Manipulator and PCB (Printed Circuit Board) processing equipment

Abstract

The utility model belongs to the technical field of manipulators, and particularly relates to a manipulator and PCB (printed circuit board) processing equipment. The manipulator comprises a main frame and a plurality of adsorption units, and the adsorption units are installed on the main frame and used for adsorbing material plates; the adsorption unit comprises a plurality of adsorption parts, and the maximum width of the adsorption surface of each adsorption part is smaller than the minimum distance between the outer edges of the two adjacent through holes of the material plate, so that most of the area without the through holes can be effectively adsorbed by the adsorption parts, enough adsorption force is ensured, and the situation that the PCBs fall off or cannot be adsorbed can be effectively reduced.

Description

Technical Field

[0001] The utility model belongs to the technical field of manipulators, and particularly relates to a manipulator and a PCB processing device. Background Art

[0002] Before PCB processing, it is grabbed from the magazine by a manipulator, and after jitter separation, the PCB is placed on the main machine processing platform for blind hole processing.

[0003] In the traditional process, through holes are processed after the blind holes are processed. The suction cups on the manipulator do not leak air during the grabbing process, so that the PCB can be transported smoothly. However, for some PCBs, through holes need to be processed first and then blind holes. Due to the air leakage of the through holes, the number of suction cups that can effectively adsorb the PCB decreases, and the overall adsorption force decreases, resulting in the situation that the PCB is likely to fall during the grabbing and transportation process by the manipulator. Even in the case of a large number of through holes, the PCB cannot be grabbed at all. Summary of the Utility Model

[0004] The technical problem to be solved by the utility model is: aiming at the problem that the PCB falls during the grabbing and transportation process of the existing manipulator, a manipulator and a PCB processing device are provided.

[0005] To solve the above technical problem, on the one hand, an embodiment of the utility model provides a manipulator, including a main frame and a plurality of adsorption units. The plurality of adsorption units are all installed on the main frame, and the plurality of adsorption units are used for sucking a material plate;

[0006] The adsorption unit includes a plurality of suction members, and the maximum width of the adsorption surface of the suction member is less than the minimum distance between the outer edges of two adjacent through holes of the material plate.

[0007] Optionally, the center distance between two adjacent suction members satisfies the following conditions:

[0008] W < L ≤ 2W;

[0009] Wherein, W is the maximum width of the adsorption surface of the suction member, and L is the center distance between two adjacent suction members.

[0010] Optionally, the adsorption unit further includes a suction member mounting seat, a buffer member and a main frame connecting member. The suction member is arranged on the suction member mounting seat, the main frame connecting member is installed on the main frame, and the buffer member is arranged between the suction member mounting seat and the main frame connecting member to buffer when the adsorption unit contacts the material plate.

[0011] Optionally, the adsorption unit further includes a guide shaft and a limiting member, and the buffer member is sleeved on the outer periphery of the guide shaft;

[0012] The main frame connecting member includes a bearing mounting plate and a linear bearing. The bearing mounting plate is connected to the main frame, the linear bearing is connected to the bearing mounting plate, one end of the guide shaft is mounted on the suction member mounting seat, and the other end of the guide shaft passes through the buffer member and is disposed in the linear bearing;

[0013] The end of the guide shaft away from the suction member mounting seat protrudes from the linear bearing and is connected to the limiting member.

[0014] Optionally, the suction member mounting seat includes a vacuum box body, a fixing plate, and a plurality of check valves;

[0015] A plurality of air holes are provided on the vacuum box body, and each check valve is connected between the suction member and the corresponding air hole. The check valve is used to control the on-off of the air path between the air hole and the suction member;

[0016] The fixing plate is mounted on a side of the vacuum box body facing away from the air holes, and one end of the guide shaft away from the main frame connecting member is fixed to the fixing plate.

[0017] Optionally, the suction member mounting seat further includes a first air pipe joint and a second air pipe joint. The first air pipe joint and the second air pipe joint are mounted on the vacuum box body. One end of the first air pipe joint and one end of the second air pipe joint are both communicated with the internal cavity of the vacuum box body. The other end of the first air pipe joint is used to communicate with an external vacuum generator, and the other end of the second air pipe joint is used to communicate with a negative pressure gauge.

[0018] Optionally, the manipulator further includes a pressure dividing block assembly, and the pressure dividing block assembly is connected to the main frame;

[0019] The pressure dividing block assembly includes a vacuum joint, a pressure dividing block, and a plurality of pressure dividing joints. The vacuum joint and the plurality of pressure dividing joints are mounted on the pressure dividing block;

[0020] The vacuum joint is used to connect to the external vacuum generator, and the plurality of pressure dividing joints are connected to the first air pipe joints of the plurality of adsorption units in a one-to-one correspondence.

[0021] Optionally, the main frame includes a first frame body and a second frame body that are connected to each other. The first frame body extends in a first direction, and the second frame body extends in a second direction. The first direction and the second direction are not parallel and do not coincide;

[0022] The adsorption units include first adsorption units and second adsorption units. The first adsorption units of the plurality of adsorption units are spaced apart on the first frame body, and the second adsorption units of the plurality of adsorption units are spaced apart on the second frame body.

[0023] Optionally, the first frame includes a first connecting frame, a second connecting frame and a connecting plate. The first connecting frame and the second connecting frame extend along the first direction. The connecting plate is mounted on the second frame. One end of the connecting plate in the first direction is connected to the first connecting frame, and the other end of the connecting plate in the first direction is connected to the second connecting frame;

[0024] A plurality of the first frames are provided and the plurality of first frames are spaced apart on the second frame.

[0025] Optionally, the manipulator further includes a lifting assembly and at least one vibrating component. The vibrating component includes a vibrating driving member and a mounting bracket. The mounting bracket is mounted on the main frame. The vibrating driving member is mounted on the mounting bracket, and the output end of the vibrating driving member is connected to one of the adsorption units;

[0026] The lifting assembly includes a first driving member and a second driving member. The output end of the first driving member is connected to the second driving member, and the output end of the second driving member is connected to the main frame.

[0027] On the other hand, an embodiment of the present invention provides a PCB processing device, including a workbench, a processing main body and the manipulator as described above. The processing main body is used to process the material plate on the workbench, and the manipulator is used to grasp the material plate onto the workbench and drive the material plate away from the workbench after the processing main body finishes processing.

[0028] For the manipulator provided by the embodiment of the present invention, when the adsorption unit sucks the material plate, among all the sucking members, some sucking members are in the area without through holes, and some sucking members cover the area with through holes. By setting the maximum width of the adsorption surface of the sucking member to be less than the minimum distance between the outer edges of two adjacent through holes of the material plate, most of the area without through holes can be effectively adsorbed by the sucking member, ensuring sufficient adsorption force and effectively reducing the situation of PCB dropping or being unable to be adsorbed. Description of the Drawings

[0029] Figure 1 is a schematic diagram of a manipulator provided by an embodiment of the present invention;

[0030] Figure 2 is a schematic diagram of an adsorption unit provided by an embodiment of the present invention;

[0031] Figure 3 is an exploded view of an adsorption unit provided by an embodiment of the present invention;

[0032] Figure 4 is a schematic diagram of a sucking member on an adsorption unit provided by an embodiment of the present invention;

[0033] Figure 5 It is a schematic diagram of the main frame provided by an embodiment of the present utility model.

[0034] The reference numerals in the specification are as follows:

[0035] 1. Main frame; 11. First frame body; 111. First connecting frame; 112. Second connecting frame; 113. Connecting plate; 12. Second frame body;

[0036] 2. Adsorption unit; 2a. First adsorption unit; 2b. Second adsorption unit; 21. Suction member mounting seat; 211. Vacuum box body; 212. Fixed plate; 213. Suction member; 214. Check valve; 215. First air pipe joint; 216. Second air pipe joint; 22. Buffer member; 23. Main frame connecting member; 231. Bearing mounting plate; 2311. Connecting hole; 232. Linear bearing; 2321. Cylindrical structure; 2322. Flange; 24. Guide shaft; 241. Annular groove;

[0037] 3. Voltage dividing block assembly; 31. Vacuum joint; 32. Voltage dividing block; 33. Voltage dividing joint;

[0038] 4. Vibrating material component; 41. Vibrating material driving member; 42. Mounting bracket;

[0039] 5. Lifting component; 51. First driving member; 52. Second driving member;

[0040] a. First direction; b. Second direction. Detailed implementation manners

[0041] In order to make the technical problems, technical solutions and beneficial effects solved by the present utility model clearer, the present utility model will be further described in detail below with reference to the accompanying drawings and embodiments. It should be understood that the specific embodiments described herein are only used to explain the present utility model and are not used to limit the present utility model.

[0042] As Figures 1 to 5 shown, a manipulator provided by an embodiment of the present utility model includes a main frame 1 and a plurality of adsorption units 2. The plurality of adsorption units 2 are all installed on the main frame 1, and the plurality of adsorption units 2 are used for sucking the material plate. The adsorption unit 2 includes a plurality of suction members 213, and the maximum width W of the adsorption surface of the suction member 213 is less than the minimum distance Lmin between the outer edges of two adjacent through holes of the material plate.

[0043] Among them, when the suction member 213 sucks the material plate, the surface of the suction member 213 that contacts the material plate is the adsorption surface. Based on the horizontal plane, the maximum width of the adsorption surface refers to the maximum dimension or the maximum distance of the adsorption surface in the horizontal direction. The shape of the adsorption surface is circular, elliptical, square, rectangular or other polygons. Preferably, the adsorption surface is circular, and the maximum width of the adsorption surface is the diameter of the adsorption surface, that is, the diameter of the adsorption surface is less than the minimum distance Lmin between the outer edges of two adjacent through holes on the material plate.

[0044] Multiple through holes are provided on the material plate. Tangents to the outer edges of two through holes are respectively drawn along the direction perpendicular to the center line connecting two adjacent through holes. The distance between the two closest tangents is the minimum distance Lmin between the outer edges of two adjacent through holes. The distance between two through holes can indicate the density of the through holes on the material plate. The smaller the minimum distance between the outer edges of two adjacent through holes, the denser the through holes on the material plate.

[0045] When multiple adsorption units 2 suck the material plate, among all the suction members 213, some suction members are in the area without through holes, and some suction members cover the area with through holes. In this embodiment, by setting the maximum width of the adsorption surface of the suction member 213 to be less than the minimum distance between the outer edges of two adjacent through holes on the material plate, most of the area without through holes can be effectively adsorbed by the suction member 213, ensuring sufficient adsorption force and effectively reducing the situation of PCB dropping or inability to adsorb.

[0046] Among them, "multiple" means greater than or equal to two, and the meaning of "multiple" is the same in each embodiment and will not be elaborated hereinafter.

[0047] In one embodiment, as Figure 2 shown, the center distance between two adjacent suction members 213 satisfies the following conditions:

[0048] W<L≤2W;

[0049] Among them, W is the maximum width of the adsorption surface of the suction member 213, and L is the center distance between two adjacent suction members 213.

[0050] When the center distance between two adjacent suction members 213 is within the above range, the density of the suction members 213 on each adsorption unit 2 can be ensured. Due to the large number of suction members 213, as many suction members 213 as possible adsorb the area without through holes, further ensuring the adsorption force of the adsorption unit 2 on the material plate.

[0051] In one embodiment, as Figure 2As shown, the suction member 213 is a suction cup. The suction surface of the suction member 213 is circular. The maximum width W of the suction surface of the suction member 213 is equal to the diameter of the suction surface. The center distance between two adjacent suction members 213 is between one times the diameter and two times the diameter of the suction member 213.

[0052] In one embodiment, as Figure 2 , Figure 3 shown, the adsorption unit 2 further includes a suction member mounting seat 21, a buffer member 22 and a main frame connecting member 23. The suction member 213 is disposed on the suction member mounting seat 21. The main frame connecting member 23 is mounted on the main frame 1. The connection between the adsorption unit 2 and the main frame 1 is achieved through the main frame connecting member 23. When sucking the material plate, the adsorption unit 2 moves with the main frame 1.

[0053] The buffer member 22 is disposed between the suction member mounting seat 21 and the main frame connecting member 23 to buffer when the adsorption unit 2 contacts the material plate. When the main frame 1 and the adsorption unit 2 move to the position of the material plate and the adsorption unit 2 contacts the material plate, the main frame 1 continues to press down, exhausting the air inside the suction member 213 to form a vacuum, thereby generating suction force. During the adsorption process, the buffer member 22 can be deformed under the pressing action of the main frame connecting member 23, thus playing a buffering role and avoiding excessive force between the adsorption unit 2 and the material plate from damaging the material plate.

[0054] In one embodiment, the buffer member 22 can be, but is not limited to, a spring, a rubber buffer pad, etc.

[0055] In one embodiment, as Figure 2 , Figure 3 shown, the adsorption unit 2 further includes a guide shaft 24. The buffer member 22 is a spring. The buffer member 22 is sleeved on the outer periphery of the guide shaft 24. The spring can be compressed to buffer.

[0056] The main frame connecting member 23 includes a bearing mounting plate 231 and a linear bearing 232. The bearing mounting plate 231 is connected to the main frame 1. The linear bearing 232 is connected to the bearing mounting plate 231. One end of the guide shaft 24 is mounted on the suction member mounting seat 21. The other end of the guide shaft 24 passes through the buffer member 22 and is disposed in the linear bearing 232. When the main frame 1 continues to press down, the main frame 1 can drive the bearing mounting plate 231 to move towards the direction close to the suction member mounting seat 21, thereby driving the linear bearing 232 to slide downward along the guide shaft 24. The buffer member 22 sleeved on the guide shaft 24 is squeezed by the linear bearing 232 to generate deformation, forming a buffering effect on the main frame connecting member 23. The guide shaft 24 can play a guiding role in the movement of the linear bearing 232.

[0057] In one embodiment, as Figure 3As shown, connection holes 2311 are provided on the bearing mounting plate 231. The linear bearing 232 includes a cylindrical structure 2321 and a flange 2322. The flange 2322 is connected to one end of the cylindrical structure 2321. The cylindrical structure 2321 is inserted through the connection holes 2311, and the flange 2322 abuts against the side of the bearing mounting plate 231 away from the suction member mounting seat 21. The guide shaft 24 passes through the buffer member 22 and then is inserted into the cylindrical structure 2321, so that the linear bearing 232 can slide up and down along the guide shaft 24.

[0058] Among them, there are two linear bearings 232 and two connection holes 2311, so that the two linear bearings 232 are installed on the bearing mounting plate 231 at intervals. The number of guide shafts 24 is the same as the number of linear bearings 232, and each linear bearing 232 is sleeved on the corresponding guide shaft 24 to ensure the stability of the movement of the main frame connecting member 23.

[0059] In one embodiment, the adsorption unit 2 further includes a limiting member. One end of the guide shaft 24 away from the suction member mounting seat 21 protrudes from the linear bearing 232 and is connected to the limiting member. When the elastic member recovers its deformation, it can push the main frame connecting member 23 in the direction away from the suction member mounting seat 21. The movement distance of the main frame connecting member 23 can be limited by the limiting member to prevent the guide shaft 24 from disengaging from the linear bearing 232.

[0060] In one embodiment, as Figure 3 shown, the limiting member is a snap ring. An annular groove 241 is provided on the guide shaft 24, and the snap ring is clamped in the annular groove 241 to prevent the guide shaft 24 from slipping out of the linear bearing 232.

[0061] In one embodiment, as Figure 2 、 Figure 3 shown, the suction member mounting seat 21 includes a vacuum box body 211, a fixing plate 212 and a plurality of check valves 214. A plurality of air holes are provided on the vacuum box body 211. There is a pipeline inside the vacuum box body 211, which can evenly distribute the air pressure to each air hole. Each check valve 214 is connected between the suction member 213 and the corresponding air hole. The check valve 214 is used to control the on-off of the air path between the air hole and the suction member 213. When the suction member 213 is communicated with the air hole, the suction member 213 can adsorb on the material plate. When the suction member 213 is located at the through hole of the material plate and air leakage occurs in the adsorption area, the check valve 214 can automatically close the air path between the air hole and the suction member 213 to prevent the overall vacuum degree of the vacuum box body 211 from decreasing.

[0062] The fixing plate 212 is installed on the side of the vacuum chamber 211 away from the air hole. One end of the guide shaft 24 far from the main frame connecting piece 23 is fixed on the fixing plate 212. By installing the fixing plate 212 on the vacuum chamber 211, it is convenient to install the guide shaft 24 and avoid affecting the vacuum degree of the vacuum chamber 211 when the guide shaft 24 is directly fixed on the vacuum chamber 211.

[0063] In one embodiment, as Figure 2 、 Figure 3 shown, the suction member mounting seat 21 further includes a first air pipe joint 215 and a second air pipe joint 216. The first air pipe joint 215 and the second air pipe joint 216 are installed on the vacuum chamber 211. One end of the first air pipe joint 215 and one end of the second air pipe joint 216 are both communicated with the internal cavity of the vacuum chamber 211. The external vacuum generator is communicated with the other end of the first air pipe joint 215, which can make the internal cavity of the vacuum chamber 211 form a negative pressure. The other end of the second air pipe joint 216 is used to communicate with a negative pressure gauge to measure the pressure of the internal cavity of the vacuum chamber 211.

[0064] In one embodiment, the manipulator further includes a pressure dividing block assembly 3. The pressure dividing block assembly 3 is connected to the main frame 1. The pressure dividing block assembly 3 includes a vacuum joint 31, a pressure dividing block 32 and a plurality of pressure dividing joints 33. The vacuum joint 31 and the plurality of pressure dividing joints 33 are installed on the pressure dividing block 32. The vacuum joint 31 is used to connect an external vacuum generator. Through the pressure dividing block 32, the air pressure can be evenly distributed to the plurality of pressure dividing joints 33. The plurality of pressure dividing joints 33 and the first air pipe joints 215 of the plurality of adsorption units 2 are connected in one-to-one correspondence. The vacuum joint 31, the pressure dividing block 32, the pressure dividing joints 33 and the first air pipe joint 215 are connected in sequence to form an air path, so that the vacuum generator evacuates the internal cavity of the vacuum chamber 211 to form a negative pressure, and further enables the suction member 213 to maintain the suction force on the material plate.

[0065] In one embodiment, as Figure 1 、 Figure 5 shown, the main frame 1 includes a first frame body 11 and a second frame body 12 connected to each other. The first frame body 11 extends along a first direction a, and the second frame body 12 extends along a second direction b. The first direction a and the second direction b are not parallel and do not coincide. Among them, the first direction and the second direction are perpendicular to each other. The first direction a is the X direction, the second direction b is the Y direction, and both the first frame body 11 and the second frame body 12 are made of profiles.

[0066] The adsorption unit 2 includes a first adsorption unit 2a and a second adsorption unit 2b. The first adsorption units 2a of multiple adsorption units 2 are arranged at intervals on the first frame 11, and the second adsorption units 2b of multiple adsorption units 2 are arranged at intervals on the second frame 12. Further, the position of the first adsorption unit 2a on the first frame 11 can be determined according to the size of the panel of the material plate. By changing the installation position of the bearing mounting plate 231 of the first adsorption unit 2a on the first frame 11, the position of the first adsorption unit 2a on the first frame 11 can be changed. The position of the second adsorption unit 2b on the second frame 12 can be determined according to the size of the panel. By changing the installation position of the bearing mounting plate 231 of the second adsorption unit 2b on the second frame 12, the position of the second adsorption unit 2b on the second frame 12 can be changed, so that multiple adsorption units 2 on the main frame 1 can adapt to the suction of material plates with different panel sizes, increasing the usage range of the manipulator.

[0067] In a specific embodiment, two first adsorption units 2a are provided. The two first adsorption units 2a are respectively arranged at opposite ends of the first frame 11. Two second adsorption units 2b are provided. The two second adsorption units 2b are respectively arranged at opposite ends of the second frame 12. Among them, the material plate is a PCB, and the material plate has two first edges arranged oppositely along the first direction and two second edges arranged oppositely along the second direction. The first adsorption unit 2a adsorbs on the first edge of the material plate, and the second adsorption unit 2b adsorbs on the second edge of the material plate. In other alternative embodiments, connecting the adsorption unit 2 at the middle position of the first frame 11 or the second frame 12 can be used for the adsorption of the middle area of the material plate.

[0068] In one embodiment, as Figure 5 shown, multiple first frames 11 are provided. The multiple first frames 11 are arranged at intervals on the second frame 12, thereby increasing the number of first adsorption units 2a in the first direction. Among them, the length of the first edge of the material plate is greater than the length of the second edge. By arranging the first adsorption units 2a on the multiple first frames 11 at intervals along the first edge of the material plate, the adsorption force on the first edge can be increased.

[0069] In one embodiment, as Figure 5As shown, the first frame body 11 includes a first connecting frame 111, a second connecting frame 112, and a connecting plate 113. The first connecting frame 111 and the second connecting frame 112 extend along the first direction a, and the first connecting frame 111 and the second connecting frame 112 are located on opposite sides of the second frame body 12 in the first direction a. The connecting plate 113 is installed on the second frame body 12. One end of the connecting plate 113 in the first direction is connected to the first connecting frame 111, and the other end of the connecting plate 113 in the first direction is connected to the second connecting frame 112. The connecting plate 113 can realize the connection of the first connecting frame 111 and the second connecting frame 112 on opposite sides. Through the transitional connection of the connecting plate 113, there is a gap for accommodating the second frame body 12 between the end of the first connecting frame 111 and the end of the second connecting frame 112, so that the first frame body 11 and the second frame body 12 can be flush on the horizontal plane, improving the compactness of the main frame 1. A plurality of first frame bodies 11 are provided, and the plurality of first frame bodies 11 are arranged at intervals on the second frame body 12.

[0070] Among them, by changing the installation position of the connecting plate 113 on the second frame body 12, the position of the first frame body 11 can be changed.

[0071] In one embodiment, as Figure 1 shown, the manipulator further includes at least one vibrating component 4. The vibrating component 4 includes a vibrating driving part 41 and a mounting bracket 42. The mounting bracket 42 is installed on the main frame 1, the vibrating driving part 41 is installed on the mounting bracket 42, and the output end of the vibrating driving part 41 is connected to the bearing mounting plate 231 of one of the adsorption units 2. The vibrating driving part 41 can drive the adsorption unit 2 to shake up and down, avoiding the adhesion of the material plate adsorbed by the adsorption unit 2 to the material plate below it, so as to realize the peeling of the lower material plate.

[0072] In one embodiment, the vibrating driving part 41 is a cylinder.

[0073] In one embodiment, as Figure 1 shown, the manipulator further includes a lifting component 5. The lifting component 5 can drive the main frame 1 to move up and down, facilitating the adsorption unit 2 to pick up the material plate.

[0074] The lifting component 5 includes a first driving part 51 and a second driving part 52. The output end of the first driving part 51 is connected to the second driving part 52. The first driving part 51 can drive the second driving part 52 to move up and down. The output end of the second driving part 52 is connected to the main frame 1. The pressure dividing block component 3 is installed on the second driving part 52. The second driving part 52 can drive the main frame 1 to move up and down. Through the first driving part 51 and the second driving part 52, it can be ensured that the main frame 1 has a large moving stroke in the vertical direction.

[0075] Among them, when the first driving member 51 drives the second driving member 52 and the main frame 1 to move the first section of the stroke, and after the second driving member 52 drives the main frame 1 to move the second section of the stroke, the main frame 1 reaches the maximum stroke position.

[0076] When adsorbing the material plate, the first driving member 51 and the second driving member 52 drive the main frame 1 to move downward and approach the material plate. After the adsorption unit 2 contacts the material plate, the lifting assembly 5 drives the main frame 1 to continue moving downward to discharge the air inside the plurality of suction members 213, generating a suction force on the material plate. After the suction member 213 sucks the material plate, the lifting assembly 5 drives the material plate to move upward, and under the action of the vibrating material driving member 41, the material plate is separated from the material plate below it, realizing the grasping of the material plate by the manipulator.

[0077] In one embodiment, the first driving member 51 and the second driving member 52 are cylinders.

[0078] On the other hand, an embodiment of the present invention provides a PCB processing device, including a workbench, a processing main body, and the manipulator of the above embodiment. The processing main body is used to process the material plate on the workbench, and the manipulator is used to grasp the material plate onto the workbench and to drive the material plate away from the workbench after the processing main body finishes processing.

[0079] After the adsorption unit of the manipulator sucks the material plate, it transfers the material plate to the workbench. The processing main body can perform drilling processing on the material plate. After the processing is completed, the material is unloaded by the manipulator. The PCB processing device is a drilling machine or a milling machine.

[0080] In one embodiment, the PCB processing device is a laser drilling machine. The processing main body includes a high-speed galvanometer. After the laser beam reaches the galvanometer, the galvanometer emits an accurate laser beam, thereby processing blind holes or through holes on the material plate.

[0081] The above are only the preferred embodiments of the present invention and are not intended to limit the present invention. Any modifications, equivalent replacements, and improvements made within the spirit and principles of the present invention should be included in the protection scope of the present invention.

Claims

1. A robot, characterized in that: It includes a main frame and a plurality of adsorption units, wherein the plurality of adsorption units are mounted on the main frame and are used to absorb the material plate; The adsorption unit includes a plurality of adsorption members, and the maximum width of the adsorption surface of the adsorption member is smaller than the minimum distance between the outer edges of two adjacent through holes of the material plate.

2. The robot according to claim 1, characterized in that: The center distance between two adjacent suction members meets the following conditions: W<L≤2W; Wherein, W is the maximum width of the adsorption surface of the adsorbent, and L is the center distance between two adjacent adsorbents.

3. The robot according to claim 1, characterized in that: The adsorption unit also includes a suction member mounting seat, a buffer member and a main frame connecting member, the suction member is arranged on the suction member mounting seat, the main frame connecting member is installed on the main frame, and the buffer member is arranged between the suction member mounting seat and the main frame connecting member to provide buffering when the adsorption unit contacts the material sheet.

4. The robot according to claim 3, characterized in that: The adsorption unit further comprises a guide shaft and a limiter, and the buffer member is sleeved on the outer circumference of the guide shaft; The main frame connecting member includes a bearing mounting plate and a linear bearing, the bearing mounting plate is connected to the main frame, the linear bearing is connected to the bearing mounting plate, one end of the guide shaft is mounted on the suction member mounting seat, and the other end of the guide shaft passes through the buffer member and is inserted into the linear bearing; One end of the guide shaft away from the suction member mounting seat protrudes from the linear bearing and is connected to the limiting member.

5. The robot according to claim 4, characterized in that: The suction member mounting seat includes a vacuum box, a fixing plate and a plurality of check valves; The vacuum box is provided with a plurality of air holes, each of the check valves is connected between the suction member and the corresponding air hole, and the check valve is used to control the on-off of the air path between the air hole and the suction member; The fixing plate is installed on a side of the vacuum box body away from the air hole, and one end of the guide shaft away from the main frame connecting piece is fixed on the fixing plate.

6. The robot according to claim 5, characterized in that: The suction piece mounting seat also includes a first air pipe joint and a second air pipe joint, the first air pipe joint and the second air pipe joint are installed on the vacuum box, one end of the first air pipe joint and one end of the second air pipe joint are connected to the internal cavity of the vacuum box, the other end of the first air pipe joint is used to connect to an external vacuum generator, and the other end of the second air pipe joint is used to connect to a negative pressure gauge.

7. The robot according to claim 6, characterized in that: The manipulator further comprises a pressure dividing block assembly, and the pressure dividing block assembly is connected to the main frame; The pressure dividing block assembly comprises a vacuum joint, a pressure dividing block and a plurality of pressure dividing joints, wherein the vacuum joint and the plurality of pressure dividing joints are mounted on the pressure dividing block; The vacuum connector is used to connect to the external vacuum generator, and the plurality of pressure-dividing connectors and the first air pipe connectors of the plurality of adsorption units are connected one by one.

8. The robot according to claim 1, characterized in that: The main frame includes a first frame body and a second frame body connected to each other, the first frame body extends along a first direction, the second frame body extends along a second direction, and the first direction and the second direction are not parallel and do not overlap; The adsorption unit includes a first adsorption unit and a second adsorption unit. The first adsorption units of the plurality of adsorption units are arranged at intervals on the first frame, and the second adsorption units of the plurality of adsorption units are arranged at intervals on the second frame.

9. The robot according to claim 8, characterized in that: The first frame body comprises a first connecting frame, a second connecting frame and a connecting plate, the first connecting frame and the second connecting frame extend along the first direction, the connecting plate is mounted on the second frame body, one end of the connecting plate in the first direction is connected to the first connecting frame, and the other end of the connecting plate in the first direction is connected to the second connecting frame; The first frame is provided in plurality and the plurality of first frames are arranged on the second frame at intervals.

10. The robot according to claim 1, characterized in that: The manipulator further comprises a lifting assembly and at least one material shaking assembly, wherein the material shaking assembly comprises a material shaking driving member and a mounting bracket, wherein the mounting bracket is mounted on the main frame, the material shaking driving member is mounted on the mounting bracket, and an output end of the material shaking driving member is connected to one of the adsorption units; The lifting assembly includes a first driving member and a second driving member, wherein an output end of the first driving member is connected to the second driving member, and an output end of the second driving member is connected to the main frame.

11. A PCB processing device, characterized in that: It comprises a workbench, a processing body and the manipulator according to any one of claims 1 to 10, wherein the processing body is used to process the material sheet on the workbench, and the manipulator is used to grab the material sheet to the workbench and to drive the material sheet away from the workbench after the processing by the processing body is completed.

Images