Silk screen loading and unloading equipment

Abstract

The present invention discloses a screen printing loading and unloading equipment, including a frame, a pallet conveying and caching mechanism, a pallet loading and unloading mechanism, a pallet handling mechanism, a material shifting manipulator and a loading platform mechanism; a workbench and a pallet loading and unloading space are arranged on the frame, the pallet conveying and caching mechanism passes through the pallet loading and unloading space of the frame, the pallet loading and unloading mechanism can move up and down relative to the pallet conveying and caching mechanism, the pallet handling mechanism is horizontally mounted on the frame above the corresponding pallet conveying and caching mechanism, the pallet handling mechanism moves in the space above the pallet loading and unloading mechanism, the material shifting manipulator is arranged on the frame on one side of the pallet loading and unloading mechanism, and the material shifting manipulator rotates in multiple positions in the space above the frame; the loading platform mechanism is arranged on the workbench of the frame and close to one side of the pallet loading and unloading mechanism and the material shifting manipulator. The present invention can be matched with an existing semi-automatic screen printing machine to transform it into a fully automatic screen printing machine, making full use of existing equipment resources and realizing the automation of product screen printing process.

Description

Technical Field

[0001] The invention relates to the technical field of production equipment for flexible circuit boards, in particular to a screen printing loading and unloading equipment. Background Art

[0002] In the production process of flexible circuit boards, screen printing is often required to print character inks, impedance inks, etc. for flexible circuit board products. Due to the thin and soft characteristics of flexible circuit boards, the current operation method mainly relies on manually operated semi-automatic screen printing machines. One person operates a screen printing machine, which takes up a lot of manpower. Although there are some fully automatic screen printing machines on the market, they are expensive, and most factories have purchased multiple semi-automatic screen printing machines in the early stage. If new fully automatic screen printing equipment is introduced, the existing semi-automatic screen printing equipment may be idle. In order to make full use of existing resources and realize the automation of the screen printing process to save manpower, the existing semi-automatic screen printing machines need to be transformed and upgraded.

[0003] In view of this, the designer has made in-depth considerations on the many deficiencies and inconveniences caused by the imperfect structural design of the existing semi-automatic screen printing machine, and actively researched, improved and tried to develop and design the present invention. Summary of the invention

[0004] The purpose of the present invention is to provide a screen printing loading and unloading device which can be matched with a semi-automatic screen printing machine to realize automatic operation, thereby reducing labor costs.

[0005] In order to achieve the above object, the solution of the present invention is:

[0006] A screen printing loading and unloading equipment comprises a frame, a pallet conveying and buffering mechanism, a pallet loading and unloading mechanism, a pallet transporting mechanism, a material shifting robot and a loading platform mechanism; a workbench is arranged above one side of the frame, and a pallet loading and unloading space is opened on the other side of the frame; the pallet conveying and buffering mechanism passes through the pallet loading and unloading space of the frame; the pallet loading and unloading mechanism can be moved up and down on the side of the frame corresponding to the pallet loading and unloading space, and the pallet loading and unloading mechanism can move up and down relative to the pallet conveying and buffering mechanism; the pallet transporting mechanism is horizontally mounted on the frame above the corresponding pallet conveying and buffering mechanism, and the pallet transporting mechanism moves in the space above the pallet loading and unloading mechanism; the material shifting robot is arranged on the frame on one side of the pallet loading and unloading mechanism, and the material shifting robot rotates in multiple positions in the space above the frame; the loading platform mechanism is arranged on the workbench of the frame and close to the side of the pallet loading and unloading mechanism and the material shifting robot.

[0007] Furthermore, the pallet conveying buffer mechanism includes a mechanism frame, a pallet discharging conveying assembly and a pallet feeding conveying assembly; the pallet discharging conveying assembly and the pallet feeding conveying assembly are arranged side by side on the mechanism frame; the pallet discharging conveying assembly includes a reduction motor, a driving wheel, a synchronous wheel, a tensioning wheel and a synchronous belt; the reduction motor is arranged in the middle area of ​​the left outer side of the mechanism frame, the output end of the reduction motor is connected to the driving wheel, and two sets of synchronous wheels are distributed on the front and rear ends of the left side above the mechanism frame according to the four corners of a rectangle through mounting seats, and two tensioning wheels are respectively arranged on both sides above the driving wheel in parallel, and two synchronous belts are respectively tensioned and sleeved on the two sets of synchronous wheels, the tensioning wheel and the driving wheel in parallel according to the trajectory of the synchronous belt; the reduction motor drives the synchronous belt to move forward and backward through the driving wheel; the front and rear ends of the pallet discharging conveying assembly are respectively provided with a pallet discharging position and a pallet descending position; the pallet feeding conveying assembly has the same structure as the pallet discharging conveying assembly, and the front and rear ends of the pallet feeding conveying assembly are respectively provided with a pallet feeding position and a pallet lifting position.

[0008] Furthermore, the pallet discharging conveying assembly also includes a pallet discharging position sensing module, which is arranged on the front end of the mechanism frame between the two sets of synchronous wheels and is used to sense the movement of the pallet to the pallet discharging position; the pallet feeding conveying assembly also includes a pallet top lifting position sensing module, which is arranged on the rear end of the mechanism frame on the side corresponding to the pallet feeding conveying assembly and is located between its two sets of synchronous wheels. The pallet top lifting position sensing module may be arranged on the protective cover of the pallet loading and unloading mechanism corresponding to the bottom of the pallet top lifting position and is used to sense the movement of the pallet to the pallet top lifting position.

[0009] Furthermore, the tray discharging conveying assembly also includes side baffles, and the two side baffles are arranged in parallel above the mechanism frame on the outside of the two synchronous belts of the tray discharging conveying assembly; the tray feeding conveying assembly also includes side baffles, and the two side baffles are arranged in parallel above the mechanism frame on the outside of the two synchronous belts of the tray feeding conveying assembly. Further, the tray loading and unloading mechanism includes a mechanism fixing plate and a tray loading assembly and a tray unloading assembly arranged side by side on both sides of the front of the fixing plate; the tray unloading assembly includes a Y-axis module, a linear guide rail and a tray lifting frame; the Y-axis module is vertically arranged on one side of the front side of the mechanism fixing plate, and the two linear guide rails are arranged in parallel on both sides of the Y-axis module. The tray lifting frame is fixed on the guide rail sliders of the two linear guide rails and connected to the slider of the Y-axis module. The Y-axis module drives the tray lifting frame to move vertically up and down along the linear guide direction; the tray loading assembly has the same structure as the tray unloading assembly.

[0010] Furthermore, the pallet lifting frame includes a slide plate and a tripod; the slide plate is mounted on the guide rail sliders of two linear guide rails and connected to the slider of the Y-axis module; the two tripods are vertically arranged flush on the front side of the slide plate, and the pallet can be placed above the two tripods.

[0011] Furthermore, the pallet unloading component also includes a lifting frame sensing module, and the lifting frame sensing module includes a lifting frame high-position sensor, a lifting frame low-position sensor, a lifting frame low-position limit sensor and a lifting frame sensing sheet; the lifting frame high-position sensor is arranged on the front side of the mechanism fixing plate, and is located at the high-position sensing position of the movement trajectory of the pallet lifting frame, the lifting frame low-position sensor and the lifting frame low-position limit sensor are respectively arranged on the front side of the mechanism fixing plate, and are located at the low-position and low-position limit sensing positions of the movement trajectory of the pallet lifting frame, the lifting frame sensing sheet is arranged on the side corresponding to the slide plate and the lifting frame high-position sensor and can vertically sense the lifting frame high-position sensor, the lifting frame low-position sensor and the lifting frame low-position limit sensor, so as to sense the high position, low position and low position limit of the pallet lifting frame in the vertical movement trajectory, and protect the pallet unloading component.

[0012] Furthermore, the pallet loading and unloading mechanism also includes a pallet loading sensing module and a pallet unloading sensing module. The pallet loading sensing module is arranged on a rack close to one side of the pallet loading component, and is used to sense that the pallet loading component lifts the topmost pallet of the stacked pallets thereon to the pallet loading position; the pallet unloading sensing module is arranged on a rack close to one side of the pallet unloading component, and is used to sense that the pallet on the pallet unloading component is placed to the pallet unloading position.

[0013] Furthermore, the pallet handling mechanism includes a gantry, an X-axis module, a handling linear guide rail, and a pallet grabbing assembly; the X-axis module is arranged above the gantry, two handling linear guide rails are arranged in parallel on the gantry located on both sides of the X-axis module, the pallet grabbing assembly is mounted on the guide rail sliders of the two handling linear guide rails and connected to the slider of the X-axis module, and the X-axis module drives the pallet grabbing assembly to move horizontally along the direction of the handling linear guide rail;

[0014] The pallet grabbing assembly includes a sliding seat, a lifting cylinder, a lifting slider, a transfer column, a two-way cylinder and a clamping claw block; the sliding seat is mounted on the guide sliders of two transport linear guides and is connected to the slider of the X-axis module, the lifting cylinder is arranged on one side above the sliding seat, the lifting slider is arranged on the slide table of the lifting cylinder, the transfer column is arranged on the lifting slider, the two-way cylinder is arranged at the bottom end of the transfer column, and the two clamping claw blocks are symmetrically arranged on the ends of the movable rods on both sides of the two-way cylinder; the lifting cylinder drives the clamping claw block to move vertically up and down, and the two-way cylinder drives the clamping claw block to open and close left and right.

[0015] Furthermore, the pallet grabbing assembly also includes a first buffer and a second buffer. The first buffer is arranged on the upper part of the lifting cylinder, and the second buffer is inverted on the sliding seat below the lifting cylinder to play a buffering role when the lifting slider moves vertically up and down.

[0016] Furthermore, the pallet handling mechanism also includes a handling sensing module, which includes a handling left end sensor, a handling right end sensor, a handling right end limit sensor and a handling sensing sheet; the handling left end sensor is arranged on the front side of the gantry and is located at the left end sensing position of the motion trajectory of the pallet grabbing assembly, the handling right end sensor is arranged on the front side of the gantry and is located at the right end of the motion trajectory of the pallet grabbing assembly, the handling right end limit sensor is arranged on the front side of the gantry and is located at the right end of the motion trajectory of the pallet grabbing assembly, the handling right end limit sensor is arranged on the front side of the gantry and is located at the right end limit sensing position of the pallet grabbing assembly, the handling sensing sheet is arranged on the sliding seat on the side corresponding to the handling left end sensor, and can horizontally sense the handling left end sensor, the handling right end sensor and the handling right end limit sensor, and is used for sensing the pallet grabbing assembly at the left end, right end and right end limits of the horizontal motion trajectory to protect the pallet handling mechanism.

[0017] Furthermore, the material transfer robot includes a robot and a material suction jig; the robot is a four-axis robot, the material suction jig is arranged on the bottom end of the robot, and the material suction jig includes a nozzle mounting frame and a nozzle module; the nozzle mounting frame is arranged on the bottom end of the robot, and multiple nozzle modules can be adjusted and vertically arranged on the nozzle mounting frame.

[0018] Furthermore, the suction fixture also includes a pressing module, and a plurality of pressing modules can be adjusted and vertically arranged on the suction nozzle mounting frame, and the pressing modules are distributed according to the silk-screen positioning position of the product; the pressing module includes a cylinder frame, a pressing cylinder and a soft pressing pad; the cylinder frame can be adjusted and arranged on the suction nozzle mounting frame, the pressing cylinder is vertically arranged on the cylinder frame, and the soft pressing pad is arranged at the bottom end of the movable rod of the pressing cylinder; when the product is placed on the specified position of the silk-screen table, the cylinder frame drives the soft pressing pad to press down the product positioning hole area, so that the product is positioned on the positioning PIN of the silk-screen table, because the product is soft If the product board has warping at the four corners, the pressing module is used to position the product more accurately on the screen printing table. The soft pressing pad can be used to put the product on the positioning PIN without damaging the product. Another function of the pressing module is to turn on the product shaking function when needed. When the material transfer robot drives the suction fixture to absorb the product, the pressing cylinder movable rod of the pressing module located at one corner of the suction fixture shakes up and down for a preset number of times to ensure that only one product is absorbed at a time. Because the products are placed in a stack, when the suction fixture absorbs the product, there may be another product underneath the product.

[0019] Furthermore, the loading platform mechanism includes a fixed plate, a first bearing, a first guide column, a lifting platform, a lifting plate, a second bearing, a second guide column, a motor fixing seat, a lifting motor and a screw rod; the fixed plate is arranged on the working table of the frame and is located on a side close to the tray loading and unloading mechanism and the material shifting manipulator, the four first bearings are sleeved on the four corners of the fixed plate, the four first guide columns are respectively sleeved in the four first bearings, the lifting platform is arranged on the top ends of the four first guide columns, the lifting plate is arranged on the bottom ends of the four first guide columns, the four second bearings are respectively sleeved on the lifting The plate corresponds to the inner side of the four first guide pillars, the four second guide pillars are respectively sleeved in the four second bearings, the top ends of the four second guide pillars are fixedly connected to the bottom of the fixed plate, the motor fixing seat is arranged on the bottom ends of the four second guide pillars, the lifting motor is inverted below the middle area of ​​the motor fixing seat, one end of the screw rod passes through the motor fixing seat and is connected to the output end of the lifting motor through a coupling, the other end of the screw rod passes through the lifting plate and is connected to the bottom of the fixed plate, and the screw nut of the screw rod is sleeved on the lifting plate; the lifting motor drives the lifting plate to drive the lifting platform to move vertically up and down.

[0020] Furthermore, the loading platform mechanism also includes a platform sensing module; the platform sensing module includes a platform high-position sensor, a platform low-position sensor, a platform low-position limit sensor and a platform sensing sheet; the platform high-position sensor is arranged on one side below the fixed plate, and the platform low-position sensor and the platform low-position limit sensor are respectively arranged on the upper and lower sides of the motor fixing seat and vertically aligned with the platform high-position sensor, the platform sensing sheet is arranged on the side of the lifting plate and vertically aligned with the platform high-position sensor and can vertically sense the platform high-position sensor, the platform low-position sensor and the platform low-position limit sensor, the upper and lower ends of the platform sensing sheet are respectively lengthened, and are respectively provided with high-position and low-position limit sensing lengths, which are used for sensing the lifting plate at the high, low and low-position limits of the vertical motion trajectory to protect the loading platform mechanism.

[0021] Furthermore, the loading platform mechanism also includes a loading position sensing module, which is arranged on a frame located around the loading platform mechanism, and is used to sense that the highest layer of the stacked products on the lifting platform has reached the product loading position. Furthermore, the screen printing loading and unloading equipment of the present invention also includes a cleaning mechanism, which includes a module fixing frame, a linear module, a cleaning linear guide rail and a cleaning component; the module fixing frame is longitudinally arranged on the frame outside the loading platform mechanism, the linear module is arranged on the module fixing frame, and two cleaning linear guide rails are arranged in parallel on the module fixing frames on both sides of the linear module. The cleaning component is mounted on the guide rail sliders of the two cleaning linear guide rails and is connected to the sliders of the linear module, and the linear module drives the cleaning component to move forward and backward along the direction of the cleaning linear guide rails.

[0022] Furthermore, the cleaning component includes a sliding plate, a cantilever, a cantilever pressure block, a swing block, a cleaning roller, a limit block and a buffer pin; the sliding plate is mounted on the guide rail sliders of two cleaning linear guide rails and is connected to the slider of the linear module, one end of the cantilever is set on the sliding plate through two cantilever pressure blocks, one swing block is set on the cantilever close to the side of the module fixing frame through a bearing sleeve, and the other swing block is set on the bottom end of the other end of the cantilever through a bearing sleeve, the cleaning roller is set on the inner bottom end of the two swing blocks, and the two limit blocks are sleeved on the cantilever close to the inner side of the two swing blocks. The limit block and the swing block are buffered and pressed together by the buffer pin to prevent the cleaning roller from swinging at will during cleaning.

[0023] Furthermore, the cleaning mechanism also includes a cleaning sensing module; the cleaning sensing module includes a cleaning left end sensor, a cleaning right end sensor, a cleaning right end limit sensor and a cleaning sensing sheet; the cleaning left end sensor is arranged on one side of the module fixing frame and corresponds to the left end sensing position of the movement trajectory of the cleaning component, the cleaning right end sensor and the cleaning right end limit sensor are respectively arranged on the module fixing frame and correspond to the right end and right end limit sensing positions of the movement trajectory of the cleaning component, the cleaning sensing sheet is arranged on the side corresponding to the sliding plate and the cleaning left end sensor and can horizontally sense the cleaning left end sensor, the cleaning right end sensor and the cleaning right end limit sensor, and is used for sensing the cleaning component at the left end, right end and right end limit of the horizontal movement trajectory to protect the cleaning mechanism.

[0024] Furthermore, the silk-screen loading and unloading equipment of the present invention also includes a material sorting mechanism, which includes a first cylinder, a second cylinder, a third cylinder, a first push plate, a second push plate and a third push plate; the first cylinder, the second cylinder and the third cylinder are respectively arranged on the workbench close to the rear side and the left and right sides of the loading platform mechanism, and the first push plate, the second push plate and the third push plate are respectively arranged at the bottom ends of the movable rods of the first cylinder, the second cylinder and the third cylinder. When the whole stack of products is placed on the lifting platform, the first cylinder, the second cylinder and the third cylinder respectively drive the first push plate, the second push plate and the third push plate to sort the whole stack of products neatly.

[0025] Furthermore, the silk-screen loading and unloading equipment of the present invention also includes a camera, which is arranged on an outer cover frame corresponding to the loading platform mechanism. The camera can identify the topmost product placed on the lifting platform. When the camera visually determines that the product position is offset, the material sorting mechanism is started to sort a stack of products neatly. After the products are sorted, the camera visually determines the product position again, and feeds back the product position to the material transfer robot. If the product is still offset, the material transfer robot absorbs the product and performs rotation correction, and then moves the product to the silk-screen printing table.

[0026] After adopting the above scheme, the pallet conveying and caching mechanism used in the silk-screen loading and unloading equipment of the present invention is designed with independently controlled pallet discharging conveying components and pallet feeding conveying components. After the whole stack of empty pallets placed on the pallet feeding conveying component is transferred to the pallet lifting frame of the pallet loading component, another whole stack of empty pallets can be placed on the pallet feeding position for standby use, thereby reducing the waiting time for materials; the pallet loading and unloading mechanism is designed with independently controlled pallet loading components and pallet unloading components, both of which are equipped with a pallet lifting frame, and both can be lowered to the bottom of the mechanism frame of the pallet conveying and caching mechanism, so that the pallet loading component can receive the whole stack of empty pallets conveyed by the pallet feeding conveying component, and send the whole stack of pallets with manufactured products placed on them back to the pallet discharging conveying component, thereby realizing material Handover; the pallet handling mechanism is designed with a pallet grabbing component, which uses a clamping claw block to open and close to grab and place the pallet, and move the pallet from the pallet loading component to the pallet unloading component; the manipulator of the material transfer robot adopts a four-axis manipulator, which can flexibly transport products above the lifting platform, screen printing table, and pallet unloading component. The product recognized by the camera is sucked from the lifting platform to the screen printing table, and the screen-printed product is moved from the screen printing table to the empty pallet of the pallet unloading component. The suction fixture of the material transfer robot is equipped with a position-adjustable nozzle module, which is adjusted according to the non-screen printing position distribution of the product without damaging the product ink. It can also be provided with a position-adjustable pressing module, which can be set according to the screen printing positioning hole of the product, and the product can be accurately The pressing module 523 can also play the function of shaking the product to ensure that only one product is sucked at a time; the loading platform mechanism is designed with a lifting function, which is used to raise the top product on it to the camera visual height for easy camera recognition; after the cleaning mechanism is turned on, it can rise to the specified height to cooperate with the cleaning mechanism to realize the product cleaning function; the camera is used to identify and read the product position and provide it to the material transfer robot to complete the subsequent actions. At the same time, the camera visual positioning can also be used to monitor whether the product materials are neat and whether they are used up; the material sorting mechanism uses cylinders set on the three sides of the loading platform mechanism to push the push plate to realize material sorting. When the product is discharged or the machine is running, the product is deformed due to some reasons. When the materials are not neat, the material sorting mechanism can be started to sort the materials to reduce manual intervention. Whether the product materials are neat can be judged by camera vision. The cleaning component of the cleaning mechanism adopts a sticky cleaning roller to roll back and forth across the product surface to realize the cleaning function. The front end of the cleaning roller is provided with a floating mechanism to ensure that the cleaning roller and the product surface can fit well. The screen printing loading and unloading machine of the present invention can be matched with the existing semi-automatic screen printing machine to transform it into a fully automatic screen printing machine, making full use of the existing equipment resources to realize the automation of the product screen printing process, and one person can operate multiple devices to reduce labor costs. The tray discharge end of the tray conveying buffer mechanism can also be matched with a curing tunnel furnace to realize a more intelligent product screen printing baking assembly line operation. BRIEF DESCRIPTION OF THE DRAWINGS

[0027] Figure 1 It is a left-side stereogram of the present invention.

[0028] Figure 2 It is a right side perspective view of the present invention.

[0029] Figure 3 It is a front view of the present invention.

[0030] Figure 4 It is a top view of the present invention.

[0031] Figure 5 It is the left side diagram of the present invention.

[0032] Figure 6 It is the right side diagram of the present invention.

[0033] Figure 7 It is a three-dimensional diagram of the frame of the present invention.

[0034] Figure 8 It is a top view of the frame of the present invention.

[0035] Fig. 9 It is a three-dimensional diagram of the tray conveying buffer mechanism of the present invention.

[0036] Fig.10 This is a front view of the tray conveying buffer mechanism of the present invention.

[0037] Fig.11 A top view of the tray conveying and caching mechanism of the present invention.

[0038] Fig.12 This is a left side view of the tray conveying buffer mechanism of the present invention.

[0039] Fig.13 It is a three-dimensional diagram of the pallet loading and unloading mechanism of the present invention.

[0040] Fig.14 It is a front side view of the pallet loading and unloading mechanism of the present invention.

[0041] Fig.15 It is a three-dimensional diagram of the pallet transport mechanism of the present invention.

[0042] Fig.16 It is a front side view of the pallet transport mechanism of the present invention.

[0043] Fig.17 It is a top view of the pallet transport mechanism of the present invention.

[0044] Fig.18 It is a left side view of the pallet transport mechanism of the present invention.

[0045] Fig.19 It is a three-dimensional diagram of the material transfer robot of the present invention.

[0046] Fig. 20 It is a front side view of the material transfer robot of the present invention.

[0047] Fig.21 It is a top view of the material transfer robot of the present invention.

[0048] Fig. 22 It is a three-dimensional diagram of the feeding platform mechanism of the present invention.

[0049] Fig.23 It is a front side view of the feeding platform mechanism of the present invention.

[0050] Fig.24 It is a three-dimensional diagram of the cleaning mechanism of the present invention.

[0051] Fig.25 It is a top view of the cleaning mechanism of the present invention.

[0052] Fig.26 It is a three-dimensional diagram of the material sorting mechanism of the present invention.

[0053] Fig. 27 It is a top view of the material sorting mechanism of the present invention.

[0054] Fig.28 It is a schematic diagram of the use of the present invention. DETAILED DESCRIPTION

[0055] In order to further explain the technical solution of the present invention, the present invention is described in detail below through specific embodiments.

[0056] In the description of the present invention, it should be understood that the terms "center", "longitudinal", "lateral", "up", "down", "front", "back", "left", "right", "vertical", "horizontal", "top", "bottom", "inside", "outside" and the like indicating orientations or positional relationships are based on the orientations or positional relationships shown in the drawings, and are only for the convenience of describing the present invention and simplifying the description, rather than indicating or implying that the device or element referred to must have a specific orientation, be constructed and operated in a specific orientation, and therefore cannot be understood as limiting the present invention. In the description of the present invention, unless otherwise specified, "plurality" means two or more.

[0057] like Figures 1 to 6 As shown, the present invention is a screen printing loading and unloading device, comprising a frame 10, a tray conveying and caching mechanism 20, a tray loading and unloading mechanism 30, a tray conveying mechanism 40, a material transfer manipulator 50 and a loading platform mechanism 60;

[0058] Cooperate Figure 7 and Figure 8As shown, a workbench 11 is arranged above one side of the frame 10, and a pallet loading and unloading space 12 is opened on the other side of the frame 10; the pallet conveying and caching mechanism 20 passes through the pallet loading and unloading space 12 of the frame 10; the pallet loading and unloading mechanism 30 can be moved up and down on the side of the frame 10 corresponding to the pallet loading and unloading space 12, and the pallet loading and unloading mechanism 30 can move up and down relative to the pallet conveying and caching mechanism 20; the pallet transporting mechanism 40 is horizontally mounted on the frame 10 above the corresponding pallet conveying and caching mechanism 20, and the pallet transporting mechanism 40 moves in the space above the pallet loading and unloading mechanism 30; the material moving robot 50 is arranged on the frame 10 on one side of the pallet loading and unloading mechanism 30, and the material moving robot 50 rotates in multiple positions in the space above the frame 10; the loading platform mechanism 60 is arranged on the workbench 11 of the frame 10 and close to the side of the pallet loading and unloading mechanism 30 and the material moving robot 50.

[0059] like Figures 9 to 12 As shown, the tray conveying buffer mechanism 20 includes a mechanism frame 21, a tray discharging conveying assembly 22 and a tray feeding conveying assembly 23; the tray discharging conveying assembly 22 and the tray feeding conveying assembly 23 are arranged side by side on the mechanism frame 21;

[0060] The tray discharging conveying assembly 22 includes a reduction motor 221, a driving wheel 222, a synchronous wheel 223, a tensioning wheel 224 and a synchronous belt 225; the reduction motor 221 is arranged in the middle area of ​​the left outer side of the mechanism frame 21, the output end of the reduction motor 221 is connected to the driving wheel 222, two sets of synchronous wheels 223 are distributed at the front and rear ends of the left upper side of the mechanism frame 21 through the mounting seat according to the four corners of the rectangle, two tensioning wheels 224 are respectively arranged on both sides of the driving wheel 222 in parallel, and two synchronous belts 225 are respectively arranged longitudinally and parallelly at the same The step belt track L is tensioned and sleeved on two sets of synchronous wheels 223, a tensioning wheel 224 and a driving wheel 222; the reduction motor 221 drives the synchronous belt 225 to move forward and backward through the driving wheel 222; the front and rear ends of the pallet discharging conveying assembly 22 are respectively provided with a pallet discharging position 204 and a pallet lowering position 203; the structure of the pallet feeding conveying assembly 23 corresponds to that of the pallet discharging conveying assembly 22, and will not be described separately. Accordingly, the front and rear ends of the pallet feeding conveying assembly 23 are respectively provided with a pallet feeding position 201 and a pallet lifting position 202.

[0061] Further, the tray discharging conveying assembly 22 also includes a tray discharging position sensing module 226, which is arranged on the front end of the mechanism frame 21 between the two sets of synchronous wheels 223, and is used to sense the movement of the tray to the tray discharging position 204; the tray feeding conveying assembly 23 also includes a tray top lifting position sensing module 236, which is arranged on the rear end of the mechanism frame 21 on one side of the tray feeding conveying assembly 23 and is located between its two sets of synchronous wheels 223, or is arranged on the protective cover of the tray loading and unloading mechanism 30 corresponding to the bottom of the tray top lifting position, such as Fig.14 As shown, it is used to sense the movement of the pallet to the pallet top lifting position 202.

[0062] Furthermore, the pallet discharging conveying assembly 22 also includes side baffles 227, and the two side baffles 227 are arranged in parallel above the mechanism frame 21 and are respectively located on the outside of the two synchronous belts 225; the pallet feeding conveying assembly 23 also includes side baffles, and the two side baffles are arranged in parallel above the mechanism frame 21 on the outside of the two synchronous belts of the pallet feeding conveying assembly 23 to protect the pallet.

[0063] like Figure 13 to Figure 14 As shown, the pallet loading and unloading mechanism 30 includes a mechanism fixing plate 31 and a pallet loading assembly 32 and a pallet unloading assembly 33 arranged side by side on both sides in front of the fixing plate 31.

[0064] The tray unloading assembly 33 includes a Y-axis module 331, a linear guide 332 and a tray lifting frame 333; the Y-axis module 331 is vertically arranged on one side of the front side of the mechanism fixing plate 31, and the two linear guides 332 are parallelly arranged on both sides of the Y-axis module 331. The tray lifting frame 333 is fixed on the guide sliders of the two linear guides 332 and connected to the sliders of the Y-axis module 331; the Y-axis module 331 is a screw-type linear module or a synchronous belt linear module, and the Y-axis module 331 drives the tray lifting frame 333 to move vertically up and down along the direction of the linear guide 332; the structure of the tray loading assembly 32 and the tray unloading assembly 33 corresponds to each other and will not be described separately.

[0065] Furthermore, the tray lifting frame 333 includes a slide plate 3331 and a tripod 3332; the slide plate 3331 is mounted on the guide rail sliders of two linear guide rails 332 and connected to the sliders of the Y-axis module 331; the two tripods 3332 are vertically arranged flush on the front side of the slide plate 3331, and a tray can be placed above the two tripods 3332.

[0066] Furthermore, the tray unloading component 33 also includes a lifting frame sensing module 334, and the lifting frame sensing module 334 includes a lifting frame high position sensor 3341, a lifting frame low position sensor 3342, a lifting frame low position limit sensor 3343 and a lifting frame sensing sheet 3344; the lifting frame high position sensor 3341 is arranged on the front side of the mechanism fixing plate 31 and is located at the high position sensing position of the movement track of the tray lifting frame 333, and the lifting frame low position sensor 3342 and the lifting frame low position limit sensor 3343 are respectively arranged The lifting frame sensing sheet 3344 is arranged on the front side surface of the mechanism fixing plate 31 and is located at the low position and low position limit sensing position of the movement trajectory of the pallet lifting frame 333. The lifting frame sensing sheet 3344 is arranged on the side corresponding to the slide plate 3331 and the lifting frame high position sensor 3341 and can vertically sense the lifting frame high position sensor 3341, the lifting frame low position sensor 3342 and the lifting frame low position limit sensor 3343, and is used for sensing the pallet lifting frame 333 at the high position, low position and low position limit of the vertical movement trajectory to protect the pallet unloading component 33.

[0067] Further, if Fig.13 and Figure 7 As shown, the pallet loading and unloading mechanism 30 also includes a pallet loading sensing module 3215 and a pallet unloading sensing module 3315. The pallet loading sensing module 3215 is arranged on the frame 10 on the side close to the pallet loading component 32, and is used to sense that the pallet loading component 32 lifts the topmost pallet of the stacked pallets thereon to the pallet loading position; the pallet unloading sensing module 3315 is arranged on the frame 10 on the side close to the pallet unloading component 33, and is used to sense that the pallet on the pallet unloading component 33 is placed to the pallet unloading position.

[0068] like Figures 15 to 18 As shown, the pallet transport mechanism 40 includes a gantry 41, an X-axis module 42, a transport linear guide 43, and a pallet grabbing assembly 44; the X-axis module 42 is arranged above the gantry 41, and the X-axis module 42 is a screw-type linear module or a synchronous belt linear module, and two transport linear guides 43 are arranged in parallel on the gantry located on both sides of the X-axis module 42, and the pallet grabbing assembly 44 is mounted on the guide sliders of the two transport linear guides 43 and connected to the slider of the X-axis module 42, and the X-axis module 42 drives the pallet grabbing assembly 44 to move horizontally along the transport linear guide 43;

[0069] The pallet grabbing assembly 44 includes a sliding seat 441, a lifting cylinder 442, a lifting slider 443, a transfer column 444, a two-way cylinder 445 and a clamping claw block 446; the sliding seat 441 is mounted on the guide sliders of two transport linear guides 43 and is connected to the slider of the X-axis module 42, the lifting cylinder 442 is arranged on one side above the sliding seat 441, the lifting slider 443 is arranged on the slide of the lifting cylinder 442, the transfer column 444 is arranged on the lifting slider 443, the two-way cylinder 445 is arranged at the bottom end of the transfer column 444, and the two clamping claw blocks 446 are symmetrically arranged on the ends of the movable rods on both sides of the two-way cylinder 445; the lifting cylinder 442 drives the clamping claw block 446 to move vertically up and down, and the two-way cylinder 445 drives the clamping claw block 446 to open and close.

[0070] Furthermore, the pallet grabbing assembly 44 also includes a first buffer 447 and a second buffer 448. The first buffer 44 is arranged on the upper part of the lifting cylinder 442. The second buffer 448 is inverted on the sliding seat 441 and is located below the lifting cylinder 442, and is used to play a buffering role when the lifting slider 43 moves vertically up and down. Further, the pallet transport mechanism 40 also includes a transport sensing module 45. The transport sensing module 45 includes a transport left end sensor 451, a transport right end sensor 452, a transport right end limit sensor 453 and a transport sensing sheet 454; the transport left end sensor 451 is arranged on the front side of the gantry 41 and is located at the left end sensing position of the movement trajectory of the pallet grabbing assembly 44. The transport right end sensor 452 is arranged on the front side of the gantry 41 and is located at the right end of the movement trajectory of the pallet grabbing assembly 44. The transport right end limit sensor 453 is arranged on the front side of the gantry 41 and is located at the right end limit sensing position of the pallet grabbing assembly 44. The transport sensing sheet 454 is arranged on the sliding seat 441, on the side corresponding to the transport left end sensor 451, and can horizontally sense the transport left end sensor 451, the transport right end sensor 452 and the transport right end limit sensor 453, and is used for sensing the pallet grabbing assembly 44 at the left end, right end and right end limit of the horizontal motion trajectory to protect the pallet transport mechanism 40. Figures 19 to 21 As shown, the material transfer robot 50 includes a robot 51 and a material suction fixture 52; the robot 51 is a four-axis robot, the material suction fixture 52 is arranged on the bottom end of the robot 51, and the material suction fixture 52 includes a nozzle mounting frame 521 and a nozzle module 522; the nozzle mounting frame 521 is arranged on the bottom end of the robot 51, and a plurality of nozzle modules 522 can be adjusted to be vertically arranged on the nozzle mounting frame 521, and the nozzle modules 522 can be distributed according to the suction position of the product; the robot 51 can drive the material suction fixture 52 to move in multiple working positions above the frame 10, and the robot 51 can drive the material suction fixture 52 to move vertically up and down and rotate thereunder.

[0071] Furthermore, the suction fixture 52 also includes a pressing module 523, and a plurality of pressing modules 523 can be adjusted and vertically arranged on the suction nozzle mounting frame 521. The pressing modules 523 are distributed according to the silk-screen positioning position of the product, and the pressing modules 523 can be independently controlled; the pressing module 523 includes a cylinder frame 5231, a downward pressing cylinder 5232 and a soft pressing pad 5233; the cylinder frame 5231 can be adjusted and arranged on the suction nozzle mounting frame 521, the downward pressing cylinder 5232 is vertically arranged on the cylinder frame 5231, and the soft pressing pad 5233 is arranged at the bottom end of the movable rod of the downward pressing cylinder 5232; when the product is placed on the specified position of the silk-screen table, the cylinder frame 5231 drives the soft pressing pad 5233 to press down the product positioning hole area , so that the product is placed on the positioning PIN of the silk-screen table. Because the product is flexible, the four corners of the product board are warped. The pressing module 523 is used to position the product on the silk-screen table more accurately. The soft pressure pad 5233 is used to place the product on the positioning PIN without damaging the product. Another function of the pressing module 523 is to start the product shaking function when needed. When the material transfer robot 50 drives the suction fixture 52 to absorb the product, the movable rod of the pressing cylinder 5232 of the pressing module 523 located at a corner of the suction fixture 52 shakes up and down a preset number of times to ensure that only one product is absorbed at a time. Because the products are placed in a stack, when the suction fixture absorbs the product, there may be another product underneath the product.

[0072] like Fig. 22 and Fig.23 As shown, the loading platform mechanism 60 includes a fixed plate 61, a first bearing 62, a first guide column 63, a lifting platform 64, a lifting plate 65, a second bearing 66, a second guide column 67, a motor fixing seat 68, a lifting motor 69 and a screw 610; the fixed plate 61 is arranged on the workbench 11 of the frame 10 and is located on a side close to the tray loading and unloading mechanism 30 and the material transfer manipulator 50, four first bearings 62 are sleeved on the four corners of the fixed plate 61, four first guide columns 63 are respectively sleeved in the four first bearings 62, the lifting platform 64 is arranged on the top ends of the four first guide columns 63, the lifting plate 65 is arranged on the bottom ends of the four first guide columns 63, and the four second bearings 66 are respectively sleeved On the inner side of the four first guide pillars 63 corresponding to the lifting plate 65, the four second guide pillars 67 are respectively sleeved in the four second bearings 66, the top ends of the four second guide pillars 67 are fixedly connected to the bottom of the fixed plate 61, the motor fixing seat 68 is arranged on the bottom ends of the four second guide pillars 67, the lifting motor 69 is inverted below the middle area of ​​the motor fixing seat 68, one end of the screw rod 610 passes through the motor fixing seat 68 and is connected to the output end of the lifting motor 69 through a coupling, the other end of the screw rod 610 passes through the lifting plate 65 and is connected to the bottom of the fixed plate 61, and the screw nut of the screw rod 610 is sleeved on the lifting plate; the lifting motor 69 drives the lifting plate 65 to drive the lifting platform 64 to move vertically up and down.

[0073] Furthermore, the loading platform mechanism 60 also includes a platform sensing module 611, which includes a platform high position sensor 6111, a platform low position sensor 6112, a platform low position limit sensor 6113 and a platform sensing sheet 6114; the platform high position sensor 6111 is arranged on one side below the fixing plate 61, and the platform low position sensor 6112 and the platform low position limit sensor 6113 are respectively arranged above and below the motor fixing seat 68 and vertically opposite to the platform high position sensor 6111. On one side, the platform sensing sheet 6114 is arranged on the side where the lifting plate 65 is vertically aligned with the platform high position sensor 6111 and can vertically sense the platform high position sensor 6111, the platform low position sensor 6112 and the platform low position limit sensor 6113. The upper and lower ends of the platform sensing sheet 6114 are respectively lengthened, and are respectively provided with high and low position limit sensing lengths, which are used for sensing the lifting plate 65 at the high position, low position and low position limit of the vertical motion trajectory to protect the loading platform mechanism 60.

[0074] Further, if Fig. 22 and Figure 7 The loading platform mechanism 60 also includes a loading position sensing module 612, which is arranged on a frame 10 located around the loading platform mechanism 60, and is used to sense that the top layer of the stacked products on the lifting platform 64 has reached the product loading position.

[0075] like Figure 1 and Figure 24 to Figure 25 As shown, the screen printing loading and unloading equipment 1 of the present invention also includes a cleaning mechanism 70, and the cleaning mechanism 70 includes a module fixing frame 71, a linear module 72, a cleaning linear guide 73 and a cleaning component 74; the module fixing frame 71 is longitudinally arranged on the frame 10 and is located on the outside of the loading platform mechanism 60, and the linear module 72 is arranged on the module fixing frame 71, and the linear module 72 is a screw-type linear module or a synchronous belt linear module. Two cleaning linear guides 73 are arranged in parallel on the module fixing frame 71 and are located on both sides of the linear module 72. The cleaning component 74 is mounted on the guide sliders of the two cleaning linear guides 73 and is connected to the slider of the linear module 72. The linear module 72 drives the cleaning component 74 to move forward and backward along the direction of the cleaning linear guide 73.

[0076] Furthermore, the cleaning assembly 74 includes a sliding plate 741, a cantilever wall 742, a cantilever wall pressure block 743, a swing block 744, a cleaning roller 745, a limit block 746 and a buffer pin 747; the sliding plate 741 is mounted on the guide rail sliders of two cleaning linear guide rails 73 and connected to the sliders of the linear module 72, one end of the cantilever wall 742 is set on the sliding plate 741 through two cantilever wall pressure blocks 743, one swing block 744 is set on the cantilever wall 742 on the side of the module fixing frame 71 through a bearing sleeve, and the other swing block 744 is set on the bottom end of the other end of the cantilever wall 742 through a bearing sleeve, and the cleaning roller 745 is set on the inner bottom end of the two swing blocks 744, and the two limit blocks 746 are sleeved on the cantilever wall 742 close to the inner side of the two swing blocks 744, and the limit block 746 and the swing block 744 are buffered and pressed together by the buffer pin 747 to prevent the cleaning roller 745 from swinging at will during cleaning.

[0077] Furthermore, the cleaning mechanism 70 also includes a cleaning sensing module 75; the cleaning sensing module 75 includes a cleaning left end sensor 751, a cleaning right end sensor 752, a cleaning right end limit sensor 753 and a cleaning sensing sheet 754; the cleaning left end sensor 751 is arranged on one side of the module fixing frame 71, and corresponds to the left end sensing position of the movement trajectory of the cleaning component 74, the cleaning right end sensor 752 and the cleaning right end limit sensor 753 are respectively arranged on the module fixing frame 71, and correspond to the right end and right end limit sensing positions of the movement trajectory of the cleaning component 74, the cleaning sensing sheet 754 is arranged on the side corresponding to the sliding plate 741 and the cleaning left end sensor 751 and can horizontally sense the cleaning left end sensor 751, the cleaning right end sensor 752 and the cleaning right end limit sensor 753, and is used to sense when the cleaning component 74 is at the left end, right end and right end limit of the horizontal movement trajectory to protect the cleaning mechanism 70.

[0078] like Figure 2 , Figure 7 , Fig.26 and Fig. 27 As shown, the screen printing loading and unloading equipment 1 of the present invention also includes a material sorting mechanism 80, which includes a first cylinder 81, a second cylinder 82, a third cylinder 83, a first push plate 84, a second push plate 85 and a third push plate 86; the first cylinder 81, the second cylinder 82, and the third cylinder 83 are respectively arranged on the workbench 11 near the rear side and the left and right sides of the loading platform mechanism 60, and the first push plate 84, the second push plate 85 and the third push plate 86 are respectively arranged at the bottom ends of the movable rods of the first cylinder 81, the second cylinder 82, and the third cylinder 83. When a whole stack of products is placed on the lifting platform 64, the first cylinder 81, the second cylinder 82, and the third cylinder 83 respectively drive the first push plate 84, the second push plate 85 and the third push plate 86 to collect and sort the whole stack of products neatly.

[0079] Furthermore, the silk-screen loading and unloading equipment 1 of the present invention also includes a camera (not shown in the figure), which is arranged on the corresponding outer cover frame above the loading platform mechanism 60 (not shown in the figure), and the camera can identify the topmost product placed on the lifting platform 64. When the camera visually determines that the product position is offset, the material sorting mechanism 80 is started to sort a stack of products neatly; after the products are sorted, the camera visually determines the product position again, and feeds back the product position to the material transfer robot 50. If the product is still offset, the material transfer robot 50 absorbs the product and performs rotation correction, and then moves the product to the silk-screen printing table.

[0080] When using, Fig.28 and Fig.11As shown, the screen printing loading and unloading equipment 1 of the present invention is installed on one side of the screen printing platform 300 of the semi-automatic screen printing machine 2. In the initial state, the tray lifting frame of the tray loading assembly 32 of the tray loading and unloading mechanism 30 is below the mechanism frame 21 of the tray conveying buffer mechanism 20, and the tray lifting frame 333 of the tray unloading assembly 33 is in the highest position; the whole stack of products to be screen printed is neatly placed on the lifting platform 64 of the loading platform mechanism 60, and the whole stack of empty pallets 100 is placed on the pallet feeding position 201 of the pallet feeding conveying assembly 23; start the present invention, the pallet feeding conveying assembly 23 conveys the whole stack of empty pallets 100 to the pallet top lifting position 202 through its synchronous belt 225, and the pallet loading assembly 32 drives its pallet lifting frame to The whole stack of empty pallets 100 is lifted and raised. When the top empty pallet 100 rises to the specified position, the pallet loading sensing module 3215 is used to determine whether it has reached the specified position. After confirming the specified position, the pallet transporting mechanism 40 drives the pallet grabbing assembly 45 to transport the top empty pallet 100 of the pallet loading assembly 32 to the pallet lifting frame 333 of the pallet unloading assembly 33 through the clamping claw block 455. The pallet lifting frame 333 descends by a pallet height to wait for the product to be placed. The pallet loading assembly 32 drives its pallet lifting frame to rise by a pallet height again to wait for the pallet to be transported again. The pallet grabbing assembly 45 returns to the initial position and waits. The loading platform mechanism 60 lifts the top layer of the whole stack of products on the lifting platform 64 to the specified After the product reaches the camera's visual height, the loading position sensing module 612 is used to determine whether it has reached the specified height. After the product reaches the camera's visual height, the camera's visual position is used to determine the product's position. When the camera's visual position determines that the product is offset, the material sorting mechanism 80 is started to sort the product neatly. The camera visually determines the product's position again and feeds the product's position back to the material moving robot 50. The material moving robot 50 drives the suction fixture 51 to move to the lifting platform 64 to absorb the product and then perform rotation correction. If necessary, the product shaking function can be turned on. The movable rod of the pressing cylinder 5232 of the pressing module 523 located at a corner of the suction fixture 52 shakes up and down for a preset number of times to ensure that only one product is absorbed at a time. The product is then moved to the screen printing table 300 and the suction fixture is used. The pressing module 523 on 51 positions the product more accurately on the screen printing table 300. At the same time, the lifting platform 64 lifts the product again to perform subsequent product identification and material sorting actions, waiting for the material transfer robot 50 to absorb the product again; the semi-automatic screen printing machine 2 performs screen printing. After the product screen printing is completed, the material transfer robot 50 drives the suction fixture 51 to move to the screen printing table 300 to absorb the product and transport it to the top empty pallet 100 of the pallet lifting frame 333 of the pallet unloading component 33; the pallet transporting mechanism 40 drives the pallet grabbing component 45 again to transport the top empty pallet 100 of the pallet loading component 32 to the pallet lifting frame 333 of the pallet unloading component 33, and the pallet lifting frame 333 is lowered by a pallet height again;When the pallets above the pallet lifting frame 333 of the pallet unloading assembly 33 are full, the pallet lifting frame 333 continues to descend and places the whole stack of pallets with the manufactured products on the pallet descending position 203 of the pallet unloading conveying assembly 22. The pallet unloading conveying assembly 22 drives the synchronous belt 225 to convey the whole stack of pallets with the manufactured products to the pallet unloading position 204. Then the pallet lifting frame 333 rises to the highest position to wait for receiving the pallets and the products. When the pallet above the pallet lifting frame of the pallet loading assembly 32 is empty, the pallet loading assembly 32 drives its pallet lifting frame to descend to the pallet delivery position The feed buffer mechanism 20 is sent to the bottom of the mechanism frame 21, waiting for the tray feeding conveying assembly 23 to convey a whole stack of empty trays again; when the product cleaning function needs to be turned on, the feeding platform mechanism 60 lifts the top product of the lifting platform 64 to the designated position, and then starts the cleaning mechanism 70. The cleaning mechanism 70 drives the cleaning assembly 74 to the top of the product so that the cleaning roller 745 contacts the product and rolls back and forth across the surface of the product to remove the dust on the surface of the product. The cleaning assembly 74 returns to the initial position to wait for instructions, and the lifting platform 64 drives the top product back to the camera visual height to perform subsequent actions such as recognizing the product. ;

[0081] After adopting the above scheme, the pallet conveying and buffering mechanism 20 used in the silk-screen loading and unloading equipment of the present invention is designed with independently controlled pallet discharging conveying components 22 and pallet feeding conveying components 23. After the whole stack of empty pallets placed on the pallet feeding conveying component 23 is transferred to the pallet lifting frame of the pallet loading component 32, another whole stack of empty pallets can be placed on the pallet feeding position 201 for standby use, thereby reducing the waiting time; the pallet loading and unloading mechanism 30 is designed with independently controlled pallet loading component 32 and pallet unloading component 33, both of which are equipped with pallet lifting frames, and both can be lowered to the bottom of the mechanism frame 21 of the pallet conveying and buffering mechanism 20, so that the pallet loading component 32 can receive the whole stack of empty pallets conveyed by the pallet feeding conveying component 23, and send the whole stack of pallets with manufactured products placed on them back to The material transfer is realized on the tray discharge conveying assembly 22; the tray handling mechanism 40 is designed with a tray grabbing assembly 45, and the tray grabbing assembly 45 adopts a clamping claw block 455 to open and close to grab and place the tray, and transport the tray from the tray loading assembly 32 to the tray unloading assembly 33; the manipulator 51 of the material transfer robot 50 adopts a four-axis manipulator, which can flexibly transport products above the lifting platform 64, the screen printing table 300, and the tray unloading assembly 33. The product recognized by the camera is sucked from the lifting platform 64 to the screen printing table 300, and the screen-printed product is transported from the screen printing table 300 to the empty tray of the tray unloading assembly 33. The suction fixture 52 of the material transfer robot 50 is provided with a nozzle module 522 with an adjustable position, which is divided into two parts according to the non-screen printing position of the product. The cloth can be adjusted without damaging the product ink. A position-adjustable pressing module 523 can also be provided. According to the setting of the product silk-screen positioning hole, the product can be accurately placed on the positioning PIN of the silk-screen platform. The pressing module 523 can also play a product shaking function to ensure that only one product is sucked at a time; the feeding platform mechanism 60 is designed with a lifting function, which is used to raise the top product on it to the camera visual height for easy camera recognition; after the cleaning mechanism 70 is turned on, it can rise to the specified height to cooperate with the cleaning mechanism 70 to realize the product cleaning function; the camera is used to identify and read the product position and provide it to the material transfer robot 50 to complete the subsequent actions. At the same time, the camera visual positioning can also be used to monitor whether the product materials are neat and whether they are used up; the material sorting mechanism 80 is used on the feeding platform Cylinders are arranged on the three sides of the mechanism 60 to push the push plate to realize material sorting. When the product materials are not neat due to some reasons during the product discharge or the operation of the machine, the material sorting mechanism can be started to sort the materials to reduce manual intervention. Whether the product materials are neat can be judged by camera vision; the cleaning component 74 of the cleaning mechanism 70 adopts a sticky cleaning roller 745 to roll back and forth across the product surface to realize the cleaning function. The front end of the cleaning roller 745 is provided with a floating mechanism to ensure that the cleaning roller 745 can be well fitted with the product surface; the screen printing loading and unloading machine of the present invention can be matched with the existing semi-automatic screen printing machine to transform it into a fully automatic screen printing machine, making full use of the existing equipment resources to realize the automation of the product screen printing process, and one person can operate multiple devices to reduce labor costs;The tray discharging end of the tray conveying and caching mechanism 20 can also be matched with a curing tunnel furnace to realize a more intelligent product screen printing and baking production line operation. ;

[0082] The above embodiments and drawings do not limit the product form and style of the present invention. Any appropriate changes or modifications made by ordinary technicians in the relevant technical field should be deemed to be within the patent scope of the present invention.

Claims

1. A screen printing loading and unloading device, characterized in that: include: The pallet loading and unloading mechanism is a material handling mechanism which is arranged on a pallet conveying and caching mechanism, and a pallet unloading and loading mechanism is arranged on a pallet conveying and caching mechanism. The mechanism includes a gantry, an X-axis module, a transport linear guide rail, and a pallet grabbing assembly; the X-axis module is arranged above the gantry, and two transport linear guide rails are arranged in parallel on the gantry located on both sides of the X-axis module. The pallet grabbing assembly is mounted on the guide rail sliders of the two transport linear guide rails and connected to the sliders of the X-axis module, and the X-axis module drives the pallet grabbing assembly to move horizontally along the transport linear guide rails; the material transfer manipulator is arranged on the frame on one side of the pallet loading and unloading mechanism, and the material transfer manipulator rotates in multiple positions in the space above the frame, and the material transfer manipulator includes a manipulator and a material suction fixture; the manipulator is a four-axis manipulator, and the material suction fixture is arranged on the bottom end of the manipulator, and the material suction fixture includes a nozzle mounting frame and a nozzle module; the nozzle mounting frame is arranged on the bottom end of the manipulator, and a plurality of nozzle modules can be adjusted vertically arranged on the nozzle mounting frame; the loading platform mechanism is arranged on the workbench of the frame and close to the pallet loading and unloading mechanism and the side of the material transfer manipulator; The pallet conveying and caching mechanism also includes a mechanism frame; a pallet discharging conveying assembly and a pallet feeding conveying assembly are arranged side by side on the mechanism frame; the pallet unloading assembly includes a Y-axis module, a linear guide rail and a pallet lifting frame; the Y-axis module is vertically arranged on one side of the front side of the mechanism fixing plate, and two linear guide rails are parallelly arranged on both sides of the Y-axis module, the pallet lifting frame is fixed on the guide rail sliders of the two linear guide rails and connected to the slider of the Y-axis module, and the Y-axis module drives the pallet lifting frame to move vertically up and down along the linear guide direction; the pallet lifting frame includes a slide plate and a tripod, the slide plate is mounted on the guide rail sliders of the two linear guide rails and connected to the slider of the Y-axis module; the two tripods are vertically arranged flush on the front side of the slide plate, and the pallet is placed above the two tripods; the structure of the pallet loading assembly is the same or corresponding to that of the pallet unloading assembly.

2. The screen printing loading and unloading equipment according to claim 1, characterized in that: The pallet discharging conveying assembly includes a reduction motor, a driving wheel, a synchronous wheel, a tensioning wheel and a synchronous belt; the reduction motor is arranged in the middle area of ​​the left outer side of the mechanism frame, the output end of the reduction motor is connected to the driving wheel, and two sets of synchronous wheels are distributed on the front and rear ends of the left side above the mechanism frame according to the four corners of a rectangle through mounting seats, and two tensioning wheels are arranged on both sides above the driving wheel in parallel, and two synchronous belts are respectively tensioned and sleeved on the two sets of synchronous wheels, the tensioning wheel and the driving wheel in parallel and longitudinally according to the synchronous belt trajectory; the reduction motor drives the synchronous belt to move forward and backward through the driving wheel; the structure of the pallet feeding conveying assembly is the same or corresponding to that of the pallet discharging conveying assembly; the pallet discharging conveying assembly also includes a pallet discharging position sensing module, which is arranged on the mechanism frame below the pallet discharging position, for sensing the pallet moving to the pallet discharging position; the pallet feeding conveying assembly also includes a pallet top lifting position sensing module, which is arranged on the mechanism frame below the pallet top lifting position, for sensing the pallet moving to the pallet top lifting position.

3. The screen printing loading and unloading equipment according to claim 1, characterized in that: The pallet loading and unloading mechanism also includes a pallet loading sensing module and a pallet unloading sensing module. The pallet loading sensing module is arranged on a rack close to one side of the pallet loading component, and is used to sense that the pallet loading component lifts the topmost pallet of the stacked pallets thereon to the pallet loading position; the pallet unloading sensing module is arranged on a rack close to one side of the pallet unloading component, and is used to sense that the pallet on the pallet unloading component is placed at the pallet unloading position.

4. The screen printing loading and unloading equipment according to claim 1, characterized in that: The pallet grabbing assembly includes a sliding seat, a lifting cylinder, a lifting slider, a transfer column, a two-way cylinder, and a clamping claw block; the sliding seat is mounted on the guide sliders of two transport linear guides and is connected to the slider of the X-axis module, the lifting cylinder is arranged on one side above the sliding seat, the lifting slider is arranged on the slide table of the lifting cylinder, the transfer column is arranged on the lifting slider, the two-way cylinder is arranged at the bottom end of the transfer column, and the two clamping claw blocks are symmetrically arranged on the ends of the movable rods on both sides of the two-way cylinder; the lifting cylinder drives the clamping claw block to move vertically up and down, and the two-way cylinder drives the clamping claw block to open and close left and right.

5. The screen printing loading and unloading equipment according to claim 1, characterized in that: The loading platform mechanism includes a fixed plate, a first bearing, a first guide column, a lifting platform, a lifting plate, a second bearing, a second guide column, a motor fixed seat, a lifting motor and a screw rod; the fixed plate is arranged on the workbench of the frame and is located on a side close to the pallet loading and unloading mechanism and the material shifting manipulator, four first bearings are sleeved on the four corners of the fixed plate, four first guide columns are respectively sleeved in the four first bearings, the lifting platform is arranged on the top of the four first guide columns, the lifting plate is arranged on the bottom of the four first guide columns, four second bearings are respectively sleeved on the inner side of the four first guide columns corresponding to the lifting plate, four second guide columns are respectively sleeved in the four second bearings, the tops of the four second guide columns are fixedly connected to the bottom of the fixed plate, the motor fixed seat is arranged on the bottom of the four second guide columns, the lifting motor is inverted below the middle area of ​​the motor fixed seat, one end of the screw rod passes through the motor fixed seat and is connected to the output end of the lifting motor through a coupling, the other end of the screw rod passes through the lifting plate and is connected to the bottom of the fixed plate, and the screw nut of the screw rod is sleeved on the lifting plate; the lifting motor drives the lifting plate to drive the lifting platform to move vertically up and down.

6. The screen printing loading and unloading equipment according to claim 5, characterized in that: The loading platform mechanism also includes a platform sensing module; the platform sensing module includes a platform high-position sensor, a platform low-position sensor, a platform low-position limit sensor and a platform sensing sheet; the platform high-position sensor is arranged on one side below the fixed plate, and the platform low-position sensor and the platform low-position limit sensor are respectively arranged on the side above and below the motor fixing seat and vertically aligned with the platform high-position sensor, the platform sensing sheet is arranged on the side of the lifting plate vertically aligned with the platform high-position sensor and can vertically sense the platform high-position sensor, the platform low-position sensor and the platform low-position limit sensor, the upper and lower ends of the platform sensing sheet are respectively lengthened, and are respectively provided with high-position and low-position limit sensing lengths, which are used for sensing the lifting plate at the high, low and low-position limits of the vertical motion trajectory to protect the loading platform mechanism; the loading platform mechanism also includes a loading position sensing module, which is arranged on a rack located around the loading platform mechanism, and is used to sense that the highest layer of the stacked products on the lifting platform has reached the product loading position.

7. The screen printing loading and unloading equipment according to claim 1, characterized in that: It also includes a cleaning mechanism, which includes a module fixing frame, a linear module, a cleaning linear guide rail and a cleaning component; the module fixing frame is longitudinally arranged on a frame outside the loading platform mechanism, the linear module is arranged on the module fixing frame, and two cleaning linear guide rails are arranged in parallel on the module fixing frame on both sides of the linear module. The cleaning component is mounted on the guide rail sliders of the two cleaning linear guide rails and is connected to the sliders of the linear module, and the linear module drives the cleaning component to move forward and backward along the direction of the cleaning linear guide rails.

8. The screen printing loading and unloading equipment according to claim 7, characterized in that: The cleaning component includes a sliding plate, a cantilever, a cantilever pressure block, a swing block, a cleaning roller, a limit block and a buffer pin; the sliding plate is mounted on the guide sliders of two cleaning linear guides and is connected to the slider of the linear module, one end of the cantilever is set on the sliding plate through two cantilever pressure blocks, one swing block is set on the cantilever close to the module fixing frame side through a bearing sleeve, and the other swing block is set on the bottom end of the other end of the cantilever through a bearing sleeve, the cleaning roller is set on the inner bottom end of the two swing blocks, the two limit blocks are set on the cantilever close to the inner side of the two swing blocks, and the limit block and the swing block are buffered and pressed together through the buffer pin.

9. The screen printing loading and unloading equipment according to claim 1, characterized in that: It also includes a material sorting mechanism, which includes a first cylinder, a second cylinder, a third cylinder, a first push plate, a second push plate, a third push plate and a camera; the first cylinder, the second cylinder and the third cylinder are respectively arranged on the workbench close to the rear side and the left and right sides of the feeding platform mechanism, the first push plate, the second push plate and the third push plate are respectively arranged at the bottom ends of the movable rods of the first cylinder, the second cylinder and the third cylinder; when the whole stack of products is placed on the lifting platform, the first cylinder, the second cylinder and the third cylinder respectively drive the first push plate, the second push plate and the third push plate to sort the whole stack of products neatly; the camera is arranged on the corresponding frame above the feeding platform mechanism.

10. The screen printing loading and unloading equipment according to claim 1, characterized in that: The device also includes a camera, which is arranged above the loading platform mechanism and is used for visually identifying the position of the uppermost product on the loading platform mechanism.

11. The screen printing loading and unloading equipment according to any one of claims 1 to 10, characterized in that: The suction jig also includes a pressing module. Multiple pressing modules can be adjusted and distributed vertically on the suction nozzle mounting frame. The pressing module includes a cylinder frame, a downward pressure cylinder and a soft pressure pad. The cylinder frame can be adjusted on the suction nozzle mounting frame, the downward pressure cylinder is vertically arranged on the cylinder frame, and the soft pressure pad is arranged at the bottom end of the movable rod of the downward pressure cylinder. When the product is placed on the specified position of the silk screen printing table, the cylinder frame drives the soft pressure pad to press down the product positioning hole area, so that the product is positioned on the positioning PIN of the silk screen printing table.

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