Circuit board assembly station

Abstract

The utility model discloses a kind of circuit board collaborative assembly station, including the assembly preliminary measurement station for circuit board automatic assembly and initial detection;Temperature test station for testing the long-term stability of circuit board, the temperature test station is set to the transmission output material side of assembly preliminary measurement station;And final test station for the final performance test and packaging of circuit board is executed, the final test station is set to the transmission output material side of temperature test station.The utility model assembly preliminary measurement station realizes material intelligent scheduling between 9 stations by speed chain transmission device (RFID binding material box / tray) and truss robot (magnetic scale positioning ±0.1mm), reduce artificial transfer time consumption 30%;Composite robot (AGV+mechanical arm) of temperature test station automatically grabs storage and transport test integrated fixture, complete warm box butt joint (three-stage positioning accuracy ±0.25mm), 72 hours continuous temperature cycle unattended;Speed chain+transfer robot linkage of final test station, support vibration fixture and test equipment automatic butt joint.

Description

Technical Field

[0001] This utility model relates to the field of circuit board processing technology, and in particular to a circuit board collaborative assembly station. Background Technology

[0002] With the development of AI technology, the global PCB (Printed Circuit Board) industry is experiencing strong growth driven by technological upgrades and market demand. The current state of the industry shows that PCBs have evolved from basic electronic components to core carriers of intelligent interconnection. In PCB manufacturing workshops, multiple processes are typically required to process workpieces into shapes suitable for actual production. This process usually involves the use of different processing equipment, with workpieces flowing between these equipment sequentially according to the processing order.

[0003] The current circuit board manufacturing industry faces core bottlenecks such as low assembly efficiency and fragmented testing processes. The assembly, preliminary testing, and final testing stages operate independently, lack unified scheduling, and it is difficult to achieve full-process automation.

[0004] A smart production line for PCB electronic product assembly, disclosed in Chinese patent document CN113781865B, includes a shell component feeding workstation, a vehicle-mounted aromatherapy assembly workstation, a robot collaborative assembly workstation, a thermometer and hygrometer screw assembly workstation, a robot assembly workstation, a coding and inspection workstation, a finished product packaging workstation, a labeling workstation, and an automated warehousing workstation, all connected by a track-guided transport system. While this invention boasts advantages such as a rational structure, effective training, and high efficiency, the connections between the various workstations in this smart production line are not tight, resulting in low space utilization.

[0005] A docking platform with a PCB circuit board storage box is disclosed in Chinese patent document CN216037142U. The docking platform with the PCB circuit board storage box has the following effects: (1) it adopts a tilting and sliding method to avoid damage to the PCB circuit board from direct drop; (2) the corresponding tilt angle can be adjusted to correspond to the height difference between docking platforms for assembly and use; (3) under the action of the first assembly plate and the second assembly plate, it can be easily fixed, installed and disassembled for use or disassembly; thus, it can be replaced or repaired; (4) through the controller, the transmission power difference between the transmission components on the receiving platform and the transmission components on the transport platform can be realized to ensure that the PCB circuit board can be transported stably during the receiving and transmission process and avoid blockage. However, the docking platform with the PCB circuit board storage box adopts a sloping surface for transfer docking, which has low accuracy and is inconvenient for docking arrangement.

[0006] A flexible collaborative robot automated assembly function test and verification line is disclosed in Chinese patent document CN114047012B. This flexible collaborative robot automated assembly function test and verification line includes various workstations and a human-machine control workstation. Force-controlled collaborative robots complete the assembly of gear components and grasp and place circuit boards and breadboards at the assembly position. Dual-arm collaborative robots include left and right arms with gripper fingers at the ends to complete the grasping, assembly, and transfer of 3C small parts, circuit boards, and breadboards. Collaborative robots complete the grasping, transfer, placement, and assembly of workpieces. Cooperative robots complete the grasping, transfer, placement, and boxing of workpieces. The mobile AGV transfer workstation includes a box sealing machine, material rack, AGV cart, and AGV vehicle-mounted collaborative robot. The mobile AGV transfer workstation places the sealed boxes on the palletizing platform, and the palletizing robot performs intelligent palletizing. The human-machine control workstation controls the collaborative operation between the various workstations. However, this flexible collaborative robot automated assembly function test and verification line is circular, with a compact space, which is not conducive to the smooth transfer of personnel and goods.

[0007] A general-purpose collaborative robot flexible assembly station is disclosed in Chinese patent document CN217126201U. This station includes a gripping and transferring robot and a cylinder-driven part-picking and transferring mechanism. The gripping and transferring robot has a two-jaw gripper at its end, and a cutting machine and a hot riveting machine are located on its side. The cutting machine has a pneumatic stamping station and a top cover placement platform on its side. The cylinder-driven part-picking and transferring mechanism has an FT tester and an RF tester on its side. This flexible assembly station uses the gripping and transferring robot to move circuit boards, waits for the circuit board to complete its bottom shell installation, and then moves it along with the cover plate into the hot riveting machine for assembly. This assists in the assembly and placement of workpieces, enabling auxiliary assembly and inspection of workpieces, improving production efficiency and reducing labor costs. However, this flexible assembly station lacks a robot scheduling mechanism, resulting in a relatively small robot working range.

[0008] To address the shortcomings of the existing technologies, providing a circuit board collaborative assembly station is a problem worthy of further research. Summary of the Invention

[0009] The purpose of this utility model is to overcome the shortcomings of insufficient collaboration among existing assembly station workstations, and to provide a circuit board collaborative assembly station that achieves the technical effect of full-process automation of multi-station collaborative operation.

[0010] The objective of this utility model is achieved through the following technical solution:

[0011] A circuit board collaborative assembly station includes assembly and initial testing stations for automated circuit board assembly and initial inspection.

[0012] A temperature test station for testing the long-term stability of circuit boards is located on the material discharge side of the assembly initial test station.

[0013] And a final testing station for performing final performance testing and packaging of circuit boards, the final testing station being located on the conveying and discharging side of the temperature testing station.

[0014] The assembly and initial testing station includes an automatic connection and buffer device, an assembly and transmission device, a solidification and storage area and a gantry robot, an initial testing transmission line and a transfer device, and a manual workstation, an automatic coating workstation, an automatic assembly workstation and an automatic weighing workstation arranged sequentially along the transmission route of the initial testing transmission line and the transfer device, as well as an integrated storage, transportation and testing fixture for transferring the initial testing products.

[0015] The automatic connection buffer device includes a connection buffer frame, a connection robot positioning mechanism disposed on one side of the connection buffer frame, a connection robot slidably connected to the connection robot positioning mechanism, and an automatic connection measurement and control cabinet disposed on the side of the connection buffer frame.

[0016] The assembly transmission device is a double-speed chain mechanism with single-layer, unidirectional, multi-loop, clockwise circulating transmission. The assembly transmission device uses a conveyor pallet as a carrier, and the conveyor pallet circulates on the transmission chain. The assembly transmission device incorporates an automatic glue application circuit and an automatic assembly circuit into the double-speed chain links, which are respectively set at the corresponding ends of the automatic glue application station and the automatic assembly station. The assembly transmission device is equipped with stop or locking devices corresponding to the assembly station and the material box inlet / outlet position. The material box on the double-speed chain conveyor pallet is conveyed to the assembly station using a cylinder clamping loading and unloading mechanism.

[0017] The solidified storage area and gantry robot include a solidified storage area and a gantry robot set on the solidified storage area. The solidified storage area is provided with several placement positions. A QR code is affixed above each placement position for the gantry robot to determine cargo information and automatically reset cargo status. The placement positions of the material boxes in the solidified storage area are printed with placement range outlines, location QR code numbers, and coordinate information to facilitate automatic positioning of the gantry robot and the establishment of the robot's storage position coordinate system. Since the longitudinal displacement of the gantry robot uses an absolute value grating ruler, accurate positioning can be ensured in the solidified storage area within a large range of motion. When the gantry robot grabs and places the material boxes, in order to be safe, in addition to acting according to computer instructions, it also uses a vision sensor for detection and verification to ensure the safety of the product during grabbing and placement.

[0018] The initial test transmission line and transfer device include a fixture pushing mechanism, a fixture transfer robot, a fixture transfer double-speed chain, and a material box transfer double-speed chain. The initial test transmission line and transfer device need to achieve automatic transmission between the manual workstation, the automatic docking mechanism, the fixture output link in the solidified storage area, and the link from the fixture to the automatic docking and buffer robot. Since the transfer robot is set as an intermediate transfer device, the automatic transmission of the initial test becomes direct and efficient, which not only simplifies the interface of the transmission line, but also reduces the difficulty of controlling the transmission link.

[0019] An automatic material feeding and discharging platform is set on the left side of the manual workstation, and an intelligent torque screwdriver push-pull arm, as well as a screw feeder and bit programmable device below it, are set on the right side of the manual workstation.

[0020] The automatic coating station's glue-applying robot is equipped with positioning and visual detection sensors, enabling it to automatically apply glue to products mounted on the station fixtures or fixed to the coating station.

[0021] The workbench of the automatic assembly station has a stainless steel tabletop. A cabinet is installed under the tabletop for installing PLC control circuits, communication modules, testing instruments, etc. An automatic loading and unloading mechanism for the material box is designed on one side of the double-speed chain of the tabletop. The tabletop is equipped with a touch screen computer, a six-axis robot for product positioning and placement, several pneumatic clamping product positioning fixtures, a dedicated screw-locking robot, four screw feeders, a dispensing machine, a bit rack, and a material cylinder rack.

[0022] The automatic weighing station is connected to the initial measurement transmission line and the assembly transmission device through the upper and lower limit mechanism of the material box. The automatic weighing station is equipped with a weighing sensor module, a calibration standard and storage support, and a product transfer and measurement robot. The product transfer and measurement robot includes a displacement mechanism, a six-axis industrial robot body, a gripper mechanism, and a vision camera sensor, a light source, and a barcode scanner installed on the gripper mechanism.

[0023] The assembly and initial testing station uses an integrated storage, transportation, and testing fixture to transfer the assembled and tested circuit boards to the temperature testing station.

[0024] The temperature test station includes a composite transfer robot for transferring integrated fixtures for storage, transportation and testing, a test placement rack for placing temperature tests, and a line-side temporary storage rack for temporary storage and transfer of circuit boards.

[0025] The composite transfer robot is driven by an AGV to complete the transfer. The composite transfer robot is equipped with a lifting mechanism, and the lifting mechanism is equipped with a motor-driven horizontally extending transfer platform. The shape of the transfer platform of the composite transfer robot is adapted to the bottom shape of the integrated storage, transportation and measurement fixture.

[0026] The test placement frame includes front and rear crossbeams, uprights, and several docking placement units. The docking placement unit includes plug-in modules, horizontal braces, vertical braces, grooves, guide plates, universal balls, blocks, baffles, and fixing blocks.

[0027] The line-side temporary storage rack uses a turntable structure for the clamp placement, allowing the logistics AGV trolley to arbitrarily set the clamp position during connection.

[0028] The final test station includes a final test transmission line and transmission device, a final test workstation, and a manual assisted transfer device.

[0029] The final test transmission line and transmission device adopt a single-layer, unidirectional, reciprocating transmission "double speed chain mechanism" with a "conveying tray" as the carrier. The conveying tray only moves back and forth on the transmission chain. The six-axis robot and SCARA robot of the final test transmission line and transmission device adopt a cylinder clamping loading and unloading mechanism to realize the transmission of tooling between the workstation and the double speed chain.

[0030] The final test station includes four manual stations, which are respectively used for disassembling the integrated fixture, disassembling the vibration test fixture, final test, and packing.

[0031] The manual transfer device is a manual transfer trolley. The side panel of the manual transfer device is made of PVC material. It can accommodate two material boxes in the length direction and two rows and two layers of material boxes in the height direction. The front baffle of the transfer trolley is equipped with a push-pull handle.

[0032] Positive and beneficial effects: 1. The circuit board collaborative assembly station, at the initial testing station, achieves intelligent material scheduling among 9 workstations through a double-speed chain conveyor (RFID-bound material bins / pallets) and a gantry robot (magnetic ruler positioning ±0.1mm), reducing manual handling time by 30%; at the temperature testing station, the composite robot (AGV + robotic arm) automatically grabs the integrated storage, transportation, and testing fixture, completing the temperature chamber docking (three-level positioning accuracy ±0.25mm), enabling 72 hours of continuous unattended temperature cycling; at the final testing station, the double-speed chain + transfer robot linkage supports automatic docking of vibration fixtures and testing equipment, achieving a first-pass rate of ≥99.5% for all items in the final inspection before leaving the factory; the integrated storage, transportation, and testing fixture connects the three major stations, eliminating 6 manual handling steps in the traditional production line.

[0033] 2. In this circuit board collaborative assembly station, the initial test transmission line and transmission device need to achieve automatic transmission between the manual workstation, the automatic docking mechanism, the output fixture link of the solidification storage area, and the link from the fixture to the automatic docking and buffer robot. Since a transfer robot is set up as an intermediate transfer device, the automatic transmission of the initial test becomes direct and efficient, which not only simplifies the interface of the transmission line, but also reduces the difficulty of controlling the transmission link.

[0034] 3. The circuit board co-assembly station and the product solidification storage area of ​​the assembly and preliminary testing stations also adopt a structure of multiple tabletops, making the material status clear and easy to maintain; the truss design of the assembly and preliminary testing stations is an open and low-architecture mode, and the height of the truss track does not exceed 1.3 meters, which is level with the eye level of the manual seated person, and maintains a certain distance from the operating station, without visual obstruction or a feeling of oppression; the manual and automatic workstations in the upper and lower areas of the assembly and preliminary testing stations adopt a flush design, which is neat and beautiful; the connection mechanism and manual workstation of the final testing station adopt a symmetrical design, which is visually comfortable. Attached Figure Description

[0035] Figure 1 This is a three-dimensional structural diagram of the initial measurement station assembly of this utility model;

[0036] Figure 2 This is a three-dimensional structural diagram of the final measurement station of this utility model;

[0037] Figure 3 This is a schematic diagram of the automatic connection buffer device of this utility model;

[0038] Figure 4 This is a schematic diagram of the assembly and transmission device of this utility model;

[0039] Figure 5 This is a schematic diagram of the solidification storage area of ​​this utility model;

[0040] Figure 6 This is a schematic diagram of the structure of the gantry robot of this utility model;

[0041] Figure 7 This is a schematic diagram of the structure of the manual workstation of this utility model;

[0042] Figure 8 This is a schematic diagram of the automatic coating station of this utility model;

[0043] Figure 9 This is a schematic diagram of the structure of the automatic assembly station of this utility model;

[0044] Figure 10 This is a schematic diagram of the automatic weighing station of this utility model;

[0045] Figure 11 This is a schematic diagram of the integrated storage, transportation, and measurement fixture of this utility model;

[0046] Figure 12 This is a schematic diagram of the structure of the composite transfer robot of this utility model;

[0047] Figure 13 This is a schematic diagram of the structure of the test placement rack of this utility model;

[0048] Figure 14This is a schematic diagram of the structure of the line-side temporary storage shelf of this utility model.

[0049] In the diagram: 101-Automatic connection and buffer device, 102-Assembly and transfer device, 103-Cure storage area and gantry robot, 104-Initial test transfer line and transfer device, 105-Manual workstation, 106-Automatic coating workstation, 107-Automatic assembly workstation, 108-Automatic weighing workstation, 109-Integrated storage, transportation and testing fixture, 201-Composite transfer robot, 202-Test placement rack, 203-Line-side temporary storage rack, 301-Final test transfer line and transfer device, 302-Final test workstation, 303-Manual assisted transfer device. Detailed Implementation

[0050] The embodiments of this utility model are described in detail below. Examples of these embodiments are shown in the accompanying drawings, wherein the same or similar reference numerals denote the same or similar elements or elements having the same or similar functions throughout. The embodiments described below with reference to the accompanying drawings are exemplary and intended to explain this utility model, and should not be construed as limiting this utility model.

[0051] Example 1

[0052] like Figures 1 to 14 As shown, the circuit board collaborative assembly station includes assembly and initial testing stations for automatic circuit board assembly and initial inspection.

[0053] The temperature test station is used to test the long-term stability of the circuit board. The temperature test station is set on the conveying and discharging side of the assembly initial test station.

[0054] And a final testing station for performing final performance testing and packaging of circuit boards, the final testing station being located on the conveying and discharging side of the temperature testing station.

[0055] like Figures 1 to 11 As shown, the assembly and initial testing station includes an automatic connection and buffer device 101, an assembly and transmission device 102, a solidification storage area and a gantry robot 103, an initial testing transmission line and a transfer device 104, and a manual workstation 105, an automatic coating workstation 106, an automatic assembly workstation 107 and an automatic weighing workstation 108 arranged sequentially along the transmission route of the initial testing transmission line and transfer device 104, as well as an integrated storage, transportation and testing fixture 109 for transferring the initial testing products.

[0056] like Figures 1 to 6As shown, the automatic connection buffer device 101 includes a connection buffer frame, a connection robot positioning mechanism set on one side of the connection buffer frame, a connection robot slidably connected to the connection robot positioning mechanism, and an automatic connection measurement and control cabinet set on the side of the connection buffer frame. The automatic connection buffer device 101 is used to complete the automatic connection of materials and fixtures between the assembly initial test station and the logistics AGV. The connection buffer frame is a platform for placing logistics AGVs (transfer boxes and fixtures). There is one automatic connection and one manual connection. The automatic connection robot is used for the automatic transfer of boxes and integrated storage, transportation and measurement fixtures (hereinafter referred to as fixtures or integrated fixtures) between the buffer frame and the assembly transmission line and transmission device. The automatic connection measurement and control cabinet is used to place the touch screen computer, communication module, controller PLC and measurement and control circuit of the automatic connection and buffer device. A safety guardrail is set around the automatic connection buffer device 101 to prevent personnel from entering and touching it.

[0057] The docking buffer rack is a single-layer platform with a platform height of 800mm, capable of holding two rows of material boxes or fixtures. Each row has eight placement positions, with the left row being the picking and placing work area for the logistics AGV; the right row being the buffer area; and the left and right rows being the picking and placing work areas for the automated docking robot. The 16 placement positions on the platform are marked with a location range frame and a location number QR code. The four sides of the platform have edge strips to prevent material boxes or fixtures from slipping. The docking robot is a six-axis industrial robot with an actuator at its end to grasp material boxes or fixtures. The actuator is equipped with a vision camera for positioning detection and a material information reader / scanner. The actuator uses a pneumatic opening and spring clamping structure. The docking robot has a displacement mechanism to expand its working area. The docking robot base uses a steel plate splicing structure for placing the docking robot's motion mechanism on the second-floor floor.

[0058] During normal connection operations, the left side of the connection buffer platform has 8 material handling positions for logistics AGVs, 4 of which are empty and 4 are for boxes or fixtures to be picked up, facilitating rapid retrieval and placement by the logistics AGVs. The right side of the platform also has 8 material handling positions, with 4 empty and 4 for boxes or fixtures to be shipped from the assembly line, allowing the connection robot to quickly exchange boxes or fixtures with the left side. If conditions permit, the connection robot can also directly connect the boxes or fixtures on the left side of the buffer platform with the four access points on the left side of the solidified storage area. The robot facilitates the exchange of material bins or fixtures to improve transfer efficiency. Before gripping or placing a material bin or fixture, the robot uses its vision camera and barcode scanner to detect the status of the placement position or material bin / fixture to ensure the safety of gripping and placing and to obtain the required information about the material or carrier. The position switches on the motion mechanism include zero and limit sensors for resetting the mechanism and for safety limit protection. When a serious fault occurs in the measurement and control circuit, the Andon system will promptly notify the control unit computer and issue an alarm indication.

[0059] Assembly conveyor 102 is a single-layer, unidirectional, multi-loop, clockwise circulating double-speed chain mechanism. The assembly conveyor 102 uses a conveyor pallet as a carrier, which circulates on the conveyor chain. Automatic gluing and automatic assembly circuits are incorporated into the double-speed chain links, respectively positioned at the corresponding ends of the automatic gluing and assembly stations. The assembly conveyor 102 is equipped with stop or locking devices corresponding to the assembly stations and material box entry / exit positions. The conveying of material boxes from the double-speed chain conveyor pallet to the assembly station utilizes a cylinder-clamped loading / unloading mechanism. The double-speed chain is configured with pallets... The quantity is twice that of all manual workstations, ensuring that empty pallets can be stopped at any time on the double-speed chain and products can be pushed onto the pallets. The material box loading and unloading mechanism and gantry robot on the transmission line can realize the arbitrary transfer of products between various workstations without human intervention. The double-speed chain is designed with multiple RFID readers, which, together with the RFID tags on the transmission pallets and the barcode scanners on the robotic arms when the material boxes enter and leave the assembly line, make the correspondence between the number of the material box on the transmission line and the number of the transmission pallet, so that the control system can accurately control and manage the material boxes and materials during the transmission process.

[0060] The solidified storage area and gantry robot 103 include a solidified storage area and a gantry robot set on the solidified storage area. The solidified storage area has several placement positions, each with a QR code affixed above it for the gantry robot to determine cargo information and automatically reset cargo status. The solidified storage area consists of seven large square plates supported by gantry beams, accommodating 96 material boxes or fixtures in 4 rows and 14 columns. The four placement positions in the first row on the left, and the first three positions of the initial measurement station, have different functions from the other 89 placement positions. All placement positions have a QR code above them for the gantry robot to determine cargo information and automatically reset cargo status. The gantry support structure includes: two "gantry longitudinal beams" for mounting the longitudinal motion mechanism; six pairs of "longitudinal beam supports" supporting the longitudinal beams; six pairs of "lower horizontal braces" connecting the supports laterally; five pairs of "lower longitudinal braces" connecting the supports longitudinally; and "end horizontal braces" at both ends of the longitudinal beams. The gantry robot's longitudinal motion drive mechanism uses a pair of servo motors, a reducer, and helical gears. The system features a synchronous drive and is equipped with a magnetic scale reading head for longitudinal position detection. The transverse transmission mechanism and drive unit are mounted on the crossbeam, including a gear rack, linear guide, slider, servo motor, servo driver, and an absolute encoder for direct transverse position detection. The gantry robot's grippers use an electrically operated, spring-loaded mechanism to ensure the gripped hopper remains in a safe state in the event of a sudden power failure. The gripper's lifting mechanism uses an electric cylinder drive structure with good self-locking capability, ensuring the lifting state remains unchanged even in the event of a power failure. To reduce the height of the gantry longitudinal beam, the gantry robot's gripper and lifting mechanisms are designed on one side of the crossbeam. The initial design of the upper surface of the gantry longitudinal beam is 1.1m high, providing good openness and visibility for the entire gantry area. An electric tarpaulin roller is installed on the right side of the gantry's solidification storage area. The tarpaulin contains transverse support strips; when the assembly line is not in use for an extended period, it can be manually installed on the gantry and moved with the gantry to eventually cover the entire solidification storage area, preventing dust from falling onto the materials.

[0061] The placement area of ​​the hopper in the solidified storage area is marked with a frame of the placement range, a QR code number, and coordinate information. This facilitates the automatic positioning of the gantry robot and the establishment of the robot's storage coordinate system. Since the longitudinal displacement of the gantry robot uses an absolute grating ruler, it can ensure accurate positioning in the solidified storage area within a large range of motion. When the gantry robot grabs and places the hopper, in order to be on the safe side, in addition to acting according to computer instructions, it also uses a vision sensor for detection and verification to ensure the safety of the product during grabbing and placement.

[0062] The initial testing transmission line and transfer device 104 includes a fixture pushing mechanism, a fixture transfer robot, a fixture transfer double-speed chain, and a material box transfer double-speed chain. The fixture pushing mechanism is used for the automatic transfer of fixtures from the solidification storage area to the fixture transfer robot's working area. The fixture transfer robot is used for the automatic transfer of assembled finished products (inside the material box) and fixtures from the solidification storage area to the manual workstation (i.e., the fixture wiring workstation), the automatic transfer of the wired fixtures (products) to the initial testing automatic docking mechanism, and the automatic transfer of fixtures from the automatic docking mechanism to the fixture transfer double-speed chain, complementing the double-speed chain and fixture pushing mechanism. The fixture transfer double-speed chain is used for the automatic transfer and buffering of fixtures (products) to the automatic docking and buffering device, reserving working positions for subsequent products and fixtures. The material box transfer double-speed chain is used for the automatic transfer and buffering of the material box between the solidification storage area and the manual assisted assembly station (initial testing wiring workstation).

[0063] The initial test transmission line and transmission device need to achieve automatic transmission between the manual workstation, the automatic docking mechanism, the output fixture link of the solidified storage area, and the link from the fixture to the automatic docking and buffer robot. Since the transfer robot is set as an intermediate transfer device, the automatic transmission of the initial test becomes direct and efficient, which not only simplifies the interface of the transmission line, but also reduces the difficulty of controlling the transmission link.

[0064] like Figures 7 to 10As shown, the left side of the manual workstation 105 is equipped with an automatic material in / out conveyor, and the right side of the manual workstation 105 is equipped with an intelligent torque screwdriver push-pull arm and a screw feeder and bit programmable below it. The mechanical structure of the manual workstation mainly includes: an operating table that provides an installation and support platform for other devices, with its bottom fixed to the workshop floor by foot cups, providing more precise foundation support for the robotic arm; the left side of the manual operation workstation is the automatic material in / out conveyor, with 2 conveyor positions and 2 buffer positions, which can simultaneously accommodate 4 material boxes; a touch screen display and support base, where the touch screen display is used to display basic product information, processing requirements, etc., and the support base provides a support base for the display; an Andon system and electrostatic protection, the Andon system is installed in the upper left corner of the operating table, including a four-color layer warning light column (fault status - red, waiting). The system includes a status indicator (green, running, yellow, and stopped) and a mechanical button box (with three buttons: fault call, pause call, and resume call). The button box outputs signals through an independent communication network, controlled by a 485 button box gateway, an Ethernet switch, and a management system. Electrostatic protection includes a desktop electrostatic voltage monitor (installed behind the metal tool holder), wrist straps, and connecting cables. The automatic docking mechanism uses a stepper motor and synchronous belt drive; when the material box is placed on the push plate, the push plate pushes the material box into position. The system also includes a tool holder and supporting tools, such as a barcode scanner, intelligent torque screwdriver, screw feeder, material storage device, tool holder, Andon system, soldering iron rack, electrostatic voltage detector, and fume purifier. The control system uses infrared detection switches to monitor operator tool usage and compliance with assembly processes.

[0065] The mounting bracket for the touchscreen computer can be manually extended and adjusted in all directions (front, back, left, right, and tilt) and is self-locking, meeting the requirements of ergonomic design. All information during manual operation will be recorded by the touchscreen computer and uploaded or stored as needed.

[0066] The automatic coating station 106 features a glue-applying robot equipped with positioning and vision sensors. It automates the glue application of products mounted on fixtures or fixed at the coating station. The main mechanical structure of the automatic coating station includes: a material bin loading / unloading mechanism above the workbench for mounting the automatic coating robot, product placement fixtures, two glue applicators, glue gun holders, paint storage racks, an Andon system, and a safety light curtain. The automatic coating robot uses a SCARA body with a dedicated end effector. The end effector is equipped with a barcode scanner and a vision camera. The robot's end effector has two gripping mechanisms: a flexible product gripping mechanism and a glue gun gripping mechanism. The grippers are controlled by diaphragm cylinders. Clamping is used to reduce the installation space of the clamping mechanism and to avoid interference between two clamping mechanisms; receiving work instructions, identifying incoming material information, and transferring products to the corresponding workstations; the glue gun is hung on the glue gun holder plate, and the glue gun clamping handle is fixed with a clamping transition handle with the same interface as the gripper mechanism, which facilitates stable and reliable clamping of two different gun handles with one gripper; the designated area is coated with silicone rubber (GD414) or silicone conformal coating (1-2577); the product placement fixture is used for stable placement and basic positioning of the product, and needs to be designed according to the requirements of different coating positions; a barcode scanner and vision camera are used to record information on the coated products and the coating status; and a safety light curtain and Andon system are also included.

[0067] The coating process is roughly divided into two steps. First, the coating robot positions the product according to computer instructions and places the product in place. Then, it applies glue to a specific area. When the coating robot automatically docks with the glue gun, it only takes one type of glue gun at a time. Compared with the method of carrying two glue guns at the same time, it can effectively avoid the glue residue at the end of one glue gun from splashing onto the product while another glue gun is spraying another type of glue. In addition, it also avoids the possibility of interference between the two glue guns when coating in special positions, ensuring the accuracy of product coating and product safety.

[0068] The workbench of the automatic assembly station 107 is made of stainless steel. The machine box is set under the workbench for installing PLC control circuit, communication module, testing instruments and meters, etc. The double speed chain on one side of the workbench is designed with an automatic material box loading and unloading mechanism. The workbench is equipped with a touch screen computer, a six-axis robot for product positioning and placement, several pneumatic clamping product positioning fixtures, a dedicated screw-locking robot, four screw feeders and a dispensing machine, a bit rack and a material cylinder rack.

[0069] The automated assembly station 107 also includes a positioning and placement robot equipped with flexible grippers and industrial cameras. This robot receives work instructions, identifies incoming material information, and transfers products to the corresponding stations. It can automatically position, grip, and assemble products and components. The station's barcode scanner and vision camera are used to identify component assembly positions, quantities, missing parts, and incorrect assembly. The station takes photos and stores data during the assembly process, automatically inputting relevant information such as product number, operation time, torque value, weight, and inspection results into the system. The product positioning fixture uses a diaphragm cylinder for pneumatic clamping, reducing the space required for the clamping mechanism while ensuring product safety. The screw-locking robot is equipped with a magnetic screw-picking bit, which picks up screws of the required specifications from the screw feeder, applies glue to the dispensing machine, and then screws them in—all in one operation, ensuring high efficiency. The screw-locking robot's screw-locking mechanism has a torque measurement sensor for torque control feedback during screw tightening and torque curve detection during the tightening process, facilitating the collection and storage of process parameters. Screws can be tightened to the specified torque;

[0070] The flexible gripper of the positioning and placement robot removes the product from the bin and places it on the assembly fixture for assembly. Alternatively, it can be placed on the automatic screw-locking fixture, where a screw-locking robot will drive the screws. The screw-locking robot can select the bit and screws according to the product information and automatically perform screw-locking assembly. After assembly, the product is inspected by a vision camera on the positioning and placement robot, then gripped and placed into the material bin, and sent back to the double-speed chain by the automatic loading and unloading mechanism. Throughout the entire automatic assembly process, the computer automatically records all assembly processes and information and can upload or save them as needed.

[0071] The automatic weighing station 108 is connected to the initial measurement transmission line and the assembly transmission device 102 through the upper and lower limit mechanism of the material box. The automatic weighing station 108 is equipped with a weighing sensor module, calibration standard parts and storage support, and a product shifting and measuring robot. The product shifting and measuring robot includes a displacement mechanism, a six-axis industrial robot body, a gripper mechanism, and a vision camera sensor, light source, and barcode scanner installed on the gripper mechanism. The opening and closing of the gripper mechanism adopts a pair of anti-helical trapezoidal lead screws to ensure that the system has the function of position self-locking and clamping force retention when the system suddenly loses power under any circumstances. The pair of "grippers" on the gripper mechanism adopts an elastic arm structure and a flexible thin film material for the contact surface. A resistance strain bridge force measuring circuit is set on the elastic arm, which can ensure the safety of the outer surface of the product when it is clamped by accurately controlling the flexible clamping force of the product.

[0072] Product quality measurement: First, an empty scale tare test is performed (the average result of multiple tests is taken). Then, the clamping mechanism places the product in the bin onto the weighing pan of the weighing module. The computer reads the data from the weighing sensor, averages the data multiple times, tares is taken, the product quality is calculated and uploaded to the control unit computer. The product is then removed, placed back into the bin, and sent back to the high-speed chain of the transmission line.

[0073] Weighing system calibration: First, perform an empty scale tare test (take the average result of multiple tests). Then, the clamping mechanism places the standard part on the standard part support onto the weighing pan of the weighing module. The computer reads the data from the weighing sensor, averages the data multiple times, takes the tare weight, calculates the measurement result and compares it with the mass of the standard part to see if it meets the accuracy requirements. If it does not meet the requirements, the weighing coefficient can be corrected and the above process can be repeated. If it still does not meet the requirements, an alarm needs to be uploaded to the control unit computer.

[0074] like Figure 11 As shown, the pre-assembly and testing station uses an integrated storage, transportation, and testing fixture 109 to transfer the assembled and tested circuit board to the temperature testing station. The "guide groove" at the bottom of the integrated storage, transportation, and testing fixture 109, in conjunction with the "guide plate" of the docking mechanism, enables coarse positioning of the connector plug and socket during docking; the two left and right "guide pin holes" enable precise positioning of the plug and socket during docking; the two left and right "fork ports" facilitate the placement of the fixture before docking and the application of force when the connector is disengaged; the connector socket is "embedded" in the fixture to ensure the safety of the connector during transportation. The fixture is designed with a "..." The connector slots have ample space to accommodate the bending radii of multiple cables and the placement of multiple sets of connectors. One end of the connector features a "micro-floating" installation design with an "adaptive" plug-in safety margin of no more than 0.25mm. While ensuring strength, the weight-reduced fixture is estimated to weigh no more than 6kg. The fixture is suitable for temperatures ranging from -55℃ to 100℃. It can accommodate products with diameters from 80 to 280mm and lengths from 90 to 458mm. The connectors used in the fixture are 180-pin differential signals, 4-pin video signals, and 16-pin voltage signals.

[0075] The fixture can be transported across multiple workstations and conveyor chains. It has mounting and fixing slots for various products, allowing different models of products to be stably placed in either a vertical or horizontal position.

[0076] The fixture's shape design can meet the transportation needs of high-speed chains, AGV logistics vehicles, gantry robots, and push-pull robots at various workstations, as well as the docking and clamping needs of composite robots and the docking and plugging / unplugging needs on the test placement rack.

[0077] The connector on the end face of the clamp uses a socket head, which allows it to be kept within the plane of the end face, ensuring the safety of the connector during transfer or transportation.

[0078] The connector end of the clamp is designed with a large space for placing cables and plugs, so as to facilitate the placement of multiple cables and cable plugs and allow the cables to have a certain bending space.

[0079] The fixture has laser-printed QR codes on its top and two end faces. When the clamping mechanism is clamping and transferring the product, the information of the fixture (product) can be obtained through the QR code on the top. When the composite robot is transporting the fixture, it can perform secondary positioning and record product information through the QR codes on both end faces.

[0080] Example 2

[0081] like Figures 12 to 14 As shown, the temperature test station includes a composite transfer robot 201 for the integrated transfer, storage, and testing fixture 109, a test placement rack 202 for placing temperature tests, and a line-side temporary storage rack 203 for temporary storage and transfer of circuit boards.

[0082] like Figure 12As shown, the composite transfer robot 201 is driven by an AGV (Automated Guided Vehicle) to complete the transfer. The composite transfer robot 201 is equipped with a lifting mechanism, on which a motor-driven, horizontally extendable transfer platform is mounted. The shape of the transfer platform of the composite transfer robot 201 is adapted to the bottom shape of the integrated storage, transportation, and measurement fixture 109. The AGV of the composite transfer robot 201 is a general-purpose industrial AGV. A column base plate for mechanical interface with the AGV is installed on the top surface of the AGV. A lifting frame is designed on the column base plate, and a five-layer (five fixture storage positions) fixture buffer is fixedly installed on one side of the lifting frame. The rack features end stops at each storage location to prevent the clamps from slipping out. A lifting mechanism is installed on the other side, and a rotating mechanism is mounted on the lifting mechanism via a bottom support, enabling the rotating mechanism to move up and down. The docking mechanism mounted on the rotating mechanism consists of inner and outer frame structures, with the inner frame installed inside the outer frame. The rotating mechanism allows the docking mechanism to rotate from 0° to 90°. A 3D laser sensor is installed at the bottom of the outer frame to detect the orientation of the test rack relative to the docking mechanism in terms of height and angle. The inner frame of the docking mechanism is connected to the outer frame... The drawer-type guide rails, lead screws, and nuts inside the frame are connected to the outer frame and can extend and retract relative to the outer frame under the drive of a servo motor at the rear end of the outer frame, so that the inner frame and its internal mechanism of the docking mechanism can enter and exit the test placement rack inside the temperature chamber; a pair of "locking hooks" are installed at the lower outer end of the inner frame, which can be rotated from 0° to 90° position by a stepper motor. These locking hooks can be hooked into the force-applying "grooves" of the test placement rack, so that the force of the docking mechanism when pushing and pulling the clamps becomes the "internal force" of the test placement rack; the clamp "guide" is installed on the inner bottom surface of the inner frame. The "push plate" and "omnidirectional ball" are used for positioning and smooth movement of the clamp in the docking mechanism; inside the inner frame, a "push-pull plate" mechanism that can extend and retract relative to the inner frame is connected by a pair of guide rails, lead screws, nuts, and push-pull motors on the upper left and right sides. The push plate has a "flexible strip" in the middle, and a pair of "pull rods" that can rotate from 0° to 90° position by stepper motors are installed at the lower part of both ends of the push-pull plate. The push-pull plate is used to apply force when the clamp docks or separates, the flexible strip is used to push the clamp and make the force even, and the pull rods are used to pull out when the clamp separates.

[0083] Furthermore, the inner frame of the docking mechanism of the composite transfer robot 201 is connected to the outer frame through drawer-type guide rails, lead screws, and nuts within the outer frame. Driven by a servo motor at the rear of the outer frame, it can extend and retract relative to the outer frame, allowing the inner frame and its internal mechanisms to enter and exit the test placement rack within the temperature chamber. A pair of "hooks" are installed at the lower outer end of the inner frame, capable of rotating from 0° to 90° driven by a stepper motor. These hooks can engage with the force-applying "grooves" of the test placement rack, transforming the force exerted by the docking mechanism when pushing and pulling the clamps into the "internal force" of the test placement rack. The inner bottom surface of the layer frame is equipped with a clamp "guide plate" and "universal ball" to position and smoothly move the clamp in the docking mechanism. Inside the inner frame, a "push-pull plate" mechanism that can extend and retract relative to the inner frame is connected by a pair of guide rails, lead screws, nuts, and push-pull motors on the upper left and right sides. The push plate has a "flexible strip" in the middle, and a pair of "pull rods" that can rotate from 0° to 90° position by stepper motors are installed at the lower part of both ends of the push-pull plate. The push-pull plate is used to apply force when the clamp docks or separates, the flexible strip is used to push the clamp and make the force even, and the pull rods are used to pull out when the clamp separates.

[0084] like Figures 13 to 14 As shown, the test placement frame 202 includes front and rear crossbeams, uprights, and several docking placement units. Each docking placement unit includes a plug-in module, cross braces, longitudinal braces, grooves, guide plates, universal balls, stops, baffles, and fixing blocks. The longitudinal braces are fixed to the front and rear crossbeams, and guide plates and universal balls are installed on the longitudinal braces to provide conditions for the placement, coarse positioning, and smooth movement of the fixture on the test placement frame. The hook groove is fixed to the longitudinal braces and the front crossbeam to provide a point of force for the docking mechanism to form the "internal force" of the test placement frame when force is applied. The cross braces installed on the longitudinal braces are fixed to the uprights on both sides by fixing blocks, so that the docking placement unit has a stable frame structure. The "plug-in module" composed of connector plugs, plug sockets, and positioning pins is placed on the longitudinal braces and is constrained by the stops and baffles fixed on the cross braces with appropriate gaps, forming a "floating" state within a certain range, so that it has a certain range of "self-adaptive" adjustment capability during docking.

[0085] The 202 test placement rack is equipped with a 3D laser sensor on its docking mechanism. This sensor can detect and confirm the presence and exact position of the fixtures in the test placement rack and the temporary storage rack along the line, as well as the positioning position of the AGV relative to the test placement rack. The guide plate on the test placement rack helps ensure the safety of the product and the mechanism. The test placement rack, docking mechanism, and fixtures are equipped with a three-level positioning function, which ensures the flexible positioning accuracy (within ±0.25mm) of the connection itself. The guide positioning pin on the connector socket plate, together with the positioning pin hole on the fixture, ensures the precise positioning between the connector plug and socket, with a positioning accuracy within 0.2mm. A locking hook mechanism is added to the docking mechanism, so that the docking force (about 10kg) between the composite robot and the test placement rack during docking becomes the "internal force" on the test placement rack. The docking unit in the test placement rack is designed with the "plug module" in a floating mode. The docking and plugging of the connector is completed by coarse positioning of the guide plate and precise positioning of the positioning pin. As long as the machining and installation accuracy between the positioning pin on the plug plate and the connector is ensured, the connection can be completed.

[0086] The line-side temporary storage rack 203 uses a turntable structure for fixture placement, ensuring that the logistics AGV can arbitrarily set the position of the fixture during connection. The support frame of the line-side temporary storage rack 203 has four layers of space from top to bottom. The first layer is the fixture placement layer with 4 placement positions (i.e., 4 independent turntables). The second layer is equipped with the drive motor for the rotation of the turntables in the second layer. The third layer is the same as the first layer. The fourth layer is the same as the second layer. There are three support partitions between each layer. Eight turntable position detection infrared switch receivers are installed on the top panel of the frame, and eight infrared switch transmitters are installed on the top of the fourth layer to check the position of the turntable and the placement status of the fixture. The fixture can rotate 360 ​​degrees when placed on the turntable. Whether the position of the fixture meets the position that the composite robot can grasp (90°) can be determined by the infrared detection switches.

[0087] When the composite transfer robot is gripping, it can use a 3D laser vision sensor to confirm the orientation after placement. If there is a problem with the orientation (at 90°, 180° or 360°), it can be changed to the required 0° position through a turntable mechanism. Similarly, when the logistics AGV is gripping, it can be changed to the required orientation of the logistics AGV through a turntable mechanism to facilitate the gripping by the logistics AGV.

[0088] Example 3

[0089] like Figure 2 As shown, the final measurement station includes a final measurement transmission line and transmission device 301, a final measurement station 302, and a manual auxiliary transfer device 303.

[0090] like Figure 2As shown, the final test transmission line and transmission device 301 adopt a single-layer, unidirectional, reciprocating transmission "double speed chain mechanism" with a "conveying tray" as the carrier. The conveying tray only moves back and forth on the transmission chain. The six-axis robot and SCARA robot of the final test transmission line and transmission device 301 adopt a cylinder clamping loading and unloading mechanism to realize the transmission of tooling between the workstation and the double speed chain.

[0091] The final testing station 302 includes four manual stations, which are used for disassembling the integrated fixture, disassembling the vibration test fixture, final testing, and packing, respectively. The equipment at the final testing station 302 mainly includes a workbench, a touch screen computer, a PLC controller and I / O modules, a barcode scanner, and a tool rack, which is equipped with conventional manual screw removal and assembly tools and an electrostatic voltage detector.

[0092] The manual assisted transfer device 303 is a manual transfer trolley. The side panels of the manual assisted transfer device 303 are made of PVC material. The length direction can accommodate two material boxes, and the height can accommodate two rows and two layers of material boxes. The front baffle of the transfer trolley is equipped with a push-pull handle. The edges of the left and right baffles of the transfer trolley are equipped with semi-automatic lock cylinders, chains, and hinges. All three panels can be opened to facilitate manual handling of material boxes. At the same time, the chains can ensure that the side panels are still restrained by the transfer trolley when the side panels are open. The bottom plate provides a support platform for the side panels. Four casters are installed at the bottom of the bottom plate. The two front casters are locked casters. When transporting and loading material boxes, the casters are locked to ensure that the logistics vehicle does not move and increase the safety of the operation.

[0093] The manual-assisted transfer vehicle panel can open three baffles simultaneously when manually loading and unloading material boxes. The baffles on both sides are equipped with chain hinges to effectively ensure that the material boxes do not fall off the transfer vehicle. The manual-assisted transfer vehicle can be parked on the side of the receiving robot at the final test station. It can be used as a transport vehicle to transport up to 4 material boxes at a time, and it can also be used as a placement position to provide placement space for the receiving robot and increase the material box buffering capacity of the final test station.

[0094] Furthermore, all docking stations that need to connect with the logistics AGVs are located along one side of the logistics channel, facilitating the safe and smooth operation of the AGVs. The left side of the equipment at the assembly, preliminary testing, and final testing stations is the logistics channel, while the right side and the top and bottom sides can serve as pedestrian walkways for easy personnel access. The control cabinets at the temperature testing station are installed on the top and bottom sides, ensuring smooth AGV access for the composite robot. The automatic or manual docking platforms at the assembly, preliminary testing, and final testing stations and the logistics AGVs are all tabletop structures, providing a clear view of the material status and facilitating maintenance. The product solidification storage area at the assembly and preliminary testing stations also adopts a structure combining multiple workbenches, providing a clear view of the material status and facilitating maintenance. The truss design of the assembly and preliminary testing stations features an open and low-architecture mode, with the truss track height not exceeding 1.3 meters, level with the eye level of a seated operator, and maintaining a certain distance from the operating station to avoid visual obstruction and a feeling of oppression. The manual and automatic workstations in the upper and lower areas of the assembly and preliminary testing stations adopt a flush design, resulting in a neat and aesthetically pleasing appearance. The connection mechanism and manual workstations at the final testing station adopt a symmetrical design, providing a comfortable visual experience.

[0095] The right end of the truss in the solidification storage area is equipped with a covered cloth (with supporting crossbars) and an electric roller. Rollers are designed on the inner sides of both ends of the longitudinal beams of the truss. When the assembly line is not used for a long time, the covered cloth can be manually hung on both ends of the right side of the truss robot. The electric roller, together with the truss robot, will cover the entire solidification storage area to prevent dust from falling. A handheld vacuum cleaner can be temporarily installed on the truss robot. When the working mode is switched to a special control program, the solidification storage area table surface is automatically dusted periodically with manual assistance. Since the truss is an open mode, manual cleaning can also be carried out directly on the solidification storage area.

[0096] The above description is only used to illustrate the technical solution of this utility model and is not intended to limit it. Any other modifications or equivalent substitutions made by those skilled in the art to the technical solution of this utility model, as long as they do not depart from the spirit and scope of the technical solution of this utility model, should be covered within the scope of the claims of this utility model.

Claims

1. A circuit board collaborative assembly station, characterized in that: This includes assembly and initial testing stations for automated circuit board assembly and initial inspection; A temperature test station for testing the long-term stability of circuit boards is located on the material discharge side of the assembly initial test station. And a final testing station for performing final performance testing and packaging of circuit boards, the final testing station being located on the conveying and discharging side of the temperature testing station.

2. The circuit board collaborative assembly station according to claim 1, characterized in that: The assembly and initial testing station includes an automatic connection and buffer device (101), an assembly and transmission device (102), a solidification storage area and a gantry robot (103), an initial testing transmission line and a transfer device (104), and a manual workstation (105), an automatic coating workstation (106), an automatic assembly workstation (107) and an automatic weighing workstation (108) arranged sequentially along the transmission route of the initial testing transmission line and transfer device (104), as well as an integrated storage, transportation and testing fixture (109) for transferring the initial testing product.

3. The circuit board collaborative assembly station according to claim 2, characterized in that: The automatic connection buffer device (101) includes a connection buffer frame, a connection robot displacement mechanism disposed on one side of the connection buffer frame, a connection robot slidably connected to the connection robot displacement mechanism, and an automatic connection measurement and control cabinet disposed on the side of the connection buffer frame. The assembly transmission device (102) is a double-speed chain mechanism with single-layer, unidirectional, multi-loop, clockwise cyclic transmission. The assembly transmission device (102) uses a conveyor tray as a carrier, and the conveyor tray circulates on the transmission chain. The assembly transmission device (102) adds an automatic glue application circuit and an automatic assembly circuit to the double-speed chain link, which are respectively set at the corresponding ends of the automatic glue application station and the automatic assembly station. The assembly transmission device (102) is equipped with a stop or locking device corresponding to the assembly station and the material box entry and exit position. The material box on the double-speed chain conveyor tray is conveyed to the assembly station using a cylinder clamping loading and unloading mechanism. The solidified storage area and gantry robot (103) include a solidified storage area and a gantry robot set on the solidified storage area. The solidified storage area is provided with several placement positions. A QR code is affixed above the placement position for the gantry robot to determine cargo information and automatically reset cargo status. The initial test transmission line and transfer device (104) includes a clamp pushing mechanism, a clamp transfer robot, a clamp transfer double speed chain and a hopper transfer double speed chain.

4. The circuit board collaborative assembly station according to claim 2, characterized in that: The left side of the manual workstation (105) is equipped with an automatic material feeding and discharging platform, and the right side of the manual workstation (105) is equipped with an intelligent torque screwdriver push-pull arm and a screw feeder and a bit programmable device below it. The automatic coating station (106) has a glue-applying robot equipped with positioning and visual detection sensors, which automatically applies glue to products installed on the station fixtures or products fixed at the coating station. The automatic assembly station (107) has a stainless steel tabletop. A cabinet is installed under the tabletop for installing PLC control circuits, communication modules, testing instruments, etc. An automatic loading and unloading mechanism for the material box is designed on one side of the double-speed chain of the tabletop. The tabletop is equipped with a touch screen computer, a six-axis robot for product positioning and placement, several pneumatic clamping product positioning fixtures, a special screw-locking robot, four screw feeders, a dispensing machine, a bit rack, and a material cylinder rack. The automatic weighing station (108) is connected to the initial measurement transmission line and the assembly transmission device (102) through the upper and lower limit mechanism of the material box. The automatic weighing station (108) is equipped with a weighing sensor module, a calibration standard and storage support, and a product shifting and measuring robot. The product shifting and measuring robot includes a displacement mechanism, a six-axis industrial robot body, a gripper mechanism, and a vision camera sensor, a light source, and a barcode scanner installed on the gripper mechanism.

5. The circuit board collaborative assembly station according to claim 2, characterized in that: The assembly and initial testing station uses an integrated storage, transportation, and testing fixture (109) to transfer the assembled and tested circuit board to the temperature testing station.

6. The circuit board collaborative assembly station according to claim 5, characterized in that: The temperature test station includes a composite transfer robot (201) for transferring the integrated fixture (109) for storage and testing, a test placement rack (202) for placing temperature tests, and a line-side temporary storage rack (203) for temporary storage and transfer of circuit boards.

7. The circuit board collaborative assembly station according to claim 6, characterized in that: The composite transfer robot (201) is driven by an AGV trolley to complete the transfer. The composite transfer robot (201) is equipped with a lifting mechanism, and the lifting mechanism is equipped with a transfer platform that is driven by a motor to extend horizontally. The shape of the transfer platform of the composite transfer robot (201) is adapted to the bottom shape of the storage, transportation and measurement integrated fixture (109).

8. The circuit board collaborative assembly station according to claim 6, characterized in that: The test placement frame (202) includes front and rear crossbeams, uprights and several docking placement units. The docking placement unit includes plug-in modules, horizontal braces, vertical braces, grooves, guide plates, universal balls, blocks, baffles and fixing blocks. The line-side temporary storage rack (203) adopts a turntable structure for the clamp placement position, which ensures that the logistics AGV trolley can arbitrarily set the position of the clamp during the connection.

9. The circuit board collaborative assembly station according to claim 1, characterized in that: The final measurement station (3) includes a final measurement transmission line and transmission device (301), a final measurement station (302), and a manual auxiliary transfer device (303).

10. The circuit board collaborative assembly station according to claim 9, characterized in that: The final test transmission line and transmission device (301) uses a single-layer, unidirectional, reciprocating transmission "double speed chain mechanism" with a "conveying tray" as the carrier. The conveying tray only moves back and forth on the transmission chain. The six-axis robot and SCARA robot of the final test transmission line and transmission device (301) use a cylinder clamping loading and unloading mechanism to realize the transmission of tooling between the workstation and the double speed chain. The final test station (302) includes four manual stations, which are respectively used for disassembling the integrated fixture, disassembling the vibration test fixture, final testing, and packing. The manual transfer device (303) is a manual transfer trolley. The side panel of the manual transfer device (303) is made of PVC material. It can accommodate two material boxes in the length direction and two rows of two-layer material boxes in the height direction. The front baffle of the transfer trolley is equipped with a push-pull handle.

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