Feeding and discharging equipment

Abstract

The utility model discloses feeding and discharging equipment, and belongs to the technical field of circuit board machining. In the feeding and discharging equipment, by arranging a grabbing device and a transferring device, transferring of plates can be achieved between a stock bin device and the feeding and discharging device, feeding and discharging are conducted on the circuit board machining equipment through the feeding and discharging device, and the machining efficiency is improved. The stock bin device does not need to directly feed materials to the circuit board processing equipment, so that the height of the stock bin device is not limited by the circuit board processing equipment, the stock bin device can be provided with more layers to support more plates, and the efficiency of automatic feeding and discharging can be improved.

Description

Technical Field

[0001] The present application belongs to the technical field of circuit board processing, and specifically relates to loading and unloading equipment. Background Art

[0002] In the process of circuit board processing, AGV (Automated Guided Vehicle) is usually used to carry replaceable material bins to load and unload materials to the circuit board processing equipment. Due to the limited height of the circuit board processing equipment and the limited number of material bin layers, the loading and unloading efficiency is affected. Summary of the invention

[0003] Purpose of the invention: The embodiment of the present application provides a loading and unloading device, which aims to overcome the technical problem that the number of silo layers in the current loading and unloading method is limited, affecting the loading and unloading efficiency.

[0004] Technical solution: A loading and unloading device described in an embodiment of the present application includes:

[0005] A silo device for containing sheet materials;

[0006] A grabbing device, arranged on one side of the silo device;

[0007] A transfer device, arranged at one side of the grabbing device, and the grabbing device is used to transfer the sheet material between the transfer device and the silo device;

[0008] A loading and unloading device, which can move between the transfer device and the circuit board processing equipment, is used to transfer the board material between the transfer device and the circuit board processing equipment.

[0009] In some embodiments, the silo device comprises a silo body, wherein the silo body comprises:

[0010] A first side plate and a second side plate, wherein the first side plate and the second side plate are spaced apart along a first direction and are used to enclose a receiving space;

[0011] A plurality of support assemblies are arranged in the accommodation space along a second direction, the support assemblies include a first support portion and a second support portion spaced apart along the first direction, the first support portion is connected to the first side plate, the second support portion is connected to the second side plate, and the first direction and the second direction intersect;

[0012] Each of the supporting components is used to support at least one sheet material in the accommodating space.

[0013] In some embodiments, the warehouse body further includes a bottom plate, and the first side plate and the second side plate are respectively connected to the bottom plate to enclose the accommodation space;

[0014] The bin body is further provided with a first opening connected to the accommodating space, and along the second direction, the first opening is located at a side of the accommodating space away from the bottom plate;

[0015] The sheet material can enter and move out of the accommodating space through the first opening, and is supported on the supporting assembly farthest from the bottom plate.

[0016] In some embodiments, the silo device further comprises a temporary storage mechanism for carrying the silo body, and one of the silo body and the temporary storage mechanism is provided with a positioning portion, and the other is provided with a positioning hole;

[0017] When the bin body is carried on the temporary storage mechanism, the positioning portion is embedded in the positioning hole to position the bin body on the temporary storage mechanism.

[0018] In some embodiments, the silo device further comprises a transport mechanism for moving the silo body;

[0019] The temporary storage mechanism has a parking space, and the transport mechanism can move to the parking space to move the warehouse body to and from the temporary storage mechanism.

[0020] In some embodiments, the silo device further includes an identification member, the identification member is disposed on the silo body, and the identification member is used to indicate information of the silo body;

[0021] The transport mechanism is provided with a first code reader, and the first code reader is used to read the information indicated by the identification piece.

[0022] In some embodiments, the gripping device comprises:

[0023] Pedestal;

[0024] A manipulator is arranged on the base, and is used to grab and move the sheet material so as to transfer the sheet material between the transfer device and the silo device.

[0025] In some embodiments, the gripping device further comprises:

[0026] The second guide portion is arranged on the base, and the manipulator is connected to the second guide portion and can move along the second guide portion.

[0027] In some embodiments, the transfer device includes:

[0028] Transfer platform;

[0029] A material moving mechanism is arranged on the transfer platform, and is used to carry and move the sheet material so as to transfer the sheet material between the loading and unloading device and the grasping device.

[0030] In some embodiments, the material transfer mechanism comprises:

[0031] a first conveyor belt, on which the sheet material can be placed;

[0032] a first driving unit connected to the first conveyor belt, the first driving unit being used to drive the first conveyor belt to move the sheet material through the first conveyor belt;

[0033] The first guide portion is used to guide the sheet material.

[0034] In some embodiments, the transfer device includes a plurality of the material moving mechanisms, and the plurality of the material moving mechanisms are arranged on the transfer platform, and the arrangement direction of the plurality of the material moving mechanisms intersects with the moving direction of the sheet material.

[0035] In some embodiments, the transfer device further includes:

[0036] The second code reader is arranged on the transfer platform, and the second code reader is used to read the information of the sheet material.

[0037] In some embodiments, the loading and unloading device comprises:

[0038] A mobile rack capable of moving between the transfer device and the circuit board processing equipment;

[0039] A material conveying assembly is arranged on the mobile frame, and is used for receiving the sheet material to be processed provided by the transfer device, providing the sheet material to the circuit board processing equipment, and transferring the processed sheet material to the transfer device.

[0040] In some embodiments, the feed assembly comprises:

[0041] A plurality of material storage and conveying mechanisms, wherein the plurality of material storage and conveying mechanisms are arranged in an array along the second direction, and each of the material storage and conveying mechanisms is capable of carrying and conveying at least one sheet of the plate;

[0042] The power mechanism is arranged on one side of the plurality of material storage and conveying mechanisms, and the power mechanism can be connected to each of the material storage and conveying mechanisms respectively to drive the material storage and conveying mechanisms to convey the sheet materials.

[0043] In some embodiments, the material storage and conveying mechanism comprises:

[0044] a second conveyor belt, on which the sheet material can be placed;

[0045] The second driving part is connected to the second conveyor belt, and the second driving part is used to be connected to the power mechanism so as to be driven by the power mechanism and drive the second conveyor belt to convey the sheet material.

[0046] In some embodiments, the material storage and conveying mechanism further includes a third guide portion for guiding the sheet material.

[0047] In some embodiments, the power mechanism comprises:

[0048] A bearing seat, arranged on the mobile frame;

[0049] A third driving unit is disposed on the supporting seat;

[0050] The fourth driving unit is connected to the third driving unit, and is driven by the third driving unit to approach and connect to the material storage and conveying mechanism. The fourth driving unit is used to drive the material storage and conveying mechanism to convey the sheet material.

[0051] In some embodiments, the feeding assembly further comprises:

[0052] A lifting mechanism is arranged on the mobile frame and connected to the plurality of material storage and conveying mechanisms. The lifting mechanism is used to drive the plurality of material storage and conveying mechanisms to move along the second direction so that each material storage and conveying mechanism can be connected to the power mechanism respectively.

[0053] In some embodiments, the loading and unloading device includes a plurality of the feeding components, and the plurality of the feeding components are arranged on the movable frame, and the arrangement direction of the plurality of the feeding components intersects with the conveying direction of the sheet material.

[0054] Beneficial effect: The loading and unloading equipment of the embodiment of the present application includes: a silo device for accommodating sheet materials; a gripping device, arranged on one side of the silo device; a transfer device, arranged on one side of the gripping device, the gripping device being used to transfer sheet materials between the transfer device and the silo device; and a loading and unloading device, the loading and unloading device being able to move between the transfer device and the circuit board processing equipment, and being used to transfer sheet materials between the transfer device and the circuit board processing equipment. In the loading and unloading equipment of the embodiment of the present application, by arranging the gripping device and the transfer device, the sheet materials can be transferred between the silo device and the loading and unloading device, and the circuit board processing equipment is loaded and unloaded by the loading and unloading device. The silo device does not need to directly load the sheet materials to the circuit board processing equipment, so the height of the silo device will not be limited by the circuit board processing equipment, and the silo device can be provided with more layers to support more sheet materials, which can improve the efficiency of automatic loading and unloading, and is conducive to the implementation of automatic loading and unloading operations. BRIEF DESCRIPTION OF THE DRAWINGS

[0055] In order to more clearly illustrate the technical solutions in the embodiments of the present application, the drawings required for use in the description of the embodiments will be briefly introduced below. Obviously, the drawings described below are only some embodiments of the present application. For those skilled in the art, other drawings can be obtained based on these drawings without paying any creative work.

[0056] Figure 1 A schematic diagram of the use status of the loading and unloading equipment provided in the embodiment of the present application;

[0057] Figure 2 A schematic diagram of the structure of a silo device provided in an embodiment of the present application;

[0058] Figure 3 A schematic diagram of the silo structure of the silo device provided in an embodiment of the present application;

[0059] Figure 4 A schematic diagram of the temporary storage mechanism structure of the silo device provided in an embodiment of the present application;

[0060] Figure 5 A schematic diagram of the structure of the silo body and the transport mechanism of the silo device provided in an embodiment of the present application;

[0061] Figure 6 A schematic diagram of a state in which a grabbing device in a loading and unloading device provided in some embodiments of the present application grabs a sheet material;

[0062] Figure 7 A schematic diagram of another state of a grabbing device grabbing a sheet material in a loading and unloading device provided in some embodiments of the present application;

[0063] Figure 8 A schematic diagram of the structure of loading and unloading equipment provided in some other embodiments of the present application;

[0064] Fig. 9 A schematic diagram of the structure of a grabbing device in a loading and unloading device provided in an embodiment of the present application;

[0065] Fig.10 A schematic diagram of the structure of a grabbing device in a loading and unloading device provided in an embodiment of the present application;

[0066] Fig.11 for Fig.10 A schematic diagram of the local enlarged structure of the middle A area;

[0067] Fig.12 A schematic structural diagram of a gripping device in a loading and unloading device provided in an embodiment of the present application from another angle;

[0068] Fig.13 A schematic diagram of the structure of a grabbing device and a transfer device in a loading and unloading device provided in an embodiment of the present application;

[0069] Fig.14 A schematic diagram of the structure of a loading and unloading device in the loading and unloading equipment provided in an embodiment of the present application;

[0070] Fig.15 A schematic diagram of the internal structure of a loading and unloading device in the loading and unloading equipment provided in an embodiment of the present application;

[0071] Fig.16 A schematic diagram of the internal structure of the loading and unloading device from another angle in the loading and unloading equipment provided in an embodiment of the present application;

[0072] Fig.17 A schematic diagram of the internal structure of the loading and unloading device from another angle in the loading and unloading equipment provided in an embodiment of the present application;

[0073] Fig.18 for Fig.17 A schematic diagram of the local enlarged structure of the middle B area;

[0074] Figure numerals: 10-sheet material; 100-bin device; 110-bin body; 111-first side plate; 112-second side plate; 113-accommodating space; 114-second opening; 115-bottom plate; 116-first opening; 120-support assembly; 121-first support portion; 122-second support portion; 130-temporary storage mechanism; 131-positioning portion; 132-parking space; 140-transportation mechanism; 200-grasping device; 210-base; 220-manipulator; 221-gripping claw; 222-visual module; 230-second guide portion; 300-transfer device ;310-transfer platform;320-material transfer mechanism;321-first conveyor belt;322-first drive unit;323-first guide unit;330-second code reader;400-loading and unloading device;410-movable frame;420-feeding assembly;421-storage and conveying mechanism;4211-second conveyor belt;4212-second drive unit;4213-third guide unit;422-power mechanism;4222-support seat;4223-third drive unit;4224-fourth drive unit;423-lifting mechanism;430-monitoring module;500-circuit board processing equipment. DETAILED DESCRIPTION

[0075] The technical solutions in the embodiments of the present application will be described clearly and completely below in conjunction with the accompanying drawings in the embodiments of the present application. Obviously, the described embodiments are only part of the embodiments of the present application, rather than all of the embodiments. Based on the embodiments in the present application, all other embodiments obtained by those skilled in the art without creative work are within the scope of protection of the present application.

[0076] In the description of the present application, it should be understood that the terms "upper", "lower", "top", "bottom", "inside", "outside", etc., indicating the orientation or positional relationship, are based on the orientation or positional relationship shown in the drawings, and are only for the convenience of describing the present application and simplifying the description, rather than indicating or implying that the device or element referred to must have a specific orientation, be constructed and operated in a specific orientation, and therefore cannot be understood as a limitation on the present application. In the description of the present application, "plurality" means two or more than two, and at least one means one, two or more than two, unless otherwise clearly and specifically defined.

[0077] It should also be noted that in the drawings of the embodiments of the present application, arrows marked with X, Z, and Y represent the first direction X, the second direction Z, and the third direction Y, respectively. In the description of the present application, the first direction X, the second direction Z, and the third direction Y, which are three mutually intersecting directions, are introduced to more clearly describe the structure of the silo device and the relative position relationship of each component. Depending on the placement of the silo device, the first direction X, the second direction Z, and the third direction Y can point to any actual position in space. Optionally, the first direction X, the second direction Z, and the third direction Y are perpendicular to each other.

[0078] In the process of printed circuit board (PCB), such as drilling, the sheet is stacked with pad + copper clad sheet + aluminum sheet, fixed with pins, and wrapped with tape around to realize the integrated transportation and processing of multiple sheets. Usually, the sizes of PCB sheets are different, the tooling and fixtures cannot be unified and the structure is complex, which is not conducive to the development of automation. In the PCB drilling automation solution, most of them use AGV to carry a replaceable silo mode to load and unload the drilling rig. In order to adapt to PCB sheets of different sizes, the silo structure is relatively complex, and there are many guide grooves to accommodate sheets of different sizes. Some also have conveyor belts, which are costly. In addition, because the silo is replaceable, it is not conducive to adding sensors inside the silo, and full-process monitoring cannot be achieved. In addition, due to the limited height of circuit board processing equipment such as drilling rigs, the number of silo layers is limited, which affects the efficiency of loading and unloading. When loading and unloading PIN lines, the usual way to enter and exit the board is the positive and negative stacking method. The positive and negative stacking method is not conducive to the separation of sheets, nor is it conducive to the development of automated loading and unloading. The positive and negative stacking method can easily cause scratches on the sheets. Many automatic loading and unloading devices cannot realize double-sided loading and unloading and must turn, which is inefficient.

[0079] In view of this, an embodiment of the present application provides a loading and unloading device to overcome at least one of the above-mentioned technical problems.

[0080] Please also read Figure 1 , Figures 6 to 8The embodiment of the present application provides a loading and unloading device, which includes: a silo device 100, a gripping device 200, a transfer device 300, and a loading and unloading device 400. It can be understood that the loading and unloading device can be used to load and unload circuit board processing equipment 500.

[0081] The silo device 100 is used to accommodate the sheet material 10, the grabbing device 200 is arranged at one side of the silo device 100, the transfer device 300 is arranged at one side of the grabbing device 200, and the grabbing device 200 is used to transfer the sheet material 10 between the transfer device 300 and the silo device 100. In other words, the grabbing device 200 can grab the sheet material 10 in the silo body 110 of the silo device 100 and place it on the transfer device 300, and can also grab the sheet material 10 on the transfer device 300 and place it in the silo body 110 of the silo device 100.

[0082] The loading and unloading device 400 can move between the transfer device 300 and the circuit board processing equipment 500 , and is used to provide the board material 10 to be processed provided by the transfer device 300 to the circuit board processing equipment 500 , and to transfer the processed board material 10 to the transfer device 300 .

[0083] Thus, by setting up the grabbing device 200 and the transfer device 300, the transfer of the sheet material 10 can be realized between the silo device 100 and the loading and unloading device 400, and the circuit board processing equipment 500 is loaded and unloaded by the loading and unloading device 400. The silo device 100 does not need to directly load the circuit board processing equipment 500, so the height of the silo device 100 will not be limited by the circuit board processing equipment 500. The silo device 100 can be set with more layers to support more sheet materials 10, which can improve the efficiency of automatic loading and unloading.

[0084] In some embodiments, the sizes of the sheets 10 accommodated in the silo device 100 are substantially the same, that is, the length, width, and height deviations of the sheets 10 are within a preset smaller range, so that the sizes of the sheets 10 are substantially the same. Therefore, there is no need to set up a complex guide structure to accommodate sheets 10 of different sizes, and it can be used in occasions where sheets 10 of a single size are used, which is conducive to the standardization of production and the implementation of automated loading and unloading operations.

[0085] like Figures 2 to 5 In some embodiments, the silo device 100 includes a silo body 110 , which is a main component of the silo device 100 for accommodating the sheet material 10 . The silo body 110 is provided with a accommodating space 113 , and the sheet material 10 can be accommodated in the accommodating space 113 .

[0086] The bin body 110 includes a first side plate 111, a second side plate 112 and a plurality of support assemblies 120. The first side plate 111 and the second side plate 112 are arranged at intervals along the first direction X to enclose a storage space 113. That is, the first side plate 111 and the second side plate 112 are arranged along the first direction X and are spaced from each other. The space formed by the first side plate 111 and the second side plate 112 is the storage space 113. The first side plate 111 and the second side plate 112 define the boundary of the storage space 113 in the first direction X. The plurality of support assemblies 120 are arranged in the storage space 113 along the second direction Z. The support assemblies 120 include a first support portion 121 and a second support portion 122 arranged at intervals along the first direction X. The first support portion 121 is connected to the first side plate 111, and the second support portion 122 is connected to the second side plate 112. Each support assembly 120 is used to support at least one sheet material 10 in the storage space 113. The sheets 10 supported by the plurality of support assemblies 120 have the same size.

[0087] It can be understood that in the silo device 100 of the embodiment of the present application, in the silo body 110, the sizes of the sheets 10 supported by the multiple support assemblies 120 are the same, so that the silo device 100 can be applied to the occasion of the sheet 10 of a single size, which is conducive to the standardization of production. The first support part 121 of the support assembly 120 is connected to the first side plate 111, and the second support part 122 is connected to the second side plate 112. The sheet 10 can be supported in the accommodation space 113 by lifting the two sides of the sheet 10 respectively through the first support part 121 and the second support part 122. There is no need to place the sheet 10 in a positive and negative stacking manner, which can reduce the situation of scratching the sheet 10. At the same time, the supported multiple sheets 10 can be placed in the same direction, which is conducive to separating the sheet 10 and facilitating the implementation of automated loading and unloading operations.

[0088] The first direction X is the arrangement direction of the first side plate 111 and the second side plate 112, and the second direction Z intersects with the first direction X. Optionally, the second direction Z can be a horizontal direction or a vertical direction. In some embodiments, the second direction Z is a vertical direction, and the sheet 10 can be supported on the support assembly 120, and the first support portion 121 and the second support portion 122 of the support assembly 120 are respectively supported on both sides of the sheet 10 along the first direction X.

[0089] Please combine Figure 2 and Figure 3In some embodiments, the silo 110 is further provided with a second opening 114 connected to the accommodation space 113, and along the third direction Y, the second opening 114 is located at one side of the support assembly 120, and the sheet material 10 can enter and move out of the accommodation space 113 through the second opening 114. In other words, the second opening 114 is a material feeding and discharging port of the silo 110, and the sheet material 10 can enter or move out of the accommodation space 113 along the third direction Y through the second opening 114.

[0090] The first direction X, the second direction Z and the third direction Y intersect each other. In some embodiments, the third direction Y is the length direction of the first support portion 121 and the second support portion 122 , and both extend along the third direction Y.

[0091] In some embodiments, the bin body 110 is provided with a plurality of second openings 114, and the plurality of second openings 114 are respectively located on both sides of the support assembly 120 along the third direction Y. Specifically, the second openings 114 can be respectively opened on both sides of the bin body 110 along the third direction Y, so that the second openings 114 are provided on both sides of the support assembly 120 along the third direction Y, and the sheet material 10 can be loaded and unloaded from the second openings 114 on both sides, thereby increasing the convenience of loading and unloading.

[0092] Please refer again Figure 3 In some embodiments, the warehouse body 110 further includes a bottom plate 115, and the first side plate 111 and the second side plate 112 are respectively connected to the bottom plate 115 to enclose the accommodation space 113. It can be understood that the first side plate 111, the second side plate 112 and the bottom plate 115 are three components of the warehouse body 110, and the first side plate 111 and the second side plate 112 are spaced from each other along the first direction X and connected to the bottom plate 115, so that the three can enclose the accommodation space 113. The warehouse body 110 is also provided with a first opening 116 connected to the accommodation space 113. Along the second direction Z, the first opening 116 is located on the side of the accommodation space 113 away from the bottom plate 115, that is, the first opening 116 is the top opening of the warehouse body 110, and the sheet material 10 can enter and move out of the accommodation space 113 through the first opening 116, and is supported on the support assembly 120 farthest from the bottom plate 115.

[0093] By providing the first opening 116, on the one hand, the sheet material 10 can be placed on the topmost support assembly 120 among the multiple support assemblies 120 through the first opening 116, or the sheet material 10 can be grabbed from the topmost support assembly 120; on the other hand, in the loading and unloading equipment, the first opening 116 can provide a working space for the grabbing device 200, so that the warehouse body 110 will not interfere with the grabbing device 200, and it is convenient for the grabbing device 200 to move into the accommodating space 113 to grab the sheet material 10 or place the sheet material 10.

[0094] Please also read Figure 2 and Figure 4 In some embodiments, the silo device 100 further includes a temporary storage mechanism 130 for carrying the silo body 110. One of the silo body 110 and the temporary storage mechanism 130 is provided with a positioning portion 131, and the other is provided with a positioning hole (not shown in the figure). When the silo body 110 is carried on the temporary storage mechanism 130, the positioning portion 131 is embedded in the positioning hole to position the silo body 110 on the temporary storage mechanism 130. It can be understood that the temporary storage mechanism 130 is a supporting structure for supporting and placing the silo body 110 in the silo device 100, and can support the weight of the silo body 110 and the sheet material 10 in the accommodating space 113 thereof. By respectively providing the positioning hole and the positioning portion in the silo body 110 and the temporary storage mechanism 130, the silo body 110 can be positioned, and then the sheet material 10 in the silo body 110 can be accurately positioned, thereby improving the success rate of the grabbing device 200 in taking and placing the sheet material 10.

[0095] Please also read Figure 2 and Figure 5 In some embodiments, the silo device 100 further includes a transport mechanism 140 for moving the silo body 110; the temporary storage mechanism 130 has a parking space 132, and the transport mechanism 140 can move to the parking space 132 to move the silo body 110 to and from the temporary storage mechanism 130. The transport mechanism 140 can be configured as a device that can move automatically, such as an AGV trolley, and the transport mechanism 140 can carry the silo body 110 thereon to move the silo body 110. The transport mechanism 140 moves to the parking space 132 of the temporary storage mechanism 130 to place the silo body 110 on the temporary storage mechanism 130, or transport the silo body on the temporary storage mechanism 130.

[0096] Please combine Figure 1 , Figures 6 to 8 In some embodiments, the silo device 100 includes a plurality of temporary storage mechanisms 130, and the transport mechanism 140 is used to move the silo body 110 between the plurality of temporary storage mechanisms 130, so as to facilitate the sorting of the silo body 110. The silo body 110 storing raw materials (sheet materials 10 to be processed), the silo body 110 storing cooked materials (processed sheet materials 10), the empty silo body 110, and the full silo body 110 can be placed on the corresponding temporary storage mechanisms 130 respectively to facilitate automatic loading and unloading.

[0097] In some embodiments, the silo device 100 further includes an identification member, which is disposed on the silo body 110 and is used to indicate information of the silo body 110; the transport mechanism 140 is provided with a first code reader, which is used to read the information indicated by the identification member. The identification member may be a two-dimensional code, and the information contained may be the number of the silo body 110, the placement position of the silo body 110, the information of the sheet material 10 placed inside the silo body 110, and the like.

[0098] Specifically, in the loading and unloading equipment of some embodiments of the present application, the loading and unloading device 400 is responsible for automatically loading and unloading the circuit board processing equipment 500, loading the raw material onto the circuit board processing equipment 500 for processing, and removing the processed clinker from the circuit board processing equipment 500. When all the raw materials in the loading and unloading device 400 are turned into clinker, the loading and unloading device 400 automatically goes to the transfer device 300 to unload and load the raw material. The order can be first to unload the clinker and then to load the new material. The grabbing device 200 extracts the raw material sheet 10 layer by layer from the multiple support components 120 in the silo body 110 of the silo device 100, and puts it into the transfer device 300, and transfers it to the loading and unloading device 400 through the transfer device 300. The grabbing device 200 grabs the clinker sheet 10 on the transfer device 300, and puts the sheet 10 layer by layer into the multiple support components 120 in the silo body 110. The silo 110 of the silo device 100 is transported between the temporary storage mechanisms 130 by the transport mechanism 140. When the silo 110 is filled with sheet materials 10, the transport mechanism 140 can move the silo 110 filled with clinker to the empty temporary storage mechanism 130, and move the silo 110 filled with raw material back to the temporary storage mechanism 130 next to the gripping device 200.

[0099] See also Fig. 9 In some embodiments, the grabbing device 200 includes a base 210 and a manipulator 220, and the base 210 is disposed on one side of the silo device 100 for carrying the manipulator 220. The manipulator 220 is disposed on the base 210, and the manipulator 220 is used to grab and move the sheet material 10, so as to transfer the sheet material 10 between the transfer device 300 and the silo device 100.

[0100] Specifically, the manipulator 220 may be a six-axis manipulator, on which a clamping claw 221 may be provided for clamping and placing the sheet 10. A visual module 222 may also be provided on the manipulator, through which the position of the sheet 10 can be determined, and the identification such as a QR code on the sheet 10 can be read to locate the starting position and the final position, and guide the manipulator 220 to move accurately.

[0101] Optionally, in some embodiments, the grasping device 200 further includes a second guide portion 230, the second guide portion 230 is disposed on the base 210, and the manipulator 220 is connected to the second guide portion 230 and can move along the second guide portion 230. By providing the second guide portion 230, the manipulator 220 can move on the second guide portion 230, thereby increasing the moving space of the manipulator 220 and improving the efficiency of the grasping device 200.

[0102] Please also read Figures 10 to 13In some embodiments, the transfer device 300 includes a transfer platform 310 and a material transfer mechanism 320. The transfer platform 310 is disposed on one side of the gripping device 200 and is used to carry the material transfer mechanism 320. The material transfer mechanism 320 is disposed on the transfer platform 310, and the material transfer mechanism 320 is used to carry and move the sheet material 10, so as to transfer the sheet material 10 between the loading and unloading device 400 and the gripping device 200.

[0103] Specifically, the material moving mechanism 320 can move the sheet material 10 placed thereon between the first position and the second position, the grasping device 200 can grasp the sheet material 10 at the first position, or place the sheet material 10 at the first position; the loading and unloading device 400 can receive the sheet material 10 at the second position, or place the sheet material 10 at the second position.

[0104] Please refer again Fig.11 In some embodiments, the material moving mechanism 320 includes a first conveyor belt 321, a first driving unit 322, and a first guiding unit 323. The first conveyor belt 321 is used to convey the sheet material 10, and the sheet material 10 can be placed on the first conveyor belt 321; the first driving unit 322 is connected to the first conveyor belt 321, and the first driving unit 322 is used to drive the first conveyor belt 321 to move the sheet material 10 through the first conveyor belt 321; the first guiding unit 323 is used to guide the sheet material 10.

[0105] Optional, please refer again Fig.10 In some embodiments, the transfer device 300 includes a plurality of material transfer mechanisms 320, which are arranged on the transfer platform 310, and the arrangement direction of the plurality of material transfer mechanisms 320 intersects with the moving direction of the sheet material 10. By providing a plurality of material transfer mechanisms 320, the efficiency of transferring the sheet material 10 can be improved. Each material transfer mechanism 320 can be independently controlled to achieve independent transfer of the sheet material 10 placed on each material transfer mechanism 320.

[0106] like Fig.10 and Fig.12 In some embodiments, the transfer device 300 further includes a second code reader 330, which is disposed on the transfer platform 310 and is used to read information of the sheet material 10. The second code reader 330 can also be used to determine whether the sheet material 10 is placed upside down.

[0107] Optionally, in some embodiments, the extension direction of the second guide portion 230 is consistent with the arrangement direction of the multiple material transfer mechanisms 320, so that the robot 220 can move along the second guide portion 230 and place the sheet material 10 on each material transfer mechanism 320, or grab the sheet material 10.

[0108] Please also read Figures 14 to 18In some embodiments, the loading and unloading device 400 includes a mobile frame 410 and a feeding assembly 420, and the mobile frame 410 can move between the transfer device 300 and the circuit board processing equipment 500. The feeding assembly 420 is arranged on the mobile frame 410, so as to move with the mobile frame 410. The feeding assembly 420 is used to receive the plate material 10 to be processed provided by the transfer device 300, and provide the plate material 10 to the circuit board processing equipment 500, and also used to transfer the processed plate material 10 to the transfer device 300.

[0109] Specifically, the mobile frame 410 is used to carry the material conveying assembly 420 to the designated loading and unloading position according to system requirements, and the material conveying assembly 420 is used to load and unload the board 10 to the circuit board processing equipment 500.

[0110] Please combine Fig.17 and Fig.18 In some embodiments, the feeding assembly 420 includes a plurality of material storage and conveying mechanisms 421 and a power mechanism 422. The plurality of material storage and conveying mechanisms 421 are arranged in a row along the second direction Z, and each material storage and conveying mechanism 421 can carry and convey at least one sheet material 10. The power mechanism 422 is arranged on one side of the plurality of material storage and conveying mechanisms 421, and the power mechanism 422 can be connected to the material storage and conveying mechanisms 421 to drive the material storage and conveying mechanisms 421 to convey the sheet material 10.

[0111] Optionally, the storage conveying mechanism 421 includes a second conveyor belt 4211 and a second driving unit 4212, and the second conveyor belt 4211 sheet material 10 can be placed on the second conveyor belt 4211, so as to store the sheet material 10. The second driving unit 4212 is connected to the second conveyor belt 4211, and the second driving unit 4212 is used to connect with the power mechanism 422, so as to be driven by the power mechanism 422, and drive the second conveyor belt 4211 to convey the sheet material 10.

[0112] Optionally, the material storage and conveying mechanism 421 further includes a third guide portion 4213, and the third guide portion 4213 is used to guide the sheet material 10, so that the conveying of the sheet material 10 is more stable and accurate.

[0113] Optionally, the power mechanism 422 includes a bearing seat 4222, a third driving unit 4223, and a fourth driving unit 4224. The bearing seat 4222 is arranged on the mobile frame 410, the third driving unit 4223 is arranged on the bearing seat 4222, the fourth driving unit 4224 is connected to the third driving unit 4223, and is driven by the third driving unit 4223 to approach and connect the storage and conveying mechanism 421, and the fourth driving unit 4224 is used to drive the storage and conveying mechanism 421 to convey the sheet material 10. The third driving unit 4223 and the fourth driving unit 4224 can be power equipment such as a motor, and the third driving unit 4223 drives the fourth driving unit 4224, so that the clutch function of the power mechanism 422 and the storage and conveying mechanism 421 can be realized.

[0114] In some embodiments, the feeding assembly 420 further includes a lifting mechanism 423, which is disposed on the mobile frame 410 and connected to a plurality of storage and conveying mechanisms 421. The lifting mechanism 423 is used to drive the plurality of storage and conveying mechanisms 421 to move along the second direction Z, so that each storage and conveying mechanism 421 can be connected to the power mechanism 422 respectively. The lifting mechanism 423 can be realized by using a motor in conjunction with a motion mechanism such as a ball screw, a gear rack, etc. The storage and conveying mechanism 421 is moved by the lifting mechanism 423, so that the storage and conveying mechanism 421 can be moved to the height where the power mechanism 422 is located, so that the fourth driving part 4224 of the power mechanism 422 can be connected to the storage and conveying mechanism 421 of each layer, thereby driving the storage and conveying mechanism 421 of each layer to convey the sheet material 10, and the sheet material 10 at different positions of different layers can be sent into and out of the device as needed. Specifically, the fourth driving part 4224 and the storage and conveying mechanism 421 can realize transmission by the engagement of the driving wheel and the driven wheel. Furthermore, by combining the clutch capability of the power mechanism 422 with the lifting mechanism 423 , the power mechanism 422 and any target material storage and conveying mechanism 421 can be coordinated and transmitted, thereby ultimately driving the movement of the sheet material 10 .

[0115] Please refer to the Figures 14 to 17 In some embodiments, the loading and unloading device 400 includes a plurality of feeding components 420, which are arranged on the mobile frame 410, and the arrangement direction of the plurality of feeding components 420 intersects with the conveying direction of the plate material 10. By providing a plurality of feeding components 420, more plate materials 10 can be accommodated, and loading and unloading of more circuit board processing equipment 500 can be realized.

[0116] Optional, please refer again Fig.18The loading and unloading device 400 further includes a monitoring module 430, which is disposed on the feeding assembly 420 and is used to monitor whether there is a sheet material 10 on the feeding assembly 420. Specifically, the monitoring module 430 can be various types of monitoring sensors, such as commonly used sheet material presence sensors, card plates, and conveying abnormality sensors, etc., which can monitor the status of the sheet material 10 in the storage and conveying mechanism 421 of each layer at any time to achieve the purpose of real-time monitoring.

[0117] Correspondingly, the embodiment of the present application also provides a loading and unloading method, which can be applied to the loading and unloading equipment of any of the above embodiments. The loading and unloading method includes a loading step and an unloading step. The loading step includes: grabbing the sheet material 10 to be processed from the silo device 100 by the grabbing device 200, and placing the sheet material 10 in the transfer device 300; the transfer device 300 provides the sheet material 10 to the loading and unloading device 400; the loading and unloading device 400 moves to the circuit board processing equipment 500, and provides the sheet material 10 to the circuit board processing equipment 500. The unloading step includes: the loading and unloading device 400 moves to the transfer device 300, and transfers the processed sheet material 10 to the transfer device 300; the grabbing device 200 grabs the sheet material 10, and places the sheet material 10 in the silo device 100.

[0118] In some embodiments, a sheet material 10 to be processed is grabbed from a silo device 100 by a grabbing device 200, and the sheet material 10 is placed on a transfer device 300, including: by extending the manipulator 220 of the grabbing device 200 into the silo body 110 of the loading and unloading device 400, a plurality of sheets 10 supported on a plurality of support components 120 are grabbed layer by layer from the accommodating space 113 of the silo body 110, and the sheets 10 are placed on the transfer device 300 one by one.

[0119] In some embodiments, the transfer device 300 provides the sheet material 10 to the loading and unloading device 400, including: the material moving mechanism 320 of the transfer device 300 moves the sheet material 10 placed thereon, the loading and unloading device 400 moves to one side of the transfer device 300, and drives multiple material storage and conveying mechanisms 421 to move along the second direction Z through its lifting mechanism 423, so that the multiple material storage and conveying mechanisms 421 are respectively connected to the power mechanism 422, so that the power mechanism 422 respectively drives the multiple material storage and conveying mechanisms 421 to receive the sheet material 10.

[0120] In some embodiments, the loading and unloading device 400 transfers the processed sheet material 10 to the transfer device 300, including: the lifting mechanism 423 of the loading and unloading device 400 drives multiple material storage and conveying mechanisms 421 to move along the second direction Z, so that the multiple material storage and conveying mechanisms 421 are respectively connected to the power mechanism 422, so as to drive the multiple material storage and conveying mechanisms 421 respectively through the power mechanism 422, and move the sheet materials 10 carried thereon to the transfer device 300 respectively.

[0121] In some embodiments, the grabbing device 200 places the sheet material 10 in the silo device 100, including:

[0122] The manipulator 220 of the grasping device 200 grasps the plates 10 on the transfer device 300 piece by piece, and then extends into the warehouse body 110 of the loading and unloading device 400 to place the plates 10 layer by layer on the multiple supporting components 120.

[0123] It is understandable that the loading and unloading method is applied to the loading and unloading equipment described above, and the loading and unloading process can be realized based on the loading and unloading equipment, and corresponding technical effects can be produced. The transfer of the sheet material 10 between the silo device 100 and the loading and unloading device 400 can be realized through the grabbing device 200 and the transfer device 300, which can improve the efficiency of loading and unloading.

[0124] In the above embodiments, the description of each embodiment has its own emphasis. For parts that are not described in detail in a certain embodiment, reference can be made to the relevant descriptions of other embodiments.

[0125] The above describes in detail the loading and unloading equipment and methods provided in the embodiments of the present application, and uses specific examples to illustrate the principles and implementation methods of the present application. The description of the above embodiments is only used to help understand the technical solutions and core ideas of the present application. Ordinary technicians in this field should understand that they can still modify the technical solutions recorded in the aforementioned embodiments, or replace some of the technical features therein with equivalents. These modifications or replacements do not cause the essence of the corresponding technical solutions to deviate from the scope of the technical solutions of the embodiments of the present application.

Claims

1. A loading and unloading equipment, characterized in that: include: A silo device for containing sheet materials; A grabbing device, arranged on one side of the silo device; A transfer device, arranged at one side of the grabbing device, and the grabbing device is used to transfer the sheet material between the transfer device and the silo device; A loading and unloading device, which can move between the transfer device and the circuit board processing equipment, and is used to transfer the plate material between the transfer device and the circuit board processing equipment.

2. The loading and unloading equipment according to claim 1, characterized in that: The silo device comprises a silo body, and the silo body comprises: A first side plate and a second side plate, wherein the first side plate and the second side plate are spaced apart along a first direction and are used to enclose a receiving space; A plurality of support assemblies are arranged in the accommodation space along a second direction, the support assemblies include a first support portion and a second support portion spaced apart along the first direction, the first support portion is connected to the first side plate, the second support portion is connected to the second side plate, and the first direction and the second direction intersect; Each of the supporting components is used to support at least one sheet material in the accommodating space.

3. The loading and unloading equipment according to claim 2, characterized in that: The warehouse body further includes a bottom plate, and the first side plate and the second side plate are respectively connected to the bottom plate to enclose the accommodation space; The bin body is further provided with a first opening connected to the accommodating space, and along the second direction, the first opening is located at a side of the accommodating space away from the bottom plate; The sheet material can enter and move out of the accommodating space through the first opening, and is supported on the supporting assembly farthest from the bottom plate.

4. The loading and unloading equipment according to claim 2, characterized in that: The silo device further comprises a temporary storage mechanism for carrying the silo body, wherein one of the silo body and the temporary storage mechanism is provided with a positioning portion, and the other is provided with a positioning hole; When the bin body is carried on the temporary storage mechanism, the positioning portion is embedded in the positioning hole to position the bin body on the temporary storage mechanism.

5. The loading and unloading equipment according to claim 4, characterized in that: The silo device also includes a transport mechanism for moving the silo body; The temporary storage mechanism has a parking space, and the transport mechanism can move to the parking space to move the warehouse body to and from the temporary storage mechanism.

6. The loading and unloading equipment according to claim 5, characterized in that: The silo device further comprises an identification member, which is arranged on the silo body and is used to indicate information of the silo body; The transport mechanism is provided with a first code reader, and the first code reader is used to read the information indicated by the identification piece.

7. The loading and unloading equipment according to claim 1, characterized in that: The grabbing device comprises: Pedestal; A manipulator is arranged on the base, and is used to grab and move the sheet material so as to transfer the sheet material between the transfer device and the silo device.

8. The loading and unloading equipment according to claim 7, characterized in that: The gripping device also includes: The second guide portion is arranged on the base, and the manipulator is connected to the second guide portion and can move along the second guide portion.

9. The loading and unloading equipment according to claim 1, characterized in that: The transfer device comprises: Transfer platform; A material moving mechanism is arranged on the transfer platform, and is used to carry and move the sheet material so as to transfer the sheet material between the loading and unloading device and the grasping device.

10. The loading and unloading equipment according to claim 9, characterized in that: The material transfer mechanism comprises: a first conveyor belt, on which the sheet material can be placed; a first driving unit connected to the first conveyor belt, the first driving unit being used to drive the first conveyor belt to move the sheet material through the first conveyor belt; The first guide portion is used to guide the sheet material.

11. The loading and unloading equipment according to claim 9, characterized in that: The transfer device comprises a plurality of the material moving mechanisms, and the plurality of the material moving mechanisms are arranged on the transfer platform, and the arrangement direction of the plurality of the material moving mechanisms intersects with the moving direction of the sheet material.

12. The loading and unloading equipment according to claim 9, characterized in that: The transfer device also includes: The second code reader is arranged on the transfer platform, and the second code reader is used to read the information of the sheet material.

13. The loading and unloading equipment according to claim 1, characterized in that: The loading and unloading device comprises: A mobile rack capable of moving between the transfer device and the circuit board processing equipment; A material conveying assembly is arranged on the mobile frame, and is used for receiving the sheet material to be processed provided by the transfer device, providing the sheet material to the circuit board processing equipment, and transferring the processed sheet material to the transfer device.

14. The loading and unloading equipment according to claim 13, characterized in that: The feeding assembly comprises: A plurality of material storage and conveying mechanisms, wherein the plurality of material storage and conveying mechanisms are arranged in an array along the second direction, and each of the material storage and conveying mechanisms is capable of carrying and conveying at least one sheet of the plate; The power mechanism is arranged on one side of the plurality of material storage and conveying mechanisms, and the power mechanism can be connected to each of the material storage and conveying mechanisms respectively to drive the material storage and conveying mechanisms to convey the sheet materials.

15. The loading and unloading equipment according to claim 14, characterized in that: The material storage and conveying mechanism comprises: a second conveyor belt, on which the sheet material can be placed; The second driving part is connected to the second conveyor belt, and the second driving part is used to be connected to the power mechanism so as to be driven by the power mechanism and drive the second conveyor belt to convey the sheet material.

16. The loading and unloading equipment according to claim 14, characterized in that: The material storage and conveying mechanism also includes a third guide portion for guiding the sheet material.

17. The loading and unloading equipment according to claim 14, characterized in that: The power mechanism comprises: A bearing seat, arranged on the mobile frame; A third driving unit is disposed on the supporting seat; The fourth driving unit is connected to the third driving unit, and is driven by the third driving unit to approach and connect to the material storage and conveying mechanism. The fourth driving unit is used to drive the material storage and conveying mechanism to convey the sheet material.

18. The loading and unloading equipment according to claim 14, characterized in that: The feeding assembly further comprises: A lifting mechanism is arranged on the mobile frame and connected to the plurality of material storage and conveying mechanisms. The lifting mechanism is used to drive the plurality of material storage and conveying mechanisms to move along the second direction so that each material storage and conveying mechanism can be connected to the power mechanism respectively.

19. The loading and unloading equipment according to claim 13, characterized in that: The loading and unloading device comprises a plurality of the feeding components, and the plurality of the feeding components are arranged on the movable frame, and the arrangement direction of the plurality of the feeding components intersects with the conveying direction of the sheet material.

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