PCB production line system

Abstract

The utility model discloses a PCB production line system, and relates to the technical field of PCB production lines, the PCB production line system comprises a loading and unloading device, a detection positioning device, a line body and a multi-axis robot, the loading and unloading device is provided with a loading position, and the loading position bears materials to be processed; the detecting and positioning device is provided with a detecting position, and the detecting and positioning device is mounted on the feeding and discharging device and used for positioning the to-be-machined material; the line body is provided with a discharging position and is used for processing materials to be processed; the multi-axis robot is used for transferring materials between the feeding and discharging device and the line body, and the detection position is located on the path, from the feeding position to the discharging position, of the multi-axis robot so that the to-be-machined materials can be positioned, and the to-be-machined materials can be placed at the discharging position. According to the technical scheme provided by the utility model, the position accuracy of PCB discharging is improved.

Description

Technical Field

[0001] This utility model relates to the field of PCB production line technology, and in particular to a PCB production line system. Background Technology

[0002] Printed circuit boards (PCBs) are an indispensable component in the electronics industry, providing electrical connections for electronic components. In current SMT (Surface Mount Technology) PCB production processes, PCBs are typically loaded using robotic arms. The robotic arms pick up materials from pallets and then feed them onto the production line.

[0003] However, when there are multiple materials side-by-side on a pallet, meaning there are multiple picking positions on the pallet, the robotic arm needs to pick up materials from different positions. This means the robotic arm needs to move back and forth between different picking positions during operation, which can easily lead to errors. This can cause the robotic arm to fail to place the materials accurately at the processing position on the production line, resulting in damage to the PCB during processing. Utility Model Content

[0004] The main purpose of this invention is to propose a PCB production line system that aims to improve the positioning accuracy of PCB feeding.

[0005] To achieve the above objectives, the PCB production line system proposed in this utility model includes:

[0006] The loading and unloading device is provided with a loading position, where the loading position carries the material to be processed.

[0007] A detection and positioning device is provided with a detection position. The detection and positioning device is installed on the loading and unloading device and is used to position the material to be processed.

[0008] The production line, equipped with a feeding position, is used to process materials to be processed; and

[0009] A multi-axis robot is used to transfer materials between the loading / unloading device and the production line, and the detection position is located on the path of the multi-axis robot from the loading position to the unloading position, so as to position the material to be processed so that the material to be processed is placed at the unloading position.

[0010] In one embodiment, the detection and positioning device includes a camera and a light source, the camera is fixed to the loading and unloading device, and the detection position is configured as the camera's imaging area.

[0011] In one embodiment, the loading and unloading device is further provided with a unloading position for placing the material processed by the line, and the multi-axis robot is used to transfer the processed material between the unloading position and the loading position.

[0012] In one embodiment, the loading and unloading device further includes a transfer component for transferring a material tray between the loading position and the unloading position, the material tray being used to carry materials.

[0013] In one embodiment, the production line is provided with a tooling tray, and the tooling tray has a plurality of feeding positions.

[0014] In one embodiment, the PCB production line system further includes a recycling station with recycling positions. The multi-axis robot transfers materials between the loading position and the recycling position. The recycling station is used to place materials that fail the detection and positioning device.

[0015] In one embodiment, the recycling station includes a base, on which a recycling tray with the recycling position is mounted, and a linear module is provided between the recycling tray and the base.

[0016] In one embodiment, the multi-axis robot is configured as a four-axis robot, a five-axis robot, or a six-axis robot.

[0017] In one embodiment, two loading and unloading devices are provided, and the two loading and unloading devices are arranged side by side.

[0018] In one embodiment, the multi-axis robot is equipped with multiple different grippers for gripping materials, and the PCB production line system further includes a fixture changing station on which at least one of the grippers is placed.

[0019] This invention provides a PCB production line system that includes a loading / unloading device with a loading position, a detection and positioning device with a detection position mounted on the loading / unloading device, a feeding line, and a multi-axis robot capable of transferring materials between the loading / unloading device and the feeding line. The detection position is located on the path of the multi-axis robot from the loading position to the feeding position. Thus, before the multi-axis robot places the material onto the feeding line, the detection and positioning device detects and positions the material's posture, ensuring the material is placed accurately and correctly at the feeding position. This improves the accuracy of PCB feeding, enhances the precision of PCB processing, and increases the yield rate of the PCB production line system. Compared to mounting the detection and positioning device on the multi-axis robot, this invention mounts it on the loading / unloading device, which facilitates the lightweight design of the multi-axis robot and avoids the problem of inaccurate positioning caused by the detection and positioning device moving with the multi-axis robot. Attached Figure Description

[0020] To more clearly illustrate the technical solutions in the embodiments of this utility model or the prior art, the drawings used in the description of the embodiments or the prior art will be briefly introduced below. Obviously, the drawings described below are only some embodiments of this utility model. For those skilled in the art, other drawings can be obtained based on the structures shown in these drawings without creative effort.

[0021] Figure 1 A schematic diagram of the structure of an embodiment of the PCB production line system provided by this utility model;

[0022] Figure 2 for Figure 1 A schematic diagram of the structure of an embodiment of the loading and unloading device.

[0023] Explanation of icon numbers:

[0024] 100. Loading / unloading device; 101. Material tray; 110. Loading position; 120. Unloading position; 130. Transfer assembly; 140. Loading / unloading port; 150. Loading vehicle;

[0025] 200. Detection and positioning device; 300. Production line; 310. Tooling tray; 320. Material feeding position;

[0026] 400. Multi-axis robot; 500. Recycling station; 510. Base; 520. Recycling tray; 530. Recycling position; 540. Linear module; 600. Fixture changing station.

[0027] The realization of the purpose, functional features and advantages of this utility model will be further explained in conjunction with the embodiments and with reference to the accompanying drawings. Detailed Implementation

[0028] The technical solutions of the present utility model will be clearly and completely described below with reference to the accompanying drawings of the embodiments. Obviously, the described embodiments are only some embodiments of the present utility model, and not all embodiments. Based on the embodiments of the present utility model, all other embodiments obtained by those of ordinary skill in the art without creative effort are within the scope of protection of the present utility model.

[0029] It should be noted that if the embodiments of this utility model involve directional indicators (such as up, down, left, right, front, back, etc.), the directional indicators are only used to explain the relative positional relationship and movement of the components in a specific posture. If the specific posture changes, the directional indicators will also change accordingly.

[0030] Furthermore, if the embodiments of this utility model involve descriptions such as "first" or "second," these descriptions are for descriptive purposes only and should not be construed as indicating or implying their relative importance or implicitly specifying the number of technical features indicated. Therefore, a feature defined with "first" or "second" may explicitly or implicitly include at least one of those features. Additionally, the use of "and / or" or "and / or" throughout the text includes three parallel solutions. For example, "A and / or B" includes solution A, solution B, or a solution where both A and B are satisfied simultaneously. Furthermore, the technical solutions of the various embodiments can be combined with each other, but this must be based on the ability of those skilled in the art to implement them. When the combination of technical solutions is contradictory or impossible to implement, it should be considered that such a combination of technical solutions does not exist and is not within the scope of protection claimed by this utility model.

[0031] Printed circuit boards (PCBs) are an indispensable component in the electronics industry, providing electrical connections for electronic components. In current SMT (Surface Mount Technology) PCB production processes, PCBs are typically loaded using robotic arms. The robotic arms pick up materials from pallets and then feed them onto the production line.

[0032] However, when there are multiple materials side-by-side on a pallet, meaning there are multiple picking positions on the pallet, the robotic arm needs to pick up materials from different positions. This means the robotic arm needs to move back and forth between different picking positions during operation, which can easily lead to errors. This can cause the robotic arm to fail to place the materials accurately at the processing position on the production line, resulting in damage to the PCB during processing.

[0033] This utility model proposes a PCB production line system.

[0034] Please see Figure 1 and Figure 2 In one embodiment of this utility model, the PCB production line system includes a loading / unloading device 100, a detection and positioning device 200, a production line 300, and a multi-axis robot 400. The loading / unloading device 100 is provided with a loading position 110, which carries the material to be processed. The detection and positioning device 200 is provided with a detection position and is installed on the loading / unloading device 100 for positioning the material to be processed. The production line 300 is provided with a unloading position 320 for processing the material to be processed. The multi-axis robot 400 is used to transfer materials between the loading / unloading device 100 and the production line 300, and the detection position is located on the path of the multi-axis robot 400 from the loading position 110 to the unloading position 320 to position the material to be processed so that the material to be processed is placed in the unloading position 320.

[0035] Understandably, the PCB production line system of this utility model is applicable to the conformal coating line 300. The loading / unloading device 100 is provided with a loading position 110 that carries the materials to be processed. In one embodiment, the loading / unloading device 100 has a tray 101 at the loading position 110, and the tray 101 carries multiple materials. The detection and positioning device 200 is installed on the loading / unloading device 100. Compared to the separate arrangement of the detection and positioning device 200 and the loading / unloading device 100, this is beneficial to the simplicity of the PCB production line system. The line 300 is used to process the materials to be processed; specifically, in the conformal coating line 300, the line 300 is used to coat the materials with conformal coating. The multi-axis robot 400 is used to transfer materials between the loading / unloading device 100 and the production line 300. In one embodiment, the multi-axis robot 400, the production line 300 and the loading / unloading device 100 are arranged separately and adjacent to each other, so that the multi-axis robot 400 can pick up materials from the loading / unloading device 100 and place the materials on the production line 300.

[0036] In one embodiment, the production line 300 includes a production line body and a conveyor belt movable relative to the production line body. The production line 300 also includes a processing station. When the multi-axis robot 400 places material at the unloading station 320, the conveyor belt of the production line 300 begins to rotate, moving the material from the unloading station 320 to the processing station for processing. It is understood that only when the material is precisely positioned at the processing station can it be correctly processed, ensuring the desired processing effect. That is, when the multi-axis robot 400 transfers material, the material must be precisely placed on the unloading station 320.

[0037] In this invention, a detection and positioning device 200 is provided on the loading and unloading device 100. After the multi-axis robot 400 picks up the material to be processed from the loading position 110, the multi-axis robot 400 carries the material to be processed to the detection position. The detection and positioning device 200 detects and positions the posture of the material to be processed at the detection position. It can be understood that the posture of the material to be processed is adjusted by adjusting the spatial position and rotation angle of the multi-axis robot 400. The material to be processed, whose posture has been detected as acceptable, is carried by the multi-axis robot 400 to the unloading position 320. Thus, before placing the material to be processed into the feeding position 320, the detection and positioning device 200 detects and positions the posture of the material to be processed, thereby ensuring that the material to be processed is accurately placed into the feeding position 320 in the correct posture. This avoids problems such as the material to be processed being placed at an angle into the feeding position 320, or only partially placed into the feeding position 320, or placed outside the feeding position 320. This ensures that the material to be processed can be accurately processed in the line body 300, avoids damage to the material, and ensures the processing yield of the PCB production line system.

[0038] It is worth noting that in this utility model, the material refers to the PCB board, the material to be processed refers to the PCB board that has not been processed by line 300, and the processed material refers to the PCB board that has been processed by line 300.

[0039] The technical solution of this utility model involves setting up a loading / unloading device 100 with a loading position 110, a detection and positioning device 200 with a detection position installed on the loading / unloading device 100, a production line 300 with a unloading position 320, and a multi-axis robot 400 capable of transferring materials between the loading / unloading device 100 and the production line 300 in a PCB production line system. The detection position is located on the path of the multi-axis robot 400 from the loading position 110 to the unloading position 320. Thus, before the multi-axis robot 400 places the material onto the production line 300, the detection and positioning device 200 detects and positions the posture of the material, ensuring that the material is placed accurately and correctly on the unloading position 320. This improves the accuracy of the PCB unloading position 320, enhances the precision of PCB processing, and increases the yield rate of the PCB production line system. Compared to mounting the detection and positioning device 200 on the multi-axis robot 400, this utility model mounts the detection and positioning device 200 on the loading and unloading device 100, which is beneficial to the lightweighting of the multi-axis robot 400 and also avoids the problem of inaccurate positioning caused by the detection and positioning device 200 moving with the multi-axis robot 400.

[0040] In an embodiment of this utility model, the detection and positioning device 200 includes a camera and a light source. The camera is fixed to the loading and unloading device 100, and the detection position is configured as the camera's imaging area.

[0041] Specifically, in the solution shown in the figures of this utility model, the detection and positioning device 200 includes a camera and a light source. The camera is fixed on the loading and unloading device 100. In one embodiment, the light source is located inside the camera to provide sufficient light for the camera to capture clear images. In one embodiment, the detection position is configured as the imaging area directly above the camera. That is, after the multi-axis robot 400 picks up the material to be processed, it moves directly above the camera, and the camera takes a picture of the material for detection and positioning. The distance between the material and the camera is not limited when the camera takes a picture of the material.

[0042] Understandably, the camera has calibration parameters and an allowable error range. When the multi-axis robot 400 moves the material to be processed to the detection position, the camera takes a picture of the material and compares the image information with the calibration parameters. The comparison results include coordinate offset and angular offset. If the image information matches the calibration parameters, the multi-axis robot 400 continues to move to place the material to be processed at the placement position 320. If the image information does not match the calibration parameters, but is within the allowable error range, the spatial position and rotation angle of the multi-axis robot 400 are corrected based on the coordinate offset and angular offset, thereby adjusting the posture of the material to be processed until the image information of the material matches the calibration parameters. If the image information exceeds the allowable error range, the material to be processed is no longer placed at the placement position 320, and processing of the material is abandoned.

[0043] It is worth noting that the settings of the camera's calibration parameters and allowable error range, the comparison of the image information obtained by the camera with the calibration parameters, and the adjustment of the multi-axis robot 400 based on the comparison results are all existing technologies and will not be elaborated here.

[0044] However, this design is not limited to this. In other embodiments, the detection and positioning device 200 can also be a positioning plate, which is provided with limiting members in multiple directions. In one embodiment, the multiple directions include the up-down direction, the front-back direction, and the left-right direction; however, no limitation is made on the multiple directions. When the multi-axis robot 400 carries the material to the positioning plate, the material comes into contact with the limiting members of the positioning plate to position the material in multiple directions, thereby detecting and correcting the posture of the material.

[0045] In an embodiment of this utility model, the production line 300 is provided with a tooling tray 310, and the tooling tray 310 is provided with multiple material feeding positions 320.

[0046] In one embodiment, the feeding position 320 is configured as a feeding trough within the tooling tray 310. It is understood that in one embodiment, the tooling tray 310 can move with the conveyor belt to move the material to be processed to the processing position. It is worth noting that at this time, the material to be processed is still located within the feeding trough; only the position of the feeding trough on the conveyor belt has changed. That is, both the feeding position 320 and the processing position in this invention are set relative to the conveyor belt body.

[0047] The tooling tray 310 has multiple feeding positions 320. The multiple feeding positions 320 allow the production line 300 to process multiple materials simultaneously, improving the production efficiency of the PCB production line system. Understandably, although the tooling tray 310 has multiple feeding positions 320, and the multi-axis robot 400 needs to move to different feeding positions 320, the multi-axis robot 400 performs camera scanning and positioning of the materials before each feeding, ensuring the accuracy of material placement at each feeding position 320. In one embodiment, the tooling tray 310 has two feeding positions 320. Of course, the number of feeding positions 320 can also be three; there is no limitation on the number of feeding positions 320.

[0048] In an embodiment of this utility model, the loading and unloading device 100 is further provided with a unloading position 120, which is used to place the material processed by the warp wire 300, and the multi-axis robot 400 is used to transfer the processed material between the unloading position 320 and the unloading position 120.

[0049] Specifically, in the solution shown in the figures of this utility model, the unloading position 120 and the loading position 110 are arranged side by side. After the material is processed on the production line 300, the conveyor belt drives the tooling tray 310 to move to the loading position 110. The multi-axis robot 400 picks up the processed material from the loading position 110 and places the material in the unloading position 120. In this way, by simultaneously setting the loading position 110 and the unloading position 120 in the loading and unloading device 100, the loading and unloading of materials can be realized simultaneously in one device, which improves the automation of the PCB production line system and is beneficial to the production efficiency of the PCB production line system.

[0050] In an embodiment of this utility model, the loading and unloading device 100 further includes a transfer component 130, which is used to transfer the material tray 101 between the loading position 110 and the unloading position 120. The material tray 101 is used to carry materials.

[0051] Specifically, the loading and unloading device 100 includes a frame, with a loading position 110 configured as a loading port on the frame and a unloading position 120 configured as a unloading port on the frame. Simultaneously, the side of the frame is also provided with two loading / unloading ports 140, one of which is connected to the loading port and the other to the unloading port. Each loading / unloading port 140 can accommodate a loading trolley 150. The loading trolley 150 in the loading / unloading port 140 connected to the loading port carries multiple layers of trays 101, each tray carrying PCB boards to be processed. In one embodiment, a tray 101 carries multiple PCB boards; the loading trolley 150 in the loading / unloading port 140 connected to the unloading port is left unloaded.

[0052] Meanwhile, the frame is equipped with a lifting component in each of the two loading / unloading ports 140. The lifting component corresponding to the loading port is used to lift and lower the material tray 101 on the loading vehicle 150, so as to move the material tray 101 from the loading / unloading port 140 to the loading port, thereby facilitating the multi-axis robot 400 to grasp the material to be processed. The lifting component corresponding to the unloading port is used to drive the material tray 101 at the unloading port to descend, so as to place it on the loading vehicle 150.

[0053] The frame is also equipped with a transfer assembly, which is responsible for transferring the material tray 101 between the loading port and the unloading port. In one embodiment, the transfer assembly includes two electric cylinders, one of which is arranged horizontally to move between the loading position 110 and the unloading position 120. The output part of this electric cylinder is provided with a vertically lifting electric cylinder, and a gripper is provided on the output part of the vertically lifting electric cylinder. The gripper is responsible for gripping the material tray 101. Through the above structure, the transfer of the material tray 101 between the loading position 110 and the unloading position 120 can be realized. Of course, the transfer assembly can also be two linear modules 540, and the structure of the transfer assembly is not limited here.

[0054] The working process of the PCB production line system is as follows: The operator first places a tray 101 containing materials to be processed onto a loading trolley 150 and pushes it into a loading / unloading port 140. Another empty loading trolley 150 is then placed onto another loading / unloading port 140. The lifting assembly then activates, lifting the tray 101 containing the materials to be processed from the loading trolley 150 to the corresponding loading port. When the tray 101 reaches the loading port, a multi-axis robot 400 picks up the materials one by one from the tray 101 and moves them to the detection and positioning device 200 for detection and positioning. Then, it moves them to the unloading position 320 of the line 300. Once all the materials to be processed in a tray 101 have been removed, the transfer assembly moves the empty tray 101 from the loading port to the unloading port. Meanwhile, after the material to be processed is placed at the unloading position 320, the production line 300 moves the material to the processing position for processing. Once processing is complete, the processed material moves from the processing position back to the unloading position 320, where the multi-axis robot 400 picks it up and places it into the material tray 101 at the discharge port. When a material tray 101 is full of processed material, the lifting assembly is activated, lowering the full tray 101 into an empty loading trolley 150, completing one cycle. As new materials are continuously fed into the processing stage, the above steps will continue to repeat until all materials have undergone the complete processing flow. At this point, the operator can remove the loading trolley 150 containing the processed material and push it to other processes.

[0055] In this way, the empty material tray 101 after loading is transferred to the unloading position 120 by the transfer component to carry the processed material, thereby avoiding the removal of the empty material tray 101, while providing the unloading position 120 with an additional material tray 101, thus improving the utilization rate of the material tray 101.

[0056] In an embodiment of this utility model, the PCB production line system further includes a recycling station 500, which has a recycling position 530. A multi-axis robot 400 transfers materials between the loading position 110 and the recycling position 530. The recycling station 500 is used to place materials that fail the inspection and positioning device 200.

[0057] Understandably, the detection and positioning device 200 is used to detect and position the materials to be processed. Materials that pass the detection are transferred by the multi-axis robot 400 to the feeding position 320 of the production line 300; materials that fail the detection are transferred by the multi-axis robot 400 to the recycling station 500. More specifically, when the multi-axis robot 400 moves the materials to be processed to the detection position, a camera takes a picture of the materials and compares the obtained image information with calibration parameters. If the result of comparing the image information with the calibration parameters exceeds the allowable error range, the multi-axis robot 400 moves the materials to be processed to the recycling position 530, thereby preventing the materials from being inaccurately placed at the feeding position 320.

[0058] In one embodiment, the recycling station 500 is located on one side of the production line 300 and is arranged side by side with the production line 300. This facilitates the planning of the movement stroke of the multi-axis robot 400 and helps to reduce the energy consumption of the multi-axis robot 400.

[0059] In an embodiment of this utility model, the recycling station 500 includes a base 510, a recycling tray 520 with a recycling position 530 is installed on the base 510, and a linear module 540 is provided between the recycling tray 520 and the base 510.

[0060] Understandably, a recycling tray 520 is provided on the base 510, and a recycling position 530 is provided in the recycling tray 520. In one embodiment, the recycling position 530 is configured as a recycling trough within the recycling tray 520. In one embodiment, the recycling tray 520 has multiple recycling positions 530 to accommodate multiple defective materials. A linear module 540 is provided between the recycling tray 520 and the base 510, thereby allowing the recycling tray 520 to move relative to the base 510. In one embodiment, when the recycling tray 520 is full of defective materials, the linear module 540 operates to move the recycling tray 520 relative to the base 510, so that the recycling tray 520 moves to a side away from the multi-axis robot 400. At this point, the operator can remove the defective material from the recycling tray 520; or, directly remove the full recycling tray 520 and place another empty recycling tray 520 on top; then the linear module 540 will work again to move the recycling tray 520 toward the multi-axis robot 400 to continue receiving defective materials.

[0061] Of course, in other embodiments, the movement of the recycling tray 520 relative to the base 510 can also be achieved by a cylinder. It is worth noting that when the recycling tray 520 moves relative to the base 510 along the linear module 540, the recycling trough within the recycling tray 520 also moves accordingly. In this invention, the recycling position 530 refers to the position of the recycling trough relative to the base 510 when receiving substandard materials.

[0062] In embodiments of this utility model, the multi-axis robot 400 is configured as a four-axis, five-axis, or six-axis robot. Specifically, in the solution shown in the figures of this utility model, the multi-axis robot 400 is configured as a six-axis robot. It is understood that the more axes a robot has, the more degrees of freedom it has, and therefore the more spatial positions the multi-axis robot 400 can move and rotate, thereby improving its motion capability and range of motion. Here, the number of axes of the multi-axis robot 400 is not limited.

[0063] In this embodiment of the invention, two loading / unloading devices 100 are provided, arranged side by side. Thus, when all the material to be processed in one loading / unloading device 100 is picked up by the multi-axis robot 400, the multi-axis robot 400 can pick up the material to be processed from the other loading / unloading device 100. At this time, the operator can fill the empty loading / unloading device 100 with material, thereby avoiding the waiting time for the multi-axis robot 400 to fill the material, which helps to improve the production efficiency of the PCB production line system. Simultaneously, the side-by-side arrangement of the two loading / unloading devices 100 also facilitates the planning of the movement stroke of the multi-axis robot 400.

[0064] In an embodiment of this utility model, the multi-axis robot 400 is equipped with multiple different grippers for gripping materials, and the PCB production line system also includes a fixture changing table 600, on which at least one gripper is placed.

[0065] Understandably, a PCB production line system can be used to process materials of different specifications. Correspondingly, the multi-axis robot 400 needs to use different types of grippers to grasp materials of different specifications. In this invention, the multi-axis robot 400 is equipped with multiple different grippers, thereby improving the applicability of the PCB production line system. More specifically, the PCB production line system includes a fixture changing table 600, on which grippers are mounted, and the multi-axis robot 400 can change grippers on the fixture changing table 600. In one embodiment, the fixture changing table 600 is located between the recycling table 500 and the multi-axis robot 400. Of course, the fixture changing table 600 can also be located between the loading / unloading device 100 and the multi-axis robot 400; the location of the fixture changing table 600 is not limited here.

[0066] It is worth noting that the control logic for changing the gripper of the multi-axis robot 400 is existing technology and will not be elaborated here.

[0067] The above description is merely an exemplary embodiment of the present utility model and does not limit the patent scope of the present utility model. Any equivalent structural transformations made based on the technical concept of the present utility model and the contents of the present utility model specification and drawings, or direct / indirect applications in other related technical fields, are included within the patent protection scope of the present utility model.

Claims

1. A PCB production line system, characterized in that, include: The loading and unloading device is provided with a loading position, where the loading position carries the material to be processed. A detection and positioning device is provided with a detection position. The detection and positioning device is installed on the loading and unloading device and is used to position the material to be processed. The production line, equipped with a feeding position, is used for processing materials to be processed; and A multi-axis robot is used to transfer materials between the loading / unloading device and the production line, and the detection position is located on the path of the multi-axis robot from the loading position to the unloading position, so as to position the material to be processed so that the material to be processed is placed at the unloading position.

2. The PCB production line system as described in claim 1, characterized in that, The detection and positioning device includes a camera and a light source. The camera is fixed to the loading and unloading device, and the detection position is configured as the camera's imaging area.

3. The PCB production line system as described in claim 1, characterized in that, The loading and unloading device is also provided with a unloading position, which is used to place the material processed by the line. The multi-axis robot is used to transfer the processed material between the unloading position and the loading position.

4. The PCB production line system as described in claim 3, characterized in that, The loading and unloading device also includes a transfer component, which is used to transfer a material tray between the loading position and the unloading position, and the material tray is used to carry materials.

5. The PCB production line system as described in claim 1, characterized in that, The production line is equipped with a tooling tray, and the tooling tray has multiple material feeding positions.

6. The PCB production line system as described in claim 1, characterized in that, The PCB production line system also includes a recycling station, which has a recycling position. The multi-axis robot transfers materials between the loading position and the recycling position. The recycling station is used to place materials that fail the detection and positioning device.

7. The PCB production line system as described in claim 6, characterized in that, The recycling station includes a base, on which a recycling tray with the recycling position is installed, and a linear module is provided between the recycling tray and the base.

8. The PCB production line system as described in claim 1, characterized in that, The multi-axis robot is configured as a four-axis robot, a five-axis robot, or a six-axis robot.

9. The PCB production line system as described in claim 1, characterized in that, There are two loading and unloading devices, which are arranged side by side.

10. The PCB production line system as described in claim 1, characterized in that, The multi-axis robot is equipped with multiple different grippers for gripping materials, and the PCB production line system also includes a fixture changing station on which at least one of the grippers is placed.

Images