Automatic assembly equipment and assembly method for PCB (Printed Circuit Board)

Abstract

The invention discloses a PCB automatic assembling device and method, the PCB automatic assembling device comprises a PCB conveying assembly, a tool conveying assembly, a tool positioning mechanism, a clamping assembly and a manipulator, the PCB conveying assembly is used for conveying a PCB, the tool conveying assembly is used for conveying a tool plate, the tool positioning mechanism is used for positioning the tool plate, the clamping assembly is used for clamping the tool plate, and the manipulator is used for clamping the tool plate. The clamping assembly is used for clamping the PCB, the mechanical arm is connected with the clamping assembly so as to drive the clamping assembly to move, and the mechanical arm clamps the PCB through the clamping assembly and assembles the clamped PCB to the tool plate. Through cooperation of the PCB conveying assembly, the tool conveying assembly, the tool positioning mechanism, the clamping assembly and the mechanical arm, accurate positioning conveying and automatic assembling of the PCB and the tool plate are achieved, manual participation is not needed, and then the assembling efficiency and the assembling qualification rate are improved.

Description

Technical Field

[0001] The present invention relates to the technical field of PCB board assembly, and in particular to a PCB board automatic assembly device and an assembly method. Background Art

[0002] Air conditioner controllers are usually composed of an injection molded protective shell and a control circuit board. There are two assembly processes in the automatic production line of air conditioner controllers, namely, first moving the injection molded protective shell and the control circuit board to the assembly position, and then assembling them. However, the current assembly process requires manual assembly, which is not only inefficient, but also prone to low assembly qualification rate due to insufficient assembly precision. Summary of the invention

[0003] The purpose of the present invention is to overcome the deficiencies of the prior art and provide a PCB board automatic assembly device and an assembly method, aiming to solve the problems of low assembly efficiency and low qualified rate of air-conditioning controllers.

[0004] To achieve the above object, the present invention adopts the following technical solutions:

[0005] In one aspect, the present invention provides a PCB board automatic assembly device, comprising:

[0006] PCB board conveying assembly, used for conveying PCB boards;

[0007] Tooling conveying assembly, used for conveying tooling plates;

[0008] A tooling positioning mechanism, used for positioning the tooling plate;

[0009] A clamping component, used for clamping the PCB board;

[0010] A manipulator connected to the gripping assembly to drive the gripping assembly to move;

[0011] The robot grips the PCB board through the gripping assembly and assembles the gripped PCB board onto the tooling plate.

[0012] Furthermore, the tooling positioning mechanism is connected to a conveying outlet of the tooling conveying assembly in a conveying direction, and the tooling plate is directly conveyed to the tooling positioning mechanism by the tooling conveying assembly.

[0013] Furthermore, the clamping assembly includes a clamp and a fixture, the fixture is connected to the clamp, and the clamp is used to drive the fixture to move so as to clamp or release the PCB board.

[0014] Furthermore, the clamping assembly also includes a first distance sensor and a second distance sensor arranged relatively to each other, and a first guide shaft and a second guide shaft arranged relatively to each other, the first distance sensor and the first guide shaft are located on the same side, and the second distance sensor and the second guide shaft are located on the same side, and when the clamp clamps the PCB board, the first guide shaft and the second guide shaft pass through the PCB board, and the first distance sensor and the second distance sensor are in a non-contact state with the PCB board.

[0015] Furthermore, the tooling positioning mechanism includes a lifting cylinder, a lifting plate and a positioning pin, the lifting plate is connected to the lifting cylinder, and the positioning pin is arranged on the lifting plate.

[0016] Furthermore, the tooling positioning mechanism also includes a tilting pressure assembly and a downward pressure assembly arranged relatively to each other, the tilting pressure assembly including a first cylinder mounting plate, a first horizontal cylinder and an inclined pressure cylinder, the first horizontal cylinder being arranged on the first cylinder mounting plate, the inclined pressure cylinder being connected to the output end of the first horizontal cylinder; the downward pressure assembly includes a second cylinder mounting plate, a second horizontal cylinder and a downward pressure cylinder, the second horizontal cylinder being arranged on the second cylinder mounting plate, the downward pressure cylinder being connected to the output end of the second horizontal cylinder.

[0017] Furthermore, the PCB board conveying assembly includes a PCB board conveying line, an in-position sensor, a blocking block and a side-pushing cylinder, wherein the blocking block is arranged on the conveying path of the PCB board conveying line, and the side-pushing cylinder is arranged on the side of the conveying path of the PCB board conveying line. When the PCB board reaches the blocking block along the PCB board conveying line, the in-position sensor senses the PCB board so that the PCB board stops moving, and the output end of the side-pushing cylinder is pushed out to contact the PCB board.

[0018] Furthermore, the PCB board conveying assembly also includes a width adjustment module, and the width adjustment module includes a ball screw, and the ball screw is connected to the PCB board conveying line to adjust the width of the PCB board conveying line.

[0019] Furthermore, the tooling conveying assembly includes a tooling conveying line, the lifting plate is located on a conveying path of the tooling conveying line, and when the lifting plate is in an initial state, the position of the lifting plate is lower than a conveying plane of the conveying path of the tooling conveying line.

[0020] In a second aspect, the present invention further provides an automatic assembly method of a PCB board automatic assembly device, comprising:

[0021] Positioning the tooling plate that has arrived at the installation position;

[0022] Clamp the PCB board and record the distance D1 between the first distance sensor and the second distance sensor relative to the surface of the PCB board;

[0023] After the PCB board reaches the installation position, one side of the PCB board is obliquely inserted into the first buckle of the injection molded part of the tooling board;

[0024] Press down the side of the PCB board opposite to the one not inserted into the first buckle, and respectively record in real time the distance d1 and the distance d2 of the first distance sensor and the second distance sensor relative to the surface of the PCB board;

[0025] The posture of the PCB board is adjusted in real time according to the difference between the distance d1 and the distance d2 recorded in real time, so that the PCB board is clamped into the second buckle of the injection molded part of the tooling board in a horizontal posture, and the distance D2 between the first distance sensor and the second distance sensor relative to the surface of the PCB board after the PCB board is clamped into the second buckle is recorded;

[0026] If the calculated difference between the distance D1 and the distance D2 is within the set threshold range, it is determined that the PCB board and the working board are assembled in place.

[0027] The beneficial effects of the present invention compared with the prior art are as follows: a PCB board automatic assembly device, including a PCB board conveying component, a tool conveying component, a tool positioning mechanism, a clamping component and a manipulator, the PCB board conveying component is used to transport the PCB board, the tool conveying component is used to transport the tool board, the tool positioning mechanism is used to position the tool board, the clamping component is used to clamp the PCB board, the manipulator is connected to the clamping component to drive the clamping component to move, the manipulator clamps the PCB board through the clamping component, and assembles the clamped PCB board onto the tool board. The present invention realizes the precise positioning, conveying and automatic assembly of the PCB board and the tool board through the cooperation of the PCB board conveying component, the tool conveying component, the tool positioning mechanism, the clamping component and the manipulator, without the need for manual participation, thereby improving the assembly efficiency and the assembly qualification rate.

[0028] The above description is only an overview of the technical solution of the present invention. In order to more clearly understand the technical means of the present invention, it can be implemented in accordance with the contents of the specification. In order to make the above and other purposes, features and advantages of the present invention more obvious and easy to understand, the following preferred embodiments are specifically cited and described in detail as follows. BRIEF DESCRIPTION OF THE DRAWINGS

[0029] In order to more clearly illustrate the technical solutions of the embodiments of the present invention, the accompanying drawings required for use in the description of the embodiments will be briefly introduced below. Obviously, the accompanying drawings described below are some embodiments of the present invention. For ordinary technicians in this field, other accompanying drawings can be obtained based on these accompanying drawings without paying any creative work.

[0030] Figure 1A schematic structural diagram of a PCB board automatic assembly device provided by a specific embodiment of the present invention;

[0031] Figure 2 A schematic diagram of the structure of a clamping component in a PCB board automatic assembly device provided by a specific embodiment of the present invention;

[0032] Figure 3 A schematic diagram of a state in which a clamping assembly in a PCB board automatic assembly device provided by a specific embodiment of the present invention clamps a PCB board;

[0033] Figure 4 A partial structural schematic diagram of a PCB board automatic assembly device provided by a specific embodiment of the present invention;

[0034] Figure 5 A schematic diagram of the structure of an injection molded part provided in a specific embodiment of the present invention;

[0035] Figure 6 A schematic diagram of the structure of a tilting and pressing assembly in a PCB board automatic assembly device provided by a specific embodiment of the present invention;

[0036] Figure 7 A schematic diagram of the structure of a pressing component in a PCB board automatic assembly device provided by a specific embodiment of the present invention;

[0037] Figure 8 A schematic diagram of the structure of a PCB board conveying assembly in a PCB board automatic assembly device provided by a specific embodiment of the present invention;

[0038] Fig. 9 A schematic diagram of the assembly of a PCB board and a working board provided in a specific embodiment of the present invention.

[0039] Reference numerals

[0040] 1. PCB board conveying assembly; 11. PCB board conveying line; 12. In-position sensor; 13. Stop block; 14. Side push cylinder; 15. Ball screw; 2. Tool conveying assembly; 21. Tool conveying line; 3. Tool positioning mechanism; 31. Lifting plate; 32. Positioning pin; 33. Tilt pressure assembly; 331. First cylinder mounting plate; 332. First horizontal cylinder; 333. Oblique pressure cylinder; 34. Downward pressure assembly; 341. Second cylinder mounting plate; 342. Second horizontal cylinder; 343. Downward pressure cylinder; 4. Gripping assembly; 41. Gripping claw; 42. Fixture; 43. First distance sensor; 44. Second distance sensor; 45. First guide shaft; 46. Second guide shaft; 47. Mounting plate; 5. Manipulator; 6. Rack; 61. Machine table; 100. PCB board; 200. Tooling board; 300. Injection molded part; 310. First buckle; 320. Second buckle; 330. Pressing edge. DETAILED DESCRIPTION

[0041] The technical solution of the present invention will be clearly and completely described below in conjunction with the specific embodiments of the present invention. Obviously, the described embodiments are part of the embodiments of the present invention, not all of the embodiments. Based on the embodiments of the present invention, all other embodiments obtained by ordinary technicians in this field without creative work are within the scope of protection of the present invention.

[0042] In the description of the present invention, it should be understood that the terms "center", "longitudinal", "lateral", "length", "width", "thickness", "up", "down", "front", "back", "left", "right", "vertical", "horizontal", "top", "bottom", "inside", "outside", "clockwise", "counterclockwise", "axial", "radial", "circumferential" and the like indicate orientations or positional relationships based on the orientations or positional relationships shown in the accompanying drawings, and are only for the convenience of describing the present invention and simplifying the description, and do not indicate or imply that the referred device or element must have a specific orientation, be constructed and operated in a specific orientation, and therefore should not be understood as limiting the present invention.

[0043] In addition, the terms "first" and "second" are used for descriptive purposes only and should not be understood as indicating or implying relative importance or implicitly indicating the number of the indicated technical features. Therefore, the features defined as "first" and "second" may explicitly or implicitly include at least one of the features. In the description of the present invention, the meaning of "plurality" is at least two, such as two, three, etc., unless otherwise clearly and specifically defined.

[0044] In the present invention, unless otherwise clearly specified and limited, the terms "installed", "connected", "connected", "fixed" and the like should be understood in a broad sense, for example, it can be a fixed connection, a detachable connection, or an integral connection; it can be a mechanical connection or an electrical connection; it can be a direct connection or an indirect connection through an intermediate medium, it can be the internal connection of two elements or the interaction relationship between two elements, unless otherwise clearly defined. For ordinary technicians in this field, the specific meanings of the above terms in the present invention can be understood according to specific circumstances.

[0045] In the present invention, unless otherwise clearly specified and limited, a first feature being "above" or "below" a second feature may mean that the first and second features are in direct contact, or the first and second features are in indirect contact through an intermediate medium. Moreover, a first feature being "above", "above" or "above" a second feature may mean that the first feature is directly above or obliquely above the second feature, or simply means that the first feature is higher in level than the second feature. A first feature being "below", "below" or "below" a second feature may mean that the first feature is directly below or obliquely below the second feature, or simply means that the first feature is lower in level than the second feature.

[0046] It should be noted that when an element is referred to as being "fixed to" or "disposed on" another element, it may be directly on the other element or there may be a central element. When an element is considered to be "connected to" another element, it may be directly connected to the other element or there may be a central element at the same time. The terms "vertical", "horizontal", "upper", "lower", "left", "right" and similar expressions used herein are for illustrative purposes only and are not intended to be the only implementation method.

[0047] like Figures 1 to 9 As shown, an embodiment of the present invention provides a PCB board automatic assembly device, including a PCB board conveying component 1, a tool conveying component 2, a tool positioning mechanism 3, a clamping component 4 and a manipulator 5. The PCB board conveying component 1 is used to transport the PCB board 100, the tool conveying component 2 is used to transport the tool board 200, the tool positioning mechanism 3 is used to position the tool board 200, the clamping component 4 is used to clamp the PCB board 100, and the manipulator 5 is connected to the clamping component 4 to drive the clamping component 4 to move. The manipulator 5 clamps the PCB board 100 through the clamping component 4 and assembles the clamped PCB board 100 onto the tool board 200.

[0048] Specifically, the PCB board 100 is automatically transported by the PCB board conveying component 1, and the tooling board 200 is automatically transported by the tooling conveying component 2. When the tooling board 200 is automatically transported to the position of the tooling positioning mechanism 3, the tooling positioning mechanism 3 is used to automatically position the tooling board 200, and then the PCB board 100 is automatically clamped and installed on the tooling board 200 through the cooperation of the manipulator 5 and the clamping component 4. Through the cooperation of the PCB board conveying component 1, the tooling conveying component 2, the tooling positioning mechanism 3, the clamping component 4 and the manipulator 5, the PCB board 100 and the tooling board 200 are accurately positioned, conveyed and automatically assembled without manual participation, thereby improving the assembly efficiency and the assembly qualification rate.

[0049] The tooling positioning mechanism 3 is connected to the conveying outlet of the tooling conveying assembly 2 in the conveying direction, and the tooling plate 200 is directly conveyed to the tooling positioning mechanism 3 by the tooling conveying assembly 2. Such a design simplifies the conveying path of the tooling plate 200, reduces the processing time, and thus improves the overall assembly efficiency. Moreover, through direct connection, the possible positioning error caused by the transfer of the conveying path is reduced, which helps to improve the qualified rate of assembly.

[0050] In one embodiment, the clamping assembly 4 includes a mounting plate 47, a clamp 41 and a fixture 42, the clamp 41 is mounted on the mounting plate 47, the mounting plate 47 is connected to the manipulator 5, the fixture 42 is connected to the clamp 41, and the clamp 41 is used to drive the clamp 42 to move so as to clamp or release the PCB board 100.

[0051] like Figure 2 As shown, the top of the mounting plate 47 is firmly connected to the manipulator 5 through a standard mechanical interface (such as a flange joint), so that the movement of the manipulator 5 drives the movement of the entire clamping assembly 4. The clamp 41 is installed on the mounting plate 47 by bolts or other fixing methods. The main function of the clamp 41 is to transmit the driving force to drive the clamp 42 to achieve the clamping or loosening action. The clamp 41 is provided with the driving force by a cylinder or a motor. The clamp 42 is a plurality of clamping arms arranged in a surrounding manner. The opening and closing of the clamp 42 is controlled by the clamp 41. Through the operation of the manipulator 5, the clamping and loosening of the PCB board 100 can be achieved. Specifically, the clamping arms of the clamp 42 are used to clamp the capacitor on the PCB board 100 to achieve the clamping of the PCB board 100. Figure 3 The diagram shows a state where the PCB board 100 is clamped.

[0052] Of course, an anti-slip material (such as a rubber pad) may be added to the inner side of the clamping arm to increase the friction force on the capacitor of the PCB board 100 to prevent sliding during the clamping process.

[0053] It should be noted that the manipulator 5 can be an articulated manipulator having multiple rotating joints with high flexibility and freedom, or it can be a rectangular coordinate manipulator.

[0054] In one embodiment, the clamping assembly 4 also includes a first distance sensor 43 and a second distance sensor 44 arranged relatively to each other, and a first guide shaft 45 and a second guide shaft 46 arranged relatively to each other. The first distance sensor 43 and the first guide shaft 45 are located on the same side, and the second distance sensor 44 and the second guide shaft 46 are located on the same side. When the clamp 42 clamps the PCB board 100, the first guide shaft 45 and the second guide shaft 46 are penetrated by the PCB board 100, and the first distance sensor 43 and the second distance sensor 44 are in a non-contact state with the PCB board 100. The purpose of being in a non-contact state is to smoothly realize the measurement of the distance relative to the PCB board 100.

[0055] like Figures 2 to 3 As shown, the first distance sensor 43 and the second distance sensor 44 are installed on the mounting plate 47. The first distance sensor 43 and the second distance sensor 44 are used to detect the distance relative to the PCB board 100. The first distance sensor 43 and the second distance sensor 44 can adopt laser sensors, ultrasonic sensors or capacitive sensors, etc. to achieve accurate detection of distance position.

[0056] The first guide shaft 45 and the second guide shaft 46 are slender rod-shaped structures with sufficient rigidity and straightness. The upper ends of the first guide shaft 45 and the second guide shaft 46 are fixed on the mounting plate 47, and the lower ends are freely suspended and can pass through the reserved holes on the PCB board 100. When the clamp 42 clamps the PCB board 100, the first guide shaft 45 and the second guide shaft 46 are inserted into the reserved holes of the PCB board 100 to ensure that the PCB board 100 has a certain limit effect.

[0057] like Figure 3 As shown, when the clamp 42 clamps the PCB board 100, the first distance sensor 43 corresponds to the position close to the edge of one side of the PCB board 100, and the second distance sensor 44 corresponds to the position close to the edge of the other side opposite to the one side of the PCB board 100. In this way, it is beneficial to accurately control the distance when installing the PCB board 100, so as to facilitate the adjustment of the posture of the PCB board 100.

[0058] In one embodiment, the tool positioning mechanism 3 includes a lifting cylinder, a lifting plate 31 and a positioning pin 32 . The lifting plate 31 is connected to the lifting cylinder, and the positioning pin 32 is disposed on the lifting plate 31 .

[0059] The lifting cylinder is responsible for driving the lifting plate 31 to move up and down. The lifting cylinder is fixedly mounted on the frame 6. The piston rod of the cylinder is connected to the lifting plate 31. The lifting plate 31 moves up and down with the lifting movement of the cylinder. The lifting plate 31 is provided with a plurality of mounting holes for fixing the positioning pins 32. The positioning pins 32 are used to position the tooling plate 200. The top of the positioning pins 32 is conical or cylindrical so as to be inserted into the pin holes of the tooling plate 200. The positioning pins 32 are arranged according to the pin hole positions of the tooling plate 200 to ensure that the positioning pins 32 can be accurately inserted into the corresponding pin holes of the tooling plate 200 when the lifting plate 31 rises.

[0060] In one embodiment, the tooling positioning mechanism 3 also includes a tilting pressure assembly 33 and a downward pressure assembly 34 that are relatively arranged. The tilting pressure assembly 33 includes a first cylinder mounting plate 331, a first horizontal cylinder 332 and an inclined pressure cylinder 333. The first horizontal cylinder 332 is arranged on the first cylinder mounting plate 331, and the inclined pressure cylinder 333 is connected to the output end of the first horizontal cylinder 332; the downward pressure assembly 34 includes a second cylinder mounting plate 341, a second horizontal cylinder 342 and a downward pressure cylinder 343. The second horizontal cylinder 342 is arranged on the second cylinder mounting plate 341, and the downward pressure cylinder 343 is connected to the output end of the second horizontal cylinder 342.

[0061] like Figures 4 to 7As shown, the first horizontal cylinder 332 is horizontally fixed on the first cylinder mounting plate 331, and the piston rod of the first horizontal cylinder 332 is pushed forward or pulled back in the horizontal direction to drive the oblique pressure cylinder 333 to move in the horizontal direction. The oblique pressure cylinder 333 is connected to the output end of the first horizontal cylinder 332 and is installed obliquely. The piston rod of the oblique pressure cylinder 333 performs telescopic movement in the oblique direction to clamp the clamping edge 330 on one side of the injection molded part 300 of the tooling plate 200. The second cylinder mounting plate 341 is arranged opposite to the first cylinder mounting plate 331, and the second horizontal cylinder 342 is horizontally fixed on the second cylinder mounting plate 341. The piston rod of the second horizontal cylinder 342 is pushed forward or pulled back in the horizontal direction to drive the downward pressing cylinder 343 to move in the horizontal direction. The downward pressing cylinder 343 is connected to the output end of the second horizontal cylinder 342 and is vertically installed. The piston rod of the downward pressing cylinder 343 performs telescopic movement in the vertical direction to clamp the clamping edge 330 on the other side of the injection molded part 300 of the tooling plate 200.

[0062] By cooperating with the tilting and pressing components 33 and the pressing components 34, a clamping force is provided for the positioning of the tooling plate 200, and the positioning pin 32 is used for limiting the position. Overall, the stability of the positioning is improved, and the problem of the tooling plate 200 being offset during the positioning process is avoided, thereby ensuring the accuracy of the PCB board 100 during installation.

[0063] In one embodiment, the PCB board conveying assembly 1 includes a PCB board conveying line 11, an in-position sensor 12, a blocking block 13 and a side-pushing cylinder 14. The blocking block 13 is arranged on the conveying path of the PCB board conveying line 11, and the side-pushing cylinder 14 is arranged on the side of the conveying path of the PCB board conveying line 11. When the PCB board 100 reaches the blocking block 13 along the PCB board conveying line 11, the in-position sensor 12 senses the PCB board 100, so that the PCB board 100 stops moving, and the output end of the side-pushing cylinder 14 is pushed out to contact the PCB board 100.

[0064] like Figure 8 As shown, the PCB board conveyor line 11 adopts a roller or belt conveyor structure, and the driving part of the PCB board conveyor line 11 includes a motor and a speed change device, which can accurately control the speed and direction of the conveyor line to meet the needs of different processing beats. In this embodiment, the PCB board conveyor line 11 includes two PCB board 100 conveyor racks arranged relatively, and the two PCB board 100 conveyor racks are equipped with a belt conveyor structure. The two PCB board 100 conveyor racks are installed on the machine table 61 of the frame 6. The PCB boards 100 to be conveyed are placed on the conveying plane formed by the two belt conveyor structures, and the movement of the belt conveyor structure is used to realize the transportation of the PCB boards 100.

[0065] The in-position sensor 12 is installed at a position close to the blocking block 13 or directly installed on the blocking block 13, and is used to detect whether the PCB board 100 has reached the specified position. Common types of in-position sensors 12 include photoelectric sensors, proximity sensors or mechanical limit switches. The blocking block 13 is fixed on the conveying path of the PCB board conveyor line 11, and is used to prevent the PCB board 100 from continuing to move forward at a specified position. The side push cylinder 14 is installed on the side of the PCB board conveyor line 11, and its output end faces the conveyor line. After receiving the signal from the in-position sensor 12, the piston rod of the side push cylinder 14 extends horizontally and contacts the side of the PCB board 100 to perform side limit.

[0066] In specific operation, the PCB board 100 moves along the PCB board conveyor line 11. When the in-position sensor 12 detects that the PCB board 100 reaches the blocking block 13, the movement of the PCB board conveyor line 11 is stopped. Subsequently, the piston rod of the side thrust cylinder 14 extends out and contacts the side of the PCB board 100, exerting a side thrust to complete the side positioning.

[0067] By setting up the PCB board conveying line 11, the automatic conveying of the PCB board 100 is realized while ensuring the conveying accuracy.

[0068] In one embodiment, the PCB board conveying assembly 1 further includes a width adjustment module, and the width adjustment module includes a ball screw 15 , and the ball screw 15 is connected to the PCB board conveying line 11 to adjust the width of the PCB board conveying line 11 .

[0069] like Figure 8 As shown, the width adjustment module is used to adjust the width of the PCB board conveyor line 11 to accommodate PCB boards 100 of different sizes. One end of the ball screw 15 is fixed to one of the two PCB board 100 conveyor racks through a bearing, and the other end of the ball screw 15 passes through the other PCB board 100 conveyor rack and is connected to the driving device. The ball screw 15 is threadedly connected to the other PCB board 100 conveyor rack. The driving device can be manual, such as a hand wheel, or automatic, such as a motor. The rotational motion of the driving device converts the rotational force into linear motion, driving one of the PCB board 100 conveyor racks to move closer to or away from the other PCB board 100 conveyor rack to achieve the adjustment of the width of the two.

[0070] In one embodiment, the tooling conveying assembly 2 includes a tooling conveying line 21, and the lifting plate 31 is located on the conveying path of the tooling conveying line 21. When the lifting plate 31 is in an initial state, the position of the lifting plate 31 is lower than the conveying plane of the conveying path of the tooling conveying line 21.

[0071] like Figure 4As shown, the tooling conveyor line 21 adopts a roller or belt conveying structure, and the driving part of the tooling conveyor line 21 includes a motor and a speed change device, which can accurately control the speed and direction of the conveyor line to meet the needs of different processing beats. In this embodiment, the tooling conveyor line 21 includes two tooling conveyor racks arranged relatively, and the two tooling conveyor racks are equipped with roller conveying structures. The two tooling conveyor racks are installed on the machine table 61 of the frame 6. The tooling board 200 to be transported is placed on the conveying plane formed by the two roller conveying structures, and the movement of the roller conveying structure is used to realize the transportation of the tooling board 200.

[0072] The lifting plate 31 is located in the interval area between the two tooling conveying frames. When the lifting plate 31 is in the initial state (i.e., not lifted), the position of the lifting plate 31 is lower than the conveying plane formed by the two roller conveying structures, thereby ensuring that the tooling plate 200 can be directly conveyed from the tooling conveying line 21 to the top of the lifting plate 31 without hindrance.

[0073] The embodiment of the present invention further provides an automatic assembly method of a PCB board automatic assembly device. The method is applied to the above-mentioned PCB board automatic assembly device, and the method specifically includes the following steps: S10-S60.

[0074] S10, positioning the tooling plate 200 that has arrived at the installation position.

[0075] When the tooling plate 200 is transported to the top of the jacking plate 31 through the tooling conveyor line 21, the tooling conveyor line 21 stops running, and the jacking plate 31 is lifted up by the jacking cylinder so that the locating pins 32 on the jacking plate 31 are accurately inserted into the corresponding pin holes of the tooling plate 200. At the same time, the tooling plate 200 is pressed and fixed by the tilting pressure assembly 33 and the pressing assembly 34.

[0076] S20 , clamping the PCB board 100 and recording the distance D1 between the first distance sensor 43 and the second distance sensor 44 and the surface of the PCB board 100 .

[0077] It should be noted that when the PCB board 100 is clamped, the PCB board 100 maintains a horizontal posture, so the distance between the first distance sensor 43 and the surface of the PCB board 100 is D1, and the distance between the second distance sensor 44 and the surface of the PCB board 100 is also D1.

[0078] S30 , after the PCB board 100 reaches the installation position, one side of the PCB board 100 is obliquely inserted into the first buckle 310 of the injection molded part 300 of the tooling plate 200 .

[0079] When one side of the PCB board 100 is obliquely inserted into the first buckle 310 of the injection molded part 300 of the tooling plate 200 , the PCB board 100 uses the side inserted into the first buckle 310 as a rotation axis.

[0080] S40 , pressing down the side opposite to the PCB 100 that is not inserted into the first buckle 310 , and respectively recording in real time the distance d1 and the distance d2 of the first distance sensor 43 and the second distance sensor 44 relative to the surface of the PCB 100 .

[0081] Since the PCB board 100 is pressed down by the robot 5 applying pressure to the guide shaft, and then the first guide shaft 45 and the second guide shaft 46 apply pressure to the PCB board 100, and the first guide shaft 45 and the second guide shaft 46 are arranged at an interval, when pressing down, the PCB board 100 may be subjected to different downward pressures from the first guide shaft 45 and the second guide shaft 46. If the pressures are different, real-time adjustments are required. Therefore, it is necessary to record the distance d1 and the distance d2.

[0082] It should be noted that the first guide shaft 45 and the second guide shaft 46 can press down the PCB board 100, so that the first guide shaft 45 and the second guide shaft 46 are provided with a step portion with the PCB board 100, and the step portion applies downward pressure to the PCB board 100.

[0083] S50, adjusting the posture of the PCB board 100 in real time according to the size between the distance d1 and the distance d2 recorded in real time, so that the PCB board 100 is clamped into the second buckle 320 of the injection molded part 300 of the tooling board 200 in a horizontal posture, and recording the distance D2 between the first distance sensor 43 and the second distance sensor 44 relative to the surface of the PCB board 100 after the second buckle 320 is clamped.

[0084] By recording the distance d1 and the distance d2 in real time, it can be known whether the pressure exerted on the PCB board 100 by the first guide shaft 45 and the second guide shaft 46 is balanced. If the pressure exerted on one side is too large, the robot arm is adjusted to make the extrusion deformation of the PCB board 100 by the first guide shaft 45 and the second guide shaft 46 the same.

[0085] When the PCB board 100 is inserted into the second buckle 320, the distance D2 between the first distance sensor 43 and the second distance sensor 44 relative to the surface of the PCB board 100 is recorded. Since the extrusion deformation amount is adjusted in real time when pressing down, after the second buckle 320 is inserted, the distance between the first distance sensor 43 and the surface of the PCB board 100 is D2, and the distance between the second distance sensor 44 and the surface of the PCB board 100 is also D2.

[0086] S60 , if the calculated difference between the distance D1 and the distance D2 is within the set threshold range, it is determined that the PCB board 100 and the working board are assembled in place.

[0087] The threshold range can be set based on past installation experience and installation standards. Specifically, the historical data D1 and D2 can be used to calculate the average XD1 of ten sets of historical data D1 and the average XD2 of ten sets of historical data D2. XD1 minus XD2 can be used to calculate an average tolerance XD3, and the threshold range can be set to be less than the average tolerance XD3. If the difference between the calculated D1 and the distance D2 is less than the average tolerance XD3 during this installation, it means that the assembly is in place, otherwise the assembly is unqualified.

[0088] It should be noted that, in order to achieve flexible assembly of the PCB board 100 and the tooling board 200, the torque feedback setting of the robot 5 can be performed according to the maximum torque that the PCB board 100 can withstand, and an alarm will be triggered if it exceeds the maximum torque.

[0089] Specifically, since the manipulator 5 has a torque feedback function, the force applied to the manipulator 5 is reflected. During normal assembly, the force applied to the manipulator 5 is stable, and there is an upper limit A of the torque of the manipulator 5. When the PCB board 100 and the tooling board 200 are pressed down for installation, the manipulator 5 does not reach the predetermined point, and the resistance is increased. If the required torque exceeds A, the manipulator 5 stops working and gives a feedback alarm. The upper limit of the torque of the manipulator 5 can be set by the user.

[0090] The above is only a specific embodiment of the present invention, but the protection scope of the present invention is not limited thereto. Any technician familiar with the technical field can easily think of various equivalent modifications or replacements within the technical scope disclosed by the present invention, and these modifications or replacements should be included in the protection scope of the present invention. Therefore, the protection scope of the present invention shall be based on the protection scope of the claims.

Claims

1. A PCB board automatic assembly equipment, characterized in that: include: PCB board conveying assembly, used for conveying PCB boards; Tooling conveying assembly, used for conveying tooling plates; A tooling positioning mechanism, used for positioning the tooling plate; A clamping component, used for clamping the PCB board; A manipulator connected to the gripping assembly to drive the gripping assembly to move; The robot grips the PCB board through the gripping assembly and assembles the gripped PCB board onto the tooling plate.

2. The PCB automatic assembly equipment according to claim 1, characterized in that: The tooling positioning mechanism is connected with a conveying outlet of the tooling conveying assembly in a conveying direction, and the tooling plate is directly conveyed to the tooling positioning mechanism by the tooling conveying assembly.

3. The PCB board automatic assembly equipment according to claim 1, characterized in that: The clamping assembly comprises a clamp and a fixture, wherein the fixture is connected to the clamp, and the clamp is used to drive the fixture to move so as to clamp or release the PCB board.

4. The PCB board automatic assembly equipment according to claim 3 is characterized in that: The clamping assembly also includes a first distance sensor and a second distance sensor arranged relatively to each other, and a first guide shaft and a second guide shaft arranged relatively to each other, the first distance sensor and the first guide shaft are located on the same side, and the second distance sensor and the second guide shaft are located on the same side, when the clamp clamps the PCB board, the first guide shaft and the second guide shaft pass through the PCB board, and the first distance sensor and the second distance sensor are in a non-contact state with the PCB board.

5. The PCB automatic assembly equipment according to claim 1, characterized in that: The tooling positioning mechanism comprises a lifting cylinder, a lifting plate and a positioning pin, the lifting plate is connected to the lifting cylinder, and the positioning pin is arranged on the lifting plate.

6. The PCB board automatic assembly equipment according to claim 1, characterized in that: The tooling positioning mechanism also includes a tilting pressure assembly and a downward pressure assembly that are arranged relatively to each other. The tilting pressure assembly includes a first cylinder mounting plate, a first horizontal cylinder, and an inclined pressure cylinder. The first horizontal cylinder is arranged on the first cylinder mounting plate, and the inclined pressure cylinder is connected to the output end of the first horizontal cylinder; the downward pressure assembly includes a second cylinder mounting plate, a second horizontal cylinder, and a downward pressure cylinder. The second horizontal cylinder is arranged on the second cylinder mounting plate, and the downward pressure cylinder is connected to the output end of the second horizontal cylinder.

7. The PCB board automatic assembly equipment according to claim 1, characterized in that: The PCB board conveying assembly includes a PCB board conveying line, an in-position sensor, a blocking block and a side-pushing cylinder, wherein the blocking block is arranged on the conveying path of the PCB board conveying line, and the side-pushing cylinder is arranged on the side of the conveying path of the PCB board conveying line. When the PCB board reaches the blocking block along the PCB board conveying line, the in-position sensor senses the PCB board to stop the PCB board from moving, and the output end of the side-pushing cylinder is pushed out to contact the PCB board.

8. The PCB board automatic assembly equipment according to claim 7, characterized in that: The PCB board conveying assembly also includes a width adjustment module, and the width adjustment module includes a ball screw, and the ball screw is connected to the PCB board conveying line to adjust the width of the PCB board conveying line.

9. The PCB board automatic assembly equipment according to claim 5, characterized in that: The tooling conveying assembly includes a tooling conveying line, and the lifting plate is located on a conveying path of the tooling conveying line. When the lifting plate is in an initial state, the position of the lifting plate is lower than a conveying plane of the conveying path of the tooling conveying line.

10. An automatic assembly method for a PCB board automatic assembly device, characterized in that: include: Positioning the tooling plate that has arrived at the installation position; Clamp the PCB board and record the distance D1 between the first distance sensor and the second distance sensor relative to the surface of the PCB board; After the PCB board reaches the installation position, one side of the PCB board is obliquely inserted into the first buckle of the injection molded part of the tooling board; Press down the side of the PCB board opposite to the one not inserted into the first buckle, and respectively record in real time the distance d1 and the distance d2 of the first distance sensor and the second distance sensor relative to the surface of the PCB board; The posture of the PCB board is adjusted in real time according to the difference between the distance d1 and the distance d2 recorded in real time, so that the PCB board is clamped into the second buckle of the injection molded part of the tooling board in a horizontal posture, and the distance D2 between the first distance sensor and the second distance sensor relative to the surface of the PCB board after the PCB board is clamped into the second buckle is recorded; If the calculated difference between the distance D1 and the distance D2 is within the set threshold range, it is determined that the PCB board and the working board are assembled in place.

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