AOI Automatic Loading and Unloading Machine

Abstract

The present invention discloses an AOI automatic board loading and unloading machine, which comprises a feeding mechanism, a suction and lifting mechanism, a conveying mechanism, a positioning mechanism, a grasping mechanism, a detection mechanism, a discharging mechanism and a bracket. The feeding mechanism, the suction and lifting mechanism, the conveying mechanism, the positioning mechanism, the grasping mechanism, the detection mechanism and the discharging mechanism are all fixed inside the bracket. In the present invention, the PCB board is transported to the feeding mechanism, transferred to the conveying mechanism by the suction and lifting mechanism, the positioning mechanism detects the position of the PCB board and transmits the position information to the grasping mechanism, the grasping mechanism grasps the PCB board according to the received position information and sends it to the vision detection mechanism for vision detection, and the detected PCB board undergoes the next process through the discharging mechanism. The whole process realizes automation, saves working time and improves working efficiency.

Description

Technical Field

[0001] The present invention belongs to the technical field of PCB board production and manufacturing, and specifically relates to an AOI automatic board loading and unloading machine. Background Art

[0002] At present, in the production process of PCB boards, in the inner and outer layer AOI (Automatic Optical Inspection) process, a one-to-one human-machine collaboration mode is adopted to realize actions such as board picking, board placing, separator paper picking, board surface cleaning, and operating equipment in the AOI inspection process. The on-site production process actions are designed based on manual operations, so there are certain limitations in improving production; because there are many uncertain factors in manual operations, defects such as board warping, creases, incomplete board surface cleaning, and misjudgment will occur during the production process.

[0003] Regarding the impact of the current manufacturing environment, the increasing labor costs year by year, the need to continuously reduce manufacturing costs, and the continuous improvement of product quality requirements, automated equipment that can reduce manual operations, lower manufacturing costs, and improve product quality and advanced production processes matching it are required. Summary of the Invention

[0004] The purpose of the present invention is to provide an AOI automatic board loading and unloading machine, which realizes full automation of production.

[0005] The technical solution adopted by the present invention is an AOI automatic board loading and unloading machine, which includes a feeding mechanism, a suction and lifting mechanism, a conveying mechanism, a positioning mechanism, a grasping mechanism, a detection mechanism, a discharging mechanism, and a bracket. The feeding mechanism, the suction and lifting mechanism, the conveying mechanism, the positioning mechanism, the grasping mechanism, the detection mechanism, and the discharging mechanism are all fixed inside the bracket;

[0006] The PCB board is at the feeding mechanism, transferred to the conveying mechanism by the suction and lifting mechanism, the positioning mechanism detects the position of the PCB board and transmits the position information to the grasping mechanism, and the grasping mechanism grasps the PCB board to the vision detection mechanism for vision detection according to the received position information. The detected PCB board undergoes the next process through the discharging mechanism.

[0007] The characteristics of the present invention also lie in that

[0008] The suction and lifting mechanism includes a lifting component, a translation component, and a suction component. The suction component is installed on the translation component, and the translation component is installed on the lifting component; the suction component sucks the PCB board, and the lifting component and the translation component drive the suction component to move back and forth and left and right to move the PCB board to the conveying mechanism.

[0009] It further includes a dust sticking machine, which is arranged between the conveying mechanism and the positioning mechanism to remove dust on the PCB board.

[0010] The positioning mechanism includes a positioning and conveying component and a CCD positioning component. The positioning and conveying component is arranged below the CCD positioning component and is used to limit and fix the PCB board. The CCD positioning component is provided with three positions for grasping three corners of the PCB board.

[0011] The grasping mechanism includes a six-axis manipulator, a manipulator suction and lifting component, a turning plate component and a motor. The manipulator suction and lifting component is arranged on the six-axis manipulator, and the turning plate component is used to turn over the PCB board.

[0012] The motor adjusts the span between adjacent suction nozzles of the manipulator suction and lifting component according to the positions of three corners of the PCB board grasped by the CCD positioning component. The six-axis manipulator grasps the PCB board to perform detection on one side, and then turns it over through the turning plate component to perform detection on the other side.

[0013] The detection mechanism includes an AOI front table and an AOI back table, and the AOI front table and the AOI back table are respectively used to detect the front and back sides of the PCB board.

[0014] The positioning and conveying component includes a conveying support, a positioning baffle, a return baffle, a photoelectric inductor and rollers. At least two rollers are provided and are evenly arranged in the conveying support. The positioning baffle spans at least two rollers and is arranged along the radial direction of the rollers. The return baffle is arranged between two adjacent rollers, and the photoelectric inductor is fixed on any one roller for sensing the PCB board.

[0015] The conveying mechanism is a belt conveying mechanism, and an inductor is arranged thereon.

[0016] It further includes an AGV conveying cart, which is used to convey the PCB board. It includes a cart body, an anti-collision rubber strip and a laser detection device, and both the anti-collision rubber strip and the laser detection device are arranged at the front end of the cart body.

[0017] The discharging mechanism includes a discharging rubber tray, a rubber tray lifting component and a discharging conveying component. The rubber tray lifting component is arranged above the discharging rubber tray and is used to drive the discharging rubber tray to move up and down. The discharging conveying component is arranged below the discharging rubber tray.

[0018] Compared with the prior art, when the present invention is used, the PCB board is transported to the feeding mechanism, transferred to the conveying mechanism by the suction and lifting mechanism, the positioning mechanism detects the position of the PCB board and transmits the position information to the grasping mechanism. The grasping mechanism grasps the PCB board according to the received position information and sends it to the vision detection mechanism for vision detection. The detected PCB board undergoes the next process through the discharging mechanism. The whole process realizes automation, saves working time and improves working efficiency. Description of the Drawings

[0019] Figure 1 is a schematic structural diagram of the AOI automatic board loading and unloading machine provided by an embodiment of the present invention;

[0020] Figure 2 is a schematic structural diagram of the AOI automatic board loading and unloading machine in another direction provided by an embodiment of the present invention;

[0021] Figure 3 is a schematic structural diagram of the AOI automatic board loading and unloading machine in another direction provided by an embodiment of the present invention;

[0022] Figure 4 is a plan view of the AOI automatic board loading and unloading machine provided by an embodiment of the present invention;

[0023] Figure 5 is another plan view of the AOI automatic board loading and unloading machine provided by an embodiment of the present invention;

[0024] Figure 6 is a schematic structural diagram of the AGV transport trolley in the AOI automatic board loading and unloading machine provided by an embodiment of the present invention;

[0025] Figure 7 is a schematic structural diagram of the storage in the AOI automatic board loading and unloading machine provided by an embodiment of the present invention;

[0026] Figure 8 is a schematic structural diagram of the alignment conveying component in the AOI automatic board loading and unloading machine provided by an embodiment of the present invention;

[0027] Figure 9 is a schematic structural diagram of the conveying mechanism in the AOI automatic board loading and unloading machine provided by an embodiment of the present invention;

[0028] Figure 10 is a schematic structural diagram of the manipulator suction and lifting component in the AOI automatic board loading and unloading machine provided by an embodiment of the present invention;

[0029] Figure 11 is a schematic structural diagram of the glue tray lifting component in the AOI automatic board loading and unloading machine provided by an embodiment of the present invention;

[0030] Figure 12 is a schematic structural diagram of the AOI positive table surface in the AOI automatic board loading and unloading machine provided by an embodiment of the present invention;

[0031] Figure 13 is a schematic structural diagram of the AOI reverse table surface in the AOI automatic board loading and unloading machine provided by an embodiment of the present invention;

[0032] Figure 14 is a schematic structural diagram of the board turning component in the AOI automatic board loading and unloading machine provided by an embodiment of the present invention.

[0033] Figure 15This is a schematic structural diagram of the translation component in the AOI automatic board loading and unloading machine provided by the embodiments of the present invention. Detailed implementation manners

[0034] In order to make the objectives, technical solutions and advantages of the present invention clearer and more understandable, the present invention will be further described in detail below with reference to the accompanying drawings and embodiments. It should be understood that the specific embodiments described herein are only used to explain the present invention and are not used to limit the present invention.

[0035] The embodiments of the present invention provide an AOI automatic board loading and unloading machine, as Figures 1-5 shown, which includes a feeding mechanism 1, a suction and lifting mechanism 2, a conveying mechanism 3, a positioning mechanism 4, a grasping mechanism 5, a detection mechanism 6, a discharging mechanism 7 and a bracket 8. The feeding mechanism 1, the suction and lifting mechanism 2, the conveying mechanism 3, the positioning mechanism 4, the grasping mechanism 5, the detection mechanism 6 and the discharging mechanism 7 are all fixed inside the bracket 8;

[0036] In this way, with the above structure, the PCB board is at the feeding mechanism 1, transferred to the conveying mechanism 3 by the suction and lifting mechanism 2. The positioning mechanism 4 detects the position of the PCB board and transmits the position information to the grasping mechanism 5. The grasping mechanism 5 grasps the PCB board according to the received position information and moves it to the vision detection mechanism 6 for vision detection. The detected PCB board undergoes the next process through the discharging mechanism 7.

[0037] The suction and lifting mechanism 2 includes a lifting component 21, a translation component 22 and a suction component 23. The suction component 23 is installed on the translation component 22, and the translation component 22 is installed on the lifting component 21; the suction component 23 sucks the PCB board, and the lifting component 21 and the translation component 22 drive the suction component 23 to move back and forth and left and right to move the PCB board to the conveying mechanism 3.

[0038] In this way, the lifting component 21 moves up and down, driving the translation component 22 arranged on the lifting component 21 to move up and down. After moving to a suitable height, the translation component 22 moves left and right, driving the suction component 23 installed on the translation component 22 to move, so that it sucks and lifts the PCB board from the suction cup at the loading station to the conveying mechanism 3 and sucks and lifts the separator paper into the carrier of the discharging mechanism 7 at the loading station.

[0039] It further includes a dust sticking machine 9, and the dust sticking machine 9 is arranged between the conveying mechanism 3 and the positioning mechanism 4; in this way, the dust on the PCB board can be removed through the dust sticking machine 9, making it have better performance.

[0040] The positioning mechanism 4 includes a positioning and conveying component 41 and a CCD positioning component 42. The positioning and conveying component 41 is arranged below the CCD positioning component 42 to limit and fix the PCB board, and the CCD positioning component 42 is provided with three for grasping the positions of three corners of the PCB board;

[0041] The CCD positioning component 42 is responsible for accurately positioning the PCB on the alignment and conveying component 41 after alignment, laying the foundation for the grasping mechanism 5 to find the position of the PCB and grasp the PCB.

[0042] Such as Figure 10 shown, the grasping mechanism 5 includes a six-axis manipulator 51, a manipulator suction and lifting component 52, a turning plate component 53 and a motor. The manipulator suction and lifting component 52 is arranged on the six-axis manipulator 51, and the turning plate component 53 is used to turn over the PCB.

[0043] In this way, with the above structure, the motor adjusts the span between adjacent suction nozzles of the manipulator suction and lifting component 52 according to the positions of three corners of the PCB grasped by the CCD positioning component 42. The six-axis manipulator 51 grasps the PCB for inspection on one side, and then turns it over through the turning plate component 53 for inspection on the other side.

[0044] Such as Figure 12 and 13 shown, the inspection mechanism 6 includes an AOI front table 61 and an AOI back table 62. The AOI front table 61 and the AOI back table 62 are respectively used to inspect the front and back sides of the PCB.

[0045] Such as Figure 8 shown, the alignment and conveying component 41 includes a conveying bracket 411, an alignment baffle 412, a return baffle 413, a photoelectric inductor 414 and rollers 415. At least two rollers 415 are arranged and evenly arranged in the conveying bracket 411. The alignment baffle 412 straddles at least two rollers 415 and is arranged along the radial direction of the rollers 415. The return baffle 413 is arranged between two adjacent rollers 415. The photoelectric inductor 414 is fixed on any one of the rollers 415 to sense the PCB.

[0046] Such as Figure 9 shown, the conveying mechanism 3 is a belt conveying mechanism, on which an inductor 31 is arranged.

[0047] Such as Figure 6 shown, it further includes an AGV conveying trolley 10. The AGV conveying trolley 10 is used to convey the PCB. It includes a trolley body 101, a collision-proof rubber strip 102 and a laser detection device 103. The collision-proof rubber strip 102 and the laser detection device 103 are both arranged at the front end of the trolley body 101.

[0048] In addition, the AGV conveying trolley 10 also has functions such as a horn, a power-off switch, a touch screen, and a power display.

[0049] The AGV transfer cart 10 is responsible for the function of loading and unloading the trays and PCB boards, and is responsible for transporting the materials from the warehouse to the feeding port; and when the tray at the unloading station is full of materials, it transports the materials from the discharging port to the warehouse station.

[0050] As Figure 4 and Figure 11 shown, the discharging mechanism 7 includes a discharging rubber tray 71, a discharging conveying assembly 72 and a rubber tray lifting assembly 73. The rubber tray lifting assembly 73 is arranged above the discharging rubber tray 71 to drive the discharging rubber tray 71 to move up and down, and the discharging conveying assembly 72 is arranged below the discharging rubber tray 71.

[0051] In addition, as Figure 7 shown, the warehouse is of a double-layer structure and is responsible for storing the materials before feeding and after inspection.

[0052] The feeding mechanism 1 includes a feeding rubber tray, a feeding conveying assembly and a feeding rubber tray lifting assembly. The feeding rubber tray lifting assembly is arranged above the feeding rubber tray to drive the feeding rubber tray to move up and down, and the feeding conveying assembly is arranged below the feeding rubber tray.

[0053] The AGV transfer cart 10 transports the BOX from the warehouse to the loading station. The conveying rollers on the AGV transfer cart 10 transport the BOX (including the PCB board and the separator paper, and the PCB board and the separator paper are stacked alternately) to the conveying mechanism 3. After the sensor 31 arranged on the conveying mechanism 3 senses that the BOX (including the PCB and the separator paper) enters the conveying mechanism 3, the belt conveying mechanism transports the BOX into the loading station. The lifting assembly 21 drags the conveying platform to rise to the board-taking height, the translation assembly 22 moves horizontally, the suction assembly 23 grabs the topmost separator paper, and then the lifting assembly 21 rises and translates, and places the separator paper into the empty BOX of the discharging mechanism 7 (the receiving BOX, at the beginning, there is no PCB board or separator paper in this BOX). The translation assembly 22 moves horizontally and uses the suction assembly 23 to grab the PCB board in the BOX. After the lifting assembly 21 rises, it moves horizontally through the translation assembly 22 to the conveying mechanism 3, and places the PCB board into the BOX of the conveying mechanism 3 through the suction assembly 23;

[0054] Before the belt conveyor mechanism conveys the PCB board to in front of the dust sticking machine 9, after the inductor 31 at the outlet of the belt conveyor mechanism senses the PCB board, an instruction is sent to the dust sticking machine 9, and the dust sticking machine 9 rotates. The PCB board passes through the dust sticking machine 9 and reaches the alignment conveyor component 41. After the PCB reaches the rear section of the alignment conveyor component 41 and is sensed by the photoelectric inductor 414, the roller 415 on the alignment conveyor component 41 reverses, and the PCB board is conveyed back. At this time, the return baffle 413 at the front end of the alignment conveyor component 41 rises to block the PCB board. At this time, the photoelectric inductor 414 senses that the PCB board has reached the alignment position. The CCD positioning component 42 grabs the positions of three corners of the PCB board and sends an instruction to the six-axis manipulator 51 through a program. The six-axis manipulator 51 grabs the PCB board at the specified position according to the information given by the CCD positioning component 42. The manipulator suction and lifting component 52 of the six-axis manipulator 51 will send an instruction to the motor according to the size of the PCB board to automatically adjust the span between the suction nozzles of the suction cups;

[0055] After the manipulator suction and lifting component 52 grabs the PCB board, the six-axis manipulator 51 translates along the Y-axis direction to the AOI positive table 61 and waits for the AOI vision detection system to detect; after the detection is completed, the manipulator suction and lifting component 52 grabs the PCB board on the AOI positive table 61 and moves above the AOI negative table 62. During the movement of the six-axis manipulator 51, the manipulator suction and lifting component 52 rotates 180°. The manipulator suction and lifting component 52 moves close to the flipping component 53, and the manipulator suction and lifting component 52 hands over the PCB board to the flipping component 53. The six-axis manipulator 51 descends and grabs the PCB board that has been detected on the reverse side. The six-axis manipulator 51 returns along the original route, and the manipulator suction and lifting component 52 places the PCB board into the BOX of the discharging mechanism 7. During this process, the flipping component 53 rotates 90°, flips the PCB board from the AOI positive table 61 and places it on the AOI negative table 62 for AOI vision detection;

[0056] When the BOX stack on the discharging glue tray 71 is full, the glue tray lifting component 73 descends, and through the discharging conveyor component 72, it conveys the BOX full of PCB boards and separator paper to the AGV conveyor trolley, and the AGV conveyor trolley conveys the full BOX to the next working station.

[0057] Compared with the prior art, in the present invention, the PCB board is transported to the feeding mechanism, transferred to the conveyor mechanism by the suction and lifting mechanism, the positioning mechanism detects the position of the PCB board and transmits the position information to the grasping mechanism, and the grasping mechanism grabs the PCB board to the vision detection mechanism for vision detection according to the received position information. The detected PCB board undergoes the next process through the discharging mechanism. The whole process realizes automation, saves working time, and improves work efficiency.

[0058] As described above, it is only the preferred specific embodiment of the present invention, but the protection scope of the present invention is not limited thereto. Any changes or substitutions that can be easily thought of by those skilled in the art within the technical scope disclosed by the present invention should be covered within the protection scope of the present invention. Therefore, the protection scope of the present invention should be subject to the protection scope of the claims.

Claims

1. An AOI automatic board loading and unloading machine, characterized in that, It includes a feeding mechanism (1), a suction lifting mechanism (2), a conveying mechanism (3), a positioning mechanism (4), a grasping mechanism (5), a detection mechanism (6), a discharging mechanism (7) and a bracket (8). The feeding mechanism (1), the suction lifting mechanism (2), the conveying mechanism (3), the positioning mechanism (4), the grasping mechanism (5), the detection mechanism (6) and the discharging mechanism (7) are all fixed inside the bracket (8). The PCB board is at the feeding mechanism (1), transferred to the conveying mechanism (3) by the suction lifting mechanism (2). The positioning mechanism (4) detects the position of the PCB board and transmits the position information to the grasping mechanism (5). The grasping mechanism (5) grasps the PCB board according to the received position information and moves it to the vision detection mechanism (6) for vision detection. The detected PCB board goes through the discharging mechanism (7) for the next process. The positioning mechanism (4) includes a positioning and conveying component (41) and a CCD positioning component (42). The positioning and conveying component (41) is arranged below the CCD positioning component (42) for limiting and fixing the PCB board. The CCD positioning component (42) has three sets for grasping the positions of three corners of the PCB board. The CCD positioning component (42) is responsible for finding the accurate position of the PCB board after alignment on the positioning and conveying component (41). The positioning and conveying component (41) includes a conveying bracket (411), a positioning baffle (412), a return baffle (413), a photoelectric inductor (414) and rollers (415). At least two rollers (415) are arranged and evenly distributed inside the conveying bracket (411). The positioning baffle (412) spans at least two rollers (415) and is arranged along the radial direction of the rollers (415). The return baffle (413) is arranged between two adjacent rollers (415). The photoelectric inductor (414) is fixed on any one of the rollers (415) for sensing the PCB board.

2. The AOI automatic board loading and unloading machine according to claim 1, characterized in that, The suction lifting mechanism (2) includes a lifting component (21), a translation component (22) and a suction component (23). The suction component (23) is installed on the translation component (22), and the translation component (22) is installed on the lifting component (21). The suction component (23) sucks the PCB board, and the lifting component (21) and the translation component (22) drive the suction component (23) to move the PCB board back and forth and left and right to move it onto the conveying mechanism (3).

3. The AOI automatic board retractor according to claim 2, characterized in that, It further includes a dust sticking machine (9). The dust sticking machine (9) is arranged between the conveying mechanism (3) and the positioning mechanism (4) for removing the dust on the PCB board.

4. The AOI automatic board loading and unloading machine according to claim 3, wherein, The grasping mechanism (5) includes a six-axis manipulator (51), a manipulator suction lifting component (52), a turning plate component (53) and a motor. The manipulator suction lifting component (52) is arranged on the six-axis manipulator (51), and the turning plate component (53) is used for turning over the PCB board. The motor adjusts the span between adjacent suction nozzles of the manipulator lifting and sucking assembly (52) according to the positions of three corners of the PCB board grabbed by the CCD positioning assembly (42). The six-axis manipulator (51) grabs the PCB board for inspection of one side, and then flips it through the flipping assembly (53) for inspection of the other side.

5. The AOI automatic board retractor according to claim 4, characterized in that, The inspection mechanism (6) includes an AOI front table (61) and an AOI back table (62), and the AOI front table (61) and the AOI back table (62) are respectively used for inspecting the front and back sides of the PCB board.

6. The AOI automatic plate retractor according to any one of claims 1-5, characterized in that The conveying mechanism (3) is a belt conveying mechanism, on which a sensor (31) is provided.

7. The AOI automatic board loading and unloading machine according to claim 6, wherein It further includes an AGV conveying trolley (10), and the AGV conveying trolley (10) is used for conveying the PCB board. It includes a trolley body (101), a collision-proof rubber strip (102) and a laser detection device (103), and both the collision-proof rubber strip (102) and the laser detection device (103) are arranged at the front end of the trolley body (101).

8. The AOI automatic board retractor according to claim 7, characterized in that, The discharging mechanism (7) includes a discharging rubber tray (71), a discharging conveying assembly (72) and a rubber tray lifting assembly (73). The rubber tray lifting assembly (73) is arranged above the discharging rubber tray (71) and is used to drive the discharging rubber tray (71) to move up and down. The discharging conveying assembly (72) is arranged below the discharging rubber tray (71).

Images