Double-track manipulator plate planting machine

Abstract

The invention relates to the technical field of board planting machines, and discloses a double-track manipulator board planting machine which comprises a rack hood box body, a board disassembling track mechanism is arranged in the rack hood box body, and a plastic uptake box upper receiving mechanism and a PCB and steel sheet lifting mechanism are arranged on the side edge of the board disassembling track mechanism. According to the full-automatic plastic uptake box packaging machine, the machine frame hood box body is internally provided with the board dividing and disassembling track mechanism, the plastic uptake box upper material receiving mechanism, the PCB and steel sheet lifting mechanism and the robot mechanism, and therefore integrated process operation can be achieved; the machine frame hood box body is internally provided with the board dividing and disassembling track mechanism, the plastic uptake box upper material receiving mechanism and the PCB and steel sheet lifting mechanism; synchronous feeding of the steel sheets and the PCBs can be achieved through the PCB lifting feeding assembly and the steel sheet lifting feeding assembly on the distance knitting monorail assembly, the device conducts effective process matching assembly on feeding, plate planting and discharging of the planted plates so as to achieve parallel assembly operation, the plate planting operation efficiency of a user can be greatly improved, and the working efficiency of the user is improved. And the high-productivity production requirement of a modern production line is further met.

Description

Technical Field

[0001] This invention relates to the field of board planting machine technology, specifically a dual-track robotic board planting machine. Background Technology

[0002] In many high-end manufacturing fields such as electronics manufacturing, flexible electronics, semiconductor packaging, and new energy batteries, PCB mounting is one of the core processes ensuring product assembly accuracy and performance stability. This process mainly achieves the precise assembly of substrates such as circuit boards, flexible substrates, and ceramic substrates with various electronic components (such as sensors, diodes, and haptic actuators), or the stable transfer of substrates between different processing stations. Its quality directly determines the reliability, signal transmission efficiency, and lifespan of the final product. With the development of consumer electronics towards thinner and higher performance, and the rise of emerging industries such as 5G communication, VR / AR, and new energy vehicles, the market has placed higher demands on the PCB mounting process. It not only needs to improve operational efficiency to match the needs of large-scale production, but also needs to achieve micron-level positioning accuracy while adapting to the processing requirements of multi-specification substrates and complex working conditions. Most existing steel sheet and PCB board placement machines operate using a single-rail conveyor and a single robotic arm. The substrate loading, placement, unloading, and assembly processes under a single rail need to be completed sequentially, and each individual process is difficult to coordinate effectively and cannot achieve parallel operation. Consequently, the efficiency during the placement process is low, making it difficult to meet the high-capacity production requirements of modern production lines. Summary of the Invention

[0003] To address the shortcomings of existing technologies, this invention provides a dual-track robotic PCB placement machine. This solves the problem that most existing steel sheet and PCB board placement machines operate using a single-track conveyor and a single robotic arm. In a single-track system, the substrate loading, placement, unloading, and assembly processes need to be completed sequentially, and each individual process is difficult to coordinate effectively, making parallel operation impossible. Consequently, the efficiency during the placement process is low, making it difficult to meet the high-capacity production demands of modern production lines.

[0004] The present invention provides the following technical solution: a dual-track robotic PCB planting machine, including a frame and a housing, wherein a board loading and unloading track mechanism is provided inside the frame and housing, a blister box receiving mechanism and a PCB and steel sheet lifting mechanism are provided on the side of the board loading and unloading track mechanism, and a robot mechanism is provided in the middle of the frame and housing. The value and plate dismantling track mechanism includes a vehicle track assembly installed on the frame housing, a top vision assembly is provided on the vehicle track assembly, and a first steel plate replacement assembly and a second steel plate replacement assembly are respectively provided on both sides of the vehicle track assembly. The blister box receiving mechanism includes a blister box stacking and feeding assembly and a blister box stacking and receiving assembly disposed within the machine frame housing. The PCB and steel sheet lifting mechanism includes a spacing monorail assembly disposed on the side of the robot mechanism, a PCB lifting and feeding assembly disposed on the spacing monorail assembly, a bottom vision precision positioning assembly disposed on the bottom side of the PCB lifting and feeding assembly, and a steel sheet lifting and feeding assembly disposed on the side of the PCB lifting and feeding assembly.

[0005] Preferred technical solution 1: The second steel sheet replacement assembly includes a steel sheet support base plate disposed on the vehicle track assembly, a plurality of steel sheet support columns are uniformly and vertically disposed at the top of the steel sheet support base plate, and a bottom side connecting plate is disposed on the bottom side of the steel sheet support base plate.

[0006] Preferred technical solution 2: The bottom side connecting plate is connected to the bottom side of the steel sheet support base plate through a number of fixed connecting frames, and a drive motor is installed on the bottom side of the bottom side connecting plate.

[0007] Preferred technical solution 3: The bottom visual precision positioning component includes a fixed mounting plate disposed on the pitched monorail component, a connecting side plate fixed to the side of the fixed mounting plate, and a visual camera mounted on the side of the connecting side plate.

[0008] Preferred technical solution four: A top limiting frame is provided on the top side of the visual camera, the side of the top limiting frame is connected to the fixed mounting plate, and a visual shooting port is provided in the middle of the top limiting frame.

[0009] Preferred technical solution five: The robot mechanism includes a robot mounting base fixed on the frame housing, and a robot rotating base is mounted on the top of the robot mounting base.

[0010] Preferred technical solution six: A robotic arm is provided on the rotating base of the robot, and a material gripper is provided at the end of the robotic arm.

[0011] Preferred technical solution seven: The blister box stacking and feeding assembly and the blister box stacking and receiving assembly are symmetrically arranged on both sides of the pitched monorail assembly.

[0012] This solution makes it more convenient for users to stack and collect blister boxes.

[0013] Preferred technical solution eight: Both the PCB lifting and feeding assembly and the steel sheet lifting and feeding assembly are located on the bottom side of the sizing monorail assembly.

[0014] This solution enables materials on the PCB lifting and feeding assembly and the steel sheet lifting and feeding assembly to be transferred more easily to the spacing monorail assembly.

[0015] Preferred technical solution nine: The central axis of the visual camera and the visual shooting port are located on the same straight line.

[0016] This solution enables the visual camera to capture images more effectively through the visual capture port.

[0017] Compared with existing technologies, this invention provides a dual-track robotic PCB planting machine with the following advantages: This invention, by separately assembling a loading and unloading track mechanism, a blister pack receiving mechanism, a PCB and steel sheet lifting mechanism, and a robot mechanism within the machine frame and housing, achieves integrated process operation through the cooperation of these mechanisms. The PCB and steel sheet lifting and loading components on the spacing single-track assembly enable simultaneous loading of steel sheets and PCBs, facilitating the robot mechanism's gripping and assembly of the PCBs. The bottom vision precision positioning component on the PCB and steel sheet lifting mechanism captures the positioning information of the steel sheets and transmits it to the robot mechanism, ensuring precise gripping and completing the PCB planting operation. This device effectively coordinates the loading, planting, and unloading of PCB materials to achieve parallel assembly operations, significantly improving the user's PCB planting efficiency and meeting the high-capacity production demands of modern production lines. Attached Figure Description

[0018] Figure 1 This is a three-dimensional structural schematic diagram of the present invention; Figure 2 This is a schematic diagram of the internal structure of the present invention; Figure 3 For the present invention Figure 2 A bird's-eye view; Figure 4 For the present invention Figure 3 Schematic diagram of the structure of the medium-sized vehicle track assembly; Figure 5 For the present invention Figure 3 Schematic diagram of the structure of the medium-spacing monorail assembly; Figure 6 For the present invention Figure 3 A schematic diagram of the structure of the bottom-mounted visual precision positioning component; Figure 7 For the present invention Figure 3 A schematic diagram of the structure of the robot mechanism; Figure 8 For the present invention Figure 3 Schematic diagram of the stacking and receiving assembly of the blister pack; Figure 9 For the present invention Figure 3 Schematic diagram of the structure of the second steel sheet replacement assembly; Figure 10 This is a flowchart illustrating the operation of the present invention; Figure 11 This is a flowchart of the plate-planting process of the present invention.

[0019] In the diagram: 100, frame and enclosure; 200, value, dismantling plate track mechanism; 21. Vehicle track assembly; 22. Top vision assembly; 23. First steel plate replacement assembly; 24. Second steel plate replacement assembly; 241. Steel sheet support base plate; 242. Steel sheet support column; 243. Bottom side connecting plate; 244. Fixed connecting frame; 245. Drive motor; 300. Material receiving mechanism on blister packs; 31. Blister box stacking and feeding assembly; 32. Blister box stacking and receiving assembly; 400, PCB, steel plate lifting mechanism; 41. Spacing monorail assembly; 42. PCB lifting and loading assembly; 43. Bottom vision precision positioning assembly; 44. Steel sheet lifting and loading assembly; 431. Fixed mounting plate; 432. Connecting side plate; 433. Vision camera; 434. Top limiting frame; 435. Vision shooting port; 500. Robotic mechanisms; 501. Robot mounting base; 502. Robot rotating base; 503. Robotic arm; 504. Material gripper. Detailed Implementation

[0020] Please see Figure 1-11 , Example 1: A dual-track robotic PCB planting machine includes a frame and housing 100. Inside the frame and housing 100, there is a board loading and unloading track mechanism 200. On the side of the board loading and unloading track mechanism 200, there is a blister box receiving mechanism 300 and a PCB and steel sheet lifting mechanism 400. A robot mechanism 500 is located in the middle of the frame and housing 100.

[0021] The value and dismantling plate track mechanism 200 includes a vehicle track assembly 21 installed on the frame housing 100. A top vision assembly 22 is provided on the vehicle track assembly 21, and a first steel plate replacement assembly 23 and a second steel plate replacement assembly 24 are respectively provided on both sides of the vehicle track assembly 21.

[0022] The blister box receiving mechanism 300 includes a blister box stacking and feeding assembly 31 and a blister box stacking and receiving assembly 32, which are disposed in the frame housing 100.

[0023] The PCB and steel sheet lifting mechanism 400 includes a spacing monorail assembly 41 disposed on the side of the robot mechanism 500, a PCB lifting and feeding assembly 42 disposed on the spacing monorail assembly 41, a bottom vision precision positioning assembly 43 disposed on the bottom side of the PCB lifting and feeding assembly 42, and a steel sheet lifting and feeding assembly 44 disposed on the side of the PCB lifting and feeding assembly 42.

[0024] Example 2: The difference between this example and Example 1 is that the second steel sheet replacement assembly 24 includes a steel sheet support base plate 241 disposed on the carrier track assembly 21. A plurality of steel sheet support columns 242 are uniformly and vertically disposed at the top of the steel sheet support base plate 241. A bottom side connecting plate 243 is disposed on the bottom side of the steel sheet support base plate 241. A plurality of fixed connecting brackets 244 are disposed on the bottom side connecting plate 243 and connected to the bottom side of the steel sheet support base plate 241. A drive motor 245 is installed on the bottom side of the bottom side connecting plate 243.

[0025] Example 3: The difference between this example and Example 1 is that the bottom visual precision positioning component 43 includes a fixed mounting plate 431 disposed on the spacing monorail component 41. A connecting side plate 432 is fixed to the side of the fixed mounting plate 431. A visual camera 433 is installed on the side of the connecting side plate 432. A top limiting frame 434 is disposed on the top side of the visual camera 433. The side of the top limiting frame 434 is connected to the fixed mounting plate 431. A visual shooting port 435 is disposed in the middle of the top limiting frame 434.

[0026] Example 4: The difference between this example and Example 1 is that the robot mechanism 500 includes a robot mounting base 501 fixed on the frame housing 100, a robot rotating base 502 is mounted on the top of the robot mounting base 501, a robotic arm 503 is provided on the robot rotating base 502, and a material gripper 504 is provided at the end of the robotic arm 503.

[0027] Example 5: The difference between this example and Example 1 is that the blister box stacking and feeding assembly 31 and the blister box stacking and receiving assembly 32 are symmetrically arranged on both sides of the pitched monorail assembly 41.

[0028] This makes it more convenient for users to stack and collect blister boxes.

[0029] Example 6: The difference between this example and Example 1 is that the PCB lifting and feeding assembly 42 and the steel sheet lifting and feeding assembly 44 are both located on the bottom side of the pitched monorail assembly 41.

[0030] This makes it easier to transfer materials from the PCB lifting and feeding assembly 42 and the steel sheet lifting and feeding assembly 44 to the pitched monorail assembly 41.

[0031] Example 7: The difference between this example and Example 1 is that the central axes of the visual camera 433 and the visual shooting port 435 are located on the same straight line.

[0032] This allows the visual camera 433 to capture images more effectively through the visual capture port 435.

[0033] In this embodiment, since most existing steel sheet and PCB board planting machines operate in a single-rail conveyor and single-robot mode, the substrate loading, board planting, unloading and assembly processes under the single rail need to be completed sequentially, and each individual operation process is difficult to form an effective coordination and cannot achieve parallel operation. As a result, the efficiency in the board planting process is low and it is difficult to meet the high-capacity production needs of modern production lines.

[0034] In summary, in specific implementation, the frame housing 100 is equipped with a board loading and unloading track mechanism 200, a blister box receiving mechanism 300, a PCB and steel sheet lifting mechanism 400, and a robot mechanism 500. The board loading and unloading track mechanism 200 is mainly used for loading and unloading boards, while the blister box receiving mechanism 300 is used for loading the left side of the blister box and receiving the board after installation. The PCB and steel sheet lifting mechanism 400 is used for lifting and loading the PCB and steel sheet to reach the material transfer position of the robot mechanism 500. The robot mechanism 500 is used to perform board installation between the PCB and the steel sheet.

[0035] During actual board planting, a carrier track feeding platform and a carrier track discharging platform are respectively set on both sides of the frame housing 100. The blister box stacking and feeding component 31 stacks and feeds the blister boxes, which are then precisely positioned on the bottom vision precision positioning component 43 to pick up the material. At the same time, the steel sheet lifting and feeding component 44 lifts and feeds the steel sheet. The robot mechanism 500 grabs the blister box and the steel sheet at the picking position. After the bottom vision precision positioning component 43 positions the blister box and the steel sheet, they are placed on the first steel sheet changing component 23 and the second steel sheet changing component 24, respectively. The top vision component 22 is used to provide positioning support for the robot mechanism 500.

[0036] Next, the PCB board is lifted and loaded using the PCB lifting and loading assembly 42. The robot mechanism 500, with the positioning support of the bottom vision precision positioning assembly 43, grasps the PCB board and transfers it to the first steel sheet changing assembly 23 and the second steel sheet changing assembly 24. Then, the steel sheet and the PCB board are assembled and planted. After the installation, the steel sheet and the PCB board are discharged through the carrier track. By repeating the above actions, the steel sheet and the PCB board can be quickly and accurately planted and assembled. In this way, the dual-track mode, in conjunction with the robot arm, can effectively coordinate the loading, planting, and unloading of the substrate to achieve parallel assembly operations, which can greatly improve the user's board planting efficiency and meet the high-capacity production needs of modern production lines.

Claims

1. A dual-track robotic plate-planting machine, comprising a frame, a housing (100), characterized in that: The frame housing (100) is equipped with a plate-receiving and dismantling track mechanism (200). The side of the plate-receiving and dismantling track mechanism (200) is equipped with a blister box receiving mechanism (300) and a PCB and steel sheet lifting mechanism (400). The middle of the frame housing (100) is equipped with a robot mechanism (500). The value and plate dismantling track mechanism (200) includes a vehicle track assembly (21) installed on the frame housing (100), a top vision assembly (22) is provided on the vehicle track assembly (21), and a first steel plate replacement assembly (23) and a second steel plate replacement assembly (24) are respectively provided on both sides of the vehicle track assembly (21). The blister box receiving mechanism (300) includes a blister box stacking and feeding assembly (31) and a blister box stacking and receiving assembly (32) disposed in the frame housing (100). The PCB and steel sheet lifting mechanism (400) includes a spacing monorail assembly (41) disposed on the side of the robot mechanism (500), a PCB lifting and loading assembly (42) disposed on the spacing monorail assembly (41), a bottom vision precision positioning assembly (43) disposed on the bottom side of the PCB lifting and loading assembly (42), and a steel sheet lifting and loading assembly (44) disposed on the side of the PCB lifting and loading assembly (42).

2. The dual-track robotic plate-planting machine according to claim 1, characterized in that: The second steel sheet replacement assembly (24) includes a steel sheet support base plate (241) disposed on the vehicle track assembly (21). A plurality of steel sheet support columns (242) are uniformly and vertically disposed at the top of the steel sheet support base plate (241), and a bottom side connecting plate (243) is disposed on the bottom side of the steel sheet support base plate (241).

3. The dual-track robotic plate-planting machine according to claim 2, characterized in that: The bottom connecting plate (243) is connected to the bottom side of the steel sheet support base plate (241) by a number of fixed connecting brackets (244), and a drive motor (245) is installed on the bottom side of the bottom connecting plate (243).

4. The dual-track robotic plate-planting machine according to claim 3, characterized in that: The bottom visual precision positioning component (43) includes a fixed mounting plate (431) disposed on the pitched monorail component (41), a connecting side plate (432) fixed to the side of the fixed mounting plate (431), and a visual camera (433) mounted on the side of the connecting side plate (432).

5. The dual-track robotic plate-planting machine according to claim 4, characterized in that: The top side of the visual camera (433) is provided with a top limiting frame (434), the side of the top limiting frame (434) is connected to the fixed mounting plate (431), and the middle part of the top limiting frame (434) is provided with a visual shooting port (435).

6. The dual-track robotic plate-planting machine according to claim 5, characterized in that: The robot mechanism (500) includes a robot mounting base (501) fixed on the frame housing (100), and a robot rotating base (502) is mounted on the top of the robot mounting base (501).

7. The dual-track robotic plate-planting machine according to claim 6, characterized in that: The robot rotating base (502) is equipped with a robotic arm (503), and the end of the robotic arm (503) is equipped with a material gripper (504).

8. The dual-track robotic plate-planting machine according to claim 7, characterized in that: The blister box stacking and feeding assembly (31) and the blister box stacking and receiving assembly (32) are symmetrically arranged on both sides of the pitched monorail assembly (41).

9. The dual-track robotic plate-planting machine according to claim 8, characterized in that: Both the PCB lifting and loading assembly (42) and the steel sheet lifting and loading assembly (44) are located on the bottom side of the pitched monorail assembly (41).

10. The dual-track robotic plate-planting machine according to claim 9, characterized in that: The central axis of the visual camera (433) and the visual shooting port (435) are on the same straight line.

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