Positioning manipulator applied to automatic dismounting equipment of PCB circuit board

Abstract

The application discloses a positioning mechanical hand applied to automatic dismounting equipment of a PCB circuit board, comprising a PCB dismounting equipment, a plurality of tooling mechanical hand assemblies for loading PCB boards are arranged in the PCB dismounting equipment, a control mechanical hand assembly for spatial position conveying of the plurality of tooling mechanical hand assemblies is arranged in the PCB dismounting equipment, an adjustable-width positioning assembly capable of adjusting clamping width according to the width of the PCB board is arranged in the tooling mechanical hand assembly, a rear limiting baffle assembly for limiting the forward moving distance of the PCB circuit board is arranged at the rear end of the adjustable-width positioning assembly, self-adaptive clamping, accurate forward and rear limiting, smooth feeding and discharging and multi-station automatic docking of PCBs with different widths are realized, and the stability and the automation degree of dismounting and processing are improved.

Description

Technical Field

[0001] This invention relates to the field of automated PCB manufacturing equipment, and in particular to a positioning robot used in automated PCB assembly and disassembly equipment. Background Technology

[0002] During the production, repair, and testing of PCB circuit boards, automated component assembly / disassembly, board transfer, and positioning are often required. Existing PCB assembly / disassembly equipment's clamping and positioning mechanisms generally suffer from the following problems: fixed clamping width, only suitable for single-size circuit boards, resulting in poor versatility; separation of the guide and limiting structures during board loading and unloading, easily leading to board jamming and positioning misalignment; independent drive of the front and rear limiting mechanisms, resulting in poor coordination and a high failure rate; and low accuracy of board transfer and docking between multiple stations, affecting automated continuous production.

[0003] Therefore, there is an urgent need for a PCB positioning robot that can adapt to different widths, has linked limiting, provides stable guidance, and facilitates workstation transfer.

[0004] Therefore, the existing technology of automated PCB manufacturing equipment needs further improvement. Summary of the Invention

[0005] The purpose of this invention is to provide a positioning robot for use in automatic assembly and disassembly equipment for PCB circuit boards, which can achieve adaptive clamping of PCBs of different widths, precise front and rear limit positioning, smooth feeding and unloading, and automatic docking of multiple stations, thereby improving the stability and automation of assembly and disassembly processing.

[0006] To achieve the above objectives, the present invention adopts the following solution: a positioning robot for use in an automatic PCB board assembly / disassembly device, comprising a PCB assembly / disassembly device, wherein multiple tooling robot components for loading PCB boards are disposed within the PCB assembly / disassembly device, and a control robot component for spatially transporting the multiple tooling robot components is disposed within the PCB assembly / disassembly device, wherein an adjustable width positioning component is disposed within each tooling robot component, capable of adjusting the clamping width according to the width of the PCB board, and wherein a guide structure is disposed within the adjustable width positioning component, capable of guiding the PCB board forward. The adjustable width positioning component has a rear limit baffle assembly at its rear end for limiting the forward movement distance of the PCB circuit board, a front limit baffle assembly at its front end, a guide rail assembly within the adjustable width positioning component for guiding the movement of the front limit baffle assembly, a balance holding assembly within the adjustable width positioning component to keep the front limit baffle assembly in balanced movement, and a swing drive assembly within the tooling robot assembly to keep the two front limit baffle assemblies of different widths moving up and down and forward and backward. A linkage unlocking assembly is provided between the swing drive assembly and the rear limit baffle assembly.

[0007] Furthermore, the control robot assembly includes a transverse track and a lifting assembly disposed within the PCB disassembly and assembly equipment, and the PCB disassembly and assembly equipment is equipped with a disassembly and assembly robot capable of disassembling and assembling PCB boards on the tooling robot assembly.

[0008] Furthermore, the adjustable width positioning component includes two symmetrically arranged width positioning side plate components, one of which is fixedly disposed on one side of the tooling robot component, and the other is movably disposed on the other side of the tooling robot component; The tooling robot assembly is equipped with a lead screw adjustment assembly and a transverse guide rail assembly, and the movably configured width positioning side plate assembly is mounted and connected to the transverse guide rail assembly and the lead screw adjustment assembly. The guide structure includes a longitudinal guide groove disposed on the inner wall of the width positioning side plate assembly. The two sides of the PCB circuit board can be installed in the longitudinal guide groove on the corresponding side and move back and forth, thereby limiting and supporting the height position of the PCB circuit board.

[0009] Furthermore, the rear limit baffle assembly includes a shaft hole seat disposed on the outer wall of the tooling robot assembly. The shaft hole seat is provided with a plurality of vertical shaft holes. A vertical guide shaft is movably disposed in the vertical shaft holes. An upper connecting plate is connected between the upper ends of the plurality of vertical guide shafts. One end of the upper connecting plate extends to the rear end of the longitudinal guide groove and is provided with a rear end baffle.

[0010] Furthermore, the front limiting baffle assembly includes a front baffle disposed at the inner front end of the width positioning side plate assembly; the front baffle; The guide rail assembly includes a guide groove structure disposed on the inner wall of the width positioning side plate assembly, and a guide roller is disposed on the side wall of the front end baffle, the guide roller being movably installed in the guide groove structure on the corresponding side.

[0011] Furthermore, the guide groove structure includes a vertical guide groove disposed at the front end of the width positioning side plate assembly and a longitudinal guide groove connected to the upper end of the vertical guide groove, and an arc-shaped guide groove is provided at the connection between the vertical guide groove and the longitudinal guide groove.

[0012] Furthermore, the balance holding assembly includes a transverse slide rail disposed on the inner side wall of the width positioning side plate assembly, a transverse slider movably disposed within the transverse slide rail, a vertical through hole disposed on the transverse slider, and a vertical guide rod disposed at the lower end of the front end baffle, the vertical guide rod being movably installed in a corresponding vertical through hole.

[0013] Furthermore, the swing drive assembly includes a forward and reverse motor arranged laterally on the tooling robot assembly. The output end of the forward and reverse motor is provided with a rotating shaft. A swing arm is provided in the middle of the rotating shaft. The swing arm is arranged between the two front end baffles. A straight groove is provided on the swing arm. A telescopic rod is connected between the two front end baffles. The telescopic rod is inserted laterally into the straight groove. The telescopic rod includes a telescopic sleeve disposed inside the front end baffle, a telescopic inner rod inserted between the two telescopic sleeves, and an axial limiting structure provided between the telescopic inner rod and the telescopic sleeve.

[0014] Furthermore, the linkage unlocking component includes a rotating wheel disposed on the rotating shaft, a lifting guide groove structure disposed on the end face of the rotating wheel, a lower connecting plate disposed between the lower ends of the plurality of vertical guide shafts, a lifting drive rod extending downward from the lower connecting plate, a drive wheel disposed at the lower end of the lifting drive rod, and the drive wheel being movably installed within the lifting guide groove structure; By rotating the rotating wheel, the angle of the lifting guide groove structure is changed, thereby adjusting the height position of the drive wheel.

[0015] Furthermore, the lifting guide groove structure includes an inner arc-shaped groove and an outer arc-shaped groove, the inner arc-shaped groove and the outer arc-shaped groove are connected, and the diameter of the inner arc-shaped groove is smaller than the diameter of the outer arc-shaped groove.

[0016] In summary, the advantages of this invention over the prior art are: This invention addresses the shortcomings of existing PCB circuit board automated processing equipment. Through its structural design, it offers the following advantages: an adjustable width positioning component adapts to different PCB circuit board specifications, ensuring strong versatility; the integrated guide and limit structures ensure smooth material feeding and precise positioning; the swing-type drive and linkage unlocking achieve single-power multi-action coordination, resulting in a compact structure and low failure rate; the multi-station guide groove docking design facilitates automated continuous production; the balance and maintenance components enhance motion stability, improving assembly and disassembly processing accuracy and yield; the linkage unlocking component rotates with the rotating shaft, driving the rear limit baffle to lift and lower in tandem via the lifting guide groove structure, forming three collaborative working modes to complete the entire process of automatic feeding, positioning processing, and material transfer. Attached Figure Description

[0017] Figure 1 This is a perspective view of the device of the present invention; Figure 2 This is one of the perspective views of the tooling robot of the present invention; Figure 3 For the present invention Figure 2 Enlarged view of a portion at point A; Figure 4 For the present invention Figure 2 A magnified view of section B; Figure 5 This is the front view of the present invention; Figure 6 For the present invention Figure 5 Sectional view along line CC; Figure 7 For the present invention Figure 5 Sectional view along line DD; Figure 8 For the present invention Figure 6 A magnified view of a portion at point E; Figure 9 This is a schematic diagram of the internal structure of the present invention; Figure 10 This is a top view of the present invention; Figure 11 For the present invention Figure 10 Sectional view along line FF; Figure 12 For the present invention Figure 11 A magnified view of a portion of point G; Figure 13 This is the second perspective view of the tooling robot of the present invention; Figure 14 For the present invention Figure 13 A magnified view of a portion at point H; Figure 15 This is a schematic diagram of the swing structure of the swing-type drive component of the present invention. Detailed Implementation

[0018] The technical solutions of the embodiments of the present invention will be clearly and completely described below with reference to the accompanying drawings. Obviously, the described embodiments are only some embodiments of the present invention, and not all embodiments. Based on the embodiments of the present invention, all other embodiments obtained by those skilled in the art without creative effort are within the scope of protection of the present invention.

[0019] Please see Figures 1-15 This invention provides a positioning robot for use in an automated PCB assembly / disassembly device, comprising a PCB assembly / disassembly device 1, multiple tooling robot assemblies 2 for loading PCBs are provided within the PCB assembly / disassembly device 1, a control robot assembly 3 for spatially transporting the multiple tooling robot assemblies 2 is provided within the PCB assembly / disassembly device 1, an adjustable width positioning assembly 4 is provided within each tooling robot assembly 2 to adjust the clamping width according to the width of the PCB, a guide structure 5 is provided within the adjustable width positioning assembly 4 to guide the PCB forward, a rear limit baffle assembly 6 is provided at the rear end of the adjustable width positioning assembly 4 to limit the forward movement distance of the PCB, a front limit baffle assembly 7 is provided at the front end of the adjustable width positioning assembly 4, and a guide rail assembly 8 is provided within the adjustable width positioning assembly 4 to guide the movement of the front limit baffle assembly 7, the guide rail assembly 8 being able to control the front-rear position and height position of the front limit baffle assembly 7. When the adjustable width positioning component 4 is at its foremost position, the height of the front limiting baffle component 7 is lower than that of the guide structure 5, facilitating the entry of the PCB circuit board into the guide structure 5. After the PCB circuit board enters the guide structure 5, the front limiting baffle component 7 can rise in height and form a front and rear limit with the rear limiting baffle component 6. When the processed PCB circuit board needs to be sent out, the guide rail component 8 can raise the front limiting baffle component 7 and move it backward to push out the PCB circuit. The front limiting baffle component 7 can push the front end of the PCB circuit board to move backward. The adjustable width positioning component 4 is provided with a balance holding component 9 that can keep the front limiting baffle component 7 moving in a balanced manner. The tooling robot component 2 is provided with a swing-type drive component 10 that can keep the two front limiting baffle components 7 with different width distances moving up and down and back and forth. A linkage unlocking component 11 is provided between the swing-type drive component 10 and the rear limiting baffle component 6. The swing-type drive assembly 10 can achieve three modes: Mode 1: The front limiting baffle assembly 7 and the rear limiting baffle assembly 6 can be lowered to open the front end and close the rear end of the guide structure 5, so that the PCB circuit board can enter the adjustable width positioning assembly 4 from the front end, and the rear limiting baffle assembly 6 can be lowered at the rear end to position the PCB board that has entered. Mode 2: In conjunction with the linkage unlocking component 11, the front limit baffle component 7 can be raised and the rear limit baffle component 6 can be kept in a lowered state, so as to realize the front and rear positioning of the PCB circuit board entering the adjustable width positioning component 4, which facilitates disassembly and assembly and improves stability. Mode 3: In conjunction with the linkage unlocking component 11, the front limit baffle component 7 can be controlled to continue to rise and move backward. At this time, the linkage unlocking component 11 controls the rear limit baffle component 6 to rise and unlock, sending the PCB circuit board in the adjustable width positioning component 4 to another tooling robot component 2 for subsequent work.

[0020] One side is fixed by the width positioning side plate assembly 401, and the other side is driven by the lead screw adjustment assembly 402 to move laterally along the transverse guide rail assembly 403, automatically adapting to PCBs of different widths and completing the clamping spacing adjustment.

[0021] The width positioning side plate assembly 401 has a longitudinal guide groove 501 on its inner side. The two sides of the PCB circuit board are embedded in the groove to achieve height limit, horizontal support and front and rear guidance. Multiple workstations can be connected to realize the transfer of the board.

[0022] The vertical guide shaft 603 slides up and down in the vertical shaft hole 602 of the shaft hole seat 601, and drives the rear end baffle 605 to rise and fall through the upper connecting plate 604, so as to realize the PCB rear end limit and unlocking.

[0023] Front limit baffle assembly 7 and guide rail assembly 8: The guide roller 802 on the side wall of the front baffle 701 moves along the vertical guide groove 8011, the arc-shaped guide groove 8013, and the longitudinal guide groove 8012. Lower the vertical guide trough 8011 to its lowest position: Open the feed inlet; Move upward: Close the front-end positioning; Entering the longitudinal guide channel 8012: the material is pushed backward to discharge.

[0024] The vertical guide rod 904 moves up and down within the vertical through hole 903 of the horizontal slider 902, and the horizontal slider 902 moves horizontally along the horizontal slide rail 901 to ensure that the front end baffle 701 is always horizontal, not tilted, and not stuck.

[0025] Swing drive assembly 10: The forward and reverse motor 101 drives the rotating shaft 102 to swing the swing arm 103, and the straight slot 105 pushes the telescopic rod 104 to move; the telescopic rod 104 automatically extends and retracts with the width change to ensure that the front baffle 701 rises, falls and moves synchronously under different spacing.

[0026] Linkage unlocking component 11: Rotary shaft 102 drives rotating wheel 111 to rotate, drive wheel 115 rolls along lifting guide groove structure 112, pushes lifting drive rod 114 and lower connecting plate 113 to move up and down, realizes the linkage between rear baffle 605 and front baffle 701, and completes the limit and unlocking switching.

[0027] Control robot component 3: The transverse track 301 and the lifting component 302 realize the spatial transportation of tooling robot component 2, and the disassembly and assembly robot 303 performs automatic disassembly and assembly processing on the positioned PCB.

[0028] The control robot assembly 3 of the present invention includes a transverse track 301 and a lifting assembly 302 disposed in the PCB disassembly and assembly equipment 1. The PCB disassembly and assembly equipment 1 is provided with a disassembly and assembly robot 303 capable of disassembling and assembling PCB boards on the tooling robot assembly 2.

[0029] The adjustable width positioning component 4 of the present invention includes two symmetrically arranged width positioning side plate components 401, one of which is fixedly arranged on one side of the tooling robot component 2, and the other is movably arranged on the other side of the tooling robot component 2. The tooling robot assembly 2 is provided with a lead screw adjustment assembly 402 and a transverse guide rail assembly 403. The width positioning side plate assembly 401, which is movably set, is installed and connected to the transverse guide rail assembly 403 and the lead screw adjustment assembly 402. The guide structure 5 includes a longitudinal guide groove 501 disposed on the inner wall of the width positioning side plate assembly 401. The two sides of the PCB circuit board can be installed in the longitudinal guide groove 501 on the corresponding side and move back and forth, thereby limiting and supporting the height position of the PCB circuit board. The longitudinal guide grooves 501 of different tooling robot components 2 can be connected to realize the transfer of PCB circuit boards at different workstations.

[0030] The rear limiting baffle assembly 6 of the present invention includes a shaft hole seat 601 disposed on the outer side wall of the tooling robot assembly 2. The shaft hole seat 601 is provided with a plurality of vertical shaft holes 602. A vertical guide shaft 603 is movably disposed in the vertical shaft holes 602. An upper connecting plate 604 is connected between the upper ends of the plurality of vertical guide shafts 603. One end of the upper connecting plate 604 extends to the rear end of the longitudinal guide groove 501 and is provided with a rear end baffle 605.

[0031] The front limiting baffle assembly 7 of the present invention includes a front baffle 701 disposed on the inner front end of the width positioning side plate assembly 401, wherein the front baffle 701; The guide rail assembly 8 includes a guide groove structure 801 disposed on the inner wall of the width positioning side plate assembly 401, and a guide roller 802 is disposed on the side wall of the front end baffle 701. The guide roller 802 is movably installed in the guide groove structure 801 on the corresponding side.

[0032] The guide groove structure 801 of the present invention includes a vertical guide groove 8011 disposed at the front end of the width positioning side plate assembly 401 and a longitudinal guide groove 8012 connected to the upper end of the vertical guide groove 8011. An arc-shaped guide groove 8013 is provided at the connection between the vertical guide groove 8011 and the longitudinal guide groove 8012. When the guide roller 802 is at the lowest position of the vertical guide groove 8011, it is used to open the longitudinal guide groove 501 to facilitate the PCB circuit board to enter from the front end of the longitudinal guide groove 501. When the guide roller 802 moves upward, it works in conjunction with the front end baffle 701 to block the front end of the longitudinal guide groove 501, thereby positioning the PCB circuit board within the longitudinal guide groove 501 and improving the stability of the processing.

[0033] The balance holding component 9 of the present invention includes a transverse slide rail 901 disposed on the inner side wall of the width positioning side plate component 401, a transverse slider 902 movably disposed in the transverse slide rail 901, a vertical through hole 903 disposed on the transverse slider 902, and a vertical guide rod 904 disposed at the lower end of the front end baffle 701, the vertical guide rod 904 being movably installed in a corresponding vertical through hole 903.

[0034] The swing drive assembly 10 of the present invention includes a forward and reverse motor 101 arranged laterally on the tooling robot assembly 2. The output end of the forward and reverse motor 101 is provided with a rotating shaft 102. A swing arm 103 is provided in the middle of the rotating shaft 102. The swing arm 103 is disposed between two front end baffles 701. A straight groove 105 is provided on the swing arm 103. A telescopic rod 104 is connected between the two front end baffles 701. The telescopic rod 104 is laterally inserted into the straight groove 105. The telescopic rod 104 includes a telescopic sleeve 7011 disposed inside the front end baffle 701, a telescopic inner rod 7012 inserted between the two telescopic sleeves 7011, and an axial limiting structure disposed between the telescopic inner rod 7012 and the telescopic sleeve 7011. When the width position of the two front end baffles 701 changes, the telescopic rod 104 extends and retracts laterally. When the swing arm 103 flips and swings, the straight groove 105 will cause the telescopic rod 104 to swing and drive the guide roller 802 to move along the path of the guide groove structure 801.

[0035] The linkage unlocking component 11 of the present invention includes a rotating wheel 111 disposed on the rotating shaft 102, a lifting guide groove structure 112 disposed on the end face of the rotating wheel 111, a lower connecting plate 113 disposed between the lower ends of the plurality of vertical guide shafts 603, a lifting drive rod 114 extending downward from the lower connecting plate 113, a drive wheel 115 disposed at the lower end of the lifting drive rod 114, and the drive wheel 115 being movably installed within the lifting guide groove structure 112; By rotating the rotation angle of the rotating wheel 111, the angle of the lifting guide groove structure 112 is changed, thereby realizing the height position adjustment of the drive wheel 115.

[0036] The lifting guide groove structure 112 of the present invention includes an inner arc-shaped groove 1121 and an outer arc-shaped groove 1122, the inner arc-shaped groove 1121 and the outer arc-shaped groove 1122 are connected, and the diameter of the inner arc-shaped groove 1121 is smaller than the diameter of the outer arc-shaped groove 1122.

[0037] The foregoing has shown and described the basic principles and main features of the present invention, as well as its advantages. Those skilled in the art should understand that the present invention is not limited to the above embodiments. The embodiments and descriptions in the specification are merely illustrative of the principles of the invention. Various changes and modifications can be made to the present invention without departing from its spirit and scope, and all such changes and modifications fall within the scope of the present invention as claimed. The scope of protection of the present invention is defined by the appended claims and their equivalents.

Claims

1. A positioning robot for use in an automatic PCB assembly / disassembly device, comprising a PCB assembly / disassembly device (1), characterized in that: The PCB assembly / disassembly equipment (1) is equipped with multiple tooling robot assemblies (2) for loading PCB boards. The PCB assembly / disassembly equipment (1) also includes a control robot assembly (3) for spatially transporting the multiple tooling robot assemblies (2). Each tooling robot assembly (2) contains an adjustable width positioning assembly (4) capable of adjusting the clamping width according to the PCB board width. The adjustable width positioning assembly (4) contains a guide structure (5) capable of guiding the PCB board forward. The rear end of the adjustable width positioning assembly (4) is equipped with a rear limiting baffle assembly (6) for limiting the forward movement distance of the PCB board. The adjustable width positioning component (4) is provided with a front limit baffle component (7) at its front end. The adjustable width positioning component (4) is provided with a guide rail component (8) for moving and guiding the front limit baffle component (7). The adjustable width positioning component (4) is provided with a balance holding component (9) that can keep the front limit baffle component (7) moving in a balanced manner. The tooling robot component (2) is provided with a swing drive component (10) that keeps the two front limit baffle components (7) with different width distances moving up and down and back and forth. A linkage unlocking component (11) is provided between the swing drive component (10) and the rear limit baffle component (6).

2. The positioning robot for use in an automatic assembly and disassembly equipment for PCB circuit boards according to claim 1, characterized in that: The control robot assembly (3) includes a transverse track (301) and a lifting assembly (302) disposed in the PCB disassembly and assembly equipment (1). The PCB disassembly and assembly equipment (1) is provided with a disassembly and assembly robot (303) capable of disassembling and assembling the PCB board on the tooling robot assembly (2).

3. The positioning robot for use in an automatic assembly and disassembly device for PCB circuit boards according to claim 2, characterized in that: The adjustable width positioning component (4) includes two symmetrically arranged width positioning side plate components (401), one of which is fixedly arranged on one side of the tooling robot component (2), and the other is movably arranged on the other side of the tooling robot component (2). The tooling robot assembly (2) is provided with a lead screw adjustment assembly (402) and a transverse guide rail assembly (403). The width positioning side plate assembly (401) is movably connected to the transverse guide rail assembly (403) and the lead screw adjustment assembly (402). The guide structure (5) includes a longitudinal guide groove (501) disposed on the inner wall of the width positioning side plate assembly (401). The two sides of the PCB circuit board can be installed in the longitudinal guide groove (501) on the corresponding side and move back and forth, thereby limiting and supporting the height position of the PCB circuit board.

4. The positioning robot for use in an automatic assembly and disassembly equipment for PCB circuit boards according to claim 3, characterized in that: The rear limit baffle assembly (6) includes a shaft hole seat (601) disposed on the outer side wall of the tooling robot assembly (2). The shaft hole seat (601) is provided with a plurality of vertical shaft holes (602). A vertical guide shaft (603) is movably disposed in the vertical shaft hole (602). An upper connecting plate (604) is connected between the upper ends of the plurality of vertical guide shafts (603). One end of the upper connecting plate (604) extends to the rear end of the longitudinal guide groove (501) and is provided with a rear end baffle (605).

5. The positioning robot for use in an automatic assembly and disassembly device for PCB circuit boards according to claim 4, characterized in that: The front limiting baffle assembly (7) includes a front baffle (701) disposed on the inner front end of the width positioning side plate assembly (401). The guide rail assembly (8) includes a guide groove structure (801) disposed on the inner wall of the width positioning side plate assembly (401), and a guide roller (802) is disposed on the side wall of the front end baffle (701). The guide roller (802) is movably installed in the guide groove structure (801) on the corresponding side.

6. The positioning robot for use in an automatic assembly and disassembly equipment for PCB circuit boards according to claim 5, characterized in that: The guide groove structure (801) includes a vertical guide groove (8011) disposed at the front end of the width positioning side plate assembly (401) and a longitudinal guide groove (8012) connected to the upper end of the vertical guide groove (8011). An arc-shaped guide groove (8013) is provided at the connection between the vertical guide groove (8011) and the longitudinal guide groove (8012).

7. The positioning robot for use in an automatic assembly and disassembly equipment for PCB circuit boards according to claim 6, characterized in that: The balance holding component (9) includes a transverse slide rail (901) disposed on the inner side wall of the width positioning side plate component (401), a transverse slider (902) is movably disposed in the transverse slide rail (901), a vertical through hole (903) is disposed on the transverse slider (902), and a vertical guide rod (904) is disposed at the lower end of the front end baffle (701), and the vertical guide rod (904) is movably installed in a corresponding vertical through hole (903).

8. The positioning robot for use in an automatic assembly and disassembly equipment for PCB circuit boards according to claim 7, characterized in that: The swing drive assembly (10) includes a forward and reverse motor (101) arranged laterally on the tooling robot assembly (2). The output end of the forward and reverse motor (101) is provided with a rotating shaft (102). A swing arm (103) is provided in the middle of the rotating shaft (102). The swing arm (103) is arranged between the two front end baffles (701). A straight slot (105) is provided on the swing arm (103). A telescopic rod (104) is connected between the two front end baffles (701). The telescopic rod (104) is inserted laterally into the straight slot (105). The telescopic rod (104) includes a telescopic sleeve (7011) disposed inside the front end baffle (701), and a telescopic inner rod (7012) is inserted between the two telescopic sleeves (7011). An axial limiting structure is provided between the telescopic inner rod (7012) and the telescopic sleeve (7011).

9. A positioning robot for use in an automatic assembly and disassembly equipment for PCB circuit boards according to claim 8, characterized in that: The linkage unlocking component (11) includes a rotating wheel (111) disposed on the rotating shaft (102), a lifting guide groove structure (112) disposed on the end face of the rotating wheel (111), a lower connecting plate (113) disposed between the lower ends of the plurality of vertical guide shafts (603), a lifting drive rod (114) extending downward from the lower connecting plate (113), a drive wheel (115) disposed at the lower end of the lifting drive rod (114), and the drive wheel (115) being movably installed in the lifting guide groove structure (112); By rotating the rotation angle of the rotating wheel (111), the angle of the lifting guide groove structure (112) is changed, thereby realizing the height position adjustment of the drive wheel (115).

10. A positioning robot for use in an automatic assembly and disassembly device for PCB circuit boards according to claim 9, characterized in that: The lifting guide groove structure (112) includes an inner arc groove (1121) and an outer arc groove (1122), the inner arc groove (1121) and the outer arc groove (1122) are connected, and the diameter of the inner arc groove (1121) is smaller than the diameter of the outer arc groove (1122).

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