FPC automatic separating and placing machine

Abstract

The application discloses an FPC automatic plate separating and placing all-in-one machine, which comprises a plate separating device provided with a loading plate, a plate placing device used for placing the single plate material formed by the plate separating device, a feeding position provided with a tray loaded with the plate material, a discharging position used for placing the tray, and a robot device, wherein the walking module drives the mechanical arm to move, the mechanical hand comprises a suction assembly, the first suction disc is used for sucking the plate material, the second suction disc is used for sucking the loading plate and the tray, and the stroke of the robot device comprises transferring the plate material from the feeding position to the plate separating device, transferring the loading plate between the plate separating device and the plate placing position, and transferring the tray from the feeding position to the discharging position. The FPC automatic plate separating and placing all-in-one machine can realize the automation of plate separating and feeding and discharge, and improve the production efficiency.

Description

Technical Field

[0001] This invention relates to the field of flexible circuit board processing equipment technology, and in particular to an integrated automatic FPC separation and tray-loading machine. Background Technology

[0002] FPC is short for Flexible Printed Circuit Board, which is an excellent flexible printed circuit board with high wiring density, light weight, thinness and good bending ability.

[0003] Currently, in FPC depaneling and tray-loading equipment, robots have limited functions and rely on manual labor to complete most processes, failing to achieve true automation. In particular, the loading and unloading of depaneling materials mostly require manual labor, resulting in low efficiency. Summary of the Invention

[0004] The main objective of this invention is to provide an integrated automatic FPC depaneling and tray loading machine, which aims to solve the technical problem that current depaneling and loading processes rely on manual labor, which cannot achieve automation and is inefficient.

[0005] To achieve the above objectives, the present invention proposes an integrated automatic FPC depaneling and tray-stacking machine, comprising:

[0006] The slitting device is equipped with a carrier tray on which the FPC panel material is placed. The slitting device punches and splits the panel material into individual panels.

[0007] A tray placement device is used to place the veneer material formed by the slitting device punching and slitting the veneer, and the tray placement device is provided with a tray placement position;

[0008] The loading position contains a pallet for loading the assembled panels;

[0009] The unloading position is used to place the tray; and

[0010] A robotic device is located between the panel separating device and the tray stacking device. The robotic device includes a walking module and a robotic arm. The walking module drives the robotic arm to move. The robotic arm is connected to a robotic hand. The robotic hand includes a suction component. The suction component includes a first suction cup and a second suction cup. The first suction cup is used to suction the panel material, and the second suction cup is used to suction the carrier tray and the pallet.

[0011] The robot device's stroke includes transferring the panel material from the loading position to the panel separating device, transferring the tray between the panel separating device and the tray placement position, and transferring the pallet from the loading position to the unloading position.

[0012] Optionally, the suction assembly further includes a fixing plate, the fixing plate is connected to a driving cylinder, the driving cylinder is connected to a connecting plate, the driving cylinder drives the connecting plate to move closer to and away from the fixing plate, a limit post is slidably connected between the fixing plate and the connecting plate, the fixing plate is connected to the first suction cup, the connecting plate is connected to the second suction cup, and the fixing plate is connected to the robotic arm.

[0013] Optionally, the robotic arm further includes a camera assembly and / or a waste material assembly, the camera assembly and the waste material assembly being respectively connected to the fixed plate, the camera assembly being used for detection and positioning, and the waste material assembly including a magnetic suction plate for picking up waste material.

[0014] Optionally, a residual material detection position is provided between the loading position and the unloading position, a residual material collection position is provided next to the separating device, a residual material detection camera is provided above the residual material detection position, and the magnetic suction sheet picks up the residual material and places it in the residual material collection position.

[0015] Optionally, the slitting device includes a moving table and a punching component. The moving table holds the carrier tray, on which the panel material is placed. The punching component falls to punch the panel material on the moving table to form the veneer material and the frame.

[0016] Optionally, a sliding groove is provided between the loading position and the unloading position, the first suction cup is also used to pick up the frame, and the robot's stroke also includes placing the frame in the sliding groove.

[0017] Optionally, the tray-stacking device includes a tray-stacking robot and a conveying mechanism, wherein the tray-stacking position holds the veneer material, and the stroke of the tray-stacking robot includes conveying the veneer material to the conveying mechanism.

[0018] Optionally, the conveying mechanism includes a circulating conveyor belt and a discharge conveyor belt. The circulating conveyor belt is provided with a positioning plate, and the discharge conveyor belt is provided with a discharge plate. A transfer module is also provided between the circulating conveyor belt and the discharge conveyor belt. The stroke of the transfer module includes reciprocatingly conveying the discharge plate between the discharge conveyor belt and the positioning plate. The stroke of the tray-stacking robot includes conveying the single-board material to the positioning plate.

[0019] Optionally, the tray-stacking device further includes a detection position and an NG tray, the detection position being located near the tray-stacking position and the NG tray being located near the conveying mechanism, and the travel of the tray-stacking robot further includes conveying the veneer material to the detection position and the NG tray.

[0020] Optionally, the circulating conveyor belt includes an upper conveyor belt and a lower conveyor belt with opposite conveying directions, and a lifting connection assembly is provided between the upper conveyor belt and the lower conveyor belt. The lifting connection assembly includes a lifting cylinder and a connection platform. The lifting cylinder drives the connection platform to reciprocate between the upper conveyor belt and the lower conveyor belt.

[0021] This invention utilizes a slitting device to punch and separate FPC boards into individual boards, and a tray-stacking device to arrange these individual boards. Loading and unloading positions are located next to the slitting device. A robotic unit places the assembled boards onto the slitting device, places a carrier tray between the tray-stacking position and the slitting device for transfer, and places the tray at the unloading position, thus automating the loading and unloading process and improving production efficiency. Specifically, the robotic unit's walking module drives the robotic arm to move between the loading and unloading positions, the slitting device, and the tray-stacking device. Furthermore, the robotic arm is connected to a robotic gripper. The gripper's first suction cup is used to pick up the assembled boards, and the second suction cup is used to pick up the carrier boards and the tray. Thus, by using the gripper components of the robotic gripper to pick up different components, the loading and unloading process is automated, improving production efficiency. Attached Figure Description

[0022] To more clearly illustrate the technical solutions in the embodiments of the present invention or the prior art, the drawings used in the description of the embodiments or the prior art will be briefly introduced below. Obviously, the drawings described below are only some embodiments of the present invention. For those skilled in the art, other drawings can be obtained based on the structures shown in these drawings without creative effort.

[0023] Figure 1 This is a schematic diagram of the structure of an embodiment of the FPC automatic plate separating and tray-stacking integrated machine of the present invention;

[0024] Figure 2 This is a schematic diagram of the slitting device and robot device in an embodiment of the FPC automatic slitting and tray-stacking integrated machine of the present invention;

[0025] Figure 3 This is a schematic diagram of the tray-sanding device in an embodiment of the FPC automatic plate-separating and tray-sanding integrated machine of the present invention;

[0026] Figure 4 This is a schematic diagram of the robotic arm in an embodiment of the FPC automatic plate separating and tray-stacking integrated machine of the present invention;

[0027] Figure 5 This is a schematic diagram of the robotic arm in an embodiment of the FPC automatic plate separating and tray-stacking integrated machine of the present invention;

[0028] Figure 6This is a schematic diagram of the loading or unloading position of an embodiment of the FPC automatic plate separating and tray-stacking integrated machine of the present invention;

[0029] Figure 7 This is a schematic diagram of the conveying mechanism in an embodiment of the FPC automatic plate separating and tray-stacking integrated machine of the present invention.

[0030] Explanation of icon numbers:

[0031] 100 Plate separating device 410 Tray 730 Manipulator 110 Tray carrier 500 Lowering position 741 First suction cup 120 Punching part 510 Up and down feeding cylinder 742 Second suction cup 200 Tray arranging robot 520 Receiving plate 750 Fixing plate 210 Material taking position 530 Guide plate 760 Connecting plate 300 Conveying mechanism 600 Remaining material detection position 770 Camera assembly 310 Upper conveying belt 610 Remaining material collection position 780 Magnetic suction piece 320 Lower conveying belt 620 Remaining material detection camera 800 Transfer module 330 Positioning plate 630 Sliding-out groove 810 Horizontal walking module 340 Lifting connection assembly 700 Robot device 820 Transfer manipulator 341 Connection table 710 Walking module 900 Discharging plate 342 Lifting cylinder 720 Mechanical arm 910 NG tray 400 Feeding position 930 Second detection camera 920 First detection camera

[0032] The realization of the objective, functional features and advantages of the present invention will be further explained in conjunction with the embodiments and with reference to the accompanying drawings. Detailed Implementation

[0033] The technical solutions of the embodiments of the present invention will be clearly and completely described below with reference to the accompanying drawings. Obviously, the described embodiments are only a part of the embodiments of the present invention, and not all of the embodiments. Based on the embodiments of the present invention, all other embodiments obtained by those of ordinary skill in the art without creative effort are within the scope of protection of the present invention.

[0034] It should be noted that all directional indications (such as up, down, left, right, front, back, etc.) in the embodiments of the present invention are only used to explain the relative positional relationship and movement of each component in a certain specific posture (as shown in the figure). If the specific posture changes, the directional indication will also change accordingly.

[0035] In this invention, unless otherwise explicitly specified and limited, the terms "connection," "fixed," etc., should be interpreted broadly. For example, "fixed" can mean a fixed connection, a detachable connection, or an integral part; it can mean a mechanical connection or an electrical connection; it can mean a direct connection or an indirect connection through an intermediate medium; it can mean the internal communication of two components or the interaction between two components, unless otherwise explicitly limited. Those skilled in the art can understand the specific meaning of the above terms in this invention according to the specific circumstances.

[0036] Furthermore, if the embodiments of this invention involve descriptions such as "first" or "second," these descriptions are for descriptive purposes only and should not be construed as indicating or implying their relative importance or implicitly specifying the number of technical features indicated. Therefore, a feature defined with "first" or "second" may explicitly or implicitly include at least one of those features. Additionally, the meaning of "and / or" throughout the text includes three parallel solutions; for example, "A and / or B" includes solution A, solution B, or a solution where both A and B are satisfied simultaneously. Furthermore, the technical solutions of the various embodiments can be combined with each other, but this must be based on the ability of those skilled in the art to implement them. When the combination of technical solutions is contradictory or impossible to implement, it should be considered that such a combination of technical solutions does not exist and is not within the scope of protection claimed by this invention.

[0037] This invention proposes an integrated automatic FPC separation and tray arrangement machine.

[0038] In existing technologies, robots in FPC depaneling and tray-loading equipment have limited functions and rely on manual labor to complete most of the processes, which cannot truly achieve automation. In particular, the loading and unloading of depaneling materials mostly require manual labor, resulting in low efficiency.

[0039] To address the aforementioned technical problems, the present invention employs a slitting device to punch and separate FPC boards into individual boards, and a tray-stacking device to arrange these individual boards. Loading and unloading positions are located next to the slitting device. A robotic device places the assembled boards onto the slitting device, places a carrier tray between the tray-stacking position and the slitting device for transfer, and places the tray at the unloading position, thereby automating the loading and unloading process and improving production efficiency. Specifically, the robotic device's walking module drives the robotic arm to move between the loading and unloading positions, the slitting device, and the tray-stacking device. Furthermore, the robotic arm is connected to a robotic gripper. The gripper's first suction cup is used to pick up the assembled boards, and the second suction cup is used to pick up the carrier board and the tray. Thus, by using the gripper components of the robotic gripper to pick up different components, the loading and unloading process is automated, improving production efficiency.

[0040] The above technical solution will be described in detail below with reference to the accompanying drawings.

[0041] In embodiments of the present invention, such as Figures 1-7 As shown, the FPC automatic PCB separation and tray loading integrated machine includes:

[0042] The slitting device 100 is provided with a carrier tray 110 on which FPC panel material is placed. The slitting device 100 punches and separates the panel material into single panels.

[0043] The tray placement device is used to place the veneer material formed by the slitting device 100 punching and slitting. The tray placement device is equipped with a tray placement position.

[0044] The loading position 400 is equipped with a pallet 410 containing the assembled panel material;

[0045] Unloading position 500 is used to place pallet 410; and

[0046] The robot device 700 is located between the plate separating device 100 and the tray stacking device. The robot device 700 includes a walking module 710 and a robotic arm 720. The walking module 710 drives the robotic arm 720 to move. The robotic arm 720 is connected to a robotic hand 730. The robotic hand 730 includes a suction component, which includes a first suction cup 741 and a second suction cup 742. The first suction cup 741 is used to suction the plate material, and the second suction cup 742 is used to suction the carrier tray 110 and the pallet 410.

[0047] The stroke of the robot device 700 includes transferring the panel material from the loading position 400 to the panel separating device 100, transferring the tray 110 between the panel separating device 100 and the tray placement position, and transferring the pallet 410 from the loading position 400 to the unloading position 500.

[0048] In the specific implementation process, the slitting device 100 and the tray-stacking device are located on two parallel workbenches. A fixed cabinet is connected below the workbenches, and a cover is connected above the workbenches, enclosing the entire mechanism. The system includes multiple rotating trays 110, which are circulated between the slitting device 100 and the tray-stacking position by a robot device 700. The loading position 400 and unloading position 500 are located on one side of the slitting device 100. The robot device 700 transfers the spliced ​​material on the tray 410 of the loading position 400 to the slitting device 100. After the spliced ​​material on the tray 410 is loaded, the robot transfers the empty tray 410 of the loading position 400 to the unloading position 500. The robot also transfers the empty trays 110 of the tray-stacking position to the slitting device 100, and then transfers the trays 110 with single-board material after the slitting device 100 has finished punching to the tray-stacking position, thereby automating the loading and unloading of the slitting device 100.

[0049] The slitting device 100 includes a moving table and a punching component 120. A carrier tray 110 is placed on the moving table, and panel material is placed on the carrier tray 110. The punching component 120 descends to punch the panel material on the moving table, forming veneer material and a frame. In this embodiment, the moving table is located below the punching component 120, and the travel of the moving table includes a punching position and a loading position. The punching position is located directly below the moving table and is used for punching the panel material. The loading position is where the carrier tray 110 and the panel material are placed. The moving table reciprocates between the punching position and the loading position to complete the cutting and loading / unloading processes. Specifically, the bottom of the moving table is slidably connected to two guide rails, which are fixed to two vertical plates. Near the middle of the bottom of the moving table, there is also a connecting block. The connecting block is connected to a cylinder or a motor. The extension rod of the cylinder is connected to the connecting block, or the motor is connected to the connecting block through a lead screw to achieve drive. In this way, the moving table is driven by the motor or cylinder to slide along the guide rails and reciprocate between the loading position and the punching position.

[0050] In this embodiment, the punching component 120 includes a punching template, which is configured to cooperate with the panel material and the carrier tray 110. The punching template moves toward the carrier tray 110 to cut and separate the panel material into individual panels and frames. Specifically, a sliding plate is connected to the top of the punching template, and sliding columns are slidably connected to the four corners of the sliding plate. A top plate is connected to the top of the sliding columns, and a punching cylinder is fixed on the top plate. The telescopic rod of the punching cylinder passes through the top plate and is connected to the sliding plate. Thus, the punching cylinder drives the sliding plate to slide along the sliding columns, causing the punching template to punch downwards and cut the panel material on the carrier tray 110 to complete the separation. The punching cylinder drives the top plate and the punching template to move upwards, and the moving table moves toward the loading position. The robot device 700 can pick up the carrier tray 110 and transfer it to the tray position.

[0051] In the specific implementation process, the walking module 710 of the robot device 700 is located between the separating device 100 and the tray-stacking device. The robotic arm 720 moves along the walking module 710. In practice, the walking module 710 is a lead screw and slider mechanism. This is prior art and will not be described in detail in this embodiment. A robotic hand 730 is connected to the end of the robotic arm 720 away from the walking module 710. The robotic hand 730 includes a suction component, which includes multiple first suction cups 741 and multiple second suction cups 742. In this embodiment, four suction cups are used as an example. The four first suction cups 741 suction the four corners of the assembled board material, and the four second suction cups 742 suction the four corners of the tray 410 and the carrier tray 110. Furthermore, the suction force of the first suction cups 741 and the second suction cups 742 is different and is adjusted according to the specific components that need to be suctioned.

[0052] Furthermore, in the specific implementation process, the suction component also includes a fixed plate 750, which is connected to a drive cylinder. The drive cylinder is connected to a connecting plate 760. The drive cylinder drives the connecting plate 760 to move closer to and away from the fixed plate 750. A limit post is slidably connected between the fixed plate 750 and the connecting plate 760. The fixed plate 750 is connected to a first suction cup 741, the connecting plate 760 is connected to a second suction cup 742, and the fixed plate 750 is connected to a robotic arm 720.

[0053] In the specific implementation process, a connecting flange is connected to the fixed plate 750 near its center, and the connecting flange is connected to the robotic arm 720. A drive cylinder is connected to the top of the fixed plate 750 and near its side. The extension rod of the drive cylinder passes through the fixed plate 750, extends below it, and connects to the connecting plate 760. The drive cylinder drives the connecting plate 760 to move closer to or away from the fixed plate 750. When the connecting plate 760 moves closer to the fixed plate 750, the second suction cup 742 rises, and the first suction cup 741 picks up the assembled material, avoiding interference from the second suction cup 742. When the connecting plate 760 moves away from the fixed plate 750, the second suction cup 742 falls and picks up the carrier plate 110 or pallet 410.

[0054] To ensure stability between the connecting plate 760 and the fixed plate 750, a limiting post is provided between the fixed plate 750 and the connecting plate 760. One end of the limiting post is fixedly connected to the connecting plate 760, and the other end extends above the fixed plate 750 and is slidably connected to the fixed plate 750. Furthermore, the fixed plate 750 is provided with a sliding sleeve, and the circumferential surface of the limiting post is slidably connected to the sliding sleeve. In this embodiment, the first suction cup 741 is connected to the fixed plate 750, and the second suction cup 742 is connected to the connecting plate 760. Specifically, the first suction cup 741 and the fixed plate 750 are connected by two support bars with rotatable ends, and the connection position is locked to prevent arbitrary rotation. The angle between the two support bars can be adjusted, thereby adjusting the distance between the first suction cups 741 to accommodate different sizes of sheet metal. The second suction cup 742 is connected to the connecting plate 760 via an L-shaped bracket, and the L-shaped bracket and the connecting plate 760 are connected by bolts or other connecting parts, which can be rotated to adjust the angle and locked by locking parts to accommodate different sized carrier plates 110.

[0055] Furthermore, the robotic arm 730 also includes a camera assembly 770 and / or a waste material assembly. The camera assembly 770 and the waste material assembly are respectively connected to the fixed plate 750. The camera assembly 770 is used for detection and positioning, and the waste material assembly includes a magnetic chuck 780 for picking up waste material.

[0056] In the specific implementation process, the fixing plate 750 is connected to the camera assembly 770 via a connecting bracket. The camera assembly 770 is used for positioning of the robot arm 730, improving the accuracy of the transfer. In practice, veneer materials may fall onto the carrier tray 110 during the transfer process, or the veneer materials may get stuck on the carrier tray 110. In this embodiment, the fixing plate 750 is also connected to the surplus material assembly via another connecting bracket. The surplus material assembly is used to pick up the remaining veneer materials. Specifically, the surplus material assembly is equipped with a magnetic suction piece 780, which picks up the veneer materials.

[0057] Furthermore, a residual material detection position 600 is provided between the loading position 400 and the unloading position 500, and a residual material collection position 610 is provided next to the plate separating device 100. A residual material detection camera 620 is provided above the residual material detection position 600, and a magnetic suction plate 780 picks up the residual material and places it in the residual material collection position 610.

[0058] In the specific implementation process, after the robot picks up the carrier tray 110 at the material picking position 210, it places it at the residual material detection position 600 to detect whether there is residual material. In this embodiment, residual material refers to the veneer material remaining on the carrier tray 110 that has not been picked up by the tray-mounting device. A residual material detection camera 620 is installed on the upper part of the residual material detection position 600. It can be understood that the residual material detection camera 620 is fixed inside the machine cover. After the residual material detection camera 620 detects that there is residual material on the carrier tray 110, the residual material picking component picks up the residual material and transfers it to the residual material collection position 610, which is located next to the separating device 100. After the residual material is collected, the robot component transfers the carrier tray 110 to the separating device 100, preparing for the separating process.

[0059] Optionally, a sliding groove 630 is provided between the loading position 400 and the unloading position 500, and the first suction cup 741 is also used to pick up the frame. The robot's stroke also includes placing the frame in the sliding groove 630.

[0060] In the specific implementation process, the slide groove 630 is located between the loading position 400 and the unloading position 500, and the residual material detection position 600 is also equipped with a lifting frame. The lifting frame spans across the upper part of the slide groove 630, making the residual material detection position 600 higher than the slide groove 630, which saves space, makes the equipment more compact, reduces the stroke of the robot device 700, and improves efficiency. The residual material detection position 600 extends from the side of the slide groove 630 away from the edge of the equipment, allowing the frame to slide out smoothly and avoiding interference between them. After the slitting equipment completes the punching and sliding, and the moving table slides to the loading position, the robot's first suction cup 741 picks up the frame formed by the slitting and transfers it to the slide groove 630 for sliding out. Then, the robot's second suction cup 742 picks up the carrier plate 110 and transfers it to the tray position. Understandably, the slide groove 630 is also equipped with a material box for collecting the frame.

[0061] In this embodiment, the loading position 400 and the unloading position 500 are respectively equipped with lifting components. The lifting components include loading / unloading cylinders 510. The telescopic rod of the loading / unloading cylinder 510 is connected to a receiving plate 520. The receiving plate 520 is used to place the pallet 410. The receiving plate 520 has several positioning holes, and the positioning holes are connected to multiple guide plates 530. The top of the guide plates 530 is bent and bent in a direction away from each other. The pallet 410 is located in the space formed by the guide plates 530. The guide plates 530 provide guidance and limit for the pallet 410. In addition, the several positioning holes on the receiving plate 520 can fix the guide plates 530 in any position to accommodate pallets 410 of different sizes.

[0062] Optionally, the tray-setting device includes a tray-setting robot 200 and a conveying mechanism 300. The tray-setting position holds veneer material, and the stroke of the tray-setting robot 200 includes conveying the veneer material to the conveying mechanism 300.

[0063] In the specific implementation process, there can be two tray-setting robots 200 and four tray-setting positions. Each tray-setting robot 200 corresponds to two tray-setting positions and completes the tray-setting of the veneer material on the two tray-setting positions. After the tray-setting is completed, the conveying mechanism 300 transports the tray-set veneer material to the next process.

[0064] Furthermore, the conveying mechanism 300 includes a circulating conveyor belt and a discharge conveyor belt. The circulating conveyor belt is provided with a positioning plate 330, and the discharge conveyor belt is provided with a discharge plate 900. A transfer module 800 is also provided between the circulating conveyor belt and the discharge conveyor belt. The stroke of the transfer module 800 includes reciprocatingly conveying the discharge plate 900 between the discharge conveyor belt and the positioning plate 330. The stroke of the tray-stacking robot 200 includes conveying the single-board material to the positioning plate 330.

[0065] In the specific implementation, the circulating conveyor belt and the discharge conveyor belt are arranged in parallel. A positioning plate 330 is installed on the circulating conveyor belt to support the discharge plate 900. The discharge plate 900 is fed from one end of the discharge conveyor belt and transferred to the positioning plate 330 on the circulating conveyor belt via the transfer module 800. The circulating conveyor belt is equipped with a limit assembly and a lifting assembly. The limit assembly has a deceleration sensor to sense the positioning plate 330. After the decelerator senses the positioning plate 330, it reduces the speed of the circulating conveyor belt and stops it. Specifically, the limit assembly also includes a limit plate connected to a limit cylinder. The limit cylinder drives the limit plate to lift, thereby blocking the positioning plate 330 and achieving the limit. Further, in this embodiment, a magnet and a buffer plate are provided on the side of the limit plate facing the positioning plate 330. The magnet cooperates with the positioning plate 330 to attract it, preventing the positioning plate 330 from moving in the opposite direction under impact. The buffer plate acts as a buffer, mitigating the impact on the positioning plate 330.

[0066] Additionally, lifting components are located on both sides of the circulating conveyor belt. These components are equipped with lifting cylinders connected to lifting plates. A transition plate is slidably connected to the lifting plate, which is connected to a lifting cylinder. The lifting cylinder is connected to a lifting plate. Lifting cylinders are located on both sides of the transition plate, resulting in two lifting plates on each side of the circulating conveyor belt. After the positioning plate 330 stops under the action of the limiting component, the lifting cylinder drives the lifting plate to extend between the positioning plate 330 and the discharge plate 900. The lifting cylinder then drives the transition plate to slide upwards, causing the lifting plate to rise, thereby lifting the discharge plate 900 away from the positioning plate 330, thus achieving the positioning of the discharge plate 900. The tray-stacking robot 200 places the single-plate material onto the discharge plate 900.

[0067] In this embodiment, the discharge plate 900 is fed from one end of the discharge conveyor belt and transferred to the positioning plate 330 of the circulating conveyor belt by the transfer module 800. After the discharge plate 900 is trayed, it is transferred to the discharge conveyor belt by the transfer module 800. The transfer module 800 includes a transfer bracket that spans between the circulating conveyor belt and the discharge conveyor belt. The transfer bracket is equipped with a transfer walking component, which is connected to a transfer robot 820. The transfer robot 820 is used to pick up the discharge plate 900. The transfer walking component includes a horizontal walking module 810 and a vertical walking module. The horizontal walking module 810 spans between the circulating conveyor belt and the discharge conveyor belt, and the vertical walking module enables the transfer robot 820 to move vertically, dropping to pick up the discharge plate 900 and lifting and transferring the discharge plate 900.

[0068] Furthermore, the circulating conveyor belt includes an upper conveyor belt 310 and a lower conveyor belt 320 with opposite conveying directions, and a lifting connection assembly 340 is provided between the upper conveyor belt 310 and the lower conveyor belt 320. The lifting connection assembly 340 includes a lifting cylinder 342 and a connection platform 341. The lifting cylinder 342 drives the connection platform 341 to reciprocate between the upper conveyor belt 310 and the lower conveyor belt 320.

[0069] In practical implementation, the positioning plate 330 is used cyclically on the circulating conveyor belt. Specifically, lifting and connecting assemblies 340 are located at both ends of the circulating conveyor belt, used to rotate the positioning plate 330 between the upper conveyor belt 310 and the lower conveyor belt 320 to achieve circulation. Specifically, the lifting and connecting assembly 340 includes a lifting cylinder 342 and a connecting platform 341. The lifting cylinder 342 drives the connecting platform 341 to rise and fall, and a connecting conveyor belt is provided on the connecting platform 341. In one of the lifting and connecting assemblies 340, the connecting platform 341 rises so that the connecting conveyor belt cooperates with the upper conveyor belt 310, with the same rotation speed and direction, so that the positioning plate 330 is transported from the connecting platform 341 to the upper conveyor belt 310. The connecting platform 341 falls so that the connecting conveyor belt cooperates with the lower conveyor belt 320, so that the positioning plate 330 on the lower conveyor belt 320 is transported to the connecting platform 341. It is understandable that the upper conveyor belt 310 and the lower conveyor belt 320 convey in opposite directions, and the positioning plate 330 is circulated through two lifting and connecting components 340. Therefore, the coordination procedure between the other lifting and connecting component 340 and the circulating conveyor is known, but will not be described in detail in this embodiment. It is also understood that the connecting platform 341 is equipped with a motor to drive the connecting conveyor belt to rotate.

[0070] Optionally, the tray placement device also includes a detection position and an NG tray 910. The detection position is located near the tray placement position, and the NG tray 910 is located near the conveying mechanism 300. The stroke of the tray placement robot 200 also includes conveying the veneer to the detection position and the NG tray 910.

[0071] In this embodiment, the detection position includes a first detection camera 920 and a second detection camera 930. The first detection camera 920 is fixed to the top inside the machine housing and is correspondingly positioned to the tray placement position. The second detection camera 930 is positioned close to the tray placement position, with the detection direction facing upwards. An NG tray 910 is connected to a placement rack, which spans the discharge conveyor belt. The NG tray 910 is fixed to the upper side of the placement rack, and each tray placement robot 200 is correspondingly equipped with one NG tray 910. The tray placement robot 200 includes a tray placement manipulator and a tray placement robotic arm 720. The tray placement manipulator is equipped with multiple tray placement suction cups for picking up veneer materials.

[0072] In the specific implementation process, during the board separation procedure, the robot device 700 transfers the carrier tray 110 from the tray placement position to the residual material detection position 600. If residual material is detected, it transfers the residual material to the residual material collection position 610, and then transfers the empty carrier tray 110 to the board separation device 100. If no residual material is detected, the carrier tray 110 is directly transferred to the board separation device 100. The robot device 700 transfers the panel material from the loading position 400 to the carrier tray 110 of the board separation device 100. After the board separation device 100 completes the punching and separation, the robot device 700 transfers the frame from the board separation device 100 to the slide groove 630, and transfers the carrier tray 110 containing the single panel material from the board separation device 100 to the tray placement position. The robot component also transfers the pallet 410 carrying the panel material from the loading position 400 to the unloading position 500.

[0073] The first inspection camera 920 above the tray position inspects the PCB material on the carrier tray 110. The tray-mounting robot 200 picks up the PCB material from the tray position and passes it through the inspection area of ​​the second inspection camera 930, which inspects the bottom side of the PCB material. PCB materials that pass inspection are placed by the tray-mounting robot 200 onto the discharge plate 900 on the positioning plate 330. PCB materials that fail inspection are transferred by the tray-mounting robot 200 to the NG tray 910. Meanwhile, empty discharge plates 900 are fed by the discharge conveyor belt and transferred by the transfer module 800 to the positioning plate 330 of the lifting and connecting assembly 340. The lifting and connecting assembly 340 then transfers the PCB material to the upper conveyor belt 310, where it is positioned by the limiting and lifting components. The tray-mounting robot 200 then places the inspected PCB material onto the discharge plate 900. After the tray is finished, the discharge plate 900 is transferred to the lower conveyor belt 320 by another lifting and connecting component 340, and then lifted again by the lifting and connecting component 340. Then the transfer module 800 transfers the tray-finished discharge plate 900 to the discharge conveyor belt to complete the discharge.

[0074] In another embodiment, multiple FPC automatic slab separating and tray-stacking integrated machines form a tray-stacking line, which is coordinated with the discharge conveyor belt to form a discharge production line, which can simultaneously perform multiple slab separating and tray-stacking, thereby improving production efficiency.

[0075] The above description is merely an optional embodiment of the present invention and does not limit the patent scope of the present invention. All equivalent structural transformations made using the contents of the present invention's specification and drawings under the inventive concept of the present invention, or direct / indirect applications in other related technical fields, are included within the patent protection scope of the present invention.

Claims

1. An integrated automatic FPC sorting and tray-stacking machine, characterized in that, include: The slitting device is equipped with a carrier tray on which the FPC panel material is placed. The slitting device punches and splits the panel material into single panels and frames. A tray-stacking device is used to place the veneer material formed by the slitting device through punching and slitting. The tray-stacking device has a tray-stacking position. The tray-stacking device includes a tray-stacking robot and a conveying mechanism. The veneer material is placed in the tray-stacking position. The stroke of the tray-stacking robot includes conveying the veneer material to the conveying mechanism. The conveying mechanism includes a circulating conveyor belt and a discharge conveyor belt. A positioning plate is provided on the circulating conveyor belt, and a discharge plate is provided on the discharge conveyor belt. A transfer module is also provided between the circulating conveyor belt and the discharge conveyor belt. The stroke of the transfer module includes reciprocatingly conveying the discharge plate between the discharge conveyor belt and the positioning plate. The stroke of the tray-stacking robot includes conveying the veneer material to the positioning plate. The circulating conveyor belt is provided with a limit component and a lifting component. The limit component is provided with a deceleration sensor for sensing the positioning plate. After the deceleration sensor senses the positioning plate, the rotation speed of the circulating conveyor belt is reduced and stopped. The loading position is for placing a pallet loaded with the assembled panels; the unloading position is for placing an empty pallet. A sliding groove, located between the loading and unloading positions, is used to accommodate the frame; and A robotic device is located between the panel separating device and the tray placement device. The robotic device includes a walking module and a robotic arm. The walking module drives the robotic arm to move. The robotic arm is connected to a robotic hand. The robotic hand includes a suction component. The suction component includes a first suction cup and a second suction cup. The first suction cup is used to pick up the panel material and also to pick up the frame and place the frame in the sliding groove. The second suction cup is used to pick up the carrier tray and the pallet. The suction assembly further includes a fixed plate, the fixed plate is connected to a drive cylinder, the drive cylinder is connected to a connecting plate, the drive cylinder drives the connecting plate to move closer to and away from the fixed plate, a limit post is slidably connected between the fixed plate and the connecting plate, the fixed plate is connected to the first suction cup, the connecting plate is connected to the second suction cup, and the fixed plate is connected to the robotic arm; The robot device's stroke includes transferring the panel material from the loading position to the panel separating device, transferring the tray between the panel separating device and the tray placement position, and transferring the pallet from the loading position to the unloading position.

2. The FPC automatic PCB separation and tray-stacking integrated machine as described in claim 1, characterized in that, The robotic arm also includes a camera assembly and / or a waste material assembly, the camera assembly and the waste material assembly being respectively connected to the fixed plate. The camera assembly is used for detection and positioning, and the waste material assembly includes a magnetic suction plate for picking up waste material.

3. The FPC automatic PCB separation and tray-stacking integrated machine as described in claim 2, characterized in that, A residual material detection position is provided between the loading position and the unloading position. A residual material collection position is provided next to the separating device. A residual material detection camera is provided above the residual material detection position. The magnetic suction sheet picks up the residual material and places it in the residual material collection position.

4. The FPC automatic PCB separation and tray-stacking integrated machine as described in claim 1, characterized in that, The slitting device includes a moving table and a punching component. The moving table holds the carrier tray, on which the panel material is placed. The punching component falls to punch the panel material on the moving table to form the veneer material and the frame.

5. The FPC automatic PCB separation and tray-stacking integrated machine as described in claim 4, characterized in that, A sliding groove is provided between the loading position and the unloading position. The first suction cup is also used to pick up the frame. The robot's stroke also includes placing the frame in the sliding groove.

6. The FPC automatic PCB separation and tray-stacking integrated machine as described in claim 1, characterized in that, The tray-setting device also includes a detection position and an NG tray. The detection position is located near the tray-setting position, and the NG tray is located near the conveying mechanism. The travel of the tray-setting robot also includes conveying the veneer material to the detection position and the NG tray.

7. The FPC automatic PCB separation and tray-stacking integrated machine as described in claim 6, characterized in that, The circulating conveyor belt includes an upper conveyor belt and a lower conveyor belt with opposite conveying directions, and a lifting and connecting assembly is provided between the upper conveyor belt and the lower conveyor belt. The lifting and connecting assembly includes a lifting cylinder and a connecting platform. The lifting cylinder drives the connecting platform to reciprocate between the upper conveyor belt and the lower conveyor belt.

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