Intelligent suspension conveying system and method for multilayer circuit board processing

Abstract

The invention belongs to the technical field of circuit board processing, particularly relates to an intelligent suspension conveying system and method for multilayer circuit board processing, and provides the following scheme aiming at the problem that in the prior art, when a soft material is transferred, the soft material is prone to being scratched and collided due to the fact that the middle of the soft material falls down. Comprising a main supporting column arranged on the side face of a copper foil conveying rack, a rotating head is arranged at the top end of the main supporting column, and the top end of the rotating head is fixedly sleeved with a main cantilever beam horizontally extending to the position above the copper foil conveying rack. In the grabbing process, if the downward concave amplitude of the middle of a copper foil body is too large, the copper foil body can be recognized and calculated by the distance sensors at the two different positions at the moment, the corresponding electromagnet can be automatically controlled to be powered on after feedback, the swing amplitude of the rotating rod is adjusted, and then the loosened copper foil body is tightened to be in a plane state; therefore, the copper foil body only needs to be lifted to a small height during transferring, lifting cost is saved, and working hours are saved.

Description

Technical Field

[0001] This invention relates to the field of circuit board processing technology, and in particular to an intelligent suspension conveying system and method for processing multilayer circuit boards. Background Technology

[0002] Lifting and conveying equipment for circuit board processing raw materials is an indispensable piece of equipment in modern electronics manufacturing, enabling efficient, safe, and precise material transport. Before laminating multilayer circuit boards, substrates, PP films, and copper foils need to be stacked layer by layer. Traditional stacking methods often rely on manual handling, which is not only inefficient but also prone to human error. To improve production efficiency and reduce labor intensity, automated lifting and conveying equipment has emerged.

[0003] Existing automated suspended conveyor devices directly adsorb the four corners of a soft substrate during the gripping process, and then lift and transfer it to the area that needs to be covered. However, due to the softness of the substrate, the center is often concave after being lifted at the four corners. This not only makes it easy to snag on other objects during the transfer process, but also increases the lifting height and wastes energy. In order to address the many drawbacks of this gripping method, we propose a novel intelligent suspended conveyor system and method for multilayer circuit board processing. Summary of the Invention

[0004] To overcome the aforementioned shortcomings in the prior art, the present invention aims to provide an intelligent suspended conveying system and method that can prevent excessive downward concavity in the middle of the substrate during hoisting. This invention provides an intelligent suspended conveying system for multilayer circuit board processing, including a main support column disposed on the side of a copper foil conveyor frame. A rotating head is disposed at the top of the main support column, and a main cantilever beam extending horizontally upwards towards the copper foil conveyor frame is sleeved and fixed at the top of the rotating head. A sliding beam is slidably sleeved at the end of the main cantilever beam away from the rotating head. A U-shaped pallet frame with an upward opening is fixed to the lower surface of the sliding beam, and synchronous electric push rods are fixed to the lower surfaces of both ends of the U-shaped pallet frame. A common gripping module is fixed to the bottom ends of the extension rods of the two synchronous electric push rods. The gripping module includes an intermediate support block fixed to the bottom ends of the extension rods of the two synchronous electric push rods. The support block has an overall elongated structure, and the length of the middle support block is consistent with the conveying direction of the copper foil conveyor frame. The two ends of the middle support block are respectively slidably engaged with U-shaped side clamps that can move in opposite directions. The two U-shaped side clamps have swing holes near the two corners at the far ends. A downwardly extending rotating rod is hinged in each swing hole. A permanent magnet and a suction cup assembly are respectively provided at the upper and lower ends of the rotating rod. An electromagnet adapted to the corresponding permanent magnet is embedded on the upper surface of the U-shaped side clamps near the swing holes. A distance sensor is fixed on the lower surface of the U-shaped support frame near the middle and on the lower surface of one of the U-shaped side clamps between the two rotating rods.

[0005] A further feature of this invention is that a positioning hinge frame is fixed to the upper surface of both U-shaped side plates near the swing through-hole. The positioning hinge frame includes two symmetrical hinge ear plates, and the two hinge ear plates are rotatably connected by the same shaft. A shaft through-hole with a diameter matching the shaft is opened on the side of the rotating rod near the top. An annular mounting groove coaxial with the shaft through-hole is opened on the side of the rotating rod near the shaft through-hole, and a torsion spring is engaged in the annular mounting groove. The other end of the torsion spring is fixed to the surface of one of the adjacent hinge ear plates. A circular hole for mounting a permanent magnet is opened on the side of the rotating rod away from the annular mounting groove near the top. A vertical stop block is fixed to the upper surface of the positioning hinge frame away from the middle support block. Through the torsion spring and the stop block, in conjunction with the attraction of the permanent magnet by the electromagnet after energization, the copper foil body that is concave in the middle after attraction can be quickly flattened.

[0006] A further feature of this invention is that the sliding beam has an overall U-shaped structure with its opening facing the main cantilever beam, and an arc-shaped fixing frame is fixed to the upper surface of the sliding beam near the opening. An electric telescopic rod is fixed to the middle of the upper surface of the main cantilever beam, and the output shaft end of the electric telescopic rod is fixed to the arc-shaped fixing frame by bolts. Two horizontal and parallel guide rods are fixed to one end of the main cantilever beam near the sliding beam, and a sliding insertion hole is provided at the end of the sliding beam near the main cantilever beam to form a sliding fit with the guide rods. Through the guide rods and the electric telescopic rod, the gripping module can be moved laterally by at least one body position as needed, and the rotating head can be rotated as a whole to cover different circuit board bodies on the substrate.

[0007] A further feature of this invention is that connecting blocks are fixed to both sides of the sliding beam, and the upper surfaces of both ends of the U-shaped support frame are respectively fixed to the lower surfaces of the two connecting blocks; both ends of the middle support block are reserved with extension plate heads, and the extension rods of the synchronous electric push rod are respectively fixed to the upper surfaces of the corresponding extension plate heads; symmetrical anti-slip grooves are reserved on both sides of the middle support block away from the two extension plate heads, and sliding columns that form a sliding fit with the corresponding anti-slip grooves are reserved on the inner edges of the U-shaped side clamps; thereby ensuring that the two U-shaped side clamps can converge horizontally to the sides or the middle after being subjected to force, so as to adjust the span range that the main body can grasp.

[0008] A further feature of this invention is that the lower surface of the intermediate support block has a diamond-shaped groove spanning both ends, and a bearing mounting hole penetrating upwards is formed in the center of the bottom of the diamond-shaped groove. Symmetrical anti-detachment bearings are respectively embedded at the upper and lower ends of the bearing mounting hole. The two anti-detachment bearings are rotatably connected by the same transmission pipe. A driven worm gear and a rotary wheel are respectively fixed at the upper and lower ends of the transmission pipe. Two connecting rods, symmetrically distributed centrally, are hinged to the lower surface of the rotary wheel near its circumferential edge. A hinge plate extending towards the center is reserved in the middle of each of the two U-shaped side plates. A short shaft extending vertically downwards through the corresponding connecting rod end is provided at the end of each hinge plate near the rotary wheel. A worm gear meshing with the driven worm gear is also provided near the center of the upper surface of the intermediate support block. An adjusting handwheel is provided at the end of the worm gear away from the driven worm gear. With this configuration, when the distance between the two U-shaped side plates needs to be controlled, only the adjusting handwheel needs to be rotated, with small adjustment increments and a self-locking effect.

[0009] A further feature of the present invention is that each of the two U-shaped side clamps has a downwardly bent inclined surface near the rotating rod, and the middle support block and the two U-shaped side clamps together form an arc-shaped structure. The inclined surfaces of the U-shaped side clamps are respectively provided with mounting holes for fixing electromagnets near the front and rear ends, which can expand the space below the middle support block for installing wire harnesses or pipelines.

[0010] A further feature of this invention is that a wire hole is pre-drilled in the middle of the bottom of the U-shaped pallet frame, and a high-pressure blower is fixed in the middle of the upper surface of the U-shaped pallet frame. Four shaping air pipes are provided at the air outlet end of the high-pressure blower. The air outlet end of the shaping air pipes is connected to the interface of each suction cup group. The shaping air pipes all pass vertically downward through the transmission pipe and do not contact its inner wall. With this arrangement, the wire harness on the outer surface of the equipment can be kept clean, preventing tangling during transportation. The overall design is simple and easy to clean and maintain.

[0011] A further feature of this invention is that a downwardly extending return spring is fixed to the bottom end of the rotating rod, and the suction cup assembly includes a suction cup fixing plate fixed to the bottom end of the return spring. Multiple suction cup units with downwardly flared openings are fixed to the lower surface of the suction cup fixing plate. An air inlet pipe is inserted above each suction cup unit on the suction cup fixing plate, and a connecting hose is inserted into all the air inlet pipes. The connecting hoses ultimately converge into a pipe connector for connection to the air outlet of the shaping air pipe. By using the suction cup assembly in conjunction with the downwardly extending return spring, air leakage can be prevented from abruptly changing the angle between the suction cup unit and the surface of the copper foil body during tensioning, ensuring that the suction cup unit does not detach from its adsorption position during the tensioning process of the copper foil body.

[0012] A further feature of the present invention is that a wire hole is provided in the middle of the rotating rod to allow the shaped air tube to pass through and bind it near the rotating rod, thereby ensuring that the tube does not become tangled.

[0013] A smart suspension conveying method for multilayer circuit board processing includes the following steps: S1: Before use, install this device according to the placement of the copper foil conveyor frame and the position of the assembly table to ensure that the effective transfer range of this device can cover both; in the initial state, the extension rods of the two synchronous electric push rods are retracted to their original length and the electromagnets are de-energized. At this time, the four rotating rods are close to the vertical state under the action of their respective torsion springs. Rotate the adjusting handwheel to adjust the distance between the two U-shaped side clamps to ensure that the span is large enough to adsorb the cut copper foil body; S2: When the cut copper foil body is transported to the gripping position, which is directly below the four sets of suction cups, the extension rods of the two synchronous electric push rods are extended to drive the gripping module down. When the suction cup unit in the suction cup group contacts the surface of the copper foil body and adsorbs it, the extension rods of the synchronous electric push rods are retracted to lift the copper foil body. If the middle of the copper foil body is concave downward too much, it will be identified and calculated by the distance sensors at two different positions. After feedback, the corresponding electromagnets will be automatically energized, and the bottom ends of all the rotating rods will swing outward, thereby tightening the loose copper foil body into a flat state. S3; Finally, control the electric telescopic rod or rotating head to transfer the grabbed copper foil to the required area, and then lower it to release the adsorption.

[0014] The beneficial effects of this invention are as follows: 1. By using a distance sensor and a swinging rod, when preparing to lift the copper foil body that has already been adsorbed, if the downward indentation in the middle of the copper foil body is too large, it will be identified and calculated by two distance sensors at different positions. After feedback, the corresponding electromagnet will be automatically energized to adjust the swing amplitude of the swinging rod, thereby tightening the slack copper foil body into a flat state. This allows the copper foil body to be lifted only a small height during transportation, saving both lifting costs and labor time.

[0015] 2. By using the torsion spring and the stop block, and in conjunction with the electromagnet's attraction to the permanent magnet after being energized, the copper foil body that is concave in the middle after attraction can be quickly flattened. Normally, the electromagnet is in an off-power state, saving energy.

[0016] 3. By using the suction cup assembly in conjunction with the downward-sloping reset spring, the angle between the suction cup unit's adsorption surface and the copper foil body surface can be abruptly changed during tensioning, preventing air leakage. This ensures that the suction cup unit will not detach from the adsorption position during the tensioning process of the copper foil body, and also prevents the copper foil body from being bent. Attached Figure Description

[0017] Figure 1 This is a schematic diagram of the overall structure of the intelligent suspension conveying system for multilayer circuit board processing proposed in this invention during conveying. Figure 2 This is a bottom view of the intelligent suspended conveyor system for multilayer circuit board processing proposed in this invention. Figure 3 This is a schematic diagram of the intelligent suspension conveying system for multilayer circuit board processing proposed in this invention during lateral transposition. Figure 4 This is a front view of an intelligent suspended conveyor system for multilayer circuit board processing proposed in this invention; Figure 5 This is a schematic diagram of the overall structure of the gripping module in an intelligent suspended conveying system for multilayer circuit board processing proposed in this invention. Figure 6 This is a bottom view of the gripping module in an intelligent suspended conveying system for multilayer circuit board processing proposed in this invention. Figure 7 This invention proposes an intelligent overhead conveyor system for multilayer circuit board processing. Figure 6 Schematic diagram of the cross-sectional structure along line AA; Figure 8This is an exploded view of the U-shaped side clamp in an intelligent suspended conveyor system for multilayer circuit board processing proposed in this invention; Figure 9 This is a front view of the gripping module in an intelligent suspension conveying system for multilayer circuit board processing proposed in this invention when it is taut. Figure 10 This is an exploded view of the rotating rod in an intelligent suspended conveyor system for multilayer circuit board processing proposed in this invention.

[0018] In the diagram: 1. Main support column; 2. Rotating head; 3. Electric telescopic rod one; 4. Bow-shaped fixing frame; 5. Main cantilever beam; 6. High-pressure blower; 7. Sliding beam; 701. Connecting block; 8. Guide slide rod; 9. U-shaped support plate frame; 10. U-shaped side clamp; 1001. Hinge plate; 1002. Mounting hole; 1003. Swinging through hole; 11. Rotating rod; 1101. Shaft column; 1102. Torsion spring; 1103. Annular mounting groove; 1104. Round hole; 1105. Shaft through hole 12. Hole; 13. Copper foil conveyor frame; 14. Copper foil body; 15. Suction cup assembly; 16. Positioning hinge frame; 17. Electromagnet; 18. Intermediate support block; 19. Anti-slip groove; 10. Extension plate head; 11. Bearing mounting hole; 12. Diamond groove; 13. Synchronous electric push rod; 14. Distance sensor; 25. Rotary wheel; 26. Shaping air tube; 27. Connecting rod; 28. Permanent magnet; 29. ​​Transmission tube; 20. Driven worm gear; 21. Worm; 22. Return spring. Detailed Implementation

[0019] The technical solutions of the present invention will be clearly and completely described below with reference to the accompanying drawings. Obviously, the described embodiments are only some embodiments of the present invention, and not all embodiments.

[0020] In this embodiment, refer to Figures 1-10A smart suspended conveying system for multilayer circuit board processing includes a main support column 1 disposed on the side of a copper foil conveyor frame 12. A rotating head 2 is disposed at the top of the main support column 1, and a main cantilever beam 5 extending horizontally above the copper foil conveyor frame 12 is sleeved and fixed at the top of the rotating head 2. A sliding beam 7 is slidably sleeved at the end of the main cantilever beam 5 away from the rotating head 2. A U-shaped pallet frame 9 with an upward opening is fixed on the lower surface of the sliding beam 7, and synchronous electric push rods 18 are fixed on the lower surfaces of both ends of the U-shaped pallet frame 9. The bottom ends of the two synchronous electric push rods 18 are fixed with the same gripping module. The gripping module includes a middle support block 17 fixed to the bottom ends of the two synchronous electric push rods 18. The middle support block 17 has an overall elongated structure, and the length direction of the middle support block 17 is consistent with the conveying direction of the copper foil conveyor frame 12. The two ends of the middle support block 17 are respectively slidably engaged with U-shaped side clamps 10 that can move in opposite directions. Swinging through holes are opened at the two corners near the two ends of the two U-shaped side clamps 10 that are far apart. 1003, each of the swing through-holes 1003 has a downwardly extending rotating rod 11 hinged thereto. The upper and lower ends of the rotating rod 11 are respectively equipped with a permanent magnet 23 and a suction cup assembly 14. Furthermore, the upper surface of the U-shaped side clamps 10 near the swing through-holes 1003 is fitted with an electromagnet 16 adapted to the corresponding permanent magnet 23. The lower surface of the U-shaped support frame 9 near the middle and the lower surface of one of the U-shaped side clamps 10 located between the two rotating rods 11 are fixed with distance sensors 19. The distance sensors 19 are used to... The rotating rod 11, which can swing, is used to lift the copper foil body 13 after it has been adsorbed. If the downward indentation of the middle of the copper foil body 13 is too large, it will be identified and calculated by two distance sensors 19 at different positions. Then, the corresponding electromagnet 16 will be energized automatically to adjust the swing amplitude of the rotating rod 11, thereby tightening the loose copper foil body 13 into a flat state. This way, the copper foil body 13 only needs to be lifted to a small height during transportation, which saves both lifting costs and labor time.

[0021] Reference Figures 8-10The upper surfaces of the two U-shaped side plates 10 are each fixed with a positioning hinge frame 15 near the swing through hole 1003. The positioning hinge frame 15 includes two symmetrical hinge ear plates, and the two hinge ear plates are rotatably connected by the same shaft 1101. The side of the rotating rod 11 near the top is provided with a shaft through hole 1105 that matches the diameter of the shaft 1101. The side of the rotating rod 11 near the shaft through hole 1105 is provided with an annular mounting groove 1103 that is coaxial with the shaft through hole 1105, and a [missing information] is engaged in the annular mounting groove 1103. The torsion spring 1102 has its other end fixed to the surface of a hinged ear plate that is close to it. The rotating rod 11 has a round hole 1104 for mounting the permanent magnet 23 near the top on the side away from the annular mounting groove 1103. A vertical stop block is fixed on the upper surface of the positioning hinge frame 15 on the side away from the middle support block 17. With the torsion spring 1102 and the stop block, the permanent magnet 23 can be attracted by the electromagnet 16 after being energized, and the copper foil body 13 that is concave in the middle after attraction can be quickly flattened.

[0022] Reference Figure 8 The sliding beam 7 has a U-shaped structure with its opening facing the main cantilever beam 5. An arc-shaped fixing frame 4 is fixed to the upper surface of the sliding beam 7 near the opening. An electric telescopic rod 3 is fixed to the middle of the upper surface of the main cantilever beam 5, and the output shaft end of the electric telescopic rod 3 is fixed to the arc-shaped fixing frame 4 by bolts. Two horizontal and parallel guide rods 8 are fixed to one end of the main cantilever beam 5 near the sliding beam 7. A sliding insertion hole is opened at one end of the sliding beam 7 near the main cantilever beam 5 to form a sliding fit with the guide rods 8. Through the guide rods 8 and the electric telescopic rod 3, the gripping module can be moved laterally by at least one body position as needed. The rotating head 2 can be rotated as a whole to cover different circuit board bodies on the substrate.

[0023] Reference Figures 4-5 Both sides of the sliding beam 7 are fixed with connecting blocks 701, and the upper surfaces of both ends of the U-shaped pallet frame 9 are respectively fixed to the lower surfaces of the two connecting blocks 701; both ends of the middle support block 17 are reserved with extension plate heads 172, and the extension rods of the synchronous electric push rod 18 are respectively fixed to the upper surfaces of the corresponding extension plate heads 172; the two sides of the middle support block 17 away from the two extension plate heads 172 are respectively reserved with mutually symmetrical anti-slip grooves 171, and the inner edges of the U-shaped side clamps 10 are reserved with sliding columns that form a sliding fit with the corresponding anti-slip grooves 171; thus, it can be ensured that the two U-shaped side clamps 10 can be horizontally gathered to the sides or the middle after being subjected to force, so as to adjust the span range that the main body can grasp.

[0024] Reference Figures 5-7The lower surface of the intermediate support block 17 has a diamond-shaped groove 174 spanning both ends, and a bearing mounting hole 173 penetrating the top is provided in the middle of the bottom of the diamond-shaped groove 174. Symmetrical anti-detachment bearings are respectively embedded at the upper and lower ends of the bearing mounting hole 173. The two anti-detachment bearings are rotatably connected by the same transmission pipe 24. A driven worm gear 25 and a rotary wheel 20 are respectively fixed at the upper and lower ends of the transmission pipe 24. Two connecting rods 22, which are centrally symmetrically distributed, are hinged to the lower surface of the rotary wheel 20 near its circumferential edge. The two U-shaped sides... Each clamping plate 10 has a hinged plate 1001 extending towards the center. Each hinged plate 1001 has a short shaft that extends vertically downward through the end of the corresponding connecting rod 22 near the end of the rotary wheel 20. The upper surface of the middle support block 17 is also provided with a worm 26 that meshes with the driven worm gear 25 near the center. An adjusting handwheel is provided at the end of the worm 26 away from the driven worm gear 25. With this configuration, when it is necessary to control the distance between the two U-shaped side clamping plates 10, it is only necessary to turn the adjusting handwheel. Each adjustment is small and has a self-locking effect.

[0025] Reference Figures 7-8 Both U-shaped side clamps 10 have downward-bent slopes at the ends near the rotating rod 11, and the middle support block 17 and the two U-shaped side clamps 10 together form an arc-shaped structure. The slopes of the U-shaped side clamps 10 have mounting holes 1002 for fixing the electromagnet 16 near the front and rear ends, which can expand the space below the middle support block 17 for installing wire harnesses or pipelines.

[0026] Reference Figure 1 , Figure 2 and Figure 5 The bottom center of the U-shaped pallet frame 9 has a wire hole, and a high-pressure blower 6 is fixed in the middle of the upper surface of the U-shaped pallet frame 9. The outlet end of the high-pressure blower 6 is equipped with four shaping air pipes 21. The outlet end of the shaping air pipes 21 is connected to the interface of each suction cup group 14. The shaping air pipes 21 all pass vertically downward through the transmission pipe 24 and do not contact its inner wall. With this setting, the wire harness on the outer surface of the equipment can be kept clean, and the phenomenon of tangling during transportation can be prevented. The overall design is simple and easy to clean and maintain.

[0027] Reference Figure 9The bottom end of the rotating rod 11 is fixed with a downwardly extending return spring 27, and the suction cup assembly 14 includes a suction cup fixing plate fixed to the bottom end of the return spring 27. The lower surface of the suction cup fixing plate is fixed with multiple suction cup units with downwardly flared openings. An air inlet pipe is inserted above each suction cup unit on the suction cup fixing plate. A connecting hose is inserted into all the air inlet pipes, and the connecting hoses eventually converge into a pipe connector for connecting to the air outlet of the shaping air pipe 21. By using the suction cup assembly 14 in conjunction with the downwardly extending return spring 27, the angle between the suction cup unit and the surface of the copper foil body 13 can be prevented from changing abruptly and causing air leakage when the copper foil body 13 is tightened, ensuring that the suction cup unit does not detach from the adsorption position during the tightening process of the copper foil body 13.

[0028] Reference Figure 10 A wire hole is provided in the middle of the rotating rod 11 to pass through the shaping air tube 21 and to bind it near the rotating rod 11 to prevent the tube from getting tangled.

[0029] A smart suspension conveying method for multilayer circuit board processing includes the following steps: S1: Before use, install this device according to the placement of the copper foil conveyor frame 12 and the position of the assembly table to ensure that the effective transfer range of this device can cover both. In the initial state, the extension rods of the two synchronous electric push rods 18 are retracted to their original length, and the electromagnet 16 is de-energized. At this time, the four rotating rods 11 are close to the vertical state under the action of their respective torsion springs 1102. Rotate the adjusting handwheel to adjust the distance between the two U-shaped side clamps 10 to ensure that the span is sufficient to adsorb the cut copper foil body 13; S2: When the cut copper foil body 13 is transported to the gripping position, that is, directly below the four sets of suction cups 14, the extension rods of the two synchronous electric push rods 18 are extended to drive the gripping module to descend. When the suction cup unit in the suction cup set 14 contacts the surface of the copper foil body 13 and adsorbs it, the extension rods of the synchronous electric push rods 18 are retracted to lift the copper foil body 13. If the middle of the copper foil body 13 is concave downward too much, it will be identified and calculated by the distance sensors 19 at two different positions. After feedback, the corresponding electromagnets 16 will be energized and the bottom ends of all the rotating rods 11 will swing outward, thereby tightening the loose copper foil body 13 into a flat state. S3; Finally, control the electric telescopic rod 3 or the rotating head 2 to operate, so as to transfer the grabbed copper foil body 13 to the required area, and then put it down to release the adsorption.

[0030] The above description is only 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, based on the technical solution and inventive concept of the present invention, should be covered within the scope of protection of the present invention.

Claims

1. An intelligent suspended conveying system for multilayer circuit board processing, comprising a main support column (1) disposed on the side of a copper foil conveying frame (12), wherein a rotating head (2) is disposed at the top of the main support column (1), and a main cantilever beam (5) extending horizontally above the copper foil conveying frame (12) is sleeved and fixed at the top of the rotating head (2), and a sliding beam (7) is slidably sleeved at the end of the main cantilever beam (5) away from the rotating head (2), characterized in that, The lower surface of the sliding beam (7) is fixed with an upward-opening U-shaped pallet frame (9), and both ends of the lower surface of the U-shaped pallet frame (9) are fixed with synchronous electric push rods (18). The bottom ends of the extension rods of the two synchronous electric push rods (18) are fixed with the same gripping module. The gripping module includes an intermediate support block (17) fixed to the bottom ends of the extension rods of the two synchronous electric push rods (18). The intermediate support block (17) has an overall elongated structure, and the length direction of the intermediate support block (17) is consistent with the conveying direction of the copper foil conveyor frame (12). The two ends of the intermediate support block (17) are respectively slidably engaged with U-shaped side clamps (10) that can move in opposite directions. Furthermore, swing through holes (1003) are provided at the two corners of the two U-shaped side clamps (10) at the ends that are far apart. A downwardly extending rotating rod (11) is hinged in each swing through hole (1003). A permanent magnet (23) and a suction cup assembly (14) are respectively provided at the upper and lower ends of the rotating rod (11). An electromagnet (16) adapted to the corresponding permanent magnet (23) is embedded on the upper surface of the U-shaped side clamp (10) near the swing through hole (1003). A distance sensor (19) is fixed on the lower surface of the U-shaped tray frame (9) near the middle and on the lower surface of one of the U-shaped side clamps (10) between the two rotating rods (11).

2. The intelligent overhead conveyor system for multilayer circuit board processing according to claim 1, characterized in that, The upper surfaces of the two U-shaped side plates (10) are each fixed with a positioning hinge frame (15) near the swing through hole (1003). The positioning hinge frame (15) includes two symmetrical hinge ear plates, and the two hinge ear plates are rotatably connected by the same shaft (1101). The side of the rotating rod (11) near the top is provided with a shaft through hole (1105) that matches the diameter of the shaft (1101). The side of the rotating rod (11) near the shaft through hole (1105) is provided with a shaft through hole (1105) that matches the diameter of the shaft (1101). 1105) A coaxial annular mounting groove (1103) is provided, and a torsion spring (1102) is engaged in the annular mounting groove (1103). The other end of the torsion spring (1102) is fixed to the surface of a hinged ear plate that is close to it. A circular hole (1104) for mounting a permanent magnet (23) is opened near the top of the side of the rotating rod (11) away from the annular mounting groove (1103). A vertical stop block is fixed on the upper surface of the positioning hinge frame (15) away from the middle support block (17).

3. The intelligent suspension conveying system for multilayer circuit board processing according to claim 2, characterized in that, The sliding beam (7) has a U-shaped structure with its opening facing the main cantilever beam (5). An arc-shaped fixing frame (4) is fixed on the upper surface of the sliding beam (7) near the opening. An electric telescopic rod (3) is fixed in the middle of the upper surface of the main cantilever beam (5). The output shaft end of the electric telescopic rod (3) is fixed to the arc-shaped fixing frame (4) by bolts. Two horizontal and parallel guide slide rods (8) are fixed on one end of the main cantilever beam (5) near the sliding beam (7). A sliding insertion hole is opened on one end of the sliding beam (7) near the main cantilever beam (5) to form a sliding fit with the guide slide rod (8).

4. The intelligent overhead conveyor system for multilayer circuit board processing according to claim 3, characterized in that, Both sides of the sliding beam (7) are fixed with connecting blocks (701), and the upper surfaces of both ends of the U-shaped support frame (9) are respectively fixed to the lower surfaces of the two connecting blocks (701); both ends of the middle support block (17) are reserved with extension plate heads (172), and the extension rods of the synchronous electric push rod (18) are respectively fixed to the upper surfaces of the corresponding extension plate heads (172); the two sides of the middle support block (17) away from the two extension plate heads (172) are respectively reserved with mutually symmetrical anti-slip grooves (171), and the inner edge of the U-shaped side clamp (10) is reserved with sliding columns that form a sliding fit with the corresponding anti-slip grooves (171).

5. The intelligent overhead conveyor system for multilayer circuit board processing according to claim 4, characterized in that, The lower surface of the intermediate support block (17) is provided with a diamond-shaped groove (174) spanning both ends, and a bearing mounting hole (173) penetrating the top is provided in the middle of the bottom of the diamond-shaped groove (174). Symmetrical anti-detachment bearings are respectively installed at the upper and lower ends of the bearing mounting hole (173). The two anti-detachment bearings are rotatably connected by the same transmission pipe (24). The upper and lower ends of the transmission pipe (24) are respectively fixed with a driven worm gear (25) and a rotary wheel (20). The lower surface of the rotary wheel (20) is close to the circumferential edge. Two connecting rods (22) are hinged at the center and are symmetrically distributed. The two U-shaped side plates (10) are reserved with hinge plates (1001) extending towards the center. The two hinge plates (1001) are provided with short shafts that pass vertically downward through the ends of the corresponding connecting rods (22) at the ends near the rotary wheel (20). The upper surface of the intermediate support block (17) is also provided with a worm (26) that meshes with the driven worm wheel (25) near the center. An adjusting handwheel is provided at the end of the worm (26) away from the driven worm wheel (25).

6. The intelligent overhead conveyor system for multilayer circuit board processing according to claim 5, characterized in that, Both of the U-shaped side clamps (10) have downward-bent slopes at the ends near the rotating rod (11), and the middle support block (17) and the two U-shaped side clamps (10) together form an arc-shaped structure. The U-shaped side clamps (10) have mounting holes (1002) for fixing electromagnets (16) on their slopes near the front and rear ends respectively.

7. The intelligent overhead conveyor system for multilayer circuit board processing according to claim 6, characterized in that, The bottom of the U-shaped tray frame (9) has a wire hole in the middle, and a high-pressure blower (6) is fixed in the middle of the upper surface of the U-shaped tray frame (9). The outlet end of the high-pressure blower (6) is provided with four shaping air pipes (21). The outlet end of the shaping air pipe (21) is connected to the interface of each suction cup group (14). The shaping air pipes (21) all pass vertically downward through the transmission pipe (24) and do not contact its inner wall.

8. The intelligent overhead conveyor system for multilayer circuit board processing according to claim 7, characterized in that, The bottom end of the rotating rod (11) is fixed with a downwardly extending return spring (27), and the suction cup assembly (14) includes a suction cup fixing plate fixed at the bottom end of the return spring (27). The lower surface of the suction cup fixing plate is fixed with multiple suction cup units with downwardly flared openings. An air inlet pipe is inserted above each suction cup unit on the suction cup fixing plate. A connecting hose is inserted into all the air inlet pipes, and the connecting hoses eventually converge into a pipe connector for connecting to the air outlet of the shaping air tube (21).

9. The intelligent overhead conveyor system for multilayer circuit board processing according to claim 8, characterized in that, The rotating rod (11) has a wire hole in the middle.

10. A method for intelligent suspension conveying in multilayer circuit board processing, comprising an intelligent suspension conveying system for multilayer circuit board processing as described in claim 9, characterized in that, Includes the following steps: S1: Before use, install this device according to the placement of the copper foil conveyor frame (12) and the position of the assembly table to ensure that the effective transfer range of this device can cover both; in the initial state, the extension rods of the two synchronous electric push rods (18) are retracted to their original length, and the electromagnet (16) is in the de-energized state. At this time, the four rotating rods (11) are close to the vertical state under the action of their respective torsion springs (1102); Rotate the adjusting handwheel to adjust the distance between the two U-shaped side clamps (10) to ensure that the span is sufficient to adsorb the cut copper foil body (13). S2: When the cut copper foil body (13) is transported to the gripping position, that is, directly below the four sets of suction cups (14), the extension rods of the two synchronous electric push rods (18) are pushed out to drive the gripping module down. When the suction cup unit in the suction cup set (14) contacts the surface of the copper foil body (13) and adsorbs it, the extension rods of the synchronous electric push rods (18) are retracted to lift the copper foil body (13). If the middle of the copper foil body (13) is concave downward too much, it will be identified and calculated by the distance sensors (19) at two different positions. After feedback, the corresponding electromagnets (16) will be energized automatically, and the bottom ends of all the rotating rods (11) will swing outward, thereby tightening the loose copper foil body (13) into a flat state. S3; Finally, control the electric telescopic rod (3) or the rotating head (2) to transfer the grabbed copper foil body (13) to the required area, and then put it down to release the adsorption.

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