PCB processing equipment and processing method thereof

Abstract

The invention belongs to the technical field of PCB production, and particularly relates to PCB processing equipment and a processing method thereof. The PCB processing equipment comprises a processing machine table, a robot and a temporary storage bin. A station is arranged on the machining machine table, the temporary storage bin is used for storing material plates, the robot comprises a mechanical arm and a material taking mechanism used for clamping the material plates, the material taking mechanism is connected to the mechanical arm, and the mechanical arm can drive the material taking mechanism to move between the temporary storage bin and the machining machine table. And the material plates can be collected or placed on the stations. In the feeding and discharging process, the mechanical arm drives the material taking mechanism to move, the material taking mechanism can be rapidly positioned to the temporary storage bin and the machining machine table, and feeding and discharging operation of the material plate is carried out. Compared with manual carrying, the moving speed and the positioning precision of the mechanical arm are higher, the accuracy of the placing position of the material plate on the workbench can be improved, and errors caused by manual feeding and discharging are reduced.

Description

Technical Field

[0001] The invention belongs to the technical field of PCB production, and in particular relates to a PCB processing device and a processing method thereof. Background Art

[0002] In the field of PCB drilling, most traditional processing equipment adopts a workbench form. When such equipment is used for PCB drilling and forming, its loading and unloading methods are often limited to manual operation or simple automation. Specifically, when a workbench-type processing equipment is used to drill holes in a PCB, the operator needs to place the PCB to be processed on the workbench. Due to the errors in manual operation or the limitations of the automation equipment, the placement of the PCB on the workbench is not accurate enough, which in turn affects the drilling accuracy of the PCB and the quality of the finished product. Summary of the invention

[0003] The technical problem to be solved by the present invention is: to provide a PCB processing device and a processing method thereof in view of the problem that the placement position of the existing PCB on the workbench is not accurate enough.

[0004] In order to solve the above technical problems, on the one hand, an embodiment of the present invention provides a PCB processing equipment, including a processing machine, a robot and a temporary storage warehouse; A workstation is arranged on the processing machine, the temporary storage bin is used to store material plates, the robot comprises a manipulator and a material picking mechanism for clamping the material plates, the material picking mechanism is connected to the manipulator, and the manipulator can drive the material picking mechanism to move between the temporary storage bin and the processing machine to collect or place the material plates on the workstation.

[0005] Optionally, the PCB processing equipment further includes at least one material rack; the material rack is used to place the temporary storage bin or the material board.

[0006] Optionally, the robot further includes a lifting mechanism and a lifting platform, wherein the output end of the lifting mechanism is connected to the lifting platform, and the lifting mechanism can drive the lifting platform to move up and down, so that the temporary storage bin can be transferred between the material rack and the lifting platform.

[0007] Optionally, the robot also includes an automatic transport vehicle, and the manipulator and the lifting mechanism are installed on the automatic transport vehicle. The automatic transport vehicle can drive the material picking mechanism to move to the material rack, so that when the lifting mechanism drives the lifting platform to move up and down, the temporary storage warehouse can be transferred between the material rack and the lifting platform.

[0008] Optionally, the lifting mechanism includes a connecting seat, a motor, a screw and a linear guide rail. The connecting seat is installed on the automatic transport vehicle, the output end of the motor is connected to the screw rod, the screw rod is threadedly connected to the lifting platform, and the linear guide rail is installed on the connecting seat. The motor can drive the lifting platform to move up and down along the linear guide rail.

[0009] Optionally, a first positioning member is provided on the lifting platform, and a second positioning member is provided on the temporary storage bin, and the first positioning member and the second positioning member are plugged together to limit the position of the temporary storage bin on the lifting platform.

[0010] Optionally, the temporary storage warehouse at least includes a carrier, a plurality of the material plates are stacked on the carrier, and the second positioning member is arranged on the carrier.

[0011] Optionally, the lifting platform comprises a sliding connection plate and at least one support arm, the sliding connection plate is movably connected to the connection seat, and one end of the support arm is connected to the sliding connection plate; The first positioning member is arranged on the supporting arm.

[0012] Optionally, a sensor is provided on the lifting platform, and the sensor is used to detect whether the temporary storage warehouse is transferred to the lifting platform.

[0013] Optionally, the material-retrieving mechanism comprises a mounting frame and at least one material-retrieving assembly, and the mounting frame is connected to the robot; The material picking assembly includes an adapter seat, a first driving member and a clamping member. The adapter seat is slidably connected to the mounting frame along a first direction. The first driving member can drive the clamping member to extend and retract along a second direction to clamp or release the material plate. The first direction intersects with the second direction.

[0014] Optionally, the clamping member includes two sub-clamping members, and the first driving member is used to drive one or both of the sub-clamping members to move along the second direction to clamp or release the material plate.

[0015] Optionally, the sub-clamping member includes an adjusting member and a clamping claw, the adjusting member is movably arranged on the adapter, and the clamping claw is arranged on the adjusting member.

[0016] Optionally, the first driving member includes a first motor and a transmission member, the first motor is mounted on the adapter, and the transmission member is mounted on an output end of the first motor; The transmission member is arranged between the adjusting members of the two sub-clamping members in the first direction, and is in transmission connection with the adjusting members of the two sub-clamping members. The first motor can drive the transmission member to rotate to drive the two sub-clamping members to move closer or farther away at the same time.

[0017] Optionally, the adjusting member comprises a bottom plate and a rack mounted on the bottom plate, the bottom plate is slidably connected to the adapter, the clamping jaws are mounted on the bottom plate, and the clamping jaws of the two sub-clamping members are arranged opposite to each other in the second direction; The transmission member is a gear, and the gear is meshed with the racks of the adjusting members of the two sub-clamping members at the same time.

[0018] Optionally, the material taking mechanism further includes a second driving member, and the material taking assembly is provided with two; The second driving member can drive at least one of the two material taking assemblies to move along the first direction to adjust the distance between the two material taking assemblies in the first direction.

[0019] Optionally, the PCB processing equipment further comprises a lifting mechanism, which is disposed on the processing machine and is used to lift the material plate on the workstation so that the material picking mechanism can clamp the material plate.

[0020] Optionally, the robot includes a loading robot and a unloading robot, the temporary storage bin includes a loading temporary storage bin and an unloading temporary storage bin, and the material taking mechanism of the loading robot can move between the loading temporary storage bin and the processing machine to place the material plate in the loading temporary storage bin at the work station; The material picking mechanism of the material unloading robot can move between the material unloading temporary storage bin and the processing machine table to place the material plate on the work station on the material unloading temporary storage table.

[0021] On the other hand, an embodiment of the present invention provides a processing method, which is applied to PCB processing equipment, including: Grab the material plate on the temporary storage bin by the material taking mechanism; The manipulator controls the material taking mechanism to move above the workstation, and the material taking mechanism places the material plate on the workstation; The processing machine processes the material plate on the workstation; After the processing is completed, the lifting mechanism lifts up the material plate, and the lifted material plate is clamped by the material taking mechanism; The manipulator controls the material picking mechanism to move to the material rack, and the material picking mechanism places the material plate on the material rack.

[0022] On the other hand, an embodiment of the present invention provides a processing method, which is applied to the above-mentioned PCB processing equipment, including: Grab the material plate in the temporary storage bin by the material taking mechanism of the loading robot; The manipulator of the feeding robot controls the material taking mechanism to move above the workstation, and the material taking mechanism places the material plate on the workstation; The processing machine processes the material plate on the workstation; After the processing is completed, the material plate is clamped by the material taking mechanism of the unloading robot; The manipulator of the unloading robot controls the material picking mechanism to move to the unloading temporary storage bin, and the material picking mechanism places the material plate in the unloading temporary storage bin.

[0023] The processing equipment provided by the embodiment of the present invention can quickly locate the material board on the temporary storage bin and the processing machine by driving the material picking mechanism to move through the manipulator, accurately move the material picking mechanism to the material board position in the temporary storage bin to clamp the material board, and move it to the processing machine to clamp the material board, thereby realizing the loading and unloading operation of the material board. During the loading and unloading process, the manipulator can move quickly and accurately according to the preset trajectory. Compared with manual handling, the manipulator has higher movement speed and positioning accuracy, which can improve the accuracy of the placement position of the material board on the workbench and reduce the errors caused by manual loading and unloading. BRIEF DESCRIPTION OF THE DRAWINGS

[0024] Figure 1 is a schematic diagram of a processing device provided by an embodiment of the present invention; Figure 2 is a schematic diagram of a robot provided by an embodiment of the present invention; Figure 3 is a schematic diagram of a lifting mechanism and a lifting platform provided in one embodiment of the present invention; Figure 4 is a schematic diagram of a material taking mechanism provided by an embodiment of the present invention; Figure 5 is an assembly diagram of a second driving member provided by an embodiment of the present invention on a mounting frame; Figure 6 is a schematic diagram of a material taking assembly provided in one embodiment of the present invention; Figure 7 is a schematic diagram of a single workstation provided by an embodiment of the present invention; Figure 8 It is a schematic diagram of a lifting member provided in one embodiment of the present invention.

[0025] The reference numerals in the specification are as follows: 10. Processing machine; 20. Robot; 20a. Loading robot; 20b. Unloading robot; 201. Manipulator; 202. Automatic transport vehicle; 203. Retrieving mechanism; 204. Second camera; 205. Lifting mechanism; 2051. Connecting seat; 2052. Lifting motor; 2053. Screw rod; 2054. First linear guide rail; 206. Lifting platform; 2061. Sliding connecting plate; 2062. Support arm; 20621. First positioning member; 30. Material rack; 40. Temporary storage bin; 401. Carrier; 40a. Loading temporary storage bin; 40b. Unloading temporary storage bin; 1. Mounting frame; 11. Second linear guide rail; 2. Material taking assembly; 21. Adapter; 22. First driving member; 221. First motor; 222. Transmission member; 23. Clamping member; 231. Sub-clamping member; 2311. Adjusting member; 23111. Bottom plate; 23112. Rack; 2312. Clamping claw; 3. Second driving member; 31. Second motor; 32. Driving wheel; 33. Driven wheel; 34. Synchronous belt; 4. First Camera; 5. Lifting mechanism; 51. Lifting member; 511. Cylinder; 512. Sliding block; 513. Transmission rod; 514. Articulated shaft; 515. Lifting part; a. First direction; b. Second direction. DETAILED DESCRIPTION

[0026] In order to make the technical problems, technical solutions and beneficial effects solved by the present invention more clearly understood, the present invention is further described in detail below in conjunction with the accompanying drawings and embodiments. It should be understood that the specific embodiments described herein are only used to explain the present invention and are not intended to limit the present invention.

[0027] like Figures 1 to 8As shown, an embodiment of the present invention provides a PCB processing equipment, including a processing machine 10, a robot 20 and a temporary storage bin 40. A workstation is provided on the processing machine 10, the temporary storage bin 40 is used to store material plates, the robot 20 includes a manipulator 201 and a material picking mechanism 203 for clamping the material plates, the material picking mechanism 203 is connected to the manipulator 201, and the manipulator 201 can drive the material picking mechanism 203 to move between the temporary storage bin 40 and the processing machine 10 to collect or place the material plates on the workstation. The manipulator 201 drives the material picking mechanism 203 to move, and during the loading and unloading process, the manipulator 201 can move quickly and accurately according to the preset trajectory, can quickly locate on the temporary storage bin 40 and the processing machine 10, accurately move the material picking mechanism 203 to the temporary storage bin 40 and the processing machine, clamp the material plates, and realize the loading and unloading operations of the material plates. Compared with manual handling, the robot 201 has higher movement speed and positioning accuracy, which can improve the accuracy of the placement of the material plate on the workbench and reduce the errors caused by manual loading and unloading.

[0028] Among them, when loading, the material picking mechanism 203 can clamp the material plate to be processed from the temporary storage bin 40, and the manipulator 201 drives the material picking mechanism 203 to move above the workstation, and the material picking mechanism 203 places the material plate to be processed on the material plate. When unloading, the material picking mechanism 203 can clamp the processed material plate on the workstation, and the manipulator 201 drives the material picking mechanism 203 to move to the temporary storage bin 40, and the processed material plate is stored in the temporary storage bin 40. It can be understood that the number of robots 20 and temporary storage bins 40 can be one, two or more. When the number of robots 20 and temporary storage bins 40 is greater than one, loading and unloading can be performed by different robots 20 and temporary storage bins 40, respectively, to reduce the downtime and waiting process of the material plate during the processing process.

[0029] In one embodiment, a plurality of workstations are provided, and the material taking mechanism 203 is driven to move by the manipulator 201, so that the material sheets can be placed on the plurality of workstations in sequence, or the material sheets on the plurality of workstations can be taken away in sequence.

[0030] The processing machine 10 is provided with a plurality of spindles, the number of which is consistent with the number of workstations, and each spindle can process the material plate on the corresponding workstation.

[0031] The side of the processing machine 10 close to the main axis is the front side, and the robot 20 is located at the front side of the processing machine 10 to discharge the workpiece.

[0032] In one embodiment, if Figure 2 As shown, the manipulator 201 is a multi-axis manipulator, which can drive the material picking mechanism 203 to perform rotation or translation and other movements, so that the material picking mechanism 203 can clamp the material plate.

[0033] In one embodiment, if Figure 1 As shown, the PCB processing equipment further includes at least one material rack 30, and the temporary storage bin 40 can be placed on the material rack 30. The material rack 30 is used to place the temporary storage bin 40 or the material board.

[0034] In one embodiment, if Figure 2 , Figure 3 As shown, the robot 20 also includes a lifting mechanism 205 and a lifting platform 206. The output end of the lifting mechanism 205 is connected to the lifting platform 206. The lifting mechanism 205 can drive the lifting platform 206 to move up and down, so that the temporary storage bin 40 can be transferred between the material rack 30 and the lifting platform 206. After the temporary storage bin 40 is transferred to the lifting platform 206, the temporary storage bin 40 follows the robot 20 to move to the processing machine 10, so as to facilitate the material picking mechanism 203 to load and unload materials at the work station.

[0035] When it is necessary to transfer the temporary storage bin 40 from the material rack 30 to the lifting platform 206, the lifting platform 206 extends below the temporary storage bin 40, and then the lifting mechanism 205 drives the lifting platform 206 to rise until it abuts against the bottom of the temporary storage bin 40, and the lifting platform 206 continues to move upward, so that the temporary storage bin 40 is separated from the material plate, and the process of transferring the temporary storage bin 40 from the material rack 30 to the lifting platform 206 is realized. Conversely, when it is necessary to transfer the temporary storage bin 40 from the lifting platform 206 to the material rack 30, the lifting platform 206 drives the temporary storage bin 40 to descend, so that the temporary storage bin 40 falls on the material rack 30, and when the lifting platform 206 continues to move downward, the temporary storage bin 40 is separated from the lifting platform 206, thereby realizing the process of transferring the temporary storage bin 40 from the lifting platform 206 to the material rack 30.

[0036] The arrangement of the lifting mechanism 205 and the lifting platform 206 makes the layout of the robot 20 and the rack 30 more flexible. They can be reasonably arranged at different positions according to the spatial layout of the production workshop and the logistics process. When loading and unloading materials, it is no longer limited to arranging the rack 30 and the robot 20 in front of the processing machine 10. In this way, the space in front of the processing machine 10 is optimized and no longer appears crowded due to the concentration of equipment, thereby reducing interference with the actions and operations of operators.

[0037] In one embodiment, if Figure 2As shown, the robot 20 also includes an automatic transport vehicle 202, on which the manipulator 201 and the lifting mechanism 205 are installed. The automatic transport vehicle 202 can drive the manipulator 201 and the material-taking mechanism 203 connected to the manipulator 201 to move to the material rack 30, so that when the lifting mechanism 205 drives the lifting platform 206 to move up and down, the temporary storage bin 40 can be transferred between the material rack 30 and the lifting platform 206. The automatic transport vehicle 202 enables the robot 20 to move between the processing machine 10 and the material rack 30, and the robot 20 is no longer limited to a fixed position. According to different production requirements and site layout, the relative positions of the robot 20, the material rack 30 and the processing machine 10 can be flexibly adjusted.

[0038] When the temporary storage bin 40 is transferred from the material rack 30 to the lifting platform 206, the automatic transport vehicle 202 is moved to the material rack 30 so that the lifting platform 206 can extend under the temporary storage bin 40, and the lifting platform 206 is driven upward by the lifting mechanism 205 to separate the temporary storage bin 40 from the material rack 30. After that, the automatic transport vehicle 202 moves to the processing machine 10, and under the drive of the manipulator 201, the material picking mechanism 203 places the material plate on the work station.

[0039] When the temporary storage bin 40 is transferred from the lifting platform 206 to the material rack 30, the material taking mechanism 203 clamps the material plate on the workstation and places the material plate in the temporary storage bin 40. Afterwards, the automatic transport vehicle 202 moves to the material rack 30, so that the lifting platform 206 can extend onto the material rack 30, and the lifting platform 206 is driven downward by the lifting mechanism 205, so that the temporary storage bin 40 is separated from the lifting platform 206 and remains on the material rack 30.

[0040] In one embodiment, if Figure 3 As shown, the lifting mechanism 205 includes a connecting seat 2051, a lifting motor 2052, a screw rod 2053 and a first linear guide rail 2054. The connecting seat 2051 is installed on the automatic transport vehicle 202, and the lifting mechanism 205 is tightly combined with the automatic transport vehicle 202 through the connecting seat 2051. The output end of the lifting motor 2052 is connected to the screw rod 2053, and the screw rod 2053 is threadedly connected to the lifting platform 206. The lifting motor 2052 can drive the screw rod 2053 to rotate, and convert the rotational motion of the screw rod 2053 into the linear motion of the lifting platform 206, so as to realize the movement of the lifting platform 206 in the vertical direction.

[0041] The first linear guide 2054 is installed on the connecting seat 2051 , the lifting platform 206 is connected to the first linear guide 2054 , and the lifting motor 2052 can drive the lifting platform 206 to move up and down along the first linear guide 2054 , and the first linear guide 2054 provides a stable guide for the movement of the lifting platform 206 .

[0042] In one embodiment, if Figure 3As shown, a first positioning member 20621 is provided on the lifting platform 206, and a second positioning member is provided on the temporary storage bin 40. The first positioning member 20621 and the second positioning member are plugged together to limit the position of the temporary storage bin 40 on the lifting platform 206. During the up and down movement of the lifting platform 206 and the overall movement of the robot 20 driven by the automatic transport vehicle 202, the first positioning member 20621 and the second positioning member are plugged together to prevent the temporary storage bin 40 from shifting on the surface of the lifting platform 206.

[0043] One of the first positioning member 20621 and the second positioning member is a positioning hole, and the other is a positioning pin, which can be inserted into the positioning hole. There are multiple first positioning members 20621, and there are multiple second positioning members that can be connected to multiple first positioning members 20621 in a one-to-one correspondence.

[0044] In one embodiment, a third positioning member is provided on the material rack 30, and a fourth positioning member is provided on the temporary storage bin 40, and the fourth positioning member and the third positioning member can be plugged together to define the position of the temporary storage bin 40 on the material rack 30. One of the third positioning member and the fourth positioning member is a positioning hole, and the other is a positioning pin, and the positioning pin can be plugged into the positioning hole.

[0045] The second positioning member and the fourth positioning member are arranged at different positions on the bottom of the temporary storage bin 40. The second positioning member and the fourth positioning member on the temporary storage bin 40 may both be positioning holes or both be positioning pins, or one of the second positioning member and the fourth positioning member on the temporary storage bin 40 may be a positioning hole and the other may be a positioning pin.

[0046] When the temporary storage bin 40 is transferred to the lifting platform 206, the lifting platform 206 moves upward, and after the first positioning member 20621 is plugged into the second positioning member, the lifting platform 206 continues to move upward until the fourth positioning member is separated from the third positioning member, and the temporary storage bin 40 is separated from the material rack 30. When the temporary storage bin 40 is transferred to the material rack 30, the lifting platform 206 moves downward, and after the fourth positioning member is plugged into the third positioning member, the lifting platform 206 continues to move downward until the first positioning member 20621 is separated from the second positioning member, and the temporary storage bin 40 is separated from the lifting platform 206.

[0047] In one embodiment, if Figure 2 As shown, the temporary storage bin 40 at least includes a carrier 401, on which a plurality of material plates are stacked, and a second positioning member is disposed on the carrier 401. During the stacking process, the material plates are cross-stacked, that is, two adjacent material plates are placed perpendicular to each other, and the material plates are carried by the carrier 401, so that the material taking mechanism 203 can conveniently take the material plates.

[0048] During the movement of the robot 20 , the second positioning member is plugged into and matched with the first positioning member 20621 on the lifting platform 206 , thereby limiting the position of the carrier 401 on the lifting platform 206 .

[0049] In one embodiment, if Figure 3 As shown, the lifting platform 206 includes a sliding connecting plate 2061 and at least one support arm 2062. The sliding connecting plate 2061 is movably connected to the connecting seat 2051. Driven by the lifting mechanism 205, the sliding connecting plate 2061 can slide relative to the connecting seat 2051, wherein a linear guide rail is connected between the sliding connecting plate 2061 and the connecting seat 2051, and the linear guide rail is used to guide the movement of the sliding connecting plate 2061 in the vertical direction.

[0050] One end of the support arm 2062 is connected to the sliding connection plate 2061, and the support arm 2062 is a cantilever structure. Through the cantilever support arm 2062, the support arm 2062 can extend into the material rack 30 from the side of the material rack 30, so that the lifting platform 206 can take the temporary storage bin 40 from the material rack 30 or place the temporary storage bin 40 on the material rack 30. The first positioning member 20621 is provided on the support arm 2062, which can realize the positioning of the carrier 401 on the support arm 2062.

[0051] Preferably, the first positioning member 20621 is a positioning pin, and the second positioning member is a positioning hole.

[0052] In one embodiment, a sensor is disposed on the lifting platform 206 , and the sensor is used to detect whether the temporary storage bin 40 is transferred to the lifting platform 206 , thereby determining whether the temporary storage bin 40 is placed on the lifting platform 206 .

[0053] During the process of transferring the temporary storage bin 40 to the lifting platform 206, according to whether the temporary storage bin 40 is full of materials, the lifting motor 2052 of the lifting mechanism 205 can adjust the output torque during operation to ensure that it remains in a safe and stable state during the lifting process, thereby effectively reducing damage to the material plate.

[0054] Among them, the sensor is a photoelectric switch.

[0055] In one embodiment, if Figure 2 , Figure 4 As shown, the material picking mechanism 203 includes a mounting frame 1 and at least one material picking assembly 2, and the mounting frame 1 is connected to the robot 20. The material picking assembly 2 includes an adapter seat 21, a first driving member 22 and a clamping member 23, and the adapter seat 21 is slidably connected to the mounting frame 1 along a first direction a. Through the sliding of the adapter seat 21, the material picking assembly 2 can perform material picking operations at different positions on the mounting frame 1.

[0056] The clamping member 23 is mounted on the adapter 21, and the first driving member 22 can drive the clamping member 23 to extend and retract along the second direction b to clamp or release the material sheet; the first direction a intersects with the second direction b. The extension and retraction of the clamping member 23 can be accurately controlled by the first driving member 22, and the clamping range of the clamping member 23 can be adjusted, so that the clamping member 23 can adapt to the clamping of material sheets of different sizes. In this embodiment, the clamping method of clamping the material sheet by the extension and retraction of the clamping member 23 is adopted, so that the material picking mechanism 203 is not only suitable for the clamping of single-layer boards, but also suitable for the clamping of multi-layer boards, thereby increasing the applicable range of the material picking mechanism 203.

[0057] In one embodiment, if Figure 6 As shown, the clamping member 23 includes two sub-clamping members 231, and the first driving member 22 is used to drive one or two sub-clamping members 231 to move along the second direction b to clamp or release the sheet. Driven by the first driving member 22, one or two sub-clamping members 231 move along the second direction b, and the clamping range defined by the two sub-clamping members 231 can be adjusted, thereby realizing the extension and retraction of the clamping member 23, and the sheet is clamped or released by the two sub-clamping members 231.

[0058] Specifically, the output end of the first driving member 22 is connected to a sub-clamping member 231, and the other sub-clamping member 231 remains stationary. The first driving member 22 drives one sub-clamping member 231 to move, so that one sub-clamping member 231 approaches or moves away from the other sub-clamping member 231, thereby achieving clamping or loosening.

[0059] Alternatively, the output end of the first driving member 22 is connected to two sub-clamping members 231 at the same time, and the first driving member 22 can drive the two sub-clamping members 231 to move simultaneously, and the two sub-clamping members 231 simultaneously approach or move away from each other, thereby achieving clamping or loosening of the two sub-clamping members 231.

[0060] The above two situations are described below through specific embodiments. For ease of understanding and description, the two sub-clamping members 231 are distinguished by "first sub-clamping member" and "second sub-clamping member" respectively.

[0061] In one embodiment, if Figure 6 As shown, the two sub-clamping members 231 are arranged on opposite sides of the output end of the first driving member 22, the first driving member 22 is installed on the adapter 21, the two sub-clamping members 231 are located on opposite sides of the adapter 21 along the first direction a, the output end of the first driving member 22 is arranged between the two sub-clamping members 231, and the output end of the first driving member 22 is connected to the two sub-clamping members 231 at the same time, the first driving member 22 is used to drive the two sub-clamping members 231 to approach or move away at the same time to clamp or release the material plate.

[0062] Driven by the first driving member 22, the two sub-clamping members 231 move in opposite directions in the second direction b. When the two sub-clamping members 231 approach each other, the two sub-clamping members 231 simultaneously apply clamping force from opposite sides of the material sheet, which can form a uniform and symmetrical force on both sides of the material sheet, ensuring that the material sheet remains balanced during transportation and is not prone to tilting or falling. When the two sub-clamping members 231 move away from each other, the material sheet is released.

[0063] As an example, the clamping member 23 includes a first sub-clamping member and a second sub-clamping member, and the output end of the first driving member 22 is arranged between the first sub-clamping member and the second sub-clamping member. The output end of the first driving member 22 is transmission-connected with the first sub-clamping member and the second sub-clamping member at the same time. Driven by the first driving member 22, the first sub-clamping member and the second sub-clamping member move in opposite directions in the second direction b, and the first sub-clamping member and the second sub-clamping member can clamp or release the material sheet.

[0064] In one embodiment, two sub-clamping members 231 are arranged on opposite sides of the output end of the first driving member 22, the first driving member 22 is installed on the adapter 21, and the two sub-clamping members 231 are located on opposite sides of the adapter 21 along the first direction a, and the output end of the first driving member 22 is connected to a sub-clamping member 231, one of the sub-clamping members 231 is fixedly arranged relative to the first driving member 22, and the other sub-clamping member 231 can be moved along the second direction b by the first driving member 22, so that the two sub-clamping members 231 clamp or release the material sheet. Under the drive of the first driving member 22, the sub-clamping member 231 connected to the first driving member 22 moves along the second direction b, and can move away from or approach the other sub-clamping member 231, so as to clamp or release the material sheet.

[0065] As an example, the clamping member 23 includes a first sub-clamping member and a second sub-clamping member, the output end of the first driving member 22 is connected to the first sub-clamping member (or the output end of the first driving member 22 is connected to the second sub-clamping member), and the position of the output end of the first driving member 22 is not limited to being set between the first sub-clamping member and the second sub-clamping member.

[0066] The second sub-clamping member is installed on the adapter seat 21 and is fixed relative to the first driving member 22. The first driving member 22 drives the first sub-clamping member to move along the second direction b. When the first sub-clamping member approaches the second sub-clamping member along the second direction b, it can clamp the material sheet, and when the first sub-clamping member moves away from the second sub-clamping member along the second direction b, the material sheet is released.

[0067] In another embodiment not shown in the figure, the first driving member 22 includes two sub-driving members, the output ends of the two sub-driving members are respectively connected to each sub-clamping member 231 in a one-to-one correspondence, and the sub-driving members are used to drive the corresponding sub-clamping member 231 to move along the second direction b, and the material sheet is clamped or released by the two sub-clamping members 231. Each sub-driving member acts independently on the corresponding sub-clamping member 231. When the material sheet needs to be clamped, the two sub-driving members receive the control signal at the same time, and each starts and drives the sub-clamping member 231 connected thereto to move along the second direction b, and the two sub-clamping members 231 cooperate to complete the clamping and releasing actions.

[0068] In one embodiment, if Figure 6 As shown, the sub-clamping member 231 includes an adjusting member 2311 and a clamping jaw 2312 . The adjusting member 2311 is provided with the clamping jaw 2312 . The adjusting member 2311 is movably disposed on the adapter 21 , so as to realize the movement of the sub-clamping member 231 in the second direction b.

[0069] The two sub-clamping members 231 have the same structure. When two sub-clamping members 231 are provided, the number of the adjusting members 2311 and the clamping jaws 2312 is also two.

[0070] In one embodiment, if Figure 6 As shown, the first driving member 22 includes a first motor 221 and a transmission member 222. The first motor 221 is installed on the adapter 21, and the transmission member 222 is installed on the output end of the first motor 221. The first motor 221 can drive the transmission member 222 to rotate. The motor can accurately control its rotation angle and number of turns, thereby accurately controlling the rotation of the transmission member 222, and finally accurately controlling the moving distance of the sub-clamping member 231. This enables the material picking mechanism 203 to accurately locate the positions of the two sub-clamping members 231 to meet the clamping requirements of material plates of different sizes.

[0071] The transmission member 222 is arranged between the adjusting members of the two sub-clamping members 231 in the first direction a. The transmission member 222 is connected to the adjusting members of the two sub-clamping members 231 in a transmission manner, thereby ensuring the synchronization of the movement of the two sub-clamping members 231. The first motor 221 can drive the transmission member 222 to rotate to drive the two sub-clamping members 231 to approach or move away at the same time. The two sub-clamping members 231 move in opposite directions in the second direction b, so that the two sub-clamping members 231 can contact the material sheet at the same time and apply uniform clamping force, thereby quickly realizing clamping and releasing actions.

[0072] In one embodiment, if Figure 6As shown, the adjusting member 2311 includes a bottom plate 23111 and a rack 23112 mounted on the bottom plate 23111, the bottom plate 23111 is slidably connected to the adapter 21, the clamping jaw 2312 is mounted on the bottom plate 23111, and the sliding of the bottom plate 23111 relative to the adapter 21 can drive the clamping jaw 2312 to move, the adjusting members 2311 of the two sub-clamping members 231 are located on opposite sides of the adapter 21 along the first direction a, and the bottom plates 23111 of the two adjusting members 2311 are both slidably connected to the adapter 21. Among them, the bottom plate 23111 is slidably connected to the adapter 21 through a linear guide rail.

[0073] The clamping jaws of the two sub-clamping members 231 are arranged relative to each other in the second direction b, and the clamping jaw 2312 is installed on one end of the bottom plate 23111 away from the clamping jaw 2312 of the other sub-clamping member 231, that is, the clamping jaw 2312 of the first sub-clamping member and the clamping jaw 2312 of the second sub-clamping member are arranged relative to each other in the second direction b, and the clamping jaw 2312 of the first sub-clamping member is installed on one end of the bottom plate 23111 of the first sub-clamping member away from the clamping jaw 2312 of the second sub-clamping member, so that when the two sub-clamping members 231 move along the second direction b, the clamping jaw 2312 of the first sub-clamping member and the clamping jaw 2312 of the second sub-clamping member can approach or move away from each other in the second direction b, so as to realize the extension and retraction of the clamping member 23. When clamping a material plate, the clamping jaw 2312 of the first sub-clamping member and the clamping jaw 2312 of the second sub-clamping member clamp on both sides of the material plate.

[0074] The transmission member 222 is a gear, which is meshed with the racks 23112 of the adjustment members of the two sub-clamping members 231 at the same time. The gear is located between the racks 23112 of the two adjustment members 2311 in the first direction a, and the first motor 221 drives the gear to rotate. Under the meshing of the gear and the two racks 23112, the gear can drive the racks 23112 of the two adjustment members 2311 to move, and the racks 23112 of the two adjustment members 2311 move synchronously, and the movement directions of the two adjustment members 2311 are opposite, so as to achieve the approach or distance of the clamping jaws 2312 of the two adjustment members 2311 in the second direction b.

[0075] In one embodiment, the rack 23112 is a spur rack or a helical rack, and correspondingly, the gear is a spur gear or a helical gear.

[0076] In one embodiment, if Figure 4 , Figure 5 As shown, the material picking mechanism 203 also includes a second driving member 3, which is installed on the mounting frame 1. Two material picking components 2 are provided, and the two material picking components 2 are spaced apart in the first direction a. The material sheet is clamped together by the clamping members 23 of the two material picking components 2, thereby increasing the clamping force and improving the clamping stability of the material sheet.

[0077] The second driving member 3 can drive at least one of the two material taking components 2 to move along the first direction a to adjust the distance between the two material taking components 2 in the first direction a. By adjusting the distance between the two material taking components 2 by the second driving member 3, the material taking mechanism 203 can flexibly cope with the clamping of different material plates, thereby increasing the flexibility and diversity of the material taking operation.

[0078] Among them, the output end of the second driving member 3 is connected to a material picking component 2, and the other material picking component 2 remains stationary relative to the mounting frame 1. Driven by the second driving member 3, one of the material picking components 2 moves along the first direction a and can approach or move away from the other material picking component 2, thereby realizing the adjustment of the distance between the two material picking components 2.

[0079] Alternatively, the output end of the second driving member 3 is connected to two material picking components 2 at the same time, and the second driving member 3 can drive the two material picking components 2 to move synchronously along the first direction a, so that the two material picking components 2 are close to or away from each other, thereby adjusting the distance between the two material picking components 2.

[0080] In one embodiment, if Figure 5 As shown, the second driving member 3 includes a second motor 31, a driving wheel 32, a driven wheel 33 and a synchronous belt 34. The second motor 31 is mounted on the mounting frame 1, the output end of the second motor 31 is connected to the driving wheel 32, the driven wheel 33 is mounted on the mounting frame 1, and the synchronous belt 34 is wound around the driving wheel 32 and the driven wheel 33. The adapter 21 of at least one material taking component 2 is connected to the synchronous belt 34, and the second motor 31 drives the driving wheel 32 to rotate, which can drive the synchronous belt 34 to move, thereby driving the material taking component 2 to move along the first direction a.

[0081] When the output end of the second driving member 3 is connected to two material taking components 2 at the same time, the adapters 21 of the two material taking components 2 are connected to the synchronous belt 34. Figure 2 In the up and down direction, the adapter seat 21 of one material picking component 2 is connected to the first position of the synchronous belt 34, and the adapter seat 21 of the other material picking component 2 is connected to the second position of the synchronous belt 34, and the first position is located above the second position. In this way, when the synchronous belt 34 moves, the adapter seat 21 at the first position and the adapter seat 21 at the second position can move toward or away from each other, thereby realizing the two material picking components 2 approaching or moving away from each other.

[0082] In one embodiment, if Figure 4 As shown, two second linear guide rails 11 are provided on the mounting frame 1, and a material picking assembly 2 is provided on each second linear guide rail 11. The second linear guide rail 11 extends along the first direction a, and the adapter seat 21 of the material picking assembly 2 can move along the second linear guide rail 11. The second linear guide rail 11 provides precise guidance for the adapter seat 21 of the material picking assembly 2.

[0083] In one embodiment, if Figure 4 As shown, the material picking mechanism 203 also includes a first camera 4, which is mounted on the mounting frame 1. The first camera 4 is used to identify the position of the material sheet. The position of the material sheet is located by the first camera 4, so that when picking up the material, the clamping member 23 can grab the material sheet more accurately. Among them, the first camera 4 is a commonly used CCD industrial camera.

[0084] like Figure 2 As shown, the automatic transport vehicle 202 is provided with a second camera 204 , and the position of the material plate and the workstation of the processing machine can be located by cooperating with the first camera 4 and the second camera 204 .

[0085] In one embodiment, if Figure 7 As shown, the PCB processing equipment further includes a lifting mechanism 5, which is disposed on the processing machine 10 and is used to lift the material plate on the workstation so that the material picking mechanism 203 can clamp the material plate. The lifting mechanism 5 lifts the material plate so that the material plate can be separated from the workstation, and when clamping a thin and easily deformable material plate, it is convenient for the material picking mechanism 203 to clamp the material plate.

[0086] In one embodiment, if Figure 7 As shown, the lifting mechanism 5 includes a plurality of lifting members 51, which are distributed in an array on the workstations of the processing machine 10. The material sheet is steadily lifted to a preset ideal height by the plurality of lifting members 51, so that the clamping member 23 can clamp the material sheet, thereby effectively reducing the risk of physical damage to the material sheet during the clamping process.

[0087] Among them, multiple lifting members 51 can move synchronously, or each lifting member 51 can be controlled independently. When multiple lifting members 51 move synchronously, a single power source is used and transmitted to each lifting member 51 through a transmission device (such as a chain, a belt, a coupling, etc.) to achieve synchronous movement. When controlled independently, each lifting member 51 has a power source, and these power sources can operate independently according to their own control instructions without being affected by other lifting members 51.

[0088] In one embodiment, if Figure 8 As shown, the lifting member 51 includes a cylinder 511, a slider 512, a transmission rod 513, a hinge shaft 514 and a lifting part 515. The cylinder 511 is installed on the processing machine 10, and the slider 512 is slidably connected to the mounting seat of the cylinder 511. The transmission rod 513 is a V-shaped structure, one end of the transmission rod 513 is connected to the output end of the cylinder 511, and the other end of the transmission rod 513 is connected to the lifting part 515. The transmission rod 513 is rotatably connected to the slider 512 through the hinge shaft 514; the cylinder 511 can drive the transmission rod 513 to rotate around the hinge shaft 514 to drive the lifting part 515 to move in the vertical direction. When the lifting part 515 moves upward, it can lift the material plate.

[0089] In one embodiment, as Figure 1 shown, the robot 20 includes a loading robot 20a and an unloading robot 20b. The structures of the loading robot 20a and the unloading robot 20b are the same, and both include a manipulator 201, a material taking mechanism 203, a lifting mechanism 205, and a lifting table 206. The temporary storage bin 40 includes a loading temporary storage bin 40a and an unloading temporary storage bin 40b. The structures of the loading temporary storage bin 40a and the unloading temporary storage bin 40b are the same, and both include a carrier 401. The material taking mechanism 203 of the loading robot 20a can move between the loading temporary storage bin 40a and the processing machine table 10 to place the material plate in the loading temporary storage bin 40a on the working station. The material taking mechanism 203 of the unloading robot 20b can move between the unloading temporary storage bin 40b and the processing machine table 10 to place the material plate on the working station in the unloading temporary storage bin 40b.

[0090] The loading robot 20a transports the material plate in the loading temporary storage bin 40a to the working station of the processing machine table 10, and the unloading robot 20b is responsible for transferring the processed material plate from the working station to the unloading temporary storage bin 40b. These two processes can be carried out simultaneously, ensuring the continuity of the production process and improving the utilization rate of the equipment and the overall production efficiency.

[0091] On the other hand, the present invention provides a processing method applied to a PCB processing device. The PCB processing device includes a processing machine table 10, a robot 20, a temporary storage bin 40, a lifting mechanism 5, and a material rack 30. In this device, the material plate to be processed is stored in the temporary storage bin 40, and the processed material plate can be placed on the material rack 30. The manipulator 201 of the robot 20 drives the material taking mechanism 203 to move for loading and unloading operations.

[0092] The processing method includes: The robot 20 is located on the front side of the processing machine table 10. The manipulator 201 drives the material taking mechanism 203 to move to the temporary storage bin 40, and the clamping member 23 of the material taking mechanism 203 clamps the material plate on the temporary storage bin 40.

[0093] After the clamping member 23 clamps the material plate, the manipulator 201 controls the material taking mechanism 203 to move above the working station, and the clamping member 23 of the material taking mechanism 203 releases the material plate, thereby placing the material plate on the working station. Among them, there are multiple working stations on the processing machine table 10, and the material taking mechanism 203 can sequentially place the material plates on the multiple working stations to realize the loading operation of the material plates.

[0094] The main shaft on the processing machine table 10 processes the material plate on the working station.

[0095] After the material plate is processed, the lifting mechanism 5 on the processing machine 10 lifts the material plate so that the material plate is separated from the table of the processing machine 10, and then the lifted material plate is clamped by the material taking mechanism 203.

[0096] The material picking mechanism 203 is controlled by the manipulator 201 to move to the material rack 30, and the material sheet clamped by the clamping member 23 of the material picking mechanism 203 moves together to the material rack 30, and the clamping member 23 of the material picking mechanism 203 releases the material sheet and places the material sheet on the material rack 30, completing the material sheet unloading operation.

[0097] During the processing, the manipulator 201 can quickly and accurately move along the preset trajectory, can quickly position the material taking mechanism 203 on the temporary storage bin 40 and the processing machine 10, accurately move the material taking mechanism 203 to the material sheet position of the temporary storage bin 40 to clamp the material sheet, and move it to the work station to clamp the material sheet, so as to realize the loading and unloading operation of the material sheet. Compared with manual handling, the manipulator 201 has higher movement speed and positioning accuracy, which can improve the accuracy of the placement position of the material sheet on the workbench and reduce the errors caused by manual loading and unloading.

[0098] On the other hand, the present invention provides a processing method, which is applied to PCB processing equipment, wherein the PCB processing equipment includes a processing machine 10, a robot 20, a temporary storage bin 40 and a material rack 30, wherein the robot 20 includes a loading robot 20a and a unloading robot 20b, and the temporary storage bin 40 includes a loading temporary storage bin 40a and an unloading temporary storage bin 40b, and the material plates to be processed are stored in the loading temporary storage bin 40a, and the manipulator 201 of the loading robot 20a drives the material taking mechanism 203 to move for loading. The processed material plates are stored in the unloading temporary storage bin 40b, and the manipulator 201 of the unloading robot 20b drives the material taking mechanism 203 to move for unloading.

[0099] Processing methods include: The manipulator 201 on the loading robot 20a drives the material taking mechanism 203 connected thereto to move to the temporary storage bin 40, and the clamping member 23 of the material taking mechanism 203 clamps the material plate in the loading temporary storage bin 40a.

[0100] After the clamping member 23 clamps the material sheet, the manipulator 201 of the loading robot 20a controls the material taking mechanism 203 to move to the top of the workstation, and the clamping member 23 of the material taking mechanism 203 releases the material sheet, thereby placing the material sheet on the workstation, and realizing the material sheet loading operation. Among them, there are multiple workstations on the processing machine 10, and the material taking mechanism 203 can place the material sheet on multiple workstations in sequence.

[0101] The main spindle of the processing machine 10 processes the material plate on the workstation.

[0102] After the material plate is processed, the manipulator 201 on the unloading robot 20b drives the material picking mechanism 203 connected thereto to move to the top of the workstation, and the clamping member 23 of the material picking mechanism 203 clamps the material plate.

[0103] The manipulator 201 of the unloading robot 20b controls the material picking mechanism 203 to move to the unloading temporary storage bin 40b, and the material sheet clamped by the clamping part 23 will move together to the unloading temporary storage bin 40b, and the clamping part 23 of the material picking mechanism 203 releases the material sheet and places the material sheet in the unloading temporary storage bin 40b, completing the unloading operation of the material sheet.

[0104] During the processing, the manipulator 201 of the loading robot 20a can quickly and accurately move along the preset trajectory, can quickly locate the material collection mechanism 203 to the loading temporary storage bin 40a and the processing machine 10, accurately move the material collection mechanism 203 to the material sheet position of the loading temporary storage bin 40a for clamping, and then transport the material sheet to the station of the processing machine 10 to realize the loading operation of the material sheet. The manipulator 201 of the unloading robot 20b can quickly locate the unloading temporary storage bin 40b and the processing machine 10, accurately move the material collection mechanism 203 to the processing machine 10 for clamping, and then transport the material sheet to the unloading temporary storage bin 40b to realize the unloading operation of the material sheet. Compared with manual handling, the movement speed and positioning accuracy of the manipulator 201 are higher, which can improve the accuracy of the placement position of the material sheet on the workbench and reduce the errors caused by manual loading and unloading.

[0105] In one embodiment, the PCB processing equipment also includes a material rack 30, which is used to temporarily place a temporary storage bin 40. The temporary storage bin 40 can be transferred to the lifting platform 206 of the loading robot 20a through the lifting mechanism 205 and the lifting platform 206 on the loading robot 20a. The loading robot 20a moves from the material rack 30 to the processing machine 10, and loading is performed through the manipulator 201 and the material picking mechanism 203 of the loading robot 20a.

[0106] After the processing is completed, the material is unloaded by the manipulator 201 and the material taking mechanism 203 of the unloading robot 20b, and the material plate is stored in the unloading temporary storage bin 40b. The unloading robot 20b moves from the processing machine 10 to the material rack 30, and the temporary storage bin 40 can be transferred to the material rack 30 through the lifting mechanism 205 and the lifting platform 206 on the unloading robot 20b. Multiple material racks 30 can be set up, and the material racks 30 are used as transfer devices to provide a placement position for the temporary storage bin 40. The material racks 30 are not limited to being arranged in the front side of the processing machine 10, so that the front side space of the processing machine 10 is optimized, reducing interference with the actions and operations of the operator.

[0107] The above description is only a preferred embodiment of the present invention and is not intended to limit the present invention. Any modifications, equivalent substitutions and improvements made within the spirit and principles of the present invention should be included in the protection scope of the present invention.

Claims

1. A PCB processing equipment, characterized in that: Including processing machines, robots and temporary storage warehouses; A workstation is arranged on the processing machine, the temporary storage bin is used to store material plates, the robot comprises a manipulator and a material picking mechanism for clamping the material plates, the material picking mechanism is connected to the manipulator, and the manipulator can drive the material picking mechanism to move between the temporary storage bin and the processing machine to collect or place the material plates on the workstation.

2. The PCB processing equipment according to claim 1, characterized in that: The PCB processing equipment also includes at least one material rack; the material rack is used to place the temporary storage bin or the material board.

3. The PCB processing equipment according to claim 2, characterized in that: The robot also includes a lifting mechanism and a lifting platform. The output end of the lifting mechanism is connected to the lifting platform. The lifting mechanism can drive the lifting platform to move up and down, so that the temporary storage bin can be transferred between the material rack and the lifting platform.

4. The PCB processing equipment according to claim 3, characterized in that: The robot also includes an automatic transport vehicle, the manipulator and the lifting mechanism are installed on the automatic transport vehicle, and the automatic transport vehicle can drive the material picking mechanism to move to the material rack, so that when the lifting mechanism drives the lifting platform to move up and down, the temporary storage warehouse can be transferred between the material rack and the lifting platform.

5. The PCB processing equipment according to claim 4, characterized in that: The lifting mechanism includes a connecting seat, a motor, a lead screw and a linear guide rail. The connecting seat is installed on the automatic transport vehicle. The output end of the motor is connected to the lead screw. The lead screw is threadedly connected to the lifting platform. The linear guide rail is installed on the connecting seat. The motor can drive the lifting platform to move up and down along the linear guide rail.

6. The PCB processing equipment according to claim 3, characterized in that: The lifting platform is provided with a first positioning member, and the temporary storage bin is provided with a second positioning member. The first positioning member and the second positioning member are plugged and matched to define the position of the temporary storage bin on the lifting platform.

7. The PCB processing equipment according to claim 6, characterized in that: The temporary storage warehouse at least includes a carrier, a plurality of the material plates are stacked on the carrier, and the second positioning member is arranged on the carrier.

8. The PCB processing equipment according to claim 6, characterized in that: The lifting platform comprises a sliding connection plate and at least one support arm, wherein the sliding connection plate is movably connected to the connection seat, and one end of the support arm is connected to the sliding connection plate; The first positioning member is arranged on the supporting arm.

9. The PCB processing equipment according to claim 3, characterized in that: The lifting platform is provided with a sensor, and the sensor is used to detect whether the temporary storage bin is transferred to the lifting platform.

10. The PCB processing equipment according to claim 1, characterized in that: The material-retrieving mechanism comprises a mounting frame and at least one material-retrieving assembly, wherein the mounting frame is connected to the robot; The material picking assembly includes an adapter seat, a first driving member and a clamping member. The adapter seat is slidably connected to the mounting frame along a first direction. The first driving member can drive the clamping member to extend and retract along a second direction to clamp or release the material plate. The first direction intersects with the second direction.

11. The PCB processing equipment according to claim 10, characterized in that: The clamping member includes two sub-clamping members, and the first driving member is used to drive one or both of the sub-clamping members to move along the second direction to clamp or release the material plate.

12. The PCB processing equipment according to claim 11, characterized in that: The sub-clamping member includes an adjusting member and a clamping claw. The adjusting member can be movably arranged on the adapter seat, and the clamping claw is arranged on the adjusting member.

13. The PCB processing equipment according to claim 12, characterized in that: The first driving member includes a first motor and a transmission member, the first motor is mounted on the adapter, and the transmission member is mounted on the output end of the first motor; The transmission member is arranged between the adjusting members of the two sub-clamping members in the first direction, and is in transmission connection with the adjusting members of the two sub-clamping members. The first motor can drive the transmission member to rotate to drive the two sub-clamping members to move closer or farther away at the same time.

14. The PCB processing equipment according to claim 13, characterized in that: The adjusting member comprises a bottom plate and a rack mounted on the bottom plate, the bottom plate is slidably connected to the adapter, the clamping jaws are mounted on the bottom plate, and the clamping jaws of the two sub-clamping members are arranged opposite to each other in the second direction; The transmission member is a gear, and the gear is meshed with the racks of the adjusting members of the two sub-clamping members at the same time.

15. The PCB processing equipment according to claim 10, characterized in that: The material taking mechanism also includes a second driving member, and the material taking assembly is provided with two; The second driving member can drive at least one of the two material taking assemblies to move along the first direction to adjust the distance between the two material taking assemblies in the first direction.

16. The PCB processing equipment according to claim 2, characterized in that: The PCB processing equipment also includes a lifting mechanism, which is arranged on the processing machine and is used to lift the material plate on the workstation so that the material picking mechanism can clamp the material plate.

17. The PCB processing equipment according to claim 1, characterized in that: The robot includes a loading robot and a unloading robot, the temporary storage bin includes a loading temporary storage bin and an unloading temporary storage bin, and the material taking mechanism of the loading robot can move between the loading temporary storage bin and the processing machine to place the material plate in the loading temporary storage bin at the work station; The material picking mechanism of the material unloading robot can move between the material unloading temporary storage bin and the processing machine table to place the material plate on the work station on the material unloading temporary storage table.

18. A processing method, characterized in that: The PCB processing equipment as claimed in claim 16 comprises: Grab the material plate on the temporary storage bin by the material taking mechanism; The manipulator controls the material taking mechanism to move above the workstation, and the material taking mechanism places the material plate on the workstation; The processing machine processes the material plate on the workstation; After the processing is completed, the lifting mechanism lifts up the material plate, and the lifted material plate is clamped by the material taking mechanism; The manipulator controls the material picking mechanism to move to the material rack, and the material picking mechanism places the material plate on the material rack.

19. A processing method, characterized in that: The PCB processing equipment according to claim 17 comprises: Grab the material plate in the temporary storage bin by the material taking mechanism of the loading robot; The manipulator of the feeding robot controls the material taking mechanism to move above the workstation, and the material taking mechanism places the material plate on the workstation; The processing machine processes the material plate on the workstation; After the processing is completed, the material plate is clamped by the material taking mechanism of the unloading robot; The manipulator of the unloading robot controls the material picking mechanism to move to the unloading temporary storage bin, and the material picking mechanism places the material plate in the unloading temporary storage bin.

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