A pick-and-place board apparatus

Abstract

The present application relates to the technical field of plate taking and placing machine, in particular to a plate taking and placing equipment, which comprises a machine table, a carrier circulating conveying device, a plate feeding mechanism, a supporting table, a taking and placing transfer manipulator movably arranged above the supporting table, the carrier circulating conveying device and the plate feeding mechanism, a taking and placing carrier device arranged on one side of the carrier circulating conveying device, a storage bin arranged on one side of the taking and placing carrier device, a paper storage table arranged on the top of the storage bin, and a taking and placing paper manipulator movably arranged above the paper storage table and the supporting table, the taking and placing carrier device transfers the carriers from the storage bin to the carrier circulating conveying device or transfers the carriers from the carrier circulating conveying device to the storage bin. The present application can realize the automatic stacking or unstacking of the plate and the separator paper, thereby realizing the plate receiving and taking, and has two plate taking and placing modes, one object with two uses, which can meet the different plate taking and placing requirements of the users and reduce the production and use cost.

Description

Technical Field

[0001] The present invention relates to the technical field of board picking and placing machines, in particular to a board picking and placing device. Background Art

[0002] In the processing and production of boards, picking and placing boards is an important process; especially in the production of circuit boards, in order to cooperate with the automation of the overall processing production line, a board picking and placing device or a board receiving and placing device is required to pick and place the boards. The board picking and placing device or the board receiving and placing device in the prior art generally uses a robot to stack the boards and separators directly on an L-shaped inclined frame or a stacking table to achieve board collection, or uses a robot to separate the stacked boards and separators. For example: Patent document No. 201920625206.1 discloses a separator board receiving and placing device, which uses a six-axis robot to stack boards and separators on an L-shaped inclined frame; Patent document No. 202020977117.6 discloses an automatic circuit board receiving and placing machine, which uses a board suction mechanism to deliver the circuit board to the lifting paper table to achieve board collection. Both of the aforementioned patents enable the retraction and deployment of panels, but both require manual placement of a fully loaded or empty carrier over a preset position before the panels can be retracted or deployed. This prevents automated placement and replacement of the carriers, and the single-use method fails to meet the diverse user needs. Therefore, these drawbacks are significant, and a solution is urgently needed. Summary of the Invention

[0003] In order to solve the above technical problems, the object of the present invention is to provide a board picking and placing device.

[0004] In order to achieve the above object, the present invention adopts the following technical solutions:

[0005] A plate picking and placing device, which includes a machine, a carrier circulating conveying device installed on the machine and arranged longitudinally, a plate feeding mechanism installed on the machine and located above one end of the carrier circulating conveying device, a loading platform installed on the machine and located above the other end of the carrier conveying device, a picking and placing transfer robot installed on the machine and movably arranged above the loading platform, the carrier circulating conveying device and the plate feeding mechanism, a picking and placing carrier device arranged on one side of the carrier circulating conveying device, a material storage bin arranged on one side of the picking and placing carrier device, a paper storage table arranged on the top of the material storage bin and a picking and placing paper robot installed on the machine and movably arranged above the paper storage table and the loading platform, the picking and placing carrier device is used to transfer the carrier from the material storage bin to the carrier circulating conveying device or to transfer the carrier from the carrier circulating conveying device to the material storage bin.

[0006] Furthermore, the plate feeding mechanism is provided with a plate supporting mechanism, which is used to lift the plate delivered by the plate feeding mechanism.

[0007] Furthermore, the carrier circulation conveying device includes an upper conveying mechanism installed on the machine, a lower conveying mechanism arranged at intervals below the upper conveying mechanism, a first connecting conveying module located at one end of the upper conveying mechanism and the lower conveying mechanism, and a second connecting conveying module located at the other end of the upper conveying mechanism and the lower conveying mechanism. The first connecting conveying module and the second connecting conveying module both include a connecting lifting drive mechanism and a connecting conveying mechanism installed at the lifting end of the connecting lifting drive mechanism. The connecting conveying mechanism is used to connect with the upper conveying mechanism or the lower conveying mechanism. The carrier pick-up and placement device is used to transfer the carrier from the storage bin to the lower conveying mechanism or to transfer the carrier from the lower conveying mechanism to the storage bin; the conveying direction of the upper conveying mechanism is opposite to the conveying direction of the lower conveying mechanism, the conveying direction of the connecting conveying mechanism of the first connecting conveying module is opposite to the conveying direction of the connecting conveying mechanism of the second connecting conveying module, and the conveying direction of the connecting conveying mechanism of the first connecting conveying module is opposite to the conveying direction of the lower conveying mechanism.

[0008] Furthermore, the pick-and-place carrier device includes a pick-and-place lifting drive mechanism installed on the machine, a lifting plate arranged at the lifting end of the pick-and-place lifting drive mechanism, and a telescopic pick-and-place mechanism arranged on the lifting plate. The telescopic pick-and-place mechanism is used to supply carriers to the lower conveying mechanism or pick up carriers carried by the lower conveying mechanism.

[0009] Furthermore, an avoidance space is provided in the middle of the lower conveying mechanism, and the avoidance space provides avoidance space for the telescopic pick-and-place mechanism.

[0010] Furthermore, the pick-and-place carrier device also includes a rotary drive mechanism installed on the lifting plate, the rotating end of the rotary drive mechanism is fixedly connected to the base of the telescopic pick-and-place mechanism, and the storage bin and the carrying platform are correspondingly arranged.

[0011] Furthermore, the plate picking and placing equipment also includes a silo positioning device installed on the machine platform and a silo conveying vehicle for docking with the silo positioning device. The silo positioning device is used to position the storage silo, and the silo conveying vehicle is used to transport the storage silo.

[0012] Furthermore, the plate picking and placing equipment also includes a pushing cart and a lifting platform arranged on the pushing cart, and the lifting platform is used to connect with the supporting platform.

[0013] Furthermore, a plurality of first rollers are rotatably arranged on the top surface of the lifting platform, and a plurality of second rollers are rotatably arranged on the top surface of the supporting platform.

[0014] Furthermore, the lifting platform is provided with a second positioning mechanism, and the carrying platform is provided with a third positioning mechanism.

[0015] Beneficial effects of the present invention: The present invention can be used for both collecting and taking boards. This embodiment is described by taking boards as an example. In actual application, the present invention has two ways of collecting boards: the first way of collecting boards is: the pick-and-place carrier device takes out the empty carrier in the storage bin and places it on the carrier circulation conveying device, the carrier circulation conveying device performs a loop conveying on the carrier, when the carrier is transported to the upper layer of the carrier circulation conveying device and is located below the pick-and-place transfer robot, and the board feeding mechanism transports the board (such as: circuit board, etc.) to the upper and lower board positions, the pick-and-place transfer robot picks up the board on the board feeding mechanism and places it on the carrier. At the same time, the pick-and-place paper robot picks up the separator paper on the paper storage table and places the separator paper on the carrier. Then, the pick-and-place transfer robot picks up the separator paper on the carrier and places it. Place it on the plate carried by the carrier to achieve stacking of the plate and the separator paper, repeat the above-mentioned transfer of the plate and the separator paper to achieve stacking of multiple plates and multiple separator papers. After the stacking is completed, the carrier is in a fully loaded state, and the carrier circulation conveying device transports the fully loaded carrier to the lower layer of the carrier circulation conveying device and corresponds to the pick-and-place carrier device. The pick-and-place carrier device picks up the fully loaded carrier into the storage bin, and then the pick-and-place carrier device picks up another empty carrier in the storage bin and puts it onto the carrier circulation conveying device, repeating the above-mentioned plate collecting steps to achieve uninterrupted placement of the fully loaded carrier into the storage bin and the empty carrier on the carrier circulation conveying device. The second way to collect boards is: a robot or a person places an empty carrier on the loading platform, a board delivery mechanism transports the boards (such as circuit boards, etc.) to the upper and lower board positions, a pick-and-place transfer robot picks up the boards on the board delivery mechanism and places them on the carrier, and then a paper pick-and-place robot picks up the separation paper on the paper storage platform and places the separation paper on the board carried by the carrier on the loading platform to achieve stacking of the boards and the separation paper, repeat the above stacking steps to achieve stacking of multiple boards and multiple separation papers, after the stacking is completed, the carrier is in a fully loaded state, a person or a robot takes away the fully loaded carrier, and places a new empty carrier on the loading platform. The present invention can not only realize the automated stacking or unstacking of boards and separation paper, thereby realizing board collection and board retrieval, but also has two ways of using pick-and-place boards, which is a dual-purpose item and can meet the different pick-and-place board usage requirements of users, reducing the cost of production and use. BRIEF DESCRIPTION OF THE DRAWINGS

[0016] Figure 1 It is a schematic diagram of the three-dimensional structure of the present invention.

[0017] Figure 2 It is a schematic diagram of the three-dimensional structure of the pick-and-place carrier device and the carrier circulation conveying device of the present invention.

[0018] Figure 3 It is a schematic diagram of the three-dimensional structure of the pick-and-place carrier device of the present invention.

[0019] Figure 4It is a schematic diagram of the three-dimensional structure of the lower sensor, lower conveying mechanism and lower positioning mechanism of the present invention.

[0020] Figure 5 It is a schematic diagram of the three-dimensional structure of the first connecting conveying module or the second connecting conveying module of the present invention.

[0021] Figure 6 It is a schematic diagram of the three-dimensional structure of the silo positioning device and the silo conveying vehicle of the present invention.

[0022] Description of reference numerals:

[0023] 1. Carrier circulation conveying device; 11. Upper conveying mechanism; 12. Lower conveying mechanism; 121. Avoidance space; 13. First connecting conveying module; 14. Second connecting conveying module; 141. Connecting lifting drive mechanism; 142. Connecting conveying mechanism; 143. Stopper; 15. Pick-up and placement device; 151. Pick-up and placement lifting drive mechanism; 152. Lifting plate; 153. Telescopic pick-up and placement mechanism; 154. Rotation drive mechanism; 16. Lower positioning mechanism; 161. Fixed block; 162. Movable block; 163. Lower positioning cylinder; 17. Upper sensor; 18. Lower sensor; 2. Storage silo; 21. Pick-up and transfer robot; 22. Carrying platform; 23. Second roller; 3. Paper storage platform; 4. Plate feeding mechanism; 41. Plate supporting mechanism; 5. Silo positioning device; 51. Positioning base; 52. Positioning assembly; 53. Silo positioning cylinder; 54. Positioning block; 6. Silo conveyor; 61. Clamping structure; 62. Limiting mechanism; 63. Roller; 7. Material pusher; 8. Lifting platform; 81. First roller; 9. Paper pick-up and transfer robot. DETAILED DESCRIPTION

[0024] In order to facilitate understanding by those skilled in the art, the present invention will be further described below with reference to embodiments and drawings. The contents mentioned in the embodiments are not intended to limit the present invention.

[0025] like Figures 1 to 6As shown, the present invention provides a plate picking and placing device, which includes a machine, a carrier circulating conveying device 1 installed on the machine and arranged longitudinally, a plate feeding mechanism 4 installed on the machine and located above one end of the carrier circulating conveying device 1, a loading platform 22 installed on the machine and located above the other end of the carrier conveying device, a pick-up and placement transfer robot 21 installed on the machine and movably arranged above the loading platform 22, the carrier circulating conveying device 1 and the plate feeding mechanism 4, a pick-up and placement carrier device 15 arranged on one side of the carrier circulating conveying device 1, a material storage bin 2 arranged on one side of the pick-up and placement carrier device 15, a paper storage table 3 arranged on the top of the material storage bin 2 and a paper pick-up and placement robot 9 installed on the machine and movably arranged above the paper storage table 3 and the loading platform 22, the pick-up and placement carrier device 15 is used to transfer the carrier from the material storage bin 2 to the carrier circulating conveying device 1 or to transfer the carrier from the carrier circulating conveying device 1 to the material storage bin 2.

[0026] The present invention can be used for both collecting boards and taking boards. This embodiment is described by taking boards as an example. In actual application, the present invention has two ways of collecting boards: the first way of collecting boards is: the pick-and-place carrier device 15 takes out the empty carrier in the storage bin 2 and places it on the carrier circulation conveying device 1, and the carrier circulation conveying device 1 performs a loop conveying on the carrier. When the carrier is transported to the upper layer of the carrier circulation conveying device 1 and is located below the pick-and-place transfer robot 21, and the board feeding mechanism 4 transports the board (such as: circuit board, etc.) to the upper and lower board positions, the pick-and-place transfer robot 21 picks up the board on the board feeding mechanism 4 and places it on the carrier. At the same time, the pick-and-place paper robot 9 picks up the separator paper on the paper storage table 3 and places the separator paper on the carrier 22. Then, the pick-and-place transfer robot 21 picks up the board on the carrier 22. The separator paper is placed on the plate carried by the carrier to achieve stacking of the plate and the separator paper, and the above-mentioned transfer of the plate and the separator paper is repeated to achieve stacking of multiple plates and multiple separator papers. After the stacking is completed, the carrier is in a fully loaded state, and the carrier circulation conveying device 1 transports the fully loaded carrier to the lower layer of the carrier circulation conveying device 1 and corresponds to the pick-up and placement carrier device 15. The pick-up and placement carrier device 15 picks up the fully loaded carrier into the storage bin 2, and then the pick-up and placement carrier device 15 picks up another empty carrier in the storage bin 2 and places it on the carrier circulation conveying device 1, and repeats the above-mentioned plate collection steps to achieve uninterrupted placement of the fully loaded carrier into the storage bin 2 and the empty carrier on the carrier circulation conveying device 1. The second way to collect boards is: a robot or a person places an empty carrier on the loading platform 22, the board delivery mechanism 4 transports the boards (such as circuit boards, etc.) to the upper and lower board positions, the pick-and-place transfer robot 21 picks up the boards on the board delivery mechanism 4 and places them on the carrier, and then the paper pick-and-place robot 9 picks up the separator paper on the paper storage table 3 and places the separator paper on the board carried by the carrier on the loading platform 22 to achieve stacking of the boards and separator paper, repeat the above stacking steps to achieve stacking of multiple boards and multiple separator paper, after stacking is completed, the carrier is in a fully loaded state, a person or a robot takes away the fully loaded carrier, and places a new empty carrier on the loading platform 22. The structural design of the present invention is compact and reasonable, not only can it realize the automatic stacking or destacking of boards and separator paper, thereby realizing board collection and board retrieval, but also has two ways of using boards for pick-and-place, one thing for two uses, which can meet the different needs of users for pick-and-place boards and reduce the cost of production and use.

[0027] In this embodiment, the plate feeding mechanism 4 is provided with a plate supporting mechanism 41, which is used to lift the plate conveyed by the plate feeding mechanism 4. In actual application, after the plate feeding mechanism 4 conveys the plate (such as a circuit board, etc.) to the upper and lower plate positions, the plate supporting mechanism 41 lifts the plate so that the plate is separated from the conveying surface of the plate feeding mechanism 4, thereby ensuring the position accuracy and stability of the plate; when collecting the plates (stacking the plates), it is convenient for the pick-and-place transfer robot 21 to accurately pick up the plates; when taking the plates (separating the stacked plates), the plate supporting mechanism 41 lowers the plate until it contacts the conveying surface of the plate feeding mechanism 4, so that the plate feeding mechanism 4 can stably convey the plates.

[0028] In this embodiment, the carrier circulation conveying device 1 includes an upper conveying mechanism 11 installed on the machine, a lower conveying mechanism 12 arranged at intervals below the upper conveying mechanism 11, a first connecting conveying module 13 located at one end of the upper conveying mechanism 11 and the lower conveying mechanism 12, a second connecting conveying module 14 located at the other end of the upper conveying mechanism 11 and the lower conveying mechanism 12, and a pick-up and place carrier device 15 arranged on one side of the upper conveying mechanism 11 and the lower conveying mechanism 12. The first connecting conveying module 13 and the second connecting conveying module 14 both include a connecting lifting drive mechanism 141 and a connecting conveying mechanism 142 installed at the lifting end of the connecting lifting drive mechanism 141. The conveying mechanism 142 is used to connect with the upper conveying mechanism 11 or the lower conveying mechanism 12, and the carrier pick-up and placement device 15 is used to transfer the carrier from the storage bin 2 to the lower conveying mechanism 12 or to transfer the carrier from the lower conveying mechanism 12 to the storage bin 2; the conveying direction of the upper conveying mechanism 11 is opposite to the conveying direction of the lower conveying mechanism 12, the conveying direction of the connecting conveying mechanism 142 of the first connecting conveying module 13 is opposite to the conveying direction of the connecting conveying mechanism 142 of the second connecting conveying module 14, and the conveying direction of the connecting conveying mechanism 142 of the first connecting conveying module 13 is opposite to the conveying direction of the lower conveying mechanism 12; the connecting lifting drive mechanism 141 can adopt a screw module.

[0029] At the beginning, the connecting conveying mechanism 142 of the first connecting conveying module 13 is connected with the discharge end of the lower conveying mechanism 12, and the connecting conveying mechanism 142 of the second connecting conveying module 14 is connected with the discharge end of the upper conveying mechanism 11; in actual application, when collecting the plates, the pick-up and placement carrier device 15 supplies the empty carrier in the storage bin 2 to the lower conveying mechanism 12, and the lower conveying mechanism 12 transports the empty carrier to the connecting conveying mechanism 142 of the first connecting conveying module 13, and then the connecting lifting drive mechanism 141 of the first connecting conveying module 13 drives the connecting conveying mechanism 142 to rise together with the empty carrier until the discharge end of the connecting conveying mechanism 142 is connected with the feed end of the upper conveying mechanism 11, and the connecting conveying mechanism 142 transports the empty carrier to the upper conveying mechanism 11, and the pick-up and placement transfer robot 21 stacks the plates and separators on the empty carrier in turn until the stacking is completed and the carrier is stacked. When in a fully loaded state, the upper conveying mechanism 11 conveys the fully loaded carrier to the connecting conveying mechanism 142 of the second connecting conveying module 14, and then the connecting lifting drive mechanism 141 of the second connecting conveying module 14 drives the connecting conveying mechanism 142 to descend together with the fully loaded carrier, until the discharge end of the connecting conveying mechanism 142 of the second connecting conveying module 14 is connected with the feed end of the lower conveying mechanism 12, and the connecting conveying mechanism 142 of the second connecting conveying module 14 conveys the fully loaded carrier to the lower conveying mechanism 12. When the position of the fully loaded carrier on the lower conveying mechanism 12 corresponds to the position of the carrier pick-up and placement device 15, the carrier pick-up and placement device 15 takes the fully loaded carrier away from the lower conveying mechanism 12, and places the fully loaded carrier into the preset position of the storage bin 2, and then supplies the empty carrier in the storage bin 2 to the lower conveying mechanism 12, and repeats the above-mentioned circular conveying to realize the circular conveying of the carrier. This structural design can not only realize the circular transportation of carriers, but also supply carriers to the lower conveying mechanism 12 or pick up the carriers carried by the lower conveying mechanism 12 through the carrier pick-up and placement device 15, realizing online replacement and placement of carriers. The storage bin 2 stores fully loaded carriers, and the pick-up and placement efficiency is high.

[0030] In this embodiment, the pick-and-place carrier device 15 includes a pick-and-place lifting drive mechanism 151 installed on the machine platform, a lifting plate 152 provided at the lifting end of the pick-and-place lifting drive mechanism 151, and a telescopic pick-and-place mechanism 153 provided on the lifting plate 152. The telescopic pick-and-place mechanism 153 is used to transfer the carrier from the storage bin 2 to the lower conveying mechanism 12, or to transfer the carrier from the lower conveying mechanism 12 to the storage bin 2. Specifically, the telescopic pick-and-place mechanism 153 is a telescopic fork. The pick-and-place lifting drive mechanism 151 can use a screw module to achieve lifting drive. In actual application, the pick-and-place lifting drive mechanism 151 drives the lifting plate 152 and the telescopic pick-and-place mechanism 153 to rise and fall, thereby adjusting the height position of the telescopic pick-and-place mechanism 153 so that the telescopic pick-and-place mechanism 153 can pick up and place the carrier from the storage bin 2.

[0031] In this embodiment, an escape space 121 is opened in the middle of the lower conveying mechanism 12 , and the escape space 121 provides an escape space for the telescopic pick-up and place mechanism 153 .

[0032] In actual application, when it is necessary to remove the carrier carried by the lower conveying mechanism 12, the picking and placing end of the telescopic picking and placing mechanism 153 extends and protrudes into the avoidance space 121, and then the picking and placing lifting drive mechanism 151 drives the lifting plate 152 to rise together with the telescopic picking and placing mechanism 153 in the extended state, and the picking and placing end of the rising telescopic picking and placing mechanism 153 supports the carrier until the carrier is separated from the conveying surface of the lower conveying mechanism 12, and the picking and placing end of the telescopic picking and placing mechanism 153 contracts to remove the carrier from the lower conveying mechanism 12; in addition, the working principles of the telescopic picking and placing mechanism 153 to place empty carriers on the lower conveying mechanism 12 and to pick and place carriers to the storage bin 2 are the same, and will not be repeated here.

[0033] In this embodiment, the picking and placing carrier device 15 also includes a rotating drive mechanism 154 installed on the lifting plate 152, and the rotating end of the rotating drive mechanism 154 is fixedly connected to the base body of the telescopic picking and placing mechanism 153; the rotating drive mechanism 154 can adopt an electric motor; the storage bin 2 and the supporting platform 22 are correspondingly arranged.

[0034] In actual application, the rotary drive mechanism 154 drives the telescopic pick-up and placement mechanism 153 to rotate, and can adjust the angle of the telescopic pick-up and placement mechanism 153, thereby improving the flexibility of the telescopic pick-up and placement mechanism 153, so as to facilitate the telescopic pick-up and placement mechanism 153 to pick up and place the carrier; for example, after the telescopic pick-up and placement mechanism 153 takes away the fully loaded carrier from the lower conveying mechanism 12, the rotary drive mechanism 154 drives the telescopic pick-up and placement mechanism 153 to rotate a certain angle so that the fully loaded carrier corresponds to the storage bin 2, and the taking and placing of the telescopic pick-up and placement mechanism 153 is improved. The placing end is extended and retracted to place the fully loaded carrier in the storage bin 2, and then the pick-and-place lifting drive mechanism 151 and the telescopic pick-and-place mechanism 153 work together to make the telescopic pick-and-place mechanism 153 take out the empty carrier in the storage bin 2, and then the rotary drive mechanism 154 drives the telescopic pick-and-place mechanism 153 to rotate a certain angle, so that the pick-and-place end of the telescopic pick-and-place mechanism 153 corresponds to the lower conveying mechanism 12, and the pick-and-place end of the telescopic pick-and-place mechanism 153 is extended and retracted to place the controlled carrier on the lower conveying mechanism 12.

[0035] Specifically, a stopper 143 is provided at one end of the connecting conveying mechanism 142 away from the upper conveying mechanism 11, and the top end of the stopper 143 protrudes above the conveying surface of the connecting conveying mechanism 142. The stopper 143 blocks the carrier on the connecting conveying mechanism 142, thereby improving the stability of the carrier.

[0036] Specifically, the upper conveying mechanism 11 is equipped with an upper sensor 17 for detecting the carrier being conveyed by the upper conveying mechanism 11. When the upper sensor 17 detects a carrier, it sends a feedback signal to the upper conveying mechanism 11, causing it to stop conveying the carrier. At this time, the pick-and-place transfer robot 21 stacks the panels and separators on the carrier. After stacking is completed, the upper conveying mechanism 11 transports the fully loaded carrier to the connecting conveying mechanism 142 of the second connecting conveying module 14.

[0037] Specifically, the upper conveying mechanism 11 is provided with an upper positioning mechanism (not shown in the figure), which is used to position the carrier conveyed by the upper conveying mechanism 11. The upper conveying mechanism 11 and the upper positioning mechanism are both electrically connected to the upper sensor 17. In actual application, when the upper sensor 17 detects the carrier, the upper sensor 17 respectively feeds back signals to the upper conveying mechanism 11 and the upper positioning mechanism, causing the upper conveying mechanism 11 to stop conveying the carrier, and the upper positioning mechanism to position the carrier to ensure the position accuracy and stability of the carrier on the upper conveying mechanism 11, which is conducive to improving the pick-and-place transfer robot 21 to stack the plates and separators on the carrier.

[0038] Specifically, the lower conveying mechanism 12 is provided with a lower positioning mechanism 16 , which is used to position the carrier conveyed by the lower conveying mechanism 12 , and the avoidance space 121 is provided corresponding to the lower positioning mechanism 16 .

[0039] In actual application, the lower positioning mechanism 16 positions the carrier carried by the lower conveying mechanism 12 to ensure the position accuracy and stability of the carrier on the lower conveying mechanism 12, which is conducive to improving the accuracy and stability of the telescopic pick-and-place mechanism 153 in picking up and placing the carrier.

[0040] Specifically, the lower positioning mechanism 16 includes a fixed block 161 fixedly arranged on one side of the lower conveying mechanism 12, a movable block 162 movably arranged on the other side of the lower conveying mechanism 12, and a lower positioning cylinder 163 installed on the other side of the lower conveying mechanism 12 and driven by the movable block 162. The lower positioning cylinder 163 is used to drive the movable block 162 to move closer to or away from the fixed block 161.

[0041] In actual application, when the carrier is located above the avoidance space 121 , the lower positioning cylinder 163 drives the movable block 162 to move closer to the fixed block 161 until the movable block 162 and the fixed block 161 cooperate to position the carrier.

[0042] In this embodiment, the lower conveying mechanism 12 is provided with a lower sensor 18, which is arranged corresponding to the avoidance space 121. The lower sensor 18 is used to detect the carrier conveyed by the lower conveying mechanism 12. The lower positioning mechanism 16 and the lower conveying mechanism 12 are both electrically connected to the lower sensor 18.

[0043] In actual application, after the lower sensor 18 detects the carrier, the lower sensor 18 feeds back signals to the lower conveying mechanism 12 and the lower positioning mechanism 16 respectively, so that the lower conveying mechanism 12 stops conveying the carrier, and the lower positioning mechanism 16 positions the carrier so that the telescopic pick-up and placement mechanism 153 can stably and accurately pick up and place the carrier.

[0044] Specifically, the upper conveying mechanism 11, the lower conveying mechanism 12 and the connecting conveying mechanism 142 all include a motor, a synchronous belt and a synchronous wheel. The motor drives the synchronous belt to rotate via the synchronous wheel, and the rotating synchronous belt drives the carrier to move to realize the transportation of the carrier.

[0045] In this embodiment, the plate picking and placing equipment also includes a silo positioning device 5 installed on the machine and a silo conveying vehicle 6 for docking with the silo positioning device 5. The silo positioning device 5 is used to position the storage silo 2, and the silo conveying vehicle 6 is used to transport the storage silo 2.

[0046] In actual application, when the storage bin 2 needs to be replaced, the bin conveyor 6 is connected to the bin positioning device 5, and the storage bin 2 is moved from the bin positioning device 5 to the bin conveyor 6, or the storage bin 2 is moved from the bin conveyor 6 to the bin positioning device 5, and the bin positioning device 5 positions the storage bin 2. This structural design facilitates the replacement of the storage bin 2, is simple to operate, saves time and effort, and has high positioning accuracy and good stability of the storage bin 2.

[0047] Specifically, the silo transport vehicle 6 is a trolley or an AGV. When the silo transport vehicle 6 is a trolley, after the trolley is connected to the silo positioning device 5, the trolley is connected to the silo positioning device 5 via a clamping structure 61, thereby improving the stability and positioning accuracy of the connection between the trolley and the silo positioning device 5. When the silo transport vehicle 6 is an AGV, automated transportation of the storage silo 2 is achieved. Specifically, the silo positioning device 5 is provided with a feeding space for the AGV to enter.

[0048] Specifically, the bearing surface of the silo transport vehicle 6 is rotatably provided with a limiting mechanism 62 and a plurality of rollers 63. The plurality of rollers 63 are configured to roll against the bottom surface of the storage silo 2, and the limiting mechanism 62 is used to limit the storage silo 2. The plurality of rollers 63 roll against the bottom surface of the storage silo 2 to facilitate the transfer of the storage silo 2, and the limiting mechanism 62 can limit the storage silo 2, ensuring the positional accuracy and stability of the storage silo 2 on the silo transport vehicle 6. Specifically, the limiting mechanism 62 includes a limiting cylinder mounted on the silo transport vehicle 6 and a limiting block mounted on the piston rod of the limiting cylinder. The limiting cylinder drives the limiting block to extend and / or rotate, so that the limiting block releases or limits the storage silo 2.

[0049] Specifically, the silo positioning device 5 includes a positioning base 51 mounted on the machine platform and multiple positioning assemblies 52 disposed on the positioning base 51. The multiple positioning assemblies 52 enclose a positioning space. The positioning assemblies 52 include a silo positioning cylinder 53 mounted on the positioning base 51 and a positioning block 54 with a piston rod mounted on the silo positioning cylinder 53. In actual application, after the storage silo 2 is located in the positioning space, the multiple positioning assemblies 52 cooperate to position the storage silo 2, ensuring the positional accuracy and stability of the storage silo 2 on the positioning base 51, which facilitates accurate board placement. Specifically, the silo positioning cylinder 53 drives the positioning block 54 to extend and / or rotate so that the positioning block 54 can position the storage silo 2 or release the storage silo 2.

[0050] In this embodiment, the plate picking and placing equipment also includes a pusher 7 and a lifting platform 8 provided on the pusher 7, and the lifting platform 8 is used to connect with the load platform 22. In actual application, when the carrier on the load platform 22 is fully loaded, the lifting platform 8 is raised so that the lifting platform 8 is connected with the load platform 22, and the fully loaded carrier is manually pushed onto the lifting platform 8, and then the fully loaded carrier is transported to the required position by the pusher 7, so as to facilitate the output of the fully loaded carrier. Alternatively, after the lifting platform 8 is connected with the load platform 22, the empty carrier is manually pushed onto the load platform 22 to facilitate the supply of the carrier. The carrier is transported by the pusher 7, and the transportation and replacement of the carrier are convenient, saving time and effort. The lifting platform 8 can be raised and lowered, so that it is convenient for humans to move the carrier off the lifting platform 8 or move the carrier onto the lifting platform 8.

[0051] In this embodiment, a plurality of first rollers 81 are rotatably arranged on the top surface of the lifting platform 8, and a plurality of second rollers 23 are rotatably arranged on the top surface of the carrying platform 22. During the transfer of a carrier between the lifting platform 8 and the carrying platform 22, the first rollers 81 and the second rollers 23 respectively roll against the bottom surface of the carrier, reducing friction and wear on the carrier and facilitating manual replacement of the carrier.

[0052] In this embodiment, the lifting platform 8 is provided with a second positioning mechanism, which positions the carrier on the lifting platform 8, thereby improving the position accuracy and stability of the carrier on the lifting platform 8; the supporting platform 22 is provided with a third positioning mechanism, which positions the carrier on the supporting platform 22, thereby improving the position accuracy and stability of the carrier on the supporting platform 22.

[0053] Specifically, the second positioning mechanism and the third positioning mechanism can both adopt positioning structures in the prior art, which will not be described in detail.

[0054] All technical features in this embodiment can be freely combined according to actual needs.

[0055] The above embodiments are preferred implementation schemes of the present invention. In addition, the present invention can also be implemented in other ways. Any obvious replacement without departing from the concept of the present technical solution is within the scope of protection of the present invention.

Claims

1. A pick-and-place board device, characterized in that: The machine comprises a machine platform, a carrier circulating conveying device installed on the machine platform and arranged longitudinally, a plate feeding mechanism installed on the machine platform and located above one end of the carrier circulating conveying device, a loading platform installed on the machine platform and located above the other end of the carrier conveying device, a pick-up and placement transfer robot installed on the machine platform and movably arranged above the loading platform, the carrier circulating conveying device and the plate feeding mechanism, a pick-up and placement carrier device arranged on one side of the carrier circulating conveying device, a material storage bin arranged on one side of the pick-up and placement carrier device, a paper storage bin arranged on the top of the material storage bin, and a pick-up and placement paper robot installed on the machine platform and movably arranged above the paper storage bin and the loading platform, the pick-up and placement carrier device being used to transfer the carrier from the material storage bin to the carrier circulating conveying device or to transfer the carrier from the carrier circulating conveying device to the material storage bin; The board picking and placing equipment also includes a silo positioning device installed on the machine platform and a silo conveying vehicle for docking with the silo positioning device. The silo positioning device is used to position the storage silo, and the silo conveying vehicle is used to transport the storage silo. The board picking and placing equipment also includes a pusher and a lifting platform provided on the pusher, and the lifting platform is used to connect with the carrying platform; A plurality of first rollers are rotatably arranged on the top surface of the lifting platform, and a plurality of second rollers are rotatably arranged on the top surface of the bearing platform; The lifting platform is provided with a second positioning mechanism, and the carrying platform is provided with a third positioning mechanism.

2. A pick-and-place board device according to claim 1, characterized in that: The plate feeding mechanism is provided with a plate supporting mechanism, which is used to lift the plate conveyed by the plate feeding mechanism.

3. The board pick-and-place device according to claim 1, characterized in that: The carrier circulation conveying device includes an upper conveying mechanism installed on the machine, a lower conveying mechanism arranged at intervals below the upper conveying mechanism, a first connecting conveying module located at one end of the upper conveying mechanism and the lower conveying mechanism, and a second connecting conveying module located at the other end of the upper conveying mechanism and the lower conveying mechanism. The first connecting conveying module and the second connecting conveying module both include a connecting lifting drive mechanism and a connecting conveying mechanism installed at the lifting end of the connecting lifting drive mechanism. The connecting conveying mechanism is used to connect with the upper conveying mechanism or the lower conveying mechanism. The carrier pick-up and placement device is used to transfer the carrier from the storage bin to the lower conveying mechanism or to transfer the carrier from the lower conveying mechanism to the storage bin; the conveying direction of the upper conveying mechanism is opposite to the conveying direction of the lower conveying mechanism, the conveying direction of the connecting conveying mechanism of the first connecting conveying module is opposite to the conveying direction of the connecting conveying mechanism of the second connecting conveying module, and the conveying direction of the connecting conveying mechanism of the first connecting conveying module is opposite to the conveying direction of the lower conveying mechanism.

4. The board pick-and-place device according to claim 3, characterized in that: The pick-and-place carrier device includes a pick-and-place lifting drive mechanism installed on the machine, a lifting plate arranged at the lifting end of the pick-and-place lifting drive mechanism, and a telescopic pick-and-place mechanism arranged on the lifting plate. The telescopic pick-and-place mechanism is used to supply carriers to the lower conveying mechanism or pick up carriers carried by the lower conveying mechanism.

5. The board pick-and-place device according to claim 4, characterized in that: An avoidance space is opened in the middle of the lower conveying mechanism, and the avoidance space provides avoidance space for the telescopic picking and placing mechanism.

6. The board pick-and-place device according to claim 4, characterized in that: The pick-and-place carrier device also includes a rotary drive mechanism installed on the lifting plate, the rotating end of the rotary drive mechanism is fixedly connected to the base of the telescopic pick-and-place mechanism, and the storage bin and the carrying platform are correspondingly arranged.

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