Discharging and tray feeding machine
The tray loading and handling mechanism, which is coordinated with the visual camera and processor, achieves precise alignment between the heat spreader and the empty slot of the graphite tray, solves the problem of alignment deviation during robotic arm grasping, and ensures smooth tray loading and production stability of the heat spreader.
Patent Information
- Application Number
- CN202511193977.4
- Authority / Receiving Office
- CN · China
- Patent Type
- Applications(China)
- Current Assignee / Owner
- Filing Date
- 2025-08-25
- Publication Date
- 2025-10-10
AI Technical Summary
In the prior art, it is difficult to ensure the alignment accuracy when the robotic arm grabs the vapor chamber, resulting in alignment deviation between the vapor chamber and the graphite disk slot, which may cause vibration and damage to the vapor chamber.
A visual camera is used to capture the contour coordinates of the vapor chamber. The processor cooperates with the tray loading and handling mechanism to generate adjustment instructions to drive the vacuum suction cup to translate and rotate, so that the vapor chamber is aligned with the empty slot of the graphite tray. Combined with the positioning mechanism and the discharge and handling mechanism, the vapor chamber is ensured to be smoothly loaded into the tray.
The precise alignment of the vapor chamber and the graphite plate slot is achieved, edge overlap is avoided, and the smooth insertion of the vapor chamber into the plate is ensured, which improves production stability and prevents damage.
Smart Images
Figure CN120756876A_ABST
Abstract
Description
TECHNICAL FIELD
[0001] The application relates to the technical field of hot plate processing, in particular to a blanking and tray feeding machine. BACKGROUND
[0002] A hot plate is a vacuum cavity with a microstructure on the inner wall, usually made of copper, and is usually used in electronic products that require small volume or rapid heat dissipation. The appearance of the hot plate is a flat plate, which is composed of two cover plates that are tightly connected to each other, and has copper columns inside for support. In the production line, the blanking and tray feeding (into the graphite tray) of the hot plate is a key link, especially for precision electronic components and other products that are sensitive to vibration.
[0003] In the prior art, a mechanical arm is usually used to grab the hot plate and send it into the empty slot of the graphite tray along a specific route, and finally the hot plate and the graphite tray are sent to the subsequent processing. However, when the mechanical arm is used to grab the hot plate, it is difficult to ensure the alignment accuracy of the mechanical arm and the hot plate, and thus there may be a slight deviation between the hot plate and the empty slot of the graphite tray during the process of sending the hot plate into the empty slot. When the hot plate starts to enter the empty slot, the edges of the profile of the hot plate and the profile of the empty slot may be overlapped and touched, resulting in the hot plate not being smoothly placed into the graphite tray and causing vibration. The vibration has a great impact on the hot plate, and in severe cases, it may cause damage to the hot plate. SUMMARY
[0004] In order to avoid the problem of the hot plate and the graphite tray empty slot edge overlapping and thus causing vibration and even damaging the hot plate, the application provides a blanking and tray feeding machine.
[0005] The blanking and tray feeding machine provided by the application adopts the following technical scheme: A blanking and tray feeding machine, comprising a workbench, a processor, a tray feeding conveying mechanism, a positioning mechanism and a vision camera, the output end of the tray feeding conveying mechanism is provided with a first vacuum chuck capable of sucking up the hot plate, the tray feeding conveying mechanism is used to drive the first vacuum chuck to translate and twist, the positioning mechanism is used to position the graphite tray on the workbench, and the vision camera and the tray feeding conveying mechanism are electrically connected with the processor; the vision camera is used to capture the coordinates of the profile of the hot plate and send them to the processor; the processor pre-stores the coordinates of the profile of the empty slot of the graphite tray positioned by the positioning mechanism, the processor is used to receive the coordinate information sent by the vision camera, compare the coordinates of the hot plate with the pre-stored coordinates of the graphite tray, generate a pose adjustment instruction, and send the adjustment instruction to the tray feeding conveying mechanism; and the tray feeding conveying mechanism drives the first vacuum chuck to translate and rotate according to the adjustment instruction, so that the hot plate is opposite to the empty slot of the graphite tray.
[0006] By adopting the above technical scheme, the visual camera obtains the actual position (i.e. the coordinates of the profile of the heat plate) of the heat plate adsorbed by the first vacuum suction plate in the horizontal plane, the processor compares the actual position of the heat plate with the actual position (i.e. the coordinates of the profile of the target empty slot of the graphite plate) of the target empty slot of the graphite plate stored in advance and positioned in real time, calculates the deviation between the current pose (horizontal position and rotation angle) of the heat plate and the target pose, and generates an adjustment instruction (including horizontal translation compensation and rotation compensation) according to the deviation and sends the adjustment instruction to the plate-feeding conveying mechanism. The plate-feeding conveying mechanism drives the first vacuum suction plate to adjust the position and angle according to the adjustment instruction, and finally ensures that the profile of the heat plate is completely aligned with the profile of the target empty slot of the graphite plate before the heat plate is lowered into the plate, so as to eliminate the edge lap risk caused by the alignment deviation as much as possible and realize smooth plate-feeding action of the heat plate.
[0007] Preferably, the plate-feeding conveying mechanism comprises an X-axis electric guide rail, a Y-axis electric guide rail, a lifting cylinder and a righting motor. The X-axis electric guide rail is fixedly connected with the workbench, and the output end of the X-axis electric guide rail is movable along the length direction of the workbench. The Y-axis electric guide rail is fixedly connected with the output end of the X-axis electric guide rail, and the output end of the Y-axis electric guide rail is movable along the width direction of the workbench. The lifting cylinder is fixedly connected with the output end of the Y-axis electric guide rail, and the output end of the lifting cylinder is movable along the height direction of the workbench. The righting motor is fixedly connected with the output end of the lifting cylinder, the axis of the driving shaft of the righting motor is parallel to the height direction of the workbench, and the first vacuum suction plate is fixedly connected with the driving shaft of the righting motor.
[0008] By adopting the above technical scheme, the X-axis electric guide rail can control the translation of the first vacuum suction plate along the length direction of the workbench, the Y-axis electric guide rail can control the translation of the first vacuum suction plate along the width direction of the workbench, and the X-axis electric guide rail and the Y-axis electric guide rail cooperate to realize the position adjustment of the heat plate in the horizontal plane. The lifting cylinder is responsible for driving the first vacuum suction plate to ascend and descend along the height direction of the workbench to complete the material taking and plate-feeding action of the heat plate. The righting motor can drive the first vacuum suction plate to rotate around the longitudinal axis, so as to adjust the angle of the heat plate in the horizontal plane.
[0009] Preferably, a positioning groove is left on the side wall of the graphite plate, and the positioning mechanism comprises a first positioning clamping plate, a first positioning ball head and a clamping driving assembly. The first positioning clamping plate is symmetrically provided as two plates on the two sides of the workbench, and the first positioning clamping plate is rotationally connected with the workbench. The inner side wall of the first positioning clamping plate can abut against the side wall of the graphite plate. The first positioning ball head is fixed on the inner side wall of any first positioning clamping plate, and the first positioning ball head can extend into the positioning groove of the graphite plate and adapt to the positioning groove of the graphite plate. The clamping driving assembly is used to drive the first positioning clamping plate to rotate.
[0010] By adopting the above technical scheme, when the graphite disc is placed on the workbench, the clamping driving assembly drives the two first positioning clamping plates to deflect towards each other, so that the inner side walls of the two clamping plates abut against the two side walls of the graphite disc opposite to each other; in this process, the first positioning ball head on one of the first positioning clamping plates will correspondingly extend into the positioning groove in the side wall of the graphite disc, and the position of the graphite disc is further corrected by the cooperation of the ball head and the positioning groove, so as to ensure that the positioning of the graphite disc is consistent with the pre-stored positioning in the processor.
[0011] Preferably, the clamping driving assembly comprises a push-in inclined plate, a movable round pin, a push frame, and a pushing member, the push-in inclined plate is inclined and integrally formed at the bottom of the first positioning clamping plate, the movable round pin is fixedly connected with the push-in inclined plate, the push frame is symmetrically arranged on the workbench, the two push frames are slidably connected with the workbench along the direction of approaching or moving away from each other, a push groove is formed in the push frame, the movable round pin extends into the push groove, the peripheral wall of the movable round pin abuts against the two side walls of the push groove, and the pushing member is used to drive the two push frames to synchronously and reversely slide.
[0012] By adopting the above technical scheme, when the pushing member drives the two push frames to synchronously and reversely slide along the direction of moving away from or approaching each other, the push groove on the push frame generates a pushing force or a pulling force on the push-in inclined plate through cooperation with the movable round pin, the sliding of the movable round pin in the push groove is converted into the rotation of the push-in inclined plate, and then the first positioning clamping plate is rotated around the rotation shaft at the bottom, so that the first positioning clamping plate clamps or releases the graphite disc.
[0013] Preferably, the pushing member comprises a connecting frame and a movable disc, one end of the connecting frame is fixedly connected with the output end of the X-axis electric guide rail, and the other end of the connecting frame is fixedly connected with the movable disc, when the output end of the X-axis electric guide rail approaches the positioning mechanism, the movable disc extends into the space between the two push frames and abuts against the two push frames, and the two push frames are forced to move away from each other.
[0014] By adopting the above technical scheme, when the X-axis electric guide rail drives the heat plate to approach the position of the positioning mechanism, the connecting frame drives the movable disc to extend into the space between the two push frames, and the movable disc abuts against the two push frames, so that the two push frames are forced to move away from each other, the two movable round pins are driven to move away from each other, the bottoms of the two push-in inclined plates move away from each other, and then the two first positioning clamping plates are deflected towards each other, so as to clamp and position the graphite disc, thereby ensuring the stability and positioning reliability of the graphite disc during the disc entering process.
[0015] Preferably, an inclined guide plate is integrally formed on the end wall of the push frame, the guide plate can abut against the peripheral wall of the movable disc, and the guide plate is used to guide the movable disc to enter the space between the two push frames.
[0016] By adopting the above technical scheme, when the output end of the X-axis electric guide rail drives the movable disc to move between the two pushers, the peripheral wall of the movable disc will first contact the guide plate, and the inclined surface of the guide plate will guide the movable disc and decompose the pushing force of the movable disc to separate the two pushers from each other, thereby reducing the rigid collision between the movable disc and the pushers.
[0017] Preferably, the pushing member further comprises a fixed plate, a reset spring, the fixed plate is provided with one on each side of the two pushers away from each other, the fixed plate is fixedly connected with the workbench, one end of the reset spring is fixedly connected with the fixed plate, the other end of the reset spring is fixedly connected with the pusher, and the reset spring drives the pusher away from the fixed plate.
[0018] By adopting the above technical scheme, when the movable disc exits between the two pushers, the pusher loses the abutting force of the movable disc, the reset spring releases the elastic potential energy, drives the pusher to move away from the fixed plate, the two pushers approach each other, and the first positioning clamp plate releases the graphite disc.
[0019] Preferably, the workbench is further provided with a discharging conveying mechanism, the discharging conveying mechanism comprises a transverse electric guide rail, a connecting cylinder, a grabbing table, a second positioning clamp plate, a second positioning ball head and a clamping assembly, one end of the transverse electric guide rail is provided close to the positioning mechanism, the other end of the transverse electric guide rail extends out of the workbench, the connecting cylinder is longitudinally provided and fixedly connected with the output end of the transverse electric guide rail, the grabbing table is fixedly connected with the output end of the connecting cylinder, the second positioning clamp plate is symmetrically provided with two on both sides of the grabbing table, the second positioning clamp plate is rotationally connected with the side wall of the grabbing table, the inner side wall of the second positioning clamp plate can abut against the side wall of the graphite disc, the second positioning ball head is fixed on the inner side wall of any one of the second positioning clamp plates, the second positioning ball head can extend into the positioning groove of the graphite disc and adapt to the positioning groove of the graphite disc, and the clamping assembly is used to drive the second positioning clamp plate to rotate.
[0020] By adopting the above technical scheme, when it is needed to move the graphite disc at the positioning mechanism to outside the workbench, the transverse electric guide rail drives the connecting cylinder and the grabbing table to move above the graphite disc at the positioning mechanism, the connecting cylinder is elongated to make the grabbing table descend and approach the graphite disc, the clamping assembly drives the two second positioning clamp plates to approach each other and abut against the side wall of the graphite disc, and at the same time, the second positioning ball head extends into the positioning groove of the graphite disc to complete positioning and clamping; then the connecting cylinder is retracted to lift the graphite disc, the transverse electric guide rail moves the graphite disc to outside the workbench, so that the graphite disc after entering the disc enters the subsequent process, and a space is left for the positioning mechanism to place a new graphite disc.
[0021] As preferred, the clamping assembly comprises a clamping cylinder fixed on the top of the grabbing table, the clamping cylinder is longitudinally arranged, one end of the connecting rod is rotationally connected with the top of the second positioning clamp plate, and the other end of the connecting rod is rotationally connected with the output end of the clamping cylinder.
[0022] By adopting the above technical scheme, when the output end of the clamping cylinder is extended, the two second positioning clamp plates are pushed outward by the connecting rod to open outward around the rotating shaft of the grabbing table, thereby loosening the clamping of the graphite disc; when the output end of the clamping cylinder is retracted, the two second positioning clamp plates are pulled inward by the connecting rod to close inward, thereby achieving clamping of the graphite disc.
[0023] As preferred, the bottom of the grabbing table is provided with a second vacuum chuck, and the second vacuum chuck can suck up the graphite disc.
[0024] By adopting the above technical scheme, the second vacuum chuck can adsorb the top of the graphite disc through negative pressure, and the vacuum adsorption can prevent the graphite disc from falling during the transfer of the graphite disc, thereby enhancing the stability of the graphite disc during the transfer.
[0025] To sum up, the present application has at least one of the following beneficial technical effects: 1. By arranging the workbench, the processor, the disc-feeding conveying mechanism, the positioning mechanism, the visual camera and the first vacuum chuck, the coordinates of the profile of the heat plate are captured by the visual camera, the processor compares the coordinates with the pre-stored coordinates of the empty slot profile of the graphite disc, generates an adjustment instruction to control the disc-feeding conveying mechanism to drive the first vacuum chuck to translate and rotate, so that the heat plate is directly opposite to the empty slot of the graphite disc, thereby avoiding the heat plate from being overlapped with the edge of the slot of the graphite disc during the disc-feeding process, and achieving smooth disc-feeding; 2. By arranging the first positioning clamp plate, the first positioning ball head, the inclined plate, the movable round pin, the push frame, the pushing member, the connecting frame and the movable disc, when the X-axis electric guide rail drives the movable disc to approach the push frame, the movable disc forces the two push frames to move away from each other, the movable round pin cooperates with the inclined plate to drive the first positioning clamp plate to clamp the graphite disc, and the first positioning ball head extends into the positioning groove to further correct the position, thereby ensuring the positioning accuracy and stability of the graphite disc; 3. By arranging the transverse electric guide rail, the connecting cylinder, the grabbing table, the second positioning clamp plate, the second positioning ball head, the clamping cylinder, the connecting rod and the second vacuum chuck, the clamping cylinder drives the second positioning clamp plate to clamp the graphite disc through the connecting rod, the second positioning ball head cooperates with the positioning groove to ensure the clamping positioning, the second vacuum chuck adsorbs the top of the graphite disc to prevent it from falling, and the transverse electric guide rail cooperates with the connecting cylinder to transfer the graphite disc to the outside of the workbench, thereby achieving automatic discharge of the graphite disc after the disc-feeding is completed. BRIEF DESCRIPTION OF DRAWINGS
[0026] Figure 1 It is a structural schematic diagram of a disc-feeding machine provided in the embodiments of the present application.
[0027] Figure 2 It is a schematic diagram of the cross-section structure of a material feeding and tray feeding machine provided in an embodiment of the present application.
[0028] Figure 3 yes Figure 2 Enlarged view of part A.
[0029] Figure 4 It is a structural diagram reflecting the discharge and handling mechanism in the embodiment of the present application.
[0030] Explanation of reference numerals: 1. workbench; 11. visual camera; 2. tray loading and transporting mechanism; 21. X-axis electric guide rail; 22. Y-axis electric guide rail; 23. lifting cylinder; 24. straightening motor; 25. first vacuum suction cup; 3. positioning mechanism; 31. first positioning clamp; 311. first positioning ball head; 32. clamping drive assembly; 321. inclined plate; 322. movable round pin; 323. push frame; 3231. guide plate; 3232. push groove ; 324, pushing member; 3241, connecting frame; 3242, movable disc; 325, fixed plate; 326, reset spring; 4, material discharging and handling mechanism; 41, horizontal electric guide rail; 42, receiving cylinder; 43, grabbing table; 44, second positioning clamping plate; 441, second positioning ball head; 45, clamping and releasing assembly; 451, clamping and releasing cylinder; 452, connecting rod; 46, second vacuum suction cup; 5, heat spreader; 6, graphite disk; 61, positioning groove. DETAILED DESCRIPTION
[0031] The following is combined with Figures 1-4 This application is described in further detail.
[0032] The embodiment of the present application discloses a feeding machine. Figure 1 The system comprises a workbench 1, a processor, a tray loading and transporting mechanism 2, a positioning mechanism 3, and a visual camera 11. A first vacuum cup 25 capable of sucking up a vapor chamber 5 is provided at the output end of the tray loading and transporting mechanism 2. The tray loading and transporting mechanism 2 is configured to drive the first vacuum cup 25 to translate along the length, width, and height of the workbench 1, as well as to twist about a vertical axis.
[0033] Reference Figure 1, Specifically, the disc carrying mechanism 2 includes an X-axis electric guide rail 21, a Y-axis electric guide rail 22, a lifting cylinder 23, and a righting motor 24. The X-axis electric guide rail 21 is fixedly connected with the workbench 1, and an output end of the X-axis electric guide rail 21 is movable along a length direction of the workbench 1. One end of the X-axis electric guide rail 21 is flush with a disc feeding position of the heat spreading plate 5 in the length direction of the workbench 1. The other end of the X-axis electric guide rail 21 extends to the positioning mechanism 3 in the length direction of the workbench 1. The Y-axis electric guide rail 22 is fixedly connected with the output end of the X-axis electric guide rail 21 and is suspended above the workbench 1, and an output end of the Y-axis electric guide rail 22 is movable along a width direction of the workbench 1. The lifting cylinder 23 is fixedly connected with the output end of the Y-axis electric guide rail 22, and an output end of the lifting cylinder 23 is movable along a height direction of the workbench 1. The righting motor 24 is fixedly connected with the output end of the lifting cylinder 23, and a driving shaft of the righting motor 24 is parallel to the height direction of the workbench 1. A first vacuum chuck 25 is fixedly connected with the driving shaft of the righting motor 24, and a suction port of the first vacuum chuck 25 faces downward.
[0034] With reference to Figure 1 , the positioning mechanism 3 is used for positioning the graphite disc 6 on the workbench 1. The vision camera 11 and the disc carrying mechanism 2 are electrically connected with a processor. The vision camera 11 is used for capturing coordinates of a contour of the heat spreading plate 5 and sending the coordinates to the processor. The processor pre-stores coordinates of a contour of a slot of the graphite disc 6 positioned by the positioning mechanism 3. The processor is used for receiving the coordinate information sent by the vision camera 11, comparing the contour coordinates of the heat spreading plate 5 with the pre-stored coordinates of the slot of the graphite disc 6, generating a pose adjustment instruction, and sending the adjustment instruction to the disc carrying mechanism 2. The disc carrying mechanism 2 drives the first vacuum chuck 25 to translate and rotate according to the adjustment instruction, so that the heat spreading plate 5 is opposite to the slot of the graphite disc 6. In this embodiment, the processor is a PLC controller.
[0035] With reference to Figure 1, the hot plate 5 is transported to the feeding position on the workbench 1 after finishing the previous process, and the X-axis electric guide rail 21 drives the first vacuum chuck 25 to move above the feeding position along the length direction of the workbench 1. Then, the lifting cylinder 23 is extended to drive the first vacuum chuck 25 to descend and contact the top of the hot plate 5, and the first vacuum chuck 25 is started to generate negative pressure to suck the hot plate 5. Then, the lifting cylinder 23 is retracted to lift the hot plate 5, and the X-axis electric guide rail 21 drives the hot plate 5 to move towards the positioning mechanism 3. After the hot plate 5 moves close to the positioning mechanism 3, the vision camera 11 photographs the hot plate 5 to capture the coordinates of the profile of the hot plate 5 and sends the coordinate information to the processor. After receiving the coordinate information, the processor compares it with the coordinates of the profile of the empty slot of the graphite disc 6 positioned by the positioning mechanism 3, calculates the deviation between the current position and angle of the hot plate 5 and the target position and angle, and then generates a pose adjustment instruction containing the horizontal translation and rotation angle, and sends the adjustment instruction to the disc feeding and carrying mechanism 2. After receiving the instruction, the X-axis electric guide rail 21 and the Y-axis electric guide rail 22 drive the hot plate 5 to translate in the horizontal plane to compensate for the horizontal deviation, and the righting motor 24 drives the first vacuum chuck 25 to rotate around the vertical axis to adjust the angle of the hot plate 5, so that the hot plate 5 is completely opposite to the empty slot of the graphite disc 6. When the hot plate 5 is adjusted to the right position, the lifting cylinder 23 is extended again to drive the hot plate 5 to descend and smoothly put into the empty slot of the graphite disc 6, and the first vacuum chuck 25 stops working to release the hot plate 5, and then the lifting cylinder 23 is reset.
[0036] In order to facilitate the positioning of the graphite disc 6, with reference to Figure 2 With Figure 3 In this embodiment, a positioning groove 61 is left on one side wall of the graphite disc 6. The positioning mechanism 3 includes a first positioning clamping plate 31, a first positioning ball head 311, and a clamping driving assembly 32. The first positioning clamping plate 31 is symmetrically arranged on both sides of the width direction of the workbench 1, the bottom of the first positioning clamping plate 31 is rotationally connected with the workbench 1, and the rotation axis of the first positioning clamping plate 31 is parallel to the length direction of the workbench 1. The inner side wall of the first positioning clamping plate 31 can abut against the side wall of the graphite disc 6, the first positioning ball head 311 is fixed on the inner side wall of any first positioning clamping plate 31, the first positioning ball head 311 can extend into the positioning groove 61 of the graphite disc 6, and the first positioning ball head 311 is adapted to the positioning groove 61 of the graphite disc 6.
[0037] With reference to Figure 2 With Figure 3, the clamping drive assembly 32 is used to drive the first positioning clamp 31 to rotate. Specifically, the clamping drive assembly 32 includes a toggle bevel 321, a movable round pin 322, a push rack 323, and a pusher 324. The toggle bevel 321 is integrally formed at the bottom of the first positioning clamp 31. The toggle bevel 321 is tilted in the vertical direction, and the toggle bevel 321 extends to the bottom of the workbench 1. The movable round pin 322 is fixedly connected to the bottom of the toggle bevel 321, and the axis of the movable round pin 322 is parallel to the length direction of the workbench 1. Two push racks 323 are provided on both sides of the workbench 1 in the width direction, and the two push racks 323 are slidably connected to the workbench 1 in the direction of approaching or moving away from each other. The push frame 323 is provided with a push groove 3232, into which the movable round pin 322 extends. The peripheral wall of the movable round pin 322 abuts against the two side walls of the push groove 3232, and the movable round pin 322 can be twisted and moved vertically in the push groove 3232. The push member 324 is used to drive the two push frames 323 to slide synchronously in opposite directions.
[0038] Reference Figure 2 and Figure 3 The pushing member 324 includes a connecting frame 3241, a movable disc 3242, a fixed plate 325, and a reset spring 326. One end of the connecting frame 3241 is fixedly connected to the output end of the X-axis electric guide rail 21, and the other end of the connecting frame 3241 is fixedly connected to the movable disc 3242, and the movable disc 3242 is located at the bottom of the workbench 1. When the output end of the X-axis electric guide rail 21 approaches the positioning mechanism 3, the movable disc 3242 extends into between the two pushing frames 323 and abuts against the two pushing frames 323, forcing the two pushing frames 323 to move away from each other. A guide plate 3231 is integrally formed on the end wall of the pushing frame 323, and the guide plate 3231 is tilted in the horizontal direction. The guide plate 3231 can abut against the peripheral wall of the movable disc 3242, and the guide plate 3231 is used to guide the movable disc 3242 to enter between the two pushing frames 323.
[0039] Reference Figure 2 and Figure 3 A fixed plate 325 is provided on each side of the two pushing frames 323 away from each other. The fixed plate 325 is fixedly connected to the workbench 1. One end of the return spring 326 is fixedly connected to the fixed plate 325, and the other end of the return spring 326 is fixedly connected to the pushing frame 323. The return spring 326 drives the pushing frame 323 away from the fixed plate 325.
[0040] Reference Figure 2 and Figure 3In the process of the output end of the X-axis electric guide rail 21 driving the heat plate 5 to approach the positioning mechanism 3, the connecting frame 3241 drives the movable disc 3242 to approach the two push frames 323. The peripheral wall of the movable disc 3242 first abuts against the guide plate 3231 of the end wall of the push frame 323, and under the guiding action of the inclined surface of the guide plate 3231, the movable disc 3242 gradually slides into the two push frames 323. The movable disc 3242 generates a pushing force on the push frame 323, forcing the two push frames 323 to slide away from each other along the workbench 1 and compress the return spring 326. In the process of the push frame 323 sliding away from each other, the side wall of the push groove 3232 abuts against the movable disc pin 322, driving the push inclined plate 321 to rotate upward around the first positioning clamp plate 31 and the rotating shaft of the workbench 1, and then making the upper parts of the two first positioning clamp plates 31 deflect toward each other. Finally, the inner side wall of the first positioning clamp plate 31 abuts against the two side walls of the graphite disc 6, and at the same time, the first positioning ball head 311 extends into the positioning groove 61 in the side wall of the graphite disc 6, realizing the positioning of the graphite disc 6 and ensuring the stable and accurate position of the graphite disc 6 in the process of the heat plate 5 entering the disc.
[0041] In order to facilitate the delivery of the heat plate 5 and the graphite disc 6 together out of the workbench 1 after the heat plate 5 completes the entering of the disc, with reference to Figure 1 With Figure 4 , the workbench 1 is also provided with a discharging conveying mechanism 4. The discharging conveying mechanism 4 includes a transverse electric guide rail 41, an extension air cylinder 42, a grabbing table 43, a second positioning clamp plate 44, a second positioning ball head 441, and a clamping assembly 45. One end of the transverse electric guide rail 41 is arranged close to the positioning mechanism 3, and the other end of the transverse electric guide rail 41 extends out of the workbench 1. The extension air cylinder 42 is arranged longitudinally and fixedly connected with the output end of the transverse electric guide rail 41. The grabbing table 43 is fixedly connected with the output end of the extension air cylinder 42. The second positioning clamp plate 44 is symmetrically arranged as two pieces on both sides of the grabbing table 43 in the width direction of the workbench 1, and the second positioning clamp plate 44 is rotationally connected with the side wall of the grabbing table 43. The inner side wall of the second positioning clamp plate 44 can abut against the side wall of the graphite disc 6. The second positioning ball head 441 is fixed on the inner side wall of any second positioning clamp plate 44, and the second positioning ball head 441 can extend into the positioning groove 61 of the graphite disc 6 and adapt to the positioning groove 61 of the graphite disc 6. The clamping assembly 45 is used to drive the second positioning clamp plate 44 to rotate. The clamping assembly 45 includes a clamping air cylinder 451 and a connecting rod 452. The clamping air cylinder 451 is fixed on the top of the grabbing table 43 and is arranged longitudinally. One end of the connecting rod 452 is rotationally connected with the top of the second positioning clamp plate 44, and the other end of the connecting rod 452 is rotationally connected with the output end of the clamping air cylinder 451. The bottom of the grabbing table 43 is provided with a group of second vacuum suction cups 46, which can suck up the graphite disc 6.
[0042] When the graphite tray 6 is completed in the plate 5, the lateral electric guide rail 41 drives the extension cylinder 42 and the grabbing table 43 to move to the positioning mechanism 3 directly above. Then, the extension cylinder 42 is extended, and the grabbing table 43 is lowered, so that the second vacuum suction plate 46 is in contact with the top of the graphite tray 6, and the second positioning clamp plate 44 is located on both sides of the graphite tray 6. Then, the output end of the clamping cylinder 451 is moved, the connecting rod 452 is deflected in the direction of the horizontal, the second positioning clamp plate 44 is rotated inward around the rotating shaft of the grabbing table 43, the inner side wall of the second positioning clamp plate 44 is gradually in contact with the side wall of the graphite tray 6, and the second positioning ball head 441 is accurately clamped into the positioning groove 61 of the graphite tray 6, so that the graphite tray 6 is positioned and clamped. Then, the second vacuum suction plate 46 is started to generate negative pressure, and the graphite tray 6 is further adsorbed, so that the stability in the moving process is enhanced. Then, the extension cylinder 42 is retracted, and the graphite tray 6 is lifted from the positioning mechanism 3. The lateral electric guide rail 41 drives the extension cylinder 42, the grabbing table 43 and the graphite tray 6 to move outward from the workbench 1, until the graphite tray 6 is moved to the preset discharging position. When the discharging position is reached, the second vacuum suction plate 46 stops working, the graphite tray 6 is released, the output end of the clamping cylinder 451 is reset, the second positioning clamp plate 44 is rotated outward by the connecting rod 452, and the clamping of the graphite tray 6 is released.
[0043] The implementation principle of the blanking and tray entering machine is that the vision camera 11 obtains the actual position of the heat plate 5 adsorbed by the first vacuum suction plate 25 in the horizontal plane (that is, the coordinates of the outline of the heat plate 5), the processor compares the actual position of the heat plate 5 with the actual position of the target empty slot of the graphite tray 6 (that is, the coordinates of the outline of the empty slot of the graphite tray 6) in real time, calculates the deviation between the current pose (horizontal position and rotation angle) of the heat plate 5 and the target pose, and generates an adjustment instruction (including horizontal translation compensation and rotation compensation) according to the deviation and sends the adjustment instruction to the tray entering handling mechanism 2. The tray entering handling mechanism 2 drives the first vacuum suction plate 25 to adjust the position and angle according to the adjustment instruction, so that the outline of the heat plate 5 is completely aligned with the outline of the target empty slot of the graphite tray 6 before the heat plate 5 is lowered into the plate, so that the edge lap risk caused by the alignment deviation is eliminated as much as possible, and smooth entering of the heat plate 5 into the plate is realized.
[0044] The above are preferred embodiments of the present application, and do not limit the protection scope of the present application, so that: any equivalent changes made according to the structure, shape, principle of the present application should be covered within the protection scope of the present application.
Claims
1. A tray feeding machine, characterized by: The invention comprises a workbench (1), a processor, a tray transport mechanism (2), a positioning mechanism (3), and a visual camera (11); the output end of the tray transport mechanism (2) is provided with a first vacuum suction cup (25) capable of sucking up a heat spreader (5); the tray transport mechanism (2) is used to drive the first vacuum suction cup (25) to translate and twist; the positioning mechanism (3) is used to position a graphite disk (6) on the workbench (1); the visual camera (11) and the tray transport mechanism (2) are both electrically connected to the processor; the visual camera (11) is used to capture the coordinates of the contour of the heat spreader (5); and sent to the processor; the processor pre-stores the coordinates of the outline of the empty slot of the graphite disk (6) after being positioned by the positioning mechanism (3); the processor is used to receive the coordinate information sent by the visual camera (11), compare the coordinates of the heat spreader (5) with the pre-stored coordinates of the graphite disk (6), and generate a posture adjustment instruction, and send the adjustment instruction to the disk entry and transportation mechanism (2); the disk entry and transportation mechanism (2) drives the first vacuum suction cup (25) to translate and rotate according to the adjustment instruction, so that the heat spreader (5) and the empty slot of the graphite disk (6) are directly opposite.
2. The tray feeding machine according to claim 1, characterized in that: The tray loading and transporting mechanism (2) comprises an X-axis electric guide rail (21), a Y-axis electric guide rail (22), a lifting cylinder (23), and a twisting motor (24). The X-axis electric guide rail (21) is fixedly connected to the workbench (1), and the output end of the X-axis electric guide rail (21) can move along the length direction of the workbench (1); the Y-axis electric guide rail (22) is fixedly connected to the output end of the X-axis electric guide rail (21), and the output end of the Y-axis electric guide rail (22) can move along the width direction of the workbench (1); the lifting cylinder (23) is fixedly connected to the output end of the Y-axis electric guide rail (22), and the output end of the lifting cylinder (23) can move along the height direction of the workbench (1); the twisting motor (24) is fixedly connected to the output end of the lifting cylinder (23), and the axis of the driving shaft of the twisting motor (24) is parallel to the height direction of the workbench (1); the first vacuum suction cup (25) is fixedly connected to the driving shaft of the twisting motor (24).
3. The tray feeding machine according to claim 2, characterized in that: A positioning groove (61) is left on one side wall of the graphite disk (6). The positioning mechanism (3) includes a first positioning clamp (31), a first positioning ball head (311), and a clamping drive assembly (32). The first positioning clamp (31) is symmetrically arranged as two pieces on the workbench (1). The first positioning clamp (31) is rotatably connected to the workbench (1). The inner side wall of the first positioning clamp (31) can abut against the side wall of the graphite disk (6). The first positioning ball head (311) is fixed on the inner side wall of any of the first positioning clamps (31). The first positioning ball head (311) can extend into the positioning groove (61) of the graphite disk (6) and adapt to the positioning groove (61) of the graphite disk (6). The clamping drive assembly (32) is used to drive the first positioning clamp (31) to rotate.
4. The tray feeding machine according to claim 3, characterized in that: The clamping drive assembly (32) includes a toggle inclined plate (321), a movable round pin (322), a push frame (323), and a push member (324). The toggle inclined plate (321) is tilted and integrally formed at the bottom of the first positioning clamp (31). The movable round pin (322) is fixedly connected to the toggle inclined plate (321). The push frames (323) are symmetrically arranged in two on the workbench (1). The two push frames (323) are slidably connected to the workbench (1) in a direction of approaching or moving away from each other. A push groove (3232) is provided on the push frame (323). The movable round pin (322) extends into the push groove (3232). The peripheral wall of the movable round pin (322) abuts against the two side walls of the push groove (3232). The push member (324) is used to drive the two push frames (323) to slide synchronously in the opposite direction.
5. The tray feeding machine according to claim 4, characterized in that: The pushing member (324) includes a connecting frame (3241) and a movable disc (3242). One end of the connecting frame (3241) is fixedly connected to the output end of the X-axis electric guide rail (21), and the other end of the connecting frame (3241) is fixedly connected to the movable disc (3242). When the output end of the X-axis electric guide rail (21) approaches the positioning mechanism (3), the movable disc (3242) extends between the two pushing frames (323) and abuts against the two pushing frames (323), forcing the two pushing frames (323) to move away from each other.
6. The tray feeding machine according to claim 5, characterized in that: An inclined guide plate (3231) is integrally formed on the end wall of the push rack (323), and the guide plate (3231) can abut against the peripheral wall of the movable disc (3242). The guide plate (3231) is used to guide the movable disc (3242) to enter between the two push racks (323).
7. The tray feeding machine according to claim 5, characterized in that: The pushing member (324) further includes a fixed plate (325) and a return spring (326). The fixed plate (325) is provided on each side of the two pushing frames (323) away from each other. The fixed plate (325) is fixedly connected to the workbench (1). One end of the return spring (326) is fixedly connected to the fixed plate (325), and the other end of the return spring (326) is fixedly connected to the pushing frame (323). The return spring (326) drives the pushing frame (323) away from the fixed plate (325).
8. The tray feeding machine according to claim 4, characterized in that: The workbench (1) is also provided with a discharging and conveying mechanism (4), which comprises a transverse electric guide rail (41), a receiving cylinder (42), a grabbing platform (43), a second positioning clamp (44), a second positioning ball head (441), and a clamping assembly (45). One end of the transverse electric guide rail (41) is arranged close to the positioning mechanism (3), and the other end of the transverse electric guide rail (41) extends outside the workbench (1). The receiving cylinder (42) is arranged longitudinally and fixedly connected to the output end of the transverse electric guide rail (41). The grabbing platform (43) is connected to the output end of the receiving cylinder (42). The second positioning clamp (44) is fixedly connected, and is symmetrically arranged in two pieces on both sides of the grabbing platform (43). The second positioning clamp (44) is rotatably connected to the side wall of the grabbing platform (43). The inner side wall of the second positioning clamp (44) can be against the side wall of the graphite disk (6). The second positioning ball head (441) is fixed on the inner side wall of any second positioning clamp (44). The second positioning ball head (441) can extend into the positioning groove (61) of the graphite disk (6) and adapt to the positioning groove (61) of the graphite disk (6). The clamping assembly (45) is used to drive the second positioning clamp (44) to rotate.
9. The tray feeding machine according to claim 8, characterized in that: The clamping and releasing assembly (45) includes a clamping and releasing cylinder (451) and a connecting rod (452). The clamping and releasing cylinder (451) is fixed on the top of the grabbing platform (43). The clamping and releasing cylinder (451) is longitudinally arranged. One end of the connecting rod (452) is rotatably connected to the top of the second positioning clamping plate (44), and the other end of the connecting rod (452) is rotatably connected to the output end of the clamping and releasing cylinder (451).
10. The tray feeding machine according to claim 8, characterized in that: A second vacuum suction cup (46) is provided at the bottom of the grabbing platform (43), and the second vacuum suction cup (46) can suck up the graphite disk (6).