Adjusting mechanism and adjusting method thereof, automatic recycling device

Abstract

The application relates to an adjusting mechanism and an adjusting method thereof and an automatic recycling device. The adjusting mechanism comprises electrically connected detection and adjusting modules, and comprises a support, a transfer assembly movably connected to the support, the transfer assembly being capable of moving along a first direction relative to the support, and a grabbing assembly movably connected to the transfer assembly, the transfer assembly being capable of driving the grabbing assembly to move along a second direction, the first direction intersecting the second direction, and the grabbing assembly being capable of rotating relative to the transfer assembly. When the transfer assembly controls the grabbing assembly to grab a to-be-moved component, the detection module can detect the direction in which the to-be-moved component is placed, and the adjusting module drives the grabbing assembly to rotate by a preset angle according to the detection result of the detection module, so as to drive the grabbed to-be-moved component to rotate to a preset direction. The adjusting mechanism, the adjusting method thereof and the automatic recycling device can automatically adjust the entering direction of a tray for feeding, so as to avoid problems such as material scrapping and machine jamming during feeding caused by incorrect placing direction of the tray, and cost is saved.

Description

TECHNICAL FIELD

[0001] The present application relates to the field of electronic equipment, in particular to an adjusting mechanism and an adjusting method thereof, and an automatic recycling device. BACKGROUND

[0002] In the prior art, when detecting the produced circuit board, a plurality of circuit boards need to be loaded into a tray, and then manually transported to the corresponding detection device for detection. This method has high labor cost and low efficiency. In some production lines, a semi-automatic device is used to assemble the circuit board into the tray. However, in the semi-automatic process, the direction of the empty tray may not match the placement direction of the circuit board, which may cause damage to the circuit board or even stop the equipment. SUMMARY

[0003] The present application aims to provide an adjusting mechanism and an adjusting method thereof, and an automatic recycling device, which can automatically adjust the entering direction of the loading tray to avoid the problems of material scrap and equipment jam caused by incorrect placement direction of the tray, thereby saving costs.

[0004] To this end, in a first aspect, an adjusting mechanism for an automatic recycling device is provided, which comprises a detection module and an adjusting module connected electrically,

[0005] The adjusting module comprises:

[0006] a support;

[0007] a transfer assembly movably connected to the support, the transfer assembly being capable of moving along a first direction relative to the support;

[0008] a grabbing assembly movably connected to the transfer assembly, the transfer assembly being capable of driving the grabbing assembly to move along a second direction, the first direction intersecting the second direction, and the grabbing assembly being capable of rotating relative to the transfer assembly,

[0009] When the transfer assembly controls the grabbing assembly to grab a to-be-moved component, the detection module can detect the direction in which the to-be-moved component is placed, and the adjusting module drives the grabbing assembly to rotate by a preset angle according to the detection result of the detection module, so as to drive the grabbed to-be-moved component to rotate to a preset direction.

[0010] In a possible implementation, the transfer assembly comprises:

[0011] a first moving part connected to the support;

[0012] a second moving part connected to the first moving part, the first moving part being capable of driving the second moving part to move along the first direction;

[0013] A rotating part is connected to the second moving part, the second moving part can drive the rotating part to move along the second direction, and the second moving part is connected to the grabbing assembly through the rotating part.

[0014] In a possible implementation, the grabbing assembly comprises:

[0015] A mounting rack is connected to the rotating part, and the mounting rack is provided with a plurality of mounting positions;

[0016] A plurality of suction cups are respectively connected to the plurality of mounting positions,

[0017] The to-be-moved component has a plurality of empty positions, the topography of the empty positions matches the to-be-detected object, the suction cup has a suction surface, and when the grabbing assembly grabs the to-be-moved component, the suction surface extends into the empty position and is adsorbed to the bottom surface of the empty position.

[0018] In a possible implementation, the first moving part comprises a sliding assembly, the sliding assembly comprises a matched guide rail and a sliding block, the guide rail is arranged on the support, and the sliding block is arranged on the first moving part.

[0019] The second moving part is a first air cylinder, the first air cylinder is fixedly connected with the sliding block, an end of a first top rod of the first air cylinder is connected to the grabbing assembly through the rotating part, the axial direction of the first top rod is parallel to the second direction, and the rotating part can drive the grabbing assembly to rotate around the axis of the first top rod by the preset angle.

[0020] In a possible implementation, the adjusting mechanism further comprises:

[0021] An upper conveying line is arranged to input the to-be-moved component.

[0022] A lower conveying line is arranged below the upper conveying line, the conveying directions of the upper conveying line and the lower conveying line are opposite, and the lower conveying line is arranged to output the loaded to-be-moved component.

[0023] The adjusting module is arranged on one side of the upper conveying line, and the one side of the upper conveying line is provided with a detection position along the conveying direction of the upper conveying line. The adjusting module further comprises a positioning part, and when the to-be-moved component moves to the detection position, the positioning part is arranged to limit the movement of the to-be-moved component, so that the grabbing assembly grabs the to-be-moved component in the detection position.

[0024] In a possible implementation, the detection module is a sensor connected to the transfer assembly, and an anti-fool notch is arranged on an edge of one side of the to-be-transferred component.

[0025] When the grabbing assembly grabs the to-be-transferred component, the sensor emits laser to the to-be-transferred component, and when the laser is matched with the anti-fool notch, the to-be-transferred component is placed in the preset direction. When the laser is blocked by the to-be-transferred component, the rotating part is driven to rotate the to-be-transferred component by the preset angle, so that the laser is matched with the anti-fool notch.

[0026] In a possible implementation, the preset angle is 180°.

[0027] In a possible implementation, the upper conveying line is further provided with a buffer position, the buffer position is arranged on one side of the detection position, and the adjusting mechanism further includes a limiting module, the limiting module includes:

[0028] a limiting frame connected to the upper conveying line;

[0029] a second cylinder connected to the limiting frame;

[0030] a baffle connected to an end of a second top rod of the second cylinder, the baffle is located between the detection position and the buffer position, and the second cylinder can drive the second top rod to move in the second direction, so that the baffle is used to limit the movement of the to-be-transferred component to the detection position.

[0031] In a possible implementation, the adjusting mechanism further includes a position detection part, and the position detection part is arranged on a side of the detection position away from the buffer position.

[0032] In a possible implementation, the adjusting mechanism further includes a position detection part, and the position detection part is arranged on a side of the detection position away from the buffer position.

[0033] In a possible implementation, the adjusting mechanism further includes a position detection part, and the position detection part is arranged on a side of the detection position away from the buffer position.

[0034] In a possible implementation, the adjusting mechanism further includes a position detection part, and the position detection part is arranged on a side of the detection position away from the buffer position.

[0035] In a possible implementation, the adjusting mechanism further includes a position detection part, and the position detection part is arranged on a side of the detection position away from the buffer position.

[0036] In a possible implementation, the adjusting mechanism further includes a position detection part, and the position detection part is arranged on a side of the detection position away from the buffer position.

[0037] In a possible implementation, the adjusting mechanism further includes a position detection part, and the position detection part is arranged on a side of the detection position away from the buffer position.

[0038] a support;

[0039] a transfer assembly movably connected to the support, the transfer assembly being capable of moving relative to the support in a first direction;

[0040] a grabbing assembly movably connected to the transfer assembly, the transfer assembly being capable of moving the grabbing assembly in a second direction, the first direction intersecting the second direction, and the grabbing assembly being capable of rotating relative to the transfer assembly, the adjusting method comprising:

[0041] controlling the transfer assembly to move to cause the grabbing assembly to grab the to-be-removed component;

[0042] the detection module detects a direction in which the to-be-removed component is placed, and the adjusting module drives the grabbing assembly to rotate by a preset angle according to a detection result of the detection module, so as to cause the grabbed to-be-removed component to rotate to a preset direction.

[0043] According to the adjusting mechanism and the adjusting method and the automatic recycling device provided in the embodiments of the present application, the adjusting mechanism is provided, so that the detection module can detect and identify the placement direction of the empty tray grabbed by the grabbing assembly in advance before the empty tray is transported into the buffering mechanism. The adjusting module drives the rotation of the grabbing assembly to cause the empty tray to rotate by a preset angle according to the detection result of the detection module, so that the placement direction of the empty tray entering the buffering mechanism is unified, and the direction of the entering empty tray is the preset direction, so as to be matched with the direction of the assembled circuit board. When the empty tray is taken from the buffering mechanism for feeding, the direction of the empty tray is inconsistent with the direction of the circuit board, which causes the damage of the placed circuit board and even causes the equipment to stop, thereby saving the cost. BRIEF DESCRIPTION OF DRAWINGS

[0044] In order to more clearly illustrate the technical solutions in the embodiments of the present application or the prior art, the following will briefly introduce the drawings needed to be used in the embodiments or the prior art description. Obviously, the drawings in the following description are some embodiments of the present application, and those skilled in the art can also obtain other drawings according to these drawings without any creative effort. In addition, in the drawings, the same components are denoted by the same reference numerals, and the drawings are not drawn according to the actual scale.

[0045] Figure 1 a simple structure schematic diagram of an automatic recycling device provided in an embodiment of the present application is shown;

[0046] Figure 2 a structure schematic diagram of an adjusting mechanism provided in an embodiment of the present application is shown, wherein the direction indicated by arrow X is a first direction, and the direction indicated by arrow Y is a second direction.

[0047] Figure 3 a partial enlarged view of a regulating mechanism provided by an embodiment of the present application is shown;

[0048] Figure 4 a partial enlarged view in Figure 3 is shown;

[0049] Figure 5 a flow chart of a regulating method provided by an embodiment of the present application is shown.

[0050] Marked with reference numerals:

[0051] 1 - regulating mechanism; 11 - regulating module; 111 - transfer assembly; 1111 - first moving part; 1112 - second moving part; 1112a - first top rod; 1113 - rotating part; 112 - support; 113 - grabbing assembly; 1131 - mounting rack; 1132 - suction cup; 12 - detection module; 121 - inductor; 13 - upper conveying line; 131 - detection position; 132 - buffer position; 133 - driving motor; 14 - lower conveying line; 15 - positioning part; 16 - position detection part; 17 - limiting module; 171 - limiting rack; 172 - second air cylinder; 173 - baffle; 18 - blocking module; 2 - buffer mechanism; 3 - feeding mechanism. DETAILED DESCRIPTION

[0052] To make the objectives, technical solutions and advantages of the embodiments of the present application clearer, the technical solutions in the embodiments of the present application will be described below in a clear and complete manner with reference to the drawings in the embodiments of the present application. Obviously, the described embodiments are only a part of the embodiments of the present application, rather than all the embodiments of the present application. Based on the embodiments in the present application, all other embodiments obtained by a person of ordinary skill in the art without creative work fall within the protection scope of the present application.

[0053] Figure 1 a simple structure schematic diagram of an automatic recycling device provided by an embodiment of the present application is shown.

[0054] Referring to Figure 1 , an automatic recycling device is provided, which can be applied to a circuit board production line to automatically assemble circuit boards to a tray and automatically transfer to a corresponding position, or can also be applied to other fields with assembly requirements, which are not specifically limited here.

[0055] The automatic recycling device comprises an adjusting mechanism 1, a buffering mechanism 2 and a feeding mechanism 3. The buffering mechanism 2 is located on one side of the adjusting mechanism 1 and is used for storing the to-be-moved parts input by the adjusting mechanism 1. The feeding mechanism 3 is located on the side, away from the adjusting mechanism 1, of the buffering mechanism 2 and is used for loading the to-be-detected objects to the to-be-moved parts of the buffering mechanism 2 and outputting the to-be-moved parts loaded with the to-be-detected objects through the adjusting mechanism 1. The empty tray is input through the adjusting mechanism 1 and the full tray loaded with the circuit board is output, without manual carrying, and the loading precision is ensured.

[0056] It can be understood that the to-be-detected object can be a to-be-detected circuit board, and the shape and size of the circuit board can be different according to different models. The to-be-moved part is a tray used for accommodating a plurality of circuit boards. The shape of the position for accommodating the circuit board in the tray is used for matching the circuit board, and can be adaptively selected according to the model and specification of the circuit board, which is not limited here.

[0057] Referring to Figure 2 The adjusting mechanism 1 comprises an electrically connected detection module 12 and an adjusting module 11. The adjusting module 11 comprises a support 112 and a transfer assembly 111 movably connected to the support 112. The transfer assembly 111 can move along a first direction X relative to the support 112. A grabbing assembly 113 is movably connected to the transfer assembly 111. The transfer assembly 111 can drive the grabbing assembly 113 to move along a second direction Y. The first direction X intersects the second direction Y. The grabbing assembly 113 can rotate relative to the transfer assembly 111. When the transfer assembly 111 controls the grabbing assembly 113 to grab the to-be-moved part, the detection module 12 can detect the direction in which the to-be-moved part is placed. The adjusting module 11 drives the grabbing assembly 113 to rotate by a preset angle according to the detection result of the detection module 12, so as to drive the grabbed to-be-moved part to rotate to a preset direction.

[0058] The adjusting mechanism 1 is provided to detect and identify the placement direction of the empty tray grabbed by the grabbing assembly 113 before the empty tray is transported into the buffering mechanism 2. The adjusting module 11 drives the grabbing assembly 113 to rotate according to the detection result of the detection module 12, so as to drive the empty tray to rotate by a preset angle. Thus, the placement direction of the empty tray entering the buffering mechanism 2 is unified, and the direction of the entering empty tray is the preset direction, so as to match the direction of the assembled circuit board. When the empty tray is taken from the buffering mechanism 2 for feeding, the direction of the empty tray is inconsistent with the direction of the circuit board, which can cause the placed circuit board to be damaged or even cause the equipment to stop, thereby saving costs.

[0059] In an optional embodiment, referring to Figures 3-4The transfer assembly 111 includes a first moving part 1111 connected to the support 112, a second moving part 1112 connected to the first moving part 1111, the first moving part 1111 being capable of driving the second moving part 1112 to move along a first direction X; a rotating part 1113 connected to the second moving part 1112, the second moving part 1112 being capable of driving the rotating part 1113 to move along a second direction Y, and the second moving part 1112 being rotationally connected to the grabbing assembly 113 through the rotating part 1113. Through the first moving part 1111 and the second moving part 1112, the position of the grabbing assembly 113 can be adjusted, so that the tray can be grabbed as required, or the grabbed tray can be transferred to the buffer mechanism 2 for storage, having a high degree of freedom and meeting the transfer requirements. Moreover, through the rotating part 1113, the detection result of the detection module 12 can be used to work, so that the direction of the grabbing assembly 113 is adjusted to adjust the placement direction of the to-be-removed parts placed in the buffer mechanism 2, so that the placement directions of the to-be-removed parts placed in the buffer mechanism 2 are all preset directions.

[0060] Optionally, the first moving part 1111 includes a sliding assembly including a matched guide rail and a sliding block, the guide rail being arranged on the support 112, and the sliding block being arranged on the first moving part 1111, the relative movement of the sliding block and the guide rail being capable of driving the first moving part 1111 to move along the first direction X, the second moving part 1112 being arranged as a first air cylinder, the first air cylinder being fixedly connected with the sliding block, the end of a first top rod 1112a of the first air cylinder being connected to the grabbing assembly 113 through the rotating part 1113, the axial direction of the first top rod 1112a being parallel to the second direction Y, and the rotating part 1113 being capable of driving the grabbing assembly 113 to rotate a preset angle about the axis of the first top rod 1112a. Through the simple matched structure, the alignment operation of the grabbing assembly 113 is realized, the control precision is high, and the stability is good.

[0061] It can be understood that the first moving part 1111 and the second moving part 1112 can also be arranged as other structures such as a screw-nut pair, which is not limited herein. The rotating part 1113 arranged in the application can be arranged as a matched structure in which a rotating shaft is driven to rotate by a motor, or can be arranged as a structure in which a driving wheel and a driven wheel are matched to drive the rotating shaft by a motor, which is not limited herein. In the application, the axis of the rotating shaft of the rotating part 1113 coincides with the axis of the first top rod 1112a, so as to realize the control precision of the positioning and the rotation of the grabbing assembly 113 by a preset angle, which will not be emphasized separately later.

[0062] In an optional embodiment, the grabbing assembly 113 comprises a mounting rack 1131 connected to the rotating part 1113, the mounting rack 1131 being provided with a plurality of mounting positions; and a plurality of suction cups 1132 respectively connected to the plurality of mounting positions, the to-be-transported component having a plurality of empty positions, the empty positions being matched with the to-be-detected object, the suction cup 1132 having a suction surface, and when the grabbing assembly 113 grabs the to-be-transported component, the suction surface extends into the empty position and is adsorbed to the bottom surface of the empty position. Through the suction cup 1132 arranged to match the empty position in the tray, the tray is adsorbed through the magnetic adsorption of the suction cup 1132, and the grabbing mode does not damage the integrity of the tray, avoiding the problem that the tray is deformed and cannot match the circuit board. At the same time, the grabbing mode using magnetic adsorption has a simple structure and strong adsorption force, can avoid displacement of the tray relative to the grabbing assembly 113 during movement, and thus improves the transport accuracy of the tray.

[0063] Optionally, the suction cup 1132 is provided in four, which are respectively used to match the empty positions at the four corners of the edge of the empty tray, so as to ensure the stability of the connection and reduce the number of suction cups 1132, thereby reducing the cost. It should be emphasized here that the number and arrangement mode of the suction cup 1132 can also adopt other matching forms, which are not limited here.

[0064] It can be understood that the grabbing assembly 113 arranged can also be provided in other structures capable of taking and placing the empty tray, which are not limited here.

[0065] The adjusting mechanism 1 provided in the embodiments of the present application will be further described in detail below with reference to the accompanying drawings.

[0066] Referring to Figures 2-4 , the adjusting mechanism 1 provided in the embodiments of the present application comprises: an upper conveying line 13 for inputting the to-be-transported component; and a lower conveying line 14 located below the upper conveying line 13, the conveying directions of the upper conveying line 13 and the lower conveying line 14 being opposite, and the lower conveying line 14 being used for outputting the loaded to-be-transported component. Wherein, the upper conveying line 13 and the lower conveying line 14 are arranged on the same side relative to the buffer mechanism 2, so that the input position of the empty tray and the output position of the full-loaded tray are the same position, without the need for additional workers to carry out the carrying, and the completely automatic work is realized.

[0067] It can be understood that the first direction X is parallel to the conveying directions of the upper conveying line 13 and the lower conveying line 14, and the second direction Y is parallel to the arrangement directions of the upper conveying line 13 and the lower conveying line 14, and can be respectively realized through the cooperation of the driving motor 133 and the transmission belt, which will not be emphasized separately hereinafter.

[0068] The adjusting module 11 is arranged on the upper conveying line 13 close to the buffer mechanism 2, and the side of the upper conveying line 13 close to the buffer mechanism 2 is provided with a detection position 131 along the conveying direction of the upper conveying line 13. The adjusting module 11 further comprises a positioning part 15. When the to-be-transferred component moves to the detection position 131, the positioning part 15 is used to limit the movement of the to-be-transferred component, so that the grabbing assembly 113 can grab the to-be-transferred component located at the detection position 131. Through the detection position 131 arranged on the upper conveying line 13, the transfer assembly 111 can move between the buffer mechanism 2 and the detection position 131 to realize the transfer of the tray after the adjusting direction, and the placing direction of the tray is recognized and adjusted at the same time, so that the directions are unified, the process is saved, and the structure is simplified.

[0069] In an optional embodiment, in order to cooperate with the scheme of adjusting the placing direction while transferring and grabbing, the detection module 12 is arranged as a sensor 121 connected to the transfer assembly 111, and the edge of one side of the to-be-transferred component is provided with a foolproof notch. When the grabbing assembly 113 grabs the to-be-transferred component, the sensor 121 emits laser to the to-be-transferred component. When the laser is matched with the foolproof notch, the placing direction of the to-be-transferred component is the preset direction. When the laser is blocked by the to-be-transferred component, the driving rotating part 1113 drives the to-be-transferred component to rotate by a preset angle, so that the laser is matched with the foolproof notch. When the laser emitted by the sensor 121 is matched with the foolproof notch, the length of the emitted laser is greater than the distance to the empty tray, so as to judge that the placing direction of the empty tray is the correct direction. When the laser emitted by the sensor 121 is blocked by the empty tray, the length of the emitted laser is equal to the distance to the empty tray, so as to judge that the placing direction of the empty tray is the incorrect direction. At this time, the sensor 121 feeds back the result to the adjusting module 11, and the driving rotating part 1113 drives the grabbing assembly 113 to rotate by a preset angle, so as to realize the adjustment of the placing direction of the empty tray and the unification of the placing direction of the empty tray entering the buffer mechanism 2.

[0070] It can be understood that the matching of the laser emitted by the sensor 121 with the foolproof notch means that the laser can pass through the foolproof notch without irradiating on the empty tray, and is not limited to the shape of the laser matching with the shape of the foolproof notch. For the set foolproof notch, it can be a circular notch, a square notch or the like arranged on the edge of the empty tray, which is not limited here.

[0071] Optionally, the detection module 12 can also be arranged as other devices capable of detecting the foolproof notch, which is not limited here.

[0072] It can be understood that, generally, the empty tray is provided as a square plate structure with different length and width, so for the empty tray, the length and width directions will not be placed incorrectly when the worker places the empty tray into the upper conveying line 13, but the front and back directions (along the conveying direction of the upper conveying line 13) are easy to be placed incorrectly, so the preset angle can be set as 180°. It is emphasized here that the preset angle can also be set as other angles, which can be adaptively adjusted according to the actual situation of the empty tray, which is not specifically limited here.

[0073] Optionally, the preset direction is a direction matched with the direction of the circuit board during assembly, which is not specifically limited here.

[0074] In an optional embodiment, the upper conveying line 13 is also provided with a buffer position 132, which is arranged on one side of the detection position 131, and the adjusting mechanism 1 further includes a limiting module 17, which includes: a limiting frame 171 connected to the upper conveying line 13; a second air cylinder 172 connected to the limiting frame 171; a baffle 173 connected to the end of the second top rod of the second air cylinder 172, the baffle 173 being located between the detection position 131 and the buffer position 132, and the second air cylinder 172 being capable of driving the second top rod to move along the second direction Y to make the baffle 173 limit the movement of the to-be-transported component to the detection position 131. Through the limiting module 17, the subsequent empty tray is prevented from moving to the detection position 131 and affecting the transport during the transport and placement direction adjustment of the empty tray in the detection position 131, so that the subsequent empty tray waits in the buffer position 132.

[0075] Optionally, the adjusting mechanism 1 further includes a blocking module 18, which can have the same structure as the limiting module 17, and the blocking module 18 is arranged on the side of the buffer position 132 away from the detection position 131. Through the blocking module 18, the empty tray in the buffer position 132 is limited to one, and after the empty tray in the detection position 131 completes the operation of being conveyed into the buffer mechanism 2, the empty tray in the buffer position 132 is released to enter the detection position 131, so as to avoid too many empty trays from entering the detection position 131 due to misoperation, thereby improving the stability of operation.

[0076] In an optional embodiment, the adjusting mechanism 1 further comprises a to-position detection part 16 arranged at the detection position 131 away from the buffer position 132. The to-position detection part 16 is arranged to identify whether the empty tray entering the detection position 131 is in the correct placement position, so as to ensure the grabbing accuracy of the grabbing assembly 113 to the empty tray grabbing position. Optionally, the to-position detection part 16 can be a stopper fixed at the edge of the upper conveying line 13, which is arranged at the detection position 131 away from the buffer position 132, and a sensor is arranged on the stopper. When the sensor detects that the empty tray is in contact with the stopper, it means that the empty tray is in position, and the information is fed back to the adjusting module 11, so that the empty tray at the detection position 131 can be adjusted and grabbed, and the like. Alternatively, the to-position detection part can also be other structures capable of realizing to-position detection, which will not be described in detail herein.

[0077] In an optional embodiment, a control module is further included, which is electrically connected with the detection module 12, the adjusting module 11, the to-position detection part, the buffer mechanism 2, the feeding mechanism 3, and the like, so as to realize automatic work, which will not be described in detail herein.

[0078] The embodiments of the present application further provide an adjusting method for the adjusting mechanism 1, which is the adjusting mechanism 1 described above, and the adjusting method comprises the following steps. Figure 5

[0079] S101, controlling the transfer assembly 111 to move to drive the grabbing assembly 113 to grab the to-be-removed component;

[0080] S102, the detection module 12 detects the direction in which the to-be-removed component is placed, and the adjusting module 11 drives the grabbing assembly 113 to rotate by a preset angle according to the detection result of the detection module 12, so as to drive the grabbed to-be-removed component to rotate to a preset direction.

[0081] ​Taking a tray set as a rectangular plate with different length and width as an example, when in use, the staff places the empty tray along the length direction to the upper conveying line 13, the upper conveying line 13 drives the empty tray to move along the conveying direction to the direction close to the buffering mechanism 2, after the first empty tray is detected to be in place to the detection position 131, the control module receives the in-place information, controls the limiting module 17, the blocking module 18 and the like to work, and blocks other empty trays on the upper conveying line 13, and one empty tray stays on the buffering position 132. The control module adjusts the first moving part 1111 to work, so that the second moving part 1112 moves along the first direction X to the position above the empty tray at the detection position 131, controls the second moving part 1112 to move along the second direction Y, drives the grabbing assembly 113 to move close to the empty tray, when the suction cup 1132 contacts with the empty tray, controls the suction cup 1132 to generate suction force by electrifying, so as to realize grabbing the empty tray. After grabbing, the control module 12 works, judges whether the placing direction of the empty tray is correct according to the matching result of the laser emitted by the detection module 12 and the foolproof gap, if correct, controls the second moving part 1112 and the first moving part 1111 to move reversely along the corresponding direction to the position above the corresponding buffering mechanism 2, and places the empty tray into the buffering bin (not shown in the figure) of the buffering mechanism 2 in the preset direction. If not correct, controls the rotating part 1113 to rotate a preset angle to correct, until the laser matches with the foolproof gap, and then executes the operation of placing into the buffering bin. After completion, according to the requirement of buffering the empty tray in the buffering bin, operates the empty tray at the buffering position 132 to enter the detection position 131, the blocking module 18 places one empty tray into the buffering position 132 to wait, and repeats the above steps, so as to input the corrected empty tray into the buffering bin, and ensures the consistency of the direction of the input empty tray.

[0082] Optionally, the empty tray entering the buffering bin is cooperated with the feeding mechanism 3 through the corresponding moving module, the alignment module and the like (not shown in the figure), so that the feeding mechanism 3 can place the circuit board in each empty position in the empty tray, and the empty tray forms a full load tray. The full load tray is output through the outlet of the buffering mechanism 2 communicated with the lower conveying line 14, and then is output to the same position as the empty tray placing position through the lower conveying line 14, so as to facilitate the staff to complete the input of the empty tray and the output of the full load tray at the same position, which is not described in detail here.

[0083] It should be noted that the use of "a" or "an" or "the" or similar referents in the specification are used inclusively and in the discretion of the inventor(s) to refer to both singular and plural, unless otherwise indicated herein and / or by context. The use of "first", "second", or "third" or similar referents in the specification is used inclusively and in the discretion of the inventor(s) to refer to a feature or characteristic that can be combined with another feature or characteristic, unless otherwise indicated herein and / or by context. The use of "one or more" or "at least one" or similar referents in the specification is used inclusively and in the discretion of the inventor(s) to refer to one or more or at least one, unless otherwise indicated herein and / or by context. The use of "including," "containing," or "comprising" or similar referents in the specification are used inclusively and in the discretion of the inventor(s) to refer to processes, methods, articles, or apparatuses that include a series of elements but not exclusive of other elements not specifically listed or inherent to such processes, methods, articles, or apparatuses. The use of "consisting essentially of" or "consisting of" or similar referents in the specification are used inclusively and in the discretion of the inventor(s) to refer to processes, methods, articles, or apparatuses that include a series of elements but not exclusive of other elements not specifically listed or inherent to such processes, methods, articles, or apparatuses, unless otherwise indicated herein and / or by context.

[0084] It will be readily understood that the terms "on", "above", and "over" in the present disclosure are to be interpreted in the broadest context, such that "on" means not only "directly on", but also includes the meaning of "on" with intervening features or layers therebetween, and "above" or "over" includes not only the meaning of "above" or "over", but also the meaning of "above" or "over" with no intervening features or layers therebetween (i.e., directly on).

[0085] Furthermore, spatially relative terms, such as "beneath", "below", "lower", "above", "upper", and the like, can be used herein for ease of description to describe one element or feature's relationship to another element(s) or feature(s) as illustrated in the figures. The spatially relative terms are intended to encompass different orientations of the device in use or operation in addition to the orientations depicted in the figures. The devices can be otherwise oriented (rotated 90 degrees or at other orientations) and the spatially relative descriptors used herein interpreted accordingly.

[0086] It should be noted that the terms "first", "second", and "third" and the like in the specification and in the claims, if any, are used merely as labels, and are not intended to impose numerical requirements on their objects. Further, terms "include", "comprise", or "have" and variations thereof throughout the specification, if any, are intended to cover a non-exclusive inclusion, such that a process, method, article, or apparatus that includes a list of elements is not necessarily limited to those elements, but can include other elements not expressly listed or inherent to such process, method, article, or apparatus. An element proceeded by "comprises a", "includes an", or "has an", does not, without more constraints, foreclose the existence of additional identical elements in the process, method, article, or apparatus that comprises, includes, or has that element.

[0087] Finally, it should be noted that: the above embodiments are only used to illustrate the technical solutions of the present application, but not to limit them; although the present application has been described in detail with reference to the foregoing embodiments, those skilled in the art should understand that: it can still modify the technical solutions recorded in the foregoing embodiments, or make equivalent replacement for part or all of the technical features; and these modifications or replacements do not make the essence of the corresponding technical solutions deviate from the scope of the technical solutions of the embodiments of the present application.

Claims

1. An adjustment mechanism for an automatic recycling device, characterized in that, The adjustment mechanism (1) includes a detection module (12) and an adjustment module (11) that are electrically connected. The adjustment module (11) includes: Support (112); A transfer assembly (111) is movably connected to the bracket (112), and the transfer assembly (111) is capable of moving relative to the bracket (112) in a first direction X. A gripping component (113) is movably connected to the transfer component (111). The transfer component (111) can drive the gripping component (113) to move along a second direction Y. The first direction X intersects with the second direction Y, and the gripping component (113) can rotate relative to the transfer component (111). When the transfer component (111) controls the gripping component (113) to grip the item to be transferred, the detection module (12) can detect the orientation of the item to be transferred. The adjustment module (11) drives the gripping component (113) to rotate a preset angle according to the detection result of the detection module (12), so as to drive the gripped item to be transferred to rotate to the preset orientation. The adjustment mechanism further includes: The upper conveyor line (13) is used to input the parts to be transferred; The lower conveyor line (14) is located below the upper conveyor line (13). The upper conveyor line (13) and the lower conveyor line (14) have opposite conveying directions. The lower conveyor line (14) is used to output the loaded parts to be transferred. The adjustment module (11) is located on one side of the upper conveyor line (13) along the conveying direction of the upper conveyor line (13). A detection position (131) is provided on one side of the upper conveyor line (13). The adjustment module (11) also includes a positioning part (15). When the piece to be transferred moves to the detection position (131), the positioning part (15) is used to restrict the movement of the piece to be transferred so that the gripping component (113) grips the piece to be transferred at the detection position (131). The upper conveyor line (13) is also provided with a buffer position (132), which is located on one side of the detection position (131). The adjustment mechanism (1) also includes a limit module (17), which includes: A limiting frame (171) is connected to the upper conveyor line (13). The second cylinder (172) is connected to the limiting frame (171). A baffle (173) is connected to the end of the second push rod of the second cylinder (172). The baffle (173) is located between the detection position (131) and the buffer position (132). The second cylinder (172) can drive the second push rod to move along the second direction Y so that the baffle (173) is used to restrict the movement of the part to be transferred toward the detection position (131).

2. The adjusting mechanism according to claim 1, characterized in that, The transfer component (111) includes: The first movable part (1111) is connected to the bracket (112). The second moving part (1112) is connected to the first moving part (1111), and the first moving part (1111) can drive the second moving part (1112) to move along the first direction X; The rotating part (1113) is connected to the second moving part (1112). The second moving part (1112) can drive the rotating part (1113) to move along the second direction Y, and the second moving part (1112) is rotatably connected to the gripping component (113) through the rotating part (1113).

3. The adjusting mechanism according to claim 2, characterized in that, The grabbing component (113) includes: Mounting bracket (1131) is connected to the rotating part (1113), and the mounting bracket (1131) is provided with multiple mounting positions; Multiple suction cups (1132) are respectively connected to the multiple mounting positions. The transferable part has multiple vacancies, the shape of which matches the object to be tested. The suction cup (1132) has an adsorption surface. When the gripping component (113) grips the transferable part, the adsorption surface extends into the vacancies and adheres to the bottom surface of the vacancies.

4. The adjusting mechanism according to claim 2, characterized in that, The first moving part (1111) includes a sliding assembly, which includes a cooperating guide rail and a slider. The guide rail is disposed on the bracket (112), and the slider is disposed on the first moving part (1111). The relative movement of the slider and the guide rail can drive the first moving part (1111) to move along the first direction X. The second moving part (1112) is configured as a first cylinder, which is fixedly connected to the slider. The end of the first push rod (1112a) of the first cylinder is connected to the gripping assembly (113) through the rotating part (1113). The axial direction of the first push rod (1112a) is parallel to the second direction Y. The rotating part (1113) can drive the gripping assembly (113) to rotate the preset angle around the axis of the first push rod (1112a).

5. The adjusting mechanism according to claim 2, characterized in that, The detection module (12) is a sensor (121) connected to the transfer assembly (111), and the edge of the part to be transferred is provided with a foolproof notch. When the gripping component (113) grips the component to be transferred, the sensor (121) emits a laser towards the component to be transferred. When the laser senses a match with the anti-fooling notch, the component to be transferred is placed in the preset direction. When the laser senses that it is blocked by the component to be transferred, the rotating part (1113) is driven to rotate the component to be transferred by the preset angle so that the laser matches the anti-fooling notch.

6. The adjusting mechanism according to claim 5, characterized in that, The preset angle is 180°.

7. The adjusting mechanism according to claim 1, characterized in that, The adjustment mechanism (1) further includes a position detection unit (16), which is located on the side of the detection position (131) away from the buffer position (132).

8. An automatic recycling device, characterized in that, include: The regulating mechanism (1) includes the regulating mechanism (1) as described in any one of claims 1-7; A buffer mechanism (2) is located on one side of the adjustment mechanism (1) and is used to store the component to be transferred input by the adjustment mechanism (1); The feeding mechanism (3) is located on the side of the buffer mechanism (2) away from the adjustment mechanism (1), and is used to load the object to be tested onto the object to be transferred in the buffer mechanism (2), and to output the object to be transferred loaded with the object to be tested through the adjustment mechanism (1).

9. An adjustment method, characterized in that, The adjustment method for the adjustment mechanism as described in any one of claims 1-7 includes: Control the movement of the transfer component (111) to drive the gripping component (113) to grip the item to be transferred; The detection module (12) detects the orientation of the object to be moved, and the adjustment module (11) drives the gripping component (113) to rotate by a preset angle according to the detection result of the detection module (12), so as to rotate the gripped object to be moved to the preset orientation.

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