Feeding system and testing equipment

Abstract

This utility model discloses a feeding system and testing equipment, relating to the field of testing equipment technology. The feeding system includes a lifting device, a visual positioning device, and a gripping device. The visual positioning device is fixed above, and the lifting device connects to the material rack transported by the transport vehicle and raises and lowers the rack so that the circuit boards stacked on the rack are within the focal range of the visual positioning device, achieving clear imaging and precise positioning. The gripping device then accurately grasps the materials. By actively adjusting the material height, the system solves the problem of recognition failure caused by inaccurate visual focusing, improves adaptability to different carriers and stack thicknesses, eliminates the need for manual intervention, and enhances automation and operational efficiency. This solution can be integrated into testing equipment to achieve a stable and reliable automatic feeding and testing process.

Description

Technical Field

[0001] This utility model belongs to the field of circuit board testing technology, and in particular relates to a feeding system and testing equipment. Background Technology

[0002] Various tests are typically required during circuit board production. A feeding system is needed to feed the circuit boards. Existing feeding systems usually use a gripping device in conjunction with a vision positioning device to grip the circuit boards placed on the carrier rack. However, because the height of the vision positioning device is fixed, it is difficult for the vision positioning device to focus, which affects the gripping device's gripping ability. Summary of the Invention

[0003] This invention provides a feeding system and testing equipment, which can solve the technical problem of difficulty in focusing and affect grasping accuracy caused by the fixed height of the visual positioning device.

[0004] To address the aforementioned issues, the first aspect of this application provides a loading system for stacked circuit boards on a loading rack transported by a loading transport vehicle. The system includes a lifting device, a vision positioning device, and a gripping device. The vision positioning device is fixed above the lifting device. The lifting device is used to dock with the loading rack transported by the transport vehicle and drive the loading rack to lift and lower, so that each circuit board stacked on the loading rack is within the focal range of the vision positioning device. The gripping device is used to grip the circuit boards based on the position information of the circuit boards identified by the vision positioning device.

[0005] In one alternative embodiment, the visual positioning device includes a mounting bracket and a visual camera, the visual camera being fixedly mounted on the mounting bracket and used to identify the position information of circuit boards stacked on the carrier rack.

[0006] In one alternative embodiment, the field of view of the vision camera on the material carrier ranges from 600mm × 600mm to 1000mm × 1000mm.

[0007] In one optional embodiment, the visual positioning device further includes a supplementary lighting bracket and a supplementary lighting component. The supplementary lighting bracket is mounted on the mounting bracket, and the supplementary lighting component is fixedly disposed on the supplementary lighting bracket. The supplementary lighting component is used to provide supplementary lighting for the circuit boards stacked on the material carrier.

[0008] In one alternative embodiment, the feeding system further includes a mounting frame, and the lifting device includes a linear drive and a support frame. The linear drive is mounted on the mounting frame, and the support frame is mounted on the drive end of the linear drive. The material carrier can be supported and placed on the support frame.

[0009] In one optional embodiment, the feeding system further includes a mounting frame. The lifting device includes a rotary drive, a transmission screw, a nut seat, and a support frame. The rotary drive is mounted on the mounting frame. The transmission screw is rotatably mounted on the mounting frame and extends vertically. The nut seat is sleeved on the transmission screw and threadedly engaged with it. The support frame is movably mounted on the mounting frame and is connected to the nut seat. The rotary drive is used to drive the transmission screw to rotate, so that the nut seat drives the support frame to rise and fall relative to the mounting frame. The material carrier can be supported and placed on the support frame.

[0010] In one alternative embodiment, the lifting device further includes a vertical guide assembly, which includes a vertical guide rail and a vertical guide groove, the vertical guide groove being slidably mounted on the vertical guide rail, wherein one of the vertical guide rail and the vertical guide groove is mounted on the mounting frame and the other is mounted on the support frame.

[0011] In one alternative embodiment, the support frame includes a vertical plate and a horizontal plate connected together, with a vertical guide rail or vertical guide groove installed on the vertical plate, and the material rack can be supported and placed on the horizontal plate.

[0012] In one alternative embodiment, the lifting device further includes a limiting member mounted on the mounting frame, the limiting member being able to abut against the support frame to limit the height of the support frame relative to the mounting frame.

[0013] In one alternative embodiment, the gripping device includes a robotic arm and a gripping assembly, the gripping assembly being mounted on the drive end of the robotic arm and used to grip a circuit board.

[0014] In one alternative embodiment, the feeding system further includes a sensor mounted on the lifting device, the sensor being used to sense whether there is a material rack on the lifting device.

[0015] In one alternative embodiment, the feeding system further includes a feeding device, which grips the circuit board to the feeding device and feeds the circuit board to the test position of the test host.

[0016] A second aspect of this application provides a testing device, including a testing host and a loading system as described above. The loading system is used to load circuit boards to the testing positions of the testing host, and the testing host is used to test the circuit boards located at the testing positions.

[0017] The material feeding system and testing equipment provided in this embodiment of the present invention have at least the following beneficial effects compared with the prior art: by setting up a liftable lifting device to connect with the material rack transported by the transport vehicle, the circuit board can rise with the material rack to the optimal focal length range of the visual positioning device, which solves the problem of focusing difficulty caused by the fixed height of the visual positioning device, thereby improving the image recognition accuracy and grasping success rate, eliminating the need for manual adjustment of the visual positioning device, and improving the automation level of the equipment. Attached Figure Description

[0018] To more clearly illustrate the technical solutions of the embodiments of this utility model, the drawings used in the description of the embodiments of this utility model 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 these drawings without creative effort.

[0019] Figure 1 This is a schematic diagram of the feeding system provided in one embodiment of the present invention; Figure 2 This is a schematic diagram of the lifting device of the feeding system provided in one embodiment of the present utility model.

[0020] The reference numerals in the accompanying drawings are as follows: 100-Feeding system, 110-Lifting device, 111-Transmission screw, 112-Support frame, 113-Vertical guide assembly, 114-Vertical plate, 115-Horizontal plate, 116-Limiting component, 120-Carrier rack, 130-Vision positioning device, 131-Mounting bracket, 132-Vision camera, 133-Supplemental lighting assembly, 134-Supplemental lighting bracket, 140-Gripping device, 141-Robotic arm, 142-Gripping assembly, 150-Mounting frame, 160-Transport vehicle, 170-Sensor. Detailed Implementation

[0021] To make the technical problems solved, technical solutions, and beneficial effects of this utility model clearer, the present utility model will be further described in detail below with reference to the accompanying drawings and embodiments. It should be understood that the specific embodiments described herein are merely illustrative of the present utility model and are not intended to limit the present utility model.

[0022] In the description of this utility model, it should be understood that the terms "longitudinal," "radial," "length," "width," "thickness," "upper," "lower," "front," "rear," "left," "right," "vertical," "horizontal," "top," "bottom," "inner," and "outer," etc., indicating the orientation or positional relationship, are based on the orientation or positional relationship shown in the accompanying drawings and are only for the convenience of describing this utility model and simplifying the description, and do not indicate or imply that the device or element referred to must have a specific orientation, or be constructed and operated in a specific orientation, and therefore should not be construed as a limitation of this utility model. In the description of this utility model, unless otherwise stated, "a plurality of" means two or more.

[0023] In the description of this utility model, it should be noted that, unless otherwise explicitly specified and limited, the terms "installation," "connection," and "joining" should be interpreted broadly. For example, they can refer to a fixed connection, a detachable connection, or an integral connection; they can refer to a mechanical connection or an electrical connection; they can refer to a direct connection or an indirect connection through an intermediate medium; and they can refer to the internal connection of two components. Those skilled in the art can understand the specific meaning of the above terms in this utility model based on the specific circumstances.

[0024] In automated circuit board testing lines, circuit boards to be tested are typically transferred from the rack to the testing station of the main testing unit via a loading system. Existing loading systems often employ fixed-height vision systems for position recognition. Because the vision positioning device's installation position is not adjustable, it's difficult to ensure the circuit boards remain within the optimal focal length range of the vision camera when the thickness of the stacked circuit boards on the rack varies, the pallet height differs, or the boards are transported to the station by different AGVs. This results in blurred images and positioning deviations, which in turn affect the gripping accuracy and success rate of subsequent gripping devices. Furthermore, to adapt to different incoming material heights, manual intervention is often required to adjust the camera height or replace the pallet, which is cumbersome and reduces production efficiency and equipment versatility.

[0025] This application proposes a loading system 100 for stacking circuit boards on a loading rack 120 transported by a loading transport vehicle 160. Please refer to [link to relevant documentation]. Figure 1 and Figure 2 The device includes a lifting device 110, a vision positioning device 130, and a gripping device 140. The vision positioning device 130 is fixedly installed above the lifting device 110. The lifting device 110 is used to dock with the material rack 120 transported by the transport vehicle 160 and drive the material rack 120 to rise and fall so that the circuit boards stacked on the material rack 120 are within the focal range of the vision positioning device 130. The gripping device 140 is used to grip the circuit boards according to the position information of the circuit boards identified by the vision positioning device 130.

[0026] Through the above technical solution, this application realizes the ability to actively adjust the height of the material carrier 120, so that no matter how the incoming material status changes, the circuit board can be adjusted to the optimal recognition height of the visual positioning device 130 through the lifting action, thereby ensuring image clarity and positioning accuracy, and guiding the gripping device 140 to complete high-precision picking and placing operations.

[0027] The carrier rack 120 is used to support the circuit boards to be grasped. It has a certain degree of rigidity and wear resistance and can be made of metal sheet (such as aluminum alloy or stainless steel) or engineering plastic to reduce weight. The carrier rack 120 is detachably placed on the lifting device 110, which facilitates the replacement of the appropriate tray structure according to different product models. The platform surface can be equipped with auxiliary positioning structures such as limit blocks, positioning pins or suction holes to prevent the circuit boards from shifting or sliding during the lifting process and ensure positional stability before visual recognition.

[0028] The visual positioning device 130 is fixedly positioned above the lifting device 110 and mainly includes a visual camera 132 and a supplementary lighting assembly 133. It is used to acquire two-dimensional or three-dimensional image information of the circuit boards on the carrier rack 120. The visual camera 132 can be an industrial area scan camera, line scan camera, or depth camera, possessing sufficient resolution and frame rate to meet rapid recognition requirements. The supplementary lighting assembly 133 includes a ring light source, backlight, or multi-angle LED light group to eliminate recognition interference caused by reflections, shadows, or low contrast. The overall installation height of the visual positioning device 130 is preset so that its optical focal plane is located within the expected working height range. When the carrier rack 120 rises to this area, the circuit board is within the clear imaging range.

[0029] The gripping device 140 is used to perform physical handling actions. It can be built based on a robotic arm 141, a Cartesian robot, or a multi-degree-of-freedom collaborative robot. Its end effector is equipped with a gripping component 142 adapted to the characteristics of the circuit board, such as a vacuum nozzle array, a gripper, or a magnetic adsorption device. The gripping device 140 receives coordinate data processed by the vision positioning device 130 and, combined with its own motion control system, precisely moves to the target location to complete the picking action. Throughout the process, the movement of the gripping device 140 depends on the real-time position information provided by the vision positioning device 130, and the accuracy of this information depends on the image quality. Therefore, ensuring that the circuit board is within the focal length range of the vision positioning device 130 is crucial.

[0030] The components work collaboratively: In the initial state, the material carrier 120 carrying the circuit board is sent to a designated position above or below the lifting device 110; then the lifting device 110 is activated, driving the material carrier 120 to move upward until the circuit board enters the depth of field of the vision positioning device 130; at this time, the vision positioning device 130 captures an image and analyzes it to obtain the actual position coordinates of the circuit board; this coordinate information is transmitted to the control unit of the gripping device 140; the gripping device 140 adjusts its trajectory accordingly, accurately grips the circuit board and moves it to the next process position.

[0031] Through the above technical solution, this application achieves a technical path of dynamically matching the imaging conditions required for visual recognition by adjusting the height of the material carrier 120. Because the lifting device 110 can actively adjust the spatial position of the material carrier 120, the circuit board can be placed within the effective focal length range of the visual positioning device 130 under different height input conditions. This solves the focusing difficulty problem caused by a fixed vision system, avoids the burden of frequent manual calibration, and improves the equipment's adaptability to diverse material receiving conditions. Therefore, it not only improves the success rate and accuracy of visual recognition but also significantly enhances the reliability and automation level of the gripping action, ultimately achieving the technical effect of improving overall material feeding efficiency and system flexibility.

[0032] In this embodiment, the visual positioning device 130 includes a mounting bracket 131 and a visual camera 132. The visual camera 132 is fixedly mounted on the mounting bracket 131 and is used to identify the position information of the circuit boards stacked on the carrier rack 120. The visual positioning device 130 also includes a supplementary lighting bracket 134 and a supplementary lighting component 133. The supplementary lighting bracket 134 is mounted on the mounting bracket 131, and the supplementary lighting component 133 is fixedly mounted on the supplementary lighting bracket 134. The supplementary lighting component 133 is used to provide supplementary lighting for the circuit boards stacked on the carrier rack 120.

[0033] This embodiment achieves high-precision identification of the circuit board position information on the carrier rack 120 by integrating a mounting bracket 131, a vision camera 132, a supplementary lighting component 133, and a supplementary lighting bracket 134 into the vision positioning device 130. The mounting bracket 131 serves as a structural support component, used to fix and position the vision camera 132 and the supplementary lighting bracket 134. The supplementary lighting bracket 134 is used to fix the supplementary lighting component 133, ensuring a stable and reliable relative positional relationship between the vision camera 132 and the supplementary lighting component 133 in space. The vision camera 132 is used to acquire image data of the circuit board and, based on image processing algorithms, identifies its actual position coordinates on the carrier rack 120, providing a positioning basis for the subsequent gripping device 140. The supplementary lighting component 133 is used to improve the imaging environment, projecting a uniform and controllable illumination source onto the circuit board surface when there is insufficient light or interference factors such as local shadows or reflections, thereby improving image contrast and edge sharpness.

[0034] Since the position of the vision camera is fixed, the field of view of the vision camera on the carrier rack needs to be large in order to cover all the circuit boards on the carrier rack 120. The field of view of the vision camera on the carrier rack is preferably 600mm×600mm to 1000mm×1000mm.

[0035] The mounting bracket 131 and the supplementary lighting bracket 134 can be made of metal (such as aluminum alloy or stainless steel), possessing sufficient structural strength and vibration resistance to ensure the stability of the vision system during operation. Their shape can be designed as an L-shape, portal frame, or multi-segment combination structure according to the actual installation space, optimizing the spatial layout of the vision camera 132 and the supplementary lighting component 133. The mounting bracket 131 can be fixed to the external frame or equipment body via screws, clips, or other detachable connection methods, facilitating later maintenance and adjustment.

[0036] The vision camera 132 can be an industrial area scan camera, line scan camera, or intelligent camera, possessing a certain resolution (e.g., 5 megapixels or higher), frame rate, and dynamic range to adapt to the identification needs of circuit boards of different sizes and surface features. The lens focal length of the vision camera 132 can be selected according to the working distance and field of view requirements, typically configured with a fixed-focus lens, but zoom or autofocus lenses can also be selected to enhance adaptability. The vision camera 132 communicates with the control system via a data cable (such as USB 3.0, GigE Vision, or other interface standards), uploading image information in real time and receiving trigger signals to achieve synchronous shooting.

[0037] The supplementary lighting assembly 133 includes at least one light source module, which can be used to provide various lighting modes such as front illumination, oblique illumination, or back illumination. The light source module can be an LED array, and its emission color can be selected from white light, red light, blue light, or infrared light. It can be flexibly configured according to the material of the circuit board surface (such as the strong reflectivity of the solder pads, the high light absorption of the solder mask layer, etc.) to highlight the target features and suppress background noise. The supplementary lighting assembly 133 may further include optical accessories, such as a diffuser plate, a focusing lens, or a light guide strip, to adjust the light intensity distribution and avoid strong glare or local overexposure. The power supply and control of the supplementary lighting assembly 133 are completed by an independent drive circuit, supporting multiple working modes such as constant light, strobe, or PWM dimming, and precisely synchronized with the exposure cycle of the vision camera 132.

[0038] As an optional implementation, the supplementary lighting component 133 can be equipped with multiple light-emitting units, respectively arranged in the vertical, horizontal, or surrounding directions of the visual camera 132, forming a ring light source or a dome-shaped illumination structure to fully cover the photographed area and significantly reduce shadow problems caused by structural obstruction. In addition, the supplementary lighting component 133 can also achieve adaptive brightness adjustment through software control, that is, dynamically adjust the output light intensity according to the data fed back by the ambient light sensor or the historical imaging quality assessment results to maintain stable imaging conditions.

[0039] The components are fixedly installed using mounting brackets 131 and supplementary lighting brackets 134. The vision camera 132 and the supplementary lighting assembly 133 maintain a preset spatial angle and distance to ensure that the lighting direction matches the camera's viewing angle and maximize the use of effective reflected light. This integrated layout not only improves the system's compactness but also enhances the consistency and repeatability of on-site deployment.

[0040] Through the above technical solution, this application achieves high-quality image acquisition of circuit board surface information: Because the supplementary lighting component 133 actively provides stable and uniform illumination conditions, it overcomes the imaging difficulties caused by natural light fluctuations, internal equipment obstructions, or the reflective properties of the circuit board itself; the vision camera 132 can acquire clear, low-noise images under optimized lighting conditions, significantly improving the accuracy of the image recognition algorithm; the mounting bracket 131 and the supplementary lighting bracket 134 ensure the structural reliability and long-term operational stability of the entire vision system. Therefore, the vision positioning device 130 can continuously output accurate position information under complex working conditions, providing a solid foundation for the precise positioning of the gripping device 140, thereby improving the overall automation level and operational efficiency of the loading system 100.

[0041] In a first specific embodiment, the feeding system 100 further includes a mounting frame 150, and the lifting device 110 includes a linear drive and a support frame 112. The linear drive is mounted on the mounting frame 150, the support frame 112 is mounted on the drive end of the linear drive, and the material rack 120 is capable of supporting and placing on the support frame 112.

[0042] This embodiment provides a simplified and responsive lifting mechanism. By directly integrating a linear drive into the mounting frame 150 and connecting its drive end to the support frame 112, the material carrier 120 is driven to achieve lifting motion. This structural design aims to improve the stability and repeatability of the lifting action while reducing accumulated errors in the transmission chain, making it suitable for applications with high requirements for dynamic response speed and space compactness.

[0043] The mounting frame 150 serves as the fundamental load-bearing structure of the entire feeding system 100, used to fix and support other functional components, ensuring a stable and reliable relative positional relationship between the components. The mounting frame 150 can be made of metal materials (such as aluminum alloy or carbon steel), possessing sufficient structural strength and rigidity to withstand vibrations and loads generated during operation. In practical applications, the mounting frame 150 can be fixed to the ground or the main body of the equipment using bolts or other fasteners, achieving a stable installation of the overall structure. Optionally, adjustable feet or vibration damping pads can be installed at the bottom of the mounting frame 150 to adapt to the needs of leveling and vibration suppression in different installation environments.

[0044] The lifting device 110 includes a linear actuator and a support frame 112, constituting a direct-drive lifting execution unit. The linear actuator, serving as the power source, is fixedly mounted on the mounting frame 150 and is capable of outputting linear reciprocating motion in the vertical direction. This linear actuator can be an electric actuator, a pneumatic cylinder, or a hydraulic cylinder, etc., and the specific selection can be adapted according to the load size, stroke requirements, control accuracy, and operating environment. For example, in testing environments with high cleanliness requirements, an electric actuator can be preferred to avoid the risk of contamination from gas leaks; while in situations requiring rapid response but not high precision, a pneumatic cylinder can be used to reduce costs and increase operating speed.

[0045] The support frame 112 is mounted on the drive end of the linear actuator and rises and falls synchronously with the drive end. The support frame 112 is typically constructed from welded or assembled metal sheets or profiles, possessing a certain load-bearing capacity and bending resistance, capable of stably supporting the upper material carrier 120 and the circuit board it carries. The support frame 112 and the drive end of the linear actuator can be detachably or fixedly connected via flange, threaded, or pin connections, facilitating maintenance and replacement. In some variant embodiments, the support frame 112 can also be designed as a modular structure, allowing for quick replacement of material carriers 120 of different sizes, thereby improving the equipment's versatility and flexible production capabilities.

[0046] The material carrier 120 is supported and placed on the support frame 112, meaning that the material carrier 120 is not fixedly connected to the support frame 112, but is detachably placed on its upper surface. This non-fixed connection allows the material carrier 120 to achieve automatic loading and unloading operations with the assistance of external transport devices (such as AGV carts or conveyor belts). When the transport carrier 160 delivers the material carrier 120 loaded with circuit boards to the designated loading position, the support frame 112 can rise from below and contact the material carrier 120, then lift it into the focal range of the vision positioning device 130 for image acquisition. This design not only improves the degree of automation but also enhances the system's adaptability to different types of material carriers 120.

[0047] The aforementioned components work synergistically: the mounting frame 150 provides a stable mounting reference for the entire system; the linear actuator, as the actuating element, provides precise and controllable lifting power; the support frame 112, as an intermediate transmission structure, effectively transmits the driving force to the material carrier 120; and the material carrier 120, as the material-bearing interface, performs the functions of temporary storage and positioning of the circuit board. The entire lifting process does not require a complex transmission mechanism, reducing mechanical wear and potential failure points, and improving operational reliability.

[0048] Through the above technical solution, this application achieves the following: Since the linear actuator can directly drive the support frame 112 to rise and fall, it eliminates the gap and lag problems caused by traditional lead screw and nut or multi-stage linkage transmission, enabling the material rack 120 to accurately reach the preset height position in a shorter time. This feature is particularly suitable for application scenarios that require frequent adjustment of material height to match the vision recognition system. Because the lifting process is smoother and more responsive, it solves the problems of image blurring and positioning deviation caused by the fixed focal length of the vision positioning device 130, thereby improving the recognition accuracy and grasping success rate of the subsequent gripping device 140 on the circuit board. In addition, the structure is compact and easy to integrate into a limited space, meeting the trend of modern automated testing equipment towards miniaturization and high efficiency.

[0049] In the second specific embodiment, please refer to Figure 1 and Figure 2 The feeding system 100 also includes a mounting frame 150. The lifting device 110 includes a rotary drive, a transmission screw 111, a nut seat, and a support frame 112. The rotary drive is mounted on the mounting frame 150. The transmission screw 111 is rotatably mounted on the mounting frame 150 and extends vertically. The nut seat is sleeved on the transmission screw 111 and threadedly engaged with it. The support frame 112 is movably mounted on the mounting frame 150 and is connected to the nut seat. The rotary drive is used to drive the transmission screw 111 to rotate, so that the nut seat drives the support frame 112 to rise and fall relative to the mounting frame 150. The material carrier 120 can be supported and placed on the support frame 112.

[0050] This application utilizes a lifting device 110, comprising a rotary drive component, a transmission screw 111, a nut seat, and a support frame 112, to achieve height adjustment of the material carrier 120, thereby adapting to the focal length requirements of the visual positioning device 130. Specifically, this lifting structure employs a helical transmission principle, converting the rotational motion output by the rotary drive component into the linear lifting motion of the support frame 112. This ensures that the material carrier 120 can be stably and accurately adjusted to the imaging position required for visual recognition, improving the grasping and positioning accuracy.

[0051] The mounting frame 150 serves as the basic load-bearing structure of the entire lifting device 110, used to fix and support other components. The mounting frame 150 can be welded from metal profiles, such as an aluminum alloy or steel frame structure, providing sufficient rigidity and stability to withstand dynamic loads and reduce vibration transmission. The mounting frame 150 is equipped with bearing seats for mounting the transmission screw 111, and pre-drilled guide structures for guiding the movement of the support frame 112, facilitating the assembly and maintenance of each component.

[0052] The rotary drive unit provides the power source to rotate the lead screw 111. The rotary drive unit can be a servo motor, stepper motor, or other power device capable of precise angle control. Servo motors are particularly suitable for applications requiring precise positioning due to their high responsiveness and high-precision closed-loop control capabilities. The rotary drive unit can be directly connected to the top of the lead screw 111 via a coupling, or indirectly driven via a synchronous belt or gear reduction mechanism to meet different speed and torque requirements. When using indirect drive, a tensioning mechanism can be added to the mounting frame 150 to ensure smooth and reliable transmission.

[0053] The lead screw 111 is a long rod-shaped element extending vertically, with continuous threads on its outer circumference to form a helical pair with the nut seat. The lead screw 111 is typically a trapezoidal screw, ball screw, or planetary roller screw. Ball screws are suitable for high-frequency, high-precision lifting operations due to their low friction, high efficiency, long life, and micron-level repeatability. The lower end of the lead screw 111 can be installed in the bearing support of the mounting frame 150 for rotatable support; the upper end connects to the rotary drive component, forming a complete rotary input path. The screw axis is strictly kept vertical to avoid wear or jamming caused by lateral forces.

[0054] The nut seat is a threaded fitting that matches the lead screw 111, and it has a threaded hole inside that engages with the threads of the lead screw 111. When the lead screw 111 rotates, the nut seat is restricted to axial movement only and cannot rotate, thus generating axial displacement due to helical side effects. The nut seat is typically made of engineering plastics (such as polyoxymethylene POM), bronze, or a metal housing with built-in circulating balls, and the corresponding structural form is selected according to the type of lead screw it is fitted with. For example, the nut seat used with a ball screw includes a ball circuit system to achieve low-resistance, high-efficiency transmission.

[0055] The support frame 112 supports the material carrier 120 and moves up and down as a whole with the nut seat. The support frame 112 is rigidly connected to the nut seat and can be fixed via a flange, connecting plate, or integrated design. The support frame 112 is vertically guided and movable on the mounting frame 150; its movement trajectory is constrained by the guide structure, allowing only vertical translation without deflection or swaying. The support frame 112 can be made of sheet metal bending, profile splicing structure, or casting, possessing certain strength and lightweight characteristics. Its top has a platform mounting surface for placing or locking the material carrier 120, ensuring the circuit board remains horizontal during lifting.

[0056] The above components work together: after the rotary drive is started, it drives the transmission screw 111 to rotate. The transmission screw 111 converts the rotational motion into linear motion through the helical pair between it and the nut seat, thereby causing the nut seat to move up and down along the screw axis. Since the nut seat is fixedly connected to the support frame 112, the support frame 112 rises and falls accordingly. The guide structure on the mounting frame 150 ensures that the support frame 112 runs smoothly and prevents tilting or jamming. Finally, the support frame 112 drives the material rack 120 above it into the optimal recognition height range of the vision positioning device 130, completing the height adjustment action.

[0057] Through the above technical solution, this application achieves controllable lifting and lowering adjustment of the material carrier 120. Because a rotary drive component drives the vertically arranged transmission screw 111, and the rotational motion is converted into linear lifting and lowering motion of the support frame 112 via a nut seat, the material carrier 120 can be accurately positioned within the focal length range of the vision camera 132, solving the problem of blurred visual imaging and recognition failure caused by changes in material height. Simultaneously, the screw drive has excellent self-locking performance and high positioning accuracy, maintaining its current position even in the event of a power outage, improving the system's safety and reliability. Furthermore, this structure operates smoothly and with low noise, making it suitable for the frequent start-stop and continuous operation environments of automated production lines, significantly improving the stability of the feeding process and the success rate of material handling.

[0058] Based on the above embodiments, this embodiment further provides, please refer to [link / reference needed]. Figure 2 The lifting device 110 also includes a vertical guide assembly 113, which includes a vertical guide rail and a vertical guide groove. The vertical guide groove is slidably mounted on the vertical guide rail. One of the vertical guide rail and the vertical guide groove is mounted on the mounting frame 150, and the other is mounted on the support frame 112.

[0059] This embodiment effectively improves the motion stability and guiding accuracy of the support frame 112 during the lifting process by setting up a vertical guide component 113. The vertical guide component 113, as an important auxiliary structure of the lifting device 110, constrains the lateral displacement freedom of the support frame 112, ensuring that it moves smoothly only in the vertical direction. This structure is particularly suitable for mechanical systems where the support frame 112 is lifted and lowered by a transmission screw 111 and a nut seat. In such systems, since the screw mainly bears axial force, its resistance to lateral loads is limited. Without additional guiding measures, the support frame 112 is prone to swaying, tilting, or even jamming due to uneven force or external disturbances, thus affecting the horizontal posture and visual recognition effect of the material carrier 120.

[0060] The vertical guide rail is a rigid, elongated component, typically made of high-strength alloy steel or stainless steel, offering excellent wear resistance and dimensional stability. Its cross-sectional shape can be rectangular, trapezoidal, or dovetail-shaped to accommodate different types of guide groove structures. The vertical guide groove is a sliding fit component that matches the guide rail. Its inner wall is lined with a low-friction layer (such as a PTFE coating or copper-based self-lubricating material), or it integrates a ball / roller circulation structure to form a linear motion pair, achieving low-resistance, high-precision relative sliding. The guide rail and guide groove are fixed to the mounting frame 150 and support frame 112 respectively via interference fit, screw connection, or snap-fit ​​structure: for example, the vertical guide rail is mounted on the side of the column of the mounting frame 150, while the vertical guide groove is integrated into the connecting plate of the support frame 112; conversely, the guide groove can also be fixed to the frame, with the guide rail moving synchronously with the support frame 112. This installation method can be flexibly selected according to spatial layout and assembly process requirements without affecting the guiding function.

[0061] As an alternative implementation, the vertical guide assembly 113 can be replaced with other forms of linear guide structures, such as a combination of linear bearings and optical shafts: one or more vertically arranged precision optical shafts are fixed to the mounting frame 150, and corresponding linear bearings are installed on the support frame 112. The bearings are sleeved on the outer circumference of the optical shafts and can slide along their axial direction. This solution is compact and low-cost, suitable for applications with light loads and moderate precision requirements. Alternatively, a symmetrical arrangement of dual guide rails can be used to improve torsional resistance and overall rigidity, preventing the support frame 112 from rotating or tilting during lifting.

[0062] The connections between the components are as follows: the vertical guide rail is fastened to the mounting frame 150 with bolts to ensure the stability of the foundation structure; the vertical guide groove and the support frame 112 are integrally fixed by welding or mechanical connection, so that the support frame 112 is always confined within the preset movement trajectory during the lifting and lowering process. When the rotary drive is started and drives the transmission screw 111 to rotate, the nut seat moves up and down accordingly, and pushes the support frame 112 to move linearly along the vertical guide rail. At this time, the vertical guide component 113 plays a limiting and guiding role, eliminating the adverse effects of the radial component force.

[0063] Through the above technical solution, this application achieves effective constraint on the lifting and lowering movement of the support frame 112. Due to the vertical guide component 113, the support frame 112 maintains a precise vertical path during lifting or lowering, avoiding swaying and offset caused by mechanical clearances, assembly errors, or dynamic loads, thereby ensuring the positional consistency of the circuit boards on the material carrier 120. This characteristic is crucial for the imaging quality of the subsequent visual positioning device 130—a stable platform height and flat posture help the camera obtain clear, undistorted images, thereby improving the accuracy of position recognition and ultimately increasing the success rate of the gripping device 140. Simultaneously, the presence of the guide structure also reduces the wear rate of the transmission system, extends the equipment's service life, and enhances the reliability and robustness of the entire feeding system 100 under continuous operating conditions.

[0064] In this embodiment, please refer to Figure 2 The support frame 112 includes a vertical plate 114 and a horizontal plate 115, which are connected. A vertical guide rail or a vertical guide groove is installed on the vertical plate 114, and the material rack 120 can be supported and placed on the horizontal plate 115.

[0065] This embodiment achieves spatial separation of guiding and load-bearing functions by designing the support frame 112 as a composite structure composed of a vertical plate 114 and a horizontal plate 115. The vertical plate 114 is mainly used to integrate the installation of the vertical guide assembly 113, ensuring the straightness and stability of the support frame 112 during lifting. The horizontal plate 115 serves as the main load-bearing platform, directly supporting the material rack 120 and the circuit boards placed on it, thus forming a structurally sound and functionally defined support system.

[0066] The support frame 112 includes a vertical plate 114 and a horizontal plate 115, which are connected together. This connection can be achieved through welding, bolting, or integral molding. High-strength metal materials such as Q235 steel or aluminum alloy can be used to balance structural strength and lightweight requirements. The vertical plate 114 is arranged vertically, providing sufficient mounting surface to fix the vertical guide rail or vertical guide groove. The horizontal plate 115 is located on one side of the vertical plate 114 and is perpendicularly connected to it, forming an L-shaped cross-section structure, optimizing spatial layout while ensuring structural rigidity. In some variant embodiments, a symmetrical structure of two vertical plates 114 clamping a single horizontal plate 115 can also be used to enhance overall torsional resistance and improve stability during lifting.

[0067] Vertical guide rails or vertical guide grooves are installed on vertical plate 114. The word "or" indicates that both installation methods are applicable: when the vertical guide rail is installed on vertical plate 114, the corresponding vertical guide groove is located on mounting frame 150; conversely, if the vertical guide groove is installed on vertical plate 114, the vertical guide rail is located on mounting frame 150. This design allows for flexible selection of the guide pair arrangement based on actual assembly space and maintenance convenience. Vertical guide rails can be roller linear guides or sliding guides, offering high-precision guiding capability and a long service life; vertical guide grooves can achieve low-friction sliding fit by adding linear bearings or copper bushings. Regardless of the configuration, it effectively constrains the support frame 112 to move only in the vertical direction, preventing swaying or jamming.

[0068] The material carrier 120 can be supported and placed on the horizontal plate 115. The horizontal plate 115 has a flat surface and a certain load-bearing rigidity, which can stably support the material carrier 120 of different sizes and specifications, and prevent the circuit board from tilting due to local deformation. The material carrier 120 can be placed on the horizontal plate 115 by gravity self-positioning, or it can be equipped with limit pins or magnetic structures to achieve quick positioning and anti-slip functions. In an optional embodiment, the surface of the horizontal plate 115 is provided with anti-slip texture or elastic padding to increase friction and buffer impact loads, further improving the safety and reliability of the loading process.

[0069] The aforementioned components work together through mechanical connections: the vertical plate 114 undertakes the installation of the guide components, decoupling the guide system from the load-bearing system and reducing mutual interference; the horizontal plate 115 provides an independent and stable support interface for the material carrier 120, ensuring that the circuit board maintains a horizontal posture during the visual recognition stage. Together, they constitute a modular support structure, which facilitates both manufacturing and on-site assembly, and is also beneficial for later maintenance and replacement.

[0070] Based on the above embodiments, this embodiment further provides, please refer to [link / reference needed]. Figure 2The lifting device 110 also includes a limiting member 116, which is installed on the mounting frame 150 and can abut against the support frame 112 to limit the height of the support frame 112 relative to the mounting frame 150.

[0071] This embodiment achieves mechanical constraint on the lifting stroke of the support frame 112 by setting a limiting member 116 on the mounting frame 150 and making it physically contact the support frame 112 during movement. This structural design can prevent the support frame 112 from exceeding the safe operating range in the event of abnormal control system signals or malfunction of drive components, avoiding risks such as equipment collisions, structural deformation, or even component detachment caused by excessive lifting or lowering, thus improving the stability and safety of the entire feeding system 100 during dynamic operation.

[0072] The limiting component 116 is a functional component used to limit the extreme positions of moving parts. Essentially a rigid stop structure, it can be made of metal or high-strength engineering plastics, possessing sufficient compressive strength and wear resistance to withstand frequent contact impacts. The specific shape of the limiting component 116 can be adapted to the actual installation space, for example, in a block, column, or plate shape. Its installation methods include, but are not limited to, threaded connections, welding, or snap-fit ​​fixing, ensuring its positional stability under long-term vibration conditions. In some optional embodiments, the limiting component 116 can be configured as an adjustable structure, for example, by adjusting its extension length through the thread insertion depth, thereby achieving fine-tuning of the upper or lower limit position of the support frame 112, adapting to application scenarios with different specifications of the material carrier 120 or the thickness of the stacked circuit boards.

[0073] The limiting component 116 is installed on the mounting frame 150, indicating that its fixed reference is the main frame of the entire device. This installation method ensures that the spatial coordinates of the limiting action point are constant and do not shift with changes in other moving parts, thus providing a reliable limiting reference. The mounting frame 150, as the basic structure supporting all functional modules, is usually made of profiles, steel plates, or castings, possessing good rigidity and dimensional stability, providing the prerequisite for the precise positioning of the limiting component 116. The limiting component 116 can be set in the top area of ​​the mounting frame 150 to limit the maximum lift of the support frame 112, or it can be set in the bottom area to prevent the support frame 112 from descending too far. The specific number and position are determined according to the movement trajectory and force distribution of the support frame 112. For example, in a multi-point guide system, limiting components 116 are set at the ends of each guide rail to achieve synchronous limiting.

[0074] The limiting member 116 can abut against the support frame 112, meaning there is a direct mechanical contact between them. When the support frame 112 moves vertically to a preset limit position, its end face or side face contacts the surface of the limiting member 116 and stops further movement. This abutment relationship is non-elastic or elastically buffered. In some embodiments, a buffer pad, such as rubber, polyurethane, or a spring damper, can be added to the contact surface of the limiting member 116 to reduce impact energy, lower noise, and extend component life. In addition, this abutment action can be linked with sensor signals in the control system. For example, when the support frame 112 is detected to have reached the limit position, the controller is triggered to cut off the drive power or issue an alarm, forming a dual protection mechanism of "mechanical + electrical".

[0075] The synergistic effect among the aforementioned components is manifested in the following ways: the support frame 112 moves vertically upwards and downwards under the drive of the transmission screw 111, with its range of motion set by the theoretical stroke of the control system; while the limiting component 116 serves as a physical safety guarantee beyond the control system, operating independently of the software logic. Even in extreme cases such as encoder failure, motor stalling, or program errors, dangerous actions can still be prevented through rigid blocking. Especially in unattended or high-speed cyclical automated testing environments, such mechanical limiting measures significantly enhance the system's fault tolerance and operational reliability.

[0076] Through the above technical solution, this application achieves mechanical limit protection for the lifting height of the support frame 112. Because a limit member 116 is installed on the mounting frame 150, and it physically contacts the support frame 112 when it reaches its limit position, it can effectively prevent overtravel accidents caused by abnormal control system, and solve the problem of lack of reliable protection for the end position of the lifting device 110 in the prior art, thereby achieving the technical effect of improving equipment safety and operational stability.

[0077] In this embodiment, the transport carrier 160 is used to transport the rack 120 loaded with circuit boards. When the transport carrier 160 is in the loading position, the support frame 112 can rise from below the rack 120 to load the rack 120 onto the support frame 112.

[0078] This embodiment provides a technical solution for automatically handing over the material rack 120. By introducing coordinated action between the transport vehicle 160 and the lifting device 110, it solves the problems of low loading and unloading efficiency, discontinuous cycle time, and insufficient docking accuracy caused by manual intervention on automated production lines. Especially in multi-station, high-paced testing scenarios, materials need to be changed frequently and the requirements for positioning consistency are high. If relying on manual handling or fixed pallet conveying, it is difficult to meet the requirements for efficient and stable operation.

[0079] This technical solution utilizes a transport vehicle 160 to transport the material rack 120 over long distances, with the lifting device 110 actively receiving it at a designated location, thus achieving a seamless connection between "dynamic feeding" and "fixed-point receiving." The transport vehicle 160, as a mobile carrier, is adaptable to various logistics methods, such as Automated Guided Vehicles (AGVs), roller conveyors, chain conveyors, or railcars, and can transport the material rack 120, loaded with multiple circuit boards, from the storage area, buffer area, or other processing station to the loading station. Once the transport vehicle 160 reaches and precisely positions itself at the preset loading location, its movement stops, and it enters a standby state. At this time, the material rack 120 remains stationary on the transport vehicle 160, ready for handover operations.

[0080] The support frame 112, acting as the actuator of the lifting device 110, is initially positioned below the bearing surface of the transport carrier 160, i.e., in a descending state. Once the system confirms that the transport carrier 160 is in position and the environment is safe, the lifting drive source (e.g., a rotary drive unit rotating the transmission screw 111) is activated, causing the nut seat to move vertically upwards, thereby causing the connected support frame 112 to rise synchronously. The support frame 112 continues to rise until its upper surface or bearing structure extends into the bottom area of ​​the material rack 120, ultimately completely lifting the material rack 120 and detaching it from the bearing surface of the transport carrier 160. After the circuit board placed on the material rack 120 has been picked up, the lifting drive source (e.g., a rotary drive unit rotating the transmission screw 111) is activated, causing the nut seat to move vertically downwards, thereby causing the connected support frame 112 to descend synchronously. The support frame 112 continues to descend until the material rack 120 is placed on the bearing surface of the transport carrier 160.

[0081] Through the above technical solution, this application realizes a fully automated transfer process from the transport carrier 160 to the lifting device 110 for the material rack 120. Because the transport carrier 160 is used to move the material rack 120, and the support frame 112 rises from below to receive materials, the inefficiency and inaccurate positioning problems caused by traditional manual loading and unloading are solved. Therefore, it achieves the technical effects of improving the automation level of the entire production line, shortening cycle time, and reducing the risk of human intervention. At the same time, this transfer method is compatible with different types of logistics systems, has good scalability and engineering applicability, and is suitable for various intelligent manufacturing scenarios such as electronic manufacturing, semiconductor packaging, and SMT back-end testing.

[0082] In this embodiment, please refer to Figure 1 The gripping device 140 includes a robotic arm 141 and a gripping assembly 142. The gripping assembly 142 is mounted on the drive end of the robotic arm 141 and is used to grip a circuit board.

[0083] This embodiment achieves precise positioning and stable pickup of circuit boards by configuring a gripping device 140 consisting of a robotic arm 141 and a gripping component 142. The robotic arm 141, as the core component for performing spatial motion, can drive the gripping component 142 at its end to move flexibly in three-dimensional space, completing the pick-up and drop operation from the material carrier 120 to the target position (such as a material conveying device or a testing position). The gripping component 142 directly acts on the surface of the circuit board, realizing physical contact or non-contact clamping and release actions, ensuring the safety and reliability of the gripping process.

[0084] The robotic arm 141 can adopt common industrial robot structures such as multi-degree-of-freedom articulated robots, Cartesian coordinate robots, or SCARA robots, possessing at least three degrees of freedom (movement and rotation in the X / Y / Z axes) to adapt to path planning requirements in different layouts. The robotic arm 141 can be driven by a servo motor with a precision reducer, or by a stepper motor or other controllable drive units. Its control signal is generated by a host control system based on the position information identified by the vision positioning device 130, generating trajectory commands for regulation. The arm structure of the robotic arm 141 is typically made of aluminum alloy or high-strength engineering plastics, ensuring rigidity while reducing overall weight and improving response speed and dynamic performance. As an optional embodiment, the robotic arm 141 can also integrate a torque sensor or collision detection function to achieve compliant control and avoid damage to circuit boards or equipment due to misoperation.

[0085] The gripping component 142 is installed at the drive end of the robotic arm 141, i.e., at the end effector interface of the robotic arm 141. It can be detachably installed via quick-connect couplings or bolt connections, facilitating the replacement of gripping tools to accommodate different circuit board specifications. The specific form of the gripping component 142 can be selected based on the size, weight, surface characteristics, and production cycle requirements of the circuit board. For example, for lightweight circuit boards with a flat surface, a negative pressure adsorption gripping component 142 can be used, which includes one or more vacuum nozzles. The nozzle material can be flexible materials such as silicone or fluororubber to reduce mechanical stress on the circuit board solder joints or components. For circuit boards with clear edges and a certain thickness, a pneumatic gripper gripping component 142 can be used, with a buffer layer on the inner side of the gripper to prevent damage to the board edges. In addition, magnetic, electrostatic, or combined gripping solutions can also be used to address special application scenarios.

[0086] Signal and power transmission between the gripping component 142 and the robotic arm 141 can be achieved through built-in cables or external tubing packages. For example, the air pipes of the vacuum generator and the control circuits of the solenoid valves can move synchronously with the robotic arm 141 and are protected by cable chains. During operation, the robotic arm 141 receives motion commands from the control system, first moves to above the preset gripping position, then fine-tunes its positioning based on the precise positional deviation provided by the vision positioning device 130, and finally performs a descent motion to bring the gripping component 142 into contact with or close to the circuit board surface, initiating an adsorption or clamping action to complete the pickup. The entire process can be completed in milliseconds, meeting the needs of high-cycle automated production.

[0087] The components work in a coordinated manner: the robotic arm 141 provides macroscopic positioning capabilities, ensuring that the gripping component 142 can accurately reach the target area; the gripping component 142 is responsible for microscopic contact operations, enabling reliable pickup and release of the circuit board; the combination of the two gives the entire gripping device 140 both good spatial adaptability and sufficient operational stability. Especially when facing mixed-line production of multiple types of circuit boards, the gripping parameters can be quickly adjusted through program switching without changing the main hardware structure, improving the system's versatility and flexibility.

[0088] Through the above technical solution, this application achieves efficient and safe gripping of different types of circuit boards. Due to the modular design of the robotic arm 141 and the replaceable gripping components 142, the gripping device 140 can flexibly adapt to circuit boards of various sizes and shapes, solving the problem of difficult model changeover caused by poor compatibility of gripping devices in existing technologies. Simultaneously, with the optimized design of high-precision motion control and the end effector, the risk of damage to sensitive electronic components during gripping is effectively reduced, thereby improving the stability and yield of the overall loading process. This configuration is particularly suitable for test production line scenarios requiring continuous, high-volume processing of circuit boards, and is also applicable to various intelligent manufacturing processes such as AGV automatic loading and unloading, and automated warehouse inbound and outbound operations.

[0089] Based on the above embodiments, this embodiment further provides, please refer to [link / reference needed]. Figure 1 and Figure 2 The feeding system 100 also includes a sensor 170, which is installed on the lifting device 110 and is used to sense whether there is a material rack 120 on the lifting device 110.

[0090] This embodiment uses a sensor 170 to monitor the status of the material carrier 120 in real time, providing crucial status feedback information to the system. The sensor 170, acting as a sensing element, is positioned appropriately within the lifting device 110, enabling non-contact or contact detection of whether the material carrier 120 has been placed in place. The sensor 170 can be of various types, such as a photoelectric sensor, a proximity switch, or a mechanical limit switch, depending on factors such as the working environment, response speed, installation space, and anti-interference capabilities. When the material carrier 120 enters the detection area, the sensor 170 outputs a change in signal. The control system uses this change to determine the presence of the platform and decides whether to initiate subsequent actions, such as lifting adjustment, visual recognition, or gripping operations.

[0091] The sensor 170 is installed in a position that ensures its detection range covers the support area of ​​the material carrier 120. It is typically positioned near the side or bottom of the support frame 112 to promptly detect the presence of the material carrier 120 when it is transported above or below the lifting device 110. The sensor 170 is electrically connected to the control system, forming a closed-loop monitoring mechanism that can automatically complete the status confirmation process without human intervention. Furthermore, the sensor 170 can be used in conjunction with other safety interlock functions, such as preventing accidental triggering of lifting actions when there is no platform, or preventing the gripping device 140 from running empty when there is no material, thereby improving the safety and reliability of equipment operation.

[0092] The collaborative relationship between the components is as follows: after the transport carrier 160 delivers the material rack 120 carrying the circuit boards to the loading position, the sensor 170 first detects whether the platform is stably positioned on the support surface of the lifting device 110; if the platform is detected, a "ready" signal is sent to the controller, allowing the next operation to be performed; if the platform is not detected, the system remains in standby mode and may trigger an alarm to prevent malfunctions. This state-aware control logic enhances the system's intelligence and fault tolerance.

[0093] Through the above technical solution, this application achieves automated identification and response to the material carrier 120. Because a sensor 170 is installed on the lifting device 110, it can accurately determine whether the material carrier 120 is in position, solving the problem of operational risks caused by the lack of status feedback. Therefore, it achieves the technical effect of improving system operational safety and control reliability. This solution is particularly suitable for multi-station continuous operation and highly automated testing production line environments, and can also be extended to other industrial scenarios requiring material pallet detection, such as assembly, sorting, or warehousing systems.

[0094] On the basis of the above embodiments, this embodiment further provides that the loading system 100 further includes a material conveying device (not shown in the figures), the gripping device 140 is capable of gripping the circuit board to the material conveying device, and the material conveying device is capable of loading the circuit board to the test station of the test host.

[0095] This embodiment realizes the automatic connection of the post-gripping process by introducing the material conveying device, and improves the overall operation continuity and efficiency. As a key transition component connecting the gripping action and the subsequent test process, the material conveying device is configured to receive the circuit board transferred by the gripping device 140 and stably convey the circuit board to the designated test position of the test host. The material conveying device can adopt various forms to realize the material conveying function, such as but not limited to a belt conveying line, a chain transmission mechanism, a roller conveying platform or a linear motor-driven sliding table, etc., and the specific type selection thereof can be flexibly configured according to factors such as production line tact, spatial layout, and the size and weight of the circuit board. The operation mode of the material conveying device can be continuous, stepping or positioning-stop to adapt to different test process requirements; meanwhile, anti-slip textures, positioning stoppers or vacuum adsorption areas can be arranged on the surface thereof, so as to ensure that the circuit board maintains a stable posture during the conveying process, and avoid deviation or vibration from affecting the subsequent positioning accuracy.

[0096] After completing position identification and precise gripping of the circuit board on the material carrier 120, the gripping device 140 transfers the circuit board to the starting end loading position of the material conveying device. This transfer process can achieve high repetitive positioning accuracy through preset path planning and motion control, so as to ensure the consistency of the material dropping points. After receiving the circuit board, the material conveying device starts the conveying action, and conveys the circuit board to the end position, that is, the test station of the test host, within a set time or under a trigger signal. To realize collaborative control between the upstream and downstream, the material conveying device can integrate sensors (such as photoelectric switches, proximity sensors) for detecting whether the circuit board is in place, and feed back the status signal to the control system, so as to realize linkage control with the start and stop of the test host, the action of the clamping device and other links.

[0097] The cooperative relationship among the components is as follows: the gripping device 140, as an upstream execution unit, is responsible for picking up the identified and positioned circuit board from the material carrier 120 after the height thereof is dynamically adjusted; the material conveying device, as an intermediate transmission unit, undertakes the functions of spatial transfer and rhythm buffering; the test host, as a downstream processing unit, receives the circuit board delivered by the material conveying device and executes corresponding detection tasks. The three realize timing matching and state synchronization through electrical interlock and communication protocols, forming a complete closed-loop process of loading-conveying-testing.

[0098] Through the above technical solution, this application achieves the extension from single-station operation to full-process automation. Because a material conveying device is installed and works in conjunction with the gripping device 140 to complete the relay transfer of circuit boards, the efficiency bottleneck caused by the need for manual intervention after gripping or reliance on complex robotic arms to directly connect to the testing station in the original system is solved. Therefore, it achieves the technical effects of improving the overall operating efficiency of the equipment line, reducing the risk of human error, and enhancing production continuity. This design is particularly suitable for electronic manufacturing scenarios with multiple varieties, small batches, or high-cycle times, and can effectively adapt to the flexible feeding requirements of circuit boards of different specifications.

[0099] This application embodiment also provides a testing device, including a testing host and the above-described loading system 100. The loading system 100 is used to load circuit boards to the testing position of the testing host, and the testing host is used to test the circuit board located at the testing position.

[0100] Through the above technical solution, this application realizes a highly integrated and intelligent testing device. Its core lies in the organic combination of a feeding system 100 with adaptive focusing capability and a testing host, forming a complete automatic testing closed-loop system. The testing device uses the feeding system 100 to accurately position and stably grasp the circuit board, then transports it to the designated testing position on the testing host. The testing host then performs multi-dimensional testing tasks, including electrical performance and functional integrity. The entire process requires no manual intervention, significantly improving testing speed and consistency.

[0101] The feeding system 100, as the front-end feeding unit, undertakes the crucial transformation function from the original material-loaded state to the measurable state. The feeding system 100 includes a lifting device 110, a material rack 120, a vision positioning device 130, and a gripping device 140. The vision positioning device 130 is positioned above the lifting device 110. The lifting device 110 is suitable for placing the material rack 120 and can drive the material rack 120 to rise and fall, so that the circuit boards placed on the material rack 120 are within the focal range of the vision positioning device 130. The gripping device 140 can grip the circuit boards based on the position information of the circuit boards identified by the vision positioning device 130. Furthermore, the feeding system 100 can also integrate various auxiliary components such as a mounting frame 150, a conveying device, and a sensor 170 to enhance structural stability and operational reliability.

[0102] The test host is the functional module that performs the final testing task. It can use a general-purpose or dedicated PCB testing platform, such as a flying probe tester, an ICT (In-Circuit Test) instrument, or an FCT (Functional Circuit Test) system. The test host has internal test positions equipped with probe beds, fixtures, or positioning slots to fix and electrically connect the circuit board under test, thereby enabling signal loading and response acquisition. The test host and the loading system 100 can interact and coordinate control via a communication interface (such as EtherCAT, Modbus TCP, or Profinet) to ensure that the testing program starts immediately after loading, reducing idle waiting time.

[0103] Material transfer between the loading system 100 and the testing host can be achieved in several ways: for example, the gripping device 140 can directly transfer the circuit board into the fixture of the testing host; or buffering and transitional transfer can be performed through intermediate conveying devices (such as belt conveyors, roller conveyors, slides, etc.). The conveying device can have functions such as speed adjustment, position feedback, and anti-collision protection to adapt to circuit boards of different sizes and weights. In addition, the entire testing equipment can be deployed in a standard industrial cabinet and is suitable for various application scenarios such as SMT back-end testing, pre-aging final inspection, and rework reflow testing.

[0104] It is worth noting that, since the feeding system 100 in this embodiment has dynamic focusing capability—that is, by adjusting the height of the carrier rack 120 through the lifting device 110 to ensure that the circuit board is always in the optimal imaging plane of the vision positioning device 130—clear imaging and accurate coordinate extraction can be achieved regardless of whether the incoming material comes from a low AGV pallet or an elevated conveyor line, or whether it is a single thin board or a multi-layer stacked board. This feature greatly enhances the adaptability of the testing equipment to changes in external working conditions and avoids the problem of frequent downtime for debugging of traditional equipment.

[0105] As an optional implementation, the lifting device 110 can adopt a screw and nut drive structure, or it can be replaced by a linear motor drive, a pneumatic lifting cylinder, or a hydraulic actuator, as long as it can achieve controllable displacement in the vertical direction. Similarly, the vision camera 132 in the vision positioning device 130 can be an area scan camera, a line scan camera, or a 3D vision sensor, and the supplementary lighting component 133 can be a ring LED light source, a coaxial light source, or a multi-angle adjustable light source to meet the recognition requirements of different surface materials and features. The gripping device 140 can be equipped with a vacuum nozzle, a gripper-type end effector, or a magnetic adsorption device, the specific selection depending on the size, weight, and fragility of the circuit board.

[0106] Through the above technical solutions, this application achieves an optimized and upgraded overall architecture of the testing equipment. The integration of a highly adaptive feeding system 100 solves the problem of visual defocusing caused by material height fluctuations, thus ensuring the accuracy and repeatability of the gripping action. Furthermore, the seamless connection between the testing host and the feeding system 100 reduces manual intervention, significantly improving the overall automation level. This testing equipment is not only suitable for testing rigid PCBs on conventional FR-4 substrates, but can also be extended to testing flexible printed circuit boards (FPCs), rigid-flex boards, and irregularly shaped modular electronic components, possessing excellent process compatibility and production line adaptability.

[0107] The above-described embodiments are only used to illustrate the technical solutions of this utility model, and are not intended to limit it. Although this utility model has been described in detail with reference to the foregoing embodiments, those skilled in the art should understand that modifications can still be made to the technical solutions described in the foregoing embodiments, or equivalent substitutions can be made to some of the technical features. Such modifications or substitutions do not cause the essence of the corresponding technical solutions to deviate from the spirit and scope of the technical solutions of the embodiments of this utility model, and should all be included within the protection scope of this utility model.

Claims

1. A feeding system for stacked circuit boards on a loading rack transported by a feeding and transporting vehicle, characterized in that, The device includes a lifting device, a visual positioning device, and a gripping device. The visual positioning device is fixed above the lifting device. The lifting device is used to dock with the material rack transported by the transport vehicle and can drive the material rack to rise and fall so that each of the circuit boards stacked on the material rack is within the focal range of the visual positioning device. The gripping device is used to grip the circuit board according to the position information of the circuit board identified by the visual positioning device.

2. The feeding system according to claim 1, characterized in that, The visual positioning device includes a mounting bracket and a vision camera. The vision camera is fixedly mounted on the mounting bracket and is used to identify the position information of the circuit boards stacked on the material carrier.

3. The feeding system according to claim 2, characterized in that, The field of view of the vision camera on the material carrier is 600mm×600mm to 1000mm×1000mm.

4. The feeding system according to claim 2, characterized in that, The visual positioning device further includes a supplementary lighting bracket and a supplementary lighting component. The supplementary lighting bracket is installed on the mounting bracket, and the supplementary lighting component is fixedly installed on the supplementary lighting bracket. The supplementary lighting component is used to provide supplementary lighting for the circuit boards stacked on the material carrier.

5. The feeding system according to claim 1, characterized in that, The feeding system also includes a mounting frame, and the lifting device includes a linear drive and a support frame. The linear drive is mounted on the mounting frame, and the support frame is mounted on the drive end of the linear drive. The material carrier can be supported and placed on the support frame.

6. The feeding system according to claim 1, characterized in that, The feeding system also includes an installation frame. The lifting device includes a rotary drive, a transmission screw, a nut seat, and a support frame. The rotary drive is mounted on the installation frame. The transmission screw is rotatably mounted on the installation frame and extends vertically. The nut seat is sleeved on the transmission screw and threadedly engaged with it. The support frame is movably mounted on the installation frame and is connected to the nut seat. The rotary drive drives the transmission screw to rotate, so that the nut seat drives the support frame to rise and fall relative to the installation frame. The material carrier can be supported and placed on the support frame.

7. The feeding system according to claim 6, characterized in that, The lifting device further includes a vertical guide assembly, which includes a vertical guide rail and a vertical guide groove. The vertical guide groove is slidably installed on the vertical guide rail. One of the vertical guide rail and the vertical guide groove is installed on the mounting frame, and the other is installed on the support frame.

8. The feeding system according to claim 7, characterized in that, The support frame includes a vertical plate and a horizontal plate, the vertical plate and the horizontal plate are connected, the vertical guide rail or the vertical guide groove is installed on the vertical plate, and the material rack can be supported and placed on the horizontal plate.

9. The feeding system according to claim 6, characterized in that, The lifting device further includes a limiting member, which is installed on the mounting frame and can abut against the support frame to limit the height of the support frame relative to the mounting frame.

10. The feeding system according to claim 1, characterized in that, The gripping device includes a robotic arm and a gripping assembly. The gripping assembly is mounted on the drive end of the robotic arm and is used to grip the circuit board.

11. The feeding system according to claim 1, characterized in that, The feeding system also includes a sensor installed on the lifting device, which is used to sense whether the material rack is on the lifting device.

12. The feeding system according to claim 1, characterized in that, The feeding system also includes a feeding device, the gripping device is able to grip the circuit board to the feeding device, and the feeding device is able to feed the circuit board to the test position of the test host.

13. A testing device, characterized in that, The device includes a test host and a loading system as described in any one of claims 1 to 12, wherein the loading system is used to load the circuit board to a test position of the test host, and the test host is used to test the circuit board located at the test position.

Images