Electronic board detection equipment and carrying manipulator

Abstract

The utility model provides electronic board detection equipment and a carrying manipulator. The carrying manipulator comprises a mechanical arm and a carrying structure fixed to the mechanical arm. The carrying structure comprises a carrying plate, a lifting plate suction cup module and a rotating module. The suction cup module comprises an adsorption plate and a first suction cup; the adsorption plate is horizontally arranged, and a rotating rod extending in the vertical direction is fixed to the upper surface of the adsorption plate; the rotating rod is rotatably connected to the lifting plate around the axis of the rotating rod, and the rotating module is arranged between the lifting plate and the rotating rod and used for driving the rotating rod to rotate so as to drive the electronic plate below the adsorption plate to rotate along with the adsorption plate, so that the placing angle of the electronic plate can be adjusted, and the placing requirement of the electronic plate between different stations is met. The angle of the electronic plate is changed by driving the adsorption plate to rotate, the adsorption plate for adsorbing the electronic plate can rotate independently, the mechanical arm or the whole suction cup module does not need to rotate, and therefore it can be guaranteed that the structure of the detection equipment provided with the carrying manipulator can be arranged more compactly, and the size of the detection equipment can be arranged smaller.

Description

Technical Field

[0001] This utility model relates to the field of robotics technology, and in particular to an electronic board inspection device and a handling robot. Background Technology

[0002] A printed circuit board (PCB) is the support structure for electronic components and provides electrical connections between them. It is the infrastructure of almost all electronic products. In addition to fixing various small electronic components, its main function is to provide interconnections between these components.

[0003] In related technologies, electronic boards are moved between different workstations using robotic arms for inspection or testing. When placed at different workstations, the electronic boards often need to be positioned at different angles to accommodate their location. However, the rotation of the robotic arm as a whole requires a large space to avoid obstructing its movement, resulting in excessively large overall dimensions and space requirements for the equipment used to inspect the electronic boards. Utility Model Content

[0004] The purpose of this invention is to provide a handling robot whose adsorption plate for adsorbing electronic boards can rotate independently without the need for the robotic arm to rotate, thereby ensuring that the structure of the testing equipment equipped with the handling robot can be set more compactly and the size of the testing equipment can be set smaller.

[0005] To solve the above-mentioned technical problems, the present invention adopts the following technical solution:

[0006] According to one aspect of the present invention, a handling robot is provided, including a robotic arm and a handling structure fixed on the robotic arm. The handling structure includes a handling plate, a lifting plate suction cup module, and a rotating module. The handling plate is fixed on the robotic arm so that it can move in the horizontal and vertical directions under the drive of the robotic arm. The lifting plate is vertically movably disposed on the handling plate.

[0007] A suction cup module includes an adsorption plate and a first suction cup; the adsorption plate is arranged horizontally, and a rotating rod extending vertically is fixed on the upper surface of the adsorption plate; the rotating rod is rotatably connected to the lifting plate around its own axis; the rotation axis of the rotating rod coincides with the center of the horizontal plane of the adsorption plate; the first suction cup is disposed at the bottom of the adsorption plate for adsorbing electronic boards.

[0008] A rotating module is disposed between the lifting plate and the rotating rod to drive the rotating rod to rotate.

[0009] The above-mentioned technical features have at least the following advantages and beneficial effects:

[0010] The bottom of the suction plate is equipped with a first suction cup, which allows the electronic board to be adsorbed onto the bottom of the suction plate. A vertically extending rotating rod is fixed to the upper surface of the suction plate, and the rotating rod is connected to a lifting plate. The lifting plate is vertically movable and mounted on a transport plate, allowing the electronic board below the suction plate to move up and down with the suction plate, facilitating the loading and unloading of the electronic board between different workstations. The transport plate is fixed to a robotic arm, thereby moving the suction cup module between different workstations.

[0011] The adsorption plate is horizontally positioned, and a vertically extending rotating rod is fixed to its upper surface. The rotating rod is rotatably connected to a lifting plate around its own axis. A rotating module is positioned between the lifting plate and the rotating rod to drive the rotating rod, thereby causing the electronic board below the adsorption plate to rotate with it. This allows adjustment of the electronic board's placement angle to accommodate different workstations. By rotating the adsorption plate to change the angle of the electronic board, the adsorption plate can rotate independently, eliminating the need for a robotic arm or the entire suction cup module to rotate. This ensures a more compact structure and smaller size for the inspection equipment equipped with this handling robot. The rotation axis of the rotating rod coincides with the center of the horizontal plane of the adsorption plate, ensuring that the adsorption plate occupies less horizontal space during rotation, further contributing to a more compact equipment design.

[0012] In some embodiments of this application, the lifting plate extends along a first direction; the lifting plate includes a first end and a second end opposite to each other in the first direction; the first end of the lifting plate is connected to the conveying plate, and the second end of the lifting plate is connected to the rotating rod; the rotating module includes a rotating cylinder, the rotating cylinder is fixed on the adsorption plate and located between the first end and the second end; the rotating cylinder is throttle-connected to the rotating rod.

[0013] The above-mentioned technical features have at least the following advantages and beneficial effects:

[0014] The lifting plate extends along a first direction, with its first end connected to the transport plate and its second end connected to a rotating rod. A rotary cylinder is fixed to the suction plate and positioned between the first and second ends, resulting in a compact structure between the rotary module and the suction cup module.

[0015] In some embodiments of this application, the rotating module further includes a driving wheel, a driven wheel, and a belt; the driving wheel is fixedly connected to the output end of the rotating cylinder; the driven wheel is sleeved on the outer periphery of the rotating rod; and the belt is wound between the driving wheel and the driven wheel.

[0016] The above-mentioned technical features have at least the following advantages and beneficial effects:

[0017] A rotary cylinder drives a drive wheel to rotate, which in turn drives a driven wheel via a belt, which in turn drives a rotating rod to rotate. The rotation of the rotating rod causes the adsorption plate to rotate, thereby adjusting the angle of the electron plates adsorbed on the adsorption plate.

[0018] In some embodiments of this application, the rotary cylinder is fixed to the upper surface of the lifting plate; the driving wheel and the driven wheel are respectively disposed below the lifting plate; the driving wheel is located above the adsorption plate.

[0019] The above-mentioned technical features have at least the following advantages and beneficial effects:

[0020] The rotary cylinder is fixed on the upper surface of the lifting plate; the driving wheel and the driven wheel are respectively set below the lifting plate to make the rotary module and the suction cup module more compact in the vertical direction, so that the area of ​​the rotary module and the suction cup module in the horizontal direction can be set smaller.

[0021] In some embodiments of this application, the suction cup module is configured as multiple groups, and the multiple groups of suction cup modules are spaced apart along the second direction, and the distance between adjacent lifting plates is greater than the length of the suction plate; the second direction is horizontal and perpendicular to the first direction.

[0022] The above-mentioned technical features have at least the following advantages and beneficial effects:

[0023] The lifting plate extends along the first direction, and multiple suction cup modules extend along the second direction, so that the distance between adjacent lifting plates along the second direction is greater than the length of the suction plate, so as to avoid interference between the suction plates on adjacent lifting plates when they rotate.

[0024] In some embodiments of this application, one end of the transport plate protrudes along a first direction to form a plurality of suspended segments; the plurality of suspended segments are respectively connected to a plurality of lifting plates; the plurality of suspended segments are spaced apart along a second direction; the transport structure further includes a vision module for acquiring image information; the vision module is fixed on the transport plate and located within the interval between the suspended segments.

[0025] The above-mentioned technical features have at least the following advantages and beneficial effects:

[0026] The vision module is fixed to the transport plate and located in the gap between the suspended sections, so that the structure of the transport robot is more compact.

[0027] In some embodiments of this application, the conveying structure further includes a vertical cylinder; the vertical cylinder is connected between the first end of the lifting plate and the conveying plate, so as to drive the lifting plate to move vertically relative to the conveying plate.

[0028] The above-mentioned technical features have at least the following advantages and beneficial effects:

[0029] The vertical cylinder connects the lifting plate and the conveying plate, enabling the lifting plate to move vertically relative to the conveying plate, thereby causing the adsorption plate to move up and down.

[0030] In some embodiments of this application, the conveying structure further includes a second suction cup, which is fixed to the bottom of the conveying plate; the size of the second suction cup is larger or smaller than that of the first suction cup, and multiple second suction cups are provided.

[0031] The above-mentioned technical features have at least the following advantages and beneficial effects:

[0032] The second suction cup is larger or smaller than the first suction cup, and can provide different adsorption forces and facilitate adsorption on different shapes relative to the first suction cup, thereby enabling the transfer of different electronic boards relative to the suction cup module.

[0033] In some embodiments of this application, the rotating rod has an internally hollow air guiding channel, and the adsorption plate has a hollow air cavity; the air guiding channel and the air cavity are connected, and the first suction cup is connected to the air cavity.

[0034] The above-mentioned technical features have at least the following advantages and beneficial effects:

[0035] The rotating rod can serve as a connector on the suction plate to the lifting plate, and can also serve as an air channel for the first suction cup, so that the structure of the suction cup module is more compact.

[0036] According to another aspect of this application, this application provides an electronic board testing device, including a first station, a second station, and a handling robot; the handling robot is used to transport electronic boards from the first station to the second station.

[0037] Other features and advantages of this application will become apparent from the following detailed description, or may be learned in part from practice of this application.

[0038] It should be understood that the above general description and the following detailed description are exemplary and explanatory only, and do not limit this application. Attached Figure Description

[0039] The accompanying drawings, which are incorporated in and form part of this specification, illustrate embodiments consistent with this disclosure and, together with the description, serve to explain the principles of this disclosure. It is obvious that the drawings described below are merely some embodiments of this disclosure, and those skilled in the art can obtain other drawings based on these drawings without any inventive effort.

[0040] Figure 1 This is a schematic diagram of the material handling robot of this utility model at the feeding station.

[0041] Figure 2 This is a schematic diagram of the handling structure of this utility model from one perspective.

[0042] Figure 3 This is a structural schematic diagram of the transport plate of this utility model.

[0043] Figure 4 This is a schematic diagram of the connection between the lifting plate and the transport plate of this utility model.

[0044] Figure 5 This is a structural schematic diagram of the lifting plate of this utility model.

[0045] Figure 6 This is a schematic diagram of the suction cup module of this utility model.

[0046] Figure 7 This is a schematic diagram of the connection of the suction cup module of this utility model on the lifting plate.

[0047] Figure 8 This is a schematic diagram showing the combination of the rotating module and the suction cup module of this utility model.

[0048] Figure 9 This is a schematic diagram of the handling structure of this utility model from another perspective.

[0049] The reference numerals in the attached drawings are explained as follows: 10, handling robot; 20, electronic board; 30, material box; 100, handling plate; 110, flange; 120, suspended section; 130, first interval; 200, vision module; 300, lifting plate; 310, horizontal plate; 320, vertical plate; 330, reinforcing plate; 311, perforation; 312, through hole; 400, vertical cylinder; 500, suction cup module; 510, suction plate; 520, first suction cup; 530, rotating rod; 600, rotating module; 610, rotating cylinder; 620, driving wheel; 630, driven wheel; 640, belt; 700, second suction cup. Detailed Implementation

[0050] Exemplary embodiments will now be described more fully with reference to the accompanying drawings. However, these exemplary embodiments can be implemented in many forms and should not be construed as limited to the examples set forth herein; rather, these embodiments are provided so that this disclosure will be more thorough and complete, and will fully convey the concept of the exemplary embodiments to those skilled in the art.

[0051] Furthermore, the described features, structures, or characteristics can be combined in any suitable manner in one or more embodiments. Numerous specific details are provided in the following description to give a thorough understanding of embodiments of this application. However, those skilled in the art will recognize that the technical solutions of this application can be practiced without one or more of the specific details, or other methods, components, apparatuses, steps, etc., can be employed. In other instances, well-known methods, apparatuses, implementations, or operations are not shown or described in detail to avoid obscuring various aspects of this application.

[0052] The present application will now be described in further detail with reference to the accompanying drawings and specific embodiments. It should be noted that the technical features involved in the various embodiments described below can be combined with each other as long as they do not conflict with each other. The embodiments described below with reference to the accompanying drawings are exemplary and intended to explain the present application, and should not be construed as limiting the present application.

[0053] For ease of description and understanding, upstream and downstream are defined according to the sequence of the inspection or production process. The vertical and horizontal directions are defined by the direction in which the handling robot operates. The first and second directions are both horizontal, with the first direction perpendicular to the second direction.

[0054] Figure 1 This is a schematic diagram of the material handling robot of this utility model at the feeding station.

[0055] See Figure 1 This application provides a handling robot 10 for transporting electronic boards 20 from the feeding station to the downstream station. The electronic board 20 can be a motherboard, power board, or TCON board (logic board), etc. The electronic board 20 can also be other box-shaped, plate-shaped, or sheet-shaped structures.

[0056] In some embodiments, the handling robot 10 picks up or grabs the electronic board 20 at a first station (such as a feeding station or a conveying station), and then moves the electronic board 20 to a second station (such as a testing station, an inspection station, or a labeling station).

[0057] In other embodiments, a material carrier box 30 is also provided at the first station, and the electronic boards 20 are placed on the material carrier box 30. One or more electronic boards 20 are placed in the material carrier box 30. After the transport robot 10 transports all the electronic boards 20 in the material carrier box 30 to the second station, the transport robot 10 can also transport the corresponding material carrier box 30 to the third station (such as the material carrier box recycling station).

[0058] In one embodiment, the first station is a material rack with multiple material boxes 30 along the vertical direction. After the upper material box 30 is moved to the third station, the transporter can move the electronic board 20 in the uppermost material box 30 on the material rack.

[0059] Figure 2 This is a schematic diagram of the handling structure of this utility model from one perspective. Figure 3 This is a structural schematic diagram of the transport plate of this utility model.

[0060] See Figures 1 to 3 The handling robot 10 includes a robotic arm (not shown in the figure) and a handling structure. The handling structure includes the robotic arm (not shown in the figure) and a handling plate 100.

[0061] The free end of the transport plate 100 is capable of moving at least in the horizontal and vertical directions. The transport plate 100 is fixed to the robotic arm so that it can move with the free end of the robotic arm, thereby enabling the transport plate 100 to move in the horizontal and vertical directions under the drive of the robotic arm.

[0062] In some embodiments, a connecting flange 110 is provided at one end of the transport plate 100. The connecting flange 110 is used to fix the corresponding flange 110 structure on the robotic arm, so as to fix the transport plate 100 to the free section of the robotic arm. The connecting flange 110 and the corresponding flange 110 structure on the robotic arm are connected by fasteners (such as bolts).

[0063] The upper surface of the transport plate 100 has a recessed cavity, the cross-section of which is circular. A flange 110 is formed on the bottom wall of the recessed cavity. A through fixing hole is formed in the bottom wall of the recessed cavity, thus forming the flange 110. The free end of the robotic arm can be engaged in the recessed cavity, thereby facilitating the quick alignment of the robotic arm and the flange 110, and facilitating the quick installation of the robotic arm and the transport plate 100.

[0064] It should be noted that the transport plate 100 can also be fixed to the robotic arm by welding, threaded connection, or other methods.

[0065] One end of the transport plate 100 protrudes along a first direction to form multiple suspended sections 120, which are used to connect other structures of the transport robot 10.

[0066] In one embodiment, a plurality of suspended segments 120 are spaced apart along a second direction, and a gap is formed between two adjacent suspended segments 120. This gap is a first gap 130, which has a preset length in both the first and second directions.

[0067] In some embodiments, the suspended segments 120 are provided at intervals of two, three, or four along the second direction.

[0068] See again Figure 1 and Figure 2The transport structure also includes a vision module 200 for acquiring image information; the vision module 200 is fixed on the transport plate 100 and located in the interval between the suspended sections 120.

[0069] In some embodiments, the vision module 200 is a CCD camera. In some embodiments, image acquisition can be a webcam or other types of camera.

[0070] In other embodiments, Mark points (also known as identification points or markers) are provided on the electronic board 20 to facilitate identification by the transport structure and to allow the transport structure to recognize the position of the electronic board 20. The vision module 200 collects the Mark points on the electronic board 20 to facilitate the transport structure to grasp the electronic board 20 and to place the electronic board 20 on the test module at a preset position and a preset angle at the preset position.

[0071] Figure 4 This is a schematic diagram of the connection between the lifting plate and the transport plate of this utility model. Figure 5 This is a structural schematic diagram of the lifting plate of this utility model.

[0072] See Figure 4 and Figure 5 The transport structure also includes a lifting plate 300, which is vertically slidably mounted on the transport plate 100.

[0073] In one embodiment, the conveying structure further includes a vertical cylinder 400 connected between the lifting plate 300 and the conveying plate 100 for controlling the vertical movement of the lifting plate 300.

[0074] In some embodiments, a vertical guide rail is provided between the lifting plate 300 and the transport plate 100, and the lifting plate 300 is slidably sleeved on the vertical guide rail, so that the lifting plate 300 can move vertically relative to the transport plate 100.

[0075] It should be noted that the lifting plate 300 moves along a first direction, and the lifting plate 300 includes a first end and a second end opposite to each other in the first direction. The vertical cylinder 400 is connected between the first end of the lifting plate 300 and the conveying plate 100.

[0076] In some embodiments, the vertical cylinder 400 is connected to the suspended section 120.

[0077] In one embodiment, the vertical cylinder 400 is connected to the upper or lower surface of the suspended section 120.

[0078] In another embodiment, the vertical cylinder 400 is connected to the suspended end of the suspended section 120.

[0079] In some embodiments, the vertical cylinder 400 is connected to any position on the lifting plate 300.

[0080] In another embodiment, a vertical cylinder 400 is connected to the first end of a lifting plate 300. The lifting plate 300 includes a horizontal plate 310 and a vertical plate 320 connected to the first end of the horizontal plate 310. The vertical plate 320 extends downward from the horizontal plate 310. The side of the vertical plate 320 facing the transport plate 100 is connected to the vertical cylinder 400.

[0081] In some embodiments, the lifting plate 300 further includes a reinforcing plate 330 connected between the bottom of the horizontal plate 310 and the vertical plate 320 to enhance the structural strength between the vertical plate 320 and the horizontal plate 310.

[0082] In one embodiment, a through hole 311 is provided at the second end of the lifting plate 300, and the through hole 311 extends vertically through the lifting plate 300. The through hole 311 is formed on the horizontal plate 310.

[0083] In some other embodiments, a through hole 312 is also provided on the lifting plate 300. The through hole 312 extends vertically through the lifting plate 300 and is located between the first end and the second end of the lifting plate 300. The through hole 312 is provided on the horizontal plate 310.

[0084] Figure 6 This is a schematic diagram of the suction cup module of this utility model. Figure 7 This is a schematic diagram of the connection of the suction cup module of this utility model on the lifting plate.

[0085] See Figure 6 and Figure 7 The conveying structure may further include a suction cup module 500, which includes an adsorption plate 510, a first suction cup 520 disposed at the bottom of the adsorption plate 510, and a rotating rod 530 disposed at the top of the adsorption plate 510. The first suction cup 520 is disposed at the bottom of the adsorption plate 510 for adsorbing the electronic board 20 and adsorbing the electronic board 20 below the adsorption plate 510. The rotating rod 530 is connected between the upper surface of the adsorption plate 510 and the lifting plate 300, allowing the adsorption plate 510 to move vertically under the action of the lifting plate 300. The movement of the adsorption plate 510 causes the electronic board 20 below the adsorption plate 510 to move as well.

[0086] A first suction cup 520 is provided at the bottom of the adsorption plate 510, which can adsorb the electronic board 20 below the adsorption plate 510. A vertically extending rotating rod 530 is fixed on the upper surface of the adsorption plate 510. The rotating rod 530 is connected to the lifting plate 300, which is vertically movably mounted on the transport plate 100, thereby driving the electronic board 20 below the adsorption plate 510 to move up and down with the adsorption plate 510, so as to facilitate the picking and placing of the electronic board 20 between different workstations. The transport plate 100 is fixed on the robotic arm, thereby driving the suction cup module 500 to move between different workstations.

[0087] In some embodiments, the adsorption plate 510 is horizontally arranged, and the rotating rod 530 is fixed to the upper surface of the adsorption plate 510 and arranged vertically. The rotating rod 530 is rotatably connected to the lifting plate 300 about its own axis, so that the adsorption plate 510 can rotate relative to the lifting plate 300. By rotating the adsorption plate 510, the angle of the electronic plate 20 is changed. The adsorption plate 510 adsorbing the electronic plate 20 can rotate independently without the need for the robotic arm or the entire suction cup module 500 to rotate, thereby ensuring that the structure of the detection equipment assembled with the handling robot 10 can be set more compactly and the size of the detection equipment can be set smaller.

[0088] In some embodiments, a through hole 311 is provided at the second end of the lifting plate 300, and a rotating rod 530 passes through the through hole 311 so that the rotating rod 530 can rotate relative to the lifting plate 300 and is connected to the lifting plate 300. The through hole 311 is formed at the second end of the lifting plate 300, and the rotating rod 530 is disposed at the second end of the lifting plate 300.

[0089] In other implementations, the rotation axis of the rotating rod 530 coincides with the center of the horizontal plane of the adsorption plate 510, ensuring that the adsorption plate 510 occupies less space in the horizontal direction when rotating, thereby enabling a more compact device setup.

[0090] The lifting plate 300 extends along a first direction and has a preset length in the first direction. The lifting plate 300 includes a first end and a second end opposite to each other in the first direction; the first end of the lifting plate 300 is connected to the transport plate 100, and the second end of the lifting plate 300 is connected to a rotating rod 530. The rotation axis of the rotating rod 530 coincides with the center of the horizontal plane of the adsorption plate 510. The center of the adsorption plate 510 is located at the second end of the lifting plate 300, which effectively prevents interference between the adsorption plate 510 and other structures on the transport structure when the adsorption plate 510 rotates.

[0091] In some embodiments, the rotating rod 530 has an internally hollow air channel, and the adsorption plate 510 has a hollow air cavity; the air channel and the air cavity are connected, and the first suction cup 520 is connected to the air cavity. The rotating rod 530 can serve as a connector on the adsorption plate 510 and the lifting plate 300, and can also serve as an air channel for the first suction cup 520, so that the structure of the suction cup module 500 is more compact.

[0092] An external air pipe connects to the air guide channel of the rotating rod 530, and the connection point of the external air pipe on the rotating rod 530 is located at the upper part of the lifting plate 300. When the adsorption plate 510 rotates, interference with the external cylinder can be avoided.

[0093] In other embodiments, the external air tube is directly connected to the air cavity of the adsorption plate 510 or the first suction cup 520.

[0094] In some embodiments, the suction cup module 500 is configured as multiple sets, and the multiple sets of suction cup modules 500 can simultaneously transport multiple electronic boards 20.

[0095] Multiple suction cup modules 500 are spaced apart along a second direction, which is horizontal and perpendicular to the first direction. The distance between adjacent lifting plates 300 is greater than the length of the suction plate 510, so as to avoid interference between the suction plates 510 on adjacent lifting plates 300 when they rotate.

[0096] In one embodiment, one end of the transport plate 100 protrudes along a first direction to form a plurality of suspended segments 120, which are respectively connected to a plurality of lifting plates 300; the plurality of suspended segments 120 are spaced apart along a second direction; a vision module 200 is fixed on the transport plate 100 and located within the intervals between the suspended segments 120. The vision module 200 is fixed on the transport plate 100 and located within the intervals between the suspended segments 120, so that the structure of the transport robot 10 is more compact.

[0097] Figure 8 This is a schematic diagram showing the combination of the rotating module and the suction cup module of this utility model.

[0098] See Figure 2 and Figure 8 The handling structure also includes a rotating module 600, which is disposed between the lifting plate 300 and the rotating rod 530 to drive the rotating rod 530 to rotate, thereby causing the electronic board 20 below the adsorption plate 510 to rotate with the adsorption plate 510, so as to adjust the placement angle of the electronic board 20 and adapt to the placement requirements of the electronic board 20 between different workstations.

[0099] In some implementations, the first end of the lifting plate 300 is connected to the conveying plate 100, and the second end of the lifting plate 300 is connected to the rotating rod 530; the rotating module 600 includes a rotating cylinder 610, which is drivenly connected to the rotating rod 530. The rotating cylinder 610 is fixed to the suction plate 510 and located between the first end and the second end, so that the structure between the rotating module 600 and the suction cup module 500 is compact.

[0100] In other embodiments, the rotating module 600 further includes a driving wheel 620, a driven wheel 630, and a belt 640; the driving wheel 620 is fixedly connected to the output end of the rotary cylinder 610; the driven wheel 630 is sleeved on the outer periphery of the rotating rod 530; the belt 640 is wound between the driving wheel 620 and the driven wheel 630. The rotary cylinder 610 drives the driving wheel 620 to rotate, and the driving wheel 620 drives the driven wheel 630 to rotate via the belt 640, thereby driving the rotating rod 530 to rotate. The rotation of the rotating rod 530 drives the adsorption plate 510 to rotate, so as to adjust the angle of the electronic board 20 adsorbed on the adsorption plate 510.

[0101] In some embodiments, the rotary cylinder 610 is fixed to the upper surface of the lifting plate 300; the driving wheel 620 and the driven wheel 630 are respectively disposed below the lifting plate 300. The lower end of the output shaft of the rotary cylinder 610 is located below the lifting plate 300, so that the rotary module 600 and the suction cup module 500 are arranged more compactly in the vertical direction, thereby making the area of ​​the rotary module 600 and the suction cup module 500 in the horizontal direction smaller.

[0102] In one embodiment, a through hole 312 is provided on the lifting plate 300, and a rotary cylinder 610 is fixed on the upper surface of the lifting plate 300. The output axis of the rotary cylinder 610 passes downward through the through hole 312.

[0103] In another embodiment, the lifting plate 300 does not have a through hole 312, the rotary cylinder 610 is fixed to the upper surface of the lifting plate 300, and the output shaft of the rotary cylinder 610 passes downward from the outer periphery of the lifting plate 300.

[0104] In some embodiments, the drive wheel 620 is located directly below the rotary cylinder 610 and above the adsorption plate 510, so that the rotation of the adsorption plate 510 will not interfere with the drive wheel 620.

[0105] Figure 9 This is a schematic diagram of the handling structure of this utility model from another perspective.

[0106] See Figure 9The transport structure also includes a second suction cup 700, which is fixed to the bottom of the transport plate 100. The size of the second suction cup 700 is larger or smaller than that of the first suction cup 520. It can provide different adsorption forces and facilitate adsorption on different shapes relative to the first suction cup 520, thereby enabling the transport of different electronic boards 20 relative to the suction cup module 500.

[0107] In some embodiments, multiple material carrier boxes 30 are arranged at vertical intervals, and multiple electronic boards 20 are placed in each material carrier box 30. After the suction cup module 500 moves all the electronic boards 20 in the corresponding material carrier box 30 to the downstream station, the second suction cup 700 picks up the empty material carrier box 30 and carries it away.

[0108] One or more second suction cups 700 are provided. In one embodiment, two second suction cups 700 are provided, and the two second suction cups 700 are spaced apart along a second direction.

[0109] It should be noted that this application also provides an electronic board 20 testing device, including a first station, a second station, and a handling robot 10; the handling robot 10 is used to transport the electronic board 20 from the first station to the second station.

[0110] Furthermore, the terms "first" and "second" are used for descriptive purposes only and should not be construed as indicating or implying relative importance or implicitly specifying the number of technical features indicated. Thus, a feature defined as "first" or "second" may explicitly or implicitly include one or more of that feature. In the description of this application, "multiple" means two or more, unless otherwise explicitly specified.

[0111] In this application, unless otherwise expressly specified and limited, the terms "assembly," "connection," etc., should be interpreted broadly. For example, they can refer to a fixed connection, a detachable connection, or an integral part; they can refer to a mechanical connection or an electrical connection; they can refer to a direct connection or an indirect connection through an intermediate medium; they can refer to the internal communication of two components or the interaction between two components. Those skilled in the art can understand the specific meaning of the above terms in this application according to the specific circumstances. In the description of this specification, the reference to terms such as "some embodiments," "exemplarily," etc., means that the specific features, structures, materials, or characteristics described in connection with that embodiment or example are included in at least one embodiment or example of this application. In this specification, the illustrative expressions of the above terms do not necessarily refer to the same embodiment or example. Moreover, the specific features, structures, materials, or characteristics described can be combined in any suitable manner in one or more embodiments or examples. Furthermore, without contradiction, those skilled in the art can combine and integrate the different embodiments or examples described in this specification and the features of different embodiments or examples.

[0112] Although embodiments of this application have been shown and described above, it is understood that the above embodiments are exemplary and should not be construed as limiting this application. Those skilled in the art can make changes, modifications, substitutions and variations to the above embodiments within the scope of this application. Therefore, any changes or modifications made in accordance with the claims and description of this application should fall within the scope of this patent application.

Claims

1. A transfer robot (10) comprising a robot arm and a transfer structure fixed to the robot arm, characterized in that, The carrying structure comprises: a carrying plate (100) fixed on the mechanical arm to be movable in horizontal and vertical directions under the driving of the mechanical arm; a lifting plate (300) movably arranged on the carrying plate (100) in the vertical direction; a suction disc module (500) comprising a suction plate (510) and a first suction disc (520); the suction plate (510) is arranged horizontally, and an upper surface of the suction plate (510) is fixed with a rotating rod extending in the vertical direction; the rotating rod is rotatably connected to the lifting plate (300) about an axis of the rotating rod; the rotating axis of the rotating rod coincides with the center of the horizontal plane of the suction plate (510); the first suction disc (520) is arranged at the bottom of the suction plate (510) to suck electronic boards (20); a rotating module (600) is arranged between the lifting plate (300) and the rotating rod to drive the rotating rod to rotate.

2. The handling robot (10) according to claim 1, characterized in that The lifting plate (300) extends in a first direction; the lifting plate (300) comprises opposite first and second ends in the first direction; the first end of the lifting plate (300) is connected to the carrying plate (100), and the second end of the lifting plate (300) is connected to the rotating rod; the rotating module (600) comprises a rotating cylinder (610) fixed to the suction plate (510) and located between the first and second ends; the rotating cylinder (610) is drivingly connected to the rotating rod.

3. The handling robot (10) according to claim 2, characterized in that The rotating module (600) further comprises a driving wheel (620), a driven wheel (630) and a belt (640); the driving wheel (620) is fixedly connected to the output end of the rotating cylinder (610); the driven wheel (630) is sleeved on the outer periphery of the rotating rod; and the belt (640) is wound between the driving wheel (620) and the driven wheel (630).

4. The handling robot (10) according to claim 3, characterized in that The rotating cylinder (610) is fixed to the upper surface of the lifting plate (300); the driving wheel (620) and the driven wheel (630) are arranged below the lifting plate (300) respectively; and the driving wheel (620) is located above the suction plate (510).

5. The handling robot (10) according to claim 3, characterized in that The suction disc module (500) is arranged in multiple groups, and the multiple groups of suction disc modules (500) are arranged at intervals in a second direction; the distance between adjacent lifting plates (300) is greater than the length of the suction plate (510); and the second direction is horizontal and perpendicular to the first direction.

6. The handling robot (10) according to claim 5, characterized in that One end of the carrying plate (100) protrudes to form a plurality of overhanging sections (120) in the first direction; the plurality of overhanging sections (120) are respectively connected to the plurality of lifting plates (300); and the plurality of overhanging sections (120) are arranged at intervals in the second direction. The carrying structure further comprises a vision module for collecting image information; the vision module is fixed to the carrying plate (100) and located in the interval between the overhanging sections (120).

7. The handling robot (10) according to claim 2, characterized in that The carrying structure further comprises a vertical air cylinder (400); the vertical air cylinder (400) is connected between the first end of the lifting plate (300) and the carrying plate (100), so as to drive the lifting plate (300) to move vertically relative to the carrying plate (100).

8. The handling robot (10) according to claim 1, characterized in that The carrying structure further comprises a second suction disc (700) fixed to the bottom of the carrying plate (100); the size of the second suction disc (700) is greater than or smaller than that of the first suction disc (520), and the second suction disc (700) is provided with a plurality of.

9. The handling robot (10) according to claim 1, characterized in that The rotating rod is formed with an internally hollow air guide channel, and the adsorption plate (510) is formed with a hollow air cavity; the air guide channel and the air cavity are communicated, and the first suction disc (520) and the air cavity are communicated.

10. An electronic board (20) inspection apparatus characterized by comprising: The carrying manipulator (10) is used for carrying the electronic board (20) from the first station to the second station.

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