Full-automatic production equipment for GPS antenna

Abstract

The utility model relates to the technical field of GPS (Global Positioning System) antenna production, in particular to full-automatic production equipment for a GPS antenna, which realizes surface cleaning, double-sided printing, pin insertion, solder paste brushing and welding, process processing and blanking and placing of a substrate, is high in automation degree, reduces the labor cost and the labor intensity, and greatly improves the production efficiency of the GPS antenna.

Description

Technical Field

[0001] The utility model relates to the technical field of GPS antenna production, in particular to a fully automatic production device for GPS antennas. Background Art

[0002] GPS antennas, also known as Beidou antennas, require double-sided printing, pin insertion, soldering, and soldering on ceramic substrates during production. Existing patents include Chinese patent application number 201810421404.6, which discloses a Beidou antenna double-sided printing system capable of automatically printing both sides of ceramic substrates. Chinese patent application number 202120507907.2, which discloses a Beidou navigation antenna pin soldering turntable, capable of automatically inserting and applying solder to ceramic substrates. This demonstrates that existing technologies require double-sided printing on one piece of equipment before transferring the printed ceramic substrates to another set of equipment for pin insertion and soldering. This represents semi-automated production of GPS antennas, resulting in suboptimal production efficiency. This presents significant drawbacks, necessitating an urgent need for a solution. Utility Model Content

[0003] In order to solve the above technical problems, the purpose of the present invention is to provide a fully automatic production equipment for GPS antennas.

[0004] In order to achieve the above purpose, the utility model adopts the following technical solutions:

[0005] A fully automatic production equipment for GPS antennas, which includes a machine and a substrate supply device, a first transition table, a surface cleaning device, a first printing device, a second transition table, a first heating table, a first cooling table, a third transition table, a first flipping device, a second printing device, a fourth transition table, a second heating table, a second cooling table, a fifth transition table, a visual inspection device, a sixth transition table, a pin insertion device, a seventh transition table, a solder paste brushing device, an eighth transition table, a third heating table, a third cooling table, a ninth transition table, a second flipping device, a process processing device, a tenth transition table and a blanking and swinging device, a first progressive feeding robot is movably arranged between the first transition table, the surface cleaning device, the first printing device and the second transition table, a first transfer robot is movably arranged between the second transition table, the first heating table and the first cooling table, a second transfer robot is movably arranged between the first cooling table and the third transition table, and a A second progressive feeding robot is movably arranged between the ferry platform, the first flipping device, the second printing device and the fourth transition platform, a third transfer robot is movably arranged between the fourth transition platform, the second heating platform and the second cooling platform, a fourth transfer robot is movably arranged between the second cooling platform and the fifth transition platform, a loading and unloading robot is movably arranged between the fifth transition platform, the visual inspection device and the sixth transition platform, a third progressive feeding robot is movably arranged between the sixth transition platform, the pin insertion device, the seventh transition platform, the solder paste brushing device and the eighth transition platform, a fifth transfer robot is movably arranged between the eighth transition platform, the third heating platform and the third cooling platform, a sixth transfer robot is movably arranged between the third cooling platform and the ninth transition platform, a fourth progressive feeding robot is movably arranged between the ninth transition platform, the second flipping device, the process processing device and the tenth transition platform, and the unloading and panning device is used to unload and pan the substrate carried by the tenth transition platform.

[0006] Furthermore, the substrate supply device includes a carrier plate arranged on the machine, an upper CCD vision mechanism installed on the machine and mounted above the carrier plate, a lower CCD vision mechanism installed on the machine, and a substrate supply robot movably arranged between the carrier plate, the lower CCD vision mechanism and the first transition table.

[0007] Furthermore, the surface cleaning device includes a cleaning platform installed on the machine platform and a cleaning mechanism movably arranged above the cleaning platform, and the cleaning platform is used to carry the substrate.

[0008] Furthermore, the first printing device and the second printing device both include a printing platform mounted on the machine platform and a screen printing mechanism movably arranged above the printing platform, and the printing platform is used to carry the substrate.

[0009] Furthermore, the first flipping device and the second flipping device each include a flipping platform mounted on the machine platform and a flipping robot movably disposed above the flipping platform, and the flipping platform is used to carry the substrate.

[0010] Furthermore, the visual inspection device includes a visual inspection camera and an NG material box respectively installed on the machine. The visual inspection camera is electrically connected to the loading and unloading robot. The visual inspection camera is used to perform visual positioning and appearance quality inspection on the substrate picked up by the loading and unloading robot. The NG material box is used to carry substrates with unqualified appearance quality.

[0011] Furthermore, the pin insertion device includes a pin insertion platform installed on the machine, a pin insertion mechanism arranged on one side of the pin insertion platform, and a pin insertion robot movably arranged above the pin insertion mechanism and the pin insertion platform. The pin insertion platform is used to carry the substrate.

[0012] Furthermore, the solder paste brushing device includes a solder paste brushing platform installed on the machine and a solder paste brushing mechanism movably arranged above the solder paste brushing platform, and the solder paste brushing platform is used to carry the substrate.

[0013] Furthermore, the process processing device includes a process processing platform installed on the machine and a process processing execution unit movably arranged above the process processing platform. The process processing platform is used to carry the substrate, and the process processing execution unit is a back-adhesive mechanism for affixing back glue to the substrate or a coding mechanism for coding the substrate.

[0014] Furthermore, the unloading and tray-swaying device includes a tray-swaying robot installed on the machine, a tray conveying mechanism installed on the machine, and a tray-discharging mechanism and a tray-receiving mechanism respectively installed on the machine and erected above the tray conveying mechanism. The tray conveying mechanism is provided with a tray-swaying position, which is located between the tray-discharging mechanism and the tray-receiving mechanism. The tray-swaying robot is movably arranged between the tenth transition platform and the tray-swaying position. The tray-discharging mechanism is used to place trays on the tray conveying mechanism, and the tray-receiving mechanism is used to collect trays on the tray conveying mechanism.

[0015] The beneficial effects of the present utility model are as follows: in actual application, the substrate supply device supplies the substrate to the first transition table, the first feeding claw of the first feeder feeding robot transfers the substrate on the first transition table to the surface cleaning device, and the surface cleaning device cleans the surface of the substrate. At the same time, the second feeding claw of the first feeder feeding robot transfers the cleaned substrate to the first printing device, and the first printing device prints a silver layer on the first surface of the substrate. The third feeding claw of the first feeder feeding robot transfers the substrate after printing the silver layer to the second transition table, and the first transfer robot transfers the substrate on the second transition table to the first heating table for heating. The first transfer robot then transfers the substrate that has been heated on the first heating table to the first cooling table for cooling Cooling, the second transfer robot transfers the substrate that has completed cooling on the first cooling table to the third transition table, the first feeding claw of the second feed feeding robot transfers the substrate on the third transition table to the first flipping device, the first flipping device flips the substrate so that the front and back of the substrate are turned over, the second feeding claw of the second feed feeding robot transfers the flipped substrate to the second printing device, the second printing device prints a silver layer on the second surface of the substrate, the third feeding claw of the second feed feeding robot transfers the printed substrate to the fourth transition table, the third transfer robot first transfers the substrate on the fourth transition table to the second heating table for heating, and then transfers the substrate after heating on the second heating table to the second cooling table for cooling, the The fourth transfer robot transfers the substrate that has completed cooling on the second cooling table to the fifth transition table. The loading and unloading robot first picks up the substrate on the fifth transition table, and then transfers the substrate to the visual inspection device for visual positioning and visual inspection, and then places the substrate on the sixth transition table. The first feeding claw of the third progressive feeding robot transfers the substrate on the sixth transition table to the pin insertion device, and the pin insertion device inserts the pin into the socket of the substrate. The second feeding claw of the third progressive feeding robot transfers the substrate after the pin is inserted to the seventh transition table. The third feeding claw of the third progressive feeding robot transfers the substrate on the seventh transition table to the solder paste brushing device, and the solder paste brushing device applies solder paste to the pin position of the substrate after the pin is inserted. The fourth feeding claw of the third progressive feeding robot The substrate is transferred to the eighth transition table, the fifth transfer robot first transfers the substrate on the eighth transition table to the third heating table for heating, so that the solder paste solders the pins in the sockets of the substrate, and then transfers the substrate after heating on the third heating table to the third cooling table for cooling. The sixth transfer robot transfers the substrate after cooling on the third cooling table to the ninth transition table, the first feeding claw of the fourth feeder feeding robot transfers the substrate on the ninth transition table to the second flipping device, the second flipping device flips the substrate so that the front and back of the substrate are turned over, the second feeding claw of the fourth feeder feeding robot transfers the flipped substrate to the process processing device, and the process processing device performs the required process processing on the substrate (such as: back glue or coding, etc.).The third feeding claw of the fourth progressive feeding robot transfers the processed substrate to the tenth transition table, where the unloading and swivel device unloads and swivels the substrate carried by the tenth transition table. This utility model completes the process of surface cleaning, double-sided printing, pin insertion, solder paste application and soldering, processing, and unloading and swivel, achieving a high degree of automation, reducing labor costs and intensity, and significantly improving the efficiency of GPS antenna production. BRIEF DESCRIPTION OF THE DRAWINGS

[0016] Figure 1 It is a top view of the utility model.

[0017] Figure 2 It is a schematic diagram of the three-dimensional structure of the substrate supply device, the first transition table, the surface cleaning device, the first printing device and the first progressive feeding robot of the present invention.

[0018] Figure 3 It is a three-dimensional structural schematic diagram of the pin insertion device, the seventh transition platform and the solder paste brushing device of the present invention.

[0019] Figure 4 It is a schematic diagram of the three-dimensional structure of the second turning device and the processing device of the utility model.

[0020] Figure 5 It is a schematic diagram of the three-dimensional structure of the material unloading and plate-stirring device of the present invention.

[0021] Description of reference numerals:

[0022] 1. Machine; 2. Substrate supply device; 3. First transition station; 4. Surface cleaning device; 5. First printing device; 6. Second transition station; 7. First heating station; 8. First cooling station; 9. Third transition station; 10. First flipping device; 11. Second printing device; 12. Fourth transition station; 13. Second heating station; 14. Second cooling station; 15. Fifth transition station; 16. Visual inspection device; 17. Sixth transition station; 18. Pin insertion device; 19. Seventh transition station; 20. Solder paste brushing device; 21. Eighth transition station; 22. Third heating station; 23. Third cooling station; 24. Ninth transition station; 25. Second flipping device; 26. Processing device; 27. Tenth transition station; 28. Unloading and plate-switching device; 29. ​​First feeder robot; 30. First transfer robot; 31. Second transfer robot; 32. Second feeder robot; 33 , the third transfer robot; 34, the fourth transfer robot; 35, the loading and unloading robot; 36, the third progressive feeding robot; 37, the fifth transfer robot; 38, the sixth transfer robot; 39, the fourth progressive feeding robot; 40, the carrier; 41, the upper CCD vision mechanism; 42, the lower CCD vision mechanism; 43, the substrate supply robot; 44, the cleaning platform; 45, the cleaning mechanism; 46, the printing platform; 47, the screen printing mechanism; 48, the flip platform; 49, the flip robot; 50, the visual inspection camera; 51, the NG material box; 52, the pin carrier; 53, the pin supply mechanism; 54, the pin robot; 55, the solder paste brushing platform; 56, the solder paste brushing mechanism; 57, the process carrier; 58, the process execution unit; 59, the tray placement robot; 60, the tray conveying mechanism; 61, the material discharge tray mechanism; 62, the material collection tray mechanism; 63, the tray placement position. DETAILED DESCRIPTION

[0023] In order to facilitate understanding by those skilled in the art, the present invention is further described below with reference to embodiments and drawings. The contents mentioned in the embodiments are not intended to limit the present invention.

[0024] Figures 1 to 5As shown, the utility model provides a fully automatic production equipment for GPS antennas, which includes a machine 1 and a substrate supply device 2, a first transition table 3, a surface cleaning device 4, a first printing device 5, a second transition table 6, a first heating table 7, a first cooling table 8, a third transition table 9, a first flipping device 10, a second printing device 11, a fourth transition table 12, a second heating table 13, a second cooling table 14, a fifth transition table 15, a visual inspection device 16, a sixth transition table 17, a pin insertion device 18, a seventh transition table 19, and a solder paste brushing device 20. , the eighth transition table 21, the third heating table 22, the third cooling table 23, the ninth transition table 24, the second turning device 25, the process device 26, the tenth transition table 27 and the unloading and swinging device 28, the first transition table 3, the surface cleaning device 4, the first printing device 5 and the second transition table 6 are movably provided with a first progressive feeding robot 29, the second transition table 6, the first heating table 7 and the first cooling table 8 are movably provided with a first transfer robot 30, the first cooling table 8 and the third transition table 9 are movably provided with a second transfer robot 31, the third transition table 9, A second feeding robot 32 is movably provided between the first flipping device 10, the second printing device 11 and the fourth transition table 12; a third transfer robot 33 is movably provided between the fourth transition table 12, the second heating table 13 and the second cooling table 14; a fourth transfer robot 34 is movably provided between the second cooling table 14 and the fifth transition table 15; a loading and unloading robot 35 is movably provided between the fifth transition table 15, the visual inspection device 16 and the sixth transition table 17; a sixth transition table 17, the pin insertion device 18, the seventh transition table 19, the solder paste brushing device 20 and the eighth transition table 18 are movably provided. A third progressive feeding robot 36 is movably arranged between the ferry platforms 21, a fifth transfer robot 37 is movably arranged between the eighth transition platform 21, the third heating platform 22 and the third cooling platform 23, a sixth transfer robot 38 is movably arranged between the third cooling platform 23 and the ninth transition platform 24, a fourth progressive feeding robot 39 is movably arranged between the ninth transition platform 24, the second turning device 25, the process processing device 26 and the tenth transition platform 27, and the unloading and oscillating device 28 is used to unload and oscillate the substrate carried by the tenth transition platform 27; preferably, the substrate is a ceramic substrate.

[0025] In actual application, the substrate supply device 2 supplies the substrate to the first transition table 3, the first feeding claw of the first feeder feeding robot 29 transfers the substrate on the first transition table 3 to the surface cleaning device 4, and the surface cleaning device 4 cleans the surface of the substrate. At the same time, the second feeding claw of the first feeder feeding robot 29 transfers the cleaned substrate to the first printing device 5, and the first printing device 5 prints a silver layer on the first surface of the substrate. The third feeding claw of the first feeder feeding robot 29 transfers the substrate after printing the silver layer to the second transition table 6, and the first transfer robot 30 transfers the substrate on the second transition table 6 to the first heating table 7 for heating and curing. The first transfer robot 30 then transfers the substrate on the first heating table 7 that has been heated and cured. The heated substrate is transferred to the first cooling stage 8 for cooling. The second transfer robot 31 transfers the substrate that has completed cooling on the first cooling stage 8 to the third transition stage 9. The first feeding claw of the second feeder feeding robot 32 transfers the substrate on the third transition stage 9 to the first flipping device 10. The first flipping device 10 flips the substrate so that the front and back of the substrate are turned over. The second feeding claw of the second feeder feeding robot 32 transfers the flipped substrate to the second printing device 11. The second printing device 11 prints a silver layer on the second surface of the substrate. The third feeding claw of the second feeder feeding robot 32 transfers the printed substrate to the fourth transition stage 12. The third transfer robot 33 first transfers the substrate on the fourth transition stage 12 The substrate is transferred to the second heating table 13 for heating and curing, and then the substrate after heating on the second heating table 13 is transferred to the second cooling table 14 for cooling. The fourth transfer robot 34 transfers the substrate after cooling on the second cooling table 14 to the fifth transition table 15. The loading and unloading robot 35 first picks up the substrate on the fifth transition table 15, and then transfers the substrate to the visual inspection device 16 for visual positioning and visual inspection, and then places the substrate on the sixth transition table 17. The first feeding claw of the third feeding robot 36 transfers the substrate on the sixth transition table 17 to the pin device 18. The pin device 18 inserts the pin into the socket of the substrate, and the second feeding claw of the third feeding robot 36 inserts the substrate after the pin The substrate is transferred to the seventh transition table 19. The third feeding claw of the third progressive feeding robot 36 transfers the substrate on the seventh transition table 19 to the solder paste brushing device 20. The solder paste brushing device 20 applies solder paste to the pin position of the substrate after the pin is inserted. The fourth feeding claw of the third progressive feeding robot 36 transfers the substrate coated with solder paste to the eighth transition table 21. The fifth transfer robot 37 first transfers the substrate on the eighth transition table 21 to the third heating table 22 for heating, so that the solder paste solders the pins in the sockets of the substrate, and then transfers the substrate that has been heated on the third heating table 22 to the third cooling table 23 for cooling. The sixth transfer robot 38 transfers the substrate that has been cooled on the third cooling table 23 to the ninth transition table 24.The first feeding claw of the fourth progressive feeding robot 39 transfers the substrate on the ninth transition stage 24 to the second flipping device 25. The second flipping device 25 flips the substrate so that the front and back of the substrate are reversed. The second feeding claw of the fourth progressive feeding robot 39 transfers the flipped substrate to the processing device 26. The processing device 26 performs the required processing on the substrate (such as applying adhesive or inkjet printing). The third feeding claw of the fourth progressive feeding robot 39 transfers the processed substrate to the tenth transition stage 27. The unloading and swivel device 28 unloads and swivels the substrate carried by the tenth transition stage 27. The utility model realizes surface cleaning, double-sided printing, pin insertion, solder paste application and welding, processing, and unloading and swivel of the substrate. It has a high degree of automation, reduces labor costs and labor intensity, and greatly improves the efficiency of GPS antenna production.

[0026] In this embodiment, the substrate supply device 2 includes a carrier 40 arranged on the machine 1, an upper CCD vision mechanism 41 installed on the machine 1 and mounted above the carrier 40, a lower CCD vision mechanism 42 installed on the machine 1, and a substrate supply robot 43 movably arranged between the carrier 40, the lower CCD vision mechanism 42 and the first transition platform 3.

[0027] In actual application, the carrier 40 is loaded with a substrate, and the upper CCD vision mechanism 41 visually locates the substrate on the carrier 40 and feeds back the visual positioning result to the substrate supply robot 43, so that the substrate supply robot 43 can accurately pick up the substrate and transfer the substrate to the top of the lower CCD vision mechanism 42 for visual positioning, and then place the substrate on the first transition table 3 to realize the feeding of the substrate.

[0028] In this embodiment, the surface cleaning device 4 includes a cleaning platform 44 mounted on the machine 1 and a cleaning mechanism 45 movably disposed above the cleaning platform 44. The cleaning platform 44 is used to support the substrate; specifically, the cleaning mechanism 45 can be a conventional dust removal mechanism. After the first feeder robot 29 transfers the substrate onto the cleaning platform 44, the cleaning mechanism 45 cleans the surface of the substrate on the cleaning platform 44.

[0029] In this embodiment, both the first printing device 5 and the second printing device 11 include a printing stage 46 mounted on the machine 1 and a screen printing mechanism 47 movably disposed above the printing stage 46. The printing stage 46 is used to support a substrate. After the substrate is transferred to the printing stage 46, the screen printing mechanism 47 performs screen printing on the surface of the substrate on the printing stage 46 to print a silver layer on the surface of the substrate.

[0030] In this embodiment, the first flipping device 10 and the second flipping device 25 each include a flipping platform 48 mounted on the machine 1 and a flipping robot 49 movably disposed above the flipping platform 48. The flipping platform 48 is used to support a substrate. After the substrate is transferred to the flipping platform 48, the flipping robot 49 picks up the substrate, flips it, and then places the flipped substrate back on the flipping platform 48 so that it can be transferred to the next workstation.

[0031] In this embodiment, the visual inspection device 16 includes a visual inspection camera 50 and an NG bin 51, each mounted on the machine 1. The visual inspection camera 50 is electrically connected to the loading and unloading robot 35. The visual inspection camera 50 is used to visually locate and inspect the appearance quality of substrates picked up by the loading and unloading robot 35. The NG bin 51 is used to hold substrates with unqualified appearance quality. In actual use, the loading and unloading robot 35 first picks up the substrates and brings them to the visual inspection camera 50 for visual positioning and appearance quality inspection. Then, based on the results of the appearance quality inspection, the unqualified substrates are placed in the NG bin 51 for collection, or the qualified substrates are accurately placed on the sixth transition stage 17.

[0032] In this embodiment, the pin insertion device 18 includes a pin insertion platform 52 mounted on the machine 1, a pin insertion supply mechanism 53 disposed on one side of the pin insertion platform 52, and a pin insertion robot 54 movably disposed above the pin insertion supply mechanism 53 and the pin insertion platform 52. The pin insertion platform 52 is used to support the substrate. When the substrate is transferred to the pin insertion platform 52, the pin insertion supply mechanism 53 supplies pins to the pin insertion robot 54, which picks up the pins and inserts them into the sockets of the substrate to complete the pin insertion process.

[0033] In this embodiment, the solder paste applying device 20 includes a solder paste applying platform 55 mounted on the machine 1 and a solder paste applying mechanism 56 movably disposed above the solder paste applying platform 55. The solder paste applying platform 55 is used to support the substrate. Specifically, the solder paste applying mechanism 56 can be a conventional screen printing device. After the substrate, after pin insertion, is transferred to the solder paste applying platform 55, the solder paste applying mechanism 56 applies solder paste to the pin insertion positions of the substrate.

[0034] In this embodiment, the process processing device 26 includes a process processing platform 57 installed on the machine 1 and a process processing execution unit 58 movably arranged above the process processing platform 57. The process processing platform 57 is used to carry the substrate, and the process processing execution unit 58 is a back-adhesive mechanism for applying back glue to the substrate or a coding mechanism for coding the substrate.

[0035] After the substrate is transferred to the process carrier 57, the process execution unit 58 performs process processing on the substrate; when the process execution unit 58 is a back glue sticking mechanism, the back glue sticking mechanism sticks back glue on the substrate; when the process execution unit 58 is a coding mechanism, the coding mechanism codes the substrate.

[0036] In this embodiment, the unloading and tray-swaying device 28 includes a tray-swaying robot 59 installed on the machine 1, a tray conveying mechanism 60 installed on the machine 1, and a tray-discharging mechanism 61 and a tray-collecting mechanism 62 respectively installed on the machine 1 and mounted above the tray conveying mechanism 60. The tray conveying mechanism 60 is provided with a tray-swaying position 63, which is located between the tray-discharging mechanism 61 and the tray-collecting mechanism 62. The tray-swaying robot 59 is movably arranged between the tenth transition platform 27 and the tray-swaying position 63. The tray-discharging mechanism 61 is used to place trays on the tray conveying mechanism 60, and the tray-collecting mechanism 62 is used to collect trays on the tray conveying mechanism 60.

[0037] In actual application, the tray discharge mechanism 61 places the empty tray on the tray conveying mechanism 60, and the tray conveying mechanism 60 conveys the tray to the swing tray position 63. The swing tray robot 59 picks up the substrate carried by the tenth transition table 27 and puts it on the tray at the swing tray position 63 to realize the unloading and swinging of the substrate. When the tray at the swing tray position 63 is full, the tray conveying mechanism 60 conveys the full tray to the receiving tray mechanism 62, and the receiving tray mechanism 62 collects and stacks the full trays.

[0038] All technical features in this embodiment can be freely combined according to actual needs.

[0039] The above embodiments are preferred implementation schemes of the present invention. In addition, the present invention can also be implemented in other ways. Any obvious replacement without departing from the concept of the present technical solution is within the scope of protection of the present invention.

Claims

1. A fully automatic production equipment for GPS antennas, characterized by: The invention comprises a machine (1) and a substrate supply device (2), a first transition table (3), a surface cleaning device (4), a first printing device (5), a second transition table (6), a first heating table (7), a first cooling table (8), a third transition table (9), a first flipping device (10), a second printing device (11), a fourth transition table (12), a second heating table (13), a second cooling table (14), a fifth transition table (15), a visual inspection device (16), a sixth transition table (17), a pin insertion device (18), a seventh transition table (19), a solder paste brushing device (20), an eighth transition table (21), a third heating table (22), and a fifth transition table (15). The heating stage (22), the third cooling stage (23), the ninth transition stage (24), the second turning device (25), the processing device (26), the tenth transition stage (27) and the unloading plate device (28), the first progressive feeding robot (29) is movably arranged between the first transition stage (3), the surface cleaning device (4), the first printing device (5) and the second transition stage (6), the first transfer robot (30) is movably arranged between the second transition stage (6), the first heating stage (7) and the first cooling stage (8), the second transfer robot (31) is movably arranged between the first cooling stage (8) and the third transition stage (9), the third transition stage (9), the first printing device (5) and the second transition stage (6), the first transfer robot (31) is movably arranged between the first cooling stage (8) and the third transition stage (9), the first printing device (5) and the second transition stage (6), the first transfer robot (32) is movably arranged between the first printing device (5) and the second transition stage (6), the first printing device (5) and the second transition stage (6), the first transfer robot (33) is movably arranged between the first printing device (5) and the second transition stage (6), ... A second feeding robot (32) is movably provided between a turning device (10), a second printing device (11) and a fourth transition station (12); a third transfer robot (33) is movably provided between the fourth transition station (12), the second heating station (13) and the second cooling station (14); a fourth transfer robot (34) is movably provided between the second cooling station (14) and the fifth transition station (15); a loading and unloading robot (35) is movably provided between the fifth transition station (15), the visual inspection device (16) and the sixth transition station (17); a sixth transition station (17), the pin insertion device (18), the seventh transition station (19), the solder paste brushing device (31) and the like. A third progressive feeding robot (36) is movably arranged between the transition stage (20) and the eighth transition stage (21), a fifth transfer robot (37) is movably arranged between the eighth transition stage (21), the third heating stage (22) and the third cooling stage (23), a sixth transfer robot (38) is movably arranged between the third cooling stage (23) and the ninth transition stage (24), a fourth progressive feeding robot (39) is movably arranged between the ninth transition stage (24), the second turning device (25), the process processing device (26) and the tenth transition stage (27), and the unloading and swinging device (28) is used to unload and swing the substrate carried by the tenth transition stage (27).

2. The fully automatic production equipment for GPS antennas according to claim 1, characterized in that: The substrate supply device (2) comprises a carrier (40) arranged on the machine (1), an upper CCD vision mechanism (41) installed on the machine (1) and mounted above the carrier (40), a lower CCD vision mechanism (42) installed on the machine (1), and a substrate supply robot (43) movably arranged between the carrier (40), the lower CCD vision mechanism (42) and the first transition platform (3).

3. The fully automatic production equipment for GPS antennas according to claim 1, characterized in that: The surface cleaning device (4) comprises a cleaning platform (44) mounted on the machine (1) and a cleaning mechanism (45) movably arranged above the cleaning platform (44). The cleaning platform (44) is used for carrying a substrate.

4. The fully automatic production equipment for GPS antennas according to claim 1, characterized in that: The first printing device (5) and the second printing device (11) both include a printing platform (46) mounted on the machine platform (1) and a screen printing mechanism (47) movably arranged above the printing platform (46), wherein the printing platform (46) is used to carry a substrate.

5. The fully automatic production equipment for GPS antennas according to claim 1, characterized in that: The first flipping device (10) and the second flipping device (25) both include a flipping platform (48) mounted on the machine (1) and a flipping robot (49) movably arranged above the flipping platform (48), and the flipping platform (48) is used to carry the substrate.

6. The fully automatic production equipment for GPS antennas according to claim 1, characterized in that: The visual inspection device (16) includes a visual inspection camera (50) and an NG material box (51) respectively installed on the machine (1). The visual inspection camera (50) is electrically connected to the loading and unloading robot (35). The visual inspection camera (50) is used to perform visual positioning and appearance quality inspection on the substrate picked up by the loading and unloading robot (35). The NG material box (51) is used to carry substrates with unqualified appearance quality.

7. The fully automatic production equipment for GPS antennas according to claim 1, characterized in that: The pin insertion device (18) comprises a pin insertion platform (52) mounted on the machine (1), a pin insertion mechanism (53) arranged on one side of the pin insertion platform (52), and a pin insertion manipulator (54) movably arranged above the pin insertion mechanism (53) and the pin insertion platform (52). The pin insertion platform (52) is used to carry a substrate.

8. The fully automatic production equipment for GPS antennas according to claim 1, characterized in that: The solder paste brushing device (20) comprises a solder paste brushing platform (55) installed on the machine (1) and a solder paste brushing mechanism (56) movably arranged above the solder paste brushing platform (55), and the solder paste brushing platform (55) is used to carry a substrate.

9. The fully automatic production equipment for GPS antennas according to claim 1, characterized in that: The process processing device (26) comprises a process processing platform (57) installed on the machine (1) and a process processing execution unit (58) movably arranged above the process processing platform (57), wherein the process processing platform (57) is used to carry the substrate, and the process processing execution unit (58) is a back glue sticking mechanism for sticking back glue on the substrate or a coding mechanism for coding the substrate.

10. The fully automatic production equipment for GPS antennas according to claim 1, characterized in that: The unloading tray swinging device (28) comprises a tray swinging manipulator (59) mounted on the machine (1), a tray conveying mechanism (60) mounted on the machine (1), and a tray discharge mechanism (61) and a tray receiving mechanism (62) respectively mounted on the machine (1) and mounted above the tray conveying mechanism (60). The tray conveying mechanism (60) is provided with a tray swinging position (63), which is located between the tray discharge mechanism (61) and the tray receiving mechanism (62). The tray swinging manipulator (59) is movably arranged between the tenth transition platform (27) and the tray swinging position (63). The tray discharge mechanism (61) is used to place the tray on the tray conveying mechanism (60), and the tray receiving mechanism (62) is used to receive the tray on the tray conveying mechanism (60).

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