Multi-station PCB polishing robot

Abstract

The utility model discloses a multi -station PCB polishing robot, including L shape base and equal interval fixed connection on its bottom inner wall on a plurality of six -axis machine hand, the arm end fixed mounting of six -axis machine hand has polishing motor, and the output shaft bottom of polishing motor is fixedly connected with polishing disc, install in the L shape base with multi -station PCB support quick solid establishment. The utility model discloses a series of structure are set up, and the synchronous integrated quick control pressure pressure solid and polishing of a plurality of PCBs are convenient for, improve work efficiency, and it is convenient for integrated automatic suction to pull positioning to the bottom of PCB when pressure solid, reduce the clamping solid when its phenomenon of bending upwards, improve the stability of clamping solid, and utilize the mode of control pressure pressure, the safety pressure range is kept inside to the fixed pressure conveniently, to improve the security when fixing, and can be synchronized to a plurality of PCB integrated unlocking, need not personnel fixed and unlocking operation one by one, improve operation convenience and efficiency.

Description

Technical Field

[0001] This utility model relates to the field of PCB board polishing technology, specifically a multi-station PCB board polishing robot. Background Technology

[0002] PCB, or Printed Circuit Board, is an important electronic component. It serves as the support for electronic components and the carrier for their electrical connections. Polishing is an essential process in PCB manufacturing. A polishing robot consists of a six-axis robotic arm, a polishing motor, a polishing disc, and a fixed carrier. The polishing robot drives the polishing disc to move flexibly in multiple directions, and the polishing motor drives the polishing disc to rotate for polishing.

[0003] Existing PCB polishing robots are single-station designs, which have the following shortcomings: they can only perform fixation and polishing operations on a single PCB board at a time, lack a mechanism for simultaneous and stable fixation and polishing of multiple PCB boards, and the individual fixation and unlocking operations are not convenient and efficient. In view of this, this application proposes a multi-station PCB polishing robot to solve the above-mentioned problems. Utility Model Content

[0004] The purpose of this invention is to provide a multi-station PCB board polishing robot to solve the problems mentioned in the background art.

[0005] To achieve the above objectives, this utility model provides the following technical solution: a multi-station PCB board polishing robot, comprising an L-shaped base and multiple six-axis robotic arms fixedly connected at equal intervals to its bottom inner wall. Polishing motors are fixedly mounted on the arm ends of the six-axis robotic arms, and polishing discs are fixedly connected to the bottom ends of the output shafts of the polishing motors. A multi-station PCB board support quick-fix mechanism is installed inside the L-shaped base. The six-axis robotic arms are controlled by an externally connected controller system to drive the corresponding polishing motors and polishing discs to move flexibly in multiple directions. The polishing motors drive the corresponding polishing discs to rotate for polishing work.

[0006] The multi-station PCB board support quick-fix mechanism includes:

[0007] The fixing boxes are in multiple sets and are fixedly connected at equal intervals to the inner wall of the bottom of the L-shaped base. The top and front sides of the fixing boxes are set as openings, and the multiple fixing boxes are respectively located in front of the corresponding six-axis robot arm.

[0008] The box-shaped support plate consists of multiple sets, which are fixedly connected to the top of the corresponding fixed box. The top and right side of the support plate are open, and the bottom inner wall is glued and fixed with an anti-slip pad. The top of the anti-slip pad and the bottom inner wall of the box-shaped support plate are provided with multiple ventilation holes, and the two ventilation holes that are opposite each other are connected.

[0009] The horizontal guide clamping assembly consists of multiple sets, each installed on a corresponding fixing box. The same connecting rod is fixedly connected between two adjacent horizontal guide clamping assemblies, and the fixing box is slidably sleeved on the corresponding connecting rod.

[0010] The pressure-controlled transverse drive assembly is installed inside the L-shaped base and is fixedly connected to the right side of the rightmost transverse guide clamping assembly;

[0011] Multiple sets of leveraged adsorption auxiliary positioning components are fixedly connected to the bottom of corresponding box-shaped support plates. The leveraged adsorption auxiliary positioning components are fixedly connected to the corresponding horizontal guide clamping components. The pressure-controlled horizontal drive component is used to drive the rightmost horizontal guide clamping component to move horizontally and control pressure to the left to clamp it. Multiple connecting rods are set to drive other horizontal guide clamping components to move horizontally synchronously when the rightmost horizontal guide clamping component moves horizontally. Multiple horizontal guide clamping components are used to clamp the corresponding PCB board respectively during horizontal movement. The leveraged adsorption auxiliary positioning components are used to adsorb and pull the bottom of the PCB board through multiple ventilation holes to position it when the corresponding horizontal guide clamping component moves to the left, reducing the upward bending phenomenon during clamping.

[0012] Preferably, the pressure-controlled transverse drive assembly includes a pressure sensor, an electric telescopic rod, and a PLC controller. The electric telescopic rod is embedded and fixed on the inner right side wall of the L-shaped base, the PLC controller is fixedly installed on the inner right side wall of the L-shaped base, and the pressure sensor is fixedly connected to the left end of the extended end of the electric telescopic rod. Both the pressure sensor and the electric telescopic rod are electrically connected to the PLC controller.

[0013] Preferably, the horizontal guide clamping assembly includes an L-shaped clamping plate, an anti-slip rubber block, and a U-shaped guide rod. The L-shaped clamping plate is located on the right side of the corresponding fixing box. The top left side of the L-shaped clamping plate extends into the corresponding box-shaped support plate and is bonded and fixed to the corresponding anti-slip rubber block. The bottom right side of the U-shaped guide rod is welded and fixed to the inner right side wall of the L-shaped clamping plate. The fixing box is slidably sleeved on the corresponding U-shaped guide rod. The two ends of the connecting rod are fixedly connected to the left side of the corresponding U-shaped guide rod and the right side of the L-shaped clamping plate, respectively. The right side of the rightmost L-shaped clamping plate is fixedly connected to the left side of the pressure sensor.

[0014] Preferably, the leveraged adsorption-assisted positioning component includes a rectangular box, a connecting tube, a suction cylinder, and a piston block. The top of the rectangular box is set as an opening and welded and fixed to the bottom of the corresponding box-shaped support plate. The connecting tube is connected and fixed to the bottom right side of the corresponding rectangular box. The suction cylinder is fixedly connected to the bottom of the corresponding rectangular box. The right side of the suction cylinder is set as a sealing structure. The top right side of the suction cylinder is connected and fixed to the bottom end of the corresponding connecting tube. The piston block is sealed and slidably sleeved inside the corresponding suction cylinder. The top right side of the U-shaped guide rod is fixedly connected to the left side of the corresponding piston block.

[0015] Preferably, the two fixing boxes on the right side are provided with horizontal guide holes on the inner left side, and the horizontal guide holes slide and fit with the outer side of the corresponding connecting rods.

[0016] Preferably, a rectangular guide hole is provided on the inner wall of the right side of the fixing box to slide and fit the corresponding U-shaped guide rod on the outside.

[0017] Preferably, the top of the rectangular box is vertically aligned and connected to the corresponding plurality of vent holes.

[0018] Compared with the prior art, the beneficial effects of this utility model are:

[0019] 1. Through the coordinated operation of a six-axis robotic arm, polishing motor, polishing disc, fixing box, box-shaped support plate, anti-slip pad, connecting rod, pressure-controlled horizontal drive assembly, and horizontal guide clamping assembly, multiple PCB boards can be simultaneously and quickly pressure-controlled and polished, and multiple PCB boards can be simultaneously unlocked, eliminating the need for personnel to fix and unlock them one by one, thus improving operational convenience. Furthermore, by utilizing multiple workstations to form a method of simultaneously polishing multiple PCB boards, work efficiency is improved.

[0020] 2. By combining the box-shaped support plate, ventilation holes, leveraged adsorption auxiliary positioning components, and horizontal guide clamping components, the PCB board bottom can be automatically adsorbed and pulled into position during clamping, reducing the upward bending phenomenon during clamping and improving the stability of PCB board clamping. Furthermore, by using pressure control and clamping combined with adsorption positioning, the fixing pressure can be kept within a safe pressure range, thereby improving the safety of fixing.

[0021] This utility model, through a series of structures, facilitates the simultaneous and rapid controlled pressure clamping and polishing of multiple PCB boards, improving work efficiency. It allows for automatic adsorption and positioning of the PCB board's bottom during clamping, reducing upward bending and improving clamping stability. Furthermore, the controlled pressure method ensures the fixing pressure remains within a safe range, enhancing safety during clamping. Finally, it enables simultaneous unlocking of multiple PCB boards, eliminating the need for individual clamping and unlocking operations, thus improving operational convenience and efficiency. Attached Figure Description

[0022] Figure 1 This is a cross-sectional view of the multi-station PCB board polishing robot proposed in this utility model.

[0023] Figure 2 for Figure 1 A magnified structural diagram of part A in the diagram;

[0024] Figure 3This is a three-dimensional structural diagram of the L-shaped base and the fast-fixing mechanism connecting the multi-station PCB board polishing robot proposed in this utility model.

[0025] Figure 4 for Figure 3 A schematic diagram of the right-side structure.

[0026] In the diagram: 1. L-shaped base; 101. Six-axis robot arm; 2. Polishing motor; 201. Polishing disc; 3. Fixing box; 301. Box-shaped support plate; 302. Anti-slip pad; 303. Ventilation hole; 4. L-shaped clamping plate; 401. Anti-slip block; 402. U-shaped guide rod; 403. Connecting rod; 5. Rectangular box; 501. Suction cylinder; 502. Connecting pipe; 503. Piston block; 6. Pressure sensor; 601. Electric telescopic rod; 602. PLC controller. Detailed Implementation

[0027] The technical solutions of the present utility model will be clearly and completely described below with reference to the accompanying drawings of the embodiments. Obviously, the described embodiments are only some embodiments of the present utility model, and not all embodiments. Based on the embodiments of the present utility model, all other embodiments obtained by those of ordinary skill in the art without creative effort are within the protection scope of the present utility model.

[0028] like Figures 1 to 4 As shown, the multi-station PCB board polishing robot proposed in this embodiment includes an L-shaped base 1 and multiple six-axis robotic arms 101 fixedly connected at equal intervals to its bottom inner wall. Polishing motors 2 are fixedly installed at the arm ends of the six-axis robotic arms 101, and polishing discs 201 are fixedly connected to the bottom ends of the output shafts of the polishing motors 2. A multi-station PCB board support quick-fix mechanism is installed inside the L-shaped base 1. The six-axis robotic arms 101 are used to drive the corresponding polishing motors 2 and polishing discs 201 to move flexibly in multiple directions under the control of the corresponding externally connected controller system. The polishing motors 2 are used to drive the corresponding polishing discs 201 to rotate for polishing work.

[0029] The multi-station PCB board support quick-setup mechanism includes:

[0030] The fixing boxes 3 are in multiple sets and are fixedly connected to the bottom inner wall of the L-shaped base 1 at equal intervals. The top and front sides of the fixing boxes 3 are set as openings. The multiple fixing boxes 3 are located in front of the corresponding six-axis robot arm 101.

[0031] The box-shaped support plate 301 consists of multiple sets, which are respectively fixedly connected to the top of the corresponding fixed box 3. The top and right side of the support plate 301 are both open. The bottom inner wall of the support plate 301 is glued and fixed with an anti-slip pad 302. The top of the anti-slip pad 302 and the bottom inner wall of the box-shaped support plate 301 are both provided with multiple ventilation holes 303. Two ventilation holes 303 that are opposite each other are connected.

[0032] The horizontal guide clamping assembly consists of multiple sets, each installed on a corresponding fixed box 3. The same connecting rod 403 is fixedly connected between two adjacent horizontal guide clamping assemblies, and the fixed box 3 is slidably sleeved on the corresponding connecting rod 403. The two fixed boxes 3 on the right side each have a horizontal guide hole on their left inner wall. The horizontal guide hole is slidably sleeved with the outer side of the corresponding connecting rod 403, which allows the connecting rod 403 to pass through and guides it laterally.

[0033] The pressure-controlled transverse drive assembly is installed inside the L-shaped base 1 and is fixedly connected to the right side of the rightmost transverse guide clamping assembly.

[0034] Multiple sets of leveraged adsorption auxiliary positioning components are fixedly connected to the bottom of the corresponding box-shaped support plate 301. The leveraged adsorption auxiliary positioning components are fixedly connected to the corresponding horizontal guide clamping components. The pressure-controlled horizontal drive component is used to drive the rightmost horizontal guide clamping component to move horizontally and control pressure to the left to clamp it. Multiple connecting rods 403 are set to drive other horizontal guide clamping components to move horizontally synchronously when the rightmost horizontal guide clamping component moves horizontally. Multiple horizontal guide clamping components are used to clamp the corresponding PCB board respectively during horizontal movement. The leveraged adsorption auxiliary positioning components are used to adsorb and pull the bottom of the PCB board to position it through multiple ventilation holes 303 when the corresponding horizontal guide clamping component moves to the left, reducing the upward bending phenomenon during clamping.

[0035] Furthermore, such as Figure 2 and 4 As shown, the pressure-controlled horizontal drive assembly includes a pressure sensor 6, an electric telescopic rod 601, and a PLC controller 602. The electric telescopic rod 601 is embedded and fixed on the inner right side wall of the L-shaped base 1, and the PLC controller 602 is fixedly installed on the inner right side wall of the L-shaped base 1. The pressure sensor 6 is fixedly connected to the left end of the extended end of the electric telescopic rod 601. Both the pressure sensor 6 and the electric telescopic rod 601 are electrically connected to the PLC controller 602.

[0036] In this implementation scheme, the pressure sensor 6, the electric telescopic rod 601, and the PLC controller 602 work together. The PLC controller 602 is pre-set to control the closing pressure value of the electric telescopic rod 601. When the electric telescopic rod 601 is started in the forward direction, it drives the pressure sensor 6 to move to the left. The pressure sensor 6 drives the rightmost horizontal guide clamping assembly to move laterally to the left. When it can no longer move to the left, it blocks and restricts the pressure sensor 6. At this time, the pressure sensor 6 detects the lateral pushing and squeezing force applied by the electric telescopic rod 601, converts it into a standard electrical signal, and transmits it to the PLC controller 602. The PLC controller 602 converts the received standard electrical signal into an actual pressure value through analog-to-digital conversion. When the preset pressure value is reached, the PLC controller 602 controls the electric telescopic rod 601 to close, thereby achieving the effect of driving the horizontal guide clamping assembly to move laterally and controlling and pressing it to the left.

[0037] Furthermore, such as Figure 2 , 3 As shown in Figure 4, the horizontal guide clamping assembly includes an L-shaped clamping plate 4, an anti-slip rubber block 401, and a U-shaped guide rod 402. The L-shaped clamping plate 4 is located on the right side of the corresponding fixing box 3. The top left side of the L-shaped clamping plate 4 extends into the corresponding box-shaped support plate 301 and is bonded and fixed to the corresponding anti-slip rubber block 401. The bottom right side of the U-shaped guide rod 402 is welded and fixed to the inner right side of the L-shaped clamping plate 4. The fixing box 3 is slidably sleeved on the corresponding U-shaped guide rod 402. The two ends of the connecting rod 403 are fixedly connected to the left side of the corresponding U-shaped guide rod 402 and the right side of the L-shaped clamping plate 4, respectively. The right side of the rightmost L-shaped clamping plate 4 is fixedly connected to the left side of the pressure sensor 6.

[0038] In this embodiment, a rectangular guide hole is provided on the inner wall of the right side of the fixing box 3, which is slidably fitted to the outer side of the corresponding U-shaped guide rod 402, so as to allow the U-shaped guide rod 402 to pass through and guide its lateral sliding.

[0039] In this embodiment, the L-shaped clamping plate 4, the anti-slip rubber block 401, and the U-shaped guide rod 402 work together. When the pressure sensor 6 moves to the left, it drives the rightmost L-shaped clamping plate 4 to move to the left. The rightmost L-shaped clamping plate 4 drives the corresponding U-shaped guide rod 402 to move to the left. The rightmost U-shaped guide rod 402 drives the L-shaped clamping plate 4 on its left to move to the left through the corresponding connecting rod 403, and so on, so as to achieve the effect of driving multiple L-shaped clamping plates 4 to move to the left synchronously. The multiple L-shaped clamping plates 4 drive multiple anti-slip rubber blocks 401 to press and fix the corresponding PCB boards, so as to achieve the effect of synchronously and quickly fixing multiple PCB boards in one piece.

[0040] Furthermore, such as Figure 2 and 3As shown, the leveraged adsorption-assisted positioning component includes a rectangular box 5, a connecting pipe 502, a suction cylinder 501, and a piston block 503. The top of the rectangular box 5 is set as an opening and is welded and fixed to the bottom of the corresponding box-shaped support plate 301. The connecting pipe 502 is connected and fixed to the bottom right side of the corresponding rectangular box 5. The suction cylinder 501 is fixedly connected to the bottom of the corresponding rectangular box 5. The right side of the suction cylinder 501 is set as a sealing structure. The top right side of the suction cylinder 501 is connected and fixed to the bottom end of the corresponding connecting pipe 502. The piston block 503 is sealed and slidably sleeved inside the corresponding suction cylinder 501. The top right side of the U-shaped guide rod 402 is fixedly connected to the left side of the corresponding piston block 503.

[0041] In this embodiment, the top of the rectangular box 5 is vertically aligned and connected with the corresponding multiple vent holes 303; two sealing rings are bonded to the outside of the piston block 503, and the outside of the sealing rings slides and makes close contact with the inside of the corresponding suction cylinder 501, so as to achieve the effect of sliding and sealing between the outside of the piston block 503 and the inside of the corresponding suction cylinder 501.

[0042] In this embodiment, the rectangular box 5, connecting pipe 502, suction cylinder 501 and piston block 503 work together. When the U-shaped guide rod 402 moves to the left, it drives the corresponding piston block 503 to slide to the left in the suction cylinder 501. The piston block 503 sucks into the rectangular box 5 through the corresponding connecting pipe 502, creating a negative pressure inside. The rectangular box 5 uses multiple corresponding vent holes 303 to adsorb, pull and position the bottom of the PCB board, reducing the upward bending phenomenon during clamping and improving the stability of the PCB board clamping.

[0043] It should be noted that the PLC controller 602 preferably adopts the Siemens S7-200SMART programmable controller with integrated analog input module, which can receive the standard electrical signal output by the pressure sensor 6 and convert it into the actual pressure value through the integrated analog-to-digital conversion function; the pressure sensor 6 is preferably a plate (pressure type) load cell of the Transcell BSS series.

[0044] The 101 six-axis robot preferably uses the LM1850-3C-6 six-axis robot. This product is designed with six axes and has six degrees of freedom, giving it all-round operation capabilities. It can complete complex movements in confined spaces and can adapt to various grinding scenarios such as flat surface grinding, curved surface grinding, and handling of irregularly shaped workpieces. At the same time, it ensures accuracy and stability, and has a wide range of applications. It can be used for motion control work during the polishing and grinding of various parts surfaces.

[0045] Furthermore, the electrical connection between the electric telescopic rod 601 and the PLC controller 602 is achieved through wires and a servo driver. The preferred servo driver is a Siemens V90 servo driver, a common driver for motors and electric actuators used with Siemens programmable controllers, meeting the direct control requirements of the programmable controller over the electric telescopic rod 601. The pressure sensor 6 is electrically connected to the PLC controller 602 via a flexible wire. Given that the pressure sensor 6 is a moving component, the connecting flexible wire has a pre-reserved bending length to meet its displacement requirements. This method of establishing an electrical connection controlled by the PLC controller 602 via a direct wire connection is a mature and well-known technology for conventional wired control of the controller, and will not be elaborated further here.

[0046] Regarding power supply, given that the PCB polishing site is a PCB substrate production and processing site with sufficient power supply measures and conditions, all electrical components of this device are connected to the on-site mains power and connected to the power input interface of each device through conventional power distribution devices such as circuit breakers, contactors, and power modules (not marked in the figure) to form a complete power supply circuit. This power supply scheme is a conventional power distribution method for industrial equipment and is a mature and well-known technical means, so it will not be described in detail here.

[0047] The usage method of this embodiment is as follows: When using this multi-station PCB board polishing robot, multiple PCB boards are placed on top of corresponding anti-slip rubber pads 302 and abutted against the inner left and rear sides of the corresponding box-shaped support plate 301. The pressure value for controlling the closing of the electric telescopic rod 601 is preset using the PLC controller 602. When the operator starts the electric telescopic rod 601 in the forward direction, it drives the pressure sensor 6 to move to the left. The pressure sensor 6 drives the rightmost L-shaped clamping plate 4 to move to the left. The rightmost L-shaped clamping plate 4 drives the corresponding U-shaped guide rod 402 to move to the left. The rightmost U-shaped guide rod 402 drives the L-shaped clamping plate 4 on its left to move to the left through the corresponding connecting rod 403, and so on, to achieve the effect of driving multiple L-shaped clamping plates 4 to move to the left synchronously. Multiple L-shaped clamping plates 4 drive multiple anti-slip rubber pads 302 to move to the left. The sliding rubber blocks 401 press and solidify the corresponding PCB boards respectively. In the solidified state, the L-shaped clamping plate 4 is blocked and restricted by the corresponding PCB board. At this time, the pressure sensor 6 detects the lateral pushing and squeezing force applied by the electric telescopic rod 601, converts it into a standard electrical signal and transmits it to the PLC controller 602. The PLC controller 602 converts the received standard electrical signal into an actual pressure value through analog-to-digital conversion. When the preset pressure value is reached, the PLC controller 602 controls the electric telescopic rod 601 to close, realizing the effect of synchronous and rapid solidification of multiple PCB boards. Moreover, by using the pressure control method, it is convenient to preset the pressure control within the safe pressure range of multiple PCB boards with different predicted values, and then carry out the safe pressure control and solidification work. This makes it easy to keep the fixing pressure within the safe pressure range, thereby improving the safety of fixing.

[0048] When the U-shaped guide rod 402 moves to the left, it drives the corresponding piston block 503 to slide to the left inside the suction cylinder 501. The piston block 503 draws into the rectangular box 5 through the corresponding connecting pipe 502, creating a negative pressure inside. The rectangular box 5 then uses multiple ventilation holes 303 to adsorb, pull, and position the bottom of the PCB board, achieving the effect of automatically adsorbing, pulling, and positioning the bottom of the PCB board during clamping. This reduces the upward bending phenomenon during clamping and further improves the stability of the PCB board clamping. For the setting of the final control pressure, personnel can measure the pressure under a safe and stable state during pre-clamping. This final pressure includes the damping force formed by multi-point suction and the force shared by multi-point clamping. If the pre-measured pressure is between two and three pressures to ensure safe adsorption positioning and clamping, the pressure can be arbitrarily set within this pressure range.

[0049] After fixing, multiple six-axis robotic arms 101 can be used to drive the corresponding polishing motors 2 and polishing discs 201 to move flexibly in multiple directions. The polishing motors 2 drive the corresponding polishing discs 201 to rotate for polishing. After use, when unfixing, the electric telescopic rod 601 is started in the reverse direction, which is completely opposite to the forward start of the electric telescopic rod 601. At this time, multiple L-shaped clamps 4 all change to move back to the right, and release the pressure state at multiple points simultaneously. At this time, multiple piston blocks 503 all move back to the right to release the suction force, so multiple PCB boards can be taken out and replaced. This achieves the effect of simultaneously unlocking multiple PCB boards as a whole. By simultaneously fixing and unlocking multiple PCB boards as a whole, there is no need for personnel to fix and unlock them one by one, which improves the convenience of operation. Moreover, by using multiple workstations to form multiple PCB boards for simultaneous polishing, work efficiency is improved.

[0050] Finally, it should be noted that the above description is merely a preferred embodiment of this utility model and is not intended to limit the utility model. Although the utility model has been described in detail with reference to the foregoing embodiments, those skilled in the art can still modify the technical solutions described in the foregoing embodiments or make equivalent substitutions for some of the technical features. Any modifications, equivalent substitutions, improvements, etc., made within the spirit and principles of this utility model should be included within the protection scope of this utility model.

Claims

1. A multi-station PCB board polishing robot, comprising an L-shaped base (1) and multiple six-axis robotic arms (101) fixedly connected at equal intervals to the inner wall of its bottom, wherein a polishing motor (2) is fixedly mounted on the arm end of each six-axis robotic arm (101), and a polishing disc (201) is fixedly connected to the bottom end of the output shaft of the polishing motor (2), characterized in that: The L-shaped base (1) is equipped with a multi-station PCB board support quick-fix mechanism; The multi-station PCB board support quick-fix mechanism includes: The fixing boxes (3) are in multiple sets and are fixedly connected at equal intervals to the bottom inner wall of the L-shaped base (1). The top and front sides of the fixing boxes (3) are set as openings. The multiple fixing boxes (3) are respectively located in front of the corresponding six-axis robot (101). Box-shaped support plate (301) consists of multiple sets, which are fixedly connected to the top of the corresponding fixed box (3). The top and right side of the support plate are both open. Anti-slip pads (302) are glued and fixed on the bottom inner wall. Multiple ventilation holes (303) are opened on the top of the anti-slip pads (302) and the bottom inner wall of the box-shaped support plate (301). Two ventilation holes (303) that are opposite each other are connected. The horizontal guide clamping assembly consists of multiple sets, which are respectively installed on the corresponding fixed box (3). The same connecting rod (403) is fixedly connected between two adjacent horizontal guide clamping assemblies, and the fixed box (3) is slidably sleeved on the corresponding connecting rod (403). The pressure-controlled transverse drive assembly is installed inside the L-shaped base (1) and is fixedly connected to the right side of the rightmost transverse guide clamping assembly; Multiple sets of leveraged adsorption auxiliary positioning components are fixedly connected to the bottom of the corresponding box-shaped support plate (301), and the leveraged adsorption auxiliary positioning components are fixedly connected to the corresponding horizontal guide clamping components.

2. The multi-station PCB board polishing robot according to claim 1, characterized in that: The pressure-controlled transverse drive assembly includes a pressure sensor (6), an electric telescopic rod (601), and a PLC controller (602). The electric telescopic rod (601) is embedded and fixed on the inner right side of the L-shaped base (1). The PLC controller (602) is fixedly installed on the inner right side of the L-shaped base (1). The pressure sensor (6) is fixedly connected to the left end of the extended end of the electric telescopic rod (601). Both the pressure sensor (6) and the electric telescopic rod (601) are electrically connected to the PLC controller (602).

3. The multi-station PCB board polishing robot according to claim 2, characterized in that: The horizontal guide clamping assembly includes an L-shaped clamp (4), an anti-slip rubber block (401), and a U-shaped guide rod (402). The L-shaped clamp (4) is located on the right side of the corresponding fixing box (3). The top left side of the L-shaped clamp (4) extends into the corresponding box-shaped support plate (301) and is bonded and fixed to the corresponding anti-slip rubber block (401). The bottom right side of the U-shaped guide rod (402) is welded and fixed to the inner right side of the L-shaped clamp (4). The fixing box (3) is slidably sleeved on the corresponding U-shaped guide rod (402). The two ends of the connecting rod (403) are fixedly connected to the left side of the corresponding U-shaped guide rod (402) and the right side of the L-shaped clamp (4), respectively. The right side of the rightmost L-shaped clamp (4) is fixedly connected to the left side of the pressure sensor (6).

4. The multi-station PCB board polishing robot according to claim 3, characterized in that: The leveraged adsorption-assisted positioning component includes a rectangular box (5), a connecting pipe (502), a suction cylinder (501), and a piston block (503). The top of the rectangular box (5) is set as an opening and welded and fixed to the bottom of the corresponding box-shaped support plate (301). The connecting pipe (502) is connected and fixed to the bottom right side of the corresponding rectangular box (5). The suction cylinder (501) is fixedly connected to the bottom of the corresponding rectangular box (5). The right side of the suction cylinder (501) is set as a sealing structure. The top right side of the suction cylinder (501) is connected and fixed to the bottom end of the corresponding connecting pipe (502). The piston block (503) is sealed and slidably sleeved inside the corresponding suction cylinder (501). The top right side of the U-shaped guide rod (402) is fixedly connected to the left side of the corresponding piston block (503).

5. The multi-station PCB board polishing robot according to claim 1, characterized in that: The two fixed boxes (3) on the right side are provided with horizontal guide holes on the inner left side, and the horizontal guide holes slide together with the outer side of the corresponding connecting rod (403).

6. The multi-station PCB board polishing robot according to claim 3, characterized in that: The inner wall of the right side of the fixed box (3) is provided with a rectangular guide hole that slides and fits on the outer side of the corresponding U-shaped guide rod (402).

7. The multi-station PCB board polishing robot according to claim 4, characterized in that: The top of the rectangular box (5) is vertically aligned and connected to the corresponding multiple ventilation holes (303).

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