Automatic stacking robot for circuit boards

Abstract

The invention relates to the technical field of stacking devices, and discloses an automatic stacking robot for circuit boards, which comprises a transfer system, a conveying device arranged on one side of the transfer system and a bearing device arranged on the same side as the conveying device, and the transfer system comprises a base frame and a second telescopic cylinder fixed on the top of the base frame. The transferring arm assembly is installed on a telescopic shaft of the second telescopic cylinder, and the track guiding device is far away from one side of the conveying device and used for guiding the moving state of the transferring arm assembly to change. A telescopic shaft of a second telescopic cylinder drives a transfer arm assembly to reciprocate left and right, and in combination with a linkage mechanism of a clamping mechanism, an angle adjusting mechanism, an avoiding mechanism and a transfer arm body, clamping angle adjustment (vertical / horizontal conversion) and position calibration of a clamping jaw are achieved, so that a circuit board unloading track is dynamically matched with a receiving point of an adjustable receiving table, and the circuit board unloading efficiency is improved. And diversified requirements of layered stacking or vertical insertion stacking are met.

Description

Technical Field

[0001] This invention relates to the field of palletizing equipment technology, and more specifically to an automatic palletizing robot for circuit boards. Background Technology

[0002] With the continuous acceleration of electronic product iteration and the increasing demands for product quality, the printed circuit board (PCB) industry is facing an urgent need to improve the level of production automation. Especially with the current trend of small-batch, high-variety, and customized production becoming mainstream, traditional assembly line operation modes are no longer suitable for the needs of efficient and flexible production due to problems such as low changeover efficiency, insufficient positioning accuracy, and difficulty in ensuring consistency. Therefore, developing technical solutions that can automatically pick up circuit boards from the transport production line, accurately transfer and flip them, and stably stack them into storage frames has become an important direction for promoting the industry's technological development and intelligent manufacturing transformation.

[0003] In the prior art, for example, Chinese patent document CN219135569U discloses a PCB board clamping and flipping device. The device includes a frame, and a load-bearing component, a receiving component, a clamping and flipping component, and an adsorption and transfer component disposed on the frame. The clamping and flipping component clamps the PCB board in a vertical position in the material frame and flips it 90° before placing it on the receiving component. Then, the transfer component performs adsorption and transfer, thereby realizing fully automated handling, flipping, and transfer operations. This structure improves the level of automation to a certain extent, reduces the intensity of manual operation, improves work efficiency, and helps to avoid PCB board damage caused by manual intervention, thus ensuring product yield.

[0004] However, in practical applications, this clamping and flipping device still has obvious shortcomings: its overall process is still relatively complex, and in the process of picking up the circuit board from the transport production line, transferring, flipping and finally stacking it into the storage frame, it lacks the ability to flexibly and adaptively adjust the unloading position, making it difficult to meet the diverse stacking requirements of production scenarios, thus limiting its further application in flexible manufacturing systems. Summary of the Invention

[0005] In order to overcome the above-mentioned defects of the prior art, this application aims to solve the problem of low production flexibility and efficiency caused by the complex process flow of existing PCB board clamping and flipping devices and their inability to adapt to adjusting the unloading position or diverse stacking.

[0006] The present invention provides the following technical solution: an automatic palletizing robot for circuit boards, including a transfer system, a conveying device arranged on one side of the transfer system, and a receiving device arranged on the same side as the conveying device. The transfer system includes a base frame, a second telescopic cylinder fixed to the top of the base frame, a transfer arm assembly installed on the telescopic shaft of the second telescopic cylinder, and a trajectory guiding device on the side away from the conveying device for guiding the movement state change of the transfer arm assembly. The transfer arm assembly includes a transfer arm body slidably mounted on the top wall of the base frame. The transfer arm body consists of a horizontal section and a vertical section formed by bending upwards. An angle adjustment mechanism is provided between the vertical section and the trajectory guide device. The angle adjustment mechanism moves through the vertical section and is fixedly connected to the clamping mechanism. The trajectory guide device includes a vertically arranged vertical guide rail. When the transfer arm assembly moves, the angle adjustment mechanism drives the clamping mechanism to rotate circumferentially along the vertical guide rail, thereby adjusting the angle of the clamping mechanism.

[0007] Furthermore, the angle adjustment mechanism includes an adjustment shaft, with a front connecting rod fixed to the front end and a rear connecting rod fixed to the rear end. The front and rear connecting rods are symmetrical about the center of the adjustment shaft. The rear connecting rod extends axially to movably mount a guide roller, which is placed inside a vertical guide rail.

[0008] Furthermore, the vertical guide rail includes an inclined section that extends upward at an angle from the top of the base frame, with its top end bent to form a horizontally extending parallel section. The bends of the inclined section and the parallel section are smoothly connected.

[0009] Furthermore, the trajectory guidance device includes a horizontally set horizontal guide rail, and the horizontal guide rail is provided with a first transition section, a second transition section and a third transition section that are smoothly connected in sequence along the direction of the vertical guide rail. The second transition section is connected to the first transition section and the third transition section by a slope transition.

[0010] Furthermore, the length of the first transition segment is adapted to the vertical projection length of the inclined segment, and the horizontal projection lengths of the second and third transition segments are adapted to the lengths of the parallel segment.

[0011] Furthermore, the transfer arm assembly includes a clearance mechanism located below the angle adjustment mechanism and installed on the vertical section of the transfer arm body. The clearance mechanism includes a sliding base, which is slidably engaged in a pre-set groove below the vertical guide rail. The sliding base is movably penetrated by a traction rod. One end of the traction rod is fixed to the transfer arm body, and the other end is equipped with a guide pulley that can slide along the horizontal guide rail. A reset seat is fixed on the surface of the traction rod between the transfer arm body and the sliding base. The reset seat and the sliding base are elastically connected by a spring.

[0012] Furthermore, the main body of the transfer arm consists of a telescopic back frame and a base frame. The base frame is fixedly connected to the telescopic shaft of the second telescopic cylinder. The bottom end of the back frame is bent and movably plugged into the base frame. The front connecting rod consists of a telescopic outer shaft tube and an inner shaft tube. One end of the inner shaft tube is fixedly inserted through the back frame, and the other end is fixedly connected to the clamping mechanism. The inner shaft tube and the outer shaft tube are axially slidably engaged, and its withdrawn end is fixed to the front end of the adjusting shaft.

[0013] Furthermore, the conveying device includes a conveyor, circuit board carriers equidistantly arranged along the conveyor's transport direction, and a high-pressure air source interface located at the end adjacent to the conveyor and the base frame, the end adjacent to the conveyor and the base frame forming a pick-up area for the clamping mechanism to clamp the circuit boards.

[0014] Furthermore, the circuit board carrier includes a carrier frame, the bottom of which is mounted on the conveyor belt via connectors. The end of the carrier frame that first enters the pick-up area has a board outlet, and an air curtain nozzle is installed on the top of the board outlet. The front end of the carrier frame has a vertically and horizontally connected air duct, and the sidewall of the air curtain nozzle is connected to the air duct.

[0015] Furthermore, a notch is provided on the side of the carrier frame near the transfer arm assembly, and the clamping jaws of the clamping mechanism enter the upper and lower sides of the notch in the carrier frame. By narrowing the clamping jaws, the circuit board inside the carrier frame is clamped.

[0016] The technical effects and advantages of this invention are as follows: The second telescopic cylinder drives the transfer arm assembly to reciprocate left and right. Combined with the linkage mechanism of the clamping mechanism, angle adjustment mechanism, avoidance mechanism and transfer arm body, the clamping angle of the gripper is adjusted (vertical / horizontal conversion) and the position is calibrated, so that the circuit board unloading trajectory is dynamically matched with the receiving point of the adjustable receiving platform, which meets the diverse needs of layered stacking or vertical insertion. The design of the guide pulley in conjunction with the first, second, and third transition sections ensures that the retraction / extension of the transfer arm body and the extension / retraction of the front connecting rod are completed synchronously, avoiding interference with the circuit board carrier trajectory and enabling the unimpeded completion of the actions of the pick-up carrier frame and the transfer board outlet. Attached Figure Description

[0017] Figure 1 This is a schematic diagram of the overall structure of the present invention in the reversal phase.

[0018] Figure 2 For the present invention Figure 1 A schematic diagram of the structure from another perspective.

[0019] Figure 3 This is a schematic diagram of the overall structure of the present invention during the debugging stage.

[0020] Figure 4 This is a schematic diagram of the overall structure of the present invention in the component removal stage.

[0021] Figure 5 This is a schematic diagram of the overall structure of the present invention in the transition stage.

[0022] Figure 6 For the present invention Figure 5 A schematic diagram of the structure from another perspective.

[0023] Figure 7 For the present invention Figure 5 A schematic diagram of a local cross-section of the structure.

[0024] Figure 8 For the present invention Figure 7 A schematic diagram of the structure from another perspective.

[0025] Figure 9 For the present invention Figure 8 Schematic diagram of the structure at point A in the middle.

[0026] Figure 10 This is a schematic diagram of a local structure of the conveying device of the present invention.

[0027] Figure 11 For the present invention Figure 10 Schematic diagram of the structure at point B.

[0028] Figure 12 This is a schematic diagram of the adjustable receiving platform structure of the present invention.

[0029] The attached figures are labeled as follows: 1. Base frame; 2. Transfer arm assembly; 21. Transfer arm body; 211. Back frame; 212. Base frame; 22. Clamping mechanism; 221. Clamping base; 222. Clamping bracket; 223. Transmission gear; 224. Rack and pinion slider; 225. Gripper; 226. Gear shaft; 227. First telescopic cylinder; 23. Angle adjustment mechanism; 231. Adjustment shaft; 232. Front connecting rod; 2321. Outer shaft tube; 2322. Inner shaft tube; 233. Rear connecting rod; 234. Guide roller; 24. Avoidance mechanism; 241. Sliding base; 242. Reset seat 243. Spring; 244. Traction rod; 245. Guide pulley; 3. Second telescopic cylinder; 4. Track guiding device; 41. Vertical guide rail; 411. Inclined section; 412. Parallel section; 42. Horizontal guide rail; 421. First transition section; 422. Second transition section; 423. Third transition section; 43. Slide chute; 5. Conveyor; 6. Circuit board carrier; 61. Carrier frame; 62. Air curtain nozzle; 63. Plate outlet; 64. Air duct; 65. Connector; 7. High-pressure air source interface; 8. Adjustable receiving platform; 81. Chassis; 82. Third telescopic cylinder; 83. Storage frame. Detailed Implementation

[0030] The technical solutions of the present invention will be clearly and completely described below with reference to the accompanying drawings. In addition, the forms of the various structures described in the following embodiments are merely illustrative. The automatic palletizing robot for circuit boards involved in the present invention is not limited to the structures described in the following embodiments. All other embodiments obtained by those skilled in the art without creative effort are within the scope of protection of the present invention.

[0031] Reference Figures 1 to 7 As shown, in order to achieve the overlap between the unloading range and the receiving trajectory of the circuit board, thus meeting diverse stacking requirements, the present invention provides an automatic palletizing robot for circuit boards, including a transfer system, a conveying device disposed on one side of the transfer system, and a receiving device disposed on the same side as the conveying device; the transfer system includes a base frame 1, a second telescopic cylinder 3 fixed to the top of the base frame 1, a transfer arm assembly 2 mounted on the telescopic shaft of the second telescopic cylinder 3, and a trajectory guiding device 4 on the side away from the conveying device for guiding the movement state changes of the transfer arm assembly 2. The transfer arm assembly 2 includes a transfer arm body 21 slidably mounted on the top wall of the base frame 1. The transfer arm body 21 consists of a horizontal section and a vertical section formed by bending upwards. An angle adjustment mechanism 23 is provided between the vertical section and the trajectory guide device 4. The angle adjustment mechanism 23 movably passes through the vertical section and is fixedly connected to the clamping mechanism 22. The trajectory guide device 4 includes a vertically arranged vertical guide rail 41. When the transfer arm assembly 2 moves, the angle adjustment mechanism 23 drives the clamping mechanism 22 to rotate circumferentially along the vertical guide rail 41, thereby adjusting the angle of the clamping mechanism 22. The angle adjustment mechanism 23 includes an adjustment shaft 231. A front connecting rod 232 is fixed to the front end of the adjustment shaft 231, and a rear connecting rod 233 is fixed to the rear end. The front connecting rod 232 and the rear connecting rod 233 are symmetrical about the center of the adjustment shaft 231. A guide roller 234 is movably mounted on the axial extension of the rear connecting rod 233. The guide roller 234 is placed in the vertical guide rail 41. When the transfer arm assembly 2 moves, the guide roller 234 rolls along the vertical guide rail 41, causing the rear connecting rod 233 and the adjustment shaft 231 to rotate circumferentially with the front connecting rod 232 as the center. This causes the clamping mechanism 22 connected to the end of the front connecting rod 232 to rotate synchronously, thereby realizing the vertical / horizontal adjustment of the angle of the clamping mechanism 22. The vertical guide rail 41 includes an inclined section 411, which extends upward from near the top wall of the base frame 1 at an angle of 30-45 degrees. The top end bends to form a horizontally extending parallel section 412. The bends of the inclined section 411 and the parallel section 412 are smoothly connected. When the transfer arm assembly 2 moves to the left, the guide roller 234 crawls and rolls upward along the inclined section 411, causing the rear connecting rod 233 and the adjusting shaft 231 to swing counterclockwise around the front connecting rod 232 as the center. This causes the front connecting rod 232 and its end clamping mechanism 22 to rotate synchronously, adjusting the angle of the clamping mechanism 22 to a vertical state. When the guide roller 234 enters the parallel section 412, the clamping mechanism 22 remains in a constant vertical state, which facilitates the clamping of the horizontally placed circuit board on the conveying device. It should be noted in this embodiment that the second telescopic cylinder 3 can be a pneumatic cylinder, a hydraulic cylinder, an electric actuator, or other equivalent linear pushing device. In this article, all our discussions of positional relationships, including front-back, left-right, and right-side relationships, are based on... Figures 1 to 3 Defined from the perspective presented, these directional descriptions do not have actual geographical or physical meaning. They are merely a reference framework set up to help readers understand the content of the text more intuitively. In this way, we can more clearly show the relative positional relationship between the various parts, making the entire argument process easier to understand and follow. Please note that these custom directional markers are only for use within this article and do not represent any absolute direction or position in the real world.

[0032] Reference Figures 1 to 8 As shown, in order to avoid interference between the transfer arm assembly 2 and the running trajectory of the circuit board carrier 6 when transferring the circuit board, the structure of the trajectory guiding device 4 and the transfer arm assembly 2 is optimized so that the clamping mechanism 22 can bypass to the side of the conveying device to pick up the part. Specifically, the trajectory guiding device 4 includes a horizontally set horizontal guide rail 42. The horizontal guide rail 42 is provided with a first transition section 421, a second transition section 422 and a third transition section 423 that are smoothly connected along the direction of the vertical guide rail 41. The second transition section 422 is connected to the first transition section 421 and the third transition section 423 by a slope transition. The length of the first transition segment 421 is adapted to the vertical projection length of the inclined segment 411, and the horizontal projection lengths of the second transition segment 422 and the third transition segment 423 are adapted to the length of the parallel segment 412. The transfer arm assembly 2 includes a clearance mechanism 24 located below the angle adjustment mechanism 23 and installed on the vertical section of the transfer arm body 21. The clearance mechanism 24 includes a sliding base 241, which is slidably engaged in a pre-set groove 43 below the vertical guide rail 41. The sliding base 241 is movably penetrated by a traction rod 244. One end of the traction rod 244 is fixed to the transfer arm body 21, and the other end is equipped with a guide pulley 245 that can slide along the horizontal guide rail 42. A reset seat 242 is fixed on the surface of the traction rod 244 between the transfer arm body 21 and the sliding base 241. The reset seat 242 and the sliding base 241 are elastically connected by a spring 243. When the guide roller 234 enters the parallel section 412, the guide pulley 245 falls into the second transition section 422 due to the loss of resistance and the elastic reset force of the spring 243. The main body 21 of the transfer arm consists of a telescopic back frame 211 and a base frame 212. The base frame 212 is fixedly connected to the telescopic shaft of the second telescopic cylinder 3. The bottom end of the back frame 211 is bent and movably plugged into the base frame 212. The front connecting rod 232 consists of a telescopic outer shaft tube 2321 and an inner shaft tube 2322. One end of the inner shaft tube 2322 is fixedly inserted through the back frame 211, and the other end is fixedly connected to the clamping mechanism 22. The inner shaft tube 2322 and the outer shaft tube 2321 are axially slidably engaged. Its pull-out end is fixed to the front end of the adjusting shaft 231. When the guide pulley 245 falls into the second transition section 422, the traction rod 244 pulls back the main body 21 of the transfer arm to extend it and pulls the front connecting rod 232 to retract, causing the clamping mechanism 22 to retract and the gripper 225 to return to the top of the base frame 1, avoiding interference with the running trajectory of the circuit board carrier 6, and can go around to the side of the conveying device. In this embodiment, it should be noted that the clamping mechanism 22 includes a clamping base 221, which is fixedly connected to the end of the outer shaft tube 2321. A clamping bracket 222 is installed at the front end of the clamping base 221. The clamping bracket 222 is rotatably mounted with symmetrically arranged transmission gears 223 via a hinge. A rack and slide block 224 meshes with the front side of the transmission gear 223. The rack and slide block 224 is slidably disposed at the front end of the clamping bracket 222. A gripper 225 is fixed at the front of each rack and slide block 224. A gear shaft 226 meshes with the transmission gears 223. The gear shaft 226 is rigidly connected to the telescopic shaft of the first telescopic cylinder 227 installed in the clamping base 221. The telescopic movement of the gear shaft 226 drives the transmission gears 223 to rotate in both directions, thereby transmitting the distance between the meshing rack and slide blocks 224 and realizing the opening and closing action of the gripper 225. The guide roller 234 is provided with baffles on its front and rear sides, which restrict it to sliding only along the vertical guide rail 41.

[0033] Reference Figures 1 to 7 , Figures 10 to 12As shown, the conveying device includes a conveyor 5, circuit board carriers 6 arranged equidistantly along the conveying direction of the conveyor 5, and a high-pressure air source interface 7 located at the end adjacent to the base frame 1 of the conveyor 5. The end adjacent to the base frame 1 of the conveyor 5 forms a pick-up area for the clamping mechanism 22 to clamp the circuit board. The receiving device is slidably mounted on the front side of the base frame 1. It can be an adjustable receiving platform 8. The adjustable receiving platform 8 includes a housing 81. A third telescopic cylinder 82 is installed inside the housing 81. The telescopic end of the third telescopic cylinder 82 is rigidly connected to the storage frame 83. The lifting height of the storage frame 83 can be adjusted by controlling the length of the telescopic shaft of the third telescopic cylinder 82, thereby adapting to the material feeding action of the clamping mechanism 22. In this embodiment, it should be noted that the conveyor 5 includes a conveyor belt, a transmission roller and a stepper motor. The stepper motor controls the transmission cycle of the conveyor belt, so that the circuit boards enter the picking area one by one. It works in conjunction with the cycle transfer of the transfer arm assembly 2 to achieve continuous palletizing. To pre-clean and pre-treat the surface of circuit boards before stacking and to avoid interference with the movement trajectory of the clamping mechanism 22, the structure of the circuit board carrier 6 is optimized. It includes a carrier frame 61, the bottom of which is mounted on the conveyor belt of the conveyor 5 via a connector 65. The end of the carrier frame 61 that first enters the picking area has a board outlet 63. An air curtain nozzle 62 is installed on the top of the board outlet 63. The front end of the carrier frame 61 has a vertically and horizontally connected air duct 64. The sidewall of the air curtain nozzle 62 is connected to the air duct 64. When the circuit board carrier 6 holding the circuit boards is transported to the picking area, the air curtain nozzle 62 is connected to the injection port of the high-pressure air source interface 7. The high-pressure airflow forms a horizontal and vertical air curtain through the air duct 64 to clean the dust from the circuit boards that are gradually pulled away from the board outlet 63. The carrier frame 61 has a notch on one side near the transfer arm assembly 2. The jaws of the grippers 225 enter the upper and lower sides of the notch in the carrier frame 61. The jaws 225 move towards each other to narrow the jaws, so as to hold the circuit board inside the carrier frame 61.

[0034] Working principle of this invention: S1, Reversing Stage: The telescopic shaft of the second telescopic cylinder 3 carries the connected transfer arm assembly 2 from right to left. The clamping mechanism 22, angle adjustment mechanism 23, and avoidance mechanism 24 trigger corresponding actions as the transfer arm body 21 moves axially. That is, when the transfer arm assembly 2 moves to the left, the guide roller 234 crawls and rolls upward along the inclined section 411, carrying the rear connecting rod 233 and adjusting shaft 231 connected to it in sequence to rotate counterclockwise around the front connecting rod 232 as the center. This causes the clamping mechanism 22 connected to the end of the front connecting rod 232 to rotate accordingly, gradually... Adjusting the angle of the clamping mechanism 22 causes the gripper 225 to change to a vertical position. At the same time, the guide pulley 245 presses against the first transition section 421, causing the traction rod 244 and the stretchable spring 243 to move synchronously with the reset seat 242, pushing the transfer arm body 21 to retract and pulling the front connecting rod 232 to extend. This achieves angle adjustment and position calibration of the clamping mechanism 22, so that the unloading range of the circuit board held by the gripper 225 coincides with the receiving trajectory of the adjustable receiving platform 8. By adjusting the receiving position of the adjustable receiving platform 8, diverse needs such as layered stacking or vertical insertion of circuit boards can be met. S2, Debugging stage: When the transfer arm assembly 2 moves to the left and the guide roller 234 enters the parallel section 412, the gripper 225 has been fully rotated to the vertical state and remains constant. At this time, the guide pulley 245 falls into the second transition section 422 under the action of the spring force of the spring 243 because it loses the resistance pressure. At the same time, the traction rod 244 can pull back the transfer arm body 21 to extend it and pull the front connecting rod 232 to retract, causing the clamping mechanism 22 to retract inward, so that the gripper 225 returns to the top of the base frame 1, thereby avoiding interference with the running trajectory of the circuit board carrier 6, and can bypass and cut into the side of the conveying device. S3, Picking-up stage: When the transfer arm assembly 2 continues to move to the left along the parallel section 412, the gripper 225 maintains a vertical position with the clamping jaws horizontal. The guide pulley 245 gradually cuts into the third transition section 423 from the second transition section 422, and its resistance pressure continues to increase, causing the traction rod 244 to stretch the spring 243 to drive the reset seat 242 to move. At the same time, it pushes the transfer arm body 21 to retract and pulls the front connecting rod 232 to extend, so that the clamping mechanism 22 moves forward from above the base frame 1 to the picking-up area near the end of the conveying device. At this time, the gripper 225 clamps into the upper and lower sides of the notch of the carrier frame 61. By controlling the clamping mechanism 22, the gripper 225 moves towards each other to reduce the clamping jaws, thereby clamping the circuit board inside the carrier frame 61 and completing the unobstructed picking-up. S4, Transfer Stage: After the clamping mechanism 22 clamps the circuit board in the picking area, the telescopic shaft of the second telescopic cylinder 3 carries the connected transfer arm assembly 2 back to the left from the right. The clamping mechanism 22 moves along the reverse trajectory of S3-S1, that is, the guide roller 234 transitions from the parallel section 412 to the inclined section 411, causing the circuit board held by the gripper 225 to change from a vertical to a horizontal state. At the same time, the guide pulley 245 enters the first transition section 421 through the third transition section 423 and the second transition section 422 in sequence, driving the gripper 225 to carry the circuit board to retract upwards towards the base frame 1, so that the circuit board can be pulled out of the carrier frame 61 horizontally to the right along the board outlet 63. Then the clamping mechanism 22 can extend and move outwards in the receiving area of ​​the adjustable receiving platform 8 to ensure that the unloading point of the gripper 225 coincides with the receiving position of the adjustable receiving platform 8. By adjusting the position of the adjustable receiving platform 8, the diverse needs such as layered stacking or vertical insertion of circuit boards can be met. By periodically implementing the S1-S4 process, combined with the coordinated operation of the conveyor and the adjustable receiving platform 8, the task of continuous stacking and storage of circuit boards can be achieved.

[0035] The above is merely a preferred embodiment of the present invention, but the scope of protection of the present invention is not limited thereto. Any equivalent substitutions or modifications made by those skilled in the art within the scope of the technology disclosed in the present invention, in accordance with the technical plan and its improved concept, should be included under the protection of the present invention.

Claims

1. An automated palletizing robot for circuit boards, comprising a transfer system, a conveying device disposed on one side of the transfer system, and a receiving device disposed on the same side as the conveying device, characterized in that: The transfer system includes a base frame (1), a second telescopic cylinder (3) fixed to the top of the base frame (1), a transfer arm assembly (2) mounted on the telescopic shaft of the second telescopic cylinder (3), and a trajectory guiding device (4) on the side away from the conveying device to guide the movement state change of the transfer arm assembly (2). The transfer arm assembly (2) includes a transfer arm body (21) slidably disposed on the top wall of the base frame (1). The transfer arm body (21) consists of a horizontal section and a vertical section formed by bending upward. An angle adjustment mechanism (23) is provided between the vertical section and the trajectory guide device (4). The angle adjustment mechanism (23) moves through the vertical section and is fixedly connected to the clamping mechanism (22). The trajectory guide device (4) includes a vertically arranged vertical guide rail (41). When the transfer arm assembly (2) moves, the angle adjustment mechanism (23) drives the clamping mechanism (22) to rotate circumferentially along the vertical guide rail (41), thereby adjusting the angle of the clamping mechanism (22).

2. The automated palletizing robot for circuit boards according to claim 1, characterized in that: The angle adjustment mechanism (23) includes an adjustment shaft (231), a front connecting rod (232) is fixed at the front end of the adjustment shaft (231), and a rear connecting rod (233) is fixed at the rear end. The front connecting rod (232) and the rear connecting rod (233) are symmetrical about the center of the adjustment shaft (231). The rear connecting rod (233) extends axially to movably mount a guide roller (234), and the guide roller (234) is placed inside the vertical guide rail (41).

3. The automated palletizing robot for circuit boards according to claim 2, characterized in that: The vertical guide rail (41) includes an inclined section (411), which extends upward from the top of the base frame (1) at an incline, and the top end bends to form a horizontally extending parallel section (412). The incline section (411) and the parallel section (412) are smoothly connected at the bend.

4. The automated palletizing robot for circuit boards according to claim 1 or 3, characterized in that: The trajectory guiding device (4) includes a horizontally set horizontal guide rail (42). The horizontal guide rail (42) is arranged along the vertical guide rail (41) with a first transition section (421), a second transition section (422) and a third transition section (423) connected smoothly in sequence. The second transition section (422) is connected to the first transition section (421) and the third transition section (423) by a slope transition.

5. The automated palletizing robot for circuit boards according to claim 4, characterized in that: The length of the first transition segment (421) is adapted to the vertical projection length of the inclined segment (411), and the horizontal projection lengths of the second transition segment (422) and the third transition segment (423) are adapted to the length of the parallel segment (412).

6. The automated palletizing robot for circuit boards according to claim 5, characterized in that: The transfer arm assembly (2) includes a clearance mechanism (24) located below the angle adjustment mechanism (23) and installed on the vertical section of the transfer arm body (21). The clearance mechanism (24) includes a sliding base (241), which is slidably engaged in a pre-set groove (43) below the vertical guide rail (41). The sliding base (241) is movably penetrated by a traction rod (244). One end of the traction rod (244) is fixed to the transfer arm body (21), and the other end is equipped with a guide pulley (245) that can slide along the horizontal guide rail (42). A reset seat (242) is fixed on the surface of the traction rod (244) between the transfer arm body (21) and the sliding base (241). The reset seat (242) and the sliding base (241) are elastically connected by a spring (243).

7. The automated palletizing robot for circuit boards according to claim 6, characterized in that: The main body (21) of the transfer arm is a telescopic back frame (211) and a base frame (212). The base frame (212) is fixedly connected to the telescopic shaft of the second telescopic cylinder (3). The bottom end of the back frame (211) is bent and movably plugged into the base frame (212). The front connecting rod (232) is a telescopic outer shaft tube (2321) and an inner shaft tube (2322). One end of the inner shaft tube (2322) is fixedly inserted through the back frame (211), and the other end is fixedly connected to the clamping mechanism (22). The inner shaft tube (2322) and the outer shaft tube (2321) are axially slidably engaged. Its withdrawing end is fixed to the front end of the adjusting shaft (231).

8. The automated palletizing robot for circuit boards according to claim 1, characterized in that: The conveying device includes a conveyor (5), circuit board carriers (6) arranged equidistantly along the conveyor (5) transport direction, and a high-pressure air source interface (7) located at the end adjacent to the conveyor (5) and the base frame (1). The end adjacent to the conveyor (5) and the base frame (1) forms a pick-up area for the clamping mechanism (22) to clamp the circuit board.

9. The automated palletizing robot for circuit boards according to claim 8, characterized in that: The circuit board carrier (6) includes a carrier frame (61). The bottom of the carrier frame (61) is installed on the conveyor belt of the conveyor (5) via a connector (65). The end of the carrier frame (61) that first enters the pick-up area is provided with a board outlet (63). An air curtain nozzle (62) is installed on the top of the board outlet (63). The front end of the carrier frame (61) is provided with a vertically and horizontally connected air duct (64). The side wall of the air curtain nozzle (62) is connected to the air duct (64).

10. The automated palletizing robot for circuit boards according to claim 9, characterized in that: The carrier frame (61) has a notch on one side near the transfer arm assembly (2). The clamping jaws of the clamping mechanism (22) enter the upper and lower sides of the notch in the carrier frame (61) and clamp the circuit board inside the carrier frame (61) by narrowing the clamping jaws.

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