tray placing machine

Abstract

The application discloses a tray placing machine for placing unit materials formed after FPC is divided into boards, which comprises a material taking position, a conveying assembly, a limiting assembly, a sensor, a jacking assembly and a robot. The unit materials are placed on the tray placing machine. The conveying assembly is used for placing finished product boards. The limiting assembly is connected to the first conveying frame. The sensor is used for sensing the positioning plate. The jacking assembly comprises a fixed plate. The fixed plate is connected with a jacking cylinder. The jacking cylinder is connected with a sliding plate. The sliding plate is connected with a lifting cylinder. The lifting cylinder is connected with a lifting plate. The lifting cylinder drives the lifting plate to support the finished product board. The fixed plate is fixed to the first conveying frame. The first conveying frame is connected with the fixed plate on both sides. The robot is used for transferring the unit materials from the tray to the finished product board. The tray placing machine can realize accurate positioning and tray placing, and can realize automation.

Description

Technical Field

[0001] This invention relates to the field of flexible circuit board processing equipment technology, and in particular to a tray-stacking machine. Background Technology

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

[0003] Currently, in the process of FPC cutting and production tray placement, the tray placement robot relies on CCD cameras to take pictures and position the unit material. The position of the carrier tray cannot be precisely fixed. As a result, errors can easily occur in the relative position between the carrier tray and the robot, causing the FPC tray placement to easily shift and resulting in low accuracy. Summary of the Invention

[0004] The main objective of this invention is to provide a tray-stacking machine that solves the technical problem that the tray position cannot be accurately positioned during the current FPC cutting and tray-stacking process, leading to easy tray displacement.

[0005] To achieve the above objectives, the present invention proposes a tray-stacking machine for stacking unit materials formed after FPC slab separation, the tray-stacking machine comprising:

[0006] The material handling position is equipped with a carrier tray, on which the unit material is placed;

[0007] A positioning and conveying mechanism includes a conveying component, a limiting component, and a lifting component. The conveying component includes a first conveyor frame and a first conveyor belt connected to the first conveyor frame. A positioning plate is provided on the first conveyor belt for placing finished product plates. The limiting component is connected to the first conveyor frame and includes a limiting plate. The limiting plate is equipped with a sensor for sensing the positioning plate. The lifting component includes a fixed plate, and a lifting cylinder is connected to the fixed plate. The lifting cylinder is connected to a sliding plate, and a lifting cylinder is connected to the sliding plate. The lifting cylinder drives the lifting plate to support the finished product plates. The fixed plate is fixed to the first conveyor frame, and the fixed plate is connected to both sides of the first conveyor frame.

[0008] The robot's process includes transferring the unit material from the carrier plate to the finished product plate.

[0009] Optionally, a synchronization component is provided between the two fixed plates. The synchronization component includes a synchronization shaft, with both ends of the synchronization shaft rotatably connected to the fixed plates. Gears are also connected to both ends of the synchronization shaft. A rack is connected to the sliding plate. The gears and the rack mesh with each other. The sliding plate slides to drive the gears to rotate.

[0010] Optionally, the conveying assembly further includes a second conveyor frame and a second conveyor belt connected to the second conveyor frame. The second conveyor frame is disposed below the first conveyor frame, and the first conveyor belt and the second conveyor belt are arranged parallel to each other and rotate in opposite directions.

[0011] Optionally, the positioning and conveying mechanism further includes a lifting and connecting assembly, which includes a lifting cylinder and a lifting platform. The lifting cylinder drives the lifting platform to move, and the lifting platform is provided with a transfer belt for conveying the positioning plate. The lifting and connecting assemblies are respectively provided at both ends of the conveying assembly.

[0012] Optionally, the tray-stacking machine further includes a finished product conveyor belt for conveying finished product boards, and a transfer module is provided between the finished product conveyor belt and the positioning conveyor mechanism. The stroke of the transfer module includes transferring the finished product board from the finished product conveyor belt to the positioning conveyor assembly and transferring the finished product board containing the unit material from the conveyor assembly to the finished product conveyor belt.

[0013] Optionally, the transfer module includes a transfer bracket spanning between the finished product conveyor belt and the positioning conveyor mechanism. The transfer bracket is also provided with a traveling mechanism connected to a transfer robot, which is used to grasp the finished product plate.

[0014] Optionally, the tray-loading machine is further provided with a detection component and an NG tray. The detection component includes a first detection camera and a second detection camera. The first detection camera is located above the material picking position, and the second detection camera is located close to the material picking position. The first detection camera and the second detection camera are used to detect the two opposite sides of the unit material. The NG tray is connected to an NG station, which is located on the robot's travel path. The robot's travel path includes transferring the unit material from the material picking position to the detection position and transferring the unit material from the detection position to the NG tray.

[0015] Optionally, the limiting component includes a connecting plate that spans across the two fixed plates, a limiting plate that is connected to the connecting plate, a limiting block that is connected to the connecting plate, a sliding groove that is formed in the limiting block, a limiting cylinder that is connected to the limiting plate, the limiting cylinder that drives the limiting plate to slide in the sliding groove, and the limiting plate that is provided with a magnet and a buffer pad.

[0016] Optionally, the robot includes interconnected robotic arms and robotic hands. The robotic hands include a positioning camera and several material-grabbing suction cups for picking up the unit material. The robotic arms are also connected to a base that spans the positioning and conveying mechanism.

[0017] Optionally, the positioning plate is connected to multiple positioning rods, one end of each positioning rod is rotatably connected to the positioning plate, the positioning rod has a positioning groove, a positioning block slides in the positioning groove, the positioning block is screwed to a positioning disk, the positioning disk has a positioning protrusion, and the positioning protrusion cooperates with the finished plate.

[0018] This invention employs a positioning conveying mechanism with limiting and lifting components to achieve precise positioning of the finished product board. When the robot transfers and places unit materials onto the carrier tray, the finished product board is precisely positioned, preventing displacement and ensuring neat and accurate placement of FPC unit materials. Specifically, the sensor in the limiting component senses the positioning board, a lifting cylinder drives a lifting plate to extend beneath the finished product board, and a top-lifting cylinder drives the lifting plate upward, lifting the finished product board away from the first conveyor belt. This achieves accurate positioning of the finished product board, allowing the robot to align with the finished product board and place unit materials, thus improving placement accuracy. Attached Figure Description

[0019] To more clearly illustrate the technical solutions in the embodiments of the present invention or the prior art, the drawings used in the description of the embodiments or the prior art will be briefly introduced below. Obviously, the drawings described below are only some embodiments of the present invention. For those skilled in the art, other drawings can be obtained based on the structures shown in these drawings without creative effort.

[0020] Figure 1 This is a schematic diagram of the structure of an embodiment of the tray-stacking machine of the present invention;

[0021] Figure 2 This is a top view of an embodiment of the tray-stacking machine of the present invention;

[0022] Figure 3 This is a schematic diagram of the lifting assembly in an embodiment of the tray-stacking machine of the present invention;

[0023] Figure 4 This is a schematic diagram of the limiting component in an embodiment of the plate-stacking machine of the present invention;

[0024] Figure 5 This is a schematic diagram of the positioning and conveying mechanism in an embodiment of the tray-stacking machine of the present invention;

[0025] Figure 6 This is a top view of the positioning and conveying mechanism in an embodiment of the tray-stacking machine of the present invention;

[0026] Figure 7 This is a schematic diagram of the positioning plate in an embodiment of the plate-stacking machine of the present invention.

[0027] Explanation of icon numbers:

[0028]

[0029]

[0030] The realization of the objective, functional features and advantages of the present invention will be further explained in conjunction with the embodiments and with reference to the accompanying drawings. Detailed Implementation

[0031] The technical solutions of the embodiments of the present invention will be clearly and completely described below with reference to the accompanying drawings. Obviously, the described embodiments are only a part of the embodiments of the present invention, and not all of the embodiments. Based on the embodiments of the present invention, all other embodiments obtained by those of ordinary skill in the art without creative effort are within the scope of protection of the present invention.

[0032] It should be noted that all directional indications (such as up, down, left, right, front, back, etc.) in the embodiments of the present invention are only used to explain the relative positional relationship and movement of each component in a certain specific posture (as shown in the figure). If the specific posture changes, the directional indication will also change accordingly.

[0033] In this invention, unless otherwise explicitly specified and limited, the terms "connection," "fixed," etc., should be interpreted broadly. For example, "fixed" can mean a fixed connection, a detachable connection, or an integral part; it can mean a mechanical connection or an electrical connection; it can mean a direct connection or an indirect connection through an intermediate medium; it can mean the internal communication of two components or the interaction between two components, unless otherwise explicitly limited. Those skilled in the art can understand the specific meaning of the above terms in this invention according to the specific circumstances.

[0034] Furthermore, if the embodiments of this invention involve descriptions such as "first" or "second," these descriptions are for descriptive purposes only and should not be construed as indicating or implying their relative importance or implicitly specifying the number of technical features indicated. Therefore, a feature defined with "first" or "second" may explicitly or implicitly include at least one of those features. Additionally, the meaning of "and / or" throughout the text includes three parallel solutions; for example, "A and / or B" includes solution A, solution B, or a solution where both A and B are satisfied simultaneously. Furthermore, the technical solutions of the various embodiments can be combined with each other, but this must be based on the ability of those skilled in the art to implement them. When the combination of technical solutions is contradictory or impossible to implement, it should be considered that such a combination of technical solutions does not exist and is not within the scope of protection claimed by this invention.

[0035] This invention proposes a plate-stacking machine.

[0036] In the existing technology, during the FPC cutting and production tray placement process, the tray placement robot relies on CCD cameras to take pictures and locate the position of the unit material. However, the loading and unloading of the carrier tray cannot be fully automated, which makes it easy for errors to occur in the relative position between the carrier tray and the robot, thus causing the FPC tray to easily shift.

[0037] To address the aforementioned technical problems, the present invention employs a positioning conveying mechanism with limiting and lifting components to achieve precise positioning of the finished product board. When the robot transfers and places unit materials onto the carrier tray, the finished product board is accurately positioned, preventing displacement and ensuring neat and precise placement of FPC unit materials. Specifically, the sensor in the limiting component senses the positioning board, a lifting cylinder drives a lifting plate to extend beneath the finished product board, and a jacking cylinder drives the lifting plate upwards, lifting the finished product board away from the first conveyor belt. This achieves accurate positioning of the finished product board, allowing the robot to align with the finished product board and place unit materials, thus improving placement accuracy.

[0038] The above technical solution will be described in detail below with reference to the accompanying drawings.

[0039] In embodiments of the present invention, such as Figure 1-7 As shown, this tray-stacking machine is used for stacking unit materials formed after FPC slab separation. Its characteristic is that the tray-stacking machine comprises:

[0040] The material handling position 100 is equipped with a carrier tray 110, and the unit material is placed on the carrier tray 110.

[0041] The positioning and conveying mechanism includes a conveying assembly 200, a limiting assembly 300, and a lifting assembly 400. The conveying assembly 200 includes a first conveyor frame and a first conveyor belt 210 connected to the first conveyor frame. A positioning plate 220 is provided on the first conveyor belt 210 for placing the finished product plate 710. The limiting assembly 300 is connected to the first conveyor frame and includes a limiting plate 310. The limiting plate 310 is equipped with a sensor for sensing the positioning plate 220. The lifting assembly 400 includes a fixed plate 410, a lifting cylinder 411 connected to the fixed plate 410, a sliding plate connected to the lifting cylinder, and a lifting plate 422 connected to the lifting cylinder. The lifting cylinder drives the lifting plate 422 to support the finished product plate 710. The fixed plate 410 is fixed to the first conveyor frame, and fixed plates 410 are connected to both sides of the first conveyor frame.

[0042] Robot 500, whose process includes transferring unit material from carrier plate 110 to finished product plate 710.

[0043] In practical implementation, it is understandable that the tray-loading machine has a control system to control the coordination between various mechanisms and components. The FPC depaneling equipment component places the unit material after punching and depaneling, along with the carrier tray 110 for placing the unit material, into the picking position 100. The picking position 100 is equipped with a picking bracket, which includes four support columns and a picking support plate fixed on the picking bracket. The carrier tray 110 is placed on the picking support plate. The robot 500 transfers the unit material between the picking position 100 and the finished plate 710 of the positioning conveyor mechanism. Specifically, it picks up the unit material from the carrier tray 110, transfers it to the finished plate 710 on the positioning plate 220, and places the unit material on the finished plate 710. In practice, there are four material picking positions 100 and two robots 500. Each robot 500 transfers the unit material from the two corresponding material picking positions 100. Of course, it is understandable that there are two sets of limiting components 300 and lifting components 400, and two sets of positioning plates 220 on the first conveyor belt 210. Each robot 500 corresponds to one finished plate 710. When the finished plate 710 is full, the first conveyor belt 210 starts to transport and transport the next finished plate 710 to the corresponding position, and the next round of tray placement begins. In this way, the efficiency of tray placement can be improved and the productivity can be increased.

[0044] In this embodiment, the first conveyor belt 210 includes two belts. The bottom surface of the positioning plate 220 near both sides contacts the two first conveyor belts 210. A drive motor is fixed to the first conveyor frame, and the drive motor drives the first conveyor belts 210 to rotate. In specific implementation, such as... Figure 7 As shown, the positioning plate 220 is connected to multiple positioning rods 221. One end of each positioning rod 221 is rotatably connected to the positioning plate 220. Each positioning rod 221 has a positioning groove 222, within which a positioning block slides. A positioning disc 223 is screwed onto the positioning block, and the positioning disc 223 has a positioning protrusion that engages with the finished plate 710. Specifically, four positioning rods 221 are connected to the top surface of the positioning plate 220. The ends of the four positioning rods 221 that are close to each other are rotatably connected to the positioning plate 220 via bolts or other locking devices. The other ends face the four corners of the positioning plate 220, allowing the positioning rods 221 to rotate and adjust their angles. The positioning groove 222 is formed along the length of the positioning rod 221. The positioning block is locked in any position within the positioning groove 222 by the positioning disc 223 to accommodate finished plates 710 of different sizes. The positioning protrusion engages with a groove on the finished plate 710 to prevent the finished plate 710 from moving on the positioning plate 220, ensuring effective positioning.

[0045] In this embodiment, as Figure 3-4As shown, the limiting component 300 includes a connecting plate 320, which spans and connects to two fixed plates 410. The limiting component 300 is fixed on the connecting plate 320 and located between the two first conveyor belts 210. A limiting block 330 and a limiting cylinder 340 are fixed on the connecting plate 320. The limiting block 330 has a sliding groove, in which the limiting plate 310 slides. The telescopic rod of the limiting cylinder 340 passes through the sliding groove and connects to the limiting plate 310, driving the limiting plate 310 to slide within the groove. A direction sensor is fixed to the limiting plate 310 as it approaches the positioning plate 220. The sensor senses the approach of the positioning plate 220. Specifically, the sensor is a deceleration sensor. When the sensor senses the approach of the positioning plate 220, it transmits a signal to the control system. The control system controls the drive motor to decelerate the first conveyor belt 210, causing the positioning plate 220 to slowly approach the limiting plate 310. Furthermore, a magnet 350 and a buffer pad 360 are also provided on the side of the limiting plate 310 facing the positioning plate 220. The magnet 350 is used to attract the positioning plate 220. It can be understood that the positioning plate 220 is made of a material that attracts the magnet 350. Of course, a magnet that cooperates with the magnet 350 can be provided on the positioning plate 220. The buffer pad 360 is a buffer rubber suction cup to avoid re-attachment between the positioning plate 220 and the limiting plate 310, which would lead to a large positioning error. In this way, when the positioning plate 220 approaches the positioning component, the sensor generates a signal and transmits it to the control system. The control system controls the drive motor to decelerate, so that the positioning plate 220 slowly approaches the limiting component 300. The buffer pad 360 on the limiting plate 310 buffers the impact of the positioning plate 220. The magnet 350 cooperates with the positioning plate 220 to attract it, preventing the positioning plate 220 from moving in the opposite direction during the impact, so as to achieve accurate stopping of the positioning plate 220 at the corresponding position on the first conveyor belt 210.

[0046] In practical implementation, the first conveyor belt 210 has a large span, and swaying may occur in the middle. Furthermore, when the robot 500 places the unit material on the positioning plate 220, it may touch the positioning plate 220, causing it to sway and resulting in errors in the next tray placement. In this embodiment, the lifting assembly 400 lifts the finished product plate 710, providing it with certain support to ensure stable and accurate positioning. Specifically, the fixing plate 410 of the lifting assembly 400 is bolted to both sides of the first conveyor frame and located on the outside of the first conveyor frame. The lifting cylinder 411 is located on the side of the fixing plate 410 opposite to the first conveyor frame. The sliding plate is located on the side of the fixing plate 410 opposite to the first conveyor frame, and a matching slide rail and slider are provided between the sliding plate and the fixing plate 410. The cylinder body of the lifting cylinder 411 is fixed to the sliding plate, and the telescopic rod is connected to the fixing plate 410 through an L-shaped frame. Thus, the lifting cylinder 411 actuates to drive the sliding between the sliding plate and the fixing plate 410. Furthermore, lifting cylinders are connected to both sides of the skateboard, and lifting plates 422 are connected to the lifting cylinders. The lifting cylinders drive the lifting plates 422 to extend towards the positioning plate 220 and extend to the bottom surface of the finished plate 710. In the specific implementation process, after the positioning plate 220 stops under the action of the limiting component 300, the lifting cylinders drive the lifting plates 422 to extend and be located in the gap between the positioning plate 220 and the finished plate 710. Then, the lifting cylinder 411 actuates to make the skateboard slide upward and move the lifting cylinders and lifting plates 422 upward, thereby lifting the finished plate 710 and creating a certain distance between it and the positioning plate 220 to ensure the stability of the positioning of the finished plate 710.

[0047] Furthermore, a synchronization component is provided between the two fixed plates 410. The synchronization component includes a synchronization shaft 431, with both ends of the synchronization shaft 431 rotatably connected to the fixed plates 410. Gears 432 are also connected to both ends of the synchronization shaft 431. A rack 433 is connected to the sliding plate. The gears 432 and the rack 433 mesh with each other. The sliding plate slides, causing the rack 433 to drive the gears 432 to rotate.

[0048] In this embodiment, lifting plates 422 are provided on both sides of the slide plate. Thus, the first conveyor frame includes four lifting plates 422 on both sides. All four lifting plates 422 must be lifted synchronously to ensure the stable lifting of the finished product plate 710. In specific implementation, a synchronization component is provided between the two fixed plates 410 to ensure the stability of the lifting of the finished product plate 710. Specifically, the slide plate is connected to a rack 433, which extends vertically. The fixed plates 410 are connected to gears 432, which mesh with the rack 433. Sliding of the slide plate causes the rack 433 to drive the gears 432 to rotate, which in turn drives the synchronization shaft 431 connected between the two gears 432 to rotate. If the sliding of one side of the slide plate malfunctions, the other side will not lift, preventing the finished product plate 710 from tipping over and displaying a fault indicator to alert maintenance personnel.

[0049] Optionally, such as Figure 5-6 As shown, the conveying assembly 200 also includes a second conveying frame and a second conveyor belt 230 connected to the second conveying frame. The second conveying frame is located below the first conveying frame, and the first conveyor belt 210 and the second conveyor belt 230 are arranged in parallel and rotate in opposite directions.

[0050] Furthermore, the positioning and conveying mechanism also includes a lifting and connecting assembly 600, which includes a lifting cylinder 610 and a lifting platform 620. The lifting cylinder 610 drives the lifting platform 620 to move. The lifting platform 620 is provided with a transfer belt 630 for conveying the positioning plate 220. The lifting and connecting assemblies 600 are respectively provided at both ends of the conveying assembly 200.

[0051] In this embodiment, the first conveyor belt 210 and the second conveyor belt 230 rotate in opposite directions and form a cyclic conveying system through the lifting and connecting assembly 600. Both ends of the conveying assembly 200 are provided with lifting and connecting assemblies 600. The lifting and connecting assembly 600 raises to cooperate with the first conveyor belt 210, allowing the positioning plate 220 on the lifting and connecting assembly 600 to be conveyed between the two. The lifting and connecting assembly 600 lowers to cooperate with the second conveyor belt 230, allowing the positioning plate 220 to be conveyed between the two. Specifically, the lifting platform 620 of the lifting and connecting assembly 600 is provided with a transfer belt 630. It is understood that the transfer belt 630 is driven to rotate by a motor, and the rotational speed of the transfer belt 630 is the same as the rotational speed of the first conveyor belt 210 and the second conveyor belt 230. The lifting cylinder 610 is connected to a fixed bracket, and the telescopic rod of the lifting cylinder 610 is connected to the lifting platform 620. A fixed slide rail is installed on the fixed bracket, and a lifting slider is connected to the lifting platform 620. The lifting slider slides on the fixed slide rail, limiting the lifting and lowering of the lifting platform 620 and improving its stability. It is understood that connection sensors are respectively installed on the lifting platform 620, the first conveyor frame, and the second conveyor frame. After sensing and connecting, the motor controls the transfer belt 630 to rotate, conveying the positioning plate 220. The coordinated conveying of the two conveyor belts is existing technology and will not be described in detail in this embodiment. Thus, due to the transfer function of the lifting connection assembly 600, the positioning plate 220 can be reused repeatedly on the conveying assembly 200.

[0052] Optionally, the tray-stacking machine also includes a finished product conveyor belt 700 for conveying finished product plates 710. A transfer module 800 is provided between the finished product conveyor belt 700 and the positioning conveyor mechanism. The stroke of the transfer module 800 includes transferring the finished product plate 710 from the finished product conveyor belt 700 to the positioning conveyor assembly 200 and transferring the finished product plate 710 with unit material placed on it from the conveyor assembly 200 to the finished product conveyor belt 700.

[0053] In the specific implementation process, the finished product conveyor belt 700 is arranged parallel to the first conveyor belt 210 and is located next to the first conveyor belt 210. The transfer module 800 picks up the finished product plate 710 with the unit material placed on the positioning conveyor module and transfers the finished product plate 710 to the finished product conveyor belt 700 for transportation. In addition, the transfer module 800 also picks up the empty finished product plate 710 on the finished product conveyor belt 700 and transfers it to the positioning conveyor module, waiting for the robot 500 to place the unit material onto the finished product plate 710.

[0054] Furthermore, the transfer module 800 includes a transfer bracket 810, which spans between the finished product conveyor belt 700 and the positioning conveyor mechanism. The transfer bracket 810 is also provided with a traveling mechanism 820, which is connected to a transfer robot 830, which is used to grip the finished product plate 710.

[0055] In this embodiment, the transfer support 810 adopts a gantry structure, and the walking mechanism 820 includes an X module and a Z module. The X module is located on the crossbeam of the gantry structure and uses a screw-slider mechanism to drive the Z module to move laterally. The Z module uses a vertically arranged transfer cylinder. Specifically, the transfer cylinder is connected to a robot arm 510, which includes several transfer suction cups for picking up the finished product plate 710. A limiting guide rail and a limiting slider are provided between the transfer cylinder and the transfer robot arm 830. The limiting slider is connected to the robot arm 510 and slides on the limiting guide rail, serving to stabilize and limit movement.

[0056] Optionally, the tray-loading machine is also equipped with a detection component and an NG tray 930. The detection component includes a first detection camera 910 and a second detection camera 920. The first detection camera 910 is located above the material picking position 100, and the second detection camera 920 is located close to the material picking position 100. The first detection camera 910 and the second detection camera 920 are used to detect the two opposite sides of the unit material. The NG tray 930 is connected to an NG station, which is located on the travel of the robot 500. The travel of the robot 500 includes transferring the unit material from the material picking position 100 to the detection position and transferring the unit material from the detection position to the NG tray 930.

[0057] In the specific implementation process, the tray-stacking machine also includes a cover, which encloses the entire mechanism. A first detection camera 910 is connected to the upper part of the cover, with its detection and imaging port facing downwards towards the material pick-up position 100, and is correspondingly positioned to the material pick-up position 100. A second detection camera 920 is fixed next to the material pick-up position 100, with its detection and imaging port facing the top of the cover. After the tray 110 is placed at the material pick-up position 100, the first detection camera 910 detects the upper side of the unit material, and the robot arm 510 picks up the upper side of the unit material. During the transfer and placement process, the lower side of the unit material passes through the second detection camera 920 for detection. In this way, both the upper and lower sides of the unit material can be comprehensively inspected. Products that pass inspection are placed onto the finished product plate 710 by the robot arm 510, while products that fail inspection are placed onto the NG tray 930 by the robot arm 510. In this embodiment, the NG tray 930 is fixed to the NG platform, which spans across the finished product conveyor belt 700 and is located in the travel path of the robot 500.

[0058] Optionally, the robot 500 includes an interconnected robotic arm 520 and a robotic hand 510. The robotic hand 510 includes a positioning camera and several material-grabbing suction cups for picking up unit materials. The robotic arm 520 is also connected to a base that spans the positioning and conveying mechanism.

[0059] In the specific implementation process, the picking suction cups of the robotic arm 510 are used to pick up unit materials at picking position 100, and each picking suction cup picks up one unit material. If the inspection is OK, the material is transferred to the finished product plate 710 of the positioning plate 220 under the action of the robotic arm 520. If the inspection is NG, the material is transferred to the NG tray 930. The positioning camera is used for positioning during the picking up and placement of unit materials, enabling precise picking and placing.

[0060] In this embodiment, an empty finished product plate 710 enters via the finished product conveyor belt 700 and is transferred by the transfer module 800 to the positioning plate 220 of a lifting and connecting assembly 600. The lifting and connecting assembly 600 transfers the positioning plate 220 and the finished product plate 710 on the positioning plate 220 to the first conveyor belt 210. Under the action of the limiting assembly 300 and the lifting assembly 400, the finished product plate 710 is raised a certain distance. The robot 500 picks up the unit material at the picking position 100 and places it onto the finished product plate 710. After the placement is completed, the first conveyor belt 210 transfers the positioning plate 220 and the finished product plate 710 to another lifting and connecting assembly 600, which then transfers them to the second conveyor belt 230. The second conveyor belt 230 then transfers them to the lifting and connecting assembly 600. After the lifting and connecting assembly 600 is raised, the transfer module 800 picks up the finished product plate 710 and transfers it to the finished product conveyor belt 700. This process is repeated to complete the placement and conveying. During this process, robot 500 transfers the unit material on the picking tray to the finished product plate 710 or NG tray 930, completing the tray placement of the unit material.

[0061] In another embodiment, multiple plating machines are interconnected to form a plating line. Empty finished plates are fed into the first plating machine, and finished plates are unloaded from the last plating machine. The finished product conveyor belts of the multiple plating machines have the same conveying direction and speed, and the multiple plating machines form a production line to improve production efficiency.

[0062] The above description is merely an optional embodiment of the present invention and does not limit the patent scope of the present invention. All equivalent structural transformations made using the contents of the present invention's specification and drawings under the inventive concept of the present invention, or direct / indirect applications in other related technical fields, are included within the patent protection scope of the present invention.

Claims

1. A tray-stacking machine for tray-stacking unit materials formed after FPC (Flexible Printed Circuit) plate separation, characterized in that, The plate-stacking machine includes: The material handling position is equipped with a carrier tray, on which the unit material is placed; A positioning and conveying mechanism includes a conveying component, a limiting component, and a lifting component. The conveying component includes a first conveyor frame and a first conveyor belt connected to the first conveyor frame. A positioning plate is provided on the first conveyor belt for placing finished product plates. The limiting component is connected to the first conveyor frame and includes a limiting plate. The limiting plate is equipped with a sensor for sensing the positioning plate. The lifting component includes a fixed plate with a lifting cylinder connected to it. The lifting cylinder is connected to a sliding plate, and the sliding plate is connected to a lifting cylinder. The lifting cylinder is connected to a lifting plate, and the lifting cylinder drives the lifting plate to support the finished product plates. The fixed plates are fixed to the first conveyor frame, and both sides of the first conveyor frame are connected to the fixed plates. A synchronization component is also provided between the two fixed plates. The synchronization component includes a synchronization shaft with both ends rotatably connected to the fixed plates. Gears are also connected to both ends of the synchronization shaft. A rack is connected to the sliding plate, and the gears mesh with the rack. The sliding plate slides, causing the rack to drive the gears to rotate. The robot's process includes transferring the unit material from the carrier plate to the finished product plate; The limiting component includes a connecting plate that spans and connects to the two fixed plates. The limiting plate is connected to the connecting plate. The connecting plate is also connected to a limiting block. The limiting block has a sliding groove. The limiting plate is connected to a limiting cylinder. The limiting cylinder drives the limiting plate to slide in the sliding groove. The limiting plate is provided with a magnet and a buffer pad. The positioning plate is connected to multiple positioning rods. One end of each positioning rod is rotatably connected to the positioning plate. Each positioning rod has a positioning groove, and a positioning block slides in the positioning groove. The positioning block is screwed onto a positioning disk, and the positioning disk has a positioning protrusion that cooperates with the finished plate.

2. The tray-stacking machine as described in claim 1, characterized in that, The conveying assembly further includes a second conveyor frame and a second conveyor belt connected to the second conveyor frame. The second conveyor frame is disposed below the first conveyor frame, and the first conveyor belt and the second conveyor belt are arranged parallel to each other and rotate in opposite directions.

3. The tray-stacking machine as described in claim 2, characterized in that, The positioning and conveying mechanism further includes a lifting and connecting assembly, which includes a lifting cylinder and a lifting platform. The lifting cylinder drives the lifting platform to move. The lifting platform is equipped with a transfer belt for conveying the positioning plate. The lifting and connecting assemblies are respectively provided at both ends of the conveying assembly.

4. The tray-stacking machine as described in claim 1, characterized in that, The tray-stacking machine also includes a finished product conveyor belt for conveying finished product boards. A transfer module is provided between the finished product conveyor belt and the positioning conveyor mechanism. The stroke of the transfer module includes transferring the finished product board from the finished product conveyor belt to the positioning conveyor assembly and transferring the finished product board containing the unit material from the conveyor assembly to the finished product conveyor belt.

5. The tray-stacking machine as described in claim 4, characterized in that, The transfer module includes a transfer bracket that spans between the finished product conveyor belt and the positioning conveyor mechanism. The transfer bracket is also equipped with a traveling mechanism that is connected to a transfer robot arm, which is used to grab the finished product plate.

6. The tray-stacking machine as described in claim 1, characterized in that, The tray-loading machine is also equipped with a detection component and an NG tray. The detection component includes a first detection camera and a second detection camera. The first detection camera is located above the material picking position, and the second detection camera is located close to the material picking position. The first detection camera and the second detection camera are used to detect the two opposite sides of the unit material. The NG tray is connected to an NG station, which is located on the robot's travel path. The robot's travel path includes transferring the unit material from the material picking position to the detection position and transferring the unit material from the detection position to the NG tray.

7. The tray-stacking machine as described in claim 1, characterized in that, The robot includes interconnected robotic arms and robotic hands. The robotic hands include a positioning camera and several material-picking suction cups for picking up the unit material. The robotic arms are also connected to a base that spans the positioning and conveying mechanism.

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