CN112221843A

CN112221843A - Full-automatic glue dispensing equipment for PCBA (printed circuit board assembly) and control method of full-automatic glue dispensing equipment

Info

Publication number: CN112221843A
Application number: CN202011004842.6A
Authority: CN
Inventors: 陈晓波; 开祥钳; 宋文超
Original assignee: Qingdao Zhidong Seiko Electronic Co ltd
Current assignee: Qingdao Zhidong Seiko Electronic Co ltd
Priority date: 2020-09-22
Filing date: 2020-09-22
Publication date: 2021-01-15

Abstract

The application discloses full-automatic point of PCBA board is glued and is equipped with and control method, wherein, full-automatic point of PCBA board is glued and is equipped with and includes: the conveying mechanism is used for conveying PCBA boards, an encoder module is arranged on the conveying mechanism, and the encoder module is used for tracking and positioning the conveyed PCBA boards to generate positioning signals; the control cabinet is provided with a manipulator, one end of the manipulator, which is far away from the control cabinet, is connected with a dispensing head module, and the control cabinet is used for controlling the dispensing head module on the manipulator to dispense the PCBA board on the conveying mechanism according to the positioning signal transmitted by the encoder module. In this application, through the automatic point of the board to PCBA point of gluing processing, can avoid the mistake in the manual operation in-process to glue or the action of leaking some glue, simultaneously, can realize the vision developments of the process of gluing and follow, the processing is glued to the point of not stopping the line.

Description

Full-automatic glue dispensing equipment for PCBA (printed circuit board assembly) and control method of full-automatic glue dispensing equipment

Technical Field

The application relates to the technical field of dispensing equipment, in particular to PCBA full-automatic dispensing equipment and a control method thereof.

Background

At present, the dispensing treatment of the PCBA board is performed manually, and the dispensing process requires manually applying silica gel and silicone grease, wherein the silicone grease is used for heat conduction and heat dissipation of a CPU (Central Processing Unit) chip, the silica gel is used for cementing components, the silica gel and the silicone grease are similar in shape, and the silica gel and the silicone grease are easily confused in the manual dispensing treatment process, so that the heat dissipation of the CPU chip is poor, and the PCBA board has a functional failure.

In addition, the phenomenon of leaking glue is easy to occur in manual glue dispensing treatment, so that the function failure of the prepared PCBA is caused, and the yield is low.

Disclosure of Invention

The embodiment of the application provides a PCBA full-automatic dispensing device and a control method thereof, and further can solve the technical problem that manual missing dots and wrong dots are easy to occur in the dispensing treatment process of PCBA at least to a certain extent.

Other features and advantages of the present application will be apparent from the following detailed description, or may be learned by practice of the application.

According to a first aspect of the embodiment of this application, provide a full-automatic some gluey equipment of PCBA board, the full-automatic some gluey equipment of PCBA board includes: the conveying mechanism is used for conveying PCBA boards, an encoder module is arranged on the conveying mechanism, and the encoder module is used for tracking and positioning the conveyed PCBA boards to generate positioning signals; the control cabinet is provided with a manipulator, one end of the manipulator, which is far away from the control cabinet, is connected with a dispensing head module, and the control cabinet is used for controlling the dispensing head module on the manipulator to dispense the PCBA board on the conveying mechanism according to the positioning signal transmitted by the encoder module.

In the above embodiment, be provided with on the transport mechanism the encoder module, the encoder module can be used to fix a position the PCBA board of transmission to produce positioning signal and send to the control cabinet, the control cabinet is received behind the positioning signal, can be according to positioning signal control dispensing head module is right the PCBA board is tracked and is glued the processing, on the one hand, through set up on the transport mechanism the encoder module can realize right the tracking location of PCBA board is favorable to the module is right the point of PCBA board is glued the processing, the missing point problem when avoiding appearing artifical point and gluing, on the other hand, adopts full-automatic point gluey mode, and the point that the process was glued when whole is carried out by the machine, can avoid artifical the emergence of the wrong condition of gluing of point that easily appears.

In some embodiments of the present application, based on the foregoing solution, the fully automatic glue dispensing device for a PCBA board further includes: the equipment frame body is used for fixing the conveying mechanism; the visual positioning module is arranged on the equipment frame body and used for identifying whether the dispensing positions on the surface of the PCBA board are subjected to dispensing treatment or not and transmitting an identification result to the console; the control console is further used for receiving the identification result of the visual positioning module, and when the dispensing position on the surface of the PCBA board is not subjected to dispensing processing, the control console controls the dispensing head module on the manipulator to perform dispensing processing on the PCBA board.

In the above embodiment, the full-automatic dispensing equipment for the PCBA further comprises the visual positioning module arranged on the equipment frame body, the visual positioning module is used for identifying whether dispensing treatment is carried out on the dispensing position on the surface of the PCBA, if dispensing treatment is carried out on the surface of the PCBA, the console does not control the dispensing head module to carry out dispensing treatment, so that secondary dispensing treatment on the PCBA is avoided, and the yield of the prepared PCBA can be improved to a certain extent.

In some embodiments of the application, based on the foregoing scheme, an extension bracket is arranged at the top of the equipment frame body, the extension bracket is located above the conveying mechanism, and the visual positioning module is fixed on the extension bracket.

In the above embodiment, the visual positioning module is disposed above the conveying mechanism through the extending support, so that the visual positioning module can clearly identify the dispensing positions of the surface of the PCBA board transmitted by the conveying mechanism.

In some embodiments of this application, based on aforementioned scheme, the visual positioning module includes the fixing base and sets up camera on the fixing base, the camera orientation transport mechanism for to the transport mechanism transmission PCBA board is shot.

In some embodiments of this application, based on the aforesaid scheme, the manipulator is kept away from the one end of control cabinet through a rotation connecting piece with the first module of dispensing is fixed continuous, the first module of dispensing is located rotate the connecting piece below, and with the bottom of rotating the connecting piece is connected.

In the above embodiment, the manipulator is arranged on the console, one end of the manipulator, which is far away from the console, is connected with the dispensing head module through a rotating connecting piece, and the rotating connecting piece can drive the dispensing head module to rotate in the rotating process, so that the dispensing head module can rotate flexibly, and the dispensing treatment of the PCBA board is facilitated.

In some embodiments of the present application, based on the foregoing solution, the dispensing head module includes: a connecting plate; the first sliding cylinder and the second sliding cylinder are arranged on the connecting plate; and by the silicone grease dispensing head of first slip cylinder control and by the silicone grease dispensing head of second slip cylinder control, the silicone grease dispensing head passes through first slip cylinder concertina movement is in carry out the point on the PCBA and glue the action, the silicone grease dispensing head passes through second slip cylinder concertina movement is in carry out the point on the PCBA board and glue the action.

In the above embodiment, the first sliding cylinder controls the telescopic motion of the silicone grease dispensing head, the second sliding cylinder controls the telescopic motion of the silicone grease dispensing head, when the PCBA board needs to be subjected to silicone grease dispensing treatment, the console controls the manipulator to move the dispensing head module to the position above the dispensing position of the PCBA board, the second sliding cylinder keeps the retraction state, the first sliding cylinder extends out to make the silicone grease dispensing head close to the dispensing position of the PCBA board for silicone grease dispensing treatment, and when the PCBA board needs to be subjected to silicone grease dispensing treatment, the first sliding cylinder keeps the retraction state, the second sliding cylinder extends out to make the silicone grease dispensing head close to the dispensing position of the PCBA board for silicone grease dispensing treatment.

In some embodiments of this application, based on the aforesaid scheme, transport mechanism is chain formula conveying assembly line, be provided with PCBA board tool on the conveyer belt of chain formula conveying assembly line, PCBA board tool is used for fixing the PCBA board.

In the above embodiment, the PCBA jig is arranged on the conveyor belt, and the PCBA is located in the PCBA jig in the transmission process, so that the PCBA can be effectively prevented from being interfered by the external environment to slightly move when being transported on the conveyor belt.

In some embodiments of this application, based on the aforesaid scheme, the encoder module sets up in conveyer belt one side of chain formula conveying assembly line, the encoder module includes the base and sets up the encoder on the base, the encoder with PCBA board tool contacts.

In the above embodiment, the encoder is in contact with the PCBA fixture, and the encoder can know the position of the PCBA board fixture and the position of the PCBA board by recording the rotation angle of the encoder in the rotation process.

According to a second aspect of the embodiments of the present application, there is provided a method for controlling a full-automatic dispensing apparatus for a PCBA board, the method including: receiving a positioning signal generated by the encoder module for tracking and positioning the PCBA board transmitted by the transmission mechanism; and based on the positioning signal, controlling the dispensing head module arranged on the manipulator to dispense the PCBA.

In the technical scheme that some embodiments of this application provided, the encoder module has realized tracing the location to the PCBA board to with positioning information send to the control cabinet, the control cabinet is received in real time behind the positioning information, control promptly manipulator on the head module is glued to the point the PCBA board carries out the point and glues the processing, wherein, the encoder module can realize continuous tracking location in the course of the work, and then the control cabinet can be based on the positioning information of encoder module feedback carries out the glue of not stopping the line and glues, for current artifical glue dispensing mode, the processing can be glued to dynamic following, not stopping the line point for this application, simultaneously, can effectively avoid artifical easy appearance leak source glue and the problem that the mistake was glued.

In some embodiments of the present application, based on the foregoing solution, the full-automatic dispensing device further includes a visual positioning module for identifying whether the dispensing position on the surface of the PCBA board is subjected to dispensing processing; control set up on the manipulator the dispensing head module group to the PCBA board carries out the point and handles, include: if the dispensing positions on the surface of the PCBA board are determined not to be subjected to dispensing processing according to the identification result of the visual positioning module, controlling the dispensing head module on the manipulator to perform dispensing processing on the PCBA board; and if the point gluing position on the surface of the PCBA board is determined to be subjected to point gluing according to the identification result of the visual positioning module, controlling the dispensing head module on the manipulator to skip the point gluing treatment on the PCBA board.

It is to be understood that both the foregoing general description and the following detailed description are exemplary and explanatory only and are not restrictive of the application.

Drawings

The accompanying drawings, which are incorporated in and constitute a part of this specification, illustrate embodiments consistent with the present application and together with the description, serve to explain the principles of the application. It is obvious that the drawings in the following description are only some embodiments of the application, and that for a person skilled in the art, other drawings can be derived from them without inventive effort. In the drawings:

fig. 1 is a schematic structural diagram of an automatic dispensing device for a PCBA board according to an embodiment of the present application;

fig. 2 is a schematic structural diagram of an encoder according to an embodiment of the present application;

fig. 3 is a schematic structural diagram of a dispensing head module according to an embodiment of the present disclosure;

fig. 4 is a schematic structural diagram of another automatic dispensing apparatus for a PCBA board according to an embodiment of the present application;

fig. 5 is a schematic structural diagram of a visual positioning module according to an embodiment of the present disclosure;

fig. 6 is a schematic step diagram of a control method of an automatic dispensing apparatus according to an embodiment of the present disclosure.

The reference numerals are explained below:

100. a transport mechanism; 110. An encoder module;

111. a base; 112. An encoder;

120. PCBA board fixture;

200. a console; 210. A manipulator;

220. a dispensing head module; 221. A connecting plate;

222. a first slide cylinder; 223. A second slide cylinder;

224. a silicone grease dispensing head; 225. A silica gel dispensing head;

230. rotating the connecting piece;

300. an equipment rack body; 310. An extension bracket;

400. a vision positioning module; 410. A fixed seat;

420. a camera is provided.

Detailed Description

The technical solutions in the embodiments of the present application will be clearly and completely described below with reference to the drawings in the embodiments of the present application, and it is obvious that the described embodiments are only a part of the embodiments of the present application, and not all of the embodiments. All other embodiments, which can be derived by a person skilled in the art from the embodiments given herein without making any creative effort, shall fall within the protection scope of the present application.

Furthermore, the described features, structures, or characteristics may be combined in any suitable manner in one or more embodiments. In the following description, numerous specific details are provided to give a thorough understanding of embodiments of the application. One skilled in the relevant art will recognize, however, that the subject matter of the present application can be practiced without one or more of the specific details, or with other methods, components, devices, steps, and so forth. In other instances, well-known methods, devices, implementations, or operations have not been shown or described in detail to avoid obscuring aspects of the application.

The flow charts shown in the drawings are merely illustrative and do not necessarily include all of the contents and operations/steps, nor do they necessarily have to be performed in the order described. For example, some operations/steps may be decomposed, and some operations/steps may be combined or partially combined, so that the actual execution sequence may be changed according to the actual situation.

In the description of the present application, it is to be understood that the terms "first", "second" are used for descriptive purposes only and are not to be construed as indicating or implying relative importance or implying any number of technical features indicated. Thus, a feature defined as "first" or "second" may explicitly or implicitly include one or more of that feature. In the description of the present application, "a plurality" means two or more unless otherwise specified.

Please refer to fig. 1.

The application provides full-automatic dispensing equipment for PCBA (printed circuit board assembly) boards, which comprises a conveying mechanism 100, wherein the conveying mechanism 100 is used for conveying the PCBA boards, an encoder module 110 is arranged on the conveying mechanism 100, and the encoder module 110 is used for tracking and positioning the conveyed PCBA boards so as to generate positioning signals; the control cabinet 200, be provided with manipulator 210 on the control cabinet 200, the manipulator 210 is kept away from the one end of control cabinet 200 is connected with dispensing head module 220, the control cabinet 200 is used for according to the positioning signal of encoder module 110 transmission, control on the manipulator 210 dispensing head module 220 is to the PCBA board on transport mechanism 100 carries out the point and glues the processing.

In one embodiment of the present application, the conveying mechanism 100 is a conveying line, and the encoder module 110 is disposed on a side of a conveying belt of the conveying line, and is used for tracking and positioning the PCBA board.

In this application, the control cabinet 200 is used for the basis the locating signal of encoder module 110 transmission, it is right manipulator 210 reaches dispensing head module 220 controls, be provided with control panel on the control cabinet 200, last buttons such as "scram", "start", "stop", "reset", "change silica gel" and "change silicone grease" that are equipped with of control panel, the inside computer that still is provided with of control cabinet 200, the computer is used for control going on of procedure is glued to the point.

In the present application, the robot 210 is a multi-axis robot, for example: four-axis robots and six-axis robots, the robot 210 may accomplish the reaching of any point in the three-dimensional coordinate system.

Please continue to refer to fig. 1.

In an embodiment of the present application, an end of the robot 210 away from the console 200 is fixedly connected to the dispensing head module 220 through a rotating connector 230, and the dispensing head module 220 is located below the rotating connector 230 and is connected to a bottom of the rotating connector 230.

In this application, the rotating connection member 230 is located at one end of the manipulator 210 far away from the console 200, and penetrates through the manipulator 210, and the bottom of the rotating connection member 230 is connected with the dispensing head module 220.

Please continue to refer to fig. 1.

In an embodiment of the present application, the conveying mechanism 100 is a chain conveying line, a PCBA board fixture 120 is disposed on a conveying belt of the chain conveying line, and the PCBA board fixture 120 is used for fixing the PCBA board.

In this application, PCBA board tool 120 arrange in proper order in on the conveyer belt of transport mechanism 100, just contact between the PCBA board tool 120.

Please refer to fig. 2.

In one embodiment of the present application, the encoder module 110 includes a base 111 and an encoder 112 disposed on the base 111, and the encoder 112 is in contact with the PCBA board fixture 120.

In this application, encoder module 110 sets up conveyer belt one side of chain formula conveying assembly line, encoder 112 with the edge of PCBA board tool 120 contacts, the foundation encoder 112 pivoted angle can judge PCBA board tool 120's position, and then obtains being located inside PCBA board tool 120 the position of PCBA board.

In some implementations, the position of the PCBA on the transport mechanism 100 can also be determined from the rotational displacement of the encoder 112.

Please refer to fig. 3.

In one embodiment of the present application, the dispensing head module 220 includes: a connection plate 221; a first slide cylinder 222 and a second slide cylinder 223 provided on the connection plate 221; and by silicone grease dispensing head 224 of first slip cylinder 222 control and by silicone grease dispensing head 225 of second slip cylinder 223 control, silicone grease dispensing head 224 passes through first slip cylinder 222 concertina movement is in carry out the action of gluing on the PCBA, silicone grease dispensing head 225 passes through second slip cylinder 223 concertina movement is in carry out the action of gluing on the PCBA board.

In this application, work as first sliding cylinder 222 stretches out and makes the silicone grease dispensing head 224 is close to the position is glued to the point of PCBA board, and second sliding cylinder 223 stretches out and makes the silicone grease dispensing head 225 is close to the in-process of the position is glued to the point of PCBA board, first sliding cylinder 222 with the length that second sliding cylinder 223 stretches out can be according to actual conditions adjust on the control panel of control cabinet 200, in the in-process of gluing, silicone grease dispensing head 224 with the silicone grease dispensing head 225 can not touch the position is glued to the point of PCBA board.

Specifically, when needing to the PCBA board to carry out some silicone grease and handle, at first, control manipulator 210 will the point is glued first module 220 and is removed to the point of PCBA board and glues position top, second sliding cylinder 223 keeps the withdrawal state, first sliding cylinder 222 stretches out, drives silicone grease point and glues head 224 and be close to the point of PCBA board is glued the position, carries out some silicone grease and handles, and when needing to the PCBA board carries out some silicone rubber and handle, first sliding cylinder 222 then keeps the withdrawal state, second sliding cylinder 223 stretches out, makes the silicone rubber point and glues head 225 and be close to the point of PCBA board is glued the position, carries out some silicone rubber and handles.

In this application, when the PCBA board needs to be subjected to dispensing silicone grease treatment, the second sliding cylinder 223 may be controlled to maintain the retracted state, the first sliding cylinder 222 extends, and then the manipulator 210 is controlled to move the dispensing head module 220 to a position above the dispensing position of the PCBA board for dispensing; when the PCBA board needs to be dispensed with silica gel, the first sliding cylinder 222 keeps a retracted state, the second sliding cylinder 223 extends out, and then the manipulator 210 is controlled to move the dispensing head module 220 to the dispensing position of the PCBA board, so that the silica gel dispensing head 225 is close to the dispensing position of the PCBA board to dispense silica gel.

In this application, the dispensing head that sets up on dispensing head module 220 can be a plurality ofly, is not limited to foretell silica gel dispensing head and silicone grease dispensing head two kinds, can adjust the quantity of dispensing head according to the production demand of reality, simultaneously, adjusts the quantity that drives the sliding cylinder that the dispensing head goes on stretching out and drawing back correspondingly.

Please refer to fig. 4.

In one embodiment of the application, the fully automatic PCBA board dispensing equipment further comprises an equipment frame body 300; a visual positioning module 400, wherein the visual positioning module 400 is disposed on the equipment rack 300, and the visual positioning module 400 is configured to identify whether the dispensing position on the surface of the PCBA board is subjected to dispensing processing, and transmit the identification result to the console 200; the console 200 is further configured to receive the identification result of the visual positioning module 400, and control the dispensing head module 220 on the manipulator 210 to dispense the PCBA board when the dispensing position on the surface of the PCBA board is not dispensing.

In this application, equipment support body 300 is used for erectting vision positioning module 400 makes vision positioning module 400 set up in transport mechanism 100 top, and can be right transport mechanism 100 is gone up the image of PCBA board carries out clear collection.

In the application, considering that the process of inserting the board is manually carried out after the dispensing is finished in the preparation process of the PCBA board, because the efficiency of manually inserting the board is low, in the actual processing process, the PCBA subjected to the dispensing treatment is transmitted to the station of the manual inserting plate through the conveyor belt in an excessive way, thus, it is necessary to reversely operate the transfer mechanism 100 for a certain period of time, thereby reserving enough time for the manual board inserting process, and when the conveying mechanism 100 is switched from the reverse operation to the normal operation, the PCBA processed by glue dispensing does not need to be processed by glue dispensing again, the PCBA board is photographed and the point-gluing position is identified by the visual positioning module 400, repeated dispensing processing of the PCBA board can be effectively avoided, and the quality and stability of dispensing of the PCBA board are guaranteed.

Please continue to refer to fig. 4.

In one embodiment of the present application, an extension bracket 310 is disposed on the top of the equipment rack 300, the extension bracket 310 is located above the conveying mechanism 100, and the vision positioning module 400 is fixed on the extension bracket 310.

In this application, the top of the equipment rack 300 is provided with the extension bracket 310, and the vision positioning module 400 is fixed on the extension bracket 310, so that the vision positioning module 400 is located above the conveying mechanism 100.

In this application, still can be in extend and set up the guide rail on the support 310, simultaneously vision positioning module 400 bottom set up with the slide mechanism of guide rail looks adaptation makes vision positioning module 400 can extend and move on the support 310 to adjust as required according to the actual demand during the installation position of vision positioning module, through sliding vision positioning module 400 can realize the adjustment of the installation position of vision positioning module 400.

Please refer to fig. 5.

In an embodiment of the present application, the visual positioning module 400 includes a fixing base 410 and a camera 420 disposed on the fixing base 410, wherein the camera 420 faces the conveying mechanism 100, so as to take a picture of the PCBA board transmitted by the conveying mechanism 100.

In this application, when the PCBA board flows in during camera 420's field of vision scope, camera 420 is through snatching the MARK point of PCBA board diagonal is right silicone grease and silica gel on the position are glued to the point are discerned, if the point is equipped with silicone grease and silica gel on the position is glued to the point, then no longer carry out some glue operations.

In this application, camera 420 is right after the PCBA board is shot, PCBA board tool 120 continues along transport mechanism 100 removes, encoder 110 feeds back in real time the position of PCBA board, manipulator 210 developments are followed the PCBA board accomplishes the operation of some silica gel and some silicone grease in proper order.

It should be noted that in the description of the above embodiments, the particular features, structures, materials, or characteristics may be combined in any suitable manner in any one or more embodiments or examples.

In addition, aiming at the PCBA board automatic dispensing equipment provided by the above embodiments, the embodiments of the present application provide a control method of the automatic dispensing equipment.

The control method of the full-automatic dispensing device will be explained with reference to fig. 6:

referring to fig. 6, a schematic step diagram of a control method of a full-automatic dispensing device provided in an embodiment of the present application is shown. The method specifically comprises steps 610 to 620:

step 610, receiving a positioning signal generated by the encoder module performing tracking positioning on the PCBA board transmitted by the transmission mechanism.

And step 620, controlling the dispensing head module arranged on the manipulator to perform dispensing processing on the PCBA based on the positioning signal.

Further, in an embodiment of the present application, the fully automatic dispensing device further includes a visual positioning module for identifying whether the dispensing station on the surface of the PCBA board has performed dispensing processing; step 620 controls the dispensing head module set on the manipulator to dispense the PCBA, including:

step 621, if it is determined that the dispensing position on the surface of the PCBA board is not subjected to dispensing processing according to the identification result of the visual positioning module, controlling the dispensing head module on the manipulator to perform dispensing processing on the PCBA board;

and 622, if the glue dispensing position on the surface of the PCBA board is determined to be subjected to glue dispensing according to the identification result of the visual positioning module, controlling the glue dispensing head module on the manipulator to skip the glue dispensing of the PCBA board.

The embodiment of the application also provides computer equipment, which comprises a program or instructions, and when the program or the instructions are executed, the program or the instructions are used for executing the control method and any optional method of the full-automatic glue dispensing equipment provided by the embodiment of the application.

The storage medium comprises a program or instructions, and when the program or instructions are executed, the program or instructions are used for executing the control method and any optional method of the full-automatic glue dispensing equipment provided by the embodiment of the application.

The above description is only for the specific embodiments of the present invention, but the scope of the present invention is not limited thereto, and any changes or substitutions that can be easily conceived by those skilled in the art within the technical scope of the present invention are included in the scope of the present invention. Therefore, the protection scope of the present invention shall be subject to the protection scope of the claims.

Claims

1. The utility model provides a full-automatic some gluey equipment of PCBA board which characterized in that includes:

the conveying mechanism is used for conveying PCBA boards, an encoder module is arranged on the conveying mechanism, and the encoder module is used for tracking and positioning the conveyed PCBA boards to generate positioning signals;

the control cabinet is provided with a manipulator, one end of the manipulator, which is far away from the control cabinet, is connected with a dispensing head module, and the control cabinet is used for controlling the dispensing head module on the manipulator to dispense the PCBA board on the conveying mechanism according to the positioning signal transmitted by the encoder module.

2. The PCBA full-automatic glue dispensing device of claim 1, further comprising:

the equipment frame body is used for fixing the conveying mechanism;

the visual positioning module is arranged on the equipment frame body and used for identifying whether the dispensing positions on the surface of the PCBA board are subjected to dispensing treatment or not and transmitting an identification result to the console;

the control console is further used for receiving the identification result of the visual positioning module, and when the dispensing position on the surface of the PCBA board is not subjected to dispensing processing, the control console controls the dispensing head module on the manipulator to perform dispensing processing on the PCBA board.

3. The PCBA board full-automatic glue dispensing device according to claim 2, wherein an extension support is arranged at the top of the device frame body and located above the conveying mechanism, and the vision positioning module is fixed on the extension support.

4. The full-automatic PCBA board dispensing equipment of claim 3, wherein the vision positioning module comprises a fixing seat and a camera arranged on the fixing seat, and the camera is arranged towards the conveying mechanism and used for taking pictures of the PCBA board transmitted by the conveying mechanism.

5. The PCBA board full-automatic glue dispensing device according to claim 1, wherein one end of the manipulator, which is far away from the console, is fixedly connected with the glue dispensing head module through a rotating connecting piece, and the glue dispensing head module is located below the rotating connecting piece and connected with the bottom of the rotating connecting piece.

6. The PCBA full-automatic glue dispensing equipment of claim 5, wherein the glue dispensing head module comprises:

a connecting plate;

the first sliding cylinder and the second sliding cylinder are arranged on the connecting plate; and

by the silicone grease dispensing head of first slide cylinder control and by the silicone grease dispensing head of second slide cylinder control, the silicone grease dispensing head passes through first slide cylinder concertina movement is in carry out the point on the PCBA and glue the action, the silicone grease dispensing head passes through second slide cylinder concertina movement is in carry out the point on the PCBA board and glue the action.

7. The full-automatic glue dispensing equipment for PCBA plates according to claim 1, wherein the conveying mechanism is a chain type conveying assembly line, a PCBA plate jig is arranged on a conveying belt of the chain type conveying assembly line, and the PCBA plate jig is used for fixing the PCBA plates.

8. The PCBA board full-automatic dispensing equipment of claim 7, wherein the encoder module is arranged on one side of the conveyor belt of the chain type conveying assembly line, the encoder module comprises a base and an encoder arranged on the base, and the encoder is in contact with the PCBA board jig.

9. A method of controlling a fully automatic dispensing apparatus for a PCBA board as claimed in any one of claims 1 to 8, the method comprising:

receiving a positioning signal generated by the encoder module for tracking and positioning the PCBA board transmitted by the transmission mechanism;

and based on the positioning signal, controlling the dispensing head module arranged on the manipulator to dispense the PCBA.

10. The control method of the full-automatic dispensing equipment according to claim 9, wherein the full-automatic dispensing equipment further comprises a visual positioning module for identifying whether the dispensing position on the surface of the PCBA board is subjected to dispensing treatment;

control set up on the manipulator the dispensing head module group to the PCBA board carries out the point and handles, include:

if the dispensing positions on the surface of the PCBA board are determined not to be subjected to dispensing processing according to the identification result of the visual positioning module, controlling the dispensing head module on the manipulator to perform dispensing processing on the PCBA board;

and if the point gluing position on the surface of the PCBA board is determined to be subjected to point gluing according to the identification result of the visual positioning module, controlling the dispensing head module on the manipulator to skip the point gluing treatment on the PCBA board.