic arm to assist in the transportation of the printed circuit board, which greatly increases the production cost of the printed circuit board and reduces the production efficiency.

[0058] To solve the above problems, the present invention proposes a telescopic mechanism, aiming to provide a telescopic mechanism and a gear-type handling mechanism with high efficiency, low cost, and automatic adjustable adsorption distance. Among them, Figures 1 to 8 FIG. 5 is a schematic perspective view of an embodiment of the gear-type handling mechanism provided by the present invention.

[0059] Referring to Figure 1 and Figure 2 The present invention proposes a telescopic mechanism, including two parallelogram link mechanisms 1 and a first driving component 2. The two parallelogram link mechanisms 1 are arranged at intervals in the horizontal direction. Each parallelogram link mechanism 1 at least includes four links hinged to each other. A first hinged driving part 11 and a first hinged mounting part 12 are formed by the plurality of links and are arranged opposite to each other in the horizontal direction. The two first hinged mounting parts 12 have a moving stroke of approaching and separating. The two parallelogram link mechanisms 1 can convert the rotation of the first hinged driving part 11 into the movement between the two first hinged mounting parts 12. The first hinged mounting part 12 is used to mount the adsorption component 10, and the first driving component 2 is used to drive the two first hinged driving parts 11 to rotate simultaneously.

[0060] In the technical solution of the present invention, the telescopic mechanism includes two parallelogram link mechanisms 1 and a first driving component 2. Each parallelogram link mechanism 1 at least includes four links hinged to each other. A first hinged driving part 11 and a first hinged mounting part 12 are formed by the plurality of links and are arranged opposite to each other in the horizontal direction. The two first hinged mounting parts 12 have a moving stroke of approaching and separating. The two parallelogram link mechanisms 1 can convert the rotation of the first hinged driving part 11 into the movement between the two first hinged mounting parts 12. The first driving component 2 is used to drive the two first hinged driving parts 11 to rotate simultaneously. The adsorption component 10 is mounted on the first hinged mounting part 12. Thus, when the width of the printed circuit board changes, the adsorption component 10 can move horizontally under the drive of the parallelogram link mechanism 1 until it moves to the optimal position for adsorbing the printed circuit board.

[0061] To achieve the adsorption of the circuit printed board (hereinafter referred to as the PCB board), a plurality of suction cups are provided on the adsorption assembly 10. The number of suction cups can be one or multiple, and the present invention does not limit this. To ensure the firm adsorption of the PCB board, in an embodiment of the present invention, a plurality of first suction cups 101 are provided and are arranged at intervals along the length direction of the first hinged mounting portion 12 to form the adsorption assembly 10. In this embodiment, two parallelogram link mechanisms 1 are provided to drive two groups of adsorption assemblies 10. Specifically, the parallelogram link mechanism 1 includes a mounting frame 111, a first link 121, and two second links 112. The first link 121 is arranged parallel to the mounting frame 111, and the two second links 112 are arranged at intervals longitudinally for rotatably connecting the mounting frame 111 and the first link 121. The first hinged mounting portion 12 includes the first link 121, and the adsorption assembly 10 is mounted on the first link 121. The first hinged driving portion 11 includes the second link 112. The two parallelogram link mechanisms 1 share a mounting frame 111. In this way, a four-bar mechanism is jointly formed by the mounting frame 111, the first link 121, and the two second links 112. By driving the two second links 112, the approach and separation of the adsorption assembly 10 can be realized, achieving the purpose of adjusting the distance of the adsorption assembly 10 according to the width of the PCB board.

[0062] It can be understood that in the above embodiment, although the first link 121 can complete the movement strokes of approaching and separating, the first link 121 will also rotate relative to the PCB board. To limit the movement trajectory of the first link 121, in an embodiment of the present invention, the parallelogram link mechanism 1 includes a rectangular rod group 113 and two third links 114 arranged at intervals longitudinally. Among them, the two second links 112 and the two third links 114 are respectively hinged to both sides of the rectangular rod group 113 along the width direction of the rectangular rod group 113. The other ends of the two second links 112 are hinged to the mounting frame 111, and the two third links 114 are hinged to the first link 121. In this way, the degree of freedom of the parallelogram link mechanism 1 is limited to 1 through the rectangular rod group 113 to ensure that the two parallelogram link mechanisms 1 can move along a predetermined straight-line trajectory.

[0063] The first driving component 2 may be a first motor 21, a pulley, or a combination of a first motor 21 and a gear set. In an embodiment of the present invention, the first driving component 2 includes a first motor 21, a driving gear 22, and driven gears. The first motor 21 is installed on the mounting frame 111 and has a rotating part that rotates along the vertical axis. The driving gear 22 is fixedly connected to the rotating part. The driven gears include two first driven gears 23, two second driven gears 232, and two third driven gears 233. The two first driven gears 23 are rotatably arranged at the mounting end of one of the two second linkages 112 and the mounting seat 33, and the lower end surface of the first driven gear 23 is fixedly connected to the upper end surface of the second linkage 112. The two second driven gears 232 are rotatably arranged at the mounting end of one of the two second linkages 112 and the rectangular rod group 113, and the lower end surface of the second driven gear 232 is fixedly connected to the upper end surface of the second linkage 112. The two third driven gears 233 are rotatably arranged at the mounting end of one of the two third linkages 114 and the rectangular rod group 113, and the lower end surface of the third driven gear 233 is fixedly connected to the upper end surface of the third linkage 114. Among them, the driving gear 22 meshes with one of the two first driven gears 23, the two first driven gears 23 mesh with each other, and the two second driven gears 232 respectively mesh with the two third driven gears 233.

[0064] In the above embodiment, the driving gear 22 can drive the first driven gear 23 meshing with it to rotate under the drive of the first motor 21. The rotation of the first driven gear 23 will drive the other first driven gear 23 meshing with it to rotate, and then drive the first link 121 fixedly connected to the first driven gear 23 to rotate. The rotation of the first link 121 will drive the second driven gear 232 connected to the first link 121 to rotate. The rotation of the second driven gear 232 will drive the third driven gear 233 meshing with it to rotate. The rotation of the third driven gear 233 will drive the third link 114 fixedly connected to the third driven gear 233 to rotate, and then drive the first link 121 to move horizontally. In this way, the purpose of adjusting the adsorption component 10 is achieved.

[0065] To make the meshing distance between the driving gear 22 and the driven gears adjustable, in an embodiment of the present invention, a long installation groove is provided on the driving gear 22 to adjust the installation position of the driving gear 22, and / or a long installation groove is provided on the driven gear to adjust the installation position of the driven gear. The driving gear 22 and the driven gears are installed on the linkage through the adjustment groove. By adjusting the installation position of the adjustment linkage in the adjustment groove, the purpose of adjusting the gear meshing distance can be achieved.

[0066] In yet another embodiment of the present invention, the parallelogram linkage mechanism 1 may also be a telescopic linkage mechanism 3. Please refer to Figure 3 and Figure 4 . Two telescopic linkage mechanisms 3 are provided and arranged at intervals in the horizontal direction, so that two sets of adsorption components 10 can be installed on the telescopic mechanism at the same time to complete the simultaneous adsorption of both sides of the PCB board, ensuring the stability of the adsorption of the PCB board by the telescopic mechanism. Further, the second articulated drive parts 31 of the two telescopic linkage mechanisms 3 are all rotatable, so that the distance between the two second articulated mounting parts 32 in the horizontal direction can be adjusted, and further the distance between the adsorption components 10 mounted on the second articulated mounting parts 32 can be adjusted, so that the telescopic mechanism can realize the handling of PCB boards with different widths.

[0067] To reduce the volume of the mechanism and save the cost of the mechanism, in one embodiment of the present invention, the second drive assembly 4 simultaneously drives and connects the two second articulated drive parts 31. There are various ways for the second drive assembly 4 to simultaneously drive and connect the two second articulated drive parts 31. For example, the second articulated drive parts 31 can be stacked together and driven together by the second drive assembly 4, or the two telescopic linkage mechanisms 3 can share a second articulated drive part 31. The present invention preferably adopts the latter. Specifically, the telescopic linkage mechanism 3 includes a fourth link 311, a fifth link 312, a sixth link 313, and a seventh link 314. One end of the fourth link 311 and the fifth link 312 are jointly articulated on the mounting seat 33, and the other ends are respectively articulated with the sixth link 313 and the seventh link 314. The other ends of the sixth link 313 and the seventh link 314 are jointly articulated on the second articulated mounting part 32. The second articulated drive part 31 includes the fourth link 311, the fifth link 312, the sixth link 313, and the seventh link 314 that are articulated with each other. The two fourth links 311 of the two telescopic linkage mechanisms 3 are integrally arranged, and / or the two fifth links 312 of the two telescopic linkage mechanisms 3 are integrally arranged. In this way, when the two telescopic linkage mechanisms 3 are combined into a set of mechanisms and share some links, the number of links is reduced, the volume of the mechanism is reduced, and the production cost of the mechanism is reduced. At the same time, due to the integral arrangement of the fourth link 311, the two telescopic linkage mechanisms 3 also share the same second articulated drive part 31. The second drive assembly 4 only needs to drive one second articulated drive part 31 to complete the drive of the whole set of mechanisms, reducing the cost of the enterprise.

[0068] The connecting rod retracting mechanism 3 can convert the rotation of the second hinged driving part 31 into the lateral movement of the second hinged mounting part 32. The second driving component 4 is used to drive the second hinged driving part 31 to rotate. Therefore, the second driving component 4 should include but is not limited to all mechanisms that can provide rotational movement, such as motors and pulleys. Please refer to Figure 5 In one embodiment of the present invention, the second driving assembly 4 includes a second motor 41, a first pulley 42, a second pulley 43, and a belt 44. The second motor 41 is installed on the mounting seat 33 and has a rotating part that rotates along the upper and lower axes. The first pulley 42 and the second pulley 43 are arranged at intervals in the longitudinal direction. The belt 44 is closed-looped around the two belt 44 wheels so that the two belt 44 wheels can rotate synchronously, wherein the first pulley 42 is connected to the rotating part and can rotate with the rotating part. The lower end surface of the second pulley 43 is fixedly connected to the upper end surface of the fourth connecting rod 311 to drive the fourth connecting rod 311 to rotate. The rotation of the second motor 41 can drive the first pulley 42 to rotate. The rotation of the first pulley 42 can drive the second pulley 43 connected to it through the belt 44 to rotate. The rotation of the second pulley 43 can drive the fourth connecting rod 311 fixedly connected to its lower end surface to rotate, thereby driving the second hinged mounting part 32 to move laterally, thereby adjusting the distance between the two adsorption components 10.

[0069] In order to make the driving amount of the second driving component 4 adjustable, in one embodiment of the present invention, the diameter of the first pulley 42 is A, the diameter of the second pulley 43 is B, A≤B, so that by adjusting the diameter difference between the first pulley 42 and the second pulley 43, the reduction ratio between the first pulley 42 and the second pulley 43 can be adjusted, thereby achieving the purpose of adjusting the driving amount of the second driving component 4.

[0070] It can be understood that only according to the connection method of the fourth connecting rod 311, the fifth connecting rod 312, the sixth connecting rod 313 and the seventh connecting rod 314, in addition to moving, the sixth connecting rod 313 and the seventh connecting rod 314 will also rotate under the drive of the fourth connecting rod 311 and the fifth connecting rod 312. Although the rotating connecting rod retracting mechanism 3 can still complete the work of adjusting the distance, it is undoubtedly not conducive to improving the efficiency. Therefore, please refer to Figure 6, in an embodiment of the present invention, the telescopic mechanism further includes a limiting mechanism 9 for restricting the rotation of the link telescopic mechanism 3. The limiting mechanism 9 includes a first limiting rod 91 arranged horizontally, a limiting slider 92, and a second limiting rod 93 and a third limiting rod 94. Along the thickness direction of the first limiting rod 91, a limiting groove 911 penetrating through the first limiting rod 91 is provided. The limiting slider 92 is clamped in the limiting groove 911 and has a movement stroke of sliding along the limiting groove 911. A hinge rod extends downward from the bottom of the limiting slider 92. One ends of the second limiting rod 93 and the third limiting rod 94 are jointly hinged to the hinge rod, and the other ends are respectively hinged to the fourth link 311 and the fifth link 312. In this way, the degree of freedom of the link telescopic mechanism 3 is reduced, so that the movement of the link telescopic mechanism 3 is unique.

[0071] It can be understood that since there is only one contact point between the second hinge driving part 31 and the second hinge mounting part 32, when the second hinge mounting part 32 moves horizontally under the drive of the second hinge driving part 31, the second hinge mounting part 32 will rotate and shake due to the lack of support points, thus affecting the movement stability of the telescopic mechanism. Therefore, please refer to Figure 4 , in an embodiment of the present invention, the link telescopic mechanism 3 includes an auxiliary telescopic mechanism 5 for assisting the link telescopic mechanism 3 to convert the rotation of the second hinge driving part 31 into the horizontal movement of the second hinge mounting part 32. The auxiliary telescopic mechanism 5 includes: an eighth link 51, a ninth link 52, and a tenth link 53. One ends of the eighth link 51, the ninth link 52, and the tenth link 53 are jointly hinged, and the other ends are respectively hinged to the mounting frame 111, the second hinge driving part 31, and the second hinge mounting part 32. In this way, two support points are formed on the second hinge mounting part 32 to ensure the smooth operation of the second hinge mounting part 32.

[0072] The present invention also proposes a gear type handling mechanism 10000. The gear type handling mechanism 10000 includes a telescopic mechanism. The specific structure of the telescopic mechanism refers to the above embodiment. Since the gear type handling mechanism 10000 adopts all the technical solutions of the above all embodiments, it has at least all the beneficial effects brought by the technical solutions of the above embodiments, which will not be elaborated here one by one.

[0073] The gear type handling mechanism 10000 further includes a robotic arm 6. The telescopic mechanism is fixedly connected to the robotic arm 6 through the mounting frame 111. The robotic arm 6 is used to cooperate with the telescopic mechanism to complete the adsorption and handling of the PCB board.

[0074] Understandably, due to the different thicknesses of the PCB boards, when the robotic arm 6 picks up the PCB boards through the telescopic mechanism, the heights it needs to descend will also be different. To solve the above problems, please refer to Figure 8 , in an embodiment of the present invention, the first connecting rod 121 includes a first rod portion 1211 and a second rod portion 1212 that are spaced apart along the transverse direction. The height of the first rod portion 1211 is higher than the height of the second rod portion 1212. The suction cup is arranged on the second rod portion 1212. A position compensation mechanism 7 is arranged between the first rod portion 1211 and the second rod portion 1212. The position compensation mechanism 7 includes a guide post 71, a guide groove 72, and a spring 73 that cooperate with each other. One of the guide post 71 and the guide groove 72 is connected to the first rod portion 1211, and the other is connected to the second rod portion 1212. The guide post 71 is movably arranged in the guide groove 72 and can slide up and down along the guide groove 72. The spring 73 is arranged in the guide groove 72 to connect the bottom of the guide post 71 and the bottom of the guide groove 72.

[0075] To prevent the PCB boards from sticking during adsorption, please refer to Figure 7 , in an embodiment of the present invention, the gear-type handling mechanism 10000 further includes an auxiliary material taking mechanism 8. The auxiliary material taking mechanism 8 includes a mounting plate 81, a driving member 82, and a second suction cup 83. The mounting plate 81 is movably arranged on the first hinge mounting portion 12 and has a movement stroke along the length direction of the first hinge mounting portion 12. The driving member 82 is fixedly installed on the mounting plate 81 and has a telescopic portion that moves in the up and down direction. The second suction cup 83 is fixedly connected to the telescopic portion. The driving portion can be a cylinder or a hydraulic cylinder, and the present invention does not limit this. When the PCB boards stick, the stuck PCB can be separated under the up and down jitter of the driving member 82. Further, the auxiliary material taking mechanism 8 further includes a fan 84. The fan 84 is movably installed on the first hinge mounting portion 12 and has a movement stroke along the length direction of the suction cup mounting frame 111. In this way, the stuck PCB boards can be assisted to separate by wind force.

[0076] The above are only the preferred embodiments of the present invention, and do not limit the patent scope of the present invention accordingly. Any equivalent structural transformation made using the description and drawings of the present invention under the inventive concept of the present invention, or any direct / indirect application in other related technical fields, is included in the patent protection scope of the present invention.

Claims

1. A telescopic mechanism, characterized in that, Comprising: Two parallelogram link mechanisms, arranged at intervals in the transverse direction. Each of the parallelogram link mechanisms includes at least four links hinged to each other. A plurality of the links form a first hinged driving part and a first hinged mounting part arranged oppositely in the transverse direction. The two first hinged mounting parts have a moving stroke of approaching and separating. The two parallelogram link mechanisms can convert the rotation of the first hinged driving part into the movement between the two first hinged mounting parts. The first hinged mounting part is used for mounting an adsorption component; And, A first driving component, used for simultaneously driving the rotation of the two first hinged driving parts; The parallelogram link mechanism includes: A mounting frame; A first link, which is arranged parallel to the mounting frame; Two second links, arranged at intervals in the longitudinal direction, used for rotatably connecting the mounting frame and the first link; The first hinged mounting part includes the first link; The first hinged driving part includes the second link; The parallelogram link mechanism includes a rectangular rod group and two third links arranged at intervals in the longitudinal direction; Wherein, the two second links and the two third links are respectively hinged to both sides of the rectangular rod group along the width direction of the rectangular rod group. The other ends of the two second links are hinged to the mounting frame, and the two third links are hinged to the first link; The first driving component includes: A first motor, mounted on the mounting frame and having a rotating part rotating along the up-and-down axis; and, A driving gear and a driven gear. The driving gear is fixedly connected to the rotating part. The driven gear includes: Two first driven gears, rotatably arranged at the mounting end of one of the two second links and the mounting frame, and the lower end surface of the first driven gear is fixedly connected to the upper end surface of the second link; Two second driven gears, rotatably arranged at the mounting end of one of the two second links and the rectangular rod group, and the lower end surface of the second driven gear is fixedly connected to the upper end surface of the second link; Two third driven gears, rotatably arranged at the mounting end of one of the two third links and the rectangular rod group, and the lower end surface of the third driven gear is fixedly connected to the upper end surface of the third link; Wherein, the driving gear meshes with one of the two first driven gears, the two first driven gears mesh with each other, and the two second driven gears respectively mesh with the two third driven gears.

2. The telescopic mechanism according to claim 1, characterized in that, A long-shaped mounting groove is arranged on the driving gear to adjust the mounting position of the driving gear; and / or, A long-shaped mounting groove is arranged on the driven gear to adjust the mounting position of the driven gear.

3. A gear-type handling mechanism, characterized in that, Comprising the telescopic mechanism according to claim 1 or 2; The gear-type handling mechanism further includes a robotic arm. The telescopic mechanism is fixedly connected to the robotic arm through the mounting frame.

4. The gear-type handling mechanism according to claim 3, characterized in that, The adsorption component includes a plurality of first suction cups arranged at intervals in the longitudinal direction; The first suction cups are arranged on the first hinged mounting part.

5. The gear-type handling mechanism according to claim 4, characterized in that, The first connecting rod includes a first rod portion and a second rod portion that are spaced apart transversely. The height of the first rod portion is higher than that of the second rod portion, and the suction cup is disposed on the second rod portion; A position compensation mechanism is provided between the first rod portion and the second rod portion. The position compensation mechanism includes: A guide post and a guide groove that cooperate with each other, one of which is connected to the first rod portion and the other is connected to the second rod portion. The guide post is movably disposed in the guide groove and can slide up and down along the guide groove; and, A spring is disposed in the guide groove for connecting the bottom of the guide post and the bottom of the guide groove.

6. The gear-type handling mechanism according to claim 4, characterized in that, The gear type handling mechanism further includes an auxiliary material taking mechanism; The auxiliary material taking mechanism includes: A mounting plate that is movably disposed on the first hinge mounting portion and has a movement stroke along the length direction of the first hinge mounting portion; A driving member that is fixedly mounted on the mounting plate and has a telescopic portion that moves in the up and down direction; A second suction cup that is fixedly connected to the telescopic portion.

7. The gear-type handling mechanism according to claim 6, wherein, The auxiliary material taking mechanism further includes a fan; The fan is movably mounted on the first hinge mounting portion and has a movement stroke along the length direction of the first hinge mounting portion.

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