An integrated circuit board tray ring conveyor mechanism

Abstract

This application belongs to the field of auxiliary equipment for integrated circuit tinning processes, specifically an integrated circuit board tray ring conveying mechanism, including a support frame. A first conveying mechanism, a second conveying mechanism, a third conveying mechanism, a fourth conveying mechanism, and a fifth conveying mechanism are sequentially arranged on the support frame. The second, third, and fourth conveying mechanisms are located on three sides of a virtual rectangle, with the face of the virtual rectangle parallel to the conveying surface of the first conveying mechanism. The first and fifth conveying mechanisms are located on the other side of the virtual rectangle. Both the second and fourth conveying mechanisms have integrated circuit board clamping and clearance portions. The third conveying mechanism has a tray orientation changer positioned above it. This application solves the problem that current mechanisms for conveying trays containing integrated circuit boards require tray unloading and tray placement at the inlet and outlet of the tinning integrated circuit board machine.

Description

Technical Field

[0001] This application belongs to the field of auxiliary equipment for the tinning process of integrated circuits, specifically an integrated circuit board tray ring conveying mechanism. Background Technology

[0002] With the deepening development of the semiconductor market, customers' demands for product cost-effectiveness are constantly deepening. In order to improve the overall competitiveness of enterprises, intelligent and automated equipment has become one of the necessary elements for companies to improve their overall utilization rate. Currently, in the tinning process of integrated circuit boards, a tray containing integrated circuit boards is placed on a conveyor mechanism, which then transports the tray to the inlet of the tinning machine. A robotic arm on the tinning machine then picks up the integrated circuit boards and places them into the machine. After tinning, the integrated circuit boards exit from the outlet of the tinning machine, and the robotic arm on the tinning machine places them back into the tray located on the conveyor mechanism. The conveyor mechanism then transports the tinned integrated circuit boards to the designated workstation. Currently, the inlet and outlet of the tin-plated integrated circuit board (ICB) machine are located on opposite sides of the machine, and the ICB boards are oriented on the pallet. Therefore, two conveyor mechanisms are mainly used. One conveyor transports the ICB boards to the inlet of the tin-plated ICB machine, where a robotic arm picks up the ICB boards and places them inside the machine before transporting the empty pallet to the beginning of the conveyor mechanism. The conveyor mechanism for transporting ICB boards to the outlet of the tin-plated ICB machine requires pallets to be placed one by one at the beginning of the conveyor mechanism located at the outlet of the tin-plated ICB machine. This is quite cumbersome and may even require manual assistance to place the pallets on the conveyor mechanism at the outlet of the tin-plated ICB machine or to unload the pallets from the end of the conveyor mechanism at the inlet of the tin-plated ICB machine. Summary of the Invention

[0003] The purpose of this application is to address the shortcomings of existing technologies by designing a circular conveying mechanism for integrated circuit boards using a first, second, third, fourth, and fifth conveying mechanism connected in a ring, in conjunction with a tray direction changer. This mechanism automatically moves a tray containing integrated circuit boards to the outlet of the tin-plating integrated circuit board machine after transporting the integrated circuit boards to the inlet. This solves the problem that current mechanisms for conveying trays containing integrated circuit boards require separate tray unloading and placement at the inlet and outlet of the tin-plating integrated circuit board machine.

[0004] To achieve the above objectives, this application provides the following technical solution:

[0005] An integrated circuit board tray ring conveying mechanism includes a support. A first conveying mechanism, a second conveying mechanism, a third conveying mechanism, a fourth conveying mechanism, and a fifth conveying mechanism are sequentially arranged on the support. The second, third, and fourth conveying mechanisms are respectively located on three sides of a virtual rectangle. The face of the virtual rectangle is parallel to the conveying surface of the first conveying mechanism. The first and fifth conveying mechanisms are located on the other side of the virtual rectangle. The second and fourth conveying mechanisms are each provided with an integrated circuit board clamping clearance portion. The third conveying mechanism is provided with a tray direction changer disposed above it.

[0006] Preferably, the first, third, and fifth conveying mechanisms are all conveyor belt mechanisms, and the first conveying mechanism is equipped with a conveying width adjuster.

[0007] Preferably, the conveying width adjuster includes a first cylinder, a positioning plate, a movable plate, and a first sensor. The first cylinder is mounted on the starting end of the first conveying mechanism via a support member. The first cylinder is parallel to the conveying surface of the first conveying mechanism and perpendicular to the conveying direction of the first conveying mechanism. The first cylinder is located on one side of the first conveying mechanism. The free end of the first cylinder is fixedly connected to one end of the movable plate facing the starting end of the first conveying mechanism. The positioning plate, which cooperates with the movable plate, is mounted on the side of the first conveying mechanism facing the first cylinder. The first sensor is mounted on the positioning plate, and the first sensor signal is connected to the first cylinder.

[0008] Preferably, a first mounting plate is fixedly disposed on the support at the beginning of the first conveying mechanism, the first mounting plate is provided with a first slide rail parallel to the first cylinder, and a slider that is slidably connected to the first slide rail is provided on the lower surface of the movable plate.

[0009] Preferably, the second conveying mechanism and the fourth conveying mechanism have the same structure. The second conveying mechanism includes a conveying frame, a gripper, a base plate, a robotic arm mover, and a linear motion driver. The base plate is located at the beginning of the conveying frame, and the robotic arm mover is located at the end of the conveying frame. The gripper is mounted on the conveying frame via the linear motion driver. The direction in which the linear motion driver drives the gripper to move is the conveying direction of the second conveying mechanism. The conveying range of the second conveying mechanism is the range in which the linear motion driver drives the gripper to move.

[0010] Preferably, the clamping hand includes a clamping plate, which is fixedly mounted on the execution end of the linear motion driver. The clamping plate is provided with a second slide rail perpendicular to the transmission direction of the second transmission mechanism and parallel to the transmission surface of the second transmission mechanism. A third mounting plate is slidably connected between the two ends of the second slide rail. The clamping plate is provided with a push cylinder parallel to the second slide rail. One end of the push cylinder is fixedly connected to the third mounting plate, and the other end is fixedly connected to the clamping plate. The third mounting plate is provided with a first clamping cylinder and a second clamping cylinder facing each other. Both the free ends of the first clamping cylinder and the free ends of the second clamping cylinder are provided with clamping heads. Both the first clamping cylinder and the second clamping cylinder are parallel to the transmission direction of the second transmission mechanism.

[0011] Preferably, the robotic arm clearance device includes a clearance plate, which is disposed on the side facing away from the first conveying mechanism within the stroke range of the gripper by a lifting device. The clearance plate is provided with a plurality of slots arranged along the conveying direction of the second conveying mechanism, with one end of the slot inside the clearance plate and the other end extending outside the clearance plate.

[0012] Preferably, the lifting device includes two lifting cylinders, both of which are fixedly mounted on the conveyor frame, and the output ends of both lifting cylinders are fixedly connected to the clearance plate.

[0013] Preferably, the linear motion driver includes a first servo motor, a belt, and a mounting bracket. The first servo motor is mounted on the mounting bracket, and a drive wheel is provided on the output shaft of the first servo motor. A driven wheel is provided on the mounting bracket at a distance away from the first servo motor. The belt is fitted onto both the drive wheel and the driven wheel, and the gripper is fixedly connected to one side of the belt.

[0014] Preferably, the conveyor frame is provided with a third slide rail parallel to the second slide rail, a lead screw, and a second servo motor. The mounting frame is slidably disposed between the two ends of the third slide rail. The conveyor frame is provided with a lead screw, and the mounting frame is provided with a screw hole that is threadedly engaged with the lead screw. The lead screw is parallel to the third slide rail, and the output end of the second servo motor is drivenly connected to the lead screw.

[0015] Preferably, the tray orientation changer includes a mounting base. The mounting base is disposed on the bracket above the third conveying mechanism. A rotary motor is disposed on the mounting base. A downward telescopic rod is disposed on the output shaft of the rotary motor. A second mounting plate is disposed at the actuating end of the telescopic rod. A stop and a second cylinder are disposed on the side of the second mounting plate facing away from the telescopic rod. The free end of the second cylinder faces the stop. The telescopic direction of the second cylinder is parallel to the conveying direction of the third conveying mechanism. A clamping block is disposed at the actuating end of the second cylinder. The distance from the lower end of the stop to the conveying surface of the third conveying mechanism is less than the distance from the lower end of the clamping block to the conveying surface of the third conveying mechanism. A third sensor is disposed on the side of the stop facing the second cylinder. The distance from the third sensor to the conveying surface of the third conveying mechanism is less than the distance from the lower end of the clamping block to the conveying surface of the third conveying mechanism.

[0016] Preferably, the terminal of the fifth conveying mechanism is provided with a fourth sensor, and the sensing surface of the fourth sensor faces the beginning of the fifth conveying mechanism.

[0017] The beneficial effects of this application are as follows:

[0018] 1. This application adopts a method of connecting a first conveying mechanism, a second conveying mechanism, a third conveying mechanism, a fourth conveying mechanism, and a fifth conveying mechanism to form a ring, in conjunction with a tray direction changer, to design an integrated circuit board tray ring conveying mechanism. This allows the same tray holding integrated circuit boards to automatically move to the outlet of the tin-plated integrated circuit board machine after transporting the integrated circuit boards to the inlet of the tin-plated integrated circuit board machine. This solves the problem that current mechanisms for conveying trays containing integrated circuit boards require unloading and placing the trays at the inlet and outlet of the tin-plated integrated circuit board machine, respectively.

[0019] 2. Since the integrated circuit boards come in different sizes, different integrated circuit boards will be used with different trays. Therefore, in order to prevent the trays on the first conveying mechanism from rotating or shifting during the conveying process, a conveying width adjuster is provided on the first conveying mechanism.

[0020] 3. In this application, the first cylinder drives the movable plate to move, thereby causing the movable plate and the positioning plate to jointly restrict the pallet located on the first conveying mechanism, thereby preventing the pallet located on the first conveying mechanism from shifting or rotating during the conveying process. The first sensor is set so that after the first sensor detects the pallet, it will transmit a signal to the first cylinder, causing the first cylinder to stop working, thereby preventing the first cylinder from continuously driving the movable plate to move towards the positioning plate and causing the integrated circuit board located on the pallet to be damaged. Attached Figure Description

[0021] Figure 1 This is a schematic diagram of the structure of this application;

[0022] Figure 2 This is a diagram showing the relationship between the first conveying mechanism, the second conveying mechanism, the third conveying mechanism, the fourth conveying mechanism, the fifth conveying mechanism, and the tray direction changer in this application.

[0023] Figure 3 This is a diagram showing the relationship between the first transmission mechanism, the second transmission mechanism, the third transmission mechanism, the fourth transmission mechanism, and the fifth transmission mechanism in this application;

[0024] Figure 4 This is a schematic diagram of the structure of the beginning of the first and second transmission mechanisms in this application;

[0025] Figure 5 This is a schematic diagram of the structure of the second transmission mechanism in this application;

[0026] Figure 6 for Figure 5 The structural diagram on the right;

[0027] Figure 7 This is a diagram showing the relationship between the gripper and the conveyor in this application;

[0028] Figure 8 This is a schematic diagram of the robotic arm shifter in this application;

[0029] Figure 9 This is a schematic diagram of the tray orientation changer in this application.

[0030] The components are as follows: 1. Bracket; 2. First cylinder; 3. Positioning plate; 4. Movable plate; 5. First sensor; 6. First mounting plate; 7. First slide rail; 8. Slider; 9. Conveyor frame; 10. Base plate; 11. Clamping plate; 12. Second slide rail; 13. First clamping cylinder; 14. Second clamping cylinder; 15. Clamping head; 16. Clearing plate; 17. Groove; 18. Lifting cylinder; 19. First servo motor; 20. Belt; 1. Mounting bracket; 22. Drive wheel; 23. Driven wheel; 24. Third slide rail; 25. Lead screw; 26. Second servo motor; 27. Mounting base; 28. Rotary motor; 29. ​​Telescopic rod; 30. Second mounting plate; 31. Stop; 32. Second cylinder; 33. Clamping block; 34. Third sensor; 35. Fourth sensor; 36. Fifth conveying mechanism; 37. Third mounting plate; 38. Tray; 39. Push cylinder. Detailed Implementation

[0031] See Figure 1-9An integrated circuit board tray ring conveying mechanism includes a support 1. The support 1 is sequentially provided with a first conveying mechanism, a second conveying mechanism, a third conveying mechanism, a fourth conveying mechanism, and a fifth conveying mechanism 36. The second, third, and fourth conveying mechanisms are respectively located on three sides of a virtual rectangle. The face of the virtual rectangle is parallel to the conveying surface of the first conveying mechanism. The first and fifth conveying mechanisms are located on the other side of the virtual rectangle. The second and fourth conveying mechanisms are each provided with an integrated circuit board clamping clearance portion. The third conveying mechanism is provided with a tray direction changer disposed above the third conveying mechanism.

[0032] In this embodiment, during use, the tin-plated integrated circuit board machine is installed in the center of the virtual rectangle, so that the first, second, third, fourth, and fifth conveyor mechanisms 36 surround the tin-plated integrated circuit board machine. Simultaneously, the inlet and outlet of the tin-plated integrated circuit board machine correspond to the integrated circuit board clamping clearance parts on the second and fourth conveyor mechanisms, respectively. Then, during loading, a five-axis robot or a person places the tray 38 containing the integrated circuit boards at the beginning of the first conveyor mechanism. The tray 38 containing the integrated circuit boards is then transferred to the second conveyor mechanism by the action of the first conveyor mechanism. Because the second conveyor mechanism is equipped with integrated circuit board clamping clearance parts, the robot of the tin-plated integrated circuit board machine can easily grasp the second conveyor mechanism. After the integrated circuit board is placed on the first conveyor, the tray 38 moves to the third conveyor under the action of the second conveyor. The tray orientation changer of the third conveyor changes the placement state of the tray 38. Then, the changed tray 38 moves to the fourth conveyor. At this time, the machine of the tinning integrated circuit board grabs the tinned integrated circuit board from the tinning integrated circuit board machine and puts it into the tray on the third conveyor. Then, the tray 38 moves to the fifth conveyor and is transported to the beginning of the first conveyor through the fifth conveyor. This makes it convenient for a person or a six-axis robot to take away the tray 38 containing the tinned integrated circuit board. In this way, the tinned integrated circuit board is transported to the beginning of the first conveyor through the fifth conveyor, so that the loading and unloading can be completed by only one worker or one six-axis robot.

[0033] As a preferred embodiment, the first, third, and fifth conveyor mechanisms 36 are all conveyor belt mechanisms. Since the integrated circuit boards are of different models and sizes, different integrated circuit boards will be matched with different trays 38. Therefore, in order to prevent the trays 38 on the first conveyor mechanism from rotating or shifting during the conveying process, a conveying width adjuster is provided on the first conveyor mechanism.

[0034] In a preferred embodiment, the conveying width adjuster includes a first cylinder 2, a positioning plate 3, a movable plate 4, and a first sensor 5. The first cylinder 2 is mounted on the starting end of the first conveying mechanism via a support member. The first cylinder 2 is parallel to the conveying surface of the first conveying mechanism and perpendicular to the conveying direction of the first conveying mechanism. The first cylinder 2 is located on one side of the first conveying mechanism. The free end of the first cylinder is fixedly connected to one end of the movable plate 4 facing the starting end of the first conveying mechanism. The positioning plate 3, which cooperates with the movable plate 4, is mounted on the side of the first conveying mechanism facing the first cylinder 2. The first sensor 5 is mounted on the positioning plate 3 and is signal-connected to the first cylinder 2. With this configuration, the first cylinder 2 drives the movable plate 4 to move, thereby allowing the movable plate 4 and the positioning plate 3 to jointly restrain the tray located on the first conveying mechanism, thus preventing the tray 38 located on the first conveying mechanism from shifting or rotating during the conveying process. The first sensor 5 is configured to transmit a signal to the first cylinder 2 after the first sensor 5 detects the tray 38, causing the first cylinder 2 to stop working, thus preventing the first cylinder 2 from continuously driving the movable plate 4 toward the positioning plate 3 and causing damage to the integrated circuit board located on the tray 38.

[0035] As a preferred embodiment, a first mounting plate 6 is fixedly mounted on the support 1 at the beginning of the first conveying mechanism. The first mounting plate 6 is provided with a first slide rail 7 parallel to the first cylinder 2, and a slider 8 slidably connected to the first slide rail 7 is provided on the lower surface of the movable plate 4. The purpose of this arrangement is to protect the piston rod of the first cylinder 2, thereby preventing the piston rod of the first cylinder 2 from bending due to the weight of the movable plate 4.

[0036] As a preferred embodiment, the second and fourth conveying mechanisms have the same structure. The second conveying mechanism includes a conveyor frame 9, a gripper, a base plate 10, a robotic arm mover, and a linear motion driver. The base plate 10 is located at the beginning of the conveyor frame 9, and the robotic arm mover is located at the end of the conveyor frame 9. The gripper is mounted on the conveyor frame 9 via the linear motion driver. The direction in which the linear motion driver drives the gripper to move is the conveying direction of the second conveying mechanism, and the conveying range of the second conveying mechanism is the range in which the linear motion driver drives the gripper to move. With this configuration, when conveying the tray 38 containing the integrated circuit board, both the second and fourth conveying mechanisms utilize the gripper to first hold the tray 38, and then the linear motion driver drives the gripper to move, thereby achieving the conveying. This ensures that the state of the tray 38 does not change during the conveying process.

[0037] In a preferred embodiment, the clamping hand includes a clamping plate 11, which is fixedly mounted on the actuating end of the linear motion driver. The clamping plate 11 has a second slide rail 12 that is perpendicular to the transmission direction of the second conveying mechanism and parallel to the transmission surface of the second conveying mechanism. A third mounting plate 37 is slidably connected between the two ends of the second slide rail 12. The clamping plate 11 has a push cylinder 39 that is parallel to the second slide rail 12. One end of the push cylinder 39 is fixedly connected to the third mounting plate 37, and the other end is fixedly connected to the clamping plate 11. The third mounting plate 37 has a first clamping cylinder 13 and a second clamping cylinder 14 facing each other. Both the free end of the first clamping cylinder 13 and the free end of the second clamping cylinder 14 are provided with clamping heads 15. Both the first clamping cylinder 13 and the second clamping cylinder 14 are parallel to the transmission direction of the second conveying mechanism. By setting the second slide rail 12 and the push cylinder 39 to adjust the position of the third mounting plate 37 located on the clamping plate 11, the first clamping cylinder 13 and the second clamping cylinder 14 drive the clamping head 15 to clamp the tray 38.

[0038] As a preferred embodiment, the robotic arm clearance device includes a clearance plate 16. The clearance plate 16 is positioned on the side facing away from the first conveying mechanism within the stroke range of the gripper via a lifting device. A plurality of slots 17 are arranged on the clearance plate 16 along the conveying direction of the second conveying mechanism. One end of each slot 17 is inside the clearance plate 16, and the other end extends outside the clearance plate 16. With this configuration, the robotic arm on the tin-plated integrated circuit board machine can lift the integrated circuit board from below the clearance plate 16 through the slots 17, and then use a suction cup robotic arm above the tray 38 to pick up the integrated circuit board into the tin-plated integrated circuit board machine. This arrangement of the slots 17 prevents the second conveying mechanism from interfering with the robotic arm's lifting of the integrated circuit board on the tin-plated integrated circuit board machine.

[0039] As a preferred embodiment, the lifting device includes two lifting cylinders 18, both of which are fixedly mounted on the conveyor frame 9, and the output ends of both cylinders are fixedly connected to the relief plate 16. With this configuration, the relief plate 16 is raised by the lifting cylinders 18, causing the tray 38, which is conveyed to the relief plate 16 by the second conveyor mechanism, to rise and approach the inlet of the machine for soldering integrated circuit boards, thus facilitating the robotic arm on the machine to pick up the integrated circuit boards.

[0040] In a preferred embodiment, the linear motion driver includes a first servo motor 19, a belt 20, and a mounting bracket 21. The first servo motor 19 is mounted on the mounting bracket 21, and a drive wheel 22 is mounted on the output shaft of the first servo motor 19. A driven wheel 23 is mounted on the mounting bracket 21 at a distance away from the first servo motor 19. The belt 20 is fitted onto both the drive wheel 22 and the driven wheel 23, and the gripper is fixedly connected to one side of the belt 20. Thus, the first servo motor 19 drives the belt 20 to move, thereby moving the gripper on the belt 20.

[0041] In a preferred embodiment, the conveyor frame 9 is equipped with a third slide rail 24 parallel to the second slide rail 12, a lead screw 25, and a second servo motor 26. The mounting bracket 21 is slidably disposed between the two ends of the third slide rail 24. The conveyor frame 9 is equipped with the lead screw 25, and the mounting bracket 21 is provided with a threaded hole that engages with the lead screw 25. The lead screw 25 is parallel to the third slide rail 24, and the output end of the second servo motor 26 is connected to the lead screw 25 for transmission. With this configuration, the second servo motor 26 drives the lead screw 25 to rotate, thereby driving the mounting bracket 21 to move in the width direction of the second conveying mechanism, thus adjusting the width of the second conveying mechanism.

[0042] In a preferred embodiment, the pallet orientation changer includes a mounting base 27. The mounting base 27 is disposed on the bracket 1 above the third conveying mechanism. A rotary motor 28 is disposed on the mounting base 27. A downward telescopic rod 29 is disposed on the output shaft of the rotary motor 28. A second mounting plate 30 is disposed at the actuating end of the telescopic rod 29. A stop 31 and a second cylinder 32 are disposed on the side of the second mounting plate 30 facing away from the telescopic rod 29. The free end of the second cylinder 32 faces the stop 31. The telescopic direction of the second cylinder 32 is parallel to the conveying direction of the third conveying mechanism. A clamping block 33 is disposed at the actuating end of the second cylinder 32. The distance from the lower end of the stop 31 to the conveying surface of the third conveying mechanism is less than the distance from the lower end of the clamping block 33 to the conveying surface of the third conveying mechanism. A third sensor 34 is disposed on the side of the stop 31 facing the second cylinder 32. The distance from the third sensor 34 to the conveying surface of the third conveying mechanism is less than the distance from the lower end of the clamping block 33 to the conveying surface of the third conveying mechanism. With this configuration, as the tray 38 moves on the third conveying mechanism, because the distance from the lower end of the baffle 31 to the conveying surface of the third conveying mechanism is less than the distance from the lower end of the clamping block 33 to the conveying surface of the third conveying mechanism, the tray 38 will pass under the clamping block 33 and be blocked by the baffle 31. During the process of the baffle 31 blocking the tray 38, the third sensor 34 receives the signal and transmits it to the telescopic rod 29. The telescopic rod 29 extends, which drives the clamping block 33 and the baffle 31 to continue to descend until the clamping block 33... Located on the side of tray 38 facing the second conveying mechanism, the stop 31 is located on the side of clamping block 33 facing the fourth conveying mechanism. Then, the second cylinder 32 drives the clamping block 33 to move toward the stop 31, so that the clamping block 33 and the stop 31 work together to clamp the tray 38. Then, the output shaft of the rotating motor 28 rotates 180 degrees, thereby causing the tray 38 to rotate, which changes the orientation of the tray 38 (changes the state of the tray 38), so that the integrated circuit board that comes out of the machine after tinning can be placed into the tray 38 located on the fourth conveying mechanism.

[0043] As a preferred embodiment, the fifth conveying mechanism 36 is equipped with a fourth sensor 35 at its terminal, with the sensing surface of the fourth sensor 35 facing the beginning of the fifth conveying mechanism 36. This arrangement of the fourth sensor 35 ensures that once the tray carrying the tinned integrated circuit board moves to the terminal of the fifth conveying mechanism 36 and contacts the fourth sensor 35, the fifth conveying mechanism 36 will stop conveying, thus preventing the tray 38 on the fifth conveying mechanism 36 from continuously impacting its terminal due to continuous operation.

Claims

1. A circular conveying mechanism for an integrated circuit board tray, characterized in that, Includes a support (1), on which a first conveying mechanism, a second conveying mechanism, a third conveying mechanism, a fourth conveying mechanism, and a fifth conveying mechanism (36) are sequentially provided. The second, third, and fourth conveying mechanisms are respectively located on three sides of a virtual rectangle. The face of the virtual rectangle is parallel to the conveying surface of the first conveying mechanism. The first and fifth conveying mechanisms are located on the other side of the virtual rectangle. The second and fourth conveying mechanisms are each provided with an integrated circuit board clamping clearance part. The third conveying mechanism is provided with a tray direction changer set above the third conveying mechanism. The second conveying mechanism has the same structure as the fourth conveying mechanism. The second conveying mechanism includes a conveying frame (9), a gripper, a base plate (10), a robotic arm mover, and a linear motion driver. The base plate (10) is set at the beginning of the conveying frame (9), and the robotic arm mover is set at the end of the conveying frame (9). The gripper is set on the conveying frame (9) through the linear motion driver. The reverse direction of the linear motion driver driving the gripper to move is the conveying direction of the second conveying mechanism. The conveying range of the second conveying mechanism is the range of the linear motion driver driving the gripper to move. The robotic arm clearance device includes a clearance plate (16), which is located on the side facing away from the first conveying mechanism within the stroke range of the gripper by a lifting device. A plurality of slots (17) are arranged on the clearance plate (16) along the conveying direction of the second conveying mechanism. One end of each slot (17) is inside the clearance plate (16), and the other end extends outside the clearance plate (16).

2. The integrated circuit board tray ring conveying mechanism according to claim 1, characterized in that, The first conveying mechanism, the third conveying mechanism, and the fifth conveying mechanism (36) are all conveyor belt mechanisms, and the first conveying mechanism is equipped with a conveying width adjuster.

3. The integrated circuit board tray annular conveying mechanism according to claim 2, characterized in that, The conveying width adjuster includes a first cylinder (2), a positioning plate (3), a movable plate (4), and a first sensor (5). The first cylinder (2) is set at the beginning of the first conveying mechanism through a support member. The first cylinder (2) is parallel to the conveying surface of the first conveying mechanism and perpendicular to the conveying direction of the first conveying mechanism. The first cylinder (2) is located on one side of the first conveying mechanism. The free end of the first cylinder is fixedly connected to one end of the movable plate (4) facing the beginning of the first conveying mechanism. The positioning plate (3) is set on the side of the first conveying mechanism facing the first cylinder (2) and cooperates with the movable plate (4). The first sensor (5) is set on the positioning plate (3) and the first sensor (5) is signal-connected to the first cylinder (2).

4. The integrated circuit board tray annular conveying mechanism according to claim 3, characterized in that, A first mounting plate (6) is fixedly installed on the bracket (1) at the beginning of the first conveying mechanism. A first slide rail (7) parallel to the first cylinder (2) is provided on the first mounting plate (6). A slider (8) slidably connected to the first slide rail (7) is provided on the lower surface of the movable plate (4).

5. The integrated circuit board tray ring conveying mechanism according to claim 1, characterized in that, The clamping hand includes a clamping plate (11), which is fixedly installed on the execution end of the linear motion driver. The clamping plate (11) is provided with a second slide rail (12) that is perpendicular to the transmission direction of the second transmission mechanism and parallel to the transmission surface of the second transmission mechanism. A third mounting plate (37) is slidably connected between the two ends of the second slide rail (12). The clamping plate (11) is provided with a push cylinder (39) that is parallel to the second slide rail (12). One end of the push cylinder (39) is fixedly connected to the third mounting plate (37), and the other end is fixedly connected to the clamping plate (11). The third mounting plate (37) is provided with a first clamping cylinder (13) and a second clamping cylinder (14) facing each other. Both the free end of the first clamping cylinder (13) and the free end of the second clamping cylinder (14) are provided with clamping heads (15). Both the first clamping cylinder (13) and the second clamping cylinder (14) are parallel to the transmission direction of the second transmission mechanism.

6. The integrated circuit board tray annular conveying mechanism according to claim 5, characterized in that, The lifting device includes two lifting cylinders (18), both of which are fixedly mounted on the conveyor frame (9), and the output ends of both lifting cylinders (18) are fixedly connected to the relief plate (16).

7. The integrated circuit board tray annular conveying mechanism according to claim 6, characterized in that, The linear motion driver includes a first servo motor (19), a belt (20), and a mounting bracket (21). The first servo motor (19) is mounted on the mounting bracket (21). A drive wheel (22) is provided on the output shaft of the first servo motor (19). A driven wheel (23) is provided on the mounting bracket (21) at a distance away from the first servo motor (19). The belt (20) is fitted on both the drive wheel (22) and the driven wheel (23). The gripper is fixedly connected to one side of the belt (20).

8. The integrated circuit board tray annular conveying mechanism according to claim 7, characterized in that, The conveyor frame (9) is provided with a third slide rail (24) parallel to the second slide rail (12), a lead screw (25), and a second servo motor (26). The mounting frame (21) is slidably disposed between the two ends of the third slide rail (24). The conveyor frame (9) is provided with a lead screw (25). The mounting frame (21) is provided with a screw hole that is threaded to the lead screw (25). The lead screw (25) is parallel to the third slide rail (24). The output end of the second servo motor (26) is connected to the lead screw (25).

9. The integrated circuit board tray annular conveying mechanism according to claim 4, characterized in that, The tray orientation changer includes a mounting base (27), which is disposed on the bracket (1) above the third conveying mechanism. A rotary motor (28) is mounted on the mounting base (27). A downward telescopic rod (29) is disposed on the output shaft of the rotary motor (28). A second mounting plate (30) is disposed at the actuating end of the telescopic rod (29). A stop (31) and a second cylinder (32) are disposed on the side of the second mounting plate (30) facing away from the telescopic rod (29). The free end of the second cylinder (32) faces the stop (31). The extension direction of cylinder 32) is parallel to the transmission direction of the third transmission mechanism. The execution end of the second cylinder (32) is provided with a clamping block (33). The distance from the lower end of the stop (31) to the transmission surface of the third transmission mechanism is less than the distance from the lower end of the clamping block (33) to the transmission surface of the third transmission mechanism. A third sensor (34) is provided on the side of the stop (31) facing the second cylinder (32). The distance from the third sensor (34) to the transmission surface of the third transmission mechanism is less than the distance from the lower end of the clamping block (33) to the transmission surface of the third transmission mechanism.

10. The integrated circuit board tray ring conveying mechanism according to claim 5, characterized in that, The terminal of the fifth transmission mechanism (36) is provided with a fourth sensor (35), and the sensing surface of the fourth sensor (35) faces the beginning of the fifth transmission mechanism (36).

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