Automatic loading and unloading device, method and system

Abstract

The present application relates to automatic feeding and discharging device, method and system, the device includes manipulator, isolation frame, first storage device and second storage device;Manipulator includes first magnet part, the isolation frame includes frame body and second magnet part;Frame body and the second magnet part fixed connection;Under the first predetermined condition, manipulator and isolation frame are connected;Second predetermined condition, manipulator and isolation frame are separated;The first storage device or second storage device is provided with storage space for storing the isolation frame;Wherein, the first predetermined condition includes: the first magnet part and the second magnet part magnetic connection;Second predetermined condition includes: the first magnet part and second magnet part are separated.The automatic feeding and discharging device, method and system of the present application respectively adopt first magnet part and second magnet part to realize the carrying capacity of manipulator material, so that the requirements of preventing the isolation frame and the isolation frame on the material from falling can be achieved.

Description

Technical Field Technical Field

[0002] This invention relates to the field of PCB (Printed Circuit Board) or carrier board processing technology, specifically to an automatic loading and unloading device, an automatic loading and unloading method, and an automatic loading and unloading system. Background Technology

[0003] Existing automated loading and unloading devices for PCB boards or carrier boards in the industry typically use air suction to pick up the PCB board or carrier board and store it in a predetermined location, such as a box or tray. Air suction-type loading and unloading devices are prone to board drop problems if the suction nozzle becomes clogged with dust or if the air supply is insufficient. This can damage the PCB board or carrier board, reducing yield. Furthermore, in solder mask processes, such as automated loading and unloading on solder mask roller coating lines, the solder mask ink is not fully cured after pre-curing and should not be stored in direct contact with other boards or spacers. Therefore, a frame-based storage method is often used. However, when using automated loading and unloading equipment with automatic frame-based storage, problems such as broken frame clamps causing board drop or jamming can easily occur, resulting in damage to the incompletely cured ink.

[0004] Therefore, it is necessary to provide an automatic loading and unloading device that can effectively prevent problems such as board drop, realize automatic loading and unloading of boards during PCB board or carrier board processing, and ensure the high yield of PCB board or carrier board processing. Summary of the Invention

[0005] In view of this, the present invention provides an automatic loading and unloading device, a loading and unloading method, and a loading and unloading system, which can solve the problem of boards easily falling off during the loading and unloading process. Furthermore, the automatic loading and unloading device, method, and system of the present invention ensure that the board surface is essentially not in contact with other boards or objects, thus also solving the problem of ink being rubbed off or scratched during automatic loading and unloading in the solder resist process due to incomplete drying.

[0006] The above-mentioned technical problems are solved by adopting the following technical solution:

[0007] This invention provides an automatic loading and unloading device, including a robotic arm, an isolation frame, a first storage device, and a second storage device; the robotic arm includes a first magnet part, and the isolation frame includes a frame body and a second magnet part; the frame body and the second magnet part are fixedly connected; under a first predetermined condition, the robotic arm is connected to the isolation frame; under a second predetermined condition, the robotic arm is separated from the isolation frame; the first storage device or the second storage device is provided with a storage space for storing the isolation frame;

[0008] The first predetermined condition includes: the first magnet portion and the second magnet portion are magnetically connected; the second predetermined condition includes: the first magnet portion and the second magnet portion are separated.

[0009] Preferably, the frame of the isolation frame includes several side frames; at least one side frame is provided with the second magnet portion.

[0010] Preferably, the frame with the second magnet portion includes an inlay portion and a supporting portion; the inlay portion has an installation space; the second magnet portion is installed in the installation space; the inlay portion includes a first surface and a second surface; the second surface has a magnetic shielding portion; or the second surface is made of a magnetic shielding material; the supporting portion is fixedly connected to the inlay portion.

[0011] Preferably, the first storage device includes a first lifting mechanism; the first lifting mechanism is located within the storage space of the first storage device.

[0012] Preferably, the automatic loading and unloading device further includes a conveying mechanism, which includes conveying rollers, a detection mechanism, and a baffle; the conveying rollers and the detection mechanism are installed in the first storage device; in a first state, part of the baffle is located within the storage space of the first storage device; in a second state, the baffle is located away from the storage space of the first storage device.

[0013] Preferably, the second storage device includes a second lifting mechanism and a frame; the second lifting mechanism is installed in the storage space of the second storage device; the bottom of the frame has an arc-shaped structure.

[0014] Preferably, the frame includes a bottom and a support portion; the support portion is fixed to the bottom; the bottom includes an arc-shaped frame; the length of the arc-shaped frame is greater than or equal to the length of at least one frame of the partition.

[0015] Preferably, the ratio of the edge height to the middle height of the arc-shaped frame is 5:3-5:1; the central angle corresponding to the arc-shaped frame is greater than or equal to 10° and less than 90°.

[0016] The present invention also provides an automatic loading and unloading method, comprising the following steps:

[0017] Start the automatic loading and unloading device, which is the automatic loading and unloading device described in any of the above embodiments;

[0018] Feeding process: The material to be transferred is placed on the isolation rack inside the second storage device.

[0019] Under a first predetermined condition, the robotic arm grasps the isolation rack stored in the second storage device by the attraction between the magnetic fields of the first magnet and the second magnet.

[0020] The robotic arm transfers the isolation rack it has grasped to the first storage device. Under a second predetermined condition, the isolation rack separates from the robotic arm, and the isolation rack and the material on the isolation rack are retained in the first storage device.

[0021] The material to be transported is transported to the designated location to complete the loading process;

[0022] Material feeding step: The material to be transferred is placed on the isolation rack inside the first storage device;

[0023] Under a first predetermined condition, the robotic arm grabs the isolation rack and the materials on the isolation rack stored in the first storage device by the attraction of the magnetic fields of the first magnet part and the second magnet part.

[0024] When the isolation frame and the material on it are transferred to the second storage device, under a second predetermined condition, the robot arm separates from the isolation frame; the isolation frame and the material on it are retained in the second storage device, thus completing the unloading process.

[0025] The present invention also provides an automatic loading and unloading system, including a control device and an automatic loading and unloading device; the automatic loading and unloading device is the automatic loading and unloading device described in any of the above embodiments; the control device controls the automatic loading and unloading device to complete at least one process in the automatic loading process or the unloading process.

[0026] Beneficial effects of this invention:

[0027] The automatic loading and unloading device of the present invention comprises a robotic arm with a first magnet and a second magnet on a partition frame; the frame body is fixedly connected to the second magnet; under a first predetermined condition, the robotic arm is connected to the partition frame; under a second predetermined condition, the robotic arm is separated from the partition frame; the first storage device or the second storage device is provided with a storage space for storing the partition frame. Since the robotic arm and the partition frame are magnetically connected, when the partition frame and the items on the partition frame are moved by the robotic arm, the occurrence of the partition frame and the items on the partition frame falling off can be effectively prevented.

[0028] In another embodiment, the bottom of the frame within the second storage device is curved. Because the bottom of the frame is curved, the items placed on all the shelves form a certain arc. The items on the shelves are placed at intervals. Since the shelves are hollow in the middle (i.e., without a central support), the edges of the shelves and the items on them only contact each other (e.g., the unpatterned areas of the PCB board or carrier board edges). The inked graphic areas of the items on the shelves do not contact the frame or the shelves at all, thus preventing scratches or damage. Furthermore, since the items on the shelves may be stored with a certain degree of curvature, the curved frame design prevents thin items from being unable to support themselves due to their own weight, causing them to naturally curve and contact the lower plate, resulting in scratches.

[0029] The automatic loading and unloading method and system of the present invention utilize the loading and unloading device, thus both the method and system can achieve the requirement of preventing the isolation frame and the items on the isolation frame from falling off. Furthermore, in other embodiments, it can also prevent items on the isolation frame from contacting each other and avoid scratching the items on the isolation frame. Attached Figure Description

[0030] To more clearly illustrate the technical solution of the present invention, the accompanying drawings will be briefly described below. Obviously, the drawings described below only relate to some embodiments of the present invention and are not intended to limit the present invention.

[0031] Figure 1 This is a schematic diagram of an automatic loading and unloading device combined with production equipment in a preferred embodiment of the present invention;

[0032] Figure 2 This is a schematic diagram of an isolation frame mounting an object to be transported in a preferred embodiment of the present invention;

[0033] Figure 3 This is a cross-sectional view of an isolation frame in a preferred embodiment of the present invention;

[0034] Figure 4 This is a top view of a preferred embodiment of the invention when an isolation rack is located in a first storage device;

[0035] Figure 5 This is a schematic diagram of a frame in a preferred embodiment of the present invention;

[0036] Figure 6 This is a schematic diagram of the arc-shaped border of a frame in a preferred embodiment of the present invention;

[0037] Figure 7 This is a schematic diagram of the second storage device in a preferred embodiment of the present invention. Detailed Implementation

[0038] The preferred embodiments of the present invention will be described in detail below with reference to the accompanying drawings. It should be understood that the preferred embodiments are only for illustrating the present invention and are not intended to limit the scope of protection of the present invention.

[0039] Reference Figures 1-7 This embodiment provides an automatic loading and unloading device, including a robotic arm 1, an isolation frame 2, a first storage device 3, and a second storage device 4. The robotic arm 1 includes a first magnet part 11, and the isolation frame 2 includes a frame body 21 and a second magnet part 22. The frame body 21 and the second magnet part 22 are fixedly connected. Under a first predetermined condition, the robotic arm 1 is connected to the isolation frame 2; under a second predetermined condition, the robotic arm 1 is separated from the isolation frame 2. The first storage device 3 or the second storage device 4 is respectively provided with a storage space for storing the isolation frame. The first predetermined condition includes: the first magnet part 11 and the second magnet part 22 are magnetically connected. The second predetermined condition includes: the first magnet part 11 and the second magnet part 22 are separated. When the first magnet part 11 and the second magnet part 22 are magnetically connected, at least one of the first magnet part 11 and the second magnet part 22 can generate a magnetic field, and the two are magnetically attracted by the principle of opposite magnetic poles attracting each other or by the principle that one of them can be magnetized by the magnetic field generated by the other. When the first magnet part 11 and the second magnet part 22 separate, neither of them generates a magnetic field, or one of them can generate a magnetic field, but the other is not magnetized by the magnetic field, so that the two will not separate due to magnetic attraction. This invention utilizes the principle of magnetic attraction to enable the robotic arm 1 to transport the isolation frame 2 and the object M (PCB board or carrier board) on the isolation frame 2, allowing the robotic arm 1 to stably transport the isolation frame 2 and the object M on the isolation frame 2 to a predetermined position when handling the board. This effectively avoids the problem of boards falling off easily due to dust blockage or insufficient air supply in suction-type lifting devices.

[0040] The first magnet 11 on the robotic arm 1 can generate a magnetic field when needed. For example, the first magnet can be an electromagnet, which generates magnetic force by passing an electric current and is a non-permanent magnet. The magnetic force disappears when the circuit is removed, so the first magnet can be easily activated or deactivated. The second magnet can be made of an iron-nickel alloy. When the first magnet, which generates magnetic force, approaches the second magnet, the two are attracted by magnetic force. When the magnetic force of the first magnet disappears, the first magnet separates from the second magnet. Even if the first magnet and the second magnet come into contact, the robotic arm will not grasp the isolation frame.

[0041] Combined with reference Figures 2-4As a preferred embodiment, the frame 21 of the isolation rack 2 includes a plurality of side borders 211; at least one side border 211 is provided with the second magnet portion 22. The plurality of side borders 211 form a polygonal geometric shape, such as a rectangle, pentagon, hexagon, or other different types of polygons. To accommodate different shapes of the objects to be loaded and unloaded, the frame can be configured into the required shape. The frame 21 of this geometric shape can be hollow in the middle, so that when handling the objects to be loaded and unloaded, typically only the edges of the objects contact part or all of the side borders of the frame 21. The hollow center of the frame 21 minimizes the contact area between the objects to be loaded and unloaded and the isolation rack 2, thereby preventing friction or scratching during handling and improving the yield rate of the processed objects. When the items to be loaded (PCB boards or carrier boards) are placed on the isolation frame 2, the edge of the items to be loaded is in partial or complete contact with the frame 211, so that the items to be loaded (the items on the isolation frame) can be transported together with the isolation frame 2 when it is being moved. Preferably, in order to improve the stability of the isolation frame 2 during the handling process, the second magnet part 22 can be provided on two parallel or spaced-apart frame sides 211. Alternatively, the second magnet part 22 can be provided on all frame sides 211.

[0042] In a preferred embodiment, the frame 211 on which the second magnet part 22 is provided includes an inlay part 2111 and a supporting part 2112. The inlay part 2111 is provided with an installation space. The second magnet part 22 is installed in the installation space. The inlay part 2111 includes a first surface 2111a and a second surface 2111b. The second surface 2111b is provided with a magnetic shielding part, or the second surface 2111b is made of a magnetic shielding material. In another embodiment, the inlay part 2111 is entirely made of a magnetic shielding material. In another embodiment, the frame 211 on which the second magnet part 22 is installed is made of a magnetic shielding material. In another embodiment, the frame body 21 is made of a magnetic shielding material. The supporting part 2112 is fixedly connected to the inlay part 2111. Preferably, the supporting part 2112 can be used to contact the object to be loaded or unloaded. By placing the object to be loaded or unloaded on the supporting part 21112, it is possible to effectively prevent the robot arm 1 from knocking over or damaging the material during the handling process. The magnetic shielding part can also be made of magnetic shielding material. By providing a magnetic shielding part on the second surface or making it of magnetic shielding material, when two or more isolation frames 2 are close to each other (such as when multiple isolation frames are stacked in the first storage device or the second storage device), under the first condition, and when the robot arm 1 only needs to grasp the isolation frame close to the robot arm 1, the robot arm 1 will only grasp the isolation frame 2 it needs, thus preventing other isolation frames 2 from being grasped. Under the first condition, the first surface 2111a can allow the robot arm 1 to grasp the isolation frame 2. To enable the robot arm 1 to better grasp the isolation frame, a notch or groove can be made on the first surface 2111a. The notch or groove can communicate with the installation space. To further improve the robot arm 1's ability to firmly grasp the isolation frame 2, part or all of the second magnet part 22 can be exposed on the first surface 2111a, for example, part of the second magnet part can pass through the notch or groove.

[0043] Preferably, the cross-sections of the inlay portion 2111 and the supporting portion 2112 can be stepped. After the isolation frame 2 is lifted by the robot arm 1, the object M on the isolation frame 2 is placed at the bottom of the step (i.e., the object is in contact with the supporting portion). The cross-sections of the inlay portion 2111 and the supporting portion 2112 can be stepped to limit the position of the object M on the isolation frame 2. Figure 3 As shown. Part or all of the frame 211 of the isolation frame 2 is inlaid with a second magnet 2 for being attracted.

[0044] As a preferred embodiment, the first storage device 3 includes a first lifting mechanism 31. The first lifting mechanism 31 is located within the storage space of the first storage device 3. The first lifting mechanism 31 can be raised or lowered to ensure that, during loading and unloading, the isolation frame 2 and the items M on it can be accurately transported to a predetermined position (such as the processing position or the second storage device). When the isolation frame 2 and the items M on it are to be transported from the first storage device 3 to the second storage device 4, the first lifting mechanism 31 can gradually rise in a direction F1 from the bottom to the top of the storage space. When the isolation frame 2 and the items M on it are to be transported from the second storage device 4 to the first storage device 3, the first lifting mechanism 31 can gradually descend in a direction F2 from the top to the bottom of the storage space. The storage space can be used to store the isolation frame 2, or the isolation frame 2 and the items M on it. The conveyor 5 is used to transport items to be loaded or unloaded onto the isolation frame 2, or to separate the isolation frame 2 from the items M on it, thereby realizing the loading or unloading operation of materials.

[0045] The automatic loading and unloading device may further include a conveying mechanism 5. This mechanism can continuously convey the items to be loaded or unloaded to predetermined positions. For example, during the loading process, the items to be transported can be conveyed from the isolation rack to the processing position (such as a PCB board or carrier board processing device). During the unloading process, the processed items (items to be transported) can be accurately moved to the isolation rack 2. Some components of the conveying mechanism 5 are installed in the first storage device.

[0046] The conveying structure may also be equipped with a retractable baffle and a detection mechanism to more accurately transfer the object to be conveyed to a predetermined position. The predetermined position may include a processing position or an isolation frame. As a preferred embodiment, the conveying mechanism 5 includes a conveying roller 51, a detection mechanism 52, and a baffle 53; the conveying roller 51 and the detection mechanism 52 are mounted on the first storage device 3. The positions of the conveying roller 51 and the detection mechanism 52 are fixed relative to the horizontal ground. The conveying roller 51 can roll at its position. Multiple conveying rollers 51 are arranged around the outer periphery of the detection mechanism 52. The baffle 53 is retractable. In a first state, part of the baffle 53 is located within the storage space of the first storage device 3; in a second state, the baffle 53 is located away from the storage space of the first storage device 3. The first lifting mechanism 31 may be located outside the conveying roller 51 and the detection mechanism 52. The first lifting mechanism 31 can reciprocate relative to the conveying roller 51 and the detection mechanism 52. When it is necessary to separate the isolation rack 2 from the item M on the isolation rack 2, the isolation rack 2 may be left on the first lifting mechanism 31. For each additional isolation rack added, the first lifting mechanism 31 needs to descend. When it is necessary to transport items to be loaded / unloaded from the first storage device 3 to the second storage device 4, a robotic arm moves the isolation rack 2 and the item M on it from the first storage device 3 to the second storage device 4. At this time, the number of isolation racks 3 on the first lifting mechanism 31 decreases, and the first lifting mechanism 31 needs to rise.

[0047] When the item to be loaded / unloaded is pushed to the first storage device 3, it is transported to the conveyor roller 51. The conveyor roller 51 can be driven by a motor to rotate, thus transporting the item to a predetermined position. Alternatively, the conveyor roller 51 can be pushed by the item to be loaded / unloaded, making the transport smoother. The detection mechanism 52 can be an infrared detection mechanism. When the item to be loaded / unloaded reaches the detection mechanism 52 after being transported by the conveyor roller 51, it can be detected, thereby performing the operation of separating the item from the isolation frame 2 or pushing the item onto the isolation frame 2. The first state can be the process of the baffle 53 pushing the item to be loaded / unloaded onto the isolation frame 2. The second state can be the process of the baffle 53 having completed pushing the item to be loaded / unloaded onto the isolation frame 2 or the process of pushing the item to be loaded / unloaded onto the isolation frame 2 not yet initiated. The baffle 53 can also position the material to be loaded or unloaded in the plate placement area of ​​the partition bar, and the baffle 53 retracts after the plate is conveyed to the position.

[0048] As a preferred embodiment, the second storage device 4 includes a second lifting mechanism 41 and a frame 42; the second lifting mechanism 41 is installed within the storage space of the second storage device 4; the bottom of the frame 42 has an arc-shaped structure. The frame 42 is installed on the second lifting mechanism 41, which can raise or lower the frame 42. When placed horizontally, the isolation rack 2 and the items M on it are placed in the second storage device 4, and the isolation rack 2 and the items M on it can be placed on the frame 42. When multiple isolation frames 42 are located in the storage space of the second storage device 4, the bottommost isolation rack 2 is in contact with the frame 42. Since the bottom 421 of the frame 42 has an arc-shaped structure, the items M on all the isolation racks 2 form a certain arc after placement. The items M on the isolation racks 2 are placed at intervals. Since the middle of the isolation rack 2 is hollow, that is, there is no support in the middle of the isolation rack 2, the isolation rack 2 contacts the edge of the items M on it (such as the non-graphic area of ​​the edge of the PCB board or carrier board). The inked graphic area in the center of item M on shelf 2 is completely kept away from frame 42 and shelf 2, thus preventing item M from being scratched or damaged. Furthermore, since item M on shelf 2 may be stored with a slight curvature, the curved shape of frame 42 prevents thin items like item M from being unable to support themselves due to their own weight, causing them to naturally curve and come into contact with the lower plate, resulting in scratches. A schematic diagram of the stacking of items M on shelf 2 is shown below. Figure 7 As shown.

[0049] As a preferred embodiment, the frame 42 includes a bottom 421 and a support portion 422; the support portion 422 is fixed to the bottom 421; the bottom 421 includes an arc-shaped frame; the length of the arc-shaped frame is greater than or equal to the length of at least one frame of the isolation frame 2. The support portion 422 can be used to support the isolation frame 2. The two ends of the arc-shaped frame can contact the edge of the isolation frame 2 closest to the bottom 421. The frame 42 can be installed on the second lifting mechanism 41, so that it can be driven to reciprocate. To further improve the stability of the frame 42, the bottom 421 can be fixedly connected to the second lifting mechanism. In the horizontal position, the bottom 421 is located below the support portion 422; the concave direction of the arc-shaped frame of the bottom 421 faces downward.

[0050] As a preferred embodiment, the ratio of the edge height L1 to the middle height L2 of the arc-shaped frame is 5:3-5:1; the central angle d corresponding to the arc-shaped frame is greater than or equal to 10° and less than 90°. Preferably, the central angle d corresponding to the arc-shaped frame is 25°-30° or 45°-50°. This setting can achieve good support for the isolation frame 2 and the object M on the isolation frame 2 without scratching or damaging the object M on the isolation frame 2. It should be noted that the object M on the isolation frame 2 and the object to be loaded / unloaded can be the same object, such as a PCB board or carrier board. Different names are used to describe the PCB board or carrier board in different situations.

[0051] In summary, the automatic loading and unloading device of the present invention, by setting a first magnet part 11 on the robotic arm 1 and a second magnet part 22 on the isolation frame 2, utilizes the principle of magnetic attraction to transport the isolation frame 2 and the items M on it. This effectively prevents the problem of the gripping plate falling due to dust or other reasons during the gripping process. Furthermore, using the first magnet part 11 to grip the isolation frame 2 can effectively detect whether the gripping mechanism is working properly and prevent problems from occurring. At the same time, storing multiple isolation frames 2 and the items M on them in the second storage device 4 completely avoids contact between the items M on the isolation frames 2, effectively preventing scratches, contamination, and other problems on the items M on the isolation frames 2.

[0052] The present invention also provides an automatic loading and unloading method, which is a method for automatically loading and unloading materials based on the automatic loading and unloading device described in any of the above embodiments. The loading and unloading method includes the following steps:

[0053] Step S1: Start the automatic loading and unloading device, which is the automatic loading and unloading device described in any of the above embodiments;

[0054] Loading step S2: The object to be transferred is placed on the isolation rack 2 inside the second storage device 4; under a first predetermined condition, the robot arm 1 grasps the isolation rack 2 stored in the second storage device 4 through the magnetic field attraction between the first magnet 11 and the second magnet 22. The robot arm 1 transfers the grasped isolation rack 2 to the first storage device 3. Under a second predetermined condition, the isolation rack 2 separates from the robot arm 1, and the isolation rack 2 and the object M on it are retained in the first storage device 3; the object to be transferred is then transferred to the predetermined position, completing the loading process. The loading step S2 can be repeated to load multiple objects.

[0055] As a preferred embodiment, during the process of placing the items to be transferred on the isolation rack 2 inside the second storage device 4, the items to be transferred are sequentially and spaced apart on the second storage device 4 via the isolation rack 2, as can be referred to... Figures 1-5The items to be transferred here can be items with loading straps or items M on the isolation rack 2. Because the bottom 421 of the frame 42 in the second storage device 4 is arc-shaped, the items to be transferred here are spaced apart and do not contact each other.

[0056] As a preferred embodiment, the first predetermined condition may include: activating the robotic arm 1 to prepare to grasp the isolation shelf 2 and the object to be transferred on the isolation shelf 2 within the second storage device 4. Under the first predetermined condition, the first magnet 11 on the robotic arm 1 generates a magnetic field; when the first magnet 11 approaches the isolation shelf 2 within the second storage device 4, the first magnet 11 can attract the second magnet 22 on the isolation shelf 2 through the magnetic field attraction. The first magnet 11 can be energized to generate the magnetic field. During the process of the robotic arm 1 grasping the isolation shelf 2 stored in the second storage device 4, the first magnet 11 and the second magnet 22 of the robotic arm 1 are connected to the isolation shelf 2, so that the isolation shelf 2 can move with the robotic arm 1, thus the robotic arm 1 can store the isolation shelf 2 at a predetermined position.

[0057] As a preferred embodiment, the second predetermined condition may include: the robot arm 1 being in a closed state or the robot arm 1 lowering or releasing the isolation frame 2 it has already grasped. In the loading step S2, preferably, the second predetermined condition is that the robot arm 1 lowers or releases the isolation frame 2 it has already grasped. Under the second predetermined condition, the magnetic field formed by the first magnet part 11 on the robot arm 1 is eliminated. The magnetic field can be eliminated by de-energizing the first magnet part 11. At this time, the first magnet part 11 no longer attracts the second magnet part 22, and the isolation frame 2 and the object to be transferred on the isolation frame 2 are separated from the robot arm 1.

[0058] In a preferred embodiment, the process of transferring the object to be transferred to a predetermined position to complete the loading process may include the following steps: separating the object to be transferred from the isolation frame 2; transferring the object to be transferred to a predetermined device; retaining the isolation frame 2 in the first storage device 3; and completing the loading process. Preferably, the process of separating the object to be transferred from the isolation frame 2 includes: when the isolation frame 2 reaches the first storage device 3, the isolation frame 2 reaches the first lifting mechanism 31, and descends via the first lifting mechanism 31, separating the isolation frame 2 from the object to be transferred. After the isolation frame 2 is separated from the object to be transferred, the object to be transferred is then transferred. The process of transferring the object to be transferred to the predetermined device may include: the object to be transferred is transferred to the processing equipment by the rolling of the conveyor roller 51. The isolation frame 2 remains in the first storage device 3. Because the first lifting mechanism 31 descends, the isolation frame 2 descends accordingly and is not transferred away with the object, thus remaining in the first storage device 3.

[0059] Unloading step S3: The material to be transferred is placed on the isolation rack 2 inside the first storage device 3; under a first predetermined condition, the robot arm 1 grasps the isolation rack 2 and the material on the isolation rack 2 stored in the first storage device 3 by the magnetic field attraction between the first magnet 11 and the second magnet 22; when the isolation rack 2 and the material on the isolation rack 2 are transferred to the second storage device 4, under a second predetermined condition, the robot arm 1 separates from the isolation rack 2; the isolation rack 2 and the material on the isolation rack 2 are retained in the second storage device 4, completing the unloading. As a preferred embodiment, the first and second predetermined conditions in step S3 can refer to the first and second predetermined conditions in step S2. Alternatively, the first and second predetermined conditions in steps S2 and S3 can refer to the first and second predetermined conditions in the unloading device.

[0060] As a preferred embodiment, before the material to be transferred is placed on the isolation rack 2 inside the first storage device 3, the material to be transferred can be transported towards the first storage device 3 via processing equipment; the material to be transferred is separate from the isolation rack 2. The uppermost isolation rack 2 inside the first storage device 3 can be raised by the first lifting mechanism 31 to be close to the processing equipment. Preferably, the isolation rack 2 can be brought into contact with the conveyor belt of the processing equipment, so that the material to be transferred can enter the isolation rack 2 of the first storage device 3 more smoothly. With the ground as the bottom and the direction perpendicular to the ground upwards as the top, the first isolation rack 2 above the first storage device 3 is the uppermost isolation rack 2.

[0061] As a preferred embodiment, before the robotic arm 1 grasps the isolation rack 2 and the material on the isolation rack 2 stored in the first storage device 3, when the detection mechanism 52 detects that the material to be transferred has reached the conveying mechanism, the baffle 53 is activated. The baffle 53 pushes the material to be transferred through the conveying roller 51 until the edge of the material to be transferred contacts the abutting part of the isolation rack 2, so that the material to be transferred can be fully supported by the isolation rack 2. After the robotic arm 1 grasps the isolation rack 2 and the material on the isolation rack 2 stored in the first storage device 3, the first lifting mechanism 31 rises to bring up the next isolation rack 2, which becomes the new top isolation rack 2.

[0062] In step S2 of this invention, the suction nozzle of the robotic arm 1 is replaced with an electromagnet (first magnet part 11), and a 0.2mm thick flexible material is wrapped around the first magnet part 11 to prevent scratching the object to be transferred. In step S3, the object to be transferred is conveyed to the clapping area, and after the clapping is aligned, it continues to be conveyed forward to the first storage device 3. When the sensing mechanism senses the object to be transferred, the conveying roller 51 is activated. The isolation rack 2 in the first storage device 3 is stored in the following manner. Figure 7 As shown, the isolation frame 2 is stacked on the elevator, and the isolation frame 2 is designed as follows: Figure 3 As shown, the frame of the isolation rack 2 is made of flexible plastic that can isolate magnetic fields. Part of the upper surface of the frame is inlaid with iron-nickel alloy strips (e.g., the second magnet part 22) for being attracted by the electromagnet (first magnet part 11) on the robotic arm. An independent conveying mechanism is located in the middle of the storage area of ​​the isolation rack 2, which can continue to convey the object to be transferred to the isolation rack 2. The conveying mechanism baffle 53 can position the object to be transferred in the placement area of ​​the isolation rack 2. Furthermore, the baffle 53 can be retracted after the object to be transferred is detected by the detection mechanism 52. After the object to be transferred is completed, it completely overlaps with the placement area in the middle of the isolation rack 2. The robotic arm 1 moves downward and activates the electromagnet, picking up the plate along with the isolation frame 42 and sending it to the second storage device 4. The electromagnet is then deactivated, and the object to be transferred and the isolation rack 2 are placed into the stacked second storage device. The second storage device is as follows: Figure 1 and Figure 7 As shown. The first lifter is activated to send the next isolation frame 2 upward to the designated position, and the baffle 53 returns to the initial position. In this way, the robot arm 1 repeatedly grabs the finished product to be transferred and places it into the second storage device. The isolation frame 2 and the product to be transferred are stacked so that the products to be transferred do not come into contact with each other.

[0063] In step S2 of this invention, the isolation frame 2 is placed in the second lifter, and the robot arm 1 uses the first magnet part 11 to grab the isolation frame 2 and the object on it together. The grabbed isolation frame 2 is sent to the starting position (first storage device 3). The starting position is additionally equipped with a sensing mechanism. After the sensing mechanism senses the object to be transferred, the first lifter moves downward to separate the isolation frame 2 from the object to be transferred. The object to be transferred is placed on the conveying roller 51, which moves forward to transport the object to be transferred. The isolation frame 2 is left in the first storage device 3, and the first lifting mechanism 31 moves downward to make room for the next isolation frame 2 and the object to be transferred. This process is repeated to send the plate from the storage device into the production equipment, such as... Figure 1 As shown.

[0064] This invention also provides an automatic loading and unloading system, including a control device and an automatic loading and unloading device; the automatic loading and unloading device is the automatic loading and unloading device described in any of the above embodiments; the control device can be an industrial control computer, a computer, or a handheld mobile device, etc., and the control device can control the automatic loading and unloading device to complete at least one process in the automatic loading or unloading process. The loading or unloading process can refer to the loading or unloading process described in any of the above embodiments. The control device can control whether the first magnet part 11 is energized; control whether the baffle 53 is activated, etc.

[0065] When the object to be transferred is placed on the isolation shelf 2 in the second storage device 4 and needs to be loaded, the control device controls the first magnet part 11 to be energized. The first magnet part 11 generates a magnetic field and drives the robot arm 1 to approach the isolation shelf 2 in the second storage device 4. The robot arm 1 can grasp the isolation shelf 2 stored in the second storage device 4 by being attracted by the magnetic fields of the first magnet part 11 and the second magnet part 22. The control device drives the robot arm 1 to move towards the first storage device 3, thereby transferring the isolation shelf 2 already grasped by the robot arm 1 to the first storage device 3. The control device disconnects the power to the first magnet part 11, and the magnetic field of the first magnet part 11 disappears, causing the isolation shelf 2 to separate from the robot arm 1. The isolation shelf 2 and the object on the isolation shelf 2 are retained in the first storage device 3. When the detection structure detects that the robotic arm 1 has transferred the isolation frame 2 and the object M on the isolation frame 2 to the first storage device 3, a detection signal is generated indicating that the isolation frame 2 and the object to be transferred need to be separated. Based on this detection signal, the control device controls the first lifting mechanism 31 to descend, thus separating the isolation frame 2 from the object M on it. The conveying structure is then activated to transfer the object to be transferred to the processing equipment, completing the loading process. If there are other materials that need to be loaded, the control device controls the robotic arm 1 to move again towards the second storage device 4, repeatedly grabbing the isolation frame 2 and the object M on it from the second storage device 4 until all the objects to be loaded are loaded.

[0066] When the material to be transferred is placed in the isolation rack 2 of the first storage device 3 for unloading, the control device drives the mechanical arm to move towards the first storage device 3 and controls the first magnet part 11 to be energized to form a magnetic field. Through the attraction between the magnetic fields of the first magnet part 11 and the second magnet part 22, the robot arm 1 grasps the isolation rack 2 and the material on the isolation rack 2 stored in the first storage device 3; the control device controls the robot arm 1 to move towards the second storage device 4. Until the robot arm 1 transfers the isolation rack 2 and the material on the isolation rack 2 to the second storage device 4, the control device deactivates the first magnet part 11, the electromagnetic field disappears, and the robot arm 1 separates from the isolation rack 2. The isolation rack 2 and the material on the isolation rack 2 are retained in the second storage device 4, completing the unloading. Before the robot arm 1 grasps the isolation rack 2 and the material on the isolation rack 2 stored in the first storage device 3, the control device can control the conveying mechanism to accurately push the material to be transferred onto the isolation rack 2, so that when the robot arm 1 grasps the isolation rack 2, it can also transfer the material to be transferred. If further unloading is required, the control device continues to control the robotic arm 1 to move towards the first storage device 3 for the next unloading process, until all items are unloaded. The control device also controls the first lifting mechanism 31 to raise the next isolation frame 2 to receive the next item to be unloaded and transferred.

[0067] In summary, the automatic loading and unloading device, automatic loading and unloading method, and automatic loading and unloading system of the present invention realize the loading and unloading process through the first magnet part 11 and the second magnet part 22, which can effectively avoid the problem of boards falling off due to dust or other reasons when gripping the boards. Moreover, the use of electromagnets to grip the boards can effectively detect whether the gripping mechanism is working properly and prevent problems from occurring. At the same time, contact between the board surfaces can be completely avoided during storage, effectively preventing problems such as board surface scratches and contamination.

[0068] Furthermore, by placing the object to be transferred in the frame 42, the bottom 421 of which has an arc-shaped structure, all the plates are placed in a certain arc. This ensures that the graphic area with ink in the middle of the object to be transferred does not come into contact with the frame 42 and the partition 2. Moreover, the U-shaped storage with a certain arc prevents the thin plates from naturally curving and coming into contact with the lower plate due to their own weight and inability to support themselves, thus avoiding scratches.

[0069] In the description of this application, it should be understood that the terms "first" and "second" are used for descriptive purposes only and should not be construed as indicating or implying relative importance or implicitly specifying the number of technical features indicated. Therefore, features defined as "first" or "second" may explicitly or implicitly include one or more of the stated features. In the description of this application, "multiple" means two or more, unless otherwise explicitly specified.

[0070] It should be noted that, unless otherwise explicitly specified and limited, the terms "installation," "connection," and "linking" should be interpreted broadly. For example, they can refer to fixed connections, detachable connections, or integral connections; they can refer to mechanical connections, electrical connections, or connections that allow for communication; they can refer to direct connections or indirect connections through an intermediate medium; they can refer to the internal communication between two components or the interaction between two components. Those skilled in the art can understand the specific meaning of the above terms in this application based on the specific circumstances.

[0071] For those skilled in the art, various other corresponding changes and modifications can be made based on the technical solutions and concepts described above, and all such changes and modifications should fall within the protection scope of the claims of this invention.

Claims

1. An automatic loading and unloading device, characterized in that: The device includes a robotic arm, an isolation frame, a first storage device, and a second storage device; the robotic arm includes a first magnet part, and the isolation frame includes a frame body and a second magnet part; the frame body and the second magnet part are fixedly connected; under a first predetermined condition, the robotic arm is connected to the isolation frame; under a second predetermined condition, the robotic arm is separated from the isolation frame. The first storage device or the second storage device is provided with a storage space for storing the isolation frame; The first predetermined condition includes: the first magnet portion and the second magnet portion are magnetically connected; the second predetermined condition includes: the first magnet portion and the second magnet portion are separated. It also includes a conveying mechanism, which includes conveying rollers, a detection mechanism, and a baffle; the conveying rollers and the detection mechanism are installed on the first storage device; in a first state, a portion of the baffle is located within the storage space of the first storage device; in a second state, the baffle is located away from the storage space of the first storage device. The frame of the isolation frame includes several side frames; at least one side frame is provided with the second magnet part; The frame with the second magnet portion includes an inlay portion and a supporting portion; the inlay portion has an installation space; the second magnet portion is installed in the installation space; the inlay portion includes a first surface and a second surface; the second surface has a magnetic shielding portion; or the second surface is made of a magnetic shielding material; the supporting portion is fixedly connected to the inlay portion. The first storage device includes a first lifting mechanism; the first lifting mechanism is located within the storage space of the first storage device; The second storage device includes a second lifting mechanism and a frame; the second lifting mechanism is installed in the storage space of the second storage device; the bottom of the frame has an arc-shaped structure.

2. The automatic loading and unloading device according to claim 1, characterized in that: The frame includes a bottom and a support portion; the support portion is fixed to the bottom; the bottom includes an arc-shaped frame; the length of the arc-shaped frame is greater than or equal to the length of at least one frame of the partition.

3. The automatic loading and unloading device according to claim 2, characterized in that: The ratio of the edge height to the middle height of the arc-shaped frame is 5:3-5:1; the central angle corresponding to the arc-shaped frame is greater than or equal to 10° and less than 90°.

4. An automatic loading and unloading method, characterized in that, Includes the following steps: Start the automatic loading and unloading device, which is the automatic loading and unloading device according to any one of claims 1-3; Feeding process: The material to be transferred is placed on the isolation rack inside the second storage device. Under a first predetermined condition, the robotic arm grasps the isolation rack stored in the second storage device by the attraction between the magnetic fields of the first magnet and the second magnet. The robotic arm transfers the isolation rack it has grasped to the first storage device. Under a second predetermined condition, the isolation rack separates from the robotic arm, and the isolation rack and the material on the isolation rack are retained in the first storage device. The material to be transported is transported to the designated location to complete the loading process; Material feeding step: The material to be transferred is placed on the isolation rack inside the first storage device; Under a first predetermined condition, the robotic arm grabs the isolation rack and the materials on the isolation rack stored in the first storage device by the attraction of the magnetic fields of the first magnet part and the second magnet part. When the isolation frame and the material on it are transferred to the second storage device, under a second predetermined condition, the robot arm separates from the isolation frame; the isolation frame and the material on it are retained in the second storage device, thus completing the unloading process.

5. An automatic loading and unloading system, characterized in that, It includes a control device and an automatic loading / unloading device; the automatic loading / unloading device is the automatic loading / unloading device according to any one of claims 1-3; the control device controls the automatic loading / unloading device to complete at least one process of the automatic loading process or the unloading process.

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