High-speed plate collecting machine adopting double DELTA parallel robots

Abstract

The invention relates to the technical field of plate collecting equipment, in particular to a high-speed plate collecting machine adopting double DELTA parallel robots, which comprises a plate collecting machine body, a positioning structure, a driving structure, a cleaning structure, a limiting structure, a spacing structure, a guide frame, a tray, a second screw rod and a third driving part, the spacing structure can regulate and control the spacing of the circuit boards, it can be ensured that the circuit boards conveyed to the robot keep reasonable spacing, the subsequent robot grabbing defect caused by too close adjacent boards is avoided, the cleaning structure is convenient to clean the surfaces of the circuit boards, static electricity and dust on the surfaces of the circuit boards are effectively removed, and the working efficiency is improved. Dust is prevented from adhering to form particle impurities in the plate conveying and stacking process, the collecting quality of the circuit board is improved, the limiting structure can fix the collecting box to the connecting box and can also seal the collecting box, secondary pollution caused by dust drifting in the carrying process is prevented, the positioning structure facilitates surrounding type positioning of the circuit board, and the collecting box is convenient to use. And subsequent conveying is prevented from being affected by folded plate stacking deviation.

Description

Technical Field

[0001] This invention relates to the field of plate-collecting equipment technology, specifically a high-speed plate-collecting machine employing dual DELTA parallel robots. Background Technology

[0002] The high-speed board receiving machine with dual DELTA parallel robots is a receiving device applied at the end of an automated circuit board production line. Its core consists of dual DELTA parallel robots, a conveying mechanism, a pallet assembly, and a control unit. Leveraging the advantages of high rigidity, high speed, and ±0.02mm repeatability positioning accuracy brought by the parallel kinematic design of DELTA robots, it can realize high-speed gripping, transfer, and stacking of circuit boards. The multi-pallet alternating working mode significantly improves board receiving efficiency and is widely applicable to the large-scale production scenarios of PCB boards and other electronic components.

[0003] However, in practical applications, existing dual-DELTA parallel robot high-speed board receiving machines are prone to static electricity generation during the production and transportation of circuit boards due to friction and contact. This static electricity attracts dust particles from the air and adheres to the board surface, which may affect the stability of subsequent processing and cause poor contact of components during stacking. The pallet lacks an effective positioning structure, and after the dual-DELTA parallel robot picks up the circuit board and transfers it to the pallet, the board is prone to stacking and shifting due to placement deviations, vibrations, and other factors, which in turn affects the smoothness of subsequent multi-line conveyor transport. The upstream feeding or previous process conveyor belts operate at a constant speed and continuously, and the lack of active spacing control for the board, combined with factors such as board size inconsistency deviations and conveyor vibrations, easily leads to stacking or sticking problems. This results in the spacing between adjacent circuit boards being too small, which not only easily causes the edges of the boards to squeeze and rub against each other, causing scratches on the circuits, but also increases the risk of the robot gripper picking up two boards or shifting, ultimately disrupting the automated operation rhythm. Summary of the Invention

[0004] To address the problems in the prior art, this invention provides a high-speed plate take-up machine employing dual DELTA parallel robots.

[0005] The technical solution adopted by the present invention to solve its technical problem is: a high-speed board take-up machine using dual DELTA parallel robots, including a board take-up machine body, a guide frame mounted on the board take-up machine body, a tray slidably connected to the guide frame, and a positioning structure mounted on the guide frame; The positioning structure includes a sliding member slidably connected to the guide frame and a connecting member fixedly connected to the sliding member. Two mounting members are fixedly connected to the connecting member, and two fixed shafts are mounted on the mounting members. One fixed shaft is rotatably connected to the mounting member, and the other fixed shaft is fixedly connected to the mounting member. A fixing member is fixedly connected to the fixed shaft, and a positioning member is fixedly connected to the fixing member. The fixed shaft rotatably connected to the mounting member is driven to rotate by a first transmission member and a second transmission member.

[0006] Specifically, the sliding component is preferably a connecting plate, the connecting component is preferably a horizontal plate, the mounting component is preferably a mounting rod, the positioning component is a positioning rod viewed as L-shaped from above, the fixing component is preferably a connecting ring, the first transmission component is preferably a gear, the second transmission component is preferably a rack, the rack meshes with the gear, a second lead screw is rotatably connected to the guide frame, the tray is threadedly connected to the second lead screw, and a third driving component is installed on the guide frame, the second lead screw is driven to rotate by the third driving component.

[0007] Specifically, a guide rod is fixedly connected to the mounting component, the second transmission component is slidably connected to the guide rod, a guide shaft is fixedly connected to the guide frame, the sliding component is slidably connected to the guide shaft, and a first spring is fixedly connected between the sliding component and the guide frame.

[0008] Specifically, a driving structure is provided between the connector and the guide frame. The driving structure includes a slide rod slidably connected to the connector and a guide rail fixedly connected to the connector. The slide rod and the guide rail are slidably connected, and the second transmission component is fixedly connected to the slide rod.

[0009] Specifically, a drive block is fixedly connected to the guide frame, the drive block is provided with an inclined surface, a drive shaft is rotatably connected to the slide rod, the drive shaft is driven by the inclined surface, a through groove is provided on the sliding member, and a second spring is fixedly connected between the slide rod and the connecting member.

[0010] Specifically, the plate collecting machine body is provided with a cleaning structure, which includes a mounting frame installed on the plate collecting machine body and an ion air bar installed on the mounting frame, and a dust suction hood is installed on the mounting frame.

[0011] Specifically, a connecting box is fixedly connected to the mounting frame, a collection box is installed on the connecting box, an interception net is installed on the connecting box via a frame, a flexible hose is installed between the connecting box and the dust collection hood, a vacuum cleaner is installed on the mounting frame, and a suction pipe is installed between the suction port of the vacuum cleaner and the connecting box.

[0012] Specifically, the collection box is fixed to the connecting box by a limiting structure. The limiting structure includes a connecting shaft rotatably connected to the collection box and a limiting plate fixedly connected to the connecting shaft. A fixing ring is fixedly connected to the connecting shaft, and a screw is threadedly connected to the fixing ring. The collection box is provided with four limiting holes, and every two limiting holes are arranged in a circumferential array about the center of a connecting shaft. The ends of the two screws are respectively engaged with two of the limiting holes.

[0013] Specifically, the mounting frame is provided with a spacing structure, which includes three fixed frames fixedly connected to the mounting frame and a sliding frame slidably connected to the fixed frames. A connecting frame is slidably connected to the sliding frame, and two adjusting blocks are slidably connected to the connecting frame. A partition plate is fixedly connected to the adjusting block, and a guide wedge surface is provided at the end of the partition plate. An anti-detachment rod is fixedly connected to the sliding frame, and the connecting frame is slidably connected to the anti-detachment rod. A fixing rod is fixedly connected to the connecting frame, and the adjusting block is slidably connected to the fixing rod.

[0014] Specifically, a first driving component is installed on the sliding frame, a connecting block is installed on the driving end of the first driving component, a roller is rotatably connected to the connecting block, an inclined groove is provided on the adjusting block, the connecting block abuts against the connecting frame, a third spring is fixedly connected between the connecting frame and the anti-detachment rod, a first lead screw is rotatably connected to the fixed frame, the sliding frame is threadedly connected to the first lead screw, a second driving component is installed on the fixed frame, the first lead screw is driven to rotate by the second driving component, and a vision camera is installed on the mounting bracket.

[0015] The beneficial effects of this invention are: This invention discloses a high-speed board receiving machine employing dual DELTA parallel robots. The cleaning structure features an interval structure, which allows for adjustable spacing between circuit boards, ensuring a reasonable distance between them at the robot and preventing subsequent robot grasping defects caused by boards being too close together. The receiving machine body includes a cleaning structure, with a collection box fixed to a connecting box via a limiting structure. This cleaning structure facilitates cleaning of the circuit board surface, effectively removing static electricity and dust, preventing dust from adhering and forming particulate impurities during board transport and stacking, thus improving the quality of board receiving. The limiting structure not only fixes the collection box to the connecting box but also seals it, preventing dust from scattering and causing secondary pollution during handling. A positioning structure is provided on the guide frame, with a driving structure between the positioning structure and the guide frame. The positioning structure facilitates encircling positioning of the circuit boards, preventing stacking misalignment from affecting subsequent transport. The driving structure allows for 90-degree rotation of the positioning component, adjusting its angle. After rotation, the positioning component is in a horizontal, non-interfering state, preventing interference with the discharge of a full pallet. Attached Figure Description

[0016] The present invention will be further described below with reference to the accompanying drawings and embodiments.

[0017] Figure 1 A schematic diagram of the overall structure of a preferred embodiment of a high-speed plate take-up machine using dual DELTA parallel robots provided by the present invention; Figure 2 This is a schematic diagram of the connection structure between the mounting frame and the plate take-up machine body of the present invention; Figure 3 This is a schematic diagram of the connection structure between the connector box and the mounting bracket of the present invention; Figure 4 This is a schematic diagram of the connection structure between the tray and the guide frame of the present invention; Figure 5 This is a schematic diagram of the connection structure between the fixing member and the fixing shaft of the present invention; Figure 6 for Figure 5 The diagram shown is an enlarged view of the structure of part A. Figure 7 for Figure 5 The diagram shown is an enlarged view of the structure of section B. Figure 8 This is a schematic diagram of the connection structure between the second transmission component and the mounting component of the present invention; Figure 9 for Figure 8 The diagram shows an enlarged view of section C. Figure 10 This is a schematic diagram of the connection structure between the sliding frame and the fixed frame of the present invention; Figure 11 for Figure 10 The diagram shown is an enlarged view of the structure of part D. Figure 12 This is a schematic diagram of the connection structure between the connecting shaft and the limiting plate of the present invention; Figure 13 This is a schematic diagram of the connection structure between the connecting shaft and the collection box of the present invention.

[0018] In the diagram: 1. Plate collecting machine body; 2. Positioning structure; 201. Sliding component; 202. Connecting component; 203. Fixed shaft; 204. Fixing component; 205. Positioning component; 206. First transmission component; 207. Second transmission component; 208. Guide rod; 209. Guide shaft; 210. First spring; 211. Mounting component; 3. Drive structure; 301. Slide rod; 302. Guide rail; 303. Second spring; 304. Drive shaft; 305. Drive block; 306. Inclined surface; 307. Through groove; 4. Cleaning structure; 401. Mounting bracket; 402. Ionizing air bar; 403. Dust suction hood; 404. Connecting box; 405. Collection box; 406. 407. Interception net; 408. Hose; 409. Vacuum hose; 4001. Vacuum cleaner; 5. Limiting structure; 501. Connecting shaft; 502. Limiting plate; 503. Fixing ring; 504. Screw; 505. Limiting hole; 6. Spacing structure; 601. Fixing frame; 602. Sliding frame; 603. Connecting frame; 604. Adjusting block; 605. Partition plate; 606. Fixing rod; 607. Anti-detachment rod; 608. Third spring; 609. First driving component; 610. Connecting block; 611. Roller; 612. First lead screw; 613. Second driving component; 614. Vision camera; 7. Guide frame; 8. Tray; 9. Second lead screw; 10. Third driving component. Detailed Implementation

[0019] To make the technical means, creative features, objectives and effects of this invention easier to understand, the invention will be further described below in conjunction with specific embodiments.

[0020] like Figure 1 , Figure 4 — Figure 10 As shown, the high-speed take-up machine using a dual-DELTA parallel robot according to the present invention includes a take-up machine body 1, a guide frame 7 mounted on the take-up machine body 1, a tray 8 slidably connected to the guide frame 7, and a positioning structure 2 mounted on the guide frame 7. The positioning structure 2 includes a sliding member 201 slidably connected to the guide frame 7 and a connecting member 202 fixedly connected to the sliding member 201. Two mounting members 211 are fixedly connected to the connecting member 202. Two fixed shafts 203 are mounted on the mounting member 211. One fixed shaft 203 is rotatably connected to the mounting member 211, and the other fixed shaft 203 is fixedly connected to the mounting member 211. A fixing member 204 is fixedly connected to the fixed shaft 203, and a positioning member 205 is fixedly connected to the fixing member 204. The fixed shaft 203 rotatably connected to the mounting member 211 is driven to rotate through the cooperation of a first transmission member 206 and a second transmission member 207.

[0021] Specifically, such as Figure 4 — Figure 10As shown, the sliding member 201 is preferably a connecting plate, the connecting member 202 is preferably a horizontal plate, the mounting member 211 is preferably a mounting rod, the positioning member 205 is a positioning rod with an L-shape in plan view, the fixing member 204 is preferably a connecting ring, the first transmission member 206 is preferably a gear, the second transmission member 207 is preferably a rack, the rack meshes with the gear, the guide frame 7 is rotatably connected to the second lead screw 9, the tray 8 is threadedly connected to the second lead screw 9, and the guide frame 7 is equipped with a third driving member 10. The dual DELTA parallel robot accurately grasps the circuit board according to the positioning signal, moves it to the corresponding tray 8 and completes the stacking. The positioning members 205 on the four fixing members 204 form a surrounding positioning of the circuit board to prevent the stacking of the boards from shifting and affecting subsequent transportation. The counting transmission is equipped at the tray 8. The sensor counts the number of stacked circuit boards in real time. When one layer of circuit boards is stacked, the controller commands the third drive unit 10 (preferably a motor) to start, driving the second lead screw 9 to rotate. This causes the tray 8 to move downwards along the guide frame 7 a certain distance, reserving sufficient space for subsequent circuit board stacking. The guide frame 7 provides stable guidance for the movement of the tray 8, ensuring that the tray 8 remains horizontal during movement and preventing the circuit boards from being stacked crookedly. The four guide frames 7 and trays 8 work alternately. The dual DELTA parallel robot can circulate between the four trays 8 to pick up and put away materials, greatly shortening the work cycle and improving the board collection efficiency. The second lead screw 9 is driven to rotate by the third drive unit 10. A guide rod 208 is fixedly connected to the mounting part 211. The second transmission part 207 is connected to the guide rod 208. 8. A sliding connection is provided. A guide shaft 209 is fixedly connected to the guide frame 7. A sliding member 201 is slidably connected to the guide shaft 209. A first spring 210 is fixedly connected between the sliding member 201 and the guide frame 7. A driving structure 3 is provided between the connecting member 202 and the guide frame 7. The driving structure 3 includes a sliding rod 301 slidably connected to the connecting member 202 and a guide rail 302 fixedly connected to the connecting member 202. The sliding rod 301 and the guide rail 302 are slidably connected. A second transmission member 207 is fixedly connected to the sliding rod 301. A driving block 305 is fixedly connected to the guide frame 7. An inclined surface 306 is provided on the driving block 305. A driving shaft 304 is rotatably connected to the sliding rod 301. The driving shaft 304 is driven through the inclined surface 306. When the driving shaft 304 on the sliding member 201... When in contact with the inclined surface 306 of the drive block 305 on the guide frame 7, the slide rod 301 slides along the guide rail 302 under the guidance of the inclined surface 306, the second spring 303 contracts, and at the same time drives the second transmission component 207 to slide along the guide rod 208. The guide rod 208 can prevent the second transmission component 207 from deviating during the sliding process, ensuring that the second transmission component 207 and the first transmission component 206 are stably meshed. The second transmission component 207 drives the first transmission component 206 to rotate, and the first transmission component 206 drives the fixed shaft 203 connected to it to rotate, thereby driving the fixed component 204 and the positioning component 205 to rotate 90 degrees, realizing the adjustment of the angle of the positioning component 205. After rotation, the positioning component 205 is in a horizontal avoidance state and will not interfere with the discharge of the full material tray 8.At this point, the full pallet 8 transfers the collected circuit boards onto a multi-column conveyor belt, which smoothly transports them to subsequent storage or processing equipment. The sliding member 201 has a through groove 307, and a second spring 303 is fixedly connected between the sliding rod 301 and the connecting member 202.

[0022] Specifically, such as Figure 2 , Figure 3 , Figure 10 , Figure 12 and Figure 13 As shown, the plate collecting machine body 1 is provided with a cleaning structure 4. The cleaning structure 4 includes a mounting frame 401 installed on the plate collecting machine body 1 and an ionizing air bar 402 installed on the mounting frame 401. A dust suction hood 403 is installed on the mounting frame 401. A connecting box 404 is fixedly connected to the mounting frame 401. A collection box 405 is installed on the connecting box 404. An intercepting net 406 is installed on the connecting box 404 through a frame. A flexible hose 407 is installed between the connecting box 404 and the dust suction hood 403. Subsequently, the suction... When the vacuum cleaner 409 is started, it draws in dust-laden airflow from the vacuum hood 403 through the suction pipe 408, connecting box 404, and hose 407. As the airflow passes through the interceptor mesh 406 inside the connecting box 404, dust and impurities are intercepted and fall into the collection box 405, achieving centralized dust collection. The interceptor mesh 406 prevents dust from entering the internal air duct of the vacuum cleaner 409, avoiding equipment blockage and extending the service life of the vacuum cleaner 409. The vacuum cleaner 409 is mounted on the mounting bracket 401 for vacuuming. A suction pipe 408 is installed between the air intake of device 409 and the connecting box 404. Collection box 405 is fixed to connecting box 404 via a limiting structure 5. The limiting structure 5 includes a connecting shaft 501 rotatably connected to collection box 405 and a limiting plate 502 fixedly connected to connecting shaft 501. The operator rotates screw 504 to disengage its end from limiting hole 505, and then rotates limiting plate 502 ninety degrees to release the limiting constraint on connecting box 404, thus allowing collection box 405 to be placed in the connecting box. 05 Remove for cleaning. The limiting plate 502 can also seal the collection box 405 in the closed state to prevent dust from spreading and causing secondary pollution during transportation. A fixing ring 503 is fixedly connected to the connecting shaft 501, and a screw 504 is threadedly connected to the fixing ring 503. The collection box 405 is provided with four limiting holes 505. Every two limiting holes 505 are arranged in a circular array about the center of a connecting shaft 501. The ends of the two screws 504 are respectively engaged with two of the limiting holes 505.

[0023] Specifically, such as Figure 2 , Figure 3 , Figure 10 and Figure 11As shown, the mounting frame 401 is provided with a partition structure 6. The partition structure 6 includes three fixed frames 601 fixedly connected to the mounting frame 401 and a sliding frame 602 slidably connected to the fixed frames 601. A connecting frame 603 is slidably connected to the sliding frame 602, and two adjusting blocks 604 are slidably connected to the connecting frame 603. A partition plate 605 is fixedly connected to the adjusting block 604. The end of the partition plate 605 is provided with a guide wedge surface. An anti-detachment rod 607 is fixedly connected to the sliding frame 602. The connecting frame 603 and the anti-detachment rod... A sliding connection is established at 607. A fixed rod 606 is fixedly connected to the connecting frame 603. An adjusting block 604 is slidably connected to the fixed rod 606. A first driving component 609 is installed on the sliding frame 602. A connecting block 610 is installed at the driving end of the first driving component 609. When the connecting block 610 moves to a certain position, the roller 611 at its end precisely engages with the inclined groove of the adjusting block 604, driving the two adjusting blocks 604 to slide towards or away from each other along the connecting frame 603, thereby achieving precise control of the spacing between the partition plates 605. The connecting block 610 pushes the connecting frame 603 to slide smoothly along the anti-detachment rod 607, causing the partition plate 605 to extend into the circuit board conveying path. The guide wedge-shaped surface at the end of the partition plate 605 inserts between adjacent circuit boards, completing the forced separation operation. The anti-detachment rod 607 effectively prevents the connecting frame 603 from falling off during sliding, ensuring operational stability. Through the separation function of the partition plate 605, it ensures that the circuit boards conveyed to the robot maintain a reasonable spacing, fundamentally avoiding grasping errors such as grabbing double boards or misalignment. A roller 611 is rotatably connected to the connecting block 610. An inclined groove is provided on the adjusting block 604. The connecting block 610 abuts against the connecting frame 603. A third spring 608 is fixedly connected between the connecting frame 603 and the anti-detachment rod 607. A first lead screw 612 is rotatably connected to the fixed frame 601. The sliding frame 602 is threadedly connected to the first lead screw 612. A second driving member 613 is installed on the fixed frame 601. The first lead screw 612 is driven to rotate by the second driving member 613. A vision camera 614 is installed on the mounting bracket 401.

[0024] In use, the circuit boards to be collected are first transferred to the working area of ​​the collecting machine via a previous conveying mechanism. Spacing is adjusted to prevent defects in subsequent robot grasping due to boards being too close together. During operation, a vision camera 614 detects whether the circuit boards are too close together. The detection signal is transmitted to the controller, which then instructs the second driving component 613 (preferably a motor) to drive the first lead screw 612 to rotate, causing the sliding frame 602 to slide along the fixed frame 601. This adjusts the position of the partition plate 605, allowing for flexible adjustment of the height and horizontal position of the partition plate 605 according to the actual position of the circuit boards, improving the versatility of the spacing. Subsequently, the first driving component 609 (preferably a hydraulic rod) drives the connecting block 610 to move. When the connecting block 610 moves downwards, the connecting frame 603 slides along the anti-detachment rod 607 under the elastic force of the third spring 608, maintaining the initial separation. When plate 605 is in an upward avoidance state, it can avoid interference with the transport of circuit boards with sufficient spacing. When the connecting block 610 moves to a certain position, the roller 611 at its end precisely cooperates with the inclined groove of the adjusting block 604, driving the two adjusting blocks 604 to slide towards or away from each other along the connecting frame 603, realizing precise control of the spacing of the partition plate 605. At the same time, the connecting block 610 pushes the connecting frame 603 to slide smoothly along the anti-detachment rod 607, driving the partition plate 605 to extend into the circuit board transport path. The guide wedge surface at the end of the partition plate 605 is inserted between adjacent circuit boards to complete the forced separation operation. The anti-detachment rod 607 can effectively prevent the connecting frame 603 from falling off during the sliding process, ensuring operational stability. Through the separation function of the partition plate 605, it can ensure that the circuit boards transported to the robot maintain a reasonable spacing, fundamentally avoiding grasping errors such as grabbing double plates or grasping off-center. Secondly, the circuit boards with the spacing adjusted are transported to the cleaning station for dust removal and static electricity removal to prevent dust and impurities from affecting the subsequent stacking quality of the circuit boards. During operation, the ion bar 402 releases ion wind to quickly neutralize the static electricity on the surface of the circuit boards, preventing static electricity from attracting dust particles from the air, and simultaneously blowing away the dust already attached to the surface. Then, the vacuum cleaner 409 starts, sucking in the dust-laden airflow from the dust hood 403 through the suction pipe 408, connecting box 404, and hose 407. When the airflow passes through the interceptor net 406 inside the connecting box 404, dust and impurities are intercepted and fall into the collection box 405, achieving centralized dust collection. The interceptor net 406 prevents dust from entering the internal air duct of the vacuum cleaner 409, avoiding equipment blockage and extending the service life of the vacuum cleaner 409. To extend the lifespan of the collection box 405, when dust accumulates to a certain level, the operator rotates the screw 504 to disengage its end from the limiting hole 505. Then, the limiting plate 502 is rotated 90 degrees to release the limiting constraint on the connecting box 404, allowing the collection box 405 to be removed for cleaning. The limiting plate 502 can also seal the collection box 405 in the closed state to prevent dust from scattering and causing secondary pollution during transportation. After cleaning, the collection box 405 is reset, the limiting plate 502 is rotated in the opposite direction, and the screw 504 is re-engaged into the limiting hole 505 to complete the fixing of the collection box 405. By cleaning the surface of the circuit board, static electricity and dust on the surface of the circuit board can be effectively removed, preventing dust from adhering and forming particulate impurities during the conveying and stacking of the board, thus improving the quality of the circuit board collection. Next, the dust-removed and static-removed circuit boards are transported to the positioning area. The dual-DELTA parallel robot, based on positioning signals, precisely grasps the circuit boards, moves them to the corresponding tray 8, and stacks them. Positioning components 205 on the four fixing members 204 form a surrounding positioning of the circuit boards, preventing stacking misalignment from affecting subsequent transport. A counting sensor on tray 8 counts the number of stacked circuit boards in real time. Once one layer of circuit boards is stacked, the controller instructs the third drive component 10 (preferably a motor) to start, driving the second lead screw 9 to rotate and move tray 8 downwards along guide frame 7 a certain distance, reserving sufficient space for subsequent circuit board stacking. Guide frame 7 provides stable guidance for the movement of tray 8, ensuring that tray 8 remains horizontal during movement and preventing the circuit boards from being stacked crookedly. The four guide frames 7 and tray 8 work alternately, allowing the dual-DELTA parallel robot to circulate and pick up materials between the four trays 8, significantly shortening the work cycle, improving stacking efficiency, and achieving high-speed stacking. When the preset number of circuit boards is collected in tray 8, tray 8 continues to move downwards with the second lead screw 9. During this movement, the bottom of tray 8 abuts against the connection. The connecting piece 202 drives the sliding piece 201 to slide along the guide shaft 209. At the same time, the first spring 210 contracts and stores energy. When the drive shaft 304 on the sliding piece 201 contacts the inclined surface 306 of the drive block 305 on the guide frame 7, the sliding rod 301 slides along the guide rail 302 under the guidance of the inclined surface 306. The second spring 303 contracts, and at the same time, the second transmission piece 207 slides along the guide rod 208. The guide rod 208 can prevent the second transmission piece 207 from deviating during the sliding process, ensuring the smooth movement of the second transmission piece 201. 7 (rack) meshes stably with the first transmission component 206 (gear). The second transmission component 207 drives the first transmission component 206 to rotate. The first transmission component 206 drives the fixed shaft 203 connected to it to rotate, which in turn drives the fixed component 204 and the positioning component 205 to rotate 90 degrees, thereby adjusting the angle of the positioning component 205. After rotation, the positioning component 205 is in a horizontal avoidance state and will not interfere with the discharge of the full pallet 8. At this time, the full pallet 8 transfers the circuit board after it is collected to the multi-row belt, which smoothly transports it to the subsequent storage or processing equipment.

[0025] It will be apparent to those skilled in the art that the present invention is not limited to the details of the exemplary embodiments described above, and that the invention can be implemented in other specific forms without departing from its spirit or essential characteristics. Therefore, the embodiments should be considered in all respects as exemplary and non-limiting, and the scope of the invention is defined by the appended claims rather than the foregoing description. Thus, all variations falling within the meaning and scope of equivalents of the claims are intended to be included within the present invention. No reference numerals in the claims should be construed as limiting the scope of the claims.

[0026] Furthermore, it should be understood that although this specification describes embodiments, not every embodiment contains only one independent technical solution. This narrative style is merely for clarity. Those skilled in the art should consider the specification as a whole, and the technical solutions in each embodiment can also be appropriately combined to form other embodiments that can be understood by those skilled in the art.

Claims

1. A high-speed plate receiving machine employing dual DELTA parallel robots, characterized in that, The device includes a plate collecting machine body (1), a guide frame (7) mounted on the plate collecting machine body (1), a tray (8) slidably connected to the guide frame (7), and a positioning structure (2) mounted on the guide frame (7). The positioning structure (2) includes a sliding member (201) slidably connected to the guide frame (7) and a connecting member (202) fixedly connected to the sliding member (201). Two mounting members (211) are fixedly connected to the connecting member (202). Two fixed shafts (203) are installed. One of the fixed shafts (203) is rotatably connected to the mounting component (211), and the other fixed shaft (203) is fixedly connected to the mounting component (211). A fixing component (204) is fixedly connected to the fixed shaft (203), and a positioning component (205) is fixedly connected to the fixing component (204). The fixed shaft (203) rotatably connected to the mounting component (211) is driven to rotate by the cooperation of a first transmission component (206) and a second transmission component (207).

2. A high-speed plate take-up machine employing dual DELTA parallel robots according to claim 1, characterized in that: The sliding member (201) is a connecting plate, the connecting member (202) is a horizontal plate, the mounting member (211) is a mounting rod, the positioning member (205) is a positioning rod with an L-shape when viewed from above, the fixing member (204) is a connecting ring, the first transmission member (206) is a gear, the second transmission member (207) is a rack, the rack meshes with the gear, the guide frame (7) is rotatably connected to the second lead screw (9), the tray (8) is threadedly connected to the second lead screw (9), the guide frame (7) is mounted with the third driving member (10), and the second lead screw (9) is driven to rotate by the third driving member (10).

3. A high-speed plate take-up machine employing dual DELTA parallel robots according to claim 2, characterized in that: A guide rod (208) is fixedly connected to the mounting component (211), the second transmission component (207) is slidably connected to the guide rod (208), a guide shaft (209) is fixedly connected to the guide frame (7), the sliding component (201) is slidably connected to the guide shaft (209), and a first spring (210) is fixedly connected between the sliding component (201) and the guide frame (7).

4. A high-speed plate take-up machine employing dual DELTA parallel robots according to claim 3, characterized in that: A driving structure (3) is provided between the connector (202) and the guide frame (7). The driving structure (3) includes a slide rod (301) slidably connected to the connector (202) and a guide rail (302) fixedly connected to the connector (202). The slide rod (301) and the guide rail (302) are slidably connected. The second transmission component (207) is fixedly connected to the slide rod (301).

5. A high-speed take-up machine employing dual DELTA parallel robots according to claim 4, characterized in that: A drive block (305) is fixedly connected to the guide frame (7). The drive block (305) has an inclined surface (306). A drive shaft (304) is rotatably connected to the slide rod (301). The drive shaft (304) is driven by the inclined surface (306). A through groove (307) is provided on the sliding member (201). A second spring (303) is fixedly connected between the slide rod (301) and the connecting member (202).

6. A high-speed take-up machine employing dual DELTA parallel robots according to claim 1, characterized in that: The plate collecting machine body (1) is provided with a cleaning structure (4), the cleaning structure (4) includes a mounting frame (401) installed on the plate collecting machine body (1) and an ion air bar (402) installed on the mounting frame (401), and a dust suction hood (403) is installed on the mounting frame (401).

7. A high-speed take-up machine employing dual DELTA parallel robots according to claim 6, characterized in that: A connecting box (404) is fixedly connected to the mounting bracket (401). A collection box (405) is installed on the connecting box (404). An interception net (406) is installed on the connecting box (404) through a frame. A flexible hose (407) is installed between the connecting box (404) and the dust collection hood (403). A vacuum cleaner (409) is installed on the mounting bracket (401). A suction pipe (408) is installed between the suction port of the vacuum cleaner (409) and the connecting box (404).

8. A high-speed plate take-up machine employing dual DELTA parallel robots according to claim 7, characterized in that: The collection box (405) is fixed to the connecting box (404) by a limiting structure (5). The limiting structure (5) includes a connecting shaft (501) rotatably connected to the collection box (405) and a limiting plate (502) fixedly connected to the connecting shaft (501). A fixing ring (503) is fixedly connected to the connecting shaft (501), and a screw (504) is threadedly connected to the fixing ring (503). The collection box (405) is provided with four limiting holes (505). Every two limiting holes (505) are arranged in a circular array about the center of a connecting shaft (501). The ends of the two screws (504) are respectively engaged with two of the limiting holes (505).

9. A high-speed take-up machine employing dual DELTA parallel robots according to claim 8, characterized in that: The mounting frame (401) is provided with a spacer structure (6). The spacer structure (6) includes three fixed frames (601) fixedly connected to the mounting frame (401) and a sliding frame (602) slidably connected to the fixed frames (601). A connecting frame (603) is slidably connected to the sliding frame (602). Two adjusting blocks (604) are slidably connected to the connecting frame (603). A partition plate (605) is fixedly connected to the adjusting block (604). The end of the partition plate (605) is provided with a guide wedge surface. An anti-detachment rod (607) is fixedly connected to the sliding frame (602). The connecting frame (603) is slidably connected to the anti-detachment rod (607). A fixing rod (606) is fixedly connected to the connecting frame (603). The adjusting block (604) is slidably connected to the fixing rod (606).

10. A high-speed take-up machine employing dual DELTA parallel robots according to claim 9, characterized in that: A first driving component (609) is installed on the sliding frame (602). A connecting block (610) is installed on the driving end of the first driving component (609). A roller (611) is rotatably connected to the connecting block (610). An inclined groove is provided on the adjusting block (604). The connecting block (610) abuts against the connecting frame (603). A third spring (608) is fixedly connected between the connecting frame (603) and the anti-detachment rod (607). A first lead screw (612) is rotatably connected to the fixed frame (601). The sliding frame (602) is threadedly connected to the first lead screw (612). A second driving component (613) is installed on the fixed frame (601). The first lead screw (612) is driven to rotate by the second driving component (613). A vision camera (614) is installed on the mounting bracket (401).

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