Board card automatic processing and assembling system and assembling method

Abstract

The invention belongs to the technical field of circuit board assembling, and particularly provides an automatic board card processing and assembling system and method, the system comprises a board card assembling cabin, a panel transfer machine and a board conveyor are arranged in the board card assembling cabin, and the panel transfer machine and the board conveyor are communicated through a pipeline and are in transmission arrangement. Linkage control over the panel transfer machine and the plate conveyor is achieved through an ingenious oil pipe communication mode, oil way switching is achieved by means of the panel clamping and pushing effect, and the effects of clamping and transferring of the panel and fixed-distance conveying of PCBA plates and supporting plates are achieved only through the liquid flowing effect and the telescopic clamping action. The technical problems that in the prior art, a large number of power instruments are needed for board card assembly to control movement and transfer of parts, stations are continuously switched, and therefore the manipulator program is complex, and the control difficulty is high are effectively solved.

Description

Technical Field

[0001] The present invention belongs to the technical field of circuit board assembly, and specifically refers to a board card automatic processing and assembly system and an assembly method. Background Art

[0002] Circuit board cassettes are commonly used in computing devices with large volume and high computing requirements. The PCBA board, support board, and panel are assembled to obtain a board card, and then the board cards are sequentially assembled into the chassis to form a cassette.

[0003] In the prior art, there is still a lack of an integrated device that can automatically process and assemble board cards. In the circuit board assembly of the prior art, most are carried out independently and rely on manipulators with complex programs for control. It is necessary to adjust the device control system according to parameters such as product size, which not only has high costs, but also has low assembly efficiency. Moreover, the assembly of board cards requires various complex power instruments to assist the movement of components to the designated workstations.

[0004] The prior art lacks an integrated assembly system that can automatically assemble board cards with only a small amount of linkage control of power components and can achieve automatic compensation during the assembly process, thus significantly reducing the manipulation difficulty of the manipulator and improving the assembly accuracy. Summary of the Invention

[0005] The present invention overcomes the deficiencies of the prior art and provides a board card automatic processing and assembly system and an assembly method. Through a clever oil pipe connection method, the linkage control of the panel transfer machine and the board part conveyor is realized. By means of the clamping and pushing action of the panel, the oil circuit is switched. Only through the liquid flow action and the telescopic clamping action, the clamping and transfer of the panel and the fixed-distance conveying effect of the PCBA board and the support board are achieved, effectively solving the technical problems in the prior art that the board card assembly requires a large number of power instruments to control the movement and transfer of components and the continuous switching of workstations, resulting in complex manipulator programs and high manipulation difficulty.

[0006] The technical solution adopted by the present invention is as follows: The first object of this solution is to provide a board card automatic processing and assembly system, including a board card assembly chamber, a PCBA board feeder, a support board feeder, and a panel feeder provided on the outer wall of one side of the board card assembly chamber. The PCBA board feeder and the support board feeder respectively convey the PCBA board and the support board into the board card assembly chamber, and the panel feeder is used to convey the panel into the board card assembly chamber. The board card assembly chamber assembles the PCBA board, the support board, and the panel into a board card.

[0007] In order to achieve board assembly, a panel transfer machine, a board conveyor and a board transfer manipulator are provided on the inner bottom wall of the board assembly cabin. The panel transfer machine is correspondingly arranged with the panel feeder. The board conveyor is arranged on the side of the panel transfer machine away from the panel feeder. The board transfer manipulator is arranged on the side of the panel transfer machine. The board transfer manipulator corresponds to the PCBA board feeder and the support board feeder. The panel transfer machine and the board conveyor are connected by an oil pipe to realize linkage between the panel transfer machine and the board conveyor. The board transfer manipulator can respectively clamp and stack the support boards and PCBA boards conveyed by the support board feeder and the PCBA board feeder onto the board conveyor. The board conveyor conveys the stacked PCBA boards and support boards. The panel transfer machine can convey the panel to the edge of the board conveyor so as to be clamped with the stacked PCBA boards and support boards, achieving board assembly.

[0008] As a further preference of this solution, the panel transfer machine includes a transfer drive disk, a transfer column, a transfer electric push rod, a guide disk, a liquid flow pump, and a liquid flow switching component. The transfer drive disk is fixedly arranged on the inner bottom wall of the board card assembly cabin. The transfer column passes through and rotates on the transfer drive disk. The base end of the transfer electric push rod is fixedly arranged on the upper side wall of the transfer column. The guide disk is fixedly arranged on the upper wall of the transfer drive disk. The middle of the transfer column rotates through the center of the guide disk. The liquid flow pump is fixedly arranged on the inner side wall of the board card assembly cabin. The liquid flow switching component is arranged on the guide disk. The inside of the transfer drive disk is hollow. A first impeller is coaxially and fixedly arranged at the lower end of the transfer column. The first impeller is arranged inside the transfer drive disk. The guide disk adopts an eye-shaped structure. Guide plates are symmetrically distributed and fixedly arranged at both ends of the guide disk. Eye-shaped guide grooves are engraved on the upper walls of the guide disk and the guide plates. The eye-shaped guide grooves include an arc part, an expansion part, and a centripetal part. The arc parts are symmetrically distributed and arranged with the center of the guide disk as the center of the circle. The expansion parts are respectively arranged at both ends of the arc part and are smoothly connected to the arc part. The centripetal part is arranged on the guide plate. The centripetal part is smoothly connected to the ends of the two expansion parts. The centripetal part points to the center of the guide disk. From the far end of the centripetal part to the connection of the expansion part and the arc part, the distance between the eye-shaped guide groove and the center of the guide disk gradually decreases, and vice versa. A guide rod is rotatably arranged on the lower wall of the output end of the transfer electric push rod. The lower end of the guide rod is movably arranged inside the eye-shaped guide groove. The liquid flow switching component is arranged on the guide plate on the side close to the outer wall of the board card assembly cabin. The liquid flow switching component includes a sleeve plate, a switching cylinder, a switching rod, and a return spring. The sleeve plate is slidably sleeved on the outer wall of the guide plate. The switching cylinder is fixedly arranged on the lower wall of the guide plate. The switching rod is slidably and closely arranged inside the switching cylinder. The end of the switching rod is fixedly connected to the side wall of the sleeve plate. The two ends of the return spring are respectively fixedly connected to the side walls of the sleeve plate and the guide plate. A liquid flow hole is penetrated through the side wall of the switching rod. A flat liquid suction pipe is fixedly connected to one side wall of the switching cylinder in a penetrating manner. The other end of the flat liquid suction pipe is connected to the liquid inlet end of the liquid flow pump in a penetrating manner. The other side wall of the switching cylinder is fixedly connected to a first oil pipe and a second oil pipe in a penetrating manner. The other end of the first oil pipe is connected to the side wall of the transfer drive disk in a penetrating manner. The other end of the second oil pipe is communicated with the board part conveyor. The liquid outlet end of the liquid flow pump is connected to a third oil pipe in a penetrating manner. The other end of the third oil pipe is connected to the side wall of the transfer drive disk in a penetrating manner. The liquid flow hole on the switching rod is always communicated with the flat liquid suction pipe.

[0009] As a further preference of this solution, the board conveyor includes a bracket, conveying rollers, a conveyor belt, a conveying impeller chamber, a second impeller, and a conveying wheel. The bracket is fixedly arranged on the inner bottom wall of the board card assembly chamber. The conveying rollers are symmetrically distributed and rotatably arranged at the upper end of the bracket. The conveyor belt is wound around the conveying rollers. The conveying impeller chamber is fixedly arranged on the side wall of the bracket. The second impeller is rotatably arranged on the inner wall of the conveying impeller chamber. The conveying wheel is rotatably arranged on the outer wall of the conveying impeller chamber and is coaxially and fixedly connected to the second impeller. A belt is wound between one of the conveying rollers and the conveying wheel. The other end of the second oil pipe is connected to the circumferential side wall of the conveying impeller chamber in a penetrating manner. The circumferential side wall of the conveying impeller chamber is provided with a fourth oil pipe in a penetrating manner. The other end of the fourth oil pipe is connected to the middle part of the third oil pipe in a penetrating manner. The space internally communicating among the flat suction pipe, the liquid flow pump, the third oil pipe, the transfer drive disk, the first oil pipe, the fourth oil pipe, the conveying impeller chamber, and the second oil pipe is filled with hydraulic oil.

[0010] Another object of this solution is to provide a method for automatic processing and assembly of board cards, which is applied to the above-mentioned automatic processing and assembly system for board cards. The method includes the following steps: Step S1: Prepare materials before board card assembly: Place the PCBA board, the support board, and the panel on the PCBA board feeder, the support board feeder, and the panel feeder respectively. Step S2: Position the support board and the PCBA board: The board transfer manipulator clamps and stacks the support board and the PCBA board on the conveyor belt respectively. The panel transfer machine controls the operation of the board conveyor and conveys the stacked support board and PCBA board to the side of the panel transfer machine. Step S3: Position the panel: The panel transfer machine clamps and conveys the panel onto the board conveyor and aligns it with the stacked support board and PCBA board. Step S4: Perform board card assembly.

[0011] In order to effectively clamp support boards, PCBA boards, and panels of various sizes, both the board transfer manipulator and the panel transfer machine adopt the fuzzy PID control method to control the clamping force.

[0012] The beneficial effects achieved by the present invention are as follows: (1) The panel transfer machine and the board conveyor arranged in the board card assembly chamber achieve linkage control through a clever oil pipe connection method. With the pushing action of the transfer electric push rod, the control of the liquid flow switching component is realized, thereby realizing the switching of the oil circuit. Thus, under the action of the liquid flow, the board conveyor operates. Also, the oil circuit is switched through the telescopic action of the transfer electric push rod. Combining with the eye-shaped guiding groove structure on the upper part of the guiding disk, the transfer electric push rod automatically turns under the action of the liquid flow. Therefore, only through the liquid flow action and the telescopic clamping action, the clamping and transfer of the panel and the fixed-distance conveying effect of the PCBA board and the support board are achieved. (2) The liquid flow switching component realizes the switching of the opening and closing states of the first oil pipe and the second oil pipe only by the pushing and releasing of the transfer electric push rod, thereby realizing the switching of the functions of plate conveying and panel transfer. Moreover, the above process can be achieved only by the telescopic movement of the transfer electric push rod and the liquid flow pumped by the liquid flow pump, significantly improving the automation and integration degree of the equipment. (3) During the single transfer process of the panel by the transfer electric push rod, due to the eye-shaped guide groove structure on the upper part of the guide disk, the guide rod in the eye-shaped guide groove first passes from the centripetal part at one end through the arc part on one side to the centripetal part at the other end, and then passes from the centripetal part at the other end through the arc part on the other side to the centripetal part at one end. During this process, the transfer electric push rod rotates a complete circle. The structural design of the eye-shaped guide groove, the rotational tendency provided by the liquid flow pump to the transfer electric push rod, and the telescopic action of the transfer electric push rod ensure the reliability of the above movement process. Description of the Drawings

[0013] Figure 1 It is a schematic structural diagram of a board card automatic processing and assembly system proposed by the present invention; Figure 2 It is a schematic internal structure diagram of a board card automatic processing and assembly system proposed by the present invention; Figure 3 It is a schematic structure of the panel transfer machine and the board conveyor proposed by the present invention Figure 1 ; Figure 4 It is a schematic structure of the panel transfer machine and the board conveyor proposed by the present invention Figure 2 ; Figure 5 It is Figure 3 A partial enlarged view of part A in Figure 6 It is a schematic diagram of the pipeline connection principle of the panel transfer machine and the board conveyor proposed by the present invention.

[0014] In the drawings, the meanings of each mark are as follows: 1. Board card assembly cabin, 11. PCBA board feeder, 12. Support board feeder, 13. Panel feeder, 14. Panel transfer machine, 141. Transfer drive disk, 142. Transfer column, 1421. First impeller, 143. Transfer electric push rod, 1431. Guide rod, 144. Guide disk, 1441. Guide plate, 1442. Eye-shaped guide groove, 1443. Arc part, 1444. Extension part, 1445. Centripetal part, 145. Liquid flow pump, 1451. Oil pipe three, 146. Liquid flow switching component, 1461. Sleeve plate, 1462. Switching cylinder, 1463. Switching rod, 1464. Return spring, 1465. Liquid flow hole, 1466. Flat suction pipe, 1467. Oil pipe one, 1468. Oil pipe two, 15. Board component conveyor, 151. Bracket, 152. Conveyor roller, 153. Conveyor belt, 154. Conveyor impeller chamber, 1541. Oil pipe four, 155. Second impeller, 156. Conveyor wheel, 16. Board component transfer manipulator.

[0015] The attached drawings are used to provide a further understanding of the present invention and constitute a part of the specification. Together with the embodiments of the present invention, they are used to explain the present invention and do not constitute a limitation to the present invention. Detailed implementation manners

[0016] Embodiment 1: Please refer to Figures 1 - 6 , this embodiment provides an automatic processing and assembly system for board cards, including a board card assembly cabin 1. Outside one side wall of the board card assembly cabin 1, there are a PCBA board feeder 11 and a support board feeder 12. The PCBA board feeder 11 and the support board feeder 12 respectively convey the PCBA board and the support board into the board card assembly cabin 1. On one side wall of the board card assembly cabin 1, there is also a panel feeder 13, and the panel feeder 13 is used to convey the panel into the board card assembly cabin 1. In order to complete the board card assembly, a panel transfer machine 14, a board component conveyor 15 and a board component transfer manipulator 16 are arranged on the inner bottom wall of the board card assembly cabin 1. The panel transfer machine 14 is arranged corresponding to the panel feeder 13. The board component conveyor 15 is arranged on the side of the panel transfer machine 14 away from the panel feeder 13. The board component transfer manipulator 16 is arranged on the side of the panel transfer machine 14. The board component transfer manipulator 16 corresponds to the PCBA board feeder 11 and the support board feeder 12. The board component transfer manipulator 16 can respectively clamp and stack the support board and the PCBA board conveyed by the support board feeder 12 and the PCBA board feeder 11 onto the board component conveyor 15. The board component conveyor 15 conveys the stacked PCBA board and support board. A board component clamping manipulator is arranged at the inner bottom of the board card assembly cabin 1. The board component clamping manipulator clamps the PCBA board and the support board after being conveyed by the board component conveyor 15. The panel transfer machine 14 can convey the panel to the edge of the board component conveyor 15, so as to be clamped with the stacked PCBA board and support board, realizing the board card assembly.

[0017] The panel transfer machine 14 includes a transfer drive disk 141, a transfer column 142, a transfer electric push rod 143, a guide disk 144, a liquid flow pump 145, and a liquid flow switching component 146. The transfer drive disk 141 is fixedly arranged on the inner bottom wall of the board assembly cabin 1. The transfer column 142 is rotatably arranged through the transfer drive disk 141. The base end of the transfer electric push rod 143 is fixedly arranged on the upper side wall of the upper end of the transfer column 142. The guide disk 144 is fixedly arranged on the upper wall of the transfer drive disk 141. The middle part of the transfer column 142 rotatably penetrates through the center of the guide disk 144. The liquid flow pump 145 is fixedly arranged on the inner side wall of the board assembly cabin 1. The liquid flow switching component 146 is arranged on the guide disk 144. The inside of the transfer drive disk 141 is hollowly arranged. A first impeller 1421 is coaxially and fixedly arranged at the lower end of the transfer column 142. The first impeller 1421 is arranged inside the transfer drive disk 141. There is a gap between the outer edge of the blade of the first impeller 1421 and the inner wall of the circumference of the transfer drive disk 141. When the first impeller 1421 cannot rotate, the hydraulic oil can still pass through. The guide disk 144 adopts an eye-shaped structure. Guide plates 1441 are symmetrically distributed and fixedly arranged at both ends of the guide disk 144. Eye-shaped guide grooves 1442 are engraved on the upper walls of the guide disk 144 and the guide plates 1441. The eye-shaped guide grooves 1442 include an arc part 1443, an expansion part 1444, and a centripetal part 1445. The arc parts 1443 are symmetrically distributed and arranged with the center of the guide disk 144 as the center of the circle. The expansion parts 1444 are respectively arranged at both ends of the arc part 1443 and are smoothly connected to the arc part 1443. The centripetal part 1445 is arranged on the guide plate 1441. The centripetal part 1445 is smoothly connected to the ends of the two expansion parts 1444. The centripetal part 1445 points to the center of the guide disk 144. From the distal end of the centripetal part 1445 to the connection part of the expansion part 1444 and the arc part 1443, the distance between the eye-shaped guide groove 1442 and the center of the guide disk 144 gradually decreases, and vice versa. A guide rod 1431 is rotatably arranged on the lower wall of the output end of the transfer electric push rod 143. The lower end of the guide rod 1431 is movably arranged inside the eye-shaped guide groove 1442. An electric gripper is arranged at the end of the transfer electric push rod 143 for clamping the panel. The liquid flow switching component 146 is arranged on the guide plate 1441 on the side close to the outer wall of the board assembly cabin 1. The liquid flow switching component 146 includes a sleeve plate 1461, a switching cylinder 1462, a switching rod 1463, and a return spring 1464. The sleeve plate 1461 is slidably sleeved on the outer wall of the guide plate 1441. The switching cylinder 1462 is fixedly arranged on the lower wall of the guide plate 1441. The switching rod 1463 is slidably and closely arranged inside the switching cylinder 1462. The end of the switching rod 1463 is fixedly connected to the side wall of the sleeve plate 1461. The two ends of the return spring 1464 are respectively fixedly connected to the side walls of the sleeve plate 1461 and the guide plate 1441. A liquid flow hole 1465 is penetrated through the side wall of the switching rod 1463. A flat liquid suction pipe 1466 is fixedly connected and penetrated through one side wall of the switching cylinder 1462. The other end of the flat liquid suction pipe 1466 is communicated and connected to the liquid inlet end of the liquid flow pump 145. Another side wall of the switching cylinder 1462 is fixedly connected and penetrated with an oil pipe 1467 and an oil pipe 1468.The other end of the oil pipe 1467 is connected to the side wall of the transfer drive disk 141 in a penetrating manner. The liquid outlet end of the liquid flow pump 145 is connected to an oil pipe 1451 in a penetrating manner. The other end of the oil pipe 1451 is connected to the side wall of the transfer drive disk 141 in a penetrating manner.,

[0018] The liquid flow hole 1465 on the switching rod 1463 is always in communication with the flat liquid suction pipe 1466. When the transfer electric push rod 143 extends to the guide plate 1441 at the liquid flow switching assembly 146, the guide rod 1431 will push the sleeve plate 1461 to move, thereby driving the switching rod 1463 to slide towards the outside of the switching cylinder 1462. The return spring 1464 is stretched, and the liquid flow hole 1465 is aligned with the oil pipe 1468. The liquid flow hole 1465 connects the flat liquid suction pipe 1466 and the oil pipe 1468, while the oil pipe 1467 is blocked. After the transfer electric push rod 143 contracts, the sleeve plate 1461 resets under the action of the return spring 1464, causing the switching rod 1463 to slide towards the inside of the switching cylinder 1462. The liquid flow hole 1465 is aligned with the oil pipe 1467, and the liquid flow hole 1465 connects the flat liquid suction pipe 1466 and the oil pipe 1467, while the oil pipe 1468 is blocked.

[0019] The plate conveyor 15 includes a bracket 151, conveying rollers 152, a conveyor belt 153, a conveying impeller chamber 154, a second impeller 155, and a conveying wheel 156. The bracket 151 is fixedly arranged on the inner bottom wall of the board card assembly cabin 1. The conveying rollers 152 are symmetrically distributed and rotatably arranged at the upper end of the bracket 151. The conveyor belt 153 is wound around the conveying rollers 152. The conveying impeller chamber 154 is fixedly arranged on the side wall of the bracket 151. The second impeller 155 is rotatably arranged on the inner wall of the conveying impeller chamber 154. The outer edge of the blades of the second impeller 155 is in sliding fit with the circumferential inner wall of the conveying impeller chamber 154. This setting method can ensure that the rotation angle of the second impeller 155 is the same every time it operates. The conveying wheel 156 is rotatably arranged on the outer wall of the conveying impeller chamber 154 and is coaxially and fixedly connected to the second impeller 155. A belt is wound between one of the conveying rollers 152 and the conveying wheel 156. The other end of the oil pipe 1468 is connected to the circumferential side wall of the conveying impeller chamber 154 in a penetrating manner. The circumferential side wall of the conveying impeller chamber 154 is provided with an oil pipe 1541 in a penetrating manner. The other end of the oil pipe 1541 is connected to the middle of the oil pipe 1451 in a penetrating manner. The space internally connected by the flat liquid suction pipe 1466, the liquid flow pump 145, the oil pipe 1451, the transfer drive disk 141, the oil pipe 1467, the oil pipe 1541, the conveying impeller chamber 154, and the oil pipe 1468 is filled with hydraulic oil.

[0020] When the transfer electric push rod 143 extends to the guide plate 1441 at the liquid flow switching component 146, it clamps the panel. At this time, the flat liquid suction pipe 1466 and the second oil pipe 1468 are connected. Therefore, the flat liquid suction pipe 1466, the liquid flow pump 145, the fourth oil pipe 1541, the conveying impeller cavity 154, and the second oil pipe 1468 form a hydraulic oil circulation circuit. The liquid flow pump 145 operates to make the hydraulic oil circulate along the above-mentioned circulation circuit, so that the second impeller 155 rotates, drives the conveying wheel 156 to rotate, and drives the conveyor belt 153 to run through the belt, so as to be able to convey the stacked PCBA board and the support board. After the transfer electric push rod 143 contracts, the flat liquid suction pipe 1466 and the first oil pipe 1467 are connected. At this time, the flat liquid suction pipe 1466, the liquid flow pump 145, the third oil pipe 1451, the transfer drive disk 141, and the first oil pipe 1467 form a circulation circuit. The liquid flow pump 145 operates to make the hydraulic oil circulate along the above-mentioned circulation circuit, so that the first impeller 1421 rotates. The first impeller 1421 drives the transfer column 142 to rotate, so that the transfer electric push rod 143 rotates. During this process, the guide rod 1431 moves along the eye-shaped guide groove 1442. When the transfer electric push rod 143 contracts to the shortest, the driving effect of the hydraulic oil on the first impeller 1421 makes the transfer electric push rod 143 rotate, and the guide rod 1431 moves along the arc part 1443 of the eye-shaped guide groove 1442. When the guide rod 1431 moves beyond the arc part 1443 of the eye-shaped guide groove 1442, the transfer electric push rod 143 begins to extend. Under the extension action of the transfer electric push rod 143 and the rotation action of the first impeller 1421, the transfer electric push rod 143 completes a 180° turn and faces the side of the conveyor belt 153, so as to align the panel with the stacked PCBA board and support board previously conveyed here, so as to be able to perform rapid assembly.

[0021] Embodiment 2: This embodiment provides a method for automatic processing and assembly of a board card, which is applied to the board card automatic processing and assembly system described in Embodiment 1. The specific process includes the following steps: Step S1: Prepare materials before board card assembly: Place the PCBA board, the support board, and the panel on the PCBA board feeder 11, the support board feeder 12, and the panel feeder 13 respectively; Step S2: Position the support board and the PCBA board: The board part transfer manipulator 16 clamps and stacks the support board and the PCBA board on the conveyor belt 153 respectively. The panel transfer machine 14 controls the operation of the board part conveyor 15 to convey the stacked support board and PCBA board to the side of the panel transfer machine 14; Step S3: Position the panel: The panel transfer machine 14 clamps and conveys the panel onto the board part conveyor 15 and aligns it with the stacked support board and PCBA board; Step S4: Perform board card assembly.

[0022] Specifically, please refer toFigures 1 - 6 , the operation process of this embodiment is as follows: The operator prepares the PCBA board, support board and panel required for board card assembly, and places them on the PCBA board feeder 11, support board feeder 12 and panel feeder 13 respectively. The PCBA board feeder 11 and the support board feeder 12 respectively convey the PCBA board and the support board into the board card assembly chamber 1. The board transfer manipulator 16 clamps and stacks the support board and the PCBA board onto the conveyor belt 153 respectively. The liquid flow pump 145 operates, and the initial state of the equipment is as Figures 2 - 5 shown. At this time, the transfer electric push rod 143 extends to the guide plate 1441 at the liquid flow switching component 146. The guide rod 1431 makes the sleeve plate 1461 and the switching rod 1463 approach the outside of the switching cylinder 1462. The return spring 1464 is stretched, the liquid flow hole 1465 is aligned with the oil pipe two 1468, the liquid flow hole 1465 connects the flat suction pipe 1466 and the oil pipe two 1468, and the oil pipe one 1467 is blocked. The electric claw at the end of the transfer electric push rod 143 clamps the panel. At this time, the flat suction pipe 1466, the liquid flow pump 145, the oil pipe four 1541, the conveying impeller chamber 154, and the oil pipe two 1468 form a hydraulic oil circulation circuit. The liquid flow pump 145 makes the hydraulic oil circulate along the above circulation circuit, rotates the second impeller 155, drives the conveying wheel 156 to rotate, and drives the conveyor belt 153 to operate through the belt. The outer edge of the blade of the second impeller 155 and the inner wall of the circumference of the conveying impeller chamber 154 are in sliding fit. This setting method can ensure that the rotation angle of the second impeller 155 each time it operates is the same, that is, the single conveying distance of the conveyor belt 153 is the same, and it can just convey the stacked PCBA board and support board to the board clamping manipulator. The board clamping manipulator clamps the stacked PCBA board and support board.

[0023] After the panel clamping is completed, the transfer electric push rod 143 contracts, and the sleeve plate 1461 resets under the action of the return spring 1464, so that the switching rod 1463 slides towards the inside of the switching cylinder 1462. The liquid flow hole 1465 is aligned with the oil pipe one 1467, the liquid flow hole 1465 connects the flat suction pipe 1466 and the oil pipe one 1467, and the oil pipe two 1468 is blocked, as Figure 6In this state, the flat suction pipe 1466, the liquid flow pump 145, the third oil pipe 1451, the transfer drive disk 141, and the first oil pipe 1467 form a circulation loop. The liquid flow pump 145 makes the hydraulic oil circulate along the above circulation loop, so as to rotate the first impeller 1421. The first impeller 1421 drives the transfer column 142 to rotate, thereby rotating the transfer electric push rod 143. During this process, the guide rod 1431 moves along the eye-shaped guide groove 1442 (the movement path of the guide rod 1431 is: the centripetal part 1445 - the expansion part 1444 - the arc part 1443 - the expansion part 1444 - the centripetal part 1445). When the transfer electric push rod 143 contracts to the shortest, the driving effect of the hydraulic oil on the first impeller 1421 makes the transfer electric push rod 143 rotate, and the guide rod 1431 moves along the arc part 1443 of the eye-shaped guide groove 1442. When the guide rod 1431 moves beyond the arc part 1443 of the eye-shaped guide groove 1442, the transfer electric push rod 143 starts to extend. Under the extension effect of the transfer electric push rod 143 and the rotation effect of the first impeller 1421, the transfer electric push rod 143 completes a 180° turn and faces the side of the conveyor belt 153, so as to align the panel with the stacked PCBA board and the support board previously conveyed here, thereby realizing board card assembly.

[0024] After the assembly is completed, the transfer electric push rod 143 contracts and extends again. The driving force of the hydraulic oil makes the first impeller 1421 drive the transfer electric push rod 143 to rotate again, and move from the other side of the eye-shaped guide groove 1442 to the initial state to perform the next panel clamping and board card assembly operation.

[0025] Both the board transfer manipulator 16 and the panel transfer machine 14 use the fuzzy PID control method to control the clamping force. The specific process includes the following steps: Step K1: Set the target clamping force and collect the actual clamping force in real time; Step K2: Calculate the deviation and deviation change rate between the target clamping force and the actual clamping force to generate error data; Step K3: Convert the error data into fuzzy language variables, and perform fuzzification through the membership function to generate fuzzy error data, and establish a fuzzy control rule table in combination with the clamping force control experience; Step K4: According to the fuzzy control rule table and the fuzzy error data, calculate the fuzzy adjustment amount of the PID parameters through the fuzzy inference mechanism, and convert the fuzzy adjustment amount into specific control parameter adjustment data through the centroid method; Step K5: According to the specific control parameter adjustment data, dynamically adjust the parameters of the PID controller, and then combine the error data to generate a control command to adjust the clamping force to make the clamping force close to the target clamping force. The formula used is as follows: ; Among them, k represents the current discrete time step, u(k) represents the output value, that is, the control command; K p represents the proportional gain, e(k) represents the current deviation, i represents the cumulative index variable, that is, each discrete time step in the integration process, K i represents the integral gain, e(i) represents the deviation at the i-th moment, T represents the sampling period, that is, the discrete time interval; d represents the differential, K d represents the differential gain, Δ e (k) represents the deviation change amount.

[0026] The above describes the present invention and its implementation manners. Such description is not restrictive. What is shown in the drawings is only one of the implementation manners of the present invention, and the actual structure is not limited thereto.

Claims

1. An automated processing and assembly system for a board card, comprising a board card assembly cabin (1), characterized in that: Inside the bottom wall of the board assembly cabin (1), there is a panel transfer machine (14) and a board conveyor (15). The board conveyor (15) is arranged on one side of the panel transfer machine (14). The panel transfer machine (14) includes a transfer drive disk (141), a transfer column (142), a transfer electric push rod (143), a guide disk (144), a liquid flow pump (145) and a liquid flow switching component (146). The transfer drive disk (141) is fixedly arranged on the inside bottom wall of the board assembly cabin (1). The transfer column (142) is rotatably arranged through the transfer drive disk (141), and the transfer column (142) is in transmission connection with the transfer drive disk (141). The base end of the transfer electric push rod (143) is fixedly arranged on the upper side wall of the upper end of the transfer column (142). The guide disk (144) is fixedly arranged on the upper wall of the transfer drive disk (141). The liquid flow pump (145) is fixedly arranged on the inner side wall of the board assembly cabin (1). The liquid flow switching component (146) is arranged on the guide disk (144). The transfer electric push rod (143) and the liquid flow switching component (146) are in intermittent transmission connection. The board conveyor (15) includes a bracket (151) and a conveying impeller cavity (154). The bracket (151) is fixedly arranged on the inner bottom wall of the board assembly cabin (1). The conveying impeller cavity (154) is fixedly arranged on the side wall of the bracket (151). The conveying impeller cavity (154) and the transfer drive disk (141) are respectively communicated with the liquid flow switching component (146). The conveying impeller cavity (154) and the transfer drive disk (141) are respectively communicated with the liquid flow pump (145). The liquid flow pump (145) is communicated with the liquid flow switching component (146).

2. The automated processing and assembly system for a board card according to claim 1, wherein: The liquid flow switching component (146) includes a sleeve plate (1461), a switching cylinder (1462) and a switching rod (1463). The sleeve plate (1461) is slidably sleeved on the outer wall of one end of the guide disk (144). The switching cylinder (1462) is fixedly arranged on the lower wall of one end of the guide disk (144). The switching rod (1463) is slidably and closely arranged in the switching cylinder (1462). The end of the switching rod (1463) is fixedly connected with the side wall of the sleeve plate (1461).

3. The automated processing and assembly system for a board card according to claim 2, wherein: The side wall of the switching rod (1463) is provided with a liquid flow hole (1465) through it.

4. The automated processing and assembly system for a board card according to claim 2, characterized in that: The liquid inlet end of the liquid flow pump (145) is connected throughly with one side wall of the switching cylinder (1462). The liquid outlet end of the liquid flow pump (145) is connected throughly with the circumferential side wall of the transfer drive disk (141). The side wall of the transfer drive disk (141) is connected throughly with the other side wall of the switching cylinder (1462). The liquid outlet end of the liquid flow pump (145) is connected throughly with the circumferential side wall of the conveying impeller cavity (154). The circumferential side wall of the conveying impeller cavity (154) is connected throughly with the other side wall of the switching cylinder (1462).

5. The automated processing and assembly system for a board card according to claim 1, wherein: A first impeller (1421) is coaxially and fixedly arranged at the lower end of the transfer column (142), and the first impeller (1421) is rotatably arranged inside the transfer drive disk (141).

6. A board card automatic processing and assembly system according to claim 1, characterized in that: An eye-shaped guide groove (1442) is engraved on the upper wall of the guide disk (144), and the output end of the transfer electric push rod (143) is movably arranged in the eye-shaped guide groove (1442).

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