Automatic plate insertion device

Abstract

The present invention relates to the field of automated production equipment for circuit boards, and in particular to an automatic board insertion device, which comprises a fixed bracket, a travel track is arranged on the fixed bracket for a board rack vehicle to move up and down, a transverse movement mechanism is arranged on the fixed bracket for fixing and lifting the board rack vehicle, and then driving the board rack vehicle to move transversely left and right, and a clamping and inserting plate mechanism is also arranged on the fixed bracket, a manipulator grabs the circuit board to the bottom of the clamping and inserting plate mechanism, the clamping and inserting plate mechanism clamps the circuit board and moves up and down to insert the circuit board into a board insertion frame of the board rack vehicle; the clamping and inserting plate mechanism in the device only needs to be responsible for moving the clamping and inserting plates up and down, and does not require a very high design cost; when the clamping and inserting plate mechanism inserts a board into the board insertion frame and retreats to take the board, the transverse movement mechanism simultaneously controls the board rack vehicle to move transversely, so that the next empty board insertion frame moves to the right below the clamping and inserting plate mechanism, which is convenient for the clamping and inserting plate mechanism to directly insert the board downward after clamping the board, thereby reducing the time required for the automatic board insertion process and improving production efficiency.

Description

Technical Field

[0001] The invention relates to the field of automated circuit board production equipment, and in particular to an automatic board insertion device. Background Art

[0002] At present, the production of circuit boards is becoming more and more automated, and automated circuit board production equipment plays an important role. In the automated production process of circuit boards, the board rack plays the role of carrying and transporting circuit boards. The board rack has multiple parallel and equidistant board frames for fixing circuit boards, and one board rack can carry and transport multiple circuit boards. In the traditional production process, the circuit boards are generally inserted into the board rack one by one by hand. This method is time-consuming and labor-intensive, and is not conducive to the popularization of automated production. Another automated method is to grab the circuit board with a mechanical gripper and insert the circuit board into the board rack one by one. However, this process not only requires the mechanical gripper to be able to grab the board stably, but also requires the mechanical gripper to have extremely high positioning accuracy, and to be able to stably insert each circuit board accurately and correspondingly into each board frame of the board rack, which results in the design of the mechanical gripper being very complex and costly. Moreover, the mechanical gripper needs to move forward and backward to pick up the board and re-position the board after each up and down insertion. The work of picking up the board, positioning and inserting the board is all completed by the mechanical gripper. The insertion time of a single board is very long, which affects production efficiency. Summary of the invention

[0003] In order to overcome the above problems, the present invention provides an automatic plate insertion device, and the technical solution adopted by the present invention to solve the technical problem is:

[0004] An automatic board insertion device comprises: a fixed bracket, on which a traveling track and a transverse track are arranged, the transverse track is located below the traveling track and is perpendicular to the traveling track; a plate rack car, on which a plurality of parallel board insertion frames are arranged, and the plate rack car moves in / out of the fixed bracket through the traveling track; a plate clamping and inserting mechanism, which is electrically connected to a central controller and is located directly above the transverse track, a manipulator moves a circuit board to below the plate clamping and inserting mechanism, the plate clamping and inserting mechanism clamps the circuit board and moves up and down to insert the circuit board into the board insertion frame; a transverse mechanism, which comprises a transmission assembly and a lifting cylinder electrically connected to the central controller, the lifting cylinder is arranged on the transverse track and connected to the transmission assembly, the lifting cylinder docks and lifts the plate rack car to drive the plate rack car away from the traveling track, and the transmission assembly drives the plate rack car to move along the transverse track through the lifting cylinder to adjust the board insertion frame to move directly below the plate clamping and inserting mechanism.

[0005] Furthermore, it also includes a board alignment piece arranged between the transverse track and the board clamping mechanism, the board alignment piece has an alignment surface and a guide port, the robot grabs the circuit board and moves it to the alignment surface, the board clamping mechanism clamps the circuit board and inserts the circuit board downward into the board frame through the guide port.

[0006] Furthermore, a position sensor electrically connected to the central controller is disposed on the fixed bracket, and the position sensor faces the alignment surface to sense whether the circuit board on the alignment surface is in place.

[0007] Furthermore, the plate clamping and inserting mechanism includes a pair of parallel clamping head assemblies, and a vertical guide groove is arranged on the alignment surface. The guide groove extends from the upper end of the alignment surface to the lower end and is connected to the guide port. After the clamping head assembly clamps the plate, the plate is inserted downward through the guide groove.

[0008] Furthermore, a first position sensor electrically connected to the central controller is disposed on the fixed bracket, a first position trigger is disposed on the clamping plate mechanism, and the first position sensor is located on the moving path of the first position trigger.

[0009] Furthermore, a second position trigger is provided on the top lifting cylinder, and a second position sensor electrically connected to the central controller is provided on the fixed bracket. The second position sensor is located on the moving path of the second position trigger to determine the position of the top lifting cylinder moving along the transverse track.

[0010] Furthermore, an alignment pin is provided on the top lifting cylinder, and an alignment hole is provided at the bottom of the panel frame car. The alignment pin is inserted into the alignment hole, and the top lifting cylinder completes the alignment connection and fixation of the panel frame car.

[0011] Furthermore, the transmission assembly includes a motor, a driving shaft and a driven shaft, a transmission belt is arranged between the driving shaft and the driven shaft, the transmission belt is parallel to the transverse track, and the top lifting cylinder is fixedly connected to the transmission belt by a fixing clamp; the motor drives the driving shaft to rotate, the driving shaft cooperates with the driven shaft to drive the transmission belt, and the transmission belt drives the top lifting cylinder to move along the transverse track.

[0012] Furthermore, a pair of laser emitters and a pair of laser receivers are provided on the fixed bracket, the laser receiver is electrically connected to the central controller, the route from the laser emitter to the laser receiver is parallel to the board frame and is located on the moving path of the board rack vehicle, and the distance between the laser emitters is greater than the width of a board frame and less than or equal to the distance between two board frames, so as to monitor whether the circuit board on the board frame is deformed or displaced.

[0013] Furthermore, the pallet vehicle has rollers that roll along the travel track; the travel track includes an inlet track and an outlet track, the inlet track is close to the front end of the transverse track, and the outlet track is close to the rear end of the transverse track.

[0014] The beneficial effects of the present invention are:

[0015] The automatic board insertion device includes a fixed bracket, a driving track is arranged on the fixed bracket for the board rack vehicle to move up and down, a transverse movement mechanism is arranged on the fixed bracket for fixing and lifting the board rack vehicle, and then driving the board rack vehicle to move horizontally left and right, and a clamping and plugging plate mechanism is also arranged on the fixed bracket, a manipulator grabs the circuit board to the bottom of the clamping and plugging plate mechanism, the clamping and plugging plate mechanism clamps the circuit board and moves up and down to insert the circuit board into the board insertion frame of the board rack vehicle; the clamping and plugging plate mechanism in the device only needs to be responsible for moving the clamping and plugging plates up and down, and does not require a very high design cost; when the clamping and plugging plate mechanism inserts a board into the board insertion frame and retreats to take the board, the transverse movement mechanism simultaneously controls the board rack vehicle to move horizontally, so that the next empty board insertion frame moves to the bottom of the clamping and plugging plate mechanism, which is convenient for the clamping and plugging plate mechanism to directly insert the board downward after clamping the board, thereby reducing the time required for the automatic board insertion process and improving production efficiency. BRIEF DESCRIPTION OF THE DRAWINGS

[0016] The present invention will be further described below in conjunction with the accompanying drawings and specific embodiments, wherein:

[0017] Figure 1 It is a three-dimensional view of the automatic plate inserting device;

[0018] Figure 2 This is an exploded view of the automatic plate insertion device;

[0019] Figure 3 is a stereoscopic view of the fixed bracket;

[0020] Figure 4 It is a three-dimensional view and a partial enlarged view of the plate rack vehicle;

[0021] Figure 5 It is an exploded view of the traverse mechanism;

[0022] Figure 6 It is a three-dimensional view of the clamping plate mechanism;

[0023] Figure 7 It is a three-dimensional view of the plug plate alignment piece.

[0024] Figure number marking:

[0025] 100, fixed bracket; 101, driving track; 1011, import track; 1012, export track; 102, transverse track; 103, laser transmitter; 104, laser receiver;

[0026] 200, plate rack; 201, plate inserting frame; 202, alignment hole; 203, roller;

[0027] 300, transverse movement mechanism; 301, transmission assembly; 3011, motor; 3012, driving shaft; 3013, driven shaft; 3014, driving belt; 302, lifting cylinder; 303, alignment pin; 304, fixing clamp;

[0028] 400, clamping plate mechanism; 401, clamping head assembly;

[0029] 500, plug-in plate alignment member; 501, alignment surface; 502, guide opening; 503, guide groove. DETAILED DESCRIPTION

[0030] In order to better understand the purpose, structure and function of the present invention, the specific embodiment of the "an automatic plate insertion device" of the present invention is further described in detail below in conjunction with the accompanying drawings.

[0031] See also Figure 1-Figure 6 In this embodiment, the automatic board insertion device includes a fixed bracket 100, on which a traveling track 101 and a transverse track 102 are provided, the transverse track 102 is located below the traveling track 101 and is perpendicular to the traveling track 101, and the plate rack vehicle 200 moves in and out of the fixed bracket 100 through the traveling track 101; the fixed bracket 100 is also provided with a clamping board mechanism 400 and a transverse mechanism 300, the clamping board mechanism 400 is electrically connected to the central controller, the clamping board mechanism 400 is located directly above the transverse track 102, after the robot moves the circuit board to the bottom of the clamping board mechanism 400, the clamping board mechanism 400 clamps the circuit board and moves up and down to insert the circuit board into the insertion board The frame 201 then returns to its original position; the transverse movement mechanism 300 includes a transmission component 301 and a lifting cylinder 302 electrically connected to the central controller. The lifting cylinder 302 is arranged on the transverse movement track 102 and is fixedly connected to the transmission component 301. After the lifting cylinder 302 is positioned and docked with the pallet trolley 200, the pallet trolley 200 is lifted up to make the pallet trolley 200 leave the driving track 101. Then the transmission component 301 drives the lifting cylinder 302 to move along the transverse movement track 102, thereby driving the pallet trolley 200 lifted by the lifting cylinder 302 to move along the transverse movement track 102, adjusting the plate frame 201 of the pallet trolley 200 that needs to be plugged in to move to just below the clamping plate mechanism 400, and inserting the circuit board.

[0032] In this embodiment, when the automatic board insertion device is working, the lifting cylinder 302 of the transverse mechanism 300 first docks and positions the plate rack vehicle 200 and lifts the plate rack vehicle 200 so that the plate rack vehicle 200 is separated from the driving track 101 for transverse movement. Then, the transmission component 301 drives the lifting cylinder 302 to move along the transverse track 102, thereby driving the plate rack vehicle 200 to move transversely, so that the first empty plate frame 201 at the front end of the plate rack vehicle 200 is located directly below the clamping and inserting plate mechanism 400; then, the manipulator connected to the central controller picks up the circuit board and moves the circuit board vertically downward to the clamping and inserting plate mechanism 400. Below, the clamping and plugging plate mechanism 400 moves downward to clamp the circuit board, the robot arm releases, and the clamping and plugging plate mechanism 400 continues to move downward, inserts the circuit board into the first empty plugging plate frame 201 and then returns to its original position; while this process is in progress, the robot arm picks up the circuit board again and moves it under the clamping and plugging plate mechanism 400, and at the same time, the transverse movement mechanism 300 drives the plate rack vehicle 200 to move transversely a small step, so that the second empty plugging plate frame 201 is located directly below the clamping and plugging plate mechanism 400, and then the clamping and plugging plate mechanism 400 repeats the above-mentioned upper and lower clamping and plugging plate retraction action until the plugging plate frame 201 of the plate rack vehicle 200 is full of circuit boards. Since the plate clamping and inserting mechanism 400 only needs to move up and down to clamp and insert the plate, and does not need to move the gripping plate horizontally and re-precisely position it, the plate clamping and inserting mechanism 400 can use a universal upper and lower plate inserting mechanism, which is low in cost; and the plate inserting device of the present invention adjusts the position of the plate rack vehicle 200 by the transverse movement mechanism 300 to achieve the alignment of the plate inserting frame 201, and does not need the plate clamping and inserting mechanism 400 to align, and the actions of the transverse movement mechanism 300 adjusting the alignment, the robot sucking the plate to transfer it, and the plate clamping and inserting mechanism 400 retreating to prepare for clamping the plate are performed simultaneously, which can save the time used for automatic plate insertion and improve production efficiency.

[0033] See also Figure 1 , Figure 2 , Figure 6 and Figure 7 In this embodiment, the automatic board insertion device also includes a board insertion alignment member 500 arranged between the transverse track 102 and the clamping board insertion mechanism 400. The board insertion alignment member 500 has an alignment surface 501 and a guide port 502. The robot grabs the circuit board and moves it to the alignment surface 501. The alignment surface 501 can ensure that the sucked circuit board is placed vertically downward under the clamping board insertion mechanism 400. Then the clamping board insertion mechanism 400 clamps the circuit board and inserts the circuit board downward into the board frame 201 through the guide port 502. The guide port 502 can not only improve the accuracy of the circuit board insertion into the board frame 201, but also prevent the circuit board from shaking when it is inserted downward into the board frame 201, thereby improving the stability of the board insertion process.

[0034] Furthermore, in this embodiment, a position sensor electrically connected to the central controller is provided on the fixed bracket 100, and the position sensor faces the alignment surface 501. The position sensor can sense whether the manipulator has moved the circuit board to the alignment surface 501 and whether there is a circuit board on the alignment surface, and send the information back to the central controller, which controls the actions of other components after processing; the clamping and plugging plate mechanism 400 includes a pair of parallel clamping head assemblies 401 to clamp the circuit board more stably, and a vertical guide groove 503 is provided on the alignment surface 501, and the guide groove 503 extends from the upper end of the alignment surface 501 to the lower end and is connected to the guide port 502. After the clamping head assembly 401 clamps the plate, it moves downward through the guide groove 503, and the circuit board is inserted into the plugging plate frame 201 through the guide port 502. The guide groove 503 can prevent the clamping head assembly 401 from shaking when moving downward, thereby further improving the stability of the plugging plate of the clamping and plugging plate mechanism 400.

[0035] More specifically, in the present embodiment, a first position sensor electrically connected to the central controller is disposed on the fixed bracket 100, and a first position trigger is disposed on the clamping plate mechanism 400. The first position sensor is located on the moving path of the first position trigger. When the clamping plate mechanism 400 inserts the plate downward, the first position trigger moves and passes through the first position sensor. Information sensed by the first position sensor is used to confirm whether the clamping plate mechanism 400 has inserted the circuit board into place, and to sense whether the clamping plate mechanism 400 has retracted into place.

[0036] Furthermore, in the present embodiment, a second position trigger is provided on the top lifting cylinder 302, and a second position sensor electrically connected to the central controller is provided on the fixed bracket 100. The second position sensor is located on the moving path of the second position trigger. When the top lifting cylinder 302 moves laterally, it drives the second position trigger to move. When the second position trigger passes through the second position sensor, the position coordinates of the top lifting cylinder 302 can be determined, which is convenient for the central control system to position it, and the transmission assembly 301 can be used to accurately control the movement of the board frame 200, so that each board frame 201 is accurately moved to the bottom of the board clamping mechanism 400.

[0037] See also Figure 4 and Figure 5 In the present embodiment, an alignment pin 303 is provided on the top lifting cylinder 302, and an alignment hole 202 is provided at the bottom of the pallet truck 200. The top lifting cylinder 302 passes through the alignment hole 202 through the alignment pin 303 to complete the alignment connection and fixation of the pallet truck 200, thereby preventing the pallet truck 200 from shaking when the top lifting cylinder 302 drives the pallet truck 200 to move horizontally left and right.

[0038] See also Figure 5In this embodiment, the transmission assembly 301 includes a motor 3011, a driving shaft 3012 and a driven shaft 3013, a transmission belt 3014 is arranged between the driving shaft 3012 and the driven shaft 3013, the transmission belt 3014 is parallel to the transverse track 102, and the top lifting cylinder 302 is fixedly connected to the transmission belt 3014 through a fixing clamp 304; the motor 3011 drives the driving shaft 3012 to rotate, the driving shaft 3012 cooperates with the driven shaft 3013 to drive the transmission belt 3014 to transmit, and the transmission belt 3014 drives the top lifting cylinder 302 to move along the transverse track 102.

[0039] See also Figure 1-Figure 3 In this embodiment, a pair of laser emitters 103 and a pair of laser receivers 104 are provided on the fixed bracket 100, and the laser receiver 104 is electrically connected to the central controller. The route from the laser emitter 103 to the laser receiver 104 is parallel to the board frame 201, and the route from the laser emitter 103 to the laser receiver 104 is located on the moving path of the plate rack vehicle 200, and the distance between the laser emitters 103 is greater than the width of a board frame 201 and less than or equal to the distance between two board frames 201; when the board frame 201 is inserted with a circuit board and moves forward one grid, the two lasers of the laser emitter 103 just sandwich the board frame 201 in the middle, and whether the laser receiver 104 receives the laser is used to determine whether the circuit board on the monitoring board frame 201 is displaced or bent.

[0040] For more details, see Figure 1-Figure 4 In this embodiment, the pallet trolley 200 has rollers 203, and the rollers 203 roll along the traveling track 101; the traveling track 101 includes an import track 1011 and an export track 1012, the import track 1011 is close to the front end of the transverse track 102, and the export track 1012 is close to the rear end of the transverse track 102; in the automated production process, the pallet trolley 200 enters the fixed bracket from the import track 1011, and then the transverse mechanism 300 lifts the pallet trolley 200 to make it detach from the import track 1011 and transversely move to fill the circuit board, and then the transverse mechanism 300 continues to move transversely and place the pallet trolley 200 on the export track 1012, and the pallet trolley 200 moves out of the fixed bracket 100 through the export track 1012, so that the automated production process is smoother and the automated production efficiency is improved.

[0041] It is to be understood that the present invention is described by some embodiments, and it is known to those skilled in the art that various changes or equivalent substitutions may be made to these features and embodiments without departing from the spirit and scope of the present invention. In addition, under the teachings of the present invention, these features and embodiments may be modified to adapt to specific circumstances and materials without departing from the spirit and scope of the present invention. Therefore, the present invention is not limited by the specific embodiments disclosed herein, and all embodiments falling within the scope of the claims of this application are within the scope of protection of the present invention.

[0042] In the description of the present invention, it should be noted that the terms "center", "upper", "lower", "left", "right", "vertical", "horizontal", "inner", "outer", etc., indicating the orientation or positional relationship, are based on the orientation or positional relationship shown in the drawings, and are only for the convenience of describing the present invention and simplifying the description, rather than indicating or implying that the device or element referred to must have a specific orientation, be constructed and operated in a specific orientation, and therefore cannot be understood as limiting the present invention. In addition, the terms "first", "second", and "third" are used for descriptive purposes only, and cannot be understood as indicating or implying relative importance.

Claims

1. An automatic plate insertion device, characterized in that: include: A fixed bracket (100) on which a driving track (101) and a transverse track (102) are arranged, wherein the transverse track (102) is located below the driving track (101) and is perpendicular to the direction of the driving track (101); A plate rack vehicle (200) is provided with a plurality of parallel plate inserting frames (201), and the plate rack vehicle (200) is moved into / out of the fixed bracket (100) via the driving track (101); A clamping and inserting plate mechanism (400) is electrically connected to the central controller and is located directly above the transverse track (102); the robot moves the circuit board to below the clamping and inserting plate mechanism (400); the clamping and inserting plate mechanism (400) moves up and down to clamp the circuit board and insert the circuit board into the inserting plate frame (201); The traverse mechanism (300) comprises a transmission assembly (301) electrically connected to a central controller and a top-lifting cylinder (302), wherein the top-lifting cylinder (302) is arranged on the traverse track (102) and connected to the transmission assembly (301), and an alignment pin (303) is arranged on the top-lifting cylinder (302), and an alignment hole (202) is arranged at the bottom of the panel carriage (200), and the alignment pin (303) is inserted into the bottom of the panel carriage (200). The positioning hole (202) is provided, and the lifting cylinder (302) completes the positioning connection and fixation of the pallet trolley (200); the lifting cylinder (302) docks with and lifts up the pallet trolley (200) to drive the pallet trolley (200) away from the driving track (101), and the transmission assembly (301) drives the lifting cylinder (302) to slide along the transverse track (102), thereby driving the pallet trolley (200) along the driving track (101). The traverse track (102) is moved to adjust the plug-in plate frame (201) to be directly below the plug-in plate clamping mechanism (400); the transmission assembly (301) comprises a motor (3011), a driving shaft (3012) and a driven shaft (3013); a transmission belt (3014) is provided between the driving shaft (3012) and the driven shaft (3013); the transmission belt (3014) is connected to the traverse track (102) The top-lifting cylinder (302) is fixedly connected to the driving belt (3014) via a fixing clamp (304); the motor (3011) drives the driving shaft (3012) to rotate, the driving shaft (3012) cooperates with the driven shaft (3013) to drive the driving belt (3014), and the driving belt (3014) drives the top-lifting cylinder (302) to move along the transverse track (102); It also includes a plug-in board alignment member (500) disposed between the transverse track (102) and the plug-in board clamping mechanism (400), the plug-in board alignment member (500) having an alignment surface (501) and a guide opening (502), the robot grasping the circuit board and moving it to the alignment surface (501), the plug-in board clamping mechanism (400) grasping the circuit board and inserting the circuit board downwards into the plug-in board frame (201) through the guide opening (502).

2. The automatic plate insertion device according to claim 1, characterized in that: The fixing bracket (100) is provided with a position sensor electrically connected to the central controller, and the position sensor faces the alignment surface (501) to sense whether the circuit board on the alignment surface (501) is in place.

3. An automatic plate insertion device according to claim 2, characterized in that: The clamping and inserting plate mechanism (400) comprises a pair of parallel clamping head assemblies (401), and a vertical guide groove (503) is provided on the alignment surface (501). The guide groove (503) extends from the upper end of the alignment surface (501) to the lower end and is connected to the guide opening (502). The clamping head assembly (401) passes through the guide groove (503) to clamp the plate and insert the plate downward.

4. The automatic plate insertion device according to claim 3, characterized in that: The fixing bracket (100) is provided with a first position sensor electrically connected to the central controller, the clamping plate mechanism (400) is provided with a first position trigger, and the first position sensor is located on the moving path of the first position trigger.

5. The automatic plate insertion device according to claim 1, characterized in that: The top lifting cylinder (302) is provided with a second position trigger, and the fixed bracket (100) is provided with a second position sensor electrically connected to the central controller, and the second position sensor is located on the moving path of the second position trigger to determine the position of the top lifting cylinder (302) on the transverse track (102).

6. The automatic plate insertion device according to claim 1, characterized in that: A pair of laser emitters (103) and a pair of laser receivers (104) are provided on the fixed bracket (100); the laser receivers (104) are electrically connected to the central controller; an optical path from the laser emitters (103) to the laser receivers (104) is parallel to the board insertion frame (201) and is located on a moving path of the board rack vehicle (200); and a distance between the laser emitters (103) is greater than a width of a board insertion frame (201) and less than or equal to a distance between two board insertion frames (201).

7. The automatic plate insertion device according to claim 1, characterized in that: The pallet vehicle (200) has a roller (203) which rolls along the travel track (101); the travel track (101) comprises an introduction track (1011) and an export track (1012); the introduction track (1011) is close to the front end of the transverse track (102), and the export track (1012) is close to the rear end of the transverse track (102).

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