An automatic tray loading and unloading device for inserting trays

Abstract

This invention provides an automatic board loading and unloading device for insert frames, belonging to the field of circuit board manufacturing technology. It includes a frame and a board frame positioning mechanism. The board frame positioning mechanism is mounted on the frame and used to fix the insert frame board frame. A pick-and-place clamping mechanism is mounted above the board frame positioning mechanism and used to pick up and place boards into the insert frame board frame. A clamping plate transfer mechanism is mounted on the frame and used to pick up and place boards into the pick-and-place clamping mechanism. A conveying mechanism is mounted on the frame and used to input or output boards along the frame. When inserting or removing boards from the insert frame board frame, this invention uses the board frame positioning mechanism to fix the insert frame board frame, the pick-and-place clamping mechanism to pick up and place boards from the insert frame board frame, the clamping plate transfer mechanism to pick up and place boards into the pick-and-place clamping mechanism, and the conveying mechanism to transport the boards. Therefore, the entire board loading and unloading process is automated, offering advantages of high efficiency and low error rate compared to traditional manual operation.

Description

Technical Field

[0001] This invention relates to the field of circuit board manufacturing technology, and more specifically to an automatic board loading and unloading device for insert frames. Background Technology

[0002] Currently, in the circuit board production process, the later stages of production involve processes such as screen printing, baking, exposure, and development. During the material transfer and placement into the racks, factories often use manual methods to insert the circuit boards. However, manual methods are limited by production space and personnel, and are prone to placement errors and circuit board damage. Furthermore, manual operation is inefficient. Summary of the Invention

[0003] This invention provides an automatic board loading and unloading device for inserting frames. The entire process of picking up and placing boards is carried out by automated equipment, which has the advantages of high efficiency and low error rate compared with traditional manual operation.

[0004] To solve the above-mentioned technical problems, the present invention adopts the following technical solution:

[0005] An automatic tray loading and unloading device for inserting trays includes a frame and further includes:

[0006] A plate frame positioning mechanism is mounted on the machine frame and is used to fix the insert frame plate frame.

[0007] A plate picking and placing mechanism is provided above the plate frame positioning mechanism and is used to pick up and place plates into the insert frame plate frame.

[0008] A clamping plate transfer mechanism, mounted on a frame, for picking up and placing plates to a clamping plate handling mechanism; and

[0009] A conveying mechanism, which is mounted on a frame, is used to input or output plates along the frame.

[0010] Preferably, the plate frame positioning mechanism includes a positioning base, a straightening cylinder disposed inside the positioning base, a clamping cylinder disposed on the positioning base for fixing the insert frame plate frame, and a first pair of optical fibers disposed at the feeding end of the positioning base.

[0011] Preferably, the pick-and-place clamping mechanism includes a pick-and-place clamping base, a transverse moving component disposed on the top of the pick-and-place clamping base, a fixed detection component and a moving detection component disposed on both sides of the top of the transverse moving component, a lifting component disposed on the transverse moving component, and a gripper component disposed on the moving end of the lifting component.

[0012] Preferably, the transverse movement assembly includes first linear guide rails disposed on both sides of the top of the pick-and-place clamp base, a connecting beam slidably disposed between the two first linear guide rails, a servo motor disposed on the pick-and-place clamp base, a drive shaft disposed at the output end of the servo motor, a first synchronous belt disposed parallel to the first linear guide rails and driven by the drive shaft, and a mounting plate fixedly disposed on one side of the first synchronous belt, wherein the mounting plate is fixedly connected to the connecting beam.

[0013] Preferably, the clamping mechanism further includes a connecting seat on the connecting beam; the fixed detection component includes a fixed seat at one end of the connecting seat, a first edge-following photoelectric sensor on the side wall of the fixed seat, and a fixed-side guide gripper cylinder on the side of the fixed seat away from the connecting beam; the moving detection component includes a transverse servo motor at the other end of the connecting seat, a moving seat at the moving end of the transverse servo motor, a second edge-following photoelectric sensor on the side wall of the moving seat, and a moving-side guide gripper cylinder on the side of the moving seat away from the connecting beam.

[0014] Preferably, the lifting assembly includes a base disposed on the top of the connecting beam, a base plate vertically fixed on the top of the base, a brake servo motor fixed on the side wall of the base, a toothed plate disposed at the output end of the brake servo motor and capable of moving vertically along the base plate, a fixed side guide rail and a moving side guide rail symmetrically disposed on the two side walls of the base plate, a second synchronous belt disposed on one side wall of the base plate, a fixed clamping plate disposed on one side of the second synchronous belt and slidably connected to the fixed side guide rail, and a moving block disposed on the other side of the second synchronous belt and slidably connected to the moving side guide rail. The fixed clamping plate is also fixedly connected to the toothed plate.

[0015] Preferably, the gripper assembly includes a fixed plate disposed on the moving block, miniature guide rails disposed on both sides of the fixed plate via a connecting plate, and pneumatic grippers disposed on the miniature guide rails.

[0016] Preferably, the gripper assembly further includes a second linear guide rail disposed perpendicular to the extension direction of the micro guide rail on the side wall of the fixed plate, a cylinder disposed on the side wall of the fixed plate, and a movable plate disposed at the output end of the cylinder and slidably connected to the second linear guide rail, wherein one of the connecting plates is fixed on the movable plate.

[0017] Preferably, the clamping plate transfer mechanism includes a robot and a moving part disposed at the free moving end of the robot. The moving part includes a mounting frame, a fixed end gripper fixedly disposed at one end of the mounting frame, a width adjustment module disposed along the length direction of the mounting frame, and a moving end gripper disposed on the slider of the width adjustment module.

[0018] Preferably, the conveying mechanism includes a conveying frame, a roller conveyor disposed on the side wall of the conveying frame, a pulley lifting mechanism disposed on the inner side of the conveying frame for vertically moving the plate, and a plate positioning mechanism disposed on two opposite inner sides of the conveying frame for horizontally moving the plate.

[0019] As can be seen from the above technical solutions, the present invention has the following beneficial effects:

[0020] 1. In this invention, when placing the plate, the factory worker can push the insert frame plate rack on the transfer car onto the plate rack positioning mechanism and fix it in place. The plate pick-and-place mechanism performs size detection on the plate rack. When it matches the input material number information, it picks up the plate from the insert frame plate rack and lifts it to the plate clamping position. The plate clamping transfer mechanism picks up the plate from the plate clamping position and places it on the conveying mechanism. The plate flows into the next process through the conveying mechanism.

[0021] When the plates are collected, the products from the previous process flow into the conveying mechanism. The clamping plate transfer mechanism picks up the plates and places them on the pick-and-place clamping plate mechanism. The pick-and-place clamping plate mechanism then inserts the plates into the plate frame to be inserted. After the plate frame is full, the plate frame positioning mechanism releases the positioning of the plate frame, and the worker takes the plate frame out and puts it on the transfer car.

[0022] When inserting or removing a plate from the insert frame, the present invention uses a plate positioning mechanism to fix the insert frame, a plate pick-and-place mechanism to pick up and place the plate from the insert frame, a plate transfer mechanism to pick up and place the plate, and a conveying mechanism to transport the plate. Therefore, the entire process of picking up and placing the plate is carried out by automated equipment, which has the advantages of high efficiency and low error rate compared with the traditional manual operation.

[0023] 2. In this invention, when the servo motor in the transverse component is working, it drives the connecting beam to slide on the first linear guide rail through the transmission shaft and the first synchronous belt, thereby driving the fixed detection component, the moving detection component, the lifting component, and the gripper component on the connecting beam to move horizontally. In this way, when one side of the insertion frame is filled, it is necessary to insert plates into other positions of the insertion frame. At this time, the servo motor can be started to drive the plate picking and placing mechanism to move horizontally, which facilitates the insertion and placement of plates into different positions of the insertion frame. Moreover, the position of the mechanism can be adjusted as needed to avoid occupying a large space in the factory.

[0024] 3. In this invention, the edge portion of the insert frame is identified by a fixed detection component and a movable detection component. At the same time, the movable detection component can move relative to the fixed detection component. In this way, the first and second edge-tracking photoelectric sensors on the insert plate will gradually move closer, thereby finding the edge portion of the insert frame and identifying the size and width of the plate. The detection information can be transmitted to the gripper component, so that the gripper component can be adjusted to a suitable position to facilitate the clamping and fixing of plates of different specifications, avoiding the problem of damage to the plate due to incompatibility between the plate and the gripper component.

[0025] 4. In this invention, the gripper assembly includes two symmetrically arranged pneumatic grippers. At the same time, the pneumatic gripper on one side can move horizontally relative to the pneumatic gripper on the other side. This makes it easy to adjust the position of the pneumatic gripper as needed, so that the pneumatic gripper can be moved to a suitable position to clamp the plate. Attached Figure Description

[0026] Figure 1 This is a three-dimensional schematic diagram of the present invention;

[0027] Figure 2 for Figure 1 A schematic diagram of the structure with the outer shell removed;

[0028] Figure 3 This is a structural schematic diagram of the plate frame positioning mechanism;

[0029] Figure 4 This is a schematic diagram of the mechanism for picking up and placing clamping plates;

[0030] Figure 5 This is a schematic diagram of the transverse component.

[0031] Figure 6 A schematic diagram of the fixed detection component and the moving detection component;

[0032] Figure 7 A structural schematic diagram of the lifting assembly from one side view;

[0033] Figure 8 A structural schematic diagram of the lifting assembly from another side view;

[0034] Figure 9 This is a schematic diagram of the gripper assembly.

[0035] Figure 10 This is a schematic diagram of the clamp transfer mechanism;

[0036] Figure 11 This is a schematic diagram of the conveying mechanism;

[0037] Figure 12 This is a schematic diagram of the pulley lifting mechanism;

[0038] Figure 13 A schematic diagram of the clapping and positioning mechanism.

[0039] In the diagram: 10, frame; 20, plate positioning mechanism; 210, positioning base; 220, alignment cylinder; 230, clamping cylinder; 240, first through-beam optical fiber; 250, pulley; 30, clamping plate picking mechanism; 310, clamping plate picking base; 320, transverse movement assembly; 321, first linear guide rail; 322, connecting beam; 323, servo motor; 324, drive shaft; 325, first synchronous belt; 330, fixed detection assembly; 331, fixed base; 332 333. First edge-tracking photoelectric sensor; 334. Fixed-side guide gripper cylinder; 345. Connecting seat; 346. Moving detection component; 347. Transverse servo motor; 348. Moving seat; 359. Second edge-tracking photoelectric sensor; 350. Moving-side guide gripper cylinder; 351. Lifting component; 352. Base; 353. Brake servo motor; 354. Tooth plate; 355. Fixed-side guide rail; 356. Moving-side guide rail; 357. Second synchronous belt; 358. Fixed... 359. Clamping plate; 360. Moving block; 361. Gripper assembly; 362. Fixed plate; 363. Miniature guide rail; 364. Pneumatic gripper; 365. Second linear guide rail; 366. Cylinder; 367. Overpressure rod; 368. Overpressure detection photoelectric sensor; 369. Second through-beam optical fiber; 3610. Connecting plate; 40. Clamping plate transfer mechanism; 410. Robot; 420. Mounting bracket; 430. Fixed end gripper; 440. Width adjustment module; 450. Moving end gripper; 50. Conveyor Mechanism; 510, Roller conveyor; 511, Conveyor motor; 512, Transmission shaft; 513, Roller shaft; 514, Roller; 520, Pulley lifting mechanism; 521, Lifting frame; 522, Lifting cylinder; 523, Pulley frame; 524, Horizontal bar; 525, Vertical bar; 526, Pulley; 530, Paddle positioning mechanism; 531, Positioning frame; 532, Paddle frame; 533, Positioning seat; 534, Paddle frame; 60, Insert frame plate frame; 70, Transfer car. Detailed Implementation

[0040] A preferred embodiment of the present invention will now be described in detail with reference to the accompanying drawings.

[0041] To achieve the above objectives, the embodiments of the present invention adopt the following technical solutions: (Refer to...) Figure 1 , Figure 2An automatic plate loading and unloading device for inserting frames includes a frame 10, a plate frame positioning mechanism 20, a clamping plate picking and placing mechanism 30, a clamping plate transfer mechanism 40, and a conveying mechanism 50. The plate frame positioning mechanism is mounted on the frame 10 and is used to fix the insert frame plate frame 60. The clamping plate picking and placing mechanism is located above the plate frame positioning mechanism and is used to pick up and place plates onto the insert frame plate frame 60. The clamping plate transfer mechanism is mounted on the frame 10 and is used to pick up and place plates onto the clamping plate picking and placing mechanism. The conveying mechanism is mounted on the frame 10 and is used to input plates along the frame. Alternatively, the output board can be noted that, in order to facilitate the transfer of the insert frame board frame, the automatic insert frame board receiving and releasing device in this embodiment also includes a transfer cart 70. In this way, when releasing the board, the factory worker can push the insert frame board frame on the transfer cart onto the board frame positioning mechanism and fix it in place. The board picking and placing mechanism performs size detection on the board frame. If it matches the input part number information, it picks up the board in the insert frame board frame and lifts it to the board waiting position. The board transferring mechanism picks up the board from the board waiting position and places it on the conveying mechanism. The board flows into the next process through the conveying mechanism.

[0042] When the plates are collected, the products from the previous process flow into the conveying mechanism. The clamping plate transfer mechanism picks up the plates and places them on the pick-and-place clamping plate mechanism. The pick-and-place clamping plate mechanism then inserts the plates into the plate frame to be inserted. After the plate frame is full, the plate frame positioning mechanism releases the positioning of the plate frame, and the worker takes the plate frame out and puts it on the transfer car.

[0043] In this embodiment, when inserting or removing a plate from the insert frame, the insert frame is fixed by a plate positioning mechanism, the plate is picked up and placed from the insert frame by a clamping mechanism, and the plate is transferred to the clamping mechanism by a clamping transfer mechanism. At the same time, the plate is transported by a conveying mechanism. Therefore, the entire process of picking up and placing the plate is carried out by automated equipment, which has the advantages of high efficiency and low error rate compared with the traditional manual operation method.

[0044] Reference Figure 3As a preferred technical solution in this embodiment, the plate frame positioning mechanism 20 includes a positioning base 210, a straightening cylinder 220, a clamping cylinder 230, and a first through-beam optical fiber 240. It should be noted that the positioning base in this embodiment is a rectangular frame structure with an opening on one side, and the straightening cylinders 220 are arranged in two sets, with the two sets of straightening cylinders arranged along opposite sides of the positioning base. Each set contains two straightening cylinders, spaced apart along the side of the positioning base. The clamping cylinder 230 is fixedly mounted on the positioning base to fix the insert frame plate 60. The first pair of optical fibers 240 is located at the feed end of the positioning base. When fixing the insert frame plate, the insert frame plate moves to the inner position along the side of the positioning base. At this time, the alignment cylinder located on the side of the positioning base extends to align the insert frame plate from both sides. At the same time, the clamping cylinder moves to clamp and fix the insert frame plate from the end. Thus, the positioning of the insert frame plate and the plate positioning mechanism is completed.

[0045] In addition, to facilitate the insertion of the frame plate 60 into or out of the positioning base 210, a plurality of spaced pulleys 250 are provided on the upper surface of the positioning base.

[0046] Reference Figure 4 In some embodiments, the pick-and-place clamping mechanism 30 includes a pick-and-place clamping base 310, a transverse moving component 320, a fixed detection component 330, a moving detection component 340, a lifting component 350, and a gripper component 360. The transverse moving component is disposed on the top of the pick-and-place clamping base. The fixed detection component and the moving detection component work together and are disposed on the top sides of the transverse moving component. The lifting component is disposed on the transverse moving component, and the gripper component is disposed on the moving end of the lifting component.

[0047] Reference Figure 5 Furthermore, the lateral movement assembly includes a first linear guide rail 321, a connecting beam 322, a servo motor 323, a drive shaft 324, a first synchronous belt 325, and a mounting plate. There are two first linear guide rails 321, symmetrically arranged on both sides of the top of the pick-and-place clamp base 310. The connecting beam 322 is slidably disposed between the two first linear guide rails. The servo motor 323 is fixedly mounted on the pick-and-place clamp base. The drive shaft 324 is located at the output end of the servo motor. The first synchronous belt 325 is parallel to the first linear guide rail and driven by the drive shaft. The mounting plate is fixed to one side of the first synchronous belt, and simultaneously, the mounting plate is fixedly connected to the connecting beam 322. In use, the servo motor drives the drive shaft to rotate, which in turn drives the first synchronous belt. Since the mounting plate on one side of the first synchronous belt is fixedly connected to the connecting beam, when the mounting plate moves with the first synchronous belt, it can synchronously drive the connecting beam to slide along the first linear guide rail, thereby realizing the displacement of the lateral movement assembly.

[0048] The reason for setting up the transverse component is that when picking up and placing plates, after one side of the insertion frame is filled, plates need to be inserted into other positions of the insertion frame. At this time, the servo motor can be started to drive the crossbeam to move, thereby driving the plate picking and placing mechanism to move horizontally, which makes it convenient to insert plates into different positions of the insertion frame. Moreover, the position of the mechanism can be adjusted as needed to avoid occupying a large space in the factory.

[0049] Reference Figure 6 Furthermore, the aforementioned clamping mechanism also includes a connecting seat 334 disposed on the connecting beam 322. The fixed detection component includes a fixed seat 331, a first edge-following photoelectric sensor 332, and a fixed-side guide gripper cylinder 333. The fixed seat 331 is fixedly disposed at one end of the connecting seat 334, the first edge-following photoelectric sensor 332 is fixedly disposed on the side wall of the fixed seat, and the fixed-side guide gripper cylinder 333 is disposed on the side of the fixed seat away from the connecting beam.

[0050] The motion detection assembly includes a transverse servo motor 341, a moving base 342, a second edge-following photoelectric sensor 343, and a moving side guide gripper cylinder 344. The transverse servo motor 341 is fixedly mounted on the other end of the connecting base 334, the moving base 342 is mounted on the moving end of the transverse servo motor, the second edge-following photoelectric sensor 343 is mounted on the side wall of the moving base, and the moving side guide gripper cylinder 344 is mounted on the side of the moving base away from the connecting base.

[0051] It should be noted that both the fixed-side guide gripper cylinder and the moving-side guide gripper cylinder have two symmetrical guide posts at their output ends, and these two guide posts can open and close. After the workpiece is transported to the designated position, the moving seat will move horizontally along the connecting beam under the drive of the transverse servo motor. At this time, the first and second edge-tracking photoelectric sensors on the fixed and moving seats will gradually approach each other, thus finding the edge of the insertion frame and identifying the width of the workpiece. This detection information can be transmitted to the gripper assembly, allowing the gripper assembly to adjust to the appropriate position for clamping and fixing workpieces of different specifications. Furthermore, it prevents damage to the workpiece due to incompatibility between the workpiece and the gripper assembly. It should also be noted that when the gripper assembly inserts a workpiece into the insertion frame, the guide posts on the fixed-side and moving-side guide gripper cylinders will close together to guide the workpiece into the slot of the insertion frame, preventing incorrect insertion.

[0052] Reference Figure 7 , Figure 8In some embodiments, the lifting assembly includes a base 351, a base plate 352, a brake servo motor 353, a gear plate 354, a fixed side guide rail 355, a moving side guide rail 356, a second synchronous belt 357, a fixed clamping plate 358, and a moving block 359. The base 351 is fixedly mounted on the top of the connecting beam 322, the base plate 352 is vertically fixed on the top of the base, the brake servo motor 353 is fixed on the side wall of the base, the gear plate 354 is located at the output end of the brake servo motor and can move vertically along the base plate, the fixed side guide rail 355 and the moving side guide rail 356 are symmetrically arranged on the two side walls of the base plate, the second synchronous belt 357 is located on one side wall of the base plate, the fixed clamping plate 358 is located on one side of the second synchronous belt and is slidably connected to the fixed side guide rail, and the moving block 359 is located on the second synchronous belt 351, the base plate 352, the brake servo motor 353, the gear plate 354, the fixed side guide rail 355, the moving side guide rail 356, the fixed side guide rail 357, the moving side guide rail 358, and the moving block 359. On the other side of the two synchronous belts, the moving block is slidably connected to the moving side guide rail. At the same time, the fixed clamping plate 358 is also fixedly connected to the toothed plate 354. When in use, starting the brake servo motor can drive the gear connected to its output end to rotate. The gear will drive the toothed plate to move vertically. Since the fixed clamping plate is connected to the toothed plate, the toothed plate drives the fixed clamping plate to move along the fixed side guide rail during the vertical movement, and at the same time drives one side of the second synchronous belt to move vertically. When the second synchronous belt moves, it will drive the other side of the second synchronous belt to move synchronously, and then drive the moving block to move vertically through the other side of the second synchronous belt. Due to the double stroke amplification effect of the synchronous belt, the moving block will achieve double stroke up and down movement relative to the toothed plate, so as to adjust the position of the gripper assembly and facilitate the clamping and insertion of the plate.

[0053] It should be noted that, given the double stroke amplification effect of the synchronous belt assembly, when the toothed plate 354 moves 100mm, the pneumatic gripper can travel 200mm. This allows for rapid lifting and lowering of the pneumatic gripper with an ultra-long stroke, without the equipment occupying vertical space, thus saving factory space.

[0054] Reference Figure 9 In some embodiments, the gripper assembly includes a fixed plate 361, a miniature guide rail 362, and a pneumatic gripper 363. The fixed plate 361 is fixedly mounted on the moving block 359, so that when the moving block moves vertically, the fixed plate 361 can be moved up and down. There are two miniature guide rails 362, and the two miniature guide rails 362 are mounted on the side wall of the fixed plate 361 through a connecting plate 3610. The pneumatic gripper 363 is mounted on the miniature guide rail. In this way, under the action of the moving block, the pneumatic gripper can be moved to a suitable position to clamp the plate.

[0055] Furthermore, to enable the movement of one pneumatic gripper relative to the other pneumatic gripper, the gripper assembly also includes a second linear guide rail 364, a cylinder 365, and a moving plate. The second linear guide rail 364 is disposed on the side wall of the fixed plate 361 perpendicular to the extension direction of the micro guide rail 362. The cylinder 365 is fixedly disposed on the side wall of the fixed plate 361. The moving plate is disposed at the output end of the cylinder and is slidably connected to the second linear guide rail 364. Meanwhile, one of the connecting plates 3610 is fixedly disposed on the moving plate. In this way, after the size and width of the plate are detected and identified, the pneumatic grippers are moved up and down by the set lifting assembly. One of the pneumatic grippers will also move laterally on the fixed plate under the drive of the cylinder, so that the position of the pneumatic grippers can be adjusted as needed, so that the pneumatic grippers can be moved to a suitable position to clamp the plate.

[0056] In addition, the bottom of the fixed plate 361 is equipped with an overpressure rod 367 and an overpressure detection photoelectric sensor 368. At the same time, a second pair of optical fibers 369 are provided on both sides of the pneumatic gripper. When the pneumatic gripper is moved down and closes to the plate, the overpressure rod 367 at the bottom of the fixed plate will first contact the surface of the plate and trigger the overpressure detection photoelectric sensor 368. At this time, the pneumatic gripper will be controlled to automatically close and clamp the plate. In addition, the second pair of optical fibers 369 set on the two pneumatic grippers can scan the pneumatic gripper to determine whether the gripper is holding the plate. Finally, the lifting component continues to move the pneumatic gripper down to insert the plate into the insertion frame, thereby enabling the clamping and fixing of plates of different specifications to improve the adaptability of the equipment.

[0057] Reference Figure 10 Furthermore, the clamping plate transfer mechanism includes a robot 410 and a moving part. The moving part is located at the free moving end of the robot. Specifically, the moving part includes a mounting frame 420, a fixed-end gripper 430, a width adjustment module 440, and a moving-end gripper 450. The fixed-end gripper 430 is fixedly located at one end of the mounting frame. The width adjustment module 440 is arranged along the length direction of the mounting frame. The moving-end gripper 450 is located on the slider of the width adjustment module. It should be noted that the width adjustment module is a linear motor-type mechanism that can achieve lateral movement. Under the action of the width adjustment module, the moving-end gripper can be driven to move relative to the fixed-end gripper to automatically adjust the position of the moving-end gripper to accommodate plates of different sizes.

[0058] Reference Figure 11In some embodiments, the conveying mechanism includes a conveying frame, a roller conveyor 510, a pulley lifting mechanism 520, and a clapper positioning mechanism 530. The conveying frame serves as the main frame of the conveying mechanism. The roller conveyor is installed on the side wall of the conveying frame. The pulley lifting mechanism is located inside the conveying frame and is used to vertically move the plate, i.e., to lift or lower the plate. The clapper positioning mechanism is located on two opposite inner sides of the conveying frame and is used to horizontally move the plate.

[0059] Furthermore, the roller conveying mechanism includes a conveying motor 511, a transmission shaft 512, and roller shafts 513. The conveying motor is mounted on the side wall of the conveying frame, and the transmission shaft is mounted along one side wall of the conveying frame. There are multiple roller shafts, which are evenly spaced and rotated along the inner side wall of the conveying frame. At the same time, multiple evenly distributed rollers 514 are fixed on the shaft wall of the roller shaft. In order to enable the roller shaft to drive the rollers to rotate and convey the plate when it rotates, the transmission shaft is connected to the output shaft of the conveying motor through a conveyor belt. Multiple driving bevel gears are provided on the transmission shaft and at positions corresponding to the ends of the roller shafts. Correspondingly, driven bevel gears that mesh with the driving bevel gears are provided at the ends of the roller shafts. In this way, when the conveying motor is working, the transmission shaft can be driven to rotate through the conveyor belt. The transmission shaft then drives the driven bevel gears to rotate through the driving bevel gears. The driven bevel gears then drive the roller shafts and rollers to rotate, thereby realizing the transmission of the plate.

[0060] Reference Figure 12 Furthermore, the pulley lifting mechanism 520 includes an lifting frame 521, an lifting cylinder 522, and a pulley frame 523. The lifting frame is fixedly installed on the inner wall of the conveyor frame, the lifting cylinder is fixedly installed on the bottom wall of the lifting frame, and the pulley frame is slidably installed on the inner wall of the lifting frame. The output end of the lifting cylinder is fixedly connected to the bottom wall of the pulley frame. The pulley frame 523 includes horizontal bars 524 distributed parallel to the two sides of the conveyor frame and vertical bars 525 fixedly installed between the two horizontal bars. The number of vertical bars is multiple evenly distributed. The top of each vertical bar is rotatably connected to multiple pulleys 526, and the rotation direction of the pulleys is perpendicular to the rotation direction of the rollers. In use, the lifting cylinder can be used to drive the pulley frame to slide up and down along the lifting frame, thereby realizing the lifting and lowering of the pulleys. This facilitates the lifting and lowering of the plate through the pulleys. Subsequently, the plate can be driven to move horizontally after being lifted by the plate positioning mechanism to center and align the plate.

[0061] Reference Figure 13Furthermore, the clapping positioning mechanism 530 includes a positioning frame 531, a ball screw assembly, and a clapping frame 532. The positioning frame 531 is distributed along an axial direction parallel to the roller shaft. The ball screw assembly is arranged along the length direction of the positioning frame. There are two clapping frames 532, and the two clapping frames 532 are arranged opposite to each other in the moving part of the ball screw assembly. The clapping frame includes a positioning seat 533 fixedly connected to the moving part of the ball screw and a clapping frame 534 arranged on the top of the positioning seat. The clapping frame is distributed along an axial direction perpendicular to the roller shaft. In use, the clapping frames on both sides can be driven to move synchronously under the drive of the ball screw assembly. In this way, when the plate is lifted by the pulley lifting mechanism, the clapping frame 534 will straighten the plate left and right to facilitate the gripping of the plate.

[0062] When placing the plate, the lifting assembly drives the gripper assembly to the clamping position, then picks up the plate and lifts it to the clamping position of the clamping transfer mechanism. At this time, the pulley lifting mechanism lifts up first, and the robot in the clamping transfer mechanism places the plate on the pulley. After the plate positioning mechanism aligns the plate left and right, the pulley lifting mechanism descends, and the plate falls onto the roller conveyor and flows into the next process.

[0063] When the plates are collected, the products from the previous process flow onto the roller conveyor. The pulley lifting mechanism first lifts the plates, and the plate positioning mechanism positions the plates. Then, the robot in the clamping plate transfer mechanism picks up the plates and places them onto the pick-and-place clamping mechanism. The pick-and-place clamping mechanism then inserts the plates into the insert frame.

[0064] The above-described embodiments are merely preferred embodiments of the present invention and are not intended to limit the scope of the present invention. Various modifications and improvements made by those skilled in the art to the technical solutions of the present invention without departing from the spirit of the present invention should fall within the protection scope defined by the claims of the present invention.

Claims

1. An automatic tray loading and unloading device for inserting trays, comprising a frame (10), characterized in that, Also includes: Plate frame positioning mechanism (20), which is set on the frame (10) and used to fix the insert frame plate frame (60). The plate picking and placing mechanism (30) is located above the plate frame positioning mechanism and is used to pick up and place plates into the insert frame plate frame (60). A clamping plate transfer mechanism (40), which is mounted on the frame (10), is used to pick up and place plates to the clamping plate pick-up and drop-off mechanism; and A conveying mechanism (50) is mounted on a frame (10) for inputting or outputting plates along the frame; The plate frame positioning mechanism (20) includes a positioning base (210), a straightening cylinder (220) disposed inside the positioning base, a clamping cylinder (230) disposed on the positioning base for fixing the insert frame plate frame (60), and a first through-beam optical fiber (240) disposed at the feeding end of the positioning base. The pick-and-place clamping mechanism (30) includes a pick-and-place clamping base (310), a transverse component (320) disposed on the top of the pick-and-place clamping base, a fixed detection component (330) and a moving detection component (340) disposed on both sides of the top of the transverse component, a lifting component (350) disposed on the transverse component, and a gripper component (360) disposed on the moving end of the lifting component. The transverse component includes a first linear guide rail (321) disposed on both sides of the top of the pick-and-place clamp base (310), a connecting beam (322) slidably disposed between the two first linear guide rails, a servo motor (323) disposed on the pick-and-place clamp base, a transmission shaft (324) disposed at the output end of the servo motor, a first synchronous belt (325) disposed parallel to the first linear guide rail and driven by the transmission shaft, and a mounting plate fixed on one side of the first synchronous belt, wherein the mounting plate is fixedly connected to the connecting beam (322); The pick-and-place clamping mechanism (30) further includes a connecting seat (334) disposed on the connecting beam (322). The fixed detection component includes a fixed seat (331) disposed at one end of the connecting seat, a first edge-following photoelectric sensor (332) disposed on the side wall of the fixed seat, and a fixed side guide gripper cylinder (333) disposed on the side of the fixed seat away from the connecting beam. The moving detection component includes a transverse servo motor (341) disposed at the other end of the connecting seat (334), a moving seat (342) disposed at the moving end of the transverse servo motor, a second edge-following photoelectric sensor (343) disposed on the side wall of the moving seat, and a moving side guide gripper cylinder (344) disposed on the side of the moving seat away from the connecting beam. The clamping plate transfer mechanism includes a robot (410) and a moving part disposed at the free moving end of the robot. The moving part includes a mounting frame (420), a fixed end gripper (430) fixedly disposed at one end of the mounting frame, a width adjustment module (440) disposed along the length direction of the mounting frame, and a moving end gripper (450) disposed on the slider of the width adjustment module.

2. The automatic frame loading and unloading device according to claim 1, characterized in that, The lifting assembly includes a base (351) set on the top of the connecting beam (322), a base plate (352) vertically fixed on the top of the base, a brake servo motor (353) fixed on the side wall of the base, a toothed plate (354) set at the output end of the brake servo motor and capable of moving vertically along the base plate, a fixed side guide rail (355) and a moving side guide rail (356) symmetrically set on the two side walls of the base plate, a second synchronous belt (357) set on one side wall of the base plate, a fixed clamping plate (358) set on one side of the second synchronous belt and slidably connected to the fixed side guide rail, and a moving block (359) set on the other side of the second synchronous belt and slidably connected to the moving side guide rail. The fixed clamping plate (358) is also fixedly connected to the toothed plate (354).

3. The automatic frame loading and unloading device according to claim 2, characterized in that, The gripper assembly includes a fixed plate (361) disposed on the movable block (359), miniature guide rails (362) disposed on both sides of the fixed plate (361) via a connecting plate (3610), and pneumatic grippers (363) disposed on the miniature guide rails.

4. The automatic frame loading and unloading device according to claim 3, characterized in that, The gripper assembly further includes a second linear guide rail (364) perpendicular to the extension direction of the micro guide rail (362) and disposed on the side wall of the fixed plate (361), a cylinder (365) disposed on the side wall of the fixed plate (361), and a movable plate disposed at the output end of the cylinder and slidably connected to the second linear guide rail (364), wherein one of the connecting plates (3610) is fixed on the movable plate.

5. The automatic frame loading and unloading device according to claim 1, characterized in that, The conveying mechanism includes a conveying frame, a roller conveyor (510) disposed on the side wall of the conveying frame, a pulley lifting mechanism (520) disposed inside the conveying frame for vertically moving the plate, and a plate positioning mechanism (530) disposed on two opposite inner sides of the conveying frame for horizontally moving the plate.

Images