Six-axis paper clamping and board collecting machine

Abstract

The invention relates to the technical field of board collecting equipment, and particularly discloses a six-axis paper clamping board collecting machine which comprises a rack, a board receiving device, a good product board collecting device, a defective product board collecting device, a partition paper taking device and a six-axis mechanical arm are arranged on the rack, and the board receiving device is used for bearing a circuit board to be collected; the non-defective product board collecting device is used for stacking non-defective product circuit boards by using a rubber frame, the defective product board collecting device is used for stacking defective product circuit boards, the partition paper taking device is used for providing partition paper, the non-defective product board collecting device and the defective product board collecting device are arranged diagonally, and the six-axis manipulator is hoisted at the top of the rack. When the circuit board is detected to be a defective product, the six-axis mechanical arm transfers the qualified circuit board to the qualified product collecting device, then the six-axis mechanical arm transfers the partition paper to the qualified product collecting device, and when the circuit board is detected to be a defective product, the six-axis mechanical arm transfers the defective circuit board to the defective product collecting device. The circuit board collecting device has the advantages that the circuit boards can be collected conveniently, and the labor cost can be reduced.

Description

Technical Field

[0001] The present application relates to the technical field of board collecting equipment, and in particular to a six-axis paper clamping board collecting machine. Background Art

[0002] After the circuit board production inspection is completed, the circuit board needs to be collected, that is, the circuit boards are stacked and placed in a plastic frame. During the production process, good and defective circuit boards will be produced. During the board collection process, good and defective products need to be sorted manually, and the upper and lower adjacent circuit boards need to be separated by separator paper, which makes the circuit board collection process cumbersome, and the labor intensity of the staff is high, and the labor cost is high. This problem needs to be solved urgently. Summary of the invention

[0003] In order to facilitate the circuit board collection operation and help reduce labor costs, the present application provides a six-axis paper clamping and board collection machine.

[0004] The present application provides a six-axis paper clamping and board collecting machine, which adopts the following technical solution: A six-axis paper clamping and board collecting machine comprises a frame, on which are arranged a board receiving device, a good board collecting device, a defective board collecting device, a paper separating and picking device and a six-axis manipulator, the board receiving device is aligned with the discharge port of the circuit board production line for receiving the circuit boards to be received and received, the good board collecting device is located on one side of the board receiving device for receiving and stacking good circuit boards using a rubber frame, the defective board collecting device is located on the other side of the board receiving device adjacent to the good board collecting device for receiving and stacking defective circuit boards, the paper separating and picking device is located between the good board collecting device and the defective board collecting device for picking up The good product board collecting device is diagonally arranged with the defective product board collecting device, the board connecting device is diagonally arranged with the paper separating material picking device, and the six-axis manipulator is hoisted on the top of the frame. When the circuit board in the board connecting device is detected as good, the six-axis manipulator transfers the good circuit board to the good product board collecting device, and then the six-axis manipulator transfers the paper separating material picking device to the good product board collecting device to cover the good circuit board. When the circuit board in the board connecting device is detected as defective, the six-axis manipulator transfers the defective circuit board to the defective board collecting device.

[0005] By adopting the above technical scheme, the frame docking board device, the good product board collecting device, the defective product board collecting device, the paper separation material taking device and the six-axis manipulator are supported and protected. When the circuit board needs to be collected, the board receiving device is aligned with the discharge port of the circuit board production line to receive the circuit board to be received. When the circuit board in the board receiving device is detected as good, the six-axis manipulator transfers the good circuit board to the good product board collecting device, and then the six-axis manipulator transfers the paper separation in the paper separation material taking device to the good product board collecting device to cover the good circuit board. The rubber frame in the good product board collecting device receives and stacks the good circuit board, and the paper separation separates the two adjacent circuit boards above and below. When the circuit board in the board receiving device is detected as defective, the six-axis manipulator transfers the defective circuit board to the defective board collecting device, and the defective board collecting device receives and stacks the defective circuit boards, so that the board collecting process of the circuit board is carried out in an orderly manner, and the spatial layout of each device is compact and reasonable, without the need for tedious manual operations, with a high degree of automation, convenient for board collecting operations on the circuit board, and conducive to reducing labor costs.

[0006] Preferably, the good board collecting device includes a frame supply mechanism, a frame taking mechanism and a frame collecting mechanism. The frame supply mechanism is located below the board connecting device, the frame supply mechanism has a frame supply point, the frame supply mechanism is used to lift the stacked plastic frames one by one to the frame supply point, the frame taking mechanism is located on one side of the board connecting device, the frame taking mechanism has a material receiving point, the frame taking mechanism is used to transfer the plastic frame located at the frame supply point to the material receiving point, and the frame collecting mechanism is located below the material receiving point and is used to receive the plastic frame located at the material receiving point and full of good circuit boards.

[0007] By adopting the above technical scheme, the frame supply mechanism lifts the stacked plastic frames one by one to the frame supply position, and then the frame taking mechanism transfers the plastic frames located at the frame supply position to the material receiving position. When the circuit board in the board receiving device is detected to be a good product, the six-axis robot transfers the circuit board from the board receiving device to the plastic frame located at the material receiving point for stacking and collection. After the plastic frame located at the material receiving point is stacked with full circuit boards, it falls into the frame collecting mechanism for receiving. Then the frame taking mechanism continues to grab the plastic frames from the frame supply position to collect and stack the good circuit boards. The board collecting process of the good circuit boards is smooth and highly automated.

[0008] Preferably, the frame supply mechanism includes a first support plate, a first drive assembly and a first sensor, the first support plate is located below the frame supply point and is used to carry the stacked rubber frames, the first drive assembly is arranged on the frame and is used to drive the first support plate to move vertically up and down, the first sensor is arranged on the frame and is located on one side of the frame supply point, the first sensor is electrically connected to the first drive assembly, when the first sensor senses that there is no rubber frame at the frame supply point, the first sensor sends an upward driving electrical signal to the first drive assembly, and when the first sensor senses that there is a rubber frame at the frame supply point, the first sensor stops sending an upward driving electrical signal to the first drive assembly.

[0009] By adopting the above technical solution, the first support plate carries the stacked rubber frames. When the rubber frame located at the frame supply point is taken away by the frame removing mechanism, the first sensor does not sense the rubber frame at the frame supply point. The first sensor sends an upward driving electrical signal to the first drive component. The first drive component drives the first support plate to move vertically upward until the topmost rubber frame on the first support plate is lifted to the frame supply point, thereby realizing continuous supply of rubber frames in the good product receiving device, and the frame supply process has a high degree of automation, which is conducive to improving the efficiency of receiving.

[0010] Preferably, the frame taking mechanism includes a movable plate, a clamping assembly and a second driving assembly, the second driving assembly is arranged on the frame to drive the movable plate to reciprocate between the frame supply point and the material receiving point, and the clamping assembly is arranged on the movable plate to clamp the rubber frame.

[0011] By adopting the above technical solution, the plastic frame at the receiving point is filled with circuit boards and falls into the frame collecting mechanism for receiving. The second driving component drives the movable plate to move from the receiving point to the supply frame point, and then the clamping component clamps the plastic frame at the supply frame point. Finally, the second driving component drives the movable plate to move from the supply frame point to the receiving point, thereby driving the plastic frame to transfer from the supply frame point to the receiving point to continue the receiving operation of good circuit boards.

[0012] Preferably, the number of the movable plates is set to two, and the two movable plates are arranged on opposite sides of the supply frame point and the material receiving point. The clamping assembly includes two clamping members, and the two clamping members are respectively connected to the two movable plates, and the two clamping members respectively clamp on opposite sides of the rubber frame.

[0013] By adopting the above technical scheme, the two movable plates are respectively arranged on the opposite sides of the supply frame point and the material receiving point to support a clamping member respectively. When the second driving component drives the two movable plates to move to the two sides of the supply frame point, the two clamping members respectively clamp on the opposite sides of the rubber frame located at the supply frame point to clamp the rubber frame, thereby driving the rubber frame to transfer to the material receiving point to collect the qualified circuit boards.

[0014] Preferably, the abutting member comprises a driving cylinder and a abutting block, the driving cylinder is fixedly connected to the movable plate, and the piston rod of the driving cylinder faces the rubber frame, and the abutting block is fixedly connected to the end of the piston rod of the driving cylinder.

[0015] By adopting the above technical solution, when the piston rod of the driving cylinder contracts, the piston rod of the driving cylinder drives the two clamping blocks to move away from each other, and the rubber frame at the material receiving point falls into the frame collecting mechanism. When the movable plate drives the clamping piece to move to the frame supply point, the piston rod of the driving cylinder stretches to drive the two clamping blocks to move toward each other, thereby clamping the rubber frame.

[0016] Preferably, the second driving assembly includes a connecting shaft, two belts and a second driving member, the connecting shaft is horizontally rotatably connected to the frame, two ends of the connecting shaft are respectively arranged on opposite sides of the supply frame point and the material receiving point, the two belts are respectively wrapped around the two ends of the connecting shaft, and the two belts are arranged in parallel, the two movable plates are respectively fixedly connected to the two belts, and the second driving member is arranged on the frame to drive the connecting shaft to rotate reciprocally.

[0017] By adopting the above technical solution, the second driving member drives the connecting shaft to rotate, and the rotation of the connecting shaft drives the two belts located at its two ends to transmit synchronously. The two belts of synchronous transmission drive the two movable plates to move synchronously, and the clamping members on the two movable plates respectively clamp the rubber frame on the opposite sides to achieve the clamping operation of the rubber frame.

[0018] Preferably, the frame collecting mechanism includes a second support plate, a third drive assembly and a second sensor, the second support plate is located below the material receiving point and is used for stacking and supporting the plastic frame filled with circuit boards, the third drive assembly is arranged on the frame and is used for driving the second support plate to move vertically up and down, the second sensor is arranged on the frame and is located on one side of the material receiving point, the second sensor is electrically connected to the third drive assembly, when the second sensor senses that there is no plastic frame at the material receiving point, the second sensor sends a downward driving electrical signal to the third drive assembly, and when the second sensor senses that there is a plastic frame at the material receiving point, the second sensor stops sending a downward driving electrical signal to the third drive assembly.

[0019] By adopting the above technical solution, the second support plate is stacked to carry the rubber frame filled with circuit boards. When the rubber frame located at the material receiving point falls onto the second support plate, there is no rubber frame at the material receiving point. The second sensor returns a downward driving electrical signal to the third drive component. The third drive component drives the second support plate to move vertically downward to avoid the next rubber frame that falls onto the second support plate, which is beneficial to improving the stability of the rubber frame filled with circuit boards when it falls onto the second support plate.

[0020] Preferably, the paper separation material picking device includes a third support plate, a fourth drive assembly and a third sensor. The third support plate is located between the good product board collecting device and the defective product board collecting device and is used for carrying the stacked paper separations. The fourth drive assembly is arranged on the frame and is used for driving the third support plate to move vertically up and down. The third sensor is arranged on the frame and is flush with the first sensor. The third sensor is electrically connected to the fourth drive assembly. When the third sensor does not sense the paper separation, the third sensor sends an upward driving electrical signal to the fourth drive assembly. When the third sensor senses the paper separation, the third sensor stops sending an upward driving electrical signal to the fourth drive assembly.

[0021] By adopting the above technical solution, the third support plate carries the stacked spacers. When the top layer of spacers is taken away by the six-axis robot, the third sensor cannot sense the spacers. The third sensor sends an upward driving electrical signal to the fourth drive assembly. The fourth drive assembly drives the third support plate to move vertically upward until the top layer of spacers on the third support plate is lifted to a position flush with the third sensor, so as to facilitate the next operation of the six-axis robot to take the spacers.

[0022] Preferably, the paper separator material taking device further comprises a brush, and the brush is located on the upper side of the paper separator and is rotatably connected to the frame.

[0023] By adopting the above technical solution, two adjacent separators may be stuck together due to static electricity or adhesion. When the six-axis robot takes the separator from the top of the third support plate, the brush can brush off the stuck separators, which helps to avoid placing two separators between two adjacent circuit boards, thereby helping to reduce production costs.

[0024] In summary, the present application includes at least one of the following beneficial technical effects: 1. By setting a board receiving device, a good board collecting device, a defective board collecting device, a paper separation device and a six-axis manipulator, when it is necessary to collect the circuit board, the board receiving device is aligned with the discharge port of the circuit board production line to receive the circuit board to be received, when the circuit board in the board receiving device is detected as good, the six-axis manipulator transfers the good circuit board to the good board collecting device, and then the six-axis manipulator transfers the paper separation in the paper separation device to the good board collecting device to cover the good circuit board, the rubber frame in the good board collecting device receives and stacks the good circuit board, and the paper separation separates the two adjacent circuit boards above and below, when the circuit board in the board receiving device is detected as defective, the six-axis manipulator transfers the defective circuit board to the defective board collecting device, and the defective board collecting device receives and stacks the defective circuit boards, so that the circuit board collecting process is carried out in an orderly manner, and the spatial layout of each device is compact and reasonable, without the need for tedious manual operations, with a high degree of automation, convenient for circuit board collection operations, and conducive to reducing labor costs.

[0025] 2. By setting up a frame supply mechanism, a frame taking mechanism and a frame collection mechanism, the frame supply mechanism lifts the stacked plastic frames one by one to the frame supply position, and then the frame taking mechanism transfers the plastic frames at the frame supply position to the material receiving position. When the circuit board in the board receiving device is detected as a good product, the six-axis robot transfers the circuit board from the board receiving device to the plastic frame at the material receiving point for stacking and collection. After the plastic frame at the material receiving point is stacked with full circuit boards, it falls into the frame collection mechanism for receiving. Then the frame taking mechanism continues to grab the plastic frame from the frame supply position to collect and stack the good circuit boards. The board collection process of the good circuit boards is smooth and highly automated.

[0026] 3. By setting a movable plate, a clamping assembly and a second driving assembly, the plastic frame at the receiving point is filled with circuit boards and falls into the frame receiving mechanism for receiving. The second driving assembly drives the movable plate to move from the receiving point to the supply frame point, and then the clamping assembly clamps the plastic frame at the supply frame point. Finally, the second driving assembly drives the movable plate to move from the supply frame point to the receiving point, thereby driving the plastic frame to transfer from the supply frame point to the receiving point to continue the receiving operation of the qualified circuit boards. BRIEF DESCRIPTION OF THE DRAWINGS

[0027] Figure 1 It is a schematic diagram of the overall structure of the six-axis paper clamping and collecting machine in the embodiment of the present application.

[0028] Figure 2 It is a structural schematic diagram from another perspective of the six-axis paper clamping and collecting machine in the embodiment of the present application.

[0029] Figure 3 yes Figure 1 Enlarged view of part A in the middle.

[0030] Description of reference numerals: 1. Frame; 2. Board receiving device; 21. Conveying roller; 22. Baffle; 3. Good product board receiving device; 31. Frame supply mechanism; 311. First support plate; 312. First driving assembly; 313. First sensor; 32. Frame taking mechanism; 321. Moving plate; 322. Clamping assembly; 3221. Tightening member; 32211. Driving cylinder; 32212. Tightening block; 323. Second driving assembly; 3231. Connecting Connecting shaft; 3232, belt; 3233, second driving member; 33, frame collecting mechanism; 331, second support plate; 332, third driving assembly; 333, second sensor; 4, defective product collecting device; 41, fourth support plate; 5, paper separation and material taking device; 51, third support plate; 52, fourth driving assembly; 53, third sensor; 54, brush; 6, six-axis manipulator; 7, frame supply point; 8, material receiving point. DETAILED DESCRIPTION

[0031] The following is combined with Figure 1-3 This application is described in further detail.

[0032] The present application embodiment discloses a six-axis paper clamping and board collecting machine, referring to Figure 1 and Figure 2 , including a frame 1, on which a board receiving device 2, a good board collecting device 3, a defective board collecting device 4, a paper separation material taking device 5 and a six-axis manipulator 6 are arranged. The board receiving device 2 is aligned with the discharge port of the circuit board production line for receiving the circuit board to be received. The good board collecting device 3 is located on one side of the board receiving device 2 for receiving and stacking good circuit boards using a rubber frame. The defective board collecting device 4 is located on the other side of the board receiving device 2 adjacent to the good board collecting device 3 for receiving and stacking defective circuit boards. It should be noted that the circuit board has been detected as a good product or a defective product when it is on the production line, so as to transmit the corresponding transfer instruction to the six-axis manipulator 6. The paper separation material taking device 5 is located between the good board collecting device 3 and the defective board collecting device 4 and is used to provide paper separation. The good board collecting device 3 and the defective board collecting device 4 are arranged diagonally, and the board receiving device 2 and the paper separation material taking device 5 are arranged diagonally. The six-axis manipulator 6 is hoisted in the middle of the top of the frame 1 to facilitate the action of the six-axis manipulator 6.

[0033] When the circuit board in the board receiving device 2 is detected as a good product, the six-axis manipulator 6 transfers the good circuit board in the board receiving device 2 to the good board collecting device 3 for board collecting operation, and then the six-axis manipulator 6 transfers the partition paper in the partition paper picking device 5 to the good board collecting device 3 to cover the good circuit board to avoid collision between two adjacent good circuit boards. When the circuit board in the board receiving device 2 is detected as a defective product, the six-axis manipulator 6 transfers the defective circuit board to the defective board collecting device 4 for collection. It should be noted that in the production process of circuit boards, generally, the number of good circuit boards is far greater than that of defective circuit boards. The circuit board collecting process is carried out in an orderly manner, and the spatial layout of each device is compact and reasonable. There is no need for manual tedious operations. The degree of automation is high, which is convenient for collecting circuit boards and helps to reduce labor costs.

[0034] Reference Figure 1 The board receiving device 2 includes a plurality of conveying rollers 21 rotatably connected to the frame 1 at even intervals. The conveying rollers 21 are driven to rotate by a motor. The incoming end of the conveying rollers 21 in the conveying direction is aligned with the discharge port of the circuit board production line to receive the completed circuit boards. The end of the conveying rollers 21 in the conveying direction is provided with a baffle 22 fixedly connected to the frame 1. The baffle 22 prevents the circuit boards from continuing to be conveyed, so as to facilitate the grasping operation of the six-axis manipulator 6.

[0035] Reference Figure 1 and Figure 2 The good product receiving device 3 includes a frame supply mechanism 31, a frame removal mechanism 32 and a frame collection mechanism 33. The frame supply mechanism 31 is located below the board receiving device 2 to reduce the occupied space. The frame supply mechanism 31 has a frame supply point 7, which is used to lift the stacked glue frames one by one to the frame supply point 7. The frame removal mechanism 32 is located on one side of the board receiving device 2. The frame removal mechanism 32 has a material receiving point 8, which is used to transfer the glue frame located at the frame supply point 7 to the material receiving point 8. In this embodiment, the material receiving point 8 and the frame supply point 7 are located on the same horizontal plane to facilitate the transfer of the glue frame. The frame collection mechanism 33 is located below the material receiving point 8 to receive the glue frame located at the material receiving point 8 and full of good product circuit boards, so that the next glue frame can be transferred to the material receiving point 8 to continue the board collection operation of the good product circuit boards.

[0036] Reference Figure 1 and Figure 2The frame supply mechanism 31 includes a first support plate 311, a first drive assembly 312 and a first sensor 313. The first support plate 311 is located below the frame supply point 7 and is used to carry the stacked rubber frames. The first drive assembly 312 is arranged on the frame 1 and is used to drive the first support plate 311 to move vertically up and down. In this embodiment, the first drive assembly 312 adopts a motor screw structure to realize the vertical up and down movement of the first support plate 311. This is a conventional structure of mobile drive and will not be described in detail here. The first sensor 313 is fixedly arranged on the frame 1 and located at one side of the frame supply point 7 to sense whether there is a glue frame at the feeding point. The first sensor 313 is electrically connected to the first driving component 312. When the first sensor 313 senses that there is no glue frame at the frame supply point 7, the first sensor 313 sends an upward driving electrical signal to the first driving component 312, so that the top glue frame on the first support plate 311 is lifted to the frame supply point 7. When the first sensor 313 senses that there is a glue frame at the frame supply point 7, the first sensor 313 stops sending an upward driving electrical signal to the first driving component 312, so that the top glue frame on the first support plate 311 stays on the frame supply point 7, so that the frame taking mechanism 32 can transfer the glue frame located at the frame supply point 7 to the material receiving point 8.

[0037] Reference Figure 1 , Figure 2 and Figure 3 The frame-taking mechanism 32 includes a moving plate 321, a clamping assembly 322 and a second driving assembly 323. The second driving assembly 323 is arranged on the frame 1 to drive the moving plate 321 to reciprocate between the supply frame position 7 and the receiving material position 8. The clamping assembly 322 is arranged on the moving plate 321 to clamp the plastic frame. When the plastic frame at the receiving material position 8 is full of good circuit boards and falls into the frame collecting mechanism 33, the second driving assembly 323 drives the moving plate 321 to move from the receiving material position 8 to the supply frame position 7, and clamps the plastic frame lifted to the supply frame position 7 through the clamping assembly 322. Finally, the clamped plastic frame is moved to the receiving material position 8 by the second driving assembly 323 to continue the board collecting operation of the good circuit boards.

[0038] Reference Figure 1 , Figure 2 and Figure 3 The number of movable plates 321 is set to two, and the two movable plates 321 are respectively arranged on the opposite sides of the supply frame point 7 and the material receiving point 8, and the two movable plates 321 are symmetrically arranged relative to the path formed between the supply frame point 7 and the material receiving point 8. The clamping assembly 322 includes two tightening members 3221, and the two tightening members 3221 are respectively connected to the two movable plates 321, and the two tightening members 3221 respectively tighten the opposite sides of the rubber frame to realize the clamping operation of the rubber frame.

[0039] Reference Figure 1 , Figure 2 and Figure 3 Each of the abutting members 3221 includes a driving cylinder 32211 and a abutting block 32212. The driving cylinder 32211 is horizontally fixedly connected to the movable plate 321, and the piston rod of the driving cylinder 32211 faces the rubber frame, and the abutting block 32212 is fixedly connected to the end of the piston rod of the driving cylinder 32211. It is worth mentioning that the outer wall of the rubber frame usually has a groove for easy access. In this embodiment, the abutting block 32212 is arranged according to the shape of the groove so that the abutting block 32212 can be embedded in the groove, thereby improving the stability of clamping the rubber frame.

[0040] Reference Figure 1 , Figure 2 and Figure 3 The second driving assembly 323 includes a connecting shaft 3231, two belts 3232 and a second driving member 3233. The number of the connecting shafts 3231 is also set to two. The two connecting shafts 3231 are horizontally rotatably connected to the frame 1 and are located at the two ends of the path formed by the frame supply point 7 and the material receiving point 8 and are arranged in parallel. The two ends of the connecting shaft 3231 are respectively arranged on the opposite sides of the frame supply point 7 and the material receiving point 8. The two belts 3232 are respectively wrapped around the same end of the two connecting shafts 3231, and the two belts 3232 are arranged in parallel. The two movable plates 321 are respectively fixedly connected to the two belts 3232. The second driving member 3233 is arranged on the frame 1 for driving the connecting shaft 3231 to reciprocate. The reciprocating rotation of the connecting shaft 3231 drives the two belts 3232 to reciprocate synchronously, thereby driving the two movable plates 321 to reciprocate synchronously on both sides of the path formed by the frame supply point 7 and the material receiving point 8. In this embodiment, the second driving component 323 uses a motor and a synchronous wheel structure to achieve the reciprocating rotation of the connecting shaft 3231. This is a conventional structure of rotational drive and will not be described in detail here.

[0041] Reference Figure 1 , Figure 2 and Figure 3The frame collecting mechanism 33 includes a second support plate 331, a third driving assembly 332 and a second sensor 333. The second support plate 331 is located below the material receiving point 8 and is used for stacking and carrying the rubber frame filled with circuit boards. The third driving assembly 332 is arranged on the frame 1 and is used for driving the second support plate 331 to move vertically up and down. In this embodiment, the third driving assembly 332 also adopts the structure of a motor screw to realize the vertical up and down movement of the second support plate 331. This is a conventional structure of mobile drive and will not be described in detail here. The second sensor 333 is fixedly arranged on the frame 1 and is located at one side of the material receiving point 8 to sense whether there is a glue frame at the material receiving point 8. The second sensor 333 is electrically connected to the third driving component 332. When the second sensor 333 senses that there is no glue frame at the material receiving point 8, the second sensor 333 sends a downward driving electrical signal to the third driving component 332 to move the next empty glue frame to the material receiving point 8 for avoidance. When the second sensor 333 senses that there is a glue frame at the material receiving point 8, the second sensor 333 stops sending the downward driving electrical signal to the third driving component 332, so that the second support plate 331 can receive the next glue frame filled with good circuit boards.

[0042] Reference Figure 1 , Figure 2 and Figure 3 After the six-axis robot 6 transfers a good circuit board to the plastic frame located at the material receiving point 8, the six-axis robot 6 also needs to take out a paper separator from the paper separator material taking device 5 to cover the good circuit board to isolate the two good circuit boards stacked up and down.

[0043] Reference Figure 1 and Figure 2 The paper separation material picking device 5 includes a third support plate 51, a fourth drive assembly 52 and a third sensor 53. The third support plate 51 is located between the good product collecting device 3 and the bad product collecting device 4 and is used to carry the stacked paper separations. The fourth drive assembly 52 is arranged on the frame 1 and is used to drive the third support plate 51 to move vertically up and down. In this embodiment, the fourth drive assembly 52 also uses a motor screw structure to realize the vertical up and down movement of the third support plate 51. This is a conventional structure of mobile drive and will not be elaborated here. The third sensor 53 is fixedly arranged on the frame 1 and is flush with the first sensor 313. The third sensor 53 is electrically connected to the fourth drive assembly 52. ​​When the third sensor 53 does not sense the spacer paper, the third sensor 53 sends an upward driving electrical signal to the fourth drive assembly 52 to lift the topmost spacer paper on the third support plate 51 to a position flush with the third sensor 53. When the third sensor 53 senses the spacer paper, the third sensor 53 stops sending an upward driving electrical signal to the fourth drive assembly 52 to facilitate the operation of the six-axis robot 6 to take the spacer paper.

[0044] Reference Figure 1Since the number of defective circuit boards is far less than the number of good ones, the defective board collecting device 4 includes a fourth support plate 41, which is horizontally fixed to the frame 1, and a rubber frame is placed on the fourth support plate 41 to collect the defective circuit boards.

[0045] The implementation principle of a six-axis paper clamping and board collecting machine in the embodiment of the present application is as follows: when it is necessary to collect the circuit board, the completed circuit board is conveyed to the conveyor roller 21, and the baffle 22 prevents the circuit board from continuing to be conveyed on the conveyor roller 21, so as to facilitate the grasping operation of the six-axis manipulator 6; when the circuit board is detected as a good product, the six-axis manipulator 6 transfers the circuit board from the conveyor roller 21 to the rubber frame located at the material receiving point 8, and then the six-axis manipulator 6 grabs the topmost separator paper from the third support plate 51 and transfers it to the material receiving point 8 and covers the good circuit board; when the circuit board is detected as a defective product, the six-axis manipulator 6 transfers the circuit board from the conveyor roller 21 to the fourth support plate 41; when the circuit board is detected as a defective product, the six-axis manipulator 6 transfers the circuit board from the conveyor roller 21 to the fourth support plate 41; When the plastic frame at position 8 is full of good circuit boards, the plastic frame full of good circuit boards falls onto the second support plate 331, and the third driving component 332 drives the second support plate 331 to move vertically downward to avoid the next plastic frame falling on the second support plate 331, and then the second driving component 323 drives the clamping component 322 to move to the supply frame point 7 through the moving plate 321 to clamp the empty plastic frame and bring the empty plastic frame back to the receiving point 8 to continue to receive the good circuit boards. The circuit board collection process is carried out in an orderly manner, and the spatial layout of each device is compact and reasonable, without the need for cumbersome manual operations, with a high degree of automation, easy to carry out circuit board collection operations, and conducive to reducing labor costs.

[0046] The above are all preferred embodiments of the present application, and the protection scope of the present application is not limited thereto. Therefore, any equivalent changes made according to the structure, shape, and principle of the present application should be included in the protection scope of the present application.

Claims

1. A six-axis paper clamping and board collecting machine, characterized in that: The invention comprises a frame (1), on which a board receiving device (2), a good board collecting device (3), a defective board collecting device (4), a paper separator and a material taking device (5) and a six-axis manipulator (6) are arranged. The board receiving device (2) is aligned with the discharge port of the circuit board production line for receiving the circuit boards to be received. The good board collecting device (3) is located on one side of the board receiving device (2) for receiving and stacking good circuit boards using a rubber frame. The defective board collecting device (4) is located on the other side of the board receiving device (2) adjacent to the good board collecting device (3) for receiving and stacking defective circuit boards. The paper separator and a material taking device (5) is located between the good board collecting device (3) and the defective board collecting device (4) for providing a paper separator. The good product board collecting device (3) and the defective product board collecting device (4) are arranged diagonally, the board connecting device (2) and the paper separation material taking device (5) are arranged diagonally, and the six-axis manipulator (6) is hoisted on the top of the frame (1). When the circuit board in the board connecting device (2) is detected as a good product, the six-axis manipulator (6) transfers the good circuit board to the good product board collecting device (3), and then the six-axis manipulator (6) transfers the paper separation in the paper separation material taking device (5) to the good product board collecting device (3) to cover the good circuit board. When the circuit board in the board connecting device (2) is detected as a defective product, the six-axis manipulator (6) transfers the defective circuit board to the defective board collecting device (4).

2. The six-axis paper clamping and board collecting machine according to claim 1, characterized in that: The good product receiving device (3) comprises a frame supply mechanism (31), a frame removal mechanism (32) and a frame collection mechanism (33). The frame supply mechanism (31) is located below the board receiving device (2). The frame supply mechanism (31) has a frame supply point (7). The frame supply mechanism (31) is used to lift the stacked plastic frames one by one to the frame supply point (7). The frame removal mechanism (32) is located on one side of the board receiving device (2). The frame removal mechanism (32) has a material receiving point (8). The frame removal mechanism (32) is used to transfer the plastic frame located at the frame supply point (7) to the material receiving point (8). The frame collection mechanism (33) is located below the material receiving point (8) and is used to receive the plastic frame located at the material receiving point (8) and fully loaded with good product circuit boards.

3. The six-axis paper clamping and board collecting machine according to claim 2, characterized in that: The frame supply mechanism (31) comprises a first support plate (311), a first driving component (312) and a first sensor (313); the first support plate (311) is located below the frame supply point (7) and is used to carry the stacked rubber frames; the first driving component (312) is arranged on the frame (1) and is used to drive the first support plate (311) to move vertically up and down; the first sensor (313) is arranged on the frame (1) and is located at one side of the frame supply point (7); the first sensor (313) is electrically connected to the first driving component (312); when the first sensor (313) senses that there is no rubber frame at the frame supply point (7), the first sensor (313) sends an upward driving electrical signal to the first driving component (312); when the first sensor (313) senses that there is a rubber frame at the frame supply point (7), the first sensor (313) stops sending an upward driving electrical signal to the first driving component (312).

4. The six-axis paper clamping and board collecting machine according to claim 2, characterized in that: The frame taking mechanism (32) comprises a moving plate (321), a clamping assembly (322) and a second driving assembly (323); the second driving assembly (323) is arranged on the frame (1) and is used to drive the moving plate (321) to move back and forth between the frame supply point (7) and the material receiving point (8); the clamping assembly (322) is arranged on the moving plate (321) and is used to clamp the rubber frame.

5. The six-axis paper clamping and board collecting machine according to claim 4, characterized in that: The number of the movable plates (321) is set to two, and the two movable plates (321) are respectively arranged on opposite sides of the frame supply point (7) and the material receiving point (8). The clamping assembly (322) includes two abutting members (3221), and the two abutting members (3221) are respectively connected to the two movable plates (321), and the two abutting members (3221) respectively abut against opposite sides of the rubber frame.

6. The six-axis paper clamping and board collecting machine according to claim 5, characterized in that: The pressing member (3221) comprises a driving cylinder (32211) and a pressing block (32212); the driving cylinder (32211) is fixedly connected to the movable plate (321), and the piston rod of the driving cylinder (32211) faces the rubber frame; the pressing block (32212) is fixedly connected to the end of the piston rod of the driving cylinder (32211).

7. The six-axis paper clamping and board collecting machine according to claim 4, characterized in that: The second driving assembly (323) comprises a connecting shaft (3231), two belts (3232) and a second driving member (3233); the connecting shaft (3231) is horizontally rotatably connected to the frame (1); two ends of the connecting shaft (3231) are respectively arranged on opposite sides of the supply frame point (7) and the material receiving point (8); the two belts (3232) are respectively wrapped around the two ends of the connecting shaft (3231), and the two belts (3232) are arranged in parallel; the two movable plates (321) are respectively fixedly connected to the two belts (3232); and the second driving member (3233) is arranged on the frame (1) and is used to drive the connecting shaft (3231) to reciprocate.

8. The six-axis paper clamping and board collecting machine according to claim 2, characterized in that: The frame collecting mechanism (33) comprises a second support plate (331), a third driving assembly (332) and a second sensor (333); the second support plate (331) is located below the material receiving point (8) and is used for stacking and supporting the plastic frame filled with circuit boards; the third driving assembly (332) is arranged on the frame (1) and is used for driving the second support plate (331) to move vertically up and down; the second sensor (333) is arranged on the frame (1) and is located at the material receiving point (8). On one side, the second sensor (333) is electrically connected to the third driving component (332); when the second sensor (333) senses that there is no rubber frame at the material receiving point (8), the second sensor (333) sends a downward driving electrical signal to the third driving component (332); when the second sensor (333) senses that there is a rubber frame at the material receiving point (8), the second sensor (333) stops sending a downward driving electrical signal to the third driving component (332).

9. The six-axis paper clamping and board collecting machine according to claim 3, characterized in that: The paper separation material picking device (5) comprises a third support plate (51), a fourth driving assembly (52) and a third sensor (53). The third support plate (51) is located between the good product board collecting device (3) and the bad product board collecting device (4) and is used to carry stacked paper separations. The fourth driving assembly (52) is arranged on the frame (1) and is used to drive the third support plate (51) to move vertically up and down. The third sensor (53) is arranged on the frame (1) and is flush with the first sensor (313). The third sensor (53) is electrically connected to the fourth driving assembly (52). When the third sensor (53) does not sense the paper separation, the third sensor (53) sends an upward driving electrical signal to the fourth driving assembly (52). When the third sensor (53) senses the paper separation, the third sensor (53) stops sending an upward driving electrical signal to the fourth driving assembly (52).

10. The six-axis paper clamping and board collecting machine according to claim 1, characterized in that: The paper separator material taking device (5) further comprises a brush (54), wherein the brush (54) is located on the upper side of the paper separator and is rotatably connected to the frame (1).

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