Automatic conveying device for special-shaped circuit board

Abstract

The invention discloses an automatic conveying device for special-shaped circuit boards, and relates to the field of circuit board conveying, the automatic conveying device comprises a conveying mechanism and a stacking box, the stacking box is arranged at the output end of the conveying mechanism, and the conveying mechanism comprises two belt conveyors and a negative pressure positioning mechanism arranged between the two belt conveyors; the negative-pressure positioning mechanism comprises a fixing base, a wide belt and a negative-pressure strip, the wide belt and the belt conveyor keep synchronous in conveying, an annular negative-pressure groove is formed in the side wall of the wide belt in the self track direction, a negative-pressure cavity is formed in the negative-pressure strip, a strip-shaped window is formed in the side, close to the wide belt, of the negative-pressure strip in the self length direction, and the strip-shaped window communicates with the negative-pressure cavity. The side end, provided with the strip-shaped window, of the negative pressure strip is located in the annular negative pressure groove, a plurality of adsorption holes are formed in the top face of the wide belt in the track direction of the wide belt, the adsorption holes communicate with the annular negative pressure groove, it is guaranteed that the circuit boards cannot deviate in the conveying process, and the stacking and feeding precision of the circuit boards is higher.

Description

Technical Field

[0001] The invention relates to the technical field of circuit board conveying, in particular to an automatic conveying device for special-shaped circuit boards. Background Art

[0002] The names of circuit boards include ceramic circuit boards, alumina ceramic circuit boards, aluminum nitride ceramic circuit boards, circuit boards, ultra-thin circuit boards, printed circuit boards, etc. Circuit boards miniaturize and visualize circuits, and play an important role in the mass production of fixed circuits and the optimization of electrical appliance layout. Circuit boards can be called printed circuit boards or printed circuit boards. Circuit boards have the characteristics of high wiring density, light weight, thin thickness, and good bending properties. In the automated production of integrated circuits, the circuit boards sent out from the circuit board production station are transported to the stacking station by a conveyor, and are used to stack the circuit boards to be produced in the stacking box, so that the loading mechanism can load the stacked circuit boards to the next station in sequence. However, in the process of conveying the circuit boards by the conveyor, the circuit boards are not limited in any way, which makes it easy for the circuit boards to be transported offset, resulting in the inability to accurately stack the circuit boards in the stacking box; secondly, with the rapid development of integrated circuits, circuit boards are diverse and complex, and in order to meet the needs of different environments, the circuit boards are cut into special shapes, that is, the shape of the circuit boards is not a conventional rectangular shape, but is cut into special shapes according to the actual environment. In addition, the shapes of the circuit boards are also varied due to different installation environments. It is impossible to configure a stacking box of the corresponding shape for each special-shaped circuit board. On the one hand, the cost is high, and on the other hand, the stacking box needs to be re-molded and produced, and the production cycle is long, which results in the special-shaped circuit boards being stacked in the stacking box. The special-shaped circuit boards cannot be confined in the stacking box, resulting in poor loading accuracy of the circuit boards, affecting subsequent production. Summary of the invention

[0003] The purpose of the present invention is to overcome the deficiencies of the prior art and to provide an automatic conveying device for special-shaped circuit boards to solve the deficiencies of the prior art.

[0004] The objective of the present invention is achieved through the following technical solutions: an automatic conveying device for special-shaped circuit boards, comprising a conveying mechanism and a stacking box, wherein the stacking box is arranged at the output end of the conveying mechanism, a multi-degree-of-freedom conveying mechanism is arranged between the conveying mechanism and the stacking box, the conveying mechanism comprises two belt conveyors and a negative pressure positioning mechanism arranged between the two belt conveyors, the two belt conveyors are arranged at intervals along a conveying direction perpendicular to the circuit board, the negative pressure positioning mechanism comprises a fixed seat, a wide belt and a negative pressure strip, and two of the belt conveyors are arranged at intervals along the conveying direction of the belt conveyor A fixed seat, a driving pulley and a driven pulley are rotatably arranged on the two fixed seats respectively, the driving pulley is connected to the driven pulley through a wide belt transmission, the side wall of the wide belt is provided with an annular negative pressure groove along its own trajectory direction, a negative pressure cavity is arranged in the negative pressure strip, a strip window is provided on the side of the negative pressure strip close to the wide belt along its own length direction, the strip window is connected to the negative pressure cavity, the side end of the negative pressure strip provided with the strip window is located in the annular negative pressure groove, a plurality of adsorption holes are provided on the top surface of the wide belt along its own trajectory direction, and the adsorption holes are connected to the annular negative pressure groove;

[0005] A stacking groove is provided at the top of the stacking box, and a plurality of limit shafts are vertically provided on the bottom wall of the stacking groove. The plurality of limit shafts are surrounded to form a circuit board storage space. The limit shafts have the freedom to move along the center of the stacking box. The multi-degree-of-freedom conveying mechanism is used to clamp the circuit board conveyed by the conveying mechanism and place it into the storage space.

[0006] Furthermore, the negative pressure positioning mechanism also includes a fixed plate, the negative pressure strip is fixedly mounted on the fixed plate, a negative pressure pump is arranged on the fixed plate, the negative pressure pump is connected to the negative pressure strip via a negative pressure pipe, the negative pressure pipe is connected to the negative pressure chamber, and clamping mechanisms are arranged at both ends of the negative pressure strip, the clamping mechanisms include an upper pressure plate and a lower pressure plate, the upper pressure plate and the lower pressure plate are both slidably connected to the fixed plate, the upper pressure plate and the lower pressure plate respectively squeeze the top surface and the bottom surface of the wide belt, and the bottom surface of the upper pressure plate, the top surface of the lower pressure plate and the upper and lower surfaces of the negative pressure strip are all smoothed.

[0007] Furthermore, a bidirectional threaded screw is rotatably arranged on the fixed plate, and sliding rods are arranged on both sides of the bidirectional threaded screw, and the sliding rods are fixedly connected to the fixed plate, and the lower pressure plate and the upper pressure plate are threadedly mounted on the two opposite threaded sections of the bidirectional threaded screw, and the upper pressure plate and the lower pressure plate are both slidably mounted on the sliding rod, and a vertical sliding groove is opened on the fixed plate, and the lower pressure plate is slidably adapted in the vertical sliding groove.

[0008] Furthermore, a downward pressure limiting mechanism is provided on the conveying frame of the belt conveyor, and the downward pressure limiting mechanism includes a downward pressure cylinder and a downward pressure thin plate. The cylinder body of the downward pressure cylinder is vertically installed on the conveying frame, and the telescopic shaft of the downward pressure cylinder is connected to the downward pressure thin plate, and the downward pressure thin plate is located above the conveying surface of the belt conveyor.

[0009] Furthermore, a radial groove is formed on the inner bottom wall of the stacking groove at a position corresponding to the limiting shaft, and an adjusting screw is arranged in the radial groove. The adjusting screw is rotatably connected to the stacking box, and an adjusting block is threadedly mounted on the adjusting screw. The adjusting block is slidably adapted to the radial groove, and the limiting shaft is vertically connected to the top of the adjusting block. One end of the adjusting screw passes through the stacking box and is fixed with an adjusting nut.

[0010] Furthermore, a guide shaft is fixed to the top of the limiting shaft, the diameter of the guide shaft gradually decreases in a direction away from the limiting shaft, and the maximum diameter of the guide shaft is equal to the diameter of the limiting shaft.

[0011] Furthermore, the multi-degree-of-freedom conveying mechanism includes a fixed column, a lifting beam, a translation beam, a conveying slider and a negative pressure feeding pipe. Two of the fixed columns are arranged at intervals along the conveying direction perpendicular to the belt conveyor. The two ends of the lifting beam are respectively slidably arranged on the two fixed columns. The lifting beam has the freedom to move along the height direction of the fixed columns. The translation beam is slidably arranged at the bottom of the lifting beam. The conveying slider is slidably arranged at the bottom of the translation beam. The moving direction of the translation beam is perpendicular to the moving direction of the conveying slider in the horizontal plane. A fine-tuning mechanism is arranged at the bottom of the conveying slider, and the negative pressure feeding pipe is vertically installed on the fine-tuning mechanism.

[0012] Furthermore, the fine-tuning mechanism includes a transverse slider, a longitudinal slider and a rotating shaft, a transverse slide groove is provided at the bottom of the conveying slider, the transverse slider is slidably adapted in the transverse slide groove, both ends of the transverse slider are connected with transverse springs, the transverse spring is connected to the conveying slider, a longitudinal slide groove is provided at the bottom of the transverse slider, the longitudinal slider is slidably adapted in the longitudinal slide groove, both ends of the longitudinal slider are connected with longitudinal springs, the longitudinal spring is connected to the transverse slider, the spiral line of the longitudinal spring is perpendicular to the spiral line of the transverse spring, one end of the rotating shaft is rotatably connected to the bottom of the longitudinal slider through a torsion spring, and the other end of the rotating shaft is connected to the negative pressure feeding pipe.

[0013] Furthermore, a linear drive module is vertically installed on the side wall of the fixed column, and the end of the lifting beam is installed on the slide seat of the linear drive module, and a transverse screw rod groove is opened at the bottom of the lifting beam along its own length direction, a first screw rod is rotatably arranged in the transverse screw rod groove, a first screw rod is threadedly mounted on the first screw rod, the translation beam is installed on the first screw rod slider, a first motor is arranged on the top of the lifting beam, and the output shaft of the first motor is connected to the first screw rod through a bevel gear set, a second screw rod groove is opened at the bottom of the translation beam along its own length direction, a second screw rod is rotatably arranged in the second screw rod groove, a second screw rod slider is threadedly mounted on the second screw rod, the conveying slider is installed on the second screw rod slider, a second motor is installed at one end of the translation beam, and the output shaft of the second motor is connected to the second screw rod.

[0014] Furthermore, a circular hole connected to the stacking groove is opened at the bottom of the stacking box, and a lifting mechanism is arranged under the stacking box. The lifting mechanism includes a lifting cylinder and a lifting plate. The lifting cylinder is vertically installed, and the telescopic shaft of the lifting cylinder is connected to the lifting plate. The lifting plate is coaxially arranged with the circular hole, and the diameter of the lifting plate is smaller than the diameter of the circular hole. A pressure sensor is embedded in the top surface of the lifting plate.

[0015] The beneficial effects of the present invention are:

[0016] 1. The conveying plane of the wide belt is flush with the conveying plane of the belt conveyor. The circuit board produced in the previous workstation falls on the belt conveyor. The negative pressure strip is pumped to generate negative pressure, and the strip window of the negative pressure strip generates negative pressure in the annular negative pressure groove. This negative pressure acts on the circuit board through the adsorption hole, so that the circuit board is adsorbed on the wide belt. The wide belt and the belt conveyor run synchronously, so that the circuit board can be adsorbed for transportation, which can ensure that the circuit board will not deviate during the transportation process, so that the stacking and loading accuracy of the circuit board is higher.

[0017] 2. Multiple limiting axes are arranged around the circuit board. The limiting axes are moved to contact the side walls of the circuit board, thereby limiting the stacked circuit boards. The storage space formed by the multiple limiting axes matches the shape of the special-shaped circuit boards. Therefore, there is no need to configure additional stacking boxes. It is only necessary to adjust the position of the limiting axes according to the shape of the special-shaped circuit boards, which reduces the cost. At the same time, the circuit boards in the stacking boxes can be limited, so that the loading accuracy of the circuit boards is higher. BRIEF DESCRIPTION OF THE DRAWINGS

[0018] Figure 1 The structure of an automatic conveying device for special-shaped circuit boards of the present invention is shown in FIG. Figure 1 ;

[0019] Figure 2 for Figure 1 Enlarged view of point A in the middle;

[0020] Figure 3 The structure of an automatic conveying device for special-shaped circuit boards of the present invention is shown in FIG. Figure 2 ;

[0021] Figure 4 It is a structural schematic diagram of a negative pressure strip in an automatic conveying device for special-shaped circuit boards of the present invention;

[0022] Figure 5 The structure of an automatic conveying device for special-shaped circuit boards of the present invention is shown in FIG. Figure 3 ;

[0023] Figure 6 It is a right view of an automatic conveying device for special-shaped circuit boards of the present invention;

[0024] Figure 7 for Figure 6 Enlarged view of point B in the middle;

[0025] Figure 8 The structure of an automatic conveying device for special-shaped circuit boards of the present invention is shown in FIG. Figure 4 ;

[0026] Fig. 9 for Figure 8 Enlarged view of point C in the middle;

[0027] In the figure, 1-stacking box, 2-belt conveyor, 3-fixed seat, 4-wide belt, 5-negative pressure strip, 6-driving pulley, 7-driven pulley, 8-annular negative pressure groove, 9-negative pressure chamber, 10-strip window, 11-adsorption hole, 12-stacking groove, 13-limiting shaft, 14-fixed plate, 15-negative pressure pump, 16-upper pressure plate, 17-lower pressure plate, 18-bidirectional threaded screw, 19-slide rod, 22-vertical slide groove, 23-downward pressure cylinder, 24-downward pressure thin plate, 25-radial groove, 26-adjusting screw, 27-adjusting block, 28-adjusting nut, 29-guide shaft, 30-fixed Fixed column, 31-lifting beam, 32-translational beam, 33-conveying slider, 34-negative pressure feeding pipe, 35-transverse slider, 36-longitudinal slider, 37-rotating axis, 38-transverse slide, 39-transverse spring, 40-longitudinal slide, 41-longitudinal spring, 42-linear drive module, 43-transverse screw groove, 44-first screw, 45-first screw slider, 46-first motor, 47-second screw groove, 48-second screw, 49-second screw slider, 50-second motor, 51-round hole, 52-lifting cylinder, 53-lifting plate, 54-pressure sensor. DETAILED DESCRIPTION

[0028] The technical solution of the present invention is further described in detail below in conjunction with the accompanying drawings, but the protection scope of the present invention is not limited to the following.

[0029] Embodiment 1

[0030] like Figures 1 to 9As shown, an automatic conveying device for special-shaped circuit boards includes a conveying mechanism and a stacking box 1. The stacking box 1 is arranged at the output end of the conveying mechanism. A multi-degree-of-freedom conveying mechanism is arranged between the conveying mechanism and the stacking box 1. The conveying mechanism includes two belt conveyors 2 and a negative pressure positioning mechanism arranged between the two belt conveyors 2. The two belt conveyors 2 are arranged at intervals along a conveying direction perpendicular to the circuit board. The negative pressure positioning mechanism includes a fixed seat 3, a wide belt 4 and a negative pressure strip 5. Two fixed seats 3 are arranged at intervals along the conveying direction of the belt conveyor 2. A driving pulley 6 and a driven pulley 7 are rotatably arranged on the two fixed seats 3 respectively. The driving pulley 6 is connected to the driven pulley 7 through the wide belt 4. The side wall of the wide belt 4 is opened along the direction of its own trajectory. An annular negative pressure groove 8 is provided, a negative pressure cavity 9 is provided in the negative pressure strip 5, a strip window 10 is provided on one side of the negative pressure strip 5 close to the wide belt 4 along its length direction, the strip window 10 is connected to the negative pressure cavity 9, the side end of the negative pressure strip 5 with the strip window 10 is located in the annular negative pressure groove 8, a plurality of adsorption holes 11 are provided on the top surface of the wide belt 4 along its own trajectory direction, the adsorption holes 11 are connected to the annular negative pressure groove 8, the circuit board is cut and formed at the previous cutting station, the special-shaped circuit board formed by cutting is clamped by a mechanical arm and placed on the belt conveyor 2, the negative pressure strip 5 is inserted into the annular negative pressure groove 8 of the straight section of the wide belt 4, to ensure stable circuit board transportation, the position where the mechanical arm places the circuit board and the position where the multi-degree-of-freedom conveying mechanism clamps the circuit board are both located in the negative pressure groove 8. Within the length range of the pressure strip 5, the circuit board is in a negative pressure adsorption and conveying state from placement to clamping and stacking, so as to maintain the conveying state of the circuit board and ensure that the circuit board will not deviate during the conveying process, so that the circuit board can be accurately stacked in the stacking box 1. The negative pressure positioning mechanism also includes a fixed plate 14, and the negative pressure strip 5 is fixedly installed on the fixed plate 14. A negative pressure pump 15 is arranged on the fixed plate 14. The negative pressure pump 15 is connected to the negative pressure strip 5 through a negative pressure pipe, and the negative pressure pipe is connected to the negative pressure chamber 9. The specific negative pressure conveying process is: negative pressure is generated in the negative pressure chamber 9 through the negative pressure pump 15, and negative pressure is generated in the annular negative pressure groove 8 through the strip window 10. The negative pressure range of the annular negative pressure groove 8 is the coverage range of the strip window 10. The placement position and the stacking and fetching position of the circuit board are both within the length range of the strip window 10, and the end face of the negative pressure strip 5 contacts the inner side wall of the annular negative pressure groove 8, so that a stable negative pressure state is formed in the strip window 10, and the circuit board is adsorbed through the adsorption hole 11, so as to ensure that the circuit board will not deviate during the transportation process, and the local position of the belt conveyor 2 is continuously negatively pressurized by the fixedly arranged negative pressure strip 5, and the placement position and the stacking and fetching position of the circuit board are both within the negative pressure range of the belt conveyor 2, so as not to affect the conveying effect of the belt conveyor 2 on the circuit board, and at the same time, the circuit board can be adsorbed by negative pressure, and the negative pressure pump 15 and the negative pressure pipe are both fixedly arranged and will not move with the belt conveyor 2, thereby solving the problem of the negative pressure pipe winding;In a specific implementation, a conveying motor is installed on one of the fixed seats 3, and the output shaft of the conveying motor is connected to the driving pulley 6.

[0031] Embodiment 2

[0032] Based on the first embodiment, Figures 1 to 7 As shown, both ends of the negative pressure strip 5 are provided with a clamping mechanism, which includes an upper pressing plate 16 and a lower pressing plate 17, which are both slidably connected to the fixed plate 14, and the upper pressing plate 16 and the lower pressing plate 17 squeeze the top surface and the bottom surface of the wide belt 4 respectively, and the bottom surface of the upper pressing plate 16, the top surface of the lower pressing plate 17 and the upper and lower surfaces of the negative pressure strip 5 are all smoothed, and a bidirectional threaded screw 18 is rotatably provided on the fixed plate 14, and sliding rods 19 are provided on both sides of the bidirectional threaded screw 18, and the sliding rods 19 are fixedly connected to the fixed plate 14, and the bidirectional thread The two opposite threaded sections of the screw rod 18 are both threadedly sleeved with a lower pressing plate 16 and a lower pressing plate 17. The upper pressing plate 16 and the lower pressing plate 17 are both slidably sleeved on the slide rod 19. A vertical slide groove 22 is provided on the fixed plate 14. The lower pressing plate 17 is slidably adapted in the vertical slide groove 22. One end of the bidirectional threaded screw rod 18 is rotated to rotate the bidirectional threaded screw rod 18, so that the upper pressing plate 16 and the lower pressing plate 17 are both linearly moved along the axial direction of the bidirectional threaded screw rod 18, and the movement directions of the upper pressing plate 16 and the lower pressing plate 17 are opposite, thereby driving the upper pressing plate 16 downward. The upper and lower pressure plates 16 and 17 are moved closer to the negative pressure strip 5, and the lower pressure plate 17 is moved upwards closer to the negative pressure strip 5, so that the wide belt 4 is pressed against the negative pressure strip 5 by the upper and lower pressure plates 16 and 17, thereby improving the sealing performance between the wide belt 4 and the negative pressure strip 5, ensuring that the negative pressure environment in the strip window 10 is less affected by the outside world, and can generate sufficient adsorption force to limit the movement of the circuit board during the transportation process. After the upper and lower pressure plates 16 and 17 and the negative pressure strip 5 are smoothed, the friction force on the wide belt 4 during movement can be greatly reduced, so that the wide belt 4 is in a squeezed state. Transmission can still be carried out to complete the transportation of the circuit board; it is worth noting that the end surface of the negative pressure strip 5 away from the fixed plate 14 is also smoothed, and the end surface of the negative pressure strip 5 away from the fixed plate 14 contacts the inner wall of the annular negative pressure groove 8, so that the strip window 10 cooperates with the annular negative pressure groove 8 to form a good negative pressure environment; it is worth noting that in order to avoid interference in the transportation of the circuit board, the top surface height of the fixed plate 14 is lower than the transportation height of the belt conveyor 2, and the transportation range of the circuit board is located between the two clamping mechanisms, so that the circuit board will not interfere with the upper pressure plate 16.

[0033] Embodiment 3

[0034] When the circuit boards at the conveying end of the belt conveyor 2 are stacked, the negative pressure needs to be disconnected to facilitate the circuit boards to be clamped and loaded into the stacking slot 12. However, after the negative pressure is disconnected, the circuit boards that have not been loaded are prone to shifting after the negative pressure is disconnected. Therefore, based on the second embodiment, as shown in FIG. Figures 1 to 7As shown, a downward pressure limit mechanism is provided on the conveying frame of the belt conveyor 2, and the downward pressure limit mechanism includes a downward pressure cylinder 23 and a downward pressure thin plate 24. The cylinder body of the downward pressure cylinder 23 is vertically installed on the conveying frame, and the telescopic shaft of the downward pressure cylinder 23 is connected to the downward pressure thin plate 24, and the downward pressure thin plate 24 is located above the conveying surface of the belt conveyor 2. When the circuit board is stacked and loaded, the wide belt 4 and the belt conveyor 2 are both stopped, and the multi-degree-of-freedom conveying mechanism first clamps the circuit board to be stacked, and then the downward pressure cylinder 23 drives the downward pressure thin plate 24 to move downward, so that the downward pressure thin plate 24 squeezes the remaining circuit boards except the circuit board to be stacked, and then disconnects the negative pressure state, and then performs the loading operation of the circuit board to be stacked, and finally resets the downward pressure limit mechanism, and at the same time, the negative pressure pump 15, the belt conveyor 2 and the wide belt 4 are started to transport the next circuit board to the stacking and loading position, and so on. The circuit boards are stacked in the stacking box 1 in turn to achieve accurate stacking operation of the circuit boards.

[0035] Embodiment 4

[0036] Based on the third embodiment, Figures 1 to 5 As shown, a stacking groove 12 is provided on the top of the stacking box 1, and a plurality of limit shafts 13 are vertically provided on the bottom wall of the stacking groove 12. The plurality of limit shafts 13 are surrounded to form a circuit board storage space, and the limit shaft 13 has the freedom to move along the center of the stacking box 1. The multi-degree-of-freedom conveying mechanism is used to clamp the circuit board conveyed by the conveying mechanism and put it into the storage space. The multi-degree-of-freedom conveying mechanism clamps the circuit board on the output end of the belt conveyor 2 and sends it into the stacking box 1. The circuit board is stacked in the stacking box 1 from the stacking groove 12. The plurality of limit shafts 13 are arranged around the circuit board. The limit shafts 13 are moved to contact the side wall of the circuit board, so as to limit the stacked circuit board, so that the storage space formed by the plurality of limit shafts 13 matches the shape of the special-shaped circuit board, so that there is no need to configure an additional stacking box, and it is only necessary to adjust the position of the limit shaft 13 according to the shape of the special-shaped circuit board, thereby reducing the cost. At the same time, the circuit board in the stacking box can be limited, so that the loading accuracy of the circuit board is higher.

[0037] Furthermore, a radial groove 25 is formed on the inner bottom wall of the stacking groove 12 at a position corresponding to the limit shaft 13, and an adjusting screw 26 is arranged in the radial groove 25. The adjusting screw 26 is rotatably connected to the stacking box 1, and an adjusting block 27 is threadedly sleeved on the adjusting screw 26. The adjusting block 27 is slidably adapted to the radial groove 25. The limit shaft 13 is vertically connected to the top of the adjusting block 27. One end of the adjusting screw 26 passes through the stacking box 1 and is fixed with an adjusting nut 28. Initially, the position of each limit shaft 13 needs to be set first, and the multi-degree-of-freedom conveying mechanism places the circuit board into the stacking groove 12. The multi-degree-of-freedom conveying mechanism does not release the circuit board, and then Rotating the adjusting nut 28 drives the adjusting screw 26 to rotate, so that the adjusting block 27 moves linearly along the axial direction of the adjusting screw 26, and the adjusting block 27 drives the limiting shaft 13 to move close to the circuit board. When the limiting shaft 13 contacts the side wall of the circuit board, the adjusting screw 26 is stopped, and the position adjustment of all the limiting shafts 13 is completed in sequence, so that all the limiting shafts 13 contact the side wall of the circuit board to form a circuit board storage space. In subsequent batch production, the circuit boards can be directly stacked. The surface of the limiting shaft 13 is smoothed to reduce the friction between the circuit board and the limiting shaft 13, so that the circuit boards can be smoothly stacked in the stacking box 1.

[0038] Embodiment 5

[0039] Since the circuit board may be offset due to processing errors at the previous workstation, even if there is no offset during the conveying and stacking process, the circuit board may still not be stacked in the circuit board storage space. Therefore, based on the fourth embodiment, Figures 1 to 9As shown, a guide shaft 29 is fixed to the top of the limit shaft 13, and the diameter of the guide shaft 29 gradually decreases in the direction away from the limit shaft 13, and the maximum diameter of the guide shaft 29 is equal to the diameter of the limit shaft 13. The multi-degree-of-freedom conveying mechanism includes a fixed column 30, a lifting beam 31, a translation beam 32, a conveying slider 33 and a negative pressure feeding pipe 34. Two fixed columns 30 are arranged at intervals along the conveying direction of the vertical belt conveyor 2, and the two ends of the lifting beam 31 are respectively slidably arranged on the two fixed columns 30. The lifting beam 31 has the freedom to move in the height direction of the fixed column 30, the translation beam 32 is slidably arranged at the bottom of the lifting beam 31, and the conveying slider 33 is slidably arranged at the bottom of the translation beam 32. The moving direction of the translation beam 32 is in the water. The plane is perpendicular to the moving direction of the conveying slider 33. A fine-tuning mechanism is provided at the bottom of the conveying slider 33. The negative pressure feeding pipe 34 is vertically installed on the fine-tuning mechanism. The space formed by the multiple guide shafts 29 is larger than the size of the circuit board. Even if the circuit board is offset, the circuit board can still be loaded between the multiple guide shafts 29. Then the multi-freedom conveying mechanism continues to drive the circuit board to move downward. Under the guidance of the conical surface of the guide shaft 29, the circuit board is adapted to deflect or move horizontally, so that the circuit board can smoothly enter the circuit board storage space, thereby fine-tuning the position of the circuit board and further refining the stacking accuracy of the circuit board. Therefore, the fine-tuning mechanism needs to have the degree of freedom of deflection and the degree of freedom of linear movement on the horizontal plane. Therefore, the fine-tuning mechanism includes a transverse slider 3 5. A longitudinal slider 36 and a rotary shaft 37. A transverse groove 38 is provided at the bottom of the conveying slider 33. The transverse slider 35 is slidably fitted in the transverse groove 38. Both ends of the transverse slider 35 are connected with transverse springs 39. The transverse spring 39 is connected to the conveying slider 33. A longitudinal groove 40 is provided at the bottom of the transverse slider 35. The longitudinal slider 36 is slidably fitted in the longitudinal groove 40. Both ends of the longitudinal slider 36 are connected with longitudinal springs 41. The longitudinal spring 41 is connected to the transverse slider 35. The spiral line of the longitudinal spring 41 is perpendicular to the spiral line of the transverse spring 39. One end of the rotary shaft 37 is rotatably connected to the bottom of the longitudinal slider 36 through a torsion spring. The other end of the rotary shaft 37 is connected to the negative pressure feeding tube 34. If the circuit board is offset, the circuit board will enter When the circuit board is in the storage space, the circuit board will be squeezed with the guide shaft 29, so that the circuit board can be fine-tuned to an accurate posture. When the lateral position of the circuit board is offset, the circuit board acts on the lateral spring 39 through the lateral slider 35, so that the two lateral springs 39 are compressed and extended respectively, so that the lateral slider 35 moves correspondingly to complete the fine-tuning of the lateral position of the circuit board. When the longitudinal position of the circuit board is offset, the circuit board acts on the longitudinal spring 41 through the longitudinal slider 36, so that the two longitudinal springs 41 are compressed and extended respectively, so that the longitudinal slider 36 moves correspondingly to complete the fine-tuning of the longitudinal position of the circuit board. When the circuit board is offset both longitudinally and transversely, the lateral slider 35 and the longitudinal slider 36 move simultaneously, and cooperate with the deflection freedom of the rotary shaft 37.Complete the fine adjustment of the position of the circuit board in two directions on the horizontal plane so that the circuit board can smoothly enter the circuit board storage space.

[0040] Embodiment 6

[0041] Based on Example 5, Figures 1 to 9 As shown, a linear drive module 42 is vertically installed on the side wall of the fixed column 30, the end of the lifting beam 31 is installed on the slide seat of the linear drive module 42, and a transverse screw groove 43 is opened at the bottom of the lifting beam 31 along its own length direction. A first screw 44 is rotatably arranged in the transverse screw groove 43, and a first screw slider 45 is threadedly sleeved on the first screw 44. The translation beam 32 is installed on the first screw slider 45, and a first motor 46 is arranged on the top of the lifting beam 31. The output shaft of the first motor 46 is connected to the first screw through a bevel gear set. 44, a second screw groove 47 is provided at the bottom of the translation beam 32 along its length direction, a second screw 48 is rotatably provided in the second screw groove 47, a second screw slider 49 is threadedly sleeved on the second screw 48, the conveying slider 33 is mounted on the second screw slider 49, a second motor 50 is mounted at one end of the translation beam 32, the output shaft of the second motor 50 is connected to the second screw 48, and the lifting beam 31 is moved up and down by the linear drive module 42, so that the negative pressure feeding pipe 34 has the freedom of movement in the vertical direction, that is, ... 4 has the freedom to move along the Z-axis direction, the bevel gear set includes a first bevel gear and a second bevel gear that are meshed, the first bevel gear and the second bevel gear are respectively installed on the output shaft of the first motor 46 and the first screw rod 44, the first motor 46 drives the first screw rod 44 to rotate through the bevel gear set, so that the first screw rod slider 45 moves linearly along the first screw rod 44, so that the translation beam 32 has the freedom to move along the axial direction of the first screw rod 44, that is, the negative pressure feeding tube 34 has the freedom to move along the X-axis direction, and the second motor 50 drives the second screw rod 48 to rotate The second screw slider 49 moves linearly along the axial direction of the second screw rod 48, and the second screw slider 49 drives the conveying slider 33 to move linearly along the axial direction of the second screw rod 48, that is, the negative pressure feeding tube 34 has the freedom to move along the Y-axis direction, so that the negative pressure feeding tube 34 has the freedom to move along three directions in the spatial coordinate system, and then the circuit board on the belt conveyor 2 can be adsorbed and placed in the stacking groove 12. The negative pressure feeding tube 34 is connected to the negative pressure pump through a negative pressure hose, and the adsorption, loading and lowering operations of the circuit board are completed by negative pressure.

[0042] Embodiment 7

[0043] On the basis of the sixth embodiment, a circular hole 51 connected to the stacking groove 12 is opened at the bottom of the stacking box 1, and a lifting mechanism is arranged at the bottom of the stacking box 1. The lifting mechanism includes a lifting cylinder 52 and a lifting plate 53. The lifting cylinder 52 is vertically installed, and the telescopic shaft of the lifting cylinder 52 is connected to the lifting plate 53. The lifting plate 53 is coaxially arranged with the circular hole 51. The diameter of the lifting plate 53 is smaller than the diameter of the circular hole 51. A pressure sensor 54 is embedded on the top surface of the lifting plate 53. The lifting plate 53 is driven upward by the lifting cylinder 52 to move the lifting plate 53 from the circular hole 51 to the top. In the stacking groove 12, the circuit board is lifted by the lifting plate 53 to keep the loading height of the stacked circuit boards consistent. At the same time, when the lifting plate 53 lifts the circuit board, the pressure sensor 54 can detect the number of circuit boards in the stacking box 1 through gravity, thereby obtaining the stacking height of the circuit boards. According to the stacking height, the lifting cylinder 52 can be extended to a specified length to make the loading height of the topmost circuit board consistent. At the same time, the stacking height of the circuit board can be controlled to make the stacking height of the circuit board lower than the bottom surface height of the guide shaft 29, thereby ensuring the stacking accuracy of the circuit board.

Claims

1. An automatic conveying device for special-shaped circuit boards, characterized in that: The invention comprises a conveying mechanism and a stacking box (1), wherein the stacking box (1) is arranged at the output end of the conveying mechanism, and a multi-degree-of-freedom conveying mechanism is arranged between the conveying mechanism and the stacking box (1). The conveying mechanism comprises two belt conveyors (2) and a negative pressure positioning mechanism arranged between the two belt conveyors (2). The two belt conveyors (2) are arranged at intervals along a conveying direction perpendicular to the circuit board. The negative pressure positioning mechanism comprises a fixed seat (3), a wide belt (4) and a negative pressure strip (5). Two fixed seats (3) are arranged at intervals along the conveying direction of the belt conveyor (2), and a driving pulley (6) and a driven pulley (7) are rotatably arranged on the two fixed seats (3). The driving pulley (6) is connected to the driven pulley (7) through a wide belt (4); the side wall of the wide belt (4) is provided with an annular negative pressure groove (8) along the direction of its own trajectory; a negative pressure chamber (9) is arranged in the negative pressure strip (5); a strip window (10) is provided on the side of the negative pressure strip (5) close to the wide belt (4) along its own length direction; the strip window (10) is connected to the negative pressure chamber (9); the side end of the negative pressure strip (5) provided with the strip window (10) is located in the annular negative pressure groove (8); a plurality of adsorption holes (11) are provided on the top surface of the wide belt (4) along the direction of its own trajectory; the adsorption holes (11) are connected to the annular negative pressure groove (8); A stacking groove (12) is provided at the top of the stacking box (1), and a plurality of limit shafts (13) are vertically provided on the bottom wall of the stacking groove (12). The plurality of limit shafts (13) surround and form a circuit board storage space. The limit shafts (13) have the freedom to move along the center of the stacking box (1), and the multi-degree-of-freedom conveying mechanism is used to clamp the circuit board conveyed by the conveying mechanism and place it into the storage space.

2. The automatic conveying device for special-shaped circuit boards according to claim 1, characterized in that: The negative pressure positioning mechanism also includes a fixing plate (14), the negative pressure strip (5) is fixedly mounted on the fixing plate (14), a negative pressure pump (15) is arranged on the fixing plate (14), the negative pressure pump (15) is connected to the negative pressure strip (5) via a negative pressure pipe, the negative pressure pipe is connected to the negative pressure chamber (9), both ends of the negative pressure strip (5) are provided with a clamping mechanism, the clamping mechanism includes an upper pressing plate (16) and a lower pressing plate (17), the upper pressing plate (16) and the lower pressing plate (17) are both slidably connected to the fixing plate (14), the upper pressing plate (16) and the lower pressing plate (17) respectively squeeze the top surface and the bottom surface of the wide belt (4), the bottom surface of the upper pressing plate (16), the top surface of the lower pressing plate (17) and the upper and lower surfaces of the negative pressure strip (5) are all smoothed.

3. The automatic conveying device for special-shaped circuit boards according to claim 2, characterized in that: A bidirectional threaded screw (18) is rotatably arranged on the fixed plate (14), and sliding rods (19) are arranged on both sides of the bidirectional threaded screw (18), and the sliding rods (19) are fixedly connected to the fixed plate (14). The two opposite threaded sections of the bidirectional threaded screw (18) are threadedly sleeved with the lower pressure plate (16) and the lower pressure plate (17), and the upper pressure plate (16) and the lower pressure plate (17) are both slidably sleeved on the sliding rod (19), and a vertical sliding groove (22) is opened on the fixed plate (14), and the lower pressure plate (17) is slidably adapted in the vertical sliding groove (22).

4. The automatic conveying device for special-shaped circuit boards according to claim 1, characterized in that: A downward pressure limiting mechanism is arranged on the conveying frame of the belt conveyor (2), and the downward pressure limiting mechanism comprises a downward pressure cylinder (23) and a downward pressure thin plate (24). The cylinder body of the downward pressure cylinder (23) is vertically installed on the conveying frame, and the telescopic shaft of the downward pressure cylinder (23) is connected to the downward pressure thin plate (24). The downward pressure thin plate (24) is located above the conveying surface of the belt conveyor (2).

5. The automatic conveying device for special-shaped circuit boards according to claim 1, characterized in that: The inner bottom wall of the stacking groove (12) is provided with a radial groove (25) at a position corresponding to the limiting shaft (13); an adjusting screw rod (26) is arranged in the radial groove (25); the adjusting screw rod (26) is rotatably connected to the stacking box (1); an adjusting block (27) is threadedly sleeved on the adjusting screw rod (26); the adjusting block (27) is slidably adapted to the radial groove (25); the limiting shaft (13) is vertically connected to the top of the adjusting block (27); one end of the adjusting screw rod (26) passes through the stacking box (1) and is fixed with an adjusting nut (28).

6. The automatic conveying device for special-shaped circuit boards according to claim 1, characterized in that: A guide shaft (29) is fixed on the top of the limiting shaft (13), the diameter of the guide shaft (29) gradually decreases in a direction away from the limiting shaft (13), and the maximum diameter of the guide shaft (29) is equal to the diameter of the limiting shaft (13).

7. The automatic conveying device for special-shaped circuit boards according to claim 6, characterized in that: The multi-degree-of-freedom conveying mechanism comprises a fixed column (30), a lifting beam (31), a translation beam (32), a conveying slide block (33) and a negative pressure feeding pipe (34). Two fixed columns (30) are arranged at intervals along the conveying direction perpendicular to the belt conveyor (2). The two ends of the lifting beam (31) are respectively slidably arranged on the two fixed columns (30). The lifting beam (31) has the freedom to move along the height direction of the fixed columns (30). The translation beam (32) is slidably arranged at the bottom of the lifting beam (31). The conveying slide block (33) is slidably arranged at the bottom of the translation beam (32). The moving direction of the translation beam (32) is perpendicular to the moving direction of the conveying slide block (33) on a horizontal plane. A fine-tuning mechanism is arranged at the bottom of the conveying slide block (33). The negative pressure feeding pipe (34) is vertically installed on the fine-tuning mechanism.

8. The automatic conveying device for special-shaped circuit boards according to claim 7, characterized in that: The fine-tuning mechanism comprises a transverse slider (35), a longitudinal slider (36) and a rotary shaft (37). A transverse slide groove (38) is provided at the bottom of the conveying slider (33). The transverse slider (35) is slidably fitted in the transverse slide groove (38). Both ends of the transverse slider (35) are connected with transverse springs (39). The transverse spring (39) is connected to the conveying slider (33). A longitudinal slide groove (40) is provided at the bottom of the transverse slider (35). The longitudinal slider (36) is slidably fitted in the longitudinal slide groove (40). Both ends of the longitudinal slider (36) are connected with longitudinal springs (41). The longitudinal spring (41) is connected to the transverse slider (35). The spiral line of the longitudinal spring (41) is perpendicular to the spiral line of the transverse spring (39). One end of the rotary shaft (37) is rotatably connected to the bottom of the longitudinal slider (36) through a torsion spring. The other end of the rotary shaft (37) is connected to the negative pressure feeding pipe (34).

9. The automatic conveying device for special-shaped circuit boards according to claim 8, characterized in that: A linear drive module (42) is vertically installed on the side wall of the fixed column (30), the end of the lifting beam (31) is installed on the slide seat of the linear drive module (42), the bottom of the lifting beam (31) is provided with a transverse screw groove (43) along its own length direction, a first screw (44) is rotatably arranged in the transverse screw groove (43), a first screw slider (45) is threadedly mounted on the first screw slider (44), the translation beam (32) is installed on the first screw slider (45), and a first motor (46) is arranged on the top of the lifting beam (31). The output shaft of the first motor (46) is connected to the first screw rod (44) through a bevel gear set. A second screw rod groove (47) is provided at the bottom of the translation beam (32) along its length direction. A second screw rod (48) is rotatably arranged in the second screw rod groove (47). A second screw rod slider (49) is threadedly mounted on the second screw rod (48). The conveying slider (33) is mounted on the second screw rod slider (49). A second motor (50) is installed at one end of the translation beam (32). The output shaft of the second motor (50) is connected to the second screw rod (48).

10. The automatic conveying device for special-shaped circuit boards according to claim 1, characterized in that: A circular hole (51) connected to the stacking groove (12) is provided at the bottom of the stacking box (1); a lifting mechanism is provided below the stacking box (1); the lifting mechanism comprises a lifting cylinder (52) and a lifting plate (53); the lifting cylinder (52) is vertically installed; the telescopic shaft of the lifting cylinder (52) is connected to the lifting plate (53); the lifting plate (53) is coaxially arranged with the circular hole (51); the diameter of the lifting plate (53) is smaller than the diameter of the circular hole (51); and a pressure sensor (54) is embedded on the top surface of the lifting plate (53).

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