Quick and flexible changeover lamination device and method

Abstract

The present application relates to a kind of quick flexible laminating device of changing type, including the steel plate conveying mechanism, movable laminating table and material storage frame arranged in sequence, further including mechanical arm, clamp is installed on mechanical arm, after mechanical arm is grabbed steel plate from steel plate conveying mechanism by clamp, steel plate is automatically placed on movable laminating table and laminated, mechanical arm can accurately identify the position of steel plate according to the position of laminating table, accurate placement is carried out, guarantee the precision of laminating;Visual recognition unit identifies the edge and corner of steel plate, and result is fed back to mechanical arm in time, and mechanical arm adjusts position quickly;When quickly changing type, staff only needs to push material car to the specified position of laminating table, then material model can be quickly switched;With the advantages of saving space, easy operation, laminating precision, changing type quickly and conveniently, movable laminating table cooperates with mechanical arm to carry out steel plate grabbing, and flexible and variable laminating mode is realized.

Description

TECHNICAL FIELD

[0001] The present application relates to the technical field of plate lamination, in particular to a quick and flexible lamination device and method. BACKGROUND

[0002] In the CCL / PCB industry, lamination is usually a fixed lamination table, and then the tooling stainless steel plate and the material are laminated according to certain rules through a horizontal delivery crane. The advantage of this combination is that the laminated material and tooling position are fixed, and the lamination is neat, but the premise is that the lamination and horizontal delivery car need to be fixed and the position cannot be changed, which will bring some inconvenience in the production process if the incoming type is changed. For example, in the manual lamination process, the material group is relatively large, and the material will be switched frequently. If a fixed method is used, a material transportation line needs to be added in the incoming direction of the lamination table, which will have a great impact on space use and operation. SUMMARY

[0003] The technical problem to be solved by the present application is to design a quick and flexible lamination device and method that can be moved flexibly, switch materials, operate simply, and have high lamination precision, to solve the existing technical problems.

[0004] To solve the above technical problems, the quick and flexible lamination device of the present application comprises a steel plate conveying mechanism, a movable lamination table and a material storage rack arranged in sequence, the steel plate conveying mechanism comprises a fixed frame, a plurality of transmission shafts are arranged between the two sides of the fixed frame, and a plurality of rollers are arranged on the transmission shafts; further comprising a mechanical arm, a clamp is installed on the mechanical arm, and the mechanical arm automatically places the steel plate on the movable lamination table for lamination after grabbing the steel plate from the steel plate conveying mechanism through the clamp.

[0005] Further, the end of the steel plate conveying mechanism close to the movable lamination table is provided with a steel plate alignment mechanism, the steel plate alignment mechanism comprises a moving track and an alignment unit, the moving track is arranged in parallel with the transmission shaft, the alignment unit comprises a base and a push rod, the push rod is arranged on the base, the base is installed on the moving track, the alignment unit is arranged on both sides of the fixed frame, the height of the push rod is higher than that of the transmission shaft, and the position of the push rod is between the adjacent two transmission shafts, after the steel plate is conveyed to the position, the alignment units on both sides move towards each other along the moving track, and the push rods of the alignment units on both sides touch the steel plate to correct the steel plate.

[0006] Further, a plurality of push rods are arranged on the base, the number of push rods is arranged according to the size of the steel plate, the push rods can be arranged close to the two sides of the base, additional push rods can be arranged in the middle, or the size of the contact surface between the push rod and the steel plate can be increased.

[0007] Further, a plurality of suction cups are arranged on the clamp, the clamp is vacuum adsorbed to the steel plate through the suction cups, a collision prevention unit is arranged on the clamp, the collision prevention unit comprises a collision prevention support and a collision prevention strip, the collision prevention strip is arranged on the collision prevention support, and the collision prevention support is larger than the steel plate in size, that is, the positions of the four edges of the collision prevention support are outside the corresponding edges of the steel plate, thereby playing a protection role.

[0008] Further, a plurality of suction cups are arranged on the clamp, the clamp is vacuum adsorbed to the steel plate through the suction cups, a collision prevention unit is arranged on the clamp, the collision prevention unit comprises a collision prevention support and a collision prevention strip, the collision prevention strip is arranged on the collision prevention support, and the collision prevention support is larger than the steel plate in size, that is, the positions of the four edges of the collision prevention support are outside the corresponding edges of the steel plate, thereby playing a protection role.

[0009] Further, the movable stacking table and the material storage rack are AGV trolleys.

[0010] Further, a visual detection unit is arranged above the movable stacking table, the visual detection unit projects a cross cursor onto the movable stacking table, the right angle of the cross cursor is coincident with the right angle of the steel plate, after the right angle coincidence degree is detected, deviation is calculated and fed back to the mechanical arm for trajectory adjustment.

[0011] The application also provides a quick and flexible stacking method for model change, comprising the following steps:

[0012] Step S1: material preparation: the steel plate conveying mechanism, the movable stacking table and the material storage rack are in place;

[0013] Step S2: steel plate conveying and position correction: the steel plate is automatically conveyed to one end of the steel plate conveying mechanism close to the movable stacking table through the steel plate conveying mechanism, the clamping units on both sides of the fixing frame move to the middle through the moving track, and the position correction is completed after the push rod touches the steel plate, and the clamping units return to the original position;

[0014] Step S3: steel plate grabbing and stacking: the mechanical arm grabs the steel plate through the vacuum adsorption of the suction cups on the clamp, then moves to above the movable stacking table, accurately positions the steel plate on the movable stacking table through the visual detection unit, and separates the mechanical arm from the steel plate after the suction cups are released, and returns to the original position to adsorb and grab the next steel plate;

[0015] Step S4: the worker takes the material from the material storage rack and stacks it on the movable stacking table;

[0016] Step S5: repeat steps S2 to S4 until the stacking is completed;

[0017] Step S6: the AGV trolleys of the movable stacking table and the material storage rack automatically move to complete the material movement or the model switching of the material.

[0018] Further, in step S3, the mechanical arm can automatically perform step S2 after rotating and moving to grab the steel plate, thereby improving the efficiency of steel plate transportation.

[0019] The quick and flexible stacking device of this invention can be moved flexibly according to the site conditions. The stacking table can switch materials, and the material change is convenient, fast, and easy to operate. A robotic arm is used to grab the steel plate. The robotic arm can accurately identify the placement position of the steel plate according to the position of the stacking table and place it precisely to ensure the stacking accuracy. The vision recognition unit identifies the edges and corners of the steel plate and feeds the results back to the robotic arm in a timely manner. The robotic arm quickly adjusts its position, so the placement position is very accurate every time. During quick changeover, the employee only needs to push the material cart to the designated position on the stacking table, and then the material type can be quickly changed. The quick and flexible stacking device and method of this invention have the advantages of saving space, convenient operation, accurate stacking, and quick and convenient changeover. The movable stacking table, together with the robotic arm, grabs the steel plate and realizes flexible and versatile stacking methods. Attached Figure Description

[0020] The specific embodiments of the present invention will be further explained below with reference to the accompanying drawings.

[0021] Figure 1 This is a schematic diagram of the structure of the quick and flexible overlay device of the present invention;

[0022] Figure 2 This is a top view of the quick and flexible stacking device of the present invention;

[0023] Figure 3 This is a schematic diagram of the fixture of the quick and flexible stacking device of the present invention;

[0024] Figure 4 This is a front view of the alignment unit of the quick and flexible overlay device of the present invention. Detailed Implementation Example 1

[0025] Combination Figures 1-4 The quick and flexible stacking device of this embodiment includes a steel plate conveying mechanism 1, a movable stacking platform 3 and a material storage rack 4 arranged in sequence. The steel plate conveying mechanism 1 includes a fixed frame 5, and multiple drive shafts 6 are arranged between the two sides of the fixed frame 5. Multiple rollers 7 are arranged on the drive shafts 6. It also includes a robotic arm 2, on which a clamp is installed. The robotic arm 2 grabs the steel plate from the steel plate conveying mechanism 1 through the clamp and automatically places the steel plate on the movable stacking platform 3 for stacking.

[0026] Preferably, the steel plate conveying mechanism 1 is provided with a steel plate alignment mechanism near one end of the movable superimposed table 3. The steel plate alignment mechanism comprises a moving track and an alignment unit. The moving track is arranged in parallel with the transmission shaft 6. The alignment unit comprises a base 81 and a push rod 82. The push rod 82 is arranged on the base 81. The base 81 is mounted on the moving track. The movable superimposed table 3 is provided with the alignment unit on both sides. The height of the push rod 82 is higher than that of the transmission shaft 6. The position of the push rod 82 is between the two adjacent transmission shafts 6. After the steel plate is conveyed to the position, the alignment units on both sides move towards each other along the moving track. The push rods 82 of the alignment units on both sides touch the steel plate to correct the steel plate.

[0027] Preferably, the base 81 is provided with a plurality of push rods 82. The number of the push rods 82 is set according to the size of the steel plate. The push rods 82 can be arranged near both sides of the base 81 or can be additionally arranged in the middle. Alternatively, the size of the contact surface of the push rod 82 and the steel plate can be increased. In the embodiment, the number of the push rods 82 on each base 81 is 2. The push rods 82 are arranged at both ends of the base 81.

[0028] Preferably, the clamp is provided with a plurality of suction cups 91. The clamp is provided with an anti-collision unit 92. The clamp is provided with the anti-collision unit 92. The anti-collision unit 92 comprises an anti-collision bracket and an anti-collision strip. The anti-collision strip is arranged on the anti-collision bracket. The size of the anti-collision bracket is greater than that of the steel plate. That is, the positions of the four edges of the anti-collision bracket are outside the corresponding edges of the steel plate to play a protection role. In the embodiment, the suction cups 91 are correspondingly distributed on the four corners of the steel plate. Two suction cups 91 are arranged on each corner. The suction cups 91 can be appropriately arranged in the middle according to the actual size of the steel plate.

[0029] Preferably, the anti-collision bracket is provided with a reinforcing rib. The reinforcing rib is arranged on a pair of longer edges of the anti-collision bracket to enhance the structure of the anti-collision bracket and prevent damage when the anti-collision bracket collides out of control. In the embodiment, the reinforcing rib is 2 parallel strips.

[0030] Preferably, the movable superimposed table 3 and the material storage rack 4 are AGV trolleys.

[0031] Preferably, the movable superimposed table 3 is provided with a visual detection unit above. The visual detection unit projects a crosshair on the movable superimposed table 3. The right angle of the crosshair coincides with the right angle of the steel plate. After the right angle coincidence is detected, the deviation is calculated and fed back to the mechanical arm 2 for trajectory adjustment. In the embodiment, the visual detection unit is a CCD vision device.

[0032] Preferably, the mechanical arm 2 is provided with a safety fence around. The safety fence covers the working area of the mechanical arm 2 to improve safety. Embodiment 2

[0033] The embodiment provides a quick and flexible stacking method for model change, which comprises the following steps.

[0034] Step S1: material preparation: the steel plate conveying mechanism 1, the movable stacking table 3 and the material storage rack 4 are in place.

[0035] Step S2: steel plate conveying and position correction: the steel plate is conveyed to the end of the steel plate conveying mechanism 1 close to the movable stacking table 3 by the steel plate conveying mechanism 1, the clamping units on both sides of the fixing frame 5 move to the middle through the moving track, the position correction is completed after the push rod 82 touches the steel plate, and the clamping units return to the original position.

[0036] Step S3: steel plate grabbing and stacking: the mechanical arm 2 sucks and grabs the steel plate through the suction cup 91 on the clamp, then rotates and moves the mechanical arm 2 to the upper side of the movable stacking table 3, accurately positions the steel plate on the movable stacking table 3 through the visual detection unit, separates the mechanical arm 2 from the steel plate after the suction cup 91 is deflated, and returns to the original position to suck and grab the next steel plate.

[0037] Step S4: the worker takes the material from the material storage rack 4 and stacks it on the movable stacking table 3.

[0038] Step S5: repeating steps S2-S4 until the stacking is completed.

[0039] Step S6: the AGV trolley of the movable stacking table 3 and the material storage rack 4 automatically moves to complete the material movement or the model change of the material.

[0040] In the step S3, the mechanical arm 2 can automatically perform the step S2 after rotating and moving to grab the steel plate, that is, after the mechanical arm 2 sucks and grabs the steel plate and moves away, the next steel plate starts to be conveyed, thereby improving the efficiency of steel plate conveying.

[0041] The quick and flexible stacking device for model change can be flexibly moved according to the site conditions, the stacking table can switch the materials, the material model change is convenient and fast, and the operation is simple; the mechanical arm is used to grab the steel plate, the mechanical arm can accurately identify the position of the steel plate according to the position of the stacking table, and accurately place the steel plate, thereby ensuring the stacking accuracy; the visual recognition unit identifies the edges and corners of the steel plate, and feeds back the result to the mechanical arm in time, so that the mechanical arm quickly adjusts the position, and the position of each placement is very accurate; during the quick model change, the worker only needs to push the material trolley to the specified position of the stacking table, and then the model change of the material can be quickly completed; the quick and flexible stacking device and method for model change have the advantages of saving space, convenient operation, accurate stacking, quick and convenient model change, and the movable stacking table cooperates with the mechanical arm to grab the steel plate, so that the stacking mode is flexible and changeable.

[0042] In the foregoing description, numerous specific details are set forth to provide a thorough understanding of the present application. However, there can be cases in which certain implementations of the present application are practicable even though some of the specific details are not disclosed. Therefore, the scope of the present application is defined by the appended claims rather than the foregoing description of the preferred embodiments. It will be apparent to those skilled in the art that many modifications, both to the methods and to the apparatus, can be practiced with the present application without departing from the spirit and the essential characteristics of the present application. Thus, the scope of the present application should be limited only by the appended claims and equivalents thereof.

Claims

1. A quick and flexible stacking device, characterized in that: The system includes a steel plate conveying mechanism (1), a movable stacking platform (3), and a material storage rack (4) arranged in sequence. The steel plate conveying mechanism (1) includes a fixed frame (5), and multiple drive shafts (6) are provided between the two sides of the fixed frame (5). Multiple rollers (7) are provided on the drive shafts (6). The system also includes a robotic arm (2), which is equipped with a clamp. The robotic arm (2) grabs the steel plate from the steel plate conveying mechanism (1) through the clamp and automatically places the steel plate onto the movable stacking platform (3) for stacking. The steel plate conveying mechanism (1) is provided with a steel plate straightening mechanism at one end near the movable stacking platform (3). The steel plate straightening mechanism includes a moving track and a straightening unit. The moving track is arranged parallel to the transmission shaft (6). The straightening unit includes a base (81) and a push rod (82). The push rod (82) is arranged on the base (81). The base (81) is installed on the moving track. Straightening units are provided on both sides of the fixed frame (5). The clamp is provided with multiple suction cups (91), and the clamp uses the suction cups (91) to vacuum adsorb the steel plate. The clamp is provided with an anti-collision unit (92), which includes an anti-collision bracket and an anti-collision strip. The anti-collision strip is set on the anti-collision bracket, and the size of the anti-collision bracket is larger than the size of the steel plate. A vision detection unit is provided above the movable stacking platform (3). The vision detection unit projects a crosshair onto the movable stacking platform (3). The right angle of the crosshair coincides with the right angle of the steel plate. After detecting the right angle coincidence, the deviation is calculated and fed back to the robotic arm (2) for trajectory adjustment.

2. The quick and flexible lamination device according to claim 1, characterized in that: The base (81) is provided with multiple push rods (82).

3. The quick and flexible lamination device according to claim 1, characterized in that: The anti-collision bracket is provided with reinforcing ribs, which are arranged on a set of opposite sides of the longer anti-collision bracket.

4. The quick and flexible lamination device according to claim 1, characterized in that: The movable stacking platform (3) and the material storage rack (4) are both AGV trolleys.

5. A quick and flexible overlay method for shape change, characterized in that: The quick and flexible overlay device for model changeover as described in any one of claims 1-4 includes the following steps: Step S1: Material preparation: The steel plate conveying mechanism (1), the movable stacking table (3) and the material storage rack (4) are in place; Step S2: Steel plate conveying and position correction: The steel plate is automatically conveyed to one end of the steel plate conveying mechanism (1) near the movable stacking platform (3) through the steel plate conveying mechanism (1). The straightening units on both sides of the fixed frame (5) move towards the middle through the moving track. After the push rod (82) touches the steel plate, the position correction is completed and the straightening unit returns to its original position. Step S3: Steel plate gripping and stacking: The robotic arm (2) grips the steel plate by using the suction cup (91) on the fixture to perform negative pressure vacuum adsorption. Then, the robotic arm (2) is rotated and moved to the top of the movable stacking table (3). The steel plate is accurately positioned and placed on the movable stacking table (3) by the vision detection unit. After the suction cup (91) is deflated, the robotic arm (2) separates from the steel plate and returns to its position to perform adsorption gripping of the next steel plate. Step S4: The worker takes materials from the material storage rack (4) and stacks them on the movable stacking table (3); Step S5: Repeat steps S2 to S4 until the stacking is complete; Step S6: The AGV trolley of the movable stacking platform (3) and the material storage rack (4) automatically moves to complete the material movement or material model switching.

6. The quick and flexible overlay method for model change according to claim 5, characterized in that: In step S3, after the robotic arm (2) grabs the steel plate and rotates it, it can automatically proceed to step S2.

Images