Circuit board collaborative assembly station

Abstract

The invention discloses a circuit board collaborative assembly station which comprises an assembly initial detection station used for automatic assembly and initial detection of a circuit board. The temperature test station is used for testing the long-term stability of the circuit board and is arranged on the conveying and discharging side of the assembly initial test station; and the final testing station is used for performing final performance testing and packaging on the circuit board and is arranged on the conveying and discharging side of the temperature testing station. According to the assembly initial station, intelligent dispatching of materials among nine stations is achieved through a speed chain transmission device (RFID binding material boxes / trays) and a truss robot (magnetic railing ruler positioning + / -0.1 mm), and the time consumed by manual transfer is shortened by 30%; a composite robot (AGV + mechanical arm) of a temperature test station automatically grabs a storage, transportation and measurement integrated clamp, incubator butt joint (the three-level positioning precision is + / -0.25 mm) is completed, and 72-hour continuous temperature cycle unattended operation is achieved; the speed chain and the transfer robot of the final station are linked, and automatic butt joint of the vibration clamp and the test equipment is supported.

Description

Technical Field

[0001] The present invention relates to the technical field of circuit board processing, in particular to a circuit board collaborative assembly station. Background Art

[0002] With the development of AI technology, the global PCB (printed circuit board) industry is experiencing strong growth driven by technological upgrades and market demand. The current state of the industry shows that PCBs have evolved from basic electronic components to core carriers of intelligent interconnection. In PCB production workshops, multiple processing steps are typically required to achieve the desired form required for actual production use. This process typically involves the use of different processing equipment, which are then transferred between the various processing devices in a sequential order.

[0003] The current circuit board manufacturing industry faces core bottlenecks of low assembly efficiency and fragmented testing processes. The assembly, initial testing, and final testing links operate independently, lacking unified scheduling, making it difficult to achieve automated connection of the entire process.

[0004] Chinese patent publication CN1 13781865B discloses an intelligent production line for PCB electronic product assembly. The line includes a housing component feeding station, a vehicle-mounted aromatherapy assembly station, a robotic collaborative assembly station, a thermometer and hygrometer screw assembly station, a robotic assembly station, a coding and inspection station, a finished product packaging station, a labeling station, and a three-dimensional storage station, all connected by a rail-based trolley system. While this invention boasts a rational structure, effective training, and high efficiency, the various workstations in the line are not tightly connected, resulting in low space utilization.

[0005] A docking station with a temporary storage box for PCB circuit boards is disclosed in the Chinese patent document with publication number CN216037142U. The docking station with a temporary storage box for PCB circuit boards has the following effects: (1) it adopts an inclined sliding method to avoid damage to the PCB circuit boards during direct falling; (2) it can adjust the corresponding inclination angle to correspond to the height difference between the docking stations for assembly and use; (3) under the action of the first assembly plate and the second assembly plate, it can be easily fixed, installed and disassembled, so as to be used or disassembled; thus, it can be replaced or repaired; (4) through the control of the controller, the transportation power difference between the transmission component on the receiving station and the transmission component on the transport station can be achieved to ensure that the PCB circuit boards can be transported stably during the receiving and delivery process to avoid congestion. However, the docking station with a temporary storage box for PCB circuit boards adopts an inclined surface for transfer and docking, which has low accuracy and is inconvenient for docking arrangement.

[0006] A flexible collaborative robot automated assembly function test and verification line is disclosed in the Chinese patent document with announcement number CN1 14047012B. The flexible collaborative robot automated assembly function test and verification line includes various workstations and a human-machine control workstation; a force-controlled collaborative robot completes the assembly of gear components and grabs and places circuit boards and breadboards in the assembly position; a dual-arm collaborative robot includes a left arm and a right arm with gripping fingers at the ends, which complete the grabbing, assembly, and transfer of small 3C parts, circuit boards, and breadboards; the collaborative robot completes the grabbing, transfer, placement, and assembly of workpieces: the collaborative robot completes the grabbing, transfer, placement, and packing of workpieces; the mobile AGV transfer workstation includes a carton sealing machine, a material shelf, an AGV cart, and an AGV-mounted collaborative robot; the mobile AGV transfer workstation places the packaged boxes on the palletizing platform, and the palletizing robot performs intelligent palletizing; the human-machine control workstation controls the collaborative operation between the various workstations, but the flexible collaborative robot automated assembly function test and verification line is circular and compact, which is not conducive to the smooth transfer of personnel and goods.

[0007] A Chinese patent publication, CN217126201U, discloses a universal collaborative robot flexible assembly station. The station includes a gripper and transfer robot and a pneumatic pick-up and transfer mechanism. The robot is equipped with a two-claw clamp at its end, flanked by a plate cutter and a hot riveter. The plate cutter is flanked by a pneumatic stamping station and a top cover unloading platform. The pneumatic pick-up and transfer mechanism is flanked by an FT tester and an RF tester. This universal collaborative robot flexible assembly station uses a gripper and transfer robot to move circuit boards, waits for the bottom shell to be installed, and then moves it and the cover plate into the hot riveter for assembly. This assists in the assembly and placement of workpieces, enabling the flow of auxiliary assembly and testing, improving production efficiency and reducing labor costs. However, this station lacks a robot dispatching mechanism, resulting in a relatively small robot working range.

[0008] In order to solve the above-mentioned deficiencies in the prior art, providing a circuit board collaborative assembly station is an issue worthy of study. Summary of the Invention

[0009] The purpose of the present invention is to overcome the shortcomings of insufficient coordination of assembly stations in existing assembly stations, provide a circuit board collaborative assembly station, and achieve the technical effect of full-process automation of multi-station collaborative operations.

[0010] The purpose of the present invention is achieved through the following technical solutions:

[0011] Collaborative circuit board assembly stations, including assembly and initial testing stations for automatic circuit board assembly and initial inspection;

[0012] A temperature test station for testing the long-term stability of the circuit board, which is located on the conveying and discharging side of the assembly initial test station;

[0013] And a final test station for performing final performance testing and packaging of circuit boards, wherein the final test station is arranged on the transmission and discharge side of the temperature test station.

[0014] The assembly and initial testing station includes an automatic docking cache device, an assembly transmission device, a curing storage area and a truss robot, an initial testing transmission line and a transfer device, and manual stations, automatic coating stations, automatic assembly stations and automatic weighing stations arranged in sequence along the initial testing transmission line and the transfer device, as well as an integrated storage, transportation and testing fixture for transferring the initial testing products.

[0015] The automatic docking cache device includes a docking cache rack, a docking robot position changing mechanism provided on one side of the docking cache rack, a docking robot slidably connected to the docking robot position changing mechanism, and an automatic docking measurement and control cabinet provided on the side of the docking cache rack;

[0016] The assembly transmission device is a double-speed chain mechanism that adopts single-layer, one-way, multi-loop, clockwise circulation transmission. The assembly transmission device uses a conveyor pallet as a carrier, and the conveyor pallet circulates on the transmission chain. The assembly transmission device adds an automatic gluing loop and an automatic assembly loop to the double-speed chain ring, which are respectively arranged at the corresponding ends of the automatic gluing station and the automatic assembly station. The assembly transmission device is provided with a stop or locking device corresponding to the assembly station and the material box entry and exit position. The material box on the double-speed chain conveyor pallet is transported to the assembly station using an up and down line mechanism clamped by a cylinder;

[0017] The curing storage area and the truss robot include a curing storage area and a truss robot arranged on the curing storage area. The curing storage area is provided with a plurality of placement positions, and a QR code is pasted above the placement position for the truss robot to determine the cargo information and automatically reset the cargo status. The placement position of the material box in the curing storage area is printed with a placement range wireframe and a position QR code number and coordinate information to facilitate the automatic positioning of the truss robot and the establishment of the storage position coordinate system of the robot. Since the longitudinal displacement of the truss robot adopts an absolute value grating ruler, accurate positioning can be ensured in the curing storage area within a larger range of motion. When the truss robot grabs and places the material box, for the sake of safety, in addition to acting according to computer instructions, it also uses a visual sensor for detection and verification to ensure the safety of the product during grabbing and placement;

[0018] The initial test transmission line and transfer device include a fixture pushing mechanism, a fixture transfer robot, a fixture transfer speed chain and a material box transmission speed chain. The initial test transmission line and transmission device need to realize automatic transmission between manual workstations, automatic docking mechanisms, curing storage area output fixture links, and fixture to automatic docking and cache robot links. Since a transfer robot is set as an intermediate transfer device, the automatic transmission of the initial test becomes direct and efficient, which not only simplifies the interface of the transmission line, but also reduces the difficulty of controlling the transmission link.

[0019] An automatic material inlet and outlet docking station is provided on the left side of the manual workstation, and an intelligent torque screwdriver push-pull arm and a screw feeder and a batch head programmer are provided on the right side of the manual workstation;

[0020] The gluing robot of the automatic coating station is equipped with positioning and visual detection sensors to automatically apply glue to the products installed on the station tooling or fixed to the coating station;

[0021] The workbench of the automatic assembly station adopts a stainless steel table top, and a machine box is set under the table for installing PLC control circuits, communication modules, detection instruments, etc. An automatic up and down mechanism for the material box is designed on one side of the speed chain of the table. The table top of the table is equipped with a touch screen computer, a six-axis robot for product positioning and placement, several pneumatic clamping product positioning tooling, a special screw locking robot, four screw feeders and a dispensing machine, a bit rack and a barrel rack.

[0022] The automatic weighing station is connected to the initial measurement transmission line and the assembly transmission device through the upper and lower limit mechanisms of the material box. The automatic weighing station is equipped with a weighing sensor module, calibration standard parts and storage supports, a product shifting and measuring robot, and the product shifting and measuring robot includes a displacement mechanism, a six-axis industrial robot body, a gripper mechanism, and a visual camera sensor, light source, and barcode scanner installed on the gripper mechanism.

[0023] The assembly initial test station transports the circuit board after the assembly initial test to the temperature test station through the storage, transportation and testing integrated fixture.

[0024] The temperature test station includes a composite transfer robot for transferring, storing, transporting and testing integrated fixtures, a test placement rack for placing temperature tests, and a line-side temporary storage shelf for temporary storage and transfer transition of circuit boards.

[0025] The compound transfer robot is driven by an AGV trolley to complete the transfer. The compound transfer robot is provided with a lifting mechanism, and the lifting mechanism is provided with a motor-driven horizontally retractable transfer platform. The shape of the transfer platform of the compound transfer robot is adapted to the bottom shape of the integrated storage, transportation and testing fixture.

[0026] The test placement frame includes front and rear crossbeams, vertical plates and a plurality of docking placement units, wherein the docking placement units include plug-in modules, cross braces, longitudinal braces, grooves, guide plates, universal balls, blocks, baffles and fixed blocks;

[0027] The line-side temporary storage shelf adopts a turntable structure for the fixture placement, ensuring that the logistics AGV trolley can set the position of the fixture at will when docking.

[0028] The final measurement station includes a final measurement transmission line and a transmission device, a final measurement workstation, and a manual auxiliary transfer device.

[0029] The transmission device of the final measurement transmission line and the transmission device adopts a single-layer, one-way, round-trip transmission "double-speed chain mechanism", with a "conveyor pallet" as the carrier. The conveyor pallet only flows back and forth on the transmission chain. The six-axis robot and SCARA robot of the final measurement transmission line and the transmission device adopt an up and down line mechanism with cylinder clamping to realize the transmission of tooling between the workstation and the double-speed chain;

[0030] The final test station includes four manual stations, which are respectively used for disassembling the integrated fixture, disassembling the vibration test fixture, final testing and packaging;

[0031] The manual assisted transfer device is a manual transfer cart. The side panel of the manual assisted transfer device is made of PVC material. It can accommodate two material boxes in the length direction and can accommodate two rows of two layers of material boxes in height. The front baffle of the transfer cart is equipped with a push-pull handle.

[0032] Positive and beneficial effects: 1. The circuit board collaborative assembly station and the initial assembly test station realize intelligent scheduling of materials among 9 workstations through the double-speed chain transmission device (RFID binding material box / pallet) and the truss robot (magnetic scale positioning ±0.1mm), reducing the time spent on manual transfer by 30%; the composite robot (AGV+robotic arm) at the temperature test station automatically grabs the integrated storage, transportation and testing fixture, completes the temperature box docking (three-level positioning accuracy ±0.25mm), and operates the temperature cycle continuously for 72 hours without supervision; the double-speed chain + transfer robot linkage at the final test station supports automatic docking of the vibration fixture and the test equipment, and the full final inspection pass rate before delivery is ≥99.5%; the integrated storage, transportation and testing fixture connects the three major stations in series, eliminating the six manual handling links of the traditional production line.

[0033] 2. For the collaborative assembly station of the circuit board, the initial test transmission line and transmission device need to realize automatic transmission between the manual workstation, the automatic docking mechanism, the output fixture link of the curing storage area, and the link from the fixture to the automatic connection and cache robot. Since a transfer robot is set as an intermediate transfer device, the automatic transmission of the initial test becomes direct and efficient, which not only simplifies the interface of the transmission line, but also reduces the difficulty of controlling the transmission link.

[0034] 3. The product curing storage area of ​​the collaborative assembly station for the circuit board and the assembly and preliminary test stations also adopts a structure with multiple countertops, which allows for a clear view of the material situation and facilitates maintenance. The truss design for the assembly and preliminary test stations adopts an open and low-frame mode, and the truss track height does not exceed 1.3 meters, which is at the same level as the eye height of a sitting person, and maintains a certain distance from the operating station, without any visual obstruction or oppression. The manual and automatic workstations in the upper and lower areas of the assembly and preliminary test stations are designed to be flush, which is neat and beautiful. The docking mechanism and manual workstations of the final test station are designed symmetrically, which is comfortable to look at. BRIEF DESCRIPTION OF THE DRAWINGS

[0035] Figure 1 The overall structure of the circuit board collaborative assembly station of the present invention is shown;

[0036] Figure 2 This is a schematic diagram of the two-dimensional structure of the initial measurement station of the assembly of the present invention;

[0037] Figure 3 Schematic diagram of the two-dimensional structure of the temperature test station of the present invention;

[0038] Figure 4 Schematic diagram of the two-dimensional structure of the final measurement station of the present invention;

[0039] Figure 5 A schematic diagram of the three-dimensional structure of the initial measurement station of the assembly of the present invention;

[0040] Figure 6 Schematic diagram of the three-dimensional structure of the final measurement station of the present invention;

[0041] Figure 7 This is a schematic structural diagram of the automatic connection buffer device of the present invention;

[0042] Figure 8 A schematic diagram of the structure of the transmission device of the present invention;

[0043] Figure 9 This is a schematic structural diagram of the solidification storage area of ​​the present invention;

[0044] Figure 10 Schematic diagram of the structure of the truss robot of the present invention;

[0045] Figure 11 It is a structural schematic diagram of the manual workstation of the present invention;

[0046] Figure 12 This is a schematic structural diagram of the automatic coating station of the present invention;

[0047] Figure 13 This is a schematic structural diagram of the automatic assembly station of the present invention;

[0048] Figure 14 This is a schematic structural diagram of the automatic weighing station of the present invention;

[0049] Figure 15 This is a schematic structural diagram of the storage, transportation and testing integrated fixture of the present invention;

[0050] Figure 16 Schematic diagram of the structure of the composite transfer robot of the present invention;

[0051] Figure 17 It is a structural schematic diagram of the test placement rack of the present invention;

[0052] Figure 18 This is a structural diagram of the line-side temporary storage shelf of the present invention.

[0053] In the figure: 101-automatic docking buffer device, 102-assembly transmission device, 103-curing storage area and truss robot, 104-initial test transmission line and transfer device, 105-manual workstation, 106-automatic coating station, 107-automatic assembly station, 108-automatic weighing station, 109-integrated fixture for storage, transportation and measurement, 201-composite transfer robot, 202-test placement rack, 203-line-side temporary storage shelf, 301-final test transmission line and transmission device, 302-final test station, 303-manual assisted transfer device. DETAILED DESCRIPTION

[0054] The following describes embodiments of the present invention in detail, examples of which are shown in the accompanying drawings, wherein the same or similar reference numerals throughout represent the same or similar elements or elements having the same or similar functions. The embodiments described below with reference to the accompanying drawings are exemplary and are intended to be used to explain the present invention, and are not to be construed as limiting the present invention.

[0055] Example 1

[0056] like Figures 1 to 18 As shown, the circuit board collaborative assembly station includes an assembly and initial testing station for automatic assembly and initial inspection of circuit boards;

[0057] A temperature test station for testing the long-term stability of circuit boards. The temperature test station is located on the conveyor discharge side of the initial assembly test station.

[0058] And the final test station is used to perform final performance testing and packaging of circuit boards. The final test station is set on the transmission and discharge side of the temperature test station.

[0059] like Figures 1 to 15As shown, the assembly initial test station includes an automatic docking buffer device 101, an assembly transmission device 102, a curing storage area and a truss robot 103, an initial test transmission line and a transfer device 104, and a manual station 105, an automatic coating station 106, an automatic assembly station 107 and an automatic weighing station 108 arranged along the transmission route of the initial test transmission line and the transfer device 104 in sequence, as well as an integrated storage, transportation and testing fixture 109 for transferring the initial test products.

[0060] like Figures 1 to 10 As shown, the automatic docking cache device 101 includes a docking cache rack, a docking robot position changing mechanism arranged on one side of the docking cache rack, a docking robot slidably connected to the docking robot position changing mechanism, and an automatic docking measurement and control cabinet arranged on the side of the docking cache rack; the automatic docking cache device 101 is used to complete the automatic docking of materials and fixtures between the assembly initial measurement station and the logistics AGV, the docking cache rack is a placement stand for the logistics AGV (transfer material box and fixture), one automatic and one manual docking, the automatic docking robot is used for the automatic transfer of material boxes and storage and transportation integrated fixtures (hereinafter referred to as fixtures or integrated fixtures) between the cache rack and the assembly transmission line and transmission device, the automatic docking measurement and control cabinet automatically docks and places the touch screen computer, communication module, controller PLC and measurement and control circuit of the cache device, and a safety fence is set around the automatic docking cache device 101 to prevent people from entering and touching;

[0061] The docking cache rack is a single-layer rack with a table height of 800mm. It can hold 2 rows of material boxes or fixtures, with 8 columns of placement positions in each row. The left row is the pick-and-place work area for the logistics AGV; the right row is the cache area; the left and right rows are both work areas for automatic docking robots to pick up and place; the 16 placement positions on the table are marked with position range boxes and position number QR codes; there are side guards on the four sides of the rack to prevent material boxes or fixtures from slipping, the docking robot is a six-axis industrial robot; the end is designed with an actuator for grabbing material boxes or fixtures; the actuator is equipped with a visual camera for positioning detection and a material information reading scanner; the actuator adopts a pneumatic opening spring clamping structure; the docking robot displacement mechanism is used to expand the working area of ​​the docking robot; the docking robot base adopts a steel plate splicing structure, which is used to place the docking robot motion mechanism on the second floor floor;

[0062] During normal docking work, the left row of the docking cache rack is designed with 8 logistics AGV docking positions, 4 of which are vacant positions and 4 are positions for boxes or fixtures to be taken, which is convenient for the logistics AGV to quickly pick up and put; the 8 material positions on the right row of the platform also have 4 vacant positions and 4 positions for boxes or fixtures to be taken out of the assembly line, which is convenient for the docking robot to quickly exchange the boxes or fixtures in and out with the left row. If conditions permit, the docking robot can also directly transfer the boxes or fixtures in the left row of the cache rack to the four access docking positions on the left end of the curing storage area. The docking robot performs in-and-out exchange of material boxes or fixtures to improve docking efficiency. Before grabbing or placing a material box or fixture, the docking robot uses its visual camera and barcode scanner to detect the placement position or the status of the material box / fixture to ensure the safety of grabbing and placing and obtain the required material or carrier information. The position switch on the motion mechanism includes zero position and limit sensors for mechanism reset and safety limit protection. When a serious fault occurs in the measurement and control circuit, the andon system will promptly notify the control unit computer and issue an alarm indication;

[0063] The assembly transmission device 102 is a double-speed chain mechanism that adopts single-layer, one-way, multi-loop, clockwise circulation transmission. The assembly transmission device 102 uses the conveyor pallet as a carrier, and the conveyor pallet circulates on the transmission chain. The assembly transmission device 102 adds an automatic gluing loop and an automatic assembly loop to the double-speed chain ring, which are respectively set at the corresponding ends of the automatic gluing station and the automatic assembly station. The assembly transmission device 102 is provided with a stop or locking device corresponding to the assembly station and the material box entry and exit position. The material box on the double-speed chain conveyor pallet is transported to the assembly station using an up and down line mechanism clamped by a cylinder. The pallet configured with the double-speed chain The number is twice that of all manual workstations, which can ensure that empty pallets can be intercepted at any time on the double-speed chain and products can be pushed onto the pallets. The material box loading and unloading mechanisms and truss robots on the transmission line can realize the arbitrary transmission of products between various stations without manual intervention. The double-speed chain is designed with multiple RFID readers. Together with the RFID tags on the transmission pallets and the scanners on the manipulators when the material boxes enter and exit the assembly line, the numbers of the material boxes on the transmission line are corresponding to the numbers of the transmission pallets, which facilitates the control system to accurately control and manage the transportation of the material boxes and materials during the transmission process.

[0064] The curing storage area and the truss robot 103 include a curing storage area and a truss robot arranged on the curing storage area. A number of placement positions are provided on the curing storage area, and a QR code is pasted above the placement position for the truss robot to determine the cargo information and automatically reset the cargo status. The curing storage area is composed of seven large square plates, supported by a truss beam, and accommodates 4 columns and 14 rows of 96 material boxes or fixtures. Among them, the four placement positions in the first row on the left and the first three positions of the initial measurement station are different from the other 89 placement positions. All the placement positions contain a QR code above them, which is used by the truss robot to determine the cargo information and automatically reset the cargo status. The truss support structure includes: 2 "truss longitudinal beams" for installing the longitudinal motion mechanism, 6 pairs of "longitudinal beam pillars" supporting the truss longitudinal beams, 6 pairs of "lower cross braces" horizontally connected between the pillars, 5 pairs of "lower longitudinal braces" longitudinally connected between the pillars, and "end cross braces" at both ends of the longitudinal beams; the longitudinal motion drive mechanism of the truss robot adopts a pair of servo motors, reducers and bevel gears The truss robot is synchronously driven and equipped with a magnetic scale reading head for longitudinal position detection; the transverse transmission mechanism and drive device are installed on the crossbeam, including gear rack, linear guide, slider, servo motor, servo drive and absolute encoder for directly detecting the transverse position; the truss robot's gripper adopts an electric opening and spring clamping mode to ensure that the clamped material box is in a safe state when the system suddenly loses power; the gripper's lifting mechanism adopts an electric cylinder drive structure with good self-locking ability, which can ensure that the lifting state of the mechanism remains unchanged when the power is lost. In order to reduce the height of the truss longitudinal beam, the truss robot's gripper mechanism and lifting mechanism are designed on one side of the crossbeam. The preliminary design of the truss longitudinal beam has an upper end face height of 1.1m, which makes the entire truss area have better openness and visibility. A tarpaulin electric reel is set on the right side of the truss curing storage area, and a horizontal support bar is designed inside the tarpaulin. When the assembly line is not used for a long time, it can be manually installed on the truss and moved with the truss to eventually cover the entire curing storage area to prevent the material on it from falling into dust.

[0065] The placement area of ​​the material boxes in the curing storage area is printed with a placement range wireframe, a QR code number, and coordinate information to facilitate the automatic positioning of the truss robot and the establishment of the robot's storage position coordinate system. Since the truss robot uses an absolute value grating ruler for longitudinal displacement, it can ensure accurate positioning in the curing storage area within a large range of motion. When the truss robot grabs and places the material boxes, in addition to following computer instructions, it also uses visual sensors for detection and verification to ensure the safety of the products during grabbing and placement.

[0066] The initial test transmission line and transfer device 104 includes a fixture pushing mechanism, a fixture transfer robot, a fixture transfer speed chain and a material box transfer speed chain. The fixture pushing mechanism is used for the automatic transfer of fixtures from the curing storage area to the fixture transfer robot working area; the fixture transfer robot is used for the automatic transfer of finished assembly products (in the material box) and fixtures in the curing storage area to the manual workstation (i.e., the fixture wiring workstation), the automatic transfer of the fixture (product) after wiring to the initial test automatic docking mechanism, and the automatic transfer of the fixture from the automatic docking mechanism to the fixture transfer speed chain, which forms a complementary function with the speed chain and the fixture pushing mechanism. The fixture transfer speed chain is used for the automatic transmission and caching of fixtures (products) to the automatic docking and caching device, reserving work positions for subsequent products and fixtures; the material box transfer speed chain is used for the automatic transmission and caching of material boxes between the curing storage area and the manual auxiliary assembly workstation (initial test wiring workstation).

[0067] The initial test transmission line and transmission device need to realize automatic transmission between the manual workstation, automatic docking mechanism, curing storage area output fixture link, and fixture to automatic docking and cache robot link. Since a transfer robot is set as an intermediate transfer device, the automatic transmission of the initial test becomes direct and efficient, which not only simplifies the interface of the transmission line, but also reduces the difficulty of controlling the transmission link.

[0068] like Figures 11 to 14As shown, the left side of the manual workstation 105 is provided with an automatic material in-and-out docking station, and the right side of the manual workstation 105 is provided with an intelligent torque screwdriver push-pull arm and a screw feeder and a batch head programmer below it. The mechanical structure of the manual workstation mainly includes: the operating table provides an installation and support platform for other devices, and its bottom is fixed to the workshop floor by a foot cup, providing a more accurate basic support for the robotic arm; the left side of the manually operated workbench is an automatic material in-and-out docking station, which has 2 docking positions and 2 cache positions, and can accommodate 4 material boxes, a touch screen display and a support base at the same time, wherein the touch screen display is used to display basic product information, processing requirements, etc., and the support base provides a support base for the display; andon system and electrostatic protection, the andon system is installed in the upper left corner of the operating table, including a four-color warning light column (fault state * red, waiting state * red, etc. The system includes three buttons: status (green, running status (yellow), and shutdown status (blue)) and a mechanical button box (fault call, pause call, and resume call). The button box's output signal is an independent communication network, passing through a 485 button box gateway → Ethernet switch → management and control system. ESD protection includes a desktop electrostatic voltage monitor (installed behind the metal tool hanger), a wrist strap, and connecting cables. The automatic docking mechanism is driven by a stepper motor and a synchronous belt. When the material box is placed on the push plate, the push plate pushes the material box into place. The tool hanger and supporting tools include a barcode scanner, intelligent torque screwdriver, screw feeder, material storage device, tool hanger, andon system, soldering iron stand, electrostatic voltage detector, and smoke purifier. The control system can obtain the operator's use of tools and compliance with the assembly process through infrared detection switches.

[0069] The touch screen computer's mounting bracket can be manually adjusted in the front, back, left, right, and pitch directions, and is self-locking, meeting ergonomic design requirements. All information during manual operation will be recorded by the touch screen computer and uploaded or stored as needed.

[0070] The gluing robot of the automatic coating station 106 is equipped with positioning and visual detection sensors, which automatically applies glue to the products installed on the station tooling or the products fixed on the coating station. The mechanical structure of the automatic coating station mainly includes: there is a material box up and down line mechanism above the workbench, which is used to install the automatic coating robot, product placement tooling, gluing machine (two units), glue gun hanging plate, paint temporary storage rack, andon system, safety light curtain, etc.; the automatic coating robot adopts SCARA body plus a special end effector; the end effector is equipped with a barcode scanner and a visual camera, and the robot end effector is equipped with two clamping mechanisms, one is a product flexible clamping mechanism, and the other is a glue gun clamping mechanism, and the clamping jaws are realized by a diaphragm cylinder. Clamping reduces the installation space of the clamping mechanism and avoids interference between the two clamping mechanisms; receives work instructions, identifies incoming material information, and transfers products to the corresponding workstation; the glue gun is hung on the glue gun hanging plate, and the glue gun clamping handle is fixed with a clamping transition handle with the same interface as the clamping mechanism, which facilitates the use of a single clamp to achieve stable and reliable clamping of two different gun handles; the coating type in the designated area is silicone rubber (GD414) or silicone conformal coating (1-2577); the product placement tooling is used for stable placement and basic positioning of the product and needs to be designed according to the requirements of different coating locations; a barcode scanner and visual camera are used to record information about the glued product and the glue coating status; and a safety light curtain and andon system are also provided;

[0071] The gluing process is roughly divided into two steps. First, the coating robot locates the position of the product according to computer instructions, positions the product, and then applies glue to the specific area. When the coating robot automatically docks the glue guns, it only takes one glue gun at a time. Compared with the method of carrying two glue guns at the same time, it can effectively prevent the residual glue at the end of one glue gun from splashing onto the product when the other glue gun is spraying another glue. In addition, it also avoids the possibility of interference between the two glue guns when coating in a special position, ensuring the accuracy of product coating and product safety.

[0072] The workbench at automatic assembly station 107 features a stainless steel tabletop with a cabinet underneath for mounting PLC control circuits, communication modules, and testing instruments. An automatic material box lift mechanism is designed on one side of the double-speed chain. The tabletop houses a touchscreen computer, a six-axis robot for product positioning, several pneumatically clamped product positioning fixtures, a dedicated screw-locking robot, four screw feeders, a glue dispenser, a bit rack, and a barrel rack.

[0073] Automatic assembly station 107 also includes a positioning and placement robot equipped with flexible grippers and industrial cameras, which receives work instructions, identifies incoming material information, and transfers products to the appropriate station. This robot automatically positions, grasps, and assembles products and components. A barcode scanner and visual camera at this station identify component assembly positions, part numbers, and any missing or incorrectly installed parts. This station takes photos of the product assembly process and stores them, automatically entering relevant information such as product number, operation time, torque value, weight, and inspection results into the system. The product positioning tooling utilizes pneumatic clamping with a diaphragm cylinder, reducing the space required for the clamping mechanism while ensuring product safety. A screw-locking robot, equipped with a magnetic screw pickup bit, can pick up screws of the required specifications from a screw feeder, apply glue to a glue dispenser, and then drive the screws—all in one go, ensuring efficiency. The robot's screw-locking mechanism incorporates a torque measurement sensor for torque control feedback during screw tightening and torque curve detection during the tightening process, facilitating the collection and storage of process parameters. The screws can be tightened to the specified torque;

[0074] The flexible chuck of the positioning and placement robot takes the product from the material box and places it on the assembly tool for assembly. It can also be placed on the automatic screw locking tool, and the screw locking robot can be used to screw. The screw locking robot can select the bit and screws according to the product information and automatically perform the screw locking assembly of the product. After assembly, the product is inspected by the visual camera on the positioning and placement robot, and then clamped and placed in the material box, and sent back to the speed chain by the automatic loading and unloading mechanism. During the entire automatic assembly process, the computer automatically records all assembly processes and information and can upload or save them as needed.

[0075] The automatic weighing station 108 is connected to the initial measurement transmission line and the assembly transmission device 102 through the upper and lower limit mechanisms of the material box. The automatic weighing station 108 is equipped with a weighing sensor module, calibration standards and storage supports, and a product shifting and measuring robot. The product shifting and measuring robot includes a displacement mechanism, a six-axis industrial robot body, a gripper mechanism, and a visual camera sensor, light source, and barcode scanner installed on the gripper mechanism. The gripper mechanism is opened and closed using a pair of counter-spiral trapezoidal screws to ensure that the system has position self-locking and clamping force retention functions in the event of a sudden power failure under any circumstances. The pair of "grips" on the gripper mechanism adopts an elastic arm structure and a flexible film material for the contact surface, and a resistance strain bridge force measurement circuit is provided on the elastic arm. The safety of the outer surface of the product when being clamped can be ensured by accurately controlling the flexible gripping force of the product:

[0076] Product quality measurement: First, an empty scale tare test is performed (taking the average of multiple results). Then, the clamping mechanism places the product in the material box on the weighing module's scale plate. The computer reads the data from the weighing sensor, averages the weight multiple times, and tares the weight. The product quality is calculated and uploaded to the computer of the control unit. The product is removed and placed in the material box and sent back to the double-speed chain of the transmission line.

[0077] Weighing system verification: First, perform an empty scale tare test (take multiple average results), then the clamping mechanism places the standard part on the standard part support onto the weighing module's scale plate, the computer reads the data from the weighing sensor, averages multiple times and then tares the weight, calculates the measurement result and compares it with the standard part mass to see if it meets the accuracy requirements. If not, the weighing coefficient can be corrected and the above process repeated. If it still cannot meet the requirements, it is necessary to upload the alarm to the control unit computer.

[0078] like Figure 15 As shown, the assembly initial test station transfers the assembled circuit board after the initial test to the temperature test station through the storage, transportation and test integrated fixture 109. The "guide groove" at the bottom of the storage, transportation and test integrated fixture 109 cooperates with the "guide plate" of the docking mechanism to achieve rough positioning of the connector plug and socket during docking; the two "guide pin holes" on the left and right can achieve accurate positioning of the plug and socket during docking; the two "fork ports" on the left and right are convenient for placing the fixture before docking and applying force when the connector is disengaged; the connector socket is "embedded" on the fixture to ensure the safety of the connector during transportation, and the " The connector troughs leave ample space to accommodate multiple cable bend radii and connectors. One end of the connector features a "micro-floating" installation design, with an "adaptive" plug-in / plug-out safety margin of no more than 0.25mm. While ensuring strength, the fixture's weight is estimated to be no more than 6kg, and it can adapt to temperatures ranging from -55°C to 100°C. Product sizes range from 80 to 280mm in diameter and 90 to 458mm in length. The fixture features 180-core differential signal connectors, 4-core video signal connectors, and 16-core voltage signal connectors.

[0079] The fixture can be transported on multiple workstations and conveyor chains. It has internal installation and fixing slots for various products, allowing different models of products to be stably placed in vertical or horizontal positions.

[0080] The fixture shape design can meet the needs of transportation on double-speed chains, AGV logistics vehicles, truss robots and push-pull robots at various workstations, as well as the docking and clamping of composite robots and docking and plugging on test racks;

[0081] The connector on the end face of the fixture adopts a socket head, so that it can be kept within the plane of the end face, ensuring the safety of the connector during transfer or transportation;

[0082] The connector end of the fixture is designed with a large space area for placing the lead-out cables and plugs, so that multiple cables and cable plugs can be placed and the lead-out cables have a certain bending space;

[0083] Laser-printed QR codes are provided on the top and both end faces of the fixture. When the clamping mechanism is clamping and transferring, the information of the fixture (product) can be obtained through the QR code on the top. When the composite robot is transporting the fixture, the QR codes on the both end faces can be used for secondary positioning and to record product information.

[0084] Example 2

[0085] like Figures 16 to 18 As shown, the temperature test station includes a composite transfer robot 201 for transferring the integrated fixture 109 for storage, transportation and testing, a test placement rack 202 for placing temperature tests, and a line-side temporary storage shelf 203 for temporary storage and transfer of circuit boards.

[0086] like Figure 16As shown, the compound transfer robot 201 is driven by the AGV trolley to complete the transfer. The compound transfer robot 201 is provided with a lifting mechanism, and the lifting mechanism is provided with a motor-driven horizontally retractable transfer platform. The shape of the transfer platform of the compound transfer robot 201 is adapted to the bottom shape of the storage and transportation integrated fixture 109. The AGV of the compound transfer robot 201 adopts a general industrial AGV. A column bottom plate for the mechanical interface with the AGV is installed on the top surface of the AGV. A lifting frame is designed on the column bottom plate, and a five-layer (5 fixture storage positions) fixture cache is fixedly installed on one side of the lifting frame. Each storage position is designed with an end stopper to prevent the fixture from sliding out; a lifting mechanism is installed on the other side, and the rotating mechanism is installed on the lifting mechanism through a bottom bracket, so that the rotating mechanism can realize lifting and lowering movement; the docking mechanism installed on the rotating mechanism is composed of an inner and outer frame mechanism, and the inner frame is installed in the outer frame, and the rotating mechanism can make the docking mechanism rotate from 0° to 90°; a 3D laser sensor is installed at the bottom of the outer frame for the docking mechanism to detect the height and angle of the test placement rack relative to the docking mechanism; the inner frame of the docking mechanism is connected to the outer frame through the outer frame. The drawer-type guide rails, lead screws and nuts in the rack are connected to the outer frame and can be telescopically moved relative to the outer frame under the drive of the servo motor at the rear end of the outer frame, so that the inner frame of the docking mechanism and its internal mechanism can enter and exit the test rack in the incubator; the outer lower end of the inner frame is equipped with a pair of "lock hooks" that can be driven by a stepper motor to rotate from 0° to 90°. The lock hooks can be hung in the force "groove" of the test rack, so that the force of the docking mechanism when pushing and pulling the fixture becomes the "internal force" of the test rack; the fixture "guide" is installed on the inner bottom surface of the inner frame. The "directional plate" and "universal ball" are used to position and smoothly move the fixture when entering the docking mechanism; the inner frame is connected to a "push-pull plate" mechanism that can perform telescopic movement relative to the inner frame through a pair of guide rails, screws, nuts, and push-pull motors on the left and right sides above it. A "flexible slat" is designed in the middle of the push plate, and a pair of "pull rods" that can be driven by a stepper motor to rotate from 0° to 90° are installed at the lower ends of the push-pull plate. The push-pull plate is used to apply force when the fixture is docked or separated, the flexible slats are used to propel the fixture and make the force uniform, and the pull rods are used to pull out the fixture when it is separated;

[0087] Furthermore, the inner frame of the docking mechanism of the composite transfer robot 201 is connected to the outer frame through the drawer-type guide rails, lead screws and nuts in the outer frame, and can be telescopically moved relative to the outer frame under the drive of the servo motor at the rear end of the outer frame, so that the inner frame of the docking mechanism and its internal mechanism can enter and exit the test placement rack in the incubator; the outer lower end of the inner frame is equipped with a pair of "locking hooks" that can be driven by a stepper motor to rotate from 0° to 90°, and the locking hooks can be hung in the force "groove" of the test placement rack, so that the force of the docking mechanism when pushing and pulling the fixture becomes the "internal force" of the test placement rack; the inner The inner bottom surface of the layer frame is equipped with a clamp "guide plate" and "universal ball", which are used for positioning and smooth movement of the clamp when entering the docking mechanism; the inner frame is connected to a "push-pull plate" mechanism that can perform telescopic movement relative to the inner frame through a pair of guide rails, screws, nuts, and push-pull motors on the left and right sides above it. A "flexible slat" is designed in the middle of the push plate, and a pair of "pull rods" that can be driven by a stepper motor to rotate from 0° to 90° are installed at the lower part of both ends of the push-pull plate. The push-pull plate is used to apply force when the clamp is docked or separated, the flexible slats are used to push the clamp and make the force uniform, and the pull rods are used to pull out the clamp when it is separated.

[0088] like Figures 17 and 18 As shown, the test placement frame 202 includes front and rear crossbeams, vertical plates and several docking placement units, and the docking placement unit includes a plug-in module, a cross brace, a longitudinal brace, a groove, a guide plate, a universal ball, a stopper, a baffle and a fixed block. The longitudinal brace is fixed to the front and rear crossbeams, and a guide plate and a universal ball are installed on the longitudinal brace to provide conditions for the placement, rough positioning and smooth movement of the fixture on the test placement frame; the hook groove is fixed on the longitudinal brace and the front crossbeam to provide a fulcrum for the docking mechanism to form the "internal force" of the test placement frame when applying force; the cross brace installed on the longitudinal brace is fixed to the vertical plates on both sides through the fixed block, so that the docking placement unit has a stable frame structure; the "plug-in module" composed of the connector plug, the plug socket and the positioning pin is placed on the longitudinal brace and is constrained by the stopper and the baffle fixed on the transverse brace with an appropriate gap to form a "floating" state within a certain range, so that it has a certain range of position "adaptive" adjustment capability during docking;

[0089] A 3D laser sensor is installed on the docking mechanism of the test placement frame 202, which can detect and confirm the existence and exact position of the fixtures in the test placement frame and the line-side temporary storage shelves, as well as the positioning position of the AGV relative to the test placement frame. The guide plate on the test placement frame is convenient for ensuring the safety of products and mechanisms. The test placement frame, docking mechanism and fixture are equipped with a three-level positioning function, thereby ensuring the connection's own flexibility (within ±0.25mm) and the positioning accuracy requirement. The guide positioning pins on the connector socket plate cooperate with the positioning pin holes on the fixture to ensure the precise positioning between the connector plug and socket, with a positioning accuracy of within 0.2mm; a locking hook mechanism is added to the docking mechanism, so that the docking force (about 10kg) between the composite robot and the test placement frame during docking becomes an "internal force" on the test placement frame. The docking placement unit in the test placement frame is structurally designed with the "plug-in module" designed as a floating mode, and the docking and plugging of the connector are completed through rough positioning of the guide plate and precise positioning of the positioning pin. It is sufficient to ensure the processing and installation accuracy between the positioning pins on the plug-in board and the connector.

[0090] The line-side temporary storage shelf 203 adopts a turntable structure for the fixture placement position, ensuring that the logistics AGV trolley can arbitrarily set the orientation of the fixture when docking. The support frame of the line-side temporary storage shelf 203 has four layers of space from top to bottom, of which the first layer is the fixture placement layer, with a total of 4 placement positions (i.e., 4 independent turntables); the second layer is installed with a drive motor for the rotation of the turntable of the second layer; the third layer is the same as the first layer; the fourth layer is the same as the second layer; three supporting partitions are designed between each layer; 8 turntable position detection infrared switch receivers are installed on the top panel of the frame, and 8 infrared switch transmitters are installed on the top of the fourth layer to check the position of the turntable and the placement status of the fixture. The fixture can be rotated 360 degrees when placed on the turntable. Whether the fixture position meets the position that can be clamped by the composite robot (90°) can be detected and determined by the infrared detection switch;

[0091] When gripping, the composite transfer robot can use a 3D laser vision sensor to confirm its orientation after placement. If there is a problem with the orientation (at 90°, 180°, or 360°), it can be changed to the required 0° position through the turntable mechanism. Similarly, when the logistics AGV comes to grip, it can be changed to the orientation required by the logistics AGV through the turntable mechanism to facilitate the gripping of the logistics AGV.

[0092] Example 3

[0093] like Figures 1 to 6 As shown, the final measurement station includes a final measurement transmission line and a transmission device 301 , a final measurement station 302 , and a manual assisted transfer device 303 .

[0094] like Figures 1 to 6As shown, the transmission device of the final test transmission line and the transmission device 301 adopts a single-layer, one-way, round-trip transmission "double-speed chain mechanism", with a "conveyor pallet" as the carrier. The conveyor pallet only flows back and forth on the transmission chain. The six-axis robot and SCARA robot of the final test transmission line and the transmission device 301 adopt an up-and-down line mechanism with cylinder clamping to realize the transmission of tooling between the workstation and the double-speed chain;

[0095] Final test station 302 includes four manual workstations, which are used for disassembly of the integrated fixture, disassembly of the vibration test fixture, final test, and packaging. The final test station 302 equipment mainly includes a workbench, a touch-screen computer, a PLC controller and I / O module, a barcode scanner, and a tool hanging plate equipped with conventional manual screw removal tools and an electrostatic voltage detector.

[0096] The manual assisted transfer device 303 is a manual transfer cart. The side panels of the manual assisted transfer device 303 are made of PVC material. The length direction can accommodate two material boxes and the height can accommodate two rows of two layers of material boxes. The front baffle of the transfer cart is equipped with a push-pull handle. The edges of the left and right baffles of the transfer cart are equipped with semi-automatic lock cylinders, chains and hinges. The three panels can be opened to facilitate manual handling of material boxes. At the same time, the chains can ensure that the side panels are still constrained by the transfer cart when they are open. The bottom plate provides a support platform for the side panels. Four universal wheels are installed at the bottom of the bottom plate. The two front universal wheels are locked universal wheels. The universal wheels are locked when transporting and loading material boxes to ensure that the logistics vehicle does not move, thereby increasing the safety of the operation.

[0097] The three baffles of the manual assisted transfer vehicle can be opened simultaneously when manually loading and unloading material boxes. The baffles on both sides are equipped with chain hinges to effectively prevent the material boxes from falling off the transfer vehicle. The manual assisted transfer vehicle is parked on the side of the docking robot at the final measurement station. It can be used as a transport vehicle to transport up to 4 material boxes at a time, and can also be used as a placement position to provide placement space for the docking robot, thereby increasing the material box buffering capacity of the final measurement station.

[0098] Furthermore, all docking stations that need to be connected to the logistics AGV are located along the side of the logistics channel, which is convenient for the safe and smooth operation of the AGV; the left side of the equipment at the assembly, initial test and final test stations is the logistics channel, and the right side and the upper and lower sides of the equipment can be used as pedestrian passages to facilitate the passage of personnel; the control cabinets of the temperature test station are installed on the upper and lower sides to ensure the smooth AGV channel of the composite robot; the automatic or manual assisted docking stations of the assembly, initial test and final test stations and the logistics AGV are all table-top structures, which can clearly see the material situation and facilitate maintenance The product curing storage area at the assembly and preliminary test stations also adopts a multi-table structure, which allows for a clear view of the material situation and facilitates maintenance. The truss design for the assembly and preliminary test stations adopts an open and low-profile model, and the truss track height does not exceed 1.3 meters, which is at eye level when sitting manually and maintains a certain distance from the operating station, eliminating any sense of visual obstruction or oppression. The manual and automatic workstations in the upper and lower areas of the assembly and preliminary test stations are flush-mounted, which is neat and beautiful. The docking mechanism and manual workstations at the final test station are symmetrically designed, which is comfortable to look at.

[0099] The right end of the truss in the curing storage area is designed with an electric reel for covering cloth (with supporting horizontal bars inside), and rollers are designed on the inside of the front and rear ends of the truss longitudinal beam. When the assembly line is not used for a long time, the covering cloth can be manually hung on the right ends of the truss robot. The electric reel cooperates with the truss robot to drag the entire curing storage area to prevent dust from falling. A handheld vacuum cleaner can be temporarily installed on the truss robot, and the working mode is switched to a special control program. Manual assistance is used to regularly automatically remove dust from the table top of the curing storage area. Since the truss is in open mode, manual cleaning can also be done directly in the curing storage area.

[0100] The above description is only used to illustrate the technical solution of the present invention and is not intended to limit it. Other modifications or equivalent substitutions made to the technical solution of the present invention by ordinary technicians in this field should be included in the scope of the claims of the present invention as long as they do not depart from the spirit and scope of the technical solution of the present invention.

Claims

1. Circuit board collaborative assembly station, characterized by: Includes assembly and initial testing stations for automatic assembly and initial inspection of circuit boards; A temperature test station for testing the long-term stability of the circuit board, which is located on the conveying and discharging side of the assembly initial test station; And a final test station for performing final performance testing and packaging of circuit boards, wherein the final test station is arranged on the transmission and discharge side of the temperature test station.

2. The circuit board collaborative assembly station according to claim 1, characterized in that: The assembly initial test station includes an automatic connection buffer device (101), an assembly transmission device (102), a curing storage area and a truss robot (103), an initial test transmission line and a transfer device (104), a manual station (105), an automatic coating station (106), an automatic assembly station (107) and an automatic weighing station (108) sequentially arranged along the transmission path of the initial test transmission line and the transfer device (104), and a storage, transportation and testing integrated fixture (109) for transferring the initial test product.

3. The circuit board collaborative assembly station according to claim 2, characterized in that: The automatic docking cache device (101) comprises a docking cache rack, a docking robot position changing mechanism arranged on one side of the docking cache rack, a docking robot slidably connected to the docking robot position changing mechanism, and an automatic docking measurement and control cabinet arranged on the side of the docking cache rack; The assembly transmission device (102) is a double-speed chain mechanism that adopts single-layer, one-way, multi-loop, clockwise circulation transmission. The assembly transmission device (102) uses a conveying pallet as a carrier, and the conveying pallet circulates on the transmission chain. The assembly transmission device (102) adds an automatic gluing loop and an automatic assembly loop to the double-speed chain ring, which are respectively arranged at the corresponding ends of the automatic gluing station and the automatic assembly station. The assembly transmission device (102) is provided with a stop or locking device corresponding to the assembly station and the material box entry and exit position. The material box on the double-speed chain conveying pallet is transported to the assembly station using an up and down line mechanism clamped by a cylinder. The solidification storage area and the truss robot (103) include a solidification storage area and a truss robot arranged on the solidification storage area, wherein the solidification storage area is provided with a plurality of placement positions, and a QR code is pasted above the placement positions for the truss robot to determine cargo information and automatically reset cargo status; The initial measurement transmission line and transfer device (104) includes a fixture pushing mechanism, a fixture transfer robot, a fixture transfer double-speed chain and a material box transmission double-speed chain.

4. The circuit board collaborative assembly station according to claim 2, characterized in that: The left side of the manual workstation (105) is provided with a material automatic in-and-out docking station, and the right side of the manual workstation (105) is provided with an intelligent torque screwdriver push-pull arm and a screw feeder and a screw bit programmer below it; The gluing robot of the automatic coating station (106) is equipped with positioning and visual detection sensors, and automatically applies glue to the products installed on the station tooling or the products fixed to the coating station; The workbench of the automatic assembly station (107) adopts a stainless steel table, and a machine box is set under the table for installing PLC control circuits, communication modules, detection instruments, etc. A material box automatic up and down mechanism is designed on one side of the speed chain of the table. The table of the table is provided with a touch screen computer, a six-axis robot for product positioning and placement, several pneumatic clamping product positioning tools, a special screw locking robot, four screw feeders and a dispensing machine, a batch head rack and a barrel rack; The automatic weighing station (108) is connected to the initial measurement transmission line and the assembly transmission device (102) through the upper and lower limit mechanisms of the material box. The automatic weighing station (108) is equipped with a weighing sensor module, a calibration standard and a storage support, a product shifting and measuring robot, and the product shifting and measuring robot includes a displacement mechanism, a six-axis industrial robot body, a gripper mechanism, and a visual camera sensor, a light source, and a code scanner installed on the gripper mechanism.

5. The circuit board collaborative assembly station according to claim 2, characterized in that: The assembly initial test station transports the circuit board after the assembly initial test to the temperature test station through the storage, transportation and test integrated fixture (109).

6. The circuit board collaborative assembly station according to claim 5, characterized in that: The temperature test station includes a composite transfer robot (201) for transferring, storing, transporting and testing an integrated fixture (109), a test placement rack (202) for placing temperature test pieces, and a line-side temporary storage shelf (203) for temporary storage and transfer of circuit boards.

7. The circuit board collaborative assembly station according to claim 6, characterized in that: The composite transfer robot (201) is driven by an AGV trolley to complete the transfer. The composite transfer robot (201) is provided with a lifting mechanism, and the lifting mechanism is provided with a motor-driven horizontally retractable transfer platform. The shape of the transfer platform of the composite transfer robot (201) is compatible with the bottom shape of the storage, transportation and testing integrated fixture (109).

8. The circuit board collaborative assembly station according to claim 6, characterized in that: The test placement frame (202) comprises front and rear crossbeams, vertical plates and a plurality of docking placement units, wherein the docking placement units comprise plug-in modules, cross braces, longitudinal braces, grooves, guide plates, universal balls, blocks, baffles and fixing blocks; The line-side temporary storage shelf (203) adopts a turntable structure for placing fixtures, ensuring that the logistics AGV trolley can set the fixture position at will when docking.

9. The circuit board collaborative assembly station according to claim 1, characterized in that: The final measurement station (3) comprises a final measurement transmission line and a transmission device (301), a final measurement station (302), and a manual auxiliary transfer device (303).

10. The circuit board collaborative assembly station according to claim 9, characterized in that: The transmission device of the final measurement transmission line and the transmission device (301) adopts a "double-speed chain mechanism" with single-layer, one-way, round-trip transmission, with a "transport pallet" as a carrier, and the transport pallet only flows back and forth on the transmission chain. The six-axis robot and SCARA robot of the final measurement transmission line and the transmission device (301) adopt an up-and-down line mechanism with cylinder clamping to realize the transmission of tooling between the workstation and the double-speed chain; The final test station (302) includes four manual stations, which are respectively used for disassembling the integrated fixture, disassembling the vibration test fixture, final testing and packaging; The manual assisted transfer device (303) is a manual transfer trolley. The side panels of the manual assisted transfer device (303) are made of PVC material. The length direction can accommodate two material boxes. The height is sufficient to accommodate two rows of two layers of material boxes. The front baffle of the transfer trolley is equipped with a push-pull handle.

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