PCB (Printed Circuit Board) small plate placing and collecting equipment

Abstract

The invention discloses a small PCB placing and collecting device which comprises a board placing device, a board collecting device and a horizontal production line. The plate outlet end of the plate placing device is in butt joint with the plate inlet end of the horizontal production line, and the plate outlet end of the horizontal production line is in butt joint with the plate inlet end of the plate collecting device. According to the invention, the board placing device and the board collecting device are in butt joint through the horizontal production line, the board placing device and the board collecting device form a complete board collecting and placing line, manual transfer of PCBs is not needed in the process, full-automatic board collecting and placing are realized, the efficiency of the processing production line of the PCBs is improved, and the manual transfer cost is reduced. According to the board collecting equipment, non-stop continuous board collecting of the PCBs can be achieved, transferring of the PCBs can be achieved through the board collecting equipment and the AGV, manual carrying is not needed in the whole board collecting process, the production efficiency can be greatly improved, and the labor cost can be greatly reduced. The device is compatible with the collection of PCBs with different sizes and shapes, and is high in adaptability.

Description

TECHNICAL FIELD

[0001] The present application relates to the technical field of PCB automatic production line, and particularly relates to a PCB small plate piece placing and collecting device. BACKGROUND

[0002] The PCB board is a circuit board. PCB processing is a relatively active industry in the contemporary electronic component industry. In the PCB production and processing operation process, in order to meet the needs of the automatic operation of the overall processing production line, a placing machine is arranged at the starting point of the production line, and a collecting machine is arranged at the terminal point of the production line, so as to facilitate the PCB processing operation. The placing machine can place the circuit board on the conveying belt of the production line in a horizontal manner one by one, and when the circuit board completes the processing operation, the collecting machine collects the circuit board on the conveying belt of the production line. The existing PCB placing machine and collecting machine only have the functions of placing and collecting, and the functions of placing and collecting are integrated mainly by means of a large mechanical arm and a suction cup to realize the placing and collecting of the PCB. The machine occupies a large area, the placing and collecting are performed by the large mechanical arm, the working efficiency is low, and the improvement is needed. SUMMARY

[0003] In order to overcome the shortcomings and deficiencies in the prior art, the purpose of the present application is to provide a PCB small plate piece placing and collecting device. The PCB small plate piece placing and collecting device can realize continuous collecting without stopping, without manual collecting, and has higher collecting efficiency.

[0004] The purpose of the present application is achieved by the following technical scheme: a PCB small plate piece placing and collecting device, comprising a placing device, a collecting device and a horizontal production line; the placing end of the placing device is connected with the placing end of the horizontal production line, and the placing end of the horizontal production line is connected with the placing end of the collecting device; The placing device comprises a first rack, a plate taking transfer mechanism, a roller conveying line and a placing mechanical arm capable of adjusting the plate taking width according to the size of the PCB board are arranged on the first rack, and an encoder for measuring the thickness of the PCB board is arranged at the discharging end of the roller conveying line; the discharging end of the roller conveying line is connected with the placing end of the horizontal production line; The side of the first rack is provided with a first AGV trolley docking position, the two sides of the first AGV trolley docking position are provided with a first tray positioning mechanism and a first guide assembly, the first guide assembly on the two sides can guide the first AGV trolley to enter the first AGV trolley docking position, and the first tray positioning mechanism on the two sides can position the first tray conveyed by the first AGV trolley; the plate taking and transferring mechanism can take the stacked PCB from the first tray and transfer it to the plate taking position of the plate placing manipulator, the plate placing manipulator takes the PCB from the plate taking and transferring mechanism and places the PCB on the roller conveying line for horizontal conveying; The plate taking device comprises a rack, two-section backlight conveying platforms, a transfer mechanism, a rectifying mechanism, a transfer mechanism and a secondary material receiving platform are arranged on the rack; the rectifying mechanism can adjust the position of the PCB conveyed by the two-section backlight conveying platforms, the transfer mechanism takes the PCB from the discharge end of the two-section backlight conveying platforms and carries the PCB to the transfer mechanism or the secondary material receiving platform, the secondary material receiving platform is horizontally moved by a platform drive control; the plate taking end of the two-section backlight conveying platform is connected with the plate discharging end of the horizontal production line; The side of the rack is provided with an AGV trolley docking position, the two sides of the AGV trolley docking position are provided with a tray positioning mechanism and a guide assembly, the guide assembly on the two sides can guide the AGV trolley to enter the AGV trolley docking position, and the tray positioning mechanism on the two sides can position the tray conveyed by the AGV trolley; When the transfer mechanism transfers the PCB to the tray conveyed by the AGV trolley, the platform drive controls the horizontal movement of the secondary material receiving platform to the material receiving position of the transfer mechanism, the transfer mechanism carries the PCB to the secondary material receiving platform, and when the transfer mechanism receives the material again, the PCB on the secondary material receiving platform is first lifted, the platform drive controls the horizontal movement of the secondary material receiving platform to the initial position, and the transfer mechanism continues to carry the PCB to the transfer mechanism.

[0005] As an improvement of the PCB small plate device, the transfer mechanism comprises a horizontal moving mechanism, a vertical moving mechanism, a lifting mechanism, a transfer platform and a mounting bracket, the vertical moving mechanism and the lifting mechanism are mounted on the mounting bracket, the horizontal moving mechanism controls the horizontal movement of the mounting bracket, the vertical moving mechanism controls the vertical movement of the mounting bracket, the lifting mechanism controls the lifting movement of the transfer platform, and the transfer platform can place the stacked PCB on the tray.

[0006] As an improvement of the PCB small plate component placing and collecting equipment, the transverse moving mechanism comprises a transverse moving support and two transversely arranged transverse moving slides, the transverse moving support is slidably connected to the two transversely arranged transverse moving slides through a sliding block, a first rack is arranged between the two transverse moving slides, a transverse moving servo motor is arranged at the middle part of the transverse moving support, a first gear is arranged on the output shaft of the transverse moving servo motor, and the first gear is in meshing connection with the first rack. When the transverse moving servo motor is started, the first gear is driven to rotate, the first gear can move on the first rack, and the transverse moving support is driven to move; The longitudinal moving mechanism comprises a longitudinal moving servo motor arranged on the mounting support, a second gear is arranged on the output shaft of the longitudinal moving servo motor, a second rack and a longitudinal moving slide are arranged in the length direction of the transverse moving support, the second gear is in meshing transmission with the second rack, and the mounting support is slidably connected to the longitudinal moving slide through a sliding block. When the longitudinal moving servo motor is started, the second gear is driven to rotate, the second gear can move on the second rack, and the mounting support is driven to move; The lifting mechanism comprises a lifting control servo motor and a lifting transmission screw rod arranged on the mounting support, the lifting control servo motor and the lifting transmission screw rod are connected through a synchronous wheel and a synchronous belt, and the lifting transmission screw rod is connected to the transfer platform through a screw rod nut; The mounting support is further provided with a lifting slide rail, one end of the transfer platform is provided with a lifting sliding block, and the lifting sliding block is in sliding connection with the lifting slide rail; A plurality of horizontally arranged first supporting rods are arranged at intervals on the transfer platform, a spacing is formed between every two first supporting rods, a plurality of horizontally arranged second supporting rods are arranged at intervals on the tray, a spacing is formed between every two second supporting rods, and the first supporting rods and the second supporting rods are arranged in a staggered manner.

[0007] As an improvement of the PCB small plate component placing and collecting equipment, a plurality of third supporting rods are arranged at intervals on the auxiliary collecting platform, and a spacing is formed between every two third supporting rods; The two ends of the auxiliary collecting platform are slidably connected to guide rods through guide sleeves, the guide rods are mounted on the rack, the middle part of the auxiliary collecting platform is provided with a through hole, one side of the auxiliary collecting platform is connected to a synchronous belt, the synchronous belt is supported and driven by two pulleys, one of the pulleys is driven to rotate by the platform, and the other pulley is arranged on the rack, and when the synchronous belt is driven, the auxiliary collecting platform can move along with the synchronous belt.

[0008] As an improvement of the PCB small plate component placing and taking plate equipment, the transfer manipulator comprises a horizontal transfer servo module, a lifting servo module and a clamping control servo module, the clamping control servo module controls two clamping assemblies, and an intermediate adsorption module is arranged between the two clamping assemblies. The intermediate adsorption module is arranged in the middle of the clamping control servo module through a mounting bracket, and a connecting groove is arranged on the intermediate adsorption module. The mounting bracket comprises a connecting plate, two connecting guide rods are arranged at the two ends of the connecting plate respectively, the lower ends of the two connecting guide rods extend into the connecting groove and are fixed by screws, and a plurality of adsorption holes are arranged at the bottom of the intermediate adsorption module in intervals.

[0009] As an improvement of the PCB small plate component placing and taking plate equipment, the clamping control servo module comprises a module profile, a forward and reverse screw rod and a clamping control servo motor are arranged on the module profile, a first synchronous pulley is arranged at one end of the forward and reverse screw rod, an output shaft of the clamping control servo motor is provided with a second synchronous pulley, the first synchronous pulley and the second synchronous pulley are connected through a synchronous belt, a forward screw rod nut is screwed on a forward screw rod segment of the forward and reverse screw rod, a reverse screw rod nut is screwed on a reverse screw rod segment of the forward and reverse screw rod, the forward screw rod nut is connected to a first connecting bracket, the reverse screw rod nut is connected to a second connecting bracket, and the first connecting bracket and the second connecting bracket are respectively connected to one of the clamping assemblies. When the forward and reverse screw rod rotates, the movement directions of the two clamping assemblies are opposite.

[0010] As an improvement of the PCB small plate component placing and taking plate equipment, the clamping assembly comprises a clamping mounting plate, a plurality of clamping cylinders are arranged on the clamping mounting plate in intervals, a clamping positioning block is arranged at the bottom of the clamping mounting plate corresponding to the position of each clamping cylinder, a clamping plate is controlled by the piston rod end of the clamping cylinder, and the clamping plate and the clamping positioning block jointly clamp the product. The horizontal transfer servo module comprises a module cross beam, a horizontal transfer servo motor, a horizontal transfer transmission screw rod and a horizontal transfer guide rail are arranged on the module cross beam, the output shaft of the horizontal transfer servo motor is connected with the horizontal transfer transmission screw rod through a shaft coupling, the horizontal transfer transmission screw rod is connected with a moving plate through a screw rod nut, and the lifting servo module is installed on the moving plate. The lifting servo module comprises a Z-axis module profile, a Z-axis servo motor, a Z-axis transmission screw rod and a Z-axis guide rail are arranged on the Z-axis module profile, the output shaft of the Z-axis servo motor is connected with the Z-axis transmission screw rod through a shaft coupling, the Z-axis transmission screw rod is connected with a lifting plate through a screw rod nut, the lifting plate is connected with the Z-axis guide rail through a sliding block, and the bottom of the lifting plate is connected with the clamping control servo module.

[0011] As an improvement of the PCB small plate piece placing and taking plate equipment, the two-section backlight conveying platform comprises a front section conveying line and a rear section conveying line, and the discharge end of the front section conveying line corresponds to the feeding end of the rear section conveying line; The front section conveying line comprises a sheet conveying belt, a plurality of first belt rollers for supporting and driving the sheet conveying belt, and a first roller motor for driving the sheet conveying belt to move, a camera module is arranged above the feeding end of the sheet conveying belt, and a backlight assembly is arranged below the sheet conveying belt As an improvement of the PCB small plate piece placing and taking plate equipment, the rear section conveying line comprises a plurality of strip conveying belts arranged at intervals, a plurality of second belt rollers for supporting and driving the strip conveying belts, and a second roller motor for driving the strip conveying belts to move, and the gap between the adjacent two strip conveying belts. The rear section conveying line further comprises a centering mechanism, which can push the PCB board conveyed by the strip conveying belt to the middle position; The centering mechanism comprises two sets of synchronous wheel synchronous belt assemblies and a push plate assembly, and the two sets of synchronous wheel synchronous belt assemblies jointly drive the movement of the push plate assembly; The synchronous wheel synchronous belt assembly comprises two synchronous pulleys and a synchronous belt, the two synchronous pulleys are linked through the synchronous belt, the synchronous pulleys of the two sets of synchronous wheel synchronous belt assemblies are connected through a wheel rod, and one of the synchronous pulleys of one of the sets of synchronous wheel synchronous belt assemblies is controlled to rotate by a servo drive; The push plate assembly comprises a connecting rod, the two ends of the connecting rod are respectively connected to the synchronous belts of the two sets of synchronous wheel synchronous belt assemblies, a plurality of support rods are arranged at intervals on the connecting rod, a push plate is arranged on each support rod, the support rod can extend out of the gap between the strip conveying belts, the push plate is located on the upper surface of the strip conveying belt, and the push plate can be controlled to move horizontally on the upper surface of the strip conveying belt by the servo drive.

[0012] As an improvement of the PCB small plate piece placing and taking plate equipment, the two sides of the front section conveying line are respectively provided with first mounting cross beams, the two sides of the rear section conveying line are respectively provided with second mounting cross beams, and one end of the first mounting cross beam is connected to one end of the second mounting cross beam through a connecting block. The discharge end of the sheet conveying belt is supported and driven by three first belt rollers, the three first belt rollers are arranged in an inclined knife-edge shape, the feeding end of the strip conveying belt is supported and driven by three second belt rollers, and the three second belt rollers are arranged in an inclined knife-edge shape.

[0013] The plate taking and transferring mechanism comprises a horizontal movement control mechanism, a lifting control mechanism and an L-shaped mounting plate, the lifting control mechanism is arranged on the mounting plate, the horizontal movement control mechanism comprises a horizontal movement sliding rail and a rack which are mounted on the rack, the rack is in meshing transmission with a gear, the gear is arranged on an output shaft of a horizontal movement control servo motor, the horizontal movement control servo motor is mounted on the mounting plate, the bottom of the mounting plate is slidably connected with the horizontal movement sliding rail through a sliding block; The lifting control mechanism comprises a lifting control servo motor and a lifting transmission screw rod which are arranged on the mounting plate, the lifting control servo motor and the lifting transmission screw rod are connected through a synchronous wheel and a synchronous belt, the lifting transmission screw rod is provided with a screw rod nut, the screw rod nut is connected with a lifting platform, one side of the lifting platform is slidably connected with the mounting plate through a sliding rail and a sliding block, and multiple material taking plates are horizontally and interval arranged on the lifting platform.

[0014] Multiple material placing plates are horizontally and interval arranged on the first material disc, and the material placing plates are arranged in a staggered manner with the material taking plates; The plate placing manipulator comprises a horizontal movement servo module, a lifting servo module and a distance adjusting servo module, the distance adjusting servo module controls the movement of two groups of plate suction assemblies, the horizontal movement servo module controls the movement of the lifting servo module, and the lifting servo module controls the lifting movement of the distance adjusting servo module; The distance adjusting servo module comprises a module profile, a servo motor and a forward and reverse screw rod are arranged on the module profile, a first synchronous pulley is arranged on the output shaft of the servo motor, a second synchronous pulley is arranged at one end of the forward and reverse screw rod, the first synchronous pulley and the second synchronous pulley are connected through a synchronous belt, a forward screw rod segment of the forward and reverse screw rod is screwed with a forward screw rod nut, a reverse screw rod segment of the forward and reverse screw rod is screwed with a reverse screw rod nut, the forward screw rod nut and the reverse screw rod nut are respectively connected with the plate suction assemblies through a connecting support, and when the forward screw rod rotates, the movement directions of the two groups of plate suction assemblies are opposite. The plate suction assembly comprises a suction disc mounting plate, and multiple suction discs are arranged on the suction disc mounting plate in an interval arrangement mode; The material disc positioning mechanism comprises a positioning mounting plate, a horizontal positioning air cylinder and a longitudinal rotary limiting air cylinder are arranged on the positioning mounting plate, the horizontal positioning air cylinder is used for abutting against the side of the material disc, the longitudinal rotary limiting air cylinder controls the rotation of a limiting block, and the limiting block can abut against the rear end of the material disc; when the AGV trolley needs to take out the material disc, the horizontal positioning air cylinder and the longitudinal rotary limiting air cylinder cancel the positioning limitation on the material disc. The guide assembly comprises a guide roller mounting plate, and multiple guide rollers are arranged on the guide roller mounting plate in an interval arrangement mode; The discharge end of the roller conveying line is provided with a lower fixed roller and an upper movable roller, two ends of the upper movable roller are connected to a swing arm respectively, the swing arm is connected to an encoder rotating rod, and the encoder rotating rod is connected to the encoder; when the PCB passes between the lower fixed roller and the upper movable roller, the PCB pushes the upper movable roller to swing upward, the swinging of the upper movable roller drives the rotating of the encoder rotating rod, and the encoder judges the thickness of the PCB according to the rotating angle of the encoder rotating rod.

[0015] The beneficial effects of the present application are as follows: the present application connects the plate placing device and the plate collecting device through the horizontal production line, the plate placing device and the plate collecting device form a complete plate placing and collecting line, manual transfer of the PCB is not needed in the middle, full-automatic plate placing and collecting are realized, the efficiency of the PCB processing production line is improved, and the manual transfer cost is reduced. BRIEF DESCRIPTION OF DRAWINGS

[0016] Figure 1 is a perspective view of the present application; Figure 2 is a perspective view of the plate collecting device of the present application; Figure 3 is another direction perspective view of the plate collecting device of the present application; Figure 4 is a first direction perspective view of the plate collecting device of the present application after removing the frame and the transfer mechanism part; Figure 5 is a second direction perspective view of the plate collecting device of the present application after removing the frame and the transfer mechanism part; Figure 6 is a perspective view of the transfer robot of the present application; Figure 7 is a partial structure schematic view of the transfer robot of the present application; Figure 8 is a structure schematic view of the plate taking clamp of the present application; Figure 9 is a structure schematic view of the two-section backlight conveying platform of the present application; Figure 10 is a sectional view of the two-section backlight conveying platform of the present application; Figure 11 is a structure schematic view of the centering mechanism part of the present application; Figure 12 is a side view of the centering mechanism of the present application; Figure 13is a schematic diagram of the transfer mechanism structure of the present application; Figure 14 is a position relationship diagram of the transfer mechanism and the AGV trolley of the present application; Figure 15 is a perspective view of the plate placing equipment of the present application; Figure 16 is another direction perspective view of the plate placing equipment of the present application; Figure 17 is a perspective view of the plate placing equipment of the present application after removing the rack; Figure 18 is another direction perspective view of the plate placing equipment of the present application after removing the rack The reference signs are: 100, plate placing equipment; 131, rack; 132, plate taking transfer mechanism; 1321, horizontal movement control mechanism, 1322, lifting control mechanism, 1323, mounting plate, 1324, horizontal movement sliding rail, 13221, first lifting control servo motor, 13222, first lifting transmission screw rod, 13223, first screw rod nut, 13224, lifting table, 13225, taking material plate; 133, roller conveying line; 1331, lower fixed roller; 1332, upper movable roller; 1333, swing arm; 1334, encoder rotating rod; 134, plate placing manipulator; 13101, taking material plate, 1341, first horizontal movement servo module, 1342, first lifting servo module, 1343, interval adjustment servo module, 1344, plate suction assembly, 13431, module profile, 13432, servo motor, 13441, suction disc mounting plate, 13442, suction disc; 135, encoder; 136, first AGV trolley butt joint position; 137, first material disc positioning mechanism; 1371, positioning mounting plate, 1372, longitudinal rotation limiting cylinder, 1373, limiting block, 138, first guide assembly; 1381, guide roller mounting plate, 1382, guide roller; 139, first AGV trolley; 1310, first material disc; 1311, PCB plate; 200, plate taking equipment; 1, rack; 2, two-section backlight conveying platform; 21, front section conveying line, 22, rear section conveying line, 23, centering mechanism, 24, synchronous wheel synchronous belt group, 25, plate pushing assembly, 26, connecting block, 211, sheet type conveying belt, 212, first belt roller, 213, first roller motor, 214, camera module, 215, backlight assembly, 216, first mounting cross beam, 221, strip type conveying belt, 222, second belt roller, 223, second roller motor, 224, second mounting cross beam, 241, first synchronous pulley, 242, first synchronous belt, 243, wheel rod, 251, connecting rod, 252, supporting rod, 253, plate pushing; 3, transfer robot; 31, horizontal movement servo module, 32, lifting servo module, 33, clamping control servo module, 34, clamping assembly, 35, intermediate suction module, 36, mounting bracket, 361, connecting plate, 362, connecting guide rod, 331, module profile, 332, clamping control servo motor, 341, clamping mounting plate, 342, clamping cylinder, 343, clamping positioning block, 344, clamping plate; 4, straightening mechanism; 5, transfer mechanism; 51, horizontal movement mechanism, 52, longitudinal movement mechanism, 53, lifting mechanism, 54, transfer platform, 55, mounting bracket, 511, horizontal movement bracket, 512, horizontal movement slide rail, 513, first rack, 514, horizontal movement servo motor, 521, longitudinal movement servo motor, 522, second rack, 523, longitudinal movement slide rail, 531, lifting transmission screw, 532, lifting control servo motor, 533, screw nut, 541, lifting slide block, 542, first support bar; 6, auxiliary material receiving platform; 61, third support bar, 62, guide rod, 63, through hole, 64, synchronous belt, 65, pulley; 7, platform drive; 8, AGV trolley docking position; 9, tray positioning mechanism; 10, guide assembly; 11, AGV trolley; 12, tray, 121, second support bar; 300, horizontal production line. DETAILED DESCRIPTION

[0017] The technical solutions in the embodiments of the present application will be described clearly and completely below in conjunction with the drawings in the embodiments of the present application. Obviously, the described embodiments are only part of the embodiments of the present application, rather than all the embodiments of the present application. Based on the embodiments of the present application, all other embodiments obtained by those skilled in the art without creative work fall within the scope of protection of the present application.

[0018] It should be noted that all directional indications (such as up, down, left, right, front, back, etc.) in the embodiments of the present application are only used to explain the relative positional relationship, movement condition, etc. between components in a certain specific posture (as shown in the drawings), and if the specific posture changes, the directional indications will also change accordingly.

[0019] In addition, the description related to "first", "second" and the like in the present application is only for the purpose of description, and cannot be understood as indicating or implying the relative importance of the indicated technical features or implicitly indicating the number of the indicated technical features. Therefore, the features defined with "first", "second" can be explicitly or implicitly included at least one of the features. In addition, the technical solutions of various embodiments can be combined with each other, but it must be based on the realization of ordinary skilled in the art, when the combination of technical solutions appears contradictory or unachievable, it should be considered that the combination of technical solutions does not exist, nor in the protection scope required by the present application.

[0020] As shown in Figure 1 A PCB plate putting and taking device, including a putting device 100, a taking device 200 and a horizontal production line 300; the outboard of the putting device 100 is connected with the inboard of the horizontal production line 300, and the outboard of the horizontal production line 300 is connected with the inboard of the taking device 200; the horizontal production line 300 can be a belt conveying line. The putting device 100 is used to carry the PCB plate under the line to the conveying line, and the taking device 200 is used to carry the PCB plate on the conveying line to the line. The horizontal production line 300 can be provided with a device for processing the PCB plate, such as a punching device, an etching device, a cleaning device, etc.

[0021] As shown in Figures 15-18 The putting device 100 includes a first rack 131, the first rack 131 is provided with a plate taking transfer mechanism 132, a roller conveying line 133 and a putting manipulator 134 capable of adjusting the plate taking width according to the size of the PCB plate, and the outboard of the roller conveying line 133 is provided with an encoder 135 for measuring the thickness of the PCB plate; the outboard of the roller conveying line 133 is connected with the inboard of the horizontal production line 300; One side of the first rack 131 is provided with a first AGV trolley docking position 136, and the two sides of the first AGV trolley docking position 136 are provided with a first tray positioning mechanism 137 and a first guide assembly 138, and the first guide assemblies 138 on the two sides can guide the first AGV trolley 139 to enter the first AGV trolley docking position 136, and the first tray 1310 conveyed by the first AGV trolley 139 can be positioned by the first tray positioning mechanisms 137 on the two sides.

[0022] Preferably, the plate taking transfer mechanism 132 can take the stacked PCB plates 1311 from the first tray 1310 and transfer them to the plate taking position of the putting manipulator 134, the putting manipulator 134 takes the PCB plates from the plate taking transfer mechanism 132 and horizontally conveys the PCB plates on the roller conveying line 133.

[0023] Preferably, the plate taking and transferring mechanism 132 comprises a horizontal movement control mechanism 1321, a lifting control mechanism 1322 and an L-shaped mounting plate 1323, the lifting control mechanism 1322 is arranged on the mounting plate 1323, the horizontal movement control mechanism 1321 comprises a horizontal movement sliding rail 1324 and a rack mounted on the first rack 131, the rack is in meshing transmission with a gear, the gear is arranged on the output shaft of a horizontal movement control servo motor, the horizontal movement control servo motor is mounted on the mounting plate 1323, and the bottom of the mounting plate 1323 is slidably connected with the horizontal movement sliding rail 1324 through a sliding block; after the plate taking and transferring mechanism 132 takes the stacked PCB boards 1311 from the first tray 1310, the plate taking and transferring mechanism 132 moves to the plate taking position of the plate placing manipulator 134, the lifting control mechanism 1322 is controlled to ascend according to the plate taking information of the plate placing manipulator 134, and the lifting control mechanism 1322 controls the stacked PCB boards to ascend by the thickness of one PCB board each time until the stacked PCB boards are all taken.

[0024] The lifting control mechanism 1322 comprises a first lifting control servo motor 13221 and a first lifting transmission screw rod 13222 arranged on the mounting plate 1323, the first lifting control servo motor 13221 and the first lifting transmission screw rod 13222 are connected through a synchronous wheel and a synchronous belt, the first lifting transmission screw rod 13222 is provided with a first screw rod nut 13223, the first screw rod nut 13223 is connected with a lifting table 13224, one side of the lifting table 13224 is slidably connected to the mounting plate 1323 through a sliding rail and a sliding block, and a plurality of plate taking plates 13225 are horizontally and interval arranged on the lifting table 13224. The output shaft of the first lifting control servo motor 13221 is provided with a first synchronous wheel, one end of the first lifting transmission screw rod 13222 is provided with a second synchronous wheel, and the first synchronous wheel and the second synchronous wheel are connected through a synchronous belt.

[0025] Preferably, a plurality of plate placing plates 13101 are horizontally and interval arranged on the first tray 1310, and the plate placing plates 13101 are arranged in a staggered manner with the plate taking plates 13225.

[0026] Preferably, the plate placing manipulator 134 comprises a first horizontal movement servo module 1341, a first lifting servo module 1342 and a distance adjusting servo module 1343, the distance adjusting servo module 1343 controls the movement of two groups of plate suction assemblies 1344 at the same time, the first horizontal movement servo module 1341 controls the movement of the first lifting servo module 1342, and the first lifting servo module 1342 controls the lifting movement of the distance adjusting servo module 1343.

[0027] Preferably, the pitch adjusting servo module 1343 comprises a module profile 13431, a servo motor 13432 and a positive and negative screw rod are arranged on the module profile 13431, a first synchronous pulley is arranged on the output shaft of the servo motor 13432, a second synchronous pulley is arranged at one end of the positive and negative screw rod, the first synchronous pulley and the second synchronous pulley are connected through a synchronous belt, the positive screw rod segment of the positive and negative screw rod is screwed with a positive screw rod nut, the negative screw rod segment of the positive and negative screw rod is screwed with a negative screw rod nut, the positive screw rod nut and the negative screw rod nut are connected with the suction plate assembly through the connecting bracket respectively, when the positive screw rod rotates, the movement directions of the two groups of suction plate assemblies are opposite.

[0028] Preferably, the suction plate assembly 1344 comprises a suction disc mounting plate 13441, a plurality of suction discs 13442 are arranged on the suction disc mounting plate 13441 in an interval.

[0029] Preferably, the first tray positioning mechanism 137 comprises a positioning mounting plate 1371, a transverse positioning cylinder and a longitudinal rotary limiting cylinder 1372 are arranged on the positioning mounting plate 1371, the transverse positioning cylinder is used for abutting against the side of the first tray 1310, the longitudinal rotary limiting cylinder 1372 controls a limiting block 1373 to rotate, the limiting block 1373 can abut against the rear end of the first tray 1310; when the first AGV trolley 139 needs to take out the first tray 1310, the transverse positioning cylinder and the longitudinal rotary limiting cylinder 1372 cancel the positioning limitation of the first tray 1310; The first guide assembly 138 comprises a guide roller mounting plate 1381, a plurality of guide rollers 1382 are arranged on the guide roller mounting plate 1381 in an interval.

[0030] Preferably, the discharge end of the roller conveying line 133 is provided with a lower fixed roller 1331 and an upper movable roller 1332, the two ends of the upper movable roller 1332 are connected to a swing arm 1333 respectively, the swing arm 1333 is connected to an encoder rotating rod 1334, the encoder rotating rod 1334 is connected to an encoder 135, when the PCB passes between the lower fixed roller 1331 and the upper movable roller 1332, the PCB will push the upper movable roller 1332 to swing upward, the upper movable roller 1332 swings upward to drive the encoder rotating rod 1334 to rotate, the encoder 135 judges the thickness of the PCB according to the rotation angle of the encoder rotating rod 1334, so as to prevent two or more PCBs from being stacked together and conveyed.

[0031] As Figures 2-14As shown, the plate receiving device 200 includes a rack 1, which is provided with a two-section backlight conveying platform 2, a transfer robot 3, a position correcting mechanism 4, a transfer mechanism 5 and a secondary plate receiving platform 6; the position correcting mechanism 4 can adjust the position of the PCB plates conveyed by the two-section backlight conveying platform 2, the transfer robot 3 takes the PCB plates from the discharging end of the two-section backlight conveying platform 2 and carries the PCB plates to the transfer mechanism 5 or the secondary plate receiving platform 6, and the secondary plate receiving platform 6 is controlled to move horizontally by a platform drive 7; wherein the position correcting mechanism 4 is a position correcting mechanism of a printed circuit board plate receiving machine according to Chinese Patent Application No. 2024222077476. The position correcting mechanism 4 can adjust the position of the circuit board before receiving the plate, avoiding damage to the circuit board due to collision during the receiving process caused by the deviation of the position of the circuit board. The feeding end of the two-section backlight conveying platform 2 is connected to the discharging end of the horizontal production line 300. One side of the rack 1 is provided with an AGV trolley docking position 8, and both sides of the AGV trolley docking position 8 are provided with a tray positioning mechanism 9 and a guide assembly 10. The guide assemblies 10 on both sides can guide the AGV trolley 11 to enter the AGV trolley docking position 8, and the tray 12 conveyed by the AGV trolley 11 can be positioned by the tray positioning mechanisms 9 on both sides; the tray positioning mechanism 9 includes a positioning mounting plate, a transverse positioning cylinder and a longitudinal rotary limiting cylinder are arranged on the positioning mounting plate, the transverse positioning cylinder is used to abut against the side of the tray, and the longitudinal rotary limiting cylinder controls a limiting block to rotate, and the limiting block can abut against the rear end of the tray; when the AGV trolley needs to take out the tray, the transverse positioning cylinder and the longitudinal rotary limiting cylinder cancel the positioning limitation of the tray; the guide assembly 10 includes a guide roller mounting plate, and a plurality of guide rollers are arranged on the guide roller mounting plate in a spaced manner.

[0032] When the transfer mechanism 5 transfers the PCB plates to the tray 12 conveyed by the AGV trolley 11, the platform drive 7 controls the secondary plate receiving platform 6 to move horizontally to the receiving position of the transfer mechanism 5, the transfer robot 3 carries the PCB plates to the secondary plate receiving platform 6, and when the transfer mechanism 5 receives again, the PCB plates on the secondary plate receiving platform 6 are first lifted, the platform drive 7 controls the secondary plate receiving platform 6 to move horizontally to the initial position, realizes the yielding, and the transfer robot 3 continues to carry the PCB plates to the transfer mechanism 5.

[0033] Preferably, the transfer mechanism 5 includes a horizontal moving mechanism 51, a vertical moving mechanism 52, a lifting mechanism 53, a transfer platform 54 and a mounting bracket 55, the vertical moving mechanism 52 and the lifting mechanism 53 are mounted on the mounting bracket 55, the horizontal moving mechanism 51 controls the horizontal movement of the mounting bracket 55, the vertical moving mechanism 52 controls the vertical movement of the mounting bracket 55, the lifting mechanism 53 controls the lifting movement of the transfer platform 54, and the transfer platform 54 can place the stacked PCB plates on the tray 12.

[0034] Preferably, the horizontal moving mechanism 51 comprises a horizontal moving support 511 and two parallel horizontal moving rails 512, the horizontal moving support 511 is slidingly connected to the two parallel horizontal moving rails 512 through sliding blocks, a first rack 513 is arranged between the two horizontal moving rails 512, a horizontal moving servo motor 514 is arranged at the middle of the horizontal moving support 511, a first gear is arranged on the output shaft of the horizontal moving servo motor 514, and the first gear is engaged with the first rack 513. When the horizontal moving servo motor 514 is started, the first gear is driven to rotate, the rotation of the first gear can move on the first rack 513, so as to drive the horizontal moving support 511 to move. The vertical moving mechanism 52 comprises a vertical moving servo motor 521 arranged on the mounting support 55, a second gear is arranged on the output shaft of the vertical moving servo motor 521, a second rack 522 and a vertical moving rail 523 are arranged in the length direction of the horizontal moving support 511, the second gear is engaged with the second rack 522 for transmission, and the mounting support 55 is slidingly connected to the vertical moving rail 523 through a sliding block. When the vertical moving servo motor 521 is started, the second gear is driven to rotate, the rotation of the second gear can move on the second rack 522, so as to drive the mounting support 55 to move. The lifting mechanism 53 comprises a lifting control servo motor 531 and a lifting transmission screw rod 532 arranged on the mounting support 55, the lifting control servo motor 531 and the lifting transmission screw rod 532 are connected through synchronous wheels and a synchronous belt, and the lifting transmission screw rod 532 is connected to the transfer platform 54 through a screw nut 533. The mounting support 55 is further provided with a lifting rail 551, one end of the transfer platform 54 is provided with a lifting sliding block 541, and the lifting sliding block 541 is slidingly connected with the lifting rail 551. A plurality of first support bars 542 arranged horizontally are arranged on the transfer platform 54 at intervals, and a spacing is formed between every two first support bars 542, a plurality of second support bars 121 arranged horizontally are arranged on the tray 12 at intervals, and a spacing is formed between every two second support bars 121, and the first support bars 542 and the second support bars 121 are arranged in a staggered manner.

[0035] Preferably, a plurality of third support bars 61 are arranged on the auxiliary material collecting platform 6 at intervals, and a spacing is formed between every two third support bars 61. The two ends of the auxiliary material collecting platform 6 are slidingly connected with guide rods 62 through guide sleeves, the guide rods 662 are installed on the rack 1, the middle of the auxiliary material collecting platform 6 is provided with a through hole 63, one side of the auxiliary material collecting platform 6 is connected with a synchronous belt 64, the synchronous belt 64 is supported and transmitted by two pulleys 65, one of the pulleys 65 is controlled to rotate by the platform drive 7, and the other pulley 65 is arranged on the rack 1. When the synchronous belt 64 is transmitted, the auxiliary material collecting platform 6 can move with the synchronous belt 64.

[0036] Preferably, the transfer robot 3 comprises a horizontal transfer servo module 31, a lifting servo module 32 and a clamping control servo module 33, the clamping control servo module 33 controls two clamping assemblies 34, and an intermediate adsorption module 35 is arranged between the two clamping assemblies 34. The intermediate adsorption module 35 is arranged in the middle of the clamping control servo module 33 through a mounting bracket 36, and a connecting groove 351 is arranged on the intermediate adsorption module 35. The mounting bracket 36 comprises a connecting plate 361, two ends of the connecting plate 361 are respectively provided with connecting guide rods 362, the lower ends of the two connecting guide rods 362 extend into the connecting groove 351 and are fixed by screws, and a plurality of adsorption holes are arranged at intervals on the bottom of the intermediate adsorption module 35.

[0037] Preferably, the clamping control servo module 33 comprises a module profile 331, a forward and reverse screw rod and a clamping control servo motor 332 are arranged on the module profile 331, one end of the forward and reverse screw rod is provided with a first synchronous pulley, the output shaft of the clamping control servo motor is provided with a second synchronous pulley, the first synchronous pulley and the second synchronous pulley are connected through a synchronous belt, a forward screw nut is screwed on the forward screw rod segment of the forward and reverse screw rod, a reverse screw nut is screwed on the reverse screw rod segment of the forward and reverse screw rod, the forward screw nut is connected to a first connecting bracket 333, and the reverse screw nut is connected to a second connecting bracket 334, and the first connecting bracket 333 and the second connecting bracket 334 are respectively connected to one clamping assembly 34. When the forward and reverse screw rod rotates, the movement directions of the two clamping assemblies 34 are opposite.

[0038] Preferably, the clamping assembly 34 comprises a clamping mounting plate 341, a plurality of clamping cylinders 342 are arranged at intervals on the clamping mounting plate 341, a clamping positioning block 343 is arranged on the bottom of the clamping mounting plate 341 corresponding to the position of each clamping cylinder 342, a clamping plate 344 is controlled by the piston rod end of the clamping cylinder 342, and the clamping plate 344 and the clamping positioning block 343 jointly clamp the product. The horizontal transfer servo module 31 comprises a module cross beam, a horizontal transfer servo motor, a horizontal transfer transmission screw rod and a horizontal transfer guide rail are arranged on the module cross beam, the output shaft of the horizontal transfer servo motor is connected with the horizontal transfer transmission screw rod through a shaft coupling, the horizontal transfer transmission screw rod is connected with a moving plate through a screw nut, and the lifting servo module 32 is installed on the moving plate. The lifting servo module 32 comprises a Z-axis module profile, a Z-axis servo motor, a Z-axis transmission screw rod and a Z-axis guide rail are arranged on the Z-axis module profile, the output shaft of the Z-axis servo motor is connected with the Z-axis transmission screw rod through a shaft coupling, the Z-axis transmission screw rod is connected with a lifting plate through a screw nut, the lifting plate is connected with the Z-axis guide rail through a sliding block, and the bottom of the lifting plate is connected with the clamping control servo module.

[0039] Preferably, the two-stage backlight conveying platform 2 comprises a front conveying line 21 and a rear conveying line 22, and the discharge end of the front conveying line 21 corresponds to the feeding end of the rear conveying line 22; The front conveying line 21 comprises a sheet conveying belt 211, a plurality of first belt rollers 212 for supporting the sheet conveying belt 211, and a first roller motor 213 for driving the sheet conveying belt 211 to move, a camera module 214 is arranged above the feeding end of the sheet conveying belt 211, and a backlight assembly 215 is arranged below the sheet conveying belt 211, and the backlight assembly 215 corresponds to the camera module 214 in a top-to-bottom manner. The backlight assembly 215 comprises a base for mounting a light source, and the base is provided with a groove, and the light source is mounted on the groove. The light source can be an LED light bar or a light strip.

[0040] Preferably, the rear conveying line 22 comprises a plurality of strip conveying belts 221 arranged in an interval, a plurality of second belt rollers 222 for supporting the strip conveying belts 221, and a second roller motor 223 for driving the strip conveying belts 221 to move, and the two adjacent strip conveying belts 221 have a gap therebetween. The rear conveying line 22 further comprises a centering mechanism 23, which can push the PCB board conveyed by the strip conveying belts 221 to a middle position. The centering mechanism 23 comprises two sets of synchronous pulley synchronous belt groups 24 and a push plate assembly 25, and the two sets of synchronous pulley synchronous belt groups 24 jointly drive the movement of the push plate assembly 25. The synchronous pulley synchronous belt group 24 comprises two first synchronous pulleys 241 and a first synchronous belt 242, the two first synchronous pulleys 241 are connected through the first synchronous belt 242, the first synchronous pulleys 241 of the two sets of synchronous pulley synchronous belt groups 24 are connected through a wheel rod 243, and one of the first synchronous pulleys 241 of one of the two sets of synchronous pulley synchronous belt groups 24 is driven to rotate by a servo drive. The servo drive is a servo motor.

[0041] The push plate assembly 25 comprises a connecting rod 251, the two ends of the connecting rod 251 are respectively connected to the first synchronous belts 242 of the two sets of synchronous pulley synchronous belt groups 24, a plurality of supporting rods 252 are arranged at intervals on the connecting rod 251, a push plate 253 is arranged on each supporting rod 252, the supporting rod 252 can extend out of the gap between the strip conveying belts 221, the push plate 253 is located on the upper surface of the strip conveying belt 221, and the push plate 253 can be controlled by the servo drive to move horizontally on the upper surface of the strip conveying belt 221.

[0042] Preferably, the first mounting cross beams 216 are arranged on the two sides of the front conveying line 21, the second mounting cross beams 224 are arranged on the two sides of the rear conveying line 22, and one end of the first mounting cross beam 216 and one end of the second mounting cross beam 224 are connected through a connecting block 26. The discharge end of the sheet type conveying belt 211 is supported and driven by three first belt rollers 212, which are arranged in the shape of an inclined blade. The feeding end of the strip type conveying belt 221 is supported and driven by three second belt rollers 222, which are arranged in the shape of an inclined blade. The feeding end of the strip type conveying belt 221 and the discharge end of the sheet type conveying belt 211 are arranged in the shape of an inclined blade, so that the PCB board can smoothly pass between the two conveying lines.

[0043] While the embodiments of the application have been illustrated and described, it will be understood by those skilled in the art that various changes, modifications, substitutions and alterations can be made therein without departing from the spirit and scope of the application, which is defined by the appended claims and their equivalents.

Claims

1. A PCB small board loading and unloading device, characterized in that, It includes a board feeding device, a board receiving device, and a horizontal production line; the board output end of the board feeding device is connected to the board input end of the horizontal production line, and the board output end of the horizontal production line is connected to the board input end of the board receiving device. The board placement equipment includes a first frame, on which a board picking and transfer mechanism, a roller conveyor line, and a board placement robot arm capable of adjusting the board picking width according to the size of the PCB board are mounted. The output end of the roller conveyor line is equipped with an encoder for measuring the thickness of the PCB board. The output end of the roller conveyor line is connected to the board inlet end of the horizontal production line. The first frame has a first AGV trolley docking position on one side. The first AGV trolley docking position has a first tray positioning mechanism and a first guide component on both sides. The first guide component on both sides can guide the first AGV trolley into the first AGV trolley docking position. The first tray conveyed by the first AGV trolley can be positioned by the first tray positioning mechanism on both sides. The board picking and transfer mechanism can take the stacked PCB boards from the first tray and transfer them to the board picking position of the board placing robot. The board placing robot takes the PCB boards from the board picking and transfer mechanism and places the PCB boards on the roller conveyor line for horizontal transport. The board receiving equipment includes a frame, on which are mounted a two-section backlight conveyor platform, a transfer robot, a alignment mechanism, a transfer mechanism, and a secondary receiving platform. The alignment mechanism can adjust the position of the PCB boards conveyed by the two-section backlight conveyor platform. The transfer robot picks up the PCB boards from the discharge end of the two-section backlight conveyor platform and transports them to the transfer mechanism or the secondary receiving platform. The secondary receiving platform is driven and controlled to move horizontally. The board inlet end of the two-section backlight conveyor platform is connected to the board outlet end of the horizontal production line. One side of the frame is provided with an AGV trolley docking position. Both sides of the AGV trolley docking position are provided with a tray positioning mechanism and a guide component. The guide component on both sides can guide the AGV trolley into the AGV trolley docking position. The tray conveyed by the AGV trolley can be positioned by the tray positioning mechanism on both sides. When the transfer mechanism transfers the PCB board to the material tray conveyed by the AGV, the platform drive controls the auxiliary receiving platform to move horizontally to the receiving position of the transfer mechanism. The transfer robot then moves the PCB board onto the auxiliary receiving platform. When the transfer mechanism receives the PCB board again, it first lifts the PCB board on the auxiliary receiving platform. The platform drive controls the auxiliary receiving platform to move horizontally back to its initial position, and the transfer robot then moves the PCB board onto the transfer mechanism.

2. The PCB small board unloading and reloading equipment according to claim 1, characterized in that, The transfer mechanism includes a lateral movement mechanism, a longitudinal movement mechanism, a lifting mechanism, a transfer platform, and a mounting bracket. The longitudinal movement mechanism and the lifting mechanism are both mounted on the mounting bracket. The lateral movement mechanism controls the lateral movement of the mounting bracket, the longitudinal movement mechanism controls the longitudinal movement of the mounting bracket, and the lifting mechanism controls the lifting movement of the transfer platform. The transfer platform is capable of placing stacked PCB boards onto the tray.

3. The PCB small board unloading and reloading equipment according to claim 2, characterized in that, The lateral movement mechanism includes a lateral movement bracket and two parallel lateral movement rails spaced apart. The lateral movement bracket is slidably connected to the two parallel lateral movement rails via a slider. A first rack is provided between the two lateral movement rails. A lateral movement servo motor is located in the middle of the lateral movement bracket. A first gear is provided on the output shaft of the lateral movement servo motor, and the first gear meshes with the first rack. When the lateral movement servo motor is started, it drives the first gear to rotate. The rotation of the first gear can move on the first rack, thereby driving the lateral movement bracket to move. The longitudinal movement mechanism includes a longitudinal movement servo motor mounted on the mounting bracket. A second gear is provided on the output shaft of the longitudinal movement servo motor. A second rack and a longitudinal movement slide rail are provided in the longitudinal direction of the transverse movement bracket. The second gear meshes with the second rack for transmission. The mounting bracket is slidably connected to the longitudinal movement slide rail by a slider. When the longitudinal servo motor starts, it drives the second gear to rotate. The rotation of the second gear can move on the second rack, thereby driving the movement of the mounting bracket. The lifting mechanism includes a lifting control servo motor and a lifting transmission screw mounted on the mounting bracket. The lifting control servo motor and the lifting transmission screw are connected by a synchronous pulley and a synchronous belt. The lifting transmission screw is connected to the transfer platform by a screw nut. The mounting bracket is also equipped with a lifting slide rail, and one end of the transfer platform is equipped with a lifting slider, which is slidably connected to the lifting slide rail. The transfer platform is provided with multiple horizontally arranged first support bars, with a gap between each pair of first support bars. The material tray is provided with multiple horizontally arranged second support bars, with a gap between each pair of second support bars. The first support bars and second support bars are staggered.

4. The PCB small board unloading and reloading equipment according to claim 1, characterized in that, The auxiliary receiving platform is provided with multiple third support bars at intervals, and there is a gap between each pair of third support bars; The two ends of the auxiliary receiving platform are slidably connected to guide rods via guide sleeves. The guide rods are mounted on the frame. The middle of the auxiliary receiving platform has a through hole. One side of the auxiliary receiving platform is connected to a synchronous belt. The synchronous belt is supported and driven by two pulleys. One of the pulleys is driven and controlled by the platform to rotate, and the other pulley is mounted on the frame. When the synchronous belt is driven, the auxiliary receiving platform can move with the synchronous belt.

5. The PCB small board unloading and reloading equipment according to claim 1, characterized in that, The transfer robot includes a horizontal servo module, a vertical servo module, and a clamping control servo module. The clamping control servo module controls two clamping components to clamp the PCB board, and an intermediate adsorption module is provided between the two clamping components. The intermediate adsorption module is mounted in the middle of the clamping control servo module via a mounting bracket, and the intermediate adsorption module is provided with a connection slot. The mounting bracket includes a connecting plate, and connecting guide rods are provided at both ends of the connecting plate. The lower ends of the two connecting guide rods extend into the connecting groove and are fixed with screws. The bottom of the intermediate adsorption module is provided with multiple adsorption holes at intervals.

6. The PCB small board unloading and reloading equipment according to claim 5, characterized in that, The clamping control servo module includes a module profile, on which a forward and reverse lead screw and a clamping control servo motor are provided. One end of the forward and reverse lead screw is provided with a first synchronous pulley, and the output shaft of the clamping control servo motor is provided with a second synchronous pulley. The first synchronous pulley and the second synchronous pulley are connected by a synchronous belt. A forward lead screw nut is screwed onto the forward lead screw section of the forward and reverse lead screw, and a reverse lead screw nut is screwed onto the reverse lead screw section of the forward and reverse lead screw. The forward lead screw nut is connected to a first connecting bracket, and the reverse lead screw nut is connected to a second connecting bracket. The first connecting bracket and the second connecting bracket are respectively connected to one of the clamping components. When the positive and negative lead screws rotate, the two clamping components move in opposite directions.

7. The PCB small board unloading and reloading equipment according to claim 6, characterized in that, The clamping assembly includes a clamping mounting plate, on which a plurality of clamping cylinders are spaced apart. A clamping positioning block is provided at the bottom of the clamping mounting plate corresponding to the position of each clamping cylinder. The piston rod end of the clamping cylinder controls a clamping plate, and the clamping plate and the clamping positioning block together clamp the product. The transverse servo module includes a module beam, on which a transverse servo motor, a transverse transmission screw, and a transverse guide rail are provided. The output shaft of the transverse servo motor is connected to the transverse transmission screw via a coupling. The transverse transmission screw is connected to a moving plate via a screw nut. The lifting servo module is mounted on the moving plate. The lifting servo module includes a Z-axis module profile, on which a Z-axis servo motor, a Z-axis transmission screw, and a Z-axis guide rail are provided. The output shaft of the Z-axis servo motor is connected to the Z-axis transmission screw via a coupling. The Z-axis transmission screw is connected to the lifting plate via a screw nut. The lifting plate is connected to the Z-axis guide rail via a slider. The bottom of the lifting plate is connected to the clamping control servo module.

8. The PCB small board unloading and reloading equipment according to claim 1, characterized in that, The two-section backlight conveyor platform includes a front conveyor line and a rear conveyor line, with the discharge end of the front conveyor line corresponding to the inlet end of the rear conveyor line; The front-end conveyor line includes a sheet conveyor belt, multiple first belt rollers for supporting and driving the sheet conveyor belt, and a first roller motor for driving the sheet conveyor belt. A camera module is provided above the feed end of the sheet conveyor belt, and a backlight assembly is provided below the sheet conveyor belt. The backlight assembly corresponds vertically to the camera module.

9. The PCB small board unloading and reloading equipment according to claim 8, characterized in that, The downstream conveyor line includes multiple strip conveyor belts arranged at intervals, multiple second belt rollers for supporting and driving the strip conveyor belts, and a second roller motor for driving the strip conveyor belts. There is a gap between two adjacent strip conveyor belts. The rear conveyor line also includes a centering mechanism, which can push the PCB board conveyed by the strip conveyor belt to the middle position; The centering mechanism includes two sets of synchronous pulleys and synchronous belts and a push plate assembly. The two sets of synchronous pulleys and synchronous belts together drive the movement of the push plate assembly. The synchronous pulley and synchronous belt group includes two synchronous pulleys and a synchronous belt. The two synchronous pulleys are linked by the synchronous belt. The synchronous pulleys of the two groups of synchronous pulley and synchronous belt groups are connected by a wheel rod. One of the synchronous pulleys in one group of synchronous pulley and synchronous belt groups is controlled to rotate by a servo drive. The pusher assembly includes a connecting rod, the two ends of which are respectively connected to the timing belts of the two sets of timing pulleys and timing belts. The connecting rod is provided with a plurality of support rods at intervals, and each support rod is provided with a pusher plate. The support rods can extend out from the gaps between the strip conveyor belts. The pusher plate is located on the upper surface of the strip conveyor belt and can be controlled by the servo drive to move horizontally on the upper surface of the strip conveyor belt. The front section conveyor line is provided with a first mounting beam on each side, and the rear section conveyor line is provided with a second mounting beam on each side. One end of the first mounting beam and one end of the second mounting beam are connected by a connecting block. The discharge end of the sheet conveyor belt is supported and driven by three first belt rollers, which are arranged in an inclined knife-edge shape. The feed end of the strip conveyor belt is supported and driven by three second belt rollers, which are also arranged in an inclined knife-edge shape.

10. The PCB small board unloading and reloading equipment according to claim 1, characterized in that, The plate-taking transfer mechanism includes a horizontal movement control mechanism, a lifting control mechanism, and an L-shaped mounting plate. The lifting control mechanism is mounted on the mounting plate. The horizontal movement control mechanism includes a horizontal movement slide rail and a rack mounted on the frame. The rack meshes with a gear for transmission. The gear is mounted on the output shaft of the horizontal movement control servo motor. The horizontal movement control servo motor is mounted on the mounting plate. The bottom of the mounting plate is slidably connected to the horizontal movement slide rail via a slider. The lifting control mechanism includes a lifting control servo motor and a lifting transmission screw mounted on the mounting plate. The lifting control servo motor and the lifting transmission screw are connected by a synchronous pulley and a synchronous belt. The lifting transmission screw is provided with a screw nut, which is connected to the lifting platform. One side of the lifting platform is slidably connected to the mounting plate via a slide rail and a slider. Multiple material picking plates are horizontally spaced on the lifting platform. The first material tray is provided with multiple feeding plates at horizontal intervals, and the feeding plates are staggered with the taking plates. The plate-laying robot includes a horizontal servo module, a lifting servo module, and a spacing adjustment servo module. The spacing adjustment servo module simultaneously controls the movement of two sets of suction plate assemblies, the horizontal servo module controls the movement of the lifting servo module, and the lifting servo module controls the lifting and lowering movement of the spacing adjustment servo module. The spacing adjustment servo module includes a module profile, on which a servo motor and a forward and reverse lead screw are mounted. A first synchronous pulley is mounted on the output shaft of the servo motor, and a second synchronous pulley is mounted on one end of the forward and reverse lead screw. The first and second synchronous pulleys are connected by a synchronous belt. A forward lead screw nut is screwed onto the forward lead screw section of the forward and reverse lead screw, and a reverse lead screw nut is screwed onto the reverse lead screw section. The forward lead screw nut and the reverse lead screw nut are respectively connected to the suction plate assembly through a connecting bracket. When the forward lead screw rotates, the two sets of suction plate assemblies move in opposite directions. The suction plate assembly includes a suction cup mounting plate, on which a plurality of suction cups are arranged at intervals. The tray positioning mechanism includes a positioning mounting plate, on which a horizontal positioning cylinder and a vertical rotation limiting cylinder are provided. The horizontal positioning cylinder is used to abut against the side of the tray, and the vertical rotation limiting cylinder controls a limiting block to rotate. The limiting block can abut against the rear end of the tray. When the AGV needs to remove the tray, both the horizontal positioning cylinder and the vertical rotation limiting cylinder release the positioning restriction on the tray. The guiding component includes a guide roller mounting plate, on which a plurality of guide rollers are arranged at intervals. The discharge end of the roller conveyor is equipped with a lower fixed roller and an upper movable roller. The two ends of the upper movable roller are respectively connected to a swing arm. The upper part of the swing arm is connected to an encoder rod. The encoder rod is connected to the encoder. When the PCB board passes between the lower fixed roller and the upper movable roller, the PCB board will push the upper movable roller to swing upward. The upward swing of the upper movable roller will drive the encoder rod to rotate. The encoder determines the thickness of the PCB board based on the rotation angle of the encoder rod.

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