PCB 3D mounting equipment

Abstract

This invention belongs to the field of PCB board mounting technology, specifically relating to a three-dimensional PCB board mounting device. The three-dimensional PCB board mounting device of this invention includes a PCB board tray, a support tray, a thermal pad tray, a top cover tray, a first loading robotic arm, a second loading robotic arm, a third loading robotic arm, a fourth loading robotic arm, a first screw-driving robotic arm, a second screw-driving robotic arm, a screw storage device, a first tooling, a second tooling, a third tooling, a fourth tooling, a fifth tooling, and a sixth tooling. The loading robotic arms can move back and forth between the trays and tooling, allowing each sub-board of the PCB board to be mounted on the corresponding mounting surface of the support, efficiently replacing manual operation and improving production efficiency. Furthermore, the screw-driving device can uniformly tighten the fasteners, improving product stability.

Description

Technical Field

[0001] This invention belongs to the field of PCB board mounting technology, specifically relating to a PCB board three-dimensional mounting device. Background Technology

[0002] In the electronic devices of some specialized equipment (such as aircraft), due to limited installation space, it is generally necessary to fabricate multiple flexible sub-boards on the PCB, then mount these sub-boards onto different surfaces of a bracket, and finally encapsulate them in a housing. Current installation methods rely on manual installation, where fasteners are screwed into the corresponding mounting holes on each sub-board and bracket. However, this method is highly dependent on the operator's skill level. Firstly, the small size of the device makes manually aligning the screw holes on the PCB and bracket difficult, impacting operational efficiency. Secondly, inconsistent screw tightness can affect the performance of subsequent components. Summary of the Invention

[0003] The purpose of this invention is to provide a PCB board three-dimensional mounting device.

[0004] To solve the above-mentioned technical problems, the present invention provides a PCB board three-dimensional mounting device, comprising:

[0005] PCB board tray, bracket tray, thermal pad tray, top cover tray, first loading robot arm, second loading robot arm, third loading robot arm, fourth loading robot arm, first screw-driving robot arm, second screw-driving robot arm, screw storage device, first tooling, second tooling, third tooling, fourth tooling, fifth tooling, and sixth tooling; among which

[0006] The first loading robotic arm is used to load and unload materials between the PCB board tray, the bracket tray, the first tooling, and the second tooling.

[0007] The second loading robotic arm is used for loading and unloading materials between the second, third, and fourth tooling fixtures;

[0008] The third loading robotic arm is used for loading and unloading materials between the fourth and fifth tooling.

[0009] The fourth loading robotic arm is used to load and unload materials between the fifth tooling, the sixth tooling, the heat-conducting pad tray, and the upper cover tray.

[0010] The first screw-driving robotic arm is used to fix the P1 and P2 sub-boards of the PCB board to the bracket at the first fixture, fix the P3 sub-board of the PCB board to the bracket at the second fixture, fix the P4 sub-board of the PCB board to the bracket at the third fixture, and fix the P5 sub-board of the PCB board to the bracket at the fourth fixture.

[0011] The second screw-driving robotic arm is used to pre-fix the P6 sub-board of the PCB board onto the bracket at the fourth fixture, and to fix the top cover onto the bracket at the sixth fixture.

[0012] In one embodiment of this application, the first loading robotic arm is provided with:

[0013] Support grippers are used to hold the support.

[0014] P1 nozzle, P2 nozzle, P3 nozzle, and P5 nozzle are used to pick up the corresponding sub-boards, respectively.

[0015] The P4 and P6 grippers are used to hold the P4 and P6 daughterboards, respectively.

[0016] In one embodiment of this application, the first tooling includes:

[0017] The bracket fixing base is equipped with a stop block for positioning one corner of the bracket;

[0018] A PCB board mounting bracket, which has several positioning pins for positioning the mounting holes of the PCB board; and

[0019] An angular positioning cylinder includes a V-shaped top block for engaging with a stop block to fix the bracket.

[0020] In one embodiment of this application, the first screw-driving robotic arm is provided with a screw-driving device and a glue-dispensing device;

[0021] The screw-driving device and the glue-dispensing device are oriented in the same or opposite directions.

[0022] In one embodiment of this application, the second loading robotic arm is provided with:

[0023] The stand nozzle is used to pick up the back of the stand;

[0024] The support nozzle moving cylinder is used to drive the support nozzle to move;

[0025] The P3, P4, and P5 nozzles are used to pick up the back of the corresponding sub-boards, respectively.

[0026] The P6 gripper is used to hold the P6 daughterboard.

[0027] In one embodiment of this application, the second tooling includes:

[0028] PCB board mounting bracket, used to position PCB boards;

[0029] Bracket clamping cylinder, used to clamp a bracket placed on its side;

[0030] A suction nozzle for attaching and fixing a support; and

[0031] Baffle assembly for securing the bracket.

[0032] In one embodiment of this application, the third tooling includes:

[0033] The mounting base is equipped with a bracket fixing position and a P6 fixing position;

[0034] The P5 fixing plate is mounted on the lifting cylinder on one side of the fixing base; and

[0035] An angular positioning cylinder includes a V-shaped top block for engaging with a bracket fixing position to fix the bracket.

[0036] In one embodiment of this application, the fourth tooling includes:

[0037] First tilting cylinder;

[0038] The second tilting cylinder is mounted on the first tilting cylinder;

[0039] Mounting plate, installed on the second tilting cylinder;

[0040] A bracket clamping cylinder, mounted on the mounting plate, is used to clamp a bracket placed on its side.

[0041] The suction nozzle is used to attach to the back of the mounting bracket;

[0042] baffle assembly for fixing the bracket;

[0043] The lifting cylinder is mounted on the mounting plate.

[0044] The P6 gripper is mounted on the lifting cylinder and is used to fix the P6 sub-board.

[0045] In one embodiment of this application, the sixth tooling includes:

[0046] Top cover mounting base;

[0047] An angular positioning cylinder uses a V-shaped baffle to press the upper cover firmly against the upper cover fixing seat.

[0048] In one embodiment of this application, the fourth loading robotic arm is provided with:

[0049] Fixing plate;

[0050] The first lifting cylinder is mounted on the fixed plate;

[0051] The second lifting cylinder is mounted on the first lifting cylinder; the second lifting cylinder is equipped with the first suction nozzle;

[0052] The third lifting cylinder is mounted on the fixed plate; the third lifting cylinder is equipped with several second suction nozzles;

[0053] A fourth lifting cylinder is mounted on the third lifting cylinder; the fourth lifting cylinder is equipped with a third suction nozzle.

[0054] The beneficial effects of this invention are as follows: The PCB three-dimensional mounting equipment of this invention includes a PCB tray, a support tray, a thermal pad tray, a top cover tray, a first loading robotic arm, a second loading robotic arm, a third loading robotic arm, a fourth loading robotic arm, a first screw-driving robotic arm, a second screw-driving robotic arm, a screw storage device, a first tooling, a second tooling, a third tooling, a fourth tooling, a fifth tooling, and a sixth tooling. Each loading robotic arm can move back and forth between the tray and the tooling, allowing each sub-board of the PCB to be mounted on the corresponding mounting surface of the support, efficiently replacing manual operation and improving production efficiency. Furthermore, the screw-driving device can unify the fixing force of the fasteners, improving product stability.

[0055] Other features and advantages of the invention will be set forth in the following description, and will be apparent in part from the description, or may be learned by practicing the invention. The objects and other advantages of the invention are realized and obtained through the structures particularly pointed out in the description and the drawings.

[0056] To make the above-mentioned objects, features and advantages of the present invention more apparent and understandable, preferred embodiments are described below in detail with reference to the accompanying drawings. Attached Figure Description

[0057] To more clearly illustrate the specific embodiments of the present invention or the technical solutions in the prior art, the drawings used in the description of the specific embodiments or the prior art will be briefly introduced below. Obviously, the drawings described below are some embodiments of the present invention. For those skilled in the art, other drawings can be obtained from these drawings without creative effort.

[0058] Figure 1 This is a schematic diagram of a PCB board to be installed according to an embodiment of the present invention;

[0059] Figure 2 This is an assembly diagram of a PCB board, a bracket, and a top cover according to an embodiment of the present invention;

[0060] Figure 3 This is a top view of a PCB board three-dimensional mounting device according to an embodiment of the present invention;

[0061] Figure 4 This is a perspective view of a PCB board three-dimensional mounting device according to an embodiment of the present invention;

[0062] Figure 5 and Figure 6 This is a perspective view of the first loading robotic arm according to an embodiment of the present invention;

[0063] Figure 7 This is a perspective view of the first tooling according to an embodiment of the present invention;

[0064] Figure 8 This is a perspective view of a first screw-driving robotic arm according to an embodiment of the present invention;

[0065] Figure 9 and Figure 10 This is a perspective view of the second loading robotic arm according to an embodiment of the present invention;

[0066] Figure 11 and Figure 12 This is a perspective view of the second tooling according to an embodiment of the present invention;

[0067] Figure 13 This is a perspective view of the third tooling according to an embodiment of the present invention;

[0068] Figure 14 and Figure 15 This is a perspective view of the fourth tooling according to an embodiment of the present invention;

[0069] Figure 16 This is a perspective view of the sixth tooling according to an embodiment of the present invention;

[0070] Figure 17 This is a perspective view of the fourth loading robotic arm according to an embodiment of the present invention.

[0071] In the picture:

[0072] PCB board 100, bracket 200, top cover 300;

[0073] PCB board tray A1, bracket tray A2, thermal pad tray A3, top cover tray A4;

[0074] First loading robotic arm b1, support gripper b11, P1 suction nozzle b12, P2 suction nozzle b13, P3 suction nozzle b14, P5 suction nozzle b15, P4 gripper b16, P6 gripper b17; Second loading robotic arm b2, support suction nozzle b21, support suction nozzle moving cylinder b22, P3 suction nozzle b23, P4 suction nozzle b24, P5 suction nozzle b25, P6 gripper b26; Third loading robotic arm b3; Fourth loading robotic arm b4 The system comprises a fixed plate b41, a first lifting cylinder b42, a second lifting cylinder b43, a first suction nozzle b44, a third lifting cylinder b45, a second suction nozzle b46, and a fourth lifting cylinder b47, all mounted on the third lifting cylinder b45. The fourth lifting cylinder b47 is equipped with a third suction nozzle b48, a first screw-driving robotic arm b5, a screw-driving device b51, a glue-dispensing device b52, a second screw-driving robotic arm b6, and a screw storage device b7.

[0075] First tooling c1, bracket fixing seat c11, stop block c12, PCB board fixing seat c13, positioning post c14, angle positioning cylinder c15, V-shaped top block c16; Second tooling c2, PCB board fixing seat c21, bracket clamping cylinder c22, bracket fixing nozzle c23, baffle assembly c24; Third tooling c3, ​​fixing seat c31, bracket fixing position c32, P6 fixing position c33, P5 fixing plate c 34. Lifting cylinder c35. Angle positioning cylinder c36. V-shaped top block c37. Fourth tooling c4. First tilting cylinder c41. Second tilting cylinder c42. Mounting plate c43. Bracket clamping cylinder c44. Suction nozzle c45. Baffle assembly c46. Lifting cylinder c47. P6 gripper c48. Fifth tooling c5. Sixth tooling c6. Top cover fixing seat c61. Angle positioning cylinder c62. V-shaped baffle c63. Detailed Implementation

[0076] To make the objectives, technical solutions, and advantages of the embodiments of the present invention clearer, the technical solutions of the present invention will be clearly and completely described below with reference to the accompanying drawings. Obviously, the described embodiments are only some embodiments of the present invention, not all embodiments. Based on the embodiments of the present invention, all other embodiments obtained by those skilled in the art without creative effort are within the scope of protection of the present invention.

[0077] See Figure 1 and Figure 2 The PCB board 100 has 6 sub-boards, which need to be assembled onto the corresponding mounting surfaces of the bracket 200. Finally, the bracket is inserted into the top cover 300 to form a whole.

[0078] See Figure 3 and Figure 4In one embodiment, the PCB board three-dimensional mounting equipment includes: a PCB board tray a1, a support tray a2, a thermal pad tray a3, a top cover tray a4, a first loading robotic arm b1, a second loading robotic arm b2, a third loading robotic arm b3, a fourth loading robotic arm b4, a first screw-driving robotic arm b5, a second screw-driving robotic arm b6, a screw storage device b7, a first tooling c1, a second tooling c2, a third tooling c3, ​​a fourth tooling c4, a fifth tooling c5, and a sixth tooling c6; wherein the first loading robotic arm b1 is used for loading and unloading PCB board tray a1, support tray a2, first tooling c1, and second tooling c2; the second loading robotic arm b2 is used for loading and unloading second tooling c2, third tooling c3, ​​and fourth tooling c4; The third loading robotic arm b3 is used for loading and unloading materials between the fourth tooling c4 and the fifth tooling c5; the fourth loading robotic arm b4 is used for loading and unloading materials between the fifth tooling c5, the sixth tooling c6, the thermal pad tray a3, and the top cover tray a4; the first screw-driving robotic arm b5 is used to fix the P1 and P2 sub-boards of the PCB board to the bracket at the first tooling c1, fix the P3 sub-board of the PCB board to the bracket at the second tooling c2, fix the P4 sub-board of the PCB board to the bracket at the third tooling c3, ​​and fix the P5 sub-board of the PCB board to the bracket at the fourth tooling c4; the second screw-driving robotic arm b6 is used to pre-fix the P6 sub-board of the PCB board to the bracket at the fourth tooling c4, and fix the top cover to the bracket at the sixth tooling c6.

[0079] Specifically, in one application scenario, the specific working process is as follows:

[0080] The first loading robotic arm b1 takes the bracket from the bracket tray a2 and places it into the first tooling c1 for fixation;

[0081] The first loading robot arm b1 picks up PCB boards from the PCB board tray a1 (P1-P6 are picked up separately by different suction cups / grippers) and places them into the first fixture c1 (where P3-P6 are fixed in their corresponding positions in the first fixture c1). The first screw-driving robot arm b5 moves aside and drives two screws to fix P1 and P2. The first loading robot arm b1 moves away, and the first screw-driving robot arm b5 continues to drive the screws to fix P1 and P2.

[0082] The first loading robot arm b1 removes the brackets with P1 and P2 already fixed (P1-P6 are individually gripped by different suction cups / grippers) from the first fixture c1, places them into the second fixture c2, and fixes the brackets; the second loading robot arm b2 picks up P3-P6 from the reverse side (P3-P6 are individually gripped by different suction cups / grippers), the first loading robot arm b1 moves away, fixes P4-P6 on the second fixture c2, the first screw-driving robot arm b5 moves aside and drives two screws to fix P3; the second loading robot arm b2 moves away, the first screw-driving robot arm b5 continues to drive the screws to finish fixing P3;

[0083] The second loading robot arm b2 removes the brackets with P1, P2, and P3 already fixed from the second fixture c2 (P4-P6 are gripped separately by different suction cups / grippers), places them into the third fixture c3, and fixes the brackets; the second loading robot arm b2 places P4 into position on the third fixture c3 and fixes P5-P6, while the first screw-driving robot arm b5 moves aside and drives two screws to fix P4; the second loading robot arm b2 moves away, and the first screw-driving robot arm b5 continues to drive the screws to finish fixing P4;

[0084] The second loading robot arm b2 removes the brackets with P1, P2, P3, and P4 already fixed from the third fixture c3 (P5-P6 are gripped separately by different suction cups / grippers), places them into the fourth fixture c4, and fixes the brackets; the second loading robot arm b2 fixes P6 on the fourth fixture c4 and places P5 in position, while the first screw-driving robot arm b5 avoids the gap and drives two screws to fix P5; the second loading robot arm b2 moves away, and the first screw-driving robot arm b5 continues to drive the screws to finish fixing P5;

[0085] The third loading robot arm b3 clamps P6 and positions it with the bracket fixing hole, and clamps the bracket. The fourth tooling c4 flips so that the bracket faces upward. The second screw-driving robot arm b6 pre-fixes P6 with screws (after screwing it in place, it rotates 2 turns). It is then placed on the fifth tooling c5 for fixation.

[0086] The fourth loading robot arm b4 takes the upper cover from the upper cover tray a4, marks it, flips it over, and places it on the sixth tooling c6 for fixation; the fourth loading robot arm b4 takes the heat-conducting pad from the heat-conducting pad tray a3 and places it on the corresponding boss of the upper cover; the fourth loading robot arm b4 takes the assembled bracket from the fifth tooling c5 and puts it into the upper cover of the sixth tooling c6.

[0087] The second screw-driving robotic arm b6 drives the screws to fix the top cover and bracket (including P6 and the bracket); the fourth loading robotic arm b4 unloads the material to complete the assembly.

[0088] For details, see Figure 5 and Figure 6 In one embodiment, the first loading robotic arm b1 is equipped with: a support gripper b11 for holding a support; P1 suction nozzles b12, P2 suction nozzles b13, P3 suction nozzles b14, and P5 suction nozzles b15 for picking up corresponding sub-boards; and P4 grippers b16 and P6 grippers b17 for holding P4 and P6 sub-boards, respectively. Since each sub-board contains chips, sensors, and other devices, the suction nozzles or grippers can accommodate sub-boards with varying degrees of unevenness.

[0089] For details, see Figure 7The first tooling c1 includes: a bracket fixing seat c11, on which a stop block c12 for positioning one corner of the bracket is provided; a PCB board fixing seat c13, on which a plurality of positioning posts c14 for positioning each mounting hole of the PCB board are provided; and an angle positioning cylinder c15, which includes a V-shaped top block c16 for cooperating with the stop block c12 to fix the bracket.

[0090] In this embodiment, after the bracket is placed on the bracket fixing seat c11, the angle positioning cylinder c15 can drive the V-shaped top block c16 to push out, thereby fixing the bracket; the positioning post c14 on the PCB board fixing seat c13 can cooperate with the first loading robotic arm b1 to fix the PCB board. The first loading robotic arm b1 can be provided with clearance holes on the board to allow the operating rods of the screw-driving device b51 and the glue-dispensing device b52 to pass through and reach the working area on the PCB board.

[0091] See Figure 8 Optionally, the first screw-driving robotic arm b5 is provided with a screw-driving device b51 and a glue-dispensing device b52; the screw-driving device b51 and the glue-dispensing device b52 are oriented in the same or opposite directions.

[0092] In this embodiment, the screw-driving device b51 and the adhesive dispensing device b52 can be existing devices. Dispensing adhesive before fixing can improve the stability of the fixation. The second screw-driving robotic arm b6 can, but is not limited to, adopt the same mode as the first screw-driving robotic arm b5.

[0093] See Figure 9 and Figure 10 Optionally, the second feeding robotic arm b2 is equipped with: a bracket suction nozzle b21 for sucking up the back of the bracket; a bracket suction nozzle moving cylinder b22 for driving the bracket suction nozzle b21 to move; P3 suction nozzle b23, P4 suction nozzle b24, and P5 suction nozzle b25 for sucking up the back of the corresponding sub-boards respectively; and P6 gripper b26 for gripping the P6 sub-board.

[0094] In this embodiment, the second feeding robotic arm b2 can pick up the back of the bracket, thereby flipping the bracket so that its side faces upward.

[0095] See Figure 11 and Figure 12 The second tooling c2 includes: a PCB board fixing seat c21 for positioning the PCB board; a bracket clamping cylinder c22 for clamping a side-placed bracket; a bracket fixing suction nozzle c23 for adsorbing and fixing the bracket; and a baffle assembly c24 for fixing the bracket.

[0096] Optionally, the baffle assembly c24 includes a transverse cylinder c241 and a lifting cylinder c242, with a baffle c243 mounted on the lifting cylinder c242. The baffle c243 of the baffle assembly c24 can avoid the upper area of ​​the bracket and can extend after the bracket is clamped by the bracket clamping cylinder c22.

[0097] In this embodiment, after the second feeding robotic arm b2 places the bracket on the gripper of the bracket clamping cylinder c22, the bracket fixing nozzle c23 picks up the front of the bracket, and the baffle c243 extends to block the front of the bracket, thereby cooperating with the bracket fixing nozzle c23 and the bracket clamping cylinder c22 to fix the bracket; then the second feeding robotic arm b2 releases the bracket and fixes the p3 subplate in the preset position.

[0098] Further, see Figure 13 The third tooling c3 includes: a fixed base c31, on which a bracket fixing position c32 and a P6 fixing position c33 are provided; a P5 fixing plate c34, which is set on a lifting cylinder c35 on one side of the fixed base; and an angle positioning cylinder c36, which includes a V-shaped top block c37, used to cooperate with the bracket fixing position to fix the bracket.

[0099] In this embodiment, the lifting cylinder c35 can drive the P5 fixing plate c34 to rise to support and fix the P5 sub-board, thereby effectively fixing the PCB board.

[0100] See Figure 14 and Figure 15 To fix the bracket to the side, the fourth tooling c4 includes: a first tilting cylinder c41; a second tilting cylinder c42, mounted on the first tilting cylinder c41; a mounting plate c43, mounted on the second tilting cylinder c42; a bracket clamping cylinder c44, mounted on the mounting plate c43, for clamping the side-placed bracket; a suction nozzle c45, for adsorbing and fixing the back of the bracket; a baffle assembly c46, for fixing the bracket; a lifting cylinder c47, mounted on the mounting plate; and a P6 gripper c48, mounted on the lifting cylinder c47, for fixing the P6 sub-plate.

[0101] In this embodiment, after the bracket is clamped by the bracket clamping cylinder c44, the suction nozzle c45 adsorbs and fixes the back of the bracket, and the baffle of the baffle assembly c46 extends to block the front of the bracket, thereby fixing the bracket; then the robotic arm can fix the P5 sub-plate in the area to be fixed and drive screws. After the P5 is fixed, the flipping cylinder can flip it as needed, so that the next surface of the bracket to be fixed faces upward.

[0102] Optionally, the fifth tooling c5 may be, but is not limited to, similar to the second tooling c2, to facilitate clamping the bottom surface of the bracket.

[0103] See Figure 16Optionally, the sixth tooling c6 includes: a top cover fixing seat c61; and an angle positioning cylinder c62, which presses the top cover against the top cover fixing seat c61 through a V-shaped baffle c63.

[0104] In this embodiment, the upper cover 300 can be fixed by the cooperation of the upper cover fixing seat c61 and the V-shaped baffle c63.

[0105] Further, see Figure 17 The fourth feeding robotic arm b4 is equipped with: a fixed plate b41; a first lifting cylinder b42, mounted on the fixed plate b41; a second lifting cylinder b43, mounted on the first lifting cylinder b42; a first suction nozzle b44 mounted on the second lifting cylinder b43; a third lifting cylinder b45, mounted on the fixed plate b41; a plurality of second suction nozzles b46 mounted on the third lifting cylinder b45; a fourth lifting cylinder b47, mounted on the third lifting cylinder b45; and a third suction nozzle b48 mounted on the fourth lifting cylinder b47.

[0106] In this embodiment, three sets of liftable cylinders can be used to grip the bracket, top cover, heat-conducting pad, etc., and can be selected as needed, offering high flexibility.

[0107] In this embodiment, the screw storage device b7 can be based on existing technology, which will not be described in detail here.

[0108] All the devices (parts whose specific structures are not specified) selected in this application are general standard parts or parts known to those skilled in the art. Their structures and principles can be learned by those skilled in the art through technical manuals or conventional experimental methods.

[0109] In the description of the embodiments of the present invention, unless otherwise expressly specified and limited, the terms "installation", "connection" and "linking" should be interpreted broadly, for example, they can be fixed connections, detachable connections, or integral connections.

[0110] In the description of this invention, it should be noted that the terms "center," "upper," "lower," "left," "right," "vertical," "horizontal," "inner," and "outer," etc., indicate the orientation or positional relationship based on the orientation or positional relationship shown in the accompanying drawings. They are used only for the convenience of describing the invention and for simplifying the description, and do not indicate or imply that the device or element referred to must have a specific orientation, or be constructed and operated in a specific orientation. Therefore, they should not be construed as limitations on the invention. Furthermore, the terms "first," "second," and "third" are used for descriptive purposes only and should not be construed as indicating or implying relative importance.

[0111] Based on the above-described preferred embodiments of the present invention, and through the foregoing description, those skilled in the art can make various changes and modifications without departing from the inventive concept. The technical scope of this invention is not limited to the contents of the specification, but must be determined according to the scope of the claims.

Claims

1. A PCB board three-dimensional mounting device, characterized in that, include: PCB board tray, bracket tray, thermal pad tray, top cover tray, first loading robot arm, second loading robot arm, third loading robot arm, fourth loading robot arm, first screw-driving robot arm, second screw-driving robot arm, screw storage device, first tooling, second tooling, third tooling, fourth tooling, fifth tooling and sixth tooling; in The first loading robotic arm is used to load and unload materials between the PCB board tray, the bracket tray, the first tooling, and the second tooling. The second loading robotic arm is used for loading and unloading materials between the second, third, and fourth tooling fixtures; The third loading robotic arm is used for loading and unloading materials between the fourth and fifth tooling. The fourth loading robotic arm is used to load and unload materials between the fifth tooling, the sixth tooling, the heat-conducting pad tray, and the upper cover tray. The first screw-driving robotic arm is used to fix the P1 and P2 sub-boards of the PCB board to the bracket at the first fixture, fix the P3 sub-board of the PCB board to the bracket at the second fixture, fix the P4 sub-board of the PCB board to the bracket at the third fixture, and fix the P5 sub-board of the PCB board to the bracket at the fourth fixture. The second screw-driving robotic arm is used to pre-fix the P6 sub-board of the PCB board onto the bracket at the fourth fixture, and to fix the top cover onto the bracket at the sixth fixture.

2. The PCB board three-dimensional mounting equipment according to claim 1, characterized in that, The first loading robotic arm is equipped with: Support grippers are used to hold the support. P1 nozzle, P2 nozzle, P3 nozzle, and P5 nozzle are used to pick up the corresponding sub-boards, respectively. The P4 and P6 grippers are used to hold the P4 and P6 daughterboards, respectively.

3. The PCB board three-dimensional mounting equipment according to claim 2, characterized in that, The first tooling includes: The bracket fixing base is equipped with a stop block for positioning one corner of the bracket; A PCB board mounting base is provided with several positioning pins for positioning the mounting holes of the PCB board; and an angle positioning cylinder includes a V-shaped top block for cooperating with a stop block to fix the bracket.

4. The PCB board three-dimensional mounting equipment according to claim 1, characterized in that, The first screw-driving robotic arm is equipped with a screw-driving device and a glue-dispensing device; The screw-driving device and the glue-dispensing device are oriented in the same or opposite directions.

5. The PCB board three-dimensional mounting equipment according to claim 1, characterized in that, The second loading robotic arm is equipped with: The stand nozzle is used to suck up the back of the stand; The support nozzle moving cylinder is used to drive the support nozzle to move; The P3, P4, and P5 nozzles are used to pick up the back of the corresponding sub-boards, respectively. The P6 gripper is used to hold the P6 daughterboard.

6. The PCB board three-dimensional mounting equipment according to claim 1, characterized in that, The second tooling includes: PCB board mounting bracket, used to position PCB boards; Bracket clamping cylinder, used to clamp a bracket placed on its side; A suction nozzle for attaching and fixing a support; and Baffle assembly for securing the bracket.

7. The PCB board three-dimensional mounting equipment according to claim 1, characterized in that, The third tooling includes: The mounting base is equipped with a bracket fixing position and a P6 fixing position; The P5 fixing plate is mounted on the lifting cylinder on one side of the fixing base; and An angular positioning cylinder includes a V-shaped top block for engaging with a bracket fixing position to fix the bracket.

8. The PCB board three-dimensional mounting equipment according to claim 1, characterized in that, The fourth tooling includes: First tilting cylinder; The second tilting cylinder is mounted on the first tilting cylinder; Mounting plate, installed on the second tilting cylinder; A bracket clamping cylinder, mounted on the mounting plate, is used to clamp a bracket placed on its side. The suction nozzle is used to attach to the back of the mounting bracket; baffle assembly for fixing the bracket; The lifting cylinder is mounted on the mounting plate. The P6 gripper is mounted on the lifting cylinder and is used to fix the P6 sub-board.

9. The PCB board three-dimensional mounting equipment according to claim 1, characterized in that, The sixth tooling includes: Top cover mounting base; An angular positioning cylinder uses a V-shaped baffle to press the upper cover firmly against the upper cover fixing seat.

10. The PCB board three-dimensional mounting equipment according to claim 1, characterized in that, The fourth loading robotic arm is equipped with: Fixing plate; The first lifting cylinder is mounted on the fixed plate; The second lifting cylinder is mounted on the first lifting cylinder; the second lifting cylinder is equipped with the first suction nozzle; The third lifting cylinder is mounted on the fixed plate; the third lifting cylinder is equipped with several second suction nozzles; A fourth lifting cylinder is mounted on the third lifting cylinder; the fourth lifting cylinder is equipped with a third suction nozzle.

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