Full-automatic FPC (Flexible Printed Circuit) detaching and planting equipment

Abstract

The invention discloses full-automatic FPC detaching and planting equipment which comprises a rack, a stock bin lifting track, a carrier conveying track, a pushing mechanism, a steel sheet lifting mechanism, a first tray lifting track, a second tray lifting track, a detaching and planting plate mechanical arm and a tray replacing mechanical arm, wherein the stock bin lifting track, the carrier conveying track, the pushing mechanism, the steel sheet lifting mechanism, the first tray lifting track, the second tray lifting track, the detaching and planting plate mechanical arm and the tray replacing mechanical arm are installed on the rack. According to the automatic plate dismounting and mounting device, plates can be automatically dismounted and mounted, the problem that in the prior art, the function is single is solved, the practicability and the automation degree of equipment are greatly improved, and the working efficiency is improved.

Description

Technical Field

[0001] The invention relates to the technical field of SMT production, and in particular to a fully automatic FPC removal and implantation device. Background Art

[0002] FPC board, or Flexible Printed Circuit board (FPC), also known as "soft board", is a highly reliable and excellent flexible printed circuit board. This circuit board has the characteristics of high wiring density, light weight, thin thickness and good bendability. FPC board is widely used in the connection of electronic products, such as mobile phones, laptops, PDAs, digital cameras, LCMs, etc. It not only connects the internal components of these devices, but also transmits electrical signals. As electronic products are developing towards light, thin, short and small, FPC board has become an ideal choice for connecting internal devices of electronic products due to its unique advantages.

[0003] In the SMT production process, the FPC board needs to be taken out of the storage tray and loaded into a carrier with a steel sheet, and then transported to the next process for processing via a track; or the processed FPC board needs to be removed from the carrier with a steel sheet and put back into the tray for storage. However, the FPC board equipment on the market now can only realize automatic board removal or automatic board installation, so users need to use two different stand-alone machines to complete the entire board removal and installation process, thereby increasing the equipment purchase cost and the complexity of the production process; secondly, a stand-alone machine can only do either board removal or board installation of FPC boards, with a single function, poor labor saving effect, and low degree of automation. Summary of the invention

[0004] In order to overcome the problems in the prior art that FPC board equipment can only realize automatic board removal or automatic board installation, has relatively single functions, has poor labor saving effect, and has a low degree of automation, the present invention provides a fully automatic FPC removal and installation equipment.

[0005] The technical solution of the present invention is as follows:

[0006] A fully automatic FPC removal and planting equipment, comprising a frame and a silo lifting track, a carrier conveying track, a material pushing mechanism, a steel sheet lifting mechanism, a first tray lifting track, a second tray lifting track, a removal and planting plate manipulator and a tray changing manipulator installed on the frame;

[0007] In the plate planting working mode, the silo lifting track is used to receive the silo filled with carriers delivered by the transport vehicle, and to deliver the carriers in the silo to the carrier taking position of the pushing mechanism one by one, and the carriers in the silo are empty carriers; the pushing mechanism is used to push the carriers located at the carrier taking position to the carrier conveying track one by one; the carrier conveying track is used to convey the carriers pushed by the pushing mechanism to the removal and planting station for plate planting, and to convey the carriers after plate planting to the next process; the steel sheet lifting mechanism is used to absorb the steel sheet on the carrier located at the removal and planting station and lift it to a specified height, and to cover the steel sheet at the specified height on the carrier located at the removal and planting station and implanted with F The first pallet lifting track is used to receive a whole stack of pallets loaded with FPC boards delivered by the transport vehicle, and to deliver the pallets loaded with FPC boards to the board taking position of the board removal robot one by one; the board removal robot is used to implant the FPC boards in the pallet located at the board taking position into the carrier located at the removal station; the tray changing robot is used to deliver the pallet with the FPC boards removed at the board taking position to the second pallet lifting track; the second pallet lifting track is used to receive and temporarily store the pallet with the FPC boards removed delivered by the tray changing robot, and to deliver the whole stack of pallets with the FPC boards removed to the transport vehicle after being full.

[0008] As a preferred solution of the present invention, in the board removal working mode, the silo lifting track is used to receive the silo filled with carriers transported by the transport vehicle, and transport the carriers in the silo one by one to the carrier taking position of the pushing mechanism, and the carriers in the silo are loaded with FPC boards; the pushing mechanism is used to push the carriers located at the carrier taking position one by one to the carrier conveying track; the carrier conveying track is used to convey the carriers pushed by the pushing mechanism to the removal station for board removal, and to convey the carriers after board removal to the next process; the steel sheet lifting mechanism is used to absorb the steel sheet on the carrier located at the removal station and lift it to the specified height, and to lift the steel sheet located at the specified height to the next process. The steel sheet is covered on the carrier which is located at the demolition station and has taken out the FPC board; the first pallet lifting track is used to receive a whole stack of empty pallets delivered by the transport vehicle, and to deliver the empty pallets one by one to the board taking position of the demolition board robot; the demolition board robot is used to absorb the FPC board in the carrier located at the demolition station into the pallet located at the board taking position; the tray changing robot is used to deliver the pallet loaded with the FPC board located at the board taking position to the second pallet lifting track; the second pallet lifting track is used to receive and temporarily store the pallet loaded with the FPC board delivered by the tray changing robot, and to deliver the whole stack of pallets loaded with the FPC boards to the transport vehicle after being full.

[0009] As a preferred solution of the present invention, the silo lifting track, the carrier conveying track, the first pallet lifting track and the second pallet lifting track are respectively installed at the four corners of the frame, the silo lifting track is located on the input side of the carrier conveying track, the output end of the carrier conveying track is connected to the next process, the pushing mechanism is located inside the carrier conveying track, the steel sheet lifting mechanism is located above the input end of the carrier conveying track, the removal plate robot is located above the output end of the carrier conveying track and above the first pallet lifting track, and the tray changing robot is located above the first pallet lifting track and the second pallet lifting track.

[0010] As a preferred solution of the present invention, the silo lifting track includes a silo conveying track and a silo lifting mechanism arranged at the end of the silo conveying track, and the silo conveying track is used to connect the transport vehicle and the silo lifting mechanism.

[0011] As a preferred solution of the present invention, the silo conveying track includes two symmetrically arranged silo synchronous conveying lines and a supporting roller line arranged between the two silo synchronous conveying lines, and silo guide plates are arranged on the outer sides of the two silo synchronous conveying lines;

[0012] The silo lifting mechanism includes a first lifting module and a silo lifting frame arranged at the lifting end of the first lifting module. The upper and lower ends of the silo lifting frame are provided with a plurality of silo blocking mechanisms for preventing the silo from detaching from the silo lifting frame. The silo blocking mechanism includes a rotating cylinder and a silo blocking block arranged at the rotating end of the rotating cylinder.

[0013] As a preferred embodiment of the present invention, the carrier conveying track includes a first fixed conveyor line, a first movable conveyor line arranged opposite to the first fixed conveyor line, and a carrier positioning mechanism arranged at the demolition station, the first fixed conveyor line can be close to or away from the first movable conveyor line, and the carrier positioning mechanism is located between the first fixed conveyor line and the first movable conveyor line.

[0014] As a preferred solution of the present invention, the first fixed conveyor line and the first movable conveyor line are both provided with a carrier blocking mechanism at the end of the removal station for blocking the carrier from continuing to be transported, and the carrier blocking mechanism comprises a blocking cylinder and a carrier blocking block provided at the telescopic end of the blocking cylinder;

[0015] The carrier positioning mechanism comprises a lifting cylinder and a lifting plate arranged at the telescopic end of the lifting cylinder, and a positioning block for positioning the carrier is arranged on the lifting plate.

[0016] As a preferred solution of the present invention, the pushing mechanism includes a linear drive module arranged along the transmission direction of the carrier conveying track and a pushing arm arranged at the driving end of the linear drive module, and at least two pushing parts arranged side by side are arranged on the top of one end of the pushing arm close to the silo lifting track. The linear drive module drives the pushing parts through the pushing arm to push the carriers located at the carrier picking position one by one onto the carrier conveying track.

[0017] As a preferred solution of the present invention, the steel sheet lifting mechanism includes a steel sheet suction cup module for sucking the steel sheet and a second lifting module for driving the steel sheet suction cup module to rise and fall, the second lifting module is connected to the frame, the steel sheet suction cup module is connected to the lifting end of the second lifting module, and the steel sheet suction cup module is located directly above the demolition station.

[0018] As a preferred solution of the present invention, the first pallet lifting track and the second pallet lifting track have the same structure, the first pallet lifting track includes a pallet conveying track and a pallet lifting mechanism arranged at the end of the pallet conveying track, and the pallet conveying track is used to dock the transport vehicle and the pallet lifting mechanism.

[0019] As a preferred solution of the present invention, the pallet conveying track includes two second movable conveying lines arranged opposite to each other, the two second movable conveying lines can be close to or away from each other, and pallet guide plates are arranged on the outer sides of the two second movable conveying lines;

[0020] The tray lifting mechanism includes a third lifting module and a tray lifting frame arranged at a lifting end of the third lifting module.

[0021] As a preferred solution of the present invention, the implant plate removal robot includes a second suction cup module for sucking the FPC board, an upper visual positioning camera for taking pictures downward, an R-axis rotation module for driving the second suction cup module to rotate horizontally, a first Z-axis moving module for driving the second suction cup module to rise and fall, a first Y-axis moving module for driving the second suction cup module to move along the Y-axis, and a first X-axis moving module for driving the second suction cup module and the upper visual positioning camera to move along the X-axis, the first X-axis moving module is connected to the frame, the first Y-axis moving module and the upper visual positioning camera are both connected to the driving end of the first X-axis moving module, the first Z-axis moving module is connected to the driving end of the first Y-axis moving module, the R-axis rotation module is connected to the driving end of the first Z-axis moving module, and the second suction cup module is connected to the driving end of the R-axis rotation module.

[0022] As a preferred solution of the present invention, the frame is also provided with a lower visual positioning camera for taking photos upwards, and the lower visual positioning camera is located below the moving path of the second suction cup module.

[0023] As a preferred solution of the present invention, the tray changing robot includes a third suction cup module for sucking the tray, a second Z-axis moving module for driving the third suction cup module to rise and fall, and a second Y-axis moving module for driving the third suction cup module to move along the Y-axis, the second Y-axis moving module is connected to the frame, the second Z-axis moving module is connected to the driving end of the second Y-axis moving module, and the third suction cup module is connected to the driving end of the second Z-axis moving module.

[0024] Compared with the prior art, the present invention has the following beneficial effects:

[0025] 1. The fully automatic FPC removal and implantation equipment provided by the present invention can both automatically remove and automatically install boards, which solves the problem of single function in the prior art and greatly improves the practicability of the equipment;

[0026] 2. Through the coordinated work among the silo lifting track, carrier conveying track, material pushing mechanism, steel sheet lifting mechanism, first pallet lifting track, second pallet lifting track, plate removal manipulator and pallet changing manipulator, the whole process from carrier conveying, FPC board implantation and removal to pallet replacement and conveying is realized, and it can be connected with AGV trolley, which significantly improves the automation level, reduces the need for manual operation, reduces labor costs and improves work efficiency;

[0027] 3. By optimizing the workflow and installation location of each mechanism, the entire equipment can be operated more smoothly and work efficiency can be improved;

[0028] 4. By loading materials through the silo, a large number of carriers can be loaded at one time, greatly improving work efficiency; through the first pallet lifting track, the equipment can automatically receive and store pallets delivered from the transport vehicle, providing a steady stream of FPC boards or empty pallets for the demolition board manipulator;

[0029] 5. The second pallet lifting track is responsible for receiving and temporarily storing the pallets from which the FPC boards have been taken out or the pallets loaded with FPC boards. When the pallets are full, they are automatically transported to the transport vehicle, thus realizing the recycling of pallets.

[0030] 6. Through the rapid tray changing function of the tray changing robot, the equipment can complete the tray replacement in a short time, ensuring the continuity and efficiency of the work process;

[0031] 7. The upper and lower visual positioning is adopted to improve the accuracy of board planting. BRIEF DESCRIPTION OF THE DRAWINGS

[0032] In order to more clearly illustrate the technical solutions in the embodiments of the present invention, the drawings required for use in the embodiments or the description of the prior art will be briefly introduced below. Obviously, the drawings described below are only some embodiments of the present invention. For ordinary technicians in this field, other drawings can be obtained based on these drawings without paying creative work.

[0033] Figure 1 This is a schematic diagram of the structure of a fully automatic FPC removal and implantation device in one embodiment of the present invention;

[0034] Figure 2 It is a structural schematic diagram of another perspective of the fully automatic FPC removal and implantation equipment in one embodiment of the present invention;

[0035] Figure 3 This is a schematic diagram of the structure of a silo lifting track in one embodiment of the present invention;

[0036] Figure 4 It is a structural schematic diagram of a carrier conveying track and a material pushing mechanism in one embodiment of the present invention;

[0037] Figure 5 It is a structural schematic diagram of a steel sheet lifting mechanism in one embodiment of the present invention;

[0038] Figure 6 It is a schematic diagram of the structure of the first tray lifting track in one embodiment of the present invention;

[0039] Figure 7 It is a structural schematic diagram of a plant plate removal robot in one embodiment of the present invention;

[0040] Figure 8 Schematic diagram of the structure of a disk changing robot in one embodiment of the present invention.

[0041] In the figure,

[0042] 1. Frame; 2. Silo lifting track; 21. Silo conveying track; 211. Silo synchronous conveying line; 212. Support roller line; 213. Silo guide plate; 22. Silo lifting mechanism; 221. First lifting module; 222. Silo lifting frame; 223. Silo blocking mechanism; 2231. Rotating cylinder; 2232. Silo blocking block; 3. Carrier conveying track; 31. First fixed conveying line; 32. First movable conveying line; 33. Carrier blocking mechanism; 331. Blocking cylinder; 332. Carrier blocking block; 34. Carrier positioning mechanism; 341. Lifting cylinder; 342. Lifting plate; 343. Positioning block; 4. Pushing mechanism; 41. Linear drive module; 42. Pushing arm; 43. Pushing Parts; 5. Steel sheet lifting mechanism; 51. Steel sheet suction cup module; 52. Second lifting module; 6. First pallet lifting track; 61. Pallet conveying track; 611. Second movable conveying line; 612. Pallet guide plate; 62. Pallet lifting mechanism; 621. Third lifting module; 622. Pallet lifting frame; 7. Second pallet lifting track; 8. Deplanting plate manipulator; 81. Second suction cup module; 82. Upper visual positioning camera; 83. R-axis rotation module; 84. First Z-axis moving module; 85. First Y-axis moving module; 86. First X-axis moving module; 9. Pallet changing manipulator; 91. Third suction cup module; 92. Second Z-axis moving module; 93. Second Y-axis moving module; 10. Lower visual positioning camera. DETAILED DESCRIPTION

[0043] In order to make the technical problems, technical solutions and beneficial effects to be solved by the present invention more clearly understood, the present invention is further described in detail below in conjunction with the accompanying drawings and embodiments. It should be noted that similar reference numerals and letters represent similar items in the following drawings, so once an item is defined in one drawing, it does not need to be further defined and explained in the subsequent drawings. It is also stated that the embodiments described below are only used to explain the present invention and are not used to limit the present invention.

[0044] It should be noted that the terms "install", "set", "connect", "fix" and the like should be understood in a broad sense. For example, it can be a fixed connection, a detachable connection, or an integrated one; it can be a mechanical connection or an electrical connection; it can be directly connected or indirectly connected through an intermediate medium, it can be the internal connection of two elements or the interaction relationship between two elements, unless otherwise clearly defined. The indicated orientation or position relationship is based on the orientation or position relationship shown in the accompanying drawings, or the orientation or position relationship in which the application product is usually placed when in use, or the orientation or position relationship commonly understood by those skilled in the art, or the orientation or position relationship in which the application product is usually placed when in use. It is only for the convenience of describing the present application and simplifying the description, and does not indicate or imply that the device or element referred to must have a specific orientation, be constructed and operated in a specific orientation, and therefore cannot be understood as a limitation on the present application.

[0045] See also Figures 1 to 8 The present embodiment provides a fully automatic FPC removal and planting equipment, including a frame 1 and a silo lifting track 2, a carrier conveying track 3, a material pushing mechanism 4, a steel sheet lifting mechanism 5, a first pallet lifting track 6, a second pallet lifting track 7, a removal and planting plate manipulator 8 and a tray changing manipulator 9 installed on the frame 1. The silo lifting track 2, the carrier conveying track 3, the first pallet lifting track 6 and the second pallet lifting track 7 are respectively installed at the four corners of the frame 1. The silo lifting track 2 is located on the input side of the carrier conveying track 3, and the output end of the carrier conveying track 3 is connected to the next process. The material pushing mechanism 4 is located inside the carrier conveying track 3, the steel sheet lifting mechanism 5 is located above the input end of the carrier conveying track 3, the removal and planting plate manipulator 8 is located above the output end of the carrier conveying track 3 and above the first pallet lifting track 6, and the tray changing manipulator 9 is located above the first pallet lifting track 6 and the second pallet lifting track 7.

[0046] In the board planting working mode, the silo lifting track 2 is used to receive the silo filled with carriers delivered by the transport vehicle (AGV car or trolley), and transport the carriers in the silo one by one to the carrier taking position of the pushing mechanism 4. The carriers in the silo are empty carriers, and a plurality of storage slots for storing carriers are arranged at intervals along the vertical direction in the silo; the pushing mechanism 4 is used to push the carriers located at the carrier taking position one by one to the carrier conveying track 3; the carrier conveying track 3 is used to convey the carriers pushed by the pushing mechanism 4 to the removal and planting station for board planting, and to convey the carrier after board planting to the next process; the steel sheet lifting mechanism 5 is used to absorb the steel sheet on the carrier at the removal and planting station and lift it to a specified height, and cover the steel sheet at the specified height on the carrier at the removal and planting station and implanted with the FPC board; because the carrier of the FPC board is usually provided with a steel sheet for protection To protect the FPC board, the steel sheet on the carrier needs to be sucked away first during the board implantation or removal process; in addition, the lifting height of the steel sheet should be higher than the operating height of the board removal robot 8, so as not to affect the implantation operation of the board removal robot 8; the first pallet lifting track 6 is used to receive the whole stack of pallets loaded with FPC boards delivered by the transport vehicle, and transport the pallets loaded with FPC boards to the board taking position of the board removal robot 8 one by one; the board removal robot 8 is used to implant the FPC board in the pallet located at the board taking position into the carrier located at the implantation station; the tray changing robot 9 is used to transport the pallet with the FPC board removed at the board taking position to the second pallet lifting track 7; the second pallet lifting track 7 is used to receive and temporarily store the pallet with the FPC board removed delivered by the tray changing robot 9, and transport the whole stack of pallets with the FPC boards removed to the transport vehicle after it is full.

[0047] In the panel removal working mode, the silo lifting track 2 is used to receive the silo filled with carriers delivered by the transport vehicle, and to deliver the carriers in the silo one by one to the carrier taking position of the pushing mechanism 4, where the carriers in the silo are loaded with FPC boards; the pushing mechanism 4 is used to push the carriers located at the carrier taking position one by one to the carrier conveying track 3; the carrier conveying track 3 is used to convey the carriers pushed by the pushing mechanism 4 to the panel removal station for panel removal, and to convey the panel removal carrier to the next process; the steel sheet lifting mechanism 5 is used to absorb the steel sheet on the carrier located at the panel removal station and lift it to a specified height, and to cover the steel sheet at the specified height on the steel sheet located at the panel removal station. The first pallet lifting track 6 is used to receive the whole stack of empty pallets delivered by the transport vehicle, and transport the empty pallets one by one to the board taking position of the demolition board robot 8; the demolition board robot 8 is used to absorb the FPC board in the carrier located at the demolition station into the pallet located at the board taking position; the tray changing robot 9 is used to transport the pallet loaded with the FPC board at the board taking position to the second pallet lifting track 7; the second pallet lifting track 7 is used to receive and temporarily store the pallet loaded with the FPC board delivered by the tray changing robot 9, and transport the whole stack of pallets loaded with the FPC boards to the transport vehicle after it is full.

[0048] The present embodiment provides a fully automatic FPC removal and implantation equipment that can both automatically remove and automatically install boards, which solves the problem of single function in the prior art and greatly improves the practicability of the equipment; through the coordinated work among the silo lifting track 2, the carrier conveying track 3, the material pushing mechanism 4, the steel sheet lifting mechanism 5, the first tray lifting track 6, the second tray lifting track 7, the removal and implantation board manipulator 8 and the tray changing manipulator 9, the whole process from the carrier conveying, the implantation and removal of the FPC board to the replacement and conveying of the tray is realized, and it can be connected to the AGV car, which significantly improves the level of automation, reduces the need for manual operation, reduces labor costs, and improves work efficiency; by optimizing the workflow of each mechanism and the installation position, making the entire equipment more smooth during operation and improving work efficiency; by loading materials in the form of a silo, a large number of carriers can be loaded at one time, greatly improving work efficiency; through the first pallet lifting track 6, the equipment can automatically receive and store pallets delivered from the transport vehicle, providing a steady supply of FPC boards or empty pallets for the demolition board robot 8; through the second pallet lifting track 7, it is responsible for receiving and temporarily storing pallets with FPC boards removed or pallets loaded with FPC boards, and automatically transporting them to the transport vehicle after they are full, realizing the recycling of pallets; through the fast pallet changing function of the pallet changing robot 9, the equipment can complete the replacement of pallets in a short time, ensuring the continuity and efficiency of the work process.

[0049] See also Figure 3In one embodiment, the silo lifting track 2 includes a silo conveying track 21 and a silo lifting mechanism 22 arranged at the end of the silo conveying track 21. The silo conveying track 21 is used to connect the transport vehicle and the silo lifting mechanism 22 to transport the silo transported by the transport vehicle to the silo lifting mechanism 22, and then the carriers in the silo are transported one by one to the carrier taking position of the pushing mechanism 4 through the silo lifting mechanism 22.

[0050] Specifically, the silo conveying track 21 includes two symmetrically arranged silo synchronous conveying lines 211 and a support roller line 212 arranged between the two silo synchronous conveying lines 211, and a silo guide plate 213 is arranged on the outside of the two silo synchronous conveying lines 211. The two symmetrically arranged silo synchronous conveying lines 211 and the support roller line 212 of the silo conveying track 21, as well as the silo guide plate 213 on the outside, jointly ensure the stability and directionality of the silo during the conveying process.

[0051] Specifically, the silo lifting mechanism 22 includes a first lifting module 221 and a silo lifting frame 222 disposed at the lifting end of the first lifting module 221. The upper and lower ends of the silo lifting frame 222 are both provided with a plurality of silo blocking mechanisms 223 for preventing the silo from detaching from the silo lifting frame 222. The silo blocking mechanism 223 includes a rotating cylinder 2231 and a silo blocking block 2232 disposed at the rotating end of the rotating cylinder 2231. Through the cooperation of the rotating cylinder 2231 and the silo blocking block 2232, the silo can be effectively prevented from shaking or falling off during the lifting process, thereby enhancing the stability of the equipment.

[0052] See also Figure 4 In one embodiment, the carrier conveying track 3 includes a first fixed conveying line 31 and a first movable conveying line 32 that are arranged opposite to each other, and the first fixed conveying line 31 can be close to or far away from the first movable conveying line 32. The carrier conveying track 3 can adjust the distance between the first fixed conveying line 31 and the first movable conveying line 32 according to the width of the carrier through the first fixed conveying line 31 and the first movable conveying line 32 arranged as above, so that the carrier conveying track 3 can be suitable for carriers of different widths, which greatly improves the compatibility and flexibility of the equipment, enables one equipment to handle carriers of various specifications, and reduces the production cost and the complexity of equipment maintenance.

[0053] Furthermore, the first fixed conveyor line 31 and the first movable conveyor line 32 are both provided with a carrier blocking mechanism 33 at the end of the removal station for blocking the carrier from continuing to be transported, and the carrier blocking mechanism 33 includes a blocking cylinder 331 and a carrier blocking block 332 provided at the telescopic end of the blocking cylinder 331. Through the cooperation of the blocking cylinder 331 and the carrier blocking block 332, the carrier can be effectively blocked from continuing to be transported, ensuring the accurate positioning of the carrier on the removal station.

[0054] In addition, the carrier conveying track 3 also includes a carrier positioning mechanism 34 arranged at the dismantling station, and the carrier positioning mechanism 34 is located between the first fixed conveyor line 31 and the second fixed conveyor line 31. The carrier positioning mechanism 34 includes a lifting cylinder 341 and a lifting plate 342 arranged at the telescopic end of the lifting cylinder 341, and a positioning block 343 for positioning the carrier is arranged on the lifting plate 342. Through the telescopic movement of the lifting cylinder 341, the lifting plate 342 can lift the carrier parked at the dismantling station to a certain height, and use the positioning block 343 to accurately position the carrier, thereby improving the accuracy and efficiency of the carrier positioning, and providing strong support for the subsequent dismantling work.

[0055] See also Figure 4 In one embodiment, the pushing mechanism 4 includes a linear drive module 41 arranged along the transmission direction of the carrier conveying track 3 and a push arm 42 arranged at the driving end of the linear drive module 41. The top of the push arm 42 close to the silo lifting track 2 is provided with at least two push members 43 arranged side by side. The linear drive module 41 drives the push members 43 through the push arm 42 to push the carriers located at the carrier removal position one by one to the carrier conveying track 3. In the pushing process, the linear drive module 41 drives the push members 43 through the push arm 42 to pass between the bottom plate of the silo and the bottommost carrier, and then the silo lifting mechanism 22 lowers the bottommost carrier in the silo to the carrier removal position of the pushing mechanism 4, and the linear drive module 41 drives the push members 43 through the push arm 42 to transport the bottommost carrier in the silo to the carrier conveying track 3. The pushing mechanism 4 reduces the shaking and deviation of the carrier during the pushing process by arranging at least two pushing members 43 arranged side by side on the pushing arm 42, thereby ensuring that the carrier can be pushed onto the carrier conveying track 3 smoothly and accurately; in addition, the pushing mechanism 4 is used in coordination with the silo lifting mechanism 22 and the carrier conveying track 3 to realize the automatic pushing and conveying of the carrier, effectively improving production efficiency and reducing labor costs.

[0056] See also Figure 5 In one embodiment, the steel sheet lifting mechanism 5 includes a steel sheet suction cup module 51 for sucking the steel sheet and a second lifting module 52 for driving the steel sheet suction cup module 51 to rise and fall, the second lifting module 52 is connected to the frame 1, the steel sheet suction cup module 51 is connected to the lifting end of the second lifting module 52, and the steel sheet suction cup module 51 is located directly above the removal and planting station. The steel sheet lifting mechanism 5 can absorb the steel sheet on the carrier at the removal and planting station and put the steel sheet back on the carrier at the removal and planting station through the steel sheet suction cup module 51 and the second lifting module 52.

[0057] See also Figure 6In one embodiment, the first pallet lifting track 6 includes a pallet conveying track 61 and a pallet lifting mechanism 62 arranged at the end of the pallet conveying track 61. The pallet conveying track 61 is used to dock the transport vehicle and the pallet lifting mechanism 62 to transport the pallets transported by the transport vehicle to the pallet lifting mechanism 62, and then the pallets are transported one by one to the plate picking position of the demolition plate robot 8 through the pallet lifting mechanism 62.

[0058] Specifically, the pallet conveying track 61 includes two second movable conveying lines 611 arranged opposite to each other, the two second movable conveying lines 611 can be close to or away from each other, and pallet guide plates 612 are arranged on the outside of the two second movable conveying lines 611. The pallet conveying track 61 can adjust the distance between the two second movable conveying lines 611 according to the width of the pallet through the two second movable conveying lines 611 arranged as above, so that the pallet conveying track 61 can be suitable for pallets of different widths, which greatly improves the compatibility and flexibility of the equipment, enables one equipment to handle pallets of various specifications, and reduces the production cost and complexity of equipment maintenance; by arranging the pallet guide plates 612 on the outside of the two second movable conveying lines 611, the stability and directionality of the pallet during the conveying process are guaranteed.

[0059] Specifically, the tray lifting mechanism 62 includes a third lifting module 621 and a tray lifting frame 622 disposed at the lifting end of the third lifting module 621. The tray lifting mechanism 62 realizes conveying the trays one by one to the plate taking position of the removal plate robot 8 through the third lifting module 621 and the tray lifting frame 622.

[0060] Since the first pallet lifting track 6 and the second pallet lifting track 7 have the same structure, the present invention will not describe the specific structure and working principle of the second pallet lifting track 7 in detail.

[0061] See also Figure 7In one embodiment, the implant plate removal robot 8 includes a second suction cup module 81 for sucking the FPC board, an upper visual positioning camera 82 for taking pictures downward, an R-axis rotation module 83 for driving the second suction cup module 81 to rotate horizontally, a first Z-axis moving module 84 group for driving the second suction cup module 81 to rise and fall, a first Y-axis moving module 85 for driving the second suction cup module 81 to move along the Y-axis, and a first X-axis moving module 86 for driving the second suction cup module 81 and the upper visual positioning camera 82 to move along the X-axis. The first X-axis moving module 86 is connected to the frame 1, the first Y-axis moving module 85 and the upper visual positioning camera 82 are both connected to the driving end of the first X-axis moving module 86, the first Z-axis moving module 84 group is connected to the driving end of the first Y-axis moving module 85, the R-axis rotation module 83 is connected to the driving end of the first Z-axis moving module 84 group, and the second suction cup module 81 is connected to the driving end of the R-axis rotation module 83. The implant board removal manipulator 8 is equipped with a first X-axis moving module 86, a first Y-axis moving module 85 and a first Z-axis moving module 84. These three moving modules work together to enable the second suction cup module 81 to move freely in three-dimensional space, providing the manipulator with a wide range of operations, so that it can easily handle FPC boards of different positions and heights; the implant board removal manipulator 8 is equipped with an R-axis rotating module 83, so that the second suction cup module 81 can be rotated horizontally to correct the angle of the sucked FPC board, thereby improving the operational flexibility of the manipulator. The implant board removal manipulator 8 is equipped with a visual positioning camera 82, which increases the implantation accuracy of the FPC board, ensures strict requirements on the position during the production process, and reduces production errors and waste caused by inaccurate positioning. At the same time, the suction nozzle of the second suction cup module 81 adopts a quick-release assembly, making the replacement of the suction nozzle quick and easy. When it is necessary to handle FPC boards of different sizes or types, the operator can quickly replace the appropriate suction nozzle, thereby improving the adaptability and flexibility of the manipulator and meeting the needs of diversified production.

[0062] See also Figure 1 , Figure 2 In one embodiment, the frame 1 is also provided with a lower visual positioning camera 10 for taking photos upwards, and the lower visual positioning camera 10 is located below the moving path of the second suction cup module 81. The lower visual positioning camera 10 can take photos of the FPC board sucked by the second suction cup module 81 from below, providing another dimension of visual information for the removal process. Combined with the upper visual positioning camera 82, this dual visual positioning method can more comprehensively capture the position and state of the FPC board, thereby further improving the accuracy of removal.

[0063] See also Figure 8In one embodiment, the tray changing robot 9 includes a third suction cup module 91 for sucking the tray, a second Z-axis moving module 92 for driving the third suction cup module 91 to move up and down, and a second Y-axis moving module 93 for driving the third suction cup module 91 to move along the Y-axis. The second Y-axis moving module 93 is connected to the frame 1, the second Z-axis moving module 92 is connected to the driving end of the second Y-axis moving module 93, and the third suction cup module 91 is connected to the driving end of the second Z-axis moving module 92. The tray changing robot 9 realizes the rapid and stable transportation of the tray from the first tray lifting track 6 to the second tray lifting track 7 through the cooperation between the third suction cup module 91, the second Z-axis moving module 92 and the second Y-axis moving module 93.

[0064] It should be understood that those skilled in the art can make improvements or changes based on the above description, and all these improvements and changes should fall within the scope of protection of the appended claims of the present invention.

[0065] The above is an exemplary description of the present invention in conjunction with the accompanying drawings. It is obvious that the implementation of the present invention is not limited to the above-mentioned method. As long as various improvements are made by adopting the method concept and technical solution of the present invention, or the concept and technical solution of the present invention are directly applied to other occasions without improvement, they are all within the protection scope of the present invention.

Claims

1. A fully automatic FPC removal device, characterized in that: It includes a frame and a silo lifting track, a carrier conveying track, a material pushing mechanism, a steel sheet lifting mechanism, a first tray lifting track, a second tray lifting track, a planting plate removal manipulator and a tray changing manipulator installed on the frame; In the plate planting working mode, the silo lifting track is used to receive the silo filled with carriers delivered by the transport vehicle, and to deliver the carriers in the silo to the carrier taking position of the pushing mechanism one by one, and the carriers in the silo are empty carriers; the pushing mechanism is used to push the carriers located at the carrier taking position to the carrier conveying track one by one; the carrier conveying track is used to convey the carriers pushed by the pushing mechanism to the removal and planting station for plate planting, and to convey the carriers after plate planting to the next process; the steel sheet lifting mechanism is used to absorb the steel sheet on the carrier located at the removal and planting station and lift it to a specified height, and to cover the steel sheet at the specified height on the carrier located at the removal and planting station and implanted with F The first pallet lifting track is used to receive a whole stack of pallets loaded with FPC boards delivered by the transport vehicle, and to deliver the pallets loaded with FPC boards to the board taking position of the board removal robot one by one; the board removal robot is used to implant the FPC boards in the pallet located at the board taking position into the carrier located at the removal station; the tray changing robot is used to deliver the pallet with the FPC boards removed at the board taking position to the second pallet lifting track; the second pallet lifting track is used to receive and temporarily store the pallet with the FPC boards removed delivered by the tray changing robot, and to deliver the whole stack of pallets with the FPC boards removed to the transport vehicle after being full.

2. The fully automatic FPC removal and implantation equipment according to claim 1 is characterized in that: In the panel removal working mode, the silo lifting track is used to receive the silo filled with carriers transported by the transport vehicle, and transport the carriers in the silo one by one to the carrier taking position of the pushing mechanism, and the carriers in the silo are loaded with FPC boards; the pushing mechanism is used to push the carriers located at the carrier taking position one by one to the carrier conveying track; the carrier conveying track is used to convey the carriers pushed by the pushing mechanism to the removal station for panel removal, and to convey the removed carriers to the next process; the steel sheet lifting mechanism is used to absorb the steel sheet on the carrier located at the removal station and lift it to the specified height, and cover the steel sheet at the specified height on the steel sheet located at the specified height The first pallet lifting track is used to receive a whole stack of empty pallets delivered by the transport vehicle, and deliver the empty pallets one by one to the board taking position of the demolition board robot; the demolition board robot is used to absorb the FPC board in the carrier located at the demolition station into the pallet located at the board taking position; the tray changing robot is used to deliver the pallet loaded with FPC boards located at the board taking position to the second pallet lifting track; the second pallet lifting track is used to receive and temporarily store the pallet loaded with FPC boards delivered by the tray changing robot, and deliver the whole stack of pallets loaded with FPC boards to the transport vehicle after being full.

3. The fully automatic FPC removal and implantation equipment according to claim 1 is characterized in that: The silo lifting track, the carrier conveying track, the first pallet lifting track and the second pallet lifting track are respectively installed at the four corners of the frame, the silo lifting track is located on the input side of the carrier conveying track, the output end of the carrier conveying track is connected to the next process, the pushing mechanism is located inside the carrier conveying track, the steel sheet lifting mechanism is located above the input end of the carrier conveying track, the removal plate robot is located above the output end of the carrier conveying track and above the first pallet lifting track, and the tray changing robot is located above the first pallet lifting track and the second pallet lifting track.

4. The fully automatic FPC removal and implantation equipment according to claim 1 is characterized in that: The silo lifting track includes a silo conveying track and a silo lifting mechanism arranged at the end of the silo conveying track, and the silo conveying track is used to connect the transport vehicle and the silo lifting mechanism.

5. The fully automatic FPC removal and implantation equipment according to claim 1 is characterized in that: The carrier conveying track includes a first fixed conveying line, a first movable conveying line arranged opposite to the first fixed conveying line, and a carrier positioning mechanism arranged at the demolition station, the first fixed conveying line can be close to or away from the first movable conveying line, and the carrier positioning mechanism is located between the first fixed conveying line and the first movable conveying line.

6. The fully automatic FPC removal and implantation equipment according to claim 1, characterized in that: The pushing mechanism includes a linear drive module arranged along the transmission direction of the carrier conveying track and a pushing arm arranged at the driving end of the linear drive module. At least two pushing members arranged side by side are arranged on the top of one end of the pushing arm close to the silo lifting track. The linear drive module drives the pushing members through the pushing arm to push the carriers located at the carrier picking position one by one onto the carrier conveying track.

7. The fully automatic FPC removal and implantation equipment according to claim 1, characterized in that: The steel sheet lifting mechanism includes a steel sheet suction cup module for sucking the steel sheet and a second lifting module for driving the steel sheet suction cup module to rise and fall, the second lifting module is connected to the frame, the steel sheet suction cup module is connected to the lifting end of the second lifting module, and the steel sheet suction cup module is located directly above the demolition station.

8. The fully automatic FPC removal and implantation equipment according to claim 1, characterized in that: The first pallet lifting track and the second pallet lifting track have the same structure. The first pallet lifting track includes a pallet conveying track and a pallet lifting mechanism arranged at the end of the pallet conveying track. The pallet conveying track is used to connect the transport vehicle and the pallet lifting mechanism.

9. The fully automatic FPC removal and implantation equipment according to claim 1, characterized in that: The implant plate removal robot includes a second suction cup module for sucking the FPC board, an upper visual positioning camera for taking pictures downward, an R-axis rotation module for driving the second suction cup module to rotate horizontally, a first Z-axis moving module for driving the second suction cup module to rise and fall, a first Y-axis moving module for driving the second suction cup module to move along the Y-axis, and a first X-axis moving module for driving the second suction cup module and the upper visual positioning camera to move along the X-axis. The first X-axis moving module is connected to the frame, the first Y-axis moving module and the upper visual positioning camera are both connected to the driving end of the first X-axis moving module, the first Z-axis moving module is connected to the driving end of the first Y-axis moving module, the R-axis rotation module is connected to the driving end of the first Z-axis moving module, and the second suction cup module is connected to the driving end of the R-axis rotation module.

10. The fully automatic FPC removal and implantation equipment according to claim 1, characterized in that: The tray changing robot includes a third suction cup module for sucking the tray, a second Z-axis moving module for driving the third suction cup module to rise and fall, and a second Y-axis moving module for driving the third suction cup module to move along the Y-axis. The second Y-axis moving module is connected to the frame, the second Z-axis moving module is connected to the driving end of the second Y-axis moving module, and the third suction cup module is connected to the driving end of the second Z-axis moving module.

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