Tray unstacker

Abstract

A tray material head dismounting device, comprising a tray clamping mechanism, a material head dismounting mechanism and a cutting mechanism, the material head dismounting mechanism comprises a material head body and a transfer module for driving the material head body to move. The material head body further comprises an upper cutter head, a lower cutter head and a first driving member for driving the upper cutter head and the lower cutter head to open and close. The lower cutter head is in a shovel-shaped configuration for shoveling the material head of the material belt. When the lower cutter head shovels the material head, the upper cutter head and the lower cutter head gradually close until the shoveling material head is clamped, realizing the clamping of the material head. At this time, the material head can be torn off by driving the material head body to move through the transfer module. The cutting mechanism comprises an electric scissors and two oppositely arranged material belt grippers. The two material belt grippers can alternately clamp and tear the material belt, ensuring the tension of the material belt and preventing the material belt from being easily torn. The electric scissors can cut the material belt without material area, which is beneficial to the tray material head process before the material replacement of the chip mounter, and the production efficiency of the production line is higher and the cost is lower.

Description

Technical Field

[0001] This application relates to the field of surface mount technology, and more particularly to a tray unloading device. Background Technology

[0002] A pick-and-place machine, also known as a surface mount machine, is a core piece of equipment in the SMT (Surface Mount Technology) production line. It is primarily used to mount electronic components onto circuit boards. Pick-and-place machines typically account for over 60% of the total investment in an SMT production line, and the production capacity is largely determined by them. The feeding station's trays feed tape to the pick-and-place machine, enabling it to complete the placement process. Normally, when the tape in the old tray at the feeding station is about to run out, the operator needs to remove the old tray, retrieve a new tray, manually tear the tape head off the tape, crimp the tape, and manually place the new tray at the feeding station to continue loading the old tray. On the one hand, manually tearing open the material head and manually changing the material tray is inefficient and can easily affect the production efficiency of the production line. Moreover, labor costs are increasing year by year, resulting in high costs. On the other hand, manual operation is prone to errors, especially since the pick and place machine has a variety of material changes and a high replenishment frequency (especially 7-inch material trays). If the personnel do not operate in a standardized manner, errors are more likely to occur, affecting the production line.

[0003] Therefore, how to improve the technical defects in the existing technology and develop equipment that can perform the material tray removal process before material change for the pick-and-place machine has always been a problem that ordinary technicians in this field urgently need to solve. Summary of the Invention

[0004] The purpose of this application is to provide a tray unloading device that can perform the tray unloading process before material change for the pick and place machine, automatically completing operations such as searching, clamping, tearing, and cutting the material head, resulting in higher production efficiency and lower cost for the production line.

[0005] The technical solution provided in this application is as follows:

[0006] A material tray unloading device, comprising:

[0007] The tray clamping mechanism is used to clamp the tray.

[0008] A material dismantling mechanism is disposed opposite to the material tray clamping mechanism. The material dismantling mechanism includes a material dismantling head body and a transfer module for driving the material dismantling head body to move. The material dismantling head body includes an upper cutter head, a lower cutter head, and a first driving member for driving the upper cutter head and the lower cutter head to open and close. The lower cutter head has a shovel-shaped structure for scooping up the material head of the strip. When the material head is scooped up, the first driving member drives the upper cutter head and the lower cutter head to close, so that the upper cutter head and the lower cutter head can jointly clamp the material head. The transfer module drives the material dismantling head body to move away from the material tray, so that the material dismantling head body tears the material strip.

[0009] The cutting mechanism includes electric scissors and two oppositely arranged strip grippers. After the strip tearing mechanism tears the strip, the two strip grippers alternately clamp and pull the strip downwards until the strip is fully exposed in the material area. The electric scissors then move to the junction between the material area and the non-material area of ​​the strip to cut it.

[0010] In some embodiments, the lower cutter head has an air blowing hole on the side facing the upper cutter head, and the upper cutter head has an adsorption hole on the side facing the lower cutter head.

[0011] In some embodiments, the upper cutter head includes a main body and a first clamping part disposed on the side edge of the main body. The main body is also provided with a first docking part below the first clamping part, and the first docking part is provided with a through hole.

[0012] The lower cutter head includes a second clamping part and a second docking part. The second docking part is inserted into the through hole, and the second clamping part is located at the end of the second docking part facing the first clamping part and has a shovel-shaped structure.

[0013] In some embodiments, the disassembly head mechanism has a stop on the side of the second docking portion away from the lower cutter head. The stop is driven to be connected to the first driving member. The first driving member drives the stop to rise and fall, thereby causing the lower cutter head to move closer to the upper cutter head. A buffer is provided between the stop and the second docking portion.

[0014] In some embodiments, the main body has a plate-like structure;

[0015] And / or,

[0016] The side of the second clamping part facing the first clamping part is an inclined surface. The inclined surface is inclined to the side away from the second docking part and close to the main body to form the shovel-shaped structure. The side of the first clamping part facing the second clamping part is parallel to the inclined surface.

[0017] In some embodiments, the material disassembly mechanism further includes a camera module; and the material tray clamping mechanism is provided with a rotating shaft adapted to pass through the central hole of the material tray, and the material tray rotates about the center line of the rotating shaft relative to the material tray clamping mechanism, so as to facilitate the camera module to locate the material head.

[0018] In some embodiments, the disassembly head mechanism further includes a laser sensor, a slide table, and a mounting frame, wherein the mounting frame is mounted on the disassembly head body, the slide table and the laser sensor are mounted on the mounting frame, and the camera module is mounted on the slide table;

[0019] The laser sensor is used to measure the radius of the material strip loop in the tray. The slide is configured to move the camera module according to the data measured by the laser sensor, so that the material strip is located within the focusing area of ​​the camera module.

[0020] In some embodiments, the material tray unloading head device further includes:

[0021] A tray picking and placing mechanism is used to pick up and transport the tray;

[0022] The tray picking and placing mechanism includes a jaw and a jaw cylinder for driving the jaw to open and close; when the jaw opens and presses against the central hole wall of the tray, the tray picking and placing mechanism clamps the tray; when the jaw closes, the tray disengages from the tray picking and placing mechanism.

[0023] In some embodiments, the material tray picking and placing mechanism further includes a material strip fixing gripper for clamping the material head after the material tray has been torn open.

[0024] In some embodiments, the material tray unloading head device further includes:

[0025] The material tray temporary storage station has several material tray receiving slots;

[0026] The tray picking and placing mechanism is adapted to pick up the tray and transport the tray into the receiving groove; and the tray picking and placing mechanism further includes a photoelectric sensor for sensing the size of the tray picked up by the claw.

[0027] In some embodiments, the upper surface of the material tray temporary storage station is provided with a constraint roller, and there is a gap between the constraint roller and the upper surface of the material tray temporary storage station for the material strip to pass through.

[0028] The material tray picking and placing mechanism further includes a second vertical transfer module, a pressure roller installed on the second vertical transfer module, and a second driving component for driving the pressure roller to rotate. The second vertical transfer module is used to drive the pressure roller to rise and fall.

[0029] When the tray is placed in the receiving groove, the second vertical transfer module drives the pressure roller to press down, so as to press the torn strip tightly against the upper end face of the tray temporary storage station. The second driving member drives the pressure roller to rotate, thereby driving the strip to move, so that the strip passes through the gap between the constraint roller and the upper end face of the tray temporary storage station.

[0030] The technical advantages of this application are as follows:

[0031] 1. In this application, by setting a lower cutter head with a shovel-shaped head, the material head of the strip in the material tray can be scooped up. At the same time, this application also has an upper cutter head. While the lower cutter head is scooping up the material head, the upper and lower cutter heads gradually close until they clamp the scooped-up material head, thus achieving clamping of the material head. At this time, the material head can be torn off by driving the upper and lower cutter heads to move through the transfer module, so as to facilitate the subsequent material head cutting operation.

[0032] 2. In this application, the tray unloading device also includes a cutting mechanism, which can automatically cut the blank areas of the material strip, completing the tray unloading process before the pick-and-place machine changes materials. This results in a higher degree of automation, which is more conducive to improving the production line's efficiency and reducing costs. Moreover, the cutting mechanism in this application includes two material strip grippers, which can alternately grip and pull the material strip downwards after the upper and lower cutters clamp and tear it off the material strip. This ensures the material strip tension while preventing it from breaking, which is beneficial for the electric shears to cut off the blank areas of the material strip.

[0033] 3. In this application, the lower cutter head is provided with an air blowing hole on the side facing the upper cutter head, and the upper cutter head is provided with an adsorption hole on the side facing the lower cutter head. After the lower cutter head picks up the material head, air is blown out through the air blowing hole to blow the material head to the upper cutter head, and then the adsorption hole is used to adsorb the material head onto the upper cutter head. This allows the upper and lower cutter heads to better clamp the material head, making it less prone to errors. Moreover, the clamped material head is flatter, which is beneficial for the upper and lower cutter heads to clamp the material head and tear it off the material strip.

[0034] 4. In this application, the material dismantling mechanism also includes a camera module, a laser sensor, and a slide table capable of moving the camera module. The laser sensor can identify the radius of the strip loop formed after the material strip is wound in the tray. The slide table adjusts the position of the camera module relative to the tray based on the data measured by the laser sensor, so that the material strip is within the focusing area of ​​the camera module. Thus, regardless of the size of the tray or the amount of material strip in it, the camera module in this application can acquire the position of the material head through image acquisition, making it highly versatile and widely applicable.

[0035] 5. In this application, the tray unloading device also includes a tray loading and unloading mechanism, which enables automatic loading and unloading of trays. For example, it can transport the tray to a tray clamping mechanism or transport the cut tray from the tray clamping mechanism to a tray storage rack. This tray loading and unloading mechanism is equipped with a strip fixing gripper that can hold the cut strip to prevent the torn strip from being re-attached, making it highly practical. Furthermore, the tray loading and unloading mechanism is also equipped with a pressure roller that can transport the strip to the restraint roller at the tray storage station, ensuring that when the tray is stored in the tray storage rack, the torn strip remains in a torn state, allowing for subsequent direct splicing of the strips on the tray without repeatedly tearing them apart. Attached Figure Description

[0036] The present application will be further described in detail below with reference to the accompanying drawings and specific embodiments:

[0037] Figure 1 This is a plan view of the tray unloading head device provided in one embodiment of this application;

[0038] Figure 2 This is a three-dimensional structural diagram of the tray clamping mechanism and the unloading head mechanism provided in one embodiment of this application;

[0039] Figure 3 This is a three-dimensional structural schematic diagram of the dismantling head mechanism provided in one embodiment of this application;

[0040] Figure 4 This is a schematic diagram of the structure of the dismantling head body when it picks up the material head in one embodiment of this application;

[0041] Figure 5 yes Figure 4 The diagram shown is an enlarged view of part of the structure.

[0042] Figure 6 This is a schematic diagram of the structure of the dismantling head body provided in one embodiment of the present application, which can extend into the depth of the material tray under the drive of the first horizontal transfer module;

[0043] Figure 7 This is a three-dimensional structural schematic diagram of the tray clamping mechanism and the cutting mechanism provided in one embodiment of this application;

[0044] Figure 8 This is a three-dimensional structural diagram of the tray picking and placing mechanism provided in one embodiment of this application in one state;

[0045] Figure 9 This is a three-dimensional structural diagram of the tray picking and placing mechanism provided in one embodiment of this application in another state;

[0046] Figure 10This is a three-dimensional structural diagram of the material tray picking and placing mechanism provided in one embodiment of this application when the material tray is placed at the material tray temporary storage station.

[0047] Explanation of icon numbers:

[0048] 100. Tray clamping mechanism; 110. First clamping component; 120. Second clamping component; 130. Third driving component; 140. Rotating shaft;

[0049] 200. Disassembly head mechanism; 210. Upper cutter head; 211. Main body; 212. First clamping part; 213. First docking part; 220. Lower cutter head; 221. Second clamping part; 222. Air blowing hole; 223. Second docking part; 230. First driving component; 240. Stop; 250. Buffer component; 261. First vertical transfer module; 262. First horizontal transfer module; 263. Second horizontal transfer module; 270. Laser sensor; 280. Fixing frame; 290. Material support component;

[0050] 300. Cutting mechanism; 310. Electric scissors; 320. First material belt gripper; 330. Second material belt gripper;

[0051] 400. Material tray loading and unloading mechanism; 410. Claw; 420. Claw cylinder; 430. Material strip fixing gripper; 440. Photoelectric sensor; 450. Second vertical transfer module; 460. Pressure roller;

[0052] 500. Material tray temporary storage station; 510. Receiving trough; 520. Constraint rollers;

[0053] 601. Rotary motor; 602. Camera module;

[0054] 700, tray; 710, strip; 720, head. Detailed Implementation

[0055] In the following description, specific details such as particular system architectures and techniques are set forth for illustrative purposes and not for limitation, in order to provide a thorough understanding of the embodiments of this application. However, those skilled in the art will understand that this application can also be implemented in other embodiments without these specific details. In other instances, detailed descriptions of well-known systems, apparatuses, circuits, and methods have been omitted so as not to obscure the description of this application with unnecessary detail.

[0056] To more clearly illustrate the technical solutions in the embodiments of this application or the prior art, the specific implementation methods of this application will be described below with reference to the accompanying drawings. Obviously, the accompanying drawings described below are only some embodiments of this application. For those skilled in the art, other drawings and other implementation methods can be obtained based on these drawings without creative effort.

[0057] To keep the drawings concise, each figure only schematically shows the parts relevant to the invention, and these do not represent the actual structure of the product. Furthermore, to facilitate understanding, in some figures, only one of components with the same structure or function is schematically depicted, or only one is labeled. In this document, "one" not only means "only one," but can also mean "more than one."

[0058] It should also be further understood that the term “and / or” as used in this application specification and the appended claims means any combination of one or more of the associated listed items and all possible combinations, and includes such combinations.

[0059] In this document, it should be noted that, unless otherwise explicitly specified and limited, the terms "installation," "connection," and "linking" should be interpreted broadly. For example, they can refer to fixed connections, detachable connections, or integral connections; they can refer to mechanical connections or electrical connections; they can refer to direct connections or indirect connections through an intermediate medium; and they can refer to the internal communication between two components. Those skilled in the art can understand the specific meaning of the above terms in this application based on the specific circumstances.

[0060] In the embodiments shown in the accompanying drawings, the directional indications (such as up, down, left, right, front, and back) used to explain the structure and movement of the various components of this application are relative rather than absolute. These descriptions are appropriate when these components are in the positions shown in the drawings. If the descriptions of the positions of these components change, these directional indications also change accordingly.

[0061] Furthermore, in the description of this application, the terms "first," "second," etc., are used only to distinguish descriptions and should not be construed as indicating or implying relative importance.

[0062] According to a specific embodiment provided by the present invention, see [link to specific embodiment]. Figures 1 to 3 A tray removal device includes a tray clamping mechanism, a removal mechanism 200, and a cutting mechanism 300. The tray clamping mechanism is used to clamp the tray 700 to be removed, the removal mechanism 200 is used to search for, clamp, and tear off the material head 720 on the tray 700, and the cutting mechanism 300 is used to cut off the material-free area on the material strip 710, thus preparing the tray removal process for the pick-and-place machine before material change.

[0063] Specifically, see Figure 3 and Figure 4The descrambling mechanism 200 includes a descrambling head body and a transfer module for driving the descrambling head body to move. The descrambling head body further includes an upper cutter head 210, a lower cutter head 220, and a first driving member 230 for driving the upper cutter head 210 and the lower cutter head 220 to open and close. The first driving member 230 may be a cylinder. The lower cutter head 220 has at least a shovel-shaped structure at its head end, capable of scooping up the material head 720 from the feeding strip 710 of the material tray 700. After the material head 720 is scooped up, the upper cutter head 210 and the lower cutter head 220 can continue to approach each other until they close to clamp the scooped-up material head 720, thereby achieving clamping of the material head 720. After the material head 720 is clamped by the material head body (upper cutter head 210, lower cutter head 220), the transfer module can drive the material head body to move away from the material tray 700, so that the material head body tears the material strip 710 and the material head 720 is torn off, so that the subsequent material head 720 can be cut off.

[0064] Specifically, see Figure 1 and Figure 2 The tray clamping mechanism includes a first clamping member 110, a second clamping member 120, and a third driving member 130 for driving the opening and closing of the first clamping member 110 and the second clamping member 120. The third driving member 130 may be a cylinder. The first clamping member 110 and the second clamping member 120 are used to stably clamp the tray 700 so that the lower cutter head 220 can better scoop up the material head 720. The first clamping member 110 (or the second clamping member 120) is provided with a rotating shaft 140 adapted to pass through the center hole of the tray 700, so that the tray 700 rotates about the center line of the rotating shaft 140 relative to the tray clamping mechanism. This facilitates the tray unloading device in locating the material head 720 and tearing the material strip 710 after clamping the material head 720.

[0065] For example, see Figure 2 and Figure 3 The tray clamping mechanism is also equipped with a rotary motor 601 that can drive the rotating shaft 140 to rotate. The dismantling head mechanism 200 also includes a camera module 602, which can capture image information of the tray 700. Thus, when the rotary motor 601 drives the rotating shaft 140 to rotate the tray 700, the camera module 602 can obtain the position of the material head 720 on the tray 700. That is, the rotary motor 601 drives the rotating shaft 140 to rotate until the camera module 602 recognizes different color modules (the material heads 720 on the tray 700 are distinguished by different colors), the rotary motor 601 stops running, and the dismantling head body picks up and tears open the material head 720.

[0066] Further, see Figure 7The cutting mechanism 300 includes an electric scissors 310. After the material strip 710 is torn open by the material head body, the electric scissors 310 can cut off the material head 720 in the material-free area, so that the material head removal device of the tray can automatically complete the operation of searching, clamping, tearing and cutting the material strip 710 head, so as to prepare the material head removal process of tray 700 720 before material change for the chip mounter. The equipment has a higher degree of automation and is conducive to improving the production efficiency of the production line.

[0067] The cutting mechanism 300 also includes two oppositely arranged strip grippers, namely a first strip gripper 321 and a second strip gripper 322. The first strip gripper 321 is on the same side as the material tray clamping mechanism 100, and the second strip gripper 322 is on the same side as the strip removal mechanism 200. After the strip removal mechanism 200 tears the strip 710, the first strip gripper 321 and the second strip gripper 322 alternately clamp and pull the strip 710 downwards. When the strip head is pulled to the cutting position, the electric shears 310 cuts off the strip head 720 in the non-material area. Specifically, after the dismantling mechanism 200 tears open and clamps the strip 710, the first strip gripper 320 first moves forward to clamp the strip 710 and pulls it downwards. The dismantling mechanism 200 then releases the strip 710 and moves backwards. Next, the second strip gripper 330 clamps the strip 710, the first strip gripper 320 releases the strip 710 and moves downwards, and the second strip gripper 330 pulls the strip 710 down. Subsequently, the first strip gripper 320 re-clamps the strip 710. 0. The second material belt gripper 330 releases the material belt 710 and moves down; then, the second material belt gripper 330 clamps the material belt 710, the first material belt gripper 320 releases the material belt 710, the second material belt gripper 330 pulls down the material belt 710, and so on, until the material belt 710 is torn until the material area is completely exposed, the electric shears 310 moves to the junction between the material area and the non-material area to cut, thereby cutting off the material head 720 with the non-material area.

[0068] In this embodiment, the material strip 710 is torn by setting the first material strip gripper 320 and the second material strip gripper 330. Compared with tearing the material strip 710 by a single gripper, the first material strip gripper 320 and the second material strip gripper 330 need to move a smaller range of stroke, which is more conducive to the high concentration setting of the equipment and reduces the volume of the material tray unloading device.

[0069] In order to ensure the tension and straightness of the strip 710 during the tearing process, when the first strip gripper 320 and the second strip gripper 330 pull the strip 710 down, the rotary motor 601 on the tray clamping mechanism needs to cooperate with the two strip grippers to control the rotation of the rotating shaft 140, thereby constraining the strip 710 to be taut and straight, so that the electric scissors 310 can cut off the material head 720 with the material-free area in one cut.

[0070] The cutting mechanism 300 should also be equipped with a camera module 602, which can collect image information of the material strip 710. Once it detects the material area of ​​the material strip 710, the electric shears 310 move to the junction between the material area and the materialless area to cut off the material head 720 with the materialless area.

[0071] In actual production, the cutting mechanism 300 can be directly integrated into the material tray clamping mechanism and located between the first clamping member 110 and the second clamping member 120. The material tray unloading head device is smaller in size and has a higher degree of equipment integration.

[0072] In a preferred embodiment, see Figure 5 The lower cutter head 220 has an air blowing hole 222 on the side facing the upper cutter head 210, which can blow the scooped material head 720 to the upper cutter head 210. At the same time, the upper cutter head 210 has an adsorption hole (not shown) on the side facing the lower cutter head 220, which can adsorb the material head 720 that has been blown to the upper cutter head 210, so that it will not fall back to the direction of the lower cutter head 220. The upper cutter head 210 and the lower cutter head 220 can better hold the material head 720, which is less prone to errors. The material head 720 after being held is flatter, which is conducive to the upper cutter head 210 and the lower cutter head 220 holding the material head 720 and tearing it off the material strip 710.

[0073] Specifically, see Figures 3 to 5 The upper cutter head 210 includes a main body 211 and a first clamping part 212 disposed on the side edge of the main body 211. The main body 211 is also provided with a first docking part 213 below the first clamping part 212, and the first docking part 213 has a through hole. The lower cutter head 220 includes a second clamping part 221 and a second docking part 223. The second docking part 223 is disposed in the through hole. The second clamping part 221 is disposed at the end of the second docking part 223 facing the first clamping part 212 and has a shovel-shaped structure. The first driving member 230 can realize the opening and closing between the upper cutter head 210 and the lower cutter head 220 by driving the second docking part 223 to rise and fall. When the camera module 602 locates the material head 720, the transfer module moves the material head removal body closer to the material tray 700. The first drive unit 230 drives the lower cutter head 220 to rise, thereby scooping up the material head 720. After scooping up the material head 720, the first drive unit 230 continues to drive the lower cutter head 220 to rise until the upper cutter head 210 and the lower cutter head 220 close and clamp the material head 720. The transfer module then moves the material head removal body to tear the material strip 710, thereby removing the material head 720 and completing the material tray removal process before the pick-and-place machine changes materials.

[0074] As a preferred option, see Figure 3The material dismantling mechanism 200 has a stop 240 on the side of the second docking portion 223 away from the lower cutter head 220. The stop 240 is drivenly connected to the first driving member 230, and a buffer 250 is provided between the stop 240 and the second docking portion 223. The buffer 250 can be a spring, which can realize the elastic resistance of the lower cutter head 220 against the material strip 710, so that the lower cutter head 220 is less likely to damage the material strip 710 when it picks up the material head 720.

[0075] Furthermore, the main body 211 of the upper cutter head 210 has a plate-shaped structure, and its width in the axial direction of the material tray 700 held by the material tray clamping mechanism is small, which can adapt to material trays 700 of different sizes. It is convenient for the material disassembly head body to extend from the side into the material tray 700 to clamp, tear off and perform other operations on the material head 720 on it, which has strong versatility.

[0076] In actual production, see Figure 2 and Figure 3 The upper end of the upper cutter head 210 may also be provided with a material support 290, which can open the material tray 700 before the upper cutter head 210 and the lower cutter head 220 are inserted into the material tray 700. This makes it easier for the upper cutter head 210 and the lower cutter head 220 to insert into the material tray 700 to perform operations such as clamping and tearing off the material head 720 on it, which is highly practical.

[0077] Specifically, see Figure 5 The side of the second clamping part 221 facing the first clamping part 212 is inclined, and this inclined surface is set towards the side away from the second docking part 223 and closer to the main body part 211 to form the above-mentioned shovel-shaped structure. At the same time, the side of the first clamping part 212 facing the second clamping part 221 is set parallel to this inclined surface. On the one hand, the inclined surface is more conducive to the lower cutter head 220 scooping up the material head 720; on the other hand, it allows the first clamping part 212 and the second clamping part 221 to fit more closely and the contact area is larger, which is more conducive to clamping the material head 720, making it less likely to loosen, and less likely to tear the material strip 710 during the tearing process. The structure is more reasonable and practical.

[0078] Specifically, see Figure 3 The transfer module includes a vertical transfer module 261, a first horizontal transfer module 262, and a second horizontal transfer module 263. The dismantling head body is mounted on the vertical transfer module, which is mounted on the first horizontal transfer module 262, which is mounted on the second horizontal transfer module 263. In this configuration, the second horizontal transfer module 263 is adapted to drive the first horizontal transfer module 262, the vertical transfer module, and the dismantling head body to move axially along the tray 700 held by the tray clamping mechanism; the first horizontal transfer module 262 is adapted to drive the vertical transfer module and the dismantling head body to move radially along the tray 700 held by the tray clamping mechanism; and the vertical transfer module is adapted to drive the dismantling head body to rise and fall.

[0079] This embodiment, by setting a first vertical transfer module 261, a first horizontal transfer module 262, and a second horizontal transfer module 263, enables the dismantling head body to move in six directions (three-axis movement), improving the flexibility of the dismantling head body. In particular, the first horizontal transfer module 262 can also control the depth of the dismantling head body extending into the material tray 700, enabling it to clamp and tear off material trays 700 of different sizes and specifications, thus having strong versatility.

[0080] Specifically, after the material strip 710 is wound inside the material tray 700, a material strip loop is formed. The depth to which the dismantling head extends into the material tray 700 varies depending on the radius of the material strip loop. In this case, the first horizontal transfer module 262 can drive the dismantling head to extend into the material tray 700 to a preferred depth of 15mm-105mm. For example... Figure 6 As shown, it can not only adapt to 7-inch and 13-inch trays, but also to trays that are full or not full.

[0081] In actual production, the arrangement of the first vertical transfer module 261, the first horizontal transfer module 262, and the second horizontal transfer module 263 is not limited. It is also possible that the second horizontal transfer module 263 is set on the first horizontal transfer module 262, and the first horizontal transfer module 262 is set on the first vertical transfer module 261, etc. As long as the three-axis movement of the disassembly head body can be realized, it is within the protection scope of this application.

[0082] In a preferred embodiment, see Figure 3 The dismantling head mechanism 200 further includes a laser sensor 270, a slide table (not shown), and a mounting bracket 280. The mounting bracket 280 is installed on the dismantling head body, and the slide table and laser sensor 270 are installed on the mounting bracket 280. The camera module 602 is installed on the slide table. The laser sensor 270 is used to measure the radius of the strip loop within the tray 700. The slide table is configured to move the camera module 602 based on the data measured by the laser sensor 270, so that the strip 710 is located within the focusing area of ​​the camera module 602. Thus, regardless of the size of the tray 700 or the amount of strip within it, the camera module 602 in this embodiment can acquire the position of the dismantling head 720 through image acquisition, assisting the dismantling head mechanism 200 in automatically completing operations such as searching, clamping, and tearing off the dismantling head 720. This design is highly versatile and has a wide range of applications.

[0083] In one specific embodiment, see Figure 1 , Figure 8 and Figure 9The material tray unloading device also includes a material tray picking and placing mechanism 400, used to grip and transport the material tray 700. For example, it clamps and places the material tray 700 transported from the previous process into the material tray clamping mechanism, and removes the material tray 700 with the cut-off material-free area from the material tray clamping mechanism. Specifically, the material tray picking and placing mechanism 400 may include a chuck 410 and a chuck cylinder 420 for driving the chuck 410 to open and close. When the chuck 410 opens and presses against the central hole wall of the material tray 700, the material tray picking and placing mechanism 400 grips the material tray 700. When the chuck 410 closes, the material tray 700 disengages from the material tray picking and placing mechanism 400.

[0084] To prevent the cut-off material head 720 from being re-attached and affecting the subsequent splicing of the material strip 710, the material tray picking and placing mechanism 400 should also include a material strip fixing gripper 430, which is used to hold the material strip 710 after the material tray 700 has been torn open, so as to keep the material strip 710 (material head 720) in the torn state.

[0085] In one specific embodiment, see Figure 1 and Figure 10 The material tray unloading device also includes a material tray temporary storage station 500, which has several accommodating slots 510 for storing material trays 700 that have been cut off and have no material area. After a certain number of material trays 700 are stored, they are transported by AGV carts to the SMT production line for automatic material receiving and changing process.

[0086] Among them, see Figure 9 The tray handling mechanism 400 also includes a photoelectric sensor 440. When the tray handling mechanism 400 picks up a tray 700 with a cut-off empty area, the photoelectric sensor 440 can sense the size of the tray 700 picked up by the gripper 410. Specifically, the photoelectric sensor 440 is positioned at a distance of approximately 3.5 inches to 6.5 inches from the gripper 410. When the tray 700 picked up by the gripper 410 can block the photoelectric sensor 440, the tray 700 picked up by the gripper 410 is a 13-inch tray 700; when the tray 700 picked up by the gripper 410 cannot block the photoelectric sensor 440, the tray 700 picked up by the gripper 410 is a 7-inch tray 700. In this embodiment, by setting the photoelectric sensor 440, the tray handling mechanism 400 can identify the size of the tray 700, thereby placing the tray 700 into the appropriate receiving slot 510, resulting in a high degree of automation and strong practicality.

[0087] Of course, in actual production, the tray loading and unloading mechanism 400 can also adopt a universal setting, that is, the receiving slot 510 can be adapted to both 7-inch trays and 13-inch trays. I will not go into details here, as they are all within the scope of protection of this application.

[0088] Specifically, see Figure 10The upper surface of the material tray temporary storage station 500 is provided with a constraint roller 520, and there is a gap between the constraint roller 520 and the upper surface of the material tray temporary storage station 500 for the material strip 710 to pass through. The material tray loading and unloading mechanism 400 also includes a second vertical transfer module 450, a pressure roller 460 mounted on the second vertical transfer module 450, and a second driving member for driving the pressure roller 460 to rotate. The second driving member can be a rotary motor 601. When the material tray 700 is placed in the receiving groove 510, the second vertical transfer module 450 drives the pressure roller 460 to press down, pressing the torn material strip 710 tightly against the upper surface of the material tray temporary storage station 500. The second driving member drives the pressure roller 460 to rotate, thereby moving the material strip 710 so that the material strip 710 passes through the gap between the constraint roller 520 and the upper surface of the material tray temporary storage station 500. In this way, during the process of the AGV trolley conveying the material tray 700, the constraint roller 520 can restrict the material strip 710, preventing the material strip 710 from retracting and re-attaching due to shaking or vibration, keeping it in a torn state, so that the material strip 710 on the material tray 700 can be spliced ​​directly without repeatedly tearing the material strip 710. This completes the material tray 700 unloading head 720 process before the pick-and-place machine changes materials, resulting in higher production efficiency and lower cost for the production line.

[0089] In the above embodiments, the descriptions of each embodiment have different focuses. For parts that are not described in detail or recorded in a certain embodiment, please refer to the relevant descriptions of other embodiments.

[0090] It should be noted that the above embodiments can be freely combined as needed. The above are merely preferred embodiments of this application. It should be pointed out that for those skilled in the art, several improvements and modifications can be made without departing from the principles of this application, and these improvements and modifications should also be considered within the scope of protection of this application.

Claims

1. A material tray unloading head device, characterized in that, include: The tray clamping mechanism is used to clamp the tray. A material dismantling head mechanism is disposed opposite to the material tray clamping mechanism. The material dismantling head mechanism includes a material dismantling head body and a transfer module for driving the material dismantling head body to move. The material dismantling head body includes an upper cutter head, a lower cutter head, and a first driving member for driving the upper cutter head and the lower cutter head to open and close. The lower cutter head has a shovel-shaped structure. The upper cutter head includes a main body and a first clamping part disposed on the side edge of the main body. The main body also has a first docking part below the first clamping part, and the first docking part has a through hole. The lower cutter head includes a second clamping part and a second docking part. The second docking part passes through the through hole. The second clamping part is disposed at the end of the second docking part facing the first clamping part and has a shovel-shaped structure. The material head is scooped up; the lower cutter head has an air blowing hole on the side facing the upper cutter head, and the upper cutter head has an adsorption hole on the side facing the lower cutter head; the material head dismantling mechanism has a stop on the side of the second docking part away from the lower cutter head, the stop is driven to be connected to the first driving member, the first driving member drives the stop to rise and fall, thereby driving the lower cutter head to move closer to the upper cutter head; and a buffer is provided between the stop and the second docking part; when the material head is scooped up, the first driving member drives the upper cutter head and the lower cutter head to close, so that the upper cutter head and the lower cutter head can jointly clamp the material head; the transfer module drives the dismantling head body to move away from the material tray, so that the dismantling head body tears the material strip; The cutting mechanism includes electric scissors and two oppositely arranged strip grippers; after the strip tearing mechanism tears the strip, the two strip grippers alternately clamp and pull the strip downward until the strip is completely exposed in the material area, and the electric scissors move to the junction between the material area and the non-material area of ​​the strip to cut it. The dismantling head mechanism further includes a camera module, a laser sensor, a slide table, and a mounting bracket; the tray clamping mechanism is provided with a rotating shaft adapted to pass through the center hole of the tray, and the tray rotates about the center line of the rotating shaft relative to the tray clamping mechanism to facilitate the camera module in locating the dismantling head; the mounting bracket is installed on the dismantling head body, the slide table and the laser sensor are installed on the mounting bracket, and the camera module is installed on the slide table; the laser sensor is used to measure the radius of the material strip loop of the tray, and the slide table is configured to move the camera module according to the data measured by the laser sensor so that the material strip is located within the focusing area of ​​the camera module.

2. The material tray unloading head device according to claim 1, characterized in that, The main body has a plate-shaped structure; And / or, The side of the second clamping part facing the first clamping part is an inclined surface. The inclined surface is inclined to the side away from the second docking part and close to the main body to form the shovel-shaped structure. The side of the first clamping part facing the second clamping part is parallel to the inclined surface.

3. The material tray unloading head device according to claim 1, characterized in that, Also includes: A tray picking and placing mechanism is used to pick up and transport the tray; The tray picking and placing mechanism includes a jaw and a jaw cylinder for driving the jaw to open and close; when the jaw opens and presses against the central hole wall of the tray, the tray picking and placing mechanism clamps the tray; when the jaw closes, the tray disengages from the tray picking and placing mechanism. The material tray loading and unloading mechanism also includes a material strip fixing gripper for clamping the material head after the material tray is torn open.

4. The material tray unloading head device according to claim 3, characterized in that, Also includes: The material tray temporary storage station has several receiving slots; The tray picking and placing mechanism is adapted to pick up the tray and transport the tray into the receiving groove; and the tray picking and placing mechanism further includes a photoelectric sensor for sensing the size of the tray picked up by the claw.

5. The material tray unloading head device according to claim 4, characterized in that, The upper surface of the material tray temporary storage station is provided with a constraint roller, and there is a gap between the constraint roller and the upper surface of the material tray temporary storage station for the material strip to pass through. The material tray picking and placing mechanism further includes a second vertical transfer module, a pressure roller installed on the second vertical transfer module, and a second driving component for driving the pressure roller to rotate. The second vertical transfer module is used to drive the pressure roller to rise and fall. When the tray is placed in the receiving groove, the second vertical transfer module drives the pressure roller to press down, so as to press the torn strip tightly against the upper end face of the tray temporary storage station. The second driving member drives the pressure roller to rotate, thereby driving the strip to move, so that the strip passes through the gap between the constraint roller and the upper end face of the tray temporary storage station.

Images