CN211720853U - PCB placing machine - Google Patents

Abstract

The utility model discloses a PCB board placing machine, which comprises a body support, a first conveying mechanism, a second conveying mechanism, a mobile manipulator, a visual positioning mechanism and a control mechanism; the first conveying mechanism is used for conveying small PCB boards; The transfer mechanism is used to transport the large PCB board; the mobile manipulator travels back and forth between the first transfer mechanism and the second transfer mechanism to move and place the small PCB board on the large PCB board; the visual positioning mechanism is located in the first transfer mechanism and the second transfer mechanism The upper part of the mechanism is used to locate the small PCB board, the large PCB board and the position of the station; under the control of the control mechanism, the first transmission mechanism and the second transmission mechanism convey the small PCB board and the large PCB board. At the same time, the visual positioning mechanism provides positioning information, and the mobile manipulator completes the movement and placement of the small PCB board on the large PCB board, thereby replacing manual placement with tools, which has high placement accuracy and high efficiency.

Description

A PCB board placement machine

technical field

The utility model relates to surface assembly technology (SMT for short), in particular to a PCB board placement machine.

Background technique

In the SMT workshop, it is often necessary to place the small PCB board on the large PCB board. Because the solder paste is silk-screened on the two bonded PCB boards, it cannot be placed manually by hand. Therefore, the staff needs tools to place the small PCB board. On a large PCB board, however, this method also brings the defects of low placement accuracy and low efficiency.

In view of this, the designer has developed and designed the present utility model with in-depth conception and active research on improvement and trial implementation in view of the many defects and inconveniences caused by the imperfection of the above-mentioned PCB board placement process.

Utility model content

The purpose of the utility model is to provide a PCB board placement machine with high placement accuracy and high efficiency.

In order to achieve the above-mentioned purpose, the solution of the present utility model is:

A PCB board placement machine, the placement machine is used to place a small PCB board on a large PCB board, the placement machine includes a body support, a first transmission mechanism, a second transmission mechanism, a mobile manipulator, and a visual positioning mechanism and a control mechanism; the first transmission mechanism, the second transmission mechanism, the mobile manipulator, the visual positioning mechanism and the control mechanism are all installed on the body bracket; the first transmission mechanism is used for conveying small PCB boards; the second transmission mechanism The mechanism is used to transport the large PCB board; the mobile manipulator travels back and forth between the first conveying mechanism and the second conveying mechanism for moving and placing the small PCB board on the large PCB board; the visual positioning mechanism is located between the first conveying mechanism and the second conveying mechanism. The upper part of the second conveying mechanism is used to locate the small PCB board, the large PCB board and the position of the placement station; the control mechanism is electrically connected with the first conveying mechanism, the second conveying mechanism, the mobile manipulator and the visual positioning mechanism, respectively, It is used to control the first transfer mechanism, the second transfer mechanism, the mobile manipulator and the visual positioning mechanism.

The first conveying mechanism includes a first conveying support, a first conveying roller, a first conveying pallet, a first conveying belt, a first driving roller and a first driving motor; the first conveying support and the first driving motor are installed on the body frame; the first conveying roller and the first conveying pallet are matched with the first conveying support; the first driving roller is matched with the output shaft of the first driving motor; A conveying belt is wrapped around the first conveying pallet and is drivingly connected with the first conveying roller and the first driving roller; the second conveying mechanism includes a second conveying bracket, a second conveying roller, and a second conveying pallet , a second conveyor belt, a transmission link, a second drive roller and a second drive motor; the second conveyor bracket and the second drive motor are installed on the body bracket; the second conveyor roller and the second conveyor bracket The plates are all fitted on the second transmission bracket; the transmission link is rotatably fitted on the second transmission bracket, one end of which is drivingly connected with the second drive motor; the second drive roller is fitted on the transmission link; the The second conveying belt is wound around the second conveying pallet and is drivingly connected with the second conveying roller and the second driving roller.

The first conveying mechanism further includes a first width adjustment assembly, the first width adjustment assembly includes a first width adjustment seat, a width adjustment slide rod and a linear bearing; the first conveying support includes a first left support and a first the right bracket; the first width adjustment seat is fixed on the body bracket; the width adjustment sliding rod is matched with the first width adjustment seat; the first left bracket is movably matched with the width adjustment sliding rod through a linear bearing; The first right bracket is fixed on one end of the first width adjustment seat; the second transmission mechanism further includes a second width adjustment assembly, and the second width adjustment assembly includes a second width adjustment seat, a width adjustment screw rod, and a screw rod. sleeve and a third drive motor; the second transmission support includes a second left support and a second right support; the second width adjustment seat is fixed on the body support; the third drive motor is installed on the second width adjustment seat the width adjustment screw is rotatably fitted on the second width adjustment seat, and is drive-connected with the third drive motor; the second left bracket is movably fitted on the width adjustment screw through the screw sleeve; the second The right bracket is fixed on one end of the second width adjusting seat.

The first transmission mechanism further includes a first photoelectric sensor and a second photoelectric sensor; the first photoelectric sensor is matched with the input end of the first transmission mechanism; the second photoelectric sensor is matched in the middle of the first transmission mechanism; The second transmission mechanism further includes a third photoelectric sensor, a fourth photoelectric sensor and a fifth photoelectric sensor; the third photoelectric sensor is matched with the input end of the second transmission mechanism; the fourth photoelectric sensor is matched with the second transmission mechanism The middle part of the device; the fifth photoelectric sensor is matched with the output end of the second transmission mechanism.

The mobile manipulator includes a first rotating machine, a connecting cross arm, a second rotating machine, a lift, a third rotating machine, a suction cup seat and a suction cup; the first rotating machine is fixed on the body support; one end of the connecting cross arm is connected to the rotating shaft of the first rotating machine, and the other end is connected to the rotating shaft of the second rotating machine; the elevator is installed with one end of the second rotating machine; the third rotating machine is installed on the lifting shaft of the elevator; The suction cup seat is matched with the rotating shaft of the third rotating machine; the suction cup is installed on the bottom of the suction cup seat.

The suction cup base includes a fixed base, a movable link, a mounting plate and a pressure sensor; the fixed base is fitted on the third rotating machine; one end of the movable link is movably fitted on the fixed base, and the other end is connected to the fixed base. the mounting plate; the suction cup is mounted on the bottom of the mounting plate; the pressure sensor is mounted on the bottom of the fixed seat and is in active contact with the mounting plate.

The suction cup seat further includes a laser sensor, the laser sensor is mounted on the fixed seat body, and is provided with four laser light sources arranged toward the second conveying mechanism.

The visual positioning mechanism includes a first camera and a second camera; the first camera and the second camera are both mounted on the body support and located above the first transmission mechanism and the second transmission mechanism respectively.

The visual positioning mechanism further includes a first light source, a second light source and a surrounding plate; the first light source is matched with the first camera to capture and fill light for the first camera; the second light source is matched with the second camera On the upper side, the second camera captures and fills the light; the enclosure plate is mounted on the body bracket, and encloses it to form a moving and placing space.

The visual positioning mechanism further includes a third camera, a third light source, a fourth camera and a fourth light source; the third camera and the third light source are both mounted on the body support, and take images and fill light toward the mobile manipulator; The fourth camera and the fourth light source are both mounted on the suction cup seat, and take images and fill light toward the second conveying mechanism.

After adopting the above scheme, the utility model is provided with a first transmission mechanism, a second transmission mechanism, a mobile manipulator, a visual positioning mechanism and a control mechanism, and under the control of the control mechanism, the first transmission mechanism and the second transmission mechanism convey small At the same time as the PCB board and the large PCB board, the visual positioning mechanism provides positioning information, and the mobile manipulator completes the movement and placement of the small PCB board on the large PCB board, thereby replacing manual placement with tools, which has high placement accuracy and high efficiency.

Description of drawings

Fig. 1 is the structural representation of the preferred embodiment of the present utility model;

2 is a schematic structural diagram of a preferred embodiment of the present utility model after removing the enclosure plate;

3 is a schematic structural diagram of the first conveying mechanism in the preferred embodiment of the present invention;

4 is a schematic structural diagram of a second conveying mechanism in a preferred embodiment of the present invention;

FIG. 5 is a schematic structural diagram of a mobile manipulator in a preferred embodiment of the present invention.

Detailed ways

In order to further explain the technical solutions of the present utility model, the present utility model will be described in detail below through specific embodiments.

In the description of the present invention, it should be understood that the terms "center", "longitudinal", "horizontal", "upper", "lower", "front", "rear", "left", "right", "Vertical", "horizontal", "top", "bottom", "inside", "outside" and other indications of 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 the present invention and simplified description, rather than indicating or implying that the device or element referred to must have a particular orientation, be constructed and operate in a particular orientation, and therefore should not be construed as limiting the invention. In the description of the present invention, unless otherwise specified, "plurality" means two or more.

As shown in FIG. 1 to FIG. 5, it is a preferred embodiment of a PCB board placement machine of the present invention. The placement machine is used to place a small PCB board 1 on a large PCB board 2. The placement machine includes a body. Bracket 3, first transfer mechanism 4, second transfer mechanism 5, mobile manipulator 6, visual positioning mechanism 7 and control mechanism 8; first transfer mechanism 4, second transfer mechanism 5, mobile manipulator 6, visual positioning mechanism 7 and control The mechanisms 8 are installed on the body bracket 3; the first conveying mechanism 4 is used for conveying small PCB boards 1; the second conveying mechanism 5 is used for conveying large PCB boards 2; the mobile manipulator 6 travels back and forth between the first conveying mechanism 4 and the second conveying The mechanism 5 is used to move and place the small PCB board 1 on the large PCB board 2; the visual positioning mechanism 7 is located above the first transmission mechanism 4 and the second transmission mechanism 5, and is used to locate the small PCB board 1 and the large PCB board. 2 and the position of the placement station; the control mechanism 8 is electrically connected with the first conveying mechanism 4, the second conveying mechanism 5, the mobile manipulator 6 and the visual positioning mechanism 7, respectively, to control the first conveying mechanism 4 and the second conveying mechanism. 5. Mobile manipulator 6 and visual positioning mechanism 7.

When in use, under the control of the control mechanism 8, the large PCB board 2 to be placed on the small PCB board 1 is transported by the second conveying mechanism 5, and the visual positioning mechanism 7 detects that the placement station on the large PCB board 2 does not place the small PCB board. 1. The second conveying mechanism 5 stops conveying in preparation for placing the small PCB board 1 on the large PCB board 2 . In addition, the small PCB board 1 is conveyed by the first conveying mechanism 4 , and the conveying is stopped intermittently during the conveying process, so as to cooperate with the mobile manipulator 6 to take the small PCB board 1 on the first conveying mechanism 4 . During the picking process, the visual positioning mechanism 7 can locate the position of the small PCB board 1 so that the mobile manipulator 6 can accurately pick up the small PCB board 1 . The mobile manipulator 6 moves the picked up small PCB board 1 to the top of the large PCB board 2, and places the small PCB board 1 on the large PCB board 2 according to the placement station on the large PCB board 2 positioned by the visual positioning mechanism 7. position.

The key point of the present invention is that the present invention is provided with a first conveying mechanism 4 , a second conveying mechanism 5 , a mobile manipulator 6 , a visual positioning mechanism 7 and a control mechanism 8 . While the mechanism 4 and the second conveying mechanism 5 convey the small PCB board 1 and the large PCB board 2, the visual positioning mechanism 7 provides positioning information, and the mobile manipulator 6 completes the movement and placement of the small PCB board 1 on the large PCB board 2, thereby replacing the Manual placement with tools has high placement accuracy and high efficiency.

The above-mentioned first conveying mechanism 4 includes a first conveying support 41 , a first conveying roller 42 , a first conveying pallet 43 , a first conveying belt 44 , a first driving roller 45 and a first driving motor 46 ; the first conveying support 41 and the first drive motor 46 are installed on the body frame 3; the first conveying roller 42 and the first conveying pallet 43 are both matched with the first conveying support 41; the first drive roller 45 is matched with the first drive motor 46 On the output shaft; the first conveying belt 44 is wrapped around the first conveying pallet 43 and is connected with the first conveying roller 42 and the first driving roller 45 in a driving manner. When in use, under the action of the first drive motor 46, the first conveyor belt 44 is driven by the first drive roller 45 to rotate on the first drive roller 45, the first conveying roller 42 and the first conveying pallet 43, so as to The small PCB boards 1 placed on the first conveyor belt 44 are matched and conveyed, wherein the first conveying pallet 43 provides support for the small PCB boards 1 .

The above-mentioned first conveying mechanism 4 further includes a first width adjustment assembly 47 , and the first width adjustment assembly 47 includes a first width adjustment seat 471 , a width adjustment sliding rod 472 and a linear bearing 473 ; the first conveying support 41 includes a first left support 411 and the first right bracket 412; the first width adjustment seat 471 is fixed on the body bracket 3; the width adjustment sliding rod 472 is matched with the first width adjustment seat 471; The first right bracket 412 is fixed on one end of the first width adjusting seat 471 . In use, the first left bracket 411 can be moved on the width adjustment sliding rod 472 through the linear bearing 473 to adjust the position of the first left bracket 411, thereby adjusting the distance between the first left bracket 411 and the first right bracket 412, In order to adapt to the first conveying mechanism 4, the small PCB boards 1 of different widths can be conveyed.

The above-mentioned first transmission mechanism 4 also includes a first photoelectric sensor 48 and a second photoelectric sensor 49 ; the first photoelectric sensor 48 is matched with the input end of the first transmission mechanism 4 ; the second photoelectric sensor 49 is matched in the middle of the first transmission mechanism 4 . . When in use, it can be recognized through the first photoelectric sensor 48 that the input end of the first transmission mechanism 4 has flowed into the small PCB board 1. At this time, the first transmission mechanism 4 is activated to transport the small PCB board 1 forward. When the second photoelectric sensor 49 When it is recognized that the small PCB board 1 is conveyed to the middle of the first conveying mechanism 4, the conveying is stopped so that the mobile manipulator 6 can take the small PCB board 1; when the second photoelectric sensor 49 recognizes that the small PCB board 1 is taken away by the mobile manipulator 6 , start the first conveying mechanism 4 to convey the next small PCB board 1 forward.

The above-mentioned second conveying mechanism 5 includes a second conveying bracket 50, a second conveying roller 51, a second conveying pallet 52, a second conveying belt 53, a transmission link 54, a second driving roller 55 and a second driving motor 56; The second conveying support 50 and the second driving motor 56 are both mounted on the body support 3; the second conveying roller 51 and the second conveying pallet 52 are both matched with the second conveying support 50; the transmission link 54 is rotatably matched with the second conveying support 50 Two conveying brackets 50, one end of which is drivingly connected with the second driving motor 56; the second driving roller 55 is matched with the transmission link 54; the second conveying belt 53 is wrapped around the second conveying pallet 52 and is The roller 51 and the second driving roller 55 are connected in a driving manner. When in use, under the action of the second drive motor 56, the transmission link is driven to rotate; the transmission link 54 drives the second conveyor belt 53 through the second drive roller 55 to move between the second drive roller 55, the second transmission roller 51 and the second drive roller 55. The second conveying pallet 52 rotates on the second conveying pallet 52 to cooperate with conveying the large PCB board 2 placed on the second conveying belt 53 , wherein the second conveying pallet 52 provides support for the large PCB board 2 .

The above-mentioned second transmission mechanism 5 also includes a second width adjustment assembly 57, which includes a second width adjustment seat 571, a width adjustment screw 572, a screw sleeve 573 and a third drive motor 574; the second transmission bracket 50 includes a second left bracket 501 and a second right bracket 502; the second width adjustment seat 571 is fixed on the body bracket 3; the third drive motor 574 is installed on the second width adjustment seat 571; The second width adjustment seat 571 is connected to the third drive motor 574 in transmission; the second left bracket 501 is movably fitted on the width adjustment screw 572 through the screw sleeve 573; the second right bracket 502 is fixed on the second width adjustment seat One end of the 571. When in use, the third drive motor 574 drives the drive screw to rotate, and the drive screw drives the screw sleeve 573 to move on it during the rotation process, and then moves the second left bracket 501 fitted on the screw sleeve 573 to adjust. The position of the second left bracket 501, and then the distance between the second left bracket 501 and the second right bracket 502 is adjusted so that the second conveying mechanism 5 can convey large PCB boards 2 with different widths.

The above-mentioned second transmission mechanism 5 also includes a third photoelectric sensor 58, a fourth photoelectric sensor 59 and a fifth photoelectric sensor 510; the third photoelectric sensor 58 is matched with the input end of the second transmission mechanism 5; The middle of the second transmission mechanism 5 ; the fifth photoelectric sensor 510 is matched with the output end of the second transmission mechanism 5 . When in use, it can be recognized through the third photoelectric sensor 58 that the input end of the second conveying mechanism 5 has flowed into the large PCB board 2. At this time, the second conveying mechanism 5 is activated to transport the large PCB board 2 forward. When the second is the photoelectric sensor When it is recognized that the large PCB board 2 is transported to the middle of the second conveying mechanism 5, the conveying is stopped so that the mobile manipulator 6 can place the small PCB board 1 on the large PCB board 2; after the placement is completed, the second conveying mechanism 5 continues to move forward For the large PCB board 2 , when the fifth photoelectric sensor 510 recognizes that the large PCB board 2 is conveyed out of the second conveying mechanism 5 , the second transmission mechanism is activated to convey the next large PCB board 2 forward.

The above-mentioned mobile manipulator 6 includes a first rotating machine 61, a connecting arm 62, a second rotating machine 63, an elevator 64, a third rotating machine 65, a suction cup seat 66 and a suction cup 67; the first rotating machine 61 is fixed on the body support 3; One end of the connecting arm 62 is connected to the rotating shaft of the first rotating machine 61, and the other end is connected to the rotating shaft of the second rotating machine 63; the elevator 64 is installed on one end of the second rotating machine 63; the third rotating machine 65 is installed on On the lifting shaft of the elevator 64 ; the suction cup seat 66 is fitted on the rotating shaft of the third rotating machine 65 ; the suction cup 67 is installed on the bottom of the suction cup seat 66 . When in use, the first rotating machine 61 drives the connecting cross-arm 62 to rotate through the rotating shaft, and the second rotating machine 63 rotates on the connecting cross-arm 62 through the rotating shaft, so that the elevator 64 can be horizontally connected to the first conveying mechanism 4 and the connecting cross-arm 62. Move between the second conveying mechanisms 5; the elevator 64 lowers or lifts the suction cup seat 66 through the lifting shaft to cooperate with the suction cup 67 to suck and move the small PCB board 1; the third rotating machine 65 drives the suction cup seat 66 to rotate through the rotating shaft to adjust the small The angle of the PCB board 1 ensures the precise placement of the small PCB board 1 .

The suction cup seat 66 includes a fixed seat body 661, a movable link 662, a mounting plate 663 and a pressure sensor 664; the fixed seat body 661 is fitted on the third rotating machine 65; one end of the movable link 662 is movably fitted on the fixed seat body 661 , the other end is connected to the mounting plate 663 ; the suction cup 67 is mounted on the bottom of the mounting plate 663 ; When placing the small PCB board 1 on the large PCB board 2, with the lifter 64 lowering the suction cup seat 66, the small PCB board 1 first abuts on the large PCB board 2, and then pushes the mounting board 663 in the opposite direction through the suction cup 67, so that The mounting plate 663 moves along the movable link 662 toward the fixed base 661, and the mounting plate 663 also presses against the pressure sensor 664. The control mechanism 8 determines that the small PCB board 1 has been pressed, It is placed on the large PCB board 2, and the lifter 64 is controlled to move the suction cup seat 66 upward to prevent the lifter 64 from lowering the suction cup seat 66 excessively, which may cause the placement of the small PCB board 1 to be substandard or even damaged.

The above-mentioned suction cup seat 66 further includes a laser sensor 665 . The laser sensor 665 is installed on the fixed seat body 661 and is provided with four laser light sources disposed toward the second conveying mechanism 5 . After placing the small PCB board 1 on the large PCB board 2, the laser sensor 665 detects the height distance between the four laser light sources and the four corners of the small PCB board 1 through the four laser light sources, so as to judge the small PCB board 1 Whether the flatness after placement is within the standard value range, if it is within the standard value range, the placed large PCB board 2 will be transported to the next process through the second conveying mechanism 5 .

The above-mentioned visual positioning mechanism 7 includes a first camera 70 and a second camera 71; When in use, the small PCB board 1 on the first conveying mechanism 4 can be positioned by the first camera 70 so as to be accurately picked up by the mobile manipulator 6; 2 and the placement station on it are positioned so that the mobile manipulator 6 can accurately move and place the small PCB board 1 on the placement station of the large PCB board 2 .

The above-mentioned visual positioning mechanism 7 also includes a first light source 72, a second light source 73 and an enclosure plate 74; the first light source 72 is matched with the first camera 70 to capture and fill light for the first camera 70; the second light source 73 is matched with the first camera 70. On the second camera 71 , the second camera 71 captures and fills light; the enclosing plate 74 is installed on the body bracket 3 and encloses to form a moving and placing space 75 . In this way, the image capturing by the first camera 70 and the second camera 71 has an independent supplementary light source, which is not affected by external light, so that the image capturing by the first camera 70 and the second camera 71 is more stable and accurate.

The above-mentioned visual positioning mechanism 7 also includes a third camera 76, a third light source 77, a fourth camera 78 and a fourth light source 79; The fourth camera 78 and the fourth light source 79 are both installed on the suction cup seat 66 and take images and fill in the light toward the second conveying mechanism 5 . When in use, when the mobile manipulator 6 moves the small PCB board 1 through the third camera 76, the third camera 76 positions the small PCB board 1 to coordinate with the mobile manipulator 6 to adjust the angle of the small PCB board 1 and determine the installation of the small PCB board 1. When the small PCB board 1 is placed on the large PCB board 2, the fourth camera 78 locates the placement station on the large PCB board 2 to determine the position and angle of the placement station to cooperate with the mobile manipulator 6. Place the small PCB board 1 on the placement station; the positioning of the small PCB board 1 and the placement station by the third camera 76 and the fourth camera 78 improves the placement accuracy of the small PCB board 1 .

The foregoing descriptions of specific exemplary embodiments of the present invention have been presented for purposes of illustration and illustration, these descriptions are not intended to limit the invention to the precise forms disclosed, and obviously many changes and modifications are possible in light of the above teachings . The exemplary embodiments were chosen and described for the purpose of explaining certain principles of the invention and its practical applications, to thereby enable one of ordinary skill in the art to make and utilize the various exemplary embodiments and various aspects of the invention. Various choices and changes, any appropriate changes or modifications made by those of ordinary skill in the art should be regarded as not departing from the scope of the patent of the present invention.

Claims (10)

1. a PCB board placement machine, it is characterized in that: described placement machine is used for placing a small PCB board on the top of a large PCB board, and described placement machine comprises body support, the first transmission mechanism, the second transmission mechanism, A mobile manipulator, a visual positioning mechanism and a control mechanism; the first transmission mechanism, the second transmission mechanism, the mobile manipulator, the visual positioning mechanism and the control mechanism are all installed on the body bracket; the first transmission mechanism is used for conveying small PCB boards The second conveying mechanism is used to transport the large PCB board; the moving manipulator travels back and forth between the first conveying mechanism and the second conveying mechanism for moving and placing the small PCB board on the large PCB board; the visual positioning mechanism It is located above the first conveying mechanism and the second conveying mechanism, and is used to locate the small PCB board, the large PCB board and the position of the placement station; the control mechanism is respectively connected with the first conveying mechanism, the second conveying mechanism, the mobile manipulator and the vision The positioning mechanism is electrically connected to control the first transmission mechanism, the second transmission mechanism, the moving manipulator and the visual positioning mechanism. 2. The PCB board placement machine according to claim 1, wherein the first conveying mechanism comprises a first conveying bracket, a first conveying roller, a first conveying pallet, a first conveying belt, a first conveying A driving roller and a first driving motor; the first conveying support and the first driving motor are both installed on the body support; the first conveying roller and the first conveying pallet are matched on the first conveying support; The first driving roller is matched with the output shaft of the first driving motor; the first conveying belt is wrapped around the first conveying support plate and is drivingly connected with the first conveying roller and the first driving roller; The second conveying mechanism includes a second conveying support, a second conveying roller, a second conveying pallet, a second conveying belt, a transmission link, a second driving roller and a second driving motor; the second conveying support and The second driving motors are installed on the body frame; the second conveying roller and the second conveying pallet are matched with the second conveying frame; The second driving motor is in driving connection; the second driving roller is matched with the transmission link; the second conveying belt is wrapped around the second conveying pallet and is in driving connection with the second conveying roller and the second driving roller . 3 . The PCB board placement machine according to claim 2 , wherein the first conveying mechanism further comprises a first width adjustment component, and the first width adjustment component includes a first width adjustment seat, a width adjustment a sliding rod and a linear bearing; the first transmission support includes a first left support and a first right support; the first width adjustment seat is fixed on the body support; the width adjustment sliding rod is matched with the first width adjustment seat ; the first left bracket is movably fitted on the width adjustment sliding rod through a linear bearing; the first right bracket is fixed at one end of the first width adjustment seat; The second transmission mechanism further includes a second width adjustment assembly, the second width adjustment assembly includes a second width adjustment seat, a width adjustment screw, a screw sleeve and a third drive motor; the second transmission bracket includes a first Two left brackets and a second right bracket; the second width adjustment seat is fixed on the body bracket; the third drive motor is installed on the second width adjustment seat; the width adjustment screw is rotatably matched with the second width adjustment seat The second left bracket is movably fitted on the width adjusting screw rod through the screw sleeve; the second right bracket is fixed on one end of the second width adjusting seat. 4 . The PCB board placement machine according to claim 2 , wherein: the first conveying mechanism further comprises a first photoelectric sensor and a second photoelectric sensor; the first photoelectric sensor is matched with the first conveying mechanism. 5 . the input end; the second photoelectric sensor is matched in the middle of the first conveying mechanism; The second transmission mechanism further includes a third photoelectric sensor, a fourth photoelectric sensor and a fifth photoelectric sensor; the third photoelectric sensor is matched with the input end of the second transmission mechanism; the fourth photoelectric sensor is matched with the second transmission mechanism The middle part of the mechanism; the fifth photoelectric sensor is matched with the output end of the second transmission mechanism. 5. A PCB board placement machine according to claim 1, wherein the mobile manipulator comprises a first rotating machine, a connecting cross arm, a second rotating machine, an elevator, a third rotating machine, a suction cup seat and a suction cup ; the first rotating machine is fixed on the body bracket; one end of the connecting arm is connected to the rotating shaft of the first rotating machine, and the other end is connected to the rotating shaft of the second rotating machine; the elevator is installed with a second One end of the rotating machine; the third rotating machine is installed on the lifting shaft of the elevator; the suction cup seat is matched with the rotating shaft of the third rotating machine; the suction cup is installed on the bottom of the suction cup seat. 6 . The PCB board placement machine according to claim 5 , wherein the suction cup base comprises a fixed base, a movable link, a mounting plate and a pressure sensor; the fixed base is fitted on the third rotating machine. 7 . ; One end of the movable link is movably fitted on the fixed seat, and the other end is connected to the mounting plate; the suction cup is mounted on the bottom of the mounting plate; the pressure sensor is mounted on the bottom of the fixed seat, and is connected with the mounting plate activity contacts. 7 . The PCB board placement machine according to claim 6 , wherein the suction cup seat further comprises a laser sensor, the laser sensor is mounted on the fixed seat body, and is provided with four conveying mechanisms toward the second. 8 . Set the laser light source. 8 . The PCB board placement machine according to claim 1 , wherein the visual positioning mechanism comprises a first camera and a second camera; the first camera and the second camera are both mounted on the body support, 9 . and are respectively located above the first conveying mechanism and the second conveying mechanism. 9 . The PCB board placement machine according to claim 8 , wherein the visual positioning mechanism further comprises a first light source, a second light source and a surrounding plate; the first light source is matched with the first camera. 10 . The second light source is matched with the second camera to capture and fill light for the second camera. The enclosure plate is mounted on the body support and encloses to form a moving space. 10. The PCB board placement machine according to claim 8, wherein the visual positioning mechanism further comprises a third camera, a third light source, a fourth camera and a fourth light source; the third camera and the The three light sources are all mounted on the body bracket, and face the mobile manipulator to take images and fill light; the fourth camera and the fourth light source are all mounted on the suction cup seat, and face the second conveying mechanism to take images and fill light.

Images