A circuit board automatic board placement machine

Abstract

The present invention provides a kind of automatic circuit board assembly machine, including a frame, a manipulator clamp, a plate placing mechanism, a plate stacking workbench and a CCD camera are arranged on the frame, the plate placing mechanism and the plate stacking workbench are arranged on the frame and surround the manipulator clamp, the manipulator clamp is arranged in the middle position of the frame, the plate stacking workbench includes an empty frame lifting mechanism, an empty frame conveying mechanism, an empty frame supporting mechanism and a different plate processing table, the different plate processing table is arranged on the frame, the empty frame lifting mechanism is arranged below the different plate processing table and connected to the frame, the empty frame supporting mechanism is symmetrically arranged on both sides of the empty frame lifting mechanism, the empty frame conveying mechanism is arranged above the empty frame lifting mechanism and the empty frame supporting mechanism and connected to the frame, and the CCD camera is arranged on the frame and is located directly above the empty frame supporting mechanism. The present invention can automatically assemble the board without manual operation, has high work efficiency and good finished product quality.

Description

Technical Field

[0001] The invention relates to the technical field of board matching equipment, and in particular to an automatic circuit board matching machine. Background Art

[0002] The existing circuit board assembly in the circuit board industry requires manual work to pick up the boards in order and place them into the corresponding specification frames, and then manually collect and stack the boards.

[0003] From the above process, it can be seen that the existing circuit board assembly process has the following defects:

[0004] 1. The manual operation of circuit board assembly is labor-intensive and labor-intensive, and the labor cost is high;

[0005] 2. Manual panel matching operation can easily cause scratches, scratches and thin plate breaks on the surface of the panel, resulting in unstable quality;

[0006] 3. There are many panel placement stations, which cannot be centralized and the labor efficiency is low. Summary of the invention

[0007] The invention provides an automatic circuit board matching machine, which can automatically match boards without manual operation, has high working efficiency and good finished product quality.

[0008] To achieve the above object, the present invention adopts the following technical solution:

[0009] A circuit board automatic assembly machine comprises a frame, on which a manipulator clamp, a plate placing mechanism, a plate stacking workbench and a CCD camera are arranged, the plate placing mechanism and the plate stacking workbench are arranged on the frame and surround the manipulator clamp, the manipulator clamp is arranged in the middle of the frame, and is used to grab the plate on the plate placing mechanism onto the plate stacking workbench,

[0010] The plate stacking workbench includes an empty frame lifting mechanism, an empty frame conveying mechanism, an empty frame supporting mechanism and a different plate processing table. The different plate processing table is arranged on a rack and is used to place plates with incorrect coding. The empty frame lifting mechanism is arranged below the different plate processing table and is connected to the rack, and is used to place and convey empty frames for easy grasping by the empty frame conveying mechanism. The empty frame supporting mechanism is symmetrically arranged on both sides of the empty frame lifting mechanism, and is used to support the empty frames grasped by the empty frame conveying mechanism and the plates placed by the manipulator clamp. The empty frame conveying mechanism is arranged above the empty frame lifting mechanism and the empty frame supporting mechanism and is connected to the rack, and is used to grasp and convey the empty frame on the empty frame lifting mechanism to the empty frame supporting mechanism.

[0011] The CCD camera is arranged on the frame and is located just above the empty frame supporting mechanism, and is used for scanning and encoding the plate parts on the empty frame supporting mechanism.

[0012] Preferably, the panel placing mechanism includes a panel lifting mechanism, a rolling conveying mechanism, an empty frame output mechanism and a locking frame cylinder assembly. The rolling conveying mechanism is arranged on the panel lifting mechanism and is used for conveying the panels. The empty frame output mechanism is arranged above the rolling conveying mechanism and is connected to the frame, and is used for conveying the empty frame that has grabbed the panels. The panel lifting mechanism is arranged below the rolling conveying mechanism and is connected to the frame, and is used for conveying the panel frame on the rolling conveying mechanism to the empty frame output mechanism, so that the robot clamp can grab the panel and place it on the empty frame supporting mechanism. The locking frame cylinder assembly is arranged on the panel lifting mechanism, and is used for limiting the range of movement of the panel frame on the rolling conveying mechanism.

[0013] Preferably, the panel lifting mechanism includes a lifting and fixing plate, a lifting cylinder, a lifting guide rod and a panel lifting plate, the lifting and fixing plate is arranged on a frame, the lifting cylinder is arranged on the bottom surface of the lifting and fixing plate, the panel lifting plate is arranged on the lifting cylinder, one end of the lifting guide rod is connected to the panel lifting plate, and the other end passes through the lifting and fixing plate.

[0014] Preferably, the rolling conveying mechanism includes a roller mounting plate, a roller and a plate frame limiting plate, the roller mounting plate is arranged on both sides of the plate lifting plate, the roller is arranged on the roller mounting plate, one end of the plate frame limiting plate is connected to the plate lifting plate, and the other end extends above the roller.

[0015] Preferably, the empty frame output mechanism includes an output slide plate, a plate frame fixing frame, a plate frame limit seat and a rodless cylinder assembly, the output slide plate is symmetrically arranged on the frame and located above the rolling conveying mechanism, the plate frame fixing frame is arranged on the output slide plate, the plate frame limit seat is arranged on the plate frame fixing frame, and the rodless cylinder assembly is arranged on the frame and located below the output slide plate, for driving the plate frame fixing frame to move along the output slide plate.

[0016] Preferably, the empty frame lifting mechanism includes an empty frame lifting motor, a lifting transmission shaft, a lifting slide rail group, a lifting conveyor belt, a lifting plate, an empty frame fixed plate and a limit cylinder assembly. The empty frame lifting motor is arranged on one side of the frame, the lifting transmission shaft and the lifting slide rail group are symmetrically arranged on the other side of the frame, the lifting conveyor belt is arranged on the lifting transmission shaft, the lifting plate is arranged on the lifting slide rail group and is connected to the lifting conveyor belt, one end of the empty frame fixed plate is connected to the lifting plate, and the other end extends outward, the limit cylinder assembly is respectively arranged on the frame and the empty frame fixed plate, and the empty frame lifting motor is connected to the lifting transmission shaft through a belt, which is used to drive the lifting plate to move up and down along the lifting slide rail group.

[0017] Preferably, the empty frame supporting mechanism includes a supporting frame, a supporting motor, a supporting screw, a supporting guide rod, a supporting mounting plate, a plate frame supporting plate and a supporting limit cylinder assembly. The supporting frame is arranged on the frame and is located on both sides of the empty frame lifting mechanism. The supporting motor, the supporting screw and the supporting guide rod are all arranged on the supporting frame. The supporting mounting plate is arranged on the supporting screw and the supporting guide rod. One end of the plate frame supporting plate is connected to the supporting mounting plate, and the other end extends outward. The supporting limit cylinder assembly is respectively arranged on the lower end of the supporting frame and the plate frame supporting plate.

[0018] Preferably, the empty frame conveying mechanism includes a linear module, a linear motor, a linear transmission shaft, a clamp frame mounting plate, a clamp frame cylinder assembly, a clamp frame guide rod and a clamp frame plate. The linear module is symmetrically arranged on the frame and is located above the empty frame lifting mechanism and the empty frame supporting mechanism. The linear motor is arranged at one end of the linear module, the linear transmission shaft is vertically arranged on the linear module and connected to the linear motor, the clamp frame mounting plate is arranged on the linear module, the clamp frame cylinder assembly is arranged on the clamp frame mounting plate, the clamp frame plate is arranged on the clamp frame cylinder assembly, one end of the clamp frame guide rod is connected to the clamp frame plate, and the other end is movably connected to the clamp frame mounting plate.

[0019] Preferably, the manipulator clamp includes a mechanical arm, a connecting seat, a motor mounting frame, a clamp screw assembly, a clamp motor, a connecting frame, a suction cup frame and a suction cup, the mechanical arm is arranged in the middle of the frame, the connecting seat is arranged on the mechanical arm, the motor mounting frame is arranged on the connecting seat, the clamp screw assembly is arranged on the motor mounting frame, the clamp motor is arranged on the motor mounting frame and connected to one end of the clamp screw assembly, the connecting frame is respectively arranged on the motor mounting frame and the clamp screw assembly, the suction cup frame is arranged on the connecting frame, and the suction cup is arranged on the suction cup frame.

[0020] Preferably, the rack is further provided with a channel slide rail for facilitating maintenance of the interior of the rack, and the panel lifting plate is further provided with a sensor for sensing whether there is someone nearby.

[0021] Compared with the prior art, the beneficial effects of the present invention are:

[0022] (1) The plate placing mechanism includes a plate lifting mechanism, a rolling conveying mechanism and an empty frame output mechanism. When the plate needs to be placed, the plate frame only needs to be placed on the rolling conveying mechanism, and the plate lifting mechanism will transfer the plate to the empty frame output mechanism, so that the manipulator clamp can grab the plate. When the plates in the plate frame are grabbed, the empty frame output mechanism will transport the empty frame out. There is no need for manual plate placing operation in the whole process, and the work efficiency is high.

[0023] (2) The plate stacking workbench mainly includes an empty frame lifting mechanism, an empty frame conveying mechanism and an empty frame supporting mechanism. The empty frame lifting mechanism can place multiple empty frames for receiving plates, and can cooperate with the empty frame conveying mechanism to allocate the empty frames to the empty frame supporting mechanism to realize automatic allocation of plates and frames;

[0024] (3) The robot clamp can automatically stack the panels on the panel placement mechanism into the panel frame on the empty frame support mechanism according to instructions. In conjunction with the scanning code of the CCD camera, the panels with incorrect codes can be placed on the different panel processing table, thereby improving the accuracy of stacking and work efficiency. BRIEF DESCRIPTION OF THE DRAWINGS

[0025] Figure 1 It is a schematic diagram of the three-dimensional structure of the present invention;

[0026] Figure 2 It is a structural schematic diagram of the panel placement mechanism of the present invention;

[0027] Figure 3 It is a schematic diagram of the structure of the plate lifting mechanism of the present invention;

[0028] Figure 4 It is a structural schematic diagram of the rolling conveying mechanism of the present invention;

[0029] Figure 5 It is a schematic diagram of the structure of the empty frame output mechanism of the present invention;

[0030] Figure 6 It is a schematic diagram of the structure of the plate stacking workbench of the present invention;

[0031] Figure 7 It is a schematic diagram of the structure of the empty frame lifting mechanism of the present invention;

[0032] Figure 8 It is a schematic diagram of the structure of the empty frame conveying mechanism of the present invention;

[0033] Fig. 9 It is a schematic diagram of the structure of the hollow frame supporting mechanism of the present invention;

[0034] Fig.10 It is a schematic diagram of the structure of the manipulator clamp head of the present invention. DETAILED DESCRIPTION

[0035] The technical solutions in the embodiments of the present invention will be described clearly and completely below in conjunction with the drawings in the embodiments of the present invention. Obviously, the described embodiments are only part of the embodiments of the present invention, rather than all the embodiments.

[0036] It should be noted that when a component / part is referred to as being "set on" another component / part, it may be directly set on the other component / part or there may also be an intermediate component / part. When a component / part is referred to as being "connected / coupled" to another component / part, it may be directly connected / coupled to the other component / part or there may be an intermediate component / part at the same time. The term "connection / coupling" as used herein may include electrical and / or mechanical physical connections / couplings. The term "includes / comprising" as used herein refers to the presence of a feature, step or component / part, but does not exclude the presence or addition of one or more other features, steps or components / parts. The term "and / or" as used herein includes any and all combinations of one or more relevant listed items.

[0037] Unless otherwise defined, all technical and scientific terms used herein have the same meaning as those commonly understood by those skilled in the art to which this application belongs. The terms used herein are only for the purpose of describing specific embodiments and are not intended to limit this application.

[0038] See also Figure 1 and Figure 6 As shown, an automatic circuit board assembly machine includes a frame 1, on which a manipulator clamp 2, a plate placing mechanism 3, a plate stacking workbench 4 and a CCD camera 5 are arranged. The plate placing mechanism 3 and the plate stacking workbench 4 are arranged on the frame 1 and surround the manipulator clamp 2. The manipulator clamp 2 is arranged in the middle position of the frame 1 and is used to grab the plate on the plate placing mechanism 3 to the plate stacking workbench 4. The plate stacking workbench 4 includes an empty frame lifting mechanism 41, an empty frame conveying mechanism 42, and an empty frame supporting mechanism 43 and a different plate processing table 44. The different plate processing table 44 is arranged on the frame 1 and is used to place plates with incorrect coding. The empty frame lifting mechanism 41 is arranged on The different-plate processing table 44 is below and connected to the frame 1, and is used to place and convey empty frames for grabbing by the empty frame conveying mechanism 42. The empty frame supporting mechanism 43 is symmetrically arranged on both sides of the empty frame lifting mechanism 41, and is used to support the empty frames grabbed by the empty frame conveying mechanism 42 and the plates placed by the manipulator clamp 2. The empty frame conveying mechanism 42 is arranged above the empty frame lifting mechanism 41 and the empty frame supporting mechanism 43 and is connected to the frame 1, and is used to grab and convey the empty frame on the empty frame lifting mechanism 41 to the empty frame supporting mechanism 43. The CCD camera 5 is arranged on the frame 1 and is located directly above the empty frame supporting mechanism 43, and is used to scan and encode the plates on the empty frame supporting mechanism 43.

[0039] See also Figure 2As shown, in some embodiments, the panel placing mechanism 3 includes a panel lifting mechanism 31, a rolling conveying mechanism 32, an empty frame output mechanism 33 and a locking frame cylinder assembly 34. The rolling conveying mechanism 32 is arranged on the panel lifting mechanism 31, and is used for conveying the panels. The empty frame output mechanism 33 is arranged above the rolling conveying mechanism 32 and is connected to the frame 1, and is used to convey the empty frame that has grabbed the panels. The panel lifting mechanism 31 is arranged below the rolling conveying mechanism 32 and is connected to the frame 1, and is used to convey the panel frame on the rolling conveying mechanism 32 to the empty frame output mechanism 33, so that the manipulator clamp 2 can grab the panels and place them on the empty frame supporting mechanism 43. The locking frame cylinder assembly 34 is arranged on the panel lifting mechanism 31, and is used to limit the range of movement of the panel frame on the rolling conveying mechanism 32.

[0040] See also Figure 2 and Figure 3 As shown, in some embodiments, the panel lifting mechanism 31 includes a lifting and fixing plate 311, a lifting cylinder 312, a lifting guide rod 313 and a panel lifting plate 314, the lifting and fixing plate 311 is arranged on the frame 1, the lifting cylinder 312 is arranged on the bottom surface of the lifting and fixing plate 311, the panel lifting plate 314 is arranged on the lifting cylinder 312, one end of the lifting guide rod 313 is connected to the panel lifting plate 314, and the other end passes through the lifting and fixing plate 311.

[0041] See also Figure 2 and Figure 4 As shown, in some embodiments, the rolling conveying mechanism 32 includes a roller mounting plate 321, a roller 322 and a plate frame limiting plate 323, the roller mounting plate 321 is arranged on both sides of the plate lifting plate 314, the roller 322 is arranged on the roller mounting plate 321, one end of the plate frame limiting plate 323 is connected to the plate lifting plate 314, and the other end extends above the roller 322.

[0042] See also Figure 2 and Figure 5 As shown, in some embodiments, the empty frame output mechanism 33 includes an output slide plate 331, a plate frame fixing frame 332, a plate frame limiting seat 334 and a rodless cylinder assembly 333, the output slide plate 331 is symmetrically arranged on the frame 1 and is located above the rolling conveying mechanism 32, the plate frame fixing frame 332 is arranged on the output slide plate 331, the plate frame limiting seat 334 is arranged on the plate frame fixing frame 332, and the rodless cylinder assembly 333 is arranged on the frame 1 and is located below the output slide plate 331, and is used to drive the plate frame fixing frame 332 to move along the output slide plate 331.

[0043] During operation, after all the panels on the plate frame fixing frame 332 are grabbed, the rodless cylinder assembly 333 drives the plate frame fixing frame 332 to move along the output slide plate 331, so that the empty frame is moved out of the original work station, so as to facilitate the replacement of new panels.

[0044] See also Figure 6 and Figure 7 As shown, in some embodiments, the empty frame lifting mechanism 41 includes an empty frame lifting motor 411, a lifting transmission shaft 412, a lifting slide rail group 413, a lifting conveyor belt 417, a lifting plate 415, an empty frame fixed plate 414 and a limiting cylinder assembly 416. The empty frame lifting motor 411 is arranged on one side of the frame 1, the lifting transmission shaft 412 and the lifting slide rail group 413 are symmetrically arranged on the other side of the frame 1, the lifting conveyor belt 417 is arranged on the lifting transmission shaft 412, the lifting plate 415 is arranged on the lifting slide rail group 413 and is connected to the lifting conveyor belt 417, one end of the empty frame fixed plate 414 is connected to the lifting plate 415, and the other end extends outward, the limiting cylinder assembly 416 is respectively arranged on the frame 1 and the empty frame fixed plate 414, and the empty frame lifting motor 411 is connected to the lifting transmission shaft 412 through a belt, which is used to drive the lifting plate 415 to move up and down along the lifting slide rail group 413.

[0045] During operation, the empty frames are placed on the empty frame fixing plate 414, which can accommodate multiple empty frames. After the empty frames are placed, the empty frame lifting motor 411 drives the lifting transmission shaft 412, thereby driving the empty frame fixing plate 414 to rise through the lifting conveyor belt 417, so that the empty frames are moved to the position where the empty frame conveying mechanism 42 can clamp the empty frames, and the limiting cylinder assembly 416 can fix the bottom empty frame to prevent the empty frames from shifting.

[0046] See also Figure 6 and Fig. 9 As shown, in some embodiments, the empty frame supporting mechanism 43 includes a supporting frame 431, a supporting motor 432, a supporting screw 433, a supporting guide rod 434, a supporting mounting plate 435, a plate frame supporting plate 436 and a supporting limiting cylinder assembly 437. The supporting frame 431 is arranged on the frame 1 and is located on both sides of the empty frame lifting mechanism 41. The supporting motor 432, the supporting screw 433 and the supporting guide rod 434 are all arranged on the supporting frame 431, the supporting mounting plate 435 is arranged on the supporting screw 433 and the supporting guide rod 434, one end of the plate frame supporting plate 436 is connected to the supporting mounting plate 435, and the other end extends outward, and the supporting limiting cylinder assembly 437 is respectively arranged on the lower end of the supporting frame 431 and the plate frame supporting plate 436.

[0047] During operation, the supporting motor 432 channel supporting screw 433 drives the supporting mounting plate 435 and the plate frame supporting plate 436 to move up and down and adjust, which can be adjusted according to the volume of the empty frame. When the empty frame is placed on the plate frame supporting plate 436, the supporting limit cylinder assembly 437 locks the empty frame to prevent the empty frame from shifting.

[0048] See also Figure 6 and Figure 8 As shown, in some embodiments, the empty frame conveying mechanism 42 includes a linear module 421, a linear motor 422, a linear transmission shaft 423, a clamping frame mounting plate 424, a clamping frame cylinder assembly 425, a clamping frame guide rod 426 and a clamping frame plate 427. The linear module 421 is symmetrically arranged on the frame 1 and is located above the empty frame lifting mechanism 41 and the empty frame supporting mechanism 43. The linear motor 422 is arranged at one end of the linear module 421, the linear transmission shaft 423 is vertically arranged on the linear module 421 and connected to the linear motor 422, the clamping frame mounting plate 424 is arranged on the linear module 421, the clamping frame cylinder assembly 425 is arranged on the clamping frame mounting plate 424, the clamping frame plate 427 is arranged on the clamping frame cylinder assembly 425, one end of the clamping frame guide rod 426 is connected to the clamping frame plate 427, and the other end is movably connected to the clamping frame mounting plate 424.

[0049] During operation, the frame clamping cylinder assembly 425 drives the frame clamping plate 427 to clamp the empty frame, and then the linear motor 422 drives the frame clamping mounting plate 424 to move along the linear module 421 through the linear transmission shaft 423, so that the empty frame on the frame clamping plate 427 is distributed to the empty frame supporting mechanism 43.

[0050] See also Figure 1 and Fig.10 As shown, in some embodiments, the manipulator clamp 2 includes a manipulator arm 21, a connecting seat 22, a motor mounting frame 23, a clamp screw assembly 24, a clamp motor 25, a connecting frame 26, a suction cup frame 27 and a suction cup 28. The manipulator arm 21 is arranged in the middle of the frame 1, the connecting seat 22 is arranged on the manipulator arm 21, the motor mounting frame 23 is arranged on the connecting seat 22, the clamp screw assembly 24 is arranged on the motor mounting frame 23, the clamp motor 25 is arranged on the motor mounting frame 24 and connected to one end of the clamp screw assembly 24, the connecting frame 26 is respectively arranged on the motor mounting frame 23 and the clamp screw assembly 24, the suction cup frame 27 is arranged on the connecting frame 26, and the suction cup 28 is arranged on the suction cup frame 27.

[0051] When working, the clamp motor 25 can adjust the distance between the connecting frames 26 through the clamp screw assembly 24, so that the distribution area of ​​the suction cups 28 changes to adapt to the grasping of panels of different sizes, and the suction cups 28 provide suction through air pipes or cylinders.

[0052] See also Figure 1 and Figure 3 As shown, in some embodiments, the rack 1 is further provided with a channel rail 6 and a guide wheel (not shown in the figure), the channel rail 6 is used to facilitate maintenance of the interior of the rack 1, and a sensor 7 is also provided on the plate lifting plate 314 for sensing whether there is someone nearby.

[0053] The overall workflow is as follows: the plate frame containing the plate is placed on the rolling conveying mechanism 32, and then the plate lifting mechanism 31 drives the rolling conveying mechanism 32 to rise to the empty frame output mechanism 33, at which time the plate frame moves from the rolling conveying mechanism 32 to the empty frame output mechanism 33; the empty frame is placed on the empty frame lifting mechanism 41, and then the lifting operation is performed, the empty frame conveying mechanism 42 clamps the rising empty frame and distributes it to the empty frame supporting mechanism 43; then the manipulator fixture 2 grabs the plate that meets the set specifications on the empty frame output mechanism 33 according to the set plate specifications and number of layers, and places it into the empty frame on the empty frame supporting mechanism 43. If the CCD camera 5 scans a plate with incorrect code or specification, it will issue an instruction to let the manipulator fixture 2 place the non-compliant plate on the different plate processing table 44.

[0054] The plate placing mechanism 3 of the present invention comprises a plate lifting mechanism 31, a rolling conveying mechanism 32 and an empty frame output mechanism 33. When it is necessary to put in the plate, it is only necessary to put the plate frame on the rolling conveying mechanism 32, and the plate lifting mechanism 31 will transfer the plate to the empty frame output mechanism 33, so that the manipulator clamp 2 can grab the plate. After the plates in the plate frame are grabbed, the empty frame output mechanism 33 will transport the empty frame out. There is no need for manual plate swinging operation in the whole process and the work efficiency is high. The plate stacking workbench 4 mainly comprises an empty frame lifter The empty frame lifting mechanism 41 can place multiple empty frames for receiving plates, and can cooperate with the empty frame conveying mechanism 42 to distribute the empty frames to the empty frame supporting mechanism 43, so as to realize automatic distribution of plates and frames; the manipulator clamp 2 can automatically stack the plates on the plate placing mechanism 3 into the plate frames on the empty frame supporting mechanism 43 according to instructions, and in cooperation with the scanning code of the CCD camera 5, the plates with incorrect codes can be placed on the different plate processing table 44, so as to improve the accuracy of plate stacking and work efficiency.

[0055] The above description is only a preferred specific implementation manner of the present invention, but the protection scope of the present invention is not limited thereto. Any technician familiar with the technical field can make equivalent replacements or changes according to the technical scheme and inventive concept of the present invention within the technical scope disclosed by the present invention, which should be covered by the protection scope of the present invention.

Claims

1. A circuit board automatic assembly machine, comprising a frame, characterized in that: The frame is provided with a manipulator clamp, a plate placing mechanism, a plate stacking workbench and a CCD camera. The plate placing mechanism and the plate stacking workbench are arranged on the frame and surround the manipulator clamp. The manipulator clamp is arranged in the middle of the frame and is used to grab the plate on the plate placing mechanism and place it on the plate stacking workbench. The plate stacking workbench includes an empty frame lifting mechanism, an empty frame conveying mechanism, an empty frame supporting mechanism and a different plate processing table. The different plate processing table is arranged on the frame and is used to place plates with incorrect coding. The empty frame lifting mechanism is arranged below the different plate processing table and is connected to the frame, and is used to place and convey empty frames for easy grasping by the empty frame conveying mechanism. The empty frame supporting mechanism is symmetrically arranged on both sides of the empty frame lifting mechanism, and is used to support the empty frames grasped by the empty frame conveying mechanism and the plates that meet the set specifications are placed by the manipulator clamp. The empty frame conveying mechanism is arranged above the empty frame lifting mechanism and the empty frame supporting mechanism and is connected to the frame, and is used to grasp and convey the empty frame on the empty frame lifting mechanism to the empty frame supporting mechanism. The CCD camera is arranged on the frame and is located directly above the empty frame supporting mechanism, and is used to scan and encode the plate on the empty frame supporting mechanism; The plate placing mechanism comprises a plate lifting mechanism, a rolling conveying mechanism, an empty frame output mechanism and a locking frame cylinder assembly, wherein the rolling conveying mechanism is arranged on the plate lifting mechanism and is used for conveying the plates, the empty frame output mechanism is arranged above the rolling conveying mechanism and is connected to the frame, and is used for conveying the empty frame after grabbing the plates, the plate lifting mechanism is arranged below the rolling conveying mechanism and is connected to the frame, and is used for conveying the plate frame on the rolling conveying mechanism to the empty frame output mechanism so that the manipulator clamp can grab the plates and place them on the empty frame supporting mechanism, and the locking frame cylinder assembly is arranged on the plate lifting mechanism and is used for limiting the range of movement of the plate frame on the rolling conveying mechanism; The empty frame output mechanism includes an output slide plate, a plate frame fixing frame, a plate frame limiting seat and a rodless cylinder assembly. The output slide plate is symmetrically arranged on the frame and located above the rolling conveying mechanism. The plate frame fixing frame is arranged on the output slide plate. The plate frame limiting seat is arranged on the plate frame fixing frame. The rodless cylinder assembly is arranged on the frame and located below the output slide plate, and is used to drive the plate frame fixing frame to move along the output slide plate.

2. The automatic circuit board placement machine according to claim 1, characterized in that: The panel lifting mechanism includes a lifting and fixing plate, a lifting cylinder, a lifting guide rod and a panel lifting plate. The lifting and fixing plate is arranged on a frame, the lifting cylinder is arranged on the bottom surface of the lifting and fixing plate, the panel lifting plate is arranged on the lifting cylinder, one end of the lifting guide rod is connected to the panel lifting plate, and the other end passes through the lifting and fixing plate.

3. The automatic circuit board placement machine according to claim 2, characterized in that: The rolling conveying mechanism includes a roller mounting plate, a roller and a plate frame limiting plate, wherein the roller mounting plate is arranged on both sides of the plate lifting plate, the roller is arranged on the roller mounting plate, one end of the plate frame limiting plate is connected to the plate lifting plate, and the other end extends above the roller.

4. The automatic circuit board placement machine according to claim 1, characterized in that: The empty frame lifting mechanism includes an empty frame lifting motor, a lifting transmission shaft, a lifting slide rail group, a lifting conveyor belt, a lifting plate, an empty frame fixed plate and a limit cylinder assembly. The empty frame lifting motor is arranged on one side of the frame, and the lifting transmission shaft and the lifting slide rail group are symmetrically arranged on the other side of the frame. The lifting conveyor belt is arranged on the lifting transmission shaft, and the lifting plate is arranged on the lifting slide rail group and connected to the lifting conveyor belt. One end of the empty frame fixed plate is connected to the lifting plate, and the other end extends outward. The limit cylinder assembly is respectively arranged on the frame and the empty frame fixed plate. The empty frame lifting motor is connected to the lifting transmission shaft through a belt, and is used to drive the lifting plate to move up and down along the lifting slide rail group.

5. The automatic circuit board placement machine according to claim 1, characterized in that: The empty frame supporting mechanism includes a supporting frame, a supporting motor, a supporting screw, a supporting guide rod, a supporting mounting plate, a plate frame supporting plate and a supporting limit cylinder assembly. The supporting frame is arranged on the frame and is located on both sides of the empty frame lifting mechanism. The supporting motor, the supporting screw and the supporting guide rod are all arranged on the supporting frame. The supporting mounting plate is arranged on the supporting screw and the supporting guide rod. One end of the plate frame supporting plate is connected to the supporting mounting plate, and the other end extends outward. The supporting limit cylinder assembly is respectively arranged on the lower end of the supporting frame and the plate frame supporting plate.

6. The automatic circuit board placement machine according to claim 5, characterized in that: The empty frame conveying mechanism includes a linear module, a linear motor, a linear transmission shaft, a clamping frame mounting plate, a clamping frame cylinder assembly, a clamping frame guide rod and a clamping frame plate. The linear module is symmetrically arranged on the frame and is located above the empty frame lifting mechanism and the empty frame supporting mechanism. The linear motor is arranged at one end of the linear module, the linear transmission shaft is vertically arranged on the linear module and connected to the linear motor, the clamping frame mounting plate is arranged on the linear module, the clamping frame cylinder assembly is arranged on the clamping frame mounting plate, the clamping frame plate is arranged on the clamping frame cylinder assembly, one end of the clamping frame guide rod is connected to the clamping frame plate, and the other end is movably connected to the clamping frame mounting plate.

7. The automatic circuit board placement machine according to claim 1, characterized in that: The manipulator clamp includes a mechanical arm, a connecting seat, a motor mounting frame, a clamp screw assembly, a clamp motor, a connecting frame, a suction cup frame and a suction cup. The mechanical arm is arranged in the middle of the frame, the connecting seat is arranged on the mechanical arm, the motor mounting frame is arranged on the connecting seat, the clamp screw assembly is arranged on the motor mounting frame, the clamp motor is arranged on the motor mounting frame and connected to one end of the clamp screw assembly, the connecting frame is respectively arranged on the motor mounting frame and the clamp screw assembly, the suction cup frame is arranged on the connecting frame, and the suction cup is arranged on the suction cup frame.

8. The automatic circuit board placement machine according to claim 2, characterized in that: The rack is also provided with a channel slide rail for facilitating maintenance of the interior of the rack, and the panel lifting plate is also provided with a sensor for sensing whether there is anyone nearby.

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