A board automatic processing and assembly system and assembly method

Abstract

The present invention belongs to the technical field of circuit board assembly, and specifically provides a system and method for automated processing and assembly of boards. The system includes a board assembly cabin, wherein a panel transfer machine and a board conveyor are provided within the board assembly cabin. The panel transfer machine and the board conveyor are connected by pipelines and provided with a transmission. The present invention achieves linkage control of the panel transfer machine and the board conveyor through a clever oil pipe connection method, and realizes oil circuit switching by means of the clamping and pushing action of the panel. The clamping and transfer of the panel and the fixed-distance conveyance of the PCBA board and support plate are achieved solely through the action of liquid flow and telescopic clamping. This effectively solves the technical problem in the prior art that board assembly requires a large number of power devices to control the movement and transfer of components, and the continuous switching of workstations, resulting in complex robot programming and high control difficulty.

Description

Technical Field

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

[0002] Circuit board assembly boxes are often used on large-scale, high-computing computing equipment. PCBA boards, support boards, and panels are assembled to obtain boards, which are then assembled into a cage in turn to form an assembly box.

[0003] In the existing technology, there is still a lack of integrated equipment that can automatically process and assemble circuit boards. The circuit board assembly in the existing technology is mostly carried out independently and relies on complex program robots for operation. The equipment control system needs to be adjusted according to parameters such as product size. This is not only costly, but also has low assembly efficiency. In addition, the assembly of circuit boards requires various complex power equipment to assist the movement of components to designated workstations.

[0004] The existing technology lacks an integrated assembly system that can automatically assemble boards and cards with the linkage control of only a small number of power components, and can automatically fill in the gaps during the assembly process, thereby significantly reducing the difficulty of manipulating the robot and improving assembly accuracy. Summary of the Invention

[0005] The present invention overcomes the shortcomings of the existing technology and provides an automated board processing and assembly system and assembly method. The system realizes the linkage control of the panel transfer machine and the panel conveyor through an ingenious oil pipe connection method, and realizes the oil circuit switching with the help of the panel clamping and pushing action. The clamping and transfer of the panel and the fixed-distance conveying effect of the PCBA board and the support plate are achieved only through the action of liquid flow and telescopic clamping action. It effectively solves the technical problems in the existing technology that the board assembly requires a large number of power equipment to control the movement and transfer of parts and the continuous switching of workstations, which leads to complex robot programs and high control difficulty.

[0006] The technical solution adopted by the present invention is as follows:

[0007] The first purpose of this solution is to provide an automated board processing and assembly system, including a board assembly cabin and a PCBA board feeder, a support board feeder, and a panel feeder arranged on the outer wall of one side of the board assembly cabin. The PCBA board feeder and the support board feeder respectively convey the PCBA board and the support board into the board assembly cabin. The panel feeder is used to convey the panel into the board assembly cabin. The board assembly cabin assembles the PCBA board, the support board, and the panel to form a board.

[0008] In order to realize board assembly, a panel transfer machine, a panel conveyor and a panel transfer robot are arranged on the bottom wall inside the board assembly cabin. The panel transfer machine is arranged corresponding to the panel feeder, and the panel conveyor is arranged on the side of the panel transfer machine away from the panel feeder. The panel transfer robot is arranged on the side of the panel transfer machine, and the panel transfer robot corresponds to the PCBA board feeder and the support board feeder. The panel transfer machine and the panel conveyor are connected by an oil pipe, so that the panel transfer machine and the panel conveyor are linked. The panel transfer robot can clamp the support board and PCBA board conveyed by the support board feeder and the PCBA board feeder respectively and stack them on the panel conveyor. The panel conveyor conveys the PCBA board and support board after stacking. The panel transfer machine can convey the panel to the edge of the panel conveyor, so as to engage with the PCBA board and support board after stacking to realize board assembly.

[0009] As a further optimization 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 fixed on the bottom wall inside the board assembly cabin, the transfer column is rotated through the transfer drive disk, the base end of the transfer electric push rod is fixed on the upper end side wall of the transfer column, the guide disk is fixed on the upper wall of the transfer drive disk, the middle part of the transfer column rotates through the center of the guide disk, the liquid flow pump is fixed on the inner side wall of the board assembly cabin, the liquid flow switching component is arranged on the guide disk, the interior of the transfer drive disk is hollow, and the transfer The lower end of the shift column is coaxially fixed with a first impeller, which is arranged inside the transfer drive disk. The guide disk adopts an eye-shaped structure, and guide plates are symmetrically distributed and fixed at both ends of the guide disk. Eye-shaped guide grooves are engraved on the upper walls of the guide disk and the guide plate. The eye-shaped guide groove includes an arc portion, an extension portion and a centripetal portion. The arc portions are symmetrically distributed and arranged with the center of the guide disk as the center of the circle. The extension portions are respectively arranged at both ends of the arc portion and smoothly connected to the arc portion. The centripetal portion is arranged on the guide plate, and the centripetal portion is smoothly connected to the ends of the two extension portions. The centripetal portion points to the center of the guide disk, and from the far end of the centripetal portion to At the connection between the extension part and the arc part, the distance between the eye-shaped guide groove and the center of the guide plate gradually decreases, and vice versa, it gradually increases. A guide rod is provided on the lower wall of the output end of the transfer electric push rod, and 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 assembly cabin. The liquid flow switching component includes a sleeve plate, a switching cylinder, a switching rod and a reset spring. The sleeve plate is slidingly 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 slidingly and tightly arranged in the switching cylinder, the end of the switching rod is fixedly connected to the side wall of the sleeve plate, and the reset spring is provided. The two ends of the spring are fixedly connected to the side walls of the sleeve plate and the guide plate respectively, a liquid flow hole is penetrated through the side wall of the switching rod, a flat suction tube is fixedly connected through one side wall of the switching cylinder, the other end of the flat suction tube is connected to the liquid inlet end of the liquid pump, the other side wall of the switching cylinder is fixedly connected with oil pipe 1 and oil pipe 2, the other end of oil pipe 1 is connected to the side wall of the transfer drive disk, the other end of oil pipe 2 is connected to the plate conveyor, the liquid outlet end of the liquid pump is connected through oil pipe 3, the other end of oil pipe 3 is connected to the side wall of the transfer drive disk, and the liquid flow hole on the switching rod is always connected to the flat suction tube.

[0010] As a further preference of this scheme, the plate conveyor includes a bracket, a conveying roller, a conveying belt, a conveying impeller chamber, a second impeller and a conveying wheel. The bracket is fixedly arranged on the inner bottom wall of the plate assembly cabin, the conveying rollers are symmetrically distributed and rotatably arranged on the upper end of the bracket, the conveying belt is wound around the conveying roller, 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 fixedly connected to the second impeller, a belt is wound around one of the conveying rollers and the conveying wheel, the other end of oil pipe 2 is connected to the circumferential side wall of the conveying impeller chamber, the circumferential side wall of the conveying impeller chamber is penetrated by an oil pipe 4, the other end of oil pipe 4 is connected to the middle part of oil pipe 3, and the space connected inside the flat suction pipe, liquid flow pump, oil pipe 3, transfer drive disk, oil pipe 1, oil pipe 4, conveying impeller chamber and oil pipe 2 is filled with hydraulic oil.

[0011] Another object of this solution is to provide a method for automated processing and assembly of boards and cards, which is applied to the above-mentioned automated processing and assembly system of boards and cards, and the method comprises the following steps:

[0012] Step S1: Preparing materials before board assembly: placing the PCBA board, support board and panel on the PCBA board feeder, support board feeder and panel feeder respectively;

[0013] Step S2: The support plate and PCBA board are in place: the panel transfer robot clamps the support plate and PCBA board respectively and stacks them on the conveyor belt. The panel transfer machine controls the panel conveyor to operate and transport the stacked support plate and PCBA board to the side of the panel transfer machine.

[0014] Step S3: Panel in place: The panel transfer machine clamps and transports the panel to the plate conveyor and aligns it with the stacked support plate and PCBA board;

[0015] Step S4: assembling the board.

[0016] In order to effectively clamp support plates, PCBA boards, and panels of various sizes, the plate transfer robot and panel transfer machine both use fuzzy PID control methods to control the clamping force.

[0017] The beneficial effects achieved by the present invention are as follows:

[0018] (1) The panel transfer machine and the plate conveyor installed in the board assembly cabin are linked and controlled by an ingenious oil pipe connection method. The liquid flow switching component is controlled by the pushing action of the transfer electric push rod, thereby switching the oil circuit, so that the plate conveyor is operated under the action of the liquid flow, and the oil circuit is switched by the telescopic action of the transfer electric push rod. In combination with the eye-shaped guide groove structure on the upper part of the guide plate, the transfer electric push rod is automatically turned under the action of the liquid flow, thereby realizing the clamping and transfer of the panel and the fixed distance conveying effect of the PCBA board and the support plate only through the action of the liquid flow and the telescopic clamping action;

[0019] (2) The fluid switching assembly switches the opening and closing states of oil pipe 1 and oil pipe 2 only by pushing and releasing the transfer electric push rod, thereby realizing the switching of the plate conveying and panel transfer functions. The above process can be achieved only by the extension and contraction of the transfer electric push rod and the fluid flow action of the fluid pump, which significantly improves the automation and integration of the equipment;

[0020] (3) The eye-shaped guide groove structure on the upper part of the guide plate enables the transfer electric push rod to transfer the panel in a single process. The guide rod first moves from the centripetal part at one end through the arc part on one side to the centripetal part at the other end, and then from the centripetal part at the other end through the arc part on the other side to the centripetal part at one end. During the process, the transfer electric push rod rotates a full circle. The structural design of the eye-shaped guide groove, the rotation trend provided by the liquid pump to the transfer electric push rod, and the telescopic effect of the transfer electric push rod ensure the reliability of the above movement process. BRIEF DESCRIPTION OF THE DRAWINGS

[0021] Figure 1 This is a structural diagram of a board and card automated processing and assembly system proposed by the present invention;

[0022] Figure 2 This is a schematic diagram of the internal structure of a board and card automated processing and assembly system proposed by the present invention;

[0023] Figure 3 Schematic diagram of the structure of the panel transfer machine and plate conveyor proposed by the present invention Figure 1 ;

[0024] Figure 4 Schematic diagram of the structure of the panel transfer machine and plate conveyor proposed by the present invention Figure 2 ;

[0025] Figure 5 for Figure 3 A partial enlarged view of part A in FIG;

[0026] Figure 6 This is a schematic diagram of the pipeline connection principle of the panel transfer machine and the plate conveyor proposed in the present invention.

[0027] In the accompanying drawings, the meanings of the various symbols are as follows:

[0028] 1. Board assembly cabin, 11. PCBA board feeder, 12. Support plate feeder, 13. Panel feeder, 14. Panel transfer machine, 141. Transfer drive plate, 142. Transfer column, 1421. First impeller, 143. Transfer electric push rod, 1431. Guide rod, 144. Guide plate, 1441. Guide plate, 1442. Eye-shaped guide groove, 1443. Arc portion, 1444. Extension portion, 1445. Centripetal portion, 145. Liquid flow pump, 1451. Oil pipe 3. 146. Liquid flow switching assembly, 1461. Sleeve plate, 1462. Switching cylinder, 1463. Switching rod, 1464. Return spring, 1465. Liquid flow hole, 1466. Flat suction tube, 1467. Oil pipe one, 1468. Oil pipe two, 15. Plate conveyor, 151. Bracket, 152. Conveyor roller, 153. Conveyor belt, 154. Conveying impeller chamber, 1541. Oil pipe four, 155. Second impeller, 156. Conveyor wheel, 16. Plate transfer robot.

[0029] The accompanying drawings are used to provide further understanding of the present invention and constitute a part of the specification. They are used to explain the present invention together with the embodiments of the present invention and do not constitute a limitation of the present invention. DETAILED DESCRIPTION

[0030] Example 1: Please refer to Figures 1-6The present embodiment provides a system for automatically processing and assembling boards, including a board assembly cabin 1. A PCBA board feeder 11 and a support board feeder 12 are provided on the outside of one side wall of the board assembly cabin 1. The PCBA board feeder 11 and the support board feeder 12 respectively convey the PCBA board and the support board into the board assembly cabin 1. A panel feeder 13 is also provided on one side wall of the board assembly cabin 1. The panel feeder 13 is used to convey the panel into the board assembly cabin 1. In order to complete the board assembly, a panel transfer machine 14, a panel conveyor 15 and a panel transfer robot 16 are provided on the bottom wall inside the board assembly cabin 1. The panel transfer machine 14 is provided corresponding to the panel feeder 13, and the panel conveyor 15 is provided on the side of the panel transfer machine 14 away from the panel feeder 13. The panel transfer robot 16 is arranged on the side of the panel transfer machine 14. The panel transfer robot 16 corresponds to the PCBA board feeder 11 and the support board feeder 12. The panel transfer robot 16 can clamp the support board and PCBA board conveyed by the support board feeder 12 and the PCBA board feeder 11 respectively and stack them on the panel conveyor 15. The panel conveyor 15 conveys the PCBA board and support board after stacking. A panel clamping robot is provided at the bottom of the board assembly cabin 1. The panel clamping robot clamps the PCBA board and support board conveyed by the board conveyor 15. The panel transfer machine 14 can convey the panel to the edge of the panel conveyor 15, so as to engage with the PCBA board and support board after stacking to realize board assembly.

[0031] 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 fixed to the bottom wall of the board assembly cabin 1, the transfer column 142 is rotated through the transfer drive disk 141, the base end of the transfer electric push rod 143 is fixed to the upper end side wall of the transfer column 142, the guide disk 144 is fixed to the upper wall of the transfer drive disk 141, the middle part of the transfer column 142 rotates through the center of the guide disk 144, the liquid flow pump 145 is fixed to 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 drive disk 141 is hollow, and the lower end of the transfer column 142 is coaxially fixed with a first impeller 142 1. 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 fixed 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 arc portions 1443, extension portions 1444 and centripetal portions 1445. The arc portions 1443 are symmetrically distributed and are arranged with the center of the guide disk 144 as the center of the circle. The extension portions 1444 are respectively arranged at both ends of the arc portion 1443 and are smoothly connected to the arc portion 1443. The centripetal portion 144 5 is provided on the guide plate 1441, the centripetal portion 1445 is smoothly connected to the ends of the two extension portions 1444, the centripetal portion 1445 points to the center of the guide plate 144, and from the distal end of the centripetal portion 1445 to the connection between the extension portion 1444 and the arc portion 1443, the distance between the eye-shaped guide groove 1442 and the center of the guide plate 144 gradually decreases, and vice versa gradually increases. A guide rod 1431 is provided on the lower wall of the output end of the transfer electric push rod 143 for rotation. The lower end of the guide rod 1431 is movably provided inside the eye-shaped guide groove 1442. An electric clamp is provided at the end of the transfer electric push rod 143 for clamping the panel. The liquid flow switching component 146 is provided on the guide plate 1441 on the side close to the outer wall of the board assembly compartment 1. The liquid flow switching component 146 includes a sleeve plate 1461, a switching cylinder 1461, and a plurality of other components. 62. Switch rod 1463 and return spring 1464. Sleeve plate 1461 is slidably sleeved on the outer wall of guide plate 1441. Switch cylinder 1462 is fixedly mounted on the lower wall of guide plate 1441. Switch rod 1463 is slidably and closely mounted in switch cylinder 1462. The end of switch rod 1463 is fixedly connected to the side wall of sleeve plate 1461. The two ends of return spring 1464 are respectively fixedly connected to the side wall of sleeve plate 1461 and guide plate 1441. Liquid flow hole 1465 is penetrated through the side wall of switch rod 1463. A flat liquid suction tube 1466 is fixedly connected through one side wall of switch cylinder 1462. The other end of flat liquid suction tube 1466 is connected through the liquid inlet end of liquid pump 145. Oil pipe 1 1467 and oil pipe 2 1468 are fixedly connected through the other side wall of switch cylinder 1462.The other end of the oil pipe 1467 is connected to the side wall of the transfer drive disk 141. The liquid outlet end of the liquid flow pump 145 is connected to the oil pipe 3 1451. The other end of the oil pipe 3 1451 is connected to the side wall of the transfer drive disk 141.

[0032] The liquid flow hole 1465 on the switching rod 1463 is always connected to the flat liquid pipe 1466. When the transfer electric push rod 143 is extended to the guide plate 1441 at the liquid flow switching assembly 146, the guide rod 1431 will push the sleeve 1461 to move, thereby driving the switching rod 1463 to slide toward the outside of the switching cylinder 1462. The reset spring 1464 is stretched, and the liquid flow hole 1465 is aligned with the oil pipe 1468. The liquid flow hole 1465 is The flat suction tube 1466 is connected to the oil pipe 2 1468, while the oil pipe 1 1467 is blocked. After the transfer electric push rod 143 contracts, the sleeve 1461 is reset under the action of the reset spring 1464, so that the switching rod 1463 slides toward the inside of the switching cylinder 1462, and the liquid flow hole 1465 is aligned with the oil pipe 1 1467. The liquid flow hole 1465 connects the flat suction tube 1466 and the oil pipe 1 1467, while the oil pipe 2 1468 is blocked.

[0033] The plate conveyor 15 includes a bracket 151, a conveying roller 152, a conveying belt 153, a conveying impeller chamber 154, a second impeller 155 and a conveying wheel 156. The bracket 151 is fixed to the bottom wall of the board assembly cabin 1, the conveying rollers 152 are symmetrically distributed and rotatably arranged on the upper end of the bracket 151, the conveying belt 153 is wound around the conveying roller 152, the conveying impeller chamber 154 is fixed to the side wall of the bracket 151, and the second impeller 155 is rotatably arranged on the inner wall of the conveying impeller chamber 154. The outer edge of the blade of the second impeller 155 and the inner wall of the circumference of the conveying impeller chamber 154 slide and fit. This setting method can ensure that the angle of rotation of the second impeller 155 is consistent each time it runs, and the conveying The wheel 156 is rotatably arranged on the outer wall of the conveying impeller chamber 154 and is coaxially 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 second oil pipe 1468 is connected to the circumferential side wall of the conveying impeller chamber 154. The circumferential side wall of the conveying impeller chamber 154 is penetrated by an oil pipe 4 1541. The other end of the oil pipe 4 1541 is connected to the middle part of the oil pipe 3 1451. The space connected inside the flat suction pipe 1466, the liquid flow pump 145, the oil pipe 3 1451, the transfer drive disk 141, the oil pipe 1 1467, the oil pipe 4 1541, the conveying impeller chamber 154 and the oil pipe 2 1468 is filled with hydraulic oil.

[0034] When the transfer electric push rod 143 is extended to the guide plate 1441 at the liquid flow switching assembly 146, the panel is clamped. At this time, the flat suction pipe 1466 and the second oil pipe 1468 are connected. Therefore, the flat suction pipe 1466, the liquid flow pump 145, the fourth oil pipe 1541, the delivery impeller chamber 154, and the second oil pipe 1468 form a hydraulic oil circulation loop. The operation of the liquid flow pump 145 causes the hydraulic oil to circulate along the above circulation loop, thereby causing the second impeller 155 to rotate. The flat pipe 1466, the liquid pump 145, the oil pipe 1451, the transfer drive disk 141, and the oil pipe 1467 form a circulation loop. The liquid pump 145 runs from The hydraulic oil circulates along the above-mentioned circulation loop, thereby causing the first impeller 1421 to rotate, and the first impeller 1421 drives the transfer column 142 to rotate, thereby causing the transfer electric push rod 143 to rotate. During this process, the guide rod 1431 moves along the eye-shaped guide groove 1442. When the transfer electric push rod 143 contracts to its shortest, the driving effect of the hydraulic oil on the first impeller 1421 causes the transfer electric push rod 143 to rotate, and the guide rod 1431 moves along the arc portion 1443 of the eye-shaped guide groove 1442. When the guide rod 1431 moves beyond the arc portion 1443 of the eye-shaped guide groove 1442, the transfer electric push rod 143 begins 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, thereby aligning the panel with the overlapped PCBA board and support plate previously transported here, so that it can be quickly assembled.

[0035] Embodiment 2: This embodiment provides a method for automated processing and assembly of boards and cards, which is applied to the automated processing and assembly system of boards and cards described in embodiment 1. The specific process includes the following steps:

[0036] Step S1: Preparing materials before board assembly: placing the PCBA board, support board and panel on the PCBA board feeder 11, support board feeder 12 and panel feeder 13 respectively;

[0037] Step S2: The support plate and PCBA board are in place: the panel transfer robot 16 clamps the support plate and PCBA board respectively and stacks them on the conveyor belt 153. The panel transfer machine 14 controls the panel conveyor 15 to operate and convey the stacked support plate and PCBA board to the side of the panel transfer machine 14.

[0038] Step S3: Panel in place: The panel transfer machine 14 clamps and transports the panel to the plate conveyor 15 and aligns it with the stacked support plate and PCBA board;

[0039] Step S4: assembling the board.

[0040] Specifically, see Figures 1-6 , the operation process of this embodiment is:

[0041] The operator prepares the PCBA board, support board and panel required for board 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 support board feeder 12 respectively deliver the PCBA board and support board to the board assembly cabin 1. The board transfer robot 16 clamps the support board and PCBA board respectively and stacks them on the conveyor belt 153. The liquid flow pump 145 is running. The initial state of the equipment is as follows: Figure 2-Figure 5 As shown, at this time, the transfer electric push rod 143 extends to the guide plate 1441 at the liquid flow switching assembly 146, and the guide rod 1431 makes the sleeve plate 1461 and the switching rod 1463 close to the outer direction of the switching cylinder 1462, the return spring 1464 is stretched, the liquid flow hole 1465 is aligned with the oil pipe 1468, the liquid flow hole 1465 makes the flat liquid suction pipe 1466 and the oil pipe 1468 connected, and the oil pipe 1 1467 is blocked, and the electric clamp at the end of the transfer electric push rod 143 clamps the panel. At this time, the flat liquid suction pipe 1466, the liquid flow pump 145, the oil pipe 4 1541, the delivery impeller cavity 154, and the oil pipe 1468 are in a closed state. A hydraulic oil circulation loop is formed, and the liquid flow pump 145 causes the hydraulic oil to circulate along the above circulation loop, so that the second impeller 155 rotates, driving the conveying wheel 156 to rotate, and the conveying roller 152 drives the conveyor belt 153 to run 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 cavity 154 slide and fit. This setting method can ensure that the angle of rotation of the second impeller 155 is consistent each time it runs, that is, the single conveying distance of the conveyor belt 153 is the same, which can just deliver the stacked PCBA board and support plate to the plate clamping robot, and the plate clamping robot clamps the stacked PCBA board and support plate.

[0042] After the panel is clamped, the transfer electric push rod 143 is retracted, and the sleeve 1461 is reset under the action of the reset spring 1464, so that the switching rod 1463 slides toward the inside of the switching cylinder 1462, and the liquid flow hole 1465 is aligned with the oil pipe 1 1467. The liquid flow hole 1465 connects the flat liquid pipe 1466 with the oil pipe 1 1467, and the oil pipe 2 1468 is blocked. Figure 6In the state, at this time, the flat suction pipe 1466, the liquid flow pump 145, the oil pipe 3 1451, the transfer drive disk 141, and the oil pipe 1 1467 form a circulation loop. The liquid flow pump 145 causes the hydraulic oil to circulate along the above circulation loop, thereby rotating the first impeller 1421, and the first impeller 1421 drives the transfer column 142 to rotate, thereby rotating the transfer electric push rod 143. In this process, the guide rod 1431 moves along the eye-shaped guide groove 1442 (the movement path of the guide rod 1431 is: centripetal portion 1445-expansion portion 1444-arc portion 1443-expansion portion 1444-centripetal portion 1445), and the transfer electric push rod 143 rotates. When the rod 143 is contracted to its shortest, the driving action of the hydraulic oil on the first impeller 1421 causes the transfer electric push rod 143 to rotate, and the guide rod 1431 moves along the arc portion 1443 of the eye-shaped guide groove 1442. When the guide rod 1431 moves beyond the arc portion 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, thereby aligning the panel with the overlapped PCBA board and support plate previously transported here, thereby realizing board assembly.

[0043] After the assembly is completed, the transfer electric push rod 143 contracts and extends again, and the driving force of the hydraulic oil causes the first impeller 1421 to drive the transfer electric push rod 143 to rotate again, moving from the other side of the eye-shaped guide groove 1442 to the initial state, and performing the next panel clamping and board assembly operation.

[0044] The panel transfer robot 16 and the panel transfer machine 14 both use fuzzy PID control method to control the clamping force. The specific process includes the following steps:

[0045] Step K1: Set the target clamping force and collect the actual clamping force in real time;

[0046] Step K2: Calculate the deviation and deviation change rate between the target clamping force and the actual clamping force to generate error data;

[0047] Step K3: Convert the error data into fuzzy linguistic variables and fuzzify them through membership functions to generate fuzzy error data. Combined with the clamping force control experience, a fuzzy control rule table is established.

[0048] Step K4: Calculate the fuzzy adjustment amount of the PID parameter through the fuzzy inference mechanism according to the fuzzy control rule table and the fuzzy error data, and convert the fuzzy adjustment amount into specific control parameter adjustment data through the center of gravity method;

[0049] Step K5: Adjust the data according to the specific control parameters, dynamically adjust the PID controller parameters, and then combine the error data to generate a control command to adjust the clamping force so that the clamping force is close to the target clamping force. The formula used is as follows:

[0050] ;

[0051] 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 accumulated 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 Denotes the differential gain, Δ e (k) represents the deviation change.

[0052] The present invention and its embodiments are described above. Such description is not restrictive. What is shown in the drawings is only one of the embodiments of the present invention, and the actual structure is not limited thereto.

Claims

1. A board and card automated processing and assembly system, comprising a board and card assembly cabin (1), characterized in that: The inner bottom wall of the board assembly cabin (1) is provided with a panel transfer machine (14) and a plate conveyor (15). The plate conveyor (15) is provided 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 provided on the inner bottom wall of the board assembly cabin (1). The transfer column (142) is provided on the transfer drive disk (141) for rotation. The transfer column (142) and the transfer drive disk (141) are arranged for transmission. The base end of the transfer electric push rod (143) is fixedly provided on the upper side wall of the transfer column (142). The guide disk (144) is fixedly provided on the transfer drive disk ( 141), a liquid flow pump (145) is fixedly arranged on the inner side wall of the board assembly chamber (1), a liquid flow switching component (146) is arranged on the guide plate (144), the transfer electric push rod (143) and the liquid flow switching component (146) are intermittently driven, the plate conveyor (15) includes a bracket (151) and a conveying impeller chamber (154), the bracket (151) is fixedly arranged on the inner bottom wall of the board assembly chamber (1), the conveying impeller chamber (154) is fixedly arranged on the side wall of the bracket (151), the conveying impeller chamber (154) and the transfer drive plate (141) are respectively connected to the liquid flow switching component (146), the conveying impeller chamber (154) and the transfer drive plate (141) are respectively connected to the liquid flow pump (145), and the liquid flow pump (145) is connected to the liquid flow switching component (146).

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

3. The board and card automated processing and assembly system according to claim 2, characterized in that: A liquid flow hole (1465) is provided through the side wall of the switching rod (1463).

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

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

6. The board and card automated processing and assembly system according to claim 1, characterized in that: An eye-shaped guide groove (1442) is carved on the upper wall of the guide plate (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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