Feeding mechanism, feeding and discharging system and laser drilling equipment

Abstract

The application discloses a feeding device, a feeding and discharging system and a laser drilling equipment. The feeding device is used for placing a plate on a workbench. The feeding device comprises a first frame body, a feeding trolley, a feeding mechanism, a tray and a deviation rectifying mechanism. The feeding trolley is installed on the first frame body and used for storing the plate. The feeding mechanism is installed on the first frame body and can reciprocate along a first direction relative to the first frame body. The tray is slidingly connected to the first frame body and located between the feeding trolley and the feeding mechanism. The tray can reciprocate along the first direction relative to the first frame body, so that the tray has a sliding path capable of avoiding the feeding mechanism. The deviation rectifying mechanism is installed on the tray and used for rectifying the plate carried on the tray. The application solves the technical problem that the feeding mechanism in the existing feeding and discharging system of the laser drilling equipment is not applicable to super-large plates.

Description

Technical Field

[0001] This invention relates to the technical field of sheet metal processing, and in particular to a feeding mechanism, a loading and unloading system, and a laser drilling device. Background Technology

[0002] Currently, in order to improve the drilling efficiency of sheet metal, existing laser drilling equipment generally adopts a dual-beam, dual-worktable processing method. Existing laser drilling equipment generally supports double-sided board processing with a maximum size of 650mm × 500mm. With technological advancements, electronic board manufacturers are now promoting extra-large boards exceeding 650mm × 500mm, with sizes reaching 1092mm × 597mm. However, using existing laser drilling equipment for such large boards presents the following technical problems: First, the dimensions of the loading and unloading system and its components used to move the boards on the laser drilling equipment are not compatible with extra-large boards, requiring redesign. In particular, adapting the loading device to match the extra-large board is not feasible, as it would significantly increase the size of the loading device, thus doubling the footprint of the loading and unloading system and the laser drilling equipment. This would also inevitably lead to a more complex and unstable overall structure of the laser drilling equipment, resulting in higher costs. Second, the increased lateral distance of the extra-large board would amplify slight lateral errors at the end, causing the board surface identification target to fall out of the field of view of the visual positioning device (CCD), making operation impossible. Summary of the Invention

[0003] In view of this, the present invention provides a feeding device, a loading and unloading system, and a laser drilling equipment to solve the technical problem that the feeding mechanism in the loading and unloading system of the existing laser drilling equipment is not suitable for ultra-large boards.

[0004] To solve the above-mentioned technical problems, the first technical solution adopted by the present invention is as follows:

[0005] A feeding device for placing sheet metal on a worktable, the feeding device comprising:

[0006] First frame;

[0007] A loading trolley is installed on the first frame and is used to store the board material.

[0008] A feeding mechanism is installed on the first frame, and the feeding mechanism is capable of reciprocating relative to the first frame along a first direction;

[0009] A tray is slidably connected to the first frame. The tray is located between the loading trolley and the loading mechanism. The tray can slide back and forth relative to the first frame in the first direction so that the tray can avoid the loading mechanism in its sliding path.

[0010] And a correction mechanism, installed on the pallet, the correction mechanism being used to correct the alignment of the board material carried on the pallet.

[0011] In some embodiments of the feeding device, the feeding mechanism includes a first robotic arm, a first drive module connected to the first robotic arm, and a second drive module connected to the first drive module. The second drive module is mounted on the first frame. Under the drive of the second drive module, the first drive module can drive the first robotic arm to reciprocate along the first direction. The first drive module is used to drive the first robotic arm to approach or move away from the feeding trolley, the tray, or the worktable.

[0012] In some embodiments of the feeding device, the feeding device further includes a third drive module, two sliding plates, two slide rails, and two sets of buffers. The two sliding plates are installed at intervals on the first frame, and each slide rail is installed on each sliding plate in a corresponding manner. The two sets of buffers and the third drive module are installed on the same sliding plate. One side of the tray is connected to the third drive module, and the other side is slidably disposed on the slide rail. Each set of buffers is disposed on both ends of the slide rail in a corresponding manner. The buffers are used to buffer the tray. The third drive module is used to drive the tray to slide back and forth along a first direction.

[0013] In some embodiments of the feeding device, the feeding device further includes a speed controller, which is installed on the first frame or the third drive module. The speed controller is used to adjust the drive speed of the third drive module so as to decelerate when the pallet approaches the feeding trolley and the worktable.

[0014] In some embodiments of the feeding device, the feeding trolley is detachably connected to the first frame, and the feeding device further includes a fourth drive module, which is installed on the first frame. The drive end of the fourth drive module can be connected to the feeding trolley to lift the feeding trolley.

[0015] To solve the above-mentioned technical problems, the second technical solution adopted by the present invention is as follows:

[0016] A loading and unloading system includes the loading device described in the above embodiment, and the loading and unloading system further includes an unloading device for removing the sheet material from the worktable.

[0017] In some embodiments of the loading and unloading system, the unloading device includes:

[0018] Second frame;

[0019] A material unloading trolley is installed on the second frame and is used to store the processed sheet material.

[0020] The unloading mechanism includes a second robotic arm, a fifth drive module connected to the second robotic arm, and a sixth drive module connected to the fifth drive module. The sixth drive module is mounted on the second frame. Under the drive of the sixth drive module, the second robotic arm can reciprocate between the unloading trolley and the worktable. The fifth drive module is used to drive the second robotic arm to move closer to or away from the unloading trolley and the worktable, so that the second robotic arm can transfer the processed sheet metal on the worktable to the unloading trolley.

[0021] In some embodiments of the loading and unloading system, the second robotic arm, driven by the fifth drive module, has a loading and unloading action of grabbing the sheet metal from the worktable and placing the sheet metal on the unloading trolley.

[0022] The feeding device also includes a waste collection mechanism, which is located between the feeding trolley and the feeding mechanism. The waste collection mechanism includes a seventh drive module and a collection tray. The seventh drive module is installed on the second frame and connected to the collection tray. The seventh drive module is used to drive the collection tray to reciprocate between the feeding trolley and the worktable. When the collection tray is close to the feeding trolley, it can avoid the feeding grabbing action. When the collection tray is close to the worktable, it can avoid the feeding placement action.

[0023] The feeding mechanism is communicatively connected to the vision positioning device on the laser drilling equipment. If the vision positioning device determines that the material is waste, the feeding mechanism can also place the waste material in the collection tray.

[0024] In some embodiments of the loading and unloading system, the unloading trolley is detachably connected to the second frame, and the unloading device further includes an eighth drive module, which is installed on the second frame. The drive end of the eighth drive module can be connected to the unloading trolley to lift the unloading trolley.

[0025] To solve the above-mentioned technical problems, the third technical solution adopted by the present invention is as follows:

[0026] A laser drilling device includes the loading and unloading system described in the above embodiment. The laser drilling device also includes a laser drilling apparatus and a worktable. The laser drilling apparatus is used to process the sheet metal on the worktable.

[0027] Implementing the embodiments of the present invention will have at least the following beneficial effects:

[0028] The aforementioned feeding device is applied in loading / unloading systems and laser drilling equipment. Besides providing better feeding performance, it also features a small footprint and the ability to correct material deviation. Specifically, the feeding device includes a first frame, a feeding trolley, a feeding mechanism, a tray, and a correction mechanism. The feeding trolley, feeding mechanism, and tray are all mounted on the first frame, with the tray positioned between the feeding trolley and the feeding mechanism. Both the feeding mechanism and the tray can reciprocate relative to the first frame along a first direction. When the first direction is horizontal, it can create two layers of movement. The feeding mechanism reciprocates along the first direction... The device can grab boards from the loading trolley and place them on a pallet, and then grab boards from the pallet and place them on the worktable. The pallet moves back and forth in the first direction to avoid the movement of the loading mechanism. This improves space utilization and makes the linkage between components more compact, thereby reducing the actual footprint of the loading device and making it suitable for extra-large boards. In addition, a correction component is installed on the pallet to correct the position of the boards, reducing and avoiding the technical problem of boards not being recognized by the visual positioning device. This solves the technical problem that the loading mechanism of the existing laser drilling equipment loading system is not suitable for extra-large boards. Attached Figure Description

[0029] 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 these drawings without creative effort.

[0030] Figure 1 This is a schematic diagram of the structure of a laser drilling device in one embodiment;

[0031] Figure 2 This is a schematic diagram of the feeding device in one embodiment;

[0032] Figure 3 This is a schematic diagram of the feeding device in one embodiment;

[0033] Figure 4 for Figure 2 The diagram shows the connection relationship between the first robotic arm, the first drive module, and the main control valve.

[0034] Figure 5 for Figure 2 A schematic diagram of the connection structure between the pallet and the structural components connected to it.

[0035] Figure 6 for Figure 5A sliding plate containing a third drive module is installed in the middle;

[0036] Figure 7 for Figure 5 A schematic diagram of the correction mechanism from another perspective.

[0037] in:

[0038] 1. Feeding device;

[0039] 11. First frame; 12. Loading trolley; 13. Loading mechanism; 131. First robotic arm; 132. First drive module; 133. Second drive module;

[0040] 1311. Frame; 1312. Adsorption unit; 1313. Main air element; 1314. Air distribution valve; 1315. Material shaking cylinder;

[0041] 14. Pallet; 141. Support plate; 142. Mounting plate;

[0042] 15. Correction mechanism; 151. Lateral positioning module; 1511. Lateral positioning cylinder; 1512. Lateral positioning plate; 1513. Lateral sensor; 1514. Lateral stop post; 152. Longitudinal positioning module; 1521. Longitudinal positioning cylinder; 1522. Longitudinal positioning plate; 1523. Longitudinal sensor; 1524. Longitudinal stop post; 1525. Optical axis; 153. Angled positioning module;

[0043] 16. Third drive module;

[0044] 171. Speed ​​controller; 172. Sliding plate; 173. Slide rail; 174. Buffer;

[0045] 18. Fourth drive module; 19. Main air control valve;

[0046] 2. Unloading device; 21. Second frame; 22. Unloading trolley; 23. Unloading mechanism; 231. Second robotic arm; 232. Fifth drive module; 233. Sixth drive module; 24. Waste collection mechanism; 241. Seventh drive module; 242. Collection tray; 25. Eighth drive module;

[0047] 3. Workbench; 4. Extra-large panel; 5. Main unit casing; 51. Storage space. Detailed Implementation

[0048] To facilitate understanding of the present invention, a more complete description will be given below with reference to the accompanying drawings. Preferred embodiments of the invention are shown in the drawings. However, the invention can be implemented in many other different forms and is not limited to the embodiments described herein. Rather, these embodiments are provided to provide a thorough and complete understanding of the disclosure of the invention.

[0049] It should be noted that when a component is said to be "fixed to" another component, it can be directly attached to the other component or there may be an intervening component. When a component is said to be "connected to" another component, it can be directly connected to the other component or there may be an intervening component. The terms "vertical," "horizontal," "left," "right," and similar expressions used in this document are for illustrative purposes only.

[0050] Unless otherwise defined, all technical and scientific terms used herein have the same meaning as commonly understood by one of ordinary skill in the art to which this invention pertains. The terminology used herein in the description of the invention is for the purpose of describing particular embodiments only and is not intended to be limiting of the invention. The term "and / or" as used herein includes any and all combinations of one or more of the associated listed items.

[0051] Currently, in order to improve the drilling efficiency of sheet metal, existing laser drilling equipment generally adopts a dual-beam, dual-worktable processing method. Existing laser drilling equipment generally supports double-sided board processing with a maximum size of 650mm × 500mm. With technological advancements, electronic board manufacturers are now promoting extra-large boards exceeding 650mm × 500mm, with sizes reaching 1092mm × 597mm. However, using existing laser drilling equipment for such large boards presents the following technical problems: First, the dimensions of the loading and unloading system and its components used to move the boards on the laser drilling equipment are not compatible with extra-large boards, requiring redesign. In particular, adapting the loading device to match the extra-large board is not feasible, as it would significantly increase the size of the loading device, thus doubling the footprint of the loading and unloading system and the laser drilling equipment. This would also inevitably lead to a more complex and unstable overall structure of the laser drilling equipment, resulting in higher costs. Second, the increased lateral distance of the extra-large board would amplify slight lateral errors at the end, causing the board surface identification target to fall out of the field of view of the visual positioning device (CCD), making operation impossible.

[0052] Understandably, laser drilling equipment is a large-scale laser processing device, and the cost of a single laser drilling machine is relatively high. Currently, most manufacturers use laser processing equipment with a dual-beam worktable. However, due to the manufacturing requirements of ultra-large boards, the current dual-beam worktable laser processing equipment cannot perform the processing. Therefore, the manufacturing requirements of ultra-large boards would require the redesign and manufacture of entirely new laser processing equipment. This would significantly increase the R&D and production costs for manufacturers of laser processing equipment, as well as the procurement costs for manufacturers using laser processing equipment to produce ultra-large boards. This is not a good technological development direction for such large-scale equipment.

[0053] like Figure 1-7 As shown, in one embodiment of a feeding device 1, the feeding device 1 is used to place the sheet metal 4 on the workbench 3. The feeding device 1 includes a first frame 11, a feeding trolley 12, a feeding mechanism 13, a tray 14, and a correction mechanism 15. The feeding trolley 12 is installed on the first frame 11 and is used to store the sheet metal 4. The feeding mechanism 13 is installed on the first frame 11 and can reciprocate relative to the first frame 11 in a first direction. The tray 14 is slidably connected to the first frame 11 and is located between the feeding trolley 12 and the feeding mechanism 13. The tray 14 can reciprocate relative to the first frame 11 in the first direction so that the tray 14 can avoid the feeding mechanism 13 in its sliding path.

[0054] In this embodiment, both the loading mechanism 13 and the pallet 14 can reciprocate relative to the first frame 11 along a first direction. When the first direction is horizontal, it can form a two-layer movement. The loading mechanism 13 can grab the plate 4 on the loading trolley 12 and place it on the pallet 14 during its reciprocating movement along the first direction. It can also grab the plate 4 from the pallet 14 and place it on the workbench. The pallet 14 can avoid the movement of the loading mechanism 13 during its reciprocating movement along the first direction. This can improve the space utilization and make the linkage between components more compact, thereby reducing the actual footprint of the loading device 1 and making it suitable for extra-large plates. In addition, a correction component is installed on the pallet 14 to correct the position of the plate 4, reducing and avoiding the technical problem that the plate 4 is not recognized by the visual positioning device. This solves the technical problem that the loading mechanism 13 in the existing laser drilling equipment loading and unloading system is not suitable for extra-large plates.

[0055] It should be noted that the direction in which the loading trolley 12 points to the workbench 3 is the first direction, so both the loading mechanism 13 and the pallet 14 can move back and forth between the workbench 3 and the loading trolley 12.

[0056] Specifically, the feeding mechanism 13 has a first gripping action to grab the sheet metal 4 from the feeding trolley 12, and a first placing action to place the sheet metal 4 on the worktable 3. The feeding mechanism 13 also has a second placing action to place the sheet metal 4 on the tray 14, and a second gripping action to grab the sheet metal 4 from the tray 14. The tray 14 has a first position on its sliding path that can avoid the first gripping action, and a second position that can avoid the first placing action. The first position is close to the worktable 3, and the second position is close to the feeding trolley 12.

[0057] One possible workflow is as follows: the pallet 14 is initially positioned in the first position. The feeding mechanism 13 grabs the board 4 from the feeding trolley 12, which is the first grabbing action. Then, the feeding mechanism 13 transfers the board 4 onto the pallet 14, which is the second placement action. The board 4 is then corrected by the correction mechanism 15 on the pallet 14. The feeding mechanism 13 then grabs the corrected board 4, which is the second grabbing action. Finally, the feeding mechanism 13 places the corrected board 4 onto the workbench 3, which is the first placement action. During the first grabbing action and the first placement action, the pallet 14 can avoid obstacles by changing its position from the first position to the second position. For example, when the first grabbing action is about to occur or is in progress, the pallet 14 moves towards the workbench 3, which is the first position.

[0058] In one embodiment of a feeding device 1, the feeding mechanism 13 includes a first robotic arm 131, a first drive module 132 connected to the first robotic arm 131, and a second drive module 133 connected to the first drive module 132. The second drive module 133 is mounted on the first frame 11. Under the drive of the second drive module 133, the first drive module 132 can drive the first robotic arm 131 to reciprocate along a first direction. The first drive module 132 is used to drive the first robotic arm 131 to approach or move away from the feeding trolley 12, the tray 14, or the workbench 3.

[0059] In this embodiment, the first robotic arm 131, driven by the first drive module 132, performs a first grasping action, a first placing action, a second grasping action, and a second placing action. Specifically, the first drive module 132 and the second drive module 133 can be linear drive modules such as cylinders or linear motors. Preferably, the driving direction of the first drive module 132 and the driving direction of the second drive module 133 are perpendicular. For example, the driving direction of the first drive module 132 can be horizontal, and the driving direction of the second drive module 133 can be vertical. With the cooperation of the first drive module 132, the second drive module 133, and the grasping function of the first robotic arm 131, the first grasping action, the first placing action, the second grasping action, and the second placing action can be realized.

[0060] Understandably, in combination Figure 5-7 As shown, in order to stably support and correct the deviation of the oversized plate, the size of the pallet 14 should be matched with that of the oversized plate.

[0061] Specifically, in one embodiment of the feeding device 1, the tray 14 includes a support plate 141 and a mounting plate 142. The support plate 141 is placed on the mounting plate 142 and is used to receive and support the plate 4. The mounting plate 142 has reinforcing ribs on the side opposite to the support plate 141 to prevent deformation after long-term use. The correction assembly includes a lateral positioning module 151, a longitudinal positioning module 152, and an oblique positioning module 153. Here, lateral and longitudinal are two perpendicular directions. The lateral direction is parallel to the driving direction of the first driving module 132, and the longitudinal direction is parallel to the driving direction of the second driving module 133. The driving direction of the oblique positioning module 153 can be decomposed into lateral and longitudinal directions.

[0062] The lateral positioning module 151 includes a lateral positioning cylinder 1511, a lateral positioning plate 1512, a lateral sensor 1513, and multiple lateral stops 1514. The lateral positioning cylinder 1511 is installed on the side of the mounting plate 142 away from the support plate 141. The lateral positioning plate 1512 is connected to the output end of the lateral positioning cylinder 1511 and extends longitudinally. Each lateral stop 1514 is installed at equal intervals on the lateral positioning plate 1512 and extends towards the support plate 141 above it in a direction away from the mounting plate 142. The lateral sensor 1513 is also installed on the lateral positioning plate 1512 and is used to detect whether the side of the plate 4 is in contact with each lateral stop 1514. When the lateral positioning cylinder 1511 drives the lateral positioning plate 1512 to move and cause each lateral stop 1514 to contact the side of the plate 4, the plate 4 will also block the photoelectric gate of the lateral sensor 1513, thereby indicating that the lateral correction is completed. The transverse stop 1514 is an eccentric contact stop.

[0063] The composition of the longitudinal positioning module 152 is similar to that of the transverse positioning module 151, including a longitudinal positioning cylinder 1521, a longitudinal positioning plate 1522, a longitudinal sensor 1523, and multiple longitudinal stop columns 1524. The longitudinal positioning cylinder 1521, the longitudinal positioning plate 1522, the longitudinal sensor 1523, and the multiple longitudinal stop columns 1524 have the same structure and positioning principle as the transverse positioning cylinder 1511, the transverse positioning plate 1512, the transverse sensor 1513, and the multiple transverse stop columns 1514, and will not be described again. At the same time, due to the increased transverse dimension of the oversized plate, the longitudinal positioning plate 1522 has a longer extension length in longitudinal positioning. In order to improve the positioning accuracy, multiple optical axes 1525 can be added to improve the longitudinal movement of the longitudinal positioning plate 1522 driven by the longitudinal positioning cylinder 1521. Similarly, in order to improve the accuracy of sensing, multiple longitudinal sensors 1523 can be added appropriately.

[0064] The oblique positioning module 153 is installed on the side of the mounting plate 142 away from the support plate 141, and its output end passes through the mounting plate 142 and is connected to the support plate 141. This allows the support plate 141 to move relative to the mounting plate 142, thereby causing the plate 4 on the support plate 141 to move towards the transverse stop post 1514 and the longitudinal stop post 1524. The transverse positioning cylinder 1511, the longitudinal positioning cylinder 1521, and the oblique positioning module 153 respectively drive the transverse stop post 1514, the longitudinal stop post 1524, and the plate 4 to move, thus completing the positioning and correction of the plate 4.

[0065] In one embodiment of a feeding device 1, combined with Figure 1 , Figure 5-7 As shown, the feeding device 1 also includes a third drive module 16, two sliding plates 172, two slide rails 173, and two sets of buffers 174. The two sliding plates 172 are installed at intervals on the first frame 11, and each slide rail 173 is installed on each sliding plate 172 in a corresponding manner. The two sets of buffers 174 are installed on the same sliding plate 172 as the third drive module 16. One side of the tray 14 is connected to the third drive module 16, and the other side is slidably mounted on the slide rail 173. Each set of buffers 174 is installed at both ends of the slide rail 173 in a corresponding manner, and the buffers 174 are used to buffer the tray 14. The third drive module 16 is used to drive the tray 14 to slide back and forth in a first direction.

[0066] In this embodiment, specifically, the two sliding plates 172 can be elongated plate structures. The two sliding plates 172 are used to mount the tray 14, the slide rail 173, the third drive module 16, and the buffer 174. That is, the tray 14, the slide rail 173, the third drive module 16, and the buffer 174 are connected to the first frame 11 through the sliding plates 172. The two sides of the tray 14 can be connected to the two slide rails 173 respectively through multiple sets of connectors, and the set of connectors near the slide table also needs to be connected to the third drive module 16. In this way, the third drive module 16 can drive the tray 14. Sliding under the guidance of slide rail 173, it is understood that the third drive module 16 may include a drive element and a slide table. The slide table is slidably connected to slide rail 173 and is also connected to one side of tray 14. Therefore, the side of tray 14 connected to the third drive module 16 is the active side, while the side connected only to slide rail 173 is the driven side. The buffer 174 is installed on the corresponding active side slide plate 172 to buffer the connector on the active side connected to the slide table. The buffer 174 can be a hydraulic buffer and can be installed on the corresponding slide plate 172 by a steel seat.

[0067] Each set of buffers 174 may contain two buffers 174, and the buffers 174 preferably buffer the tray 14 via a buffer slide.

[0068] In order to improve the positioning accuracy of the overall correction mechanism 15 and reduce interference from other factors, the extension direction of the pallet 14, the extension direction of the sliding plate 172, the guiding direction of the slide rail 173, and the driving direction of the third drive module 16 are all horizontal. The horizontal extension of the pallet 14 can reduce the sliding of the plate 4 on the pallet 14 due to gravity when the plate 4 is an extra-large plate. The two slide rails 173 are set correspondingly, that is, the two slide rails 173 are at the same height.

[0069] In conjunction with the preceding embodiments, preferably, in conjunction with Figure 2 As shown, the driving direction of the first drive module 132 can be vertical, and the driving direction of the second drive module 133 can be horizontal. In this case, the loading trolley 12, the correction mechanism 15, and the loading mechanism 13 are arranged sequentially in the vertical direction. Specifically, both the first drive module 132 and the second drive module 133 can be linear drive modules such as cylinders, hydraulic cylinders, lead screws, and linear motors.

[0070] In one embodiment of a feeding device 1, combined with Figure 1 , Figure 5-7 As shown, the feeding device 1 also includes a speed controller 171, which is installed on the first frame 11 or the third drive module 16. The speed controller 171 is used to adjust the drive speed of the third drive module 16 so that it can decelerate when the pallet 14 approaches the feeding trolley 12 and the worktable 3.

[0071] Because the pallet 14 is large, its mass increases accordingly, resulting in greater inertia during movement and a larger impact at both ends of the travel. The ends of the travel can be understood as the two maximum travel positions of the pallet 14 under the drive of the third drive module 16. Correspondingly, these can be the positions where the pallet 14 is close to the loading trolley 12 and the worktable 3, respectively. In this embodiment, by setting a speed controller 171, the driving speed of the third drive module 16 can be adjusted to make the pallet 14 decelerate when it approaches the loading trolley 12 and the worktable 3. Specifically, the pallet 14 can move slowly when it approaches the ends of the travel, while it can move quickly during the middle of the travel, thus avoiding a large impact on the ends of the travel caused by the pallet 14.

[0072] In addition, since the tray 14 is relatively large, the third drive module 16 also needs to be a long-stroke drive module, specifically a cylinder, hydraulic cylinder, etc. Preferably, the third drive module 16 can be a long-stroke rodless cylinder. The rodless cylinder occupies little space and is easy to arrange. The speed controller 171 can realize and regulate the driving speed of the rodless cylinder by fluid communication with the rodless cylinder, which can facilitate the control of the driving speed of the rodless cylinder.

[0073] In one embodiment of a feeding device, refer to Figure 2As shown, the loading trolley 12 is detachably connected to the first frame 11. The loading device 1 also includes a fourth drive module 18, which is installed on the first frame 11. The drive end of the fourth drive module 18 can be connected to the loading trolley 12 to lift the loading trolley 12.

[0074] In this embodiment, the loading trolley 12 is a small cart structure that can slide on the ground to transport the sheet metal 4. To connect the loading trolley 12 to the first frame 11, a fourth drive module 18 connected to the first frame 11 is used to lift the loading trolley 12. This serves two purposes: firstly, it connects the loading trolley 12 to the first frame 11; secondly, it removes the wheels of the loading trolley 12 from the ground, preventing it from shaking. Specifically, the fourth drive module 18 can be a forklift-type lifting mechanism, which extends a support rod to the bottom of the loading trolley 12 to lift it.

[0075] This invention also relates to a loading and unloading system, combined with Figure 1-7 As shown, the loading and unloading system includes the loading device 1 in the above embodiments, and also includes the unloading device 2, which is used to remove the board 4 from the workbench 3. By applying the loading device 1 in the above embodiments, the loading and unloading system can be applied to the loading and unloading of the board 4, and the loading device 1 occupies an acceptable area, which is beneficial for the layout of the loading and unloading system.

[0076] In one embodiment of the loading and unloading system, combined with Figure 3 As shown, the unloading device 2 includes a second frame 21, an unloading trolley 22, and an unloading mechanism 23. The unloading trolley 22 is installed on the second frame 21 and is used to store the processed sheet metal 4. The unloading mechanism 23 includes a second robotic arm 231, a fifth drive module 232 connected to the second robotic arm 231, and a sixth drive module 233 connected to the fifth drive module 232. The sixth drive module 233 is installed on the second frame 21. Under the drive of the sixth drive module 233, the fifth drive module 232 can drive the second robotic arm 231 to reciprocate between the unloading trolley 22 and the worktable 3. The fifth drive module 232 is used to drive the second robotic arm 231 to move closer to or further away from the unloading trolley 22 and the worktable 3, so that the second robotic arm 231 can transfer the processed sheet metal 4 on the worktable 3 to the unloading trolley 22.

[0077] In this embodiment, the blanking cart 22 is provided to facilitate receiving the processed plate 4. Specifically, the fifth driving module 232 and the sixth driving module 233 can both be linear driving modules such as cylinders, oil cylinders, linear motors, and ball screws. The driving direction of the fifth driving module 232 can be along the vertical direction, and the driving direction of the sixth driving module 233 can be set along the horizontal direction. The second frame 21 can be a frame structure similar to or exactly the same as that of the first frame 11. The blanking cart 22 can also be a cart structure similar to or exactly the same as that of the loading cart 12. The blanking mechanism 23 can be a mechanism similar to or exactly the same as that of the loading mechanism 13.

[0078] Specifically, as shown in Figure 1-4 The first manipulator 131 and the second manipulator 231 can be the same structural components. Taking the first manipulator 131 as an example, the first manipulator 131 can include a frame 1311, multiple adsorption units 1312, a main air element 1313, and multiple air distribution valves 1314. The frame 1311 can be in the shape of "day" or "eye", etc. Each adsorption unit 1312 is evenly distributed on the frame 1311. The main air element 1313 is used to communicate with the air control main valve 19 on the loading device 1 and is used to distribute gas to each adsorption unit 1312 through the air distribution valves 1314 to achieve the purpose of adsorbing the plate 4.

[0079] Furthermore, as shown in Figure 1-4 The loading device 1 further includes an air control main valve 19. The air control main valve 19 includes three solenoid valves, namely a short-stroke solenoid valve, a long-stroke solenoid valve, and an adsorption solenoid valve. The adsorption solenoid valve is used to be in fluid communication with the main air element 1313 to communicate with each adsorption unit 1312 through the main air element 1313 and the air distribution valves 1314. The short-stroke solenoid valve and the long-stroke solenoid valve are used to communicate with the third driving module 16, that is, when the third driving module 16 is a long-stroke module, it communicates with the long-stroke solenoid valve, and vice versa, the third driving module 16 communicates with the short-stroke solenoid valve to improve applicability. For example, when the plate 4 needs to be transferred in the present invention, the third driving module 16 communicates with the long-stroke solenoid valve.

[0080] Preferably, in order to prevent the first manipulator 131 from simultaneously grasping two plates 4 during the first grasping action, a shaking cylinder 1315 can be installed on the frame 1311. By setting the shaking cylinder 1315, the plate 4 can be shaken at a certain frequency and frequency on the first adsorption unit 1312 that adsorbs the plate 4 to achieve the effect of preventing adhesion. Correspondingly, after adding the shaking cylinder 1315, a shaking solenoid valve needs to be added at the air control main valve 19. It can be understood that since the second manipulator 231 grasps from the workbench 3, the shaking cylinder 1315 and the shaking solenoid valve do not need to be provided.

[0081] In one embodiment of the loading and unloading system, combined with Figure 1-3 As shown, the second robotic arm 231, driven by the fifth drive module 232, has a material-grabbing action to pick up the sheet metal 4 from the worktable 3, and a material-placing action to place the sheet metal 4 on the material-placing trolley 22. The material-placing device 2 also includes a waste collection mechanism 24, which is located between the material-placing trolley 22 and the material-placing mechanism 23. The waste collection mechanism 24 includes a seventh drive module 241 and a collection tray 242. The seventh drive module 241 is mounted on the second frame 21 and connected to the collection tray 242. The seventh drive module 241 is used to drive the collection tray 242 to reciprocate between the material-placing trolley 22 and the worktable 3. When the collection tray 242 is close to the material-placing trolley 22, it can avoid the material-placing action. When the collection tray 242 is close to the worktable 3, it can avoid the material-placing action. The feeding mechanism 23 is connected to the vision positioning device on the laser drilling equipment. If the vision positioning device determines that the material is waste, the feeding mechanism 23 can also place the waste in the collection tray 242.

[0082] In this embodiment, similar to the feeding method of the feeding device 1, based on the plate 4, in order to improve space utilization and reduce the floor area of ​​the unloading device 2, the collection tray 242 is set to be movable. Under the drive of the seventh drive module 241, it can avoid the unloading grabbing action and the unloading placement action. This setting can improve space utilization and achieve the effect of reducing the floor area of ​​the unloading device 2.

[0083] Understandably, if the visual positioning device does not detect the target on plate 4, plate 4 is considered waste and needs to be placed on collection tray 242. Understandably, the waste here is not defective and can still be put back into the loading trolley 12 for reloading.

[0084] In one embodiment of the loading and unloading system, combined with Figure 2-3 As shown, the unloading trolley 22 is detachably connected to the second frame 21. The unloading device 2 also includes an eighth drive module 25, which is installed on the second frame 21. The drive end of the eighth drive module 25 can be connected to the unloading trolley 22 to lift the unloading trolley 22.

[0085] In this embodiment, in conjunction with the previous embodiments, the unloading trolley 22 can be placed in the second frame 21 in the same manner as the loading trolley 12, and can be lifted by the eighth drive module 25, which has a similar or identical structure to the fourth drive module 18, so as to be connected to the second frame 21.

[0086] This invention also designs a laser drilling device, combined with Figure 1-7As shown, including the loading and unloading system in the above embodiment, the laser drilling equipment also includes a laser drilling device and a worktable 3. The laser drilling device is used to process the sheet material 4 on the worktable 3.

[0087] In this embodiment, by applying the loading and unloading system described in the above embodiment to a laser drilling equipment, the laser drilling equipment can be equipped with the function of processing sheet material 4. It should be noted that the laser drilling equipment can be an existing dual-beam dual-worktable laser drilling equipment, that is, the number of laser drilling devices and the number of worktables 3 are both two. The two worktables 3 in the existing dual-worktable 3 laser drilling equipment are sufficient to support ultra-large boards, and the simultaneous use of dual beams for processing can improve the processing efficiency of sheet material 4. Therefore, the existing dual-beam dual-worktable 3 laser drilling equipment only needs to change the loading and unloading system to meet the processing requirements and capabilities of ultra-large boards, thereby reducing R&D costs and procurement costs for ultra-large board manufacturers.

[0088] In one embodiment of a laser drilling device, reference is made to Figure 1-3 As shown, the laser drilling equipment also includes a main housing 5, which has a receiving space 51. The laser drilling device and the worktable 3 are housed in the receiving space 51. The loading device 1 is connected to one side of the main housing 5, and the unloading device 2 is connected to the side of the main housing 5 away from the loading device 1. The first robotic arm 131 can extend into the receiving space 51 under the drive of the second drive module 133, and the second robotic arm 231 can extend into the receiving space 51 under the drive of the sixth drive module 233.

[0089] By making the feeding device 1 and the unloading device 2 detachably connected to the main unit housing 5, manufacturers can freely combine the feeding device 1 and the unloading device 2 in this invention, making it convenient for manufacturers to use and more suitable for ultra-large boards. Compared with the prior art, the feeding device 1 of this invention has a much smaller volume change when adapting to the ultra-large board 4.

[0090] The technical features of the above embodiments can be combined in any way. For the sake of brevity, not all possible combinations of the technical features in the above embodiments are described. However, as long as there is no contradiction in the combination of these technical features, they should be considered to be within the scope of this specification.

[0091] The above embodiments merely illustrate several implementation methods of the present invention, and their descriptions are relatively specific and detailed, but they should not be construed as limiting the scope of the patent application. It should be noted that those skilled in the art can make various modifications and improvements without departing from the concept of the present invention, and these all fall within the protection scope of the present invention. Therefore, the protection scope of this patent should be determined by the appended claims.

Claims

1. A feeding device, characterized in that, The feeding device is used for placing the plate on the workbench, and comprises: a first frame body; a feeding trolley installed on the first frame body, used for storing the plate; a feeding mechanism installed on the first frame body, capable of reciprocating along a first direction relative to the first frame body; a tray slidingly connected to the first frame body, located between the feeding trolley and the feeding mechanism, capable of reciprocating along the first direction relative to the first frame body, so that the tray has a sliding path capable of avoiding the feeding mechanism; and a deviation rectifying mechanism installed on the tray, used for rectifying the plate carried on the tray; wherein the feeding mechanism comprises a first mechanical hand, a first driving module connected to the first mechanical hand, and a second driving module connected to the first driving module, the second driving module being installed on the first frame body, the first driving module being capable of driving the first mechanical hand to reciprocate along the first direction under the drive of the second driving module, the first driving module being used for driving the first mechanical hand to approach or move away from the feeding trolley, the tray or the workbench; the deviation rectifying mechanism comprises a transverse positioning module, a longitudinal positioning module and an oblique positioning module, the transverse positioning module and the longitudinal positioning module being two perpendicular directions, the transverse positioning module being parallel to the driving direction of the first driving module and being used for rectifying the plate in the transverse direction, the longitudinal positioning module being parallel to the driving direction of the second driving module and being used for rectifying the plate in the longitudinal direction, the driving direction of the oblique positioning module being decomposed into the transverse direction and the longitudinal direction and being used for rectifying the plate in the oblique direction.

2. The feeding device according to claim 1, characterized in that The feeding device further comprises a third driving module, two sliding plates, two sliding rails and two groups of buffers, the two sliding plates being installed on the first frame body at intervals, each sliding rail being installed on each sliding plate one by one, each group of buffers being installed on the same sliding plate as the third driving module, one side of the tray being connected to the third driving module and the other side of the tray being slidingly arranged on the sliding rail, each group of buffers being arranged at two ends of the sliding rail one by one, and the buffers being used for buffering the tray; the third driving module being used for driving the tray to reciprocate along the first direction.

3. The feeding device according to claim 2, wherein The feeding device further comprises a speed controller, the speed controller being installed on the first frame body or the third driving module, the speed controller being used for adjusting the driving speed of the third driving module, so as to slow down when the tray approaches the feeding trolley and the workbench.

4. The feeding device according to any one of claims 1 to 3, characterized in that The feeding trolley is detachably connected to the first frame body, and the feeding device further comprises a fourth driving module, the fourth driving module being installed on the first frame body, and a driving end of the fourth driving module being capable of being connected to the feeding trolley, so as to lift the feeding trolley.

5. A loading and unloading system, characterized in that, The feeding device comprises the feeding device according to any one of claims 1-4, and the feeding and discharging system further comprises a discharging device, the discharging device being used for moving the plate away from the workbench.

6. The loading and unloading system of claim 5, wherein, The discharging device comprises: a second frame body; A discharging trolley is installed on the second frame body, and is used to store the processed plate; The second mechanical arm is driven by the fifth driving module to move reciprocally between the discharging trolley and the workbench, and the fifth driving module is used to drive the second mechanical arm to move close to or away from the discharging trolley and the workbench, so that the second mechanical arm can move the processed plate on the workbench to the discharging trolley.

7. The loading and unloading system of claim 6, wherein, The second mechanical arm has a discharging grabbing action to grab the plate from the workbench and a discharging placing action to place the plate on the discharging trolley under the driving of the fifth driving module; The discharging device further comprises a waste collecting mechanism between the discharging trolley and the discharging mechanism, the waste collecting mechanism comprises a seventh driving module and a collecting disc, the seventh driving module is installed on the second frame body and connected with the collecting disc, and the seventh driving module is used to drive the collecting disc to move reciprocally between the discharging trolley and the workbench. The discharging mechanism is communicatively connected with a visual positioning device on the laser drilling equipment, and the discharging mechanism can also place waste on the collecting disc when the waste is determined by the visual positioning device.

8. The loading and unloading system of claim 6, wherein, The discharging trolley is detachably connected to the second frame body, and the discharging device further comprises an eighth driving module, the eighth driving module is installed on the second frame body, and a driving end of the eighth driving module can be connected with the discharging trolley to lift the discharging trolley.

9. A laser drilling apparatus, characterized by, The laser drilling equipment further comprises a laser drilling device and a workbench, and the laser drilling device is used to process the plate on the workbench.

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