PCB automatic plate collecting machine

Abstract

This invention relates to the technical field of circuit board manufacturing, and in particular to an automatic PCB board reeling machine, comprising an outer casing with a feed inlet on one side and a discharge outlet on the other side. Inside the outer casing are: a feeding station with a feeding mechanism for receiving and conveying PCB boards; two discharge stations for placing material frames; and a robot mounted on the inner top wall of the outer casing, including a mounting plate fixedly connected to the inner top wall of the outer casing. The mounting plate is rotatably connected to a first cantilever, and a second cantilever is rotatably connected to the side of the first cantilever away from the mounting plate. A clamping end for holding the PCB board is mounted on the end of the second cantilever away from the first cantilever, and the stroke of the clamping end covers the feeding station and the two discharge stations. This invention achieves a compact layout and efficient continuous operation while improving the equipment's flexible production capacity, board reeling accuracy, and PCB board protection.

Description

Technical Field

[0001] This invention relates to the technical field of circuit board manufacturing, and in particular to an automatic PCB rewinding machine. Background Technology

[0002] In automated PCB production, especially in the later stages of manufacturing, the board receiving process is a crucial link between production and warehousing. With the miniaturization and increasing density of electronic devices, PCBs are becoming increasingly delicate and fragile, placing higher demands on the speed, accuracy, and protection of the board receiving process.

[0003] Currently, the mainstream design of automated PCB receiving machines typically includes a rectangular chassis housing an internal conveying and alignment device, a robotic material handling unit, and a dual-station material frame carrier. Its core working principle is as follows: PCBs are fed into the machine via a conveyor mechanism, where they are grasped by a robot located inside the chassis and placed into a bidirectional module. This module then inserts the PCBs into the material frame at the output station. However, this design has a critical structural limitation: the robot itself is usually mounted on the floor or a fixed base inside the machine. The base occupies valuable internal floor space. This necessitates maintaining sufficient safety distances and interference limits between the robot's movement area and the material frame station and conveying path, significantly reducing the effective layout area within the machine. More importantly, this "floor-mounted" layout restricts the machine's functional configuration. The space below or to the side of the robot is occupied by its body and movement range, making it difficult to reuse. When production demands change, such as needing to add an additional feeding station to increase capacity or adapt to different production processes, the existing structure lacks flexible expansion space. Once the number of functional workstations of the equipment is set, it is difficult to adjust, which restricts the equipment's flexible production capacity and space utilization. Summary of the Invention

[0004] In view of the shortcomings of the existing technology, the purpose of this invention is to provide an automatic PCB rewinding machine that achieves compact layout and efficient continuous operation while improving the equipment's flexible production capacity, board rewinding accuracy and PCB board protection.

[0005] The above-mentioned objective of this invention is achieved through the following technical solutions:

[0006] An automatic PCB winding machine includes an outer casing, with an inlet on one side and an outlet on the other side. The interior of the outer casing contains:

[0007] A feeding station is provided at this location, which is equipped with a feeding mechanism for receiving and feeding the material plate into the feeding station;

[0008] Two discharge stations are used to place the material frames;

[0009] The robot is installed on the inner top wall of the outer casing. It includes a mounting plate fixedly connected to the inner top wall of the outer casing. The mounting plate is rotatably connected to a first cantilever. A second cantilever is rotatably connected to the side of the first cantilever away from the mounting plate. A clamping end for holding a material plate is installed at the end of the second cantilever away from the first cantilever. The stroke of the clamping end covers the feeding station and two discharging stations.

[0010] As a specific embodiment of the PCB automatic board rewinding machine disclosed in this invention, it also includes a visual positioning unit, which includes a sliding guide rail mounted on the outer cover, and a 3D camera mounted on the sliding guide rail.

[0011] As a specific embodiment of the PCB automatic board collecting machine disclosed in this invention, the 3D camera travels to cover both of the material output stations.

[0012] As a specific embodiment of the PCB automatic board rewinding machine disclosed in this invention, a feeding mechanism is installed at the feeding station. The feeding mechanism includes a feeding frame installed on the outer cover, and a lifting space is provided inside the feeding frame.

[0013] A feeding mounting frame is fixedly connected to the upper end of the feeding frame, and the middle of the feeding mounting frame is hollowed out.

[0014] A feeding drive component is installed on the upper surface of the feeding mounting frame, and the feeding drive component drives multiple drive rollers.

[0015] The lifting space is equipped with a lifting device for lifting the material plate.

[0016] As a specific embodiment of the PCB automatic board collecting machine disclosed in this invention, the lifting device includes a lifting mounting base fixedly connected to the feeding frame. The lifting mounting base is provided with multiple rows of guide seats, each guide seat is connected to a guide column, and lifting blocks are installed on the upper end face of the guide columns in the same row. Several rows of lifting cylinders are installed on the lifting mounting base, and the output end of the lifting cylinder is connected to the lower end face of the lifting block. Several lifting columns are installed on the lifting block.

[0017] As a specific embodiment of the PCB automatic board collecting machine disclosed in this invention, each of the discharge stations is provided with a material frame mounting platform connected to the outer cover for placing the material frame, and a set of facing positioning mechanisms is provided on the material frame mounting platform.

[0018] The positioning mechanism includes a support base installed on the upper surface of the material frame mounting platform. A positioning guide rail is installed on the upper surface of the support base. A sliding plate is slidably connected to the positioning guide rail. A positioning frame is fixedly connected to the upper surface of the sliding plate. A positioning cylinder is installed inside the positioning frame. The output shaft of the positioning cylinder is connected to a positioning clamp. The positioning clamp can cooperate with the frame of the material frame.

[0019] As a specific embodiment of the PCB automatic board rewinding machine disclosed in this invention, the positioning frame contains multiple cylinders, the output shafts of the multiple cylinders are connected to a positioning plate, and the positioning clamps are multiple and installed on the positioning plate.

[0020] As a specific embodiment of the PCB automatic board reeling machine disclosed in this invention, the opening of the positioning clamp is funnel-shaped, and the material frame can be roughly placed there. The positioning clamp holds the material frame to the corresponding position.

[0021] As a specific embodiment of the PCB automatic board collecting machine disclosed in this invention, it also includes a blanking module. The blanking module includes a horizontal moving rail installed on the outer cover. The horizontal moving rail is slidably connected to a horizontal moving plate. The horizontal moving plate is fixedly connected to a vertical moving rail. The vertical moving rail is slidably connected to a vertical moving plate. The lower end face of the vertical moving plate has a horizontally extending abutment member.

[0022] In one specific embodiment of the PCB automatic board rewinding machine disclosed in this invention, the vertical moving plate is configured as two pieces and symmetrically arranged on both sides of the vertical moving rail.

[0023] In summary, the present invention has at least one of the following beneficial technical effects:

[0024] 1. In terms of overall layout and space utilization, this invention uses an outer casing as an integrated support and protective shell, and adopts a top-mounted suspended robot with a layout of dual discharge stations and variable stations inside. This achieves efficient integration of the internal space of the equipment. The suspended robot saves the ground installation and maintenance space required by traditional floor-mounted robotic arms, making the equipment structure more compact and the logistics path shorter. In particular, the design of the variable station frees up the space at the bottom of the robot, which can be used as a maintenance channel and can be quickly converted into a second feeding station. This greatly enhances the equipment's flexible production capacity and scalability to cope with different production cycles and process requirements, and improves the overall equipment utilization rate and capacity elasticity.

[0025] 2. In terms of robot and motion control, the present invention adopts a composite motion mechanism consisting of a first cantilever and a second cantilever fixed to the top wall frame with a mounting plate. Its working space can fully cover the feeding and dual discharging stations, ensuring that the end effector can achieve smooth, high-speed and precise trajectory movement in three-dimensional space. This design not only allows the gripping and releasing action to be performed directly from above the material board, with a better path and higher efficiency, but also fully meets the stringent requirements for precise positioning and stability when the PCB board is inserted into the material frame, reducing jamming or damage caused by motion vibration or inaccurate positioning.

[0026] 3. This invention constructs a visual positioning unit by installing a sliding 3D camera inside the upper part of the outer casing. This unit first takes a global picture of the empty material frame at the unloading station, calculates the initial offset through image matching, corrects the robot coordinate system in real time, and accurately positions the spacing between the left and right partition baffles of the multi-layer board material in the material frame, as well as the positioning of the inserted guide groove. This solves the systematic errors caused by the baffle spacing and guide groove deformation due to material frame placement deviation or repeated use. During continuous robot operation, the camera simultaneously takes detailed local pictures of the stacked PCB boards in the material frame, identifies the stacking state, calculates the secondary offset, and makes real-time fine adjustments to each placement action. This dual compensation mechanism effectively overcomes various interferences such as fluctuations in the incoming material position, changes in material frame tolerance and mechanical clearance, achieving a very high placement success rate and protection of the PCB boards, and significantly reducing the risk of board jamming and collision.

[0027] 4. The feeding mechanism of this invention achieves smooth connection and transmission of PCB boards through a high-precision drive roller driven by a servo motor. Its core lifting device drives the lifting block and guide column through a lifting cylinder, so that the lifting column accurately passes through the gap between the drive rollers, smoothly lifting the PCB board in the conveying process, separating it from the drive roller, and converting it into a static waiting-to-grab state. This design realizes a disturbance-free and highly repeatable transition of materials from dynamic conveying to static picking, providing the robot with a stable and accurate grasping reference point, and ensuring the reliability of subsequent grasping actions.

[0028] 5. The material frame mounting platform at each discharge station of the present invention is equipped with a multi-point synchronous positioning mechanism. This mechanism drives a sliding plate or positioning plate with a flared opening positioning chuck to move toward the material frame through a positioning cylinder. The multi-point and multi-directional synchronous clamping method can apply force from the adjacent sides or four corners of the material frame at the same time. This not only effectively corrects the planar position deviation of the material frame, but also overcomes its slight deformation, providing uniform and powerful clamping force and torque. The flared opening design reduces the initial accuracy requirements for manual placement of the material frame, allowing for quick and rough placement. Subsequently, the system automatically completes precise positioning and locking, which significantly improves the frame changing efficiency and the stability of the entire plate placement process, and prevents the material frame from shifting during robot operation.

[0029] 6. The unloading module of the present invention uses a combination of horizontal and vertical rails to drive the L-shaped or fork-shaped abutment at the end to achieve lateral movement and vertical lifting. This design allows the robot to place the PCB board on the abutment first, and then the unloading module controls it to slowly and smoothly descend into the material frame. This method avoids the impact that may be caused by the robot placing the board directly at high speed, provides a gentle unloading buffer for the fragile PCB board, further prevents scratches on the board surface and displacement of the boards already placed in the material frame, and improves the yield and operational safety. Attached Figure Description

[0030] Figure 1 This is a schematic diagram of the overall structure of one embodiment of an automatic PCB take-up machine disclosed in this invention;

[0031] Figure 2 This is a schematic diagram of the overall structure of one embodiment of the automatic PCB take-up machine disclosed in this invention from another perspective;

[0032] Figure 3 This is a schematic diagram of the internal structure of one embodiment of an automatic PCB take-up machine disclosed in this invention;

[0033] Figure 4 This is a schematic diagram of the feeding mechanism of an embodiment of an automatic PCB winding machine disclosed in this invention;

[0034] Figure 5 This is a schematic diagram of the material discharge mechanism of an embodiment of an automatic PCB take-up machine disclosed in this invention;

[0035] Figure 6 This is a schematic diagram of the positioning mechanism of an embodiment of an automatic PCB take-up machine disclosed in this invention;

[0036] Figure 7 This is a schematic diagram of the structure of a robot according to one embodiment of an automatic PCB rewinding machine disclosed in this invention;

[0037] Figure 8 This is a schematic diagram of the material unloading module of an embodiment of an automatic PCB board collecting machine disclosed in this invention.

[0038] Figure label:

[0039] 1. Outer casing; 11. Feed inlet; 12. Discharge outlet; 101. Discharge station; 102. Feed station; 103. Variable station;

[0040] 2. Feeding mechanism; 21. Feeding frame; 22. Lifting device; 221. Lifting mounting base; 222. Guide seat; 223. Guide column; 224. Lifting block; 225. Lifting cylinder; 226. Lifting column; 23. Feeding mounting frame; 24. Feeding drive component; 25. Drive roller;

[0041] 3. Discharge mechanism; 31. Material frame mounting platform; 32. Positioning mechanism; 321. Support base; 322. Positioning guide rail; 323. Sliding plate; 324. Positioning frame; 325. Positioning cylinder; 326. Positioning chuck; 327. Positioning plate;

[0042] 4. Robot; 41. Mounting plate; 42. First cantilever; 43. Second cantilever; 44. Clamping end;

[0043] 5. Blanking module; 51. Horizontal guide rail; 52. Horizontal guide plate; 53. Vertical guide rail; 54. Vertical guide plate; 55. Abutment component. Detailed Implementation

[0044] The present invention will be further described in detail below with reference to the accompanying drawings.

[0045] Reference Figure 1-8 The present invention discloses an automatic PCB rewinding machine, including an outer cover 1, which is rectangular in shape. The outer cover 1 has an inlet 11 on one side and an outlet 12 on the other side. The outer cover 1 is formed by a frame welded from multiple crisscrossing steel profiles and multiple aluminum alloy plates installed on the frame. The outer cover 1 serves as the main support frame of the entire rewinding machine and also constitutes a shell that protects the internal mechanisms and electronic components.

[0046] At the same time, the convenience of equipment maintenance is taken into consideration. A quick-release design can be adopted in some areas of the side plate and top plate of the outer casing 1 to facilitate technicians to inspect and maintain the internal components.

[0047] The outer casing 1 houses an infeed station 102 and two discharge stations 101. The infeed station 102 is located near the inlet 11 and is equipped with a feeding mechanism 2. This mechanism receives PCB boards from the upstream production line and guides them smoothly and orderly to the designated infeed station 102 area, awaiting subsequent gripping operations. The two discharge stations 101 are located near the outlet 12, each carrying a material frame for orderly stacking and placing the gripped PCB boards. This dual discharge station layout allows for continuous operation; when one material frame is full, it automatically switches to an empty frame for board placement. Operators can replace full frames without stopping the machine, significantly improving overall equipment uptime and production efficiency.

[0048] A robot 4 is mounted on the inner top wall of the outer casing 1. Its specific structure includes a mounting plate 41 rigidly connected to the top wall frame by high-strength bolts, serving as the fixed base for the robot 4. A first cantilever 42 is rotatably connected to the mounting plate 41, allowing it to rotate more than 180 degrees in the horizontal plane. A second cantilever 43 is rotatably connected to the distal end of the first cantilever 42, allowing it to perform large-amplitude pitching or rotational movements in a plane perpendicular to or at a specific angle to the plane of motion of the first cantilever 42. At the end of the second cantilever 43, a clamping end 44 for holding PCB boards is installed. Through the combined movement of the first cantilever 42 and the second cantilever 43, the working space of the clamping end 44 can completely cover all possible positions of the feeding station 102 and the two discharging stations 101. Compared to traditional floor-mounted robots or Cartesian coordinate manipulators, the suspended design saves valuable floor space, allowing for a more compact internal layout and optimized logistics paths. It also allows the robot to perform gripping and placement operations directly above the material tray, resulting in a more direct and efficient motion path. All rotary joints of the robot can be driven by high-precision servo motors with harmonic reducers or RV reducers, fully meeting the requirements for precision PCB board insertion. Through the control system's coordinated control of the motors on each axis, smooth, high-speed, and precise trajectory movement of the clamping plate end in three-dimensional space can be achieved.

[0049] Through the aforementioned optimization of the installation position and method of robot 4, the bottom or side installation and maintenance space that must be reserved for the robot 4 body in traditional designs is freed up. This space is defined as a variable station 103. This variable station 103 has high flexibility: in the standard dual-discharge station 101 operation mode, this space can remain idle as a maintenance passage or for laying cables and air lines, making the equipment interior neat and easy to maintain. When production needs change, such as when a dual-station board receiving is required, this variable station 103 can be quickly configured as a second infeed station 102, greatly enhancing the applicability and capacity flexibility of the equipment. This design gives the equipment strong scalability and flexibility to cope with changes in production plans.

[0050] As a specific embodiment of the present invention, the receiving machine also includes a vision positioning unit. The vision positioning unit includes a sliding guide rail, which is securely mounted on the upper part of the outer casing 1 via a bracket, located on one side or above the movement area of ​​the robot 4 to avoid interference with the movement of the robot 4. A drive slider capable of high-speed and precise sliding is mounted on the sliding guide rail, and a high-resolution 3D structured light camera or binocular vision camera is mounted on the drive slider. Through servo drive, the field of view of the 3D camera can completely cover the area where the two discharge stations 101 are located. Its working process is as follows: when an empty material frame is placed on the material frame mounting platform 31 of the discharge station 101 by the operator or auxiliary equipment, the control system will first instruct the 3D camera to move to the predetermined calibration position directly above the material frame to take the first global picture of the material frame. The acquired point cloud data or depth image will be transmitted to the image processing software in the industrial control computer. The software will perform high-precision matching and comparison of this image with a pre-imported CAD model or standard template image corresponding to the material frame model. Through image recognition algorithms such as feature point matching, edge extraction, and contour comparison, the system can calculate in real time the deviation between the actual position of the material frame at the current workstation and the theoretical preset position, including the translational offset in the X and Y planes and the rotational offset around the Z axis, which is the initial offset. The initial offset data is immediately fed back to the motion controller of robot 4. Based on this, the controller dynamically corrects the origin or reference point of the robot 4's coordinate system, so that the trajectory planning of all subsequent placement actions of robot 4 for the material frame is based on the actual position of the material frame, reducing placement errors caused by inaccurate placement of the material frame.

[0051] During the board-collecting operation of robot 4, the vision positioning unit also performs continuous in-situ compensation. Specifically, when robot 4 moves to the feeding station 102 to grasp PCB boards, the 3D camera is not idle. It simultaneously moves above the material frame where the board to be placed and takes a second, detailed local photograph of the stacked PCB boards within the frame. The focus of this photograph is to identify the precise height, edge position, and gaps between the topmost PCB board within the frame. The image processing algorithm analyzes this data to calculate the positional deviation of the current placement surface caused by minor cumulative errors from previous placement actions, PCB board deformation, or slight frame deformation; this is the secondary offset. This ensures that the next board can be smoothly and collision-free inserted into the required precise insertion point. The secondary offset is fed back to the robot's controller. The controller will further fine-tune the endpoint position and posture of the current single placement action based on the initial offset compensation, so as to ensure that each PCB board can be accurately inserted into the designated compartment of the material frame with the optimal posture and force. Even in the face of interference factors such as fluctuations in the incoming material position, material frame tolerance, and changes in mechanical clearance after long-term operation of the equipment, the system can maintain a very high placement success rate and protection, reducing defects such as board jamming, board collision, and scratches.

[0052] As a specific embodiment of the receiving plate disclosed in this invention, the feeding mechanism 2 includes a feeding frame 21, which is formed by four thick steel plates and fixed to the inner bottom wall of the outer cover 1 by anchor bolts or direct welding. The feeding frame 21 forms a lifting space, in which a lifting device 22 for lifting the material board is installed. A rectangular feeding mounting frame 23 is installed on the upper end face of the feeding frame 21. The feeding mounting frame 23 has a large area of ​​hollow in the middle to leave space for the operation of the lifting device 22. A feeding drive component 24 driven by a servo motor is installed on the upper surface of the feeding mounting frame 23. The feeding drive component 24 drives multiple high-precision, high-smoothness drive rollers 25 to rotate synchronously through a synchronous belt or gear set, thereby forming a power conveying section responsible for smoothly connecting and transferring the PCB material board from the external conveyor line to the central waiting area of ​​the feeding station 102.

[0053] Specifically, the lifting device 22 includes a lifting mounting base 221 fixedly connected to the inner wall of the feeding frame 21. Multiple rows of guide seats 222 are mounted on the lifting mounting base 221. A guide post 223 runs through each guide seat 222, and the guide post 223 and guide seat 222 are precisely clearance-fitted, meaning the guide post 223 can slide relative to the guide seat 222. The tops of all guide posts 223 in the same row are fixedly connected to an elongated lifting block 224. The lifting block 224 is driven by several rows of lifting cylinders 225, the cylinder bodies of which are fixed to the lifting mounting base 221, and the output end of their piston rods connected to the lower surface of the corresponding lifting block 224. When a material plate needs to be picked up, the control system issues a command, and all lifting cylinders 225 operate synchronously, pushing the lifting block 224 and guide posts 223 upwards smoothly. Multiple lifting columns 226 are mounted on the upper surface of the lifting block 224. The tops of these lifting columns 226 can be fitted with scratch-resistant plastic or silicone caps. Crucially, the distribution of the lifting columns 226 is designed so that they can pass precisely through the gaps between the upper drive rollers 25 during upward movement. This allows the PCB board resting on the drive rollers 25 to be smoothly lifted and decoupled from the surface of the drive rollers 25 without interfering with their operation.

[0054] When the material plate is transferred to the feeding mechanism 2, the material plate position can be centered first. Centering can be achieved by driving two opposing push blocks with cylinders, lead screws, or push rod motors to center the material plate, ensuring that the plate is in a position relative to the center to accommodate material plates of the smallest to largest sizes. At the same time, it ensures that the robot 4 can accurately grasp the left and right edges of the material plate. The lifted material plate is at a static and stable height, which facilitates precise grasping by the gripping end 44 actuator of the robot 4 above. After grasping, the lifting cylinder 225 retracts, and the lifting block 224, along with the lifting column 226, descends below the plane of the drive roller 25. The feeding drive roller 25 can then continue to transport the next material plate, and the cycle repeats. This design achieves a undisturbed transition from dynamic material conveying to static picking, ensuring the repeatability of the grasping position.

[0055] Each discharge station 101 is equipped with a material frame mounting platform 31 connected to the outer cover 1 for placing the material frame. The material frame mounting platform 31 is equipped with a set of positioning mechanisms 32. The positioning mechanism 32 mainly includes a support base 321 fixed to the upper surface of the mounting platform, and a positioning guide rail 322 mounted on the support base 321. A sliding plate 323, which can be driven by a short-stroke cylinder or motor, is mounted on the positioning guide rail 322. A rigid positioning frame 324 is fixed above the sliding plate 323. In one specific embodiment, a positioning cylinder 325 is installed inside the positioning frame 324, and the output shaft of the cylinder is connected to a V-shaped or semi-circular positioning chuck 326. After the material frame is roughly placed within the preset range on the mounting platform, the positioning cylinder 325 drives the sliding plate 323 and the positioning clamp 326 to move towards the corresponding side of the material frame. The flared opening of the positioning clamp 326 can guide and accommodate the initial deviation of the material frame edge, and finally clamp it and push and pull it to the theoretically preset precise coordinate position, completing the precise positioning and locking after coarse positioning.

[0056] As a specific embodiment of the present invention, the positioning chuck 326 clamps the position of the material frame, which is adapted to the width of the material plate. That is, the positioning mechanism 32 can adjust the position of the frame so that the material frame can adapt to plates of different widths.

[0057] As another specific embodiment of the receiving plate provided by the present invention, multiple synchronously operating positioning cylinders 325 are installed side by side in the vertical direction inside the positioning frame 324. The output shafts of these cylinders are connected to a robust positioning plate 327, thereby integrating the thrust of multiple cylinders and providing greater clamping force and torque. Multiple positioning chucks 326 with flared openings are installed on the positioning plate 327. The positioning chucks 326 operate synchronously under the drive of the positioning plate 327, simultaneously clamping and positioning the material frame from adjacent sides or four corners. This multi-point, multi-directional synchronous clamping method can not only more effectively correct the planar position deviation of the material frame, but also overcome the slight deformation of the material frame itself to a certain extent, and apply a more uniform clamping force, ensuring that the material frame will not shift or vibrate during the subsequent high-speed placement of the PCB board by the robot 4, greatly improving the stability and reliability of the entire board placement process. At the same time, the flared opening design greatly reduces the initial placement accuracy requirements of the material frame, allowing for quick and rough placement operations, significantly reducing operator assistance time and improving the overall work cycle.

[0058] Furthermore, the receiving plate of the present invention also includes a dropping module 5. The dropping module 5 includes a transverse rail 51 installed on the inner side wall of the outer cover 1 or a specific frame. A transverse plate 52 is mounted on the transverse rail 51 via a slider. The transverse plate 52 can be driven by a servo motor to move along the length direction of the transverse rail 51. A vertical rail 53 is fixedly mounted on the transverse plate 52, and the direction of the vertical rail 53 is perpendicular to the transverse rail 51. A vertical plate 54 is mounted on the vertical rail 53 via a slider. The vertical plate 54 can be driven by another set of motors or cylinders to perform lifting and lowering movements. At least one L-shaped or fork-shaped abutment member 55 extends laterally from the lower end face of the vertical plate 54. When the dropping action needs to be performed, the dropping module 5 moves synchronously. At this time, the robot 4 places the material plate at the position of the abutment member 55, and then the material plate is slowly dropped by the vertical plate 54.

[0059] The embodiments described herein are preferred embodiments of the present invention and are not intended to limit the scope of protection of the present invention. Therefore, all equivalent changes made in accordance with the structure, shape, and principle of the present invention should be covered within the scope of protection of the present invention.

Claims

1. A PCB automatic board receiver, characterized in that, The outer cover (1) includes an inlet (11) on one side and an outlet (12) on the other side. The interior of the outer cover (1) is provided with: Feeding station (102) is provided with a feeding mechanism (2) for receiving and feeding the material plate into the feeding station (102); Two discharge stations (101) are used to place material frames; The robot (4) is installed on the inner top wall of the outer cover (1). It includes a mounting plate (41) fixedly connected to the inner top wall of the outer cover (1). The mounting plate (41) is rotatably connected to a first cantilever (42). A second cantilever (43) is rotatably connected to the side of the first cantilever (42) away from the mounting plate (41). A clamping end (44) for clamping a material plate is installed at the end of the second cantilever (43) away from the first cantilever (42). The stroke of the clamping end (44) covers the feeding station (102) and the two discharging stations (101).

2. The PCB automatic board rewinding machine according to claim 1, characterized in that: It also includes a visual positioning unit, which includes a sliding guide rail mounted on the outer cover (1) and a 3D camera mounted on the sliding guide rail.

3. The PCB automatic board rewinding machine according to claim 2, characterized in that: The 3D camera travels over both of the discharge stations (101).

4. The PCB automatic board rewinding machine according to claim 1, characterized in that: A feeding mechanism (2) is installed at the feeding station (102). The feeding mechanism (2) includes a feeding frame (21) installed on the outer cover (1). The feeding frame (21) has a lifting space inside. A feeding mounting frame (23) is fixedly connected to the upper end of the feeding frame (21), and the feeding mounting frame (23) is hollowed out in the middle; A feeding drive component (24) is installed on the upper end face of the feeding mounting frame (23), and the feeding drive component (24) drives multiple drive rollers (25). The lifting space is equipped with a lifting device (22) for lifting the material plate.

5. The PCB automatic board rewinding machine according to claim 4, characterized in that: The lifting device (22) includes a lifting mounting base (221) fixedly connected to the feed frame (21). The lifting mounting base (221) is provided with multiple rows of guide seats (222). Each guide seat (222) is connected to a guide post (223). Lifting blocks (224) are installed on the upper surface of the guide posts (223) in the same row. Several rows of lifting cylinders (225) are installed on the lifting mounting base (221). The output end of the lifting cylinder (225) is connected to the lower surface of the lifting block (224). Several lifting columns (226) are installed on the lifting block (224).

6. The PCB automatic board rewinding machine according to claim 1, characterized in that: Each of the discharge stations (101) is provided with a material frame mounting platform (31) connected to the outer cover (1) for placing the material frame, and the material frame mounting platform (31) is provided with a set of facing positioning mechanisms (32). The positioning mechanism (32) includes a support base (321) installed on the upper surface of the material frame mounting platform (31). A positioning guide rail (322) is installed on the upper surface of the support base (321). A sliding plate (323) is slidably connected to the positioning guide rail (322). A positioning frame (324) is fixedly connected to the upper surface of the sliding plate (323). A positioning cylinder (325) is installed inside the positioning frame (324). A positioning chuck (326) is connected to the output shaft of the positioning cylinder (325). The positioning chuck (326) can cooperate with the frame of the material frame.

7. The PCB automatic board rewinding machine according to claim 6, characterized in that: The positioning frame (324) contains multiple cylinders, and the output shafts of the multiple cylinders are connected to the positioning plate (327). The positioning clamps (326) are multiple and installed on the positioning plate (327).

8. The PCB automatic board rewinding machine according to claim 7, characterized in that: The opening of the positioning clamp (326) is trumpet-shaped, and the material frame is clamped to the corresponding position by the positioning clamp (326).

9. The PCB automatic board rewinding machine according to claim 1, characterized in that: It also includes a material feeding module (5), which includes a horizontal moving rail (51) installed on the outer cover (1), a horizontal moving plate (52) slidably connected to the horizontal moving rail (51), a vertical moving rail (53) fixedly connected to the horizontal moving plate (52), a vertical moving plate (54) slidably connected to the vertical moving rail (53), and an abutment (55) extending laterally from the lower end face of the vertical moving plate (54).

10. A PCB automatic board rewinding machine according to claim 9, characterized in that: The vertical moving plate (54) is configured as two pieces and symmetrically arranged on both sides of the vertical moving rail (53).

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