CN222006570U

CN222006570U - Robotic mechanism, loading and unloading device and PCB board processing equipment

Info

Publication number: CN222006570U
Application number: CN202420209809.4U
Authority: CN
Inventors: 丁浩然; 马威; 周宇航; 吴明昭; 张永智; 杨朝辉
Original assignee: Shenzhen Hans CNC Technology Co Ltd
Current assignee: Shenzhen Hans CNC Technology Co Ltd
Priority date: 2024-01-26
Filing date: 2024-01-26
Publication date: 2024-11-15
Anticipated expiration: 2034-01-26

Abstract

The embodiment of the utility model discloses a manipulator mechanism, a loading and unloading device and PCB processing equipment, wherein the manipulator mechanism comprises a first driving piece, a mounting plate, an adsorption component and an unloading component, the first driving piece is connected with the mounting plate and is used for driving the mounting plate to be close to or far away from a processing area, the adsorption component is arranged on the mounting plate and is used for adsorbing and fixing a circuit board, the unloading component is arranged on the mounting plate and is used for propping the circuit board on the processing area so as to unload the circuit board from the manipulator mechanism, loading and unloading are carried out through an automatic device of the manipulator mechanism, loading and unloading can be carried out on the processing area in time, the processing efficiency of the PCB processing equipment is ensured, and the problem that the PCB processing equipment is lower in processing efficiency due to manual loading and unloading is solved.

Description

Manipulator mechanism, loading and unloading device and PCB processing equipment

Technical Field

The utility model relates to the technical field of PCB processing, in particular to a manipulator mechanism, a loading and unloading device and PCB processing equipment.

Background

The PCB processing equipment comprises a drilling machine, a forming machine or a milling and cutting integrated machine, the original equipment takes and places a PCB on a processing platform manually on a feeding car beside a machine when the PCB is processed, the PCB is fixed on the processing platform by vacuum adsorption, a target point on the PCB is found by utilizing a CCD positioning module to position the PCB, and after the PCB is processed, the processed PCB is manually taken down from the processing platform.

Disclosure of utility model

The utility model aims to provide a manipulator mechanism, a loading and unloading device and PCB processing equipment, and aims to solve the problem that the existing PCB processing equipment is low in processing efficiency due to manual loading and unloading.

In a first aspect, the present utility model provides a manipulator mechanism, where the manipulator mechanism includes a first driving member, a mounting plate, an adsorption assembly, and a discharge assembly, where the first driving member is connected to the mounting plate and is used to drive the mounting plate to approach or depart from a processing area, the adsorption assembly is mounted on the mounting plate and is used to adsorb and fix a circuit board, and the discharge assembly is mounted on the mounting plate and is used to abut the circuit board against the processing area so as to detach the circuit board from the manipulator mechanism.

In one embodiment, the manipulator mechanism is used for loading and unloading in cooperation with a PCB processing device, the PCB processing device comprises a processing main shaft, and the manipulator mechanism is arranged at the side of the processing main shaft.

In one embodiment, the discharging assembly comprises a discharging driving piece and a discharging pressing plate, wherein the discharging driving piece is installed on the installing plate and connected with the discharging pressing plate, and the discharging driving piece is used for driving the discharging pressing plate to move close to the circuit board;

In the process that the first driving piece drives the mounting panel is kept away from the processing region, the clamp plate of unloading can be close to the processing region motion, the clamp plate of unloading will the circuit board butt in the processing region, the adsorption component can follow the mounting panel is kept away from the circuit board with the processing region motion, the adsorption component with the circuit board separation, the clamp plate of unloading will the circuit board keeps in the processing region.

In one embodiment, the two unloading assemblies are symmetrically arranged on two sides of the mounting plate; and/or the number of the groups of groups,

The adsorption component comprises a plurality of suckers, and the suckers are distributed at intervals in the circumferential direction of the mounting plate.

In one embodiment, the manipulator mechanism further comprises an elastic assembly that elastically connects the first driving member and the mounting plate; and/or the number of the groups of groups,

The first driving piece is a double-stroke cylinder, one cylinder stroke of the first driving piece is used for driving the mounting plate to be close to the machining area along the straight line where the first direction is located, and the other cylinder stroke of the first driving piece is used for driving the mounting plate to be far away from the machining area along the straight line where the first direction is located.

In one embodiment, the elastic component comprises a first side fixing seat, a second side fixing seat, a buffer spring and a positioning sleeve, the first side fixing seat is installed at the front end of the first driving piece, the second side fixing seat is installed on the mounting plate, the positioning sleeve is connected with the first side fixing seat and is in sliding connection with the second side fixing seat, and the buffer spring is sleeved on the positioning sleeve and elastically abuts between the first side fixing seat and the second side fixing seat.

In a second aspect, the utility model further provides a loading and unloading device, which comprises a workbench and the manipulator mechanism of any embodiment;

the workbench is provided with a processing area, a feeding area and a discharging area outside the processing area, the feeding area is used for placing a circuit board, and the manipulator mechanism is used for transferring the circuit board in the feeding area to the processing area and transferring the circuit board in the processing area to the discharging area.

In one embodiment, the circuit board has adjacent first and second sides, the first side having a side length between 50mm and 350mm and the second side having a side length between 50mm and 350 mm.

In one embodiment, the workbench comprises an adsorption platform and a bin platform, the bin platform is arranged at the edge position of the feeding and discharging device, and the adsorption platform is closer to the middle position of the feeding and discharging device relative to the bin platform;

The adsorption platform forms the processing area, the feed bin platform forms the material loading area with the unloading area, just the material loading area with the unloading area all set up in last unloader's border position, the material loading area with the unloading area is close to the setting, just the material loading area with the unloading area all with the processing area is close to the setting.

In one embodiment, the workbench further comprises a plate arranging mechanism, the plate arranging mechanism is provided with two plate arranging mechanisms and is respectively arranged in the feeding area and the discharging area, the plate arranging mechanism comprises a first positioning block, a second positioning block, a first abutting component and a second abutting component, the first positioning block and the first abutting component are distributed in the feeding area or the discharging area at intervals along a second direction, the second positioning block and the second abutting component are distributed in the feeding area or the discharging area at intervals along a third direction, the first abutting component can push the circuit board to abut against the first positioning block, the second abutting component can push the circuit board to abut against the second positioning block so as to arrange the circuit board in the feeding area or the discharging area, and the second direction and the third direction form an included angle.

In a third aspect, the present utility model also provides a PCB processing apparatus, including:

A plurality of processing spindles for processing circuit boards, the processing spindles including at least one of a drill and a forming machine; and

And the loading and unloading device of any embodiment is correspondingly arranged on the processing main shaft.

In one embodiment, the PCB board processing apparatus further includes:

The first driving mechanism is connected with the processing main shaft and is used for driving the processing main shaft to approach or be far away from the circuit board along the straight line where the first direction is located;

The second driving mechanism is connected with the first driving mechanism and the manipulator mechanism and is used for driving the first driving mechanism and the manipulator mechanism to move along a straight line in a second direction; and

The third driving mechanism is connected with the workbench and used for driving the workbench to move along a straight line where the third direction is located, and the first direction, the second direction and the third direction are arranged at an included angle.

In one embodiment, the PCB processing apparatus further includes a visual positioning mechanism, which is mounted on the processing spindle and is used for positioning a target point on the circuit board; and/or the number of the groups of groups,

The manipulator mechanism further comprises a fixing plate and a knife picking and placing manipulator, the fixing plate is mounted at the moving end of the second driving mechanism, and the knife picking and placing manipulator and the first driving piece are both mounted on the fixing plate.

The embodiment of the utility model has the following beneficial effects:

By adopting the manipulator mechanism, the loading and unloading device and the PCB processing equipment, the manipulator mechanism grabs the circuit board and loads and unloads the processing area, so that the automatic device of the manipulator mechanism can load and unload the processing area in time, the processing efficiency of the PCB processing equipment is ensured, and the problem that the processing efficiency is lower due to the fact that the PCB processing equipment loads and unloads the circuit board manually is solved.

Further, the unloading assembly can be used for abutting the circuit board on the processing area so as to detach the circuit board from the manipulator mechanism, so that the manipulator mechanism can be used for unloading conveniently and rapidly, the loading and unloading efficiency of the manipulator mechanism can be improved, and the processing efficiency of the PCB processing equipment can be further improved.

Drawings

In order to more clearly illustrate the embodiments of the utility model or the technical solutions in the prior art, the drawings that are required in the embodiments or the description of the prior art will be briefly described, it being obvious that the drawings in the following description are only some embodiments of the utility model, and that other drawings may be obtained according to these drawings without inventive effort for a person skilled in the art.

Wherein:

fig. 1 is a schematic diagram of a PCB processing apparatus in one embodiment.

Fig. 2 is a schematic view of a portion of the PCB processing apparatus shown in fig. 1.

Fig. 3 is a schematic view of a manipulator mechanism in the PCB processing apparatus shown in fig. 1.

Fig. 4 is a schematic view of a workbench in the PCB processing apparatus shown in fig. 1.

Fig. 5 is a schematic view of a silo platform in the table of fig. 4.

Reference numerals: 10. a circuit board; 100. a work table; 110. a processing region; 120. a feeding area; 130. a blanking area; 140. a cutterhead; 150. an adsorption platform; 160. a stock bin platform; 170. a plate finishing mechanism; 171. a first positioning block; 172. a second positioning block; 173. a third positioning block; 174. a first abutment assembly; 1741. a first clamping cylinder; 1742. a first clamping plate; 1743. a first pin; 175. a second abutment assembly; 1751. a second clamping cylinder; 1752. a second clamping plate; 1753. a second pin; 200. a manipulator mechanism; 210. a first driving member; 220. a mounting plate; 230. an adsorption assembly; 231. a suction cup; 240. a discharge assembly; 241. a discharge drive; 242. a discharge pressing plate; 250. an elastic component; 251. a first side fixing seat; 252. the second side fixing seat; 253. a buffer spring; 254. a positioning sleeve; 260. a connecting rod; 270. a negative pressure gauge; 280. a fixing plate; 290. a knife picking and placing manipulator; 300. machining a main shaft; 400. a first driving mechanism; 500. a second driving mechanism; 600. a third driving mechanism; 700. visual positioning mechanism.

Detailed Description

The following description of the embodiments of the present utility model will be made clearly and completely with reference to the accompanying drawings, in which it is apparent that the embodiments described are only some embodiments of the present utility model, but not all embodiments. All other embodiments, which can be made by those skilled in the art based on the embodiments of the utility model without making any inventive effort, are intended to be within the scope of the utility model.

It should be noted that all directional indicators (such as up, down, left, right, front, and rear … …) in the embodiments of the present utility model are merely used to explain the relative positional relationship, movement, etc. between the components in a specific posture (as shown in the drawings), and if the specific posture is changed, the directional indicators are correspondingly changed.

Furthermore, the description of "first," "second," etc. in this disclosure is for descriptive purposes only and is not to be construed as indicating or implying a relative importance or implicitly indicating the number of technical features indicated. Thus, a feature defining "a first" or "a second" may explicitly or implicitly include at least one such feature. In addition, the technical solutions of the embodiments may be combined with each other, but it is necessary to base that the technical solutions can be realized by those skilled in the art, and when the technical solutions are contradictory or cannot be realized, the combination of the technical solutions should be considered to be absent and not within the scope of protection claimed in the present utility model.

Referring to fig. 1 to 5, an embodiment of the present utility model provides a PCB processing apparatus, which includes a processing spindle 300 and a loading and unloading device; the processing spindle 300 is used for processing the circuit board 10, the processing spindle 300 comprises at least one of a drilling machine and a forming machine, when the processing spindle 300 is used for the drilling machine, the processing spindle 300 is used for drilling the circuit board 10, when the processing spindle 300 is used for the forming machine, the processing spindle 300 is used for routing the circuit board 10, when the processing spindle 300 is used for the drilling machine and the forming machine, the processing spindle 300 is a routing and cutting integrated machine, and the processing spindle 300 not only can drill the circuit board 10, but also can route the circuit board 10. Further, the number of the processing spindles 300 is plural, and the number of the loading and unloading devices is plural and is configured in one-to-one correspondence with each processing spindle 300.

In this embodiment, this go up unloader includes workstation 100 and manipulator mechanism 200, and workstation 100 is equipped with processing region 110, and manipulator mechanism 200 is used for snatching circuit board 10 and goes up the unloading to processing region 110, goes up the unloading through the automation equipment of manipulator mechanism 200, can in time go up the unloading for processing region 110, guarantees PCB board processing equipment's machining efficiency, has solved the PCB make-up machine and has gone up the unloading through the manual work, leads to the lower problem of machining efficiency.

In one embodiment, referring to fig. 3 and 4, the robot mechanism 200 includes a first driving member 210, a mounting plate 220, an adsorption assembly 230, and a discharge assembly 240, wherein the first driving member 210 is connected to the mounting plate 220 and is used to drive the mounting plate 220 toward or away from the processing region 110, and the adsorption assembly 230 is mounted to the mounting plate 220 and is used to adsorb and fix the circuit board 10 so that the circuit board 10 can be transferred along with the adsorption assembly 230.

In this embodiment, the unloading assembly 240 is mounted on the mounting plate 220 and is used for abutting the circuit board 10 on the processing area 110, so as to unload the circuit board 10 from the manipulator mechanism 200, thereby facilitating the quick unloading of the manipulator mechanism 200, improving the loading and unloading efficiency of the manipulator mechanism 200, and further improving the processing efficiency of the PCB board processing equipment.

During specific unloading operation, the unloading assembly 240 works to abut the circuit board 10 against the processing area 110, meanwhile, the first driving piece 210 drives the mounting plate 220 to be away from the processing area 110, the mounting plate 220 is away from the processing area 110 and can drive the adsorption assembly 230 to be away from the processing area 110, at this time, the unloading assembly 240 applies a force close to the processing area 110 to the circuit board 10, and the adsorption assembly 230 moves away from the processing area 110 so as to separate the adsorption assembly 230 from the circuit board 10, so that the circuit board 10 is rapidly unloaded at a preset position of the processing area 110.

In an embodiment, referring to fig. 3 and 4, the discharging assembly 240 includes a discharging driving member 241 and a discharging pressing plate 242, wherein the discharging driving member 241 is mounted on the mounting plate 220 and connected to the discharging pressing plate 242, and the discharging driving member 241 is used for driving the discharging pressing plate 242 to move close to the circuit board 10.

During the process that the first driving member 210 drives the mounting plate 220 to move away from the processing area 110, the unloading pressing plate 242 can move close to the processing area 110, the unloading pressing plate 242 abuts against the circuit board 10 to the processing area 110, the adsorption assembly 230 can move away from the circuit board 10 and the processing area 110 along with the mounting plate 220, the adsorption assembly 230 is separated from the circuit board 10, the unloading pressing plate 242 keeps the circuit board 10 in the processing area 110, so that the circuit board 10 is ejected from the adsorption assembly 230 by adopting the movement of the unloading pressing plate 242 and the adsorption assembly 230, and further, during the process that the first driving member 210 drives the mounting plate 220 to move away from the processing area 110 continuously, the unloading driving member 241 drives the unloading pressing plate 242 to move close to the circuit board 10 to a preset position, and then the unloading pressing plate 242 moves away from the circuit board 10 and the processing area 110 along with the mounting plate 220.

Through the setting of discharge clamp plate 242, the atress area of discharge clamp plate 242 butt in circuit board 10 is great to can protect circuit board 10 not impaired when unloading. Further, the two discharging units 240 are symmetrically disposed at both sides of the mounting plate 220, so as to apply a more uniform abutting force to the circuit board 10, and protect the circuit board 10 from being damaged during discharging. Specifically, the discharging driving member 241 is a needle cylinder or a linear motor. Of course, in other embodiments, the discharge assembly 240 may be provided with three, four or more, each discharge assembly 240 being spaced circumferentially about the mounting plate 220.

In one embodiment, referring to fig. 3, the suction assembly 230 includes a plurality of suction cups 231, and each suction cup 231 is spaced apart in a circumferential direction of the mounting plate 220, so that the circuit board 10 is stably sucked onto the robot mechanism 200 by each suction cup 231.

In an embodiment, referring to fig. 3, the manipulator mechanism 200 further includes an elastic component 250, where the elastic component 250 elastically connects the first driving member 210 and the mounting board 220, so that when the adsorption component 230 contacts the circuit board 10, the elastic component 250 can provide elastic buffering for the adsorption component 230, thereby protecting the circuit board 10 from damage.

Further, in the present embodiment, the elastic assembly 250 includes a first side fixing seat 251, a second side fixing seat 252, a buffer spring 253 and a positioning sleeve 254, the first side fixing seat 251 is mounted at the front end of the first driving member 210, the second side fixing seat 252 is mounted on the mounting plate 220, the positioning sleeve 254 is connected to the first side fixing seat 251 and slidably connected with the second side fixing seat 252, the buffer spring 253 is sleeved on the positioning sleeve 254 and elastically abuts between the first side fixing seat 251 and the second side fixing seat 252, so as to provide elastic buffer for the adsorption assembly 230 when the circuit board 10 is adsorbed and fixed, the buffer spring 253 is compressed to play a role of buffer protection when the sucking disc 231 is stressed, and the sucked circuit board 10 can be effectively ensured not to be crushed.

Specifically, the manipulator mechanism 200 further includes a connecting rod 260 and a negative pressure gauge 270, the connecting rod 260 is connected to the first side fixing seat 251 and the front end of the first driving member 210, the negative pressure gauge 270 is installed on the manipulator mechanism 200 and is used for displaying negative pressure data of the adsorption component 230, and further, the negative pressure gauge 270 is used for detecting negative pressure of the suction cup 231 during operation, and an alarm signal is output when the suction cup 231 is insufficient in negative pressure.

In an embodiment, referring to fig. 3, the first driving member 210 is a dual-stroke cylinder, one cylinder stroke of the first driving member 210 is used to drive the mounting plate 220 to approach the processing area 110 along a line along the first direction, and the other cylinder stroke of the first driving member 210 is used to drive the mounting plate 220 to depart from the processing area 110 along a line along the first direction, so that the working efficiency of the manipulator mechanism 200 is improved by the dual-stroke cylinder.

In one embodiment, referring to fig. 2, the robot mechanism 200 is disposed beside the processing spindle 300. Further, in the present embodiment, referring to fig. 1 to 5, the pcb processing apparatus further includes a first driving mechanism 400, a second driving mechanism 500, and a third driving mechanism 600, where the first driving mechanism 400 is connected to the processing spindle 300 and is used for driving the processing spindle 300 to approach or depart from the circuit board 10 along a line where the first direction is located; the second driving mechanism 500 is connected to the first driving mechanism 400 and the manipulator mechanism 200, and is used for driving the first driving mechanism 400 and the manipulator mechanism 200 to move along a straight line in a second direction; the third driving mechanism 600 is connected to the workbench 100, and is used for driving the workbench 100 to move along a straight line where the third direction is located, where the first direction, the second direction and the third direction are set at an included angle.

Further, the first direction and the second direction are arranged at an included angle of 85-95 degrees, the included angle between the first direction and the second direction can be selected to be 85 degrees, 90 degrees or 95 degrees, the included angle between the second direction and the third direction can be selected to be 85 degrees, 90 degrees or 95 degrees, the included angle between the first direction and the third direction can be selected to be 85 degrees, 90 degrees or 95 degrees. Specifically, the first direction, the second direction and the third direction are mutually perpendicular, the straight line where the first direction is located is the Z axis of the PCB processing equipment, the straight line where the second direction is located is the Y axis of the PCB processing equipment, and the straight line where the third direction is located is the X axis of the PCB processing equipment.

It can be understood that the manipulator mechanism 200 can move left and right along the Y-axis under the driving of the second driving mechanism 500, meanwhile, the workbench 100 with the material plate can move back and forth along the X-axis under the driving of the third driving mechanism 600, and then the transfer of the circuit board 10 in the three-dimensional space can be realized by matching with the up-and-down movement of the first driving member 210 in the manipulator mechanism 200 in the X-axis, so as to automatically load and unload materials.

In one embodiment, referring to fig. 2, the pcb processing apparatus further includes a visual positioning mechanism 700, where the visual positioning mechanism 700 is mounted on the processing spindle 300 and is used to position a target point on the circuit board 10, so as to facilitate the drilling of the circuit board 10 by the processing spindle 300.

In an embodiment, referring to fig. 3, the manipulator mechanism 200 further includes a fixing plate 280 and a pick-and-place knife manipulator 290, the fixing plate 280 is mounted on the moving end of the second driving mechanism 500, and the pick-and-place knife manipulator 290 and the first driving member 210 are both mounted on the fixing plate 280, so that the knife is taken by the pick-and-place knife manipulator 290. Specifically, the workbench 100 is further provided with a cutterhead 140, and the pick-and-place tool manipulator 290 is used for picking and placing tools in the cutterhead 140.

In an embodiment, referring to fig. 4, the workbench 100 is further provided with a feeding area 120 and a discharging area 130 located outside the processing area 110, the feeding area 120 is used for placing the circuit board 10, the manipulator mechanism 200 is used for transferring the circuit board 10 located in the feeding area 120 to the processing area 110, and transferring the circuit board 10 located in the processing area 110 to the discharging area 130, and the manipulator mechanism 200 can realize automatic feeding and discharging of the workbench 100 under the cooperation of the first driving mechanism 400, the second driving mechanism 500 and the third driving mechanism 600, so that the processing efficiency of the PCB board processing device is improved.

In an embodiment, the circuit board 10 has a first side and a second side, the side length of the first side is between 50mm and 350mm, the side length of the second side is between 50mm and 350mm, the circuit board 10 is a PCB small board, the manipulator mechanism and the feeding and discharging device of the embodiment are mainly used for solving the problem of insufficient feeding and discharging efficiency of the PCB small board, and the PCB processing device of the embodiment is mainly used for solving the problem of insufficient processing efficiency of the PCB small board.

Further, the side length of the first side may be selected from 50mm, 60mm, 80mm, 100mm, 150mm, 200mm, 250mm, 300 or 350mm, and the side length of the second side may be selected from 50mm, 60mm, 80mm, 100mm, 150mm, 200mm, 250mm, 300 or 350mm. Specifically, the circuit board 10 may be selected from a board having a size of 50mm×50mm, a board having a size of 50mm×60mm, a board having a size of 90mm×120mm, a board having a size of 350mm×250mm, or the like.

In an embodiment, referring to fig. 4 and 5, the workbench 100 includes an adsorption platform 150 and a bin platform 160, the bin platform 160 is disposed at an edge position of the feeding and discharging device, and the adsorption platform 150 is closer to a middle position of the feeding and discharging device than the bin platform 160; the adsorption platform 150 forms the processing area 110, and the feed bin platform 160 forms the material loading area 120 and the unloading area 130, just material loading area 120 with the unloading area 130 all set up in last unloader's border position, material loading area 120 with unloading area 130 is close to the setting, just material loading area 120 with unloading area 130 all with processing area 110 is close to the setting to the manual work is put the circuit board 10 of waiting to process in material loading area 120, and the manual work is convenient for take away the circuit board 10 of finishing from unloading area 130.

It can be appreciated that when the circuit board 10 is placed in the feeding area 120 manually, one board can be placed at a time, and multiple boards can be placed at a time, that is, multiple circuit boards 10 are stacked in the feeding area 120, meanwhile, when the processed circuit board 10 is taken away from the discharging area 130 manually, one board can be taken away at a time, multiple boards can also be taken away at a time, and when the circuit board 10 in the discharging area 130 is not taken away manually, the manipulator mechanism 200 can stack each newly-discharged circuit board 10 in the discharging area 130, so that the PCB processing equipment is convenient to process without stopping, and the processing efficiency is improved.

Of course, in other embodiments, the PCB processing apparatus may further include a transferring device for placing the circuit board 10 to be processed in the loading area 120 and removing the processed circuit board 10 from the unloading area 130.

In an embodiment, referring to fig. 4 and 5, the workbench 100 further includes a plate arranging mechanism 170, the plate arranging mechanism 170 is provided with two plate arranging mechanisms and is respectively disposed in the feeding area 120 and the discharging area 130, the plate arranging mechanism 170 includes a first positioning block 171, a second positioning block 172, a first abutting component 174 and a second abutting component 175, the first positioning block 171 and the first abutting component 174 are distributed in the feeding area 120 or the discharging area 130 at intervals along the second direction, the second positioning block 172 and the second abutting component 175 are distributed in the feeding area 120 or the discharging area 130 at intervals along the third direction, the first abutting component 174 can push the circuit board 10 to abut against the first positioning block 171, and the second abutting component 175 can push the circuit board 10 to abut against the second positioning block 172 so as to arrange the circuit board 10 in the feeding area 120 or the discharging area 130, thereby positioning the circuit board 10 in a preset position of the feeding area 120 and the discharging area 130, and facilitating grabbing by a manipulator mechanism 200 or an external transfer mechanism. It can be understood that the circuit board 10 to be processed can be placed on the feeding area 120 by an external transfer mechanism hand or a manual work, and the circuit board 10 after being processed can be transferred from the discharging area 130 to the next process by the external transfer mechanism hand or a manual work.

Further, the feeding region 120 and the discharging region 130 are respectively distributed with adjusting holes, and the first positioning block 171 and the second positioning block 172 are adjustably inserted into part of the adjusting holes, so that the first positioning block 171 and the second positioning block 172 are adjustably mounted in the feeding region 120 and the discharging region 130. Further, the plate arranging mechanism 170 further includes a third positioning block 173, the third positioning block 173 is a right-angle positioning block, and the third positioning block 173 is adjustably inserted into a portion of each adjusting hole, so that the third positioning block 173 is adjustably mounted at right-angle positions of the feeding area 120 and the discharging area 130, and thus the feeding area 120 is surrounded by the first positioning block 171, the second positioning block 172, the third positioning block 173, the first abutting component 174 and the second abutting component 175 to form a feeding space for limiting the circuit board 10, and the discharging area 130 is surrounded by the first positioning block 171, the second positioning block 172, the third positioning block 173, the first abutting component 174 and the second abutting component 175 to form a discharging space for limiting the circuit board 10. Specifically, each adjusting hole is a threaded hole, and the placement positions of the first positioning block 171, the second positioning block 172 and the third positioning block 173 are adjusted, so as to adapt to the size of the circuit board 10.

In this embodiment, the first abutment assembly 174 includes a first clamping cylinder 1741, a first clamping plate 1742 and a plurality of first pins 1743, where each first pin 1743 is spaced apart from the first clamping plate 1742, and the first clamping cylinder 1741 is mounted on the bin platform 160 and connected to the first clamping plate 1742, so as to push the first clamping plate 1742 to drive each first pin 1743 against the circuit board 10 to position the circuit board 10 in the first positioning block 171; the second abutment assembly 175 includes a second clamping cylinder 1751, a second clamping plate 1752, and a plurality of second pins 1753, where each second pin 1753 is disposed at intervals on the second clamping plate 1752, and the second clamping cylinder 1751 is mounted on the bin deck 160 and connected to the second clamping plate 1752, so as to push the second clamping plate 1752 to drive each second pin 1753 to abut against the circuit board 10, so as to position the circuit board 10 on the second positioning block 172, thereby positioning the circuit board 10 on the preset positions of the loading area 120 and the unloading area 130, and facilitating the grabbing by the manipulator mechanism 200 or an external transfer mechanism hand.

The foregoing disclosure is illustrative of the present utility model and is not to be construed as limiting the scope of the utility model, which is defined by the appended claims.

Claims

1. The manipulator mechanism is characterized by comprising a first driving piece, a mounting plate, an adsorption component and a discharge component, wherein the first driving piece is connected with the mounting plate and used for driving the mounting plate to be close to or far away from a processing area, the adsorption component is mounted on the mounting plate and used for adsorbing and fixing a circuit board, and the discharge component is mounted on the mounting plate and used for abutting the circuit board on the processing area so as to discharge the circuit board from the manipulator mechanism.

2. The manipulator mechanism of claim 1, wherein the manipulator mechanism is configured to cooperate with a PCB processing apparatus for loading and unloading, the PCB processing apparatus includes a processing spindle, and the manipulator mechanism is disposed beside the processing spindle.

3. The manipulator mechanism of claim 1, wherein the discharge assembly comprises a discharge drive member and a discharge platen, the discharge drive member being mounted to the mounting plate and coupled to the discharge platen, the discharge drive member being configured to drive the discharge platen to move adjacent the circuit board;

4. The manipulator mechanism according to claim 3, wherein the two unloading assemblies are symmetrically arranged on two sides of the mounting plate; and/or the number of the groups of groups,

5. The manipulator mechanism of claim 1, further comprising an elastic assembly that elastically connects the first driver and the mounting plate; and/or the number of the groups of groups,

6. The manipulator mechanism of claim 5, wherein the elastic assembly comprises a first side mount, a second side mount, a buffer spring, and a positioning sleeve, the first side mount is mounted to the front end of the first driving member, the second side mount is mounted to the mounting plate, the positioning sleeve is connected to the first side mount and slidably connected to the second side mount, and the buffer spring is sleeved on the positioning sleeve and elastically abuts between the first side mount and the second side mount.

7. A loading and unloading device, characterized in that the loading and unloading device comprises a workbench and the manipulator mechanism of any one of claims 1 to 6;

8. The loading and unloading device of claim 7, wherein the circuit board has adjacent first and second sides, the first side having a side length between 50mm and 350mm, and the second side having a side length between 50mm and 350 mm.

9. The loading and unloading device according to claim 7, wherein the workbench comprises an adsorption platform and a bin platform, the bin platform is arranged at the edge position of the loading and unloading device, and the adsorption platform is closer to the middle position of the loading and unloading device relative to the bin platform;

10. The feeding and discharging device according to any one of claims 7 to 9, wherein the workbench further comprises a plate leveling mechanism, the plate leveling mechanism is provided with two plate leveling mechanisms and is respectively arranged in the feeding area and the discharging area, the plate leveling mechanism comprises a first positioning block, a second positioning block, a first abutting component and a second abutting component, the first positioning block and the first abutting component are distributed in the feeding area or the discharging area at intervals along a second direction, the second positioning block and the second abutting component are distributed in the feeding area or the discharging area at intervals along a third direction, the first abutting component can push the circuit board to abut against the first positioning block, the second abutting component can push the circuit board to abut against the second positioning block so as to arrange the circuit board in the feeding area or the discharging area, and the second direction forms an included angle with the third direction.

11. PCB board processing equipment, its characterized in that, PCB board processing equipment includes:

The loading and unloading device according to any one of claims 7 to 10, which is disposed corresponding to the processing spindle.

12. The PCB processing apparatus of claim 11, wherein the PCB processing apparatus comprises further comprises:

13. The PCB processing apparatus of claim 12, further comprising a visual positioning mechanism mounted to the processing spindle and configured to position a target point on the circuit board; and/or the number of the groups of groups,