CN114180335A

CN114180335A - PCB lifting and overturning mechanism

Info

Publication number: CN114180335A
Application number: CN202210081877.2A
Authority: CN
Inventors: 宋峰
Original assignee: Suzhou 807 Intelligent Technology Co ltd
Current assignee: Suzhou 807 Intelligent Technology Co ltd
Priority date: 2022-01-24
Filing date: 2022-01-24
Publication date: 2022-03-15

Abstract

The invention discloses a PCB lifting turnover mechanism, which comprises a suction device, a lifting mechanism and a turnover mechanism, wherein the suction device is adsorbed on one surface of a PCB; the lifting and overturning mechanism is provided with a horizontal overturning rod, two ends of the overturning rod are connected with vertical linear modules, one end of the overturning rod is connected with a servo motor, a suction device is assembled on the overturning rod, and the overturning rod is provided with a vertical lifting freedom degree and a rotation freedom degree around the axis of the overturning rod; the assembly line comprises a streamline platform and an exposure platform which are respectively arranged above and below the turnover rod, and the flowing directions of the streamline platform and the exposure platform are parallel and opposite; the manipulator, streamline platform, exposure platform's same end direction is equipped with a manipulator that possesses suction means. The material taking function and the turnover function are integrated together and arranged right above the platform of the exposure machine, so that the vertical space is fully utilized, and the whole structure is compact. Close to the exposure machine, small overturning action and high efficiency.

Description

PCB lifting and overturning mechanism

Technical Field

The invention relates to the field of printed circuit board processing equipment, in particular to a PCB lifting and overturning mechanism.

Background

At present, manual work and single-machine equipment are mostly adopted to turn over the PCB in the market. Firstly, manual turnover is long in time and low in efficiency, and the PCB is damaged due to misoperation, so that the production progress is influenced. Secondly, the single turnover device occupies a large space of a workshop, and the overall cost is high.

Disclosure of Invention

The invention aims to solve the problem of providing a PCB lifting turnover mechanism, which integrates a material taking function and a turnover function, is arranged right above an exposure machine platform, fully utilizes a vertical space and has a compact integral structure. Close to the exposure machine, small overturning action and high efficiency.

In order to solve the above problems, the present invention provides a lifting and turning mechanism for a PCB, which is used to achieve the above objects, and the technical solution adopted by the present invention to solve the technical problems is:

a PCB board lifting turnover mechanism comprises: the suction device is adsorbed with one surface of the PCB; the lifting and overturning mechanism is provided with a horizontal overturning rod, two ends of the overturning rod are connected with vertical linear modules, one end of the overturning rod is connected with a servo motor, a suction device is assembled on the overturning rod, and the overturning rod is provided with a vertical lifting freedom degree and a rotation freedom degree around the axis of the overturning rod; the assembly line comprises a streamline platform and an exposure platform which are respectively arranged above and below the turnover rod, and the flowing directions of the streamline platform and the exposure platform are parallel and opposite; the manipulator, streamline platform, exposure platform's same end direction is equipped with a manipulator that possesses suction means.

The beneficial effect of adopting above-mentioned technical scheme is: according to the technical scheme, the occupied area of the equipment in a workshop is saved, the material taking function and the turnover function are integrated together and are arranged right above the platform of the exposure machine, the space in the Z direction is fully utilized, and the whole structure is compact. The self characteristics of the equipment are fully utilized, the device is close to the exposure machine, the overturning action is small, and the structure is simple. The turning-over action is faster and more convenient. The problems of high cost and low efficiency of manual turnover are solved. The material taking function and the overturning function are combined into a whole, so that the processes are reduced, the cost is saved, and the equipment processes are simplified.

The PCB board flows along the exposure platform, the suction device of the turnover rod, the suction device of the manipulator and the streamline platform in sequence. The lifting and overturning mechanism simplifies the motion complexity of the manipulator, shortens the motion path of the manipulator and reduces the requirement on the manipulator. The lifting and overturning mechanism realizes the combined motion of lifting and inclining of the PCB, the original covered lower surface of the PCB at the exposed position is convenient, the overturning of the PCB is convenient, and the subsequent processing is convenient.

The input of streamline platform is directly over the output of exposure platform, and the space of streamline platform top has make full use of the exposure platform. Two vertical straight line modules also give way the space for the upset of PCB board.

As a further improvement of the invention, the axis of the servo motor is vertical, the servo motor is fixedly attached to a vertical linear module, the servo motor is assembled with one end of the turnover rod through a gear set, and two ends of the turnover rod are provided with bearings.

The beneficial effect of adopting above-mentioned technical scheme is: the servo motor is convenient for controlling the overturning angle. The layout of the servo motor further reduces the space required in the axial direction of the turnover rod, so that the whole equipment can become narrower. The bearing reduces the friction resistance during overturning.

As a further improvement of the invention, the turning rod is provided with a plurality of T-shaped grooves, the length direction of the T-shaped grooves is parallel to the length direction of the turning rod, a first L-shaped fixed seat and a second L-shaped fixed seat which are mutually contacted are fixed on a suction device connected with the turning rod, and the first L-shaped fixed seat and the second L-shaped fixed seat are respectively fixed with the T-shaped grooves on a pair of opposite surfaces on the turning rod.

The beneficial effect of adopting above-mentioned technical scheme is: the T-shaped groove and the L-shaped fixed seat are convenient for stable assembly of the turnover rod and the suction device.

As a further improvement of the invention, the vertical projections of the streamline platform and the exposure platform are mutually matched, and the suction device connected with the turnover rod is positioned in the vertical projections of the streamline platform and the exposure platform.

The beneficial effect of adopting above-mentioned technical scheme is: the vertical overlap ratio of the turnover rod, the streamline platform and the exposure platform is high, and the space is compact.

As a further improvement of the invention, the turnover rod is synchronously lifted and rotated, and the highest vertical limit position of the turnover rod does not exceed the height of the centroid of the vertical linear module; when the turnover rod moves from the lowest limit position to the highest limit position, the degree of unidirectional rotation of the turnover rod is 45 degrees.

The beneficial effect of adopting above-mentioned technical scheme is: the general action of the turnover rod is indicated, the turnover rod is mainly used in cooperation with the manipulator, the invalid actions of the turnover rod and the manipulator are reduced, and each circulation action is quicker and more stable.

As a still further improvement of the invention, the streamline platform comprises two groups of roller sets which are arranged in parallel, the two groups of roller sets are positioned at the same horizontal height, and a plurality of roller elements are arranged at intervals in each roller set.

The beneficial effect of adopting above-mentioned technical scheme is: under some circumstances, the streamline platform can circulate two sets of PCB boards simultaneously, and is efficient.

As a still further improvement of the present invention, the suction device comprises a suction cup assembly arm, a suction cup mechanism; the sucker assembly arm comprises a fixed arm and a movable arm which are arranged in parallel, and a fixed plate and a sliding seat are movably connected between the fixed arm and the movable arm; the sucking disc mechanism comprises an auxiliary sucking disc fixed on the fixed plate and the sliding seat; the auxiliary suckers, the side sucker groups and the middle sucker group are all in the same direction, and the sucker mouths of the auxiliary suckers, the side sucker groups and the middle sucker groups are superposed on the same spatial plane; the movable arm has a linear translation freedom degree vertical to the length direction of the movable arm; the middle sucker groups of the fixed arm and the movable arm are the same air path, and the side sucker groups of the fixed arm and the movable arm are the other air path.

The beneficial effect of adopting above-mentioned technical scheme is: the technical scheme realizes the adsorption and turnover of the PCB, replaces manpower, saves production time and ensures the quality of the PCB. The PCB with different sizes can be adapted only by adjusting the distance between the fixed arm and the movable arm. The application range of the PCB is wider. When the area of two small-size PCB boards is about equal to a large-size PCB board, this technical scheme can also adsorb two small-size PCB boards simultaneously, has equivalently multiplied the absorption turnover efficiency, also shows that this technical scheme possesses abundant repacking space. When the area of the PCB board that adsorbs is less, only need let middle part sucking disc group with PCB board contact and adsorb can, when the PCB board area that adsorbs is great, let middle part sucking disc group, all contact with the PCB board and adsorb with side sucking disc group. The technical scheme can control the suction disc to do or not do work, and has high utilization rate of negative pressure energy. Meanwhile, the auxiliary sucker is positioned in the middle of the PCB, so that the auxiliary sucking effect is achieved, contact points are increased, the fact that local stress is not very different when the PCB is sucked by the sucker is guaranteed, and the flatness of the PCB is guaranteed.

As a further improvement of the invention, the fixed arm is assembled with the fixed plate, the movable arm is assembled with the sliding seat, the sliding seat is assembled with the fixed plate through two parallel linear guide rails, a linear module is arranged between the two linear guide rails in parallel, and the linear module comprises a screw rod driven by a rotating motor; the movable arm is provided with a hollow hole for the linear module and the linear guide rail to pass through; a fixed seat which is contacted with the turnover rod or the manipulator is fixed on the fixed plate.

The beneficial effect of adopting above-mentioned technical scheme is: the linear guide rail and the sliding seat can provide the limiting and guiding of the linear reciprocating motion. The linear driving mode of the linear module enables the whole motion to be stable and controllable. The hollowed-out holes are convenient for the linear module and the linear guide rail to pass through, and interference is avoided. The fixing seat is convenient to assemble with external mechanical arms and other equipment.

As a further improvement of the invention, the fixed plate is provided with a control valve for distinguishing the air passages; the movable arm is provided with a sensor, and the orientation of the sensor is the same as that of the middle sucker group.

The beneficial effect of adopting above-mentioned technical scheme is: the control valve is convenient for the connection of the soft air pipe and the control of the synchronism of different suckers. The problem of artifical debugging when big small PCB board switches is solved, seek the limit through the inductor is automatic and realize the big small PCB board of automatic identification, automatic adjustment mechanism interval adapts to current specification.

As a further improvement of the invention, the sucking disc mechanism is contacted with one surface of the PCB, and the auxiliary sucking disc and the middle sucking disc group form the same air path; the auxiliary sucker comprises a plurality of sucker elements in a rectangular array, the side sucker group and the middle sucker group are respectively provided with a plurality of sucker elements, and the number of the sucker elements contained in the side sucker group is smaller than that of the sucker elements contained in the middle sucker group.

The beneficial effect of adopting above-mentioned technical scheme is: the auxiliary suction cups and the middle suction cup group are relatively close to each other in position, so that the auxiliary suction cups and the middle suction cup group can synchronously act at the same time. The small sucker elements are utilized to form the sucker group, the reliability is better, and the arrangement freedom degree of the suckers is also high. The side sucker group and the middle sucker group mainly adsorb the areas near a pair of parallel opposite sides of the PCB.

Drawings

In order to more clearly illustrate the embodiments of the present invention or the technical solutions in the prior art, the drawings used in the description of the embodiments or the prior art will be briefly described below, and it is obvious that the drawings in the following description are only some embodiments of the present invention, and for those skilled in the art, other drawings can be obtained according to these drawings without creative efforts.

FIG. 1 is a perspective view of one embodiment of the present invention;

FIG. 2 is a perspective view of one embodiment of the present invention;

FIG. 3 is a perspective view of a lift and tilt mechanism according to one embodiment of the present invention;

FIG. 4 is a perspective view of a suction device according to one embodiment of the present invention;

FIG. 5 is a perspective view of a suction device according to one embodiment of the present invention;

FIG. 6 is an enlarged view of a portion of a suction device according to one embodiment of the present invention at A;

FIG. 7 is a perspective view of a suction device according to one embodiment of the present invention;

FIG. 8 is a perspective view of a suction device according to one embodiment of the present invention;

fig. 9 is a perspective view of a suction device according to an embodiment of the present invention.

1-a first PCB board; 2-a second PCB board; 3-a rotating electrical machine; 4-a control valve; 5-a screw rod; 6, fixing a plate; 7-linear guide rail; 8-a slide seat; 9-a fixed seat; 10-a fixed arm; 11-a movable arm; 11 a-hollowed out holes; 12-auxiliary suction cup; 13-a sensor; 14-middle sucker group; 15-side sucker group; 16-a vertical straight line module; 17-a turning bar; 17 a-T-shaped groove; 18-a flow line platform; 18 a-roller set; 19-an exposure stage; 20-a manipulator; 21-a first L-shaped holder; 22-a second L-shaped holder; 23-a bearing; 24-a servo motor; 25-gear set.

Detailed Description

The present invention will be further described in detail with reference to the following specific examples:

in order to achieve the object of the present invention, a PCB lifting and overturning mechanism includes: the suction device is adsorbed with one surface of the PCB; the lifting and overturning mechanism is provided with a horizontal overturning rod 17, two ends of the overturning rod 17 are connected with vertical linear modules 16, one end of the overturning rod 17 is connected with a servo motor 24, a suction device is assembled on the overturning rod 17, and the overturning rod 17 is provided with a vertical lifting freedom degree and a rotation freedom degree around the axis of the overturning rod 17; the assembly line comprises a streamline platform 18 and an exposure platform 19 which are respectively arranged above and below the turnover rod 17, and the flowing directions of the streamline platform 18 and the exposure platform 19 are parallel and opposite; a manipulator 20 with a suction device is arranged on the same end head direction of the manipulator 20, the streamline platform 18 and the exposure platform 19.

The beneficial effect of adopting above-mentioned technical scheme is: according to the technical scheme, the occupied area of the equipment in a workshop is saved, the material taking function and the turnover function are integrated together and are arranged right above the platform of the exposure machine, the space in the Z direction is fully utilized, and the whole structure is compact. The self characteristics of the equipment are fully utilized, the device is close to the exposure machine, the overturning action is small, and the structure is simple. The turning-over action is faster and more convenient. The problems of high cost and low efficiency of manual turnover are solved. The material taking function and the overturning function are combined into a whole, so that the processes are reduced, the cost is saved, and the equipment processes are simplified. The PCB board flows along the exposure platform, the suction device of the turnover rod, the suction device of the manipulator and the streamline platform in sequence. The lifting and overturning mechanism simplifies the motion complexity of the manipulator, shortens the motion path of the manipulator and reduces the requirement on the manipulator. The lifting and overturning mechanism realizes the combined motion of lifting and inclining of the PCB, the original covered lower surface of the PCB at the exposed position is convenient, the overturning of the PCB is convenient, and the subsequent processing is convenient. The input of streamline platform is directly over the output of exposure platform, and the space of streamline platform top has make full use of the exposure platform. Two vertical straight line modules also give way the space for the upset of PCB board.

In other embodiments of the present invention, the axis of the servo motor 24 is vertical, the servo motor 24 is attached to and fixed to one vertical linear module 16, the servo motor 24 is assembled with one end of the turning rod 17 through a gear set 25, and two ends of the turning rod 17 are provided with bearings 23.

In another embodiment of the present invention, the turning bar 17 has a plurality of T-shaped grooves 17a, the length direction of the T-shaped grooves 17a is parallel to the length direction of the turning bar 17 itself, the suction device connected to the turning bar 17 is fixed with a first L-shaped fixing seat 21 and a second L-shaped fixing seat 22 which are in contact with each other, and the first L-shaped fixing seat 21 and the second L-shaped fixing seat 22 are respectively fixed with the T-shaped grooves 17a on a pair of opposite surfaces of the turning bar 17.

In other embodiments of the present invention, the streamline platform 18 and the exposure platform 19 are vertically projected and matched with each other, and the suction device connected with the turnover rod 17 is located in the vertical projection of the streamline platform 18 and the exposure platform 19.

In other embodiments of the present invention, the turning rod 17 is lifted and rotated synchronously, and the highest vertical limit position of the turning rod 17 does not exceed the height of the centroid of the vertical linear module 16; when the turning bar 17 moves from the lowest limit position to the highest limit position, the degree of unidirectional rotation of the turning bar 17 itself is 45 °.

In other embodiments of the present invention, the streamline platform 18 comprises two sets of roller sets 18a arranged side by side, the two sets of roller sets 18a are at the same level, and each roller set 18a is provided with a plurality of roller elements at intervals.

In other embodiments of the present invention, a suction device comprises: the sucker assembly arm comprises a fixed arm 10 and a movable arm 11 which are arranged in parallel, and a fixed plate 6 and a sliding seat 8 are movably connected between the fixed arm 10 and the movable arm 11; the sucking disc mechanism comprises an auxiliary sucking disc 12 fixed on the fixed plate 6 and the sliding seat 8; the fixed arm 10 and the movable arm 11 are respectively provided with side sucker groups 15 at two ends, a middle sucker group 14 is arranged between the side sucker groups 15 at the two ends, the orientation directions of the auxiliary sucker 12, the side sucker groups 15 and the middle sucker groups 14 are the same, and the sucker mouths of the auxiliary sucker 12, the side sucker groups 15 and the middle sucker groups 14 are superposed on the same spatial plane; the movable arm 11 has a linear translation degree of freedom perpendicular to the length direction of the movable arm; the middle sucker groups 14 of the fixed arm 10 and the movable arm 11 are the same air path, and the side sucker groups 15 of the fixed arm 10 and the movable arm 11 are the other air path.

In other embodiments of the invention, the fixed arm 10 is assembled with the fixed plate 6, the mobile arm 11 is assembled with the slide 8, the slide 8 is assembled with the fixed plate 6 through two parallel linear guides 7, a linear module is arranged in parallel between the two linear guides 7, and the linear module comprises a lead screw 5 driven by a rotating motor 3.

The beneficial effect of adopting above-mentioned technical scheme is: the linear guide rail and the sliding seat can provide the limiting and guiding of the linear reciprocating motion. The linear driving mode of the linear module enables the whole motion to be stable and controllable.

In another embodiment of the present invention, the movable arm 11 has a hollow hole 11a for the linear module and the linear guide 7 to pass through.

The beneficial effect of adopting above-mentioned technical scheme is: the hollowed-out holes are convenient for the linear module and the linear guide rail to pass through, and interference is avoided.

In other embodiments of the present invention, as shown in fig. 1, there are two suction devices. A fixed seat 9 which is contacted with the turnover rod 17 or the manipulator 20 is fixed on the fixed plate 6.

The beneficial effect of adopting above-mentioned technical scheme is: the fixing seat is convenient to assemble with external mechanical arms and other equipment.

In other embodiments of the present invention, the fixed plate 6 is provided with a control valve 4 for distinguishing air paths.

The beneficial effect of adopting above-mentioned technical scheme is: the control valve is convenient for the connection of the soft air pipe and the control of the synchronism of different suckers.

In other embodiments of the present invention, the movable arm 11 is provided with a sensor 13, and the sensor 13 is oriented in the same direction as the central suction cup group 14.

The beneficial effect of adopting above-mentioned technical scheme is: the problem of artifical debugging when big small PCB board switches is solved, seek the limit through the inductor is automatic and realize the big small PCB board of automatic identification, automatic adjustment mechanism interval adapts to current specification.

In other embodiments of the present invention, the suction cup mechanism contacts one side of the PCB board, and the auxiliary suction cup 12 and the middle suction cup 14 are in the same air path.

The beneficial effect of adopting above-mentioned technical scheme is: the auxiliary suction cups and the middle suction cup group are relatively close to each other in position, so that the auxiliary suction cups and the middle suction cup group can synchronously act at the same time.

In other embodiments of the present invention, the auxiliary suction cup 12 includes a plurality of suction cup elements in a rectangular array, each of the side suction cup groups 15 and the middle suction cup group 14 includes a plurality of suction cup elements, and the number of suction cup elements included in the side suction cup group 15 is smaller than the number of suction cup elements included in the middle suction cup group 14.

The beneficial effect of adopting above-mentioned technical scheme is: the small sucker elements are utilized to form the sucker group, the reliability is better, and the arrangement freedom degree of the suckers is also high.

In other embodiments of the present invention, the suction cup elements of the side suction cup group 15 and the middle suction cup group 14 on the fixed arm 10 are arranged in a single row, and the suction cup elements of the side suction cup group 15 and the middle suction cup group 14 on the movable arm 11 are arranged in a single row.

The beneficial effect of adopting above-mentioned technical scheme is: the side sucker group and the middle sucker group mainly adsorb the areas near a pair of parallel opposite sides of the PCB.

Fig. 1 shows one more robot 20 than fig. 2 in fig. 1. Fig. 2 compares with fig. 3, and fig. 2 shows more streamline platform 18 and exposure platform 19.

In fig. 4 and 5, the fixed arm 10 and the movable arm 11 are equally spaced, and in fig. 7, 8, and 9, the fixed arm 10 and the movable arm 11 are equally spaced.

Two kinds of PCB boards, i.e. a first PCB board 1 and a second PCB board 2, are represented in the drawing by size. Only the PCB board is shown in fig. 4 and 5. A relatively small second PCB board 2 in fig. 1, and a relatively large first PCB board 1 in fig. 7.

The suction cups are controlled by the control valve 4, when different plate sizes are needed, the suction cups can be opened and closed through the fixed arm 10 and the movable arm 11, as shown in fig. 4, wherein the auxiliary suction cups 12 and the middle suction cup group 14 apply negative pressure for adsorption, and the side suction cup group 15 is closed; as shown in fig. 7, the auxiliary suction cups 12, the middle suction cup group 14, and the side suction cup group 15 all apply negative pressure suction.

As shown in fig. 1, the manipulator 20 uses the suction device to pick and place the PCB onto the exposure platform 19, after the exposure is completed, the turning rod 17 is driven by the vertical straight line module 16 to move downwards to the position of the exposure platform 19, and at this time, the suction device fixed on the turning rod 17 is used to pick the PCB.

When the PCB is grabbed, the turnover rod 17 is driven by the vertical linear module 16 to move upwards and turn over for a certain angle, so that the manipulator 20 can grab the PCB conveniently. The robot 20 then picks up the PCB and places the PCB on the next flowline platform 18.

The face that upset pole 17 suction means snatched at this moment is the front of PCB board, and when manipulator 20 got the PCB board and send to on the streamline platform 18, the face on the streamline platform 18 was the reverse side of PCB board at this moment, can see out the positive and negative face conversion of PCB board from this technical scheme and realize.

The above embodiments are merely illustrative of the technical concept and features of the present invention, and the purpose thereof is to enable those skilled in the art to understand the content of the present invention and implement the present invention, and not to limit the scope of the present invention, and all equivalent changes or modifications made according to the spirit of the present invention should be covered by the scope of the present invention.

Claims

1. The utility model provides a PCB board promotes tilting mechanism which characterized in that includes:

the suction device is adsorbed with one surface of the PCB;

the lifting and overturning mechanism is provided with a horizontal overturning rod, two ends of the overturning rod are connected with vertical linear modules, one end of the overturning rod is connected with a servo motor, a suction device is assembled on the overturning rod, and the overturning rod is provided with a vertical lifting freedom degree and a rotation freedom degree around the axis of the overturning rod;

the assembly line comprises a streamline platform and an exposure platform which are respectively arranged above and below the turnover rod, and the flowing directions of the streamline platform and the exposure platform are parallel and opposite;

and the manipulator is provided with a suction device in the same end head direction of the streamline platform and the exposure platform.

2. The PCB lifting and overturning mechanism of claim 1, wherein: the axis of the servo motor is vertical, the servo motor is fixedly attached to a vertical linear module, the servo motor is assembled with one end of the turnover rod through a gear set, and bearings are arranged at two ends of the turnover rod.

3. The PCB lifting and overturning mechanism of claim 1, wherein: the turnover rod is provided with a plurality of T-shaped grooves, the length direction of each T-shaped groove is parallel to the length direction of the turnover rod, a first L-shaped fixing seat and a second L-shaped fixing seat which are in contact with each other are fixed on a suction device connected with the turnover rod, and the first L-shaped fixing seat and the second L-shaped fixing seat are fixed on the T-shaped grooves on a pair of opposite surfaces on the turnover rod respectively.

4. The PCB lifting and overturning mechanism of claim 1, wherein: the streamline platform is inosculated with the vertical projection of the exposure platform, and the suction device connected with the turnover rod is positioned in the vertical projection of the streamline platform and the exposure platform.

5. The PCB lifting and overturning mechanism of claim 1, wherein: the overturning rod synchronously ascends, descends and rotates, and the limit position of the vertical highest position of the overturning rod does not exceed the height of the centroid of the vertical linear module; when the turnover rod moves from the lowest limit position to the highest limit position, the degree of unidirectional rotation of the turnover rod is 45 degrees.

6. The PCB lifting and overturning mechanism of claim 1, wherein: the streamline platform comprises two groups of roller sets which are arranged in parallel, the two groups of roller sets are positioned at the same horizontal height, and a plurality of roller elements are arranged at intervals in each roller set.

7. The PCB lifting and overturning mechanism of claim 1, wherein: the suction device comprises a sucker assembly arm and a sucker mechanism;

the sucker assembly arm comprises a fixed arm and a movable arm which are arranged in parallel, and a fixed plate and a sliding seat are movably connected between the fixed arm and the movable arm;

the sucking disc mechanism comprises an auxiliary sucking disc fixed on the fixed plate and the sliding seat; the auxiliary suckers, the side sucker groups and the middle sucker group are all in the same direction, and the sucker mouths of the auxiliary suckers, the side sucker groups and the middle sucker groups are overlapped on the same spatial plane;

the movable arm has a linear translation degree of freedom perpendicular to the length direction of the movable arm; the middle sucker groups of the fixed arm and the movable arm are the same air path, and the side sucker groups of the fixed arm and the movable arm are the other air path.

8. The PCB lifting and overturning mechanism of claim 7, wherein: the fixed arm is assembled with the fixed plate, the movable arm is assembled with the sliding seat, the sliding seat is assembled with the fixed plate through two parallel linear guide rails, a linear module is arranged between the two linear guide rails in parallel, and the linear module comprises a screw rod driven by a rotating motor; the movable arm is provided with a hollow hole for the linear module and the linear guide rail to pass through; and a fixed seat which is contacted with the turnover rod or the manipulator is fixed on the fixed plate.

9. The PCB lifting and overturning mechanism of claim 8, wherein: the fixed plate is provided with a control valve for distinguishing air paths; the movable arm is provided with a sensor, and the orientation of the sensor is the same as that of the middle sucker group.

10. The PCB lifting and overturning mechanism of claim 9, wherein: the sucking disc mechanism is contacted with one surface of the PCB, and the auxiliary sucking disc and the middle sucking disc group form the same air path; the auxiliary sucker comprises a plurality of sucker elements in a rectangular array, each of the side sucker group and the middle sucker group is provided with a plurality of sucker elements, and the number of the sucker elements contained in the side sucker group is smaller than that of the sucker elements contained in the middle sucker group.