High-precision automatic positioning plate loading and unloading device

Abstract

The application relates to the technical field of PCB plate transfer, and discloses high-precision automatic positioning plate collecting and releasing equipment, which comprises a T-shaped four-station layout formed by platforms one to four, a transverse moving mechanism, a lifting mechanism, a magnetic wheel conveying line and a plate clamping mechanism; the double positioning transfer mechanism combining mechanical fitting and magnetic adsorption in the transverse moving mechanism is used to stably and non-impactally transfer a panel placing frame; the linkage of the contact block, the built-in sensor and the linear sliding rail is used to realize contact sensing type and layer-by-layer non-damage release of the PCB plate; the plate clamping mechanism is used for laterally clamping and lightly pressing the upper surface of the PCB plate, so that bidirectional accurate positioning and anti-warping in the conveying process are realized; a positive pressure clean working environment is constructed through the protective shell and the top HFU fan filter unit; and high-efficiency, high-precision and high-cleanliness full-automatic collecting and releasing work is realized.

Description

Technical Field

[0001] The present invention relates to the technical field of PCB board transfer, and specifically to a high-precision automatic positioning board loading and unloading device. Background Art

[0002] As the core component of electronic devices, the transfer, positioning, loading and unloading links in the production and assembly process of printed circuit boards (PCBs) directly affect the final quality and production efficiency of products. With the development of electronic manufacturing towards high density, miniaturization and high reliability, unprecedented stringent requirements have been put forward for the processing precision, cleanliness and automation level of PCB boards. At present, the transfer operation of PCB boards on the production line usually relies on semi-automatic or manual-assisted methods, which not only have low efficiency, but also are difficult to ensure that the board surface is free from physical scratches, electrostatic damage and dust pollution.

[0003] In the prior art, some automated devices have tried to introduce robotic arms or simple conveyor belts for the picking and placing of PCB boards. However, such solutions generally have several inherent defects: First, for PCB boards stacked and stored in multi-layer frames, the robotic arm is prone to cause edge collisions of the boards due to positioning deviations during layer-by-layer board picking, or stress concentration and even deformation of the board surface due to uneven clamping forces. Second, traditional conveyor lines often lack effective planar constraint mechanisms, and PCB boards are prone to shift and warp during transportation due to inertia or vibration, making it difficult to accurately position them to subsequent mounting or inspection stations. Third, the material frames used to carry PCB boards are mostly transferred between different stations of the device using simple push-pull structures, which have problems such as large交接间隙大、定位重复精度低的问题,影响流程的连贯性与节拍;此外,多数转运设备为开放式,难以有效控制操作环境的洁净度,不适用于对颗粒污染物敏感的精密电子元器件制造场景。

[0004] In response to the above problems, although some improved technologies have proposed using sensor-assisted positioning or adding buffer mechanisms, they often can only solve the problems of a single link and fail to achieve high-precision, high-cleanliness and interruption-free automation integration of the entire process of feeding, transfer, positioning and recycling at the system level. Especially in aspects such as the stable transfer of the panel placement frame, the lossless layer-by-layer release of single PCB boards, the precise positioning and attitude stability of the board surface during high-speed transportation, and the environmental isolation and positive pressure dust prevention throughout the process, the prior art still lacks a complete, efficient and reliable solution.

[0005] Therefore, there is an urgent need in the art for a high-precision automatic positioning board loading and unloading device with high integration, stable operation, accurate positioning and capable of meeting the requirements of a clean production environment, in order to improve the automation level, production yield and overall efficiency of the PCB board processing process. Summary of the Invention

[0006] It should be noted that there seems to be an incomplete or incorrect description in the original text at "存在交接间隙大、定位重复精度低的问题,影响流程的连贯性与节拍;此外,多数转运设备为开放式,难以有效控制操作环境的洁净度,不适用于对颗粒污染物敏感的精密电子元器件制造场景。" where "交接间隙大、定位重复精度低的问题" is not clearly expressed. I have translated it as best as possible based on the context, but it may need further clarification in the original text.To address the shortcomings of existing technologies, this invention provides a high-precision automatic positioning and handling board equipment, which solves the problems of low efficiency, board surface damage and contamination caused by inaccurate positioning, impact during handling and placement, and insufficient environmental cleanliness during the automated transfer of PCB boards.

[0007] To achieve the above objectives, the present invention provides the following technical solution: a high-precision automatic positioning and take-up / take-up device, comprising:

[0008] Platform 1 serves as the material loading station;

[0009] Platform 2, serving as a lifting and transfer station, is set up adjacent to Platform 1;

[0010] Platform 3, serving as a conveying and positioning station, is set up adjacent to Platform 2;

[0011] Platform 4 serves as a workstation for empty frame recycling;

[0012] A transverse mechanism is provided on platform one and platform four for transferring the panel placement frame between platform one and platform two and between platform two and platform four.

[0013] A lifting mechanism, located within the second platform, is used to receive and carry the panel placement frame transferred by the transverse mechanism, and to drive the panel placement frame to descend layer by layer.

[0014] A magnetic wheel conveyor line is set on the third platform, with its front side extending below the working area of ​​the lifting mechanism, for receiving and conveying a single PCB board removed from the panel placement frame;

[0015] A clapping mechanism is positioned above the magnetic wheel conveyor line to position the PCB board located thereon on its lateral and upper surfaces.

[0016] The photoelectric sensor located above the first platform is electrically connected to the horizontal moving mechanism above the first platform. It is used to trigger the horizontal moving mechanism to move the panel placement frame toward the lifting mechanism after detecting that the panel placement frame has been placed in place.

[0017] The sensor embedded in the contact surface between the lower surface of the magnetic wheel conveyor and the support arm of the lifting mechanism is electrically connected to the transverse mechanism above the fourth platform. When the contact of the support arm is detected, the transverse mechanism is triggered to pull the empty panel placement frame back to the fourth platform.

[0018] A pressure sensor or micro switch embedded in the surface of the contact block is electrically connected to a linear slide rail component two located at the bottom of the magnetic wheel conveyor line. This is used to trigger the linear slide rail component two to move the PCB board into the magnetic wheel conveyor line when the lifting mechanism descends and the bottom of the PCB board contacts it.

[0019] A protective enclosure is installed on the outside of each platform and mechanism, and at least one side of the enclosure is equipped with a protective door that can be opened and closed freely.

[0020] Preferably, the lateral movement mechanism includes:

[0021] A connection frame fixed to the platform;

[0022] Linear slide rail component 1 installed on the top of the connecting frame;

[0023] A support plate is slidably mounted on the linear slide rail component one, and the top surface of the support plate is provided with a reserved snap-fit ​​groove;

[0024] An extension plate is fixed to the bottom of the support plate, and an L-shaped bracket is fixed to the outside of the extension plate;

[0025] A push-pull cylinder is mounted on the L-shaped bracket, and an electromagnet is connected to the output end of the push-pull cylinder.

[0026] The bottom of the panel placement frame is provided with a snap-fit ​​slider that mates with the reserved snap-fit ​​slot, and the side of the frame is provided with a magnetic block that can be magnetically attracted to the electromagnet.

[0027] Preferably, the panel placement frame has multiple slots inside for accommodating PCB boards, and each slot consists of a support rod fixed to the inner wall of the frame and an auxiliary roller rotatably mounted thereon.

[0028] Preferably, the lifting mechanism includes:

[0029] The extended outer frame that communicates with Platform 2 and the protective shell;

[0030] A horizontal plate fixed inside the outer frame;

[0031] A lead screw vertically installed between the bottom of the horizontal plate and the outer frame, and at least two auxiliary guide rods symmetrically arranged;

[0032] A motor that drives the lead screw to rotate;

[0033] And a lifting frame that is threadedly connected to the lead screw and slidably engaged with the auxiliary guide rod;

[0034] The lifting frame is fixed with support arms on both sides, and the top of the support arms is provided with corner locking grooves for locking the panel placement frame.

[0035] Preferably, the magnetic wheel conveyor line is mounted on platform three via multiple support legs.

[0036] Preferably, the bottom of the magnetic wheel conveyor line is provided with the second linear slide rail, a slide block is slidably mounted on the second linear slide rail, a seat plate is fixed on the slide block, and the contact block is mounted on the top of the seat plate.

[0037] Preferably, the sensor is a proximity sensor or a position sensor.

[0038] Preferably, the clapping mechanism includes:

[0039] Z-shaped support seats are symmetrically arranged on both sides of the magnetic wheel conveyor line;

[0040] Cylinder 1 is mounted on each of the Z-shaped supports;

[0041] A clapper seat connected to one output end of the cylinder is used to clamp and position the PCB board from both sides;

[0042] An extended positioning plate is installed on the top of the clapper base, and at least one cylinder is installed on the top of the extended positioning plate. The output end of the cylinder is provided with a clapper head for pressing and positioning the PCB board from above.

[0043] Preferably, an HFU fan filter unit is installed on the top of the protective housing.

[0044] Preferably, the protective housing is equipped with freely opening and closing protective doors on multiple sides, and the protective doors are connected by hinges and are provided with observation windows and locking handles.

[0045] This invention provides a high-precision automatic positioning and take-up / take-up device. It has at least the following beneficial effects:

[0046] 1. This invention achieves spatial separation and temporal parallelism of the material loading, transfer, conveying positioning and empty frame recycling processes by adopting a "T-shaped" four-station layout consisting of Platform 1, Platform 2, Platform 3 and Platform 4. This layout optimizes the internal logistics path of the equipment, effectively avoids process interference, provides a structural foundation for high-speed and continuous automated operation, and significantly improves the overall processing efficiency.

[0047] 2. This invention utilizes the mechanical interlocking of the "pre-reserved locking slot and locking slider" in the transverse mechanism, along with the magnetic adsorption of the "electromagnet and magnetic block," to form a dual positioning and transfer mechanism of "sliding interlocking + magnetic clamping." This mechanism ensures that the panel placement frame remains stable, impact-free, and undisturbed during horizontal transfer and handover with the lifting mechanism, achieving high repeatability and precision in frame positioning. This fundamentally eliminates the gap and positioning deviation problems inherent in traditional push-pull transfer mechanisms.

[0048] 3. This invention achieves precise sensing and triggering of the release timing of a single PCB board by setting a pressure sensor or micro switch on the surface of the embedded contact block and controlling it in conjunction with the second linear slide rail component. When the lifting mechanism descends and the bottom of the PCB board lightly touches the contact block, the sensor responds immediately and drives the second linear slide rail component to smoothly push the PCB board out. This design realizes the "contact sensing" layer-by-layer peeling of the PCB board, with a gentle and precise board removal action, effectively preventing board edge scratches and mechanical damage to the board surface, and ensuring the integrity of the PCB board.

[0049] 4. This invention achieves bidirectional (lateral and upper surface) constraint on the PCB board during the conveying process by installing a clapper mechanism above the magnetic wheel conveyor line. The clapper base is driven by cylinders on both sides for lateral clamping and positioning, and the clapper head is driven by cylinder two above for vertical light pressure positioning. This bidirectional positioning method effectively suppresses the displacement and warping of the PCB board that may be caused by uneven magnetic adsorption, conveying vibration or airflow disturbance, ensuring that the PCB board has extremely high flatness and positional accuracy before entering the next process.

[0050] 5. This invention constructs a clean chamber environment that maintains positive pressure by using a protective shell to cover each working unit and integrating an HFU fan filter unit on top of it; the continuously input filtered clean air can effectively prevent the intrusion of external dust particles, and all moving parts are sealed; this design provides a high-cleanliness working environment for PCB board processing, and is particularly suitable for precision electronic manufacturing scenarios with strict cleanliness requirements, reducing the risk of product contamination.

[0051] 6. This invention constructs a distributed sensing feedback network by using photoelectric sensors installed on platform one, sensors embedded below the magnetic wheel conveyor line, and sensors embedded in the contact blocks. This network is electrically connected to the controllers of each actuator, realizing fully automated sensing and closed-loop control from material loading detection, frame handover, single-board release triggering to empty frame recycling determination. The entire workflow requires no manual intervention, achieving highly reliable and uninterrupted automated operation, and improving the intelligence level and stability of production. Attached Figure Description

[0052] Figure 1 This is a three-dimensional structural diagram of the present invention;

[0053] Figure 2 This is a schematic diagram of the internal structure distribution of the protective shell of the present invention;

[0054] Figure 3 This is a schematic diagram showing the internal structure of the protective shell of the present invention from another perspective;

[0055] Figure 4This is a schematic diagram of the transverse movement mechanism, lifting mechanism, and magnetic wheel conveyor line of the present invention;

[0056] Figure 5 This is a schematic diagram of the transverse movement mechanism and the panel placement frame of the present invention;

[0057] Figure 6 This is a schematic diagram showing the disassembled structure of the transverse moving mechanism and the panel placement frame of the present invention;

[0058] Figure 7 This is a schematic cross-sectional view of the internal structure of the panel placement frame of the present invention;

[0059] Figure 8 This is a schematic diagram of the lifting mechanism of the present invention;

[0060] Figure 9 This is a schematic diagram of the magnetic wheel conveyor line and the support arm of the present invention;

[0061] Figure 10 This is a bottom view schematic diagram of the magnetic wheel conveyor line and the support arm of the present invention;

[0062] Figure 11 This is a schematic diagram of the lower surface of the magnetic wheel conveyor line and the supporting arm of the present invention;

[0063] Figure 12 This is a schematic diagram of the structure of the support arm supporting the panel placement frame and the magnetic wheel conveyor line of the present invention;

[0064] Figure 13 for Figure 4 Enlarged view of point A in the middle;

[0065] Figure 14 This is a schematic diagram of the structure of the HFU fan filter unit of the present invention.

[0066] Among them, 1. Platform 1; 2. Platform 2; 3. Platform 3; 4. Platform 4; 5. Connecting frame; 501. Linear slide rail component 1; 502. Bearing plate; 503. Reserved snap-fit ​​groove; 5031. Snap-fit ​​slider; 504. Extension plate; 5041. L-shaped bracket; 5042. Push-pull cylinder; 5043. Electromagnet; 5044. Magnetic block; 6. Panel placement frame; 601. Support rod; 602. Auxiliary roller; 7. Outer frame; 701. Horizontal plate; 702. Auxiliary guide rod 703, Lead screw; 7031, Motor; 704, Lifting frame; 7041, Support arm; 7042, Corner point locking groove; 8, Magnetic wheel conveyor line; 801, Support leg; 802, Sensor; 9, Linear slide rail component two; 901, Slide seat; 902, Seat plate; 903, Contact block; 10, Cylinder one; 1010, Z-shaped support seat; 1011, Clapper seat; 1012, Extended positioning plate; 1013, Cylinder two; 11, Protective housing; 12, HFU fan filter unit. Detailed Implementation

[0067] The technical solution of the present invention will now be clearly and completely described with reference to the accompanying drawings. Obviously, the described embodiments are only some embodiments of the present invention, and not all embodiments. Based on the embodiments of the present invention, all other embodiments obtained by those skilled in the art without creative effort are within the scope of protection of the present invention.

[0068] The specific implementation of the high-precision automatic positioning and take-up plate device of the present invention is as follows, in conjunction with the appendix. Figures 1-14 Provide a detailed explanation: such as Figure 1 As shown, platforms 1, 2, and 4 are arranged adjacent to each other horizontally, while platform 3 is located on one side of platform 2, forming a "T"-shaped four-station layout. Each platform is covered by a protective shell 11, forming a closed or semi-closed working space; an HFU fan filter unit 12 is installed on the top of the protective shell 11 (see...). Figure 14 It is used to maintain an internal positive pressure clean environment. It is equipped with a freely opening and closing protective door on the side, as well as an observation window and a locking handle, so that operators can intervene in the equipment operation process when necessary.

[0069] A transverse sliding mechanism is installed above both platform 1 and platform 4, and its structure is as follows: Figure 5 and Figure 6 As shown, the system includes a connecting frame 5 fixed to the platform surface. A linear slide rail 501 is mounted on the top of the connecting frame 5. A support plate 502 is slidably mounted on the linear slide rail 501. A pre-reserved snap-fit ​​groove 503 is provided on the top surface of the support plate 502. An outwardly extending extension plate 504 is fixed to the bottom of the support plate 502. An L-shaped bracket 5041 is provided at the outer end of the extension plate 504. A push-pull cylinder 5042 is mounted on the L-shaped bracket 5041, and its output end is connected to an electromagnet 5043. The four corners of the bottom of the panel placement frame 6 are provided with snap-fit ​​sliders 5031 that match the pre-reserved snap-fit ​​grooves 503. The panel placement frame 6 has a magnetic block 5044 on its side that magnetically engages with the electromagnet 5043. When the panel placement frame 6 is placed on the support plate 502, its bottom locking slider 5031 is embedded in the reserved locking groove 503, forming the first mechanical limit. Then, the push-pull cylinder 5042 is activated, which drives the electromagnet 5043 to approach the side wall of the panel placement frame 6, so that the electromagnet 5043 and the magnetic block 5044 are magnetically attracted to each other, forming the second clamping constraint. This achieves a dual positioning and transfer mechanism of "sliding engagement + magnetic clamping", ensuring that the panel placement frame 6 is stable in posture and has no impact during horizontal transfer.

[0070] Panel placement frame 6 is a hollow rectangular frame structure, and its internal structure is as follows: Figure 7As shown, multiple layers of support rods 601 are evenly arranged along the height direction on the inner wall. Each support rod 601 is fitted with a freely rotatable auxiliary roller 602 on its outer circumference. The support rods 601 and the auxiliary rollers 602 combine to form several parallel slots for accommodating PCB boards. The slot spacing is adapted to the thickness of standard PCB boards. The outer circumferential surface of the auxiliary rollers 602 is a smooth curved surface to reduce insertion resistance and ensure independent storage and smooth sliding out of single boards. When the panel placement frame 6 is moved above the platform 2 and supported by the lifting mechanism, the PCB board loaded inside is in a suspended state, supported only by the support rods 601 on both sides and the auxiliary rollers 602, to avoid deformation of the board surface due to pressure.

[0071] Platform 2 has an internal lifting mechanism, the structure of which is as follows: Figure 8 As shown, the system includes an extended outer frame 7 that communicates with platform 2 and the protective outer shell 11; a horizontal plate 701 is fixed to the top of the extended outer frame 7; symmetrically distributed auxiliary guide rods 702 and a lead screw 703 at the center are vertically installed between the bottom surface of the horizontal plate 701 and the extended outer frame 7; the lifting frame 704 is connected to the lead screw 703 through a threaded pair and slides with the auxiliary guide rods 702 to form a stable lifting structure of "one drive and three guides"; a motor 7031 is installed on the top surface of the horizontal plate 701 to drive the lead screw 703 to rotate. This drives the lifting frame 704 to move vertically; the lifting frame 704 has support arms 7041 extending and fixed on both sides, and each of the support arms 7041 has corner point locking slots 7042 at both the front and rear ends of the top, with a total of four corner point locking slots 7042 arranged in a rectangular array; the inner contour of the corner point locking slots 7042 is perfectly matched with the locking slider 5031 at the bottom of the panel placement frame 6, realizing four-point precise limiting support; in the initial state, the horizontal projection position of the corner point locking slots 7042 is aligned with the reserved locking slots 503 on the bearing plate 502 (see Figure 12 This ensures that the panel placement frame 6 can be directly pushed in by the horizontal movement mechanism; after the horizontal movement mechanism sends the panel placement frame 6 above the platform 2, the horizontal movement mechanism resets, the lifting mechanism begins to descend, and the subsequent single-board release action is executed.

[0072] A magnetic wheel conveyor line 8 is installed above platform 3, and its structure is as follows: Figures 9-12As shown, the magnetic wheel conveyor line 8 is fixedly connected to the platform 3 via multiple support legs 801; the front end of the magnetic wheel conveyor line 8 extends to the area above the support arm 7041, and does not exceed the projection range of any corner point locking groove 7042; a linear slide rail component 2 9 is installed at the bottom of the magnetic wheel conveyor line 8; a slide block 901 is slidably installed on the linear slide rail component 2 9, and a seat plate 902 is fixed to the top of the slide block 901, with a contact block 903 installed at the center of the top surface of the seat plate 902; a pressure sensor or micro switch is embedded in the surface of the contact block 903; initially, the contact block 903 is located directly below the geometric center of the rectangle enclosed by the four corner point locking grooves 7042; when the lifting mechanism descends, the bottom surface of the lowest PCB board in the panel placement frame 6 contacts the contact block 903, triggering a sensor signal, activating the linear slide rail component 2 9 to drive the slide block 901 to move, thus moving the slide block 901. The PCB board is pushed to the working surface of the magnetic wheel conveyor line 8, realizing the release and transfer of single boards layer by layer. The specific process is as follows: S1 The lifting mechanism carries the fully loaded panel placement frame 6 down to the preset height, so that the bottom surface of the bottom PCB board lightly touches the contact block 903; S2 The built-in sensor of the contact block 903 detects the contact signal and sends a trigger command to the controller; S3 The controller activates the linear slide rail component 9, driving the slide block 901 to move along the length of the magnetic wheel conveyor line 8, so that the contact block 903 pushes the PCB board away from the receiving rod 601 and slides into the working surface of the magnetic wheel conveyor line 8; S4 The magnetic wheel conveyor line 8 is energized to generate a magnetic field, which attracts the metal layer on the bottom surface of the PCB board to achieve stable transmission; S5 The lifting mechanism continues to descend, so that the next bottom PCB board becomes the new bottom layer, and the above process is repeated until all PCB boards in the panel placement frame 6 are released.

[0073] A clapper mechanism is installed above the magnetic wheel conveyor line 8, and its structure is as follows: Figure 9 and Figure 10As shown, they are symmetrically arranged on the left and right sides of the magnetic wheel conveyor line 8; each side includes a Z-shaped support 1010, one end of which is fixed to the outer frame of the magnetic wheel conveyor line 8, and the other end extends upward to form an installation platform; the cylinder 10 is installed on the horizontal section of the Z-shaped support 1010, and its output end is connected to the clapper seat 1011. The bottom surface of the clapper seat 1011 is in contact with the surface of the conveyor line and is used to clamp and position the PCB board from both sides; an extended positioning plate 1012 is fixed to the top of the clapper seat 1011, and at least one cylinder 2 1013 is installed on the top surface of the extended positioning plate 1012. The output end of the cylinder 2 1013 is provided with a clapper head. The device applies light pressure from above to position and prevent warping of the PCB board. When the PCB board is pushed to the designated position on the magnetic wheel conveyor line 8, the two cylinders 10 on both sides move synchronously, pushing the clapper base 1011 towards the center, so that the inner side of the clapper base 1011 contacts the left and right edges of the PCB board, completing the positioning. Then, the cylinder 2 1013 moves, driving the clapper head to press down, so that the bottom surface of the clapper head contacts the top surface of the PCB board, limiting displacement and preventing warping of the board surface caused by uneven magnetic adsorption or airflow disturbance. The contact surfaces of the clapper head and the clapper base 1011 are covered with non-metallic flexible materials to avoid scratching the surface of the PCB board.

[0074] A photoelectric sensor is installed above the platform 1. After the detection panel placement frame 6 is placed on the support plate 502, it triggers a lateral movement. A sensor 802 is embedded in the contact area between the lower surface of the magnetic wheel conveyor line 8 and the support arm 7041 (see...). Figure 11 The sensor is used to detect the reset position of the lifting mechanism, thereby triggering the horizontal movement mechanism of platform 4 to reclaim the empty frame; the surface sensor of contact block 903 is used to identify the release time of the PCB board and drive the linear slide rail component 2 9 to perform the push; all the above sensors are electrically connected to the corresponding actuator controller to realize full-process automation, high precision, and zero-interruption operation; the specific control logic is as follows: S1 The operator places the full-load panel placement frame 6 on the support plate 502 of platform 1. The photoelectric sensor detects the frame's position signal and starts the horizontal movement mechanism to move to platform 2; S2 The horizontal movement mechanism stops after reaching above platform 2, and the lifting mechanism completes the frame handover; S3 The horizontal movement mechanism returns to platform 1 to stand by, and the lifting mechanism begins to descend to perform single-board release; S4 The system records the count for each PCB board released until there are no boards in the frame; S5 The lifting mechanism rises to the initial height, and the empty frame is transferred from platform 2 to platform 4 by the horizontal movement mechanism; S6 The horizontal movement mechanism of platform 4 pushes the empty frame to the recycling area, completing a complete cycle.

[0075] Specifically, the protective housing 11 and the HFU fan filter unit 12 together constitute a positive pressure clean chamber (see...). Figure 14The HFU continuously supplies clean air filtered by HEPA or ULPA to the interior, making the air pressure inside the chamber slightly higher than the external environment to prevent the intrusion of external particles. With the protective door closed, the entire working area is in a sealed state, and airflow is maintained only through the HFU air inlet and exhaust duct. The exhaust duct is equipped with a flow equalization plate and a sound-absorbing structure to ensure smooth airflow and avoid eddy currents disturbing the PCB board. All through-parts of moving parts are treated with labyrinth seals or elastic sealing rings to prevent leakage.

[0076] Furthermore, both linear guide rail component 501 and linear guide rail component 9 adopt high-rigidity linear guide pairs, driven by servo motors or stepper motors; the push-pull cylinders 5042, cylinder 10, and cylinder 21013 are equipped with throttle valves and buffer devices to control the action speed and impact force; the electromagnet 5043 adopts a normally de-energized design, only energized at the moment of clamping, reducing energy consumption and avoiding accidental adsorption; the magnetic pole arrangement of the magnetic wheel conveyor line 8 is optimized to ensure uniform adsorption force for PCB boards of different sizes, and can be manually pushed away in the power-off state for easy maintenance.

[0077] The complete workflow is as follows:

[0078] S1 operator places the panel placement frame 6, which is fully loaded with PCB boards, onto the carrier plate 502 of platform 1; after the photoelectric sensor above the platform detects that the panel placement frame 6 is in place, it sends a signal to the controller of the transverse mechanism to start the transverse mechanism; the push-pull cylinder 5042 drives the electromagnet 5043 to approach the side wall of the panel placement frame 6, so that it is attracted and fixed to the magnetic block 5044; at the same time, the snap-fit ​​slider 5031 at the bottom of the panel placement frame 6 is embedded into the reserved snap-fit ​​groove 503 of the carrier plate 502 to complete the dual positioning;

[0079] The S2 transverse mechanism moves horizontally along the linear slide rail 501, smoothly moving the panel placement frame 6 from platform 1 to a predetermined position above platform 2, and aligning the snap-fit ​​slider 5031 at the bottom of the panel placement frame 6 with the corner snap-fit ​​groove 7042 of the lifting mechanism.

[0080] The S3 transverse mechanism is reset, and the panel placement frame 6 is precisely supported by the lifting mechanism's support arm 7041 through the corner point locking groove 7042; then, the lifting mechanism's motor 7031 is started, driving the lead screw 703 to rotate, which in turn causes the lifting frame 704 and the supported panel placement frame 6 to descend as a whole.

[0081] The S4 lifting mechanism descends layer by layer. When the bottom surface of the bottom PCB board contacts the contact block 903 below the magnetic wheel conveyor line 8, the pressure sensor or micro switch embedded in the contact block 903 is triggered, and the signal is transmitted to the controller of the linear slide rail component 2 9. The linear slide rail component 2 9 drives the slide block 901 and the contact block 903 to move along the length of the magnetic wheel conveyor line 8, pushing the PCB board out of the slot in the panel placement frame 6 and making it smoothly enter the working surface of the magnetic wheel conveyor line 8.

[0082] When the S5 magnetic wheel conveyor line 8 is energized, it generates a magnetic field that attracts the metal layer of the PCB board and drives it to be conveyed. When the PCB board reaches the bottom of the clapping mechanism, the cylinders 10 on both sides move synchronously, pushing the clapping base 1011 to clamp the PCB board from the left and right sides, completing the lateral positioning. Then, the cylinder 1013 drives the clapping head to press down, gently pressing the PCB board from above to ensure that its surface is flat and without warping, thus completing the upper surface positioning.

[0083] The S6 lifting mechanism continues to descend layer by layer, repeating steps 4 and 5 until all PCB boards in the panel placement frame 6 are released; at this point, the panel placement frame 6 is empty, and the lifting mechanism rises to the initial height.

[0084] The sensor 802 embedded in the lower surface of the S7 magnetic wheel conveyor line 8 detects that after the support arm 7041 rises to the correct position, it sends a signal to the transverse mechanism above the platform 4. The transverse mechanism is activated, and the electromagnet 5043 attracts the magnetic block 5044 on the side of the empty frame, and pulls the empty frame from the platform 2 back to the recycling station of the platform 4, completing the automatic recycling of the empty frame.

[0085] S8 mechanisms are reset to their initial state, awaiting the loading of the next full-load panel placement frame 6, and entering the next work cycle.

[0086] In summary, this invention achieves spatial separation and parallel processes for loading, transferring, conveying, and recycling through a "T-shaped" four-station layout; it constructs a dual positioning and transfer mechanism by mechanically engaging the locking slider 5031 with the reserved locking slot 503 and corner locking slot 7042, combined with the magnetic adsorption of the electromagnet 5043 and the magnetic block 5044, eliminating handover gaps; it achieves precise triggering and layer-by-layer peeling of single-board release through the linkage of the contact block 903 and the sensor; it ensures the flatness and positional stability of the PCB board during the conveying process through the bidirectional constraint of the plate-tapping mechanism; it maintains the cleanliness of the working environment through a fully enclosed positive pressure protection system; and it forms an uninterrupted, high-cycle, and highly repeatable automated loading and unloading process through unified scheduling by a sensor feedback network. The specific structural relationships and operational logic of this technical solution enable those skilled in the art to manufacture and operate the equipment based on the content of this invention, meeting the stringent requirements of high-density electronic manufacturing production lines for PCB board processing.

[0087] Although embodiments of the invention have been shown and described, it will be understood by those skilled in the art that various changes, modifications, substitutions and alterations can be made to these embodiments without departing from the principles and spirit of the invention, the scope of which is defined by the appended claims and their equivalents.

Claims

1. A high-precision automatic positioning and take-up / take-up device, characterized in that, include: Platform 1 (1) serves as the material loading station; Platform 2 (2) is set up adjacent to Platform 1 (1) as a lifting and transfer station; Platform 3 (3) is set up adjacent to Platform 2 (2) as a conveying and positioning station; Platform 4 (4) serves as an empty frame recycling station; A transverse mechanism is provided on the first platform (1) and the fourth platform (4) for transferring the panel placement frame (6) between the first platform (1) and the second platform (2) and between the second platform (2) and the fourth platform (4). The lateral movement mechanism includes: A connection frame fixed on the platform (5); Linear slide rail component 1 (501) installed on the top of the connecting frame (5); A support plate (502) is slidably installed on the linear slide rail component (501), and the top surface of the support plate (502) is provided with a reserved snap-fit ​​groove (503). An extension plate (504) is fixed to the bottom of the support plate (502), and an L-shaped bracket (5041) is fixed to the outside of the extension plate (504). A push-pull cylinder (5042) is mounted on the L-shaped bracket (5041), and an electromagnet (5043) is connected to the output end of the push-pull cylinder (5042). The bottom of the panel placement frame (6) is provided with a snap-fit ​​slider (5031) that cooperates with the reserved snap-fit ​​slot (503), and the side is provided with a magnetic block (5044) that can be magnetically attracted to the electromagnet (5043). The lifting mechanism is located inside the second platform (2) and is used to receive and carry the panel placement frame (6) transferred by the transverse mechanism, and drive the panel placement frame (6) to descend layer by layer; The magnetic wheel conveyor line (8) is set on the platform three (3), and its front side extends to the working area below the lifting mechanism. It is used to receive and convey a single PCB board removed from the panel placement frame (6). The clapping mechanism is positioned above the magnetic wheel conveyor line (8) and is used to position the PCB board located thereon laterally and on its upper surface. The photoelectric sensor located above platform 1 (1) is electrically connected to the horizontal movement mechanism above platform 1 (1) and is used to trigger the horizontal movement mechanism to move the panel placement frame (6) toward the lifting mechanism after detecting that the panel placement frame (6) has been placed in place. The sensor (802) embedded in the contact surface between the lower surface of the magnetic wheel conveyor line (8) and the support arm (7041) of the lifting mechanism is electrically connected to the transverse mechanism above the platform (4) and is used to trigger the transverse mechanism to pull the empty panel placement frame (6) back to the platform (4) when the support arm (7041) is detected to be in contact. A pressure sensor or micro switch embedded in the surface of the contact block (903) is electrically connected to a linear slide rail component two (9) located at the bottom of the magnetic wheel conveyor line (8) to trigger the linear slide rail component two (9) to move the PCB board into the magnetic wheel conveyor line (8) when the lifting mechanism descends and the bottom of the PCB board contacts it. The protective shell (11) is installed on the outside of each platform and mechanism, and at least one side of it is equipped with a protective door that can be opened and closed freely.

2. The high-precision automatic positioning and take-up / take-up device according to claim 1, characterized in that, The panel placement frame (6) has multiple slots for accommodating PCB boards. Each slot consists of a support rod (601) fixed to the inner wall of the frame and an auxiliary roller (602) rotatably mounted on it.

3. The high-precision automatic positioning and take-up / take-up device according to claim 1, characterized in that, The lifting mechanism includes: The extended outer frame (7) is interconnected with Platform 2 (2) and the protective shell (11); A horizontal plate (701) fixed inside the outer frame (7); A lead screw (703) is vertically installed between the bottom of the horizontal plate (701) and the outer frame (7), and at least two auxiliary guide rods (702) are symmetrically arranged. A motor (7031) that drives the lead screw (703) to rotate; And a lifting frame (704) that is connected to the lead screw (703) by a thread and slides with the auxiliary guide rod (702); The lifting frame (704) has support arms (7041) fixed on both sides, and the top of the support arm (7041) is provided with a corner snap-fit ​​groove (7042) for snapping the panel placement frame (6).

4. The high-precision automatic positioning and take-up / take-up device according to claim 3, characterized in that, The magnetic wheel conveyor line (8) is mounted on platform three (3) via multiple support legs (801).

5. The high-precision automatic positioning and take-up / take-up device according to claim 1, characterized in that, The bottom of the magnetic wheel conveyor line (8) is provided with the second linear slide rail (9), and a slide block (901) is slidably installed on the second linear slide rail (9). A seat plate (902) is fixed on the slide block (901), and a contact block (903) is installed on the top of the seat plate (902).

6. The high-precision automatic positioning and take-up / take-up device according to claim 1, characterized in that, The sensor (802) is a proximity sensor or a position sensor.

7. The high-precision automatic positioning and take-up / take-up device according to claim 1, characterized in that, The clapping mechanism includes: Z-shaped support seats (1010) are symmetrically arranged on both sides of the magnetic wheel conveyor line (8). Cylinder 1 (10) is mounted on each of the Z-shaped support (1010); The clapper seat (1011) connected to the output end of the cylinder (10) is used to clamp and position the PCB board from both sides; An extension positioning plate (1012) is installed on the top of the clapper base (1011), and at least one cylinder two (1013) is installed on the top of the extension positioning plate (1012). The output end of the cylinder two (1013) is provided with a clapper head for pressing and positioning the PCB board from above.

8. The high-precision automatic positioning and take-up / take-up device according to claim 1, characterized in that, The top of the protective housing (11) is equipped with an HFU fan filter unit (12).

9. The high-precision automatic positioning and take-up / take-up device according to claim 1, characterized in that, The protective shell (11) is equipped with the freely opening and closing protective door on multiple sides. The protective door is connected by hinges and is provided with an observation window and a locking handle.

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