PCB assembly labeling equipment and method

Abstract

The invention discloses PCB assembly labeling equipment and method. The PCB assembly labeling equipment comprises an equipment frame, a feeding machine, a robot module, a visual module, a feeder, a labeling module, an RFID reader-writer, a clamp assembly and a shuttling module. The feeding machine comprises a front cover feeding machine and a PCB feeding machine which are of the same structure. The robot module is used for transferring the front cover and the PCB; the visual module is used for reading bar code information on the PCB and judging the form positions of the front cover and the PCB in the labeling and assembling process; the feeder is used for generating an RFID tag according to the bar code information; the labeling module is used for sucking the RFID tag and pasting the RFID tag to the front cover; the RFID reader-writer is used for carrying out writing and reading detection on RFID tag information; the clamp assembly is provided with part positions corresponding to the RFID reader-writers in a one-to-one mode and used for positioning the front cover. The shuttling module is used for conveying the semi-finished products to the next station. According to the invention, automatic operation of PCB assembling and labeling can be realized, and the PCB production efficiency is improved.

Description

Technical Field

[0001] The present invention relates to the technical field of PCB assembly labeling, and in particular to a PCB assembly labeling device and method. Background Art

[0002] In related technologies, PCB, also known as printed circuit board, is the provider of electrical connections for electronic components. With the popularization of electronic intelligent devices, the demand for PCB is increasing, and the requirements for PCB manufacturing process and manufacturing precision are also increasing. However, the existing PCB assembly process is relatively complicated, and the RFID labeling operation is usually independent of the PCB assembly process and is implemented by manual labeling, resulting in low assembly efficiency and failure to meet actual needs.

[0003] Therefore, there is an urgent need for an assembly labeling device that can integrate RFID labeling operations, realize the automation of PCB assembly and labeling, and improve PCB assembly efficiency. Summary of the invention

[0004] The present invention aims to provide an assembly labeling device that can integrate RFID labeling into the PCB assembly process to solve the problem of low efficiency of existing PCB assembly. The present invention integrates the RFID labeling operation into the PCB assembly process, realizes PCB automated assembly and labeling, and improves the production efficiency of PCB.

[0005] In order to achieve the above object, the basic scheme of the present invention is as follows:

[0006] A PCB assembly labeling device, comprising: an equipment frame, a feeder, a robot module, a vision module, a feeder, a labeling module, an RFID reader, a fixture assembly and a shuttle module; the equipment frame is provided with a table for fixing the robot module, the feeder, the labeling module, the RFID reader, the fixture assembly and the shuttle module; the feeder comprises a front cover feeder and a PCB feeder, and the two have the same structure, and are respectively used to supply the front cover and the PCB through a parts tray; the robot module is used to transfer the front cover and the PCB; the vision module is used to read the barcode on the PCB The information is transmitted to the RFID reader / writer, and the shape and position of the front cover and the PCB during the labeling assembly process are determined; the feeder is used to generate an RFID tag according to the barcode information and provide it to the labeling module; the labeling module is used to absorb the RFID tag and stick it to the front cover; the RFID reader / writer is used to write and read the RFID tag information; the fixture assembly is provided with a plurality of parts positions for positioning the front cover, and the plurality of parts positions correspond to the RFID reader / writer one by one; the shuttle module is used to transfer the assembled semi-finished product to the next equipment station.

[0007] Furthermore, the front cover loader includes a loading frame, a loading module, a lifting mechanism, a pallet cylinder, a pressure plate mechanism, an empty pallet collection mechanism, an empty pallet placement mechanism, a material shortage sensor and an electric control cabinet; the loading frame matches the equipment frame so that the parts pallet can be lifted onto the table; the loading module includes a feeding cylinder, a reset optical coupler, a slide rail, a cylinder connecting plate, a latch and a pallet stacking slide plate, the feeding cylinder is fixed to the loading frame, the reset optical coupler is arranged on the feeding cylinder, the slide rail is arranged on the feeding cylinder, the cylinder connecting plate is arranged on the slide rail and can slide on the slide rail under the drive of the feeding cylinder, and the latch is used to fix the pallet stacking slide plate on the cylinder connecting plate On the connecting plate, the pallet stacking slide is fixed to the cylinder connecting plate and is used for placing the parts pallet, which can slide under the drive of the cylinder connecting plate; the lifting mechanism includes a servo motor, a screw rod and a lifting fork, the servo motor is fixed to the feeding frame and is used to drive the screw rod to drive the lifting fork to move up and down, and the lifting fork is arranged on the screw rod and is used to place the pallet stacking slide and drive the pallet stacking slide to move up and down; there are two pallet cylinders, which are located on both sides of the feeding frame, and the pallet cylinder is provided with a support block, which can move under the drive of the pallet cylinder and is used to push the parts pallet; the pressure plate mechanism is provided with two groups, which are located on both sides of the top of the lifting mechanism and are provided The loading frame includes a pressure plate cylinder, a through-shooting sensor, a lever and a proximity sensor; the pressure plate cylinder is used to drive the lever to descend, thereby pressing the part tray to the empty tray mechanism; the through-shooting sensor includes a first through-shooting sensor group and a second through-shooting sensor group, which are respectively located at the bottom and the top of the pressure plate cylinder; the first through-shooting sensor is used to slow down the lifting when it detects that the lifting height of the top part tray reaches the same level with the top part tray, until the bottom part tray is lifted to the height of the second through-shooting sensor; the lever is used to lift one end and lower the other end to trigger the proximity sensor when the second through-shooting sensor is abnormal; the proximity sensor is provided at one end of the lever to detect the part tray The lifting height of the empty tray is arranged below the empty tray placing mechanism, and includes a first material receiving cylinder, a second material receiving cylinder, a lifting cylinder, a material receiving support plate, a material receiving inclined block and an inclined block spring; the material receiving support plate is arranged on the first material receiving cylinder and the second material receiving cylinder, and can be moved to the bottom of the empty parts tray and bring back the empty parts tray under the drive of the first material receiving cylinder and the second material receiving cylinder, the material receiving inclined block is arranged at the end of the material receiving support plate, and is elastically connected to the material receiving support plate through the inclined block spring, so that the material receiving inclined block can hook the empty parts tray under the action of the inclined block spring, and the lifting cylinder is arranged below the material receiving support plate, and is used to lift the empty parts tray upward and transport it to the empty tray placing mechanism;The empty tray placement mechanism is arranged on the loading rack, parallel to the parts loading position, and includes an empty tray rack, a tray bevel, a full material counter-shooting sensor and an elastic plunger; the full material counter-shooting sensor is arranged at the top of both sides of the empty tray rack, and is used to detect whether the empty tray rack is full of materials; the tray bevel is arranged at the bottom of both sides of the empty tray rack, and is connected to the elastic plunger, and can pull the empty parts tray upward under the elastic force of the elastic plunger to vacate the empty parts tray placement position; the lack of material sensor is arranged at the bottom of the loading rack, and is used to detect whether there is a parts tray on the lifting mechanism; the electric control cabinet is arranged on the side of the loading rack, and is used to control the start and stop of the front cover loading machine. ;

[0008] Furthermore, the robot module includes a robot base, a four-axis robot and a robot gripper; the robot base is fixed on a table, the four-axis robot is fixed on the robot base, and the robot gripper is installed on the four-axis robot; the robot gripper includes a gripper bracket and a plurality of suction claw assemblies, a plurality of clamping claw assemblies and a distance measuring sensor arranged on the gripper bracket; the plurality of suction claw assemblies and the plurality of clamping claw assemblies are arranged at equal intervals, and the distance measuring sensor is used to detect the height of the upper plane of the PCB after it is installed to determine whether the PCB is installed in place; the suction claw assembly includes A plurality of suction cups, a suction claw cylinder slide and a push rod, wherein the plurality of suction cups are not colinear but form a surface and are mounted on the suction claw cylinder slide, wherein the suction claw cylinder slide can drive the suction cup to extend to absorb the front cover or PCB, and the push rod is arranged on the suction claw cylinder slide, and the lower end surface is lower than the suction cup end surface, and is used to press the PCB into the front cover opening; the clamping jaw assembly comprises a finger cylinder and a clamping jaw, wherein the finger cylinder is fixed on the gripper bracket and can move under the drive of the four-axis robot, and the clamping jaw is arranged on the finger cylinder and is used to clamp parts under the drive of the finger cylinder.

[0009] Furthermore, the visual module includes an upper vision, a lower vision and a fixed vision; the upper vision is arranged on the robot module, and is used to detect the shape position of the front cover and the PCB in the parts tray; the lower vision is installed on the table, and is used to judge the shape position of the PCB when it is clamped by the robot module, including a visual base, a first adjustment frame, a first camera, a first lens and a first light source, the visual base is fixed on the table, the first adjustment frame is fixed on the visual base, and is used to adjust the distance between the first lens and the first light source; the first camera is arranged on the first adjustment frame and can be moved on the first adjustment frame, the first lens is arranged on the first camera, and the first light source surrounds The first lens is arranged on the first adjustment frame and can cover the entire front cover; the fixed vision is installed on the table top and is used to judge the shape and position of the front cover when it is clamped by the robot module, including a vision support frame, a second adjustment frame, a second camera, a second lens and a second light source. The vision support frame is fixed on the table top, and the second adjustment frame is fixed on the vision support frame to adjust the distance between the second light source and the second lens. The second camera is arranged on the second adjustment frame and can move on the second adjustment frame. The second lens is arranged on the second camera. The second light source is fixed on the second adjustment frame and is located below the second lens, and can cover the parts tray with the front cover.

[0010] Furthermore, the labeling module includes a labeling linear module, a drag chain, a sliding bracket, a labeling cylinder slide and a suction head; the labeling linear module is fixed on the table top, the drag chain and the sliding bracket are arranged on the slide rail of the labeling linear module, and can slide under the drive of the labeling linear module; the labeling cylinder slide is fixed on the sliding bracket, and multiple ones are arranged, corresponding to the suction heads one by one; the suction heads are arranged on the labeling cylinder slide, and can move and align with the RFID tag under the drive of the labeling cylinder slide, and the spacing between several suction heads is the same as that of the RFID reader; the suction head includes a suction head body, two suction rods, an inner lining plate and a rubber pad, one end of the two suction rods is connected to the vacuum generator, and the other end is connected to the suction head body, and can generate negative pressure through the vacuum generator to absorb the RFID tag, the inner lining plate is arranged in the suction head body, and the rubber pad is arranged at the bottom of the suction head body, located below the inner lining plate.

[0011] Furthermore, the fixture assembly includes a fixture bracket, a fixture cylinder slide, a fixture cylinder, a shift fork, a top block and a diffuse reflection sensor; the fixture bracket is fixed on the table top, including an upper and lower layer; the fixture cylinder slide is arranged at the lower layer of the fixture bracket, the fixture cylinder is arranged at the upper layer of the fixture bracket, and the part position is arranged on the fixture cylinder through a rubber-coated bearing, and the fixture cylinder drives the rubber-coated bearing to press the part from one side and contact with two fixed rubber-coated bearings on the other side to achieve Y-direction positioning and clamping of the part; the shift fork is arranged on the fixture cylinder slide, and is floatingly connected to the top block through the fixture spring, and is used to compress the fixture spring when the fixture cylinder slide is pushed to the right, drive the top block to move to the right to press the part, and achieve positioning and clamping of the part in the X direction; the diffuse reflection sensor corresponds to the part position one by one, and is used to detect whether there is a part at the corresponding part position.

[0012] Furthermore, the shuttle module includes a shuttle linear module, a shuttle servo motor, a shuttle shooting sensor and a carrier. The shuttle linear module is arranged on the table and extends to the next equipment station. The shuttle servo motor is connected to the shuttle linear module to drive the shuttle linear module to operate. The carrier includes multiple loading positions arranged on the shuttle linear module. The shuttle shooting sensor is arranged on the carrier, corresponding to the multiple loading positions one by one, and is used to detect whether there are parts in the corresponding loading positions.

[0013] Furthermore, it also includes: an NG belt, which is arranged on the table and is located within the moving coverage range of the robot module; the NG belt includes a mounting frame, a speed regulating motor, a speed regulator, a first reflection sensor, a second reflection sensor and a flat belt, the speed regulating motor is fixed on the table through the mounting frame to drive the flat belt to operate, and the speed regulator is used to adjust the transmission speed of the flat belt; the flat belt is arranged on the mounting frame, the first reflection sensor and the second reflection sensor are arranged at both ends of the flat belt, the first reflection sensor is used to detect whether NG products are put in, and the second reflection sensor is used to detect whether the flat belt is full of material.

[0014] A PCB assembly labeling method is implemented by using a PCB assembly labeling device as described above, and includes the following steps: a robot module sucks a plurality of front covers in a feeder to a fixture assembly for positioning, a labeling module sucks a plurality of RFID tags generated by a feeder and moves them to the top of an RFID reader for preparation; a visual module reads the barcode information of the PCB in the feeder, and a robot module sucks the PCB to write the corresponding barcode information into the RFID reader; the RFID reader reads the tag information in the RFID tag, and judges whether the tag information is written correctly based on the comparison of the barcode information; if the tag information is written correctly, the labeling module adheres the RFID tag to the front cover and returns to the initial position; if the tag information is written incorrectly, the labeling module discards the NG tag, and re-sucks the tag to the RFID reader to write the barcode information; the robot module sequentially installs the PCB on the front cover and judges whether it is installed in place; if it is installed in place, the robot module clamps the semi-finished product that has been assembled to the shuttle module and transmits it to the next equipment station.

[0015] Compared with the prior art, the advantages and beneficial effects of the present invention are as follows: the robot module, feeder, labeling module, RFID reader / writer, fixture assembly and shuttle module are fixed on the equipment table, the front cover and PCB are respectively supplied by the front cover feeder and PCB feeder of the same structure, the front cover and PCB are transferred by the robot module to facilitate the assembly operation, the visual module is used to read the barcode information on the PCB and transmit it to the RFID reader / writer, and judge the shape and position of the front cover and PCB during the assembly process to accurately judge whether the assembly is qualified; the feeder generates an RFID tag according to the barcode information to facilitate the radio frequency The PCB is identified in the form of a RFID tag, and the generated RFID tag is provided to the labeling module; the labeling module absorbs the RFID tag and sticks it to the front cover, and the RFID reader writes and reads the RFID tag to ensure the accuracy of the tag information; through the several parts positions set by the fixture assembly, and the several parts positions correspond to the RFID reader one by one, the front cover is positioned to facilitate label sticking and PCB assembly, and the shuttle module is used to transfer the semi-finished products that have passed the assembly to the next equipment station, realizing the integrated automated operation of labeling and PCB assembly, and improving the production efficiency of PCB assembly and labeling. BRIEF DESCRIPTION OF THE DRAWINGS

[0016] Figure 1 It is a structural schematic diagram of a PCB assembly labeling device in one embodiment;

[0017] Figure 2 A schematic diagram of the internal structure of a PCB assembly labeling device in one embodiment;

[0018] Figure 3 for Figure 2 Schematic diagram of the structure of the middle loading machine;

[0019] Figure 4 for Figure 3 Structural diagram of the middle loading module;

[0020] Figure 5 for Figure 3 Structural diagram of the lifting mechanism;

[0021] Figure 6 for Figure 3 Schematic diagram of the position of the intermediate pressure plate mechanism;

[0022] Figure 7 for Figure 6 Structural diagram of the intermediate pressure plate mechanism;

[0023] Figure 8 for Figure 3 Schematic diagram of the position of the middle tray cylinder and the pressure plate mechanism;

[0024] Fig. 9 for Figure 3 Structural diagram of the middle empty plate collection mechanism;

[0025] Fig.10 for Figure 3 Structural schematic diagram of the hollow tray placement mechanism;

[0026] Fig.11 for Figure 2 The schematic diagram of the structure of the robot module;

[0027] Fig.12 for Fig.11 Schematic diagram of the structure of the robot gripper;

[0028] Fig.13 for Figure 2 Schematic diagram of the structure of the middle and lower vision;

[0029] Fig.14 for Figure 2 Schematic diagram of the structure of fixed vision;

[0030] Fig.15 for Figure 2 The structural diagram of the labeling module;

[0031] Fig.16 for Fig.15 Schematic diagram of the structure of the middle suction head;

[0032] Fig.17 for Figure 2 A schematic diagram of the structure of the middle fixture assembly;

[0033] Fig.18 for Fig.17 Cross-sectional view along BB' direction;

[0034] Fig.19 for Figure 2 The structural diagram of the shuttle module;

[0035] Fig. 20 for Figure 2 Schematic diagram of the structure of the NG belt;

[0036] Fig.21 Processing parts and final semi-finished products for PCB assembly labeling equipment;

[0037] Fig. 22 The figure is a flow chart of a PCB assembly labeling method in one embodiment.

[0038] In the attached drawings, there are parts tray 00, equipment frame 10, table 11, upper frame 12, three-color light 13, control cabinet 14, lower frame 15, industrial computer 16, and Fuma wheel 17;

[0039] Feeder 20, feeder frame 21, feeder module 22, feed cylinder 221, reset optical coupler 222, slide rail 223, cylinder connecting plate 224, latch 225, pallet stacking slide plate 226, lifting mechanism 23, servo motor 231, screw rod 232, lifting fork 233, pallet cylinder 24, support block 241, pressure plate mechanism 25, pressure plate cylinder 251, opposite shooting sensor 252, first opposite shooting sensor 25 21. Second counter-shooting sensor 2522, lever 253, proximity sensor 254, empty tray collection mechanism 26, first material collection cylinder 261, second material collection cylinder 262, lifting cylinder 263, material collection support plate 264, material collection inclined block 265, empty tray placement mechanism 27, empty tray rack 271, tray inclined block 272, full material counter-shooting sensor 273, elastic plunger 274, lack of material sensor 28, electric control cabinet 29;

[0040] Robot module 30, robot base 31, four-axis robot 32, robot gripper 33, gripper bracket 331, suction claw assembly 332, clamping claw assembly 333, distance sensor 334, suction cup 335, suction claw cylinder slide 336, push rod 337, finger cylinder 338, clamping claw 339;

[0041] Upper vision 41, lower vision 42, vision base 421, first adjustment frame 422, first camera 423, first lens 424, first light source 425, fixed vision 43, vision support frame 431, second adjustment frame 432, second camera 433, second lens 434, second light source 435; flyer 50;

[0042] Labeling module 60, labeling linear module 61, drag chain 62, sliding bracket 63, labeling cylinder slide 64, suction head 65, suction head body 651, suction rod 652, inner lining plate 653, rubber pad 654; RFID reader 70;

[0043] Clamp assembly 80, clamp bracket 81, clamp cylinder slide 82, clamp cylinder 83, shift fork 84, top block 85, diffuse reflection sensor 86, rubber-coated bearing 87, clamp spring 88;

[0044] Shuttle module 90, shuttle linear module 91, shuttle servo motor 92, shuttle beam sensor 93, carrier 94;

[0045] NG belt 100 , mounting frame 101 , speed regulating motor 102 , speed regulator 103 , first reflection sensor 104 , second reflection sensor 105 , flat belt 106 . DETAILED DESCRIPTION

[0046] In order to make the present invention more clear, the technical solutions in the embodiments of the present invention will be clearly and completely described below in conjunction with the drawings in the embodiments of the present invention. Obviously, the described embodiments are only part of the embodiments of the present invention, not all of the embodiments. Based on the embodiments of the present invention, all other embodiments obtained by ordinary technicians in this field without creative work are within the scope of protection of the present invention.

[0047] like Figure 1 , 2 As shown in Figure 21, a PCB assembly labeling device is provided, including: an equipment frame 10, a feeder 20, a robot module 30, a visual module, a feeder 50, a labeling module 60, an RFID reader 70, a fixture assembly 80 and a shuttle module 90; the equipment frame 10 is provided with a table 11 for fixing the robot module 30, the feeder 50, the labeling module 60, the RFID reader 70, the fixture assembly 80 and the shuttle module 90; the feeder 20 includes a front cover feeder and a PCB feeder, and the two have the same structure, and are respectively used to supply the front cover and the PCB through the part tray 00; the robot module 30 is used to transfer the front cover and PCB; the visual module is used to read the barcode information of the PCB and transmit it to the RFID reader 70, and determine the shape and position of the front cover and the PCB during the labeling assembly process; the feeder 50 is used to generate an RFID tag according to the barcode and provide it to the labeling module 60; the labeling module 60 is used to absorb the RFID tag and paste it to the front cover; the RFID reader 70 is used to write and read the RFID tag; the fixture assembly 80 is provided with a plurality of parts positions for positioning the front cover, and the plurality of parts positions correspond one by one to the RFID reader 70; the shuttle module 90 is used to transfer the assembled semi-finished product to the next equipment station.

[0048] In this embodiment, the robot module 30, the flyer 50, the labeling module 60, the RFID reader 70, the fixture assembly 80 and the shuttle module 90 are fixed on the equipment table 11, and the front cover and the PCB are respectively supplied by the front cover feeder and the PCB feeder of the same structure. The robot module 30 is used to transfer the front cover and the PCB to facilitate the assembly operation. The visual module is used to read the barcode information on the PCB and transmit it to the RFID reader, and judge the shape and position of the front cover and the PCB during the assembly process to accurately judge whether the assembly is qualified; the flyer 50 generates an RFID tag according to the barcode information, so as to facilitate the radio frequency The PCB is identified and the generated RFID tag is provided to the labeling module 60; the labeling module 60 absorbs the RFID tag and sticks it to the front cover, and the RFID reader 70 writes and reads the RFID tag to ensure the accuracy of the tag information; through the several parts positions set by the clamp assembly 80, and the several parts positions correspond to the RFID reader one by one, the front cover is positioned to facilitate label sticking and PCB assembly, and the shuttle module is used to transfer the semi-finished product after assembly to the next equipment station, realizing the integrated automated operation of labeling and PCB assembly, and improving the production efficiency of PCB assembly and labeling.

[0049] Among them, Figure 1 As shown, the equipment frame 10 includes an upper frame 12, a three-color light 13, a control cabinet 14, a lower frame 15, an industrial computer 16 and a Foma wheel 17; the table 11 is located on the lower frame 15, the three-color light 13 is arranged on the upper frame 12, and the control cabinet 14 is arranged on one side of the equipment, including a display screen, an emergency stop button, a start button, a mouse, a keyboard, a power switch and an electrical cabinet; a Foma wheel 17 is arranged at the bottom of the lower frame 15.

[0050] Specifically, the size of the equipment can be set to 10mm long, 2000mm wide, 1988mm high, the table height is 788mm, the mouse and keyboard height is 905mm, and the center height of the display screen is 1467mm, which is convenient for standing operation. Emergency stop, start and other operation buttons are below the display screen for convenient operation and emergency handling. Switch doors are set all around the equipment to facilitate opening and replacing RFID tag rolls, removing NG parts, removing NG labels and other operations; the door panels can be made of brown transparent acrylic sheets for easy observation. The feeder 20 can be set on the back of the frame for manual loading and unloading. The electrical cabinet is set in front of the lower frame, and the main power switch is set on the switch door for easy operation and maintenance. The industrial computer and robot controller are placed on the lower left inside the lower frame, and the switch door is convenient for operation and maintenance.

[0051] like Figure 3-10As shown, the front cover loader includes a loading frame 21, a loading module 22, a lifting mechanism 23, a tray cylinder 24, a pressing plate mechanism 25, an empty tray collection mechanism 26, an empty tray placement mechanism 27, a material shortage sensor 28 and an electric control cabinet 29; the loading frame 21 matches the equipment frame so that the part tray 00 can be lifted onto the table 11;

[0052] The feeding module 22 includes a feeding cylinder 221, a reset optical coupler 222, a slide rail 223, a cylinder connecting plate 224, a latch 225 and a pallet stacking slide plate 226; the feeding cylinder 221 is fixed on the feeding frame 21, the reset optical coupler 222 is arranged on the feeding cylinder 221, the slide rail 223 is arranged on the feeding cylinder 221, the cylinder connecting plate 224 is arranged on the slide rail 223, and can slide on the slide rail 223 under the drive of the feeding cylinder 221, the latch 225 is used to fix the pallet stacking slide plate 226 on the cylinder connecting plate 224, and the pallet stacking slide plate 226 is fixed on the cylinder connecting plate 224, and is used to place the part pallet 00, and can slide under the drive of the cylinder connecting plate 224;

[0053] The lifting mechanism 23 includes a servo motor 231, a screw rod 232 and a lifting fork 233. The servo motor 231 is fixed to the feeding frame 21 and is used to drive the screw rod 232 to drive the lifting fork 233 to move up and down. The lifting fork 233 is arranged on the screw rod 232 and is used to place the pallet stacking slide 226 and drive the pallet stacking slide 226 to move up and down.

[0054] Two pallet cylinders 24 are provided, located at both sides of the loading frame 21, and a support block 241 is provided on the pallet cylinder 24. The support block 241 can move under the drive of the pallet cylinder 24 and is used to push the part pallet 00;

[0055] The pressure plate mechanism 25 is provided with two groups, which are located on both sides of the top of the lifting mechanism 23 and are arranged on the loading frame 21, including a pressure plate cylinder 251, a shooting sensor 252, a lever 253 and a proximity sensor 254. The pressure plate cylinder 251 is used to drive the lever 253 to descend, so as to press the part tray 00 to the empty tray mechanism 26. The shooting sensor 252 includes a first shooting sensor group and a second shooting sensor group, which are respectively located at the bottom and the top of the pressure plate cylinder 251. The first shooting sensor 2521 is used to slow down the lifting when it detects that the lifting height of the top part tray 00 reaches the same level with it, until the bottom part tray 00 is lifted to the height of the second shooting sensor 2522. The lever 253 is used to lift one end and lower the other end to trigger the proximity sensor 254 when the second shooting sensor 2522 is abnormal. The proximity sensor 254 is set at one end of the lever 253 to detect the lifting height of the part tray 00;

[0056] The empty tray collection mechanism 26 is arranged below the empty tray placement mechanism 27, and includes a first material collection cylinder 261, a second material collection cylinder 262, a lifting cylinder 263, a material collection support plate 264, a material collection inclined block 265 and an inclined block spring 266. The material collection support plate 264 is arranged on the first material collection cylinder 261 and the second material collection cylinder 262, and can be moved to the bottom of the empty part tray 00 and bring back the empty part tray 00 under the drive of the first material collection cylinder 261 and the second material collection cylinder 262. The material collection inclined block 265 is arranged at the end of the material collection support plate 264, and is elastically connected to the material collection support plate 264 through an inclined block spring (not shown), so that the material collection inclined block 265 can hook the empty part tray 00 under the action of the inclined block spring. The lifting cylinder 263 is arranged below the material collection support plate 264, and is used to lift the empty part tray 00 upward and transport it to the empty tray placement mechanism 27;

[0057] The empty tray placement mechanism 27 is arranged on the loading rack 21, parallel to the part loading position, and includes an empty tray rack 271, a tray inclined block 272, a full material counter-shooting sensor 273 and an elastic plunger 274. The full material counter-shooting sensor 273 is arranged at the top of both sides of the empty tray rack 271, and is used to detect whether the empty tray rack 273 is full of material; the tray inclined block 272 is arranged at the bottom of both sides of the empty tray rack 271, and is connected to the elastic plunger 274, and can lift the empty part tray 00 upward under the elastic force of the elastic plunger 274, so as to vacate the empty part tray 00 placement position;

[0058] The material shortage sensor 28 is arranged at the bottom of the loading frame 21 to detect whether there is a part tray 00 on the lifting mechanism 23; the electric control cabinet 29 is arranged on the side of the loading frame 21 to control the start and stop of the front cover loading machine.

[0059] Specifically, the loader is used for temporary storage of incoming front covers and PCBs and temporary storage of empty carriers, providing accurate parts pick-up and placement positions for loading and unloading, and realizing continuous material feeding. The front cover loader has the same structure as the PCB loader, and the front cover and PCB are loaded through the corresponding parts tray 00. The electric control cabinet 29 of the loader includes a front door, an indicator light, a start button, and a stop button.

[0060] When loading the front cover, when the lack of material sensor 28 detects that there is no part pallet 00 on the lifting fork 233 of the lifting mechanism 23, the feeding cylinder 221 pushes the pallet stacking slide plate 226 and the cylinder connecting plate 224 outward to the reset position, and a prompt is given through the indicator light.

[0061] The staff opens the front door according to the lack of material prompt on the indicator light, pulls out the latch 225 connecting the pallet stacking slide 226 and the cylinder connecting plate 224, pulls out the pallet stacking slide 226, puts in multiple part trays 00 filled with parts, pushes them in, plugs in the latch 225, and completes the loading operation of the PCB or the front cover.

[0062] After the loading is completed, the start button on the electric control cabinet 29 is pressed, and the feed cylinder 21 pushes the pallet stacking slide 226 inward to the position, that is, the lifting position of the lifting mechanism 23. At this time, the lifting fork 233 of the lifting mechanism 23 is lower than the upper plane of the pallet stacking slide 226, so that the part pallet 00 can be lifted to the table 11 through the lifting fork 233.

[0063] When the lifting mechanism 23 drives the part pallet 00 to lift, the servo motor 231 uses the screw rod 232 to drive the lifting fork 233 to lift the part pallet 00 on the pallet stacking slide 226. When the top part pallet 00 is lifted to the first shooting sensor 2521, the lifting is decelerated until the top part pallet 00 is lifted to the second shooting sensor 2522. At this time, the top part pallet 00 is in the part position, and the robot can be used to absorb / grab the parts in the part pallet 00.

[0064] A pressure plate mechanism 25 is provided on each side of the top of the lifting mechanism 23. When the part tray 00 is lifted to the top, if the second shooting sensor 2522 fails and the part tray 00 is not detected, the lever 253 is driven by the pressure plate cylinder 251 to lift one end and lower the other end to trigger the proximity sensor 254 to prevent the part tray 00 from being over-lifted and hit, thus playing a double insurance role. At this time, the pressure plate cylinder 251 is in an extended state.

[0065] After the parts in the top part pallet 00 are taken out, the pallet cylinders 24 located on both sides of the loading frame 21 drive the support blocks 241 to extend to the bottom of the empty part pallet 00, and the lifting mechanism 23 drives the lifting fork 233 and the part pallet 00 to descend to the bottom, and the material shortage sensor 28 is used to detect whether there is a part pallet 00 on the lifting fork 233, and a material shortage alarm is implemented. At this time, the top empty part pallet 00 is dragged by the support blocks 241 on both sides, realizing the separation of the empty part pallet and the full part pallet.

[0066] The empty tray collection mechanism 26 utilizes the first material collection cylinder 261 and the second material collection cylinder 262 to push the material collection pallet 264 to the space below the empty part tray 00. The two tray cylinders 24 are retracted, and the pressure plate cylinders 251 on both sides are retracted to press the empty part tray 00 down and drop it onto the material collection pallet 264. The first material collection cylinder 261 and the second material collection cylinder 262 drive the material collection pallet 264 to retract, and the material collection inclined block 265 at the end of the material collection pallet 264 hooks the empty part tray 00 under the action of the inclined block spring, and the empty part tray 00 is recovered to the top of the empty tray collection mechanism 26.

[0067] The lifting cylinder 263 of the empty tray collection mechanism 26 lifts the empty parts tray 00 upwards and randomly retracts downwards. The tray inclined blocks 272 on both sides of the empty tray placement mechanism 27 hold the empty parts tray 00 under the action of the elastic plunger 274, leaving space under the empty parts tray 00 to make room for the next empty parts tray 00 to be recycled, thus realizing the recycling of the empty parts tray. A full material counter-shooting sensor 273 is provided on the top of the empty tray placement mechanism 27, which is used to alarm when the empty tray placement mechanism 27 is full of material, reminding the staff to unload the empty parts tray 00.

[0068] like Figure 11-12 As shown, the robot module 30 includes a robot base 31, a four-axis robot 32 and a robot gripper 33; the robot base 31 is fixed on the table 11, the four-axis robot 32 is fixed on the robot base 31, the robot gripper 33 is installed on the four-axis robot 32, and the robot gripper 33 includes a gripper bracket 331 and a plurality of suction claw assemblies 332, a plurality of clamping claw assemblies 333 and a distance sensor 334 arranged on the gripper bracket 331; the plurality of suction claw assemblies 332 and the plurality of clamping claw assemblies 333 are arranged at equal intervals, and the distance sensor 334 is used to detect the height of the upper plane of the PCB after it is installed to determine whether the PCB is installed in place; the suction claw assembly 332 includes a plurality of The dry suction cup 335, the suction claw cylinder slide 336 and the push rod 337, the several suction cups 335 are not colinear, forming a surface, which are installed on the suction claw cylinder slide 336. The suction claw cylinder slide 336 can drive the suction cup 335 to extend to suck the front cover or PCB. The push rod 337 is set on the suction claw cylinder slide 336, and the lower end surface is lower than the end surface of the suction cup 335, which is used to press the PCB into the opening of the front cover; the clamping claw assembly 333 includes a finger cylinder 338 and a clamping claw 339. The finger cylinder is fixed on the gripper bracket 331 and can move under the drive of the four-axis robot 332. The clamping claw 339 is set on the finger cylinder 338, which is used to clamp parts under the drive of the finger cylinder 338.

[0069] Specifically, the robot module 30 includes a robot base 31 connected to the equipment table, a four-axis robot 32 is arranged on the robot base 31, and a robot gripper 33 is arranged at the end of the four-axis robot 32, and can move to grab parts under the drive of the four-axis robot 32. The pick-and-place range of the robot module 30 can cover the parts positions of the loader 20, the fixture assembly 80 and the shuttle module 90, so as to realize a series of actions such as sucking the front cover to the fixture assembly 80, sucking the PCB assembly to the front cover, and clamping and assembling semi-finished products to the shuttle module 90.

[0070] The robot gripper 33 is provided with three groups of suction claw assemblies 332 and three groups of clamping claw assemblies 333, and the suction claw assemblies 332 and the clamping claw assemblies 333 are arranged at equal intervals. Each suction cup 335 is separately mounted on a suction claw cylinder slide 336 and can be extended separately. Therefore, when sucking parts, it is not limited by the spacing of the parts. It can suck three parts at a time, which is used to suck the front cover and PCB from the loader 20. The three suction cups 335 at the lower end of each suction claw assembly 332 are not collinear, and the three suction cups 335 are distributed at three points to form a surface, which ensures the stability and reliability of sucking parts.

[0071] The suction cup 335 can be a floating type suction cup with a floating stroke of 10mm. A push rod 337 is set next to the suction cup 335, and its lower end surface is about 6mm lower than the end surface of the suction cup 335 after installation; when assembling the PCB, the cylinder pushes the PCB at the front end of the suction cup 335 down until it contacts the front cover, and the top cover 337 has not yet contacted the PCB. The cylinder continues to push out, the suction cup 335 is compressed and floated, and then the push rod 337 pushes against the PCB, pressing the PCB into the front cover buckle, and the pressure can be adjusted using the cylinder pressure regulating valve.

[0072] The three clamps 339 are connected to the bracket that fixes the cylinder body, and are driven to rise and fall synchronously by the Z axis of the four-axis robot 32, so as to clamp qualified products to the shuttle module 90 and remove NG products from the line.

[0073] The robot gripper 33 is provided with a distance measuring sensor 334 for detecting the height of the upper plane of the PCB after the PCB is installed, so as to determine whether the PCB is installed in place.

[0074] like Figure 13-14As shown, the vision module includes an upper vision 41, a lower vision 42 and a fixed vision 43; the upper vision 41 is arranged on the robot module 30, and is used to detect the shape position of the front cover and the PCB in the part tray 00; the lower vision 42 is installed on the table, and is used to judge the shape position of the PCB when it is clamped by the robot module 30, including a vision base 421, a first adjustment frame 422, a first camera 423, a first lens 424 and a first light source 425; the vision base 421 is fixed on the table, the first adjustment frame 422 is fixed on the vision base 421, and is used to adjust the distance between the first lens 424 and the first light source 425, the first camera 423 is arranged on the first adjustment frame 422, and can move on the first adjustment frame 422, the first lens 424 is arranged on the first camera 423, and the first light source 425 surrounds The first lens 424 is arranged on the first adjustment frame 422, and can cover the entire front cover; the fixed vision 43 is installed on the table top, and is used to judge the shape position of the front cover when it is clamped by the robot module 30, including a visual support frame 431, a second adjustment frame 432, a second camera 433, a second lens 434 and a second light source 435. The visual support frame 431 is fixed on the table top, and the second adjustment frame 432 is fixed on the visual support frame 431, and is used to adjust the distance between the second lens 434 and the second light source 435. The second camera 433 is arranged on the second adjustment frame 432 and can move on the second adjustment frame 432. The second lens 434 is arranged on the second camera 433, and the second light source 435 is fixed on the second adjustment frame 432, and is located below the second lens 434, and can cover the part tray 00 equipped with the front cover.

[0075] Specifically, the vision module includes an upper vision 41, a lower vision 42 and a fixed vision 43, wherein the upper vision 41 is arranged on the side of the robot gripper 33, and is used to accurately detect the shape position of the parts before sucking the front cover and the PCB, and its structure is similar to the lower vision 42 and the fixed vision 43.

[0076] The lower vision 42 is installed on the equipment table 11, and is used to accurately judge the shape and position of the PCB on the suction claw assembly 332 after the robot module 30 sucks the PCB. The first camera 423 used has a fixed focal length. The suction claw assembly 332 sucks the PCB and moves to the focal length position to take pictures, so as to accurately judge the shape and position of the PCB, reduce the PCB assembly error, and ensure the success rate of assembly; the area of ​​the first light source 425 covers the entire front cover, and its distance relative to the first lens 424 can achieve the best effect through the first adjustment frame 422.

[0077] The fixed vision 43 is also installed on the equipment table 11, and is used to shoot the front cover in the loader 10 at a fixed point, so as to accurately detect the shape and position of the front cover in the loader 20 before the robot module 30 absorbs the front cover, so as to ensure the success rate of absorbing the front cover. The second camera 433 used has a fixed focal length, and the field of view covers the entire part tray 00; the fixed vision 43 shoots all the front covers in the entire part tray 00 in the loader 20 at a fixed point, so as to accurately detect the position of the front cover before the robot module 30 absorbs the front cover; the area of ​​the second light source 435 covers the entire part tray 00, and its distance relative to the second lens 434 can achieve the best effect through the second adjustment frame 422.

[0078] like Figure 15-16 As shown, the labeling module 60 includes a labeling linear module 61, a drag chain 62, a sliding bracket 63, a labeling cylinder slide 64 and a suction head 65; the labeling linear module 61 is fixed on the table, the drag chain 62 and the sliding bracket 63 are arranged on the slide rail of the labeling linear module 61, and can slide under the drive of the labeling linear module 61; the labeling cylinder slide 64 is fixed on the sliding bracket 63, and a plurality of labeling cylinder slides are arranged, corresponding to the suction heads 65 one by one; the suction heads 65 are arranged on the labeling cylinder slide 64, and can slide under the drive of the labeling cylinder slide 64. Move downward to align with the RFID tag, and the spacing between several suction heads 65 is the same as that of the RFID reader 70; the suction head 65 includes a suction head body 651, two suction rods 652, an inner lining plate 653 and a rubber pad 654, one end of the two suction rods 652 is connected to a vacuum generator (not shown), and the other end is connected to the suction head body 651, and can generate negative pressure through the vacuum generator to absorb the RFID tag, the inner lining plate 653 is arranged in the suction head body 651, and the rubber pad 654 is arranged at the bottom of the suction head body 651, and is located below the inner lining plate 653.

[0079] Specifically, the labeling module 60 is arranged adjacent to the feeder 50 and the fixture assembly 80, and is used to absorb the RFID tag generated by the feeder 50 and paste it on the front cover fixed in the fixture assembly 80. The labeling module 60 is provided with a labeling linear module 61, and a drag chain 62 matched with the slide rail of the labeling linear module 61. The sliding bracket 63 is provided with a labeling cylinder slide 64 and a suction head 65, which can be driven by the labeling linear module 61 to move between the feeder 50 and the fixture assembly 80 to achieve the absorption and pasting of the RFID tag.

[0080] In the labeling module 60, the three labeling cylinder slides 64 each drive a suction head 65, each suction head 65 is composed of a suction head body 651, two suction rods 652, an inner lining plate 653 and a rubber pad 654, and the suction rod 652 is connected to a vacuum generator to generate negative pressure; when sucking up an RFID tag, the first suction head 65 is aligned with the peeled RFID tag on the flyer 50, and the labeling cylinder slide 64 pushes the suction head 65 downward until the rubber pad 654 on its end face contacts the RFID tag, and the rubber pad 654 can achieve flexible suction of the RFID tag. After the suction head 65 sucks up the RFID tag, the labeling cylinder slide 64 is retracted; the flyer 50 peels off the second RFID tag, and at the same time, the second suction head 65 moves to align with the RFID tag, and the above operation is repeated until the three suction heads 65 each suck up an RFID tag.

[0081] Since the spacing between the three RFID readers 70 is the same as the spacing between the suction heads 65 and the spacing between the three parts of the fixture assembly 80, the three RFID tags can be read and written at the same time and can also be pasted to the front cover at the same time to improve the RFID labeling efficiency.

[0082] In addition, since the RFID tags may have unexpected situations such as clamping errors or printing errors, a label recycling bin can be set within the coverage of the suction head 65 of the labeling module 60 to recycle discarded RFID tags.

[0083] like Figure 17-18 As shown, the fixture assembly 80 includes a fixture bracket 81, a fixture cylinder slide 82, a fixture cylinder 83, a shift fork 84, a top block 85 and a diffuse reflection sensor 86; the fixture bracket 81 is fixed on the table 11, including an upper and lower layer, the fixture cylinder slide 82 is arranged on the lower layer of the fixture bracket 81; the fixture cylinder 83 is arranged on the upper layer of the fixture bracket 81, and the part position is arranged on the fixture cylinder 83 through the rubber-coated bearing 87, and the rubber-coated bearing 87 is driven by the fixture cylinder 83 from one side The pressing part contacts with two fixed rubber-coated bearings 87 on the other side to realize the Y-direction positioning and clamping of the part; the shift fork 84 is arranged on the clamp cylinder slide 82 and is floatingly connected with the top block 85 through the clamp spring 88. It is used to compress the clamp spring 88 when the clamp cylinder slide 82 is pushed to the right, so as to drive the top block 85 to move to the right to hold the part, so as to realize the positioning and clamping of the part in the X direction; the diffuse reflection sensor 86 corresponds to the part position one by one, and is used to detect whether there is a part at the corresponding part position.

[0084] Specifically, the fixture assembly 80 is used to accurately position the front cover, ensure the repeatability and consistency of the assembly position of the front cover, and ensure the success rate of assembling the PCB to the front cover.

[0085] The fixture assembly 80 is fixed on the equipment table 11 through the fixture bracket 81, and is provided with three parts positions, which can clamp three parts at the same time. Three fixture cylinders 83 are used to drive a rubber-coated bearing 87 to press the parts from one side and contact with two fixed rubber-coated bearings 87 on the other side, so as to realize the Y-direction positioning and clamping of the three parts positions simultaneously.

[0086] The clamp cylinder slide 82 is connected with a shift fork 84, which is connected to the three top blocks 85 in a floating manner through a clamp spring 88. When the clamp cylinder slide 82 is pushed to the right, the shift fork 84 compresses the clamp spring 88, driving the top block 85 to move to the right to hold the parts, and synchronously realizes the positioning and clamping of the three parts in the X direction. Each part position is equipped with a diffuse reflection sensor 86 to detect the presence of parts on the current part position and to provide a prompt when there is a shortage of materials.

[0087] like Fig.19 As shown, the shuttle module 90 includes a shuttle linear module 91, a shuttle servo motor 92, a shuttle shooting sensor 93 and a carrier 94. The shuttle linear module 91 is arranged on the table 11 and extends to the next equipment station. The shuttle servo motor 92 is connected to the shuttle linear module 91 to drive the shuttle linear module 91 to operate. The carrier 94 includes a plurality of loading positions, which are arranged on the shuttle linear module 91. The shuttle shooting sensor 93 is arranged on the carrier 94, corresponding to the plurality of loading positions one by one, and is used to detect whether there are parts in the corresponding loading positions.

[0088] Specifically, the shuttle module 90 can be arranged between the loader 20 and the fixture assembly 80, and is used to transfer the semi-finished product assembled at this station to the next station. The shuttle module 90 is provided with a shuttle linear module 91 and a shuttle servo motor 92, and drives the carrier 94 to transfer the qualified semi-finished product of this process to the next equipment, and drives the carrier 94 to return to this equipment after unloading the parts.

[0089] There can be multiple groups of shuttle modules 90 to meet the transportation needs. Each module is equipped with a carrier 94. Each carrier 94 is provided with three loading positions and can accommodate three parts at the same time. Each loading position is provided with a corresponding shuttle shooting sensor 93 for detecting whether there are parts in the corresponding loading position to ensure successful part picking and placement.

[0090] In one embodiment, Fig. 20As shown, the device also includes: an NG belt 100, which is arranged on the table 11 and is within the moving coverage of the robot module 30; the NG belt 100 includes a mounting frame 101, a speed regulating motor 102, a speed regulator 103, a first reflection sensor 104, a second reflection sensor 105 and a flat belt 106; the speed regulating motor 102 is fixed on the table through the mounting frame 101, and is used to drive the flat belt to operate, the speed regulator 103 is used to adjust the transmission speed of the flat belt 106, the flat belt 106 is arranged on the mounting frame 101, the first reflection sensor 104 and the second reflection sensor 105 are arranged at both ends of the flat belt 106, the first reflection sensor 104 is used to detect whether NG products are put in, and the second reflection sensor 105 is used to detect whether the flat belt 106 is full of material.

[0091] Specifically, since there may be defective products during the assembly and labeling process, an NG belt 100 can be set on the table 11 for temporary recovery of NG products. When the first reflection sensor 104 detects that an NG product is put in, the speed regulating motor 102 drives the flat belt 106 to translate one part position to make room for the next part. The number of NG products gradually increases until the first NG product triggers the second reflection sensor 105 to alarm, prompting the staff to remove the NG products. The speed regulating motor 102 is provided with a corresponding speed regulator 103, which is used to adjust the transmission speed of the flat belt 106 to prevent slipping.

[0092] In summary, the above equipment is equipped with a robot module for front cover loading, PCB assembly, and semi-finished product off-line, and a labeling module for the suction, movement, and pasting of RFID tags. The fusion of labeling and PCB assembly for automated operation improves the efficiency of assembly and labeling. Front cover loading, PCB loading, PCB assembly, and RFID pasting are all sucked by suction cups, and NG products and qualified products are grabbed by grippers. The suction / gripper can suck / grip 3 parts at the same time, thereby saving the time of moving back and forth and improving production efficiency.

[0093] In one embodiment, Fig. 22 As shown, a PCB assembly labeling method is also provided, which is implemented by using a PCB assembly labeling device as described above, and includes the following steps:

[0094] The robot module absorbs several front covers in the loader to the fixture assembly for positioning, and the labeling module absorbs several RFID tags generated by the feeder and moves them to the top of the RFID reader for preparation;

[0095] The barcode information of the PCB in the loader is read through the visual module, and the robot module is used to absorb the PCB, and the corresponding barcode information is written into the RFID reader;

[0096] The RFID reader reads the tag information in the RFID tag and determines whether the tag information is written correctly based on the barcode information comparison;

[0097] If the tag information is written correctly, the labeling module adheres the RFID tag to the front cover and returns to the initial position;

[0098] If the label information is written incorrectly, the labeling module discards the NG label and re-absorbs the label into the RFID reader to write the barcode information;

[0099] The robot module installs the PCB to the front cover in turn and determines whether it is installed in place;

[0100] If the installation is in place, the robot module will be used to clamp the assembled semi-finished product to the shuttle module and transfer it to the next equipment station.

[0101] In one embodiment, the actual process of using the above-mentioned equipment to perform PCB assembly labeling is as follows:

[0102] First, the robot module sucks three front covers into the fixture assembly: a fixed vision is set above the front cover loading position to take pictures to obtain the position information of all front covers in the entire parts tray. The three suction cups on the robot gripper move to the top of the three front cover parts to be sucked in turn, and the suction cups are lowered by the cylinder to suck the three front covers in turn, and then the three front covers are moved at the same time and placed into the fixture assembly.

[0103] Second, the labeling module absorbs 3 RFID tags and moves them to the top of the RFID reader for preparation: the labeling module gripper is equipped with 3 sets of suction heads, which absorb the 3 RFID tags peeled off from the feeder in turn, and then move them together to the top of the 3 RFID readers for preparation.

[0104] Third, the upper vision of the robot module takes pictures to read the barcode information on the PCB and absorbs the PCB: The robot gripper is equipped with an upper vision and three sets of suction cups. The robot moves the upper vision to the top of the PCB to be absorbed, takes pictures with the upper vision, obtains the PCB barcode information and transmits it to the RFID reader, and obtains the position information of the PCB at the same time, and then uses a set of suction cups to absorb the PCB. Repeat the above actions, and the three sets of suction cups absorb a total of 3 PCBs and obtain the barcode information, which is transmitted to the RFID reader.

[0105] Fourth, the RFID reader writes the barcode information and reads the test information to see if it is written correctly: 3 RFID readers write the 3 PCB barcode information into the corresponding RFID tags, and then read the tag information and compare it with the PCB barcode information to check whether the information is written successfully. If the information of a certain RFID tag is not written successfully, the labeling module will discard the tag into the recycling bin, and then the suction cup will re-absorb the new tag on the feeder to the RFID reader to write the corresponding information and read and check until all tag information is written successfully.

[0106] Fifth, the labeling module pastes the RFID label to the front cover and returns to the initial position: the labeling module moves the three RFID labels on the suction cup to the fixture assembly at the same time, aligns them with the three front covers on the fixture assembly one by one, and simultaneously pastes the three labels into the front cover, and returns to the initial position after completion.

[0107] Sixth, the robot moves the three PCBs to the lower vision system for taking pictures: The robot moves the three PCBs on the gripper to the top of the lower vision system and takes three pictures in sequence to obtain the precise position information of the three PCBs.

[0108] Seventh, the robot installs 3 PCBs to the front cover in sequence, and the sensor detects whether they are installed in place: the robot moves the 3 PCBs to the top of the fixture assembly and assembles the PCBs to the corresponding front covers in sequence, and uses the distance sensor on the robot gripper to detect whether the PCBs are assembled in place. If a PCB is not assembled in place, the robot uses the gripper to move this front cover together with the PCB clamp to the NG belt.

[0109] Eighth, the robot module clamps the qualified semi-finished products to the shuttle module: the robot module clamps the qualified semi-finished products on the fixture assembly to the carrier of the shuttle module, and the shuttle module transports the semi-finished products to the next equipment station.

[0110] In the above steps, the labeling module action is synchronized with the robot module action, and all the actions of the labeling module have no effect on the total beat. The time it takes to complete all operations of a total of 3 parts in a cycle is equal to the robot operation time, which is 84 seconds in total. The single-piece beat is 84÷3=28 seconds / piece. Obviously, the use of the present invention for PCB assembly and labeling can greatly improve the assembly efficiency and has high assembly accuracy.

[0111] It should be noted that, in this article, relational terms such as first and second, etc. are only used to distinguish one entity or operation from another entity or operation, and do not necessarily require or imply any such actual relationship or order between these entities or operations. Moreover, the terms "include", "comprise" or any other variants thereof are intended to cover non-exclusive inclusion, so that a process, method, article or device including a series of elements includes not only those elements, but also other elements not explicitly listed, or also includes elements inherent to such process, method, article or device.

[0112] The above is only an embodiment of the present invention. The common sense such as the known specific structure and characteristics in the scheme is not described in detail here. The ordinary technicians in the relevant field know all the common technical knowledge in the technical field of the invention before the application date or priority date, can obtain all the existing technologies in the field, and have the ability to apply the conventional experimental means before that date. The ordinary technicians in the relevant field can improve and implement this scheme in combination with their own abilities under the enlightenment given by this application. Some typical known structures or known methods should not become obstacles for ordinary technicians in the relevant field to implement this application. It should be pointed out that for those skilled in the art, without departing from the structure of the present invention, several deformations and improvements can be made, which should also be regarded as the protection scope of the present invention, which will not affect the effect of the implementation of the present invention and the practicality of the patent. The protection scope required by this application shall be based on the content of its claims, and the specific implementation methods and other records in the specification can be used to interpret the content of the claims.

Claims

1. A PCB assembly labeling device, characterized in that: include: Equipment frame, loader, robot module, vision module, feeder, labeling module, RFID reader, fixture assembly and shuttle module; The equipment frame is provided with a table for fixing the robot module, feeder, labeling module, RFID reader, fixture assembly and shuttle module; The feeder includes a front cover feeder and a PCB feeder, and the two have the same structure and are used to supply the front cover and the PCB respectively through the parts tray; The robot module is used to transfer the front cover and the PCB; The visual module is used to read the barcode information on the PCB and transmit it to the RFID reader, and determine the shape and position of the front cover and the PCB during the labeling assembly process; The feeder is used to generate an RFID tag according to the barcode information and provide it to the labeling module; The labeling module is used to absorb the RFID label and stick it to the front cover; The RFID reader is used to write and read RFID tag information; The fixture assembly is provided with a plurality of parts positions for positioning the front cover, and the plurality of parts positions correspond one to one with the RFID reader-writer; The shuttle module is used to transfer the assembled semi-finished product to the next equipment station.

2. A PCB assembly labeling device according to claim 1, characterized in that: The front cover loader includes a loading frame, a loading module, a lifting mechanism, a tray cylinder, a pressing plate mechanism, an empty tray collection mechanism, an empty tray placement mechanism, a material shortage sensor and an electric control cabinet; The loading rack matches the equipment frame so that the parts tray can be lifted onto the table; The feeding module includes a feeding cylinder, a reset optical coupler, a slide rail, a cylinder connecting plate, a latch and a pallet stacking slide plate. The feeding cylinder is fixed to the feeding frame, the reset optical coupler is arranged on the feeding cylinder, the slide rail is arranged on the feeding cylinder, the cylinder connecting plate is arranged on the slide rail and can slide on the slide rail under the drive of the feeding cylinder, the latch is used to fix the pallet stacking slide plate to the cylinder connecting plate, the pallet stacking slide plate is fixed to the cylinder connecting plate, is used to place the parts pallet, and can slide under the drive of the cylinder connecting plate; The lifting mechanism includes a servo motor, a screw rod and a lifting fork. The servo motor is fixed on the feeding frame and is used to drive the screw rod to drive the lifting fork to move up and down. The lifting fork is arranged on the screw rod and is used to place the pallet stacking slide plate and drive the pallet stacking slide plate to move up and down. The tray cylinders are provided with two, located on both sides of the loading frame, and the tray cylinders are provided with support blocks, which can move under the drive of the tray cylinders and are used to push the parts tray; The pressure plate mechanism is provided with two groups, which are located on both sides of the top of the lifting mechanism and are arranged on the loading frame, including a pressure plate cylinder, a shooting sensor, a lever and a proximity sensor; the pressure plate cylinder is used to drive the lever to descend, so as to press the part pallet to the empty tray mechanism, the shooting sensor includes a first shooting sensor group and a second shooting sensor group, which are respectively located at the bottom and the top of the pressure plate cylinder, the first shooting sensor is used to slow down the lifting when it detects that the lifting height of the top part pallet reaches the same level with it, until the bottom part pallet is lifted to the height of the second shooting sensor, the lever is used to lift one end and lower the other end to trigger the proximity sensor when the second shooting sensor is abnormal, and the proximity sensor is arranged at one end of the lever to detect the lifting height of the part pallet; The empty tray collection mechanism is arranged below the empty tray placement mechanism, and includes a first material collection cylinder, a second material collection cylinder, a lifting cylinder, a material collection support plate, a material collection inclined block and an inclined block spring; the material collection support plate is arranged on the first material collection cylinder and the second material collection cylinder, and can be moved to the bottom of the empty parts tray and bring back the empty parts tray under the drive of the first material collection cylinder and the second material collection cylinder, the material collection inclined block is arranged at the end of the material collection support plate, and is elastically connected to the material collection support plate through the inclined block spring, so that the material collection inclined block can hook the empty parts tray under the action of the inclined block spring, and the lifting cylinder is arranged below the material collection support plate, and is used to lift the empty parts tray upward and transport it to the empty tray placement mechanism; The empty tray placement mechanism is arranged on the loading rack, parallel to the parts loading position, and includes an empty tray rack, a tray inclined block, a full material counter-shooting sensor and an elastic plunger; the full material counter-shooting sensor is arranged at the top of both sides of the empty tray rack, and is used to detect whether the empty tray rack is full of materials; the tray inclined blocks are arranged at the bottom of both sides of the empty tray rack, and are connected to the elastic plunger, and can drag the empty parts tray upward under the elastic force of the elastic plunger to vacate the empty parts tray placement position; The material shortage sensor is arranged at the bottom of the loading rack, and is used to detect whether there is a parts tray on the lifting mechanism; The electric control cabinet is arranged on the side of the feeding machine frame and is used to control the start and stop of the front cover feeding machine.

3. The PCB assembly labeling device according to claim 1, characterized in that: The robot module includes a robot base, a four-axis robot and a robot gripper; The robot base is fixed on the table, the four-axis robot is fixed on the robot base, and the robot gripper is installed on the four-axis robot; The robot gripper comprises a gripper bracket and a plurality of suction claw assemblies, a plurality of clamping claw assemblies and a distance measuring sensor arranged on the gripper bracket; The plurality of suction claw assemblies and the plurality of clamping claw assemblies are arranged at equal intervals, and the distance measuring sensor is used to detect the height of the upper plane of the PCB after it is installed to determine whether the PCB is installed in place; The suction claw assembly includes a plurality of suction cups, a suction claw cylinder slide and a push rod. The plurality of suction cups are not collinear, forming a surface, and are mounted on the suction claw cylinder slide. The suction claw cylinder slide can drive the suction cup to extend to suck the front cover or PCB. The push rod is arranged on the suction claw cylinder slide, and the lower end surface is lower than the end surface of the suction cup, and is used to press the PCB into the opening of the front cover. The clamp assembly includes a finger cylinder and a clamp. The finger cylinder is fixed on the gripper bracket and can move under the drive of the four-axis robot. The clamp is arranged on the finger cylinder and is used to clamp parts under the drive of the finger cylinder.

4. The PCB assembly labeling device according to claim 1, characterized in that: The visual module includes upper vision, lower vision and fixed vision; The upper vision is arranged on the robot module, and is used to detect the shape and position of the front cover and the PCB in the parts tray; The lower vision is installed on the table, and is used to determine the shape and position of the PCB when it is clamped by the robot module, including a vision base, a first adjustment frame, a first camera, a first lens and a first light source, the vision base is fixed on the table, the first adjustment frame is fixed on the vision base, and is used to adjust the distance between the first lens and the first light source; the first camera is set on the first adjustment frame and can move on the first adjustment frame, the first lens is set on the first camera, and the first light source is set on the first adjustment frame around the first lens, and can cover the entire front cover; The fixed vision is installed on the table top, and is used to judge the shape and position of the front cover when it is clamped by the robot module, including a vision support frame, a second adjustment frame, a second camera, a second lens and a second light source. The vision support frame is fixed on the table top, and the second adjustment frame is fixed on the vision support frame, and is used to adjust the distance between the second light source and the second lens. The second camera is arranged on the second adjustment frame and can be moved on the second adjustment frame. The second lens is arranged on the second camera. The second light source is fixed on the second adjustment frame and is located below the second lens, and can cover the parts tray with the front cover.

5. The PCB assembly labeling equipment according to claim 1, characterized in that: The labeling module includes a labeling linear module, a drag chain, a sliding bracket, a labeling cylinder slide and a suction head; The labeling linear module is fixed on the table, and the drag chain and the sliding bracket are arranged on the slide rail of the labeling linear module and can slide under the drive of the labeling linear module; The labeling cylinder slide is fixed on the sliding bracket, and a plurality of slides are provided, corresponding one to one with the suction heads; The suction head is arranged on the labeling cylinder slide, and can be moved to align with the RFID tag under the drive of the labeling cylinder slide, and the spacing between the suction heads is the same as that of the RFID reader; The suction head includes a suction head body, two suction rods, an inner lining plate and a rubber pad. One end of the two suction rods is connected to a vacuum generator, and the other end is connected to the suction head body. The vacuum generator can generate negative pressure to absorb the RFID tag. The inner lining plate is arranged in the suction head body, and the rubber pad is arranged at the bottom of the suction head body, below the inner lining plate.

6. The PCB assembly labeling equipment according to claim 1, characterized in that: The fixture assembly includes a fixture bracket, a fixture cylinder slide, a fixture cylinder, a shift fork, a top block and a diffuse reflection sensor; The fixture bracket is fixed on the table top and includes two layers, an upper layer and a lower layer; The clamp cylinder slide is arranged on the lower layer of the clamp bracket. The clamp cylinder is arranged on the upper layer of the clamp bracket, and the part is arranged on the clamp cylinder through the rubber-coated bearing. The clamp cylinder drives the rubber-coated bearing to press the part from one side and contact with two fixed rubber-coated bearings on the other side to realize the Y-axis positioning and clamping of the part; The shift fork is arranged on the clamp cylinder slide, and is connected to the top block in a floating manner through the clamp spring, and is used to compress the clamp spring when the clamp cylinder slide is pushed to the right, so as to drive the top block to move to the right to hold the part, thereby realizing the positioning and clamping of the part in the X direction; The diffuse reflection sensors correspond to part positions one by one and are used to detect whether there are parts at the corresponding part positions.

7. The PCB assembly labeling equipment according to claim 1, characterized in that: The shuttle module includes a shuttle linear module, a shuttle servo motor, a shuttle shooting sensor and a carrier. The shuttle linear module is arranged on the table and extends to the next equipment station. The shuttle servo motor is connected to the shuttle linear module to drive the shuttle linear module to operate. The carrier includes a plurality of loading positions arranged on the shuttle linear module. The shuttle shooting sensor is arranged on the carrier, corresponding to the plurality of loading positions one by one, and is used to detect whether there are parts in the corresponding loading positions.

8. The PCB assembly labeling equipment according to claim 1, characterized in that: Also includes: NG belt, the NG belt is arranged on the table and is located within the moving coverage range of the robot module; the NG belt comprises a mounting frame, a speed regulating motor, a speed regulator, a first reflection sensor, a second reflection sensor and a flat belt, the speed regulating motor is fixed on the table through the mounting frame to drive the flat belt to operate, and the speed regulator is used to adjust the transmission speed of the flat belt; the flat belt is arranged on the mounting frame, the first reflection sensor and the second reflection sensor are arranged at both ends of the flat belt, the first reflection sensor is used to detect whether NG products are put in, and the second reflection sensor is used to detect whether the flat belt is full of material.

9. A PCB assembly labeling method, characterized in that: The method is implemented by using a PCB assembly labeling device as described in any one of claims 1 to 8, comprising the following steps: The robot module absorbs several front covers from the loader to the fixture assembly for positioning, and the labeling module absorbs several RFID tags generated by the feeder and moves them to the top of the RFID reader for preparation; The barcode information of the PCB in the loader is read through the visual module, and the robot module is used to absorb the PCB, and the corresponding barcode information is written into the RFID reader; The RFID reader reads the tag information in the RFID tag and determines whether the tag information is written correctly based on the barcode information. If the tag information is written correctly, the labeling module adheres the RFID tag to the front cover and returns to the initial position; If the label information is written incorrectly, the labeling module discards the NG label and re-absorbs the label into the RFID reader to write the barcode information; The robot module installs the PCB to the front cover in turn and determines whether it is installed in place; If the installation is in place, the robot module will be used to clamp the assembled semi-finished product to the shuttle module and transfer it to the next equipment station.

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