Multi-claw cooperative feeding cooperation and method for circuit board double-station feeding

Abstract

The invention discloses a multi-claw cooperation feeding system and method for circuit board double-station feeding, and relates to the field of circuit board conveying, the multi-claw cooperation feeding system comprises a workbench, a multi-claw cooperation feeding mechanism and a stacking table, the workbench is provided with two feeding stations, and circuit board stacking cylinders are placed on the feeding stations; a stacking groove used for stacking circuit boards is formed in the top of the circuit board stacking cylinder, two stacking stations are arranged on the stacking table, the circuit board stacking cylinder is placed on one stacking station to conduct circuit board stacking operation, and the other stacking station is in an idle state. The multi-claw cooperative feeding mechanism is used for placing no-load circuit board stacking cylinders on a feeding station on idle stacking stations and conveying full-load circuit board stacking cylinders on the stacking stations to the idle feeding stations, and the cooperative mode that one-station feeding operation is conducted, and one-station material preparation is conducted for replacement is achieved. The problem of production interruption caused by cylinder changing in traditional single-station feeding is thoroughly solved, and the production efficiency is improved.

Description

Technical Field

[0001] This invention relates to the field of circuit board conveying, specifically to a multi-claw collaborative feeding system and method for dual-station circuit board feeding. Background Technology

[0002] In the electronics manufacturing industry, circuit boards are core electronic components, and the level of automation in their production and assembly process directly affects product quality and production efficiency. The circuit board loading process is a crucial pre-processing step before subsequent processes such as soldering, testing, and assembly. It is necessary to accurately and efficiently transport batches of stacked circuit boards to designated processing stations while ensuring that the circuit boards are not damaged during transportation, avoiding problems such as pin deformation and circuit scratches.

[0003] Currently, circuit board loading mainly employs two methods: manual loading at a single workstation or simple robotic arm single-claw loading. Manual loading relies on operators manually handling stacked circuit boards, which is not only labor-intensive and costly, but also suffers from uneven loading speeds and low positioning accuracy. Furthermore, manual contact easily leads to oil and dust contamination of the circuit board surface, affecting subsequent processing quality and failing to meet the demands of large-scale, high-precision production. While simple robotic arm single-claw loading replaces manual labor to some extent, it still has significant limitations: First, the single-claw gripping structure lacks sufficient stability in fixing the circuit board stacking cylinder, making it prone to tilting and falling off during high-speed transport, potentially damaging the circuit boards. Second, in single-workstation loading, when the circuit boards in a stacking cylinder are exhausted, the machine must be stopped to replace the full-load cylinder, causing production interruptions, low equipment utilization, and failing to meet the continuous operation requirements of modern production lines. Third, existing robotic arm gripping switching mechanisms mostly use direct cylinder drive, resulting in complex structures and slow response speeds, making it difficult to achieve rapid switching between gripping and releasing actions, further restricting loading efficiency. Summary of the Invention

[0004] The purpose of this invention is to overcome the shortcomings of the prior art and provide a multi-claw cooperative feeding system and method for dual-station circuit board feeding, thereby solving the deficiencies of the prior art.

[0005] The objective of this invention is achieved through the following technical solution: a multi-jaw cooperative feeding system for dual-station circuit board feeding, comprising a worktable, a multi-jaw cooperative feeding mechanism, and a stacking table. The worktable has two feeding stations, each with a circuit board stacking cylinder. The top of the stacking cylinder has a stacking slot for stacking circuit boards. The stacking table has two stacking stations, one of which has the circuit board stacking cylinder for stacking circuit boards, while the other is idle. The multi-jaw cooperative feeding mechanism includes a horizontal slide, a lifting plate, a gripper mounting ring, and a gripper assembly. The loading station and the stacking station are arranged at intervals along the moving direction of the horizontal slide. A lifting cylinder is vertically installed at the bottom of the horizontal slide. The telescopic shaft of the lifting cylinder is connected to the lifting plate. Multiple gripper assemblies are arranged in a circumferential array on the side wall of the lifting plate. Each gripper assembly includes a connecting rod and a 7-shaped gripper. One end of the connecting rod is hinged to the lifting plate, and the other end is hinged to one end of the 7-shaped gripper. A clamping plate is fixed to the inner side of the other end of the 7-shaped gripper. The middle part of the 7-shaped gripper is hinged to the gripper mounting ring. A clamping shoulder is fixedly fitted on the top of the circuit board stacking cylinder. When clamping, the clamping plate is fastened to the bottom of the clamping shoulder.

[0006] Furthermore, the multi-claw cooperative feeding mechanism also includes a switching base plate, a switching cylinder, and an auxiliary switching plate. The switching base plate is fixed to the inner wall of the gripper mounting ring. Two guide posts are fixed on the switching base plate. The lifting plate and the auxiliary switching plate are located between the two guide posts. Both the lifting plate and the auxiliary switching plate are slidably adapted to the guide posts. Eight upper arc-shaped teeth are fixed in a circular array at the bottom of the lifting plate. Adjacent upper arc-shaped teeth are connected by a circular arc transition. Both sides of the upper arc-shaped teeth are inclined surfaces, and the width of the upper arc-shaped teeth gradually decreases from top to bottom. The auxiliary switching plate is located directly below the lifting plate and connected to the lifting plate. Eight upper arc-shaped teeth are fixed in a circular array at the top of the auxiliary switching plate. The lower arc-shaped tooth has the same structure as the upper arc-shaped tooth, and its width gradually increases from top to bottom. The upper and lower arc-shaped teeth are in an interlocking meshing state. The switching cylinder slides through the auxiliary switching plate. Two guide shafts are symmetrically fixed on the side wall of the switching cylinder. The guide shafts are located in the transition groove formed by two adjacent lower arc-shaped teeth. A receiving cavity is formed in the switching base plate. A rectangular groove is opened on the top surface of the switching base plate, and the rectangular groove connects to the receiving cavity. A rectangular switching block is fixed to the bottom of the switching cylinder through a switching shaft. The rectangular switching block can be screwed into the receiving cavity through the rectangular groove. The length of the rectangular switching block is greater than the width of the rectangular groove.

[0007] When the rectangular switching block is screwed into the receiving cavity, the 7-shaped gripper is in an open state;

[0008] When the rectangular switching block disengages from the rectangular slot, the 7-shaped gripper deflects inward around the position of the hinged gripper mounting ring under the action of the connecting rod.

[0009] Furthermore, the side wall of the lifting plate has a first slot at the position corresponding to the guide post, and the side wall of the auxiliary switching plate has a second slot at the position corresponding to the guide post. The guide post slides and adapts to the first slot and the second slot, and a limiting plate is fixed to the top of the guide post.

[0010] Furthermore, the multi-claw cooperative feeding mechanism also includes a U-shaped mounting frame with its opening facing downwards. A linear drive module is mounted on the U-shaped mounting frame, and the horizontal slide is mounted on the slide of the linear drive module.

[0011] Furthermore, both the feeding station and the stacking station are fixed with positioning posts. The positioning posts have a rectangular cross-section, and the bottom of the circuit board stacking cylinder is provided with a rectangular positioning groove. The positioning posts are adapted to fit into the rectangular positioning groove.

[0012] Furthermore, both the workbench and the stacking table are equipped with lifting mechanisms. Each positioning column is equipped with a lifting mechanism, which includes a lifting rod. The positioning column is hollow, and a lifting hole is opened in the rectangular positioning slot. The lifting hole is connected to the stacking slot. The lifting rod has a degree of freedom to move in the vertical direction. The lifting rod passes through the positioning column and the lifting hole in sequence to lift the chip in the stacking slot.

[0013] Furthermore, the lifting mechanism also includes a drive plate and a lead screw. The drive plate is vertically fixed, and a lead screw groove is provided on the side wall of the drive plate. A lead screw is rotatably disposed in the lead screw groove. A lead screw slider is threaded onto the lead screw and slides to fit the lead screw groove. The lead screw slider is connected to a lifting plate, and the lifting rod is fixed to the top of the lifting plate. A lead screw motor is installed on the top of the drive plate, and the output shaft of the lead screw motor is connected to the lead screw.

[0014] Furthermore, the side wall of the gripper mounting ring is fixed with a plurality of U-shaped hinge seats in a circumferential array, each of the 7-shaped grippers is equipped with a U-shaped hinge seat, a hinge shaft is fixed inside the U-shaped hinge seat, and the 7-shaped gripper is movably mounted on the hinge shaft.

[0015] A multi-claw collaborative feeding method for dual-station circuit board feeding utilizes the aforementioned multi-claw collaborative feeding system for dual-station circuit board feeding, which is equipped with three circuit board stacking cylinders. Two fully loaded circuit board stacking cylinders are placed on two feeding stations of the worktable, and the third circuit board stacking cylinder is placed on a stacking station on the stacking platform. During the circuit board feeding production process, the stacking stations simultaneously perform circuit board stacking operations. When one of the two feeding stations finishes feeding, the multi-claw collaborative feeding mechanism clamps and transports the empty circuit board stacking cylinder from the feeding station to the other stacking station. The multi-claw collaborative feeding mechanism then transports the fully loaded circuit board stacking cylinder from the stacking station to the empty feeding station. During the transport process, the feeding station feeds the other fully loaded circuit board stacking cylinder, completing the collaborative operation of stacking and feeding.

[0016] The beneficial effects of this invention are:

[0017] 1. The workbench is equipped with two loading stations and the stacking station with two stacking stations. Combined with the cyclical use of three circuit board stacking cylinders, a collaborative mode of "one station loading, one station preparing for replacement" is achieved. When the stacking cylinders at one loading station are exhausted, the multi-claw collaborative loading mechanism can simultaneously complete the actions of "transferring empty cylinders to idle stacking stations and replacing full-loaded cylinders to loading stations," eliminating the need for machine downtime and completely solving the production interruption problem caused by cylinder replacement in traditional single-station loading. Equipment utilization is increased by more than 30%.

[0018] 2. The two stations of the stacking table are responsible for the functions of "circuit board stacking" and "idle waiting for replacement" respectively. During the process of the multi-claw mechanism transferring the stacking cylinder, the loading station can continuously load another full-load stacking cylinder, forming a closed-loop process of "loading-transfer-stacking". The overall loading efficiency is 50%-80% higher than that of traditional single-claw single-station equipment, which is suitable for the needs of large-scale batch production.

[0019] 3. The gripper assembly is arranged in a circumferential array along the side wall of the lifting plate. The gripper plates on the inner side of the 7-shaped grippers engage with the gripping shoulder on the top of the stacking cylinder, forming a multi-point uniform gripping force. Compared with traditional single-claw or two-point gripping, this structure can prevent the stacking cylinder from tilting or shaking due to uneven force, reducing the risk of falling off during high-speed transfer by more than 90%. At the same time, it prevents the circuit board from shifting due to deformation of the stacking cylinder, protecting the circuit board pins and circuits from damage.

[0020] 4. Relying on the interlocking meshing structure of the upper and lower arc-shaped teeth, and the cooperation between the rectangular switching block and the rectangular slot, the mechanical linkage switching of clamping and releasing actions is realized. It eliminates the need for complex cylinder drives, shortens the switching response time to less than 0.5 seconds, and ensures a smooth and lag-free switching process. Clamping accuracy is controlled within ±0.1mm, meeting the stringent requirements for positioning error in high-precision feeding. Attached Figure Description

[0021] Figure 1 This is a schematic diagram of the structure of a multi-claw cooperative feeding system for dual-station circuit board feeding according to the present invention. Figure 1 ;

[0022] Figure 2 for Figure 1 Enlarged view of point A in the middle;

[0023] Figure 3 This is a schematic diagram of the structure of a multi-claw cooperative feeding system for dual-station circuit board feeding according to the present invention. Figure 2 ;

[0024] Figure 4 for Figure 3 Enlarged view at point B in the middle;

[0025] Figure 5 This is a schematic diagram of the structure of a multi-claw cooperative feeding system for dual-station circuit board feeding according to the present invention. Figure 3 ;

[0026] Figure 6 for Figure 5 Enlarged view at point C;

[0027] Figure 7 This is a schematic diagram of the internal structure of the workbench in a multi-claw cooperative feeding system for dual-station circuit board feeding according to the present invention.

[0028] In the diagram, 1-worktable, 2-circuit board stacking cylinder, 3-stacking slot, 4-stacking platform, 5-horizontal slide, 6-lifting plate, 7-gripper mounting ring, 8-lifting cylinder, 9-connecting rod, 10-7-shaped gripper, 11-clamping plate, 12-clamping shoulder, 13-switching base plate, 14-switching cylinder, 15-auxiliary switching plate, 16-guide post, 17-upper arc-shaped tooth, 18-lower arc-shaped tooth, 19-guide shaft, 20-accommodating cavity 21-Rectangular slot, 22-Switching shaft, 23-Rectangular switching block, 24-First slot, 25-Second slot, 26-U-shaped mounting bracket, 27-Linear drive module, 28-Positioning column, 29-Rectangular positioning slot, 30-Lifting rod, 31-Lifting hole, 32-Drive plate, 33-Lead screw, 34-Lead screw groove, 35-Lead screw slider, 36-Lifting plate, 37-Lead screw motor, 38-U-shaped hinge seat, 39-Hinge shaft. Detailed Implementation

[0029] The technical solution of the present invention will be further described in detail below with reference to the accompanying drawings, but the scope of protection of the present invention is not limited to the following description.

[0030] Example 1

[0031] like Figures 1 to 7As shown, a multi-jaw cooperative feeding system for dual-station circuit board feeding includes a worktable 1, a multi-jaw cooperative feeding mechanism, and a stacking table 4. The worktable 1 has two feeding stations, each holding a circuit board stacking cylinder 2. The top of the stacking cylinder 2 has a stacking slot 3 for stacking circuit boards. The stacking table 4 has two stacking stations, one of which holds the circuit board stacking cylinder 2 for stacking circuit boards, while the other station is idle. The multi-jaw cooperative feeding mechanism includes a horizontal slide 5, a lifting plate 6, and clamp mounting jaws. Ring 7 and gripper assemblies are arranged at intervals along the moving direction of horizontal slide 5 at the loading station and stacking station. A lifting cylinder 8 is vertically mounted at the bottom of horizontal slide 5. The telescopic shaft of the lifting cylinder 8 is connected to the lifting plate 6. Multiple gripper assemblies are arranged in a circumferential array on the side wall of the lifting plate 6. Each gripper assembly includes a connecting rod 9 and a 7-shaped gripper 10. One end of the connecting rod 9 is hinged to the lifting plate 6, and the other end is hinged to one end of the 7-shaped gripper 10. A clamping plate 11 is fixed to the inner side of the other end of the 7-shaped gripper 10. The middle part of the 7-shaped gripper 10 is hinged to the gripper mounting ring 7. Circuit board. The top of the stacking cylinder 2 is fixedly fitted with a clamping shoulder 12. When clamping, the clamping plate 11 is fastened to the bottom of the clamping shoulder 12. The workbench has two loading stations and the stacking table has two stacking stations. With the cyclical use of the three circuit board stacking cylinders 2, a collaborative mode of "one station loading operation and one station preparing materials for replacement" is realized. Specifically, two of the circuit board stacking cylinders 2 fully loaded with circuit boards are placed on the two loading stations of the workbench 1, and the other circuit board stacking cylinder 2 is placed on one stacking station of the stacking table 4. During the circuit board loading and production process, the stacking station... Simultaneously, circuit board stacking operations are performed. After one of the two loading stations finishes loading the circuit board stacking cylinder 2, the multi-jaw cooperative loading mechanism clamps and transports the empty circuit board stacking cylinder 2 from the loading station to the other stacking station. The multi-jaw cooperative loading mechanism then transports the fully loaded circuit board stacking cylinder 2 from the stacking station to the empty loading station. During the transport process, the loading station loads the circuit boards onto the other fully loaded circuit board stacking cylinder 2, completing the coordinated operation of stacking and loading. The action of "transferring the empty cylinder to the idle stacking station and filling the full cylinder to the loading station" is completed simultaneously without stopping the machine to wait, completely solving the production interruption problem caused by changing cylinders in traditional single-station loading, and increasing the equipment utilization rate by more than 30%.The specific clamping process of the multi-jaw collaborative feeding mechanism is as follows: the horizontal slide block 5 slides to move the jaw assembly to directly above the circuit board stacking cylinder 2. The lifting cylinder 8 drives the jaw assembly to move downward. Initially, the 7-shaped jaws 10 deflect outward, making the space between the multiple 7-shaped jaws 10 larger than the diameter of the clamping shoulder 12. After the clamping assembly moves downward into place, the bottom of the 7-shaped jaws 10 is below the clamping shoulder 12. Then, the 7-shaped jaws 10 deflect inward, making the bottom of the 7-shaped jaws 10 deflect to... The clamping shoulder 12 is located inside the bottom surface, allowing the clamping plate of the 7-shaped gripper 10 to engage with it, thus clamping the circuit board stacking cylinder 2. Combined with the lifting cylinder 8 and the horizontal movement of the horizontal slide 5, the circuit board stacking cylinder 2 is transported to the designated position. After the circuit board stacking cylinder 8 is in place, the 7-shaped gripper 10 deflects outward again, causing the clamping plate 11 to disengage from the clamping shoulder 12. Then, the lifting cylinder 8 drives the gripper assembly upward to disengage from the circuit board stacking cylinder 2, forming a multi-point uniform clamping force. Compared to traditional single-claw or two-point clamping, this structure avoids tilting and wobbling of the stacking cylinder due to uneven force, reducing the risk of detachment during high-speed transport by more than 90%. It also prevents circuit board displacement caused by deformation of the stacking cylinder, protecting the circuit board pins and circuits from damage.

[0032] Example 2

[0033] Based on Example 1, such as Figures 1 to 4As shown, the multi-claw cooperative feeding mechanism also includes a switching base plate 13, a switching cylinder 14, and an auxiliary switching plate 15. The switching base plate 13 is fixed to the inner wall of the gripper mounting ring 7. Two guide posts 16 are fixed on the switching base plate 13. The lifting plate 7 and the auxiliary switching plate 15 are located between the two guide posts 16. Both the lifting plate 7 and the auxiliary switching plate 15 are slidably adapted to the guide posts 16. Eight upper arc-shaped teeth 17 are fixed in a circular array at the bottom of the lifting plate 7. Adjacent upper arc-shaped teeth 17 are connected by a circular arc transition. Both sides of the upper arc-shaped teeth 17 are inclined surfaces, and the width of the upper arc-shaped teeth 17 gradually decreases from top to bottom. The auxiliary switching plate 15 is located directly below the lifting plate 13 and connected to the lifting plate 7. Eight lower arc-shaped teeth 18 are fixed in a circular array at the top of the auxiliary switching plate 15. The structure of the arc-shaped tooth 18 is the same as that of the upper arc-shaped tooth 17. The width of the lower arc-shaped tooth 18 gradually increases from top to bottom. The upper arc-shaped tooth 17 and the lower arc-shaped tooth 18 are in an interlocking meshing state. The switching cylinder 14 slides through the auxiliary switching plate 15. Two guide shafts 19 are symmetrically fixed on the side wall of the switching cylinder 14. The guide shafts 19 are located in the transition groove formed by two adjacent lower arc-shaped teeth 18. A receiving cavity 20 is formed in the switching base plate 13. A rectangular groove 21 is opened on the top surface of the switching base plate 13. The rectangular groove 21 connects to the receiving cavity 20. A rectangular switching block 23 is fixed to the bottom of the switching cylinder 14 through the switching shaft 22. The rectangular switching block 23 can be screwed into the receiving cavity 20 through the rectangular groove 21. The length of the rectangular switching block 23 is greater than the width of the rectangular groove 21. When the rectangular switching block 23 is rotated into the receiving cavity 20, the rectangular switching block 23 can be rotated into the receiving cavity 20 through the rectangular groove 21. When block 23 is screwed into the receiving cavity 20, the 7-shaped gripper 10 is in an open state. When the rectangular switching block 23 disengages from the rectangular slot 21, the 7-shaped gripper 10 deflects inward around the position of the hinged gripper mounting ring 7 under the action of the connecting rod 9. Multiple U-shaped hinge seats 38 are fixed in a circumferential array on the side wall of the gripper mounting ring 7. Each 7-shaped gripper 10 is equipped with a U-shaped hinge seat 38. A hinge shaft 39 is fixed inside the U-shaped hinge seat 38. The 7-shaped gripper 10 is movably fitted onto the hinge shaft 39. Initially, the rectangular switching block 23 is located inside the receiving cavity 20, and the rectangular switching block 23 is perpendicular to the rectangular slot 21, preventing the rectangular switching block 23 from disengaging from the rectangular slot 21. This connects the switching cylinder 14 and the switching base plate 13 together. At this time, multiple 7-shaped grippers... The space between the claws 10 is larger than the diameter of the clamping shoulder 12, and the guide shaft 19 of the switching cylinder 14 is located in the transition groove of the lower arc-shaped tooth 18, so that the auxiliary switching plate 15 supports the switching cylinder 14. At this time, the lifting cylinder 8 drives the lifting plate 7 to move up and down, the lifting plate 7 drives the auxiliary switching plate 15 to move up and down, the auxiliary switching plate 15 drives the switching cylinder 14 to move together, the switching cylinder 14 drives the switching base plate 13 to move together through the rectangular switching block 23, and the switching base plate 13 drives the claw mounting ring 7 to move together, so that the spacing between the multiple 7-shaped claws 10 does not change and they move up and down together. When clamping the circuit board stacking cylinder 2, the switching base plate 13 is driven to contact the top surface of the circuit board stacking cylinder 2, and the lifting plate 7 continues to move downward.Because there is a relative sliding degree of freedom between the switching cylinder 14 and the auxiliary switching plate 15, the switching cylinder 14 is blocked by the circuit board stacking cylinder 2 and cannot continue to move downwards. However, the lifting plate 7 and the auxiliary switching plate 15 can continue to slide on the switching cylinder 14, so that the lifting plate 7 can continue to move downwards without being affected. This causes the guide shaft 19 of the switching cylinder 14 to press against the inclined surface of the upper arc-shaped teeth 17. Under the guidance of the inclined surface of the upper arc-shaped teeth 17, the switching cylinder 14 drives the rectangular switching block 23 to rotate into the transition groove of two adjacent upper arc-shaped teeth 17. Since there are eight upper arc-shaped teeth 17, the angle between two adjacent transition grooves is 45°, so that the switching cylinder 14 rotates 45° each time. At this time, the lifting plate 13 moves upwards, and the lifting plate 13 drives the auxiliary switching plate. 15 moves upward, causing the inclined surface of the lower arc-shaped teeth 18 of the auxiliary switching plate 15 to press against the guide shaft 19, causing the guide shaft 19 to deflect again by 45° and be located in the transition groove formed by two adjacent lower arc-shaped teeth 18. Through the cooperation of the lifting plate 13 and the auxiliary switching plate 15, the switching cylinder 14 is rotated 90° each time, thereby causing the rectangular switching block 23 to rotate 90°, making the rectangular switching block 23 parallel to the rectangular groove 21. The rectangular switching block 23 can be moved out of the rectangular groove 21. At this time, the switching cylinder 14 separates from the switching base plate 13. The lifting plate 7 moves upward, driving the auxiliary switching plate 15 to move upward. The auxiliary switching plate 15 drives the switching cylinder 14 to move upward. At this time, the switching cylinder 14 no longer drives the switching base plate 13 to move upward. During the upward movement, the lifting plate 7 will... Pulling the connecting rod 9 causes it to deflect, pulling the 7-shaped gripper 10 inward on the hinge shaft 39. This causes the clamping plate 11 to engage with the clamping shoulder 12, completing the clamping of the circuit board stacking cylinder 2. At this time, the lifting plate 7 is connected to the clamping mounting ring 7 via the connecting rod 9 and the 7-shaped gripper 10. After the clamping plate 11 engages with the clamping shoulder 12, the lifting plate 7 can no longer move upward to drive the 7-shaped gripper 10 to deflect inward. Therefore, the lifting plate 7 will drive the 7-shaped gripper 10 to clamp the circuit board stacking cylinder 2 upward together. The weight of the circuit board stacking cylinder 2 will cause the 7-shaped clamping plate 10 to clamp the circuit board stacking cylinder 2. After the circuit board stacking cylinder 2 moves to the designated position, the lifting plate 7 drives the circuit board stacking cylinder 2 downward to the designated position. Then, the lifting plate 7 continues to move downward, making... The rectangular switching block 23 on the switching cylinder 14 moves into the rectangular slot 21. At this point, the switching cylinder 14 can no longer move downwards, while the lifting plate 7 and the auxiliary switching plate 15 continue to move downwards. The continued downward movement of the lifting plate 7 causes the connecting rod 9 to drive the 7-shaped gripper 10 to deflect outwards, causing the gripper 11 to disengage from the gripping shoulder 12. The switching cylinder 14 then rotates 90° again through the engagement of the upper arc-shaped teeth 17 and the lower arc-shaped teeth 18, causing the rectangular switching block 23 to rotate into the receiving cavity 20, making the rectangular switching block 23 perpendicular to the rectangular slot 21. This returns the switching cylinder 14 to its initial state connected to the switching base plate 13 and locks the 7-shaped gripper 10 in its unfolded state. At this point, the lifting plate 7 moves upwards to disengage the 7-shaped gripper 10 from the circuit board stacking cylinder 2. Therefore...Each press of the switching cylinder 14 deflects it by 90°, connecting or separating it from the switching base plate 15, thus enabling the unfolding and clamping of the 7-shaped gripper 10. This eliminates the need for complex cylinder drives, reducing the switching response time to less than 0.5 seconds. The switching process is smooth and lag-free, with clamping accuracy controlled within ±0.1mm, meeting the stringent positioning error requirements of high-precision feeding.

[0034] Furthermore, the side wall of the lifting plate 6 is provided with a first slot 24 at the position corresponding to the guide post 16, and the side wall of the auxiliary switching plate 15 is provided with a second slot 25 at the position corresponding to the guide post 16. The guide post 16 is slidably adapted to the first slot 24 and the second slot 25. A limiting top plate is fixed to the top of the guide post 16 to guide the movement of the lifting plate 6 and the auxiliary switching plate 15.

[0035] Example 3

[0036] Based on Example 2, such as Figures 1 to 5 As shown, the multi-claw cooperative feeding mechanism also includes a U-shaped mounting frame 26 with the opening of the U-shaped mounting frame 26 facing downward. A linear drive module 27 is mounted on the U-shaped mounting frame 26, and a horizontal slide block 5 is mounted on the slide block of the linear drive module 27. The linear drive module 27 drives the horizontal slide block 5 to move linearly, so that the multi-claw cooperative feeding mechanism can switch between the feeding station and the stacking station.

[0037] Example 4

[0038] Based on Example 3, such as Figures 1 to 7 As shown, both the loading station and the stacking station are fixed with positioning posts 28. The cross-section of the positioning posts 28 is rectangular. The bottom of the circuit board stacking cylinder 2 is provided with a rectangular positioning groove 29. The positioning posts 28 are adapted to fit in the rectangular positioning groove 29. The positioning of the circuit board stacking cylinder 2 is completed by the cooperation of the positioning posts 28 and the rectangular positioning groove 29, so that it is accurately placed in the loading station or the stacking station, and ensures that there is no positional deviation during the stacking and loading operations.

[0039] Example 5

[0040] Based on Example 4, such as Figures 1 to 7As shown, both the workbench 1 and the stacking table 4 are equipped with lifting mechanisms. Each positioning post 28 is equipped with a lifting mechanism, which includes a lifting rod 30. The positioning post 28 is hollow, and a lifting hole 31 is opened in the rectangular positioning groove 29, which connects to the stacking groove 3. The lifting rod 30 has a degree of freedom of vertical movement. The lifting rod 30 passes through the positioning post 28 and the lifting hole 31 in sequence to lift the chip in the stacking groove 3. The lifting mechanism also includes a drive. The drive plate 32 and lead screw 33 are vertically fixed. A lead screw groove 34 is formed on the side wall of the drive plate 32, and a lead screw 33 is rotatably mounted within the groove 34. A lead screw slider 35 is threaded onto the lead screw 33, slidingly fitting into the groove 34. A lifting plate 36 is connected to the lead screw slider 35, and a lifting rod 30 is fixed to the top of the lifting plate 36. A lead screw motor 37 is mounted on the top of the drive plate 32, and the output shaft of the lead screw motor 37 transmits power... The lead screw 33 is connected to the ball screw motor 37, which drives the ball screw 33 to rotate. This causes the ball screw slider 35 to move the lifting plate 36 along the axial direction of the ball screw 33. The lifting plate 36 then drives the lifting rod 30 to move up and down. At the loading station, the lifting rod 30 is at its lowest position and moves upward. The lifting rod 30 passes through the lifting hole 31 into the stacking slot 3. For each circuit board loaded, the lifting rod 30 moves the remaining circuit boards upward by the thickness of one circuit board, thus lifting the next circuit board to the loading position. This ensures that the loading position remains unchanged and achieves stable loading. At the stacking station, the lifting rod 30 is at its highest position. The robotic arm places the circuit boards conveyed from the previous station into the stacking slot 3 of the circuit board stacking cylinder 2, supported by the lifting rod 30. For each circuit board stacked, the lifting rod 30 moves downward by the thickness of one circuit board, thus ensuring that the stacking position of the circuit boards remains unchanged each time and achieving stable stacking of the circuit boards.

[0041] Example 6

[0042] Based on Embodiment 5, a multi-claw cooperative feeding method for dual-station circuit board feeding utilizes the aforementioned multi-claw cooperative feeding system for dual-station circuit board feeding, which is equipped with three circuit board stacking cylinders 2. Two fully loaded circuit board stacking cylinders 2 are placed on two feeding stations of the workbench 1, and the other circuit board stacking cylinder 2 is placed on a stacking station on the stacking table 4. During the circuit board feeding production process, the stacking station simultaneously performs circuit board stacking operations. When one of the two feeding stations has finished feeding the circuit board stacking cylinder 2, the multi-claw cooperative feeding mechanism clamps and transports the empty circuit board stacking cylinder 2 from the feeding station to the other stacking station. The multi-claw cooperative feeding mechanism then transports the fully loaded circuit board stacking cylinder 2 from the stacking station to the empty feeding station. During the transport process, the feeding station feeds the other fully loaded circuit board stacking cylinder 2, completing the collaborative operation of stacking and feeding.

Claims

1. A multi-claw cooperative feeding system for dual-station circuit board feeding, characterized in that, The system includes a workbench (1), a multi-claw cooperative feeding mechanism, and a stacking table (4). The workbench (1) has two feeding stations, on which a circuit board stacking cylinder (2) is placed. The top of the circuit board stacking cylinder (2) has a stacking slot (3) for stacking circuit boards. The stacking table (4) has two stacking stations, one of which has a circuit board stacking cylinder (2) for stacking circuit boards, while the other stacking station is idle. The multi-claw cooperative feeding mechanism includes a horizontal slide (5), a lifting plate (6), a gripper mounting ring (7), and a gripper assembly. The feeding station and the stacking station are arranged at intervals along the moving direction of the horizontal slide (5). (5) A lifting cylinder (8) is vertically installed at the bottom. The telescopic shaft of the lifting cylinder (8) is connected to the lifting plate (6). The side wall of the lifting plate (6) is arranged with multiple gripper assemblies in a circular array. The gripper assembly includes a connecting rod (9) and a 7-shaped gripper (10). One end of the connecting rod (9) is hinged to the lifting plate (6), and the other end is hinged to one end of the 7-shaped gripper (10). A clamping plate (11) is fixed on the inner side of the other end of the 7-shaped gripper (10). The middle part of the 7-shaped gripper (10) is hinged to the gripper mounting ring (7). A clamping shoulder (12) is fixedly fitted on the top of the circuit board stacking cylinder (2). When clamping, the clamping plate (11) is fastened to the bottom of the clamping shoulder (12).

2. The multi-claw cooperative feeding system for dual-station circuit board feeding according to claim 1, characterized in that, The multi-claw cooperative feeding mechanism also includes a switching base plate (13), a switching cylinder (14), and an auxiliary switching plate (15). The switching base plate (13) is fixed to the inner wall of the gripper mounting ring (7). Two guide columns (16) are fixed on the switching base plate (13). The lifting plate (7) and the auxiliary switching plate (15) are located between the two guide columns (16). The lifting plate (7) and the auxiliary switching plate (15) are both slidably adapted to the guide columns (16). The bottom circumferential array of the lifting plate (7) is fixed with eight upper arc-shaped teeth (17). Two adjacent upper arc-shaped teeth (17) are connected by an arc transition. Both sides of the upper arc-shaped teeth (17) are inclined surfaces, and the width of the upper arc-shaped teeth (17) gradually decreases from top to bottom. The auxiliary switching plate (15) is located directly below the lifting plate (13) and connected to the lifting plate (7). The top circumferential array of the auxiliary switching plate (15) is fixed with eight lower arc-shaped teeth (18). The structure of the lower arc tooth (18) is the same as that of the upper arc tooth (17). The width of the lower arc tooth (18) gradually increases from top to bottom. The upper arc tooth (17) and the lower arc tooth (18) are in an interlocking meshing state. The switching cylinder (14) slides through the auxiliary switching plate (15). Two guide shafts (19) are symmetrically fixed on the side wall of the switching cylinder (14). The guide shafts (19) are located in the transition groove formed by the two adjacent lower arc teeth (18). A receiving cavity (20) is formed in the switching base plate (13). A rectangular groove (21) is opened on the top surface of the switching base plate (13). The rectangular groove (21) is connected to the receiving cavity (20). A rectangular switching block (23) is fixed at the bottom of the switching cylinder (14) through the switching shaft (22). The rectangular switching block (23) can be screwed into the receiving cavity (20) through the rectangular groove (21). The length of the rectangular switching block (23) is greater than the width of the rectangular groove (21). When the rectangular switching block (23) is screwed into the receiving cavity (20), the 7-shaped gripper (10) is in an open state; When the rectangular switching block (23) disengages from the rectangular slot (21), the 7-shaped gripper (10) deflects inward around the position of the hinged gripper mounting ring (7) under the action of the connecting rod (9).

3. The multi-claw cooperative feeding system for dual-station circuit board feeding according to claim 2, characterized in that, The side wall of the lifting plate (6) is provided with a first slot (24) at the position corresponding to the guide post (16), and the side wall of the auxiliary switching plate (15) is provided with a second slot (25) at the position corresponding to the guide post (16). The guide post (16) is slidably adapted to the first slot (24) and the second slot (25). The top of the guide post (16) is fixed with a limiting plate.

4. The multi-claw cooperative feeding system for dual-station circuit board feeding according to claim 1, characterized in that, The multi-claw cooperative feeding mechanism also includes a U-shaped mounting bracket (26), the opening of which is set downwards. A linear drive module (27) is mounted on the U-shaped mounting bracket (26), and the horizontal slide (5) is mounted on the slide of the linear drive module (27).

5. A multi-claw cooperative feeding system for dual-station circuit board feeding according to claim 1, characterized in that, Both the loading station and the stacking station are fixed with positioning posts (28). The cross-section of the positioning posts (28) is rectangular. The bottom of the circuit board stacking cylinder (2) is provided with a rectangular positioning groove (29). The positioning posts (28) are adapted to the rectangular positioning groove (29).

6. A multi-claw cooperative feeding system for dual-station circuit board feeding according to claim 5, characterized in that, Lifting mechanisms are provided in both the workbench (1) and the stacking table (4). Each positioning column (28) is equipped with a lifting mechanism. The lifting mechanism includes a lifting rod (30). The positioning column (28) is hollow. A lifting hole (31) is opened in the rectangular positioning groove (29). The lifting hole (31) is connected to the stacking groove (3). The lifting rod (30) has a degree of freedom to move in the vertical direction. The lifting rod (30) passes through the positioning column (28) and the lifting hole (31) in sequence to lift the chip in the stacking groove (3).

7. A multi-claw cooperative feeding system for dual-station circuit board feeding according to claim 6, characterized in that, The lifting mechanism also includes a drive plate (32) and a lead screw (33). The drive plate (32) is vertically fixed. A lead screw groove (34) is provided on the side wall of the drive plate (32). A lead screw (33) is rotatably arranged in the lead screw groove (34). A lead screw slider (35) is threaded on the lead screw (33). The lead screw slider (35) is slidably adapted to the lead screw groove (34). The lead screw slider (35) is connected to a lifting plate (36). The lifting rod (30) is fixed on the top of the lifting plate (36). A lead screw motor (37) is installed on the top of the drive plate (32). The output shaft of the lead screw motor (37) is connected to the lead screw (33).

8. A multi-claw cooperative feeding system for dual-station circuit board feeding according to claim 1, characterized in that, The side wall of the gripper mounting ring (7) is fixed with a plurality of U-shaped hinge seats (38). Each of the 7-shaped grippers (10) is equipped with a U-shaped hinge seat (38). A hinge shaft (39) is fixed inside the U-shaped hinge seat (38). The 7-shaped gripper (10) is movably mounted on the hinge shaft (39).

9. A multi-jaw cooperative feeding method for dual-station circuit board feeding, utilizing the multi-jaw cooperative feeding system for dual-station circuit board feeding as described in claim 1, characterized in that... The system is equipped with three circuit board stacking cylinders (2). Two of the fully loaded circuit board stacking cylinders (2) are placed on two loading stations of the workbench (1), and the other circuit board stacking cylinder (2) is placed on a stacking station on the stacking table (4). During the circuit board loading process, the stacking station performs circuit board stacking operations simultaneously. When one of the two loading stations finishes loading the circuit board stacking cylinder (2), the multi-claw cooperative loading mechanism clamps and transports the empty circuit board stacking cylinder (2) on the loading station to the other stacking station. The multi-claw cooperative loading mechanism then transports the fully loaded circuit board stacking cylinder (2) on the stacking station to the empty loading station. During the transport process, the loading station loads the circuit board onto the other fully loaded circuit board stacking cylinder (2), completing the collaborative operation of stacking and loading.

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