CN111846942B

CN111846942B - Anti-falling sucking disc frame clamping mechanism of PCB (printed circuit board) collecting and releasing machine

Info

Publication number: CN111846942B
Application number: CN202010496134.2A
Authority: CN
Inventors: 党振
Original assignee: Shenzhen Fudewai Intelligent Technology Co Ltd
Current assignee: Shenzhen Fudewai Intelligent Technology Co Ltd
Priority date: 2020-06-03
Filing date: 2020-06-03
Publication date: 2021-05-14
Anticipated expiration: 2040-06-03
Also published as: CN111846942A

Abstract

The invention belongs to the technical field of PCB production and processing, and particularly relates to a chuck rack clamping plate mechanism of a falling-proof PCB board collecting and releasing machine, which comprises a chuck rack and a lifting driving mechanism, wherein the chuck rack is arranged on a mounting seat in a reciprocating manner along the vertical direction, the lifting driving mechanism is used for driving the chuck rack to reciprocate, a chuck group is arranged on the chuck rack, and a suction head of the chuck group is arranged downwards; the suction disc frame is also provided with a clamping jaw used for clamping the side edge of the PCB. According to the invention, the clamping jaw is additionally arranged on the basis of the traditional PCB manipulator, and the manipulator can clamp the edge of the PCB after lifting the PCB by a certain height, so that the PCB to be grabbed is effectively prevented from falling off in the transportation process.

Description

Anti-falling sucking disc frame clamping mechanism of PCB (printed circuit board) collecting and releasing machine

Technical Field

The invention belongs to the technical field of PCB production and processing, and particularly relates to a sucking disc frame clamping mechanism of an anti-falling PCB (printed circuit board) collecting and releasing machine.

Background

With the advance of intelligent manufacturing, the requirements of PCB production factories on automation equipment are higher and higher, and meanwhile, along with the use of a large number of robots in PCB production, the equipment structure is simpler and simpler, and the stability of the equipment is higher and higher. However, some problems still exist in a PCB production factory, such as more holes and heavier quality of PCBs manufactured by some processes, and currently, the PCB is mainly transported by a suction cup adsorption manner, so that the situation of board falling easily occurs due to vacuum failure when the PCB is transported rapidly by using a conventional suction cup structure, and the PCB is discarded or boards are manually collected and released, thereby increasing the cost; with the requirement of intellectualization, the traditional sucker grabbing mode cannot meet the requirement of factory intellectualization.

Disclosure of Invention

The invention aims to provide a clamping plate mechanism of a sucking disc frame of an anti-falling PCB (printed circuit board) collecting and releasing machine, which can prevent a PCB from falling in the process of grabbing the PCB.

The technical scheme adopted by the invention is as follows:

a clamping plate mechanism of a sucker frame of an anti-falling PCB board collecting and releasing machine comprises a sucker frame which is arranged on a mounting seat in a reciprocating mode along the vertical direction, and a lifting driving mechanism used for driving the sucker frame to reciprocate, wherein a sucker group is arranged on the sucker frame, and a sucker of the sucker group is arranged downwards; the suction disc frame is also provided with a clamping jaw used for clamping the side edge of the PCB.

The clamping jaw includes base, slide, first connecting rod, second connecting rod and cylinder, base and sucking disc frame rigid coupling, horizontal direction and base sliding connection are followed to the slide, the one end of first connecting rod is articulated with the slide, and the middle part of first connecting rod is articulated with the one end of second connecting rod, and the other end of first connecting rod is equipped with L type chuck, and the other end and the base of second connecting rod are articulated, are equipped with on the second connecting rod to constitute the clamp splice of opening and shutting action with L type chuck, the cylinder is fixed on the base, and the piston rod of cylinder is articulated with the slide.

Still include the air knife subassembly, the air knife subassembly is including the shower nozzle that has flat air outlet, shower nozzle and high pressurized air source intercommunication, the shower nozzle is located the edge of the adsorbed PCB board of sucking disc group, and the edge setting of flat air outlet towards this PCB board, still includes the mount with the mount pad rigid coupling, fixed mounting with the adjustable shower nozzle is on the mount, the sucking disc frame has absorption station and the lifting station that sets up in proper order from bottom to top for the mount, and the sucking head of sucking disc group when the sucking disc frame is located the absorption station laminates with the superiors' PCB board that the thing bench piled up, the sucking disc frame be located the lifting station the adsorbed PCB board of sucking disc group the bottom surface with the flat air outlet parallel and level of shower nozzle.

The linkage valve assembly is arranged between the spray head and the high-pressure air source, and is assembled to be disconnected after the spray head and the high-pressure air source are communicated for a period of time when the lifting driving mechanism drives the suction disc frame to descend to the suction station and then ascend to the lifting station from the suction station.

The linkage valve assembly comprises a valve shell, a first valve core and a second valve core, wherein a first valve hole and a second valve hole which are respectively in sliding fit with the first valve core and the second valve core are formed in the valve shell, a first annular groove is formed in the first valve core, a second annular groove is formed in the second valve core, the first valve hole and the second valve hole are communicated through a first pore passage, the second valve hole is communicated with an air inlet pipe through a second pore passage, the air inlet pipe is communicated with a high-pressure air source, the first valve hole is communicated with an air outlet pipe through a third pore passage, and the air outlet pipe is communicated with a spray head; the first valve core is provided with a first station and a second station, the second valve core is provided with a station a and a station b, when the first valve core is positioned at the first station, the first hole channel is communicated with the third hole channel through the first annular groove, and when the first valve core is positioned at the second station, the first annular groove is staggered with the first hole channel and the third hole channel, so that the first hole channel is disconnected with the third hole channel; when the second valve core is positioned at the station a, the first hole channel is communicated with the second hole channel through the second ring groove, and when the second valve core is positioned at the station b, the second ring groove is staggered with the first hole channel and the second hole channel, so that the first hole channel and the second hole channel are disconnected; a first elastic unit is arranged between the first valve core and the valve shell, and the first elastic unit is assembled to enable the elastic force of the first elastic unit to drive the first valve core to move from the first station to the second station; a second elastic unit is arranged between the second valve core and the valve shell, and the second elastic unit is assembled to enable the elastic force of the second elastic unit to drive the second valve core to move from the station a to the station b; the sucking disc frame is provided with a driving block which is in blocking connection with the first valve core and the second valve core; the driving block is assembled to push the first valve core from the first station to the second station and push the second valve core from the second station to the first station when the sucker frame moves from the lifting station to the sucking station; a locking mechanism is further arranged between the first valve core and the valve shell, the locking mechanism is assembled to enable the first valve core to be kept at the second station when the driving block pushes the first valve core to the second station from the first station, and the locking mechanism can release the first valve core to enable the first valve core to move from the second station to the first station under the action of the first elastic unit when the sucker frame moves upwards from the suction station to the lifting station; and a delay locking mechanism is arranged between the second valve core and the valve shell, the delay locking mechanism is assembled to be capable of keeping the second valve core at the station a when the driving block pushes the second valve core from the station b to the station a for delay, and the delay locking mechanism releases the second valve core to enable the second valve core to move from the station a to the station b under the action of the second elastic unit after the first valve core returns to the station from the station two and is delayed for a preset time.

Locking mechanism includes the first ring groove of seting up on the first case to and follow the first cardboard of first case radial slip setting in the valve casing, be equipped with the through-hole that supplies first case to pass and the U type groove that link up with the through-hole on the first cardboard, the aperture of through-hole is greater than the external diameter of first case, and the width in U type groove is less than the external diameter of first case and is greater than the tank bottom anchor ring diameter of first ring groove, be equipped with the third elastic unit between first cardboard and the valve casing, the third elastic unit is assembled and can orders about U type groove for its elasticity and insert in first ring groove, still be equipped with first wedge on the first cardboard, be equipped with the first wedge driving block that keeps off with first wedge on the sucking disc frame, first wedge and first wedge driving block are assembled and can extrude when sucking disc frame from absorbing the station and ascending to the lifting station first wedge driving block make U type groove follow first wedge and drive first cardboard slip The annular clamping groove is drawn out.

The time-delay locking mechanism comprises a third valve core arranged in a valve shell in a sliding manner along the radial direction of the second valve core, a locking pin is arranged on one side, facing the second valve core, of the third valve core, a second annular clamping groove matched with the locking pin is arranged on the second valve core, a fourth elastic unit is arranged between the third valve core and the valve shell, the fourth elastic unit is assembled into a structure that the elastic force of the fourth elastic unit can drive the locking pin to be drawn out from the second annular clamping groove, a cavity on one side, facing back, of the third valve core and the second valve core is communicated with a first valve hole through a fourth hole, the first valve hole is communicated with an air inlet branch pipe through a fifth hole, the air inlet branch pipe is communicated with a high-pressure air source, the first valve hole is communicated with the atmosphere through a damping hole, a third annular groove is further arranged on the first valve core, when the first valve core is positioned at the second station, the fourth hole is communicated with the fifth, the high-pressure gas pushes the third valve core to slide towards the direction of the second valve core, so that the locking pin is inserted into the second annular clamping groove and compresses the fourth elastic unit, when the first valve core is positioned at the working position, the fourth hole is communicated with the damping hole through the third annular groove, at the moment, the chamber where the third valve core is positioned is decompressed through the damping hole, and the third valve core moves towards the direction far away from the second valve core under the action of the fourth elastic unit, so that the locking pin is drawn out of the second annular clamping groove.

The number of the spray heads is three, wherein two spray heads are arranged towards two adjacent side edges of the PCB; the other nozzle is arranged towards the corner between the two adjacent side edges, a positioning block is also arranged on the diagonal of the corner, the positioning block is fixedly connected with the sucking disc frame, and the positioning block is blocked and connected with the side surface of the corner of the PCB; even there is a vertical guide arm on the locating piece, the guiding hole sliding connection who sets up on vertical guide arm and the valve casing, be equipped with the fifth elastic unit between vertical guide arm and the valve casing, the fifth elastic unit is assembled and can orders about vertical guide arm upwards sliding for its elasticity, and when the sucking disc frame was down to absorbing the station from the lifting station, the drive block can push vertical guide arm to the low level downwards, locating piece and the PCB board top surface parallel and level of putting on the thing bench during this low level, still be equipped with locking mechanism on the valve casing, locking mechanism is assembled and can make vertical guide arm keep at this low level when the drive block pushes vertical guide arm to the low level, and locking mechanism can make it go upward under fifth elastic unit's effect with vertical guide arm release when the second valve core is moved to station b by station an.

The locking mechanism comprises a third annular clamping groove formed in the vertical guide rod and a sliding plate arranged along the vertical guide rod in a radial sliding mode, a second clamping plate is arranged on the sliding plate, the second clamping plate is connected with the sliding plate in a sliding mode and slides in a square mode to be parallel to the sliding direction of the sliding plate, a locking hole for the vertical guide rod to penetrate through is formed in the second clamping plate, the aperture of the locking hole is larger than the outer diameter of the vertical guide rod, a sixth elastic unit is arranged between the second clamping plate and the sliding plate, a seventh elastic unit is arranged between the sliding plate and the valve shell, a second wedge-shaped block is further arranged on the sliding plate, a second wedge-shaped driving block matched with the second wedge-shaped block is fixedly connected onto the second valve core, when the second valve core moves from the station b to the station a, the second wedge-shaped driving block extrudes the second wedge-shaped block to enable the sliding plate to slide and compress the seventh elastic unit, and at the moment, if the second clamping plate, if the second clamping plate is staggered with the third annular clamping groove, the second clamping plate compresses the sixth elastic unit under the blocking of the guide rod; when the second valve core moves from the station a to the station b, the second wedge-shaped driving block is separated from the second wedge-shaped block, and the sliding plate drives the second clamping plate to integrally slide under the action of the seventh elastic unit to enable the locking hole to be coaxial with the guide rod.

The sucking disc frame comprises a first cross bar and a second cross bar which are arranged in parallel, wherein the first cross bar is fixed on a slide block of a horizontally arranged electric track, and the second cross bar is fixedly connected with a slide rail of the electric track; one of the sprayer towards the side edge of the PCB and the sprayer towards the corner of the PCB are connected with the fixing frame in a sliding mode through the sliding support, the sliding direction of the sprayer is parallel to the sliding direction of the first cross rod, the sliding support is provided with a vertical guide pillar, and the vertical guide pillar is in vertical sliding fit with a guide sleeve mechanism arranged on the first cross rod.

The invention has the technical effects that: according to the invention, the clamping jaw is additionally arranged on the basis of the traditional PCB manipulator, and the manipulator can clamp the edge of the PCB after lifting the PCB by a certain height, so that the PCB to be grabbed is effectively prevented from falling off in the transportation process.

Drawings

FIG. 1 is a top view of a chuck frame clamping mechanism of a drop-proof PCB retractable board machine provided by an embodiment of the invention;

FIG. 2 is a perspective view of a jaw provided by an embodiment of the present invention;

FIG. 3 is a schematic diagram of a jaw in use provided by an embodiment of the present invention;

FIG. 4 is a perspective view of a robot provided by an embodiment of the present invention;

figure 5 is another perspective view of a robot provided by an embodiment of the present invention;

FIG. 6 is a further perspective view of a robot provided by an embodiment of the present invention;

FIG. 7 is a perspective view of a ganged valve assembly provided by an embodiment of the present invention;

FIG. 8 is another perspective view of a linkage valve assembly provided by an embodiment of the present invention;

FIG. 9 is a perspective view of a locking mechanism provided by an embodiment of the present invention;

FIG. 10 is a perspective view of a locking mechanism provided by an embodiment of the present invention;

FIG. 11 is a cross-sectional view of a ganged valve assembly provided by an embodiment of the present invention;

fig. 12 is a sectional view of a positioning and fitting structure provided by an embodiment of the present invention.

Detailed Description

In order that the objects and advantages of the invention will be more clearly understood, the following description is given in conjunction with the accompanying examples. It is to be understood that the following text is merely illustrative of one or more specific embodiments of the invention and does not strictly limit the scope of the invention as specifically claimed.

As shown in fig. 1, the clamping plate mechanism of the suction cup holder of the anti-dropping PCB board collecting and releasing machine comprises a suction cup holder which is arranged on a mounting seat 10 in a reciprocating manner along the vertical direction, and a lifting driving mechanism 11 for driving the suction cup holder to reciprocate, wherein a suction cup group 201 is arranged on the suction cup holder, and a suction head of the suction cup group 201 is arranged downwards; the chuck frame is further provided with a clamping jaw 80 for clamping the side edge of the PCB. According to the invention, the clamping jaw 80 is additionally arranged on the basis of the traditional PCB manipulator, and the manipulator can clamp the edge of the PCB after lifting the PCB by a certain height, so that the PCB to be grabbed can be effectively prevented from falling off in the transportation process.

Preferably, as shown in fig. 2 and 3, the clamping jaw 80 includes a base 81, a sliding seat 82, a first connecting rod 83, a second connecting rod 84, and a cylinder 85, the base 81 is fixedly connected to the suction cup holder, the sliding seat 82 is connected to the base 81 in a sliding manner along a horizontal direction, one end of the first connecting rod 83 is hinged to the sliding seat 82, the middle of the first connecting rod 83 is hinged to one end of the second connecting rod 84, an L-shaped chuck 86 is disposed at the other end of the first connecting rod 83, the other end of the second connecting rod 84 is hinged to the base 81, a clamping block 87 which forms an opening and closing action with the L-shaped chuck 86 is disposed on the second connecting rod 84, the cylinder 85 is fixed to the base 81, and a piston rod of the cylinder 85 is.

Furthermore, as shown in 4, 5 and 6, in order to prevent the bottom of the PCB to be grabbed from adsorbing redundant PCB due to vacuum, static electricity and other factors, the invention is also provided with a wind knife assembly, the air knife component comprises a spray head 50 with a flat air outlet, the spray head 50 is communicated with a high-pressure air source, the spray head 50 is positioned at the edge of the PCB adsorbed by the sucker group 201, and the flat air outlet is arranged towards the edge of the PCB, and also comprises a fixed frame 30 fixedly connected with the mounting seat 10, fixed mounting with adjustable shower nozzle 50 is on mount 30, the sucking disc frame has absorption station and lifting station that sets up in proper order from bottom to top for mount 30, sucking disc frame sucking disc group 201's suction head when being located the absorption station with put the laminating of the superiors PCB board that piles up on the thing bench, sucking disc frame sucking disc group 201 adsorbed PCB board's bottom surface when being located the lifting station with shower nozzle 50's flat air outlet parallel and level. When the manipulator snatchs the PCB board, can will wait to snatch the PCB board that PCB board below is absorbent and wait to snatch the PCB board and blow off, effectively avoided once snatching the condition of two PCB boards.

Further, as shown in fig. 7, 8 and 11, a linkage valve assembly 40 is arranged between the spray head 50 and the high-pressure air source, and the linkage valve assembly 40 is configured such that when the lifting driving mechanism 11 drives the suction disc holder to descend from the lifting station to the suction station and then ascend from the suction station to the lifting station, the linkage valve assembly 40 can connect the spray head 50 with the high-pressure air source for a period of time and then disconnect the spray head.

Specifically, as shown in fig. 11, the linkage valve assembly 40 includes a valve housing 43, a first valve core 41 and a second valve core 42, a first valve hole and a second valve hole which are respectively in sliding fit with the first valve core 41 and the second valve core 42 are formed in the valve housing 43, a first annular groove 411 is formed in the first valve core 41, a second annular groove 421 is formed in the second valve core 42, the first valve hole and the second valve hole are communicated through a first duct 431, the second valve hole is communicated with an air inlet pipe 72 through a second duct 433, the air inlet pipe 72 is communicated with a high-pressure air source, the first valve hole is communicated with an air outlet pipe 71 through a third duct 432, and the air outlet pipe 71 is communicated with the spray head 50; the first valve core 41 has a first position and a second position, the second valve core 42 has a position a and a position b, when the first valve core 41 is positioned at the first position, the first hole channel 431 is communicated with the third hole channel 432 through the first annular groove 411, and when the first valve core 41 is positioned at the second position, the first annular groove 411 is staggered with the first hole channel 431 and the third hole channel 432, so that the first hole channel 431 and the third hole channel 432 are disconnected; when the second valve core 42 is positioned at the position a, the first hole 431 is communicated with the second hole 433 through the second ring groove 421, and when the second valve core 42 is positioned at the position b, the second ring groove 421 is staggered with the first hole 431 and the second hole 433, so that the first hole 431 and the second hole 433 are disconnected; a first elastic unit 44 is arranged between the first valve core 41 and the valve casing 43, and the first elastic unit 44 is assembled to enable the elastic force of the first elastic unit to drive the first valve core 41 to move from the working position to the working position; a second elastic unit 45 is arranged between the second valve core 42 and the valve casing 43, and the second elastic unit 45 is assembled to enable the elastic force of the second elastic unit to drive the second valve core 42 to move from the working position a to the working position b; the sucking disc frame is provided with a driving block 48, and the driving block 48 is in blocking connection with the first valve core 41 and the second valve core 42; the driving block 48 is configured such that when the suction cup holder moves from the lifting station to the suction station, the driving block 48 can push the first valve core 41 from the first station to the second station, and push the second valve core 42 from the second station to the first station; a locking mechanism is further arranged between the first valve core 41 and the valve casing 43, and is assembled to enable the first valve core 41 to be kept at the second station when the driving block 48 pushes the first valve core 41 to the second station from the first station, and enable the first valve core 41 to be released to enable the first valve core 41 to move from the second station to the first station under the action of the first elastic unit 44 when the suction cup frame moves upwards from the suction station to the lifting station; and a delay locking mechanism is arranged between the second valve core 42 and the valve housing 43, the delay locking mechanism is assembled to be capable of keeping the second valve core 42 at the working position a when the driving block 48 pushes the second valve core 42 from the working position b to the working position a for delay, and the delay locking mechanism releases the second valve core 42 to enable the second valve core 42 to move from the working position a to the working position b under the action of the second elastic unit 45 after the first valve core 41 returns to the working position from the working position two and is delayed for a preset time. The invention realizes the connection and disconnection of the air passage through the alternate movement of the first valve core 41 and the second valve core 42, and the principle is as follows: when the suction cup frame moves downwards, the first valve core 41 is disconnected, the second valve core 42 is communicated, the first valve core 41 is locked under the action of the locking mechanism, the second valve core 42 is locked under the action of the delay locking mechanism, in the ascending process of the suction cup frame, the first valve core 41 and the second valve core 42 are both in a locking state, so that the first valve core 41 and the second valve core 42 cannot ascend immediately, when the suction cup frame moves upwards to a preset position, the locking mechanism is unlocked, the first valve core 41 is firstly opened at the moment to enable the main gas path to be communicated, and after the time of one end of the main gas path communication, the locking mechanism releases the second valve core 42 to enable the second valve core 42 to be closed, the main gas path is disconnected at the moment, and therefore staged gas injection of the spray head 50 is achieved.

Preferably, as shown in fig. 9, the locking mechanism includes a first annular groove 413 formed in the first valve core 41, and a first clamping plate 49 arranged in the valve housing 43 in a radially sliding manner along the first valve core 41, a through hole for the first valve core 41 to pass through and a U-shaped groove 494 penetrating through the through hole are formed in the first clamping plate 49, a diameter of the through hole is larger than an outer diameter of the first valve core 41, a width of the U-shaped groove 494 is smaller than the outer diameter of the first valve core 41 and larger than a groove bottom annular surface of the first annular groove 413, a third elastic unit 491 is arranged between the first clamping plate 49 and the valve housing 43, the third elastic unit 491 is assembled such that an elastic force thereof can drive the U-shaped groove 494 to be inserted into the first annular groove 413, a first wedge-shaped block 492 is further arranged on the first clamping plate 49, a first wedge-shaped driving block 493 which is blocked with the first wedge-shaped block 492 is arranged on the suction frame, and the first wedge-shaped driving block 492 and the first wedge-shaped driving block 493 are assembled such that the suction The first wedge driver 493 is capable of compressing the first wedge 492 and driving the first catch plate 49 to slide to withdraw the U-shaped slot 494 from the first annular catch groove 413.

Preferably, as shown in fig. 11, the delay locking mechanism includes a third valve element 46 slidably disposed in the valve housing 43 along the radial direction of the second valve element 42, a locking pin 461 is disposed on a side of the third valve element 46 facing the second valve element 42, a second annular groove 422 cooperating with the locking pin 461 is disposed on the second valve element 42, a fourth resilient unit 47 is disposed between the third valve element 46 and the valve housing 43, the fourth resilient unit 47 is configured such that the resilient force thereof can urge the locking pin 461 to be drawn out of the second annular groove 422, chambers on the back sides of the third valve element 46 and the second valve element 42 are communicated with the first valve hole through a fourth hole 434, the first valve hole is communicated with the intake branch pipe 73 through a fifth hole 435, the intake branch pipe 73 is communicated with the high-pressure air source, the first valve hole is communicated with the atmosphere through a damping hole 436, a third groove 412 is further disposed on the first valve element 41, and the fourth hole 434 is communicated with the fifth hole 435 through the third groove 412 when the first valve element 41 is located at the second position, when the high-pressure gas enters the chamber of the third spool 46, the high-pressure gas pushes the third spool 46 to slide towards the second spool 42, so that the locking pin 461 is inserted into the second annular clamping groove 422 and compresses the fourth elastic unit 47, when the first spool 41 is located at the working position, the fourth hole 434 is communicated with the damping hole 436 through the third annular groove 412, the chamber of the third spool 46 is vented through the damping hole 436, and the third spool 46 moves away from the second spool 42 under the action of the fourth elastic unit 47, so that the locking pin 461 is extracted from the second annular clamping groove 422.

Further, as shown in fig. 3, 6 and 12, three spray heads 50 are provided, wherein two spray heads 50 are arranged towards two adjacent side edges of the PCB; the other nozzle 50 is arranged towards the corner between the two adjacent side edges, a positioning block 60 is further arranged on the diagonal of the corner, the positioning block 60 is fixedly connected with the sucking disc frame, and the positioning block 60 is in blocking connection with the side face of the corner of the PCB; the positioning block 60 is connected with a vertical guide rod 61, the vertical guide rod 61 is connected with a guide hole arranged on the valve shell 43 in a sliding way, a fifth elastic unit 62 is provided between the vertical guide rod 61 and the valve housing 43, the fifth elastic unit 62 is assembled such that its elastic force can urge the vertical guide rod 61 to slide upward, when the sucker frame moves downwards from the lifting station to the sucking station, the driving block 48 can push the vertical guide rod 61 downwards to a low position, the positioning block 60 is flush with the top surface of the PCB board on the object placing table in the low position, the valve casing 43 is further provided with a locking mechanism, the locking mechanism is configured to hold the vertical guide 61 in the lowered position when the drive block 48 pushes the vertical guide 61 to the lowered position, and the locking mechanism is able to release vertical guide 61 to move it upward under the action of fifth elastic unit 62 when second valve core 42 moves from station a to station b. The positioning block 60 of the invention can prevent the PCB adsorbed on the lower layer from being blown to the side when the spray head 50 blows air, the positioning block 60 can guide the PCB on the lower layer to enable the PCB to fall on the original stacking position, in addition, the positioning block 60 of the invention is arranged in a vertically movable structure, when the sucker frame descends, the positioning block 60 can be pressed down to enable the positioning block 60 to be flush with the top surface of the stacked PCB, and after the spray head 50 blows off the PCB adsorbed on the lower layer, the positioning block 60 can be automatically lifted, so that other equipment can be avoided in the movement process of the manipulator.

Specifically, as shown in fig. 12, the locking mechanism includes a third annular engaging groove 611 formed on the vertical guide rod 61 and a sliding plate 63 arranged to slide along the radial direction of the vertical guide rod 61, the sliding plate 63 is provided with a second engaging plate 64, the second engaging plate 64 is connected to the sliding plate 63 in a sliding manner, and the sliding direction of the sliding plate 63 is parallel to the sliding direction of the sliding plate 63 itself, the second engaging plate 64 is provided with a locking hole 641 for the vertical guide rod 61 to pass through, the aperture of the locking hole 641 is larger than the outer diameter of the vertical guide rod 61, a sixth elastic unit 65 is arranged between the second engaging plate 64 and the sliding plate 63, a seventh elastic unit 66 is arranged between the sliding plate 63 and the valve housing 43, the sliding plate 63 is further provided with a second wedge-shaped block 67, the second valve core 42 is fixedly connected with a second wedge-shaped driving block 68 matched with the second wedge-shaped block 67, when the second valve core 42 moves from the station b to the station a, the second wedge-shaped driving block 68 extrudes the second wedge, at this time, if the second locking plate 64 is aligned with the third ring-shaped locking groove 611, the edge of the locking hole 641 is locked in the third ring-shaped locking groove 611, and if the second locking plate 64 is staggered with the third ring-shaped locking groove 611, the second locking plate 64 compresses the sixth elastic unit 65 under the blocking of the guide rod; when the second valve core 42 moves from the station a to the station b, the second wedge-shaped driving block 68 is separated from the second wedge-shaped block 67, and at this time, the sliding plate 63 drives the second clamping plate 64 to integrally slide under the action of the seventh elastic unit 66, so that the locking hole 641 is coaxial with the guide rod.

Further, the suction cup frame comprises a first cross bar 21 and a second cross bar 22 which are arranged in parallel, wherein the first cross bar 21 is fixed on a slide block of the electric rail 20 which is arranged horizontally, and the second cross bar 22 is fixedly connected with a slide rail of the electric rail 20; one of the nozzles 50 facing the side edge of the PCB and the nozzle 50 facing the corner of the PCB are slidably connected to the fixing frame 30 through the sliding bracket 31, and the sliding direction of the nozzle is parallel to the sliding direction of the first rail 21, the sliding bracket 31 is provided with a vertical guide post 32, and the vertical guide post 32 is vertically slidably engaged with the guide sleeve 211 provided on the first rail 21.

The foregoing is only a preferred embodiment of the present invention, and it should be noted that those skilled in the art can make various improvements and modifications without departing from the principle of the present invention, and these improvements and modifications should also be construed as the protection scope of the present invention. Structures, devices, and methods of operation not specifically described or illustrated herein are generally practiced in the art without specific recitation or limitation.

Claims

1. A clamping plate mechanism of a sucker frame of an anti-falling PCB board collecting and releasing machine comprises a sucker frame which is arranged on a mounting seat (10) in a reciprocating mode along the vertical direction and a lifting driving mechanism (11) used for driving the sucker frame to reciprocate, wherein a sucker group (201) is arranged on the sucker frame, and a sucker of the sucker group (201) is arranged downwards; the method is characterized in that: the suction disc frame is also provided with a clamping jaw (80) used for clamping the side edge of the PCB; the air knife assembly comprises a sprayer (50) with a flat air outlet, the sprayer (50) is communicated with a high-pressure air source, the sprayer (50) is located at the edge of a PCB (printed circuit board) adsorbed by the sucker group (201), the flat air outlet faces the edge of the PCB, the air knife assembly further comprises a fixing frame (30) fixedly connected with the mounting seat (10), the sprayer (50) is adjustably and fixedly mounted on the fixing frame (30), the sucker frame is provided with a suction station and a lifting station which are sequentially arranged from bottom to top relative to the fixing frame (30), a sucker of the sucker group (201) is attached to the uppermost layer of the PCB stacked on the object placing table when the sucker frame is located at the suction station, and the bottom surface of the PCB adsorbed by the sucker group (201) is flush with the flat air outlet of the sprayer (50) when the sucker frame is located at the lifting station; a linkage valve component (40) is arranged between the spray head (50) and the high-pressure air source, and the linkage valve component (40) is assembled in such a way that when the lifting driving mechanism (11) drives the suction disc frame to move downwards from the lifting station to the suction station and then move upwards from the suction station to the lifting station, the linkage valve component (40) can connect the spray head (50) with the high-pressure air source for a period of time and then disconnect the spray head; the linkage valve assembly (40) comprises a valve casing (43), a first valve core (41) and a second valve core (42), wherein a first valve hole and a second valve hole which are in sliding fit with the first valve core (41) and the second valve core (42) respectively are formed in the valve casing (43), a first annular groove (411) is formed in the first valve core (41), a second annular groove (421) is formed in the second valve core (42), the first valve hole and the second valve hole are communicated through a first pore passage (431), the second valve hole is communicated with an air inlet pipe (72) through a second pore passage (433), the air inlet pipe (72) is communicated with a high-pressure air source, the first valve hole is communicated with an air outlet pipe (71) through a third pore passage (432), and the air outlet pipe (71) is communicated with a spray head (50); the first valve core (41) has a first station and a second station, the second valve core (42) has a station a and a station b, when the first valve core (41) is positioned at the first station, the first channel (431) is communicated with the third channel (432) through the first annular groove (411), and when the first valve core (41) is positioned at the second station, the first annular groove (411) is staggered with the first channel (431) and the third channel (432) to disconnect the first channel (431) and the third channel (432); when the second valve core (42) is positioned at the station a, the first channel (431) is communicated with the second channel (433) through the second ring groove (421), and when the second valve core (42) is positioned at the station b, the second ring groove (421) is staggered with the first channel (431) and the second channel (433), so that the first channel (431) is disconnected with the second channel (433); a first elastic unit (44) is arranged between the first valve core (41) and the valve shell (43), and the first elastic unit (44) is assembled to enable the elastic force of the first elastic unit to drive the first valve core (41) to move from the working position to the working position; a second elastic unit (45) is arranged between the second valve core (42) and the valve shell (43), and the second elastic unit (45) is assembled to enable the elastic force of the second elastic unit to drive the second valve core (42) to move from the working position a to the working position b; the suction disc frame is provided with a driving block (48), and the driving block (48) is connected with the first valve core (41) and the second valve core (42) in a blocking mode; the driving block (48) is assembled to push the first valve core (41) to the second valve core from the first station and push the second valve core (42) to the first station from the second station when the sucker frame moves from the lifting station to the sucking station; a locking mechanism is further arranged between the first valve core (41) and the valve casing (43), and is assembled to enable the first valve core (41) to be kept at the second station when the driving block (48) pushes the first valve core (41) to the second station from the first station, and enable the first valve core (41) to be released to enable the first valve core (41) to move from the second station to the first station under the action of the first elastic unit (44) when the suction cup frame moves upwards from the suction station to the lifting station; and a time delay locking mechanism is arranged between the second valve core (42) and the valve shell (43), the time delay locking mechanism is assembled to be capable of keeping the second valve core (42) at the station a when the driving block (48) pushes the second valve core (42) from the station b to the station a for time delay, and the time delay locking mechanism releases the second valve core (42) to enable the second valve core to move from the station a to the station b under the action of the second elastic unit (45) after the first valve core (41) returns to the station from the station b for a preset time together.

2. The anti-drop PCB board collecting and releasing machine sucker frame clamping mechanism of claim 1, which is characterized in that: clamping jaw (80) includes base (81), slide (82), first connecting rod (83), second connecting rod (84) and cylinder (85), base (81) and sucking disc frame rigid coupling, slide (82) are along horizontal direction and base (81) sliding connection, the one end of first connecting rod (83) is articulated with slide (82), and the middle part of first connecting rod (83) is articulated with the one end of second connecting rod (84), and the other end of first connecting rod (83) is equipped with L type chuck (86), and the other end of second connecting rod (84) is articulated with base (81), is equipped with on second connecting rod (84) and constitutes clamp splice (87) that open and shut the action with L type chuck (86), cylinder (85) are fixed on base (81), and the piston rod of cylinder (85) is articulated with slide (82).

3. The anti-drop PCB board collecting and releasing machine sucker frame clamping mechanism of claim 1, which is characterized in that: the locking mechanism comprises a first annular clamping groove (413) formed in the first valve core (41) and a first clamping plate (49) arranged in the valve casing (43) in a radially sliding mode along the first valve core (41), a through hole for the first valve core (41) to penetrate through and a U-shaped groove (494) communicated with the through hole are formed in the first clamping plate (49), the aperture of the through hole is larger than the outer diameter of the first valve core (41), the width of the U-shaped groove (494) is smaller than the outer diameter of the first valve core (41) and larger than the diameter of the bottom of a circular ring groove of the first annular clamping groove (413), a third elastic unit (491) is arranged between the first clamping plate (49) and the valve casing (43), the third elastic unit (491) is assembled to enable the elastic force of the third elastic unit to drive the U-shaped groove (494) to be inserted into the first annular clamping groove (413), a first wedge-shaped block (492) is further arranged on the first clamping plate (49), and a first wedge-shaped driving block (493) connected with the first wedge-shaped, the first wedge-shaped block (492) and the first wedge-shaped driving block (493) are assembled in a mode that the first wedge-shaped driving block (493) can extrude the first wedge-shaped block (492) and drive the first clamping plate (49) to slide to enable the U-shaped groove (494) to be drawn out of the first annular clamping groove (413) when the suction cup frame ascends from the suction station to the lifting station.

4. The anti-drop PCB board collecting and releasing machine sucker frame clamping mechanism of claim 1, which is characterized in that: the time-delay locking mechanism comprises a third valve core (46) which is arranged in a valve shell (43) in a sliding mode along the radial direction of a second valve core (42), a locking pin (461) is arranged on one side, facing the second valve core (42), of the third valve core (46), a second annular clamping groove (422) matched with the locking pin (461) is arranged on the second valve core (42), a fourth elastic unit (47) is arranged between the third valve core (46) and the valve shell (43), the fourth elastic unit (47) is assembled to enable the elastic force of the fourth elastic unit to drive the locking pin (461) to be drawn out from the second annular clamping groove (422), a cavity on one back side of the third valve core (46) and the second valve core (42) is communicated with a first valve hole through a fourth hole (434), the first valve hole is communicated with an air inlet branch pipe (73) through a fifth hole (435), the air inlet branch pipe (73) is communicated with a high-pressure air source, and the first valve hole is communicated with the atmosphere through a damping hole (436, the first valve core (41) is also provided with a third ring groove (412), when the first valve core (41) is positioned at the second station, the fourth hole (434) is communicated with the fifth hole (435) through the third ring groove (412), high-pressure gas enters a cavity where the third valve core (46) is positioned, the high-pressure gas pushes the third valve core (46) to slide towards the direction of the second valve core (42) so that a locking pin (461) is inserted into the second annular clamping groove (422) and compresses the fourth elastic unit (47), when the first valve core (41) is located at the working position, the fourth hole (434) is communicated with the damping hole (436) through the third annular groove (412), the chamber where the third valve core (46) is located is decompressed through the damping hole (436), and the third valve core (46) moves in the direction away from the second valve core (42) under the action of the fourth elastic unit (47), so that the locking pin (461) is drawn out of the second annular clamping groove (422).

5. The anti-drop PCB board collecting and releasing machine sucker frame clamping mechanism of claim 1, which is characterized in that: the number of the spray heads (50) is three, wherein two spray heads (50) are arranged towards two adjacent side edges of the PCB; the other nozzle (50) is arranged towards the corner between the two adjacent side edges, a positioning block (60) is further arranged on the diagonal of the corner, the positioning block (60) is fixedly connected with the sucker frame, and the positioning block (60) is in blocking connection with the side face of the corner of the PCB; even there is a vertical guide rod (61) on locating piece (60), the guiding hole sliding connection who sets up on vertical guide rod (61) and the valve casing (43), be equipped with fifth elastic unit (62) between vertical guide rod (61) and valve casing (43), fifth elastic unit (62) are assembled for its elasticity can order about vertical guide rod (61) upwards to slide, and when the sucking disc frame descends from the lifting station to the suction station, drive block (48) can push vertical guide rod (61) to the low level downwards, and locating piece (60) and the PCB board top surface parallel and level on putting the thing platform during this low level, still be equipped with locking mechanism on valve casing (43), locking mechanism is assembled for locking mechanism can make vertical guide rod (61) keep this low level when drive block (48) push vertical guide rod (61) to the low level, and locking mechanism can release vertical guide rod (61) and make it at fifth elastic unit when second valve core (42) move to station b from station a 62) The effect of (1) is upward.

6. The anti-drop PCB board collecting and releasing machine sucker frame clamping mechanism of claim 5, wherein: the locking mechanism comprises a third annular clamping groove (611) formed in the vertical guide rod (61) and a sliding plate (63) arranged along the vertical guide rod (61) in a radial sliding mode, a second clamping plate (64) is arranged on the sliding plate (63), the second clamping plate (64) is connected with the sliding plate (63) in a sliding mode and slides in a square mode to be parallel to the sliding direction of the sliding plate (63), a locking hole (641) for the vertical guide rod (61) to penetrate through is formed in the second clamping plate (64), the aperture of the locking hole (641) is larger than the outer diameter of the vertical guide rod (61), a sixth elastic unit (65) is arranged between the second clamping plate (64) and the sliding plate (63), a seventh elastic unit (66) is arranged between the sliding plate (63) and the valve shell (43), a second wedge-shaped block (67) is further arranged on the sliding plate (63), a second wedge-shaped driving block (68) matched with the second wedge-shaped block (67) is fixedly connected to the second valve core (42, when the second valve core (42) moves from the station b to the station a, the second wedge-shaped driving block (68) extrudes the second wedge-shaped block (67) to enable the sliding plate (63) to slide and compress the seventh elastic unit (66), at the moment, if the second clamping plate (64) is level with the third ring-shaped clamping groove (611), the edge of the locking hole (641) is clamped in the third ring-shaped clamping groove (611), and if the second clamping plate (64) is staggered with the third ring-shaped clamping groove (611), the second clamping plate (64) compresses the sixth elastic unit (65) under the blocking of the guide rod; when the second valve core (42) moves from the station a to the station b, the second wedge-shaped driving block (68) is separated from the second wedge-shaped block (67), and at the moment, the sliding plate (63) drives the second clamping plate (64) to integrally slide under the action of the seventh elastic unit (66) so that the locking hole (641) is coaxial with the guide rod.

7. The anti-drop PCB board collecting and releasing machine sucker frame clamping mechanism of claim 5, wherein: the sucker frame comprises a first cross rod (21) and a second cross rod (22) which are arranged in parallel, wherein the first cross rod (21) is fixed on a slide block of an electric rail (20) which is arranged horizontally, and the second cross rod (22) is fixedly connected with a slide rail of the electric rail (20); one of the spray heads (50) facing the side edge of the PCB and the spray head (50) facing the corner of the PCB are connected with the fixed frame (30) in a sliding mode through the sliding support (31), the sliding direction of the spray head is parallel to that of the first cross rod (21), the sliding support (31) is provided with the vertical guide post (32), and the vertical guide post (32) is in vertical sliding fit with the guide sleeve (211) arranged on the first cross rod (21).