Automatic PCB feeding line

Abstract

The utility model relates to an automatic PCB feeding line which comprises a fixing frame, a first board feeding device, a second board feeding device, a plugging and unclamping device and a transmission device are arranged on the fixing frame, and the devices are all electrically connected with a central controller. A plate rack vehicle is carried on the conveying device, a plate clamping frame is arranged on the plate rack vehicle, the conveying device drives the plate clamping frame to move to the position below the plugging and unplugging clamp opening device, the plugging and unplugging clamp opening device grabs the plate clamping frame and opens plate clamps, and the first plate feeding device places PCBs on a PCB positioning table of the second plate feeding device after taking the PCBs through a first mechanical arm. After the second board feeding device accurately positions the position of the PCB, a second manipulator grabs the PCB at a fixed point and places the PCB on a clamping plate frame so as to accurately clamp the PCB, the plugging and unplugging device puts the clamping plate frame provided with the PCB back to the board rack vehicle, and then the operation is circulated to install the PCB and the clamping plate frame in a matched mode; the board feeding line can fully automatically complete the actions of feeding, aligning, unclamping and mounting the PCB, and is suitable for a full-automatic production process.

Description

Technical Field

[0001] The utility model relates to the field of automated manufacturing of PCB circuit boards, in particular to an automatic PCB loading line. Background Art

[0002] Currently, in the field of circuit board manufacturing, high-end intelligent, fully automated production is an ongoing trend. Existing production lines all use semi-automatic or fully automated methods for loading circuit boards. However, existing automation only involves transferring PCBs from loading carts to the production line via robotic arms. Currently, for automated production of the PLASMA process, the plywood frames carrying PCBs need to be placed vertically and evenly spaced in the PLASMA plasma degumming machine, and then removed after degumming is complete. However, the operations required to accurately position the PCBs on the plywood frames are extremely complex. Existing PCB production processes rarely achieve full automation, with only semi-automatic loading being the norm, hindering the development of intelligent, fully automated PCB manufacturing. This requires the development of a fully automated PCB loading line that can be used with the PLASMA plasma degumming machine. Utility Model Content

[0003] In order to overcome the above problems, the present invention provides a PCB automatic loading line. The technical solutions adopted by the present invention to solve the technical problems are as follows:

[0004] A PCB automatic loading line includes a fixed frame, on which a first loading device, a second loading device, a plug-in and unclamping device and a transmission device are provided, and the above devices are all electrically connected to a central controller; the first loading device and the second loading device are arranged side by side, the plug-in and unclamping device is located on one side of the second loading device, and the transmission device passes under the plug-in and unclamping device; wherein the transmission device includes a first motor, the first motor is connected to a first linear slide module, the first linear slide module is equipped with a plate rack, the plate rack is provided with a clamping frame that can be plugged in and out of the plate, the clamping frame is provided with a plate clamp, and the first linear slide module drives the clamping frame to move under the plug-in and unclamping device; the plug-in and unclamping device includes a plug-in mechanism and an unclamping mechanism The plug-in and pull-out mechanism includes a second motor, which is connected to the second linear slide module. The second linear slide module is provided with a grabbing assembly to grab and drive the clamp frame to move up and down; the clamping mechanism includes an opening cylinder, and the opening cylinder is provided with an opening piece at the movable end. The opening cylinder drives the opening piece to extend / retract to open / close the board clamp; the second board loading device includes a PCB board positioning table and a second manipulator. A visual camera is provided above the PCB board positioning table to obtain the position information of the PCB board. The second manipulator grabs the PCB board and transfers it to the clamp frame; the first board loading device includes a PCB board lifting platform and a first manipulator. The first manipulator grabs the PCB board from the PCB board lifting platform and transfers it to the PCB board positioning table.

[0005] Furthermore, a first coordinate sensor electrically connected to the central controller is provided on the first linear slide module to construct a coordinate system of the transmission device.

[0006] Furthermore, a second coordinate sensor electrically connected to the central controller is provided on the second linear slide module to construct a coordinate system of the plugging and unplugging clamping device.

[0007] Furthermore, the second motor is connected to two vertically arranged second linear slide modules through a transmission rod; the grabbing assembly includes a grabbing cylinder, the movable end of the grabbing cylinder is provided with a locking piece, and both sides of the splint frame are provided with locking grooves, and the grabbing cylinder drives the locking piece to engage in the locking groove to grab the splint frame.

[0008] Furthermore, the splint frame includes fixed frame bars and movable frame bars parallel to each other, and plate clamps are provided on the fixed frame bars and the movable frame bars. A splint area is formed between the fixed frame bars and the movable frame bars, and the movable frame bars can move relative to the fixed frame bars to adjust the size of the splint area.

[0009] Furthermore, the clamping mechanism includes a main frame, both sides of which are slidably connected to the fixed frame through a sliding cylinder, a position sensor is provided on the sliding cylinder to determine the moving position of the main frame, and an opening cylinder is provided on the main frame; the sliding cylinder drives the main frame close to the grabbing assembly and abuts against the clamping plate frame, and the opening piece extends to open the plate clamp.

[0010] Furthermore, a rotating telescopic cylinder is provided on the main frame, and a stabilizing head is provided at the movable end of the rotating telescopic cylinder. The rotating telescopic cylinder can drive the stabilizing head to extend / rotate / retract to abut and stabilize the splint frame.

[0011] Furthermore, a third motor is provided on the main frame, and the third motor is connected to the third linear slide module. A movable frame is provided on the third linear slide module, and the moving direction of the movable frame is consistent with the moving direction of the movable frame bar; an alignment cylinder is provided on the movable frame, and an alignment head is provided at the movable end of the alignment cylinder, and an alignment hole is provided on the movable frame bar accordingly. The alignment cylinder drives the alignment head to penetrate the alignment hole to dock the movable frame bar, and the third motor drives the movable frame to drive the movable frame bar to move to adjust the size of the splint area; the movable frame is correspondingly provided with a clamping cylinder and a rotating and telescopic cylinder.

[0012] Furthermore, a third coordinate sensor electrically connected to the central controller is provided on the third linear slide module to construct a coordinate system of the moving frame.

[0013] Furthermore, the first loading device also includes a scanner electrically connected to the central controller, and the scanner can obtain size information of the PCB board on the PCB board lifting platform and transmit it back to the central controller.

[0014] The beneficial effects of the utility model are:

[0015] The automatic PCB loading line includes a fixed frame, on which are provided a first loading device, a second loading device, a plug-in and clamping device, and a transmission device, and all of the above devices are electrically connected to a central controller; the first loading device and the second loading device are arranged side by side, the plug-in and clamping device is located on one side of the second loading device, and the transmission device passes under the plug-in and clamping device. The transmission device is equipped with a plate rack, and a clamping frame is provided on the plate rack. The transmission device drives the clamping frame to move under the plug-in and unclamping device. The plug-in and unclamping device grabs the clamping frame and opens the board clamp. The first loading device takes the board through the first manipulator and places the PCB board on the PCB board positioning table of the second loading device. The second loading device accurately locates the position of the PCB board and then grabs the PCB board at a fixed point through the second manipulator and places it on the clamping frame to accurately clamp the PCB board. The plug-in and unclamping device then puts the clamping frame with the PCB board installed back onto the plate rack, and then repeats the above operations to match and install the PCB board and the clamping frame. The loading line can automatically complete the action of loading, aligning, clamping and installing the PCB board, which is suitable for fully automatic production processes. BRIEF DESCRIPTION OF THE DRAWINGS

[0016] The present invention will be further described below with reference to the accompanying drawings and specific embodiments, wherein:

[0017] Figure 1 This is a three-dimensional view of the utility model upper and lower plate automatic line;

[0018] Figure 2 This is the main view of the utility model's upper and lower plate automatic line after removing the fixing frame;

[0019] Figure 3 This is an exploded view of the upper and lower plate automatic line of the utility model after removing the fixing frame;

[0020] Figure 4 This is an exploded view and a partially enlarged view of the transmission device of the present invention;

[0021] Figure 5 This is an exploded view and a partial enlarged view of the plug-in and unclamping device of the utility model;

[0022] Figure 6 It is a three-dimensional view of the plywood frame of the present utility model;

[0023] Figure 7 This is a three-dimensional view and a partial enlarged view of the clamping mechanism of the utility model;

[0024] Figure 8 This is an exploded view and a partially enlarged view of the clamping mechanism of the present invention.

[0025] Figure number mark:

[0026] 100, fixed frame;

[0027] 200, transmission device; 201, first motor; 202, first linear slide module; 2021, first coordinate sensor; 203, plate carriage; 204, plate clamping frame; 2041, fixed frame bar; 2042, movable frame bar; 2043, positioning slot; 2044, alignment hole; 205, plate clamp; 206, plate clamping area;

[0028] 300, plug-in / unplug-out clamping device; 310, plug-in / unplug mechanism; 311, second motor; 312, second linear slide module; 3121, second coordinate sensor; 313, transmission rod; 320, clamping mechanism; 321, main frame; 322, clamping cylinder; 3221, clamping member; 323, slide cylinder; 324, position sensor; 325, rotary / telescopic cylinder; 3251, stabilizing head; 326, third motor; 327, third linear slide module; 3271, third coordinate sensor; 328, movable frame; 329, alignment cylinder; 3291, alignment head; 330, grabbing assembly; 331, grabbing cylinder; 332, positioning member;

[0029] 400, second board loading device; 401, PCB board positioning platform; 402, second manipulator; 403, visual camera;

[0030] 500, first loading device; 501, PCB board lifting platform; 502, first manipulator; 503, scanner. DETAILED DESCRIPTION

[0031] In order to better understand the purpose, structure and function of the present invention, the following is a further detailed description of a specific embodiment of the present invention "a PCB loading and unloading automatic line" in conjunction with the accompanying drawings.

[0032] See also Figures 1-8In this embodiment, the PCB automatic loading line includes a fixing frame 100, on which a first loading device 500, a second loading device 400, a plug-in and clamping device 300 and a transmission device 200 are provided, and the above devices are all electrically connected to a central controller (not shown); the first loading device 500 and the second loading device 400 are arranged side by side, the plug-in and clamping device 300 is located on one side of the second loading device 400, and the transmission device 200 passes under the plug-in and clamping device 300. The transmission device 200 includes a first motor 201, which is connected to a first linear slide module 202. A plate frame trolley 203 is mounted on the first linear slide module 202. A fixing mechanism is provided on the first linear slide module 202 to fix the plate frame trolley 203 on the slide of the first linear slide module 202. The plate frame 203 is detachably provided with a plurality of vertically evenly spaced clamping frames 204 that can be plugged in and out up and down. The clamping frame 204 is provided with a board clamp 205 to clamp and fix the PCB board. The first linear slide module 202 drives the slide to move forward and backward to drive the clamping frame 204 to move to directly below the plug-in and unplugging device 300. The plug-in and unplugging device 300 includes a plug-in mechanism 310 and an unplugging mechanism 320. The plug-in mechanism 310 includes a second motor 311. The second motor 311 is connected to the second linear slide module 312. The second linear slide module 312 is provided with a grabbing assembly 330 to grab and drive the clamping frame 204 to move up and down to mount the PCB board onto the clamping frame 204 or insert the clamping frame 204 back onto the board rack 203; the unplugging mechanism 320 includes an unplugging cylinder 322. The movable end of the unplugging cylinder 322 is provided with an unplugging piece 3221. The unplugging cylinder 322 drives the unplugging piece 3221 to extend / retract to open / close the board clamp 205, completing a fully automatic unplugging / closing action. The second loading device 400 includes a PCB positioning platform 401 and a second manipulator 402. A visual camera 403 is located above the PCB positioning platform 401. The visual camera 403 can obtain the precise position information of the PCB board and feedback it to the central controller, instructing the second manipulator 402 to locate and grasp the PCB board and transfer it to the clamping frame 204 to complete the loading operation. The first loading device 500 includes a PCB lifting platform 501 and a first manipulator 502. The PCB lifting platform 501 is loaded with a pile of PCB boards transferred from the previous process. The PCB lifting platform 501 is equipped with a height sensor that senses the height of the PCB board stack and feeds this information back to the central processing unit. The central processing unit controls the lifting and lowering of the PCB lifting platform 501 to always keep the top PCB board at an optimal height for easy grasping. The first manipulator 502 grabs the PCB board from the PCB lifting platform 501 and transfers it to the PCB positioning platform 401.

[0033] See further Figure 5It should be noted that, in this embodiment, the second motor 311 is connected to two vertically symmetrically arranged second linear slide modules 312 through a transmission rod 313, and the two linear slide modules 312 are symmetrically provided with grabbing components 330, and the two grabbing components 330 are controlled by one motor to move up and down synchronously, stably grabbing and driving the splint frame 204 to move up and down; the grabbing component 330 includes a grabbing cylinder 331, and the movable end of the grabbing cylinder 331 is provided with a locking piece 332, and both sides of the splint frame 204 are provided with a locking groove 2043, and the grabbing cylinder 331 drives the locking piece 332 to engage in the locking groove 2043 to stably grab the splint frame 204.

[0034] See further Figure 4 and Figure 5 In this embodiment, a first coordinate sensor 2021 electrically connected to the central controller is provided on the first linear slide module 202 to construct a coordinate system of the transmission device 200 in the central controller, so that each splint frame 204 can be accurately controlled to move to the bottom of the grabbing component 330, so that the grabbing component 330 can grab and plug and unplug the splint frame 204 up and down; a second coordinate sensor 3121 electrically connected to the central controller is provided on the second linear slide module 312 to construct a coordinate system of the plugging and unplugging device 300 in the central controller, so that the upward and downward strokes of the grabbing component 330 can be accurately controlled to complete the automated process of lifting the splint frame 204 upward to the required height or plugging it back into the plate rack vehicle 203.

[0035] See further Figure 6 In this embodiment, the splint frame 204 includes a fixed frame bar 2041 and a movable frame bar 2042 parallel to each other. Board clamps 205 are provided on the fixed frame bar 2041 and the movable frame bar 2042. A splint area 206 is formed between the fixed frame bar 2041 and the movable frame bar 2042. The movable frame bar 2042 can be moved relative to the fixed frame bar 2041 to adjust the size of the splint area 206. In this way, the automated production of PCB boards of different sizes can be met without replacing the splint frame 204.

[0036] See further Figure 6-Figure 8 In this embodiment, the clamping mechanism 320 includes a main frame 321, and both sides of the main frame 321 are slidably connected to the fixed frame 100 through a sliding cylinder 323. A position sensor 324 is provided on the sliding cylinder 323 to ensure that the sliding cylinder 323 drives the front end of the main frame 321 to move to a position just abutting the clamping plate frame 204. An opening cylinder 322 is provided on the main frame 321; the sliding cylinder 323 drives the main frame 321 to approach the grabbing assembly 330 and abut the clamping plate frame 204, and the opening member 3221 extends to open the plate clamp 205.

[0037] More specifically, in this embodiment, a rotating telescopic cylinder 325 is provided on the main frame 321, and a stabilizing head 3251 is provided at the movable end of the rotating telescopic cylinder 325. The rotating telescopic cylinder 325 can drive the stabilizing head 3251 to extend / rotate / retract to abut and stably clamp the splint frame 204, so that when the second manipulator 402 puts the plate on the splint frame 204, the splint frame 204 will not shake, while ensuring the accuracy and stability of the plate and the splint.

[0038] More specifically, in this embodiment, a third motor 326 is further provided on the main frame 321, and the third motor 326 is connected to the third linear slide module 327. A movable frame 328 is provided on the third linear slide module 327. Both ends of the movable frame 328 are slidably connected to the main frame 321 through a slide rail mechanism to further improve its stability when moving up and down. The moving direction of the movable frame 328 is consistent with the moving direction of the movable frame bar 2042, and both are linearly moved in the up and down directions. A positioning cylinder 329 is installed, with an alignment head 3291 at its movable end. The movable frame strip 2042 has corresponding alignment holes 2044. The positioning cylinder 329 drives the alignment head 3291 into the alignment holes 2044 to align with the movable frame strip 2042. A third motor 326 drives the movable frame 328 to move the movable frame strip 2042 to adjust the size of the clamping area 206. The movable frame 328 is also equipped with a clamping cylinder 322 and a rotating and retracting cylinder 325. This arrangement, controlled by a central controller, automatically adjusts the size of the clamping area 206, eliminating the need for manual adjustment based on PCB board sizes. This further improves the efficiency of automated PCB production.

[0039] At the same time, in this embodiment, a third coordinate sensor 3271 electrically connected to the central controller is provided on the third linear slide module 327 to construct a coordinate system of the mobile frame 328 in the central controller, and the size of the clamping area 206 of the clamping frame 204 is accurately adjusted through the mobile frame 328 according to the corresponding size of the PCB board produced.

[0040] See further Figure 3 In this embodiment, the first loading device 500 also includes a scanner electrically connected to the central controller. The scanner can obtain the size information of the PCB board on the PCB board lifting platform 501 and transmit it back to the central controller to guide the movable frame 328 to accurately adjust the size of the clamping area 206 of the clamping frame 204.

[0041] It should be noted that the above-mentioned linear slide module can be a screw slide module or a synchronous belt slide module, and the synchronous belt slide module is preferred. The synchronous belt drive has an accurate transmission ratio, no slip, can obtain a constant speed ratio, smooth transmission, can absorb vibration, has low noise, and a large transmission ratio range, generally up to 1:10. The allowable linear speed can reach 50M / S, and the transmission power ranges from a few watts to hundreds of kilowatts. The transmission efficiency is high, generally up to 98%, the structure is compact, suitable for multi-axis transmission, no lubrication, no pollution, so it can work normally in places where pollution is not allowed and the working environment is relatively harsh. At the same time, all the above-mentioned motors, sensors, cylinders and other signal transmission or power drive components are electrically connected to the central controller, and the automatic line is through the central controller for signal acquisition and actuation. Through the setting of the central controller and the coordinate sensor, the precise control of the movable position of the displacement stroke can be achieved, and there is no need to set other additional in-place sensors and limit mechanisms. Through more intelligent solutions, complex settings are expected to be simplified.

[0042] In summary, the operation process of the PCB upper and lower plate automatic line is summarized as follows: the transmission device 200 will drive the plate rack car 203 to move, so that the first clamping frame 204 is located directly below the grabber assembly, and then the plug-in mechanism controls the grabber assembly to move downward, and the grabbing cylinder of the grabber assembly positions and fixes the clamping frame 204, and then drives the clamping frame 204 upward to the fixed upper plate position, and the clamping frame 204 is pulled out and separated from the plate rack car 203, and then the clamping mechanism 320 is actuated, and the slide cylinder 323 drives the front end surface of the main frame 321 to move and press the clamping frame 204. The rotating telescopic cylinder 325 drives the stabilizing head 3251 to extend, rotate, and retract to stably clamp the clamping plate frame 204. The positioning cylinder 329 drives the positioning head 3291 to penetrate the positioning hole 2044 of the movable frame bar 2042 to complete the positioning of the movable frame 328 and the movable frame bar 2042. At the same time, the limit of the movable frame bar 2042 is released, so that the movable frame bar 2042 can move relative to the fixed frame bar 2041 (under normal conditions, the movable frame bar 2042 will be kept at a fixed distance from the fixed frame bar 2041 by a limit mechanism. In this state, it cannot move relative to the fixed frame bar 2041). 041 slides), the third motor 326 drives the mobile frame 328 to move the mobile frame bar 2042, adjusts the clamping area 206 to the corresponding size, and the clamping cylinder 322 drives the clamping piece 3221 to extend to open the board clamp 205; while the above process is being carried out, the first board loading device 500 and the second board loading device 400 are also running synchronously, the scanner 503 identifies the PCB board size information and uploads it to the central controller, the first manipulator transfers the PCB board to the PCB board positioning table 401, and then the visual camera 403 takes a picture to obtain the specific information of the PCB board. The body position information guides the second manipulator 402 to accurately grasp the PCB board and transfer it to the clamping frame 204. After that, the rotating and telescopic cylinder 325, the positioning cylinder 329 and the sliding cylinder 323 of the clamping mechanism 320 all retreat, the board clamp 205 closes and clamps the PCB board, and the plug-in mechanism 310 drives the clamping frame 204 installed with the PCB board downward and plugs it back to the original position of the plate rack car 203. The grabbing cylinder 331 retreats and releases the clamping frame 204, and then repeats the above steps until all the PCB boards are installed on the clamping frame 204 on the plate rack car 203.

[0043] It is understood that the present invention is described by way of certain embodiments, and those skilled in the art will appreciate that various changes or equivalent substitutions may be made to these features and embodiments without departing from the spirit and scope of the present invention. Furthermore, under the guidance of the present invention, these features and embodiments may be modified to suit specific circumstances and materials without departing from the spirit and scope of the present invention. Therefore, the present invention is not limited to the specific embodiments disclosed herein, and all embodiments falling within the scope of the claims of this application are intended to be protected by the present invention.

[0044] In the description of this utility model, it should be noted that the terms "center," "upper," "lower," "left," "right," "vertical," "horizontal," "inner," and "outer," etc., indicating positions or relationships, are based on the positions or relationships shown in the accompanying drawings and are intended solely to facilitate the description of this utility model and simplify the description. They do not indicate or imply that the devices or components referred to must have a specific orientation, be constructed, or operate in a specific orientation. Therefore, they should not be construed as limitations on this utility model. Furthermore, the terms "first," "second," and "third" are used for descriptive purposes only and should not be construed as indicating or implying relative importance.

Claims

1. A PCB automatic loading line, characterized in that: The invention comprises a fixing frame (100), on which a first upper plate device (500), a second upper plate device (400), a plugging and unplugging clamping device (300) and a transmission device (200) are arranged, and the above-mentioned devices are all electrically connected to a central controller; the first upper plate device (500) and the second upper plate device (400) are arranged side by side, the plugging and unplugging clamping device (300) is located on one side of the second upper plate device (400), and the transmission device (200) passes under the plugging and unplugging clamping device (300); wherein, The transmission device (200) comprises a first motor (201), the first motor (201) is connected to a first linear slide module (202), a plate rack (203) is mounted on the first linear slide module (202), a plate rack frame (204) that can be plugged in and out upwards and downwards is provided on the plate rack (203), a plate clamp (205) is provided on the plate clamp frame (204), and the first linear slide module (202) drives the plate clamp frame (204) to move below the plug-in and unplug-unclamp device (300); The plug-in and unplug-clamping device (300) comprises a plug-in mechanism (310) and an unclamping mechanism (320), wherein the plug-in mechanism (310) comprises a second motor (311), wherein the second motor (311) is connected to a second linear slide module (312), wherein a gripping assembly (330) is provided on the second linear slide module (312) to grip and drive the clamping plate frame (204) to move up and down; the unclamping mechanism (320) comprises an unclamping cylinder (322), wherein an unclamping member (3221) is provided at a movable end of the unclamping cylinder (322), wherein the unclamping cylinder (322) drives the unclamping member (3221) to extend / retract to open / close the plate clamp (205); The second board loading device (400) comprises a PCB board positioning platform (401) and a second manipulator (402); a visual camera (403) is arranged above the PCB board positioning platform (401) to obtain the position information of the PCB board; the second manipulator (402) grabs the PCB board and transfers it to the clamping frame (204); The first board loading device (500) comprises a PCB board lifting platform (501) and a first manipulator (502); the first manipulator (502) grabs a PCB board from the PCB board lifting platform (501) and transfers it to the PCB board positioning platform (401).

2. The PCB automatic loading line according to claim 1, characterized in that: The first linear slide module (202) is provided with a first coordinate sensor (2021) electrically connected to the central controller to construct a coordinate system of the transmission device (200).

3. The PCB automatic loading line according to claim 2, characterized in that: The second linear slide module (312) is provided with a second coordinate sensor (3121) electrically connected to the central controller to construct a coordinate system of the plugging, unplugging and unclamping device (300).

4. The PCB automatic loading line according to claim 3, characterized in that: The second motor (311) is connected to two vertically arranged second linear slide modules (312) via a transmission rod (313); the grabbing assembly (330) comprises a grabbing cylinder (331), a movable end of the grabbing cylinder (331) is provided with a locking piece (332), and both sides of the clamping plate frame (204) are provided with locking grooves (2043), and the grabbing cylinder (331) drives the locking piece (332) to be locked into the locking groove (2043) to grab the clamping plate frame (204).

5. A PCB automatic loading line according to any one of claims 1 to 4, characterized in that: The clamping plate frame (204) comprises a fixed frame bar (2041) and a movable frame bar (2042) which are parallel to each other. The plate clamp (205) is arranged on the fixed frame bar (2041) and the movable frame bar (2042). A clamping plate area (206) is formed between the fixed frame bar (2041) and the movable frame bar (2042). The movable frame bar (2042) can move relative to the fixed frame bar (2041) to adjust the size of the clamping plate area (206).

6. The PCB automatic loading line according to claim 5, characterized in that: The clamping mechanism (320) includes a main frame (321), both sides of the main frame (321) are slidably connected to the fixed frame (100) through a sliding cylinder (323), a position sensor (324) is provided on the sliding cylinder (323) to determine the moving position of the main frame (321), and the clamping cylinder (322) is provided on the main frame (321); the sliding cylinder (323) drives the main frame (321) to approach the grasping assembly (330) and abut against the clamping plate frame (204), and the clamping member (3221) extends to open the plate clamp (205).

7. The PCB automatic loading line according to claim 6, characterized in that: The main frame (321) is provided with a rotating telescopic cylinder (325), and the movable end of the rotating telescopic cylinder (325) is provided with a stabilizing head (3251). The rotating telescopic cylinder (325) can drive the stabilizing head (3251) to extend / rotate / retract to abut against and stabilize the clamping plate frame (204).

8. The PCB automatic loading line according to claim 7, characterized in that: The main frame (321) is also provided with a third motor (326), the third motor (326) is connected to a third linear slide module (327), the third linear slide module (327) is provided with a moving frame (328), the moving direction of the moving frame (328) is consistent with the moving direction of the moving frame bar (2042); the moving frame (328) is provided with an alignment cylinder (329), the movable end of the alignment cylinder (329) is provided with an alignment head (3291), the moving frame bar ( The movable frame (2042) is provided with an alignment hole (2044) correspondingly, the alignment cylinder (329) drives the alignment head (3291) to penetrate the alignment hole (2044) to dock with the movable frame bar (2042), and the third motor (326) drives the movable frame (328) to drive the movable frame bar (2042) to move so as to adjust the size of the clamping plate area (206); the clamping cylinder (322) and the rotating and telescopic cylinder (325) are correspondingly provided on the movable frame (328).

9. The PCB automatic loading line according to claim 8, characterized in that: The third linear slide module (327) is provided with a third coordinate sensor (3271) electrically connected to the central controller to construct a coordinate system of the mobile frame (328).

10. The PCB automatic loading line according to claim 9, characterized in that: The first loading device (500) further comprises a scanner electrically connected to the central controller, and the scanner can obtain size information of the PCB board on the PCB board lifting platform (501) and transmit it back to the central controller.

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