Circuit board processing apparatus and circuit board processing control method

Abstract

The application discloses a circuit board processing device, comprising: a workbench for carrying a circuit board provided with a first pin and a second pin; a first driving part arranged on the workbench and used for driving the circuit board to move in a first direction; a pneumatic clamping device arranged on the workbench and used for carrying and positioning the circuit board; a curved guide groove arranged between a first positioning point and a second positioning point of the pneumatic clamping device, at least one section of the curved guide groove being a curve structure and used for guiding the second pin to move in a curve path in a first groove or a second groove. The application also discloses a circuit board processing control method. The circuit board processing device and the processing control method can improve the positioning accuracy and the processing accuracy of the circuit board.

Description

Technical Field

[0001] This application relates to the technical field of equipment and methods for processing circuit boards, and more precisely, this application relates to a circuit board processing equipment and a circuit board processing control method. Background Technology

[0002] As fully automatic drilling machines evolve towards automation and intelligence, the increased production capacity places higher demands on circuit board positioning systems. In existing technologies, when the worktable drives the circuit board through high-frequency, high-speed motion, the pneumatic clamping device struggles to stably hold the pins, causing pin wobbling, reduced positioning accuracy, and consequently, severely impacting processing quality. Therefore, designing a pneumatic clamping device that meets the processing accuracy requirements of automated loading and unloading scenarios is a pressing technical problem to be solved in this field. Summary of the Invention

[0003] In order to solve the problems existing in the prior art, this application provides a circuit board processing equipment and a circuit board processing control method.

[0004] According to a first aspect of this application, a circuit board processing apparatus is provided, comprising: a worktable for supporting a circuit board having a first pin and a second pin; a first driving unit disposed on the worktable for driving the circuit board to move along a first direction; a pneumatic clamping device disposed on the worktable for supporting and positioning the circuit board; the pneumatic clamping device includes a first pneumatic clamping assembly and a second pneumatic clamping assembly, the first pneumatic clamping assembly including a first groove and a first positioning point disposed in the first groove; the second pneumatic clamping assembly including a second groove and a second positioning point disposed in the second groove; the first groove and the second groove are interconnected for guiding the movement of the first pin and the second pin within them; a curved guide groove disposed between the first positioning point and the second positioning point, at least one section of the curved guide groove having a curved structure for guiding the second pin to move along a curved path within the first groove or the second groove.

[0005] In some embodiments of this application, the second air clamp assembly includes a second positioning member and a second clamping member. The end of the second positioning member is provided with two limiting surfaces, and a first included angle is formed between the two limiting surfaces. The center line of the first included angle is parallel to a second direction, and the second direction is perpendicular to the first direction.

[0006] In some embodiments of this application, the second pneumatic clamp assembly further includes a second driving part, which is used to drive the second clamping member to move along a second direction to push the second pin toward the two limiting surfaces; the second clamping member includes a locked state and a released state. In the locked state, the second clamping member cooperates with the two limiting surfaces to position the second pin at the second positioning point.

[0007] In some embodiments of this application, the second groove includes a curved guide groove adjacent to a limiting surface, and at least one limiting surface smoothly transitions to the sidewall of the curved guide groove; in the released state, the second pin disengages from the second positioning point and enters the curved guide groove.

[0008] In some embodiments of this application, a detection element is also included for detecting a second pin near the second positioning point; a notch is provided on the side of the second clamping member facing the detection element, the notch being used to avoid the sensing signal of the detection element.

[0009] In some embodiments of this application, the included angle between the perpendiculars from the second positioning point to the two limiting surfaces is 60° to 120°; or, the included angle formed by the two limiting surfaces is 60° to 120°.

[0010] In some embodiments of this application, the air clamp device further includes a connecting portion disposed between the first air clamp assembly and the second air clamp assembly. The connecting portion includes a connecting groove that connects the first groove and the second groove, and at least a portion of the connecting groove is a curved guide groove.

[0011] In some embodiments of this application, the second air clamp assembly further includes a second driving part, which drives the second clamping member to move in an inclined direction to push the second pin toward the two limiting surfaces; the angle between the inclined direction and the second direction is 0° to 60°.

[0012] In some embodiments of this application, the second positioning member further includes a third surface, which is located between the two limiting surfaces and together with the two limiting surfaces forms a groove; the second clamping member, the third surface, and the two limiting surfaces cooperate to position the second pin at the second positioning point.

[0013] In some embodiments of this application, the first positioning point and the second positioning point are used to position the first pin and the second pin, respectively, and the center line of the curved guide groove is located on the same side of the line connecting the two pins.

[0014] The second aspect of this application provides a circuit board processing control method, including:

[0015] S100. The circuit board is driven to move along a first direction by the first driving part on the workbench, so that the first pin and the second pin on the circuit board move in the first groove and the second groove of the air clamp device, respectively. The movement path from the first groove to the second groove includes a curved guide groove, which is used to guide the second pin to move along a curved path.

[0016] S200. When the detection component of the pneumatic clamp device detects the second pin near the second positioning point, the first drive unit is controlled to stop working and the first drive unit is controlled to descend, so that the circuit board falls onto the pneumatic clamp device.

[0017] S300, the first clamping member of the driving pneumatic clamping device moves along the second direction, pushing the first pin to move towards the first positioning point, and the first clamping member cooperates with the first positioning member to position the first pin at the first positioning point; the second direction is perpendicular to the first direction;

[0018] S400: The second clamping member is driven to move by the second driving unit, pushing the second pin to move towards the second positioning point. The second clamping member and the second positioning member cooperate to position the second pin at the second positioning point.

[0019] S500, a circuit board that controls the spindle assembly to complete machining and positioning.

[0020] In some embodiments of this application, in step S400, the second driving unit drives the second clamping member to move along the second direction or the inclined direction, wherein the angle between the inclined direction and the second direction is 0° to 60°.

[0021] This circuit board processing equipment and control method involves a first driving unit providing a driving force along a first direction to the circuit board. The second pin is subjected to both the driving force and frictional force in the first direction, causing it to move to the second positioning point via a curved guide groove. This avoids the instability at the second positioning point that can easily occur with straight grooves. The second driving unit provides a clamping force along a second direction to the second pin via a second clamping member. Thus, the two mutually perpendicular working forces reliably and stably confine the second pin to the second positioning point. By improving the stability and reliability of the two pins' positioning, in automated circuit board processing equipment, it is possible to effectively prevent circuit board displacement caused by pin wobbling, thereby improving the positioning and processing accuracy of multiple similar circuit boards in the same batch.

[0022] Other features and advantages of this application will become clear from the following detailed description of exemplary embodiments with reference to the accompanying drawings. Attached Figure Description

[0023] The accompanying drawings, which are incorporated in and form part of this specification, illustrate embodiments of the present application and, together with their description, serve to explain the principles of the present application.

[0024] Figure 1 This is a schematic diagram of a partial structure of a circuit board processing equipment provided in an embodiment of this application;

[0025] Figure 2 This is a schematic diagram of a partial structure of a circuit board processing equipment provided in an embodiment of this application;

[0026] Figure 3 This is a schematic diagram of a circuit board portion structure provided in an embodiment of this application;

[0027] Figure 4This is a partial structural diagram of the air clamp device provided in one embodiment of this application;

[0028] Figure 5 This is a partial structural diagram of the air clamp device provided in one embodiment of this application;

[0029] Figure 6 This is a partial structural diagram of the air clamp device provided in one embodiment of this application;

[0030] Figure 7 This is a schematic diagram of a circuit board portion structure provided in an embodiment of this application;

[0031] Figure 8 This is a partial structural diagram of the air clamp device provided in one embodiment of this application;

[0032] Figure 9 This is a partial structural diagram of the air clamp device provided in one embodiment of this application;

[0033] Figure 10 This is a partial structural diagram of the air clamp device provided in one embodiment of this application.

[0034] Figures 1 to 10 The one-to-one correspondence between the component names and the reference numerals in the attached drawings is as follows: 10, spindle assembly; 20, worktable; 30, crossbeam; 40, base; 21, circuit board; 22, first drive unit; 23, pneumatic clamp device; 24, first pneumatic clamp assembly; 25, second pneumatic clamp assembly; 26, bending guide groove; 27, detection component; 28, connecting part; 211, first pin; 212, second pin; 241, first positioning component; 242, first clamping component; 243, first groove; 244, first positioning point; 251, second positioning component; 252, second clamping component; 253, second groove; 254, second positioning point; 255, second drive unit; 256, limiting surface; 257, third surface; 258, first included angle; 259, notch. Detailed Implementation

[0035] Various exemplary embodiments of the present application will now be described in detail with reference to the accompanying drawings. It should be noted that, unless otherwise specifically stated, the relative arrangement, numerical expressions, and values ​​of the components and steps set forth in these embodiments do not limit the scope of the present application.

[0036] The following description of at least one exemplary embodiment is for illustrative purposes only and is not intended to limit the scope, application, or use of this application. Techniques, methods, and devices known to those skilled in the art should be considered part of the specification where appropriate and will not be discussed further here. The same or similar reference numerals in the drawings represent the same or similar elements, and therefore, once an element is defined in one drawing, it need not be repeated in subsequent drawings.

[0037] In this document, directional terms such as "upper," "lower," "front," "rear," "left," and "right" are used only to describe the relative positional relationships between the components shown in the accompanying drawings, and not to define their absolute positions. Terms such as "first" and "second" are used only to distinguish different components and do not indicate importance, order, or interdependence. Furthermore, expressions such as "equal," "same," "aligned," "aligned," "flush," "axial direction," "horizontal direction," "above," "below," "consistent," "synchronous," "simultaneously," "in sequence," "axis," and "center" are not strict mathematical or geometric definitions, but rather allow for a reasonable range of error acceptable to those skilled in the art during manufacturing or use.

[0038] The circuit board processing equipment provided in this application includes: a base, a crossbeam, a spindle assembly, and a worktable. The worktable is disposed on the base and can move along a first direction; the crossbeam is mounted above the worktable, and at least one spindle assembly that can move along a second direction is slidably connected to it; the bottom of the spindle assembly holds a cutting tool and is driven by a drive mechanism to move along a third direction to process the circuit board on the worktable. The first direction, the second direction, and the third direction are mutually perpendicular, forming a spatial rectangular coordinate system. For ease of description, the first direction is defined as the Y-axis, the second direction as the X-axis, and the third direction as the Z-axis.

[0039] During processing, the circuit board is clamped and fixed to the worktable by a pneumatic clamping device, and the worktable drives the circuit board to move along the Y-axis; the spindle assembly slides along the X-axis, and the two work together to determine the processing position in the XY plane; the spindle assembly feeds along the Z-axis to complete high-precision processing. The circuit board processing equipment of this application can be a drilling machine, forming machine, milling machine, or integrated drilling and milling machine, etc., and the number of spindle assemblies can be one, two, four, six, eight, ten, twelve, etc., with the same number of processing areas configured on the worktable accordingly.

[0040] The circuit board processing equipment of this application includes: a worktable for supporting a circuit board with a first pin and a second pin; a first driving unit disposed on the worktable for driving the circuit board to move along a first direction; and a pneumatic clamping device disposed on the worktable for supporting and positioning the circuit board. The pneumatic clamping device includes a first pneumatic clamping assembly and a second pneumatic clamping assembly. The first pneumatic clamping assembly includes a first groove and a first positioning point disposed within the first groove. The second pneumatic clamping assembly includes a second groove and a second positioning point disposed within the second groove. The first groove and the second groove are interconnected for guiding the movement of the first pin and the second pin within them. A curved guide groove is disposed between the first positioning point and the second positioning point. The line connecting the first positioning point and the second positioning point is parallel to the first direction. At least one section of the curved guide groove is a curved structure, and the convex side of the curved structure points away from the connecting line. The curved guide groove is used to guide the second pin to move along a curved path within the first groove or the second groove. The movement path from the first groove to the second groove includes a curved guide groove. Specifically, the curved guide groove can be provided in at least one of the first groove and the second groove, or in the connection between the first groove and the second groove.

[0041] In this type of circuit board processing equipment, the first drive unit provides a driving force along a first direction to the circuit board. The second pin is subjected to the driving force and frictional force in the first direction, causing the second pin to move to the second positioning point via a curved guide groove, thus avoiding the problem of unstable positioning at the second positioning point that is easily caused by using a straight groove. The second drive unit provides a clamping force along a second direction to the second pin through a second clamping member. Thus, the two working forces in mutually perpendicular directions stably and reliably limit the two pins to the second positioning point. By improving the stability and reliability of the pin positioning, in an automated circuit board processing equipment, it is possible to effectively prevent the circuit board from shifting due to the two pins shaking, thereby improving the positioning accuracy and processing accuracy of multiple similar circuit boards in the same batch.

[0042] The circuit board processing equipment includes a base, which serves as the load-bearing foundation for the entire equipment, supporting components such as the crossbeams and worktable. The base is preferably made of marble to ensure stable installation on the ground and reduce the impact of vibrations generated by the high-speed, high-frequency movement of the spindle assembly on processing accuracy and stability.

[0043] The circuit board processing equipment also includes a worktable for supporting circuit boards. A drive mechanism drives the worktable to move the circuit boards along a first direction (Y-axis direction) on a slide rail on the base. The worktable has at least one processing area, each carrying one circuit board. In some embodiments, the circuit board processing equipment includes a worktable with six processing areas for supporting circuit boards, which can move six circuit boards as a whole along the first direction. In other embodiments, the circuit board processing equipment includes six independent worktables, each with a processing area carrying one circuit board, and the six worktables can move their respective circuit boards independently along the first direction.

[0044] The circuit board processing equipment also includes a crossbeam spanning above the worktable, with both ends supported on a base by marble blocks. The crossbeam itself is preferably made of marble. A slide rail and drive mechanism extending in a second direction are mounted on the crossbeam to drive the spindle assembly to move in that direction.

[0045] The circuit board processing equipment also includes a spindle assembly, which is slidably connected to a slide rail on a crossbeam. A drive mechanism drives the spindle assembly to move along a second direction. The spindle assembly moves along the second direction, while the worktable moves the circuit board along a first direction; their relative movement establishes a two-dimensional planar coordinate system. The spindle assembly drives a cutting tool to reciprocate along a third direction (Z-axis) to perform high-precision processing on the circuit board. In some embodiments, the number of spindle assemblies is the same as the number of circuit boards, with one spindle assembly processing one circuit board. In other embodiments, at least two spindle assemblies can simultaneously replicate the processing of the same circuit board. In the context of this application, the first direction, the second direction, and the third direction are mutually perpendicular.

[0046] A buffer device is installed at the rear of the circuit board processing equipment. A self-moving AGV (Automated Guided Vehicle) exchanges materials with the circuit board processing equipment through this buffer device, achieving fully automated loading and unloading. During this fully automated process, the circuit board processing equipment and the buffer device exchange old and new materials along a first direction. That is, the circuit boards that have already been processed on the worktable move along the first direction to the buffer device, and the circuit boards to be processed in the buffer device move along the first direction to the worktable. This rear-side loading and unloading method along the first direction is compatible with the structure of the worktable, which can only move along the first direction.

[0047] To achieve automated loading, unloading, and circuit board processing, each workbench is equipped with a first drive unit. The first drive unit is located in the middle area of ​​the workbench's processing zone and is embedded in a groove on the upper surface of the workbench. The first drive unit includes a lifting mechanism and a conveying mechanism. The lifting mechanism drives the first drive unit to move up and down along a third direction within the groove, switching between rising and falling states. In the rising state, the first drive unit rises above the upper surface of the workbench, supporting the circuit board, thus allowing it to be conveyed along a first direction with the buffer device. In the falling state, the first drive unit descends into the groove and is below the lower surface of the workbench, with the circuit board stably supported by the pneumatic clamping device and the workbench. In the rising state, the first drive unit supports the circuit board, and the conveying mechanism drives the circuit board to move along the first direction, thereby conveying processed circuit boards to the buffer device or receiving circuit boards to be processed from the buffer device. In some preferred embodiments of this application, the conveying mechanism consists of two sets of pulley assemblies.

[0048] A pneumatic clamping device is also installed on the worktable. This device is located in the middle of the worktable's processing area and is embedded in a groove on the upper surface of the worktable, with its surface essentially flush with the worktable surface, allowing it to directly support circuit boards. The pneumatic clamping device includes a first pneumatic clamping assembly and a second pneumatic clamping assembly. The first pneumatic clamping assembly includes a first positioning member and a first clamping member, which together form a first groove extending generally along a first direction. A first positioning point is provided within the first groove. A drive mechanism drives the first clamping member to move along a second direction towards the first positioning member, thereby pushing a first pin in the first groove toward the first positioning point. The second pneumatic clamping assembly includes a second positioning member and a second clamping member, which together form a second groove extending generally along the first direction. A second positioning point is provided at the end of the second groove. A second drive unit drives the second clamping member to move along the second direction, causing the second clamping member to push a second pin in the second groove toward the second positioning point.

[0049] In some embodiments, the pneumatic clamp device further includes a connecting portion disposed between the first pneumatic clamp assembly and the second pneumatic clamp assembly. The connecting portion includes a connecting groove connecting the first groove and the second groove, at least a portion of which is a curved guide groove. Due to the influence of the excessively large worktable size of some circuit board processing equipment, especially when the size in the first direction is too large, a connecting portion can be provided between the first pneumatic clamp assembly and the second pneumatic clamp assembly. The connecting portion is used to transition and connect the first pneumatic clamp assembly and the second pneumatic clamp assembly. It is certain that the connecting portion needs to be provided with a connecting groove, one end of which connects to the first groove and the other end of which connects to the second groove. The second pin moves to the vicinity of the second positioning point by passing through the first groove, the connecting groove, and the second groove. The depth and width of the connecting groove are substantially the same as those of the first groove and the second groove.

[0050] When the pneumatic clamp device is provided with a connecting portion, since the connecting groove is located between the first positioning point and the second positioning point, at least a portion of the connecting groove can be configured as a curved guide groove. The direction of the line connecting the first positioning point and the second positioning point is a first direction, and at least a section of the curved guide groove has a curved structure, with the convex side of the curved structure pointing away from the connecting line. The curved guide groove in the connecting groove is used to guide the second pin to move along the curved path in the first and second grooves. In some other embodiments, even if the pneumatic clamp device is provided with a connecting portion, a curved guide groove can still be provided in either the first groove or the second groove.

[0051] The circuit board is a spliced ​​board of multiple sub-circuit boards, with a protective layer on its surface and a certain weight. The circuit board includes two pins, a first pin and a second pin, located on the back side of the circuit board that contacts the worktable. In the pneumatic clamping device, the first and second grooves are connected and jointly used to accommodate, guide, and limit the two pins. When the first drive unit drives the circuit board to move in a first direction, the two pins move within the first and second grooves to guide the circuit board along the first direction on the first drive unit, preventing the circuit board from shifting or turning. Each pin has a predetermined length, such that when the first drive unit lifts the circuit board into an upward state, at least a portion of the two pins remains within the first and second grooves, thereby continuing to limit and guide the two pins.

[0052] During automated loading and unloading, the positions of the circuit boards conveyed to the worktable by the buffer device are difficult to maintain perfectly consistent. Therefore, it is necessary to position the circuit boards to be processed on the worktable to ensure positioning accuracy and processing accuracy. A first positioning point is set in the first groove, and a second positioning point is set in the second groove. During the loading and unloading of the circuit boards, the pneumatic clamping device guides two pins to reciprocate within the first and second grooves. Two pins are provided on the back of the circuit board, maintaining a fixed distance between them. A first clamping member pushes the first pin in the first groove to position it at the first positioning point; a second clamping member pushes the second pin in the second groove to position it at the second positioning point. Positioning the two pins at the two preset first and second positioning points ensures the positioning accuracy of the circuit board on the worktable, thereby improving processing accuracy.

[0053] The pneumatic clamping device also includes a calibration section. This section can change the position of the first positioning element and the two limiting surfaces, thereby changing the positions of the first and second positioning points to achieve calibration, fine-tuning, and locking of their positions. Circuit boards of the same batch or type use the same fixed, calibrated first and second positioning points. During calibration, a dedicated dial indicator, in conjunction with the test pins held by the spindle assembly, is used to calibrate the alignment of each spindle assembly with the first and second positioning points, ensuring the accuracy of their positions. It should be noted that the first and second positioning points are aligned in the first direction, and the line connecting them is parallel to the first direction. Simultaneously, the distance between the first and second positioning points is a fixed value, the same as the distance between the two pins on the back of the circuit board. After calibrating the first and second positioning points, the position of each circuit board on the worktable is determined based on the positions of these two positioning points before processing, ensuring the positioning and processing accuracy of each circuit board.

[0054] In the interconnected first and second trenches, at least one includes a curved guide groove, or a curved guide groove is provided at the connection between the first and second trenches; the curved guide groove is located between the first and second positioning points. At least one section of the curved guide groove is a curved structure, with the convex side of the curved structure pointing away from the connecting line (i.e., away from the connecting line between the two positioning points). After the curved guide groove is provided, the second clamping member applies a clamping force in a second direction perpendicular to the first direction of movement of the second pin to the second pin, thereby positioning and clamping the second pin at the second positioning point in two mutually perpendicular directions, preventing the second pin from shaking or displacing due to the inertia of the circuit board moving along the first direction, improving the stability of the second pin's positioning, and thus improving the positioning accuracy and processing accuracy of the circuit board. In the above and below embodiments of this application, the curved structure includes smooth arcs, circular arcs, elliptical arcs, and similar structures.

[0055] In some embodiments of this application, the second air clamp assembly includes a second positioning member and a second clamping member. The end of the second positioning member is provided with two limiting surfaces, and a first included angle is formed between the two limiting surfaces. The center line of the first included angle is parallel to a second direction, and the second direction is perpendicular to the first direction.

[0056] The second pneumatic clamp assembly is a crucial actuator for precisely positioning the second pin on the circuit board. It comprises a second positioning element and a relatively movable second clamping element. The second positioning element includes two limiting surfaces at its ends. Instead of simple planes or recesses facing the second pin, the sidewalls of the second positioning element are constructed as two angled limiting surfaces. These two limiting surfaces together form a V-shaped or similar concave structure. A first angle (ranging from 60° to 120°) is formed between these two limiting surfaces, and its centerline is precisely configured to be parallel to a second direction. The technical advantage of this design is that when the second pin is pushed into the V-shaped structure formed by the two limiting surfaces, regardless of any initial positional deviation, the outer surface of the second pin will simultaneously contact both limiting surfaces under the clamping force, thus achieving automatic alignment. Because the centerline is parallel to the second direction, this alignment process ensures that the final positioning of the second pin in the second direction is accurate and repeatable, eliminating positioning errors in that direction. At the same time, the center line of the first included angle is parallel to the second direction, providing physical space for the second clamping member to push the second pin along the second direction.

[0057] In some embodiments of this application, the second air clamp assembly further includes a second driving part, which is used to drive the second clamping member to move along a second direction to push the second pin toward the two limiting surfaces; the second clamping member includes a locked state and a released state. In the locked state, the second clamping member cooperates with the two limiting surfaces to position the second pin at the second positioning point.

[0058] The second drive unit (which can be a cylinder, electric cylinder, or motor, etc.) serves as the power source, and its output end is connected to the second clamping member for transmission, driving the second clamping member to perform linear reciprocating motion along the second direction. During the movement, the working end face of the second clamping member contacts the second pin and pushes it to overcome possible friction or other resistance, causing it to move towards the two limiting surfaces of the second positioning member. The entire second pneumatic clamp assembly operates in two states: a locked state and a released state. In the locked state, when the second drive unit extends, the second clamping member presses the second pin against the two limiting surfaces of the second positioning member. At this time, the second pin's degrees of freedom in the horizontal plane (movement along the first and second directions and rotation about the vertical axis) are fully constrained, and the pin's axis is fixed at the second positioning point. In the released state, when the second drive unit retracts, the second clamping member disengages from the second pin, and the second pin is no longer subjected to radial clamping force, allowing it to move freely within the second groove or curved guide groove, providing conditions for loading / unloading or position adjustment of the circuit board.

[0059] In some embodiments of this application, the second groove includes a curved guide groove adjacent to a limiting surface, and at least one limiting surface smoothly transitions to the sidewall of the curved guide groove; in the released state, the second pin disengages from the second positioning point and enters the curved guide groove.

[0060] In the second groove, a curved guide groove is positioned near the limiting surface, meaning the limiting surface is located at the end of the curved guide groove; in other words, the second groove connects to a limiting surface via the curved guide groove. More importantly, geometrically, at least one limiting surface on the second positioning member smoothly transitions to the sidewall of the curved guide groove via an arc or slope, rather than having steps or sharp corners. The technical advantages of this design are: continuity of guidance: when the second pneumatic clamp assembly is in the released state and the second pin leaves the second positioning point, it can naturally slide into the curved guide groove along the smooth transition surface, avoiding jamming or impact caused by abrupt structural changes. Reversibility of movement: similarly, when the circuit board moves in the first direction under the drive of the first drive unit, the second pin can also be smoothly guided from the curved guide groove to the vicinity of the second positioning point via the smooth transition surface, preparing for the next clamping and positioning. This achieves a seamless integration of positioning and guiding functions.

[0061] In some embodiments of this application, a detection element is also included for detecting a second pin near the second positioning point; a notch is provided on the side of the second clamping member facing the detection element, the notch being used to avoid the sensing signal of the detection element.

[0062] The pneumatic clamping device includes a detection element (which may be a photoelectric sensor, proximity switch, or inductive sensor, etc.) fixedly installed at a position capable of detecting a second pin near the second positioning point. Its function is to sense in real time whether the second pin has reached the vicinity of the second positioning point, thereby providing a closed-loop feedback signal to the first drive unit: when there is a second pin near the second positioning point, it is confirmed that the circuit board on the worktable has been conveyed to the correct position in the first direction, and the first drive unit stops conveying the circuit board; when the detection element does not detect a second pin near the second positioning point, the first drive unit continues to convey the circuit board along the first direction until the second pin of the circuit board reaches the vicinity of the second positioning point from the first groove, the second groove, or the curved guide groove; or leaves the second positioning point.

[0063] In the locked state, the second clamping member moves to the vicinity of the second positioning point, and a portion of its body may obstruct the sensing path of the detection element (such as light or electromagnetic fields). To solve this problem, the second clamping member has a notch (such as a U-shaped groove, bevel, or through hole) on its side facing the detection element. This notch spatially frees up the sensing area of ​​the detection element, ensuring that even when the second clamping member is locked, the detection signal can still accurately reach the location of the second pin, thus achieving unobstructed detection. This ensures both the integrity of the clamping function and the reliability of the detection, avoiding misjudgments caused by interference from the second clamping member on the detection signal.

[0064] In some embodiments of this application, the included angle between the perpendiculars from the second positioning point to the two limiting surfaces is 60° to 120°; or, the first included angle formed by the two limiting surfaces is 60° to 120°. The first included angle needs to be within a reasonable range. The two limiting surfaces must stably and reliably position the second pin at the second positioning point, while also ensuring that the second pin can easily disengage from the second positioning point during material unloading to avoid jamming. Therefore, the first included angle is set to a range of 60° to 120°, where the included angle refers to the angle between the tangent or extension of the limiting surface.

[0065] In Option 1 (Angle A), the angle between the perpendiculars from the second positioning point to the two limiting surfaces ranges from 60° to 120°, thus defining the angle between the perpendiculars from the second positioning point to the two limiting surfaces. Here, "perpendicular" can be understood as a line perpendicular to the tangents from the second positioning point to the two limiting surfaces. An angle exists between the two perpendicular lines. Setting this angle within the range of 60° to 120° ensures that the second pin experiences reasonable force distribution when subjected to clamping force. This generates sufficient radial force to ensure a tight fit between the second pin and the limiting surfaces, while preventing excessive lateral force that could lead to overshoot or damage during positioning. Simultaneously, it allows the pin to easily detach from the second positioning point and move towards the curved guide groove during unloading.

[0066] In Option 2 (Angle B), the first included angle ranges from 60° to 120°, directly limiting the range of the first included angle between the two limiting surfaces to 60° to 120°. This is similar to the angle range of a V-groove. When the angle is within this range, the V-groove has excellent self-centering characteristics, capable of accommodating pins of a certain diameter range, while avoiding the risk of "self-locking" jamming due to an excessively small angle, or the problem of decreased centering accuracy due to an excessively large angle.

[0067] In some embodiments, the second pneumatic clamp assembly further includes a second driving unit that drives the second clamping member to move in an inclined direction to push the second pin toward the two limiting surfaces; the angle between the inclined direction and the second direction is 0° to 60°.

[0068] Specifically, the second drive unit does not drive the second clamping member to move strictly along the second direction (i.e., the horizontal direction perpendicular to the first direction), but rather drives it to move along an inclined direction within a range of 0° to 60° from the second direction. This inclined drive scheme has multiple technical advantages: when there is an angle between the inclined direction and the clamping direction, a component of the driving force is converted into a clamping force, and theoretically, a greater amplification of the clamping force can be obtained through angle design. The inclined movement allows the second clamping member to generate a small displacement component along the first direction as it approaches the second pin, which helps to fine-tune or avoid the position of the second pin during the clamping process. In some compact layouts, the inclined arrangement of the drive unit can avoid interference with other components (such as the correction unit, detection unit, etc.), improving the flexibility of the overall machine layout.

[0069] In some embodiments, the second positioning member further includes a third surface, which is located between the two limiting surfaces and together with the two limiting surfaces forms a groove; the second clamping member, the third surface, and the two limiting surfaces cooperate to position the second pin at the second positioning point.

[0070] The second positioning element has two limiting surfaces at its end. A third surface is located on the inner side between the two limiting surfaces, with the two limiting surfaces sequentially connected to each other. This third surface can be a plane, an arc surface, or a recessed structure. The second clamping element also includes a locked state and a released state. In the locked state, the movement of the second pin is constrained by multiple factors: the two limiting surfaces provide radial alignment and clamping; the third surface provides axial or depth-direction support or limitation; and the second clamping element applies clamping force from the other side. Thus, the second pin is jointly positioned by the second clamping element, the third surface, and the two limiting surfaces, forming a multi-point, multi-directional stable constraint system. This design is particularly suitable for scenarios requiring the bearing of large processing loads, such as heavy circuit boards, effectively preventing minor displacement or vibration of the second pin during processing, further improving positioning rigidity and processing accuracy.

[0071] In some embodiments of this application, the first positioning point and the second positioning point are used to position the first pin and the second pin, respectively, and the center line of the curved guide groove is located on the same side of the line connecting the two pins.

[0072] Two pins are installed on the circuit board, which engage with the first and second positioning points respectively to achieve complete positioning of the entire circuit board in the plane. The two points define a straight line, and with the addition of other constraints, complete positioning can be achieved. The line connecting the two pins to the first and second positioning points (i.e., the first direction) has a specific spatial orientation with the centerline of the curved guide groove. The centerline of the curved guide groove is located on the same side of this line. The technical advantages of this "same-side" layout are: First, it determines the direction of movement, ensuring that the two pins always bend in a specific direction when moving within the curved guide groove (the convex side of the curved structure points away from the connecting line), thus achieving unidirectional determinism of the pins' movement paths. Second, it improves space utilization, allowing the curved guide grooves to be concentrated on one side of the circuit board, facilitating a compact overall design of the pneumatic clamping device and avoiding groove intersections or spatial conflicts. Third, it ensures balanced force, as the bending directions are consistent, the lateral forces generated by the two pins are also consistent, which is beneficial for balancing or compensating through structural design.

[0073] Embodiments of this application provide a circuit board processing control method, including the following steps:

[0074] S100: The circuit board is driven to move along a first direction by the first driving unit on the worktable, causing the first and second pins on the circuit board to move within the first and second grooves of the pneumatic clamping device, respectively. The movement path from the first groove to the second groove includes a curved guide groove, which guides the second pin to move along a curved path. The first driving unit drives the circuit board to move along the first direction, causing the first and second pins to move within the first and second grooves. The curved guide groove guides the second pin to move along a curved path, causing the circuit board to undergo lateral displacement and gradually approach the preset work position.

[0075] S200: When the detection element of the pneumatic clamping device detects the second pin near the second positioning point, it controls the first drive unit to stop working and lowers the first drive unit, causing the circuit board to fall onto the pneumatic clamping device. When the detection element detects that the second pin has reached the preset range of the second positioning point, the circuit board stops moving along the first direction. At this time, the coarse positioning of the circuit board is completed, and the basic movement is in place. The first drive unit lowers the height, and the circuit board falls onto the pneumatic clamping device.

[0076] S300: The first clamping member of the driving pneumatic clamping device moves along the second direction, pushing the first pin towards the first positioning point. Through the cooperation of the first clamping member and the first positioning member, the first pin is positioned at the first positioning point. The second direction is perpendicular to the first direction. The first clamping member is driven to move along the second direction, pushing the first pin towards the first positioning point until the first clamping member and the first positioning member clamp and position the first pin. The translational freedom in the first direction is constrained, establishing a positioning reference.

[0077] S400: The second clamping member is driven to move by the second driving unit, pushing the second pin towards the second positioning point. The second clamping member cooperates with the second positioning member to position the second pin at the second positioning point. The second clamping member is driven to move along a second direction or an inclined direction by the second driving unit, pushing the second pin towards the second positioning point until the second clamping member and the second positioning member (and optionally a third surface) position the second pin at the second positioning point. The translational degree of freedom in the second direction is constrained, and the circuit board is precisely positioned. At this point, all degrees of freedom of the circuit board in the horizontal plane are completely constrained.

[0078] S500: Control the spindle assembly to process and position the circuit board. The spindle assembly processes the circuit board according to the processing program. After processing, the first and second clamping parts reset, the two pins disengage from the positioning point and enter the groove, the first drive unit rises, lifting the circuit board and driving it to move along the first direction towards the buffer device. This prepares for the next loading and unloading.

[0079] The technical advantages of this circuit board processing equipment and control method are as follows: The first driving unit provides a driving force along a first direction to the circuit board, and the second pin is subjected to the driving force and frictional force in the first direction; this causes the second pin to move to the second positioning point via a curved guide groove, avoiding the problem of unstable positioning of the second positioning point that is easily caused by using a straight groove. The second driving unit provides a clamping force along a second direction to the second pin through a second clamping member, thereby ensuring that the second pin is stably and reliably positioned at the second positioning point by two mutually perpendicular working forces. By improving the stability and reliability of the second pin's positioning, in an automated circuit board processing equipment, it is possible to effectively prevent the circuit board from shifting due to the two pins shaking, thereby improving the positioning accuracy and processing accuracy of multiple similar circuit boards in the same batch.

[0080] In the embodiments of this application, the circuit board processing equipment includes a control system, which includes a controller. The control system calls the application program for processing circuit boards to execute the work tasks of processing circuit boards. In the embodiments of this application, the width, depth, and sidewall material of the curved guide groove are exactly the same as those of the first and second grooves to reduce the obstruction to the movement of the two pins, ensure the smooth loading and unloading of circuit boards on the worktable, and improve the stability and reliability of the equipment.

[0081] Example 1

[0082] This embodiment takes a six-axis spindle assembly as an example to explain in detail the structure and workflow of the circuit board processing equipment.

[0083] like Figures 1 to 6As shown, the circuit board processing equipment includes six independent worktables 20 that move along a first direction, each worktable corresponding to a spindle assembly 10. This type of circuit board processing equipment places higher demands on the processing accuracy of each spindle assembly.

[0084] The circuit board processing equipment of this embodiment includes: a worktable 20 for supporting a circuit board 21, wherein the circuit board 21 is provided with pins, including a first pin 211 and a second pin 212; a first driving unit 22, disposed on the worktable 20, for driving the circuit board 21 to move along a first direction for automatic loading and unloading; and a pneumatic clamping device 23, disposed on the worktable 20, for supporting and positioning the circuit board 21; the pneumatic clamping device 23 includes a first pneumatic clamping assembly 24 and a second pneumatic clamping assembly 25, wherein the first pneumatic clamping assembly 24 includes a first groove 243 and a first positioning point 244 disposed in the first groove 243; and the second pneumatic clamping assembly 25 includes a second groove 253 and a second positioning point 244 disposed in the second groove. Positioning point 254; the first groove 243 and the second groove 253 are interconnected and used to guide the movement of the first pin 211 and the second pin 212 within them; at least one of the first groove 243 and the second groove 253 includes a curved guide groove 26, which is located between the first positioning point 244 and the second positioning point 254. The direction of the line connecting the first positioning point 244 and the second positioning point 254 is a first direction. At least one section of the curved guide groove 26 is a curved structure, and the convex side of the curved structure points away from the connecting line; the curved guide groove 26 is used to guide the second pin 212 to move along a curved path within the first groove 243 or the second groove 253.

[0085] In this embodiment, the first pneumatic clamp assembly 24 includes a first positioning member 241 and a first clamping member 242. The first positioning member 241 and the first clamping member 242 together form a first groove 243. A first positioning point 244 is provided in the first groove 243 near the first positioning member 241. A driving member drives the first clamping member 242 to move, and the first clamping member 242 pushes the first pin 211 in the first groove 243 toward the first positioning point 244 to position the first pin 211 at the first positioning point 244.

[0086] In this embodiment, the second pneumatic clamp assembly 25 includes a second positioning member 251, a second clamping member 252, and a second driving part 255. The second positioning member 251 and the second clamping member 252 together form a part of the second groove 253. Figure 6As shown, the end of the second positioning member 251 includes two limiting surfaces 256, and a first included angle 258 is formed between the two limiting surfaces 256. The center line of the first included angle 258 is parallel to the second direction, that is, the openings of the two limiting surfaces 256 face the second direction, and the center line of the first included angle 258 extends along the second direction. The first included angle 258 has a predetermined angle range, preferably 60° to 120°. The lower limit of 60° is set because: the two limiting surfaces 256 and the end face of the second clamping member 252 together define the second pin 212 to form three external tangent surfaces. The included angles between the second positioning point 254 and the perpendiculars of the three external tangent surfaces are all 120°, resulting in force balance, which is the optimal angle for stable clamping. The upper limit of 120° is set to facilitate the release of the second pin 212. The second pin 212 needs to smoothly enter the curved guide groove 26 from the first included angle 258 formed by the two limiting surfaces 256, and after passing through the second groove 253 and the first groove 243, it will detach from the worktable and be unloaded into the buffer setting. The orientation of the two limiting surfaces 256, the first included angle, and the center line of the first included angle prepares the conditions for applying the clamping force in the second direction, and provides physical space for stably, reliably, and reversibly positioning the second pin 212 at the second positioning point 254.

[0087] The second drive unit 255 drives the second clamping member 252 to move along the second direction, and the second clamping member 252 pushes the second pin 212 toward the two limiting surfaces 256. The second clamping member 252 has two states: a locked state and a released state. In the locked state, the second clamping member 252 and the two limiting surfaces 256 position and lock the second pin 212 at the second positioning point 254. The second groove 253 includes a curved guide groove 26, one end of which is provided with a limiting surface 256, and the other end is connected to the second groove 253. In the released state, because the curved guide groove 26 is adjacent to and connected to the limiting surface 256, and at least one limiting surface 256 smoothly transitions with the sidewall of the curved guide groove 26, the second pin 212 can smoothly disengage from the second positioning point 254 and enter the curved guide groove 26. This structure facilitates the stable entry and stable disengagement of the second pin 212 from the second positioning point 254.

[0088] In this embodiment, the second air clamp assembly 25 further includes a detection element 27, which is disposed near the second positioning point 254. The detection element 27 is used to detect whether a second pin 212 exists near the second positioning point 254. When the second pin 212 passes through the first groove 243, the second groove 253, and the curved guide groove 26 to reach the vicinity of the second positioning point 254, the detection element 27 receives a sensing signal and feeds it back to the control system. After receiving the signal, the control system controls the first drive unit 22 to stop driving the circuit board 21 to move along the first direction, indicating that the circuit board 21 has moved into position on the worktable. When the detection element 27 detects that there is no second pin 212 near the second positioning point 254, the control system controls the first drive unit 22 to drive the circuit board to move along the first direction, performing loading or unloading actions on the worktable. Figure 6 As shown, the second clamping member 252 includes a notch 259 (shaded part in the figure), which faces the detection member and is used to avoid the sensing signal of the detection member 27, so as to avoid the interference of the second clamping member 252 with the sensing signal of the detection member 27.

[0089] This embodiment also discloses a circuit board processing control method, which is described below in conjunction with... Figures 1 to 6 Describe in detail the working methods and processes of the circuit board processing equipment.

[0090] S100, feed guidance stage, such as Figures 1 to 6 As shown, the circuit board 21 is driven to move along a first direction by the first drive unit 22 on the worktable 20, causing the first pin 211 and the second pin 212 on the circuit board 21 to move within the first groove 243 and the second groove 253 of the pneumatic clamping device 23, respectively. The second groove 253 includes a curved guide groove 26, which guides the second pin 212 to move along a curved path. This step aims to achieve the initial feeding of the circuit board and provide a positional basis for subsequent precise positioning.

[0091] Specifically, the control system sends commands to the first drive unit 22 (e.g., a linear motor, servo screw module, or cylinder) mounted on the worktable 20. The first drive unit 22 drives the pulley assembly carrying the circuit board 21, causing it to move along a first direction (i.e., a preset Y-axis direction). Two pins, a first pin 211 and a second pin 212, are fixedly mounted on the lower surface of the circuit board 21. These two pins extend into the corresponding first groove 243 and second groove 253 on the pneumatic clamping device 23. As the circuit board 21 moves, the two pins slide within the grooves.

[0092] In this embodiment, the second groove 253 includes a curved guide groove 26. At least one section of the curved guide groove 26 has a curved structure, and the convex side of the curved structure points away from the connecting line. When the second pin 212 enters the curved guide groove 26, it is forced to move along the curved trajectory. This design allows the circuit board 21 to generate a lateral displacement component perpendicular to the first direction based on linear feed, thereby macroscopically adjusting the posture of the circuit board and gradually bringing it closer to the preset processing position. The length and radius of curvature of the curved guide groove can be optimized according to the size and positioning accuracy requirements of the circuit board.

[0093] S200, in the positioning and coarse positioning stage, when the detection element 27 of the pneumatic clamp device 23 detects the second pin 212 located near the second positioning point 254, it controls the first drive unit 22 to stop working and controls the first drive unit 22 to descend, so that the circuit board 21 falls onto the pneumatic clamp device 23.

[0094] When the second pin 212 moves near its endpoint within the groove, the control system performs the following operations: First, the detection element 27 (preferably a photoelectric sensor or an inductive proximity switch) continuously monitors the area near the second positioning point 254. The installation position of the detection element 27 has a preset correspondence with the spatial coordinates of the second positioning point 254. When the second pin 212 moves with the circuit board 21 to a preset range of the second positioning point 254 (e.g., within the sensing area of ​​the detection element), the detection element 27 sends a trigger signal to the control system. Upon receiving this signal, the control system immediately issues a stop command to the first drive unit 22. At this point, the circuit board 21 stops moving in the first direction, achieving a coarse positioning accuracy, thus creating conditions for subsequent precision clamping and positioning.

[0095] Next, the first drive unit 22 is controlled to descend, causing the circuit board 21 to fall onto the pneumatic clamping device 23. This action changes the circuit board 21 from a suspended state to being supported by the pneumatic clamping device 23 and the worktable 20. The upper surface of the pneumatic clamping device 23 may be provided with a support surface, which contacts the lower surface of the circuit board 21, bearing the weight of the circuit board 21 and providing a stable mechanical environment for subsequent clamping and positioning.

[0096] S300, the precision positioning stage of the first pin 211: the first clamping member 242 of the driving pneumatic clamp device 23 moves along the second direction to push the first pin 211 towards the first positioning point 244. Through the cooperation of the first clamping member 242 and the first positioning member 241, the first pin 211 is positioned at the first positioning point 244; the second direction is perpendicular to the first direction. This step achieves the precision locking of the first pin 211 and establishes the reference point for the positioning of the circuit board 21.

[0097] After coarse positioning is completed, the control system activates the first pneumatic clamp assembly 24. Specifically, it drives the first clamping member 242 to move along the second direction (i.e., the X-axis direction perpendicular to the first direction). The working end face of the first clamping member 242 contacts the first pin 211 and pushes the first pin 211 towards the first positioning point 244. The first positioning point 244 is formed by a first positioning member, whose structure can be a V-groove, an arc groove, or a planar structure that mates with the first clamping member. When the first clamping member 242 pushes the first pin 211 into close contact with the first positioning member 241, the degree of freedom of the first pin 211 in the X direction is completely constrained, achieving precise positioning. In this step, the driving force of the first clamping member 242 needs to be calibrated to ensure sufficient clamping force to overcome vibrations during processing, while avoiding deformation of the pin or circuit board due to excessive clamping force. The stroke of the first clamping member 242 can be controlled by a limiting structure or a position sensor. In this embodiment, the driving mechanism of the first clamping member 242 is a cylinder.

[0098] S400, the precision positioning stage of the second pin 212: the second driving unit 255 drives the second clamping member 252 to move along the second direction, pushing the second pin 212 towards the second positioning point 254. Through the cooperation of the second clamping member 252 and the second positioning member 251, the second pin 212 is positioned at the second positioning point 254. The degree of freedom of the second pin 212 in the Y direction is fully constrained. This step achieves the precision locking of the second pin 212, completing the complete positioning of the circuit board 21 in the plane.

[0099] After the first pin 211 is positioned, the control system activates the second pneumatic clamp assembly 25. The second drive unit 255 drives the second clamping member 252 to move along the second direction. Similar to S300, the second clamping member 252 pushes the second pin 212 from the curved guide groove 26 toward the second positioning point 254. The second positioning point 254 is formed by the second positioning member 251, whose end is provided with two limiting surfaces 256 at an angle (preferably between 60° and 120°), forming a V-shaped positioning structure. When the second clamping member 252 pushes the second pin 212 into this V-shaped structure, regardless of any initial deviation in the position of the second pin 212, under the action of the clamping force, the outer surface of the second pin 212 will simultaneously contact the two limiting surfaces 256 and the end face of the second clamping member 252, achieving automatic alignment. The degree of freedom of the second pin 212 in the Y direction is completely constrained. At this point, the first pin 211 and the second pin 212 are precisely positioned at the first positioning point 244 and the second positioning point 254, respectively. Since two points determine a straight line, all degrees of freedom of the circuit board 21 in the horizontal plane (translation in the X direction, translation in the Y direction, and rotation around the Z axis) are fully constrained, achieving the positioning accuracy required for processing.

[0100] S500: During the machining execution phase, the spindle assembly 10 is controlled to machine and position the circuit board 21. This step performs the final circuit board machining operation.

[0101] After confirming that both the first pin 211 and the second pin 212 are locked, the control system issues a machining command to the spindle assembly 10. The spindle assembly 10, carrying the machining tool, performs machining operations on the positioned circuit board 21 according to the preset machining program. During machining, since the two pins are firmly locked by the pneumatic clamping device 23, the circuit board 21 can withstand the cutting force or thermal stress generated during machining. Even if the circuit board maintains high-speed, high-frequency movement in the first direction and the inertia of the movement impacts the positions of the two pins, the circuit board can still maintain its positional accuracy, thereby ensuring machining accuracy and quality. After machining is completed, the control system controls the first clamping member 242 and the second clamping member 252 to reset (i.e., switch to the release state). The first pin 211 disengages from the first positioning point 244 and enters the first groove 243, and the second pin 212 disengages from the second positioning point 254 and enters the bending guide groove 26, preparing for the next loading and unloading or cyclic machining of the circuit board.

[0102] In this embodiment, before step S100, the first positioning point 244 and the second positioning point 254 are calibrated. The air clamp device also includes a calibration part, which controls the calibration part to adjust the positions of the first positioning point and the second positioning point respectively, and controls the spindle assembly 10 to align with the first positioning point and the second positioning point respectively, so as to improve the positioning accuracy of the two positioning points and provide a reference for the positioning circuit board.

[0103] The technical advantages of this circuit board processing equipment and circuit board processing control method are as follows: by setting up a bending guide groove, the second drive unit moves along the second direction to clamp the second pin, and works together with the limiting surface for positioning, the second pin can be stably and reliably limited, avoiding the second pin from shaking due to long-term high-speed and high-frequency movement of the circuit board in the first direction, which affects the positioning accuracy, and thus improving the processing accuracy of the circuit board processing equipment.

[0104] Example 2

[0105] This embodiment uses a six-axis drilling device as an example to describe its structure and workflow in detail. The main difference from Embodiment 1 lies in the structure of the second air clamp assembly 25; the rest is basically the same as Embodiment 1 and will not be repeated here.

[0106] like Figure 1 , Figure 3 , Figures 7 to 9As shown, the circuit board processing equipment in this embodiment includes: a worktable 20 for supporting a circuit board 21, wherein pins are provided on the circuit board 21, including a first pin 211 and a second pin 212; a first driving unit 22 disposed on the worktable 20 for driving the circuit board 21 to move along a first direction for automatic loading and unloading; and a pneumatic clamping device 23 disposed on the worktable 20 for supporting and positioning the circuit board 21. The pneumatic clamping device 23 includes a first pneumatic clamping assembly 24 and a second pneumatic clamping assembly 25. The first pneumatic clamping assembly 24 includes a first groove 243 and a first positioning point 244 disposed in the first groove 243; the second pneumatic clamping assembly 25 includes a second groove 253 and a positioning point 244 disposed in the second groove. The second positioning point 254; the first groove 243 and the second groove 253 are interconnected and used to guide the movement of the first pin 211 and the second pin 212 inside them; at least one of the first groove 243 and the second groove 253 includes a curved guide groove 26, the curved guide groove 26 is disposed between the first positioning point 244 and the second positioning point 254, the direction of the line connecting the first positioning point 244 and the second positioning point 254 is a first direction, at least one section of the curved guide groove 26 is a curved structure, and the convex side of the curved structure points away from the connecting line; the curved guide groove 26 is used to guide the second pin 212 to move along a curved path in the first groove 243 or the second groove 253.

[0107] In this embodiment, the structure of the first pneumatic clamp assembly 24 is the same as in Embodiment 1, and will not be described again. In this embodiment, the second pneumatic clamp assembly 25 includes a second positioning member 251, a second clamping member 252, and a second driving part 255. The second positioning member 251 and the second clamping member 252 together form a part of the second groove 253. Figure 8 and Figure 9 As shown, the end of the second positioning member 251 includes two limiting surfaces 256 and a third surface 257, with the third surface 257 located between the two limiting surfaces 256; in the locked state, the second clamping member 252, the third surface 257 and the two limiting surfaces 256 cooperate to jointly position the second pin 212 at the second positioning point 254.

[0108] In this embodiment, the second driving unit 255 drives the second clamping member 252 to move in an inclined direction, thereby pushing the second pin 212 toward the two limiting surfaces 256; the angle between the inclined direction and the second direction ranges from 0° to 60°. By setting the angle of the inclined direction and cooperating with the third surface 257, the second pin 212 can be stably and reliably fixed at the second positioning point 254; similarly, it can prevent the second pin 212 from shaking, thereby improving the positioning accuracy and machining accuracy of the pneumatic clamping device.

[0109] This embodiment also discloses a circuit board processing control method, which is described below in conjunction with... Figure 1 , Figure 3 , Figures 7 to 9The working method and process of the circuit board processing equipment are described in detail below. In this embodiment, only the movement direction of the second clamping member 252 is different; the rest is basically the same as in the embodiment and will not be repeated here. Specifically, it includes the following steps:

[0110] S100, feed guidance stage, such as Figure 1 , Figure 3 , Figures 7 to 9 As shown, the circuit board 21 is driven to move along a first direction by the first drive unit 22 on the worktable 20, causing the first pin 211 and the second pin 212 on the circuit board 21 to move within the first groove 243 and the second groove 253 of the pneumatic clamping device 23, respectively. The second groove 253 includes a curved guide groove 26, one end of which has a limiting surface 256, and the other end connects to the second groove 253. The curved guide groove 26 is used to guide the second pin 212 to move along a curved path. This step aims to achieve the initial feeding of the circuit board and provide a positional basis for subsequent precise positioning.

[0111] S200, in the positioning and coarse positioning stage, when the detection element 27 of the pneumatic clamping device 23 detects the second pin 212 located near the second positioning point 254, it controls the first drive unit 22 to stop working and lowers its height, causing the circuit board 21 to fall onto the pneumatic clamping device 23. This step realizes the positioning sensing of the circuit board and the position switching in the height direction, completing the positioning and coarse positioning.

[0112] S300, the precision positioning stage of the first pin 211: the first clamping member 242 of the driving pneumatic clamp device 23 moves along the second direction to push the first pin 211 towards the first positioning point 244. Through the cooperation of the first clamping member 242 and the first positioning member 241, the first pin 211 is positioned at the first positioning point 244; the second direction is perpendicular to the first direction. This step achieves the precision locking of the first pin 211 and establishes the reference point for the positioning of the circuit board 21.

[0113] S400, the precision positioning stage of the second pin 212: The second driving unit 255 drives the second clamping member 252 to move along the inclined direction, pushing the second pin 212 towards the second positioning point 254. The second clamping member 252 cooperates with the second positioning member 251 to position the second pin 212 at the second positioning point 254. The angle between the inclined direction and the second direction ranges from 0° to 60°. The degree of freedom of the second pin 212 in the Y direction is fully constrained. This step achieves precise locking of the second pin 212, completing the complete positioning of the circuit board 21 in the plane.

[0114] S500, machining execution stage: The spindle assembly 10 is controlled to machine and position the circuit board 21. This step performs the final circuit board machining operation.

[0115] In this embodiment, before step S100, the first positioning point 244 and the second positioning point 254 are calibrated. The air clamp device also includes a calibration part, which controls the calibration part to adjust the positions of the first positioning point and the second positioning point respectively, and controls the spindle assembly 10 to align with the first positioning point and the second positioning point respectively, so as to improve the positioning accuracy of the two positioning points and provide a reference for the positioning circuit board.

[0116] The technical advantages of this circuit board processing equipment and circuit board processing control method are as follows: by setting up a bending guide groove, the second drive unit moves in the inclined direction to clamp the second pin, and in conjunction with the limiting surface and the third surface for positioning, the second pin can be stably and reliably limited, avoiding the second pin from shaking due to long-term high-speed and high-frequency movement of the circuit board in the first direction, thus affecting the positioning accuracy and improving the processing accuracy of the circuit board processing equipment.

[0117] Example 3

[0118] This embodiment uses a six-axis drilling device as an example to describe its structure and working process in detail. The main difference from Embodiment 1 is that the air clamp device also includes a connecting part 28, which is located between the first air clamp assembly 24 and the second air clamp assembly 25, and a bending guide groove 26 is provided in the connecting part 28.

[0119] like Figure 1 and Figure 10 As shown, the circuit board processing equipment in this embodiment includes: a worktable 20 for supporting a circuit board 21, wherein pins are provided on the circuit board 21, including a first pin 211 and a second pin 212; a first driving unit 22 disposed on the worktable 20 for driving the circuit board 21 to move along a first direction for automatic loading and unloading; and a pneumatic clamping device 23 disposed on the worktable 20 for supporting and positioning the circuit board 21. The pneumatic clamping device 23 includes a first pneumatic clamping assembly 24 and a second pneumatic clamping assembly 25. The first pneumatic clamping assembly 24 includes a first groove 243 and a first positioning point 244 disposed in the first groove 243; the second pneumatic clamping assembly 25 includes a second groove 253 and a positioning point 244 disposed in the second groove. The second positioning point 254; the first groove 243 and the second groove 253 are interconnected and used to guide the movement of the first pin 211 and the second pin 212 inside them; the connecting part 28 between the first groove 243 and the second groove 253 is provided with a curved guide groove 26, which is located between the first positioning point 244 and the second positioning point 254. The direction of the line connecting the first positioning point 244 and the second positioning point 254 is the first direction. At least one section of the curved guide groove 26 is a curved structure, and the convex side of the curved structure points away from the connecting line; the curved guide groove 26 is used to guide the second pin 212 to move along the curved path in the first groove 243 or the second groove 253.

[0120] In this embodiment, as Figure 10As shown, the air clamp device 23 includes a first air clamp assembly 24, a connecting portion 28, and a second air clamp assembly 25. The connecting portion 28 is disposed between the first air clamp assembly 24 and the second air clamp assembly 25, and is used to guide, transition, and connect the first air clamp assembly 24 and the second air clamp assembly 25. The connecting portion 28 includes a connecting groove. When the connecting groove is entirely a curved guide groove, one end of the curved guide groove 26 connects to the first groove 243, and the other end connects to the second groove 253. That is, the connecting portion 28 is disposed between the first air clamp assembly 24 and the second air clamp assembly 25, and the connecting portion 28 is provided with a curved guide groove 26, which connects the first groove 243 and the second groove 253.

[0121] In this embodiment, the structure of the first air clamp assembly 24 is exactly the same as that in Embodiment 1, and will not be described again here. The difference between the structure of the second air clamp assembly 25 and that in Embodiment 1 is that the second groove 253 does not have a curved guide groove 26, and the sidewall of the second positioning member 251 smoothly transitions directly to the limiting surface 256 without a curved guide groove 26 in between. The first positioning point 244 and the second positioning point 254 are located on the same straight line, and the line connecting the two is parallel to the first direction.

[0122] In this embodiment, the second pneumatic clamp assembly 25 includes a second positioning member 251, a second clamping member 252, and a second driving part 255. The second positioning member 251 and the second clamping member 252 together form a part of the second groove 253. The second driving part 255 drives the second clamping member 252 to move along a second direction, and the second clamping member 252 pushes the second pin 212 to move towards the two limiting surfaces 256. The second clamping member 252 has two states: a locked state and a released state. In the locked state, the second clamping member 252 cooperates with the two limiting surfaces 256 to position and lock the second pin 212 at the second positioning point 254. In the released state, at least one limiting surface 256 smoothly transitions to the sidewall of the second positioning member 251, and the second pin 212 can smoothly disengage from the second positioning point 254 and sequentially enter the second groove 253, the bending guide groove 26, and the first groove 243. This prepares for the blanking of the circuit board 21.

[0123] In this embodiment, as Figure 1 and Figure 10 As shown, the second air clamp assembly 25 also includes a detection element 27, whose structure and function are the same as in Embodiment 1, and will not be described again here. The air clamp device 23 also includes a correction part, whose structure and function are the same as in Embodiment 1, and will not be described again here. The circuit board processing control method is basically the same as in Embodiment 1, or adaptively adjusted due to changes in the position of the bending guide groove, and will not be described again here.

[0124] The various embodiments of this application have been described above. These descriptions are exemplary and not exhaustive, nor are they limited to the disclosed embodiments. Many modifications and variations will be apparent to those skilled in the art without departing from the scope and spirit of the described embodiments. The terminology used herein is chosen to best explain the principles, practical applications, or technological improvements to the embodiments in the market, or to enable others skilled in the art to understand the embodiments disclosed herein. The scope of this application is defined by the appended claims.

Claims

1. A circuit board processing equipment, characterized in that, include: A workbench for supporting a circuit board with a first pin and a second pin. A first driving unit is disposed on the worktable and is used to drive the circuit board to move along a first direction; A pneumatic clamp device is disposed on the worktable for supporting and positioning the circuit board. The pneumatic clamp device includes a first pneumatic clamp assembly and a second pneumatic clamp assembly. The first pneumatic clamp assembly includes a first groove and a first positioning point disposed within the first groove. The second pneumatic clamp assembly includes a second groove and a second positioning point disposed within the second groove. The first groove and the second groove are interconnected for guiding the movement of the first pin and the second pin within them. A curved guide groove is provided between the first positioning point and the second positioning point. At least one section of the curved guide groove is a curved structure, which is used to guide the second pin to move along a curved path in the first groove or the second groove. The second air clamp assembly includes a second positioning member and a second clamping member. The end of the second positioning member is provided with two limiting surfaces, and a first included angle is formed between the two limiting surfaces. The center line of the first included angle is parallel to a second direction, and the second direction is perpendicular to the first direction. The second pneumatic clamp assembly further includes a second driving unit, which drives the second clamping member to move along the second direction or the inclined direction to push the second pin toward the two limiting surfaces; the second clamping member includes a locked state and a released state, in which the second clamping member cooperates with the two limiting surfaces to position the second pin at the second positioning point; The second groove includes the curved guide groove, which is adjacent to the limiting surface, and at least one of the limiting surfaces smoothly transitions to the sidewall of the curved guide groove; in the released state, the second pin disengages from the second positioning point and enters the curved guide groove.

2. The circuit board processing equipment according to claim 1, characterized in that, It also includes a detection element for detecting the second pin near the second positioning point; the second clamping element has a notch on the side facing the detection element, the notch being used to avoid the sensing signal of the detection element.

3. The circuit board processing equipment according to claim 1, characterized in that, The included angle between the second positioning point and the perpendicular lines to the two limiting surfaces is 60° to 120°; or, the included angle formed by the two limiting surfaces is 60° to 120°.

4. The circuit board processing equipment according to claim 1, characterized in that, The air clamp device further includes a connecting part, which is disposed between the first air clamp assembly and the second air clamp assembly. The connecting part includes a connecting groove that connects the first groove and the second groove, and at least a portion of the connecting groove is a curved guide groove.

5. The circuit board processing equipment according to claim 1, characterized in that, The angle between the tilting direction and the second direction is 0° to 60°.

6. The circuit board processing equipment according to claim 5, characterized in that, The second positioning member also includes a third surface, which is located between the two limiting surfaces and together with the two limiting surfaces forms a groove; the second clamping member, the third surface, and the two limiting surfaces cooperate to position the second pin at the second positioning point.

7. The circuit board processing equipment according to any one of claims 1 to 6, characterized in that, The first positioning point and the second positioning point are used to position the first pin and the second pin, respectively, and the center line of the curved guide groove is located on the same side of the line connecting the two pins.

8. A circuit board processing control method, characterized in that, include: S100. The circuit board is driven to move along a first direction by the first driving part on the workbench, so that the first pin and the second pin on the circuit board move in the first groove and the second groove of the air clamp device respectively; the movement path from the first groove to the second groove includes a curved guide groove, which is used to guide the second pin to move along a curved path. S200. When the detection element of the air clamp device detects the second pin near the second positioning point, the first driving part is controlled to stop working, and the first driving part is controlled to descend, so that the circuit board falls onto the air clamp device. S300, Drive the first clamping member of the pneumatic clamping device to move along the second direction, push the first pin to move towards the first positioning point, and position the first pin at the first positioning point through the cooperation of the first clamping member and the first positioning member; the second direction is perpendicular to the first direction; S400: The second clamping member is driven to move by the second driving unit, pushing the second pin to move towards the second positioning point. The second clamping member cooperates with the second positioning member to position the second pin at the second positioning point. S500, the circuit board that controls the spindle assembly to complete machining and positioning.

9. The circuit board processing control method according to claim 8, characterized in that, In step S400, the second driving unit drives the second clamping member to move along the second direction or the tilting direction, wherein the angle between the tilting direction and the second direction is 0° to 60°.

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