Automatic plate loading and unloading machine matched with multi-clip jig

Abstract

This invention relates to an automatic PCB loading and unloading machine that works with multiple clip-type fixtures. It includes a PCB feeding mechanism and a fixture loading and unloading lifting mechanism. The PCB feeding mechanism controls a push rod to move between different clip-type fixtures, pushing the PCB board into the fixture from the side. The fixture loading and unloading lifting mechanism controls the up-and-down movement of multiple parallel clip-type fixtures, facilitating the PCB feeding mechanism to select different slots within the same fixture. This automatic PCB loading and unloading machine can accommodate multiple clip-type fixtures and provides fully automatic loading and unloading of carriers and fixtures, successfully solving the problems of low efficiency caused by manual loading and applicability to single clip-type fixtures in existing equipment. During PCB feeding, the circuit boards are stored within the PCB carrier. A carrier opening and assembly mechanism and a suction cup loading and unloading mechanism are used to remove the circuit boards from the carrier and transfer them to the PCB feeding mechanism, ensuring that the circuit boards are not damaged.

Description

Technical Field

[0001] This invention relates to the field of circuit board manufacturing, and more specifically, to an automatic board take-up and take-up machine that works with a multi-spring clip fixture. Background Technology

[0002] With the rapid development of electronic technology, electronic products are ubiquitous, providing convenience for daily life. Circuit boards (PCBs) are essential components in all electronic products, serving as the carrier for these components. Therefore, the demand for PCBs is enormous, which places higher demands on PCB production efficiency. The efficiency of PCB receiving and unloading is crucial in the PCB production process. Thus, improving the efficiency of PCB receiving and unloading equipment has become a key challenge.

[0003] A circuit board loading and unloading device is a piece of equipment that transfers circuit boards from a carrier to a specific fixture for subsequent processing. It generally consists of a loading process and a unloading process. The loading process involves removing the circuit board from the carrier; the unloading process involves storing the circuit board in the specific fixture. Furthermore, this project uses a clip-type fixture for storing the circuit boards. Here, "clip-type" refers to a stacked storage method that mimics the stacking of a magazine, with circuit boards layered inside the fixture. Therefore, this stacked storage method improves storage efficiency. However, when inserting circuit boards into this clip-type fixture, they need to be fed in from the side of the fixture.

[0004] Currently, existing circuit board storage methods rarely utilize clip-type fixtures, and there are no automated circuit board loading and unloading machines on the market that can accommodate clip-type fixtures. Therefore, developing a high-efficiency automated circuit board loading and unloading machine that can work with clip-type fixtures has become an urgent problem to be solved. Summary of the Invention

[0005] In order to overcome the inability of existing equipment to adapt to magazine-type fixtures and to perform fully automatic and efficient board loading and unloading operations, this invention provides an automatic board loading and unloading machine that works with multi-magazine-type fixtures.

[0006] The technical solution of this invention is as follows:

[0007] An automatic board handling machine with multiple clip-type jigs includes a frame with loading and unloading stations. A mechanism for transferring circuit boards and PCB carriers is provided between the loading and unloading stations. The unloading station includes a jig-collecting lifting mechanism with multiple clip-type jigs arranged side-by-side. The jig-collecting lifting mechanism controls the vertical lifting and lowering of the clip-type jigs and controls their forward and backward movement. The mechanism between the loading and unloading stations includes a PCB feeding mechanism, which has a second... The system includes a belt and a push rod. The second belt transports the circuit board towards the direction of the cartridge-type fixture, and the push rod pushes the rear edge of the circuit board along the direction of movement of the circuit board. The PCB board feeding mechanism also includes a third lateral movement module, which controls the movement of the second belt and the push rod between different cartridge-type fixtures. The fixture lifting mechanism controls the lifting of the cartridge-type fixture, so that the push rod corresponds to one of the layer slots of the cartridge-type fixture and feeds the circuit board from the side of the cartridge-type fixture into the layer slot.

[0008] According to the present invention described above, the jig lifting mechanism includes a lifting motion plate, a guide rail side plate, a lifting drive motor, a lifting transmission rod, and a jig base plate for placing multiple magazine-type jigs. The lifting drive motor and the lifting transmission rod are located at the bottom of the guide rail side plate. The lifting drive motor drives the lifting transmission rod to rotate via a synchronous pulley and synchronous belt. The lifting transmission rod is connected to the lifting motion plate, so that the lifting motion plate moves up and down along the guide rail side plate.

[0009] Furthermore, the jig lifting mechanism also includes a first synchronous belt, a fourth drive motor, a fourth transmission rod, and the jig base plate disposed on the lifting motion plate. The fourth drive motor is connected to the fourth transmission rod, the fourth transmission rod is connected to the first synchronous belt on both sides, and the jig base plate is placed on the first synchronous belt.

[0010] According to the present invention described above, the PCB board feeding mechanism further includes: an outer side plate, an inner side plate, a second drive motor, a second transmission rod, and a pusher cylinder for driving the board pusher rod.

[0011] The two outer side plates are connected by a base plate and mounted on the moving part of the third transverse moving module; two relatively movable inner side plates are provided between the two outer side plates, and the inner walls of the two inner side plates are symmetrically provided with the second belt; the second drive motor is provided on one of the inner side plates and connected to the second transmission rod; the second transmission rod is connected to the second belt on both sides through a transmission wheel; the plate push rod and the plate push cylinder are provided between the two inner side plates.

[0012] Furthermore, the PCB board feeding mechanism also includes a third drive motor and a threaded transmission rod. The third drive motor is connected to the threaded transmission rod, and the two ends of the threaded transmission rod are provided with threaded sections in opposite directions. The two inner side plates are respectively provided on the threaded sections at both ends.

[0013] Furthermore, the upper surface of the inner side plate is provided with a row of rollers, and the rollers of the inner side plates on both sides are used to abut against the circuit board located on the second belt.

[0014] According to the present invention based on the above scheme, the unloading station further includes a fixture entry and exit lifting mechanism and a second trolley docking station. The fixture entry and exit lifting mechanism is disposed between the fixture retraction lifting mechanism and the second trolley docking station. The fixture entry and exit lifting mechanism is used to receive the clip-type fixture and transfer it to the fixture trolley at the second trolley docking station.

[0015] Furthermore, the fixture entry and exit lifting mechanism is provided with an upper conveyor belt and a lower conveyor belt. The two conveyor belts are connected between the mechanism side plates. Both the upper and lower conveyor belts include a second synchronous belt, a fifth drive motor, and a fifth transmission rod. The fifth drive motor is connected to the fifth transmission rod, and the fifth transmission rod is connected to the second synchronous belt on both sides of the layer.

[0016] Furthermore, the fixture entry and exit lifting mechanism also includes a lifting cylinder, with one lifting cylinder for each of the upper and lower conveyor belts, and the lifting cylinder is used to control the corresponding conveyor belt to move up and down within the mechanism.

[0017] Preferably, both the upper and lower conveyor belts include conveyor belt side plates, and the second synchronous belt, the fifth drive motor, and the fifth transmission rod are mounted on the conveyor belt side plates;

[0018] The side plate of the fixture entry and exit lifting mechanism is provided with a slide rail and a slider for each layer of the conveyor belt. The side plate of the conveyor belt is connected to the slider of the corresponding layer. The slider moves on the slide rail by the corresponding lifting cylinder.

[0019] Furthermore, the second trolley docking station is equipped with a jig trolley inlet and outlet mechanism, which includes jig trolley guide wheels, jig trolley limit blocks, and jig trolley positioning and fixing cylinders. The jig trolley guide wheels are located on the left and right sides of the bottom of the second trolley docking station to guide the jig trolley. The jig trolley limit blocks are located in the middle of the bottom of the second trolley docking station. When the jig trolley is in position, the jig trolley positioning and fixing cylinders control the jig trolley limit blocks to hook onto the jig trolley.

[0020] According to the present invention based on the above scheme, the loading station of the automatic board taking and placing machine further includes a first trolley docking station, which docks with a carrier trolley loaded with a PCB board carrier. The first trolley docking station is provided with a carrier lifting mechanism, a carrier transfer mechanism, a carrier opening and assembly mechanism, and a suction cup board taking and placing mechanism.

[0021] The carrier lifting mechanism is used to lift the PCB board carrier on the carrier trolley onto the moving path of the first carrier suction cup of the carrier transfer mechanism; the first carrier suction cup moves between the carrier lifting mechanism and the carrier opening assembly mechanism to transfer the PCB board carrier; the carrier opening assembly mechanism is used to open the upper cover of the PCB board carrier, so that the suction cup board picking and placing mechanism can pick up the circuit board from the PCB board carrier and transfer it to the PCB board feeding mechanism.

[0022] Furthermore, the first trolley docking station is equipped with a trolley inlet / outlet mechanism, which includes trolley guide wheels, trolley limit blocks, trolley positioning and fixing cylinders, and a trolley alignment assembly. The trolley guide wheels are located on the left and right sides of the bottom of the first trolley docking station to guide the trolley. The trolley alignment assembly is located at the top center of the first trolley docking station, and the trolley limit blocks are located at the bottom center of the first trolley docking station. When the trolley is in position, the cylinder of the trolley alignment assembly drives the trolley plate to center the trolley plate, and the trolley positioning and fixing cylinder controls the trolley limit blocks to hook the trolley.

[0023] Furthermore, the vehicle lifting mechanism includes a fixed plate, a first lifting module, and a vehicle lifting plate. The first lifting module is mounted on the frame via the fixed plate, and the vehicle lifting plate is mounted on the movable part of the first lifting module, driving the lifting plate to lift the PCB board vehicle upward.

[0024] Furthermore, the vehicle transfer mechanism includes a first lateral movement module, an upper and lower cylinder assembly, and a first vehicle suction cup. The first lateral movement module is fixed on the frame and located above the vehicle lifting mechanism and the vehicle opening assembly. The upper and lower cylinder assembly is installed on the moving part of the first lateral movement module, and the first vehicle suction cup is connected to the upper and lower cylinder assembly through a suction cup bracket.

[0025] Furthermore, the vehicle opening assembly mechanism includes a base plate, a lifting cylinder, a lifting block, a front and rear clapping assembly, a left and right clapping assembly, a limiting block, and a vehicle opening cylinder. The lifting cylinder is connected to the lower surface of the base plate, and the lifting block, the front and rear clapping assembly, the left and right clapping assembly, the limiting block, and the vehicle opening cylinder are disposed on the base plate.

[0026] The lifting cylinder drives the lifting block to lift the PCB board carrier; the front and rear aligning components are used to center the PCB board carrier in the front-to-back direction; the left and right aligning components are used to center the PCB board carrier in the left-to-right direction; the limiting block is used to press down the carrier base plate of the PCB board carrier; the carrier opening cylinder is used to lift the upper cover plate of the PCB board carrier and separate the upper cover plate from the carrier base plate.

[0027] Furthermore, the input end of the carrier opening assembly mechanism is provided with a carrier transfer input mechanism, and the carrier transfer mechanism transfers the PCB board carrier to the carrier opening assembly mechanism through the carrier transfer input mechanism;

[0028] The vehicle conveying input mechanism and the vehicle opening assembly mechanism are disposed between a pair of mounting side plates, and a first belt is provided between the pair of mounting side plates; the PCB board carrier is transferred from the vehicle conveying input mechanism to the vehicle opening assembly mechanism via the first belt.

[0029] Furthermore, the vehicle transmission input mechanism includes: an input mechanism fixing rod, a first mounting side plate, a first drive motor, a first transmission rod, and a first belt. The vehicle transmission input mechanism is mounted on the frame via the input mechanism fixing rod. The first drive motor is located on one side of the first mounting side plate and is connected to the first transmission rod, which in turn connects to the first belts on both sides.

[0030] Furthermore, the suction cup board picking and placing mechanism includes a liftable carrier suction cup assembly and a laterally movable board suction cup assembly. The carrier suction cup assembly is located above the carrier opening assembly mechanism and is used to pick up the upper cover plate. The board suction cup assembly moves between the carrier opening assembly mechanism and the PCB board feeding mechanism and is used to pick up the circuit board from the PCB board carrier and transfer it to the PCB board feeding mechanism.

[0031] Furthermore, the carrier suction cup assembly includes a second carrier suction cup and a longitudinal moving module, the longitudinal moving module being fixed on the frame, and the second carrier suction cup being fixed on the moving part of the longitudinal moving module;

[0032] The plate suction cup assembly includes a plate suction cup, a second lifting module, and a second lateral moving module. The second lateral moving module is fixed on the frame, the plate suction cup is mounted on the moving part of the second lifting module, and the second lifting module is mounted on the moving part of the second lateral moving module.

[0033] According to the present invention based on the above scheme, the mechanism between the loading and unloading stations also includes a carrier return lifting mechanism and a carrier conveying output mechanism. The carrier return lifting mechanism is used to transport the empty carrier upward to the carrier conveying output mechanism, and the carrier conveying output mechanism outputs the empty carrier.

[0034] According to the above-described solution, the beneficial effects of this invention are as follows:

[0035] The automatic board loading and unloading machine of the present invention can be adapted to multiple magazine-type fixtures. The board pusher of the PCB board feeding mechanism puts the circuit board into the layer slot from the side, and the PCB board feeding mechanism can move back and forth between multiple magazine-type fixtures to put the circuit board into different fixtures. The fixture lifting mechanism controls the up and down lifting of the fixture, so that the PCB board feeding mechanism can put the circuit board into different layer slots of the same magazine-type fixture; thus realizing fully automatic and efficient board loading and unloading operation.

[0036] During the feeding of the circuit board of the present invention, the circuit board is stored in the PCB board carrier. The circuit board is taken out from the PCB board carrier by the carrier opening and assembly mechanism and the suction cup board picking and placing mechanism and then transferred to the PCB board feeding mechanism, which can ensure that the circuit board is not damaged.

[0037] Furthermore, the present invention utilizes a vehicle return lifting mechanism and a vehicle conveying output mechanism to achieve automatic recovery of empty vehicles. Attached Figure Description

[0038] Figure 1 This is a schematic diagram of the structure of the present invention;

[0039] Figure 2 This is a schematic diagram of the vehicle conveying input mechanism and the vehicle opening assembly mechanism in this invention;

[0040] Figure 3a for Figure 2 Enlarged view of section A;

[0041] Figure 3b A partially enlarged view of the vehicle's assembly mechanism;

[0042] Figure 3c A magnified view of the vehicle's assembly mechanism from another perspective;

[0043] Figure 4 This is a top-view schematic diagram of the vehicle conveying input mechanism and the vehicle opening combination mechanism in this invention;

[0044] Figure 5 This is a schematic diagram of the vehicle transmission output mechanism in this invention;

[0045] Figure 6 This is a schematic diagram of the vehicle transfer mechanism in this invention;

[0046] Figure 7 This is a schematic diagram of the vehicle lifting mechanism in this invention;

[0047] Figure 8 This is a schematic diagram of the vehicle trolley import / export mechanism in this invention;

[0048] Figure 9 This is a schematic diagram of the suction cup pick-and-place mechanism in this invention;

[0049] Figure 10 This is a schematic diagram of the vehicle return lifting mechanism in this invention;

[0050] Figure 11 This is a schematic diagram of the PCB board feeding mechanism in this invention;

[0051] Figure 11a A partial structural diagram of the push rod part of the PCB board feeding mechanism;

[0052] Figure 11b This is an enlarged view of the push rod section of the plate;

[0053] Figure 12 This is a schematic diagram of the fixture lifting mechanism in this invention;

[0054] Figure 13 This is a schematic diagram of the fixture entry and exit lifting mechanism in this invention;

[0055] Figure 14 This is a schematic diagram of the fixture trolley import / export mechanism in this invention.

[0056] In the diagram, 1-frame; 101-first trolley docking station; 102-second trolley docking station;

[0057] 2-Carrier conveying input mechanism; 201-First mounting side plate; 202-First drive motor; 203-First transmission rod; 204-First belt; 205-Input mechanism fixing rod;

[0058] 3-Vehicle transmission output mechanism; 301-Second mounting side plate; 302-Output drive motor; 303-Output transmission rod; 304-Output belt; 305-Output mechanism fixing rod;

[0059] 4-Vehicle opening assembly mechanism; 401-Lifting cylinder; 402-Lifting block; 403-Front clapper assembly; 404-Rear clapper assembly; 4034-First clapper arm; 405-Left clapper assembly; 406-Right clapper assembly; 4056-Second clapper arm; 407-Limit block; 408-Vehicle opening cylinder; 4081-Lifting column;

[0060] 5-Carrier transfer mechanism; 501-First lateral movement module; 502-Upper and lower cylinder assembly; 503-First carrier suction cup; 504-Carrier code reader; 505-Suction cup bracket;

[0061] 6-Carrier trolley import / export mechanism; 601-Carrier trolley guide wheel; 602-Carrier trolley limit block; 603-Carrier trolley positioning and fixing cylinder; 604-Carrier aligning assembly;

[0062] 7-Vehicle lifting mechanism; 701-First lifting module; 702-Fixing plate; 703-Vehicle lifting plate;

[0063] 8-Suction cup plate picking and placing mechanism; 801-Second lateral movement module; 802-Second lifting module; 803-Plate suction cup; 804-Longitudinal movement module; 805-Second carrier suction cup;

[0064] 9-Carrier return lifting mechanism; 901-Fork lifting module; 902-Fork platform; 903-Fork drive motor; 904-Fork mechanism;

[0065] 10- PCB board feeding mechanism; 1001- Outer side plate; 1002- Second drive motor; 1003- Second transmission rod; 1004- Second belt; 1005- Inner side plate; 1006- Third drive motor; 1007- Threaded transmission rod; 1008- Push plate cylinder; 1009- Board push rod; 1010- Third lateral movement module; 1011- Pressure block; 1012- Spring;

[0066] 11- Fixture retracting and lifting mechanism; 1101- Conveying side plate; 1102- Fourth drive motor; 1103- Fourth transmission rod; 1104- First synchronous belt; 1105- Lifting motion plate; 1106- Lifting drive motor; 1107- Synchronous pulley and synchronous belt; 1108- Lifting transmission rod; 1109- Guide rail side plate; 1110- Magazine-type fixture;

[0067] 12- Fixture entry and exit lifting mechanism; 1201- Conveyor belt side plate; 1202- Fifth drive motor; 1203- Fifth transmission rod; 1204- Second synchronous belt; 1206- Lifting cylinder; 1207- Mechanism side plate; 1208- Magazine-type fixture code reader; 1209- Fourth lateral movement module;

[0068] 13-Jig trolley inlet / outlet mechanism; 1301-Jig trolley guide wheel; 1302-Jig trolley limit block; 1303-Jig trolley positioning and fixing cylinder;

[0069] 14- Manual magazine loading and unloading fixture station.

[0070] 15-Vehicle; 151-Vehicle floor; 152-Top cover. Detailed Implementation

[0071] To better understand the purpose, technical solution, and technical effects of this invention, the invention will be further explained and described below in conjunction with the accompanying drawings and embodiments. It should be noted that similar reference numerals and letters in the following drawings indicate similar items; therefore, once an item is defined in one drawing, it does not need to be further defined and explained in subsequent drawings. It is also stated that the embodiments described below are only for explaining this invention and are not intended to limit this invention.

[0072] The terms “first,” “second,” “third,” “fourth,” and “fifth” are used for descriptive purposes only and should not be construed as indicating or implying relative importance or specifying the number of technical features. “A plurality of” means two or more unless otherwise expressly and specifically defined.

[0073] like Figure 1 As shown, an automatic board handling machine with a multi-clamp jig includes a frame. The frame 1 has loading and unloading stations, a first carriage docking station 101, and a second carriage docking station 102. The first carriage docking station 101 docks with a carrier carriage, and the second carriage docking station 102 docks with a jig carriage. A mechanism for transferring circuit boards and PCB board carriers is provided between the loading and unloading stations. The working process of the automatic board handling machine includes the following stages:

[0074] Phase 1 – The PCB board carrier, mounted on a trolley, enters the automatic board handling machine via the first trolley docking station. The first trolley docking station 101 is equipped with a carrier lifting mechanism 7, which lifts all the PCB board carriers on the trolley upwards and transfers them to the carrier transfer mechanism 5. The first carrier suction cup 503 on the carrier transfer mechanism 5 picks up the topmost PCB board carrier from the stacked PCB board carriers and transfers it to the carrier conveyor input mechanism 2. The first belt 204 of the carrier conveyor input mechanism 2 transfers the PCB board carrier to the carrier opening and assembly mechanism 4.

[0075] Phase 2 – The carrier opening and assembly mechanism 4 is used to detach the upper cover of the PCB board carrier from the carrier base plate. The second carrier suction cup 805 of the suction cup board pick-up and drop mechanism 8 picks up the upper cover and opens the PCB board carrier. The board suction cup of the suction cup board pick-up and drop mechanism 8 picks up the circuit board inside the carrier and removes the circuit board. Then, the second carrier suction cup 805 of the suction cup board pick-up and drop mechanism 8 puts the upper cover back on the carrier base plate.

[0076] Phase 3 – The empty PCB board carrier is picked up from the carrier opening and assembly mechanism 4 by the first carrier suction cup 503 of the carrier transfer mechanism 5 and transferred laterally to the carrier return lifting mechanism 9. The carrier return lifting mechanism 9 transports the empty carrier (empty PCB board carrier) upward to the carrier transmission output mechanism 3, and is then transmitted and output by the carrier transmission output mechanism 3.

[0077] Phase 4 - After the suction cup of the PCB board pick-up and drop mechanism removes the PCB board, it is transferred to the PCB board feeding mechanism 10. The PCB board feeding mechanism 10 places the PCB board from the side into the spring-loaded jig 1110 layer slot at the jig board lifting mechanism 11.

[0078] Phase 5 – After the multiple clip-type jigs 1110 arranged side by side on the jig collection lifting mechanism 11 are filled with circuit boards, the multiple clip-type jigs are transferred to the jig trolley at the second trolley docking station 102 through the jig entry and exit lifting mechanism 12.

[0079] In this invention, the mechanism of the automatic board taking and releasing machine in conjunction with the multi-clamp jig includes: a carrier conveying input mechanism 22, a carrier conveying output mechanism 33, a carrier opening and assembly mechanism 44, a carrier transfer mechanism 55, a carrier trolley inlet and outlet mechanism 66, a carrier lifting mechanism 77, a suction cup board taking and releasing mechanism 88, a carrier return lifting mechanism 99, a PCB board feeding mechanism 10, a jig board taking and lifting mechanism 1111, a jig inlet and outlet lifting mechanism 1212, and a jig trolley inlet and outlet mechanism 1313.

[0080] like Figure 8 As shown, in this invention, the vehicle trolley import / export mechanism 6:

[0081] The first trolley docking station 101 is equipped with a trolley inlet / outlet mechanism 6, which includes a trolley guide wheel 601, a trolley limit block 602, a trolley positioning and fixing cylinder 603, and a trolley alignment component 604. The trolley guide wheel 601 is located on the left and right sides of the bottom of the first trolley docking station 101 to guide and direct the trolley, ensuring that the trolley is pushed in smoothly. The trolley alignment component 604 is located in the middle of the top of the first trolley docking station 101, and the trolley limit block 602 is located in the middle of the bottom of the first trolley docking station 101. When the trolley is in place, the cylinder of the trolley alignment component 604 operates and causes its plate to center the trolley in the front-to-back direction. Then, the trolley positioning and fixing cylinder 603 controls the trolley limit block 602 to hook the trolley and prevent the trolley from sliding. The vehicle trolley docks with the vehicle lifting mechanism 7 in the first trolley docking station 101, which facilitates the vehicle lifting mechanism 7 to lift the PCB board vehicle stacking group on the trolley.

[0082] like Figure 7 As shown, in this invention, the vehicle lifting mechanism 7:

[0083] The carrier lifting mechanism 7 is located within the first trolley docking station 101. Once the first trolley transporting the PCB board carrier enters and reaches its designated position, the carrier lifting mechanism 7 begins operation. The carrier lifting mechanism 7 includes a fixed plate 702, a first lifting module 701, and a carrier lifting plate 703. The first lifting module 701 is mounted on the fixed plate 702, which is fixedly connected to the frame 1. The carrier lifting plate 703 is mounted on the first lifting module 701, enabling vertical movement of the carrier lifting plate 703. When the carrier trolley enters this mechanism, it can lift all the PCB board carriers on the trolley upwards and transfer them to the carrier transfer mechanism 5 above.

[0084] like Figure 4 As shown, in this invention, the vehicle transfer mechanism 5:

[0085] The vehicle transfer mechanism 5 includes a first lateral movement module 501, an upper and lower cylinder assembly 502, a first vehicle suction cup 503, and a vehicle code reader 504; the vehicle code reader 504 is used to read the markings on the vehicles to record the information of each vehicle for management purposes. The first lateral movement module 501 is fixed on the frame 1. The upper and lower cylinder assembly 502 is installed on the moving part of the first lateral movement module 501 to control the upper and lower cylinder assembly 502 to move left and right in the lateral direction. The first carrier suction cup 503 is connected to the upper and lower cylinder assembly 502 through the suction cup bracket 505 to control the upper and lower movement of the first carrier suction cup 503. It can be seen that through the cooperation of the first lateral movement module 501 and the upper and lower cylinder assembly 502, the first carrier suction cup 503 is lowered to the height of the topmost PCB board carrier on the PCB board carrier stack, sucks up the topmost PCB board carrier, rises, completes the gripping action, and finally moves laterally to the carrier conveying input mechanism 2 for the next operation.

[0086] In this design, the upper and lower cylinder assembly 502 of the carrier transfer mechanism 5 has a short travel distance, equivalent to the height of one PCB board carrier. It is only responsible for gripping the PCB board carrier vertically and quickly moving it laterally. When it is necessary to grip a lower PCB board carrier, the carrier lifting mechanism 7 further lifts the stack of PCB board carriers upwards, so that the first carrier suction cup 503 can move downwards to pick up the top PCB board carrier in the stack. When the first carrier suction cup 503 picks up a PCB board carrier and is being transferred, the lifting frame lifts the PCB board carrier upwards. Therefore, this design, through the lifting frame of the carrier lifting mechanism 7, provides the first carrier suction cup 503 with an operating surface that is always kept at the same height, enabling the first carrier suction cup 503 to quickly complete the transfer work with only a short lifting distance.

[0087] The first carrier suction cup 503 includes vacuum nozzles on both sides, with four, five, or six nozzles on each side. The specific number is selected based on the actual size of the PCB carrier to ensure a secure grip on the PCB carrier. Several vacuum nozzles on the same side are fixed by the same rod, and the rod has an internal vent pipe connecting all the vacuum nozzles on that side. The vent pipes of the vacuum nozzles on both sides are connected to the same vacuum pump to ensure that all vacuum nozzles on both sides operate simultaneously.

[0088] like Figure 2 As shown, in this invention, the vehicle transport input mechanism 2:

[0089] The carrier conveying input mechanism 2 is located at the output end of the carrier transfer mechanism 5. It receives the PCB board carrier transferred from the carrier transfer mechanism 5 and conveys it to the carrier opening and assembly mechanism 4. The carrier conveying input mechanism 2 includes an input mechanism fixing rod 205, a first mounting side plate 201, a first drive motor 202, a first transmission rod 203, and a first belt 204. The first mounting side plates 201 on both sides are used to mount the first drive motor 202, the first transmission rod 203, and the first belt 204. The carrier conveying input mechanism 2 is mounted as a whole on the equipment frame 1 through the input mechanism fixing rod 205. The first drive motor 202 is located on one of the first mounting side plates 201 and is connected to the first transmission rod 203. The first transmission rod 203 and the transmission wheel then link the first belts 204 on both sides. When the first drive motor 202 is running, the first belts 204 on both sides move synchronously, realizing the conveying of the PCB board carrier along the long side of the first mounting side plate 201.

[0090] In one specific embodiment, the input mechanism fixing rod 205 is located on the lower surface of the first mounting side plate 201, and the first belt 204 is installed on the top of the inner side of the first mounting side plate 201 so that the first belt 204 can easily contact the lower side surface of the PCB board carrier. The first mounting side plate 201 is provided with pulleys at both ends, and the first belt 204 is wound around the pulleys at both ends and the transmission wheel at the first transmission rod 203. The first drive motor 202 drives the transmission wheel, and the first transmission rod 203 rotates, so that the first belts 204 on both sides transport in one direction.

[0091] like Figure 2 , Figure 3a , Figure 3b , Figure 3c and Figure 4 As shown, in this invention, the vehicle opening assembly mechanism 4:

[0092] The carrier opening assembly mechanism 4 is connected to the carrier conveying input mechanism 2, receives the PCB board carrier conveyed by the first belt 204 of the carrier conveying input mechanism 2, and opens its upper cover. The carrier opening assembly mechanism 4 includes a base plate, a lifting cylinder 401, a lifting block 402, front and rear clapping components (front clapping component 403, rear clapping component 404), left and right clapping components (left clapping component 405, right clapping component 406), a limiting block 407, and a carrier opening cylinder 408; the lifting cylinder 401 is connected to the lower surface of the base plate, and the lifting block 402, front and rear clapping components, left and right clapping components, limiting block 407, and carrier opening cylinder 408 are located on the base plate. When the PCB carrier moves to this location, the lifting cylinder 401 operates and lifts the base plate. The lifting block 402 and the four aligning components on the base plate rise. The lifting block 402 abuts against the lower front and rear sides of the PCB carrier and lifts the PCB carrier away from the first belt 204, thus stopping the carrier. The front and rear aligning components are used to center the PCB carrier in the front-to-back direction, and the left and right aligning components are used to center the PCB carrier in the left and right direction. The limiting block 407 is used to press down the base plate of the PCB carrier.

[0093] See Figure 3b The carrier-opening cylinder 408 is used to lift the upper cover plate of the PCB board carrier and separate the upper cover plate from the carrier base plate. In one specific embodiment, the carrier-opening cylinder 408 is connected to the lifting column 4081. The upper cover plate 152 and the carrier base plate 151 have staggered cuts. When the carrier-opening cylinder 408 is running, the lifting column 4081 can directly lift the upper cover plate 152 from below, so that the upper cover plate 152 is separated from the carrier base plate 151.

[0094] In this embodiment, the front and rear straightening components include a straightening cylinder and a first straightening arm 4034. The first straightening arm 4034 is disposed on the front and rear sides of the mechanism base plate, and rollers are provided on both sides of the first straightening arm 4034. The rollers are used to contact the front or rear side of the PCB board carrier. The left and right straightening components include a straightening cylinder and a second straightening arm 4056. The second straightening arm 4056 is disposed on the left and right sides of the mechanism base plate, and the second straightening arm is also provided with rollers. The rollers are used to contact the left or right side of the PCB board carrier. The rollers of the first straightening arm and the second straightening arm are both made of soft rubber.

[0095] There are two limiting blocks on the base plate of the mechanism, located diagonally opposite each other, and the limiting blocks are L-shaped. The lifting cylinder drives the lifting block to lift the carrier, and the front, back, left and right aligning components center and align the carrier. The limiting blocks press down the lower cover plate of the carrier. Finally, the carrier cylinder controls the lifting column 4081 to separate the upper cover plate of the carrier from the base plate of the carrier, so that the PCB carrier can be opened on this mechanism, making it convenient for the subsequent mechanism to remove the circuit board inside the PCB carrier.

[0096] In this invention, the upper cover of the PCB board carrier is magnetically connected to the carrier base plate, which makes it easy to quickly open the upper cover after the carrier cylinder 408 is lifted up; and after the upper cover is lowered, it can quickly magnetically attach and cover the carrier base plate.

[0097] In this embodiment, the vehicle conveying input mechanism 2 and the vehicle opening combination mechanism 4 are disposed between a pair of mounting side plates. The vehicle conveying input mechanism 2 is located at the upstream end of the first belt 204, and the vehicle opening combination mechanism 4 is located at the downstream end of the first belt 204. The two mechanisms share a pair of mounting side plates, making the structure more compact and reducing the space occupied within the equipment.

[0098] like Figure 10 As shown, in this invention, the vehicle return lifting mechanism 9:

[0099] The carrier return lifting mechanism 9 is used to retrieve empty PCB board carriers. The carrier return lifting mechanism 9 is located beside the carrier opening assembly mechanism 4 and at the end of the movement path of the first carrier suction cup 503 of the carrier transfer mechanism 5. The carrier return lifting mechanism 9 includes a fork lifting module 901, a fork platform 902, a fork mechanism 904, and a fork drive motor 903. The fork mechanism 904 is mounted on the fork platform 902, which is installed on the fork lifting module 901, enabling the fork platform 902 to move up and down. The fork drive motor 903 controls the extension or retraction of the forks of the fork mechanism 904. When extended, the PCB board carrier can be placed on the two forks of the fork mechanism 904; when retracted, the PCB board carrier on the forks can be placed on the carrier transfer output mechanism 3, completing the carrier handover between the carrier return lifting mechanism 9 and the carrier transfer output mechanism 3.

[0100] like Figure 5 As shown, in this invention, the vehicle transmission output mechanism 3:

[0101] The vehicle conveying output mechanism 3 is located above the vehicle return lifting mechanism 9. The fork platform 902 transports the empty PCB board vehicle upward and places the vehicle on the output belt 304 of the vehicle conveying output mechanism 3.

[0102] The carrier conveying output mechanism 3 includes an output mechanism fixing rod 305, a second mounting side plate 301, an output drive motor 302, an output transmission rod 303, and an output belt 304. The second mounting side plates 301 on both sides are used to mount the output drive motor 302, the output transmission rod 303, and the output belt 304. The carrier conveying output mechanism 3 is integrally mounted on the equipment frame 1 via the output mechanism fixing rod 305. The output drive motor 302 is located on one side of the second mounting side plate 301 and is connected to the output transmission rod 303. The output belts 304 on both sides are linked through the output transmission rod 303 and the transmission wheel. When the output drive motor 302 operates, the output belts 304 on both sides move synchronously, realizing the conveying of the PCB board carrier along the long side of the second mounting side plate 301. A mechanism or storage assembly for receiving empty PCB board carriers can be provided at the output end of the carrier conveying output mechanism 3 for recycling and reuse.

[0103] like Figure 9 As shown, in this invention, the suction cup pick-and-place mechanism 8:

[0104] The suction cup board pick-and-place mechanism 8 includes a carrier suction cup assembly and a board suction cup assembly. The carrier suction cup assembly includes a second carrier suction cup 805 and a longitudinal movement module 804. The longitudinal movement module 804 is fixed on the frame 1, and the second carrier suction cup 805 is fixed on the moving part of the longitudinal movement module 804 to control the second carrier suction cup 805 to move up and down in the longitudinal direction. The carrier suction cup assembly is located above the carrier opening combination mechanism 4, so that the second carrier suction cup 805 can pick up the PCB board carrier cover plate at the carrier opening combination mechanism 4 after moving down, thereby realizing the removal of the cover plate by using the second carrier suction cup 805.

[0105] The board suction cup assembly includes a board suction cup 803, a second lifting module 802, and a second lateral movement module 801. The board suction cup 803 is mounted on the moving part of the second lifting module 802, enabling the board suction cup 803 to move up and down. The second lifting module 802 is mounted on the moving part of the second lateral movement module 801, which is fixed to the frame 1. The second lateral movement module 801 can drive the second lifting module 802 and the board suction cup 803 to move laterally. Since the second lateral movement module 801 extends between the carrier suction cup assembly and the carrier opening assembly mechanism 4, the board suction cup 803 can be driven by the second lateral movement module 801 to the carrier opening assembly mechanism 4. At this time, the carrier suction cup assembly moves upward away from the carrier opening assembly mechanism 4. After the board suction cup 803 picks up the circuit board, it is moved by the second lateral movement module 801 to the PCB board feeding mechanism 10 to transfer the circuit board.

[0106] like Figure 11 As shown, in this invention, the PCB board feeding mechanism 10:

[0107] The PCB board feeding mechanism 10 includes a third lateral movement module 1010, an outer side plate 1001, an inner side plate 1005, a second drive motor 1002, a second transmission rod 1003, a second belt 1004, a third drive motor 1006, a threaded transmission rod 1007, a board push rod 1009, and a board push cylinder 1008.

[0108] The third lateral movement module 1010 is fixed on the frame 1. Two outer side plates 1001 are connected by a base plate. The distance between the two outer side plates 1001 is relatively fixed, and they move laterally under the drive of the third lateral movement module 1010. Two inner side plates 1005 that can move relative to each other are provided between the two outer side plates 1001. Specifically, a slide rod is connected between the two outer side plates 1001, and the two inner side plates 1005 are slidably connected to the slide rod. A third drive motor 1006 is fixed to the outer side of one of the outer side plates 1001. A threaded transmission rod 1007 is connected to the third drive motor 1006, causing the threaded transmission rod 1007 to rotate. The two ends of the threaded transmission rod 1007 are provided with threaded sections with opposite thread directions, and the two inner side plates 1005 are located on the threaded sections at both ends. When the threaded transmission rod 1007 rotates, the two inner side plates 1005 move closer to each other or further away from each other.

[0109] As can be seen, the spacing of the inner plates of the PCB board feeding mechanism can be adjusted according to the width of the circuit board to adapt to the width of circuit boards of different sizes and stably transport the circuit boards on the second belt.

[0110] The inner walls of the two inner side plates 1005 are symmetrically provided with second belts 1004 and pulleys. The second drive motor 1002 is located on one side and is connected to the second transmission rod 1003. The second belts 1004 on both sides are linked through the second transmission rod 1003 and the transmission wheel. When the second drive motor 1002 is running, the second belts 1004 on both sides move synchronously, and the circuit board moves in the direction of the magazine-type fixture 1110.

[0111] A push rod 1009 and a push cylinder 1008 are provided between the two inner side plates 1005. The push rod 1009 is connected to the moving block of the push cylinder 1008. Under the control of the push cylinder 1008, the push rod 1009 pushes the rear edge of the circuit board along the moving direction of the circuit board, sending the circuit board into a layer groove of the magazine-type fixture 1110. During this process, the circuit board is transported to the end of the second belt 1004 by the second belt 1004. The circuit board gradually separates from the belt, with less contact surface with the second belt 1004, and gradually enters the layer groove of the magazine-type fixture 1110. The push rod 1009 pushes the circuit board out from the rear and sends it into the magazine-type fixture 1110.

[0112] like Figure 11a and Figure 11bAs shown, in one specific embodiment, the end of the board push rod 1009 is hinged to the moving block of the push plate cylinder 1008. Driven by the push plate cylinder 1008, the moving block drives the board push rod 1009 to move back and forth along the slide rail. A spring is provided below the hinged end of the board push rod 1009, and a pressure block 1011 is provided above it. When the board push rod 1009 moves forward until it disengages from the pressure block 1011, the spring 1012 lifts the board push rod 1009 upward, raising the movable end of the board push rod 1009 to the surface of the circuit board, thereby enabling it to touch the rear edge of the circuit board. When the board push rod 1009 moves backward until it is pressed down by the pressure block 1011, the spring 1012 compresses, and the board push rod 1009 is lower than the surface of the circuit board, thus not affecting the transport of the circuit board on the second belt 1004.

[0113] In a preferred embodiment, a row of rollers is provided on the upper surface of the inner side plate 1005. The rollers on both sides abut against the two sides of the circuit board. When the circuit board is transported on the second belt 1004, the rotation of the rollers reduces the friction between the edge of the circuit board and the inner side plate 1005, which is beneficial for transporting the circuit board.

[0114] The PCB board feeding mechanism 10 is located below the output end of the suction cup pick-and-place mechanism 8, which facilitates the suction cup assembly of the suction cup pick-and-place mechanism 8 to place the circuit board on the second belt 1004 pulley of the PCB board feeding mechanism 10. The transport direction of the second belt 1004 is from the suction cup pick-and-place mechanism 8 to the magazine-type fixture 1110, which facilitates the second belt 1004 to feed the circuit board into the side of the magazine-type fixture 1110. Multiple magazine-type fixtures 1110 are provided in a direction parallel to the third transverse movement module 1010. Under the drive of the third transverse movement module 1010, the second belt 1004 can align the circuit board on it with one of the magazine-type fixtures 1110.

[0115] A fixture lifting mechanism 11 is provided at the output end of the PCB board feeding mechanism 10 (i.e., the end of the second belt 1004 in the transport direction). The fixture lifting mechanism 11 is provided with multiple magazine-type fixtures arranged side by side, and can control the multiple magazine-type fixtures arranged side by side to lift up and down, and can also transport the multiple magazine-type fixtures arranged side by side back and forth; wherein, the multiple magazine-type fixtures arranged side by side are placed on the fixture base plate.

[0116] like Figure 12 As shown, in this invention, the fixture retracting and lifting mechanism 11:

[0117] The jig retracting and lifting mechanism 11 includes: a conveying side plate 1101, a lifting motion plate 1105, a guide rail side plate 1109, a lifting drive motor 1106, and a lifting transmission rod 1108. The lifting drive motor 1106 and the lifting transmission rod 1108 are located at the bottom of the guide rail side plate 1109. The lifting drive motor 1106 drives the lifting transmission rod 1108 to rotate via a synchronous pulley and synchronous belt 1107. The lifting transmission rod 1108 is connected to the lifting motion plate 1105, thereby controlling the lifting motion plate 1105 to move up and down along the guide rail side plate 1109. In one specific embodiment, the two ends of the lifting motion plate 1105 are connected to sliding members on the guide rail side plate 1109. The sliding members are connected to the lifting transmission rod 1108 at the bottom via a belt and a transmission pulley. When the lifting transmission rod 1108 rotates, the sliding members move up and down along the guide rail side plate 1109 under the drive of the belt, causing the lifting motion plate 1105 connected to the sliding members to move up and down. Since the lifting motion plate 1105 is equipped with a magazine-type fixture 1110, the lifting and lowering of the magazine-type fixture 1110 can be controlled, thereby enabling the PCB board feeding mechanism 10 to feed the circuit board into different slots of the magazine-type fixture 1110.

[0118] The jig lifting mechanism 11 also includes a first synchronous belt 1104, a fourth drive motor 1102, and a fourth transmission rod 1103, all mounted on the lifting motion plate 1105. The fourth drive motor 1102 controls the rotation of the fourth transmission rod 1103, which in turn drives the first synchronous belts 1104 on both sides to rotate. The fourth drive motor can rotate forward and backward, allowing the first synchronous belts 1104 to move forward and backward. The jig base plate is placed on the first synchronous belt 1104, thereby using the first synchronous belt 1104 to transport the jig base plate and the clip-type jig 1110 above it back and forth, so that the clip-type jig 1110 can move closer to or further away from the PCB board feeding mechanism 10. When the magazine-type fixture 1110 is close to the PCB board feeding mechanism 10, it facilitates the PCB board feeding mechanism 10 to transfer the circuit board to the fixture take-up lifting mechanism 11. When the magazine-type fixture 1110 is far away from the PCB board feeding mechanism 10, it facilitates the fixture take-up lifting mechanism 11 to transfer the magazine-type fixture 1110 to the rear fixture entry and exit lifting mechanism 12.

[0119] like Figure 13 As shown, in this invention, the fixture entry and exit lifting mechanism 12:

[0120] The fixture entry / exit lifting mechanism 12 is located at the output end of the fixture retracting lifting mechanism 11 and is used to receive the clip-type fixture 1110 equipped with a circuit board. The fixture entry / exit lifting mechanism 12 includes an upper conveyor belt and a lower conveyor belt. The two conveyor belts are connected between the mechanism side plates 1207 of the mechanism, and the two conveyor belts have the same structure, each including a second synchronous belt 1204, a fifth drive motor 1202, and a fifth transmission rod 1203. The fifth drive motor 1202 controls the rotation of the fifth transmission rod 1203, and the fifth transmission rod 1203 drives the second synchronous belts 1204 on both sides of the same layer to rotate. The fifth drive motor 1202 can rotate forward and backward, so that the second synchronous belts 1204 can rotate forward and backward. Thus, the second synchronous belts 1204 are used to transport the fixture base plate and the clip-type fixture 1110 above it back and forth.

[0121] The jig entry and exit lifting mechanism 12 utilizes two-layer high and low conveyor belts to quickly and efficiently transfer the magazine-type jig 1110 to different height positions on the jig trolley.

[0122] In a preferred embodiment, the two conveyor belts also include conveyor belt side plates 1201. A second synchronous belt 1204, a fifth drive motor 1202, and a fifth transmission rod 1203 are mounted on the conveyor belt side plate 1201. The conveyor belt side plate 1201 is slidably connected to the mechanism side plate 1207. Specifically, the mechanism side plate 1207 is provided with a slide rail, a slider, and a lifting cylinder 1206. The slide rail and lifting cylinder 1206 are mounted on the mechanism side plate 1207. The conveyor belt side plate 1201 is connected to the slider. The lifting cylinder 1206 controls the slider to move on the slide rail, thereby controlling the conveyor belt side plate 1201 to move on the slide rail, ultimately achieving the lifting and lowering of the conveyor belt on the mechanism side plate 1207. Both conveyor belts can be lifted and lowered on the side plates to adjust the height of the conveyor belts, thereby improving the matching degree between the conveyor belts and the front and rear mechanisms. The connection between the fixture entry / exit lifting mechanism 12 and the fixture retraction lifting mechanism 11 and the fixture trolley is more stable and efficient.

[0123] In a preferred embodiment, a fourth lateral movement module 1209 is provided between the two conveyor belts. The moving part of the fourth lateral movement module 1209 is provided with a magazine-type fixture code reader, which controls the lateral movement of the magazine-type fixture code reader. The magazine-type fixture code reader is used to read the markings on the magazine-type fixture to record the information of each fixture for tracking and management.

[0124] like Figure 14 As shown, in this invention, the fixture trolley import / export mechanism 13:

[0125] The second trolley docking station 102 of the frame 1 is equipped with a jig trolley inlet / outlet mechanism 13. The jig trolley inlet / outlet mechanism 13 includes jig trolley guide wheels 1301, jig trolley limit blocks 1302, and jig trolley positioning and fixing cylinders 1303. The jig trolley guide wheels 1301 are located on the left and right sides of the bottom of the second trolley docking station 102 to guide the jig trolley to drive in smoothly. The jig trolley limit blocks 1302 407 are located in the middle of the bottom of the second trolley docking station 102. When the jig trolley is in place, the jig trolley positioning and fixing cylinders 1303 control the jig trolley limit blocks 1302 to hook the jig trolley, fixing the trolley and preventing it from sliding. The jig trolley docks with the jig entry / exit lifting mechanism 12 in the second trolley docking station 102 to transfer the magazine-type jig 1110 onto the jig trolley.

[0126] As can be seen from the above scheme, the jig entry and exit lifting mechanism 12 is equipped with an upper conveyor belt and a lower conveyor belt. Therefore, the jig entry and exit lifting mechanism 12 can simultaneously place the magazine-type jig 1110 into different upper and lower shelves of the jig trolley, thus improving efficiency.

[0127] The frame 1 of the present invention is also provided with a manual magazine loading and unloading fixture station 14. The manual magazine loading and unloading fixture station 14 is located on the side of the second trolley docking station 102. Its main function is to facilitate manual loading and unloading of magazine-type fixtures 1110 and to adjust magazine-type fixtures 1110 on the fixture trolley.

[0128] The technical features of the above embodiments can be combined in any way. For the sake of brevity, not all possible combinations of the technical features in the above embodiments are described. However, as long as there is no contradiction in the combination of these technical features, they should be considered to be within the scope of this specification.

[0129] The above embodiments merely illustrate several implementation methods of the present invention, and their descriptions are relatively specific and detailed, but they should not be construed as limiting the scope of the invention patent. It should be noted that those skilled in the art can make various modifications and improvements without departing from the concept of the present invention, and these all fall within the protection scope of the present invention. Therefore, the protection scope of this invention patent should be determined by the appended claims.

Claims

1. An automatic board handling machine in conjunction with a multi-clamp jig, comprising a frame, the frame having loading and unloading stations, and a mechanism for transferring circuit boards and PCB board carriers between the loading and unloading stations, characterized in that, The unloading station includes a jig retracting and lifting mechanism, which is equipped with multiple spring clip jigs arranged side by side. The jig retracting and lifting mechanism is used to control the up and down lifting and lowering of the spring clip jigs and to control the forward and backward movement of the spring clip jigs. The mechanism between the loading and unloading stations includes a PCB board feeding mechanism, which includes a second belt and a board pusher. The second belt transports the circuit board in the direction of the spring clip fixture, and the board pusher pushes the rear edge of the circuit board along the moving direction of the circuit board. The PCB board feeding mechanism also includes a third lateral movement module, which is used to control the second belt and the board push rod to move between different clip-type fixtures; The fixture plate lifting mechanism controls the lifting of the clip-type fixture, so that the plate push rod corresponds to one of the layer slots of the clip-type fixture and sends the circuit board from the side of the clip-type fixture into the layer slot. The jig retracting and lifting mechanism includes a lifting motion plate, a guide rail side plate, a lifting drive motor, a lifting transmission rod, and a jig base plate for placing multiple magazine-type jigs. The lifting drive motor and the lifting transmission rod are located at the bottom of the guide rail side plate. The lifting drive motor drives the lifting transmission rod to rotate through a synchronous pulley and synchronous belt. The lifting transmission rod is connected to the lifting motion plate, so that the lifting motion plate moves up and down along the guide rail side plate. The unloading station also includes a fixture entry and exit lifting mechanism and a second trolley docking station. The fixture entry and exit lifting mechanism is located between the fixture plate retraction lifting mechanism and the second trolley docking station. The fixture entry and exit lifting mechanism is used to take the clip-type fixture and transfer it to the fixture trolley at the second trolley docking station. The fixture entry and exit lifting mechanism is provided with an upper conveyor belt and a lower conveyor belt. The two conveyor belts are connected between the side plates of the mechanism. Both the upper and lower conveyor belts include a second synchronous belt, a fifth drive motor, and a fifth transmission rod. The fifth drive motor is connected to the fifth transmission rod, and the fifth transmission rod is connected to the second synchronous belt on both sides of the layer.

2. The automatic plate take-up and take-down machine with a multi-spring clip fixture according to claim 1, characterized in that, The PCB board feeding mechanism further includes: an outer side plate, an inner side plate, a second drive motor, a second transmission rod, and a pusher cylinder for driving the board pusher rod; The two outer side plates are connected by a base plate and mounted on the moving part of the third transverse moving module; two relatively movable inner side plates are provided between the two outer side plates, and the inner walls of the two inner side plates are symmetrically provided with the second belt; the second drive motor is provided on one of the inner side plates and connected to the second transmission rod; the second transmission rod is connected to the second belt on both sides through a transmission wheel; the plate push rod and the plate push cylinder are provided between the two inner side plates.

3. The automatic plate take-up and take-down machine with a multi-spring clip fixture according to claim 2, characterized in that, The PCB board feeding mechanism further includes a third drive motor and a threaded transmission rod. The third drive motor is connected to the threaded transmission rod, and the two ends of the threaded transmission rod are provided with threaded sections in opposite directions. The two inner side plates are respectively provided on the threaded sections at both ends.

4. The automatic plate take-up and take-down machine with a multi-spring clip fixture according to claim 1, characterized in that, The automatic board loading and unloading machine also includes a first trolley docking station, which docks with a carrier trolley loaded with PCB board carriers. The first trolley docking station is equipped with a carrier lifting mechanism, a carrier transfer mechanism, a carrier opening and assembly mechanism, and a suction cup board loading and unloading mechanism. The carrier lifting mechanism is used to lift the PCB board carrier on the carrier trolley onto the moving path of the first carrier suction cup of the carrier transfer mechanism; the first carrier suction cup moves between the carrier lifting mechanism and the carrier opening assembly mechanism to transfer the PCB board carrier; the carrier opening assembly mechanism is used to open the upper cover of the PCB board carrier, so that the suction cup board picking and placing mechanism can pick up the circuit board from the PCB board carrier and transfer it to the PCB board feeding mechanism.

5. The automatic plate take-up and take-down machine with a multi-spring clip fixture according to claim 4, characterized in that, The vehicle opening assembly mechanism includes a base plate, a lifting cylinder, a lifting block, front and rear aligning components, left and right aligning components, a limiting block, and a vehicle opening cylinder. The lifting cylinder drives the lifting block to lift the PCB board carrier; the front and rear aligning components are used to center the PCB board carrier in the front-to-back direction; the left and right aligning components are used to center the PCB board carrier in the left-to-right direction; the limiting block is used to press down the carrier base plate of the PCB board carrier; the carrier opening cylinder is used to lift the upper cover plate of the PCB board carrier and separate the upper cover plate from the carrier base plate.

6. The automatic plate take-up and take-down machine with a multi-spring clip fixture according to claim 4, characterized in that, The suction cup board picking and placing mechanism includes a liftable carrier suction cup assembly and a horizontally movable board suction cup assembly. The carrier suction cup assembly is located above the carrier opening assembly mechanism and is used to pick up the upper cover plate. The board suction cup assembly moves between the carrier opening assembly mechanism and the PCB board feeding mechanism and is used to pick up the circuit board from the PCB board carrier and transfer it to the PCB board feeding mechanism.

7. The automatic plate take-up and take-down machine with a multi-spring clip fixture according to claim 1, characterized in that, The mechanism between the loading and unloading stations also includes a carrier return lifting mechanism and a carrier conveying output mechanism. The carrier return lifting mechanism is used to transport the empty carrier upward to the carrier conveying output mechanism, and the carrier conveying output mechanism outputs the empty carrier.

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