TWM552914U - Robot system intelligently printing circuit board upwards and downwards - Google Patents

Description

Robot intelligent upper and lower printed circuit board system

The novel creation is related to the technical field of printed circuit board detection auxiliary equipment, and in particular to a robot intelligent upper and lower printed circuit board system.

At present, in the process of processing printed circuit boards, the fully automatic inspection system for printed circuit boards requires double-sided inspection and coding processing for each printed circuit board. The printed circuit board automatic detection system is mostly composed of two automatic optical inspection machines (AOI), two inkjet printers, and upper and lower plate systems. The upper and lower plate systems send the circuit boards to the first fully automatic optical inspection machine. After the solder surface of the circuit board is tested, the first printer performs the code processing on the solder surface of the circuit board, and after the solder surface of the circuit board is subjected to the code processing, the upper and lower board systems move the circuit board to the second full The automatic optical inspection machine detects the part surface of the circuit board by a second automatic optical inspection machine, and then the second printer is used to perform the coding processing on the part surface of the circuit board, and then the upper and lower board systems re-route the line. The plate is moved to the discharge area. The existing upper and lower plate system will install the auxiliary fixture on the top of the second fully automatic optical inspection machine, which is convenient for the docking between the two circuit boards with the robot fixture. Although the upper and lower plate system can realize the detection of the circuit board, Coding, but because the auxiliary fixture is installed above the second fully automatic optical inspection machine (ie, the right side of the robot arm), it realizes double-sided detection of the circuit board and double-sided coding to flip the mechanical rear fixture multiple times, increasing The execution time of the robot arm and the complexity of the rotation extend the time of the upper and lower plates of each circuit board and affect the detection efficiency.

The novel creation provides a robot intelligent upper and lower printed circuit board system, which can effectively improve the detection efficiency.

The robot intelligent upper and lower printed circuit board system created by the novel comprises a feeding device, a discharging device, a dust collecting machine, a double transfer device, a robot, a robot hand fixture, a first auxiliary fixture, a first vertical moving mechanism, and a take-up board. The device and the first longitudinal movement mechanism. The discharge device, the feeding device and the dust collector are arranged side by side from right to left. The double transfer device is disposed above the discharge device, the feeding device, and the dust collector. The robot is opposite to the feeder and the dust collector. The robot grip is mounted on the front end of the robot's robot arm. The first auxiliary jig is disposed on the left side of the robot and moves in the vertical direction through the first vertical moving mechanism. The take-up device is disposed on the right side of the robot and longitudinally moved above the discharge device through the first longitudinal moving mechanism.

In an embodiment of the present invention, the double transfer device includes a first bracket, a first lateral movement mechanism, a second vertical movement mechanism, a third vertical movement mechanism, a first transfer clamp, and a second shift Load the fixture. The first lateral movement mechanism is mounted on the first bracket. The second vertical movement mechanism and the third vertical movement mechanism are mounted side by side on the moving end of the first lateral movement mechanism. The first transfer clamp and the second transfer clamp are respectively mounted on the moving ends of the second vertical movement mechanism and the third vertical movement mechanism, and the first transfer clamp and the second transfer clamp are located at the discharge device, Above the material device and the dust collector.

In an embodiment of the present novel creation, the above-mentioned plate taking device includes a second auxiliary jig and a fourth vertical moving mechanism. The fourth vertical moving mechanism is mounted on the moving end of the first longitudinal moving mechanism, and the second auxiliary jig is mounted on the moving end of the fourth vertical moving mechanism.

In an embodiment of the present invention, the dust cleaner includes a second bracket, a left transport mechanism, a dusting member, a right transport mechanism, and a first lift mechanism. The dirt element is mounted on the second bracket and is provided with a passage for the passage of the plate. The right transmission mechanism is mounted on the right side of the second bracket, and the left transmission mechanism is mounted on the left side of the second bracket through the first lifting mechanism. The heights of the right transport mechanism, the channel of the dusty component, and the left transport mechanism are successively decreased in the horizontal plane.

In an embodiment of the novel creation, the robot intelligent upper and lower printed circuit board system further includes an image sensor. The image sensor is placed above the dust collector.

In an embodiment of the novel creation, the feeding device comprises a second lifting mechanism and a feeding platform. The second lifting mechanism is disposed on the right side of the dust collector. The feed platform is mounted on the second lifting mechanism.

In an embodiment of the present novel creation, the above discharge device includes a third lifting mechanism and a discharge platform. The third lifting mechanism is disposed on the right side of the robot. The discharge platform is mounted on the third lifting mechanism.

In an embodiment of the present invention, the feeding device, the discharging device, the dust collector, the transfer device, the image sensor, the first vertical moving mechanism, and the first longitudinal moving mechanism are installed on the protective machine. On the shelf.

Based on the above, the novel creation device mounts the first auxiliary fixture above the first fully automatic optical inspection machine, and facilitates the docking between the two circuit boards with the robot fixture, that is, the robotic fixture of the robot will detect the Nth block. After the circuit board is moved from the sticky machine to the first fully automatic optical inspection machine, the robot clamp directly moves upward to dock with the first auxiliary fixture above the first fully automatic optical inspection machine and grasps the first fully automatic optical inspection. The N-1 circuit board detected by the machine shortens the movement time of the robot arm. Where N is a natural number greater than or equal to 1. The robot sends the circuit board detected by the first fully automatic optical detecting machine to the second fully automatic optical detecting machine, and then directly resets to perform the next operation, and simultaneously sets the taking device to the right side of the robot, and transmits the first longitudinal moving mechanism through The upper part of the discharging device moves longitudinally, and the board taking device sends the circuit board detected by the second automatic optical detecting machine to the discharging device, thereby reducing the movement path and time of the robot, shortening the waiting time of other components, and effectively improving The detection efficiency of the entire detection system.

The above described features and advantages of the present invention will become more apparent and understood from the following description.

1 is a schematic view showing the overall structure of a robot intelligent upper and lower printed circuit board system according to an embodiment of the present invention. As shown in FIG. 1 , in the embodiment, the robot intelligent upper and lower printed circuit board system includes a feeding device 1, a discharging device 2, a dust collector 3, a double transfer device 4, and an image sensor (not shown). The robot 5, the robot jig 6, the first auxiliary jig 7, the first vertical moving mechanism 8, the take-up device 9, and the first longitudinal moving mechanism 10. The discharge device 2, the feeding device 1, and the dust collector 3 are arranged side by side from right to left. The double transfer device 4 is disposed above the discharge device 2, the feeding device 1, and the dust collector 3. The robot 5 is opposed to the feeding device 1 and the dust collector 3. The robot jig 6 is attached to the front end of the robot arm of the robot 5. The first auxiliary jig 7 is disposed on the left side of the robot 5 and moves in the vertical direction through the first vertical moving mechanism 8. The plate take-up device 9 is disposed on the right side of the robot 5 and longitudinally moved above the discharge device 2 through the first longitudinal moving mechanism 10. The image sensor is disposed above the duster 3. Wherein, the feeding device 1, the discharging device 2, the dust collector 3, the double transfer device 4, the image sensor, the first vertical moving mechanism 8 and the first longitudinal moving mechanism 10 can be installed in the same protective frame On the top, they can also be supported by their respective brackets.

The manipulator jig 6 uses a double-sided suction cup jig to adsorb the printed circuit board on the front and back sides. The first auxiliary jig 7 is a single-sided chuck jig for adsorbing the printed circuit board on which the first side has been detected on the first fully automatic optical detecting machine 1a (shown in FIG. 6). The manipulator jig 6 and the first auxiliary jig 7 are provided with a pneumatic circuit control integrated module, and the working of the suction cup is controlled through the pneumatic circuit control integrated module. Feeding device 1, discharging device 2, dusting machine 3, double transfer device 4, image sensor, robot 5, robot jig 6, first auxiliary jig 7, first vertical moving mechanism 8, taking Both the plate unit 9 and the first longitudinal moving mechanism 10 are connected to an external controller, and their operation is controlled by the controller. The image sensor facilitates the detection of the specific location of the printed circuit board and transmits it to an external controller to facilitate adjustment of the position of the robotic gripper 6 to grab the circuit board.

FIG. 2 is a schematic structural view of a dual transfer device according to an embodiment of the present invention. As shown in FIGS. 1 and 2, the double transfer device 4 includes a first bracket 41, a first lateral movement mechanism 42, a second vertical movement mechanism 43, a third vertical movement mechanism 44, a first transfer jig 45, and The second transfer jig 46. The first lateral movement mechanism 42 is mounted on the first bracket 41, and the second vertical movement mechanism 43 and the third vertical movement mechanism 44 are mounted side by side on the moving end of the first lateral movement mechanism 42. The first transfer jig 45 and the second transfer jig 46 are mounted on the moving ends of the second vertical movement mechanism 43 and the third vertical movement mechanism 44, respectively, and the first transfer jig 45 and the second transfer jig 46 are respectively mounted. It is located above the discharge device 2, the feeding device 1, and the dust collector 3. The first lateral movement mechanism 42 drives the second vertical movement mechanism 43 and the third vertical movement mechanism 44 to move laterally on the first bracket 41, and the second vertical movement mechanism 43 drives the first transfer clamp 45 to move in the vertical direction. The third vertical movement mechanism 44 drives the second transfer jig 46 to move in the vertical direction. The first transfer jig 45 and the second transfer jig 46 may employ a single-sided chuck jig. The first transfer clamp 45 and the second transfer clamp 46 are each provided with a pneumatic control integrated module, and the operation of the suction cup is controlled through the pneumatic control integrated module.

FIG. 3 is a schematic structural view of a plate taking device according to an embodiment of the present invention. As shown in FIGS. 1 and 3, the take-up device 9 includes a second auxiliary jig 91 and a fourth vertical moving mechanism 92. The fourth vertical moving mechanism 92 is mounted at the moving end of the first longitudinal moving mechanism 10, and the second auxiliary jig 91 is mounted at the moving end of the fourth vertical moving mechanism 92. The first longitudinal movement mechanism 10 drives the fourth vertical movement mechanism 92 to move in the longitudinal direction, and the first longitudinal movement mechanism 92 drives the second auxiliary clamp 91 to move up and down. The second auxiliary fixture 91 can adopt a single-sided suction cup clamp, and the second auxiliary clamp 91 is provided with a pneumatic control integrated module, and the operation of the suction cup is controlled through the pneumatic control integrated module.

Fig. 4 is a schematic view showing the structure of a dust concentrator according to an embodiment of the present invention. As shown in FIGS. 1 and 4, the dust collector 3 includes a second bracket 31, a left transport mechanism 32, a dust-collecting member 33, a right transport mechanism 34, and a first elevating mechanism 35, and the dust-collecting member 33 is mounted on the second bracket 31. Above, there is a passage for the passage of the plate. The right transfer mechanism 34 is mounted on the right side of the second holder 31, and the left transfer mechanism 32 is attached to the left side of the second holder 31 via the first elevating mechanism 35. The right transfer mechanism 34, the passage of the dirt member 33, and the left transfer mechanism 32 may be disposed on the same horizontal plane. The right transport mechanism 34 transports the circuit board to be inspected to the dust member 33 for dusting treatment, and the circuit board is moved to the right end of the left transport mechanism 32 after being dusted. The left transport mechanism 32 continues to move the board so that it falls on the left transport mechanism 32. The first elevating mechanism 35 lifts or lowers the left transport mechanism 32 to move the circuit board upward. As a further improvement, the right transmission mechanism 34, the passage of the dust-collecting member 33, and the left transmission mechanism 32 are not on the same horizontal plane, and the heights of the three in the horizontal plane are successively decreased, that is, the right transmission mechanism 34 is higher than the passage of the dust-collecting member 33. The passage of the dirt element 33 is higher than the left transmission mechanism 32. The advantage of such a design is that the plate member is prevented from being caught in the gap between the passage of the right transport mechanism 34 and the dust member 33 during the movement, or between the passage of the dust member 33 and the left transport mechanism 32. A fault has occurred in the gap.

Fig. 5 is a schematic view showing the structure of a feeding device and a discharging device according to an embodiment of the present invention. As shown in FIGS. 1 and 5, the feeding device 1 includes a second lifting mechanism 11 and a feeding platform 12. The second lifting mechanism 11 is disposed on the right side of the dust cleaner 3, and the feeding platform 12 is mounted on the second lifting mechanism 11. The second lifting mechanism 11 adjusts the feeding platform 12 up and down once to the set height, so that the double transfer device 4 can adsorb the printed circuit board of the feeding platform 12. The discharge device 2 includes a third lifting mechanism 21 and a discharge platform 22, the third lifting mechanism 21 is disposed on the right side of the robot 5, and the discharge platform 22 is mounted on the third lifting mechanism 21. After the printed circuit board is detected and placed on the discharge platform 22, the third lifting mechanism 21 is moved up and down once to adjust the set height, which is convenient for the board taking device 9 to place the circuit board.

As shown in FIGS. 1 to 5, the first lateral movement mechanism 42, the first vertical movement mechanism 8, the second vertical movement mechanism 43, the third vertical movement mechanism 44, the fourth vertical movement mechanism 92, and the first The longitudinal moving mechanism 10, the first lifting mechanism 35, the second lifting mechanism 11, and the third lifting mechanism 12 may adopt the following structure including a motor, a lead screw, two slide rails, two sliders, a sliding nut, and a nut. The mounting seat, that is, the two sliding rails are mounted on the bracket in parallel, and the two sliders are respectively sleeved on the two sliding rails. The motor is mounted on the frame and is located at one end of the rail. The nut mount is connected between the two sliders. One end of the screw is connected to the motor drive, and the other end is provided with a sliding nut. The component driven by the structure is fixed on the nut mounting seat, the rotation of the motor drives the screw to rotate, and the rotation of the screw rod drives the sliding nut to move along the axial direction of the screw, so that the sliding nut drives the nut mounting seat and the sliding block to slide along the sliding rail, thereby further Move the parts fixed to the nut mount in the set direction. The structure may also be implemented by other sliding mechanisms as long as the components can be moved in the set direction.

Fig. 6 is a schematic view showing the position of a first fully automatic optical detector and a second fully automatic optical detector according to an embodiment of the present invention. As shown in Fig. 6, the first fully automatic optical inspection machine 1a and the second fully automatic optical inspection machine 2a are not drawn in actual size, and are only used as positional indications. Among them, the first fully automatic optical inspection machine 1a is located below the first auxiliary jig 7 (ie, the left side of the robot), and the second fully automatic optical inspection machine 2a is located on the right side of the robot 5. The intermediate position between the discharge device 2 and the second fully automatic optical detector 2a is a re-pointing of the take-up device 9. The plate taking device 9 is moved between the second fully automatic optical detector 2a, the repositioning point, and the discharging device 2 through the first longitudinal moving mechanism 10.

As shown in FIG. 2 to FIG. 6, the circuit board transfer method of the robot intelligent upper and lower printed circuit board system of the present embodiment is as follows: the first transfer clamp 45 of the double transfer device 4 passes through the second vertical movement mechanism 43. After moving, the circuit board to be tested on the feeding device 1 is sucked up and moved up. The first lateral movement mechanism 42 is moved to the left such that the first transfer jig 45 is positioned above the right transfer mechanism 34 of the dust collector 3. At this time, the second transfer jig 46 is located above the feeding device 1.

The second vertical moving mechanism 43 is moved downward, so that the first transfer jig 45 places the circuit board to be inspected (the solder surface faces up, the part faces face down) on the dust collector right transfer mechanism 34. The third vertical moving mechanism 44 is moved downward so that the second transfer jig 46 sucks the partition on the feeding device 1 (the partition serves to isolate the two wiring boards).

The second vertical movement mechanism 43 and the third vertical movement mechanism 44 are moved up, the first lateral movement mechanism 42 is moved to the right, and the double transfer device 4 is reset (retimed, the first transfer clamp 45 is located at the feeding device 1 Above. The second transfer clamp 46 is located above the discharge device 2). The third vertical movement mechanism 44 is moved downward so that the second transfer jig 46 places the partition on the discharge device 2. The third vertical moving mechanism 44 is reset while the first transfer jig 45 is moved downward through the second vertical moving mechanism 43 to suck the up and down of the circuit board to be inspected on the feeding device 1.

The right transport mechanism 34 transports the circuit board to be inspected to the dust collecting member 33, and the circuit board to be inspected is transported to the right end of the left transport mechanism 32 by the dust member 33. The left transport mechanism 32 is moved to cause the circuit board to be inspected to fall on the left transport mechanism 32. The first lifting mechanism 35 drives the left transmission mechanism 32 to move upward, and the image sensor performs a photographing process on the detection circuit board.

The robot 5 moves the robot gripper 6 to the upper side of the left transport mechanism 32 through the robot arm, and grasps the circuit board to be detected, and the first elevating mechanism 35 moves down to bring the left transport mechanism 32 to reset.

The robot 5 drives the robot jig 6 to move, and the robot jig 6 places the Nth circuit board to be inspected (the solder surface faces up, the part faces face down) to the first fully automatic optical inspection machine 1a to perform the soldering surface of the circuit board. First test. Where N is a natural number greater than or equal to 1. At this time, the first vertical movement mechanism 8 drives the first auxiliary jig 7 to move downward, and sucks and moves the solder surface of the N-1th circuit board detected by the first fully automatic optical detector 1a. The robot 5 drives the robot jig 6 to interface with the first auxiliary jig 7, and sucks the component surface of the N-1th circuit board detected by the first fully automatic optical detector 1a and moves it to the first printer. The solder surface of the board is coded. After the coding, the robot gripper 6 of the robot 5 is traversed and turned over, and the N-1th circuit board detected by the first fully automatic optical detector 1a is placed on the second fully automatic optical detector 2a (the circuit board The part face of the circuit board is inspected with the part face up and the solder face facing down, and the robot hand grip 6 of the robot 5 is flipped and reset again.

The first longitudinal moving mechanism 10 drives the second auxiliary jig 91 to move over the second fully automatic optical detecting machine 2a, and the fourth vertical moving mechanism 92 drives the second auxiliary jig 91 to move downward, so that the second auxiliary jig is sucked by the second The fully automatic optical inspection machine 2a detects the processed circuit board. The fourth vertical moving mechanism 92 moves up, and the first longitudinal moving mechanism 10 drives the second auxiliary jig 91 to traverse the circuit board detected by the second fully automatic optical detecting machine 2a to the discharging device 2 and the second automatic The intermediate position of the optical detector 2a (ie, the reset point). In the process, the second printer performs the coding of the part faces of the wiring board detected by the second fully automatic optical inspection machine 2a. After the second transfer clamp 46 leaves the discharge device 2, the second auxiliary clamp 91 moves over the discharge device 2, and the fourth vertical movement mechanism 92 moves the second auxiliary clamp 91 downward, so that the second auxiliary clamp 91 will The route board is placed on the partition. The fourth vertical moving mechanism 92 is moved up, and the first longitudinal moving mechanism 10 drives the second auxiliary jig 91 to move to an intermediate position (ie, a reset point) of the discharging device 2 and the second fully automatic optical detecting machine 2a.

During the entire detection process, the double transfer device 4 is always moved above the discharge device 2, the feeding device 1 and the dust collector 3, and the first transfer clamp 45 of the double transfer device 4 takes the circuit board to be inspected After the material device 1 is moved to the dust collector 3, the reset is performed, and at the same time as the resetting, the second transfer jig 46 of the double transfer device 4 moves the partition from the feeding device 1 to the discharging device 2. After the circuit board to be inspected is dust-treated by the dust collector 3, it is moved by the robot jig 6 of the robot 5 to the first fully automatic optical inspection machine 1a for detection (the solder surface of the circuit board faces upward, and the part faces face down). The first vertical movement mechanism 8 drives the first auxiliary fixture 7 to move down, sucks and moves the circuit board detected by the first automatic optical detector 1a, and the robot 5 drives the robot fixture 6 and the first auxiliary fixture 7 Docking, and sucking the circuit board detected by the first fully automatic optical inspection machine 1a and moving it to the second fully automatic optical inspection machine 2a for detection processing (the part of the circuit board faces upward, and the solder surface faces downward). The robot 5 is reset, and finally the second auxiliary jig 91 is moved by the first longitudinal moving mechanism 10 of the plate taking device 9 to the second fully automatic optical detecting machine 2a, and the circuit board for performing the two-sided detection is brought back to the discharging device 2.

In summary, the new creation of the first auxiliary fixture is installed above the first fully automatic optical inspection machine, which facilitates the docking between the two circuit boards with the robot fixture, that is, the robotic fixture of the robot will be the Nth block. After the circuit board to be tested is moved from the dust collector to the first fully automatic optical inspection machine, the robot clamp directly moves upwards to dock with the first auxiliary fixture above the first automatic optical inspection machine and grasps the first automatic The N-1th circuit board detected by the optical detector reduces the movement time of the robot arm. Where N is a natural number greater than or equal to 1. The robot sends the circuit board detected by the first fully automatic optical detecting machine to the second fully automatic optical detecting machine, and then directly resets to perform the next operation, and simultaneously sets the taking device to the right side of the robot, and transmits the first longitudinal moving mechanism through The upper part of the discharging device moves longitudinally, and the board taking device sends the circuit board detected by the second automatic optical detecting machine to the discharging device, thereby reducing the movement path and time of the robot, shortening the waiting time of other components, and effectively improving The detection efficiency of the entire detection system.

Although the present invention has been disclosed in the above embodiments, it is not intended to limit the novel creation, and any person skilled in the art can make some changes without departing from the spirit and scope of the novel creation. Retouching, the scope of protection of this new creation is subject to the definition of the scope of the patent application attached.

1a‧‧‧First automatic optical inspection machine
2a‧‧‧Second automatic optical inspection machine
1‧‧‧Feeding device
2‧‧‧Drawing device
3‧‧‧Dust machine
4‧‧‧Double transfer device
5‧‧‧ Robot
6‧‧‧manipulator clamp
7‧‧‧First auxiliary fixture
8‧‧‧First vertical moving mechanism
9‧‧‧ take board device
10‧‧‧First vertical movement mechanism
11‧‧‧Second lifting mechanism
12‧‧‧ Feeding platform
21‧‧‧ Third Lifting Mechanism
22‧‧‧Draining platform
31‧‧‧second bracket
32‧‧‧left transmission mechanism
33‧‧‧Dust components
34‧‧‧right transmission mechanism
35‧‧‧First lifting mechanism
41‧‧‧First bracket
42‧‧‧First lateral movement mechanism
43‧‧‧Second vertical moving mechanism
44‧‧‧ Third vertical moving mechanism
45‧‧‧First transfer fixture
46‧‧‧Second transfer fixture
91‧‧‧Second auxiliary fixture
92‧‧‧4th vertical moving mechanism

1 is a schematic view showing the overall structure of a robot intelligent upper and lower printed circuit board system according to an embodiment of the present invention. FIG. 2 is a schematic structural view of a dual transfer device according to an embodiment of the present invention. FIG. 3 is a schematic structural view of a plate taking device according to an embodiment of the present invention. Fig. 4 is a schematic view showing the structure of a dust concentrator according to an embodiment of the present invention. Fig. 5 is a schematic view showing the structure of a feeding device and a discharging device according to an embodiment of the present invention. Fig. 6 is a schematic view showing the position of a first fully automatic optical detector and a second fully automatic optical detector according to an embodiment of the present invention.

1‧‧‧Feeding device

2‧‧‧Drawing device

3‧‧‧Dust machine

4‧‧‧Double transfer device

5‧‧‧ Robot

6‧‧‧manipulator clamp

7‧‧‧First auxiliary fixture

8‧‧‧First vertical moving mechanism

9‧‧‧ take board device

10‧‧‧First vertical movement mechanism

Claims (8)

A robot intelligent upper and lower printed circuit board system, comprising: a feeding device; a discharging device; a dusting machine, the discharging device, the feeding device and the dusting machine are arranged side by side from right to left; a device disposed above the discharge device, the feeding device, and the dust collector; a robot opposite to the feeding device and the dust collector; a robot clamp mounted on the robot a front auxiliary clamp of the robot arm, a first vertical movement mechanism disposed on a left side of the robot, the first auxiliary clamp moving in a vertical direction through the first vertical movement mechanism; On the right side of the robot; and a first longitudinal movement mechanism, the take-up device moves longitudinally above the discharge device through the first longitudinal movement mechanism. The robot intelligent upper and lower printed circuit board system according to claim 1, wherein the double transfer device includes a first bracket, a first lateral movement mechanism, a second vertical movement mechanism, and a third vertical movement mechanism, a first transfer jig and a second transfer jig, the first lateral movement mechanism being mounted on the first bracket, the second vertical movement mechanism and the third vertical movement mechanism being mounted side by side in the On the moving end of the first lateral movement mechanism, the first transfer clamp and the second transfer clamp are respectively mounted on the moving ends of the second vertical movement mechanism and the third vertical movement mechanism, And the first transfer jig and the second transfer jig are located above the discharge device, the feeding device, and the dust collector. The robot intelligent upper and lower printed wiring board system according to claim 1, wherein the plate taking device includes a second auxiliary jig and a fourth vertical moving mechanism, and the fourth vertical moving mechanism is installed in the A moving end of a longitudinal moving mechanism, the second auxiliary jig being mounted at a moving end of the fourth vertical moving mechanism. The robot intelligent upper and lower printed circuit board system according to claim 1, wherein the dust concentrator includes a second bracket, a left transport mechanism, a dust-collecting component, a right transporting mechanism, and a first lifting mechanism, the sticky dust The component is mounted on the second bracket, and is provided with a passage for the passage of the plate, the right transmission mechanism is mounted on the right side of the second bracket, and the left transmission mechanism is installed through the first lifting mechanism On the left side of the second bracket, the heights of the right transport mechanism, the channel of the dust-collecting element, and the left transport mechanism are sequentially decreased in the horizontal plane. The robot intelligent upper and lower printed circuit board system according to any one of claims 1-4, further comprising an image sensor, the image sensor being disposed above the dust concentrator. The robot intelligent upper and lower printed wiring board system according to any one of claims 1 to 4, wherein the feeding device comprises a second lifting mechanism and a feeding platform, and the second lifting mechanism is disposed at the On the right side of the dust collector, the feeding platform is mounted on the second lifting mechanism. The robot intelligent upper and lower printed wiring board system according to any one of claims 1-4, wherein the discharging device comprises a third lifting mechanism and a discharging platform, and the third lifting mechanism is disposed at the On the right side of the robot, the discharge platform is mounted on the third lifting mechanism. The robot intelligent upper and lower printed wiring board system according to any one of claims 1 to 4, wherein the feeding device, the discharging device, the dusting machine, the transfer device, and the The image sensor, the first vertical movement mechanism, and the first longitudinal movement mechanism are mounted on a guard frame.