Magnetic core and PCB automatic assembling equipment and assembling method

Abstract

The invention relates to a magnetic core and PCB automatic assembling device and method, and the device comprises a carrier conveying module which can be used for placing an E-type magnetic core which is pre-installed according to an acupoint and is dispensed with glue, and is provided with at least two first recognition point positions; the PCB conveying module comprises a four-axis robot and is used for grabbing the PCB located at the grabbing position and driving the PCB to move, and the PCB is provided with second identification points corresponding to the first identification points on the carrier in a one-to-one mode; the double-vision positioning module comprises a first camera and a second camera which are respectively used for acquiring and outputting carrier image data and acquiring and outputting PCB image data; the control module is configured to enable the image processing unit to receive image data from the first camera and the second camera and calculate the offset of the first recognition point positions and the second recognition point positions, and the motion control unit controls the four-axis robot to drive the PCB to move according to the offset so that all the first recognition point positions can coincide with the second recognition point positions. And the position deviation between the carrier and the PCB can be accurately eliminated.

Description

Technical Field

[0001] This application relates to the field of electronic component assembly technology, specifically to an automated assembly equipment and method for magnetic cores and PCB boards. Background Technology

[0002] In the manufacturing process of electronic devices, the assembly of magnetic cores and PCB boards is one of the key processes, and its assembly accuracy directly affects the electrical performance and stability of electronic components. Magnetic core assembly is only an intermediate step in the overall electronic component assembly process. Upstream, it connects to magnetic core molding and dispensing processes, and downstream, it connects to component curing and performance testing processes. The industry typically uses chain conveyors throughout the entire production line to achieve fully automated production. However, due to the relatively poor accuracy of chain conveyors, long-term operation can lead to X-axis and Y-axis offsets and angular deflections of the carrier during transport due to chain wear and tension changes. This results in variations in the carrier's position each time it is loaded, thus affecting the subsequent assembly accuracy of the magnetic core and PCB board.

[0003] Therefore, it is necessary to improve the existing technology to overcome the aforementioned defects. Summary of the Invention

[0004] In view of this, embodiments of this application provide an automated assembly device for magnetic cores and PCB boards to solve at least one problem existing in the prior art, comprising: The carrier conveying module includes a first conveying track, a carrier, and a first driving component. The carrier can hold an E-type magnetic core that has been pre-installed and glued to acupoints. The first driving component can drive the carrier to move the E-type magnetic core along the first conveying track to reach the assembly position. The carrier is provided with at least two first identification points. The PCB board conveying module includes a second conveying track, a second driving component, and a four-axis robot. The second driving component can drive the PCB board to move along the second conveying track to the gripping position. The four-axis robot is used to grip the PCB board located at the gripping position and drive the PCB board to move. The PCB board is provided with a second identification point that corresponds one-to-one with the first identification point on the carrier. A dual-vision positioning module, connected to the control module, includes a first camera located above the carrier conveying module and a second camera located below the four-axis robot. The first camera is configured to acquire and output image data of the carrier when the carrier reaches the assembly position, and the second camera is configured to acquire and output image data of the PCB board grasped by the four-axis robot. The control module includes an image processing unit and a motion control unit. The control module is configured such that the image processing unit receives image data from the first camera and the second camera and calculates the offset between the first recognition point and the second recognition point, and the motion control unit controls the four-axis robot to move the PCB board according to the offset so that all the first recognition points and the second recognition points coincide.

[0005] Optionally, in the above-mentioned automated assembly equipment for magnetic cores and PCB boards, the first conveying track includes parallel rails and a transmission chain at least partially located within the rails. The carrier has an overlapping portion that overlaps with the transmission chain. The first driving member can drive the transmission chain to move along the rails, thereby moving the carrier. The width of the vehicle is greater than the distance between the two drive chains and less than the distance between the two rails.

[0006] Optionally, the above-mentioned automated assembly equipment for magnetic cores and PCB boards further includes a first detection element and a second detection element disposed on the first conveying track and the second conveying track, wherein the first detection element is used to detect the carrier and the second detection element is used to detect the PCB board.

[0007] Optionally, in the above-mentioned automated assembly equipment for magnetic cores and PCB boards, the carrier conveying module further includes a fixing component. The fixing component includes a cylinder disposed on the first conveying track and a blocking block connected to the cylinder. The cylinder can drive the blocking block to move up and down to block or release the carrier.

[0008] Optionally, in the aforementioned automated assembly equipment for magnetic cores and PCB boards, the dual-vision positioning module further includes a light source board structure disposed below the first camera. The light source board structure has a through hole, through which the first camera can acquire image data of the vehicle.

[0009] Optionally, in the above-mentioned automated assembly equipment for magnetic cores and PCB boards, the carrier is provided with a plurality of positioning slots, and the magnetic core is located in the positioning slots.

[0010] This application also provides an automated assembly method for magnetic cores and PCB boards, employing the assembly equipment described in any of the above claims, the assembly method comprising: The first drive unit drives the carrier of the pre-applied E-type magnetic core along the first conveyor track to the assembly position; The first camera acquires image data of the vehicle at the assembly location and outputs it to the control module; The image processing unit of the control module receives vehicle image data information acquired by the first camera; The second driving component drives the PCB board to the gripping position, and the four-axis robot grips and moves the PCB board. The second camera acquires PCB board image data and outputs values ​​to the control module; The image processing unit of the control module receives image data information of the PCB board acquired by the second camera and calculates the offset between the first identification point on the vehicle and the second identification point on the PCB board. The motion control unit of the control module controls the four-axis robot to move the PCB board according to the offset, so that all the first recognition points and the second recognition points coincide.

[0011] Optionally, the above-described automated assembly method for magnetic cores and PCB boards further includes, before the first driving unit drives the carrier of the pre-applied E-type magnetic core along the first conveying track to the assembly position: The first driving component drives the empty vehicle along the first conveying track to the assembly position. The control module obtains the X-axis coordinates, Y-axis coordinates, and angle parameters of the empty vehicle at the assembly position as position reference values.

[0012] Optionally, in the above-mentioned automated assembly method of magnetic core and PCB board, the image processing unit of the control module receives image data information of the PCB board acquired by the second camera, and calculates the offset between the first identification point on the carrier and the second identification point on the PCB board, including: The offset includes a first offset between the pre-applied E-type magnetic core carrier and the empty carrier in the X-axis, Y-axis, and angular directions, and a second offset between the pre-applied E-type magnetic core carrier and the PCB board in the X-axis, Y-axis, and angular directions.

[0013] Optionally, in the above-mentioned automated assembly method of magnetic core and PCB board, the second driving member drives the PCB board to move to the gripping position, and the four-axis robot gripping the PCB board includes a first segment of the PCB board moving from the second conveying track to above the second camera and a second segment of the PCB board moving from above the second camera to the assembly position. The motion control unit of the control module controls the four-axis robot to move the PCB board according to the offset before the second segment of the journey ends.

[0014] Compared with the prior art, this application has the following beneficial effects: by setting at least two first identification points on the carrier on the first conveying track and setting a second identification point on the PCB board that corresponds one-to-one with the first identification points, the first camera and the second camera respectively collect information of the first identification points and the second identification points, and by controlling the four-axis robot to adjust the position of the PCB board relative to the carrier through the control module to calculate the relative offset of all the first identification points and the second identification points, the positional deviation between the carrier and the PCB board can be accurately eliminated, effectively avoiding abnormal performance of electronic components caused by alignment misalignment, and significantly improving product yield. Attached Figure Description

[0015] Figure 1 This is a schematic diagram of the automated assembly equipment for magnetic cores and PCB boards shown in this application. Figure 2 for Figure 1 The diagram shows a partial structural schematic of the automated assembly equipment for magnetic cores and PCB boards. Figure 3 for Figure 1 The diagram shows the structure of the carrier conveying module in the automated assembly equipment for magnetic cores and PCB boards. Figure 4 for Figure 1 The diagram shows the structure of the first camera in the automated assembly equipment for magnetic cores and PCB boards. Figure 5 This is a block diagram of the automated assembly equipment for magnetic cores and PCB boards shown in this application.

[0016] Reference numerals: magnetic core 10, carrier 20, overlapping part 201, PCB board 30; The vehicle conveying module 1 includes a first conveying track 11, rails 111, a transmission chain 112, and a first driving component 12. PCB board conveying module 2, second conveying track 21, second drive unit 22, four-axis robot 23; Dual vision positioning module 3, first camera 31, second camera 32, light source board structure 33, through hole 331; Control module 4, image processing unit 41, motion control unit 42; Feed port 5; Feed port 6; First inspection item 7; Second inspection item 8; Fixed component 9, cylinder 91, blocking block 92. Detailed Implementation

[0017] The exemplary embodiments disclosed in this application will now be described in more detail. Numerous specific details are set forth in the following description to provide a more thorough understanding of this application. However, it will be apparent to those skilled in the art that this application can be implemented without one or more of these details. In other instances, to avoid confusion with this application, some technical features well-known in the art have not been described; that is, not all features of actual embodiments are described herein, nor are well-known functions and structures described in detail.

[0018] It should be understood that when an element or layer is referred to as "on," "adjacent to," "connected to," or "coupled to" other elements or layers, it may be directly on, adjacent to, connected to, or coupled to other elements or layers, or there may be intervening elements or layers. Conversely, when an element is referred to as "directly on," "directly adjacent to," "directly connected to," or "directly coupled to" other elements or layers, there are no intervening elements or layers. It should be understood that although the terms first, second, third, etc., may be used to describe various elements, components, areas, layers, and / or portions, these elements, components, areas, layers, and / or portions should not be limited by these terms. These terms are only used to distinguish one element, component, area, layer, or portion from another element, component, area, layer, or portion. Therefore, without departing from the teachings of this application, the first element, component, area, layer, or portion discussed below may be referred to as a second element, component, area, layer, or portion. And the discussion of a second element, component, area, layer, or portion does not imply that the first element, component, area, layer, or portion necessarily exists in this application.

[0019] Spatial relation terms such as “below,” “under,” “below,” “under,” “above,” “above,” etc., are used here for convenience to describe the relationship between one element or feature shown in the figure and other elements or features. It should be understood that, in addition to the orientation shown in the figure, spatial relation terms are intended to also include different orientations of devices in use and operation.

[0020] The terminology used herein is for the purpose of describing particular embodiments only and is not intended to limit the scope of this application. When used herein, the singular forms “a,” “an,” and “ / the” are also intended to include the plural forms unless the context clearly indicates otherwise. It should also be understood that the terms “compose” and / or “comprising,” when used in this specification, identify the presence of features, integers, steps, operations, elements, and / or components, but do not exclude the presence or addition of one or more other features, integers, steps, operations, elements, components, and / or groups. When used herein, the term “and / or” includes any and all combinations of the associated listed items.

[0021] To fully understand this application, detailed steps and structures will be presented in the following description to illustrate the technical solution of this application. Preferred embodiments of this application are described in detail below; however, in addition to these detailed descriptions, this application may have other implementation methods.

[0022] Please refer to Figure 1 and Figure 2As shown in the preferred embodiment of this application, an automated assembly equipment for magnetic cores and PCB boards is used for the automatic assembly of E-type magnetic cores 10 and PCB boards 30. The assembly equipment includes a carrier conveying module 1, a PCB board conveying module 2, a dual vision positioning module 3, and a control module 4. The carrier conveying module 1 includes a first conveying track 11, a carrier 20, and a first driving component 12. The carrier 20 can hold an E-type magnetic core 10 pre-installed and glued at acupoints. The first driving component 12 can drive the carrier 20 to move the E-type magnetic core 10 along the first conveying track 11 to the assembly position. The carrier 20 is provided with at least two first identification points. The PCB board conveying module 2 includes a second conveying track 21, a second driving component 22, and a four-axis robot 23. The second driving component 22 can drive the PCB board 30 to move along the second conveying track 21 to the gripping position. The four-axis robot 23 is used to grip the PCB board 30 located at the gripping position and drive the PCB board 30 to move. The PCB board 30 is provided with second identification points that correspond one-to-one with the first identification points on the carrier 20. Dual vision positioning. Module 3 is connected to control module 4 and includes a first camera 31 located above the carrier transport module 1 and a second camera 32 located below the four-axis robot 23. The first camera 31 is configured to acquire and output image data of the carrier 20 when the carrier 20 reaches the assembly position. The second camera 32 is configured to acquire and output image data of the PCB board 30 grasped by the four-axis robot 23. Control module 4 includes an image processing unit 41 and a motion control unit 42. Control module 4 is configured such that the image processing unit 41 receives image data from the first camera 31 and the second camera 32 and calculates the offset between the first recognition point and the second recognition point. The motion control unit 42 controls the four-axis robot 23 to move the PCB board 30 according to the offset so that all the first recognition points and the second recognition points coincide.

[0023] Understandably, by setting at least two first identification points on the carrier 20 on the first conveying track 11 and setting a second identification point on the PCB board 30 corresponding to the first identification points, the first camera 31 and the second camera 32 respectively collect information of the first identification points and the second identification points. By controlling the four-axis robot 23 to adjust the position of the PCB board 30 relative to the carrier 20 through the control module 4 to calculate the relative offset of all the first identification points and the second identification points, the positional deviation between the carrier 20 and the PCB board 30 can be accurately eliminated, effectively avoiding abnormal performance of electronic components caused by alignment misalignment, and significantly improving product yield.

[0024] Understandably, by setting up separate first conveying track 11 and second conveying track 21, the coordination of conveying the magnetic core 10 and the PCB board 30 can be achieved, and the separate second conveying track 21 can adjust the conveying speed of the PCB board 30 according to the production rhythm, thereby improving production efficiency.

[0025] Furthermore, the assembly equipment also includes a loading port 5 and a unloading port 6 located at both ends of the first conveying track 11. The loading port 5 is used to load the carrier 20, and the unloading port 6 is used to unload the PCB board 30 assembled with the magnetic core 10. Even further, the first conveying track 11 includes parallel rails 111 and a transmission chain 112 at least partially located within the rails 111. The carrier 20 has an overlap portion 201 that overlaps with the transmission chain 112. The first driving member 12 can drive the transmission chain 112 to move along the rails 111, thereby moving the carrier 20. In this embodiment, the width of the carrier 20 is greater than the distance between the two transmission chains 112 and less than the distance between the two rails 111. On the one hand, the width of the vehicle 20 is greater than the distance between the two drive chains 112, which can ensure the effective connection between the vehicle 20 and the drive chains 112 and prevent the vehicle 20 from falling between the drive chains 112; on the other hand, the width of the vehicle 20 is less than the distance between the two rails 111, which leaves enough space for the vehicle 20 to move between the rails 111, avoids collision between the vehicle 20 and the rails 111, and ensures smooth movement of the vehicle 20.

[0026] Further, refer to Figures 3-5 As shown, the device also includes a first detection element 7 and a second detection element 8 disposed on the first conveying track 11 and the second conveying track 21. The first detection element 7 is used to detect the carrier 20, and the second detection element 8 is used to detect the PCB board 30.

[0027] Understandably, the first detection component 7 is set on the first conveying track 11, which can monitor in real time whether the carrier 20 has reached the designated position, whether the carrier 20 is damaged or has an abnormal position, and promptly feed the detection information back to the control module 4. The control module 4 can adjust the equipment operating status according to the detection information to avoid assembly failures caused by problems with the carrier 20 and ensure stable operation of the equipment. The second detection component 8 is set on the second conveying track 21, which can accurately detect whether the PCB board 30 has reached the gripping position, whether the specifications of the PCB board 30 meet the requirements, and whether the PCB board 30 is damaged.

[0028] Furthermore, the vehicle transport module 1 also includes a fixing component 9, which includes a cylinder 91 disposed on the first transport track 11 and a blocking block 92 connected to the cylinder 91. The cylinder 91 can drive the blocking block 92 to move up and down to block or release the vehicle 20.

[0029] Understandably, when the carrier 20 reaches the assembly position, the blocking block 92 moves downward to press the carrier 20, preventing the carrier 20 from shifting or shaking during the assembly process, ensuring the magnetic core 10 is in a stable position, and providing conditions for precise assembly; after assembly is completed, the blocking block 92 moves upward to release the carrier 20, so that the carrier 20 can continue to move to the unloading port 6 without affecting the continuous operation of the equipment.

[0030] Furthermore, the dual-vision positioning module 3 also includes a light source plate structure 33 disposed below the first camera 31. The light source plate structure 33 is provided with a through hole 331, through which the first camera 31 can acquire image data of the vehicle 20.

[0031] More specifically, the light source board structure 33 includes a bracket and a surface light source mounted on the bracket, with the aforementioned through hole 331 formed on the surface light source.

[0032] Understandably, by providing a light source plate structure 33, the system can not only provide a light source but also effectively block external light from interfering with the image captured by the first camera 31. This prevents unclear image data of the vehicle 20 captured by the first camera 31 due to lighting issues. Furthermore, the light source plate structure 33 has a through-hole 331, ensuring that the first camera 31 can only acquire image data of the vehicle 20 through the through-hole 331, avoiding the capture of irrelevant areas, reducing interference factors during image processing, and improving image processing efficiency and accuracy. Simultaneously, the through-hole 331 can further control the amount of light entering the first camera 31, optimizing the shooting effect. It should be noted that in this embodiment, providing a surface light source ensures the coverage of the light source. With dense magnetic cores or other components on the PCB board, the surface light source avoids localized strong light or shadows generated by point light sources or line light sources, ensuring consistent brightness across all areas.

[0033] Furthermore, the carrier 20 is provided with several positioning slots, and the E-type magnetic core 10 is located in the positioning slots, so that the E-type magnetic core 10 can be accurately positioned and fixed, so that the E-type magnetic core 10 can be accurately placed in the predetermined acupoint, avoiding displacement or rotation of the magnetic core 10 during the movement or assembly of the carrier 20, and ensuring the positional accuracy of the magnetic core 10.

[0034] This application also provides an automated assembly method for magnetic cores and PCB boards, which uses the assembly equipment described above and includes the following steps: The first drive unit drives the carrier of the pre-applied E-type magnetic core along the first conveyor track to the assembly position; The first camera acquires image data of the vehicle at the assembly location and outputs it to the control module; The image processing unit of the control module receives vehicle image data information acquired by the first camera; The second driving component drives the PCB board to the gripping position, and the four-axis robot grips and moves the PCB board. The second camera acquires PCB board image data and outputs values ​​to the control module; The image processing unit of the control module receives image data information of the PCB board acquired by the second camera and calculates the offset between the first identification point on the vehicle and the second identification point on the PCB board. The motion control unit of the control module controls the four-axis robot to move the PCB board according to the offset, so that all the first recognition points and the second recognition points coincide.

[0035] Because the first conveyor track uses chain conveying to transport the carrier, there are some differences in how the carrier arrives at the assembly position each time. To compensate for the offset of the carrier at the assembly position, this embodiment also includes: Before the carrier carrying the pre-applied E-type magnetic core, driven by the first drive unit, moves along the first conveyor track to the assembly position, it also includes: The first driving component drives the empty vehicle along the first conveying track to the assembly position. The control module 4 obtains the X-axis coordinates, Y-axis coordinates, and angle parameters of the empty vehicle at the assembly position as position reference values.

[0036] Understandably, the control module 4 obtains the X-axis coordinates, Y-axis coordinates, and angle parameters of the empty carrier 20 when it is in the assembly position as the position reference value. In the subsequent assembly process, the position of the carrier 20 with the pre-applied glued E-type magnetic core 10 can be compared with the reference value to quickly detect the position deviation of the carrier 20. This provides a reference for accurately calculating the offset and adjusting the position of the PCB board 30, further improving the assembly accuracy and reducing the assembly error caused by the position deviation of the carrier 20 itself.

[0037] Furthermore, the image processing unit of the control module receives image data information of the PCB board acquired by the second camera, and calculates the offset between the first identification point on the vehicle and the second identification point on the PCB board, including: The offset includes the first offset between the pre-applied E-type magnetic core carrier and the empty carrier in the X-axis, Y-axis, and angular directions, and the second offset between the pre-applied E-type magnetic core carrier and the PCB board in the X-axis, Y-axis, and angular directions.

[0038] Understandably, by first obtaining the reference value of the carrier 20, the error data of the carrier 20 itself can be obtained. The control module 4 can add the compensation value of the absolute position deviation of the carrier 20 when calculating the offset, so that when the four-axis robot 23 adjusts the PCB board 30, it can ensure that the magnetic core 10 and the PCB board 30 are relatively aligned, and also ensure that the overall position of the magnetic core 10 and the PCB board 30 conforms to the absolute reference, thereby achieving dual calibration and further improving the assembly accuracy of the magnetic core 10 and the PCB board 30.

[0039] Furthermore, the second driving component drives the PCB board to move to the gripping position. The four-axis robot's gripping and moving of the PCB board includes a first segment of travel where the PCB board moves from the second conveyor track to above the second camera and a second segment of travel where the PCB board moves from above the second camera to the assembly position. The motion control unit of the control module controls the four-axis robot to move the PCB board according to the offset before the end of the second stroke, so as to realize the synchronous operation of the PCB board position adjustment and movement process. There is no need to adjust it separately after the PCB board reaches the assembly position, which saves assembly time, greatly improves assembly efficiency, and also avoids production process delays caused by the PCB board staying in the assembly position for too long.

[0040] It should be noted that, in order to improve the overall assembly efficiency of the equipment and avoid idle waiting of components, in this embodiment, when the position of the empty carrier is used as the reference value, the second drive component 22 drives the PCB board 30 to be assembled to move to the gripping position without waiting for the carrier 20 reference calibration structure. Simultaneously, the second detection component 8 detects whether the PCB board 30 is qualified and in place. If qualified, it sends a gripping signal to the four-axis robot 23. At the same time, the first conveying track 11 transports the pre-assembled carrier 20 to the assembly position. After the first detection component 7 detects that the carrier 20 is in place, it immediately triggers the fixing component 9 to press the carrier 20. At the same time, the first camera 31 captures image data and uploads it to the control module 4. Then, the control module 4 controls the four-axis robot 23 to grip the PCB board 30 for the first segment of the stroke. The second camera 32 captures image data of the PCB board 30 in real time and transmits it to the control module 4. The control module 4 calculates the second offset and combines it with the first offset to control the movement trajectory of the four-axis robot 23, so that the position adjustment of the PCB board 30 is completed during the second segment of the stroke, rather than adjusting it after reaching the assembly position.

[0041] The above is only one specific implementation of this application, and any other improvements made based on the concept of this application shall be considered within the scope of protection of this application.

Claims

1. A magnetic core and PCB board automated assembly apparatus, characterized by, The device comprises: a carrier conveying module, comprising a first conveying track, a carrier and a first driving member, the carrier is capable of placing an E-shaped magnetic core which has been pre-assembled and glued at an acupuncture point, the first driving member is capable of driving the carrier to move the E-shaped magnetic core along the first conveying track to reach an assembly position, the carrier is provided with at least two first identification points; a PCB board conveying module, comprising a second conveying track, a second driving member and a four-axis robot, the second driving member is capable of driving a PCB board to move along the second conveying track to a grabbing position, the four-axis robot is used for grabbing the PCB board at the grabbing position and moving the PCB board, the PCB board is provided with second identification points corresponding to the first identification points on the carrier; a double-vision positioning module, connected with a control module, comprising a first camera located above the carrier conveying module and a second camera located below the four-axis robot, the first camera is configured to acquire image data of the carrier when the carrier reaches the assembly position and output the image data, the second camera is configured to acquire image data of the PCB board grabbed by the four-axis robot and output the image data; the control module comprises an image processing unit and a motion control unit, the control module is configured such that the image processing unit receives the image data from the first camera and the second camera and calculates the offset between the first identification points and the second identification points, and the motion control unit controls the four-axis robot to move the PCB board according to the offset so that all the first identification points and the second identification points coincide.

2. The magnetic core and PCB board automated assembly apparatus of claim 1, wherein, The first conveying track comprises tracks arranged in parallel with each other, and a transmission chain located at least partially in the tracks, the carrier has an overlapping part overlapping with the transmission chain, and the first driving member is capable of driving the transmission chain to move along the tracks to drive the carrier to move. The width of the carrier is greater than the distance between the two transmission chains and less than the distance between the two tracks.

3. The magnetic core and PCB board automated assembly apparatus of claim 1, wherein, The device further comprises a first detection member and a second detection member arranged on the first conveying track and the second conveying track, the first detection member is used for detecting the carrier, and the second detection member is used for detecting the PCB board.

4. The magnetic core and PCB board automated assembly apparatus of claim 1, wherein, The carrier conveying module further comprises a fixing assembly, the fixing assembly comprises a cylinder arranged on the first conveying track and a blocking block connected with the cylinder, the cylinder is capable of driving the blocking block to move up and down to block or release the carrier.

5. The magnetic core and PCB board automated assembly apparatus of claim 1, wherein, The double-vision positioning module further comprises a light source plate structure arranged below the first camera, the light source plate structure is provided with a through hole, and the first camera is capable of acquiring image data of the carrier through the through hole.

6. The magnetic core and PCB board automated assembly apparatus of claim 1, wherein, The carrier is provided with a plurality of positioning grooves, and the E-shaped magnetic core is located in the positioning grooves.

7. A method for automated assembly of a magnetic core to a PCB board, the method comprising: The assembly method comprises: driving the carrier of the pre-assembled and glued E-shaped magnetic core along the first conveying track to the assembly position by the first driving member; acquiring image data of the carrier at the assembly position by the first camera and outputting the image data to the control module; receiving the image data of the carrier acquired by the first camera by the image processing unit of the control module; The second driving member drives the PCB to move to a grabbing position, and the four-axis robot moves to grab the PCB; The second camera acquires image data of the PCB and outputs a value to the control module; The image processing unit of the control module receives the image data information of the PCB acquired by the second camera, and calculates the offset between the first recognition points on the carrier and the second recognition points on the PCB; The motion control unit of the control module controls the four-axis robot to move the PCB according to the offset so that all the first recognition points and the second recognition points coincide.

8. The magnetic core and PCB board automated assembly method of claim 7, wherein, The first driving member drives the carrier with the pre-installed E-shaped magnetic core along the first conveying track to the assembly position further includes: The first driving member drives the empty carrier along the first conveying track to the assembly position, and the control module acquires the X-axis coordinate, Y-axis coordinate and angle parameter of the empty carrier at the assembly position as the position reference value.

9. The magnetic core and PCB board automated assembly method of claim 8, wherein, The image processing unit of the control module receives the image data information of the PCB acquired by the second camera, and calculates the offset between the first recognition points on the carrier and the second recognition points on the PCB includes: The offset includes the first offset of the carrier with the pre-installed E-shaped magnetic core and the empty carrier in the X-axis, Y-axis and angle directions, and the second offset of the carrier with the pre-installed E-shaped magnetic core and the PCB in the X-axis, Y-axis and angle directions.

10. The magnetic core and PCB board automated assembly method of claim 7, wherein, The second driving member drives the PCB to move to a grabbing position, and the four-axis robot moves to grab the PCB includes a first stroke of moving the PCB from the second conveying track to above the second camera and a second stroke of moving the PCB from above the second camera to the assembly position; The motion control unit of the control module controls the four-axis robot to move the PCB according to the offset to complete before the end of the second stroke.

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