A frame-in-slot sheet collecting machine

Abstract

This application relates to the technical field of board collecting equipment, and discloses a frame-type board collecting machine. The board collecting machine includes a frame, a conveying device, a robot, a board inserting device, and a first board collecting device. Boards are placed horizontally on the conveying device for conveying. The conveying device includes a feeding station and a board picking station connected in sequence. The robot, the board inserting device, and the first board collecting device are respectively arranged adjacent to each other at the board picking station. The robot includes a rotating component and a first clamping assembly fixedly connected to each other. The first clamping assembly is used to clamp the opposite two sides of the board and remove the board from the board picking station. The board inserting device is located above the first board collecting device and slides horizontally on the frame. The board inserting device is provided with a vertically adjustable second clamping assembly. The rotating component drives the first clamping assembly to rotate so that the second clamping assembly clamps the other opposite two sides of the board. The first board collecting device has several slots, and the second clamping assembly is used to insert each board into each slot.

Description

Technical Field

[0001] This application relates to the technical field of plate collecting equipment, and in particular to a frame-type plate collecting machine. Background Technology

[0002] In modern industrial production, especially in the electronics manufacturing sector, the efficient handling and transportation of circuit boards is crucial, leading to the development of board collecting machines. As electronic circuit boards become smaller and more high-performance, the scale of circuit board production continues to expand, placing higher demands on board handling efficiency. Traditional manual board collection methods are not only inefficient but also prone to damage due to human error, making it difficult to meet the needs of large-scale, high-precision production.

[0003] As an automated device, the PCB reel is mainly used for collecting, sorting, and transporting various PCB components, such as boards. Early PCB reels had limited functionality, only capable of simple stacking and collecting boards, and suffered from poor stability and a high failure rate. During transport, boards were easily damaged by collisions and friction, affecting their quality. With technological advancements, new types of PCB reels have emerged. Some reels optimize the conveying structure and use softer contact materials to reduce wear on the boards; others integrate intelligent control systems that automatically adjust collection parameters based on board size and type, improving versatility and intelligence. Furthermore, to adapt to different production line layouts, the structural design of PCB reels has become more flexible and diverse, meeting varied production needs. Summary of the Invention

[0004] The technical problem to be solved by this application is to optimize the existing plate receiving machine structure to meet diverse production needs, improve plate receiving efficiency, and enhance plate quality.

[0005] To address the aforementioned problems, this application provides a frame-type plate collecting machine, comprising a conveying device, a robotic arm, a plate inserting device, and a first plate collecting device. The conveying device includes a feeding station and a plate-retrieving station connected in sequence. The robotic arm, the plate inserting device, and the first plate collecting device are respectively arranged adjacent to each other at the plate-retrieving station. The robotic arm includes a rotating component and a first clamping assembly fixedly connected to each other. The first clamping assembly is used to clamp the opposite sides of a plate and remove the plate from the plate-retrieving station. The plate inserting device is located above the first plate collecting device and can slide horizontally along the plate inserting direction of the first plate collecting device. The plate inserting device is vertically provided with a liftable second clamping assembly. The rotating component drives the first clamping assembly to rotate so that the second clamping assembly clamps the other opposite sides of the plate. The first plate collecting device has a plurality of slots, and the second clamping assembly is used to insert each plate into each of the slots.

[0006] Preferably, the first clamping assembly includes a first driving member, a first clamping plate, and a second driving member. The first driving member is fixed to one side of the rotating member. The two driving ends of the first driving member are respectively connected to a set of the first clamping plates. The two ends of each set of the first clamping plates are symmetrically provided with the second driving member and the first clamping part. The driving end of the second driving member is fixedly connected to the second clamping part. The second clamping part cooperates with the first clamping part to clamp the opposite sides of the plate member.

[0007] Preferably, the plate receiving machine further includes a frame, and the plate insertion device further includes a third driving member and a fourth driving member. The third driving member is horizontally disposed on the frame, and the horizontal driving end of the third driving member is fixedly connected to the fourth driving member, and the vertical driving end of the fourth driving member is fixedly connected to the second clamping assembly.

[0008] Preferably, the second clamping assembly includes a fifth driving member and a second clamping plate. The fifth driving member is fixed to the vertical driving end of the fourth driving member. The two driving ends of the fifth driving member along the vertical direction are respectively connected to a set of the second clamping plates. Each set of the second clamping plates has a third clamping part symmetrically provided at both ends. The third clamping parts on the two sets of the second clamping plates cooperate to clamp the other two sides of the plate.

[0009] Preferably, the first plate-collecting device includes a plate-collecting assembly and a positioning assembly. The frame has a plate-collecting channel. The plate-collecting assembly is movably disposed in the plate-collecting channel. The positioning assembly is fixed on both sides of the plate-collecting channel and is used to position the plate-collecting assembly.

[0010] Preferably, the plate-collecting assembly includes a moving vehicle, a lifting component, and a plate-collecting frame. The lifting component is fixed to the top of the moving vehicle, and the plate-collecting frame is disposed on the top of the lifting component. A plurality of insert plate portions are arranged at equal intervals along the horizontal direction inside the plate-collecting frame, and the slot is formed between two adjacent insert plate portions.

[0011] Preferably, the positioning assembly includes a frame, a sixth driving member, an abutment member, a seventh driving member, and a rotating member. The frame is fixed to both sides of the receiving channel. The sixth driving members are respectively disposed on opposite sides of the frame. The abutment member is fixed to the horizontal driving end of the sixth driving member and is used to abut against opposite sides of the receiving frame. The seventh driving members are respectively disposed on opposite sides of the frame, and two sets of the seventh driving members are symmetrically disposed on each side of the frame. The rotating member is fixed to the rotating end of each set of the seventh driving members. The four sets of rotating members cooperate with each other to abut against the other opposite sides of the receiving frame.

[0012] Preferably, the positioning component further includes a plurality of rollers, which are rotatably connected to the frame and are also tactilely connected to both sides of the mobile vehicle.

[0013] Preferably, the plate take-up machine further includes a second plate take-up device, which includes a horizontally arranged double-layer drive assembly, a first placement member and a second placement member. The first placement member is horizontally slidably connected to the upper layer of the double-layer drive assembly, and the second placement member is horizontally slidably connected to the lower layer of the double-layer drive assembly.

[0014] Preferably, the first placement member and the second placement member are provided with a plurality of limiting members around their periphery.

[0015] Compared with the prior art, this application includes at least one of the following beneficial technical effects:

[0016] The conveying device's feed station and pick-up station are connected sequentially, enabling continuous transport of square panels. The panels are accurately delivered to the pick-up station, providing precise positioning for subsequent gripping and insertion operations. This ensures the stability and accuracy of the panels during transport, improving collection efficiency. A rotating component drives the first clamping assembly to rotate, facilitating accurate transfer of the panels to the second clamping assembly of the insertion device, allowing for flexible transfer between different positions. After the first clamping assembly transfers the panel, the second clamping assembly clamps the opposite sides of the panel. Then, through the horizontal sliding of the insertion device and the lifting movement of the second clamping assembly, the panel is accurately inserted into the slot of the first collection device. This ensures that each panel is neatly inserted into the first collection device, facilitating subsequent inspection and packaging processes, improving the neatness and standardization of panel storage, and reducing manual handling workload and error rates.

[0017] Here, the plate collecting machine achieves a series of automated operations from plate conveying, gripping, and transferring to the plate inserter through the coordinated operation of the conveying device, the robotic arm, the plate inserting device, and the first plate collecting device. This reduces manual intervention, improves production efficiency and quality, lowers labor costs and labor intensity, and also improves the stability and consistency of the production process, meeting diverse production needs. Attached Figure Description

[0018] To more clearly illustrate the technical solutions of the embodiments of this application, the drawings used in the description of the embodiments will be briefly introduced below. Obviously, the drawings described below are some embodiments of this application. For those skilled in the art, other drawings can be obtained based on these drawings without creative effort.

[0019] Figure 1 This is a schematic diagram of the overall structure of the insert-frame type plate take-up machine in the embodiments of this application.

[0020] Figure 2 This is a schematic diagram of the internal structure of the insert-frame type plate take-up machine in the embodiments of this application.

[0021] Figure 3 This is a schematic diagram of the structure of the first gripping component of the robotic arm in an embodiment of this application.

[0022] Figure 4 This is a schematic diagram of the insert device in the embodiments of this application.

[0023] Figure 5 This is a schematic diagram showing the connection relationship between the frame and the internal structure in an embodiment of this application.

[0024] Figure 6 This is a schematic diagram of the structure of the first plate receiving device in the embodiments of this application.

[0025] Figure 7 This is a schematic diagram of the structure of the second plate receiving device in the embodiments of this application.

[0026] Figure 8 This is a schematic diagram of the conveying device in the embodiments of this application.

[0027] Explanation of reference numerals in the attached drawings: 1. Frame; 2. Conveying device; 3. Robotic arm; 4. Plate insertion device; 5. First plate receiving device; 6. Second plate receiving device; 7. Plate receiving channel; 8. Feeding station; 9. Plate taking station; 10. Conveying frame; 11. Tenth driving component; 12. Drive roller; 13. Conveyor belt; 14. Rotating roller; 15. First magnetic wheel; 16. Electrostatic wheel; 17. Second magnetic wheel; 18. Rotating component; 19. First clamping assembly; 20. Robotic arm; 21. First driving component; 22. First clamping plate; 23. Second driving component; 24. Cover; 25. First clamping part; 26. Second clamping part; 27. Second clamping assembly; 8. Third driving component; 29. ​​Fourth driving component; 30. Fifth driving component; 31. Second clamping plate; 32. Plate component; 33. Third clamping part; 34. Plate retraction assembly; 35. Positioning assembly; 36. Moving cart; 37. Lifting component; 38. Plate retraction frame; 39. Insertion plate part; 40. Slot; 41. Frame; 42. Sixth driving component; 43. Abutting component; 44. Seventh driving component; 45. Rotating component; 46. Roller; 47. Double-layer driving assembly; 48. First placement component; 49. Second placement component; 50. Limiting component; 51. Eighth driving component; 52. Ninth driving component; 53. Edge-finding sensing positioning device; 54. Visual recognition device. Detailed Implementation

[0028] The technical solutions of the embodiments of this application will be clearly and completely described below with reference to the accompanying drawings. Obviously, the described embodiments are only some embodiments of this application, not all embodiments. Based on the embodiments of this application, all other embodiments obtained by those skilled in the art without creative effort are within the scope of protection of this application.

[0029] It should be understood that, when used in this specification and the appended claims, the terms "comprising" and "including" indicate the presence of the described features, integrals, steps, operations, elements and / or components, but do not exclude the presence or addition of one or more other features, integrals, steps, operations, elements, components and / or collections thereof.

[0030] It should also be understood that the terminology used in this application specification is for the purpose of describing particular embodiments only and is not intended to limit the application. As used in this application specification and the appended claims, the singular forms “a,” “an,” and “the” are intended to include the plural forms unless the context clearly indicates otherwise.

[0031] It should also be further understood that the term “and / or” as used in this application specification and the appended claims means any combination of one or more of the associated listed items and all possible combinations, and includes such combinations.

[0032] Please refer to Figures 1 to 8 This application provides a frame-type plate collecting machine for neatly inserting plates into specific frames or boxes, facilitating subsequent inspection, packaging, and other processes. The collecting machine includes a frame 1, a conveying device 2, a robotic arm 3, a plate insertion device 4, and a first plate collecting device 5. Square plates 32 are horizontally placed on the conveying device 2 for transport. The conveying device 2 includes a feeding station 8 and a plate retrieval station 9 connected in sequence. The robotic arm 3, the plate insertion device 4, and the first plate collecting device 5 are respectively arranged adjacent to each other at the plate retrieval station 9.

[0033] Specifically, the robotic arm 3 includes a fixedly connected rotating component 18 and a first clamping assembly 19. The first clamping assembly 19 is used to clamp the opposite sides of the plate 32 and remove the plate 32 from the plate-retrieving station 9. The plate insertion device 4 is located above the first plate-collecting device 5. The plate insertion device 4 is horizontally slidably connected to the frame 1, and the plate insertion device 4 is vertically provided with a liftable second clamping assembly 27. The rotating component 18 drives the first clamping assembly 19 to rotate so that the second clamping assembly 27 clamps the other opposite sides of the plate 32. The first plate-collecting device 5 has several slots 40, and the second clamping assembly 27 is used to insert each plate 32 into each slot 40 respectively.

[0034] The feeding station 8 and the board-retrieving station 9 of the conveying device 2 are connected in sequence, enabling continuous conveying of square board pieces 32. The board pieces 32 are accurately conveyed to the board-retrieving station 9, providing precise positioning for subsequent gripping and insertion operations. This ensures the stability and accuracy of the board pieces 32 during conveying, improving board collection efficiency. The rotating component 18 drives the first clamping assembly 19 to rotate, facilitating the accurate transfer of the board pieces 32 to the second clamping assembly 27 of the board-inserting device 4, allowing for flexible transfer of the board pieces 32 between different positions. After the first clamping assembly 19 transfers the board pieces 32, the second clamping assembly 27 clamps the opposite two sides of the board pieces 32. Then, through the horizontal sliding of the board-inserting device 4 and the lifting movement of the second clamping assembly 27, the board pieces 32 are accurately inserted into the slots 40 of the first board-collecting device 5. This ensures that each board piece 32 is neatly inserted into the first board-collecting device 5, facilitating subsequent inspection, packaging, and other processes. This improves the neatness and standardization of board piece collection, reducing manual handling workload and error rate.

[0035] Here, the plate collecting machine achieves a series of automated operations from conveying, gripping, and transferring the plate 32 to the insert plate through the coordinated operation of the conveying device 2, the robotic arm 3, the insert plate device 4, and the first plate collecting device 5. This reduces manual intervention, improves production efficiency and quality, reduces labor costs and labor intensity, and also improves the stability and consistency of the production process, thus meeting diverse production needs.

[0036] Please refer to Figure 2 and Figure 3 In one specific embodiment, the robotic arm 3 further includes a robotic arm 20. One side of the rotating member 18 is rotatably connected to the end of the robotic arm 20, and the other side of the rotating member 18 is fixedly connected to a first clamping assembly 19. The first clamping assembly 19 includes a first driving member 21, a first clamping plate 22, and a second driving member 23. The first driving member 21 is fixed to one side of the rotating member 18. The two driving ends of the first driving member 21 are respectively connected to a set of first clamping plates 22. The two ends of each set of first clamping plates 22 are symmetrically provided with a second driving member 23 and a first clamping part 25. The driving end of the second driving member 23 is fixedly connected to a second clamping part 26. The second clamping part 26 cooperates with the first clamping part 25 to clamp the opposite sides of the plate member 32.

[0037] The rotating component 18 enables the end effector of the robotic arm 20 to rotate 360°, and the rotation angle of the rotating component 18 can be precisely controlled, allowing the robotic arm 20 to reach more positions and postures in space and complete more complex actions. The robotic arm 20 makes the robotic hand 3 have a larger and more flexible range of motion. The robotic hand 3 can operate in different directions and angles, making it easier to reach the board picking station 9 to pick up the board 32 and transport the board 32 to the first clamping assembly 19 in different positions. This adapts to different production layouts and board 32 conveying conditions, improving the adaptability of the robotic hand 3 to complex working conditions.

[0038] The first driving component 21 is fixed to one side of the rotating component 18, and its two driving ends are respectively connected to a set of first clamping plates 22. The opening and closing degree of the two sets of first clamping plates 22 can be precisely controlled by the first driving component 21, so as to accurately adapt to the clamping requirements of plates 32 of different sizes. Each set of first clamping plates 22 is symmetrically provided with a second driving component 23 and a first clamping part 25 at both ends. Under the action of the second driving component 23, the second clamping part 26 cooperates with the first clamping part 25 to clamp the opposite sides of the plate 32 more stably and accurately, ensuring that the plate 32 will not fall or shift during the gripping and transfer process, thus improving the accuracy and reliability of the operation.

[0039] Please refer to Figure 4 and Figure 5 In one specific embodiment, the insert plate device 4 further includes a third driving member 28 and a fourth driving member 29. The third driving member 28 is horizontally disposed on the top of the frame 1, and its horizontal driving end is fixedly connected to the fourth driving member 29. The vertical driving end of the fourth driving member 29 is fixedly connected to the second clamping assembly 27. In this embodiment, the third driving member 28 and the fourth driving member 29 are both linear modules.

[0040] When the third drive unit 28 operates, it can precisely control the fourth drive unit 29 and the connected second clamping assembly 27 to move horizontally. This allows the second clamping assembly 27 to accurately reach above the slot 40 of the first plate-retrieving device 5, i.e., the position where the robot arm 3 transfers the plate 32, thereby accurately receiving the plate 32 held by the first clamping assembly 19. Furthermore, it can perform precise horizontal positioning based on the position of the slot 40 on the first plate-retrieving device 5, ensuring that the plate 32 can be accurately inserted into the corresponding slot 40, thus improving the accuracy and precision of plate insertion.

[0041] The vertical drive end of the fourth drive member 29 is fixedly connected to the second clamping assembly 27, and is responsible for controlling the vertical lifting and lowering movement of the second clamping assembly 27. During the process of inserting the plate 32 into the slot 40, the fourth drive member 29 can stably adjust the height of the second clamping assembly 27, so that the plate 32 is accurately inserted into the slot 40 at a suitable speed and position, avoiding collisions between the plate 32 and the slot 40 or uneven insertion due to improper height control, thereby further improving the stability and reliability of the plate insertion operation.

[0042] The coordinated operation of the third drive component 28 and the fourth drive component 29 enables the insertion plate device 4 to automatically complete the horizontal and vertical motion control. In conjunction with other components such as the conveying device 2 and the robotic arm 3, it achieves full automation from conveying and gripping the plate 32 to insertion. This automated operation reduces manual intervention, lowers labor costs and intensity, and improves production efficiency, meeting the demands of large-scale, high-efficiency production.

[0043] Furthermore, the second clamping assembly 27 includes a fifth driving member 30 and a second clamping plate 31. The fifth driving member 30 is fixed to the vertical driving end of the fourth driving member 29. The two driving ends of the fifth driving member 30 along the vertical direction are respectively connected to a set of second clamping plates 31. Each set of second clamping plates 31 has a third clamping part 33 symmetrically provided at both ends. The third clamping parts 33 on the two sets of second clamping plates 31 cooperate to clamp the other two sides of the plate member 32.

[0044] The fifth driving member 30 has two driving ends connected to a set of second clamping plates 31 along the vertical direction. Driven by the fifth driving member 30, the two sets of second clamping plates 31 can move closer or further apart, thereby achieving the clamping and releasing action of the plate 32. The third clamping parts 33 symmetrically arranged at both ends of each set of second clamping plates 31 can fit tightly against the other two opposite sides of the plate 32, applying clamping force from both sides simultaneously, ensuring the stability of the plate 32, preventing the plate 32 from shaking or falling during transfer and insertion, and ensuring the stability of the plate 32 during operation.

[0045] The third clamping parts 33 on the two sets of second clamping plates 31 cooperate to precisely clamp the other two opposite sides of the plate 32, which provides accurate positioning for subsequent plate insertion operations. During the horizontal sliding and lifting movements of the plate insertion device 4, the plate 32, which is firmly clamped by the second clamping assembly 27, can maintain an accurate posture and position, thereby ensuring that the plate 32 can be accurately inserted into the slot 40 of the first plate receiving device 5. This improves the accuracy of plate insertion and the neatness of plate 32 storage, which is beneficial to the smooth progress of subsequent inspection, packaging and other processes.

[0046] Since the fifth drive component 30 can control the opening and closing degree of the second clamping plate 31, the second clamping assembly 27 can be flexibly adjusted according to the different sizes of the plates 32. Whether the plates 32 are small or large, they can be firmly clamped by adjusting the spacing of the second clamping plate 31, which improves the adaptability of the plate take-up machine to plates 32 of different specifications and meets diverse production needs.

[0047] Please refer to Figure 5 and Figure 6 In one specific embodiment, the first plate-receiving device 5 includes a plate-receiving assembly 34 and a positioning assembly 35. The frame 1 has a plate-receiving channel 7, the plate-receiving assembly 34 is movably disposed in the plate-receiving channel 7, and the positioning assembly 35 is fixed to both sides of the plate-receiving channel 7, and is used to position the plate-receiving assembly 34. In this embodiment, two sets of the first plate-receiving devices 5 are provided, correspondingly, the frame 1 has two adjacent plate-receiving channels 7.

[0048] Positioning the take-up assembly 34 using the positioning component 35 ensures its stability during the take-up process, guaranteeing that the board 32 can be accurately inserted into the slot 40 of the take-up assembly 34. The positioning component 35, fixed to both sides of the take-up channel 7, provides a stable positioning reference for the take-up assembly 34, preventing it from shifting or shaking during movement. This improves the accuracy and stability of the board 32 insertion, thus enhancing the overall take-up quality.

[0049] The system is equipped with two sets of first receiving devices 5 and two adjacent receiving channels 7. When the slots 40 of the first set of receiving components 34 are full of boards 32, the robot arm 3 can transport the boards 32 to the second set of receiving components 34 for receiving. Simultaneously, workers can move the first set of first receiving devices 5 out of the receiving channels 7 to transport the boards 32 to the next process position and put the empty first receiving devices 5 into the receiving channels 7, thus improving the efficiency and processing capacity of the receiving machine. This system can meet the needs of collecting boards 32 in different production scenarios. For example, boards 32 of different specifications or batches can be collected into different receiving devices, facilitating classification management and subsequent testing, packaging, and other processes. This further improves the flexibility and diversity of production and also helps to automate and increase the efficiency of the production process.

[0050] In one specific embodiment, the plate collecting assembly 34 includes a moving cart 36, a lifting component 37, and a plate collecting frame 38, which is used to collect qualified plates 32. The lifting component 37 is fixed to the top of the moving cart 36, and the plate collecting frame 38 is disposed on top of the lifting component 37. A plurality of insert portions 39 are evenly spaced along the horizontal direction inside the plate collecting frame 38, and slots 40 are formed between adjacent insert portions 39. In this embodiment, the lifting component 37 includes a bellows cover and a lifting structure, with the bellows cover covering the outside of the lifting structure.

[0051] The moving carriage 36 provides mobility for the receiving assembly 34, allowing it to be adjusted in position within the receiving channel 7 as needed. This facilitates cooperation with the inserting device 4 to accurately receive the boards 32. For example, when it is necessary to replace the receiving frame 38 filled with boards 32 or adjust the receiving position, the moving carriage 36 can move the entire receiving assembly 34 to the designated position. The receiving frame 38 is used to accommodate the boards 32, and several inserting parts 39 arranged at equal intervals along the horizontal direction inside it form slots 40, providing space for the boards 32 to be neatly arranged. This design allows the boards 32 to be inserted into the slots 40 according to a certain pattern, ensuring the neatness and standardization of the boards 32, facilitating subsequent inspection, packaging, and other processes, improving work efficiency, and reducing the workload and error rate of manual sorting.

[0052] The lifting structure enables the vertical lifting movement of the take-up frame 38. Through this structure, the take-up frame 38 can be adjusted according to the conveying height of the plate 32 and the position of the insertion device 4, ensuring that the plate 32 can be accurately inserted into the slot 40 of the take-up frame 38. A bellows cover is installed on the outside of the lifting structure to protect it. The bellows cover prevents dust and debris from entering the lifting structure, avoiding the impact of impurity accumulation on its normal operation. It also reduces wear and tear on the lifting structure from external factors, extending its service life and ensuring the stability and reliability of the take-up assembly 34.

[0053] In one specific embodiment, the positioning component 35 includes a frame 41, a sixth driving member 42, an abutment member 43, a seventh driving member 44, and a rotating member 45. The frame 41 is fixed to both sides of the receiving channel 7. The sixth driving member 42 is disposed on opposite sides of the frame 41. The abutment member 43 is fixed to the horizontal driving end of the sixth driving member 42 and is used to abut against opposite sides of the receiving frame 38. The seventh driving member 44 is disposed on opposite sides of the frame 41, with two sets of seventh driving members 44 symmetrically arranged on each side of the frame 41. The rotating member 45 is fixed to the rotating end of each set of seventh driving members 44, and the four sets of rotating members 45 cooperate to abut against the other opposite sides of the receiving frame 38.

[0054] The frame 41 serves as the support structure for the positioning assembly 35, and is fixed to both sides of the receiving channel 7, providing an installation base for other components. This ensures that the positioning assembly 35 can be accurately installed beside the receiving channel 7 to position the receiving assembly 34. When the sixth drive component 42 is activated, it can push the abutment component 43 to move horizontally, thereby abutting against the opposite sides of the receiving frame 38. This allows for positioning and limiting on one side of the receiving frame 38, preventing displacement in that direction and ensuring that the receiving frame 38 maintains a stable position during the receiving process. This facilitates the accurate insertion of the plate 32 into the slot 40 of the receiving frame 38.

[0055] The seventh driving component 44 drives the rotating component 45 to rotate, enabling positioning and clamping of the plate-collecting frame 38 from the other two sides. The seventh driving component 44 and the rotating component 45 work together with the sixth driving component 42 and the abutting component 43 to position and fix the plate-collecting frame 38 in all directions, further improving the stability and accuracy of the plate-collecting frame 38 during the plate-collecting process. This prevents the plate-collecting frame 38 from shaking or shifting due to external forces or other factors, ensuring that the plate 32 can be neatly and accurately inserted into the slot 40 of the plate-collecting frame 38, thus improving the neatness and standardization of the plate 32 storage.

[0056] Furthermore, the positioning component 35 also includes a plurality of rollers 46, which are rotatably connected to the frame 41 and are respectively tumbledly connected to both sides of the mobile vehicle 36.

[0057] On the one hand, the rollers 46 are rolled to both sides of the moving cart 36, providing guidance for its movement within the receiving channel 7. This ensures the cart moves smoothly along the predetermined track, preventing deviation or wobbling during movement. This guarantees the receiving frame 38 is accurately aligned with the insertion device 4, allowing the plate 32 to be smoothly inserted into the slot 40. On the other hand, the rolling connection of the rollers 46 significantly reduces friction between the moving cart 36 and the frame 41, making the movement of the cart 36 smoother, reducing the power required to drive it, and also reducing wear on both the cart 36 and the frame 41, thus extending the equipment's service life.

[0058] Please refer to Figure 7 In one specific embodiment, the plate collecting machine further includes a second plate collecting device 6. The second plate collecting device 6 includes a horizontally arranged double-layer drive assembly 47, a first placement member 48, and a second placement member 49. The first placement member 48 is used to place the first plate, and the second placement member 49 is used to place the plating plate. The first placement member 48 is horizontally slidably connected to the upper layer of the double-layer drive assembly 47, and the second placement member 49 is horizontally slidably connected to the lower layer of the double-layer drive assembly 47.

[0059] Specifically, the driving direction of the double-layer drive assembly 47 is perpendicular to the conveying direction of the conveying device 2, and one end of the double-layer drive assembly 47 is located below the conveying device 2. An eighth drive member 51 is disposed on the upper layer of the double-layer drive assembly 47, and a ninth drive member 52 is disposed on the lower layer. A first placement member 48 is fixedly connected to the driving end of the eighth drive member 51, and a second placement member 49 is fixedly connected to the driving end of the ninth drive member 52. In this embodiment, both the eighth drive member 51 and the ninth drive member 52 are linear modules.

[0060] The double-layer drive assembly 47 is horizontally positioned with its drive direction perpendicular to the conveying direction of the conveying device 2, allowing the first placement member 48 and the second placement member 49 to move in a direction perpendicular to the conveying direction of the plate 32, thus receiving the plate 32 from the conveying device 2 at different positions. One end of the double-layer drive assembly 47 is located below the conveying device 2, making efficient use of space and resulting in a more compact plate receiving machine structure.

[0061] Simultaneously, precise guidance and drive control are provided for the movement of the first placement member 48 and the second placement member 49, ensuring that they can accurately move to the preset position (i.e., the end away from the conveying device 2), thereby accurately receiving and placing the first plate and the plating plate, improving the accuracy and stability of plate collection. When the first placement member 48 receives the first plate, the eighth drive member 51 drives the first placement member 48 to move to the end away from the conveying device 2 to receive the first plate transported by the robot arm 3 from the conveying device 2; after the first plate is placed on the first placement member 48, the eighth drive member 51 drives the first placement member 48 to move to the end located below the conveying device 2 so that the second placement member 49 can receive the plating plate. The same applies when the second placement member 49 receives the plating plate.

[0062] To address this, precise drive control ensures that the first plate and the plating substrate are accurately placed on their respective placement pieces, preventing collisions and misalignments of the plates 32 during the plate-receiving process. This helps guarantee the quality and integrity of the plates 32, especially for the first plate, whose accurate placement is crucial for reference and adjustment of subsequent production processes. Furthermore, the positions of the first placement piece 48 and the second placement piece 49 can be flexibly adjusted according to different production needs to accommodate the plate-receiving requirements of different sizes and types of plates 32, making the plate-receiving machine more adaptable and versatile, and better able to meet diverse production scenarios.

[0063] Furthermore, the first placement member 48 and the second placement member 49 are provided with several limiting members 50 around their periphery. The limiting members 50 can restrict the position of the first plate and the plating plate on the placement member, preventing them from shifting, sliding, or shaking during placement, transportation, or other operations, ensuring that the plate 32 is always in an accurate position, which is beneficial to improving the accuracy of subsequent processing or handling. During plate collection, plate transfer, etc., the limiting members 50 can provide stable support and constraint for the plate 32, reducing the possibility of the plate 32 falling or being damaged due to external forces or equipment vibration, thereby ensuring the integrity and quality of the plate 32.

[0064] Please refer to Figure 8 In one specific embodiment, the conveying device 2 includes a conveying frame 10, a tenth driving member 11, a driving roller 12, a conveyor belt 13, and several rotating rollers 14. The tenth driving member 11 is fixed to one side of the conveying frame 10. The driving roller 12 is rotatably mounted on one side of the conveying frame 10 along the conveying direction of the plate 32. The conveyor belt 13 is rotatably connected to the output end of the tenth driving member 11 and the driving roller 12, and several first magnetic wheels 15 are spaced apart on the driving roller 12. Several rotating rollers 14 are equidistantly spaced on the conveying frame 10 along the conveying direction perpendicular to the plate 32, and each rotating roller 14 has a second magnetic wheel 17 at one end, with the second magnetic wheel 17 located directly above the first magnetic wheel 15.

[0065] The tenth drive component 11 serves as a power source, fixed to one side of the conveyor frame 10, providing power for the operation of the entire conveying device 2. The drive roller 12 is rotatably mounted on one side of the conveyor frame 10 along the conveying direction of the plate 32, and is rotatably connected to the output end of the tenth drive component 11 via the conveyor belt 13, enabling it to rotate under the drive of the tenth drive component 11. Simultaneously, several first magnetic wheels 15 are spaced apart on the drive roller 12, which cooperate with the second magnetic wheel 17 at one end of the rotating roller 14, indirectly driving the rotating roller 14 through magnetic force. When the plate 32 is placed horizontally on the rotating roller 14, the rotation of the rotating roller 14 drives the plate 32 to move, realizing the conveying of the plate 32 on the conveying device 2, accurately conveying the plate 32 sequentially to the feeding station 8 and the unloading station 9.

[0066] Furthermore, each rotating roller 14 is provided with a plurality of electrostatic wheels 16 at equal intervals. In this embodiment, three electrostatic wheels 16 are provided at equal intervals on each rotating roller 14. In other embodiments, two, four, five, etc., electrostatic wheels 16 may also be provided.

[0067] The electrostatic roller 16 generates static electricity and, using the principle of electrostatic adsorption, places the board 32 more stably on the rotating roller 14. This effectively prevents the board 32 from sliding or shaking on the rotating roller 14, ensuring that the board 32 is accurately conveyed to the feeding station 8 and the board picking station 9, thus improving the stability and positioning accuracy of the board 32's conveying. Furthermore, during the production and processing of the board 32, static electricity may accumulate on its surface, which could adversely affect its quality, such as attracting dust or causing electronic component malfunctions. The electrostatic roller 16 can conduct away the static electricity from the surface of the board 32, effectively eliminating static electricity and protecting the board 32 from electrostatic hazards, thereby improving its quality and yield.

[0068] In one specific embodiment, an edge-finding sensing and positioning device 53 is provided at the board-picking station 9 to position the board 32 transported to the board-picking station 9. By sensing the edge of the board 32, the edge-finding sensing and positioning device 53 can accurately determine the specific position of the board 32 at the board-picking station 9. Regardless of any slight offset or posture change that may occur during the transport of the board 32, the edge-finding sensing and positioning device 53 can monitor and provide feedback on its precise position information in real time. The edge-finding sensing and positioning device 53 provides an accurate position reference for the picking operation, enabling the robotic arm 3 to accurately grasp the board 32. This helps avoid picking errors caused by uncertain positions of the board 32, such as inaccurate grasping positions or weak gripping of the board 32, thereby improving the success rate and accuracy of picking.

[0069] In one specific embodiment, a visual recognition device 54 is provided above the board picking station 9. In this embodiment, each board 32 has a QR code. The visual recognition device 54 identifies whether the board 32 is a qualified board, a first piece board, or a board to be plated by scanning the QR code, so that the robot arm 3 can transport the board 32 to the corresponding position.

[0070] Here, by scanning the QR code with the visual recognition device 54, it is possible to accurately identify whether the sheet 32 ​​is a qualified sheet, a first sheet, or a sheet to be plated, eliminating the error of manual classification and improving the accuracy and efficiency of classification. It provides the robot arm 3 with accurate information on the type of sheet 32, guiding the robot arm 3 to accurately transport the sheet 32 ​​to the corresponding position, improving the accuracy and automation of transportation, and reducing errors and confusion.

[0071] Please refer to Figure 1In one specific embodiment, the plate collecting machine further includes a cover 24, which is fixedly mounted on the frame 1. The conveying device 2, the robotic arm 3, the plate inserting device 4, the first plate collecting device 5, and the second plate collecting device 6 are located inside the cover 24. This cover prevents external dust, debris, and other contaminants from entering the plate collecting machine, avoiding interference with its normal operation, reducing the probability of malfunctions caused by impurity accumulation, and extending the machine's service life. Furthermore, it isolates the moving parts inside the plate collecting machine from the outside environment, reducing the risk of accidental injury to operators from contact with these parts, thus providing safety protection and ensuring the personal safety of the operators.

[0072] The above description is merely a specific embodiment of this application, but the scope of protection of this application is not limited thereto. Any person skilled in the art can easily conceive of various equivalent modifications or substitutions within the technical scope disclosed in this application, and these modifications or substitutions should all be covered within the scope of protection of this application. Therefore, the scope of protection of this application should be determined by the scope of the claims.

Claims

1. A frame-in-slot sheet collecting machine characterized by: It includes a conveying device, a robotic arm, a plate insertion device, a first plate retracting device, and a second plate retracting device; The conveying device includes a feeding station and a board picking station connected in sequence, and the robot arm, board insertion device, and first board receiving device are respectively arranged adjacent to each other at the board picking station; The robotic arm includes a rotating component and a first clamping assembly that are fixedly connected. The first clamping assembly is used to clamp the opposite two sides of the plate and remove the plate from the plate-removing station. The insert plate device is located above the first plate retracting device. The insert plate device can slide horizontally along the insert plate direction of the first plate retracting device. The insert plate device is provided with a second clamping assembly that can be raised and lowered in the vertical direction. The rotating member drives the first clamping assembly to rotate so that the second clamping assembly clamps the other two opposite sides of the plate. The first plate receiving device has a plurality of slots, and the second clamping assembly is used to insert each plate into each of the slots respectively; The second plate-collecting device includes a horizontally arranged double-layer drive assembly, a first placement member and a second placement member. The first placement member is horizontally slidably connected to the upper layer of the double-layer drive assembly, and the second placement member is horizontally slidably connected to the lower layer of the double-layer drive assembly. The driving direction of the double-layer drive assembly is perpendicular to the conveying direction of the conveying device, and one end of the double-layer drive assembly is located below the conveying device; the upper layer of the double-layer drive assembly is provided with an eighth drive component, and the lower layer of the double-layer drive assembly is provided with a ninth drive component; the first placement component is fixedly connected to the driving end of the eighth drive component, and the second placement component is fixedly connected to the driving end of the ninth drive component. When the first placement unit receives the first plate, the eighth drive unit drives the first placement unit to move to the end away from the conveying device to receive the first plate transported by the robot from the conveying device; after the first plate is placed on the first placement unit, the eighth drive unit drives the first placement unit to move to the end located below the conveying device so that the second placement unit can receive the plating plate. A visual recognition device is installed above the board picking station. Each board has a QR code. The visual recognition device identifies whether the board is a qualified board, a first board, or a board to be plated by scanning the QR code, so that the robot can transport the board to the corresponding position.

2. The frame-inserter sheet collector of claim 1, wherein The first clamping assembly includes a first driving member, a first clamping plate, and a second driving member. The first driving member is fixed to one side of the rotating member. The two driving ends of the first driving member are respectively connected to a set of the first clamping plates. The two ends of each set of the first clamping plates are symmetrically provided with a second driving member and a first clamping part. The driving end of the second driving member is fixedly connected to the second clamping part. The second clamping part cooperates with the first clamping part to clamp the opposite sides of the plate member.

3. The frame-inserter according to claim 1, wherein, The plate collecting machine also includes a frame, and the plate inserting device further includes a third driving member and a fourth driving member. The third driving member is horizontally disposed on the frame, and the horizontal driving end of the third driving member is fixedly connected to the fourth driving member. The vertical driving end of the fourth driving member is fixedly connected to the second clamping assembly.

4. The frame-inserter according to claim 3, wherein, The second clamping assembly includes a fifth driving member and a second clamping plate. The fifth driving member is fixed to the vertical driving end of the fourth driving member. The two driving ends of the fifth driving member along the vertical direction are respectively connected to a set of the second clamping plates. Each set of the second clamping plates has a third clamping part symmetrically provided at both ends. The third clamping parts on the two sets of the second clamping plates cooperate to clamp the other two sides of the plate.

5. The frame-inserter according to claim 3, wherein, The first plate-collecting device includes a plate-collecting assembly and a positioning assembly. The frame has a plate-collecting channel. The plate-collecting assembly is movably disposed in the plate-collecting channel. The positioning assembly is fixed on both sides of the plate-collecting channel and is used to position the plate-collecting assembly.

6. The frame-inserter according to claim 5, wherein, The plate-collecting assembly includes a moving vehicle, a lifting component, and a plate-collecting frame. The lifting component is fixed to the top of the moving vehicle, and the plate-collecting frame is disposed on the top of the lifting component. Several insert plate portions are evenly spaced along the horizontal direction inside the plate-collecting frame, and the slot is formed between two adjacent insert plate portions.

7. The frame-inserter according to claim 6, wherein, The positioning assembly includes a frame, a sixth driving member, an abutment member, a seventh driving member, and a rotating member. The frame is fixed to both sides of the receiving channel. The sixth driving members are respectively disposed on opposite sides of the frame. The abutment member is fixed to the horizontal driving end of the sixth driving member and is used to abut against opposite sides of the receiving frame. The seventh driving members are respectively disposed on opposite sides of the frame, and two sets of the seventh driving members are symmetrically disposed on each side of the frame. The rotating member is fixed to the rotating end of each set of the seventh driving members. The four sets of rotating members cooperate with each other to abut against the other opposite sides of the receiving frame.

8. The frame-inserter according to claim 7, wherein, The positioning component also includes several rollers, which are rotatably mounted on the frame and are respectively tumbledly connected to both sides of the mobile vehicle.

9. The frame-inserter according to claim 1, wherein, The first and second placement components are provided with several limiting components around their periphery.

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