Manipulator for transferring and conveying circuit board

Abstract

The invention discloses a manipulator for transferring and conveying circuit boards, and belongs to the field of manipulators. The manipulator for transferring and conveying the circuit board comprises a track body, inserting blocks are symmetrically welded to one end of the track body, matching holes are formed in the centers of the side edges of the inserting blocks, a movable vertical rod is arranged on the top face of the track body in a vertically upward butt joint mode, and a telescopic rod is arranged at the top end of the movable vertical rod; a main rod body is arranged at the end, away from the movable vertical rod, of the telescopic rod, movable blocks are symmetrically arranged on the bottom face of the main rod body, colloid clamping blocks are arranged at the bottom ends of the movable blocks in a butt joint mode, the rail body comprises installation side blocks, and the four installation side blocks are in a group and are symmetrically and fixedly arranged at the bottom corner positions of the side edges of the rail body. And an adjustable integral clamping and transferring structure is combined, so that the circuit board clamping and conveying device can be adjusted and used as required during use, and the clamping and conveying efficiency of the circuit board is greatly improved.

Description

Technical Field

[0001] The invention relates to the technical field of manipulators, and in particular to a manipulator for transferring and conveying circuit boards. Background Art

[0002] An industrial robot is a multi-joint manipulator or multi-degree-of-freedom machine device for the industrial field. It can perform work automatically and relies on its own power and control capabilities to achieve various functions. When in use, industrial robots usually use manipulators to replace people to complete part placement, product sampling or sample delivery, thereby increasing product production efficiency.

[0003] When transferring and conveying current circuit boards, it is necessary to clamp the circuit boards. The current clamping structure is a single clamp that performs an expansion clamping operation, which limits the expansion opening of the clamp and makes it impossible to clamp circuit boards of a large range or area, affecting the clamping effect and thus the subsequent transfer. The single clamping structure cannot meet the requirements of current circuit board transportation, and the clamping operation of each piece also affects the efficiency of transfer and conveying. Summary of the invention

[0004] The purpose of the present invention is to solve the problem in the prior art that, when the current circuit board is transferred and conveyed, it is necessary to clamp the circuit board. The current clamping structure is a single clamp that performs an expansion clamping operation, so that the expanded opening of the clamp is subject to certain restrictions, making it impossible to clamp a large range or large area of ​​the circuit board, affecting the clamping effect and thus affecting the subsequent transfer and use. The single clamping structure cannot meet the needs of current circuit board transportation, and the single-piece clamping operation also affects the efficiency of transfer and transportation. A robot for circuit board transfer and transportation is proposed.

[0005] In order to achieve the above object, the present invention adopts the following technical solutions:

[0006] A robot for transferring and conveying circuit boards comprises a track body, one end of which is symmetrically welded with a plug-in block, a matching hole is provided at the center position of the side of the plug-in block, a moving vertical pole is provided on the top surface of the track body vertically upward, a telescopic rod is provided on the top of the moving vertical pole, a main rod body is provided at the end of the telescopic rod away from the moving vertical pole, a moving block is symmetrically provided on the bottom surface of the main rod body, and a colloid clamping block is provided at the bottom end of the moving block.

[0007] Preferably, the track body includes mounting side blocks, and the mounting side blocks are symmetrically fixed in groups of four at the side bottom corner positions of the track body. A fixing hole is provided at the center position of the top surface of the mounting side block. Side through holes are symmetrically provided on both side edges of the track body at the end away from the plug-in block. One end of the side through hole horizontally penetrates the side wall of the track body and extends to the interior of the mating groove, and the interior of the side through hole is connected to the interior of the mating groove. Mating grooves are symmetrically provided on both side edges of the track body at the end away from the plug-in block. Fixing screw holes are provided on the inner side walls of the mating grooves, and a horizontal groove is provided horizontally on the top surface of the track body.

[0008] Preferably, the movable upright pole includes a bottom clamping block, the top end of the bottom clamping block is welded and arranged at the center position of the bottom end of the movable upright pole, and the bottom clamping block is plugged and arranged on the inner side of the horizontal groove, and the two sides of the bottom clamping block are symmetrically provided with driving wheels, and the driving wheels are symmetrically arranged in a group of two symmetrical sides of the bottom clamping block, and the top surfaces of the driving wheels are butt-jointed and arranged at the inner top surface position of the horizontal groove, and the bottom end of the bottom clamping block is evenly provided with bottom clamping grooves, and the inner side edge of the bottom clamping groove is clamped with a rolling roller, and the bottom surface of the rolling roller passes through the bottom opening of the bottom clamping groove and extends to be butt-jointed and arranged on the inner bottom surface of the horizontal groove, and the inner side edge of the movable upright pole is vertically bolted and fixedly connected with a vertical cylinder, and the output end of the vertical cylinder is vertically connected upward to The top end of the movable rod is provided with a top motor near the top end, the top end of the movable rod is provided with a clamping hole, the top end of the movable rod is connected with a rotating top block, the bottom end of the rotating top block is vertically welded with a bottom clamping block, and the top end of the rotating top block is provided with a flipping groove, the flipping groove is vertically opened at the central axis position of the rotating top block, and the two side edges of the flipping groove penetrate the side walls of the rotating top block and extend to the outside to form an opening shape, the outer side edge of the rotating top block is horizontally bolted with a side motor, and the inner side edge of the flipping groove is horizontally plugged with a flipping shaft, one end of the flipping shaft is horizontally extended and welded to the output end of the side motor, and the flipping shaft is horizontally fixed and plugged in the through hole of the flipping block.

[0009] Preferably, the telescopic rod includes a flip block, the top of the flip block is welded and arranged at the center position of one end of the telescopic rod, and the other end is plugged and arranged on the inner side of the flip groove, the inner side of the telescopic rod is bolted and fixedly connected with an inner cylinder, the output end of the inner cylinder is extended and fixedly connected and arranged at the telescopic end position of the telescopic rod, one end of the telescopic rod is connected and arranged on the inner side of the rotating top block through the flip block, the end of the inner side of the telescopic rod away from the flip block is inlaid with a steering motor, a positioning hole is opened at the end of the inner side of the telescopic rod away from the flip block, the telescopic rod is butt-jointed with a matching block at the end away from the flip block, a stabilizing block is welded on the bottom surface of the matching block, the output end of the steering motor extends to the inner center position of the positioning hole, and the extending end is fixedly connected and arranged at the center position of one end of the stabilizing block, the stabilizing block is clamped and arranged on the inner side of the positioning hole, the matching block is provided with a sleeve slot at the end away from the stabilizing block, the inner side of the sleeve slot is horizontally plugged with an inner shaft rod, and the outer side of the matching block is bolted and fixedly connected with an auxiliary motor.

[0010] Preferably, the plug-in blocks are symmetrically fixed in groups of two at one end of the track body near the edge, and one end of the plug-in blocks are horizontally correspondingly plugged in the inner side of the adjacent matching grooves, both ends of the matching holes are butt-jointedly arranged between the side through holes and the fixing screw holes, and the open ends remain connected, the horizontal groove is horizontally opened at the center line of the top surface of the track body, and both ends of the horizontal groove horizontally penetrate the two ends of the track body and extend to the outside to form an opening.

[0011] Preferably, the bottom end of the movable vertical pole is docked and arranged at the top open end position of the horizontal groove, and the movable vertical pole adopts a telescopic rod body structure, the output end of the top motor extends vertically upward to the center position of the inner bottom surface of the clamping hole, and the extended top end is fixedly connected and arranged at the bottom center position of the bottom block, the bottom clamping block is clamped and arranged on the inner side edge of the clamping hole, the main rod body is connected and arranged on the inner side edge of the matching block through a connecting rod, one end of the inner shaft rod is horizontally extended and welded and arranged at the output end of the auxiliary motor, and the inner shaft rod is horizontally penetrated and fixedly inserted into the through hole at one end of the connecting rod.

[0012] Preferably, the main rod body includes a connecting rod, one end of which is welded and arranged at the center position of one side of the main rod body, and a horizontal groove is horizontally opened on the side of the main rod body away from the connecting rod, and the horizontal groove is opened at the midline position of one side of the main rod body. A transmission screw is horizontally inserted into the inner side of the horizontal groove, and one end of the main rod body is bolted and fixedly connected to an end motor, and the output end of the end motor is extended and welded and arranged at one end position of the transmission screw.

[0013] Preferably, there are two movable blocks, and the two movable blocks are arranged parallel to each other, the top ends of the two movable blocks are both butted against the opening side edges of the horizontal groove, the colloid clamping blocks are made of soft rubber material, and the top ends of the colloid clamping blocks are both butted against the bottom opening ends of the fixed grooves.

[0014] Preferably, the moving block includes a moving card block, the bottom end of the moving card block is fixedly arranged at the top center position of the moving block, and the top is clamped at the inner side of the horizontal groove, the side of the moving card block is provided with a screw hole, and the screw hole is sleeved and arranged on the outer side of the transmission screw for threaded connection, one side of the moving block is fixedly welded with a side pipe, the inner side of the moving block is vertically provided with a conduction groove, one end of the side pipe is fixedly arranged at an opening of the conduction groove, and they are connected to each other, the bottom opening end of the conduction groove and the docking groove are connected to each other, the output end of the micro-cylinder is vertically welded downward at the top center position of the support plate, the bottom end of the support plate is plugged into the inside of the through groove, the bottom end of the moving block is provided with a fixed groove, the inner side of the moving block is vertically inlaid with a micro-cylinder, and the inner side of the moving block is vertically plugged with a support plate.

[0015] Preferably, the colloid clamp includes an anti-slip layer, which is arranged in multiple sections and fixedly bonded to one side of the colloid clamp, a top clamp block is fixedly bonded to the top of the colloid clamp, the top clamp block is made of hard rubber material, and the top clamp block is fixedly arranged on the inner side of the fixed groove, a docking groove is provided on the top surface of the top clamp block, an airbag body is inlaid on the inner side wall of the colloid clamp, the top end of the inner groove is docked at the bottom open end of the through groove and maintained in communication, and the airbag body is fixedly arranged at a side position close to the anti-slip layer, the docking groove and the interior of the airbag body are maintained in communication, a through groove is provided on the top surface of the top clamp block, and an inner groove is vertically provided on the inner side of the colloid clamp.

[0016] Compared with the prior art, the present invention provides a robot for transferring and conveying circuit boards, which has the following beneficial effects:

[0017] 1. The circuit board transfer and conveying robot, driven by the flip shaft, makes the flip block flip to a specified angle on the inner side of the flip groove, and the inner cylinder inside can be further extended to increase the overall operating radius, and the extension of the inner cylinder allows the telescopic rod to be further adjusted in length, so that one end of the telescopic rod can be flexibly moved to a position near the circuit board, and the rotation of the internal steering motor allows the stabilizing block to rotate inside the clamping hole, so that the matching block can be rotated to a suitable angle at one end of the telescopic rod, which meets the requirements of multi-distance and multi-angle adjustment. Under the rotation of the auxiliary motor on the side, the inner shaft rod drives the connecting rod to flip inside the sleeve slot, so that the main rod body at one end is set at the top surface of the circuit board to provide the best preparation for subsequent clamping of the circuit board. The multi-directional and multi-angle adjustment allows it to move to the circuit board position for clamping operations under various distances and angles, thereby improving the flexibility of use and the efficiency of transfer and conveying.

[0018] 2. The circuit board transfer and conveying robot controls the rotation of the driving wheel to make the bottom clamping block move horizontally along the horizontal groove, so that the top movable pole can be moved to the designated position on the track body for use. The output end of the internal vertical cylinder can make the movable pole perform telescopic movement, so that the movable pole can be adjusted to a designated height for use, thereby meeting the needs of adjusting multiple heights and increasing the range of activities. The output end drives the bottom clamping block to rotate inside the clamping hole under the rotation of the internal top motor, so that the top rotating top block can be rotated, thereby forming a multi-angle rotation operation.

[0019] 3. The circuit board transfer and conveying robot adopts soft rubber material to clamp the edge of thinner circuit boards, and then transfers the clamped circuit boards to the designated position for placement through the flipping and moving structure. When it is necessary to carry the stacked circuit boards as a whole, the internal micro-cylinder output end can be extended to drive the support plate to pass through the through groove and insert into the inner groove, so that the colloid clamping block is strengthened. After the moving block moves to the center position, the colloid clamping block at the bottom clamps and fixes the sides of the stacked multiple circuit boards in between, and then the overall transfer can be carried out. Under the colloid clamping structure, the soft structure can meet the needs of thinner circuit boards for transfer. At the same time, the adjustable overall clamping and transfer structure is combined so that it can be adjusted as needed during use, which greatly improves the efficiency of clamping and conveying circuit boards.

[0020] 4. The circuit board transfer and conveying robot, driven by the symmetrical threads, makes the threaded transmission movement between the screw holes, so that the card transfer block moves along the horizontal groove to the center position, so that the two moving blocks can move to the center position to form a clamping state, and the structure of the rod body makes the stroke longer, so that circuit boards of various sizes can be clamped and prepared for use. After the two moving blocks move to the side position of the circuit board, they are prepared for subsequent clamping. The previous multi-directional adjustment structure allows the main rod body to be set at multiple angles of the circuit board, so that it can clamp and fix the circuit board in multiple positions, and will not be limited to the situation of clamping the front of the circuit board to affect the conveying and transfer efficiency of the circuit board. BRIEF DESCRIPTION OF THE DRAWINGS

[0021] Figure 1 This is a schematic diagram of the overall structure of a circuit board transfer and conveying robot proposed by the present invention from a main perspective;

[0022] Figure 2 A schematic diagram of the cross-section connection details of a structural track body of a circuit board transfer and conveying robot proposed by the present invention;

[0023] Figure 3 This is a schematic diagram of the internal connection details of the cross-section of a telescopic rod of a manipulator for transferring and conveying circuit boards proposed by the present invention;

[0024] Figure 4 This is a schematic diagram of the internal connection details of the main rod section of a circuit board transfer and conveying robot proposed by the present invention;

[0025] Figure 5 This is a schematic diagram of the internal connection details of the cross section of a moving block of a circuit board transfer and conveying robot proposed by the present invention;

[0026] Figure 6 The present invention provides a schematic diagram of the internal connection details of a cross section of a colloid clamping block of a robot for transferring and conveying circuit boards.

[0027] In the figure: 1. track body; 101. mounting side block; 102. fixing hole; 103. side through hole; 104. matching groove; 105. fixing screw hole; 106. horizontal channel; 2. plug-in block; 3. matching hole; 4. moving vertical pole; 401. bottom clamping block; 402. driving wheel; 403. bottom clamping groove; 404. rolling roller; 405. vertical cylinder; 406. top motor; 407. clamping hole; 408. rotating top block; 409. bottom clamping block; 410. flip groove; 411. side motor; 412. flip shaft; 5. telescopic rod; 501. flip block; 502. inner cylinder; 503. steering Motor; 504, card hole; 505, matching block; 506, stabilizing block; 507, sleeve card slot; 508, inner shaft; 509, auxiliary motor; 6, main rod body; 601, connecting rod; 602, horizontal slot; 603, transmission screw; 604, end motor; 7, moving block; 701, card block; 702, screw hole; 703, side pipe; 704, conduction slot; 705, fixing slot; 706, micro cylinder; 707, support plate; 8, colloid clamp; 801, anti-slip layer; 802, top card block; 803, docking slot; 804, through slot; 805, inner channel; 806, airbag body. DETAILED DESCRIPTION

[0028] The technical solutions in the embodiments of the present invention will be described clearly and completely below in conjunction with the drawings in the embodiments of the present invention. Obviously, the described embodiments are only part of the embodiments of the present invention, rather than all the embodiments.

[0029] In the description of the present invention, it is necessary to understand that the terms "upper", "lower", "front", "back", "left", "right", "top", "bottom", "inside", "outside", etc., indicating the orientation or position relationship are based on the orientation or position relationship shown in the drawings, and are only for the convenience of describing the present invention and simplifying the description, rather than indicating or implying that the device or element referred to must have a specific orientation, be constructed and operated in a specific orientation, and therefore cannot be understood as a limitation on the present invention.

[0030] Embodiment 1:

[0031] Reference Figure 1-Figure 6A robot for transferring and conveying a circuit board comprises a track body 1, characterized in that a plug-in block 2 is symmetrically welded at one end of the track body 1, a matching hole 3 is opened at the center position of the side of the plug-in block 2, a moving vertical rod 4 is vertically connected to the top surface of the track body 1, a telescopic rod 5 is arranged at the top of the moving vertical rod 4, and the telescopic rod 5 comprises a flip block 501, the top of the flip block 501 is welded at the center position of one end of the telescopic rod 5, and the other end is plugged and arranged at the inner side of the flip groove 410, and the inner side of the telescopic rod 5 is fixed with bolts The inner cylinder 502 is connected, and the output end of the inner cylinder 502 is extended and fixedly connected to the telescopic end of the telescopic rod 5. The inner end of the telescopic rod 5 away from the flip block 501 is inlaid with a steering motor 503. The inner end of the telescopic rod 5 away from the flip block 501 is provided with a positioning hole 504. The end of the telescopic rod 5 away from the flip block 501 is connected to the matching block 505. The bottom surface of the matching block 505 is welded with a stabilizing block 506. The output end of the steering motor 503 extends to the inner center of the positioning hole 504, and extends to the inner end of the telescopic rod 503. The end is fixedly connected and arranged at the center position of one end of the stabilizing block 506, and the stabilizing block 506 is clamped and arranged on the inner side of the clamping hole 504. The matching block 505 is provided with a sleeve slot 507 at the end away from the stabilizing block 506. The inner side of the sleeve slot 507 is horizontally plugged with an inner shaft rod 508. The outer side of the matching block 505 is bolted and fixedly connected with an auxiliary motor 509. One end of the inner shaft rod 508 is horizontally extended and welded and arranged at the output end of the auxiliary motor 509, and the inner shaft rod 508 is horizontally penetrated and fixedly plugged and arranged on the connecting rod 60 1, a main rod body 6 is provided at one end of the telescopic rod 5 away from the mobile vertical rod 4, the bottom end of the mobile vertical rod 4 is docked and arranged at the top open end position of the horizontal groove 106, and the mobile vertical rod 4 adopts a telescopic rod body structure, one end of the telescopic rod 5 is connected and arranged on the inner side of the rotating top block 408 through a flip block 501, the main rod body 6 is connected and arranged on the inner side of the matching block 505 through a connecting rod 601, and a mobile block 7 is symmetrically arranged on the bottom surface of the main rod body 6, and a colloid clamping block 8 is docked and arranged at the bottom end of the mobile block 7.

[0032] In the present invention, when it is necessary to clamp and transfer a circuit board placed at a specified position, after adjusting the height of the mobile upright 4, the opposite side motor 411 is controlled to rotate, so that its output end drives the flip shaft 412 to rotate, and driven by the flip shaft 412, the flip block 501 is flipped to a specified angle on the inner side of the flip groove 410, and at the same time, the inner cylinder 502 inside can be further extended to increase the overall operating radius, and the extension of the inner cylinder 502 allows the telescopic rod 5 to be further adjusted in length, so that one end of the telescopic rod 5 can be flexibly moved to a position near the circuit board, and the rotation of the internal steering motor 503 The movement allows the stabilizing block 506 to rotate inside the locking hole 504, so that the matching block 505 can be rotated to a suitable angle at one end of the telescopic rod 5, which meets the requirements of multi-distance and multi-angle adjustment. Under the rotation of the auxiliary motor 509 on the side, the inner shaft rod 508 drives the connecting rod 601 to flip inside the sleeve slot 507, so that the main rod body 6 at one end is set at the top surface position of the circuit board to provide the best preparation for subsequent clamping of the circuit board. The multi-directional and multi-angle adjustment can move it to the circuit board position for clamping operations at various distances and angles, which improves the flexibility of use and the efficiency of transfer and transportation.

[0033] Embodiment 2:

[0034] Reference Figure 1-Figure 6A robot for transferring and conveying a circuit board comprises a track body 1, characterized in that a plug-in block 2 is symmetrically welded at one end of the track body 1, a matching hole 3 is opened at the center position of the side of the plug-in block 2, a moving vertical pole 4 is vertically connected to the top surface of the track body 1, a telescopic rod 5 is arranged at the top of the moving vertical pole 4, a main rod body 6 is arranged at the end of the telescopic rod 5 away from the moving vertical pole 4, a moving block 7 is symmetrically arranged on the bottom surface of the main rod body 6, and the moving block 7 comprises a moving card block 701, the bottom end of the moving card block 701 is fixedly arranged at the top center position of the moving block 7, and the top card connection is arranged On the inner side of the horizontal groove 602, a screw hole 702 is provided on the side of the card shifting block 701, and the screw hole 702 is sleeved on the outer side of the transmission screw 603 and is threadedly connected. A side pipe 703 is fixedly welded on one side of the moving block 7, and a conduction groove 704 is vertically provided on the inner side of the moving block 7. One end of the side pipe 703 is fixedly provided at an opening of the conduction groove 704, and they are connected to each other. The bottom open end of the conduction groove 704 and the docking groove 803 are connected to each other. A fixed groove 705 is provided at the bottom end of the moving block 7, and the inner side of the moving block 7 A micro cylinder 706 is vertically inlaid, a support plate 707 is vertically plugged into the inner side of the moving block 7, the output end of the micro cylinder 706 is vertically welded downwardly and set at the top center position of the support plate 707, the bottom end of the support plate 707 is plugged and set inside the through groove 804, and a colloid clamping block 8 is docked at the bottom end of the moving block 7. The colloid clamping block 8 includes an anti-skid layer 801, and the anti-skid layer 801 is multi-staged and fixedly bonded to one side of the colloid clamping block 8. A top clamping block 802 is fixedly bonded to the top of the colloid clamping block 8, and the top clamping block 802 is made of hard rubber material. The manufacturing method is as follows: the top clamping block 802 is fixedly arranged on the inner side of the fixing groove 705, the top surface of the top clamping block 802 is provided with a docking groove 803, the inner side wall of the colloid clamping block 8 is inlaid with an airbag body 806, the docking groove 803 and the inner part of the airbag body 806 are kept in communication, the top surface of the top clamping block 802 is provided with a through groove 804, the inner side edge of the colloid clamping block 8 is vertically provided with an inner groove 805, the top end of the inner groove 805 is docked and arranged at the bottom open end of the through groove 804 to keep in communication, and the airbag body 806 is fixedly arranged at the side position close to the anti-slip layer 801.

[0035] In the present invention, when it is necessary to clamp the circuit board below, since the position has been adjusted before, the two movable blocks 7 are set on the top surface of the two side edges of the circuit board, and the colloid clamping block 8 at the bottom is symmetrically set on the two side edges of the circuit board. When the side pipe 703 is connected to the air pipe, the air is extracted through the external extraction structure, so that the internal air of the internal air bag 806 of the colloid clamping block 8 is extracted under the penetration of the conduction groove 704 and the docking groove 803 that are connected to the side pipe 703, so that one side of the air bag 806 forms a deflated state, and a complete running track is formed in the box under the multi-stage structure of the anti-slip layer 801 on the side, so that the bottom end of the colloid clamping block 8 can clamp and fix the circuit board. The use of soft rubber material can clamp the edge of the thinner circuit board for processing, and then it can be The clamped circuit board can be transferred to a designated position for placement through the flipping and moving structure. When the stacked circuit boards need to be transported as a whole, the output end of the internal micro-cylinder 706 can be extended to drive the support plate 707 to pass through the through groove 804 and insert into the inner groove 805, so that the colloid clamping block 8 is strengthened. After the moving block 7 moves to the center position, the colloid clamping block 8 at the bottom clamps and fixes the sides of the stacked multiple circuit boards in between, and then the overall transfer can be carried out. Under the colloid clamping structure, the soft structure can meet the needs of transferring thinner circuit boards. At the same time, the adjustable overall clamping and transfer structure can be adjusted as needed during use, which greatly improves the efficiency of clamping and conveying the circuit boards.

[0036] Embodiment 3:

[0037] Reference Figure 1-Figure 6A robot for transferring and conveying a circuit board comprises a track body 1, characterized in that a plug-in block 2 is symmetrically welded at one end of the track body 1, a matching hole 3 is provided at the center position of the side of the plug-in block 2, the track body 1 comprises a mounting side block 101, and the number of the mounting side blocks 101 is four, which are symmetrically fixed at the bottom corner positions of the side of the track body 1 in a group, and a fixing hole 102 is provided at the center position of the top surface of the mounting side block 101. Side through holes 103 are symmetrically provided at both sides of the track body 1 at the end away from the plug-in block 2, one end of the side through hole 103 horizontally penetrates the side wall of the track body 1 and extends to the inside of the matching groove 104, and the inside of the side through hole 103 is connected to the inside of the matching groove 104, and the two sides of the track body 1 are at the end away from the plug-in block 2. A matching groove 104 is symmetrically provided at the end, and a fixing screw hole 105 is provided on the inner side wall of the matching groove 104. A horizontal groove 106 is horizontally provided on the top surface of the track body 1. The horizontal groove 106 is horizontally provided at the center line of the top surface of the track body 1, and both ends of the horizontal groove 106 horizontally penetrate the two ends of the track body 1 and extend to the outside to be open. The plug-in blocks 2 are symmetrically fixed in groups of two at one end of the track body 1 near the edge, and one end of the plug-in blocks 2 is horizontally correspondingly plugged in at the inner side of the adjacent matching groove 104. The two ends of the matching hole 3 are butt-jointed between the side through hole 103 and the fixing screw hole 105 to maintain a through connection. A movable vertical rod 4 is vertically butt-jointed upward on the top surface of the track body 1, and the movable vertical rod 4 includes a bottom clamping block 401, the top end of the bottom clamping block 401 is welded and set at the bottom center position of the mobile upright pole 4, and the bottom clamping block 401 is inserted and set on the inner side of the horizontal groove 106, and the two sides of the bottom clamping block 401 are symmetrically provided with driving wheels 402, and a plurality of driving wheels 402 are symmetrically arranged in a group on the two symmetrical sides of the bottom clamping block 401, and the top surface of the driving wheel 402 is butt-connected to the inner top surface position of the horizontal groove 106, and the bottom end of the bottom clamping block 401 is evenly provided with bottom clamping grooves 403, and the inner side edge of the bottom clamping groove 403 is clamped with a rolling roller 404, and the bottom surface of the rolling roller 404 passes through the bottom opening of the bottom clamping groove 403 and extends and is butt-connected to the inner bottom surface of the horizontal groove 106, and the inner side edge of the mobile upright pole 4 is vertically bolted and fixed with a vertical gas Cylinder 405, the output end of the vertical cylinder 405 is vertically connected and arranged at the telescopic bottom end position, the inner wall of the mobile upright 4 is inlaid with a top motor 406 near the top position, the top of the mobile upright 4 is provided with a clamping hole 407, the top of the mobile upright 4 is docked with a rotating top block 408, the bottom end of the rotating top block 408 is vertically welded with a bottom clamping block 409, the output end of the top motor 406 extends vertically upward to the center position of the inner bottom surface of the clamping hole 407, and the extended top is fixedly connected and arranged at the bottom center position of the bottom clamping block 409, the bottom clamping block 409 is clamped and arranged on the inner side of the clamping hole 407, the top of the rotating top block 408 is provided with a flip groove 410, and the flip groove 410 is vertically opened at the central axis position of the rotating top block 408,The two sides of the flip groove 410 penetrate the side wall of the rotating top block 408 and extend to the outside in an open shape. The outer side of the rotating top block 408 is horizontally bolted with a side motor 411. The inner side of the flip groove 410 is horizontally plugged with a flip shaft 412. One end of the flip shaft 412 is horizontally extended and welded to the output end of the side motor 411, and the flip shaft 412 is horizontally fixed and plugged inside the through hole of the flip block 501. The top of the mobile pole 4 is provided with a telescopic rod 5. The telescopic rod 5 is provided with a main rod body 6 at one end away from the mobile pole 4. The bottom surface of the main rod body 6 is symmetrically provided with a mobile block 7. The bottom end of the mobile block 7 is docked with a colloid clamp 8.

[0038] In the present invention, when in use, after the track body 1 is placed horizontally at a specified position, the side block 101 can be fixed at the specified position by passing the bolt through the fixing hole 102, thereby forming an installation operation for the track body 1. When the track body 1 needs to be extended, the adjacent plug-in blocks 2 can be correspondingly plugged into the inside of the matching groove 104, and then the bolts can be passed through the side through holes 103 and the matching holes 3 on the side to be fixedly connected with the internal fixing screw holes 105, thereby forming an assembly of multiple expensive track bodies 1. After controlling the rotation of the driving wheel 402, the bottom clamping block 401 is moved along the horizontal groove The track 106 is operated to move horizontally, so that the mobile upright rod 4 at the top can be moved to the specified position on the track body 1 for use, and the output end of the internal vertical cylinder 405 can telescopically move, so that the mobile upright rod 4 can be adjusted to a specified height for use, which meets the needs of adjusting multiple heights and increases the range of activities. Under the rotation of the internal top motor 406, the output end drives the bottom clamping block 409 to rotate inside the clamping hole 407, so that the top rotating block 408 can be rotated, thereby forming a multi-angle rotation operation.

[0039] Embodiment 4:

[0040] Reference Figure 1-Figure 6A robot for transferring and conveying a circuit board comprises a track body 1, characterized in that a plug-in block 2 is symmetrically welded at one end of the track body 1, a matching hole 3 is provided at the center position of the side of the plug-in block 2, a moving vertical pole 4 is provided on the top surface of the track body 1 vertically upward, a telescopic rod 5 is provided at the top of the moving vertical pole 4, a main rod body 6 is provided at the end of the telescopic rod 5 away from the moving vertical pole 4, the main rod body 6 comprises a connecting rod 601, one end of the connecting rod 601 is welded and arranged at the center position of one side of the main rod body 6, a horizontal groove 602 is horizontally opened at the side of the main rod body 6 away from the connecting rod 601, and the horizontal groove 602 is opened at the center line position of one side of the main rod body 6 A transmission screw 603 is horizontally inserted into the inner side of the horizontal groove 602, and an end motor 604 is fixedly connected with one end of the main rod body 6 by bolts. The output end of the end motor 604 is extended and welded to one end of the transmission screw 603. A moving block 7 is symmetrically arranged on the bottom surface of the main rod body 6, and a colloid clamping block 8 is docked at the bottom end of the moving block 7. There are two moving blocks 7, and the two moving blocks 7 are arranged parallel to each other. The top ends of the two moving blocks 7 are docked at the opening side edges of the horizontal groove 602. The colloid clamping block 8 is made of soft rubber material, and the top ends of the colloid clamping blocks 8 are docked at the bottom opening end of the fixed groove 705.

[0041] In the present invention, after adjusting the distance between the main rod body 6 and the top surface of the circuit board, the output end drives the transmission screw 603 to rotate by controlling the rotation of the end motor 604 at one end. Since the outer side of the transmission screw 603 is set as a symmetrical thread structure, the symmetrical thread drives the screw hole 702 to transmit the movement to each other, so that the card shifting block 701 moves toward the center position along the horizontal groove 602, so that the two moving blocks 7 can move toward the center position to form a clamping state. The structure of the rod body makes the stroke longer, so that circuit boards of various sizes can be clamped and prepared for use. After the two moving blocks 7 are moved to the side position of the circuit board, they are prepared for subsequent clamping. The previous multi-directional adjustment structure allows the main rod body 6 to be set at multiple angles of the circuit board, so that it can clamp and fix the circuit board at multiple positions, and will not be limited to the situation of clamping the front of the circuit board and affect the transportation and transfer efficiency of the circuit board.

[0042] The above description is only a preferred specific implementation manner of the present invention, but the protection scope of the present invention is not limited thereto. Any technician familiar with the technical field can make equivalent replacements or changes according to the technical scheme and inventive concept of the present invention within the technical scope disclosed by the present invention, which should be covered by the protection scope of the present invention.

Claims

1. A robot for transferring and conveying a circuit board, comprising a track body (1), characterized in that: A plug-in block (2) is symmetrically welded to one end of the track body (1), a matching hole (3) is provided at the center position of the side of the plug-in block (2), a movable vertical rod (4) is vertically butted against the top surface of the track body (1), a telescopic rod (5) is provided at the top end of the movable vertical rod (4), a main rod body (6) is provided at the end of the telescopic rod (5) away from the movable vertical rod (4), a movable block (7) is symmetrically provided on the bottom surface of the main rod body (6), and a colloid clamping block (8) is butted against the bottom end of the movable block (7).

2. A circuit board transfer and conveying robot according to claim 1, characterized in that: The track body (1) comprises a mounting side block (101), wherein the mounting side blocks (101) are symmetrically fixedly arranged in a group of four at the corner positions of the side bottom edges of the track body (1), a fixing hole (102) is provided at the center position of the top surface of the mounting side block (101), side through holes (103) are symmetrically provided on both sides of the track body (1) at the end away from the plug-in block (2), one end of the side through hole (103) horizontally penetrates the side wall of the track body (1) and extends to the inside of the matching groove (104), and the inside of the side through hole (103) is connected to the inside of the matching groove (104), the side sides of the track body (1) are symmetrically provided with matching grooves (104) at the end away from the plug-in block (2), the inner side wall of the matching groove (104) is provided with a fixing screw hole (105), and a horizontal groove (106) is horizontally provided on the top surface of the track body (1).

3. A circuit board transfer and conveying robot according to claim 1, characterized in that: The movable upright pole (4) comprises a bottom clamping block (401), the top end of the bottom clamping block (401) is welded and arranged at the center position of the bottom end of the movable upright pole (4), and the bottom clamping block (401) is inserted and arranged on the inner side of the horizontal groove (106), and driving wheels (402) are symmetrically arranged on both sides of the bottom clamping block (401), and a plurality of driving wheels (402) are symmetrically arranged in a group on the two symmetrical sides of the bottom clamping block (401), and the top surface of the driving wheel (402) is arranged in abutment with the horizontal groove ( The bottom end of the bottom clamping block (401) is evenly provided with a bottom clamping groove (403), and the inner side edge of the bottom clamping groove (403) is clamped with a rolling roller (404). The bottom surface of the rolling roller (404) passes through the bottom opening of the bottom clamping groove (403) and extends to be connected to the inner bottom surface of the horizontal channel (106). The inner side edge of the movable vertical rod (4) is vertically bolted and fixedly connected with a vertical cylinder (405). The output end of the vertical cylinder (405) is vertically connected to a device The movable vertical rod (4) is arranged at the telescopic bottom end position, the inner side wall of the movable vertical rod (4) is inlaid with a top motor (406) near the top end position, the top end of the movable vertical rod (4) is provided with a clamping hole (407), the top end of the movable vertical rod (4) is butted with a rotating top block (408), the bottom end of the rotating top block (408) is vertically welded with a bottom clamping block (409), the top end of the rotating top block (408) is provided with a flip groove (410), and the flip groove (410) is vertically provided on the rotating top block (408) The turning groove (410) is located at the central axis position, and the two side edges of the turning groove (410) penetrate the side wall of the rotating top block (408) and extend to the outside to form an opening shape, the outer side edge of the rotating top block (408) is horizontally bolted to the side motor (411), and the inner side edge of the turning groove (410) is horizontally plugged with a turning shaft (412), one end of the turning shaft (412) is horizontally extended and welded to the output end of the side motor (411), and the turning shaft (412) is horizontally fixed and plugged inside the through hole of the turning block (501).

4. A circuit board transfer and conveying robot according to claim 1, characterized in that: The telescopic rod (5) comprises a flip block (501), the top end of the flip block (501) is welded to the center position of one end of the telescopic rod (5), and the other end is inserted and arranged on the inner side of the flip groove (410), the inner side of the telescopic rod (5) is bolted and fixedly connected with an inner cylinder (502), the output end of the inner cylinder (502) is extended and fixedly connected to the telescopic end position of the telescopic rod (5), one end of the telescopic rod (5) is connected to the inner side of the rotating top block (408) through the flip block (501), the inner side of the telescopic rod (5) away from the flip block (501) is inlaid with a steering motor (503), and the inner side of the telescopic rod (5) away from the flip block (501) is provided with a locking hole (503). 4), the telescopic rod (5) is butt-jointed with a matching block (505) at one end away from the flip block (501), a stabilizing block (506) is welded to the bottom surface of the matching block (505), the output end of the steering motor (503) extends to the inner center position of the locking hole (504), and the extended end is fixedly connected to the center position of one end of the stabilizing block (506), the stabilizing block (506) is clamped to the inner side edge of the locking hole (504), the matching block (505) is provided with a sleeve slot (507) at one end away from the stabilizing block (506), the inner side edge of the sleeve slot (507) is horizontally plugged with an inner shaft rod (508), and the outer side edge of the matching block (505) is bolted and fixedly connected with an auxiliary motor (509).

5. The circuit board transfer and conveying robot according to claim 1, characterized in that: The plug-in blocks (2) are symmetrically fixedly arranged in pairs at one end of the track body (1) near the edge position, and one end of the plug-in blocks (2) is horizontally correspondingly plugged into the inner side of the adjacent matching groove (104), the two ends of the matching hole (3) are butt-jointedly arranged between the side through hole (103) and the fixing screw hole (105), and the open ends are kept connected, the horizontal groove (106) is horizontally opened at the center line position of the top surface of the track body (1), and the two ends of the horizontal groove (106) horizontally penetrate the two ends of the track body (1) and extend to the outside to form an opening.

6. A circuit board transfer and conveying robot according to claim 1, characterized in that: The bottom end of the movable vertical rod (4) is docked and arranged at the top open end position of the horizontal groove (106), and the movable vertical rod (4) is arranged with a telescopic rod body structure, the output end of the top motor (406) vertically extends upward to the center position of the inner bottom surface of the clamping hole (407), and the extended top end is fixedly connected and arranged at the bottom center position of the bottom clamping block (409), the bottom clamping block (409) is clamped and arranged on the inner side edge of the clamping hole (407), the main rod body (6) is connected and arranged on the inner side edge of the matching block (505) through the connecting rod (601), one end of the inner shaft rod (508) is horizontally extended and welded to the output end of the auxiliary motor (509), and the inner shaft rod (508) is horizontally penetrated and fixedly inserted into the through hole at one end of the connecting rod (601).

7. A circuit board transfer and conveying robot according to claim 1, characterized in that: The main rod body (6) comprises a connecting rod (601), one end of which is welded and arranged at the center position of one side of the main rod body (6), and a horizontal groove (602) is horizontally opened on the side of the main rod body (6) away from the connecting rod (601), and the horizontal groove (602) is opened at the center line position of one side of the main rod body (6), and a transmission screw rod (603) is horizontally inserted into the inner side of the horizontal groove (602), and one end of the main rod body (6) is fixedly connected with an end motor (604) by bolts, and the output end of the end motor (604) is extended and welded to one end position of the transmission screw rod (603).

8. The circuit board transfer and conveying robot according to claim 1, characterized in that: The number of the movable blocks (7) is two, and the two movable blocks (7) are arranged parallel to each other. The top ends of the two movable blocks (7) are both connected to the side edges of the opening of the horizontal groove (602). The colloid clamping block (8) is made of soft rubber material, and the top ends of the colloid clamping blocks (8) are both connected to the bottom opening end of the fixed groove (705).

9. A circuit board transfer and conveying robot according to claim 1, characterized in that: The moving block (7) comprises a card-shifting block (701), the bottom end of which is fixedly arranged at the top center position of the moving block (7), and the top end is clamped and arranged on the inner side of the horizontal groove (602), the side of the card-shifting block (701) is provided with a screw hole (702), and the screw hole (702) is sleeved and arranged on the outer side of the transmission screw rod (603) for threaded connection, a side pipe (703) is fixedly welded on one side of the moving block (7), a conduction groove (704) is vertically opened on the inner side of the moving block (7), and one end of the side pipe (703) is fixedly arranged An opening of the conduction slot (704) is connected to each other, a fixing slot (705) is provided at the bottom end of the moving block (7), a micro cylinder (706) is vertically inlaid on the inner side of the moving block (7), a support plate (707) is vertically plugged into the inner side of the moving block (7), the bottom opening end of the conduction slot (704) and the docking slot (803) are connected to each other, the output end of the micro cylinder (706) is vertically welded downward at the top center of the support plate (707), and the bottom end of the support plate (707) is plugged into the inside of the through slot (804).

10. The circuit board transfer and conveying robot according to claim 1, characterized in that: The colloid clamp (8) comprises an anti-skid layer (801), the anti-skid layer (801) is arranged in multiple sections and fixedly bonded to one side of the colloid clamp (8), a top clamp (802) is fixedly bonded to the top of the colloid clamp (8), the top clamp (802) is made of hard rubber material, and the top clamp (802) is fixedly arranged on the inner side of the fixing groove (705), and a docking groove (803) is provided on the top surface of the top clamp (802), and the colloid clamp (8) is fixedly bonded to the top of the colloid clamp (8). ) is inlaid with an airbag body (806), the docking groove (803) is connected to the inside of the airbag body (806), the top end of the inner channel (805) is docked and connected to the bottom open end of the through groove (804), and the airbag body (806) is fixedly arranged at a side position close to the anti-slip layer (801), the top surface of the top clamping block (802) is provided with a through groove (804), and the inner side edge of the colloid clamping block (8) is vertically provided with an inner channel (805).

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