Circuit board interchanger

Abstract

This invention belongs to the technical field of circuit board production equipment, specifically relating to a circuit board transfer machine, including a frame positioning mechanism, a frame insertion mechanism, a board picking arm mechanism, a feeding lifting mechanism, a lifting door mechanism, and a hopper docking mechanism. The frame positioning mechanism is fixedly mounted on the frame and docks with a first carrier transporting the frame; the frame insertion mechanism is positioned above the frame positioning mechanism; the hopper docking mechanism is fixedly mounted on the frame and docks with a second carrier transporting the hopper; the lifting door mechanism is positioned on one side of the hopper docking mechanism; the feeding lifting mechanism is positioned on the other side of the lifting door mechanism opposite to the hopper docking mechanism; and the board picking arm mechanism is positioned between the frame insertion mechanism and the feeding lifting mechanism. This invention achieves fully automatic and precise transfer of circuit boards from the frame to the hopper through the coordinated operation of multiple mechanisms, possessing the advantages of efficient automated transfer, precise positioning, and compatibility with different transport carriers.

Description

Technical Field

[0001] This invention belongs to the technical field of circuit board manufacturing equipment, specifically relating to a circuit board interchange machine. Background Technology

[0002] In the manufacturing process of printed circuit boards (PCBs), the flow of PCBs between upstream and downstream processes is a crucial link. PCBs are typically stored vertically in frames for turnover and transportation; when storage is required, they are transferred to horizontally stored silos. Traditional transfer methods mainly rely on manual operation, and the conveying and positioning of frames and silos still largely depend on manually driven trolleys or frequent manual intervention.

[0003] To improve automation, some semi-automatic transfer equipment, such as transfer robots or lifting platforms, has emerged on the market. However, these devices are often single-function and have limited automation. They typically lack seamless integration with automated guided vehicles (AGVs) or other logistics systems, requiring manual intervention for loading and unloading. They also have poor compatibility with circuit boards and racks of different sizes, making changes and adjustments cumbersome. Furthermore, the coordination between multiple operating units is insufficient, failing to form a complete closed-loop workflow, resulting in limited improvement in overall efficiency and reliability. Summary of the Invention

[0004] In order to overcome the shortcomings of the prior art, the purpose of this application is to provide a circuit board interchange machine and its frame positioning mechanism, frame insertion mechanism, board picking arm mechanism, feeding lifting mechanism, lifting door mechanism, and hopper docking mechanism, which has the advantages of efficient automated circulation, precise positioning, and compatibility with different transport vehicles.

[0005] This application provides a circuit board transfer machine, including a frame positioning mechanism, a frame insertion mechanism, a board picking arm mechanism, a feeding lifting mechanism, a lifting door mechanism, and a hopper docking mechanism. The frame positioning mechanism is fixedly mounted on the frame and docks with a first carrier transporting a frame, serving to position the first carrier and the frame. The frame insertion mechanism is positioned above the frame positioning mechanism and is used to remove circuit boards from the frame. The hopper docking mechanism is fixedly mounted on the frame and docks with a second carrier transporting a hopper, serving to position the second carrier and the hopper. The lifting door mechanism is located on one side of the hopper docking mechanism and is used to open or close the hopper. The feeding lifting mechanism is located on the other side of the lifting door mechanism opposite to the hopper docking mechanism and is used to input circuit boards into the hopper. The board picking arm mechanism is located between the frame insertion mechanism and the feeding lifting mechanism and is used to transfer circuit boards from the frame insertion mechanism to the feeding lifting mechanism.

[0006] In one embodiment of this application, the frame positioning mechanism includes a guide wheel assembly mounted on the frame, a trolley arrival detection assembly, a trolley locking assembly, a trolley limit assembly, an AGV presence detection assembly, a surplus material detection assembly, and a single-sided support platform assembly. Two guide wheel assemblies are provided and symmetrically arranged. The trolley locking assembly is located at the front end of the guide wheel assembly, the trolley limit assembly is located at the rear end of the guide wheel assembly, and the trolley arrival detection assembly is located on the trolley limit assembly. The trolley arrival detection assembly triggers the trolley locking assembly after the first carrier enters the predetermined position to fix the first carrier. Inside the guide wheel assembly; the AGV on-site detection component is located between two single-sided supports to detect the positioning of the carrier; there are two single-sided supports arranged symmetrically, each supporting a fixed base, a floating plate, a centering cylinder assembly, a left frame lock, and a right frame lock, with at least two floating plates located on top of the fixed base; the centering cylinder assembly is located between the two floating plates for centering and positioning the carrier; the left and right frame locks are located on the outer sides of the two floating plates to fix the carrier on the floating plates; the excess material detection component is located diagonally between the two single-sided supports.

[0007] In one embodiment of this application, the insertion frame mechanism includes a Y-axis gantry module, a Z-axis insertion frame module, an insertion frame gripper assembly, and an inlet sensor assembly. The Y-axis gantry module is fixedly mounted on the frame. The Z-axis insertion frame module is slidably mounted on the Y-axis gantry module. The insertion frame gripper assembly includes an upper insertion frame module, an upper clamping plate assembly, and a lower clamping plate assembly. The upper insertion frame module is slidably connected to the Z-axis insertion frame module, the upper clamping plate assembly is slidably mounted on the upper insertion frame module, the lower clamping plate assembly is fixedly connected to the upper insertion frame module, and the inlet sensor assembly is mounted on the lower clamping plate assembly. The insertion frame gripper assembly is configured to first approach and clamp the lower end of the circuit board via the lower clamping plate assembly, and then clamp the upper end of the circuit board via the upper clamping plate assembly.

[0008] In one embodiment of this application, a plate-grabbing arm mechanism is proposed, comprising a six-axis robot and a width-adjusting gripper. The width-adjusting gripper is fixedly connected to the six-axis robot via an arm connecting seat. The width-adjusting gripper includes an automatic width-adjusting assembly, a first clamping plate assembly, and a second clamping plate assembly. The automatic width-adjusting assembly has a mounting base, a first clamping plate arm, a second clamping plate arm, a first width-adjusting drive device, and a second width-adjusting drive device. The first and second clamping plates are slidably mounted at both ends of the mounting base via slide rails. The first clamping plate assembly is located at the end of the first clamping plate arm. The first width-adjusting drive device is drive-connected to the first clamping plate arm. The second width-adjusting drive device is drive-connected to the second... The clamping arm is driven and connected, and the second clamping plate group is located at the end of the second clamping arm; wherein, the first width adjustment drive device is configured to quickly adjust the width between the first clamping arm and the second clamping arm, and the second width adjustment drive device is configured to precisely adjust the width between the first clamping arm and the second clamping arm; the first width adjustment drive device includes a cylinder, which is fixedly connected to the mounting base, and the drive end of the cylinder is connected to the first clamping arm; the second width adjustment drive device includes a motor, a synchronous belt and a screw, the output shaft of the motor is driven and connected to the screw through the synchronous belt, and the screw is driven and connected to the second clamping arm; both the first clamping plate group and the second clamping plate group are pneumatic grippers.

[0009] In one embodiment of this application, a circuit board interchange machine is proposed, comprising a lifting door mechanism disposed between a feeding lifting mechanism and a hopper docking mechanism. The lifting door mechanism includes a hopper door lifting module and a hopper door docking module. The hopper door docking module is equipped with a positioning pin and a hopper sensor switch. Both the positioning pin and the hopper sensor switch face the hopper door. The hopper door has a positioning hole corresponding to the positioning pin for inserting and positioning the hopper door. The hopper sensor switch is configured to trigger the hopper door lifting module when the hopper door is inserted and positioned. The hopper door lifting module is disposed on both sides of the hopper door docking module and is connected to the hopper door docking module for driving transmission, used to lift and separate the hopper door from the hopper during feeding.

[0010] In one embodiment of this application, the feeding lifting mechanism includes a fork-shaped pallet assembly, a pallet lifting assembly, a pallet traversing assembly, a center plate positioning assembly, and a code reading and static electricity elimination assembly. The pallet lifting assembly is fixedly mounted to the frame, and a mounting base plate is provided on the displacement slider of the pallet lifting assembly. The fork-shaped pallet assembly is slidably mounted on the mounting base plate via a slide rail. The center plate positioning assembly is mounted on the mounting base plate and is located on both sides of the fork-shaped pallet assembly, used to center and position the circuit board on the fork-shaped pallet assembly. The pallet traversing assembly is mounted on the mounting base plate and is located below the fork-shaped pallet assembly, used to push and reset the fork-shaped pallet assembly along the slide rail. The code reading and static electricity elimination assembly is mounted on the mounting base plate and is located above the fork-shaped pallet assembly, used to identify the circuit board and eliminate static electricity.

[0011] In one embodiment of this application, a hopper docking mechanism is proposed, comprising a hopper positioning mechanism, a hopper lateral movement module, and a hopper lifting module. The hopper lifting module is fixedly mounted on the frame, the hopper lateral movement module is fixedly mounted on the displacement slider of the hopper lifting module, and the hopper positioning mechanism is fixedly mounted on the displacement slider of the hopper lateral movement module. The hopper lateral movement module is equipped with a carrier scanning module for acquiring information about a second carrier and the hopper placed on the second carrier. When the hopper docking mechanism docks with the second carrier, the hopper positioning mechanism is used to support and fix the hopper on the second carrier, and the hopper lifting module and the hopper lateral movement module are used to drive the hopper positioning mechanism to move horizontally so that the hopper docks with the lifting door mechanism.

[0012] In one embodiment of this application, it is also proposed that the first carrier is a handcart or an AGV transport vehicle, and the first carrier is equipped with a mechanism for adjusting the height of the carrying frame; the second carrier is a handcart or an AGV transport vehicle, and the second carrier is equipped with a mechanism for adjusting the height of the hopper.

[0013] In one embodiment of this application, it is also proposed that, during feeding, the insert frame mechanism picks up the circuit board from the carrier frame and lifts the circuit board to a predetermined height; the board picking arm mechanism clamps the circuit board and transfers it to the feeding lifting mechanism; the feeding lifting mechanism rises to the same height as the support structure in the hopper, and the feeding lifting mechanism will reset after conveying the circuit board to the support structure in the hopper.

[0014] In one embodiment of this application, the circuit board transfer machine includes two board picking stations, each equipped with a frame positioning mechanism and a frame insertion mechanism, to serve as buffer stations for each other. When the frame of one board picking station is short of material, the board picking arm mechanism picks up the board through the frame of the other board picking station; and / or, the circuit board transfer machine includes two board placing stations, each equipped with a hopper docking mechanism, a lifting door mechanism, and a feeding lifting mechanism, to serve as buffer stations for each other. When the hopper of one board placing station is full, the board picking arm mechanism places the board into the hopper of the other board placing station.

[0015] As can be seen from the above, the circuit board transfer machine provided in this application, along with its frame positioning mechanism, frame insertion mechanism, board picking arm mechanism, feeding lifting mechanism, lifting door mechanism, and hopper docking mechanism, achieves fully automatic and precise transfer of circuit boards from the frame to the hopper through the coordinated operation of the frame positioning mechanism, frame insertion mechanism, board picking arm mechanism, feeding lifting mechanism, lifting door mechanism, and hopper docking mechanism. It has the advantages of efficient automated transfer, precise positioning, and compatibility with different transport vehicles. Attached Figure Description

[0016] To more clearly illustrate the technical solutions in the embodiments of the present invention or the prior art, the drawings used in the description of the embodiments or the prior art will be briefly introduced below. Obviously, the drawings described below are only some embodiments of the present invention. For those skilled in the art, other drawings can be obtained based on the structures shown in these drawings without creative effort.

[0017] Figure 1 This is a schematic diagram showing the structure of the circuit board interchange mechanism of the present invention;

[0018] Figure 2 This diagram shows the internal structure of the circuit board interchange mechanism of the present invention.

[0019] Figure 3 A schematic diagram showing the structure of the frame positioning mechanism of the present invention;

[0020] Figure 4 A schematic diagram showing the structure of the insertion frame mechanism of the present invention;

[0021] Figure 5 This is a schematic diagram showing the structure of the plate-retrieving arm mechanism of the present invention;

[0022] Figure 6 A schematic diagram showing the structure of the lifting door mechanism of the present invention;

[0023] Figure 7 This is a schematic diagram showing the structure of the feeding lifting mechanism of the present invention;

[0024] Figure 8 This is a schematic diagram showing the structure of the hopper docking mechanism of the present invention.

[0025] The symbols in the attached image are explained as follows:

[0026] 1-Carrier frame positioning mechanism, 11-Guide wheel assembly, 12-Trolley arrival detection assembly, 13-Trolley locking assembly,

[0027] 14-Trolley limit assembly, 15-AGV in-situ detection component, 16-Excess material detection component, 17-Single-sided support, 171-Fixed base, 172-Floating plate, 173-Centering cylinder assembly, 174-Left load frame lock, 175-Right load frame lock;

[0028] 2-Frame insertion mechanism, 21-Y-axis gantry module, 22-Frame insertion Z-axis module, 23-Frame insertion gripper assembly, 24-Inlet sensor assembly, 231-Upper frame insertion module, 232-Upper clamping plate assembly, 233-Lower clamping plate assembly;

[0029] 3-Plate-removing arm mechanism, 31-Six-axis robot, 32-Automatic width adjustment group, 33-First clamping plate group, 34-Second clamping plate group, 321-Mounting base, 322-First clamping plate arm, 323-Second clamping plate arm, 324-First width adjustment drive device, 325-Second width adjustment drive device;

[0030] 4-Feeding lifting mechanism, 41-Fork pallet assembly, 42-Pallet lifting assembly, 43-Pallet transverse movement assembly, 44-Central clapper positioning assembly, 45-Code reading and static elimination assembly, 46-Mounting base plate;

[0031] 5-Lifting door mechanism, 51-Hopper door lifting module, 52-Hopper door docking module, 521-Positioning pin, 522-Hopper induction switch;

[0032] 6-Hopper docking mechanism, 61-Hopper positioning mechanism, 62-Hopper lateral movement module, 63-Hopper lifting module,

[0033] 7-First vehicle;

[0034] 8-Second vehicle. Detailed Implementation

[0035] The technical solutions of the present invention will be clearly and completely described below with reference to the accompanying drawings of the embodiments of the present invention. Obviously, the described embodiments are only some embodiments of the present invention, and not all embodiments. All other embodiments obtained by those skilled in the art based on the embodiments of the present invention without creative effort are within the scope of protection of the present invention.

[0036] Please refer to Figures 1-8 This application provides a circuit board transfer machine, including a frame positioning mechanism 1, a frame insertion mechanism 2, a board picking arm mechanism 3, a feeding lifting mechanism 4, a lifting door mechanism 5, and a hopper docking mechanism 6. The frame positioning mechanism 1 is fixedly mounted on the frame and docks with a first carrier 7 transporting the frame. The frame positioning mechanism 1 is used to position the first carrier 7 and the frame. The frame insertion mechanism 2 is located above the frame positioning mechanism 1 and is used to remove the circuit board from the frame. The hopper docking mechanism 6 is fixedly mounted on the frame and docks with a second carrier 8 transporting the hopper. The hopper docking mechanism 6 is used to position the second carrier 8 and the hopper. The lifting door mechanism 5 is located on one side of the hopper docking mechanism 6 and is used to open or close the hopper. The feeding lifting mechanism 4 is located on the other side of the lifting door mechanism 5 opposite to the hopper docking mechanism 6 and is used to input the circuit board into the hopper. The board picking arm mechanism 3 is located between the frame insertion mechanism 2 and the feeding lifting mechanism 4 and is used to transfer the circuit board on the frame insertion mechanism 2 to the feeding lifting mechanism 4.

[0037] Understandably, the frame positioning mechanism 1 refers to a device that guides the first carrier 7 to move through the guide wheel assembly and triggers the latch to fix the first carrier 7 in conjunction with the detection assembly. Specifically, the first carrier 7 can be positioned by symmetrically arranged guide wheels and trolley limit assembly 14, and the frame position can be adjusted by the floating plate 172 and the centering cylinder. The frame insertion mechanism 2 refers to a gripper assembly that moves along the Y and Z axes. Specifically, the upper and lower clamping plates can be driven by the gantry module to clamp the circuit board step by step, and the clamping position can be determined by the sensing assembly. The board picking arm mechanism 3 refers to a robotic arm with width adjustment function. Specifically, a six-axis robot 31 equipped with pneumatic grippers can be used to quickly adjust the clamping width through the cylinder and to precisely fine-tune the motor to adapt to different board widths. The lifting door mechanism 5 refers to a device that controls the lifting and lowering of the hopper door. Specifically, the hopper door lifting module 51 can be linked by the positioning pin 521 and the hopper induction switch 522 to achieve automatic separation of the hopper door. The hopper docking mechanism 6 refers to a component that carries and fixes the hopper. Specifically, the lateral movement module can be used to adjust the hopper position, and the clamping mechanism can be used to ensure docking accuracy.

[0038] In the process of implementing the above technical solution, after the frame positioning mechanism 1 receives the first carrier 7, the guide wheel assembly guides the carrier to move to the predetermined position. The trolley arrival detection assembly 12 triggers multiple mechanisms on the single-sided support platform 17 to fix the frame on the first carrier 7. The lower clamping plate assembly 233 of the insertion frame mechanism 2 first clamps the bottom of the circuit board, and the upper clamping plate assembly 232 then clamps the top, lifting the circuit board through the Z-axis module. The six-axis robot 31 of the board picking arm mechanism 3 transfers the circuit board to the feeding lifting mechanism 4, and the width-adjusting gripper automatically adjusts the clamping distance according to the board width. After the fork-shaped pallet of the feeding lifting mechanism 4 receives the circuit board, the center plate assembly is positioned in the center, and the pallet lateral movement assembly... 43. The circuit board is pushed into the hopper; the hopper docking mechanism 6 adjusts the position of the hopper through the horizontal movement module, and after the lifting door mechanism 5 opens the hopper door, the feeding lifting mechanism 4 stores the circuit board horizontally into the hopper; this application realizes fully automatic transfer between the carrier frame and the hopper, reducing manual intervention; the carrier frame positioning mechanism 1 and the hopper docking mechanism 6 are adapted to different carriers to improve equipment compatibility; the step-by-step clamping of the insertion frame mechanism 2 avoids damage to the circuit board, and the width adjustment function of the board picking arm adapts to various board widths; the dual-station design eliminates the impact of single-point failure and ensures production continuity; the lifting door mechanism 5 and the hopper docking mechanism 6 work together to achieve precise control of the hopper door and smooth entry of the circuit board into the hopper.

[0039] Please refer to Figure 3In one embodiment of this application, the frame positioning mechanism 1 includes a guide wheel assembly 11 mounted on a frame, a trolley arrival detection assembly 12, a trolley locking assembly 13, a trolley limiting assembly 14, an AGV presence detection assembly 15, a surplus material detection assembly 16, and a single-sided support platform 17. Two guide wheel assemblies 11 are provided and symmetrically arranged. The trolley locking assembly 13 is located at the front end of the guide wheel assembly 11, the trolley limiting assembly 14 is located at the end of the guide wheel assembly 11, and the trolley arrival detection assembly 12 is located on the trolley limiting assembly 14. The trolley arrival detection assembly 12 triggers the trolley locking assembly 13 after the first carrier 7 enters a predetermined position, thereby fixing the first carrier 7 within the guide wheel assembly 11. The AGV on-site detection component 15 is located between two single-sided supports 17 and is used to detect the positioning of the vehicle. There are two single-sided supports 17 arranged symmetrically. Each single-sided support 17 includes a fixed base 171, a floating plate 172, a centering cylinder assembly 173, a left frame lock 174, and a right frame lock 175. At least two floating plates 172 are located on top of the fixed base 171. The centering cylinder assembly 173 is located between the two floating plates 172 and is used to center and position the frame. The left frame lock 174 and the right frame lock 175 are located on the outside of the two floating plates 172 respectively and are used to fix the frame on the floating plates 172. The excess material detection component 16 is located at a diagonal position between the two single-sided supports 17.

[0040] Understandably, guide wheel assembly 11 refers to a guide component mounted on the frame, specifically a guide rail structure with rollers, used to guide the carrier along a predetermined path and limit its lateral deviation; trolley positioning detection assembly 12 refers to a sensor module, such as a photoelectric sensor or a contact limit switch, installed on trolley limit assembly 14, used to detect whether the carrier has reached the preset position and trigger subsequent locking actions; trolley locking assembly 13 refers to a mechanical locking device, such as a pneumatic pin or an electromagnetic latch, used to fix the first carrier 7 in place within the guide wheel assembly; trolley limit assembly 14 refers to a physical limit block with a buffer structure, such as a rubber stop or a spring damper, used to prevent the carrier from moving beyond the predetermined range. The AGV in-situ detection component 15 refers to the sensing device, such as an infrared sensor or pressure switch, installed between the single-sided supports 17 to confirm whether the AGV carrier is in the correct docking position. The residual material detection component 16 refers to the detection unit arranged diagonally, such as a laser rangefinder or a vision camera, to identify whether there are any unremoved circuit boards remaining in the frame. The single-sided support 17 refers to the support platform composed of a fixed base 171, a floating disk 172, and a clamping mechanism. The floating disk 172 can adopt a floating structure to achieve a fine-tuning function. The centering cylinder assembly 173 achieves the lateral centering of the frame by driving the push plate through a bidirectional cylinder. The left frame lock 174 and the right frame lock 175 fix the frame through pneumatic grippers or electromagnetic clamps.

[0041] During the implementation of the above technical solution, when the carrier moves along the guide wheel assembly 11 to the trolley limit assembly 14, the trolley positioning detection assembly 12 triggers a signal to cause the trolley locking assembly 13 to perform a locking action, preventing the carrier from shifting during operation; the AGV position detection assembly 15 monitors the horizontal position of the carrier in real time to ensure precise docking with the single-sided support platform 17; the floating plate 172 absorbs positional deviations through an elastic structure when the frame is placed, and the centering cylinder assembly 173 then drives the push plate to clamp the frame from both sides to complete the centering and positioning, and the left frame locking 1... The synchronous action of the 74 and right frame latch 175 fixes the frame to the floating plate 172; the residual material detection component 16 scans the inside of the frame with sensors arranged diagonally to prevent residual circuit boards from affecting subsequent operation processes; this application realizes fully automatic positioning and fixing of the carrier and the frame, eliminates manual adjustment errors, and improves the efficiency of frame docking; the cooperation between the floating plate 172 and the centering mechanism allows the equipment to adapt to various specifications of frames, reducing changeover and adjustment time; the residual material detection mechanism effectively prevents board leakage accidents and ensures the integrity and safety of the circuit board transfer process.

[0042] Please refer to Figure 4 In one embodiment of this application, the application further proposes that the insertion frame mechanism 2 includes a Y-axis gantry module 21, an insertion frame Z-axis module 22, an insertion frame gripper assembly 23, and an approach sensing assembly 24; the Y-axis gantry module 21 is fixedly mounted on the frame; the insertion frame Z-axis module 22 is slidably mounted on the Y-axis gantry module 21; the insertion frame gripper assembly 23 includes an upper insertion frame module 231, an upper clamping plate assembly 232, and a lower clamping plate assembly 233, the upper insertion frame module 231 is slidably connected to the insertion frame Z-axis module 22, the upper clamping plate assembly 232 is slidably mounted on the upper insertion frame module 231, the lower clamping plate assembly 233 is fixedly connected to the upper insertion frame module 231, and the approach sensing assembly 24 is mounted on the lower clamping plate assembly 233; the insertion frame gripper assembly 23 is configured to first approach and clamp the lower end of the circuit board through the lower clamping plate assembly 233, and then clamp the upper end of the circuit board through the upper clamping plate assembly 232.

[0043] Understandably, the Y-axis gantry module 21 refers to the drive structure that moves horizontally, specifically using a combination of linear guide rails and servo motors, used to drive the Z-axis module 22 of the insertion frame to move horizontally above the carrier frame; the Z-axis module 22 of the insertion frame refers to the drive structure that moves vertically, specifically using a combination of ball screws and stepper motors, used to control the vertical lifting and lowering of the insertion frame gripper assembly 23; the insertion frame gripper assembly 23 refers to the actuator containing upper and lower layered clamping structures, specifically using a cylinder to drive the lower clamping plate assembly 233 to first contact the edge of the circuit board, and then using a servo motor to drive the upper clamping plate assembly 232 to complete the secondary clamping, realizing step-by-step clamping; the proximity sensing assembly 24 refers to the sensor assembly that detects the position of the circuit board, specifically using a photoelectric sensor or proximity switch, used to trigger the gripper action and confirm the clamping status.

[0044] In implementing the above technical solution, after the frame positioning mechanism 1 completes the frame fixing, the Y-axis gantry module 21 drives the insertion frame Z-axis module 22 to move laterally to directly above the frame. The insertion frame Z-axis module 22 drives the gripper assembly to descend vertically to the height of the circuit board. After the lower clamping plate assembly 233 detects the edge of the circuit board by the inlet sensor assembly 24, it clamps the lower end of the circuit board by a cylinder. Then, the upper clamping plate assembly 232 slides along the upper insertion frame module 231 to the upper end of the circuit board and completes the secondary clamping by a servo motor. After clamping, the insertion frame Z-axis module 22 vertically lifts the circuit board to a safe height, and the Y-axis gantry module... 21. The circuit board is moved out of the frame area; this step-by-step clamping method can avoid deformation or detachment of the circuit board due to single-point force during the transfer process; this application effectively solves the problem of circuit board being easily damaged and unstable clamping during automated transfer; the step-by-step clamping mechanism reduces local pressure on the edge of the circuit board and prevents board deformation; the independent control of the upper and lower clamping plate groups 233 can adapt to the clamping requirements of circuit boards of different thicknesses; the induction triggering mechanism ensures the accurate execution of clamping actions and reduces clamping failures caused by positioning deviations; this structure significantly improves the compatibility of the equipment with circuit boards of different specifications while improving the level of automation.

[0045] Please refer to Figures 1-2 , Figure 5 In one embodiment of this application, the application further proposes that the plate-grabbing arm mechanism 3 includes a six-axis robot 31 and a width-adjusting gripper. The width-adjusting gripper is fixedly connected to the six-axis robot 31 via an arm connecting seat. The width-adjusting gripper includes an automatic width-adjusting assembly 32, a first clamping plate assembly 33, and a second clamping plate assembly 34. The automatic width-adjusting assembly 32 has a mounting base 321, a first clamping plate arm 322, a second clamping plate arm 323, a first width-adjusting drive device 324, and a second width-adjusting drive device 325. The first clamping plate arm 322 and the second clamping plate arm 323 are slidably disposed at both ends of the mounting base 321 via slide rails. The first clamping plate assembly 33 is disposed at the end of the first clamping plate arm 322. The first width-adjusting drive device 324 is drively connected to the first clamping plate arm 322. The second width-adjusting drive device 324 is driven by the first clamping plate arm 322. 5 is connected to the second clamping arm 323 in a transmission manner, and the second clamping plate group 34 is disposed at the end of the second clamping arm 323; wherein, the first width adjustment drive device 324 is configured to quickly adjust the width between the first clamping arm 322 and the second clamping arm 323, and the second width adjustment drive device 325 is configured to precisely adjust the width between the first clamping arm 322 and the second clamping arm 323; the first width adjustment drive device 324 includes a cylinder, which is fixedly connected to the mounting base 321, and the drive end of the cylinder is connected to the first clamping arm 322; the second width adjustment drive device 325 includes a motor, a synchronous belt and a screw, the output shaft of the motor is connected to the screw in a transmission manner through the synchronous belt, and the screw is connected to the second clamping arm 323 in a transmission manner; the first clamping plate group 33 and the second clamping plate group 34 are both pneumatic grippers.

[0046] Understandably, a six-axis robot 31 refers to a robotic arm with six degrees of freedom of motion, which can be implemented using a series joint structure, for flexibly moving grippers in three-dimensional space; an adjustable gripper refers to a gripping device with adjustable gripping width, which can be implemented by changing the spacing between the grippers through a drive device, for adapting to circuit boards of different sizes; an automatic width adjustment group 32 refers to a width adjustment mechanism including drive components and transmission components, which can be implemented by a cylinder and a motor working together, where the cylinder is used for coarse adjustment of the gripping width and the motor is used for fine adjustment of the gripping width; a first width adjustment drive device 324 refers to a fast drive unit powered by air pressure, which can be implemented by a single-acting or double-acting cylinder, for completing a large range of gripper spacing adjustments in a short time; a second width adjustment drive device 325 refers to a precision adjustment unit driven by a motor, which can be implemented by a stepper motor or servo motor in conjunction with a ball screw, for achieving millimeter-level precision control of the gripper spacing; a pneumatic gripper refers to a gripping unit driven by compressed air, which can be implemented by a double-acting cylinder in conjunction with a gripper mechanism, for stably gripping the edges of circuit boards.

[0047] In implementing the above technical solution, when it is necessary to transfer circuit boards of different sizes, the cylinder first pushes the first clamping arm 322 to move quickly to a position close to the target width. Then, the motor drives the screw to rotate through the synchronous belt, driving the second clamping arm 323 to make fine adjustments so that the distance between the two clamping groups precisely matches the width of the circuit board. The six-axis robot 31 drives the width-adjusting gripper to the insertion frame mechanism 2. After the pneumatic gripper picks up the circuit board, it is transferred to the feeding lifting mechanism 4 through multi-axis linkage. The synergistic effect of rapid coarse adjustment and precise fine adjustment can shorten the changeover time and avoid the circuit board from shifting or slipping due to clamping gap error. This application can realize rapid adaptive adjustment of the circuit board clamping width, effectively compatible with different specifications of carrier frames and hoppers, and reduce the operation steps of manual intervention to adjust the gripper. The dual-drive width adjustment mechanism improves the adjustment accuracy while shortening the equipment idle time. The flexible clamping of the pneumatic gripper reduces the risk of mechanical damage to the edge of the circuit board, thereby improving the reliability and production efficiency of the automated transfer process.

[0048] Please refer to Figure 6In one embodiment of this application, the circuit board interchange machine includes a lifting door mechanism 5, which is disposed between the feeding lifting mechanism 4 and the hopper docking mechanism 6. The lifting door mechanism 5 includes a hopper door lifting module 51 and a hopper door docking module 52. The hopper door docking module 52 is provided with a positioning pin 521 and a hopper induction switch 522. The positioning pin 521 and the hopper induction switch 522 are both facing the hopper door. The hopper door has a positioning hole corresponding to the positioning pin 521 for inserting and positioning the hopper door. The hopper induction switch 522 is configured to trigger the hopper door lifting module 51 when the hopper door is inserted and positioned. The hopper door lifting module 51 is disposed on both sides of the hopper door docking module 52 and is connected to the hopper door docking module 52 for lifting and separating the hopper door from the hopper during feeding.

[0049] Understandably, the positioning pin 521 refers to the columnar positioning component installed on the hopper door docking module 52. It can be made of hardened steel and its diameter can be, for example, 5mm-8mm. It is used to cooperate with the positioning hole on the hopper door to achieve mechanical positioning. The hopper induction switch 522 refers to a photoelectric sensor or proximity switch. It can be a diffuse reflection type photoelectric sensor. It is used to detect whether the hopper door has reached the predetermined position and trigger the lifting action. The hopper door lifting module 51 refers to a linear drive device. It can be a ball screw mechanism driven by a servo motor. It is used to drive the hopper door docking module 52 to move vertically to achieve the separation of the hopper door from the hopper.

[0050] In implementing the above technical solution, after the hopper docking mechanism 6 completes the hopper positioning, the positioning pin 521 of the hopper door docking module 52 is inserted into the corresponding positioning hole of the hopper door to achieve initial positioning. At this time, the hopper induction switch 522 detects the hopper door arrival signal and triggers the hopper door lifting module 51 to start. The hopper door lifting module 51 drives the hopper door docking module 52 to rise vertically, so that the hopper door separates from the hopper body to form an opening, providing a channel for the subsequent circuit board to enter the hopper. In this process, the cooperation between the positioning pin 521 and the positioning hole can eliminate the horizontal position deviation. The vertical movement trajectory of the hopper door lifting module 51 is controlled by the servo system. This application solves the positioning deviation problem that exists when the hopper door docks with the transfer equipment. Through the synergistic effect of the mechanical positioning pin 521 and the hopper induction switch 522, it ensures that the timing of the hopper door opening action and the conveying of the circuit board by the feeding lifting mechanism 4 is accurately matched, thereby improving the reliability of the automated transfer process.

[0051] Please refer to Figure 7In one embodiment of this application, the feeding lifting mechanism 4 includes a fork-shaped pallet assembly 41, a pallet lifting assembly 42, a pallet lateral movement assembly 43, a central tapping plate positioning assembly 44, and a code reading and static electricity elimination assembly 45. The pallet lifting assembly 42 is fixedly mounted to the frame, and a mounting base plate 46 is provided on the displacement slider of the pallet lifting assembly 42. The fork-shaped pallet assembly 41 is slidably mounted on the mounting base plate 46 via a slide rail. The central tapping plate positioning assembly 44 is mounted on the mounting base plate 46. 44 is located on both sides of the fork-shaped tray assembly 41 and is used to center and position the circuit board on the fork-shaped tray assembly 41; the tray lateral movement assembly 43 is disposed on the mounting base plate 46 and is located below the fork-shaped tray assembly 41. The tray lateral movement assembly 43 is used to push and reset the fork-shaped tray assembly 41 along the slide rail; the code reading and static electricity elimination assembly 45 is disposed on the mounting base plate 46 and is located above the fork-shaped tray assembly 41. The code reading and static electricity elimination assembly 45 is used to identify the circuit board and eliminate static electricity.

[0052] Understandably, the fork-shaped pallet assembly 41 refers to a pallet with a fork-shaped structure, the fork tooth spacing of which can be adapted to the edges of circuit boards of different sizes, for stable support of the circuit boards; the pallet lifting assembly 42 refers to a device that drives the vertical movement of the fork-shaped pallet, which can be implemented by a combination of a servo motor and a ball screw, and adjusts the height of the mounting base plate 46 by driving the displacement slider to match the inlet position of the hopper; the pallet lateral movement assembly 43 refers to a device that drives the horizontal movement of the fork-shaped pallet, which can be implemented by a cylinder or a linear motor driving the slide rail to move and send the circuit board into the hopper; the centering plate positioning assembly 44 refers to a mechanism for centering and positioning the circuit board, which can be implemented by a bidirectional cylinder driving a push plate or a wheel to clamp the circuit board from both sides and center it; the barcode reading and static elimination assembly 45 refers to a module that integrates barcode scanning and static elimination functions, which can be implemented by a combination of an industrial camera and an ion bar, the camera reading the barcode information of the circuit board, and the ion bar releasing positive and negative ions to neutralize static electricity.

[0053] In implementing the above technical solution, when the circuit board is placed on the fork-shaped pallet assembly 41 by the board-picking arm mechanism 3, the center-push positioning assembly 44 pushes the circuit board from both sides to center it, ensuring accurate subsequent feeding position; the pallet lifting assembly 42 drives the mounting base plate 46 to rise to the height of the hopper entrance, and the pallet lateral movement assembly 43 pushes the fork-shaped pallet assembly 41 horizontally out, sending the circuit board into the support structure inside the hopper; during the movement, the code reading and static elimination assembly 45 scans the circuit board for identification, and eliminates surface static electricity to prevent the circuit board from attracting dust or damaging electronic components due to static electricity; after feeding is completed, the pallet lateral movement assembly 43 resets the fork-shaped pallet assembly 41, and the pallet lifting assembly 42 descends to the initial position, waiting for the next transfer operation; this application can achieve accurate positioning and stable conveying of the circuit board during the lifting process, solve the problem of feeding jamming caused by positioning deviation in traditional equipment, and eliminate the influence of static electricity on the circuit board, improving the reliability and safety of automated transfer.

[0054] Please refer to Figure 8 In one embodiment of this application, the hopper docking mechanism 6 includes a hopper positioning mechanism 61, a hopper lateral movement module 62, and a hopper lifting module 63. The hopper lifting module 63 is fixedly mounted on the frame, the hopper lateral movement module 62 is fixedly mounted on the displacement slider of the hopper lifting module 63, and the hopper positioning mechanism 61 is fixedly mounted on the displacement slider of the hopper lateral movement module 62. A guide assembly is provided below the hopper positioning mechanism 61, and this guide assembly is connected to the guide wheel assembly 11 of the frame positioning mechanism 1. The same and fixedly connected to the frame, it is used to guide the second carrier 8 into the hopper positioning mechanism 61; the hopper transverse moving module 62 is equipped with a carrier scanning module 65, which is used to obtain information about the second carrier 8 and the hopper placed on the second carrier 8; when the hopper docking mechanism 6 docks with the second carrier 8, the hopper positioning mechanism 61 is used to support and fix the hopper on the second carrier 8, and the hopper lifting module 63 and the hopper transverse moving module 62 are used to drive the hopper positioning mechanism 61 to move horizontally so that the hopper docks with the lifting door mechanism 5;

[0055] The hopper positioning mechanism 61 includes symmetrically arranged support platform assemblies. The structure of the support platform assemblies is the same as that of the single-sided support platform 17. It is used to support the hopper and center and position the hopper, as well as clamp the centered hopper.

[0056] Understandably, the hopper horizontal movement module 62 refers to the drive device that adjusts the horizontal position of the hopper, specifically a linear module combining a servo motor and a ball screw, used to compensate for deviations in the carrier's parking position; the hopper lifting module 63 refers to the drive device that adjusts the vertical height of the hopper, specifically a feeding lifting mechanism 4 combining a servo motor and chain drive, used to adapt to differences in hopper height for different carriers; the guide assembly refers to a roller array with a guiding function, specifically a roller group, used to guide the carrier along a predetermined path into the docking position; carrier barcode scanning... Module 65 refers to the identification device for reading carrier information, which can be implemented using a fixed QR code scanner to automatically acquire batch information of the hopper; Floating plate 172 refers to the bearing platform with fine-tuning function to compensate for positional deviations between the hopper and the support platform assembly; Hopper centering mechanism refers to the execution device for centering the hopper, which can be implemented using a bidirectional synchronous cylinder-driven push plate structure to eliminate hopper placement offset; Hopper clamping mechanism refers to the locking device for fixing the hopper, which can be implemented using a combination of clamping cylinder and clamping block structure to prevent the hopper from shaking during transfer.

[0057] During the implementation of the above technical solution, when the second carrier 8 enters the docking position along the guide assembly, the carrier scanning module 65 automatically scans the carrier information and triggers the positioning process; the hopper lifting module 63 first adjusts the height of the hopper positioning mechanism 61 so that it is flush with the hopper support surface on the carrier; the hopper lateral movement module 62 drives the hopper positioning mechanism 61 to move laterally, so that the support platform assembly contacts the bottom of the hopper, which is used to support the hopper and center and position the hopper, as well as clamp the four corners of the hopper after centering. After the fixing is completed, the hopper lifting module 63 and the hopper lateral movement module 62 work together to fix the hopper. Positioning mechanism 61 moves to the docking position with lifting door mechanism 5; the entire process requires no manual intervention, realizing automatic docking between the carrier and the equipment; this application can realize rapid and accurate docking between the silo and the equipment, eliminating the operation link of manually adjusting the carrier position and improving the stability of the production line cycle; the automatic barcode scanning function avoids batch confusion caused by manual input of silo information, and the combined design of floating plate 172 and centering mechanism can adapt to the dimensional tolerances of different carriers, reducing equipment changeover and adjustment time; the coordinated control of lateral movement and silo lifting module 63 ensures the accuracy of silo transfer path and reduces the risk of silo collision.

[0058] In one embodiment of this application, the application also proposes that the first carrier 7 is a handcart or an AGV transport vehicle, and the first carrier 7 is provided with a mechanism for adjusting the height position of the carrier frame; the second carrier 8 is a handcart or an AGV transport vehicle, and the second carrier 8 is provided with a mechanism for adjusting the height position of the hopper.

[0059] Understandably, a handcart refers to a transport device equipped with wheels and manually propelled, specifically a four-wheeled flatbed cart with a braking device, suitable for short-distance material transfer scenarios; an AGV transport vehicle refers to an unmanned transport device equipped with an automatic navigation system, specifically an electric chassis with laser navigation or magnetic strip navigation, suitable for automated production line logistics docking; a height adjustment mechanism refers to a device used for vertical position adjustment, specifically a hydraulic lifting platform or an electric screw hopper door lifting module 51, which achieves height matching with the docking plane of the mutual rotating machine by driving the lifting of the frame or hopper.

[0060] In implementing the above technical solution, this application solves the problem of mismatch between the docking height of the carrier and the equipment in the traditional transfer process, and realizes rapid adaptation between different transport carriers and interchange machines; the height adjustment mechanism enables the frame and the bin to automatically align with the working plane in the vertical direction, avoiding the time-consuming operation of repeated manual adjustments, and at the same time provides a precise positioning benchmark for AGV automated transportation, significantly improving the compatibility and continuity of circuit board transfer between the carrier and the bin.

[0061] In one embodiment of this application, it is also proposed that during feeding, the insert frame mechanism 2 clamps the circuit board from the carrier frame and drives the circuit board to rise to a predetermined height; the board picking arm mechanism 3 clamps the circuit board and transfers it to the feeding lifting mechanism; the feeding lifting mechanism rises to the same height as the support structure in the hopper, and the feeding lifting mechanism will reset after conveying the circuit board to the support structure in the hopper.

[0062] Understandably, the insertion frame mechanism 2 refers to the device used to remove the circuit board from the frame. Specifically, it can be implemented using a combination of the Y-axis gantry module 21 and the Z-axis sliding module. The gripper assembly holds the upper and lower ends of the circuit board in layers to ensure stable board removal. The board removal arm mechanism 3 refers to the mechanical device used to transfer the circuit board. Specifically, it can be implemented using a six-axis robot 31 equipped with adjustable grippers. The gripping width can be adjusted by a drive device to accommodate circuit boards of different sizes. The feeding lifting mechanism refers to the device used to lift the circuit board. Specifically, it can be implemented using a combination of the fork-shaped pallet assembly 41 and the hopper door lifting module 51. The lateral movement assembly pushes the circuit board into the hopper support structure. The support structure inside the hopper refers to the component used to support the circuit board. Specifically, it can be implemented using horizontally arranged support rods or a shelf structure, with its height position consistent with that of the feeding lifting mechanism.

[0063] This application enables fully automated transfer of circuit boards from a vertical frame to a horizontal hopper, avoiding the inefficiency caused by manual handling. The layered clamping mechanism 2 ensures the stability of board retrieval, the precise docking of the feeding lifting mechanism and the hopper support structure eliminates positioning deviations, and the linkage control between the board retrieval arm mechanism 3 and the feeding lifting mechanism improves the transfer cycle and forms continuous operation capability.

[0064] Please refer to Figures 1-2 In one embodiment of this application, the application also proposes that the circuit board transfer machine includes two board picking stations, each equipped with a frame positioning mechanism 1 and a frame insertion mechanism 2, so that the two board picking stations can serve as buffer stations for each other. When the frame of one board picking station is short of material, the board picking arm mechanism 3 picks up the board through the frame of the other board picking station; and / or, the circuit board transfer machine includes two board placing stations, each equipped with a hopper docking mechanism 6, a lifting door mechanism 5 and a feeding lifting mechanism 4, so that the two board placing stations can serve as buffer stations for each other. When the hopper in one board placing station is full, the board picking arm mechanism 3 places the board into the hopper in the other board placing station.

[0065] Understandably, the board retrieval station refers to the operating unit used to remove the circuit board from the carrier frame. Specifically, it can be implemented using a combination structure including a carrier frame positioning mechanism 1 and a frame insertion mechanism 2. The carrier frame positioning mechanism 1 is used to fix the position of the carrier frame, and the frame insertion mechanism 2 is used to clamp the circuit board. The buffer station refers to a station used as a backup or temporary storage station. When the main station cannot operate due to material shortage or fullness, the buffer station can immediately take over the work to avoid production interruption. The board placement station refers to the operating unit used to transfer the circuit board to the hopper. Specifically, it can be implemented using a combination structure including a hopper docking mechanism 6, a lifting door mechanism 5, and a feeding lifting mechanism 4. The hopper docking mechanism 6 is used to position the hopper, the lifting door mechanism 5 is used to open the hopper door, and the feeding lifting mechanism 4 is used to adjust the height of the circuit board to achieve accurate feeding.

[0066] Specifically, the two board picking stations are set up in parallel to form a backup structure for each other. When the frame of one station is unable to provide a circuit board due to material shortage, the board picking arm mechanism 3 can immediately switch to the other station to continue picking up boards, thereby maintaining continuous production. Similarly, the two board placement stations are set up in parallel to form a buffer structure for each other. When the hopper of one station is full and cannot receive a circuit board, the board picking arm mechanism 3 can transfer the circuit board to the empty hopper of the other station, avoiding downtime while waiting for material replacement. This solution effectively solves the problem of process interruption caused by changes in material status in single-station equipment through the dual-station redundancy design.

[0067] In implementing the above technical solution, this application can realize the continuous operation of board picking and placing during the circuit board transfer process, avoid production interruption caused by changes in material status, and improve the overall operating efficiency of the equipment; at the same time, the dual-station design enhances the adaptability of the equipment to different production rhythms, reduces the reliance on manual intervention, and further improves the level of automation.

[0068] The above description is merely a preferred embodiment of the present invention and does not limit the patent scope of the present invention. Any equivalent structural transformations made using the contents of the present invention's specification and drawings under the inventive concept of the present invention, or direct / indirect applications in other related technical fields, are included within the patent protection scope of the present invention.

Claims

1. A circuit board interchange machine, characterized in that, It includes a frame positioning mechanism (1), a frame insertion mechanism (2), a plate picking arm mechanism (3), a material feeding lifting mechanism (4), a lifting door mechanism (5), and a hopper docking mechanism (6); The frame positioning mechanism (1) is fixedly mounted on the frame. The frame positioning mechanism (1) is docked with the first carrier (7) for transporting the frame. The frame positioning mechanism (1) is used to position the first carrier (7) and the frame. The insertion frame mechanism (2) is located above the frame positioning mechanism (1) and is used to remove the circuit board from the frame. The hopper docking mechanism (6) is fixedly mounted on the frame. The hopper docking mechanism (6) docks with the second carrier (8) of the transport hopper. The hopper docking mechanism (6) is used to position the second carrier (8) and the hopper. The lifting door mechanism (5) is located on one side of the hopper docking mechanism (6) and is used to open or close the hopper; The feeding lifting mechanism (4) is located on the other side of the lifting door mechanism (5) opposite to the hopper docking mechanism (6), and is used to input the circuit board into the hopper; The board-removing arm mechanism (3) is located between the insertion frame mechanism (2) and the feeding lifting mechanism (4) and is used to transfer the circuit board on the insertion frame mechanism (2) to the feeding lifting mechanism (4); The frame positioning mechanism (1) includes a guide wheel assembly (11) installed on the frame, a trolley arrival detection assembly (12), a trolley locking assembly (13), a trolley limit assembly (14), an AGV in-place detection assembly (15), a surplus material detection assembly (16), and a single-sided support platform (17). Two guide wheel assemblies (11) are provided and symmetrically arranged. The trolley locking assembly (13) is located at the front end of the guide wheel assembly (11). The trolley limiting assembly (14) is located at the end of the guide wheel assembly (11). The trolley positioning detection assembly (12) is located on the trolley limiting assembly (14). The trolley positioning detection assembly (12) triggers the trolley locking assembly (13) after the first vehicle (7) enters the predetermined position, so as to fix the first vehicle (7) in the guide wheel assembly (11). The AGV on-site detection assembly (15) is located between the two single-sided support platforms (17) and is used to detect the positioning status of the first vehicle (7). Two single-sided support platforms (17) are provided and symmetrically arranged. Each single-sided support platform (17) includes a fixed base (171), a floating plate (172), a centering cylinder assembly (173), a left frame lock (174), and a right frame lock (175). At least two of the floating plates (172) are provided on the top of the fixed base (171). The centering cylinder assembly (173) is provided between the two floating plates (172) for centering and positioning the frame. The left frame lock (174) and the right frame lock (175) are respectively provided on the outside of the two floating plates (172) for fixing the frame on the floating plates (172). The residual material detection component (16) is provided at a diagonal position between the two single-sided support platforms (17). The plate-retrieving arm mechanism (3) includes a six-axis robot (31) and a width-adjusting gripper, which is fixedly connected to the six-axis robot (31) through an arm connecting seat; The width-adjusting gripper includes an automatic width-adjusting assembly (32), a first clamping plate assembly (33), and a second clamping plate assembly (34). The automatic width-adjusting assembly (32) has a mounting base (321), a first clamping plate arm (322), a second clamping plate arm (323), a first width-adjusting drive device (324), and a second width-adjusting drive device (325). The first clamping plate arm (322) and the second clamping plate arm (323) are slidably disposed at both ends of the mounting base (321) via slide rails. The first clamping plate assembly (33) is disposed at the end of the first clamping plate arm (322). The first width-adjusting drive device (324) is drivenly connected to the first clamping plate arm (322). The second width-adjusting drive device (325) is drivenly connected to the second clamping plate arm (323). The second clamping plate assembly (34) is disposed at the end of the second clamping plate arm (323). The first width adjustment drive device (324) is configured to quickly coarsely adjust the clamping width, and the second width adjustment drive device (325) is configured to precisely finely adjust the clamping width; both the first clamping plate group (33) and the second clamping plate group (34) are pneumatic grippers.

2. The circuit board interchange machine as described in claim 1, characterized in that, The insertion frame mechanism (2) includes a Y-axis gantry module (21), an insertion frame Z-axis module (22), an insertion frame gripper assembly (23), and an inlet sensor assembly (24); The Y-axis gantry module (21) is fixedly mounted on the frame; the Z-axis insertion frame module (22) is slidably mounted on the Y-axis gantry module (21); The insert frame gripper assembly (23) includes an upper insert frame module (231), an upper clamping plate assembly (232), and a lower clamping plate assembly (233). The upper insert frame module (231) is slidably connected to the insert frame Z-axis module (22). The upper clamping plate assembly (232) is slidably disposed on the upper insert frame module (231). The lower clamping plate assembly (233) is fixedly connected to the upper insert frame module (231). The approach sensing assembly (24) is disposed on the lower clamping plate assembly (233). The insert frame gripper assembly (23) is configured to first approach and clamp the lower end of the circuit board through the lower clamping plate assembly (233), and then clamp the upper end of the circuit board through the upper clamping plate assembly (232).

3. The circuit board interchange machine as described in claim 1, characterized in that, The lifting door mechanism (5) includes a hopper door lifting module (51) and a hopper door docking module (52). The hopper door docking module (52) is provided with a positioning pin (521) and a hopper induction switch (522). The positioning pin (521) and the hopper induction switch (522) are both facing the hopper door. The hopper door has a positioning hole corresponding to the positioning pin (521) for inserting and positioning the hopper door. The hopper induction switch (522) is configured to trigger the hopper door lifting module (51) when the hopper door is inserted and positioned. The hopper door lifting module (51) is located on both sides of the hopper door docking module (52). The hopper door lifting module (51) is connected to the hopper door docking module (52) for transmission and is used to lift and separate the hopper door from the hopper when feeding materials.

4. The circuit board interchange machine as described in claim 3, characterized in that, The feeding lifting mechanism (4) includes a fork-shaped pallet assembly (41), a pallet lifting assembly (42), a pallet lateral movement assembly (43), a center plate positioning assembly (44), and a code reading and static elimination assembly (45). The pallet lifting assembly (42) is fixedly installed on the frame, and the displacement slider of the pallet lifting assembly (42) is provided with a mounting base plate (46); the fork pallet assembly (41) is slidably installed on the mounting base plate (46) via a slide rail; The central clapper positioning component (44) is disposed on the mounting base plate (46). The central clapper positioning component (44) is located on both sides of the fork-shaped support plate assembly (41) and is used to center and position the circuit board on the fork-shaped support plate assembly (41). The pallet lateral movement assembly (43) is disposed on the mounting base plate (46) and is located below the fork pallet assembly (41). The pallet lateral movement assembly (43) is used to push the fork pallet assembly (41) out and reset along the slide rail. The code reading and static electricity elimination component (45) is disposed on the mounting base plate (46) and is located above the fork-shaped tray assembly (41). The code reading and static electricity elimination component (45) is used to identify the circuit board and eliminate static electricity.

5. The circuit board interchange machine as described in claim 4, characterized in that, The hopper docking mechanism (6) includes a hopper positioning mechanism (61), a hopper lateral movement module (62), and a hopper lifting module (63). The hopper lifting module (63) is fixedly mounted on the frame. The hopper lateral movement module (62) is fixedly mounted on the displacement slider of the hopper lifting module (63). The hopper positioning mechanism (61) is fixedly mounted on the displacement slider of the hopper lateral movement module (62). The hopper traverse module (62) is equipped with a carrier scanning module (65) for obtaining information about the second carrier (8) and the hopper placed on the second carrier (8); When the hopper docking mechanism (6) docks with the second carrier (8), the hopper positioning mechanism (61) is used to carry and fix the hopper on the second carrier (8), and the hopper lifting module (63) and the hopper lateral movement module (62) are used to drive the hopper positioning mechanism (61) to move horizontally so that the hopper docks with the lifting door mechanism (5).

6. The circuit board interchange machine as described in claim 1, characterized in that, The first carrier (7) is a handcart or an AGV transport vehicle, and the first carrier (7) is equipped with a mechanism for adjusting the height of the carrier frame; The second carrier (8) is a handcart or AGV transport vehicle, and the second carrier (8) is equipped with a mechanism for adjusting the height of the hopper.

7. The circuit board interchange machine as described in claim 1, characterized in that, During feeding, the insert frame mechanism (2) clamps the circuit board from the carrier frame and lifts the circuit board to a predetermined height; the board picking arm mechanism (3) clamps the circuit board and transfers it to the feeding lifting mechanism (4); the feeding lifting mechanism (4) rises to the same height as the support structure in the hopper, and the feeding lifting mechanism resets after the circuit board is transported to the support structure in the hopper.

8. The circuit board interchange machine as described in claim 1, characterized in that, The circuit board interchange machine includes two board picking stations. Each of the two board picking stations is equipped with the frame positioning mechanism (1) and the frame insertion mechanism (2) to make the two board picking stations serve as buffer stations for each other. When the frame of one of the board picking stations is short of material, the board picking arm mechanism (3) picks the board from the frame of the other board picking station. And / or, the circuit board transfer machine includes two board feeding stations, each of which is equipped with the hopper docking mechanism (6), the lifting door mechanism (5) and the feeding lifting mechanism (4), so that the two board feeding stations can serve as buffer stations for each other. When the hopper in one of the board feeding stations is full, the board picking arm mechanism (3) feeds the board to the hopper in the other board feeding station.

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