Automatic loading and unloading device for gantry type PCB electroplating line

Abstract

The automatic loading and unloading device of the gantry type PCB electroplating line comprises: a frame; a fixture seat arranged on the frame; a Feiba component that can be placed on the fixture seat, the Feiba component comprises a Feiba beam, a copper flat connected to the Feiba beam, and a plurality of plate fixtures arranged on the copper flat; a fixture synchronous opening and closing mechanism directly or indirectly arranged on the frame for controlling the synchronous opening or closing of the plate fixtures on the same Feiba component; an upper and lower plate manipulator movably arranged on the frame, the upper and lower plate manipulator comprises one or more mechanical arms and a PCB board grasping part arranged on the mechanical arm, the PCB board grasping part acts synchronously, and multiple PCB boards are simultaneously conveyed to the plate fixture of the same Feiba component or the PCB boards on the plate fixture of the same Feiba component are simultaneously removed; a material discharge table for placing PCB boards. The plate fixture of the present invention can be opened and closed synchronously, and can realize synchronous loading and unloading of plates in cooperation with the upper and lower plate manipulator, which greatly improves efficiency.

Description

Technical Field

[0001] The invention belongs to the technical field of PCB board electroplating production lines, and in particular relates to a gantry type upper and lower plate device for a PCB board electroplating line. Background Art

[0002] Circuit boards, also known as PCB boards, are the installation and connection carriers of electronic automation equipment chips and components. They are widely used and have huge market demand. At present, the electroplating process of circuit boards mainly adopts the following two types of production lines: gantry type and ring type. Gantry type PCB board electroplating line has a very high application ratio in the market due to its low cost, simple maintenance and high production efficiency. Gantry type PCB board electroplating line has realized automated production to a certain extent and improved production efficiency, but traditional gantry type electroplating lines all use manual operation to realize the upper and lower boards of circuit boards. When putting the boards on, workers clamp the circuit boards one by one to the plate fixture of the electroplating line. After the electroplating is completed, the workers remove the circuit boards on the plate fixture one by one. Since the process of putting on and taking off the boards cannot be automated, the efficiency is low, and the labor intensity of workers is high, it will also cause certain health hazards to the workers.

[0003] With the increasingly fierce competition in circuit board prices, the increase in labor costs and the enhancement of workers' environmental awareness, electroplating plants have an increasingly strong demand for the automation of loading and unloading of electroplating lines. In the past decade, dozens of gantry-type circuit board electroplating production lines at home and abroad have tried various different loading and unloading automation solutions, but due to the complex loading and unloading processes of gantry-type electroplating lines, the driving errors of gantry-type electroplating lines, the suspension swing of the flying bar, and the irregular deformation of the flying bar after long-term use, the position of the circuit board fixture will be randomly drifted and swung, making it impossible for the circuit board to be accurately grasped and placed on the board fixture. So far, there is still no effective automated loading and unloading solution available. Summary of the invention

[0004] The object of the present invention is to provide a device for loading and unloading boards of a gantry-type PCB electroplating line which can realize automatic loading and unloading of boards.

[0005] In order to achieve the above object, the present invention adopts the following technical solutions:

[0006] An automatic loading and unloading device for a gantry-type PCB electroplating line comprises: a frame; a fixture seat directly or indirectly arranged on the frame; a Feiba component that can be placed on the fixture seat, the Feiba component comprising a Feiba beam, a copper flat connected to the Feiba beam, and a plurality of plate fixtures arranged on the copper flat; a fixture synchronous opening and closing mechanism directly or indirectly arranged on the frame for controlling the synchronous opening or closing of plate fixtures on the same Feiba component; an loading and unloading manipulator movably arranged on the frame, the loading and unloading manipulator comprising one or more mechanical arms and a PCB board grasping part arranged on the mechanical arm, the PCB board grasping part acting synchronously to simultaneously convey multiple PCB boards to the plate fixture of the same Feiba component or simultaneously remove the PCB boards on the plate fixture of the same Feiba component; and a material discharge table for placing PCB boards.

[0007] Furthermore, it also includes a flying bar carrier movably arranged on the frame, the frame is provided with a frame track, the flying bar carrier is arranged on the frame track and can reciprocate along the frame track, and the clamp seat is arranged on the flying bar carrier.

[0008] Furthermore, the upper and lower plate manipulator is a gantry-type two-dimensional manipulator, which includes a manipulator truss movably arranged on the frame, and a plurality of PCB board grasping parts are arranged on the manipulator truss along a direction parallel to the Feiba beam, and the upper and lower plate manipulator can move in the horizontal direction and the vertical direction; the PCB board grasping part is a suction cup.

[0009] Furthermore, it also includes a stabilizing plate assembly arranged on the frame or the flying bar carrier, the stabilizing plate assembly is arranged corresponding to the clamp seat and is located on the side of the clamp seat opposite to the upper and lower plate manipulators; the stabilizing plate assembly includes a mounting frame, a cushion and a cushion moving unit; the mounting frame is connected to the flying bar carrier or the frame, the cushion is movably arranged on the mounting frame, and can be close to or away from the clamp seat under the control of the cushion moving unit.

[0010] Furthermore, the unloading table is arranged on a ground guide rail and can move along the ground guide rail; the unloading table includes a loading cart and an unloading cart that are independent of each other; or a belt conveyor is arranged on the unloading table, and at least one partition board is arranged on the belt conveyor, and the partition board divides the unloading table into an upper board area and a lower board area, and the setting direction of the partition board is perpendicular to the moving direction of the belt conveyor.

[0011] Furthermore, the plate clamp is a symmetrical double-opening clamp, and the plate clamp includes a first clamp arm, a second clamp arm, a connecting rod and a clamping spring; the connecting rod is connected to the copper flat plate, and the first clamp and the second clamp are correspondingly provided with a first connecting portion and a second connecting portion, the first connecting portion and the second connecting portion are provided on the connecting rod through a pin shaft, the first clamp arm and the second clamp arm can rotate around the pin shaft, the clamping spring is provided between the first clamp arm and the second clamp arm to provide a closing force for the first clamp arm and the second clamp arm, and a linkage portion is provided between the first clamp arm and the second clamp arm, and the linkage portion is a tooth portion provided on the opposite ends of the first connecting portion and the second connecting portion that mesh with each other, or the linkage portion includes A first connecting rod is arranged on the first clamp arm, a second connecting rod is arranged on the second clamp arm, and a longitudinal slide groove is arranged on the connecting rod, the first connecting rod and the second connecting rod are connected by a pin shaft, and the pin shaft is arranged in the slide groove and can move along the slide groove; or the plate clamp is an asymmetric single-opening clamp, and the plate clamp includes a fixed clamp arm, a movable clamp arm and a clamping spring, the fixed clamp arm is connected to the copper flat, the fixed clamp arm is provided with a first connecting part, and the movable clamp arm is provided with a second connecting part, the first connecting part and the second connecting part are connected by a pin shaft, the movable clamp arm can rotate around the pin shaft, and the clamping spring is arranged between the fixed clamp arm and the movable clamp arm to provide a closing force for the plate clamp.

[0012] Furthermore, the compression spring in the symmetrical double-opening clamp is composed of two coaxially arranged springs, one spring is respectively against the first clamp arm and the connecting rod, and the other spring is respectively against the second clamp arm and the connecting rod.

[0013] Furthermore, the synchronous opening and closing mechanism of the clamp includes a clamp opening and closing plate, a motion control mechanism and a transmission frame; the synchronous opening and closing mechanism of the clamp includes a clamp opening and closing plate, a motion control mechanism and a transmission frame; the clamp opening and closing plates are respectively arranged on the outside of the panel clamp located on the same Feiba component and can respectively contact the tail of the clamp arm of the panel clamp, the transmission frame is directly or indirectly connected to the frame and is located at both ends of the clamp opening and closing plate, and the motion control mechanism is arranged on the transmission frame and controls the clamp opening and closing plate to press or loosen the clamp arm of the panel clamp.

[0014] Furthermore, the plate clamp is an asymmetric single-open type clamp, and the plate clamp includes a fixed clamp arm, a movable clamp arm, a clamping spring, a control connecting rod, a linkage block, a positioning rod and a positioning rod reset spring; the fixed clamp arm is connected to the copper flat, the movable clamp arm is connected to the fixed clamp arm through a pin shaft, and the clamping spring is arranged between the fixed clamp arm and the movable clamp arm to provide a closing force for the plate clamp; the control connecting rod is connected to the movable clamp arm through a pin shaft, and is connected to the linkage block through a pin shaft, and the linkage block is connected to the positioning rod through a pin shaft The positioning rod is connected to the copper flat by a horizontally arranged bolt, and the positioning rod reset spring is arranged between the positioning rod and the copper flat; the positioning rod has a downwardly extending fixed portion, and the fixed portion is located between the compression spring and the movable clamp arm; the clamp synchronous opening and closing mechanism includes a clamp opening and closing plate parallel to the copper flat and an action control mechanism arranged on the frame, the clamp opening and closing plate is connected to the control connecting rod, and the action control mechanism controls the clamp opening and closing plate to pull the control connecting rod, thereby opening or closing the plate clamp.

[0015] Furthermore, the motion control mechanism includes a synchronous screw, a synchronous motor, a synchronous chain and a synchronous wheel; the clamp opening and closing plate is connected to the synchronous screw through a connecting plate, the synchronous screw is arranged on the transmission frame, the synchronous wheel is arranged at the end of the synchronous screw, the synchronous chain bypasses the synchronous wheel, and the synchronous motor drives the synchronous screw to rotate through the synchronous wheel and the synchronous chain.

[0016] Furthermore, a synchronous guide rod is provided on the transmission frame, and the synchronous guide rod passes through the connecting plate, and the connecting plate can move along the synchronous guide rod.

[0017] Furthermore, the clamp synchronous opening and closing mechanism includes a clamp opening and closing plate, a gear clamp arm pair arranged at both ends of the clamp opening and closing plate, and a synchronous motor; the clamp opening and closing plates are respectively arranged on the outside of the panel clamp located on the same Flybar assembly and can respectively contact the tail of the panel clamp clamp arm, one end of the gear clamp arm is a meshing tooth portion, and the other end is in contact with or connected to the outside of the clamp opening and closing plate, the clamp arms of the gear clamp arm pair are meshed with each other through the meshing tooth portion, and the output shaft of the synchronous motor is connected to the meshing tooth portion end of the gear clamp arm.

[0018] Furthermore, it also includes a stabilizing mechanism, which includes a plurality of pairs of relatively arranged calipers and a caliper synchronization mechanism; the calipers are located on both sides of the Feiba beam and / or the copper flat, and the calipers located on the same side are connected through a caliper connecting plate, and the caliper connecting plate is connected to the caliper synchronization mechanism, and the caliper synchronization mechanism controls the caliper connecting plate to drive the caliper to clamp or release the Feiba beam and / or the copper flat.

[0019] Furthermore, the caliper is provided with a Feiba beam clamping portion whose position corresponds to the Feiba beam and a copper flat clamping portion whose position corresponds to the copper flat; the Feiba beam clamping portion protrudes from the clamping surface of the caliper, and a spring is provided between the Feiba beam clamping portion and the caliper; the copper flat clamping portion protrudes from the clamping surface of the caliper, and a spring is provided between the copper flat beam clamping portion and the caliper.

[0020] Furthermore, a camera corresponding to the position of the panel clamp is arranged on the frame or the Feiba carrier vehicle.

[0021] Furthermore, a Feiba assembly lifting mechanism is provided on the Feiba carrier vehicle, and the Feiba assembly lifting mechanism is located on the outside of the clamp seat. The Feiba assembly lifting mechanism includes a lifting drive unit and a Feiba assembly support plate driven by the lifting drive unit and can move up and down in a vertical direction.

[0022] Furthermore, the lifting drive unit is a cylinder or a hydraulic cylinder, and the Feiba assembly support plate is connected to the piston rod of the cylinder or the hydraulic cylinder, and can move in the vertical direction under the action of the cylinder, so as to lift the Feiba assembly placed on the clamp seat upward from the clamp seat or place the Feiba assembly downward into the clamp seat.

[0023] Furthermore, the clamp seat is arranged on the frame, and the clamp seat includes a first clamp seat and a second clamp seat, the first clamp seat is located at one end of the frame close to the electroplating line, and the second clamp seat is located in front of the loading and unloading robot; a Feiba transfer vehicle is arranged on the frame, and the Feiba transfer vehicle is provided with a lifting clamp arm that can move in a vertical direction, and the Feiba transfer vehicle is used to transport the Feiba assembly between the first clamp seat and the second clamp seat.

[0024] Furthermore, it also includes a stabilizing plate assembly arranged on the ground, the stabilizing plate assembly includes a ground mounting frame arranged on the ground through a hinge shaft, a cushion arranged on the ground mounting frame, and a cushion moving unit for controlling the rotation of the ground mounting frame around the hinge shaft; the ground mounting frame is arranged on the side of the clamp seat adjacent to the upper and lower plate manipulators and opposite to the upper and lower plate manipulators; the cushion corresponds to the height of the PCB board clamped by the panel clamp.

[0025] Furthermore, the unloading platform includes independent loading and unloading carts, which are respectively arranged on their own ground guide rails and can move along the ground guide rails; a preparation area is arranged outside the frame, and 4 sections of tracks are arranged on the preparation area, each section of the track is arranged on the ground through a rotating shaft and can rotate around the rotation axis of the rotating shaft, and the rotation axis of the rotating shaft is perpendicular to the ground; the track can be controlled by a track steering mechanism to achieve steering.

[0026] It can be known from the above technical scheme that the present invention sets a fixture synchronous opening and closing mechanism so that the plate fixtures on the same Feiba component can be opened and closed synchronously, and sets an upper and lower plate manipulator that can load multiple circuit boards at a time to uniformly deliver or remove plates for the plate fixtures on the same Feiba component. When loading plates, the plate fixtures on the same Feiba component are opened synchronously, and the upper and lower plate manipulators deliver multiple circuit boards to the bottom of the plate fixtures at one time, and the plate fixtures are closed synchronously again, thereby realizing batch automated synchronous loading and unloading. When unloading plates, the plate fixtures on the same Feiba component are opened synchronously, and the upper and lower plate manipulators remove the circuit boards on all the plate fixtures at the same time, thereby realizing batch automated synchronous loading and unloading, which greatly improves efficiency and also greatly reduces the labor intensity of workers. In addition to being applicable to the double-arm gantry-type PCB board electroplating line in the embodiment, the automatic loading and unloading device of the present invention is also applicable to the single-arm traveling PCB board electroplating line. BRIEF DESCRIPTION OF THE DRAWINGS

[0027] In order to more clearly illustrate the embodiments of the present invention or the technical solutions in the prior art, the drawings required for use in the embodiments or the description of the prior art will be briefly introduced below. Obviously, the drawings described below are only some embodiments of the present invention. For ordinary technicians in this field, other drawings can be obtained based on these drawings without paying creative work.

[0028] Figure 1 This is a schematic diagram of the structure of Example 1 of the present invention.

[0029] Figure 2 It is a top view of embodiment 1 of the present invention.

[0030] Figure 3 It is a side view of embodiment 1 of the present invention.

[0031] Figure 4 This is a schematic diagram of the structure of the Feiba assembly according to Example 1 of the present invention.

[0032] Figure 5 It is a top view of the Feiba assembly of Example 1 of the present invention.

[0033] Figure 6 It is a schematic diagram of the cooperation between the synchronous opening and closing mechanism of the clamp and the plate clamp in Example 1 of the present invention;

[0034] Figure 6a It is a schematic structural diagram of a plate clamp according to an embodiment of the present invention.

[0035] Figure 7 This is a schematic diagram of the structure of the Feiba assembly according to Example 2 of the present invention.

[0036] Figure 8 It is a top view of the Feiba assembly of embodiment 2 of the present invention.

[0037] Fig. 9 It is a schematic diagram of the cooperation between the synchronous opening and closing mechanism of the clamp and the plate clamp in Example 2 of the present invention;

[0038] Figure 9a This is a schematic structural diagram of a plate clamp according to Example 2 of the present invention.

[0039] Fig.10 It is a schematic diagram of the cooperation between the synchronous opening and closing mechanism of the clamp and the plate clamp in Example 3 of the present invention;

[0040] Fig.10a This is a schematic diagram of the mechanism of the plate clamp according to Example 3 of the present invention.

[0041] Fig.11 It is a top view of the synchronous opening and closing mechanism of the clamp according to embodiment 3 of the present invention.

[0042] Fig.12 This is a schematic structural diagram of another implementation of the stabilizing mechanism of Example 3 of the present invention.

[0043] Fig.13 This is a schematic diagram of the structure of Example 4 of the present invention.

[0044] Fig.14 It is a top view of embodiment 4 of the present invention.

[0045] Fig.15 This is a schematic diagram of the structure of Example 5 of the present invention.

[0046] Fig.16 It is a side view of embodiment 5 of the present invention.

[0047] Fig.17 This is a schematic diagram of the structure of Example 6 of the present invention.

[0048] Fig.18 It is a top view of embodiment 6 of the present invention.

[0049] Fig.19 It is a side view of embodiment 6 of the present invention.

[0050] Fig. 20 This is a schematic diagram of the structure of the ground guide rail in the material preparation area of ​​Example 6 of the present invention;

[0051] Fig.21 It is a schematic diagram of the coordination between the synchronous opening and closing mechanism of the clamp and the plate clamp in Example 7 of the present invention;

[0052] Fig. 22 It is a schematic diagram of another angle when the synchronous opening and closing mechanism of the clamp and the plate clamp cooperate in Example 7 of the present invention. DETAILED DESCRIPTION Example 1

[0053] Reference Figure 1 , Figure 2 and Figure 3 The automatic loading and unloading device of this embodiment includes a frame 1, a flying bar carrier 2, a loading and unloading manipulator 3 and a material unloading platform 4. The automatic loading and unloading device is arranged at the front end of a conventional gantry-type electroplating line and docked with the loading end of the electroplating line. A crane guide rail 101 is arranged on the gantry frame 100 of the electroplating line, and a crane 102 is arranged on the crane guide rail 101 and can move along the crane guide rail 101. The crane 102 is used to transport the PCB board clamped by the flying bar assembly. An electroplating tank 103 is arranged below the gantry frame 100. The PCB board is clamped by the flying bar assembly and can be placed in the electroplating tank 103 for electroplating. A flying bar lifting beam 104 is arranged on the crane 102, and the flying bar lifting beam 104 can move up and down in the vertical direction. The Feiba lifting beam 104 can cooperate with the Feiba assembly 105 to transport the Feiba assembly 105, lift or lower the Feiba assembly 105, and move it to the fixture seat of the gantry frame 100. The frame 1 of the automatic plate loading and unloading device is docked with the front end of the gantry frame 100 of the electroplating line, and the driving guide rail 101 on the gantry frame 100 extends to the upper part of the frame 1 that is docked with the gantry frame 100, so that the driving 102 can move along the driving guide rail 101 to the upper part of the front end of the frame 1, and put the Feiba assembly 105 on the fixture seat 2-1 of the Feiba carrier 2 through the Feiba lifting beam 104 thereon, or move the Feiba assembly located on the fixture seat 2-1 of the Feiba carrier 2 to the fixture seat of the gantry frame 100.

[0054] A rack track 1-1 is provided on the rack 1, and the Feiba carrier 2 is provided on the rack track 1-1 and can move on the rack 1 along the rack track 1-1, so that the upper and lower plate manipulator 3 can load and lower the plate. The Feiba carrier 2 of this embodiment adopts a wheeled structure driven by a motor to achieve movement, and the moving direction of the Feiba carrier 2 (the extension direction of the rack track) is consistent with the extension direction of the driving guide rail 101. The clamp seat 2-1 provided on the Feiba carrier 2 is roughly V-shaped, and the Feiba assembly 105 can be placed in the placement groove of the clamp seat 2-1 and supported by the clamp seat 2-1. The Feiba assembly 105 includes a Feiba beam 105-1, a copper flat 105-2 connected to the Feiba beam 105-1, a plurality of plate clamps 105-3 arranged on the copper flat 105-2, and a clamp synchronous opening and closing mechanism 105-4 for controlling the synchronous opening or closing of the plate clamps 105-3, and the plate clamps 105-3 are used to clamp the PCB board. The two ends of the Feiba beam 105-1 can be placed in the placement groove of the clamp seat.

[0055] The upper and lower plate manipulator 3 of the present invention can adopt a conventional two-dimensional or three-dimensional manipulator, such as a manipulator using a bionic manipulator arm, and multiple bionic manipulator arms can act synchronously. Considering the economic cost and simplifying the equipment structure, the upper and lower plate manipulator of this embodiment adopts a gantry-type two-dimensional manipulator, and several PCB board grabbing parts are arranged on the manipulator truss 3a in a direction parallel to the Feiba beam. The manipulator truss 3a is the manipulator arm of the upper and lower plate manipulator, and the PCB board grabbing part is a suction cup 3-2 for adsorbing the PCB board. The number of PCB board grabbing parts on the manipulator truss 3a is set corresponding to the number of circuit boards clamped by a Feiba assembly. One or a group of suction cups grabs a PCB board, so that the upper and lower plate manipulator 3 can grab multiple PCB boards at a time and move them to the board fixture 105-3 of the Feiba assembly 105, or remove all the circuit boards clamped by the board fixture 105-3 at one time, so as to realize the one-time synchronous board loading and synchronous board unloading of multiple circuit boards. In this embodiment, a manipulator rail 3-1 is provided on the frame 1, and a manipulator truss 3a is provided on the manipulator rail 3-1, so that the upper and lower plate manipulator 3 can move along the manipulator rail 3-1. The moving direction of the upper and lower plate manipulator 3 of this embodiment (the extension direction of the manipulator rail) is consistent with the moving direction of the Feiba carrier 2. The upper and lower plate manipulator 3 can grab the PCB board on the unloading table 4 and move it to the Feiba component 105 or move the PCB board on the Feiba component 105 and place it on the unloading table 4 during the reciprocating movement, so as to realize the upper and lower plates. More preferably, the upper and lower plate manipulator 3 can also move in the vertical direction.

[0056] The width of the unloading platform 4 corresponds to the width of the Feiba beam 105-1. The unloading platform 4 of this embodiment is provided with a partitioning plate 4-1, which divides the unloading platform 4 into an upper plate area and a lower plate area. The upper plate area is used to place the PCB board to be electroplated, and the lower plate area is used to place the PCB board after electroplating. Furthermore, the loading platform 4 of this embodiment is provided with a belt conveyor 4-2, and the partitioning plate 4-1 is arranged on the belt conveyor 4-2. When the belt conveyor 4-2 is running, the partitioning plate 4-1 will also move with the belt conveyor 4-2, so as to adjust the size of the upper plate area and the lower plate area according to the upper plate or lower plate situation. The number of the partitioning plates 4-1 can be set to one or more according to the needs.

[0057] As a preferred embodiment of the present invention, a stabilizing plate assembly 5 is also provided on the Feiba carrier 2 or the frame 1. The stabilizing plate assembly 5 of this embodiment is provided on the Feiba carrier 2. The stabilizing plate assembly 5 is provided corresponding to the fixture seat 2-1 on the Feiba carrier 2, and is located on the side of the fixture seat 2-1 opposite to the upper and lower plate manipulator 3. The stabilizing plate assembly 5 includes a mounting frame 5-1, a cushion 5-2, and a cushion moving unit 5-3. The mounting frame 5-1 is connected to the body of the Feiba carrier 2 and is located below the Feiba carrier 2. The cushion 5-2 is movably provided on the mounting frame 5-1 and can be close to the fixture seat 2-1 (PCB board) or away from the fixture seat 2-1 (PCB board) under the control of the cushion moving unit 5-3. The cushion moving unit 5-3 of this embodiment adopts a cylinder, which is provided on the mounting frame 5-1. The cushion 5-2 is connected to the piston rod of the cylinder. When the cylinder is actuated, the cushion 5-2 is driven to move in the horizontal direction, close to or away from the PCB board. The cushion 5-2 can be pressed against the PCB board under the action of the cushion moving unit 5-3 to assist the stability of the PCB board during the process of loading and unloading the board. In particular, when unloading the board, the cushion 5-2 is pressed against the back of the PCB board to assist the suction cup 3-2 of the loading and unloading manipulator 3 to press and absorb the PCB board. Furthermore, the cushion 5-2 can also move in the vertical direction, such as by setting a cylinder that moves in the vertical direction, to better adapt to the position of the PCB board.

[0058] like Figure 4 , Figure 5 and Figure 6As shown, the clamp synchronous opening and closing mechanism of this embodiment is a chain type synchronous mechanism, and the plate clamp 105-3 is fixed on the copper flat 105-2 of the Feiba assembly. The clamp synchronous opening and closing mechanism 105-4 of this embodiment includes a pair of clamp opening and closing plates 105-4a, a synchronous screw rod 105-4b, a synchronous guide rod 105-4c, a synchronous motor 105-4d, a synchronous chain 105-4e, a synchronous wheel 105-4f and a transmission frame 105-4g. The clamp opening and closing plates 105-4a are respectively arranged on the outer sides (front and rear sides) of the clamp arms of the panel clamp 105-3 of the same Feiba assembly, and can respectively contact the tail ends of the clamp arms (the ends of the clamp arms that do not clamp the PCB board) of the panel clamp 105-3. When the clamp opening and closing plates 105-4a contact and clamp the panel clamp 105-3, the panel clamp 105-3 can be opened. When the clamp opening and closing plates 105-4a release the panel clamp 105-3, the panel clamp 105-3 is reset under the action of the compression spring (unnumbered) and restored to the closed state. The transmission frame 105-4g is arranged at both ends of the clamp opening and closing plate 105-4a, and the transmission frame 105-4g is directly or indirectly connected to the frame 1, and the synchronous screw rod 105-4b, the synchronous guide rod 105-4c and the synchronous wheel 105-4f are arranged on the transmission frame 105-4g. The clamp opening and closing plate 105-4a is connected to the synchronous screw rod 105-4b through the connecting plate 105-4h, and the synchronous motor 105-4d outputs power to the synchronous screw rod 105-4b through the synchronous wheel 105-4f and the synchronous chain 105-4e bypassing the synchronous wheel 105-4f, so as to drive the synchronous screw rod 105-4b to rotate. When the synchronous screw rod 105-4b rotates, the clamp opening and closing plate 105-4a is driven to move through the connecting plate 105-4h, so that the clamp opening and closing plate 105-4a can clamp or release the plate clamp 105-3. In order to better guide the movement of the clamp opening and closing plate 105-4a, the present embodiment sets a synchronous guide rod 105-4c on the transmission frame 105-4g, and the synchronous guide rod 105-4c passes through the connecting plate 105-4h, so that the connecting plate 105-4h can move along the synchronous guide rod 105-4c. The present embodiment adopts a motor and a synchronous screw rod, a chain, a synchronous wheel and other transmission structures to form a motion control mechanism of the clamp opening and closing plate, but in other embodiments, a motor + gear transmission combination structure or a cylinder, a hydraulic cylinder and other driving elements can also be used to control the movement of the clamp opening and closing plate, and the clamp opening and closing plate is connected to the piston of the cylinder or hydraulic cylinder, and the opening / closing of the clamp opening and closing plate can be controlled when the cylinder or hydraulic cylinder is in motion.

[0059] Reference Figure 6 and Figure 6aThe plate clamp of this embodiment is a symmetrical double-open type clamp, and the plate clamp includes a first clamp arm 105-31, a second clamp arm 105-32, a connecting rod 105-33, and a compression spring 105-34. The first clamp arm 105-31 and the second clamp 105-32 are arranged on the connecting rod 105-33, and the connecting rod 105-33 is connected to the copper flat 105-2. The first clamp arm 105-31 is provided with a first connecting portion 105-31a, and the first clamp arm 105-31 is connected to the connecting rod 105-33 through the first connecting portion 105-31a. The first connecting portion 105-31a and the connecting rod 105-33 are connected through a pin shaft, and the first clamp arm 105-31 can rotate around the pin shaft. Similarly, a second connecting portion 105-32a is provided on the second clamp arm 105-32, and the second clamp arm 105-32 is connected to the connecting rod 105-33 through the second connecting portion 105-32a. The second connecting portion 105-32a and the connecting rod 105-33 are connected through a pin shaft. The second clamp arm 105-32 can rotate around the pin shaft. When the first clamp arm 105-31 and the second clamp arm 105-32 rotate around the pin shaft, the clamp is opened or closed. A first connecting rod 105-35 is provided on the first clamping arm 105-31, a second connecting rod 105-36 is provided on the second clamping arm 105-32, a longitudinal (vertically extending) sliding groove 105-33a is provided on the connecting rod 105-33, the first connecting rod 105-35 and the second connecting rod 105-36 are connected by a pin shaft, the pin shaft is provided in the sliding groove 105-33a, and can move longitudinally in the sliding groove 105-33 to realize the linkage between the first clamping arm 105-31 and the second clamping arm 105-32. The compression spring 105-34 is disposed between the first clamp arm 105-31 and the second clamp arm 105-32. The compression spring 105-34 of this embodiment passes through the connecting rod 105-33, one end of the compression spring abuts against the first clamp arm 105-31, and the other end abuts against the second clamp arm 105-32, so that the first clamp arm 105-31 and the second clamp arm 105-32 maintain a closed state. In other embodiments, in order to facilitate electrical conduction, the compression spring 105-34 can be composed of two coaxially arranged compression springs, that is, two compression springs are provided, one of which abuts against the first clamp arm and the connecting rod respectively, and the other abuts against the second clamp arm and the connecting rod respectively.

[0060] The action process of automatically loading and unloading the plates of the present invention is further described below:

[0061] When loading the board, the PCB board to be electroplated is placed on the unloading table 4, and multiple board clamps 105-3 on the same Feiba component are opened synchronously under the control of the clamp synchronous opening and closing mechanism 105-4. The upper and lower plate manipulators 3 pick up multiple PCB boards from the unloading table 4 at the same time, and move them to the corresponding position of the board clamp 105-3. At the same time, the cushion 5-2 of the stabilizing plate assembly 5 moves toward the PCB board under the control of the cushion moving unit 5-3, and presses against the back of the PCB board. The upper and lower plate manipulators 3 and the cushion 5-2 cooperate to keep the PCB board stable, and the clamp synchronous opening and closing mechanism 105-4 controls the board clamp 105-3 to close synchronously and clamp the PCB board, thereby completing the synchronous loading of the entire row of circuit boards, and the crane 102 moves the Feiba component 5 that has completed the loading to the electroplating line.

[0062] The process of removing the plate is opposite to that of removing the plate. After the Feiba assembly 5 carrying the PCB board that has been electroplated is moved from the crane 102 to the Feiba carrier 2, the upper and lower plate manipulator 3 moves to the corresponding position of the PCB board clamped by the board clamp 105-3, and the cushion 5-2 of the stabilizing assembly also moves to the back of the PCB board and abuts against the back of the PCB board. The suction cup on the upper and lower plate manipulator 3 sucks the PCB board, and the clamp synchronous opening and closing mechanism 105-4 controls the board clamp 105-3 on the same Feiba assembly to open synchronously, so that the upper and lower plate manipulator 3 can remove multiple circuit boards on a Feiba assembly at one time and move them to the unloading table 4. Example 2

[0063] The difference between this embodiment and embodiment 1 is the synchronous opening and closing mechanism of the clamp. Figure 7 , Figure 8 and Fig. 9 As shown, the clamp synchronous opening and closing mechanism 105-4 of this embodiment uses a gear clamp arm 105-4h' to control the opening and closing of the clamp opening and closing plate 105-4a. A pair of gear clamp arms 105-4h' are respectively arranged at both ends of the clamp opening and closing plate 105-4a. One end of the gear clamp arm 105-4h' is a meshing tooth portion, and the other end is in contact with or connected to the outer side of the clamp opening and closing plate 105-3. The two opposite gear clamp arms 105-4h' are meshed through the meshing tooth portion. The output shaft of the synchronous motor 15-4d is connected to the meshing tooth portion end of the gear clamp arm 105-4h' (directly or indirectly). When the synchronous motor 15-4 is working, the gear clamp arm 105-4h' can be driven to rotate through the meshing tooth portion, so that the gear clamp arm 105-4h' can control the plate clamp 105-3 to open or close through the clamp opening and closing plate 105-4a.

[0064] like Fig. 9 and Figure 9aAs shown, the plate clamp of this embodiment is also a symmetrical double-open type clamp, and the plate clamp includes a first clamp arm 105-31, a second clamp arm 105-32, a connecting rod 105-33, and a compression spring 105-34. The first clamp arm 105-31 and the second clamp 105-32 are arranged on the connecting rod 105-33, and the connecting rod 105-33 is connected to the copper flat 105-2. The first clamp arm 105-31 is provided with a first connecting portion 105-31a, and the first clamp arm 105-31 is connected to the connecting rod 105-33 through the first connecting portion 105-31a. The first connecting portion 105-31a and the connecting rod 105-33 are connected through a pin shaft, and the first clamp arm 105-31 can rotate around the pin shaft. Similarly, the second clamp arm 105-32 is provided with a second connecting portion 105-32a, and the second clamp arm 105-32 is connected to the connecting rod 105-33 through the second connecting portion 105-32a. The second connecting portion 105-32a and the connecting rod 105-33 are connected through a pin shaft, and the second clamp arm 105-32 can rotate around the pin shaft. The opposite ends of the first connecting portion 105-31a and the second connecting portion 105-32a are mutually meshing teeth, and the first clamp arm 105-31 and the second clamp arm 105-32 can be linked through the mutually meshing teeth. The compression spring 105-34 is arranged between the first clamp arm 105-31 and the second clamp arm 105-32. The compression spring 105-34 passes through the connecting rod 105-33, one end of the compression spring 105-34 abuts against the first clamp arm 105-31, and the other end abuts against the second clamp arm 105-32, so that the first clamp arm 105-31 and the second clamp arm 105-32 remain in a closed state. Example 3

[0065] The difference between the plate fixture used in this embodiment and in embodiment 2 is that the plate fixture used in this embodiment is an asymmetric single-opening plate fixture. Fig.10 and Fig.10a The plate clamp includes a first clamp arm 105-31, a second clamp arm 105-32 and a compression spring 105-34. Since the present embodiment is a single-open type clamp, one of the clamp arms is a fixed clamp arm (first clamp arm), which can be used as a connecting rod and connected to the copper flat 105-2, and the other clamp arm is a movable clamp arm (second clamp arm). The first clamp arm 105-31 and the second clamp arm 105-32 are correspondingly provided with a first connecting portion 105-31a and a second connecting portion 105-32a, and the first connecting portion 105-31a and the second connecting portion 105-32a are connected by a pin shaft, and the second clamp arm 105-32 can rotate around the pin shaft to open or close the plate clamp. The compression spring 105-34 is disposed between the first clamp arm 105-31 and the second clamp arm 105-32, with one end abutting against the first clamp arm 105-31 and the other end abutting against the second clamp arm 105-32, so that the first clamp arm 105-31 and the second clamp arm 105-32 remain in a closed state.

[0066] The two clamping arms of the symmetrical double-opening plate clamp are symmetrically arranged. When opening, the clamp opening and closing plates on both sides of the plate clamp press the clamping arms of the clamp at the same time, and the clamping arms open under the pressure, so that the PCB board can be fed in. When closing, the clamp pressing plates on both sides of the plate clamp release the clamping arms of the clamp at the same time, and the clamping arms clamp the PCB board. When the asymmetrical single-opening plate clamp is opened, one clamping arm remains motionless under the pressure of the clamp opening and closing plates, and the other clamping arm opens under the pressure of the clamp opening and closing plates; when the clamp opening and closing plates are released, the plate clamp is closed. The clamp synchronous opening and closing mechanism of this embodiment can have the same structure as the clamp synchronous opening and closing mechanism of embodiment 1, or the movement of the clamp opening and closing plates is driven by two independent motors respectively, one clamp opening and closing plate presses the fixed clamping arm first under the control of the motor, and the other clamp opening and closing plate presses the other movable clamping arm under the control of another motor to open the clamp, and the action process when closing is opposite.

[0067] Since all the plate clamps 105-3 on the same Feiba assembly need to be opened synchronously to achieve synchronous one-time loading and unloading of the plates, in order to ensure the efficiency and accuracy of loading and unloading the plates, this embodiment also provides a stabilizing mechanism 6 for clamping the Feiba beam 105-1 to maintain the stability and straightness of the Feiba beam. Fig.10 and Fig.11 As shown, the stabilizing mechanism of this embodiment includes a plurality of pairs of calipers 6-1 arranged opposite to each other, the calipers 6-1 are located on both sides of the Feiba beam 105-1, and the calipers 6-1 located on the same side of the Feiba beam 105-1 are connected through a caliper connecting plate 6-2, and the length of the caliper connecting plate 6-2 can correspond to the length of the Feiba beam 105-1. The caliper connecting plate 6-2 is arranged on the caliper synchronous screw 6-3, and the caliper synchronous screw 6-3 is located at both ends of the caliper connecting plate 6-2. The ends of the caliper synchronous screw 6-3 are provided with caliper synchronous wheels 6-4, and the caliper synchronous chain 6-5 bypasses the caliper synchronous wheels 6-4 at both ends of the caliper connecting plate 6-2. The caliper synchronous motor 6-6 drives the caliper synchronous wheel 6-4, and transmits power to the caliper synchronous screw rod 6-3 at both ends of the caliper connecting plate through the caliper synchronous chain 6-5, so that it drives the caliper connecting plate 6-2 to move synchronously, so that the caliper 6-1 connected to the caliper connecting plate 6-2 can clamp the flying bar beam 105-1, so that the flying bar beam 105-1 maintains a certain straightness, which is convenient for the plate fixture 105-3 to synchronously clamp the PCB board. The caliper synchronous screw rod 6-3, the caliper synchronous wheel 6-4, the caliper synchronous chain 6-5, and the caliper synchronous motor 6-6 constitute a caliper synchronization mechanism, wherein the caliper synchronous motor 6-6 is a driving unit. In other embodiments, a cylinder or a hydraulic cylinder can also be used as a caliper synchronization mechanism to control the synchronous movement of the caliper.

[0068] Preferably, a clamping portion 6-1a protruding from the clamping surface (the surface opposite to the Feiba beam) of the caliper 6-1 is provided, and a spring 6-1b is provided between the clamping portion 6-1a and the caliper 6-1 (clamping surface). The position of the clamping portion 6-1a corresponds to the position of the Feiba beam.

[0069] As a variation of this embodiment, the stabilizing mechanism 6 can also be used to clamp the copper flat 105-2, or the stabilizing mechanism 6 can clamp the Feiba beam 105-1 and the copper flat 105-2 at the same time. Fig.12 As shown, the caliper 6-1 is provided with a Feiba beam clamping portion 6-1c corresponding to the Feiba beam 105-1 and a copper flat clamping portion 6-1d corresponding to the copper flat 105-2. The caliper 6-1 can clamp the Feiba beam 105-1 and the copper flat 105-2 at the same time to ensure the straightness of the Feiba beam 105-1 and the copper flat 105-2. Example 4

[0070] like Fig.13 and Fig.14 As shown, the difference between this embodiment and embodiment 1 is that a camera 7 is provided on the frame 1 or the flying bar carrier 2, and the camera 7 is located on the side of the fixture seat 2-1 opposite to the upper and lower plate manipulators 3, and is used to collect the clamping position information of the PCB board. The setting position of the camera 7 can correspond to the position of the plate fixture. In addition, the unloading table of this embodiment includes a loading trolley 4-1 and a unloading trolley 4-2 that are independent of each other, and the loading trolley 4-1 and the unloading trolley 4-2 are respectively provided on the ground guide rail 4-3 and can move along the ground guide rail 4-3. The extension direction of the ground guide rail 4-3 of this embodiment is perpendicular to the moving direction of the flying bar carrier 2. Example 5

[0071] Reference Fig.15 and Fig.16, the difference between this embodiment and embodiment 4 is that: in this embodiment, a Feiba assembly lifting mechanism 8 is provided on the Feiba carrier 2, and the position of the Feiba assembly lifting mechanism 8 corresponds to the position of the clamp seat 2-1, and is located outside the clamp seat 2-1. The Feiba assembly lifting mechanism 8 includes a lifting drive unit 8-1 and a Feiba assembly support plate 8-2 driven by the lifting drive unit 8-1. The lifting drive unit 8-1 of this embodiment adopts a cylinder, and the lifting drive unit 8-1 is provided on the Feiba carrier 2. The Feiba assembly support plate 8-2 is connected to the piston rod of the cylinder and can move in the vertical direction under the action of the cylinder, so as to lift the Feiba assembly 105 placed on the clamp seat 2-1 upward from the clamp seat 2-1 or put the Feiba assembly 105 downward into the clamp seat 2-1. When the trolley 102 moves to above the flybar carrier 2, the flybar component lifting mechanism 8 can remove the flybar component 105 from the trolley 102 and place it on the flybar carrier 2, or move the flybar component 105 on the flybar carrier 2 to the trolley 102. Example 6

[0072] Reference Fig.17 , Fig.18 and Fig.19 , the difference between this embodiment and embodiment 1 is that: the fixture seat 2-1 of this embodiment is directly arranged on the frame 1, and a first fixture seat 2-1a is arranged at one end of the frame 1 close to the electroplating line, and a second fixture seat 2-1b is arranged at a position of the frame 1 close to the loading and unloading robot, and the second fixture seat 2-1b is located in front of the loading and unloading robot. A Feiba transfer vehicle 2' is arranged on the frame 1. The Feiba transfer vehicle 2' is arranged on the frame rail 1-1 on the frame 1, and can move in the horizontal direction along the frame rail 1-1. The Feiba transfer vehicle 2' is provided with a lifting clamp arm 2-2', and the lifting clamp arm 2-2' can move in the vertical direction. The Feiba transfer vehicle 2' cooperates with the lifting clamp arm 2-2' to transfer the Feiba assembly between different fixture seats, for example, the Feiba clamp on the first clamp seat 2-1a is transferred to the second clamp seat 2-1b, and vice versa.

[0073] The stabilizing plate assembly of this embodiment is arranged on the ground, and the stabilizing plate assembly includes a ground mounting frame 5-1', a cushion 5-2 and a cushion moving unit 5-3. The ground mounting frame 5-1' is connected to the ground through a hinge shaft and can rotate around the hinge shaft. The cushion moving unit 5-3 is connected to the ground mounting frame 5-1', and controls the ground mounting frame 5-1' to rotate around the hinge shaft, so that the cushion 5-2 installed on the ground mounting frame 5-1' is close to or away from the clamp seat 2-1 adjacent to the upper and lower plate manipulator 3. The cushion moving unit 5-3 preferably adopts a hydraulic cylinder or a pneumatic cylinder, which is arranged on the ground, and the piston rod is connected to the ground mounting frame 5-1'. When the hydraulic cylinder or the cylinder is actuated, it drives the ground mounting frame 5-1' to rotate around the hinge shaft. The installation position of the cushion 5-2 corresponds to the height of the PCB board clamped by the plate clamp, so that when the board is raised and lowered, the cushion 5-2 can be against the back of the PCB board to assist in the stability of the PCB board.

[0074] like Fig. 20 As shown, in this embodiment, a preparation area is also provided outside the frame 1, and the preparation area is used to place the unloading table 4 to be used (including the unloading table with material loading and the empty unloading table). The ground rails in the preparation area include 4 sections of rails 9, each of which is respectively provided on the ground through a rotating shaft 10, the rotation axis of the rotating shaft 10 is perpendicular to the ground, and the rails 9 can rotate in the horizontal direction around the rotation axis of the rotating shaft 10. A transmission chain 11 passes around the four rotating shafts 10, and the transmission chain 11 is driven by a servo motor 12. The output shaft of the servo motor 12 drives the transmission chain 11 through a transmission wheel 13. When the servo motor 12 is working, the rotating shaft 10 can be driven to rotate through the transmission chain 11, and further driven to rotate the rails 9 to change the direction of the rails 9, so that the rails can be docked with the ground rails 4-3 located below the frame 1, so that the unloading table 4 can move between the frame 1 and the preparation area, or the rails 9 can be docked with the loading station or the unloading station, so that the unloading table 4 can move to the corresponding station. The transmission chain 11, servo motor 12 and transmission wheel 13 of this embodiment constitute a track steering mechanism of the track 9. In other embodiments, a cylinder or a hydraulic cylinder can also be used as the track steering mechanism to achieve the steering of the track. Example 7

[0075] The plate fixture used in this embodiment is the same as that used in embodiment 3, which is also an asymmetric single-open plate fixture. Fig.21 and Fig. 22As shown, the plate clamp of this embodiment includes a first clamp arm 105-31 (fixed clamp arm), a second clamp arm 105-32 (movable clamp arm), a compression spring 105-34, a control link 105-37, a linkage block 105-38, a positioning rod 105-39, and a positioning rod reset spring 105-40. The first clamp arm 105-41 and the second clamp arm 105-32 are connected by a pin shaft, and the second clamp arm 105-32 can rotate around the pin shaft to open or close the plate clamp. The first clamp arm 105-31 is connected to the copper flat. The control link 105-37 is connected to the second clamp arm 105-32 through a pin shaft a, and the control link 105-37 is also connected to the linkage block 105-38 through a pin shaft b, and the linkage block 105-38 is connected to the positioning rod 105-39 through a pin shaft c. The positioning rod 105-39 is fixed to the copper flat by a horizontally arranged bolt, and a positioning rod reset spring 105-40 is arranged between the copper flat and the positioning rod 105-39, and the positioning rod reset spring 105-40 is sleeved on the bolt. The positioning rod 105-39 has a downwardly extending fixed portion, which is located between the clamping spring 105-34 and the second clamping arm 105-32, that is, one end of the clamping spring 105-34 abuts against the first clamping arm 105-31, and the other end abuts against the fixed portion of the positioning rod 105-39, and indirectly abuts against the second clamping arm 105-32. The clamping spring 105-34 and the positioning rod reset spring 105-40 allow the positioning rod 105-39 to be finely adjusted along the axis of the bolt.

[0076] The clamp synchronous opening and closing mechanism of this embodiment includes a clamp opening and closing plate 105-4a' parallel to the copper flat, the clamp opening and closing plate 105-4a' is connected to the control link 105-37, and the clamp opening and closing plate 105-4a' is controlled by the action control mechanism to push the control link 105-37 downward. When the control link 105-37 is pushed downward, the control link 105-37 drives the second clamp arm 105-32 to rotate around the pin shaft through the linkage block 105-38, thereby opening the plate clamp. Conversely, when the action control mechanism drives the control link 105-37 to reset, the plate clamp returns to the closed state. The action control mechanism of this embodiment includes a cylinder 105-4d' fixed on the frame, and the piston rod of the cylinder 105-4d' is connected to the clamp opening and closing plate 105-4a'. When the cylinder 105-4d' is actuated, the control connecting rod 105-37 can be pulled through the clamp opening and closing plate 105-4a'.

[0077] In this specification, each part is described in a progressive manner, and each part focuses on the differences from other parts, and the same or similar parts between the parts can be referred to each other. The above description of the disclosed embodiments enables professionals and technicians in this field to implement or use the present invention. Various modifications to these embodiments will be obvious to professionals and technicians in this field, and the general principles defined herein can be implemented in other embodiments without departing from the spirit or scope of the present invention. Therefore, the present invention will not be limited to the embodiments shown in this article, but will comply with the widest range consistent with the principles and novel features disclosed herein.

Claims

1. Automatic loading and unloading device of gantry type PCB electroplating line, It is characterized in that include: frame; A fixture seat directly or indirectly arranged on the frame; A Feiba assembly that can be placed on the fixture seat, the Feiba assembly comprising a Feiba beam, a copper flat connected to the Feiba beam, and a plurality of plate fixtures arranged on the copper flat; A clamp synchronous opening and closing mechanism directly or indirectly arranged on the frame for controlling the synchronous opening or closing of the panel clamps on the same Flybar assembly; An upper and lower board manipulator is arranged on the frame or the ground, and the upper and lower board manipulator includes one or more mechanical arms and a PCB board grabbing suction cup arranged on the mechanical arm, and the PCB board grabbing suction cup moves synchronously to simultaneously transport multiple PCB boards to the board fixture of the same Feiba component or simultaneously remove the PCB boards on the board fixture of the same Feiba component; A material placing table for PCB boards; The clamp synchronous opening and closing mechanism includes a clamp opening and closing plate, an action control mechanism and a transmission frame; the clamp opening and closing plates are respectively arranged on the outer sides of the panel clamps located on the same Feiba assembly, and can respectively contact the tails of the clamp arms of the panel clamps; the transmission frame is directly or indirectly connected to the frame and is located at both ends of the clamp opening and closing plate; the action control mechanism is arranged on the transmission frame and controls the clamp opening and closing plate to press or release the clamp arms of the panel clamps; It also includes a stabilizing mechanism, which includes a plurality of pairs of relatively arranged calipers and a caliper synchronization mechanism; the calipers are located on both sides of the Feiba beam and / or the copper flat, and the calipers located on the same side are connected through a caliper connecting plate, and the caliper connecting plate is connected to the caliper synchronization mechanism, and the caliper synchronization mechanism controls the caliper connecting plate to drive the caliper to clamp or release the Feiba beam and / or the copper flat.

2. The automatic loading and unloading device of the gantry type PCB electroplating line according to claim 1, Features: It also includes a Feiba carrier movably arranged on the frame, the frame is provided with a frame track, the Feiba carrier is arranged on the frame track and can reciprocate along the frame track, and the clamp seat is arranged on the Feiba carrier.

3. The automatic loading and unloading device of the gantry type PCB electroplating line according to claim 1, Features: The upper and lower plate manipulator is a gantry-type two-dimensional manipulator, which includes a manipulator truss movably arranged on the frame, and a plurality of PCB board grabbing suction cups are arranged on the manipulator truss in a direction parallel to the Feiba beam. The upper and lower plate manipulator can move in the horizontal and vertical directions.

4. The automatic loading and unloading device of the gantry type PCB electroplating line according to claim 1, Features: The unloading platform is arranged on the ground guide rail and can move along the ground guide rail; the unloading platform includes a loading car and an unloading car that are independent of each other; or a belt conveyor is arranged on the unloading platform, and at least one partition backing plate is arranged on the belt conveyor, and the partition backing plate divides the unloading platform into an upper plate area and a lower plate area, and the setting direction of the partition backing plate is perpendicular to the moving direction of the belt conveyor.

5. The automatic loading and unloading device of the gantry type PCB electroplating line according to claim 1, Features: The plate clamp is a symmetrical double-opening clamp, and the plate clamp includes a first clamp arm, a second clamp arm, a connecting rod and a clamping spring; the connecting rod is connected to the copper flat plate, and the first clamp arm and the second clamp arm are correspondingly provided with a first connecting portion and a second connecting portion, the first connecting portion and the second connecting portion are arranged on the connecting rod through a pin shaft, and the first clamp arm and the second clamp arm can rotate around the pin shaft, and the clamping spring is arranged between the first clamp arm and the second clamp arm to provide a closing force for the first clamp arm and the second clamp arm, and a linkage portion is arranged between the first clamp arm and the second clamp arm, and the linkage The first connecting part is a toothed part meshing with each other on the opposite ends of the first connecting part and the second connecting part, or the linkage part includes a first linkage rod provided on the first clamp arm, a second linkage rod provided on the second clamp arm, and a longitudinal slide groove provided on the linkage rod, the first linkage rod and the second linkage rod are connected by a pin shaft, and the pin shaft is provided in the slide groove and can move along the slide groove; the compression spring in the symmetrical double-opening clamp is a single spring, or is composed of two coaxially arranged springs, one spring is respectively against the first clamp arm and the linkage rod, and the other spring is respectively against the second clamp arm and the linkage rod; Or the plate clamp is an asymmetric single-open type clamp, which includes a fixed clamp arm, a movable clamp arm and a clamping spring. The fixed clamp arm is connected to the copper flat plate. The fixed clamp arm is provided with a first connecting part, and the movable clamp arm is provided with a second connecting part. The first connecting part and the second connecting part are connected by a pin shaft. The movable clamp arm can rotate around the pin shaft. The clamping spring is provided between the fixed clamp arm and the movable clamp arm to provide a closing force for the plate clamp.

6. The automatic loading and unloading device of the gantry type PCB electroplating line according to claim 1, Features: The plate clamp is an asymmetric single-open type clamp, and comprises a fixed clamp arm, a movable clamp arm, a clamping spring, a control connecting rod, a linkage block, a positioning rod and a positioning rod reset spring; the fixed clamp arm is connected to the copper flat, the movable clamp arm is connected to the fixed clamp arm through a pin shaft, and the clamping spring is arranged between the fixed clamp arm and the movable clamp arm to provide a closing force for the plate clamp; The control link is connected to the movable clamp arm through a pin shaft, and is connected to the linkage block through a pin shaft, the linkage block is connected to the positioning rod through a pin shaft, the positioning rod is connected to the copper flat plate through a horizontally arranged bolt, and the positioning rod reset spring is arranged between the positioning rod and the copper flat plate; the positioning rod has a fixing portion extending downward, and the fixing portion is located between the compression spring and the movable clamp arm; The clamp synchronous opening and closing mechanism includes a clamp opening and closing plate parallel to the copper flat and a motion control mechanism arranged on the frame. The clamp opening and closing plate is connected to the control connecting rod. The motion control mechanism controls the clamp opening and closing plate to pull the control connecting rod to open or close the plate clamp.

7. The automatic loading and unloading device of the gantry type PCB electroplating line according to claim 2, Features: The frame or the Feiba carrier is provided with a camera corresponding to the position of the panel clamp.

8. The automatic loading and unloading device of the gantry type PCB electroplating line according to claim 1, Features: The clamp seat is arranged on the frame, and the clamp seat includes a first clamp seat and a second clamp seat, the first clamp seat is located at one end of the frame close to the electroplating line, and the second clamp seat is located in front of the upper and lower plate manipulators; a Feiba transfer vehicle is arranged on the frame, and the Feiba transfer vehicle is provided with a lifting clamp arm that can move in a vertical direction, and the Feiba transfer vehicle is used to transport the Feiba assembly between the first clamp seat and the second clamp seat.

9. The automatic loading and unloading device of the gantry type PCB electroplating line according to claim 8, Features: It also includes a stabilizing plate assembly disposed on the ground or on a frame, the stabilizing plate assembly including a ground mounting frame disposed on the ground via a hinge shaft, a cushion disposed on the ground mounting frame, and a cushion moving unit for controlling the ground mounting frame to rotate around the hinge shaft; The ground mounting frame is arranged on a side of the fixture seat adjacent to the upper and lower plate manipulator opposite to the upper and lower plate manipulator; The cushion corresponds to the height of the PCB board clamped by the board clamp.

10. The automatic loading and unloading device of the gantry type PCB electroplating line according to claim 1, 8 or 9, Features: The unloading platform is arranged on a ground guide rail and can move along the ground guide rail; A material preparation area is arranged outside the frame, and four sections of tracks are arranged on the material preparation area. Each section of the track is arranged on the ground through a rotating shaft and can rotate around the rotation axis of the rotating shaft, and the rotation axis of the rotating shaft is perpendicular to the ground; the track can be controlled by a track steering mechanism to achieve steering.

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