A full-automatic visual sorting assembly line for separating boards

Abstract

The present application relates to a kind of full-automatic visual sorting assembly line of board separation, comprising: the feeding and discharging device of turnover box, feeding manipulator, front and back visual detection device and sorting device are sequentially arranged;The feeding and discharging device of turnover box includes turnover box feeding device, turnover box discharging device and turnover box moving manipulator;Turnover box feeding device is used to transport full turnover box, turnover box moving manipulator is used to move empty turnover box from turnover box feeding device to turnover box discharging device, and turnover box manipulator can be adjusted according to different turnover box;Front and back visual detection device includes material plate conveying device and visual device;Visual device is movably installed on the side of material plate conveying device, and material plate conveying device can be adjusted according to the model of circuit board.Sorting device is used to sort the circuit board of completion board separation into sub-packaging box.In the process of using, only part of structure needs to be adjusted to adapt to different models of circuit board and sub-packaging box.

Description

Technical Field

[0001] This invention relates to the field of circuit board manufacturing equipment technology, and in particular to a fully automated vision sorting production line for board separation. Background Technology

[0002] Circuit boards are key components of electronic devices. They consist of an insulating substrate, copper foil circuitry, and other materials, providing electrical connections and physical support for electronic components. Through processes such as etching, precise circuits are formed on the substrate to achieve signal transmission and distribution, and they are widely used in various electronic products such as computers and mobile phones.

[0003] Circuit board sorting equipment is a high-precision industrial device used for automated inspection and sorting of circuit boards. This equipment typically integrates machine vision systems (such as CCD cameras), precision robotic arms, and high-sensitivity sensors. It uses image processing technology to identify issues such as circuit integrity, dimensional tolerances, and surface defects on the circuit boards, while simultaneously sorting them.

[0004] However, current circuit board sorting equipment is insufficient to meet the needs of automated identification and sorting of different types of circuit boards. Summary of the Invention

[0005] The purpose of this invention is to provide a fully automated vision sorting production line for board separation, in order to solve the above-mentioned problems.

[0006] To achieve the above objectives, this invention discloses a fully automated visual sorting production line, comprising: a turnover box loading / unloading device, a loading robot, a front and back visual inspection device, and a sorting device arranged sequentially; the turnover box loading / unloading device includes a turnover box loading device, a turnover box unloading device, and a turnover box moving robot; the turnover box loading device is used to transport full turnover boxes, and the turnover box moving robot is used to move empty turnover boxes from the turnover box loading device to the turnover box unloading device; the turnover box robot can be adjusted according to different turnover boxes; the loading robot is used to remove circuit boards from the turnover box and place them into the front and back visual inspection device; the loading robot can adjust or replace the gripping components according to the model of the circuit board; the front and back visual inspection device is used to inspect the circuit board and scan the barcode; the front and back visual inspection device includes a board conveying device and a vision device; the board conveying device can be adjusted according to the model of the circuit board. The sorting device is used to sort the circuit boards that have been separated into packaging boxes. The sorting device can be adjusted according to the model of the circuit board.

[0007] Preferably, the turnover box loading device includes a first conveyor belt, a second conveyor belt, and a first lifting device. The first lifting device is located at the discharge end of the first conveyor belt, and the second conveyor belt is mounted on the first lifting device. The turnover box unloading device includes a third conveyor belt, a fourth conveyor belt, and a second lifting device. The second lifting device is located at the loading end of the third conveyor belt, and the fourth conveyor belt is mounted on the second lifting device. The turnover box moving robot is used to move the turnover boxes from the second conveyor belt to the fourth conveyor belt.

[0008] Preferably, the turnover box loading and unloading device further includes a first support. The first lifting device includes a first base plate, a first lead screw, a first nut, a first motor, a first guide rod, a first guide sleeve, and a first lifting plate. The first base plate is mounted on the first support. The first lead screw and the first guide rod are vertically mounted on the first base plate. The first motor is mounted on the first base plate and is driven by the first lead screw. The first nut and the first guide sleeve are mounted on the first lifting plate. The first nut cooperates with the first lead screw. The first guide sleeve is slidably connected to the first guide rod. The first conveyor belt is mounted on the first lifting plate. The second lifting device includes a second base plate, a second lead screw, a second nut, a second motor, a second guide rod, a second guide sleeve, and a second lifting plate. The second base plate is mounted on the first support. The second lead screw and the second guide rod are vertically mounted on the second base plate. The second motor is mounted on the second base plate and is driven by the second lead screw. The second nut and the second guide sleeve are mounted on the second lifting plate. The second nut cooperates with the second lead screw. The second guide sleeve is slidably connected to the second guide rod. The second conveyor belt is mounted on the second lifting plate.

[0009] Preferably, the turnover box moving robot includes a first slide, a first connecting arm, a third lifting device, and a first gripping device. One end of the first connecting arm is movably mounted on the first slide, the third lifting device is mounted on the other end of the first connecting arm, and the first gripping device is mounted on the movable end of the third lifting device.

[0010] Preferably, the turnover box loading device and the turnover box unloading device are arranged in parallel, and the first slide is mounted on the first support. The first slide includes a first mounting base, a third guide rod, a third motor, a third lead screw, a third nut, and a third slider. Two first mounting bases are fixedly mounted on the first support. The two ends of the third guide rod are respectively fixedly mounted on the two first mounting bases. The two ends of the third lead screw are respectively rotatably connected to the two first mounting bases. The third motor is mounted on the first mounting base and drives the third lead screw to rotate. The third slider has a third guide hole, which is slidably connected to the third guide rod. The third slider has a third mounting hole, and the third nut is fixedly installed in the third mounting hole, cooperating with the third lead screw. The first connecting arm is L-shaped. The first gripping device includes a first fixing plate, a first mounting rod, and a first suction cup. The first fixing plate has multiple first mounting slots, the first mounting rod is adjustablely mounted in the first mounting slots, and the first suction cup is mounted on the first mounting rod. The third lifting device is a cylinder.

[0011] Preferably, the material plate conveying device includes a fifth conveyor belt device, a sixth conveyor belt device, a material plate conveying bracket, an eighth lead screw, an eighth nut, an eighth guide rod, an eighth guide sleeve, an eighth motor, and an eighth mounting plate. The fifth conveyor belt device is fixedly installed on one side of the material plate conveying bracket, and the eighth mounting plate is installed on the other side. The sixth conveyor belt device is disposed between the fifth conveyor belt device and the eighth mounting plate. The eighth nut and the eighth guide sleeve are installed on the sixth conveyor belt device. One end of the eighth lead screw is rotatably connected to the eighth mounting plate, and the other end passes through the fifth conveyor belt device and is connected to the eighth motor. The eighth lead screw is engaged with the eighth screw. One end of the eighth guide rod is installed on the eighth fixed plate, and the other end is installed on one side of the fifth conveyor belt device. The eighth guide rod is movably connected to the eighth guide sleeve.

[0012] Preferably, the vision device includes a lateral moving device, a longitudinal moving device, a third support, a fourth support, a first vision device, and a second vision device; when the lateral moving device is fixedly installed on the third support, the longitudinal moving device is installed on the lateral moving device, the fourth support is installed on the lateral moving device, the first vision device is installed on the upper part of the fourth support, the second vision device is installed on the lower part of the fourth support, the first vision device is located above the material conveying device, and the second vision device is located below the material conveying device.

[0013] Preferably, both the first and second vision devices include a camera and a light source.

[0014] Preferably, the sorting device includes a sorting robot, a material board conveyor belt, a packaging box loading device, a packaging box moving robot, and a finished product unloading device. The material board conveyor belt is used to transport circuit boards. The sorting robot is used to place the circuit boards from the material board conveyor belt into the packaging boxes. The packaging box loading device includes a first packaging box conveyor, a second packaging box conveyor, and a fourth lifting device. The fourth lifting device is located at the output end of the first packaging box conveyor, and the second packaging box conveyor is mounted on the fourth lifting device. The finished product unloading device includes a third packaging box conveyor, a fourth packaging box conveyor, and a fifth lifting device. The fifth lifting device is located at the input end of the third packaging box conveyor, and the fourth packaging box conveyor is mounted on the fifth lifting device. The packaging box moving robot is used to move the packaging boxes from the second packaging box conveyor to the fourth packaging box conveyor.

[0015] Preferably, the feeding conveyor belt is positioned on both sides of the sorting robot.

[0016] Preferably, the sorting device further includes a second support. The dispensing box feeding device and the finished product dispensing device are arranged in parallel, and the second support is disposed between the two feeding conveyor belts. The fourth lifting device includes a fourth base plate, a fourth lead screw, a fourth nut, a fourth motor, a fourth guide rod, a fourth guide sleeve, and a fourth lifting plate. The fourth base plate is mounted on the second support, the fourth lead screw and the fourth guide rod are vertically mounted on the fourth base plate, the fourth motor is mounted on the fourth base plate and is drivenly connected to the fourth lead screw, the fourth nut and the fourth guide sleeve are mounted on the fourth lifting plate, the fourth nut cooperates with the fourth lead screw, the fourth guide sleeve is slidably connected to the fourth guide rod, and the fourth conveyor belt is mounted on the fourth lifting plate. The fifth lifting device includes a fifth base plate, a fifth lead screw, a fifth nut, a fifth motor, a fifth guide rod, a fifth guide sleeve, and a fifth lifting plate. The fifth base plate is mounted on the second bracket. The fifth lead screw and the fifth guide rod are vertically mounted on the fifth base plate. The fifth motor is mounted on the fifth base plate and is connected to the fifth lead screw in a transmission manner. The fifth nut and the fifth guide sleeve are mounted on the fifth lifting plate. The fifth nut cooperates with the fifth lead screw, and the fifth guide sleeve is slidably connected to the fifth guide rod. The fifth conveyor belt device is mounted on the fifth lifting plate.

[0017] Preferably, the dispensing box moving robot includes a second slide, a second connecting arm, a third connecting arm, a sixth lifting device, and a second gripping device. The second slide is arranged along the length of the feeding conveyor belt, the second connecting arm is vertically mounted on the second slide, the sixth lifting device is mounted on the second connecting arm, the third connecting arm is horizontally mounted on the sixth lifting device, and the second gripping device is mounted on the third connecting arm.

[0018] Preferably, the second slide is mounted on the second bracket. The second slide includes a second mounting base, a sixth guide rod, a sixth motor, a sixth lead screw, a sixth nut, and a sixth slider. Two second mounting bases are fixedly mounted on the second bracket. The two ends of the sixth guide rod are respectively fixedly mounted on the two second mounting bases. The two ends of the sixth lead screw are respectively rotatably connected to the two second mounting bases. The sixth motor is mounted on the second mounting base and drives the sixth lead screw to rotate. The sixth slider has a sixth guide hole that is slidably connected to the sixth guide rod. The sixth slider also has a sixth mounting hole, and the sixth nut is fixedly installed in the sixth mounting hole, cooperating with the sixth lead screw. The second gripping device includes a second fixing plate, a second mounting rod, and a second suction cup. The second fixing plate has multiple second mounting slots. The second mounting rod is adjustablely mounted in the second mounting slots, and the second suction cup is mounted on the second mounting rod.

[0019] Preferably, the device further includes a dispensing box gripping robot, which is positioned above the second dispensing box conveying device. The gripping robot includes a gantry frame, a seventh lifting device, a horizontal plate, a horizontal moving device, and grippers. The seventh lifting device is mounted on the gantry frame, the horizontal plate is mounted on the seventh lifting device, horizontal moving devices are mounted at both ends of the horizontal plate, and the grippers are mounted on the horizontal moving devices. The horizontal moving devices drive the grippers to move horizontally.

[0020] Preferably, both the seventh lifting device and the horizontal moving device are cylinders.

[0021] The present invention has the following beneficial effects: 1. This invention only requires simple adjustments to the turnover box robot, gripping robot, vision inspection device and sorting device to complete the switching between products and corresponding blister boxes.

[0022] 2. This invention is compatible with various specifications of gold finger PCB circuit boards and various specifications of blister boxes, and has a wide range of applications. Attached Figure Description

[0023] Figure 1 This is a schematic diagram of the overall structure provided in a specific embodiment of the present invention; Figure 2 This is a top view of the overall structure provided in a specific embodiment of the present invention; Figure 3 This is a schematic diagram of the main structure of the first lifting device and the second lifting device provided in a specific embodiment of the present invention; Figure 4 This is a schematic diagram of the structure of the turnover box moving robot provided in a specific embodiment of the present invention; Figure 5This is a schematic diagram of the structure of the first gripping device provided in a specific embodiment of the present invention; Figure 6 This is a schematic diagram of the material plate conveying device provided in a specific embodiment of the present invention; Figure 7 This is a schematic diagram of the front and back visual inspection device provided in a specific embodiment of the present invention; Figure 8 This is a schematic diagram of the structure of the vision device provided in a specific embodiment of the present invention; Figure 9 This is a schematic diagram of the structure of the vision device provided in a specific embodiment of the present invention; Figure 10 This is a schematic diagram of the sorting device provided in a specific embodiment of the present invention; Figure 11 This is a schematic diagram of the sorting device provided in a specific embodiment of the present invention; Figure 12 This is a schematic diagram of the structure of the dispensing box gripping robot provided in a specific embodiment of the present invention.

[0024] Explanation of symbols for main components: 110. First conveyor belt; 111. Second conveyor belt; 120. Third conveyor belt; 121. Fourth conveyor belt; 130. First support frame; 131. First base plate; 132. First motor; 133. First lifting plate; 134. First guide rod; 135. First guide sleeve; 136. First lead screw; 137. First nut; 141. Second base plate; 142. Second motor; 143. Second lifting plate; 144. Second guide rod; 145. Second guide sleeve; 146. Second lead screw; 147. Second nut; 150. Turnover box moving robot; 151. First connector 152. Arm; 153. Third lifting device; 154. First fixed plate; 155. First mounting groove; 156. First mounting rod; 157. First suction cup; 158. Third lead screw; 159. Third guide rod; 150. First mounting base; 151. Third slider; 200. Loading robot; 300. Front and back vision inspection device; 311. Material plate conveying device; 312. Fifth conveyor belt device; 313. Sixth conveyor belt device; 314. Material plate conveying bracket; 315. Eighth lead screw; 316. Eighth nut; 317. Eighth guide rod; 318. Eighth guide sleeve; 319. 8. Eighth mounting plate; 320. Vision device; 321. First vision device; 322. Second vision device; 323. Fourth support; 324. Longitudinal moving device; 325. Lateral moving device; 326. Third support; 400. Sorting device; 410. Material plate feeding conveyor belt; 420. Finished product discharge device; 421. Fourth packaging box conveyor device; 422. Fifth motor; 423. Fifth base plate; 424. Fifth guide rod; 425. Fifth guide sleeve; 426. Fifth lead screw; 427. Fifth nut; 428. Fifth lifting plate; 430. Packaging box loading device; 431. First packaging box conveying device; 432. Fourth motor; 433. Fourth base plate; 434. Fourth guide rod; 435. Fourth guide sleeve; 440. Packaging box moving robot; 441. Third connecting arm; 442. Second gripping device; 443. Sixth lifting device; 444. Second connecting arm; 445. Second mounting base; 446. Sixth lead screw; 447. Sixth guide rod; 450. Sorting robot; 460. Packaging box gripping robot; 461. Gantry frame; 462. Seventh lifting device; 463. Horizontal plate; 464. Horizontal moving device; 465. Gripper. Detailed Implementation

[0025] To make the objectives, technical solutions, and advantages of this invention clearer, the invention will be further described in detail below with reference to the accompanying drawings and embodiments.

[0026] like Figures 1-2The present invention provides a fully automated visual sorting production line for board separation, comprising: a turnover box loading and unloading device, a loading robot 200, a front and back visual inspection device 300, and a sorting device 400 arranged in sequence.

[0027] The turnover box loading and unloading device includes a turnover box loading device, a turnover box unloading device, and a turnover box moving robot 150. The turnover box loading device is used to transport full turnover boxes, and the turnover box moving robot 150 is used to move empty turnover boxes from the turnover box loading device to the turnover box unloading device. The turnover box robot can be adjusted according to different turnover boxes, so that the turnover box robot can grasp turnover boxes of different models and sizes, increasing the equipment's compatibility with different turnover boxes and eliminating the need to configure different robots for different turnover boxes.

[0028] The loading robot 200 is used to remove circuit boards from the turnover box and place them into the front and back vision inspection device 300. The gripping parts of the loading robot 200 can be adjusted or replaced according to the model of the circuit board. The gripping parts of the loading robot 200 can be adjusted or replaced to adapt to different models of circuit boards.

[0029] The front and back vision inspection device 300 is used to inspect circuit boards and scan barcodes. The front and back vision inspection device 300 includes a material board conveying device 310 and a vision device 320. Setting up multiple sets of material board conveying devices 310 and multiple sets of vision devices 320 can improve inspection efficiency. The spacing between the fifth conveyor belt device 311 and the sixth conveyor belt device 312 of the material board conveying device 310 can be adjusted according to the circuit board model. The vision device 320 is movably installed on one side of the material board conveying device 310. The position of the vision device 320 can be adjusted according to the circuit board model, allowing the production line to adapt to the production of various circuit board models. When producing different models of circuit boards, only the position of the vision device 320 needs to be adjusted, without requiring large-scale modifications to the entire production line, thus improving the equipment's versatility and flexibility. The sorting device 400 is used to sort the sorted circuit boards into packaging boxes.

[0030] like Figures 2-3 The turnover box loading device includes a first conveyor belt 110, a second conveyor belt 111, and a first lifting device. The first lifting device is located at the discharge end of the first conveyor belt 110, and the second conveyor belt 111 is mounted on the first lifting device. The turnover box unloading device includes a third conveyor belt 120, a fourth conveyor belt 121, and a second lifting device. The second lifting device is located at the loading end of the third conveyor belt 120, and the fourth conveyor belt 121 is mounted on the second lifting device. The turnover box moving robot 150 is used to move the turnover boxes from the second conveyor belt 111 onto the fourth conveyor belt 121.

[0031] The workflow of the turnover box loading and unloading device is as follows: A turnover box filled with circuit boards is placed on the first conveyor belt 110. The first conveyor belt 110 transports the turnover box to the second conveyor belt 111. Then, the first lifting device lifts the second conveyor belt 111 to a designated height. Then, the loading robot 200 transports the circuit boards from the turnover box to the material board conveying device 310 of the front and back vision inspection device 300. After the circuit boards in the turnover box are removed, the turnover box moving robot 150 moves the empty turnover box to the fourth conveyor belt 121. Then, the second lifting device lowers the fourth conveyor belt 121 and the empty turnover box until the fourth conveyor belt 121 is level with the third conveyor belt 120. The fourth conveyor belt 121 transports the empty turnover box to the third conveyor belt 121, and the third conveyor belt 120 sends the empty turnover box away.

[0032] like Figure 3 The turnover box loading and unloading device also includes a first support 130. The first lifting device includes a first base plate 131, a first lead screw 136, a first nut 137, a first motor 132, a first guide rod 134, a first guide sleeve 135, and a first lifting plate 133. The first base plate 131 is mounted on the first support 130. The first lead screw 136 and the first guide rod 134 are vertically mounted on the first base plate 131. The first motor 132 is mounted on the first base plate 131 and is connected to the first lead screw 136 in a transmission connection. The first nut 137 and the first guide sleeve 135 are mounted on the first lifting plate 133. The first nut 137 cooperates with the first lead screw 136, and the first guide sleeve 135 is slidably connected to the first guide rod 134. The first conveyor belt 110 is mounted on the first lifting plate 133.

[0033] The second lifting device includes a second base plate 141, a second lead screw 146, a second nut 147, a second motor 142, a second guide rod 144, a second guide sleeve 145, and a second lifting plate 143. The second base plate 141 is mounted on the first bracket 130. The second lead screw 146 and the second guide rod 144 are vertically mounted on the second base plate 141. The second motor 142 is mounted on the second base plate 141 and is connected to the second lead screw 146 in a transmission connection. The second nut 147 and the second guide sleeve 145 are mounted on the second lifting plate 143. The second nut 147 cooperates with the second lead screw 146, and the second guide sleeve 145 is slidably connected to the second guide rod 144. The second conveyor belt 111 is mounted on the second lifting plate 143.

[0034] In this embodiment, the first and second lifting devices employ the same structure. A motor drives a lead screw to rotate, which, in conjunction with a nut, converts the motor's rotational motion into the linear motion of the lifting plate, enabling precise control of the lifting height. Furthermore, the combination of lead screw-nut transmission and guide rod guidance is relatively simple, with fewer components, reducing potential points of failure. Simultaneously, this structure is mature and reliable, exhibiting high stability and durability, maintaining good performance during extended operation, reducing equipment maintenance costs and downtime, and improving production efficiency.

[0035] like Figure 4 The turnover box moving robot 150 includes a first slide, a first connecting arm 151, a third lifting device 152 and a first gripping device. One end of the first connecting arm 151 is movably mounted on the first slide, the third lifting device 152 is mounted on the other end of the first connecting arm 151, and the first gripping device is mounted on the movable end of the third lifting device 152.

[0036] In this embodiment, the third lifting device 152 uses a cylinder, which features fast response and sensitive operation. It can quickly raise and lower the first gripping device to a suitable height for gripping and placing the turnover box. During gripping, the cylinder drives the gripping device to descend above the turnover box, accurately gripping it; during placement, it can quickly lower the turnover box onto the designated conveyor belt, improving the efficiency of loading and unloading.

[0037] The turnover box loading device and the turnover box unloading device are arranged in parallel. The first slide is mounted on the first bracket 130. The first slide includes a first mounting base 156, a third guide rod 155, a third motor, a third lead screw 154, a third nut, and a third slider 157. The two first mounting bases 156 are fixedly mounted on the first bracket 130. The two ends of the third guide rod 155 are respectively fixedly mounted on the two first mounting bases 156. The two ends of the third lead screw 154 are respectively rotatably connected to the two first mounting bases 156. The third motor is mounted on the first mounting base 156 and drives the third lead screw 154 to rotate. The third slider 157 has a third guide hole, which is slidably connected to the third guide rod 155. The third slider 157 also has a third mounting hole, and the third nut is fixedly installed in the third mounting hole, cooperating with the third lead screw 154. The first connecting arm 151 is L-shaped.

[0038] In this embodiment, the first slide table is driven by a third motor to rotate the third lead screw 154, which in turn drives the third slider 157, connected to the third nut, to slide on the third guide rod 155. This lead screw and nut transmission method enables precise linear displacement control, allowing the first connecting arm 151 and the gripping device installed at its end to move accurately to the designated positions of the turnover box loading and unloading devices, ensuring accurate gripping and placement of the turnover boxes and improving the accuracy and efficiency of loading and unloading.

[0039] like Figures 4-5 The first gripping device includes a first fixing plate 153, a first mounting rod 1532, and a first suction cup 1533. The first fixing plate 153 has multiple first mounting slots 1531. The first mounting rod 1532 is adjustablely mounted within the first mounting slots 1531. The first suction cup 1533 is mounted on the first mounting rod 1532. The first mounting rod 1532 can be a hollow structure and communicates with the suction cup, allowing gas to pass from the bottom of the suction cup through the first mounting rod 1532. The first suction cup 1533 can adhere to the turnover box through negative pressure, providing a stable gripping force and ensuring that the turnover box will not fall during handling. Simultaneously, the first mounting rod 1532 is adjustable within the first mounting slots 1531 of the first fixing plate 153, allowing the position of the suction cup to be adjusted according to turnover boxes of different sizes and shapes, enhancing the adaptability and versatility of the gripping device and meeting the handling needs of various types of turnover boxes.

[0040] like Figure 6The material conveying device 310 includes a fifth conveyor belt device 311, a sixth conveyor belt device 312, a material conveying bracket 313, an eighth lead screw 314, an eighth nut 315, an eighth guide rod 316, an eighth guide sleeve 317, an eighth motor, and an eighth mounting plate 318. The fifth conveyor belt device 311 is fixedly installed on one side of the material conveying bracket 313, and the eighth mounting plate 318 is installed on the other side. The sixth conveyor belt device 312 is located between the fifth conveyor belt device 311 and the eighth mounting plate 318. The eighth nut 315 and the eighth guide sleeve 317 are installed on the sixth conveyor belt device 312. One end of the eighth lead screw 314 is rotatably connected to the eighth mounting plate 318, and the other end passes through the fifth conveyor belt device 311 and is connected to the eighth motor. The eighth lead screw 314 is engaged with the eighth screw. One end of the eighth guide rod 316 is installed on the eighth fixed plate, and the other end is installed on one side of the fifth conveyor belt device 311. The eighth guide rod 316 is movably connected to the eighth guide sleeve 317. By controlling the rotation of the eighth motor, the position of the sixth conveyor belt device 312 relative to the fifth conveyor belt device 311 can be flexibly adjusted according to actual production needs. For example, when conveying plates of different sizes, the position of the sixth conveyor belt device 312 can be easily adjusted to adapt to different production requirements, enhancing the versatility and flexibility of the conveying device. Simultaneously, the movable connection between the eighth guide rod 316 and the eighth guide sleeve 317 provides guidance and stability, ensuring that the sixth conveyor belt device 312 moves along a predetermined direction. During use, the circuit board is placed on the fifth conveyor belt device 311 and the sixth conveyor belt device 312 respectively. This exposes the bottom of the circuit board to the field of view of the second vision device 322, enabling inspection of both the top and bottom surfaces of the circuit board and improving inspection speed.

[0041] like Figures 7-9 The vision device 320 includes a lateral movement device 325, a longitudinal movement device 324, a third support 326, a fourth support 323, a first vision device 321, and a second vision device 322. When the lateral movement device 325 is fixedly mounted on the third support 326, the longitudinal movement device 324 is mounted on the lateral movement device 325, and the fourth support 323 is mounted on the lateral movement device 325. The lateral movement device 325 and the longitudinal movement device 324 enable the vision device 320 to move flexibly within a plane. The positions of the first vision device 321 and the second vision device 322 can be precisely adjusted according to different positions on the circuit board and inspection requirements, ensuring comprehensive and accurate inspection coverage and improving the flexibility and adaptability of the inspection.

[0042] The first vision device 321 is installed on the upper part of the fourth support 323, and the second vision device 322 is installed on the lower part of the fourth support 323. The first vision device 321 is positioned above the material board conveying device 310, and the second vision device 322 is positioned below the material board conveying device 310. The first vision device 321, located above the material board conveying device 310, can inspect the top surface of the circuit board, such as component installation and circuit integrity. The second vision device 322, located below, can inspect the solder joints and circuits on the bottom of the board. The combined operation of the two devices allows for comprehensive inspection of the circuit board, avoiding omissions caused by single-sided inspection.

[0043] In this embodiment, both the first vision device 321 and the second vision device 322 include a camera and a light source. The light source is arranged in a square shape on the side of the camera closest to the circuit board, and the light source can illuminate the surface of the circuit board, improving the imaging quality of the camera.

[0044] After the circuit board completes visual inspection, it enters the board separation equipment for board separation. The board that has been separated then enters the sorting device 400 for sorting.

[0045] like Figures 10-11 The sorting device 400 includes a sorting robot 450, a board loading conveyor belt 410, a packaging box loading device 430, a packaging box moving robot 440, and a finished product unloading device 420. The board loading conveyor belt 410 is used to transport circuit boards. The sorting robot 450 is used to place the circuit boards from the loading conveyor belt into the packaging boxes. In this embodiment, the circuit boards that have completed sorting enter the sorting device 400 from the board loading conveyor belt 410, and the loading conveyor belts are located on both sides of the sorting robot 450. Having loading conveyor belts on both sides of the sorting robot 450 effectively increases the input channels for circuit boards. The sorting robot 450 can alternately perform material picking and sorting operations on the conveyor belts on both sides, greatly shortening the single sorting cycle and thus improving the overall sorting efficiency, enabling more circuit boards to be processed per unit time. Furthermore, if one side of the feeding conveyor belt malfunctions or requires maintenance, the sorting robot 450 can still retrieve circuit boards from the other side's conveyor belt to continue sorting, ensuring the continuity of the production line and preventing the entire sorting process from halting due to a problem with one side's conveyor belt. This configuration enhances the equipment's ability to cope with emergencies and improves the flexibility and reliability of the production line.

[0046] The packaging box feeding device 430 includes a first packaging box conveying device 431, a second packaging box conveying device, and a fourth lifting device. The fourth lifting device is located at the output end of the first packaging box conveying device 431, and the second packaging box conveying device is mounted on the fourth lifting device. The first packaging box conveying device 431 conveys empty packaging boxes to the second packaging box conveying device, and then the fourth lifting device moves them upward to a position close to the packaging box moving robot 440. The packaging box feeding device 430 can deliver empty packaging boxes below the packaging box moving robot 440, facilitating the robot's movement of the packaging boxes. In this embodiment, the packaging box can be a blister pack.

[0047] The cassette moving robot 440 is used to move cassettes from the second cassette conveyor to the fourth cassette conveyor 421. The sorting robot 450 places the circuit board onto the cassette on the fourth cassette conveyor 421.

[0048] The finished product unloading device 420 includes a third packaging box conveyor, a fourth packaging box conveyor 421, and a fifth lifting device. The fifth lifting device is located at the input end of the third packaging box conveyor, and the fourth packaging box conveyor 421 is mounted on the fifth lifting device. After the packaging box is filled with circuit boards, the fifth lifting device lowers the fourth packaging box conveyor 421 to be flush with the third packaging box conveyor. The fourth packaging box conveyor 421 moves the packaging box onto the third packaging box conveyor, and the third packaging box conveyor unloads the packaging box.

[0049] The sorting device 400 also includes a second support. The packaging box feeding device 430 and the finished product discharging device 420 are arranged in parallel, with the second support positioned between the two feeding conveyor belts. This parallel arrangement of the packaging box feeding device 430 and the finished product discharging device 420, along with the second support positioned between the two feeding conveyor belts, makes the spatial layout of the entire sorting device 400 more compact and rational. This layout makes full use of the gaps between the devices, reduces the floor space occupied, integrates more functions within a limited production space, and improves the utilization rate of the production site.

[0050] In this embodiment, the fourth lifting device includes a fourth base plate 433, a fourth lead screw, a fourth nut, a fourth motor 432, a fourth guide rod 434, a fourth guide sleeve 435, and a fourth lifting plate. The fourth base plate 433 is mounted on the second bracket. The fourth lead screw and the fourth guide rod 434 are vertically mounted on the fourth base plate 433. The fourth motor 432 is mounted on the fourth base plate 433 and is connected to the fourth lead screw in a transmission connection. The fourth nut and the fourth guide sleeve 435 are mounted on the fourth lifting plate. The fourth nut cooperates with the fourth lead screw, and the fourth guide sleeve 435 is slidably connected to the fourth guide rod 434. The fourth conveyor belt 121 is mounted on the fourth lifting plate.

[0051] The fifth lifting device includes a fifth base plate 423, a fifth lead screw 426, a fifth nut 427, a fifth motor 422, a fifth guide rod 424, a fifth guide sleeve 425, and a fifth lifting plate 428. The fifth base plate 423 is mounted on the second bracket. The fifth lead screw 426 and the fifth guide rod 424 are vertically mounted on the fifth base plate 423. The fifth motor 422 is mounted on the fifth base plate 423 and is connected to the fifth lead screw 426 for transmission. The fifth nut 427 and the fifth guide sleeve 425 are mounted on the fifth lifting plate 428. The fifth nut 427 cooperates with the fifth lead screw 426, and the fifth guide sleeve 425 is slidably connected to the fifth guide rod 424. The fifth conveyor belt device 311 is mounted on the fifth lifting plate 428.

[0052] The base plates of both the fourth and fifth lifting devices are mounted on the second bracket, which provides a stable support structure for the entire sorting device 400. The fourth and fifth lifting devices employ a screw-nut transmission structure, where a motor drives the screw to rotate, causing the nut and lifting plate to achieve precise lifting movements. This transmission method allows for precise control of the lifting height, enabling the second and fourth dispensing box conveying devices 421 to accurately interface with other equipment, ensuring smooth transfer of dispensing boxes between different conveying devices and improving the accuracy and efficiency of the sorting process. Furthermore, the guide rods and guide sleeves provide stable guidance for the lifting plate, limiting its swaying and deviation during lifting. This not only ensures the smoothness of dispensing box conveying but also improves the repeatability of the equipment, ensuring consistent lifting positions each time, further enhancing the reliability and stability of the sorting device 400.

[0053] The dispensing box moving robot 440 includes a second slide, a second connecting arm 444, a third connecting arm 441, a sixth lifting device 443, and a second gripping device 442. The second slide is arranged along the length of the feeding conveyor belt. The second connecting arm 444 is vertically mounted on the second slide. The sixth lifting device 443 is mounted on the second connecting arm 444. The third connecting arm 441 is horizontally mounted on the sixth lifting device 443. The second gripping device 442 is mounted on the third connecting arm 441. The combination of multiple movable parts allows the second gripping device 442 to accurately position the dispensing box. Adjustments can be made in both height and horizontal position according to actual needs, ensuring accurate gripping and placement of the dispensing box. This reduces problems such as gripping failure or placement misalignment caused by inaccurate positioning, improving the accuracy and reliability of sorting.

[0054] In this embodiment, the second slide is mounted on the second bracket. The second slide includes a second mounting base 445, a sixth guide rod 447, a sixth motor, a sixth lead screw 446, a sixth nut, and a sixth slider. Two second mounting bases 445 are fixedly mounted on the second bracket. The two ends of the sixth guide rod 447 are respectively fixedly mounted on the two second mounting bases 445. The two ends of the sixth lead screw 446 are rotatably connected to the two second mounting bases 445. The sixth motor is mounted on the second mounting base 445 and drives the sixth lead screw 446 to rotate. The sixth slider has a sixth guide hole that is slidably connected to the sixth guide rod 447. The sixth slider also has a sixth mounting hole, and the sixth nut is fixedly installed in the sixth mounting hole, engaging with the sixth lead screw 446. By driving the sixth lead screw 446 to rotate via the sixth motor, the sixth slider connected to the sixth nut slides on the sixth guide rod 447. This lead screw and nut transmission method enables high-precision linear displacement control. The horizontal position of the second connecting arm 444 and the second gripping device 442 mounted on it can be precisely controlled, enabling the robot to accurately reach the designated position to grip and place the packaging box, improving the sorting accuracy and efficiency. The sixth guide rod 447 and the sixth guide hole on the sixth slider cooperate to provide stable guidance for the sliding of the sixth slider. This allows the sixth slider to maintain linear motion during movement, reducing the influence of motion deviation and lateral force, and ensuring the smoothness and accuracy of the second slide table's movement.

[0055] In this embodiment, the second gripping device 442 has the same structure as the first gripping device. The second gripping device 442 includes a second fixing plate, a second mounting rod, and a second suction cup. The second fixing plate has multiple second mounting slots, and the second mounting rod is adjustablely mounted within these slots. The second suction cup is mounted on the second mounting rod. Because the second fixing plate has multiple second mounting slots, the second mounting rod can be adjusted within these slots. This means that the distribution and spacing of the second suction cup can be flexibly adjusted according to the size of different packaging boxes. For example, for larger packaging boxes, the second mounting rod can be adjusted to the outside of the mounting slot to expand the gripping range of the suction cup; for smaller packaging boxes, the mounting rod can be adjusted inward to ensure that the suction cup can accurately adhere to the packaging box. Besides size differences, packaging boxes of different shapes can also be stably gripped through this adjustable design. For rectangular, circular, or other special-shaped packaging boxes, the position of the second mounting rod can be adjusted so that the second suction cup can conform to the shape of the packaging box for adhesion, ensuring gripping stability.

[0056] like Figure 12The gripping robot 460 is positioned above the second packaging box conveyor. It includes a gantry frame 461, a seventh lifting device 462, a horizontal plate 463, a horizontal moving device 464, and grippers 465. The seventh lifting device 462 is mounted on the gantry frame 461, and the horizontal plate 463 is also mounted on it. Horizontal moving devices 464 are mounted at both ends of the horizontal plate 463, and grippers 465 are mounted on the horizontal moving devices 464. The horizontal moving devices 464 drive the grippers 465 to move horizontally. The gantry frame 461 provides a stable and high working space for the entire device, allowing the seventh lifting device 462 to move the horizontal plate 463 up and down quickly, enabling the grippers 465 to rapidly reach the packaging box position on the second packaging box conveyor. The horizontal moving device 464 allows the grippers 465 to move flexibly horizontally, accurately positioning them to the gripping point of the packaging box, reducing positioning time during the gripping process and improving gripping efficiency. In this embodiment, both the seventh lifting device 462 and the horizontal moving device 464 are cylinders.

[0057] The above description is only a preferred embodiment of the present invention, but the scope of protection of the present invention is not limited thereto. Any changes or substitutions that can be easily conceived by those skilled in the art within the scope of the technology disclosed in the present invention should be included within the scope of protection of the present invention.

Claims

1. A fully automated vision sorting production line for panelization, characterized in that, include: The following components are arranged in sequence: a turnover box loading and unloading device, a loading robot (200), a front and back visual inspection device (300), and a sorting device (400). The turnover box loading and unloading device includes a turnover box loading device, a turnover box unloading device, and a turnover box moving robot (150); the turnover box loading device is used to transport full turnover boxes, and the turnover box moving robot (150) is used to move empty turnover boxes from the turnover box loading device to the turnover box unloading device. The turnover box robot can be adjusted according to different turnover boxes. The loading robot (200) is used to take out the circuit board from the turnover box and place it into the front and back visual inspection device (300). The loading robot (200) can adjust or replace the gripping parts according to the model of the circuit board. The front and back visual inspection device (300) is used to inspect circuit boards and scan codes; the front and back visual inspection device (300) includes a material board conveying device (310) and a vision device (320); the vision device (320) is movably installed on one side of the material board conveying device (310), and the material board conveying device (310) can be adjusted according to the model of the circuit board; The sorting device (400) is used to sort the circuit boards that have been sorted into the packaging box. The sorting device (400) can be adjusted according to the model of the circuit board.

2. The fully automated vision sorting production line for panelization according to claim 1, characterized in that: The turnover box feeding device includes a first conveyor belt (110), a second conveyor belt (111) and a first lifting device. The first lifting device is located at the discharge end of the first conveyor belt (110), and the second conveyor belt (111) is located on the first lifting device. The turnover box unloading device includes a third conveyor belt (120), a fourth conveyor belt (121), and a second lifting device. The second lifting device is located at the loading end of the third conveyor belt (120), and the fourth conveyor belt (121) is located on the second lifting device. The turnover box moving robot (150) is used to move the turnover box from the second conveyor belt (111) to the fourth conveyor belt (121).

3. The fully automated vision sorting production line for panelization according to claim 2, characterized in that: The turnover box loading and unloading device also includes a first support (130). The first lifting device includes a first base plate (131), a first lead screw (136), a first nut (137), a first motor (132), a first guide rod (134), a first guide sleeve (135), and a first lifting plate (133). The first base plate (131) is mounted on a first bracket (130). The first lead screw (136) and the first guide rod (134) are vertically mounted on the first base plate (131). The first motor (132) is mounted on the first base plate (131) and is connected to the first lead screw (136) in a transmission connection. The first nut (137) and the first guide sleeve (135) are mounted on the first lifting plate (133). The first nut (137) cooperates with the first lead screw (136). The first guide sleeve (135) is slidably connected to the first guide rod (134). The first conveyor belt (110) is mounted on the first lifting plate (133). The second lifting device includes a second base plate (141), a second lead screw (146), a second nut (147), a second motor (142), a second guide rod (144), a second guide sleeve (145), and a second lifting plate (143). The second base plate (141) is mounted on the first bracket (130). The second lead screw (146) and the second guide rod (144) are vertically mounted on the second base plate (141). The second motor (142) is mounted on the second base plate (141) and is connected to the second lead screw (146) for transmission. The second nut (147) and the second guide sleeve (145) are mounted on the second lifting plate (143). The second nut (147) cooperates with the second lead screw (146). The second guide sleeve (145) is slidably connected to the second guide rod (144). The second conveyor belt (111) is mounted on the second lifting plate (143).

4. The fully automated vision sorting production line for panelization according to claim 3, characterized in that: The turnover box moving robot (150) includes a first slide, a first connecting arm (151), a third lifting device (152) and a first gripping device. One end of the first connecting arm (151) is movably mounted on the first slide, the third lifting device (152) is mounted on the other end of the first connecting arm (151), and the first gripping device is mounted on the movable end of the third lifting device (152).

5. The fully automated vision sorting production line for panelization according to claim 4, characterized in that: The turnover box loading device and the turnover box unloading device are arranged in parallel, and the first slide is installed on the first bracket (130); The first slide includes a first mounting base (156), a third guide rod (155), a third motor, a third lead screw (154), a third nut, and a third slider (157). The two first mounting bases (156) are fixedly mounted on the first bracket (130). The two ends of the third guide rod (155) are respectively fixedly mounted on the two first mounting bases (156). The two ends of the third lead screw (154) are respectively rotatably connected to the two first mounting bases (156). The third motor is mounted on the first mounting base (156) and drives the third lead screw (154) to rotate. The third slider (157) has a third guide hole, which is slidably connected to the third guide rod (155). The third slider (157) has a third mounting hole, and the third nut is fixedly mounted in the third mounting hole. The third nut cooperates with the third lead screw (154). The first connecting arm (151) is L-shaped; The first gripping device includes a first fixing plate (153), a first mounting rod (1532), and a first suction cup (1533); the first fixing plate (153) is provided with a plurality of first mounting slots (1531), the first mounting rod (1532) is adjustablely installed in the first mounting slots (1531), and the first suction cup (1533) is installed on the first mounting rod (1532); The third lifting device (152) is a cylinder.

6. The fully automated vision sorting production line for panelization according to claim 1, characterized in that: The material conveying device (310) includes a fifth conveyor belt device (311), a sixth conveyor belt device (312), a material conveying bracket (313), an eighth lead screw (314), an eighth nut (315), an eighth guide rod (316), an eighth guide sleeve (317), an eighth motor, and an eighth mounting plate (318). The fifth conveyor belt device (311) is fixedly installed on one side of the material conveying bracket (313), and the eighth mounting plate (318) is installed on the other side. The sixth conveyor belt device (312) is arranged between the fifth conveyor belt device (311) and the eighth mounting plate (318). Between the plates (318), the eighth nut (315) and the eighth guide sleeve (317) are installed on the sixth conveyor belt device (312). One end of the eighth screw (314) is rotatably connected to the eighth mounting plate (318), and the other end passes through the fifth conveyor belt device (311) and is connected to the eighth motor. The eighth screw (314) is engaged with the eighth screw. One end of the eighth guide rod (316) is installed on the eighth fixed plate, and the other end is installed on one side of the fifth conveyor belt device (311). The eighth guide rod (316) is movably connected to the eighth guide sleeve (317).

7. The fully automated vision sorting production line for panelization according to claim 1, characterized in that: The vision device (320) includes a lateral moving device (325), a longitudinal moving device (324), a third support (326), a fourth support (323), a first vision device (321), and a second vision device (322). When the lateral moving device (325) is fixedly installed on the third support (326), the longitudinal moving device (324) is installed on the lateral moving device (325), the fourth support (323) is installed on the lateral moving device (325), the first vision device (321) is installed on the upper part of the fourth support (323), the second vision device (322) is installed on the lower part of the fourth support (323), the first vision device (321) is located above the material plate conveying device (310), and the second vision device (322) is located below the material plate conveying device (310).

8. The fully automated vision sorting production line for panelization according to claim 7, characterized in that: Both the first vision device (321) and the second vision device (322) include a camera and a light source.

9. The fully automated vision sorting production line for panelization according to claim 1, characterized in that: The sorting device (400) includes a sorting robot (450), a material board conveyor belt (410), a packaging box feeding device (430), a packaging box moving robot (440), and a finished product discharging device (420). The board conveyor belt (410) is used to transport the circuit boards; The sorting robot (450) is used to place the circuit boards on the feeding conveyor belt into the packaging box; The packaging box feeding device (430) includes a first packaging box conveying device (431), a second packaging box conveying device and a fourth lifting device. The fourth lifting device is located at the output end of the first packaging box conveying device (431), and the second packaging box conveying device is installed on the fourth lifting device. The finished product discharge device (420) includes a third packaging box conveying device, a fourth packaging box conveying device (421) and a fifth lifting device. The fifth lifting device is located at the input end of the third packaging box conveying device, and the fourth packaging box conveying device (421) is installed on the fifth lifting device. The dispensing box moving robot (440) is used to move the dispensing boxes from the second dispensing box conveyor to the fourth dispensing box conveyor (421).

10. The fully automated vision sorting production line for panelization according to claim 9, characterized in that: The feeding conveyor belt is set on both sides of the sorting robot (450).

11. The fully automated vision sorting production line for panelization according to claim 10, characterized in that: The sorting device (400) also includes a second support; The dispensing box feeding device (430) and the finished product dispensing device (420) are arranged in parallel, and the second bracket is arranged between the two feeding conveyor belts; The fourth lifting device includes a fourth base plate (433), a fourth lead screw, a fourth nut, a fourth motor (432), a fourth guide rod (434), a fourth guide sleeve (435), and a fourth lifting plate. The fourth base plate (433) is mounted on the second bracket. The fourth lead screw and the fourth guide rod (434) are vertically mounted on the fourth base plate (433). The fourth motor (432) is mounted on the fourth base plate (433) and is connected to the fourth lead screw in a transmission connection. The fourth nut and the fourth guide sleeve (435) are mounted on the fourth lifting plate. The fourth nut cooperates with the fourth lead screw. The fourth guide sleeve (435) is slidably connected to the fourth guide rod (434). The fourth conveyor belt (121) is mounted on the fourth lifting plate. The fifth lifting device includes a fifth base plate (423), a fifth lead screw (426), a fifth nut (427), a fifth motor (422), a fifth guide rod (424), a fifth guide sleeve (425), and a fifth lifting plate (428). The fifth base plate (423) is mounted on the second bracket. The fifth lead screw (426) and the fifth guide rod (424) are vertically mounted on the fifth base plate (423). The fifth motor (422) is mounted on the fifth base plate (423) and is connected to the fifth lead screw (426) in a transmission connection. The fifth nut (427) and the fifth guide sleeve (425) are mounted on the fifth lifting plate (428). The fifth nut (427) cooperates with the fifth lead screw (426). The fifth guide sleeve (425) is slidably connected to the fifth guide rod (424). The fifth conveyor belt device (311) is mounted on the fifth lifting plate (428).

12. The fully automated vision sorting production line for panelization according to claim 9, characterized in that: The dispensing box moving robot (440) includes a second slide, a second connecting arm (444), a third connecting arm (441), a sixth lifting device (443), and a second gripping device (442). The second slide is arranged along the length of the feeding conveyor belt. The second connecting arm (444) is vertically mounted on the second slide. The sixth lifting device (443) is mounted on the second connecting arm (444). The third connecting arm (441) is horizontally mounted on the sixth lifting device (443). The second gripping device (442) is mounted on the third connecting arm (441).

13. The fully automated vision sorting production line for panelization according to claim 12, characterized in that: The second slide is mounted on the second bracket; The second slide includes a second mounting base (445), a sixth guide rod (447), a sixth motor, a sixth lead screw (446), a sixth nut, and a sixth slider. The two second mounting bases (445) are fixedly mounted on the second bracket. The two ends of the sixth guide rod (447) are respectively fixedly mounted on the two second mounting bases (445). The two ends of the sixth lead screw (446) are respectively rotatably connected to the two second mounting bases (445). The sixth motor is mounted on the second mounting base (445) and drives the sixth lead screw (446) to rotate. The sixth slider has a sixth guide hole, which is slidably connected to the sixth guide rod (447). The sixth slider has a sixth mounting hole, and the sixth nut is fixedly mounted in the sixth mounting hole. The sixth nut cooperates with the sixth lead screw (446). The second gripping device (442) includes a second fixing plate, a second mounting rod, and a second suction cup; the second fixing plate is provided with a plurality of second mounting slots, the second mounting rod is adjustablely installed in the second mounting slots, and the second suction cup is installed on the second mounting rod.

14. The fully automated vision sorting production line for panelization according to claim 13, characterized in that: It also includes a box-grabbing robot (460), which is positioned above the second box-carrying device. The box-grabbing robot (460) includes a gantry (461), a seventh lifting device (462), a horizontal plate (463), a horizontal moving device (464), and grippers (465). The seventh lifting device (462) is installed on the gantry frame (461), the horizontal plate (463) is installed on the seventh lifting device (462), and horizontal moving devices (464) are installed at both ends of the horizontal plate (463). The gripper (465) is installed on the horizontal moving device (464), and the horizontal moving device (464) drives the gripper (465) to move in the horizontal direction.

15. The fully automated vision sorting production line for panelization according to claim 14, characterized in that: Both the seventh lifting device (462) and the horizontal moving device (464) are cylinders.

Images