Material flow transfer device and circuit board testing apparatus

Abstract

The present application belongs to the technical field of circuit board testing, and particularly relates to a material flow transfer device and a circuit board testing device. The material flow transfer device comprises: a first feeding mechanism for feeding target workpieces; a second feeding mechanism for feeding carrier trays; and two material transfer mechanisms arranged at intervals. The first feeding mechanism feeds the target workpieces to a preset position. One of the material transfer mechanisms picks up the target workpieces to be tested at the first feeding mechanism and transfers them to a testing device for testing. The other material transfer mechanism picks up the target workpieces that pass the test at the testing device and drives the target workpieces to move to a receiving station. The second feeding mechanism feeds the carrier trays to the receiving station. The carrier trays receive the target workpieces at the receiving station and drive the target workpieces to move to a discharging station for discharging. The present application can simplify the overall layout of the circuit board testing device and improve the testing efficiency of the circuit board testing device.

Description

Technical Field

[0001] This invention belongs to the field of circuit board testing technology, and particularly relates to material handling devices and circuit board testing equipment. Background Technology

[0002] With the increasing demands for production efficiency and product quality in the electronics manufacturing industry, automated material handling systems have been widely used in the testing process of circuit boards. In automated circuit board testing production lines, the circuit boards to be tested are typically moved from the loading area to the testing equipment for electrical or optical testing, and then sorted and unloaded according to the test results after the testing is completed.

[0003] Currently, most existing circuit board testing and transfer devices employ a single robotic arm in conjunction with a conveyor belt. The typical operating mode is as follows: the robotic arm picks up the circuit board to be tested from the testing station and places it into the testing device. After testing, the same robotic arm removes the tested circuit board and places it on the unloading conveyor belt. However, this traditional transfer method has significant technical drawbacks. Because the working cycle of the testing device and the handling cycle of the robotic arm are difficult to perfectly match, using a single transfer mechanism for picking and placing materials results in the robotic arm being idle during testing, severely impacting overall efficiency. Summary of the Invention

[0004] The purpose of this application is to provide a material transfer device and a circuit board testing equipment, aiming to solve the problems of how to simplify the overall layout of the circuit board testing equipment and how to improve the testing efficiency of the circuit board testing equipment.

[0005] To achieve the above objectives, the technical solution adopted in this application is as follows: In a first aspect, a material handling device is provided for use with a testing device for testing a target workpiece. The material handling device includes: a first feeding mechanism for feeding the target workpiece; a second feeding mechanism for feeding a loading tray, the second feeding mechanism having a receiving station and a discharging station along a first direction, the second feeding mechanism also being used to drive the loading tray to slide between the receiving station and the discharging station; and a transfer mechanism for driving the target workpiece to move, two transfer mechanisms being arranged at intervals, one of which reciprocates between the first feeding mechanism and the testing device, and the other transfer mechanism... The material feeding mechanism reciprocates between the second feeding mechanism and the testing device; wherein, the first feeding mechanism feeds the target workpiece to a preset position, one of the transfer mechanisms picks up the target workpiece to be tested at the first feeding mechanism and transfers it to the testing device for testing; the other transfer mechanism picks up the target workpiece that has passed the test at the testing device and drives the target workpiece to move to the receiving station; the second feeding mechanism feeds the material tray to the receiving station, the material tray receives the target workpiece at the receiving station from the transfer mechanism and drives the target workpiece to move to the unloading station for unloading.

[0006] In some embodiments, the second loading mechanism includes a first conveyor line, a second conveyor line spaced apart from the first conveyor line, and a transport structure disposed between the first conveyor line and the second conveyor line. The first conveyor line is used to dock with external equipment to load the loading tray. Both the first conveyor line and the second conveyor line are used to transport the loading tray. The two ends of the second conveyor line are respectively docked with the receiving station and the unloading station. The transport structure is used to pick up the loading tray at the first conveyor line and transfer it to the receiving station. The first conveyor line receives the loading tray at the transport structure and drives the loading tray to move to the unloading station for unloading after the loading tray receives the target workpiece that has been tested.

[0007] In some embodiments, the extension directions of the first conveyor line and the second conveyor line are parallel to each other, and one end of the first conveyor line and one end of the second conveyor line are both connected to the conveying structure.

[0008] In some embodiments, the first conveyor line and the second conveyor line extend along a first direction; the conveying structure includes a frame, a moving drive member disposed on the frame, a lifting drive member connected to the moving drive member, and a suction cup connected to the lifting drive member. The moving drive member is used to drive the lifting drive member and the suction cup to move synchronously along a second direction, the lifting drive member is used to drive the suction cup to move in a vertical direction, and the suction cup is used to adsorb or release the material tray; the first direction is set at an angle to the second direction.

[0009] In some embodiments, the material transfer mechanism includes a linear drive structure and a picking structure connected to the linear drive structure. The picking structure is used to pick up or release the target workpiece, and the linear drive structure is used to drive the picking structure to move in a straight line in three-dimensional space.

[0010] In some embodiments, the linear drive structure includes a first drive component connected to the pickup structure and used to drive the pickup structure to move in a vertical direction, a second drive component used to drive the first drive component to move in a first direction, and a third drive component used to drive the second drive component to move in a second direction, wherein the first direction and the second direction are perpendicular and the first direction and the second direction are horizontal.

[0011] In some embodiments, the material transfer device further includes a base and guide rails connected to the base. The base is disposed between the two material transfer mechanisms. Two guide rails are arranged at intervals. The second drive components of the two material transfer mechanisms are slidably connected to the two guide rails respectively. The guide rails are used to guide the second drive components to move along the second direction.

[0012] In some embodiments, the picking structure includes a connecting plate connected to the linear drive structure, a rotary driver connected to the connecting plate, a sliding driver connected to the drive end of the rotary driver, and a clamping member connected to the drive end of the sliding driver. The rotary driver is used to drive the sliding driver and the clamping member to rotate synchronously about a rotation axis, the rotation axis extending in a vertical direction. The sliding driver is used to drive the clamping member to slide in a vertical direction. The clamping member is used to clamp or release the target workpiece.

[0013] In some embodiments, the first feeding mechanism includes a first receiving structure and a second receiving structure. The first receiving structure has an inlet end for docking with an external feeding device to receive the target workpiece from the external feeding device. The second receiving structure has a feeding position for manually placing the target workpiece.

[0014] Secondly, a circuit board testing device is provided, including the aforementioned material transfer device.

[0015] The material handling device provided in this application simultaneously performs the functions of empty tray feeding and material output through a second feeding mechanism. The second feeding mechanism can both feed empty trays and unload trays carrying tested and qualified target workpieces, ensuring smooth material flow without the need for additional intermediate buffer platforms or other structures, thus simplifying the overall layout of the circuit board testing equipment. Furthermore, by setting up two spaced-apart transfer mechanisms with different motion paths, one transfer mechanism is responsible for transporting the target workpiece to be tested from the first feeding mechanism to the testing device, while the other transfer mechanism is responsible for transporting the tested and qualified target workpiece from the testing device to the tray at the second feeding mechanism. The two transfer mechanisms work independently and do not interfere with each other. That is, while one transfer mechanism feeds the target workpiece to be tested into the testing device, the other transfer mechanism takes out the tested and qualified target workpiece from the testing device and transfers it to the tray, effectively eliminating idle waiting time during the testing process, thereby significantly improving the testing efficiency of the circuit board testing equipment. Attached Figure Description

[0016] To more clearly illustrate the technical solutions in the embodiments of this application, the drawings used in the description of the embodiments or exemplary technologies will be briefly introduced below. Obviously, the drawings described below are only some embodiments of this application. For those skilled in the art, other drawings can be obtained based on these drawings without creative effort.

[0017] Figure 1 This is a top view of the material transfer device provided in the embodiments of this application; Figure 2 yes Figure 1 A schematic diagram of the transport structure in the diagram; Figure 3 yes Figure 1 A schematic diagram of the material transfer mechanism in the diagram; Figure 4 yes Figure 3 A schematic diagram of the picking structure in the image.

[0018] The following are the labeling elements in the figure: 10. First feeding mechanism; 11. First receiving structure; 12. Second receiving structure; 20. Second feeding mechanism; 21. First conveyor line; 22. Second conveyor line; 23. Handling structure; 231. Frame; 232. Moving drive component; 233. Lifting drive component; 234. Suction cup; 30. Transfer mechanism; 31. Linear drive structure; 311. First drive assembly; 312. Second drive assembly; 313. Third drive assembly; 32. Pick-up structure; 321. Connecting plate; 322. Rotary driver; 323. Sliding driver; 324. Clamping component; 325. Camera; 326. Light source; 41. Base; 42. Guide rail; 50. Defective product receiving line; 200. Carrying tray; 300. Target workpiece; 500. Receiving station; 600. Unloading station; 700. Testing device. Detailed Implementation

[0019] To make the objectives, technical solutions, and advantages of the embodiments of the present invention clearer, 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 a part of the embodiments of the present invention, not all of them. 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. Therefore, the following detailed description of the embodiments of the present invention provided in the accompanying drawings is not intended to limit the scope of the claimed invention, but merely to represent selected embodiments of the invention. 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.

[0020] In the description of this invention, it should be understood that the terms "center," "longitudinal," "lateral," "length," "width," "thickness," "upper," "lower," "front," "rear," "left," "right," "vertical," "horizontal," "top," "bottom," "inner," "outer," "clockwise," and "counterclockwise," etc., indicate the orientation or positional relationship based on the orientation or positional relationship shown in the accompanying drawings. They are only for the convenience of describing this invention and simplifying the description, and do not indicate or imply that the device or element referred to must have a specific orientation, or be constructed and operated in a specific orientation. Therefore, they should not be construed as limitations on this invention.

[0021] Furthermore, the terms "first" and "second" are used for descriptive purposes only and should not be construed as indicating or implying relative importance or implicitly specifying the number of technical features indicated. Thus, a feature defined as "first" or "second" may explicitly or implicitly include one or more of that feature. In the description of this invention, "a plurality of" means two or more, unless otherwise explicitly specified.

[0022] In this invention, unless otherwise explicitly specified and limited, "above" or "below" the second feature can include direct contact between the first and second features, or contact between the first and second features through another feature between them. Furthermore, "above," "over," and "on top" of the second feature includes the first feature directly above or diagonally above the second feature, or simply indicates that the first feature is at a higher horizontal level than the second feature. "Below," "below," and "under" the second feature includes the first feature directly below or diagonally below the second feature, or simply indicates that the first feature is at a lower horizontal level than the second feature.

[0023] Please see Figures 1 to 4 This application provides a material handling device for use with a testing device 700. The testing device 700 is used to test a target workpiece 300. The material handling device includes: a first feeding mechanism 10 for feeding the target workpiece 300; a second feeding mechanism 20 for feeding a loading tray 200, the second feeding mechanism 20 having a receiving station 500 and a discharging station 600 along a first direction a, the second feeding mechanism 20 also being used to drive the loading tray 200 to slide between the receiving station 500 and the discharging station 600; and a transfer mechanism 30 for driving the target workpiece 300 to move, two transfer mechanisms 30 are arranged at intervals, one of which reciprocates between the first feeding mechanism 10 and the testing device 700. Another material transfer mechanism 30 reciprocates between the second feeding mechanism 20 and the testing device 700; wherein, the first feeding mechanism 10 feeds the target workpiece 300 to a preset position, one of the material transfer mechanisms 30 picks up the target workpiece 300 to be tested at the first feeding mechanism 10 and transfers it to the testing device 700 for testing; the other material transfer mechanism 30 picks up the target workpiece 300 that has passed the test at the testing device 700 and drives the target workpiece 300 to move to the receiving station 500; the second feeding mechanism 20 feeds the loading tray 200 to the receiving station 500, the loading tray 200 receives the target workpiece 300 at the receiving station 500 from the material transfer mechanism 30 and drives the target workpiece 300 to move to the unloading station 600 for unloading.

[0024] It should be noted that the target workpiece 300 in this embodiment can specifically be a circuit board, and the testing device 700 is used to test the circuit board. The testing device 700 can be an optical inspection instrument, an in-circuit tester, a functional test fixture, or a programming test device, etc., depending on the testing requirements of the circuit board.

[0025] To facilitate the description of the operational coordination between the various mechanisms in this application, the testing device 700 used in conjunction with the material transfer device is included in the description of the working process in the following embodiments. The testing device 700 is used to test the target workpiece 300, and its specific structure can employ various testing equipment known in the art, which will not be elaborated here. The testing device 700 typically has a testing station that connects to the transfer mechanism 30. This testing station can be equipped with conventional structures such as a conveyor belt, positioning fixture, or support platform to receive the target workpiece 300 to be tested from the transfer mechanism 30 and to allow the transfer mechanism 30 to remove the tested target workpiece 300. In this application, each transfer mechanism 30 can complete the workpiece removal and placement actions through interaction with the aforementioned conventional structures, without requiring any modification to the structure of the testing device 700 itself. The technical solution of this application does not depend on the specific structural form of the testing device 700; the interaction between each mechanism and the testing device 700 only involves the workpiece removal and placement actions.

[0026] The first feeding mechanism 10 is used to feed the target workpiece 300 to a preset position. The preset position refers to a specific spatial location at the end of the first feeding mechanism 10, which is aligned with the starting point of the picking path of the material transfer mechanism 30. The material transfer mechanism 30 can accurately pick up the target workpiece 300 each time it moves to this position. To ensure repeatable positioning accuracy at the preset position, the first feeding mechanism 10 can be equipped with a positioning block or positioning fixture at the preset position. When the target workpiece 300 is conveyed to the preset position, the positioning block prevents the workpiece from moving further, causing it to stop at the preset position.

[0027] The second loading mechanism 20 is used to load empty loading trays 200. The loading tray 200 is a pallet used to hold qualified test workpieces 300. Its surface typically has multiple contoured positioning grooves arranged in an array. The shape of each positioning groove is adapted to the outer contour of the target workpiece 300 to limit and position the placed workpiece. The loading trays 200 can be loaded in a stacked manner. The second loading mechanism 20 removes empty loading trays 200 one by one and pushes them to the receiving station 500 by bottom lifting or top gripping.

[0028] The material handling device provided in this application uses a second feeding mechanism 20 to simultaneously perform the functions of feeding empty trays and discharging loaded materials from the loading tray 200. The second feeding mechanism 20 can both feed empty trays 200 and unload trays 200 containing qualified test workpieces 300, ensuring smooth material flow without the need for additional intermediate buffer stations or other structures, thus simplifying the overall layout of the circuit board testing equipment. Furthermore, by setting up two spaced-apart transfer mechanisms 30 and constructing different motion paths, one of the transfer mechanisms 30 is responsible for transferring the target workpiece 300 to be tested from the first... The loading mechanism 10 transports the workpiece to the testing device 700, while another transfer mechanism 30 is responsible for transferring the tested and qualified target workpiece 300 from the testing device 700 to the loading tray 200 at the second loading mechanism 20. The two transfer mechanisms 30 work independently and do not interfere with each other. That is, while one transfer mechanism 30 sends the target workpiece 300 to be tested into the testing device 700, the other transfer mechanism 30 takes out the tested and qualified target workpiece 300 from the testing device 700 and transfers it to the loading tray 200, effectively eliminating the idle waiting time in the testing process, thereby significantly improving the testing efficiency of the circuit board testing equipment.

[0029] Understandably, this application also includes a control system (not shown in the figure). The first feeding mechanism 10, the second feeding mechanism 20, the transfer mechanism 30, and the testing device 700 are all communicatively connected to the control system. The control system can control the first feeding mechanism 10, the second feeding mechanism 20, the transfer mechanism 30, and the testing device 700 to automatically coordinate and operate, thereby reducing the impact of human factors and improving production efficiency.

[0030] In some embodiments, such as Figure 1 and Figure 2 As shown, the second feeding mechanism 20 includes a first conveyor line 21, a second conveyor line 22 spaced apart from the first conveyor line 21, and a conveying structure 23 located between the first conveyor line 21 and the second conveyor line 22. The first conveyor line 21 is used to connect to external equipment to feed the loading tray 200. Both the first conveyor line 21 and the second conveyor line 22 are used to transport the loading tray 200. The two ends of the second conveyor line 22 are respectively connected to the receiving station 500 and the unloading station 600. The conveying structure 23 is used to pick up the loading tray 200 at the first conveyor line 21 and transfer it to the receiving station 500. The first conveyor line 21 receives the loading tray 200 at the conveying structure 23 and drives the loading tray 200 to move to the unloading station 600 for unloading after the loading tray 200 receives the target workpiece 300 that has been tested.

[0031] The first conveyor line 21 is mainly used to connect with external equipment to realize the automatic feeding of empty material trays 200. The external equipment can be a hopper in the previous process, an automated guided vehicle, a manual loading platform, or an upstream material tray 200 conveyor line, etc. The inlet end of the first conveyor line 21 is connected to the outlet of the external equipment. The empty material trays 200 flow directly into the first conveyor line 21 from the external equipment and are transported to the picking position of the handling structure 23 under the drive of the first conveyor line 21. The second conveyor line 22 extends along a preset direction, and its two ends are respectively connected to the receiving station 500 and the unloading station 600. That is, the starting end of the second conveyor line 22 is the receiving station 500 and the ending end is the unloading station 600. The material trays 200 move step by step on the second conveyor line 22 from the receiving station 500 to the unloading station 600. The conveying structure 23 is located between the first conveyor line 21 and the second conveyor line 22. Its function is to pick up the empty material tray 200 that has been positioned on the first conveyor line 21 and transfer it to the receiving station 500 of the second conveyor line 22.

[0032] Furthermore, the unloading station 600 of the second conveyor line 22 can also be connected to external equipment. For example, the unloading station 600 can be connected to the conveyor line of the subsequent process, automatic guided vehicles, automated packaging equipment, or manual operating tables. Fully loaded trays 200 flow directly from the unloading station 600 to the external equipment and enter the subsequent packaging, palletizing, or warehousing processes. The connection between the first conveyor line 21 and the external equipment enables automatic replenishment of empty trays, and the connection between the second conveyor line 22 and the external equipment enables automatic outflow of full trays. The entire second loading mechanism 20 becomes a closed-loop tray 200 circulation system, requiring no manual intervention. This reduces labor costs and avoids positioning deviations or damage to the trays 200 that may be introduced by manual operation, further improving the automation level and production continuity of the testing and unloading process.

[0033] In some embodiments, the extension directions of the first conveyor line 21 and the second conveyor line 22 are parallel to each other, and one end of the first conveyor line 21 and one end of the second conveyor line 22 are both connected to the transport structure 23. Specifically, the extension directions of the first conveyor line 21 and the second conveyor line 22 are parallel to each other, and they are arranged side by side with intervals. One end of the first conveyor line 21 and one end of the second conveyor line 22 both face the side where the transport structure 23 is located, that is, the end of the first conveyor line 21 and the beginning of the second conveyor line 22 are spatially adjacent and converge near the working area of ​​the transport structure 23. The transport structure 23 is located between the first conveyor line 21 and the second conveyor line 22, with its pickup position aligned with the end of the first conveyor line 21 facing the transport structure 23, and its placement position aligned with the beginning of the second conveyor line 22 facing the transport structure 23.

[0034] By adopting this parallel and unidirectional converging arrangement, the working path of the conveying structure 23 is significantly simplified. The conveying structure 23 only needs to perform linear reciprocating motion or slight oscillation between the end of the first conveyor line 21 and the beginning of the second conveyor line 22 to complete the transfer of the empty pallet 200 from the first conveyor line 21 to the second conveyor line 22. Specifically, after the empty pallet 200 is conveyed to the end of the first conveyor line 21 along its extension direction, the pallet 200 stops within the picking range of the conveying structure 23. The conveying structure 23 picks up the pallet 200 from this position, moves laterally to above the beginning of the second conveyor line 22, and places the pallet 200 on the beginning of the second conveyor line 22, which is the receiving station 500. Thus, the embodiments of this application reduce the movement stroke and space occupied by the conveying structure 23, which is beneficial to reducing equipment manufacturing costs and improving transfer efficiency.

[0035] In addition, the parallel and unidirectional layout of the first conveyor line 21 and the second conveyor line 22 ensures that the material flow of the entire second feeding mechanism 20 is unidirectional and smooth. Empty tray input and full tray output are connected in the same direction, which is convenient for operators to observe and intervene. It is also convenient to connect with upstream and downstream equipment in the same direction, which improves the flexibility of the production line layout and the overall aesthetics of the equipment.

[0036] Optionally, the first conveyor line 21 and the second conveyor line 22 can be belt conveyors, that is, a ring belt carries the material tray 200 and the belt is driven by a motor to rotate, thereby realizing the conveying of the material tray 200. The belt surface has a certain coefficient of friction, which can drive the material tray 200 forward smoothly. This method has a simple structure and low cost, and is suitable for conveying small and light material trays 200. In other possible embodiments, the first conveyor line 21 and the second conveyor line 22 can also be roller conveyors, that is, multiple parallel rollers form the bearing surface, the rollers are driven by a motor to rotate, and the material tray 200 is pushed forward by the friction between the rollers and the bottom surface of the material tray 200.

[0037] In some embodiments, such as Figure 1 and Figure 2 As shown, the first conveyor line 21 and the second conveyor line 22 extend along the first direction a; the conveying structure 23 includes a frame 231, a moving drive 232 disposed on the frame 231, a lifting drive 233 connected to the moving drive 232, and a suction cup 234 connected to the lifting drive 233. The moving drive 232 is used to drive the lifting drive 233 and the suction cup 234 to move synchronously along the second direction b. The lifting drive 233 is used to drive the suction cup 234 to move in the vertical direction. The suction cup 234 is used to adsorb or release the material tray 200; the first direction a and the second direction b are set at an angle.

[0038] Understandably, the moving drive 232 can drive the lifting drive 233 and the suction cup 234 to move laterally between the first conveyor line 21 and the second conveyor line 22. The lifting drive 233 is connected to the output end of the moving drive 232, and its output end is connected to the suction cup 234, used to drive the suction cup 234 to move up and down in the vertical direction. The suction cup 234, as an actuator that directly contacts the material tray 200, picks up or releases the material tray 200 by negative pressure adsorption.

[0039] The moving drive component 232 and the lifting drive component 233 can adopt various driving forms. For example, the moving drive component 232 can be a rodless cylinder, whose slider reciprocates along the second direction b, and the lifting drive component 233 is fixed on the slider; the moving drive component 232 can also be a synchronous belt drive mechanism, in which a motor drives the synchronous belt to rotate, and the connecting seat fixed on the synchronous belt moves along the second direction b. This method is fast and low-cost. The lifting drive component 233 can be a cylinder, in which the extension and retraction of the piston rod drives the suction cup 234 to rise and fall. The cylinder has a fast response speed and is suitable for simple lifting actions; the lifting drive component 233 can also be a linear module or an electric cylinder to achieve more precise lifting height control and multi-position stopping function.

[0040] The suction cup 234 can be connected to a vacuum generating device, such as a vacuum pump or vacuum generator, via an air tube. The switching between adsorption and release is achieved by controlling the opening and closing of the vacuum circuit. The body of the suction cup 234 is made of flexible material, which can produce elastic deformation to fit the surface of the material tray 200 when in contact with it, thereby improving the adsorption sealing and avoiding scratching the surface of the material tray 200.

[0041] The working process of the conveying structure 23 is as follows: When the empty pallet 200 is conveyed to its end by the first conveyor line 21 along the first direction a and stops, the lifting drive 233 drives the suction cup 234 to descend to the upper surface of the pallet 200. After the suction cup 234 contacts the pallet 200, the vacuum circuit is activated, and the suction cup 234 generates negative pressure to adsorb and fix the pallet 200. Then, the lifting drive 233 drives the suction cup 234 to rise and lift the pallet 200, so that the pallet 200 is separated from the bearing surface of the first conveyor line 21. Next, the moving drive 232 drives the lifting drive 233 and the suction cup 234, together with the adsorbed pallet 200, to move along the second direction b until the pallet 200 moves directly above the starting end of the second conveyor line 22. The lifting drive 233 again drives the suction cup 234 to descend to near the bearing surface of the second conveyor line 22. The vacuum circuit is disconnected, and the suction cup 234 releases the material tray 200, placing the empty material tray 200 smoothly on the starting end of the second conveyor line 22, thus completing the transfer of the material tray 200 from the first conveyor line 21 to the second conveyor line 22. Afterward, the lifting drive 233 drives the suction cup 234 to rise and reset, and the moving drive 232 drives the suction cup 234 to move in the opposite direction (b) back above the first conveyor line 21, ready to pick up the next empty material tray 200 and begin the next transfer cycle. Optionally, the first direction (a) is perpendicular to the second direction (b).

[0042] By setting up a moving drive component 232 and a lifting drive component 233, horizontal movement and vertical lifting are performed by two independent drive components, so that each drive component only needs to be responsible for movement in a single direction. Unlike multi-joint robots or composite drive mechanisms, there is no need for multi-axis linkage and attitude compensation, which eliminates the cumulative positioning error caused by multi-directional motion coupling and achieves higher positioning accuracy.

[0043] In some embodiments, such as Figure 1 and Figure 3As shown, the material handling mechanism 30 includes a linear drive structure 31 and a picking structure 32 connected to the linear drive structure 31. The picking structure 32 is used to pick up or release the target workpiece 300, and the linear drive structure 31 is used to drive the picking structure 32 to move linearly in three-dimensional space. The picking structure 32 is connected to the end of the linear drive structure 31 and is used to directly pick up or release the target workpiece 300. The specific form of the picking structure 32 depends on the characteristics of the target workpiece 300, and can be a vacuum nozzle, pneumatic gripper, electromagnetic chuck 234, or electrostatic adsorption head, etc. The linear drive structure 31 drives the picking structure 32 to move linearly in three-dimensional space, so that the movement path of the picking structure 32 from the starting position to the target position consists of several independent linear motions. Each motion is performed only along a single coordinate axis, and there is no multi-axis linkage or circular interpolation. The motions of each axis are not coupled. This motion method ensures that the final stopping position of the pickup structure 32 in each linear motion segment is determined solely by the driving component on the corresponding coordinate axis. It does not affect the positioning accuracy in that direction due to motion errors of other axes or trajectory deviations during linkage. The position accuracy in each direction is guaranteed independently, and there is no superposition or accumulation of errors caused by multi-axis coordinated motion, thereby improving the movement accuracy of the pickup structure 32.

[0044] In some embodiments, the linear drive structure 31 includes a first drive component 311 connected to the pickup structure 32 and used to drive the pickup structure 32 to move in a vertical direction, a second drive component 312 used to drive the first drive component 311 to move in a first direction a, and a third drive component 313 used to drive the second drive component 312 to move in a second direction b, wherein the first direction a and the second direction b are perpendicular and the first direction a and the second direction b are horizontal directions.

[0045] Optionally, the first drive component 311, the second drive component 312, and the third drive component 313 can all adopt a linear module structure, that is, they consist of a guide rail 42, a slider, and a drive source. The drive source can be a servo motor with a ball screw, a stepper motor with a synchronous belt, or a linear motor, etc. Each drive component drives independently in its corresponding direction without interfering with each other.

[0046] The first drive component 311, the second drive component 312, and the third drive component 313 independently control the position of the picking structure 32 in three orthogonal directions, making the kinematic relationship of the picking structure 32 in three-dimensional space relatively simple. There is no need to perform complex coordinate transformations or kinematic calculations. The control system only needs to send displacement commands in their respective directions to the three drive components to achieve precise positioning of the picking structure 32, which reduces the computational complexity of the control system.

[0047] In some embodiments, such as Figure 3As shown, the material transfer device also includes a base 41 and a guide rail 42 connected to the base 41. The base 41 is located between the two material transfer mechanisms 30. Two guide rails 42 are arranged at intervals. The second drive components 312 of the two material transfer mechanisms 30 are slidably connected to the two guide rails 42 respectively. The guide rails 42 are used to guide the second drive components 312 to move along the second direction b.

[0048] Understandably, the base 41 is positioned between the two transfer mechanisms 30, meaning the projection of the base 41 onto the horizontal plane is located in the middle region between the two transfer mechanisms 30. The guide rail 42 is fixedly mounted on the base 41, extending along the second direction b. The second drive components 312 of the two transfer mechanisms 30 are slidably connected to the two guide rails 42 respectively, meaning the two guide rails 42 share a single base 41. Both guide rails 42 are mounted on the same base 41, which serves as the common mounting foundation for the two guide rails 42, providing a unified mounting reference surface. The base 41 can be made of cast iron or welded steel, possessing sufficient rigidity and stability to resist vibrations and impacts generated by the bearing capacity of the guide rails 42 and the movement of the transfer mechanisms 30.

[0049] Optionally, the guide rail 42 can be a linear guide rail 42, which provides smooth movement and high positioning accuracy. Alternatively, the guide rail 42 can employ a structure with a ball screw and a groove, where the screw simultaneously serves as both a drive and guide. Regardless of the form used, the straightness and parallelism of the guide rail 42 are calibrated to ensure a high degree of consistency in the motion trajectory of the second drive component 312 of the transfer mechanism 30 as it moves along the second direction b.

[0050] In this embodiment, by setting two guide rails 42 to be installed on the same base 41, with the same mounting plane as the reference, the position of the two guide rails 42 in the height direction is consistent, so that the second drive components 312 of the two material transfer mechanisms 30 are in the same horizontal plane in the working height, ensuring that the movement trajectory of the two material transfer mechanisms 30 in the second direction b is highly consistent, which is beneficial to improving the overall positioning accuracy when the two material transfer mechanisms 30 work together.

[0051] In some embodiments, such as Figure 3 and Figure 4 As shown, the pickup structure 32 includes a connecting plate 321 connected to the linear drive structure 31, a rotary driver 322 connected to the connecting plate 321, a sliding driver 323 connected to the drive end of the rotary driver 322, and a clamping member 324 connected to the drive end of the sliding driver 323. The rotary driver 322 is used to drive the sliding driver 323 and the clamping member 324 to rotate synchronously around the rotation axis, which extends in the vertical direction. The sliding driver 323 is used to drive the clamping member 324 to slide in the vertical direction. The clamping member 324 is used to clamp or release the target workpiece 300.

[0052] The connecting plate 321 is fixedly connected to the end of the linear drive structure 31, that is, connected to the slider of the first drive assembly 311, serving to support and install other components. The rotary driver 322 is mounted on the connecting plate 321, with its drive end facing downwards. The sliding driver 323 is connected to the drive end of the rotary driver 322, and the clamping member 324 is connected to the drive end of the sliding driver 323. Thus, when the rotary driver 322 is activated, the sliding driver 323 and the clamping member 324 rotate synchronously around the rotation axis; when the sliding driver 323 is activated, the clamping member 324 slides in the vertical direction, and the clamping member 324 is used to directly clamp or release the target workpiece 300.

[0053] Optionally, the rotary driver 322 can be in the form of a rotary cylinder, a stepper motor, or a servo motor with a reducer. The rotation axis of the rotary driver 322 extends vertically, that is, the rotation axis is parallel to the vertical direction, so that the sliding driver 323 and the clamping member 324 rotate around the vertical axis. During the rotation, the orientation of the clamping member 324 in the horizontal plane changes, but the height position of the clamping member 324 in the vertical direction remains unchanged.

[0054] The sliding actuator 323 is connected to the drive end of the rotary actuator 322 and is used to drive the clamping member 324 to slide vertically. The sliding actuator 323 can be a miniature pneumatic cylinder or an electric cylinder, with its piston rod extending and retracting vertically, and the clamping member 324 mounted on the lower end of the piston rod. When the sliding actuator 323 is activated, the clamping member 324 rises and falls vertically with the extension and retraction of the piston rod, realizing a small range of fine-tuning of the position of the clamping member 324 in the direction of approaching or moving away from the target workpiece 300. This vertical sliding function allows the clamping member 324 to perform further fine position compensation in the vertical direction after the rotary actuator 322 completes its rotation, in order to adapt to the positional differences of different target workpieces 300 in the height direction.

[0055] The clamping member 324 is connected to the drive end of the sliding actuator 323 and is used to clamp or release the target workpiece 300. The clamping member 324 can be a pneumatic gripper with two or three gripping fingers. The clamping and releasing of the target workpiece 300 is achieved by the opening and closing of the gripping fingers driven by a cylinder. A flexible pad can be provided at the contact points between the gripping fingers and the target workpiece 300 to increase friction and prevent damage to the workpiece surface. The shape of the gripping fingers can be designed to conform to the external contour of the target workpiece 300. For example, for cylindrical workpieces, the inner surface of the gripping fingers can be designed as a concave arc; for flat workpieces, the gripping fingers can be designed as flat, parallel clamping surfaces. The clamping member 324 can also adopt other forms of clamping structures, such as electric grippers or vacuum-assisted grippers, adding vacuum adsorption functionality to pneumatic clamping to further improve the reliability and stability of the pick-up.

[0056] In this embodiment, the rotary driver 322 drives the sliding driver 323 and the clamping member 324 to rotate synchronously around the vertical axis, allowing the clamping member 324 to flexibly adjust its orientation in the horizontal plane to accommodate possible angular deviations between the pick-up and placement positions of different target workpieces 300. For example, the target workpiece 300 may have a certain orientation at a preset position of the first feeding mechanism 10, while the testing station of the testing device 700 requires the workpiece to be placed in another orientation. The rotary driver 322 can adjust the posture of the workpiece during the transfer process so that the workpiece is placed into the testing device 700 at the correct angle. Similarly, when a qualified target workpiece 300 is placed into the positioning slot of the loading tray 200, if the opening direction of the positioning slot is inconsistent with the orientation of the target workpiece 300 when it is taken out of the testing device 700, the rotary driver 322 can also make adjustments.

[0057] The sliding actuator 323 enables the clamping member 324 to have independent fine-tuning capabilities in the vertical direction. Since the heights of different workstations may differ, the sliding actuator 323 can precisely compensate for the vertical position of the clamping member 324, ensuring that the clamping member 324 can perform clamping or releasing actions at an appropriate height at each workstation, without relying on the first drive component 311 in the linear drive structure 31 for large-scale lifting and lowering. This layered drive method divides the vertical position adjustment into two levels: coarse adjustment and fine adjustment. Coarse adjustment is used for rapid height switching between different workstations, while fine adjustment is used for precise height alignment at specific workstations. The combination of these two methods ensures both transfer efficiency and material release accuracy.

[0058] In some embodiments, the drive end of the rotary driver 322 is further provided with a camera 325 and a light source 326. Both the camera 325 and the light source 326 are mounted on the drive end of the rotary driver 322, rotating synchronously with the rotary driver 322 around the vertical axis along with the sliding driver 323 and the clamping member 324. The camera 325 is used to acquire image information of the target workpiece 300 or the loading tray 200, and the light source 326 is used to provide illumination for the camera 325, ensuring that the camera 325 acquires clear images under sufficient light conditions. By setting the camera 325 and the light source 326, visual positioning can be performed. Visual positioning identifies and compensates for positional deviations of the target workpiece 300 or the loading tray 200, effectively eliminating material handling deviations caused by positioning errors of the feeding mechanism, stepping errors of the loading tray 200, or accumulated mechanical errors. This ensures that the clamping member 324 can accurately align with the workpiece for picking up and accurately align with the loading tray 200 for placement each time, significantly improving the overall operational accuracy and stability of the material handling device.

[0059] In some embodiments, the first feeding mechanism 10 includes a first receiving structure 11 and a second receiving structure 12. The first receiving structure 11 has an inlet end for docking with an external feeding device to receive a target workpiece 300 from the external feeding device. The second receiving structure 12 has a feeding position for manually placing the target workpiece 300.

[0060] The first feeding mechanism 10, serving as the inlet of the target workpiece 300, can adopt a dual-path receiving structure, comprising a first receiving structure 11 and a second receiving structure 12. The first receiving structure 11 connects to an external feeding device to automate the flow of the target workpiece 300. The external feeding device can be an automated output device from the previous process, such as a PCB separator. The PCB separator cuts the panels into individual target workpieces 300 and outputs them directly to the first receiving structure 11 through its outlet. The inlet of the first receiving structure 11 is connected to the outlet of the external feeding device, and the two can be connected via a guide groove, a flexible connecting channel, or a transition conveyor belt. Optionally, the first receiving structure 11 can be a belt conveyor, where a motor drives the belt to rotate and sequentially transport the target workpieces 300 forward. This is suitable for external feeding devices to continuously supply the target workpieces 300, which are then transported to a preset position and picked up by the transfer mechanism 30. Alternatively, the target workpiece 300 can be carried by a tray and flow into the first receiving structure 11.

[0061] The second receiving structure 12 is used for manual feeding, that is, for the operator to manually place the target workpiece 300 to be tested into the device. The second receiving structure 12 has a feeding position for manually placing the target workpiece 300. The operator places the target workpiece 300 to be tested one by one into the feeding position, or places a material box or tray containing multiple target workpieces 300 as a whole into the feeding position, and then the second receiving structure 12 automatically conveys it. Optionally, the first receiving structure 11 can be a belt conveyor line, in which the target workpiece 300 is conveyed forward sequentially by a motor-driven belt rotation, so that it can be picked up by the transfer mechanism 30.

[0062] Understandably, when the target workpiece 300 fails the initial test in the testing device 700 but needs to be retested after manual review or repair, the operator can reintroduce these workpieces requiring retesting into the device through the second receiving structure 12. Similarly, when the external feeding equipment malfunctions or the feeding is interrupted, the operator can manually replenish the material through the second receiving structure 12 to maintain the continuous operation of the production line and prevent the entire production line from shutting down due to upstream material supply interruptions.

[0063] This embodiment of the application, by setting up a first receiving structure 11 and a second receiving structure 12, enables the first feeding mechanism 10 to simultaneously possess both automated docking feeding and manual feeding methods. The first receiving structure 11 docks with external feeding equipment, realizing the automated flow of the target workpiece 300 from the previous process to the testing process, reducing manual intervention, and improving feeding efficiency and the degree of automation of the production line. The second receiving structure 12 provides a supplementary method for manual feeding, enabling the device to continue operating normally in scenarios such as failure of external feeding equipment, interruption of upstream feeding, or the need for retesting, sampling inspection, or small-batch trial production. The device does not rely on a single external feeding source and has strong production adaptability and risk resistance.

[0064] In some embodiments, the material handling device further includes a defective product receiving line 50, which is arranged at an interval from the testing device 700. The defective product receiving line 50 can be used to receive target workpieces 300 that fail the test. When the target workpiece 300 fails the test, the transfer mechanism 30 picks up the target workpiece 300 that fails the test from the testing device 700 and transfers it to the defective product receiving line 50.

[0065] The present invention also proposes a circuit board testing device, which includes a material transfer device. The specific structure of the material transfer device is as described in the above embodiments. Since the circuit board testing device adopts all the technical solutions of all the above embodiments, it also has all the beneficial effects brought about by the technical solutions of the above embodiments, which will not be described in detail here.

[0066] In summary, the material handling device provided in this application, through the second feeding mechanism 20, simultaneously undertakes the functions of feeding empty trays and discharging materials from the loading tray 200. The second feeding mechanism 20 can both feed empty trays 200 and unload trays 200 carrying qualified target workpieces 300, ensuring smooth material flow without the need for additional intermediate buffer platforms or other structures, thus simplifying the overall layout of the circuit board testing equipment. Furthermore, by setting two spaced-apart transfer mechanisms 30 and constructing different motion paths, one of the transfer mechanisms 30 is responsible for transferring the target workpiece 300 to be tested. The first feeding mechanism 10 transports the workpiece to be tested to the testing device 700. Another transfer mechanism 30 is responsible for transferring the tested and qualified target workpiece 300 from the testing device 700 to the loading tray 200 at the second feeding mechanism 20. The two transfer mechanisms 30 work independently and do not interfere with each other. That is, while one transfer mechanism 30 sends the target workpiece 300 to be tested to the testing device 700, the other transfer mechanism 30 takes out the tested and qualified target workpiece 300 from the testing device 700 and transfers it to the loading tray 200. This effectively eliminates the idle waiting time in the testing process, thereby significantly improving the testing efficiency of the circuit board testing equipment.

[0067] The above are merely optional embodiments of this application and are not intended to limit this application. Various modifications and variations can be made to this application by those skilled in the art. Any modifications, equivalent substitutions, improvements, etc., made within the spirit and principles of this application should be included within the scope of the claims of this application.

Claims

1. A material handling device for use with a testing device (700), said testing device (700) for testing a target workpiece (300), characterized in that, The material transfer device includes: The first feeding mechanism (10) is used to feed the target workpiece (300); The second feeding mechanism (20) is used to feed the material tray (200). The second feeding mechanism (20) is provided with a receiving station (500) and a discharging station (600) along the first direction. The second feeding mechanism (20) is also used to drive the material tray (200) to slide between the receiving station (500) and the discharging station (600). A transfer mechanism (30) is used to drive the target workpiece (300) to move. Two transfer mechanisms (30) are arranged at intervals. One transfer mechanism (30) reciprocates between the first loading mechanism (10) and the testing device (700), and the other transfer mechanism (30) reciprocates between the second loading mechanism (20) and the testing device (700). The first feeding mechanism (10) feeds the target workpiece (300) to a preset position. One of the transfer mechanisms (30) picks up the target workpiece (300) to be tested at the first feeding mechanism (10) and transfers it to the testing device (700) for testing. The other transfer mechanism (30) picks up the target workpiece (300) that has passed the test at the testing device (700) and drives the target workpiece (300) to move to the receiving station (500). The second feeding mechanism (20) feeds the loading tray (200) to the receiving station (500). The loading tray (200) receives the target workpiece (300) at the receiving station (500) from the transfer mechanism (30) and drives the target workpiece (300) to move to the unloading station (600) for unloading.

2. The material transfer device as described in claim 1, characterized in that: The second feeding mechanism (20) includes a first conveyor line (21), a second conveyor line (22) spaced apart from the first conveyor line (21), and a conveying structure (23) disposed between the first conveyor line (21) and the second conveyor line (22). The first conveyor line (21) is used to connect to external equipment to feed the loading tray (200). Both the first conveyor line (21) and the second conveyor line (22) are used to convey the loading tray (200). The two ends of the second conveyor line (22) are... The material receiving station (500) and the material unloading station (600) are respectively connected. The conveying structure (23) is used to pick up the material tray (200) at the first conveyor line (21) and transfer it to the material receiving station (500). The first conveyor line (21) receives the material tray (200) at the conveying structure (23) and drives the material tray (200) to move to the material unloading station (600) for unloading after the target workpiece (300) has been tested and received by the material tray (200).

3. The material handling device as described in claim 2, characterized in that: The extension direction of the first conveyor line (21) and the extension direction of the second conveyor line (22) are parallel to each other, and one end of the first conveyor line (21) and one end of the second conveyor line (22) are connected to the transport structure (23).

4. The material handling device as described in claim 3, characterized in that: The first conveyor line (21) and the second conveyor line (22) extend along the first direction; the conveying structure (23) includes a frame (231), a moving drive (232) disposed on the frame (231), a lifting drive (233) connected to the moving drive (232), and a suction cup (234) connected to the lifting drive (233). The moving drive (232) is used to drive the lifting drive (233) and the suction cup (234) to move synchronously along the second direction. The lifting drive (233) is used to drive the suction cup (234) to move in the vertical direction. The suction cup (234) is used to adsorb or release the material tray (200). The first direction is set at an angle to the second direction.

5. The material handling device as described in claim 1, characterized in that: The material transfer mechanism (30) includes a linear drive structure (31) and a picking structure (32) connected to the linear drive structure (31). The picking structure (32) is used to pick up or release the target workpiece (300), and the linear drive structure (31) is used to drive the picking structure (32) to move in a straight line in three-dimensional space.

6. The material handling device as described in claim 5, characterized in that: The linear drive structure (31) includes a first drive component (311) connected to the pickup structure (32) and used to drive the pickup structure (32) to move in a vertical direction, a second drive component (312) used to drive the first drive component (311) to move in a first direction, and a third drive component (313) used to drive the second drive component (312) to move in a second direction, wherein the first direction and the second direction are perpendicular and the first direction and the second direction are horizontal.

7. The material handling device as described in claim 6, characterized in that: The material transfer device further includes a base (41) and a guide rail (42) connected to the base (41). The base (41) is located between the two material transfer mechanisms (30). Two guide rails (42) are arranged at intervals. The second drive components (312) of the two material transfer mechanisms (30) are slidably connected to the two guide rails (42). The guide rails (42) are used to guide the second drive components (312) to move along the second direction.

8. The material handling device as described in claim 5, characterized in that: The picking structure (32) includes a connecting plate (321) connected to the linear drive structure (31), a rotary driver (322) connected to the connecting plate (321), a sliding driver (323) connected to the drive end of the rotary driver (322), and a clamping member (324) connected to the drive end of the sliding driver (323). The rotary driver (322) is used to drive the sliding driver (323) and the clamping member (324) to rotate synchronously around a rotation axis, the rotation axis extending in the vertical direction. The sliding driver (323) is used to drive the clamping member (324) to slide in the vertical direction. The clamping member (324) is used to clamp or release the target workpiece (300).

9. The material handling device as described in any one of claims 1 to 8, characterized in that: The first feeding mechanism (10) includes a first receiving structure (11) and a second receiving structure (12). The first receiving structure (11) has an inlet end for docking with an external feeding device to receive the target workpiece (300) from the external feeding device. The second receiving structure (12) has a feeding position for manually placing the target workpiece (300).

10. A circuit board testing device, characterized in that: Includes the material handling device as described in any one of claims 1 to 9.

Images