TWI748903B - Circuit board automatic conveyor - Google Patents

Abstract

An automatic circuit board conveyor includes a feeding device, a first temporary storage device, a transfer device, a second temporary storage device, a tray storage rack and a picking device. The feeding device is suitable for conveying multiple circuit boards in a forward and backward direction. The first temporary storage device is suitable for receiving the circuit boards from the feeding device. The transfer device is suitable for accommodating and conveying a tray for accommodating the circuit boards. The second temporary storage device is adapted to place the tray from the transfer device and transport the tray in a direction away from the transfer device. The pallet storage rack is suitable for placing multiple empty pallets and multiple pallets full of the circuit boards. The picking device can pick up the empty pallet on the pallet storage rack and transport the pallet to one of the second temporary storage conveyor belts of the second temporary storage device, and can receive from the other one of the second temporary storage conveyor belts The pallet containing the circuit boards is placed on the pallet and the pallet is transported to the pallet storage rack.

Description

Circuit board automatic conveyor

The invention relates to an automatic conveyor, in particular to an automatic conveyor for circuit boards.

The existing circuit board conveyor adopts a four- or six-axis robotic arm or a spider-shaped robotic arm to match a grasping mechanism (such as a suction cup or a clamp) to assist the vision system in grasping and placing the circuit board before conveying. However, the use of robotic arms to match the vision system is costly and has limitations. Some assembled circuit boards have high integration of electronic components and cannot be sucked by suction cups or clamped. In addition, the existing method may cause damage to the circuit board due to abnormality of the vision system or mechanism, which will reduce the yield, so there is still room for improvement.

Therefore, one of the objectives of the present invention is to provide an automatic circuit board conveyor which improves the conveying efficiency and prevents the circuit board from being damaged.

Therefore, the automatic circuit board conveyor of the present invention includes a feeding device suitable for conveying a plurality of circuit boards in a forward and backward direction; a first temporary storage device suitable for receiving the circuit boards from the feeding device, the The first temporary storage device includes a plurality of first temporary storage rail members that can move in a left-right direction perpendicular to the front-rear direction, and each first temporary storage rail member can be aligned with the feeding device to receive and follow the front-rear direction The circuit boards from the feeding device are transported in the direction; a transfer device can be movably arranged at one end of the first temporary storage device along the front-rear direction and the left-right direction, and the transfer device is suitable for accommodating and Conveying a tray for accommodating the circuit boards conveyed by the first temporary storage device; a second temporary storage device that can be along the left and right direction and a vertical direction perpendicular to the front and back direction and the left and right direction The direction is movably arranged at one end of the transfer device opposite to the one end of the temporary storage device, the second temporary storage device includes a plurality of pairs of second temporary storage conveyor belts arranged along the up-down direction, and the second temporary storage conveyors The belt is suitable for placing the pallet from the transfer device and conveying the pallet in a direction away from the transfer device; a pallet storage rack, which is spaced apart from the second temporary storage device, is suitable for supplying a plurality of empty pallets And a plurality of trays filled with the circuit boards; and at least one picking device can be movably arranged between the second temporary storage device and the tray storage rack along the up and down direction, and the picking device can pick up Take the empty pallet on the pallet storage rack and transport the pallet to one of the second temporary storage conveyor belts of the second temporary storage device, and can receive from the other second temporary storage conveyor belt containing the Wait for the pallet of the circuit board and transport the pallet to the pallet storage rack.

In some embodiments, the first temporary storage device further includes a base frame, a first traverse drive unit disposed on the base frame and connected to the first temporary storage rails, and the first traverse drive unit For driving the first temporary storage rails to move in the left and right directions, each first temporary storage rail has a pair of first temporary storage conveyor belts suitable for conveying the circuit boards.

In some embodiments, the first traverse drive unit has a first motor provided on the first base frame, a first screw connected to the first motor, and a first set of first screw provided on the first screw. Slider and a first connecting plate fixedly connected to the first slider and the first temporary storage rails, the first motor can drive the first screw to rotate to drive the first slider and the first connecting plate And the first temporary storage tracks move in the left and right directions.

In some embodiments, the transfer device includes a substrate, a moving plate movably arranged on the substrate along the left and right direction, and a pallet conveying member movably arranged on the moving plate along the front-rear direction The pallet conveying member can accommodate the pallet and includes a pair of side plates spaced apart from each other and a pair of transfer conveyor belts respectively arranged on the side plates.

In some embodiments, the second temporary storage device further includes a base, a tray temporary storage rack movably disposed on the base along the left and right directions, and a pair of temporary storage racks respectively disposed on the left and right sides of the base The temporary storage lifting mechanism of the pallet temporary storage rack has a pair of side vertical plates and the pairs of second temporary storage conveyor belts respectively arranged on the pair of side vertical plates.

In some embodiments, each temporary storage lifting mechanism has a pair of vertical rails extending along the vertical direction and a lifting push block movably arranged on the pair of vertical rails. When the temporary storage rack of pallets moves adjacent When the lifting mechanism is in place, the lifting push block can drive the tray temporary storage rack to move in the up and down direction.

In some embodiments, the capturing device includes a capturing lifting mechanism, a lifting base connected to the capturing lifting mechanism, and a capturing mechanism movably disposed on the lifting base along the front-rear direction. The capturing The lifting mechanism has at least one lifting rail extending along the vertical direction and a sliding block movably arranged on the lifting rail. The capturing mechanism has a pair of capturing members movable in the vertical direction. The end of the picking part has a hook extending downwards, the pair of picking parts can extend into one of the empty trays of the tray storage rack, and then move downwards so that the hooks are engaged with the tray to pick up the tray and leave The tray storage rack.

In some embodiments, the capturing mechanism further has a movable plate movably arranged on the lifting seat along the front and rear direction, a pair of upper and lower cylinders respectively arranged on the left and right ends of the movable plate, and a pair of cylinders respectively connected to the The connecting plates of the upper and lower cylinders, a pair of capturing cylinders respectively connected to the connecting plates, the pair of upper and lower cylinders can drive the pair of connecting plates to move in the vertical direction, the pair of capturing cylinders are respectively connected to the pair of capturing parts and The pair of capturing parts can be driven to move in the up and down direction.

In some embodiments, the capturing device further includes a pair of capturing side plates that are spaced apart from each other on the lifting seat, and a pair of capturing conveyor belts respectively disposed on the side plates for placing the tray.

The present invention has at least the following effects: receiving the circuit boards from the feeding device by the first temporary storage device, and sequentially conveying the circuit boards toward the tray located in the transfer device, and then by the The transfer device transports the tray filled with the circuit boards to the second temporary storage device, and the second temporary storage device transports the tray to the picking device and then the picking device to the tray for storage In this way, a batch of circuit board conveying process can be completed, the conveying efficiency of the circuit board is improved, and the damage of the circuit board during the conveying process can be avoided.

Referring to FIGS. 1, 2 and 5, an embodiment of the automatic circuit board conveyor of the present invention is suitable for conveying a plurality of circuit boards 1 to a pallet 2 and the purpose of conveying the circuit boards 1 is achieved by conveying the pallet 2. The circuit board 1 automatic placement machine includes a frame 3, a feeding device 4, a first temporary storage device 5, a transfer device 6, a second temporary storage device 7, a tray 2 storage rack and two pick-ups.取装置9。 Take device 9.

The frame 3 is the main support of the shell of the automatic circuit board conveyor of the present invention. In the figure, the door panels or outer walls arranged on the frame 3 have been omitted. The frame 3 has a first end 31 and an opposite end. The first end 31 is the second end 32. The feeding device 4 is suitable for conveying a plurality of circuit boards 1 along a front-to-rear direction D1, and includes a base 41 disposed adjacent to the first end 31 of the frame 3, and a pair of side baffles disposed on the base 41 42 and a pair of feeding conveyor belts 43 respectively arranged on the pair of side baffles 42. The pair of feeding conveyor belts 43 is suitable for conveying the circuit boards 1.

1 and 3, the first temporary storage device 5 is suitable for receiving the circuit boards 1 from the feeding device 4, and includes a base frame 51 arranged on the frame 3, and two can be one perpendicular to the The first temporary storage rail member 53 moving in the left-right direction D2 of the front-rear direction D1 and a first traverse driving unit 52 which is disposed on the base frame 51 and connected to the first temporary storage rail member 53. The first traverse drive unit 52 is used to drive the first temporary storage rails 53 to move in the left-right direction D2, and has a first motor 521 arranged on the first base frame 51, and a first motor 521 connected to the first base frame 51. A first screw 522 extending along the left-right direction D2 of the motor 521, a first sliding block 523 set on the first screw 522, and a fixed connection to the first sliding block 523 and the first temporary track members 53的第一连接板524。 The first connection plate 524. The first motor 521 can drive the first screw 522 to rotate to drive the first sliding block 523, the first connecting plate 524, and the first temporary storage rails 53 to move in the left-right direction D2. Each first temporary storage rail member 53 can be aligned with the feeding device 4 to receive and transport the circuit boards 1 from the feeding device 4 along the front-rear direction D1, which includes two temporary storage side plates 531 and two The first temporary storage conveyor belts 532 respectively arranged on the temporary storage side plates 531. The first temporary storage conveyor belts 532 are used to support and transport the circuit boards 1. When one of the first temporary storage track members 53 has been filled with the circuit boards 1, the first traverse drive unit 52 drives the first temporary storage track members 53 to move in the left-right direction D2, so that the other The first temporary storage conveyor belts 532 of a temporary storage rail 53 are aligned with the pair of feeding conveyor belts 43 of the feeding device 4 to continue to receive the circuit boards 1 from the feeding device 4. It should be noted that in this embodiment, two first temporary storage rail members 53 share a temporary storage side plate 531, so that the two first temporary storage rail members 53 have a total of three temporary storage side plates 531, but not With this as a limitation, in other embodiments, two temporary storage side plates 531 may each be provided without sharing.

1, 4 and 5, the transfer device 6 can be movably arranged at one end of the first temporary storage device 5 along the front-rear direction D1 and the left-right direction D2, and is suitable for accommodating and conveying a tray 2. The tray 2 is used for accommodating the circuit boards 1 conveyed by the first temporary storage device 5. The transfer device 6 includes a base plate 61 provided on the frame 3, a moving plate 62 movably provided on the base plate 61 along the left-right direction D2, and a moving plate movably provided on the base plate 61 along the front-rear direction D1 62 of the pallet conveyor 63. The tray conveying member 63 can accommodate the tray 2 and includes a pair of side plates 631 spaced apart from each other and a pair of transfer conveyor belts 632 respectively disposed on the side plates 631. The moving plate 62 of the transfer device 6 will move in the left-right direction D2 as the first temporary storage rails 53 transport the circuit boards 1, which means that when the first temporary storage rails 53 are After the circuit boards 1 are transported to the pallet 2 in a row arrangement, the moving plate 62 moves to make the pallet 2 not place the circuit boards 1 and align the first temporary storage rails 53 until The tray 2 is filled with the circuit boards 1.

1, 6 and 7, the second temporary storage device 7 can be movably disposed on the transfer device 6 along the left-right direction D2 and a vertical direction D3 perpendicular to the front-rear direction D1 and the left-right direction D2 Contrary to one end of the first temporary storage device 5. The second temporary storage device 7 includes a base 71 disposed on the frame 3, a temporary tray 72 movably disposed on the base 71 along the left-right direction D2, and a pair of temporary storage racks 72 respectively disposed on the base 71 Temporary storage lifting mechanism 73 on the left and right sides. The pallet temporary storage rack 72 has a pair of side vertical plates 721 and three pairs of second temporary storage conveyor belts 722 respectively arranged on the pair of side vertical plates 721 and arranged along the vertical direction D3. The pairs of second temporary storage conveyor belts 722 are suitable for placing the tray 2 from the transfer device 6 and convey the tray 2 in a direction away from the transfer device 6. Each temporary storage lifting mechanism 73 has a pair of vertical rails 731 extending along the vertical direction D3 and a lifting push block 732 movably arranged on the pair of vertical rails 731. When the temporary storage rack 72 moves adjacent to the When the temporary storage lifting mechanism 73 is located, the lifting push block 732 can drive the temporary storage tray 72 to move in the vertical direction D3.

The tray storage rack 8 is spaced apart from the second temporary storage device 7 and is suitable for placing a plurality of empty trays 2 and a plurality of trays 2 filled with the circuit boards 1. The tray storage rack 8 can move relative to the frame 3. When the trays 2 on the tray storage rack 8 are filled with the circuit boards 1, the tray storage rack 8 can be removed from the frame 3, and Another tray storage rack 8 containing a plurality of empty trays 2 is exchanged.

1 and 8, the capturing devices 9 can be movably arranged between the second temporary storage device 7 and the tray 2 storage rack along the up-down direction D3. Each picking device 9 can pick up the empty tray 2 on the storage rack of the tray 2 and transport the tray 2 to one of the second temporary storage conveyor belts 722 of the second temporary storage device 7, and can receive the tray 2 from one of the second temporary storage conveyor belts 722. A second temporary storage conveyor belt 722 houses the trays 2 of the circuit boards 1 and transports the trays 2 to the tray 2 storage rack. Each capturing device 9 includes a capturing lifting mechanism 91, a lifting base 92 connected to the capturing lifting mechanism 91, a capturing mechanism 93 movably arranged on the lifting base 92 along the front-rear direction D1, a A pair of capturing side plates 94 spaced apart from each other on the lifting base 92 and a pair of capturing conveyor belts 95 respectively disposed on the side plates 631 for the tray 2 to be placed on. The capturing and lifting mechanism 91 has at least one lifting rail 911 extending along the vertical direction D3 and a sliding block 912 movably disposed on the lifting rail 911. The lifting base 92 is fixed to the sliding block 912 so that the capturing mechanism 93 can be driven by the capturing lifting mechanism 91 to move in the vertical direction D3. The capturing mechanism 93 has a movable plate 931 movably arranged on the lifting seat 92 along the front and rear direction D1, a pair of upper and lower cylinders 932 respectively arranged at the left and right ends of the movable plate 931, and a pair of upper and lower cylinders respectively connected to the upper and lower cylinders. The connecting plate 933 of the air cylinder 932, a pair of capturing cylinders 934 respectively connected to the connecting plates 933, and a pair of capturing members 935 movable along the vertical direction D3. The pair of upper and lower air cylinders 932 can drive the pair of connecting plates 933 to move in the vertical direction D3, and the pair of capturing air cylinders 934 are respectively connected to the pair of capturing elements 935 and can drive the pair of capturing elements 935 to move in the vertical direction D3. The end of each capturing member 935 has a downwardly extending hook 935a, and the pair of capturing members 935 can extend into one of the empty trays 2 of the tray 2 and then move downward to engage the hooks 935a. Pick up the tray 2 from the tray 2 and leave the tray 2 storage rack. The pair of picking conveyor belts 95 and the pair of picking side plates 631 cooperate to transport the tray 2 filled with the circuit board 1 to the tray storage rack 8.

1 to 8, the following describes the operation process of the circuit board automatic conveyor of the present invention: the circuit boards 1 are first conveyed to one of the first temporary storage rails of the first temporary storage device 5 through the feeding device 4 53. After the first temporary storage rail member 53 is filled with the circuit boards 1, the first traverse drive unit 52 drives the first temporary storage rail member 53 to move in the left-right direction D2 to make another The first temporary storage conveyor belts 532 of a temporary storage rail 53 are aligned with the pair of feeding conveyor belts 43 of the feeding device 4 to continue to receive the circuit boards 1 from the feeding device 4. At this time, the first temporary storage rail 53 filled with the circuit boards 1 transports the circuit boards 1 toward the tray 2 on the transfer device 6. Then repeat the above steps until the tray 2 is filled with the circuit boards 1, and while the above steps are performed, the picking pieces 935 of one of the picking devices 9 pick up an empty tray 2 to the tray 2 storage rack. At the pair of picking conveyor belts 95 and the pair of picking side plates 94, then the picking device 9 moves in the vertical direction D3 to the pallet storage rack 72 of the second storage device 7 and interacts with one of the pair of first storage racks. The two temporary storage conveyor belts 722 are aligned in the vertical direction D3, and the tray temporary storage rack 72 is also moved to a position aligned with the picking device 9 in the left and right direction D2, and the pair of picking conveyor belts 95 can be empty The pallets 2 of are transported to the one pair of second temporary storage conveyor belts 722 of the pallet temporary storage rack 72. After the tray 2 in the transfer device 6 is filled with the circuit boards 1, the transfer device 6 moves away from the first temporary storage device 5 to be aligned with the temporary storage rack of the tray 2 in the left-right direction D2 , And the pallet temporary storage rack 72 is also moved to a position aligned with the tray 2 conveying member of the transfer device 6 in the vertical direction D3, so that the other second temporary storage conveyor belt 722 that does not contain the pallet 2 Align the pallet conveying member 63, the pallet 2 conveying member can convey the pallets 2 full of the circuit boards 1 to the second temporary storage conveyor belt 722 that does not contain the pallets 2, and then the pallet temporary storage rack 72 is then Move to make the second temporary storage conveyor belt 722 containing the empty tray 2 align with the pallet conveying member 63 to convey the empty pallet 2 to the pallet conveying member 63 to complete the tray 2 exchange operation. Next, the tray 2 filled with the circuit boards 1 is transported to the tray 2 storage rack through the other picking device 9, and the empty tray 2 is returned by the tray transporting member 63 of the transfer device 6 The first temporary storage device 5 continues to receive the circuit boards 1 input via the feeding device 4. Repeat the above process until the trays 2 of the tray storage rack 8 are filled with the circuit boards 1, and then the tray 2 storage rack can be removed from the frame 3, and another tray with a plurality of empty trays 2 The storage rack 8 is exchanged, and the above is the operation flow of the automatic conveyor for the circuit board 1 of the present invention.

It should be noted that the number of the capturing devices 9 is not limited to two, and it may be one in other embodiments, as long as there is at least one. In this embodiment, two are preferred implementations, which can make the conveying efficiency of the trays 2 higher. Because when one of the picking devices 9 moves to the second temporary storage device 7 to receive the tray 2 filled with the circuit board 1 and transport it to the tray 2 storage rack, the other picking device 9 can first The tray storage rack 8 picks up the empty tray 2, and after the second temporary storage device 7 receives the tray 2 full of circuit boards 1 and leaves the tray temporary storage rack 72, the tray temporary storage rack 72 can be moved into it immediately Another picking device 9 is used to receive the empty tray 2.

In summary, the automatic circuit board conveyor of the present invention receives the circuit boards 1 from the feeding device 4 through the first temporary storage device 5, and then moves the circuit boards 1 toward the transfer device in sequence. 6 is transported in the tray 2, and then the tray 2 filled with the circuit boards 1 is transported to the second temporary storage device 7 by the transfer device 6, and the second temporary storage device 7 transports the tray 2 To the picking device 9 and transport to the tray 2 storage rack by the picking device 9, in this way, the batch circuit board 1 transportation process can be completed, the transportation efficiency of the circuit board 1 is improved and the circuit board 1 is prevented from being transported. The damage, so it can indeed achieve the purpose of the invention.

However, the above are only examples of the present invention, and should not be used to limit the scope of implementation of the present invention, all simple equivalent changes and modifications made in accordance with the scope of the patent application of the present invention and the content of the patent specification still belong to This invention patent covers the scope.

1: circuit board 2: tray 3: frame 31: first end 32: second end 4: Feeding device 41: Base 42: side baffle 43: Feeding conveyor belt 5: The first temporary storage device 51: base frame 52: The first traverse drive unit 521: First Motor 522: first screw 523: The first slider 524: first connection board 53: The first temporary track piece 531: Temporary Storage Side Board 532: The first temporary storage conveyor belt 6: Transfer device 61: substrate 62: mobile board 63: Pallet conveyor 631: side panel 632: Transfer conveyor belt 7: The second temporary storage device 71: Pedestal 72: Pallet storage rack 721: Side Vertical Board 722: Second Temporary Storage Conveyor Belt 73: Temporary storage lifting mechanism 731: Upright Track 732: Lift Push Block 8: Pallet storage rack 9: Capture device 91: Capture lifting mechanism 911: Lifting track 912: Slider 92: Lifting seat 93: Extraction mechanism 931: Activity board 932: Upper and lower cylinders 933: connection board 934: capture cylinder 935: Capture 935a: hook 94: Capture side panel 95: Capture conveyor belt D1: front and rear direction D2: Left and right direction D3: Up and down direction

Other features and effects of the present invention will be clearly presented in the embodiments with reference to the drawings, in which: 1 is a perspective view of an embodiment of the automatic circuit board conveyor of the present invention; Figure 2 is a perspective view of a feeding device of the embodiment; Figure 3 is a perspective view of a first temporary storage device of the embodiment; Figure 4 is a perspective view of a transfer device of the embodiment; Figure 5 is a perspective view of the transfer device and a tray of the embodiment; Figure 6 is a perspective view of a second temporary storage device and the tray of the embodiment; Figure 7 is a front view of the second temporary storage device and the tray of the embodiment; and Fig. 8 is a perspective view of a capturing device of the embodiment.

3: frame

31: first end

32: second end

4: Feeding device

5: The first temporary storage device

6: Transfer device

7: The second temporary storage device

8: Pallet storage rack

9: Capture device

D1: front and rear direction

D2: Left and right direction

D3: Up and down direction

Claims (9)

An automatic conveyor for circuit boards, including: A feeding device, suitable for conveying multiple circuit boards in a forward and backward direction; A first temporary storage device suitable for receiving the circuit boards from the feeding device, the first temporary storage device includes a plurality of first temporary storage rails that can move in a left-right direction perpendicular to the front-to-rear direction , Each first temporary storage rail member can be aligned with the feeding device to receive and transport the circuit boards from the feeding device along the front-to-rear direction; A transfer device can be movably arranged at one end of the first temporary storage device along the front-rear direction and the left-right direction. The circuit boards delivered by the temporary storage device; A second temporary storage device can be movably arranged at an end of the transfer device opposite to the local temporary storage device along the left-right direction and a vertical direction perpendicular to the front-rear direction and the left-right direction, the second temporary storage device The storage device includes a plurality of pairs of second temporary storage conveyor belts arranged along the vertical direction, and the second temporary storage conveyor belts are suitable for placing the tray from the transfer device and move the tray away from the transfer device delivery; A pallet storage rack, which is arranged spaced apart from the second temporary storage device, and is suitable for placing a plurality of empty pallets and a plurality of pallets full of the circuit boards; and At least one picking device can be movably arranged between the second temporary storage device and the tray storage rack along the up and down direction, and the picking device can pick up the empty tray on the tray storage rack and transport the tray To one of the second temporary storage conveyor belts of the second temporary storage device, and can receive the pallet containing the circuit boards from the other second temporary storage conveyor belt and transport the pallet to the pallet storage shelf. The automatic circuit board conveyor according to claim 1, wherein the first temporary storage device further includes a base frame and a first traverse drive unit arranged on the base frame and connected to the first temporary storage rails , The first traversing drive unit is used to drive the first temporary storage rails to move in the left-right direction, and each first temporary storage rail has a pair of first temporary storage conveyor belts suitable for conveying the circuit boards . The automatic circuit board conveyor according to claim 2, wherein the first traverse drive unit has a first motor arranged on the first base frame, a first screw connected to the first motor, and a set of equipment On the first sliding block of the first screw and a first connecting plate fixedly connected to the first sliding block and the first temporary storage rails, the first motor can drive the first screw to rotate to drive the first The sliding block, the first connecting plate and the first temporary storage rails move in the left-right direction. The automatic circuit board conveyor according to claim 1, wherein the transfer device includes a substrate, a moving plate movably arranged on the substrate along the left and right direction, and a moving plate movably arranged along the front and rear direction The pallet conveyor on the moving plate can accommodate the pallet and includes a pair of side plates spaced apart from each other and a pair of transfer conveyor belts respectively arranged on the side plates. The automatic circuit board conveyor according to claim 1, wherein the second temporary storage device further includes a base, a temporary storage rack for pallets movably arranged on the base along the left and right directions, and a pair of respective The temporary storage lifting mechanism is arranged on the left and right sides of the base. The temporary storage rack for pallets has a pair of side vertical plates and the pairs of second temporary storage conveyor belts respectively arranged on the pair of side vertical plates. The automatic circuit board conveyor according to claim 5, wherein each temporary storage lifting mechanism has a pair of vertical rails extending along the vertical direction and a lifting push block movably arranged on the pair of vertical rails, when When the pallet temporary storage rack is moved to be adjacent to the temporary storage lifting mechanism, the lifting push block can drive the pallet temporary storage rack to move in the up-and-down direction. The circuit board automatic conveyor according to claim 1, wherein the picking device includes a picking lifting mechanism, a lifting seat connected to the picking lifting mechanism, and a lifting base movably arranged in the lifting along the front and back direction The picking mechanism of the seat, the picking lifting mechanism has at least one lifting rail extending along the up and down direction and a sliding block movably arranged on the lifting rail, the picking mechanism has a pair of movable along the up and down direction The picking pieces, the end of each picking piece has a downwardly extending hook, the pair of picking pieces can extend into one of the empty trays of the tray storage rack, and then move downwards so that the hooks are engaged with The tray picks up the tray and leaves the tray storage rack. The automatic circuit board conveyor according to claim 7, wherein the capturing mechanism further has a movable plate movably arranged on the lifting seat along the front-rear direction, and a pair of movable plates respectively arranged on the left and right ends of the movable plate The upper and lower cylinders, a pair of connecting plates respectively connected to the upper and lower cylinders, a pair of capturing cylinders respectively connected to the connecting plates, the pair of upper and lower cylinders can drive the pair of connecting plates to move in the vertical direction, the pair of capturing cylinders The pair of capturing pieces are respectively connected and can drive the pair of capturing pieces to move in the up-and-down direction. The circuit board automatic conveyor according to claim 7, wherein the picking device further includes a pair of picking side plates arranged at intervals on the lifting seat and a pair of picking side plates respectively arranged on the side plates for placing the pallet conveyor.

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