A processing platform and PCB board conveying and processing equipment

Abstract

This invention relates to the field of conveying device technology, and in particular to a processing platform and PCB board conveying and processing equipment. The processing platform uses a first driving mechanism located under the worktable to drive a first robotic arm to extend and receive PCB boards. Then, the first driving mechanism drives the first robotic arm to retract, and the PCB boards are moved to the worktable by the action of a first robotic finger, thus achieving loading. Similarly, the first driving mechanism drives the first robotic arm to extend, and the PCB boards can be moved away from the worktable by the action of the first robotic finger, thus achieving unloading. That is, the loading and unloading processes of PCB boards can be achieved by the cooperation of the first driving mechanism, the first robotic arm, and the first robotic finger, without the need for the robotic arm to move to the worktable for loading and unloading PCB boards. This effectively prevents collisions between the robotic arm and the processing device, ensuring the normal operation of production.

Description

Technical Field

[0001] This invention relates to the field of conveying device technology, and in particular to a processing platform and PCB board conveying and processing equipment. Background Technology

[0002] With the rapid development of automation technology, most PCB board processing can now be automated through mechanical equipment. Specifically, the PCB board is first transported onto a conveyor belt and then along the conveyor belt to the next processing station. Then, a robotic arm or other device grabs the PCB board and places it on a worktable for processing.

[0003] However, since corresponding processing devices (such as cutting blades and drilling heads) are usually installed above the workbench, they occupy a certain amount of space. As a result, the robotic arm will be loading and unloading materials in a very confined space, and is prone to collisions with the processing devices during operation, leading to non-standard PCB board processing or damage, which in turn affects processing efficiency and product quality. Summary of the Invention

[0004] The purpose of this invention is to provide a processing platform to solve the problem that existing robotic arms are prone to colliding with processing devices during loading and unloading.

[0005] To solve the above-mentioned technical problems, the technical solution of the present invention is as follows:

[0006] This invention provides a processing platform, including a worktable, one side of which is used to support a PCB board; a first clearance groove formed along a first direction of the worktable; a first robotic arm movably connected to the worktable; at least two first robotic fingers arranged along the length direction of the first robotic arm; and a first drive mechanism connected to the robotic arm for driving the first robotic arm to move relative to the worktable along the first direction; wherein the first robotic fingers protrude from the worktable along a second direction and can reciprocate within the first clearance groove along the first direction; under the drive of the first drive mechanism, the first robotic fingers can push the PCB board into or out of the worktable along the first direction; the first direction is perpendicular to the second direction.

[0007] Furthermore, in a preferred embodiment, the first robotic arm is further provided with a first guide bar, which is slidably disposed in the first clearance groove along a first direction.

[0008] Furthermore, in a preferred embodiment, the side of the first guide bar away from the first robotic arm is flush with the side of the worktable.

[0009] Furthermore, in a preferred embodiment, the worktable is further provided with a second clearance groove and a first positioning part, wherein the extending direction of the second clearance groove is parallel to the extending direction of the first clearance groove.

[0010] The processing platform also includes a second drive mechanism, a third drive mechanism, a second robotic arm, and a second robotic finger. The second drive mechanism is disposed on the side of the workbench away from the PCB board. The second robotic arm is movably disposed in the second clearance groove. The third drive mechanism is disposed on the second robotic arm.

[0011] The third driving mechanism is used to drive the second mechanical finger to slide relative to the second mechanical arm in the second direction to avoid the loading or unloading of the PCB board; the third driving mechanism is used to drive the second mechanical finger to slide out of the worktable in the second direction, and the second driving mechanism drives the second mechanical arm to slide in the first direction, so that the second mechanical finger cooperates with the first positioning part to position the PCB board.

[0012] Furthermore, in a preferred embodiment, the second robotic arm has a guide hole, and the second robotic finger can move in the guide hole along the second direction. The third drive mechanism includes a third linear cylinder and a V-shaped connecting rod. The two ends of the V-shaped connecting rod are respectively provided with a first transmission elongated hole and a second transmission elongated hole. The V-shaped connecting rod is rotatably mounted on the second robotic arm. The output shaft end of the third linear cylinder is movably connected to the first transmission elongated hole. The second robotic finger is movably connected to the second transmission elongated hole. The third linear cylinder is connected to the second robotic arm and can drive the V-shaped connecting rod to rotate, so that the second robotic finger moves in the second direction.

[0013] Furthermore, in a preferred embodiment, a second guide groove is provided on the side wall of the second clearance groove, and second guide bars are provided on both sides of the second robotic arm, with the second guide bars slidably disposed on the second guide groove.

[0014] Furthermore, the workbench is also provided with a third clearance groove and a second positioning part;

[0015] The processing platform further includes a fourth drive mechanism, a fifth drive mechanism, and a third mechanical finger. The fourth and fifth drive mechanisms are both located on the side of the worktable away from the PCB board. The third mechanical finger is movably disposed in the third clearance groove. The fifth drive mechanism drives the third mechanical finger to move up and down along the second direction, and the fourth drive mechanism drives the third mechanical finger to move along the third direction, so that the third mechanical finger cooperates with the second positioning part to position the PCB board in the third direction. The third direction and the second direction are perpendicular to each other with the first direction.

[0016] Furthermore, in a preferred embodiment, the fourth drive mechanism is a rodless cylinder, and the fifth drive mechanism is mounted on the rodless cylinder and reciprocates along a third direction under the drive of the rodless cylinder.

[0017] Furthermore, in a preferred embodiment, the fourth drive mechanism is a lead screw motor, and the fifth drive mechanism is mounted on the lead screw of the lead screw motor and reciprocates along a third direction under the drive of the lead screw motor.

[0018] Furthermore, in a preferred embodiment, the fourth driving mechanism is a gear and rack assembly, and the fifth driving mechanism is disposed on the rack of the gear and rack assembly and reciprocates along a third direction under the drive of the gear and rack assembly.

[0019] Furthermore, in a preferred embodiment, the second drive mechanism is a second linear cylinder, the output shaft of which is fixedly connected to the second robotic arm; and / or

[0020] The first driving mechanism is a first linear cylinder, and the first robotic arm is fixedly connected to the output rod of the first linear cylinder.

[0021] Furthermore, in some preferred embodiments, the second mechanical finger is fitted with a cushioning rubber sleeve, and / or the third mechanical finger is fitted with a cushioning rubber sleeve.

[0022] This invention also provides a PCB board conveying and processing equipment, including a conveyor belt, a transfer device, and a processing platform as described above. The processing platform is disposed on one side of the conveyor belt, and the transfer device is disposed at intervals from the conveyor belt along a second direction. When the conveyor belt transports the PCB board to one side of the processing platform, the transfer device picks up the PCB board, and the processing platform drives a first robotic arm to extend to the side of the PCB board away from the transfer device. The transfer device releases the PCB board, causing it to fall onto the first robotic arm. The PCB board is then loaded through the cooperation of the first robotic arm and the first robotic finger.

[0023] Compared with the prior art, the processing platform and PCB board conveying and processing equipment provided in this embodiment of the invention have the following advantages:

[0024] This processing platform uses a first drive mechanism located under the worktable to extend a first robotic arm to receive PCB boards. Then, the first drive mechanism drives the first robotic arm to retract, and the first robotic finger moves the PCB board to the worktable to achieve loading. Similarly, the first drive mechanism drives the first robotic arm to extend, and the first robotic finger moves the PCB board away from the worktable to achieve unloading. That is, the loading and unloading processes of PCB boards can be achieved through the cooperation of the first drive mechanism, the first robotic arm, and the first robotic finger, without the need for the robotic arm to move to the worktable for loading and unloading PCB boards. This effectively prevents collisions between the robotic arm and the processing device, ensuring the normal operation of production. Attached Figure Description

[0025] To more clearly illustrate the solutions in this invention, a brief introduction to the accompanying drawings used in the description of the embodiments will be provided below. Obviously, the drawings described below are some embodiments of this invention. For those skilled in the art, other drawings can be obtained from these drawings without any creative effort. Wherein:

[0026] Figure 1 This is the transportation state of the PCB board conveying and processing equipment in one embodiment of the present invention. Figure 1 ;

[0027] Figure 2 This is the transportation state of the PCB board conveying and processing equipment in one embodiment of the present invention. Figure 2 ;

[0028] Figure 3 This is the transportation state of the PCB board conveying and processing equipment in one embodiment of the present invention. Figure 3 ;

[0029] Figure 4 This is the transportation state of the PCB board conveying and processing equipment in one embodiment of the present invention. Figure 4 ;

[0030] Figure 5 This is a schematic diagram of the processing platform in one embodiment of the present invention;

[0031] Figure 6 yes Figure 5 A schematic diagram of the structure of part A;

[0032] Figure 7 yes Figure 5 A structural diagram of section B;

[0033] Figure 8 yes Figure 2 A structural diagram of section C;

[0034] Figure 9It is the lifting and lowering state of the second mechanical finger. Figure 1 ;

[0035] Figure 10 It is the lifting and lowering state of the second mechanical finger. Figure 2 ;

[0036] Figure 11 This is an assembly diagram of the first robotic arm and the first drive mechanism;

[0037] Figure 12 This is a schematic diagram of the assembly of the second robotic arm and the second drive mechanism.

[0038] The labels in the attached diagram are as follows:

[0039] 100. Processing platform; 200. Conveyor belt; 300. Transfer device; 301. Mechanical gripper; 302. Lifting device;

[0040] 1. Worktable; 11. First clearance groove; 12. Second clearance groove; 121. Second guide groove; 13. First positioning part; 14. Third clearance groove; 15. Second positioning part; 16. First guide groove;

[0041] 21. First robotic arm; 211. First guide bar; 22. First robotic finger; 23. First drive mechanism;

[0042] 31. Second drive mechanism; 32. Third drive mechanism; 321. Third linear cylinder; 322. V-shaped connecting rod; 323. First transmission elongated hole; 324. Second transmission elongated hole; 33. Second robotic arm; 331. Guide hole; 332. Second guide bar; 34. Second robotic finger; 341. Cap brim;

[0043] 41. Fourth drive mechanism; 42. Fifth drive mechanism; 43. Third mechanical finger. Detailed Implementation

[0044] Unless otherwise defined, all technical and scientific terms used herein have the same meaning as commonly understood by one of ordinary skill in the art. The terminology used in this specification is for the purpose of describing particular embodiments only and is not intended to limit the invention. For example, terms such as “length,” “width,” “upper,” “lower,” “left,” “right,” “front,” “rear,” “vertical,” “horizontal,” “top,” “bottom,” “inner,” and “outer” indicate orientations or positions based on the orientations or positions shown in the accompanying drawings and are for ease of description only, and should not be construed as limiting the technical solution.

[0045] The terms "comprising" and "having," and any variations thereof, used in the specification, claims, and accompanying drawings of this invention are intended to cover non-exclusive inclusion; the terms "first," "second," etc., used in the specification, claims, and accompanying drawings are used to distinguish different objects, not to describe a particular order. "A plurality of" means two or more, unless otherwise explicitly specified.

[0046] In the description and claims of this invention and the foregoing drawings, when an element is referred to as "fixed to," "mounted to," "disposed on," or "connected to" another element, it can be located directly or indirectly on that other element. For example, when an element is referred to as "connected to" another element, it can be directly or indirectly connected to that other element.

[0047] Furthermore, the reference to "embodiment" herein means that a particular feature, structure, or characteristic described in connection with an embodiment may be included in at least one embodiment of the invention. The appearance of this phrase in various places throughout the specification does not necessarily refer to the same embodiment, nor is it a separate or alternative embodiment mutually exclusive with other embodiments. It will be explicitly and implicitly understood by those skilled in the art that the embodiments described herein can be combined with other embodiments.

[0048] This invention provides a processing platform 100, please refer to... Figures 1 to 12 The device includes a worktable 1, a first robotic arm 21, two first robotic fingers 22, and a first drive mechanism 23. The worktable 1 is used to support a PCB board 400 to facilitate processing of the PCB board 400 by a processing device (not shown in the figure). The first robotic arm 21 is movably disposed at the lower part of the worktable 1. The two first robotic fingers 22 are arranged along the length direction of the first robotic arm and protrude from the worktable 1 in a second direction. The worktable 1 is provided with a first clearance groove 11 for avoiding the first robotic fingers 22. The first drive mechanism 23 is installed at the lower part of the worktable 1 and is used to drive the first robotic arm 21 to extend or retract from the worktable 1 in a first direction. During the movement of the first robotic arm 21 in the first direction, the two first robotic fingers 22 can pass through the first clearance groove 11 through the worktable 1 to realize the loading and unloading of the PCB board 400.

[0049] In this configuration, the length direction of the first robotic arm is the same as the first direction. The first, second, and third directions are perpendicular to each other. The first and third directions are parallel to the worktable 1, and the second direction is perpendicular to the worktable 1. Please refer to [reference needed] for details. Figure 5 The first direction is the orientation of the X-axis; the second direction is the orientation of the Z-axis; and the third direction is the orientation of the Y-axis.

[0050] Two first mechanical fingers 22 are respectively set at both ends of the first mechanical arm 21. The first mechanical arm 21, the two first mechanical fingers 22 and the first drive mechanism 23 are all set in two sets, and are arranged in parallel intervals on the worktable 1, which further improves the stability of PCB board 400 transportation.

[0051] In this embodiment, the first drive mechanism 23 is a first linear cylinder, and the first robotic arm 21 is fixedly connected to the output rod of the first linear cylinder. In another embodiment, a motor belt assembly, a motor gear rack assembly, or a motor lead screw assembly can also be used to drive the first robotic arm 21.

[0052] In this embodiment, the loading action of the processing platform 100 is as follows:

[0053] Initial state: The first robotic arm 21 is in the retracted state;

[0054] Extended receiving state: The first drive mechanism 23 drives the first robotic arm 21 and two first robotic fingers 22 to extend. In this state, the PCB board 400 can be placed on the first robotic arm 21 by a transfer device 300 such as a robotic arm or lifting mechanism. At this time, the PCB board 400 is located between the two first robotic fingers 22.

[0055] Loading status: The first drive mechanism 23 drives the first robotic arm 21 to retract, and the first robotic finger 22 located on the side away from the worktable 1 pushes the PCB board 400 onto the worktable 1, thus realizing the loading of the PCB board 400.

[0056] The unloading action of the processing platform 100 is as follows:

[0057] Initial state: The first robotic arm 21 is in the retracted state. At this time, the PCB board 400 is located on the worktable 1 and between the two first robotic fingers 22.

[0058] Extending and unloading state: The first drive mechanism 23 drives the first robotic arm 21 and two first robotic fingers 22 to extend. During the extension of the first robotic arm 21, the first robotic fingers 22 located on the rear side of the forward direction push the PCB board 400 forward and leave the worktable 1 to achieve unloading.

[0059] In summary, compared with the prior art, the processing platform 100 has at least the following beneficial effects: The processing platform 100 uses a first drive mechanism 23 located at the lower part of the worktable 1 to drive a first robotic arm 21 to extend from the worktable 1 to receive the PCB board 400. Then, the first drive mechanism 23 drives the first robotic arm 21 to retract, and under the action of the first robotic finger 22, the PCB board 400 is moved to the worktable 1, thus achieving loading. Similarly, the first drive mechanism 23 drives the first robotic arm 21 to extend, and under the action of the first robotic finger 22, the PCB board 400 can be moved away from the worktable 1 to achieve unloading. That is, both the loading and unloading processes of the PCB board 400 can be achieved through the cooperation of the first drive mechanism 23, the first robotic arm 21, and the first robotic finger 22, eliminating the need for the robotic arm to move onto the worktable 1 for loading and unloading the PCB board 400. This effectively prevents collisions between the robotic arm and the processing device, ensuring the normal operation of production. Furthermore, during processing, the first robotic arm 21 and the first robotic finger 22 can retract back to the worktable 1, effectively reducing the footprint of the transport structure and not affecting the operation of other transport processes.

[0060] Embodiment 1 of the processing platform 100 of the present invention

[0061] To enable those skilled in the art to better understand the present invention, the following will be described in conjunction with the appendix. Figures 1 to 12 The technical solution in Embodiment 1 of the present invention will be clearly and completely described.

[0062] For further details, please refer to Figure 6 , Figure 11 The first robotic arm 21 is also provided with a first guide bar 211, which slides along a first direction in the first clearance groove 11. The first robotic arm 21 is driven by a first drive mechanism 23, meaning the direction of the first robotic arm 21 is controlled by the first drive mechanism 23. Without a guiding structure to restrict the movement direction of the first robotic arm 21, it is prone to displacement during movement, affecting subsequent material receiving and loading / unloading processes. This embodiment, by adding the cooperation between the first guide bar 211 and the first clearance groove 11, effectively limits the movement direction of the first robotic arm 21, thereby improving the stability of the processing platform 100. In this embodiment, the width of the first guide bar 211 matches the width of the first clearance groove 11, further improving the accuracy of the limiting position.

[0063] For further details, please refer to Figure 5 , Figure 6 , Figure 11The first mechanical finger 22 is threadedly connected to the first mechanical arm 21. The first mechanical finger 22 often collides with the PCB board 400 during use and is easily damaged. The threaded detachable installation makes it easy to replace the damaged first mechanical finger 22 to ensure the normal operation of the processing platform 100.

[0064] For further details, please refer to Figure 5 , Figure 6 , Figure 11 The side of the first guide bar 211 furthest from the first robotic arm 21 is flush with the side of the worktable 1. The PCB board 400 is transported to the worktable via the first robotic arm 21. When the height of the first robotic arm 21 is less than that of the worktable 1, a step is formed between them, making it easy for the PCB board 400 to collide with the worktable 1 during loading, resulting in damage. Conversely, when the height of the first robotic arm 21 is greater than that of the worktable 1, the PCB board 400 cannot fall onto the worktable 1, meaning the worktable 1 cannot provide stable support for the PCB board 400, easily causing it to loosen and affecting subsequent processing. By ensuring that the upper surface of the first guide bar 211 is flush with the upper surface of the worktable 1, there is no height difference between the first robotic arm 21 and the worktable 1 during loading, ensuring that the PCB board 400 falls smoothly onto the worktable 1, effectively preventing collisions and ensuring the optimal processing results.

[0065] For further details, please refer to Figure 5 , Figure 6 , Figure 11 The worktable 1 is also provided with a first guide groove 16, which communicates with a first clearance groove 11. The first robotic arm 21 and the first guide bar 211 are slidably disposed in the first guide groove 16 and the first clearance groove 11, respectively. The first guide groove 16 is arranged along a first direction, and its shape matches the shape of the first robotic arm 21. By adding the first guide groove 16 to guide the movement direction of the first robotic arm 21, the contact area between the worktable 1 and the first robotic arm 21 can be increased, further improving the stability of the first robotic arm 21's movement.

[0066] In this embodiment, please refer to Figure 5 , Figure 6 , Figure 11The first drive mechanism 23 is a first linear cylinder, and the first robotic arm 21 is partially enclosed on the first linear cylinder. Specifically, the cross-section of the first robotic arm 21 is shaped like an "n". By limiting the cross-section of the first robotic arm 21 to be shaped like an "n", the weight of the first robotic arm 21 is effectively reduced while ensuring good structural strength, thereby reducing production costs. Moreover, when the first robotic arm 21 retracts to the worktable 1, it can be directly retracted to one side of the first linear cylinder, that is, the first linear cylinder is housed in the slot of the first robotic arm 21, which can effectively reduce the size of the equipment.

[0067] In this embodiment, when the output shaft of the first linear cylinder is in the retracted state, the position of the first robotic arm 21 corresponds to the cylinder part of the first linear cylinder. With the above setting, under the premise of ensuring the same stroke of the first robotic arm 21, the length of the combined state of the first linear cylinder and the first robotic arm 21 can be minimized when the output shaft of the first linear cylinder is in the extended state, effectively reducing the footprint of the equipment.

[0068] In this embodiment, please refer to Figure 5 , Figure 6 , Figure 11 The distance between the two first mechanical fingers 22 is greater than the width of the worktable 1. By limiting the distance between the two first mechanical fingers 22, it is possible to prevent the first mechanical fingers 22 from staying on the worktable 1 and affecting the normal processing. Specifically, when the output shaft of the first linear cylinder is in the retracted state, both first mechanical fingers 22 are located on the outside of the worktable 1.

[0069] For further details, please refer to Figures 5 to 10 as well as Figure 12 The workbench 1 is also provided with a second clearance groove 12 and a first positioning part 13, wherein the extension direction of the second clearance groove 12 is parallel to the extension direction of the first clearance groove 11, and the first positioning part 13 and the second clearance groove 12 are respectively provided on opposite sides of the workbench 1.

[0070] The processing platform 100 also includes a second drive mechanism 31, a third drive mechanism 32, a second robotic arm 33, and a second robotic finger 34. The second drive mechanism 31 is disposed on the side of the workbench away from the PCB board. The second robotic arm 33 is movably disposed in the second clearance groove 12. The third drive mechanism 32 is disposed on the second robotic arm 33. The second robotic finger 34 is slidably disposed on the second robotic arm 33 along the second direction.

[0071] The third drive mechanism 32 is used to drive the second mechanical finger 34 to slide relative to the second mechanical arm 33 in the second direction to avoid the loading or unloading of the PCB board 400; the third drive mechanism 32 is used to drive the second mechanical finger 34 to slide out of the worktable 1 in the second direction, and is driven by the second drive mechanism 31 so that the second mechanical finger 34 cooperates with the first positioning part 13 to position the PCB board 400.

[0072] To improve the processing efficiency of the PCB board 400, its position on the worktable 1 generally needs to be adjusted and positioned before the processing steps. However, since the stroke of the first drive mechanism 23 is limited, if the first robotic arm 21 needs to extend a long distance to transport the PCB board 400 and simultaneously return to the worktable 1 to adjust and position it, the first linear cylinder needs a larger stroke. This increases the length of the first linear cylinder, consequently increasing the footprint of the processing platform 100 and impacting the user experience.

[0073] Now, by adding a first positioning part 13, a second driving mechanism 31, a second robotic arm 33, and a second robotic finger 34, the second driving mechanism 31 drives the second robotic arm 33 and the second robotic finger 34 to move along the first direction, thereby causing the second robotic finger 34 to push the PCB board 400 against the first positioning part 13, thus achieving the positioning of the PCB board 400 conveniently and quickly. The fixedly installed first positioning part 13 serves as the positioning reference, effectively ensuring positioning accuracy. By placing the second driving mechanism 31 at the lower part of the worktable 1 and the second robotic arm 33 in the second clearance groove 12, the volume of the processing platform 100 can be effectively controlled, preventing it from becoming too large. Simultaneously, it avoids the second driving mechanism 31 and the second robotic arm 33 being installed on the upper part of the worktable 1, thus preventing them from interfering with the normal translation and loading / unloading of the PCB board 400.

[0074] In this embodiment, the loading and unloading of the PCB board 400 are achieved through translation. However, adjusting the positioning of the PCB board 400 requires placing it between the first positioning part 13 and the second mechanical finger 34. Specifically, the first positioning part 13 is directly fixed to the worktable 1, and the PCB board 400 cannot be loaded or unloaded from the position of the first positioning part 13. Therefore, the position of the second mechanical finger 34 needs to be adjusted to avoid the PCB board 400. In this embodiment, by sliding the second mechanical finger 34 along the second direction onto the second robotic arm 33, and adding a third drive mechanism 32 to drive the second mechanical finger 34, the second mechanical finger 34 can extend out of the worktable 1 for positioning, or retract into the worktable 1 to facilitate the loading or unloading of the PCB board 400.

[0075] The second drive mechanism 31 is a second linear cylinder, and the second robotic arm 33 is fixedly connected to the output rod of the second linear cylinder. In another embodiment, a motor belt assembly, a motor gear rack assembly, or a motor lead screw assembly can also be used to drive the first robotic arm 21.

[0076] The following is the loading process for the 100-second stroke machining platform:

[0077] Initial state: The first robotic arm 21 is in the retracted state, the second robotic finger 34 is retracted inside the second robotic arm 33, and the second robotic arm 33 is in the extended state;

[0078] Extended receiving state: The first drive mechanism 23 drives the first robotic arm 21 and two first robotic fingers 22 to extend. In this state, the PCB board 400 can be placed on the first robotic arm 21 by a transfer device 300 such as a robotic arm or lifting mechanism. At this time, the PCB board 400 is located between the two first robotic fingers 22.

[0079] Loading state: The first drive mechanism 23 drives the first robotic arm 21 to retract, and the first robotic finger 22 located on the side away from the worktable 1 pushes the PCB board 400 onto part of the worktable 1. At this time, the first robotic arm 21 is in a fully retracted state (please refer to this state). Figure 3 Then, the third drive mechanism 32 drives the second mechanical finger 34 to extend, and the second drive mechanism 31 drives the second mechanical arm 33 to retract. This allows the second mechanical finger 34 to move the PCB board 400 completely onto the worktable 1, where it abuts against the first positioning part 13 (please refer to the positioning state). Figure 1 ).

[0080] The unloading action of the machining platform 100 secondary stroke is as follows:

[0081] Initial state: The first robotic arm 21 is in the retracted state. At this time, the PCB board 400 is located on the worktable 1 and between the two first robotic fingers 22; and between the first positioning part 13 and the second robotic finger 34.

[0082] Extending and unloading state: The second drive mechanism 31 extends the second robotic arm 33 a short distance so that the third drive mechanism 32 can drive the second robotic finger 34 to retract into the second robotic arm 33. The first drive mechanism 23 drives the first robotic arm 21 and the two first robotic fingers 22 to extend. During the extension of the first robotic arm 21, the first robotic finger 22 located on the rear side in the forward direction pushes the PCB board 400 forward until the PCB board 400 partially leaves the worktable 1 and passes the position of the second robotic finger 34. At this time, the first robotic arm 21 is in the fully extended state. Then, the third drive mechanism 32 drives the second robotic finger 34 to extend (please refer to the previous section for this state). Figure 4The second drive mechanism 31 drives the second robotic arm 33 to extend, which in turn drives the PCB board 400 to complete the unloading process via the second robotic finger 34 (please refer to the status after unloading). Figure 2 ).

[0083] For further details, please refer to Figure 8 The second mechanical finger 34 is provided with a cap 341 at its top. After the PCB board 400 is positioned, the second mechanical finger 34 can be driven to move downward by the third drive mechanism 32 until the cap 341 is pressed against the PCB board 400. This can fix the position of the PCB board 400, thereby improving the stability of the PCB board 400 during processing and ensuring the processing effect.

[0084] For further details, please refer to Figure 8 , Figure 9 , Figure 10 The second robotic arm 33 has a guide hole 331. The second robotic finger 34 reciprocates in the guide hole 331 along the second direction. The third drive mechanism 32 includes a third linear cylinder 321 and a V-shaped connecting rod 322. The two ends of the V-shaped connecting rod 322 are respectively provided with a first transmission elongated hole 323 and a second transmission elongated hole 324. The V-shaped connecting rod 322 is rotatably mounted on the second robotic arm 33. The end of the output shaft of the third linear cylinder 321 is movably connected to the first transmission elongated hole 323. The second robotic finger 34 is movably connected to the second transmission elongated hole 324. The third linear cylinder 321 is mounted on the second robotic arm 33 along the first direction and drives the V-shaped connecting rod 322 to rotate through the output shaft, which can be converted into the reciprocating motion of the second robotic finger 34 in the second direction.

[0085] In this design, the major axes of the first transmission elongated hole 323 and the second transmission elongated hole 324 both point towards the rotation center of the V-shaped connecting rod 322. Since the output shaft of the third linear cylinder 321 moves linearly, and the movement of the second mechanical finger 34 in the guide hole 331 is also linear, by setting the first transmission elongated hole 323 and the second transmission elongated hole 324, the basic transmission function of the V-shaped connecting rod 322 can be achieved, while also accommodating the linear movement of the output shaft of the third linear cylinder 321 and the linear movement of the second mechanical finger 34, thus ensuring normal transmission. This application, by limiting the third linear cylinder 321 to be positioned along the first direction, ensures that the thickness of the third linear cylinder 321 in the second direction is not excessive, thereby ensuring that the worktable 1 has a relatively small thickness.

[0086] In another embodiment, the third drive mechanism 32 can be directly connected to the second mechanical finger 34 using a linear cylinder, that is, the linear cylinder is set along the second direction to directly drive the second mechanical finger 34 to move up and down along the second direction. Using a direct connection method results in a simpler structure, but it increases the thickness of the worktable 1. Alternatively, a belt assembly or a lead screw assembly can be used to drive the movement of the second mechanical finger 34.

[0087] For further details, please refer to Figure 8 , Figure 9 , Figure 10 The second clearance groove 12 has two side walls with second guide grooves 121, and the second robotic arm 33 has two sides with second guide bars 332, which are slidably mounted on the second guide grooves 121. In this embodiment, the third linear cylinder 321 and the V-shaped connecting rod 322 are both mounted on the second robotic arm 33 and move together with it. This causes the second drive mechanism 31 to need to output more force to drive the second robotic arm 33. At the same time, the third linear cylinder 321 and the V-shaped connecting rod 322 will apply a force in the second direction to the second drive mechanism 31, which may easily lead to damage to the second drive mechanism 31. Now, through the cooperation of the second guide bars 332 and the second guide grooves 121, the movement direction of the second robotic arm 33 can be guided, and the second robotic arm 33 can also be supported, effectively reducing the force in the second direction on the second drive mechanism 31.

[0088] For further details, please refer to Figure 5 , Figure 7 The workbench 1 is also provided with a third clearance groove 14 and a second positioning part 15. The third clearance groove 14 is provided on the workbench 1 along the third direction, and the second positioning part 15 and the third clearance groove 14 are respectively provided on opposite sides of the workbench 1 along the third direction.

[0089] The processing platform 100 also includes a fourth drive mechanism 41, a fifth drive mechanism 42, and a third mechanical finger 43. The fourth drive mechanism 41 and the fifth drive mechanism 42 are disposed on the side of the worktable 1 away from the PCB board. The third mechanical finger 43 is movably disposed in the third clearance groove 14. The fifth drive mechanism 42 drives the third mechanical finger 43 to move up and down in the second direction, and the fourth drive mechanism 41 drives the third mechanical finger 43 to move in the third direction, so that the third mechanical finger 43 cooperates with the second positioning part 15 to position the PCB board 400 in the third direction.

[0090] This embodiment, by adding a second positioning part 15, a third mechanical finger 43, and a fourth driving mechanism 41, allows the fourth driving mechanism 41 to drive the third mechanical finger 43 to move in coordination with the second positioning part 15 for positioning the PCB board 400, further improving the positioning accuracy of the PCB board 400. To avoid affecting the normal loading, unloading, and processing of the PCB board 400, a fifth driving mechanism 42 can drive the third mechanical finger 43 to move downwards along a second direction, lowering it below the worktable 1 to avoid obstructing the PCB board 400. In this embodiment, the width of the third clearance groove 14 matches the width of the third mechanical finger 43, guiding the movement direction of the third mechanical finger 43.

[0091] For further details, please refer to Figure 5 , Figure 7 The fourth drive mechanism 41 The fifth drive mechanism 42 is mounted on the rodless cylinder and reciprocates along a third direction under the drive of the rodless cylinder. The third mechanical finger 43 is mounted on the fifth drive mechanism 42. The rodless cylinder has a smaller size and higher load capacity and stability. In this embodiment, the fifth drive mechanism is also driven by a cylinder. In another embodiment, the fourth drive mechanism 41 can also be a gear and rack assembly or a lead screw motor. If the fourth drive mechanism 41 is a lead screw motor, the fifth drive mechanism 42 is mounted on the lead screw of the lead screw motor and reciprocates along a third direction under the drive of the lead screw motor; if the fourth drive mechanism 41 is a gear and rack assembly, the fifth drive mechanism 42 is mounted on the rack of the gear and rack assembly and reciprocates along a third direction under the drive of the gear and rack assembly.

[0092] Furthermore, a buffer sleeve (not shown in the figure) is fitted onto the second mechanical finger 34; a buffer sleeve is fitted onto the third mechanical finger 43. By adding buffer sleeves, the second mechanical finger 34 or the third mechanical finger 43 can be prevented from directly colliding with the PCB board 400 during the clamping and positioning process, thereby ensuring the processing yield of the PCB board 400.

[0093] This invention also provides a PCB board 400 conveying and processing device, please refer to... Figures 1 to 12It includes a conveyor belt 200, a transfer device 300, and a processing platform 100 as described above. The processing platform 100 is located on one side of the conveyor belt 200, and the transfer device 300 is located on the upper or lower side of the conveyor belt 200. When the conveyor belt 200 transports the PCB board 400 to the side of the processing platform 100, the transfer device 300 lifts or grabs the PCB board 400. The processing platform 100 drives the first robotic arm 21 to extend to the lower side of the PCB board 400. The transfer device 300 releases the PCB board 400, causing it to fall onto the first robotic arm 21. The PCB board 400 is then loaded by the cooperation of the first robotic arm 21 and the first robotic finger 22.

[0094] The PCB board 400 can be quickly loaded and unloaded from the workbench 1 by the cooperation of the conveyor belt 200, the transfer device 300 and the processing platform 100. The processing platform 100 can directly move the PCB board 400 by the cooperation of the first drive mechanism 23, the first robotic arm 21 and the first robotic finger 22, which effectively prevents the transfer device 300 from colliding with the processing device and ensures the normal operation of the processing.

[0095] The transfer device 300 can be a mechanical gripper 301 or a lifting device 302.

[0096] The above description is merely a preferred embodiment of the present invention and is not intended to limit the invention. Various modifications and variations can be made to the present invention by those skilled in the art. Any modifications, equivalent substitutions, improvements, etc., made within the spirit and principles of the present invention should be included within the scope of the claims of the present invention.

Claims

1. A processing platform, characterized by, The utility model relates to a PCB loading and unloading device, comprising: a workbench, one side of which is used for carrying a PCB; a first avoiding slot, which is opened along a first direction of the workbench; a first mechanical arm, which is movably connected to the workbench; at least two first mechanical fingers, which are arranged along the length direction of the first mechanical arm; a first driving mechanism, which is connected to the first mechanical arm and is used for driving the first mechanical arm to move relative to the workbench along a first direction; wherein the first mechanical fingers protrude from the workbench along a second direction and can reciprocate in the first avoiding slot along the first direction; under the driving of the first driving mechanism, the first mechanical fingers can push the PCB into or out of the workbench along the first direction; the first direction is perpendicular to the second direction; the workbench is further provided with a second avoiding slot and a first positioning part, and the extension direction of the second avoiding slot is parallel to the extension direction of the first avoiding slot; the processing platform further comprises a second driving mechanism, a third driving mechanism, a second mechanical arm and a second mechanical finger, the second driving mechanism is arranged on the side of the workbench away from the PCB, the second mechanical arm is movably arranged in the second avoiding slot, and the third driving mechanism is arranged on the second mechanical arm; wherein the third driving mechanism is used for driving the second mechanical finger to slide relative to the second mechanical arm along a second direction to avoid the feeding or discharging of the PCB; the third driving mechanism is used for driving the second mechanical finger to slide out of the workbench along the second direction, and the second mechanical arm is driven by the second driving mechanism to slide along the first direction, so that the second mechanical finger cooperates with the first positioning part to position the PCB.

2. The machining platform of claim 1, wherein, the first mechanical arm is further provided with a first guide strip, and the first guide strip is slidably arranged in the first avoiding slot along the first direction.

3. The machining platform of claim 2, wherein, the side of the first guide strip away from the first mechanical arm is flush with the side of the workbench.

4. The machining platform according to any of claims 1 to 3, characterized in that the second mechanical arm is provided with a guide hole, the second mechanical finger can move in the guide hole along the second direction, the third driving mechanism comprises a third linear cylinder and a V-shaped connecting rod, the V-shaped connecting rod is rotatably arranged on the second mechanical arm, the output shaft end of the third linear cylinder is movably connected to the first transmission long slot, the second mechanical finger is movably connected to the second transmission long slot, and the third linear cylinder is connected to the second mechanical arm and can drive the V-shaped connecting rod to rotate, so that the second mechanical finger moves in the second direction.

5. The machining platform according to any of claims 1 to 3, characterized in that the sidewall of the second avoiding slot is provided with a second guide slot, and the two sides of the second mechanical arm are provided with second guide strips, the second guide strips are slidably arranged on the second guide slots.

6. The machining platform according to any one of claims 1 to 3, characterized in that the workbench is further provided with a third avoiding slot and a second positioning part; The processing platform further comprises a fourth driving mechanism, a fifth driving mechanism and a third mechanical finger, the fourth driving mechanism and the fifth driving mechanism are arranged on the side of the workbench away from the bearing PCB, the third mechanical finger is movably arranged in the third avoiding slot, the fifth driving mechanism drives the third mechanical finger to move in the second direction, the fourth driving mechanism drives the third mechanical finger to move in the third direction, so that the third mechanical finger cooperates with the second positioning part to position the PCB in the third direction, the third direction, the second direction and the first direction are perpendicular to each other.

7. The machining platform of claim 6, wherein, The fourth driving mechanism is a rodless cylinder, and the fifth driving mechanism is arranged on the rodless cylinder and reciprocates in the third direction under the driving of the rodless cylinder.

8. The machining platform of claim 6, wherein, The fourth driving mechanism is a lead screw motor, and the fifth driving mechanism is arranged on the lead screw of the lead screw motor and reciprocates in the third direction under the driving of the lead screw motor.

9. The machining platform of claim 6, wherein, The fourth driving mechanism is a gear and rack assembly, and the fifth driving mechanism is arranged on the rack of the gear and rack assembly and reciprocates in the third direction under the driving of the gear and rack assembly.

10. The machining platform of claim 6, wherein, The first driving mechanism is a first linear cylinder, and the first mechanical arm is fixedly connected with the output rod of the first linear cylinder, and / or The second driving mechanism is a second linear cylinder, and the output shaft of the second linear cylinder is fixedly connected with the second mechanical arm.

11. The machining platform of claim 6, wherein, The second mechanical finger is sleeved with a buffer rubber sleeve, and / or the third mechanical finger is sleeved with a buffer rubber sleeve.

12. A PCB board conveying and processing apparatus, characterized by, The conveying belt, the transfer device and the processing platform as claimed in any one of claims 1-11 are provided, the processing platform is arranged on one side of the conveying belt, and the transfer device is arranged in the second direction and spaced from the conveying belt; wherein when the conveying belt transports the PCB to one side of the processing platform, the transfer device takes up the PCB, the processing platform drives the first mechanical arm to extend to the side of the PCB away from the transfer device, the transfer device releases the PCB, so that the PCB falls on the first mechanical arm, and then the feeding of the PCB is realized through the cooperation of the first mechanical arm and the first mechanical finger.

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