A circuit board plug-in frame feeding and discharging device and a circuit board plug-in frame feeding and discharging method

Abstract

The present application relates to the technical field of circuit board production, and particularly relates to a circuit board frame feeding and discharging device and a circuit board frame feeding and discharging method, which comprises a machine table, a supporting table, a frame opening and clamping device, a frame pre-storing position, a frame transferring device, a frame transferring device, an upper plate positioning mechanism, a lower plate positioning mechanism, an upper plate manipulator, a lower plate manipulator and a frame positioning mechanism, the frame pre-storing position is located between the frame positioning mechanism and the frame opening and clamping device, and the frame transferring device is used for transferring the frame at the frame opening and clamping device to the frame pre-storing position. The present application can automatically realize the feeding and discharging and frame insertion of the circuit board, the frame is pre-stored by the frame pre-storing position, so that the frame transferring device, the frame transferring device, the upper plate manipulator and the lower plate manipulator can work simultaneously and do not interfere with each other, the connection of the upper plate and the lower plate and the frame insertion action is more compact, the production efficiency of the circuit board is greatly improved, and the position precision and quality of the upper plate and the lower plate and the frame insertion are high and good.

Description

TECHNICAL FIELD

[0001] The present application relates to the technical field of wire, in particular to a circuit board inserting frame feeding and discharging equipment and a circuit board inserting frame feeding and discharging method. BACKGROUND

[0002] In the production of circuit boards, it is necessary to insert the circuit boards into the inserting frame carrier, and then transport the full-frame inserting frame carrier to the processing equipment for processing. After processing, the processed circuit boards need to be taken out of the inserting frame carrier, and then the circuit boards to be processed are inserted into the inserting frame carrier.

[0003] In the prior art, the Chinese patent document with the application number 202011410839.4 discloses a PCB inserting frame feeding and discharging equipment and a full-automatic plasma processing system, which includes: a feeding and discharging device for feeding the PCB to be processed and discharging the processed PCB; an inserting frame device arranged on one side of the feeding and discharging device, which is used to take out the tray from the tray frame and convey the tray to the side of the feeding and discharging device, and insert the tray back into the tray frame. Although this patent document can realize the automatic feeding and discharging of the circuit board and the inserting frame, the inserting frame device is in a waiting state during the feeding and discharging process of the feeding and discharging device, and the feeding and discharging device is in a waiting state during the process of picking up the tray by the inserting frame device, which increases the waiting time of the equipment and makes it difficult to further improve the production efficiency.

[0004] Therefore, the defect is very obvious, and a solution needs to be provided. SUMMARY

[0005] In order to solve the above technical problems, the purpose of the present application is to provide a circuit board inserting frame feeding and discharging equipment.

[0006] In order to achieve the above purpose, the present application adopts the following technical solutions:

[0007] A circuit board inserting frame feeding and discharging device comprises a machine table, a supporting table arranged on the machine table, a board frame clamping opening device arranged on the supporting table, a board frame pre-storing position arranged on the supporting table and arranged side by side with the board frame clamping opening device, a board frame transferring device arranged on the supporting table or / and the machine table, a transferring inserting frame device arranged on the machine table, an upper board positioning mechanism and a lower board positioning mechanism respectively arranged on the machine table and located on one side of the supporting table, an upper board manipulator and a lower board manipulator respectively arranged on the machine table, and an inserting frame positioning mechanism arranged on the machine table and located on the other side of the supporting table, the board frame pre-storing position is located between the inserting frame positioning mechanism and the board frame clamping opening device, the upper board manipulator is arranged corresponding to the upper board positioning mechanism, the lower board manipulator is arranged corresponding to the lower board positioning mechanism, the board frame transferring device is used for transferring the board frame at the board frame clamping opening device to the board frame pre-storing position, the transferring inserting frame device is used for inserting the board frame at the board frame pre-storing position on the inserting frame positioning mechanism or used for transferring the board frame on the inserting frame positioning mechanism to the board frame clamping opening device, and the board frame clamping opening device is used for opening the board clamps on the board frame.

[0008] Further, the board frame clamping opening device is an automatic board frame clamping and adjusting device, the board frame is an adjustable board frame, and the automatic board frame clamping and adjusting device is used for opening the board clamps on the board frame or / and adjusting the size of the board frame.

[0009] Further, the board frame transferring device comprises two oppositely arranged board frame transferring mechanisms, the two board frame transferring mechanisms are respectively located on two sides of the supporting table, the board frame transferring mechanism comprises a first transferring module arranged on the supporting table or / and the machine table, a lifting module arranged on a transferring end of the first transferring module, and a positioning structure arranged on a lifting end of the lifting module, and the positioning structure is used for positioning the board frame.

[0010] Further, the transferring inserting frame device comprises two oppositely arranged transferring inserting frame mechanisms, the two transferring inserting frame mechanisms are respectively located on two sides of the supporting table, the transferring inserting frame mechanism comprises a second transferring module arranged on the machine table, a lifting mechanism arranged on a transferring end of the second transferring module, a rotating mechanism arranged on a lifting end of the lifting mechanism, and a frame clamping mechanism arranged on a rotating end of the rotating mechanism, and the frame clamping mechanism is used for clamping the board frame.

[0011] Further, the upper board positioning mechanism or / and the lower board positioning mechanism comprises a conveying table arranged on the machine table, a baffle arranged on one end of the conveying table close to the supporting table, and a limiting module arranged on the baffle.

[0012] Further, the inserting frame positioning mechanism comprises a base arranged on the machine table, a docking sliding plate slidingly connected to a top of the base, a moving driving module arranged on the base and used for driving the docking sliding plate to move back and forth, and a positioning module arranged on a side of the docking sliding plate, and a docking guide rail is arranged on a top surface of the docking sliding plate.

[0013] Further, the positioning module comprises a positioning cylinder arranged on the bottom surface of the docking slide plate, a positioning pin arranged on the piston rod of the positioning cylinder, and a guide sleeve embedded in the docking slide plate, the positioning pin being in sliding connection with the guide sleeve and capable of protruding out of the top of the guide sleeve.

[0014] Further, the machine is provided with a docking structure, the top of the docking structure being provided with a docking rail for docking with the docking guide rail, and the side of the docking structure away from the frame positioning mechanism being provided with a positioning space; the machine is provided with a docking elevator, the lifting end of the docking elevator being connected with the base.

[0015] Further, the frame opening and clamping device comprises an adjusting driving mechanism arranged on the bottom of the support table, a moving plate arranged on the adjusting end of the adjusting driving mechanism, two positioning unlocking mechanisms respectively arranged on the two ends of the moving plate, a dynamic opening and clamping mechanism and a dynamic pressing mechanism respectively arranged on the moving plate and between the two positioning unlocking mechanisms, a positioning frame space surrounded by a plurality of corner positioning members arranged on the support table, and a plurality of positioning pressing mechanisms arranged around the edges of the positioning frame space, the positioning frame space being provided with a side edge corresponding to the positioning opening and clamping mechanism, the side edge of the positioning frame space being arranged in parallel with the moving plate, the dynamic opening and clamping mechanism and the positioning opening and clamping mechanism being correspondingly arranged, and the support table being provided with a cross-linking telescopic support located in the positioning frame space, one end of the cross-linking telescopic support being fixedly connected with the support table or the positioning opening and clamping mechanism, and the other end of the cross-linking telescopic support being fixedly connected with the moving plate.

[0016] The application further provides a circuit board frame loading and unloading method based on the application of the circuit board frame loading and unloading device, wherein the frame opening and clamping device is used for positioning the frame and opening the clamps of the frame; the frame positioning mechanism is used for carrying the frame carrier; the frame pre-storage position is used for pre-storing the frame; the upper plate positioning mechanism is used for carrying the upper plate carrier; the lower plate positioning mechanism is used for carrying the lower plate carrier; the upper plate manipulator is used for loading the circuit board carried by the upper plate carrier into the frame carried by the frame opening and clamping device; the lower plate manipulator is used for unloading the circuit board carried by the frame on the frame opening and clamping device to the lower plate carrier; the frame transfer device is used for transferring the frame carried by the frame opening and clamping device to the frame pre-storage position; and the frame transfer device is used for transferring the frame on the frame positioning mechanism to the frame opening and clamping device or transferring the frame on the frame positioning mechanism to the frame positioning mechanism.

[0017] The transfer frame device picks up the frame carried by the pre-storage position and inserts it into the frame carrier, at the same time, the frame transfer device transfers the frame on the frame opening device to the pre-storage position, the frame transfer device takes out the frame in the frame carrier and transfers it to the frame opening device, the frame opening device positions the frame and opens the board clamps on the frame, the lower board manipulator picks up the circuit board in the frame and places it on the lower board carrier, in this process, the upper board manipulator picks up the circuit board in the upper board carrier and places it in the empty clamp space in the frame, according to the number of clamp spaces on the frame, the lower board manipulator and the upper board manipulator work cooperatively to alternately complete the lower board and upper board actions until the feeding and discharging of the frame on the frame opening device are completed, and then the above operation steps are repeated to continuously complete the feeding and discharging of the circuit board and the frame insertion action until the frame carrier is filled with frames clamped with circuit boards to be processed.

[0018] The beneficial effects of the present application are that the feeding and discharging of the circuit board and the frame insertion can be automatically realized, the frame is pre-stored by the pre-storage position, so that the frame transfer device, the transfer frame device, the upper board manipulator and the lower board manipulator can work simultaneously without interfering with each other, the connection of the upper and lower boards and the frame insertion is more compact, the waiting time in the frame insertion and the upper and lower board processes is saved, the production efficiency of the circuit board is greatly improved, and the position accuracy and quality of the upper and lower boards and the frame insertion are high. BRIEF DESCRIPTION OF DRAWINGS

[0019] Figure 1 It is a perspective structural schematic view of the present application.

[0020] Figure 2 It is a perspective structural schematic view of the frame transfer mechanism of the present application.

[0021] Figure 3 It is a perspective structural schematic view of the transfer frame device of the present application.

[0022] Figure 4 It is a perspective structural schematic view of the frame insertion positioning mechanism, the transfer frame device, the docking elevator and the docking structure of the present application.

[0023] Figure 5 It is a perspective structural schematic view of the upper board positioning mechanism carrying the upper board carrier or the lower board positioning mechanism carrying the lower board carrier of the present application.

[0024] Figure 6 It is a perspective structural schematic view of the frame insertion positioning mechanism of the present application.

[0025] Figure 7 It is a perspective structural schematic view of the docking structure of the present application.

[0026] Figure 8It is the stereogram of the support table, the frame opening and clamping device and the frame pre-storing position of the application.

[0027] Figure 9 It is the stereogram of the moving plate, the positioning and unlocking mechanism, the moving opening and clamping mechanism and the moving pressing mechanism of the application.

[0028] Figure 10 It is the stereogram of the frame in the embodiment.

[0029] Explanation of reference signs:

[0030] 1, machine table; 11, support table; 12, visual positioning mechanism; 13, docking structure; 14, docking track; 15, docking space; 16, docking elevator; 2, frame positioning mechanism; 21, base; 22, docking sliding plate; 23, moving driving module; 24, positioning module; 25, docking guide rail; 26, positioning cylinder; 27, positioning pin; 28, guide sleeve; 3, frame opening and clamping device; 31, adjusting driving mechanism; 32, moving plate; 33, positioning and unlocking mechanism; 332, unlocking driver; 333, moving seat; 335, positioning column; 34, moving opening and clamping mechanism; 341, opening and clamping seat; 342, opening and clamping cylinder; 343, opening and clamping push block; 35, moving pressing mechanism; 36, fixed opening and clamping mechanism; 37, corner positioning piece; 38, fixed pressing mechanism; 39, cross-linking rod telescopic support; 4, frame pre-storing position; 41, limiting piece; 42, rectangular frame; 43, frame adjusting plate; 44, fixed plate clamp; 45, moving plate clamp; 46, locking mechanism; 5, frame transfer device; 51, frame transfer mechanism; 52, first transfer module; 53, lifting module; 54, positioning structure; 6, frame inserting device; 61, frame inserting mechanism; 62, second transfer module; 63, lifting mechanism; 64, rotating mechanism; 65, clamping mechanism; 7, upper plate positioning mechanism; 71, conveying table; 72, baffle; 73, limiting module; 8, lower plate positioning mechanism; 9, upper plate manipulator; 91, lower plate manipulator. DETAILED DESCRIPTION

[0031] In order to facilitate the understanding of those skilled in the art, the application is further described below in combination with the embodiments and the drawings. The content mentioned in the embodiments is not a limitation of the application.

[0032] As Figures 1 to 10As shown, the circuit board inserting frame feeding and discharging device provided by the application comprises a machine table 1, a supporting table 11 arranged on the machine table 1, a frame opening and clamping device 3 arranged on the supporting table 11, a frame pre-storage position 4 arranged on the supporting table 11 and arranged side by side with the frame opening and clamping device 3, a frame transfer device 5 arranged on the supporting table 11 and / or the machine table 1 and arranged side by side with the frame opening and clamping device 3, a frame inserting device 6 arranged on the machine table 1, an upper plate positioning mechanism 7 and a lower plate positioning mechanism 8 respectively arranged on the machine table 1 and located on one side of the supporting table 11, an upper plate mechanical arm 9 and a lower plate mechanical arm 91 respectively arranged on the machine table 1, and a frame positioning mechanism 2 arranged on the machine table 1 and located on the other side of the supporting table 11, the frame pre-storage position 4 is located between the frame positioning mechanism 2 and the frame opening and clamping device 3, the upper plate mechanical arm 9 is arranged corresponding to the upper plate positioning mechanism 7, the lower plate mechanical arm 91 is arranged corresponding to the lower plate positioning mechanism 8, the frame transfer device 5 is used to transfer the frame at the frame opening and clamping device 3 to the frame pre-storage position 4, the frame inserting device 6 is used to insert the frame at the frame pre-storage position 4 on the frame positioning mechanism 2 or used to transfer the frame on the frame positioning mechanism 2 to the frame opening and clamping device 3, and the frame opening and clamping device 3 is used to open the plate clamps on the frame; the frame has a clamping plate space, and each clamping plate space clamps one circuit board.

[0033] In this embodiment, it is assumed that initially, the upper plate positioning mechanism 7 positions an upper plate carrier carrying a circuit board to be processed, the lower plate positioning mechanism 8 positions an empty lower plate carrier, the frame positioning mechanism 2 positions a frame carrier, and the frame carrier is inserted with a frame; the frame clamping device 3 positions a frame clamping the circuit board to be processed, and the frame pre-storage position 4 carries a frame clamping the circuit board to be processed; in actual application, the frame transfer device 6 picks up the frame clamping the circuit board to be processed carried by the frame pre-storage position 4 and inserts it into the frame carrier, at the same time, the frame transfer device 5 transfers the frame clamping the circuit board to be processed on the frame clamping device 3 to the frame pre-storage position 4, the frame transfer device 6 takes out the frame clamping the processed circuit board in the frame carrier and transfers it to the frame clamping device 3, the frame clamping device 3 positions the frame and opens the clamps on the frame, the lower plate manipulator 91 picks up the processed circuit board in the frame and places it on the lower plate carrier, in this process, the upper plate manipulator 9 picks up the circuit board to be processed in the upper plate carrier and places it in the empty clamp space in the frame, according to the number of clamp spaces on the frame, the lower plate manipulator 91 and the upper plate manipulator 9 work cooperatively to alternately complete the lower plate and upper plate actions until the feeding and discharging of the frame are completed, so that the frame clamps the circuit board to be processed, and then the above operation steps are repeated to continuously complete the feeding and discharging of the circuit board and the frame insertion action until the frame carrier is full of frames clamping the circuit boards to be processed, the processed circuit boards are discharged, the frame carrier full of circuit boards to be processed is transferred to the external processing equipment for processing, and then the frame carrier full of processed circuit boards is transferred to the frame positioning mechanism 2 for the next circuit board feeding and discharging and frame insertion work.

[0034] The circuit board frame feeding and discharging equipment can automatically realize the feeding and discharging of the circuit board and the frame insertion, the frame pre-storage position 4 pre-stores the frame, so that the frame transfer device 5, the frame transfer device 6, the upper plate manipulator 9 and the lower plate manipulator 91 can work simultaneously without interfering with each other, the connection of the upper and lower plates and the frame insertion action is more compact, the waiting time in the frame insertion and the upper and lower plate process is saved, the production efficiency of the circuit board is greatly improved, and the position precision and quality of the upper and lower plates and the frame insertion are high and good.

[0035] Specifically, the visual positioning mechanism 12 is arranged between the upper plate positioning mechanism 7 and the lower plate positioning mechanism 8 and is arranged on the machine table 1. In actual application, after the upper plate manipulator 9 picks up the circuit board carried by the upper plate carrier, the upper plate manipulator 9 first moves the circuit board to the visual positioning mechanism 12 for visual positioning, and then picks up the visually positioned circuit board to the board frame carried by the board frame opening and clamping device 3, so as to ensure the feeding accuracy of the circuit board. After the lower plate manipulator 91 picks up the circuit board carried by the board frame, the lower plate manipulator 91 first moves the circuit board to the visual positioning mechanism 12 for visual positioning, and then moves the visually positioned circuit board to the lower plate carrier, so as to ensure the feeding accuracy of the circuit board.

[0036] Specifically, the top of the board frame pre-storage position 4 is provided with a plurality of limiting members 41, and the plurality of limiting members 41 surrounds to form a limiting space. When the board frame pre-storage position 4 carries the board frame, the board frame is located in the limiting space, and the limiting space limits the board frame, so as to improve the position accuracy and stability of the board frame on the board frame pre-storage position 4.

[0037] In the embodiment, the board frame opening and clamping device 3 is an automatic board frame opening and clamping and adjusting device, and the board frame is an adjustable board frame. The automatic board frame opening and clamping and adjusting device is used for opening the board clamps on the board frame or / and adjusting the size of the board frame.

[0038] In actual application, according to the size of the circuit board carried by the upper plate carrier, the automatic board frame opening and clamping and adjusting device can automatically adjust the size of the clamping plate space of the board frame, so as to meet the needs of circuit boards of different sizes, and the degree of automation is high and the practicability is strong.

[0039] In the embodiment, the board frame transfer device 5 includes two oppositely arranged board frame transfer mechanisms 51, and the two board frame transfer mechanisms 51 are respectively located on the two sides of the support table 11. The board frame transfer mechanism 51 includes a first transfer module 52 arranged on the support table 11 or / and the machine table 1, a lifting module 53 arranged on the transfer end of the first transfer module 52, and a positioning structure 54 arranged on the lifting end of the lifting module 53. The positioning structure 54 is used for positioning the board frame. Specifically, the positioning structure 54 is a pin shaft, and the periphery of the board frame is provided with a shaft hole. The first transfer module 52 and the lifting module 53 can both adopt a linear driving module (such as a linear motor, an air cylinder, etc.).

[0040] In actual application, when it is needed to transfer the board frame from the board frame opening and clamping device 3 to the board frame pre-storage position 4, the lifting end of the lifting module 53 of the board frame transfer mechanism 51 is lifted to drive the positioning structure 54 to rise. The rising positioning structure 54 is positioned and matched with the shaft hole of the board frame to stably lift the board frame. Then, the first transfer module 52 drives the lifting module 53 to move the positioning structure 54 and the board frame to above the board frame pre-storage position 4. Finally, the lifting end of the lifting module 53 is lowered to drive the board frame to descend, until the board frame is placed on the board frame pre-storage position 4, so as to realize the transfer of the board frame.

[0041] In the embodiment, the transfer frame inserting device 6 comprises two oppositely arranged transfer frame inserting mechanisms 61, and the two transfer frame inserting mechanisms 61 are respectively arranged on the two sides of the support table 11. The transfer frame inserting mechanism 61 comprises a second transfer module 62 arranged on the machine table 1, a lifting mechanism 63 arranged on the transfer end of the second transfer module 62, a rotating mechanism 64 arranged on the lifting end of the lifting mechanism 63, and a frame clamping mechanism 65 arranged on the rotating end of the rotating mechanism 64, and the frame clamping mechanism 65 is used for clamping the plate frame. Specifically, the second transfer module 62 can adopt a linear driving module.

[0042] In actual application, when the plate frame on the plate frame pre-storage site 4 needs to be inserted into the frame inserting carrier, the lifting mechanism 63 drives the rotating mechanism 64 and the frame clamping mechanism 65 to rise to the required height, and the second transfer module 62 drives the lifting mechanism 63, the rotating mechanism 64 and the frame clamping mechanism 65 to move to the edge of the plate frame carried by the plate frame pre-storage site 4, so that the edge of the plate frame is located in the frame clamping end of the frame clamping mechanism 65. Then the frame clamping end of the frame clamping mechanism 65 clamps the plate frame, and the lifting mechanism 63 drives the rotating mechanism 64, the frame clamping mechanism 65 and the plate frame to rise to the highest position. Then the rotating mechanism 64 drives the frame clamping mechanism 65 and the plate frame to rotate 90°, so that the plate frame is rotated from the horizontal state to the vertical state. Then the second transfer module 62 drives the lifting mechanism 63, the rotating mechanism 64, the frame clamping mechanism 65 and the plate frame to move above the frame inserting carrier, so that the plate frame is aligned with the plate inserting slot of the frame inserting carrier. Finally, the lifting mechanism 63 drives the rotating mechanism 64, the frame clamping mechanism 65 and the plate frame to move downward until the plate frame is inserted into the corresponding plate inserting slot, and the frame clamping mechanism 65 can release the plate frame to complete the plate frame inserting action. When the plate frame in the frame inserting carrier needs to be transferred to the plate frame opening and clamping device 3, the discharging of the plate frame can be completed by reversing the operation.

[0043] In the embodiment, the upper plate positioning mechanism 7 and / or the lower plate positioning mechanism 8 comprises a conveying table 71 arranged on the machine table 1, a baffle 72 arranged on one end of the conveying table 71 close to the support table 11, and a limiting module 73 arranged on the baffle 72, and the limiting module 73 is located below the conveying table 71. Specifically, the conveying table 71 can adopt a roller table. Preferably, the structure of the upper plate positioning mechanism 7 is the same as that of the lower plate positioning mechanism 8, which is simple in structure, convenient to maintain and good in interchangeability. The working principle of the lower plate positioning mechanism 8 is the same as that of the upper plate positioning mechanism 7, which will not be described here. In actual application, the upper plate carrier full of circuit boards to be processed is conveyed to the feeding position through the conveying table 71 until the upper plate carrier abuts against the baffle 72. Then the limiting module 73 limits the bottom of the upper plate carrier on the conveying table 71 to ensure the position accuracy and stability of the upper plate carrier, thereby improving the position accuracy and stability of the upper plate manipulator 9 picking the circuit board.

[0044] Specifically, the upper plate carrier and the lower plate carrier are both L-shaped frames, the limiting module 73 includes a lifting rotary cylinder installed at the bottom of the baffle 72 and a limiting block installed at the piston rod of the lifting rotary cylinder, and the lifting rotary cylinder is horizontally arranged. In actual application, when the upper plate carrier is in contact with the baffle 72, the piston rod of the lifting rotary cylinder drives the limiting block to rotate and move, so that the limiting block protrudes to the bottom limiting groove of the upper plate carrier and then is in contact with the inner wall of the limiting groove, so as to clamp the upper plate carrier through the cooperation of the limiting block and the baffle 72, thereby ensuring the position accuracy and stability of the upper plate carrier. Of course, when the circuit board on the upper plate carrier is completely taken away, the conveying table 71 outputs the empty upper plate carrier, so as to replace the upper plate carrier.

[0045] In the embodiment, the frame inserting positioning mechanism 2 includes a base 21 arranged on the machine table 1, a docking sliding plate 22 slidably connected to the top of the base 21, a moving driving module 23 arranged on the base 21 and used for driving the docking sliding plate 22 to move back and forth, and a positioning module 24 arranged on the side of the docking sliding plate 22. The top surface of the docking sliding plate 22 is provided with a docking guide rail 25.

[0046] In actual application, the moving driving module 23 drives the docking sliding plate 22 to slide relative to the base 21, so that one end of the docking sliding plate 22 protrudes out of the base 21 and is docked with an external device. The docking guide rail 25 on the docking sliding plate 22 is docked with a docking sliding rail of the external device. The external device moves the frame carrier along the docking sliding rail and the docking guide rail 25 to the docking sliding plate 22. When the frame carrier is moved to the position, the moving driving module 23 drives the docking sliding plate 22 to move back until the frame carrier is located at the frame inserting position. The reverse operation can realize the output of the frame carrier, so as to replace the frame carrier.

[0047] In the embodiment, the positioning module 24 includes a positioning cylinder 26 arranged on the bottom surface of the docking sliding plate 22, a positioning pin 27 arranged on the piston rod of the positioning cylinder 26, and a guide sleeve 28 embedded in the docking sliding plate 22. The positioning pin 27 is slidably connected with the guide sleeve 28, and the positioning pin 27 can protrude out of the top of the guide sleeve 28.

[0048] In actual application, when the frame carrier is in position, the shaft hole at the bottom of the frame carrier is aligned with the positioning pin 27. The piston rod of the positioning cylinder 26 is extended and inserts the positioning pin 27 into the shaft hole. The positioning pin 27 is in concave-convex cooperation with the shaft hole of the frame carrier to accurately and stably position the frame carrier on the docking sliding plate 22, thereby improving the position accuracy and stability of the frame carrier on the docking sliding plate 22. In the lifting process of the positioning pin 27, the positioning pin 27 is in sliding cooperation with the guide sleeve 28, thereby improving the stability of the lifting of the positioning pin 27.

[0049] In this embodiment, the machine table 1 is provided with a docking structure 13. The top of the docking structure 13 is provided with a docking rail 14 for docking with the docking guide rail 25. The docking structure 13 is provided with a positioning space away from the frame positioning mechanism 2. The machine table 1 is provided with a docking elevator 16. The lifting end of the docking elevator 16 is connected with the base 21.

[0050] In actual application, when it is necessary to transfer the frame carrier carried by the frame positioning mechanism 2, the external equipment is moved into the docking space 15 so that the external equipment is docked with the docking structure 13. The docking slide rail is precisely docked with the docking guide rail 25. At the same time, the docking elevator 16 drives the frame positioning mechanism 2 to rise so that the height of the docking rail 14 is consistent with that of the docking guide rail 25. Then, the movement driving module 23 drives the docking slide plate 22 to slide relative to the base 21 so that one end of the docking slide plate 22 protrudes out of the base 21 and is docked with the docking structure 13. Thus, the docking guide rail 25 is precisely docked with the docking rail 14. In turn, the external equipment is precisely docked with the frame positioning mechanism 2 via the docking structure 13. Thus, the frame carrier can be transferred between the frame positioning mechanism 2 and the external equipment. By providing the docking structure 13, the external equipment and the frame positioning mechanism 2 can be stably and accurately docked.

[0051] Specifically, the docking slide plate 22 is provided with an avoiding slot at one end close to the docking structure 13. The avoiding slot provides an avoiding space for the pushing and pulling end of the pushing and pulling mechanism of the external equipment. Thus, the external equipment can push or pull the frame carrier into or out of the frame positioning mechanism 2.

[0052] Specifically, the docking slide plate 22 is movably connected with the base 21 via a slide rail and slide block assembly or / and a roller. This structure design improves the movement stability of the docking slide plate 22.

[0053] In the embodiment, the plate frame opening and clamping device 3 comprises an adjusting driving mechanism 31 arranged at the bottom of the support table 11, a moving plate 32 arranged at the adjusting end of the adjusting driving mechanism 31, two positioning unlocking mechanisms 33 respectively arranged at the two ends of the moving plate 32, a dynamic opening and clamping mechanism 34 and a dynamic pressing mechanism 35 respectively arranged at the moving plate 32 and located between the two positioning unlocking mechanisms 33, a positioning opening and clamping mechanism 36 arranged at the support table 11, a plurality of corner positioning members 37 and a plurality of positioning pressing mechanisms 38 arranged at the support table 11, the plurality of corner positioning members 37 are arranged around the positioning frame space, the plurality of positioning pressing mechanisms 38 are distributed around the edge of the positioning frame space, the positioning opening and clamping mechanism 36 is arranged corresponding to one side edge of the positioning frame space, the one side edge of the positioning frame space is arranged parallel to the moving plate 32, the dynamic opening and clamping mechanism 34 and the positioning opening and clamping mechanism 36 are arranged corresponding to each other, the support table 11 is provided with a cross-linking telescopic support 39, the cross-linking telescopic support 39 is located in the positioning frame space, one end of the cross-linking telescopic support 39 is fixedly connected with the support table 11 or the positioning opening and clamping mechanism 36, the other end of the cross-linking telescopic support 39 is fixedly connected with the moving plate 32. Specifically, the plate clamps on the plate frame are divided into positioning plate clamps 44 and dynamic plate clamps 45; the plate frame comprises a rectangular frame 42, an adjusting frame plate 43 slidingly arranged in the rectangular frame 42, the positioning plate clamps 44 arranged at one side edge of the rectangular frame 42, the dynamic plate clamps 45 arranged at the adjusting frame plate 43, and two locking mechanisms 46 respectively arranged at the two ends of the adjusting frame plate 43, the two locking mechanisms 46 respectively lock the two ends of the adjusting frame plate 43 on the side wall of the rectangular frame 42, and the one side edge of the rectangular frame 42 corresponds to one side edge of the positioning frame space; the adjusting driving mechanism 31 can adopt a linear driving module.

[0054] In actual application, after all the positioning pressing mechanisms 38 are opened, the transfer frame inserting device 6 places the frame in the frame positioning space surrounded by the corner positioning members 37, the frame positioning space positions the rectangular frame 42, and the plurality of positioning pressing mechanisms 38 press the rectangular frame 42 tightly to firmly position the rectangular frame 42 in the frame positioning space; when the size of the clamping space of the frame needs to be adjusted, the adjusting driving mechanism 31 drives the moving plate 32 to move the opening and clamping mechanism 34, the movable pressing mechanism 35, and the two positioning unlocking mechanisms 33 to the lower side of the frame adjusting plate 43, at this time, the two positioning unlocking mechanisms 33 cooperate with the two locking mechanisms 46 to position the frame adjusting plate 43, and the two positioning unlocking mechanisms 33 drive the two locking mechanisms 46 to be unlocked respectively, so that the frame adjusting plate 43 can move in the rectangular frame 42, then the adjusting driving mechanism 31 drives the moving plate 32 to move the opening and clamping mechanism 34, the movable pressing mechanism 35, and the positioning unlocking mechanism 33, the locking mechanism 46, and the frame adjusting plate 43 to adjust the distance between the frame adjusting plate 43 and one side edge of the rectangular frame 42, so that the size of the clamping space can be automatically adjusted according to the size of the required clamped circuit board, after the size of the clamping space is adjusted, the two locking mechanisms 46 lock the two ends of the frame adjusting plate 43 to the inner wall of the rectangular frame 42, at the same time, the movable pressing mechanism 35 presses the frame adjusting plate 43 on the moving plate 32 to firmly position the frame adjusting plate 43, then the positioning opening and clamping mechanism 36 and the movable opening and clamping mechanism 34 drive the positioning plate clamp 44 on the rectangular frame 42 and the movable plate clamp 45 on the frame adjusting plate 43 to open, at this time, the upper plate mechanical arm 9 can place the circuit board in the clamping space, and the cross-linking telescopic support 39 supports the circuit board, then the positioning opening and clamping mechanism 36 and the movable opening and clamping mechanism 34 drive the positioning plate clamp 44 and the movable plate clamp 45 to close and clamp the circuit board, so that the positioning plate clamp 44 and the movable plate clamp 45 clamp the two sides of the circuit board respectively; when all the positioning pressing mechanisms 38 release the pressing on the rectangular frame 42 and the movable pressing mechanism 35 releases the pressing on the frame adjusting plate 43, the transfer frame inserting device 6 can take away the frame clamping the circuit board. In the process of reciprocating movement of the moving plate 32, the cross-linking telescopic support 39 can be synchronously telescoped to support circuit boards of different sizes. The frame opening and clamping device 3 not only can firmly and accurately position the frame, but also can automatically adjust the clamping space of the frame to meet the clamping of circuit boards of different specifications and sizes, and has high automation degree.

[0055] Through the setting of the cross-linking telescopic support 39, the support surface formed by the cross-linking telescopic support 39 for supporting the circuit board can be adjusted according to the position of the frame adjusting plate 43, and is adaptively adjusted to meet the support of circuit boards of different specifications and sizes.

[0056] Preferably, in order to improve the stability of the cross-linking telescopic support 39 when it is telescoped and the movement stability of the moving plate 32, the cross-linking telescopic support 39 is fixedly connected with a sliding seat at the bottom of the connecting rod, and the sliding seat is in directional sliding connection with the support table 11.

[0057] In this embodiment, the fixed clamping mechanism 36 and / or the movable clamping mechanism 34 comprises a clamping seat 341, a clamping cylinder 342, and a clamping push block 343. The piston rod of the clamping cylinder 342 is connected with the clamping seat 341, the clamping push block 343 is arranged on the clamping seat 341, and the clamping push block 343 is used for opening the plate clamps of the plate frame. The clamping seat 341 of the fixed clamping mechanism 36 is in sliding connection with the support table 11, and the clamping cylinder 342 of the fixed clamping mechanism 36 is arranged on the support table 11. The clamping seat 341 of the movable clamping mechanism 34 is in sliding connection with the moving plate 32, and the clamping cylinder 342 of the movable clamping mechanism 34 is arranged on the moving plate 32.

[0058] In actual application, the fixed clamping mechanism 36 corresponds to the fixed plate clamps 44, the movable clamping mechanism 34 corresponds to the movable plate clamps 45, and the fixed clamping mechanism 36 and the movable clamping mechanism 34 work synchronously to drive the fixed plate clamps 44 and the movable plate clamps 45 to open, respectively. Specifically, the piston rod of the clamping cylinder 342 is extended to drive the clamping seat 341 and the clamping push block 343 to move towards the fixed plate clamps 44 or the movable plate clamps 45, so that the clamping push block 343 presses the fixed plate clamps 44 or the movable plate clamps 45, thereby causing the fixed plate clamps 44 and the movable plate clamps 45 to open.

[0059] Specifically, when the number of the fixed plate clamps 44 is multiple, the number of the clamping push blocks 343 of the fixed clamping mechanism 36 is multiple, and the multiple clamping push blocks 343 are arranged one by one in correspondence with the multiple fixed plate clamps 44, respectively. When the number of the movable plate clamps 45 is multiple, the number of the clamping push blocks 343 of the movable clamping mechanism 34 is multiple, and the multiple clamping push blocks 343 are arranged one by one in correspondence with the multiple movable plate clamps 45, respectively. With this structure design, one fixed clamping mechanism 36 can synchronously drive multiple fixed plate clamps 44 to act, and one movable clamping mechanism 34 can synchronously drive multiple movable plate clamps 45 to act, so that the working synchronism of the multiple fixed plate clamps 44 and the multiple movable plate clamps 45 is good, and the number of driving sources (the fixed clamping mechanism 36 or the movable clamping mechanism 34) is reduced, thereby making the structure compact, reducing the cost, and saving energy and protecting the environment.

[0060] Specifically, the positioning unlocking mechanism 33 comprises an unlocking driver 332 arranged on the moving plate 32, a moving seat 333 connected with the output end of the unlocking driver 332, and a positioning column 335 arranged on the moving seat 333. Specifically, the unlocking driver 332 can be a horizontally arranged cylinder. The locking mechanism 46 is elastically connected with a locking member, and the locking member is provided with a positioning hole matched with the positioning column 335. Initially, the locking mechanism 46 presses the locking member against the inner wall of the rectangular frame 42 by elastic force to lock the frame plate 43 on the rectangular frame 42.

[0061] In practical application, when the positioning column 335 is inserted into the positioning hole, the positioning column 335 is in positioning cooperation with the locking piece, when it is needed to adjust the position of the frame adjusting plate 43 in the rectangular frame 42, the unlocking driver 332 drives the moving seat 333 to move the positioning column 335 and the locking piece away from the side wall of the rectangular frame 42 until the locking piece is separated from the rectangular frame 42, so as to realize the unlocking of the frame adjusting plate 43, the adjusting driving mechanism 31 drives the moving plate 32 to move the positioning unlocking mechanism 33, the locking piece and the frame adjusting plate 43, so as to realize the position adjustment of the frame adjusting plate 43; after the adjustment is completed, the unlocking driver 332 drives the moving seat 333 to move the locking piece towards the side wall of the rectangular frame 42 until the locking piece is in abutment with the side wall of the rectangular frame 42, and the locking mechanism 46 presses the locking piece on the side wall of the rectangular frame 42 by the elastic force, so as to realize the locking of the frame adjusting plate 43.

[0062] Of course, the automatic frame opening and adjusting device and the adjustable frame can also adopt the existing structure, which will not be described here.

[0063] The application also provides a circuit board frame loading and unloading method based on the application of the circuit board frame loading and unloading device, wherein the frame opening and clamping device 3 is used for positioning the frame and opening and clamping the frame clamps of the frame; the frame positioning mechanism 2 is used for bearing the frame carrier, and the frame carrier is used for bearing the frame; the frame pre-storage position 4 is used for pre-storing the frame; the upper plate positioning mechanism 7 is used for bearing the upper plate carrier, and the upper plate carrier is used for bearing the circuit board to be processed; the lower plate positioning mechanism 8 is used for bearing the lower plate carrier, and the lower plate carrier is used for bearing the processed circuit board; the upper plate manipulator 9 is used for loading the circuit board borne by the upper plate carrier into the frame borne by the frame opening and clamping device 3; the lower plate manipulator 91 is used for unloading the processed circuit board borne by the frame on the frame opening and clamping device 3 to the lower plate carrier; the frame transfer device 5 is used for transferring the frame borne by the frame opening and clamping device 3 to the frame pre-storage position 4; the frame inserting device 6 is used for inserting the frame at the frame pre-storage position 4 on the frame positioning mechanism 2 or transferring the frame on the frame positioning mechanism 2 to the frame opening and clamping device 3; the specific method is as follows:

[0064] The transfer frame device 6 picks up the frame carried by the frame pre-storage position 4 and inserts it into the frame insertion carrier, at the same time, the frame transfer device 5 transfers the frame on the frame opening device 3 to the frame pre-storage position 4, the transfer frame device 6 takes out the frame in the frame insertion carrier and transfers it to the frame opening device 3, the frame opening device 3 positions the frame and opens the board clamps on the frame, the lower board manipulator 91 picks up the circuit board in the frame and places it on the lower board carrier, in the process, the upper board manipulator 9 picks up the circuit board in the upper board carrier and places it in the empty clamp space in the frame, according to the number of clamp spaces on the frame, the lower board manipulator 91 and the upper board manipulator 9 work cooperatively to alternately complete the lower board and upper board actions until the loading and unloading of the frame on the frame opening device 3 is completed, and then the above operation steps are repeated to continuously complete the loading and unloading of the circuit board and the frame insertion action until the frame insertion carrier is filled with frames clamped with circuit boards to be processed.

[0065] The circuit board frame insertion loading and unloading method can automatically realize the loading and unloading and frame insertion of the circuit board, the frame is pre-stored by the frame pre-storage position 4, so that the frame transfer device 5, the transfer frame device 6, the upper board manipulator 9 and the lower board manipulator 91 can work simultaneously without interfering with each other, the connection of the upper and lower board and the frame insertion action is more compact, the waiting time in the frame insertion and the upper and lower board process is saved, the production efficiency of the circuit board is greatly improved, and the position precision and quality of the upper and lower board and the frame insertion are high and good.

[0066] All the technical features in the embodiment can be freely combined according to actual needs.

[0067] The above embodiment is a preferred implementation scheme of the present application, in addition to this, the present application can be realized in other ways, any obvious replacement without departing from the technical scheme concept is within the protection scope of the present application.

Claims

1. A circuit board insert frame loading and unloading device, characterized in that: The machine table, the support table arranged on the machine table, the plate frame opening and clamping device arranged on the support table, the plate frame pre-storage position arranged on the support table and arranged side by side with the plate frame opening and clamping device, the plate frame transfer device arranged on the support table or / and the machine table, the transfer frame insertion device arranged on the machine table, the upper plate positioning mechanism and the lower plate positioning mechanism respectively arranged on the machine table and located on one side of the support table, the upper plate manipulator and the lower plate manipulator respectively arranged on the machine table, and the frame insertion positioning mechanism arranged on the machine table and located on the other side of the support table, the plate frame pre-storage position is located between the frame insertion positioning mechanism and the plate frame opening and clamping device, the upper plate manipulator is arranged corresponding to the upper plate positioning mechanism, the lower plate manipulator is arranged corresponding to the lower plate positioning mechanism, the plate frame transfer device is used for transferring the plate frame at the plate frame opening and clamping device to the plate frame pre-storage position, the transfer frame insertion device is used for inserting the plate frame at the plate frame pre-storage position into the frame insertion positioning mechanism or for transferring the plate frame on the frame insertion positioning mechanism to the plate frame opening and clamping device, and the plate frame opening and clamping device is used for opening the plate clamp on the plate frame.

2. The line board plug-in frame feeding and discharging equipment according to claim 1, characterized in that: The plate frame opening and clamping device is an automatic plate frame opening and adjusting device, and the plate frame is an adjustable plate frame. The automatic plate frame opening and adjusting device is used for opening the plate clamp on the plate frame or / and adjusting the size of the plate frame.

3. The line board plug-in frame feeding and discharging equipment according to claim 1, characterized in that: The plate frame transfer device includes two oppositely arranged plate frame transfer mechanisms, and the two plate frame transfer mechanisms are respectively located on the two sides of the support table. The plate frame transfer mechanism includes a first transfer module arranged on the support table or / and the machine table, a lifting module arranged on the transfer end of the first transfer module, and a positioning structure arranged on the lifting end of the lifting module. The positioning structure is used for positioning the plate frame.

4. The line board plug-in frame feeding and discharging equipment according to claim 1, characterized in that: The transfer frame insertion device includes two oppositely arranged transfer frame insertion mechanisms, and the two transfer frame insertion mechanisms are respectively located on the two sides of the support table. The transfer frame insertion mechanism includes a second transfer module arranged on the machine table, a lifting mechanism arranged on the transfer end of the second transfer module, a rotating mechanism arranged on the lifting end of the lifting mechanism, and a frame clamping mechanism arranged on the rotating end of the rotating mechanism. The frame clamping mechanism is used for clamping the plate frame.

5. The line board plug-in frame feeding and discharging apparatus according to claim 1, characterized in that: The upper plate positioning mechanism or / and the lower plate positioning mechanism comprises a conveying table arranged on the machine table, a baffle arranged on the conveying table near the end of the support table, and a limiting module arranged on the baffle.

6. The line board plug-in frame feeding and discharging apparatus according to claim 1, characterized in that: The frame positioning mechanism comprises a base arranged on the machine table, a docking sliding plate slidingly connected to the top of the base, a moving driving module arranged on the base and used for driving the docking sliding plate to move back and forth, and a positioning module arranged on the side of the docking sliding plate. The top surface of the docking sliding plate is provided with a docking guide rail.

7. The line board plug-in frame feeding and discharging apparatus according to claim 6, characterized in that: The positioning module comprises a positioning cylinder arranged on the bottom surface of the docking sliding plate, a positioning pin arranged on the piston rod of the positioning cylinder, and a guide sleeve embedded in the docking sliding plate. The positioning pin is slidingly connected with the guide sleeve, and the positioning pin can protrude out of the top of the guide sleeve.

8. The line board plug-in frame feeding and discharging apparatus according to claim 6, characterized in that: The machine table is provided with a docking structure. The top of the docking structure is provided with a docking track used for docking with the docking guide rail. The side of the docking structure away from the frame positioning mechanism is provided with an alignment space. The machine table is provided with a docking elevator. The lifting end of the docking elevator is connected with the base.

9. A method for feeding and discharging a line board plug-in frame, characterized by: Based on the application of the circuit board frame loading and unloading equipment according to any one of claims 1 to 8, wherein the frame opening device is used for positioning the frame and opening the clamps of the frame; the frame positioning mechanism is used for carrying the frame carrier; the frame pre-storage position is used for pre-storing the frame; the upper plate positioning mechanism is used for carrying the upper plate carrier; the lower plate positioning mechanism is used for carrying the lower plate carrier; the upper plate manipulator is used for loading the circuit board carried by the upper plate carrier into the frame carried by the frame opening device; the lower plate manipulator is used for unloading the circuit board carried by the frame on the frame opening device to the lower plate carrier; the frame transfer device is used for transferring the frame carried by the frame opening device to the frame pre-storage position; the frame transfer device is used for inserting the frame at the frame pre-storage position into the frame positioning mechanism or transferring the frame on the frame positioning mechanism to the frame opening device; the specific method comprises the following steps: The frame transfer device picks up the frame carried by the frame pre-storage position and inserts it into the frame carrier. At the same time, the frame transfer device transfers the frame on the frame opening device to the frame pre-storage position. The frame transfer device takes out the frame in the frame carrier and transfers it to the frame opening device. The frame opening device positions the frame and opens the clamps on the frame. The lower plate manipulator picks up the circuit board in the frame and places it on the lower plate carrier. In this process, the upper plate manipulator picks up the circuit board in the upper plate carrier and places it in the empty clamp space in the frame. According to the number of clamp spaces on the frame, the lower plate manipulator and the upper plate manipulator work cooperatively to alternately complete the lower plate and upper plate actions until the loading and unloading of the frame on the frame opening device is completed. Then the above steps are repeated to continuously complete the loading and unloading of the circuit board and the frame insertion action until the frame carrier is filled with frames clamped with circuit boards to be processed.

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