Mechanical hand and circuit board processing equipment

Abstract

The application relates to the technical field of mechanical equipment, in particular to a mechanical hand and a circuit board processing equipment. The mechanical hand comprises a driving mechanism, a suction mechanism, a transmission mechanism and a first support frame; the driving mechanism is configured to drive the suction mechanism to make linear motion on the transmission mechanism extending along a first direction, and the driving mechanism is further configured to enable the suction mechanism to stop at any preset position on the transmission mechanism; the suction mechanism comprises an adjusting assembly and a plurality of first suction assemblies, and the first suction assemblies are connected with the transmission mechanism through the first support frame. The application utilizes the adjusting assembly to realize dynamic adjustment of the positions of the plurality of first suction assemblies in a preset plane, the design enables the mechanical hand to flexibly change the suction position according to the size or shape of the circuit board, improves the flexibility of the mechanical hand, is also favorable for reducing the adjustment time and improving the automatic production efficiency.

Description

Technical Field

[0001] This application relates to the field of mechanical equipment technology, and more specifically, to a robotic arm and circuit board processing equipment. Background Technology

[0002] With the rapid development of the electronics and information industry, circuit boards, as core components of electronic products, are becoming increasingly diverse in type and application scenarios, including printed circuit boards (PCBs), flexible printed circuit boards (FPCs), rigid-flex boards, high-density interconnect boards (HDI), IC substrates, metal substrates, glass substrates, and ceramic substrates. Robotic arms, as key equipment in automated production, are widely used in the material handling, transfer, positioning, and assembly processes of circuit board manufacturing. However, current robotic arms have shortcomings in terms of flexibility and versatility, such as difficulty in handling and transporting materials of various specifications simultaneously.

[0003] It should be noted that the information disclosed in the background section above is only used to enhance the understanding of the background of this application, and therefore may include information that does not constitute prior art known to those skilled in the art. Utility Model Content

[0004] The purpose of this application is to provide a robotic arm and circuit board processing equipment, which aims to solve the technical problem in the related art that robotic arms are difficult to handle and process materials of various specifications.

[0005] To achieve the above objectives, the technical solution adopted in this application is as follows: The first aspect of this application provides a robotic arm, including: a driving mechanism, an adsorption mechanism, a transmission mechanism, and a first support frame; the driving mechanism is configured to drive the adsorption mechanism to perform linear motion on the transmission mechanism extending along a first direction, and the driving mechanism is further configured to enable the adsorption mechanism to stop at any preset position on the transmission mechanism; The adsorption mechanism includes an adjustment component and a plurality of first adsorption components. At least one first adsorption component is adjustablely mounted on the first support frame via the adjustment component, such that the at least one first adsorption component can move relative to the first support frame within a set plane. The first adsorption component is connected to a transmission mechanism via the first support frame.

[0006] In some implementations, a vibration device is also included, which is mounted on at least one of the plurality of the first adsorption components.

[0007] In some implementations, the first adsorption component includes a support beam, the vibration device is mounted on the support beam, and the vibration devices on a plurality of first adsorption components are spaced apart on their respective first adsorption components.

[0008] In some implementations, the adjustment assembly further includes a first connecting beam and a position adjustment member, the first connecting beam being fixedly connected to the first adsorption assembly; the first connecting beam being adjustablely connected to the first support frame via the position adjustment member, such that the at least one first adsorption assembly can move relative to the first support frame within the set plane.

[0009] In some implementations, the first connecting beam has at least one guide hole, the position adjustment element is a locking bolt, and the first support frame has bolt holes corresponding to the guide hole and the locking bolt. The locking bolt passes through the guide hole and the bolt hole, so that the first connecting beam and the first support frame remain relatively fixed.

[0010] In some implementations, the guide hole is in any of the following shapes or combinations thereof: circular, annular straight, arc-shaped, waist-shaped, or zigzag-shaped.

[0011] In some implementations, the drive mechanism includes a second support frame and a motor, and the transmission mechanism is a threaded transmission component; The motor is mounted on the second support frame and is used to drive the threaded transmission component so that the adsorption mechanism moves along the first direction.

[0012] In some implementations, the drive mechanism further includes a first synchronous pulley, a second synchronous pulley, and a synchronous belt. The motor is used to drive the first synchronous pulley to rotate. The first synchronous pulley and the second synchronous pulley are connected by the synchronous belt. The threaded transmission component is connected to the second synchronous pulley.

[0013] In some implementations, the motor is a servo motor, and the threaded transmission component is a lead screw pair.

[0014] In some implementations, the adsorption mechanism further includes a second adsorption component, at least one of the plurality of first adsorption components being connected to the second adsorption component.

[0015] In some implementations, both the first adsorption component and the second adsorption component include a support beam and a plurality of vacuum suction cups, wherein the vacuum suction cups are mounted on the support beam; The multiple vacuum suction cups are spaced apart along the length of the support beam.

[0016] In some implementations, a distance sensor is also included, which is used to detect the distance between itself and the circuit board adsorbed by the adsorption mechanism. When the detected distance is a preset value, the driving mechanism stops driving.

[0017] In some implementations, the vibration device is any of the following: a vacuum cylinder, an eccentric motor, an electromagnetic vibrator, or a piezoelectric vibrator.

[0018] The second aspect of this application provides a circuit board processing device, including: the robotic arm described in any of the above implementations.

[0019] The main advantages of the robotic arm and circuit board processing equipment provided in this application are: This application utilizes an adjustment component to dynamically adjust the positions of multiple first adsorption components within a set plane. This design allows the robot arm to flexibly change its adsorption position according to the size or shape of the circuit board, improving the robot arm's flexibility, reducing adjustment time, and increasing automated production efficiency. The adjustment component also enables the robot arm to be compatible with circuit boards of various specifications, overcoming the limitation of robots to single-specification materials in related technologies, thus allowing the robot arm to be applied to different production lines. The adsorption mechanism reduces the risk of material damage through adsorption. The drive mechanism moves the adsorption mechanism along a first direction, enabling the lifting and lowering of the circuit board, thereby allowing the robot arm to transport the circuit board to the target position. Attached Figure Description

[0020] To more clearly illustrate the technical solutions in the embodiments of this application, the drawings used in the description of the embodiments or the prior art will be briefly introduced below. Obviously, the drawings described below are only some embodiments of this application. For those skilled in the art, other drawings can be obtained based on these drawings without creative effort.

[0021] Figure 1 This is a schematic diagram of the structure of the robotic arm provided in the embodiments of this application; Figure 2 yes Figure 1 A magnified schematic diagram of the local structure at point A; Figure 3 yes Figure 1 A magnified view of the structure at point B in the middle; Figure 4 This is a front view of the robotic arm provided in an embodiment of this application; Figure 5 This is a rear view of the robotic arm provided in an embodiment of this application; Figure 6 This is a top view of the robotic arm provided in an embodiment of this application; Figure 7 This is a bottom view of the robotic arm provided in the embodiments of this application; Figure 8 This is a schematic diagram of the structure when the guide hole on the first support frame provided in this application embodiment is arc-shaped; Figure 9 This is a schematic diagram of the structure when the guide hole on the first support frame provided in the embodiments of this application is circular or annular; Figure 10 This is a schematic diagram of the structure when the guide hole on the first support frame provided in the embodiment of this application is in the shape of a broken line; Figure 11 This is a schematic diagram of the structure of the first support frame provided in the embodiments of this application when it is provided with a guide hole in the shape of a broken line and a guide hole in the shape of an arc; Figure 12 This is a schematic diagram of the structure of the first support frame provided in the embodiment of this application when a waist-shaped guide hole is provided; Figure 13 This is a schematic diagram of the structure of the first support frame provided in the embodiment of this application when a guide hole in the shape of a broken line is provided; Figure 14 This is a left view of the robotic arm provided in the embodiments of this application.

[0022] Explanation of key figure labels: 101. Drive mechanism; 102. Adsorption mechanism; 103. Adjustment component; 104. First adsorption component; 105. First support frame; 106. First substrate; 107. Second substrate; 108. Fixed beam; 109. First connecting beam; 110. Locking bolt; 111. Locking nut; 112. Mounting through hole; 113. Second adsorption component; 114. Support beam; 115. Vacuum suction cup; 116. Vibration device; 117. Distance sensor; 118. Second support frame; 119. Motor; 120. Lead screw; 121. Linear slide rail; 122. First synchronous pulley; 123. Second synchronous pulley; 124. Synchronous belt; 125. Guide hole. Detailed Implementation

[0023] To make the technical problems, technical solutions, and beneficial effects to be solved by this application clearer, the following detailed description is provided in conjunction with the accompanying drawings and embodiments. It should be understood that the specific embodiments described herein are merely illustrative and are not intended to limit the scope of this application.

[0024] In related technologies, robotic arms suffer from significant shortcomings in terms of flexibility and versatility. Specifically, they struggle to effectively handle materials of different sizes, shapes, or weights, limiting their gripping and handling capabilities and failing to meet diverse production demands. The lifting mechanisms of robotic arms typically rely on cylinder drives, which usually have only two fixed stroke positions: an extended position and a retracted position. Therefore, the material gripping and release points are relatively fixed, severely restricting the adaptability of robotic arms in various scenarios and at different heights, hindering the improvement of their versatility and operational freedom.

[0025] Therefore, this application provides a robotic arm and circuit board processing equipment to solve the problems in the related technology; the robotic arm and circuit board processing equipment provided in this application will be described in detail below with reference to the accompanying drawings.

[0026] Combination Figure 1 and Figure 3 As shown, this application embodiment provides a robotic arm, including: a drive mechanism 101, an adsorption mechanism 102, a transmission mechanism, and a first support frame 105. The adsorption mechanism 102 is used to adsorb circuit boards; the drive mechanism 101 is used to drive the adsorption mechanism 102 to perform linear motion on the transmission mechanism extending along a first direction; the drive mechanism 101 is also configured to enable the adsorption mechanism 102 to stop at any preset position on the transmission mechanism; the adsorption mechanism 102 includes an adjustment component 103 and a plurality of first adsorption components 104, at least one first adsorption component 104 is adjustablely mounted on the first support frame 105 through the adjustment component, such that at least one first adsorption component 104 can move relative to the first support frame 105 in a set plane, and the first adsorption component 104 is connected to the transmission mechanism through the first support frame 105.

[0027] In some embodiments, the drive mechanism can be a servo motor, which can use a feedback system to confirm the position and speed through closed-loop control to precisely control the dwell position of the first adsorption component; it can also be a stepper motor, which, although open-loop controlled, has a simple structure and can precisely control the rotation angle by controlling the number of pulses, and maintains excitation even when the pulse supply stops to maintain a slightly larger torque to lock the position; it can also be a closed-loop stepper motor, which forms a closed-loop control by adding an encoder to the stepper motor to provide real-time feedback of position information, thereby achieving precise control of the dwell position of the first adsorption component; in addition, it can be a motor with a brake and a mechanical self-locking structure, but the examples here do not constitute a limitation on the drive mechanism.

[0028] This application utilizes an adjustment component 103 to dynamically adjust the positions of multiple first adsorption components 104 within a set plane. This design allows the robot arm to flexibly change its adsorption position according to the size or shape of the circuit board, improving the robot arm's flexibility, reducing adjustment time, and increasing automated production efficiency. The adjustment component 103 also enables the robot arm to be compatible with circuit boards of various specifications, overcoming the limitation of robots to single-specification materials in related technologies, thus allowing the robot arm to be applied to different production lines. The adsorption mechanism 102 reduces the risk of material damage through adsorption. The drive mechanism 101 causes the adsorption mechanism 102 to move along a first direction, enabling the circuit board to be lifted and lowered, thereby allowing the robot arm to transport the circuit board to the target position.

[0029] In some embodiments, the first adsorption component 104 can move relative to the first support frame 105 within a set plane. This can involve the first adsorption component 104 rotating along a fixed axis or moving along a non-fixed axis within the set plane, enabling the first adsorption component to adsorb the circuit board in any direction, such as along the diagonal of the circuit board. When the suction force is sufficient, the entire circuit board can be adsorbed and transferred using only one first adsorption component. See also... Figure 8 and Figure 9 As shown, the first connecting beam 109 can rotate about a certain axis. (See also...) Figure 10 and Figure 11 As shown, the first connecting beam 109 can move along an undefined axis.

[0030] In another embodiment, the first adsorption component 104 can move relative to the first support frame 105 in a set plane, or the first adsorption component 104 can move in a second direction in the set plane to adjust the spacing between the multiple first adsorption components 104 in the second direction, with a first angle between the first direction and the second direction.

[0031] It is understandable that the first adsorption component 104 moves relative to the first support frame 105 within a set plane by adjusting the component.

[0032] For ease of description, in this embodiment, the first direction is defined as the ZZ direction, and the second direction as the XX direction. In some embodiments, the circuit board can be a printed circuit board (PCB), a flexible printed circuit board (FPC), a rigid-flex board, a high-density interconnect board (HDI), an IC carrier board, a metal substrate, a glass substrate, and a ceramic substrate, etc.; it is understood that the robot is not limited to adsorbing circuit boards, but can also be used to adsorb other possible plate-shaped materials. The first direction can be a vertical direction, that is, the adsorption mechanism 102 moves in the vertical direction to realize the lifting and lowering of the adsorbed circuit board; it is understood that the first direction can also form an angle with the vertical direction, and the angle can be an acute angle. The number of first adsorption components 104 in the adsorption mechanism 102 can be two, three, four, or five. Multiple first adsorption components 104 are mounted on a first support frame. The multiple first adsorption components 104 can rotate around a fixed axis, move around a non-fixed axis, and have their spacing adjusted within a set plane using an adjustment component 103. In particular, the multiple first adsorption components 104 are distributed along a second direction. The distance between two adjacent first adsorption components 104 can be adjusted using the adjustment component 103. It is understood that when the number of first adsorption components 104 is three or more, the spacing between only two first adsorption components 104 can be adjusted, or the spacing between all adjacent first adsorption components 104 can be adjusted.

[0033] The following embodiments of this application will be specifically described using the adsorption mechanism 102, which includes two first adsorption components 104, as an example.

[0034] Combination Figure 1 , Figure 3 and Figure 4 As shown, in some embodiments, the adsorption mechanism 102 further includes a first support frame 105; at least one of the two first adsorption components 104 can move relative to the first support frame 105 within a set plane, and after moving to a target position and target angle (the angle formed with the first support frame within the set plane), the adjustment component 103 locks the position of the first adsorption component 104 that has moved to the target position and target angle. Specifically, at least one of the two first adsorption components 104 can move relative to the first support frame 105 along a second direction on the set plane. Thus, after adjusting the distance between the two first adsorption components 104, locking the position of the movable first adsorption component 104 can fix the spacing between adjacent first adsorption components 104, thereby allowing for the application of circuit boards of the required specifications. For example, the first support frame 105 may include a first substrate 106 and a second substrate 107, with the surface of the first substrate 106 perpendicular to the surface of the second substrate 107. The first substrate 106 and the second substrate 107 are fixedly connected, which can be achieved by fasteners and / or welding. The fasteners can be bolts or rivets. The surface of the first substrate 106 can be parallel to a first direction, and the surface of the second substrate 107 can be perpendicular to the first direction, while the surface of the second substrate 107 can be parallel to a second direction. The first adsorption component 104 can be mounted on the second substrate 107.

[0035] See Figure 1 , Figure 6 and Figure 7As shown, in some embodiments, of the two first adsorption components 104, one first adsorption component 104 is fixedly connected to the first support frame 105, and the other first adsorption component 104 is movable relative to the first support frame 105 within a set plane. Specifically, the other first adsorption component 104 is movable relative to the first support frame 105 along a second direction. When the distance and angle between the two first adsorption components 104 meet the distance and angle requirements, the movable first adsorption component 104 is locked using the adjusting component 103 to achieve a fixed relative holding between the first adsorption component 104 and the first support plate. For example, one of the first adsorption components 104 is fixedly connected to the second substrate 107. This fixed connection can be achieved through fastener connection and / or welding, where the fasteners can be bolts or rivets. The adsorption mechanism 102 also includes a fixing beam 108 and a first adsorption component 104 fixedly connected to the second substrate 107. The fixing beam 108 is fixedly connected to the second substrate 107. The length direction of the fixing beam 108 is parallel to the second direction. The first adsorption component 104 that needs to be fixed (i.e., the non-movable first adsorption component 104) and the fixing beam 108 can be fixedly connected by fasteners and / or welding. The fasteners can be bolts or rivets. The fixing beam 108 and the second substrate 107 can be fixedly connected by fasteners and / or welding. The fasteners can be bolts or rivets.

[0036] It should be noted that in some other possible implementations, both first adsorption components 104 can be movable relative to the first support frame 105, which helps to ensure that the position of the robot arm's focus does not change and helps to ensure stability.

[0037] Combination Figures 1 to 5As shown, in some embodiments, the adjusting assembly 103 includes a first connecting beam 109 and a position adjusting member. At least one first adsorption assembly 104 is fixedly connected to the first connecting beam 109. The first connecting beam 109 is adjustablely connected to the first support frame 105 via the position adjusting member, such that at least one first adsorption assembly 104 can move relative to the first support frame within a predetermined plane. The first connecting beam 109 is fixedly connected to the first adsorption assembly 104 that can move relative to the first support frame 105 within a predetermined plane. For example, the first connecting beam 109 is fixedly connected to the first adsorption assembly 104 that can move relative to the first support frame 105 along a second direction. The first connecting beam 109 has at least one guide hole, which may be linear and its length is parallel to the second direction, so that the first adsorption assembly 104 can move along the second direction within the predetermined plane. A locking bolt 110 passes through the guide hole, and the locking bolt 110 can keep the first connecting beam 109 and the first support frame 105 relatively fixed. In this way, the locking bolt 110 can be used to easily fix the movable first adsorption component 104 relative to the first support frame 105. For example, the position adjustment component is a locking bolt 110, and the length direction of the first connecting beam 109 is parallel to the second direction; the guide hole can be a dovetail groove or a T-groove, and the adjustment component 103 also includes a locking nut 111 with a handle. The head of the locking bolt 110 is confined in the guide hole, so that the locking bolt 110 cannot come out of the groove of the guide hole, and the head of the locking bolt 110 can move along the length direction of the guide hole. The second base plate 107 is provided with a mounting through hole 112, and the rod of the locking bolt 110 passes through the mounting through hole 112 to be threadedly connected with the locking nut 111. After tightening the locking nut 111, the first connecting beam 109 is fixedly connected to the second base plate 107, thereby achieving a relatively fixed relationship between the first connecting beam 109 and the first support frame 105. When it is necessary to adjust the distance between the two first adsorption components 104, the locking nut 111 can be loosened. The number of locking bolts 110 can be one or more, and the number of locking nuts 111 is the same as the number of locking bolts 110, and the two are set in a one-to-one correspondence. When the number of locking bolts 110 is multiple, the multiple locking bolts 110 can be distributed at intervals in the second direction. The number of locking bolts 110 can be 2, 3 or 4, and this application embodiment does not make a specific limitation. It can be understood that the number of guide holes 125 can be one or more. Preferably, the multiple locking bolts 110 are arranged between one or more guide holes 125 to form at least one triangle. In this way, after the position of the first adsorption component 104 is adjusted and the position of the first adsorption component 104 is fixed, the stability of the connection between the first adsorption component 104 and the first support frame 105 can be guaranteed.

[0038] It should be noted that in some other possible embodiments, the combination Figures 8 to 13 As shown, the first support frame 105 may have at least one guide hole 125, and the guide hole 125 may be any of the following shapes and combinations thereof: circular, annular (e.g., Figure 9 As shown), straight, waist-shaped (as shown) Figure 12 As shown), broken line shape (such as...) Figure 10 and Figure 13 (as shown) or arc (as shown) Figure 8 (as shown) Figure 11 The diagram shows both linear and arc-shaped guide holes 125. By adjusting the relative fixed position of the position adjusting member and the guide hole 125, the position and angle of the first adsorption assembly 104 relative to the first support frame 105 can be adjusted. The position adjusting member is a locking bolt 110. The first connecting beam 109 has bolt holes corresponding to the guide holes and locking bolts 110. The locking bolts 110 pass through the guide holes and bolt holes, keeping the first connecting beam 109 and the first support frame 105 relatively fixed. For example, when there are three guide holes 125, the corresponding number of position adjusting members (locking bolts 110) are respectively passed through the corresponding guide holes 125, so that the first adsorption assembly 104 is more stably fixed on the first support frame 105 to adsorb the circuit board.

[0039] It is understood that the positions of the guide hole 125 and the bolt hole can be interchanged; that is, the first connecting beam 109 has at least one guide hole 125, while the first support frame 105 has bolt holes corresponding to the guide hole and the locking bolt 110. It is understood that the position and number of bolt holes are determined based on the shape and location of the guide hole and actual needs, for example, it can be an array of bolt holes provided on the first connecting beam or the first support frame.

[0040] It is understood that the adjusting component 103 is not limited to the above-described structure. It can also include an electric linear slide rail 121, with the guide rail of the electric linear slide rail 121 fixed to the first support frame 105, and the slider of the electric linear slide rail 121 fixed to the first adsorption component 104. This allows adjustment of the distance between the two first adsorption components 104 in the second direction via the electric linear slide rail 121. Alternatively, the adjusting component 103 can be any other electric drive mechanism capable of driving the first adsorption component 104 to move along a fixed or non-fixed axis within a preset plane. The position adjusting component is not limited to the locking bolt 110; it can also include a pin structure, which can be a pin or a positioning pin. The first connecting beam and / or the first support frame can be provided with an array of pin holes. By inserting the pin structure into different pin holes, the position of the first adsorption component within the preset plane can be changed.

[0041] Combination Figure 6and Figure 7 As shown, in some embodiments, the adsorption mechanism 102 further includes a second adsorption component 113, with one of the two first adsorption components 104 fixedly connected to the second adsorption component 113. This allows the second adsorption component 113 to assist in adsorbing the circuit board, ensuring adsorption stability and reducing the possibility of the circuit board falling off during adsorption. Exemplarily, the non-movable first adsorption component 104 is fixedly connected to the second adsorption component 113, and this connection can be achieved through fasteners and / or welding, with fasteners being bolts or rivets. The second adsorption component 113 can be located between two adjacent second adsorption components; the number of second adsorption components 113 can be one or more.

[0042] It should be noted that in some other possible implementations, the second adsorption component 113 may also be fixedly connected to the movable second adsorption component 113 instead of being fixedly connected to the non-movable first adsorption component 104; or each of the two first adsorption components 104 may be fixedly connected to a second adsorption component 113; or when the distance between any two points of the two first adsorption components 104 reaches the length range of the second adsorption component, the unconnected end of the second adsorption component may be connected to another first adsorption component 104 as needed.

[0043] Combination Figure 6 and Figure 7 As shown, in some embodiments, both the first adsorption assembly 104 and the second adsorption assembly 113 include a support beam 114 and a plurality of vacuum suction cups 115, which are mounted on the support beam 114. The plurality of vacuum suction cups 115 are spaced apart along the length direction of the support beam 114. Thus, the support beam 114 provides support for the vacuum suction cups 115, and the plurality of vacuum suction cups 115 achieve stable adsorption of the circuit board. For example, the first connecting beam 109 and the fixing beam 108 are spaced apart along the length direction of the support beam 114. The length direction of the support beam 114 of the first adsorption assembly is perpendicular to a second direction and also perpendicular to a first direction. The length direction of the support beam 114 of the second adsorption assembly 113 is parallel to the second direction; the vacuum suction cups 115 can be connected to a vacuum generator or vacuum pump via air pipes to provide the negative pressure required for adsorbing the circuit board.

[0044] It is understandable that the support beam 114 of the first adsorption component 104 may have the same structure as or different from the support beam 114 of the second adsorption component 113, and the specific configuration can be made according to actual needs.

[0045] See Figure 1As shown, in some embodiments, the robotic arm further includes a vibration device 116, which is mounted on the adsorption mechanism 102. The vibration device 116 is mounted on at least one of the two first adsorption components 104. In cases where the circuit board is thin or affected by static electricity between circuit boards, the adsorption mechanism 102 may pick up multiple circuit boards at once. Therefore, after the adsorption mechanism 102 picks up a circuit board, the vibration device 116 is used to reduce or avoid the simultaneous picking up of multiple circuit boards by using a small-amplitude shaking motion. For example, both first adsorption components 104 may be equipped with vibration devices 116, which may be fixed to the support beam 114. The vibration devices 116 on one first adsorption component and the other first adsorption component 104 are distributed at intervals within their respective first adsorption components. For instance, the vibration device 116 on one first adsorption component may be located at one end of the support beam 114, and the vibration device 116 on the other first adsorption component may be located at the other end of the support beam 114. In this way, the vibration devices 116 on the two first adsorption components 104 are located diagonally, which helps to improve the vibration effect and reduce or avoid the simultaneous picking up of multiple circuit boards. It is understood that the second adsorption component 113 may also be equipped with a vibration device 116. The vibration device 116 may be a vibrating cylinder, an eccentric motor, an electromagnetic vibrator, a piezoelectric vibrator, or an ultrasonic vibrator; the vibrating cylinder may be a vacuum cylinder.

[0046] See Figure 1 As shown, in some embodiments, the robotic arm also includes a distance sensor 117, which is used to detect the distance between itself and the circuit board. When the detected distance is a preset value, the drive mechanism 101 stops driving. This allows for more precise control of the movement accuracy of the adsorption mechanism 102 in the first direction, preventing damage to the circuit board when the vacuum suction cup 115 contacts it. For example, the distance sensor 117 can monitor the distance between itself and the material (such as the circuit board) in real time. When the detected distance unexpectedly exceeds the preset value, an alarm can be triggered, such as an audible alarm and / or a visual alarm. The distance sensor 117 can be mounted on the support beam 114 of the non-movable first adsorption component 104, or it can be mounted on the support beam 114 of the movable first adsorption component 104.

[0047] See Figure 1 , Figure 2 , Figure 11 and Figure 14As shown, in some embodiments, the drive mechanism 101 includes a second support frame 118 and a motor 119; the transmission mechanism is a threaded transmission component, which is a lead screw pair including a lead screw 120; the motor 119 is mounted on the second support frame 118, and the motor 119 is used to drive the lead screw 120 to rotate; the lead screw 120 is threadedly driven with the adsorption mechanism 102, so that the adsorption mechanism 102 moves along a first direction; the first direction is parallel to the axial direction of the lead screw 120, and the first included angle is a right angle, so that the lead screw 120 can be used to realize the adsorption mechanism 102 stopping at any position in the first direction to meet different lifting requirements; the position of the motor 119 on the second support frame 118 can be set as needed. For example, the second support frame 118 can be made of a plate structure or a tubular structure, and the specific configuration can be set as needed. The robotic arm also includes a guide structure for causing the adsorption mechanism 102 to move along a first direction. The guide structure may include a linear slide rail 121, the guide rail of which may be fixed to the second support frame 118, and the slider of which may be fixed to the first support frame 105. There may be two linear slide rails 121, which are spaced apart.

[0048] It should be noted that in some other possible implementations, the above transmission can also be achieved by a mechanism such as a gear and rack; the first included angle can also be an acute angle or an obtuse angle, and the size of the first included angle can be set as needed; the lead screw pair can specifically be a sliding helical pair (such as a trapezoidal lead screw) or a rolling helical pair (such as a ball screw or a planetary roller screw), but the threaded transmission component is not limited to lead screw pairs, and it can also be other types of transmission pairs.

[0049] In some embodiments, the adsorption mechanism 102 further includes a movable nut (not shown), which is fixed to the first support frame 105 and threadedly connected to the lead screw 120, thereby enabling threaded transmission between the lead screw 120 and the adsorption mechanism 102. For example, the movable nut can be fixed to the first substrate 106 by screws, and the slider of the linear guide rail 121 can be fixedly connected to the first substrate 106 by screws.

[0050] See Figure 1 , Figure 2 and Figure 11As shown, in some embodiments, the drive mechanism 101 further includes a first synchronous pulley 122, a second synchronous pulley 123, and a synchronous belt 124. A motor 119 drives the first synchronous pulley 122 to rotate. The first synchronous pulley 122 and the second synchronous pulley 123 are connected via the synchronous belt 124. A lead screw 120 is connected to the second synchronous pulley 123. The motor 119 is a servo motor 119. By using a servo motor 119 combined with the first synchronous pulley 122, the second synchronous belt 124, and the lead screw 120, not only is high-precision, low-noise linear transmission achieved, but the response speed and layout flexibility of the robot are also improved, effectively enhancing the stability and adaptability of the robot. For example, the output shaft of the motor 119 can be directly fixedly connected to the first synchronous pulley 122, or the two can be connected via a coupling, or the output shaft of the motor 119 can be connected to the input end of a reducer, and the output end of the reducer can be connected to the first synchronous pulley 122. The lead screw 120 is fixedly connected to the second synchronous pulley 123.

[0051] It should be noted that in some other possible embodiments, the motor 119 can drive the lead screw 120 to rotate through a worm gear, a gear, or the output shaft of the motor 119 can be directly connected to the lead screw 120.

[0052] This application also provides a circuit board processing device, including the robotic arm described in any of the above embodiments. The circuit board processing device provided in this application utilizes an adjustment component 103 to dynamically adjust multiple first adsorption components 104 on a set plane. Specifically, it dynamically adjusts the spacing of the multiple first adsorption components 104 in a second direction of the set plane. This design allows the robotic arm to flexibly change its adsorption position according to the size or shape of the circuit board, improving the robotic arm's flexibility, reducing adjustment time, and increasing automated production efficiency. The adjustment component 103 also enables the robotic arm to be compatible with circuit boards of various specifications, solving the limitation of robotic arms to single-specification materials in related technologies, thus allowing the robotic arm to be applied to different production lines. The adsorption mechanism 102 reduces the risk of material damage through adsorption. The drive mechanism 101 causes the adsorption mechanism 102 to move along a first direction, enabling the circuit board to be lifted and lowered, thereby allowing the robotic arm to transport the circuit board to the target position. For example, the circuit board processing device may also include a laser for processing the circuit board.

[0053] It should be understood that, in the embodiments of this application, unless otherwise expressly specified and limited, the terms "connection," "fixed connection," "contact," etc., should be interpreted broadly. Those skilled in the art can understand the specific meanings of the various terms in the embodiments of this application according to the specific circumstances.

[0054] For example, the "connection" can be a fixed connection, a rotating connection, a flexible connection, a sliding connection, a one-piece molding, an electrical connection, a contact connection, or other connection methods; it can be a direct connection, or an indirect connection through an intermediate medium, or a connection within two components or an interaction between two components.

[0055] For example, a "fixed connection" can be a component that can be directly or indirectly fixedly connected to another component; a fixed connection can include mechanical connection, welding, bonding or integral molding, etc., wherein mechanical connection can include riveting, bolting, threaded connection, keying, snap-fit ​​connection, locking connection, plugging, etc., and bonding can include adhesive bonding and solvent bonding, etc.

[0056] It should also be understood that the “parallel” or “perpendicular” described in the embodiments of this application can be understood as “approximately parallel” or “approximately perpendicular”.

[0057] It should also be understood that 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. Features specified as "first" or "second" may explicitly or implicitly include one or more of that feature.

[0058] In the embodiments of this application, unless otherwise expressly specified and limited, "above" or "below" the second feature can mean that the first feature and the second feature are in direct contact, or that the first feature and the second feature are in indirect contact through an intermediate medium. Furthermore, "above," "on top of," and "over" the second feature can mean that the first feature is directly above or diagonally above the second feature, or simply that the first feature is at a higher horizontal level than the second feature. "Below," "below," and "under" the second feature can mean that the first feature is directly below or diagonally below the second feature, or simply that the first feature is at a lower horizontal level than the second feature.

[0059] It should also be understood that the terms “length,” “width,” “up,” “down,” “front,” “back,” “left,” “right,” “vertical,” “horizontal,” “top,” “bottom,” “inner,” and “outer,” etc., indicate the orientation or positional relationship (if any) based on the orientation or positional relationship shown in the accompanying drawings. They are used only for the convenience of describing this application and simplifying the description, and do not indicate or imply that the device or element referred to must have a specific orientation, or be constructed and operated in a specific orientation. Therefore, they should not be construed as limitations on this application.

[0060] The above description is merely a specific embodiment of this application, but the scope of protection of this application is not limited thereto. Any variations or substitutions that can be easily conceived by those skilled in the art within the technical scope disclosed in this application should be included within the scope of protection of this application. Therefore, the scope of protection of this application should be determined by the scope of protection of the claims. In conclusion, the above description is merely a preferred embodiment of the technical solution of this application and is not intended to limit the scope of protection of this application. Any modifications, equivalent substitutions, improvements, etc., made within the spirit and principles of this application should be included within the scope of protection of this application.

Claims

1. A robot, characterized in that, include: The device includes a driving mechanism, an adsorption mechanism, a transmission mechanism, and a first support frame. The driving mechanism is configured to drive the adsorption mechanism to move linearly along the transmission mechanism extending in a first direction. The driving mechanism is also configured to enable the adsorption mechanism to stop at any preset position on the transmission mechanism. The adsorption mechanism includes an adjustment component and a plurality of first adsorption components. At least one first adsorption component is adjustablely mounted on the first support frame via the adjustment component, such that the at least one first adsorption component can move relative to the first support frame within a set plane. The first adsorption component is connected to the transmission mechanism via the first support frame.

2. The robot of claim 1, wherein It also includes a vibration device, which is installed on at least one of the plurality of the first adsorption components.

3. The robot of claim 2, wherein, The first adsorption component includes a support beam, and the vibration device is mounted on the support beam. The vibration devices on the plurality of first adsorption components are distributed at intervals on their respective first adsorption components.

4. The robot according to any one of claims 1-3, wherein The adjustment assembly further includes a first connecting beam and a position adjustment member. The first connecting beam is fixedly connected to the first adsorption assembly. The first connecting beam is adjustablely connected to the first support frame through the position adjustment member, such that the at least one first adsorption assembly can move relative to the first support frame within the set plane.

5. The robot of claim 4, wherein, The first connecting beam has at least one guide hole, the position adjustment component is a locking bolt, and the first support frame has bolt holes corresponding to the guide hole and the locking bolt. The locking bolt passes through the guide hole and the bolt hole to keep the first connecting beam and the first support frame relatively fixed.

6. The robot of claim 5, wherein, The guide hole has any of the following shapes or combinations thereof: circular, annular, straight, arc-shaped, waist-shaped or zigzag-shaped.

7. The robot of any one of claims 1-3, wherein, The drive mechanism includes a second support frame and a motor, and the transmission mechanism is a threaded transmission component. The motor is mounted on the second support frame and is used to drive the threaded transmission component so that the adsorption mechanism moves along the first direction.

8. The robot of claim 7, wherein, The drive mechanism further includes a first synchronous pulley, a second synchronous pulley, and a synchronous belt. The motor is used to drive the first synchronous pulley to rotate. The first synchronous pulley and the second synchronous pulley are connected by the synchronous belt. The threaded transmission component is connected to the second synchronous pulley.

9. The robot of claim 7, wherein, The motor is a servo motor, and the threaded transmission component is a lead screw pair.

10. The robot of any one of claims 1-3, wherein, The adsorption mechanism further includes a second adsorption component, and at least one of the plurality of first adsorption components is connected to the second adsorption component.

11. The robot of claim 10, wherein, Both the first adsorption component and the second adsorption component include a support beam and a plurality of vacuum suction cups, wherein the vacuum suction cups are mounted on the support beam; The multiple vacuum suction cups are spaced apart along the length of the support beam.

12. The robot of claim 2, wherein, The vibration device is any of the following: vacuum cylinder, eccentric motor, electromagnetic vibrator or piezoelectric vibrator.

13. The robot of any one of claims 1-3, wherein, It also includes a distance sensor, which is used to detect the distance between itself and the circuit board adsorbed by the adsorption mechanism. When the detected distance is a preset value, the driving mechanism stops driving.

14. A circuit board processing apparatus characterized by comprising: include: The robot as claimed in any one of claims 1-13.

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