Planting plate equipment

Abstract

The utility model relates to the technical field of circuit board production, and discloses board planting equipment which comprises a feeding mechanism, a transfer platform, a conveying track, a first working head, a lower camera module, a second working head and a Y-axis driving mechanism. The feeding mechanism is used for providing a plate to be implanted; the transfer platform is used for temporarily storing a to-be-implanted plate. The conveying track is used for conveying a product with a to-be-implanted plate in the X-axis direction, the first working head is used for rectifying the to-be-implanted plate on the feeding mechanism and then placing the to-be-implanted plate on the transfer platform, and the lower camera module is used for photographing the plate sucked by the first working head. The second working head is used for implanting the plate into the product, and a real-time positioning camera module capable of photographing and positioning the product and the plate in real time at the same time is arranged on the second working head. The Y-axis driving mechanism is used for driving the first working head and the second working head to move in the Y-axis direction. According to the plate planting equipment, the plate planting precision can be improved.

Description

Technical Field

[0001] The utility model relates to the technical field of circuit board production and manufacturing, in particular to a circuit board planting device. Background Art

[0002] During the manufacturing process of circuit boards, flexible circuit boards, small circuit boards or components need to be implanted into specific positions on larger circuit boards. In order to improve the accuracy of board implantation, existing board implantation equipment uses a camera to take photos and locate the implanted devices and products to be implanted before implantation, and then controls the position of the working head based on the positioning results to achieve accurate implantation of the devices. However, since the movement accuracy of the working head is always limited by the positioning accuracy of the mechanical structure, it is difficult to ensure that the working head can move to the implantation position calculated based on the photo positioning results with high accuracy only through a limited number of photo positioning results of the devices and products before implantation, and it is difficult to meet some board implantation scenarios with very high precision requirements. Utility Model Content

[0003] In order to overcome the shortcomings of the prior art, the purpose of the utility model is to provide a plate implanting device. By adding a camera module on the working head that can capture the real-time image of the object to be implanted and the implanted product, the relative position relationship between the object to be implanted and the product can be continuously measured and fed back during the movement of the working head, so that the device can break through the accuracy limitations of the mechanical structure and achieve higher precision plate implanting.

[0004] To solve the above problems, the technical solution adopted by the utility model is as follows: a plate planting equipment, comprising: a feeding mechanism for providing plates to be implanted; a transfer platform, arranged on one side of the feeding mechanism, for temporarily storing the plates to be implanted, and capable of adsorbing the plates to be implanted; a conveying track, arranged on one side of the transfer platform, for transferring the products to be implanted in the X-axis direction; a first working head, for correcting the deviation of the plates to be implanted on the feeding mechanism and placing them on the transfer platform, comprising a first Z-axis driving mechanism, an R-axis driving mechanism, a first suction nozzle and a first positioning camera module, the R-axis driving mechanism is arranged on the first Z-axis driving mechanism, the R-axis driving mechanism can be lifted and lowered under the drive of the Z-axis driving mechanism, the first suction nozzle is arranged on the R-axis driving mechanism, the first suction nozzle can be rotated under the drive of the R-axis driving mechanism, the first positioning camera module is arranged on one side of the first suction nozzle, and the first positioning camera module is used to take pictures of the plates to be implanted in the material tray; the lower camera module, A second working head is arranged on one side of the transfer platform, and is used to take pictures of the panel to be implanted sucked by the first working head; the second working head is used to implant the panel to be implanted on the transfer platform into the product of the board to be implanted on the conveying track, including a second Z-axis driving mechanism, a second suction nozzle, a second positioning camera module and a real-time positioning camera module, the second suction nozzle is arranged on the Z-axis driving mechanism, and the second suction nozzle can be lifted and lowered under the drive of the Z-axis driving mechanism, the second positioning camera module and the real-time positioning camera module are respectively arranged on both sides of the second suction nozzle, the second positioning camera module is used to take pictures of the product to be mounted, and the real-time positioning camera module is used to perform real-time image acquisition of the panel to be implanted sucked by the second suction nozzle and the product of the board to be implanted on the conveying track; the Y-axis driving mechanism is used to drive the first working head to move back and forth above the feeding mechanism and the transfer platform, and drive the second working head to move back and forth above the transfer platform and the conveying track.

[0005] Compared with the prior art, the beneficial effect of the utility model is that the first working head can move the plate to the lower camera module for taking pictures, and rotate the plate through the R-axis drive mechanism according to the angle of the plate measured by taking pictures, and place the plate on the transfer platform after correcting the angle of the plate, so as to ensure that the angle of the plate absorbed by the second working head meets the mounting requirements. The second working head is provided with two camera modules, namely the second positioning camera module and the real-time positioning camera module. The product is initially positioned by the second camera module, and the positions of the second working head and the product are adjusted so that specific marking points on the product and the plate can fall into the field of view of the real-time positioning camera module at the same time, so that the real-time positioning camera module can monitor the relative position relationship between the plate to be implanted and the product in real time, and realize closed-loop control between the second working head and the product position, thereby reducing the limitation of the positioning accuracy of the mechanical structure of the working head on the accuracy of the plate implantation, so that the working head can realize a more accurate plate implantation action.

[0006] The above-mentioned plate implanting equipment, the feeding mechanism includes: a tray loading mechanism, which is used to lift the tray containing the plate to be implanted to a set height; a tray unloading mechanism, which is arranged side by side with the tray loading mechanism, and is used to store empty trays; a tray transfer platform, which can reciprocate in the X-axis direction above the tray loading mechanism and the tray unloading mechanism under the drive of the tray transfer drive mechanism, and is used to temporarily store trays; a loading and unloading mechanism, which is used to move the tray in the tray loading mechanism to the tray transfer platform, or to move the tray on the tray transfer platform to the tray unloading mechanism.

[0007] The above-mentioned plate planting equipment, the material tray loading mechanism includes a guide bracket, a material tray lifting bracket and a material tray lifting drive mechanism, the material tray lifting bracket is slidably connected to the guide bracket, the material tray lifting bracket can slide along the guide bracket under the drive of the material tray lifting drive mechanism, the upper end of the guide bracket is provided with an in-place photoelectric sensor horizontally facing the material tray lifting bracket, the bottom of the guide bracket is provided with a first material photoelectric sensor vertically facing upwards, and the material tray unloading mechanism has the same structure as the material tray loading mechanism.

[0008] In the above-mentioned plate planting equipment, the guide bracket includes a bottom bracket, a side plate and a lifting drive mechanism bracket, the material tray lifting drive mechanism is arranged in the lifting drive mechanism bracket, the lifting drive mechanism bracket is vertically fixed on the bottom bracket, the side plate is slidably arranged on the bottom bracket, the side plate can approach or move away from the lifting drive mechanism bracket in the X-axis direction, a locking mechanism is arranged between the bottom of the side plate and the bottom bracket, and the locking mechanism can lock the side plate on the bottom bracket, the material tray lifting bracket is arranged between the lifting drive mechanism bracket and the side plate, and the material tray lifting bracket It includes two parallel cross beams and two material tray support plates detachably straddling the two cross beams, the two cross beams are provided with a plurality of mounting positions for installing the material tray support plates, the material tray support plates are provided with slidable adjustment blocks, the adjustment blocks can slide along the material tray support plates in the Y-axis direction, one end of the two cross beams is slidably connected to the lifting drive mechanism bracket, at least one of the two cross beams is connected to the material tray lifting drive mechanism, two vertical strip holes are provided on the side plate, and the ends of the two cross beams facing away from the lifting drive mechanism bracket can respectively extend from the two strip holes.

[0009] In the above-mentioned plate planting equipment, a second upward material photoelectric sensor is arranged on the material tray transfer platform, two fixed ribs are respectively arranged along two adjacent edges of the material tray transfer platform, and two adjustable ribs are slidably arranged on the material tray transfer platform, and the two adjustable ribs are respectively parallel to the two fixed ribs, and each of the adjustable ribs can slide along the upper surface of the material tray transfer platform in a direction perpendicular to it.

[0010] The above-mentioned plate planting equipment, the loading and unloading mechanism includes two loading and unloading robots, and the two loading and unloading robots are respectively arranged at the two ends of the material tray transfer drive mechanism, and the loading and unloading robots include a material tray suction cup and a suction cup lifting drive mechanism. The material tray suction cup can be driven by the suction cup lifting drive mechanism to perform lifting movement above the material tray loading mechanism or the material tray unloading mechanism.

[0011] The above-mentioned plate planting equipment, the conveying track includes a track base plate and two track side plates, the two track side plates are arranged on the track base plate in parallel along the X-axis direction, one of the track side plates is fixedly arranged on the track base plate, and the other track side plate is slidably arranged on the track base plate, the track side plate slidably arranged on the track base plate can approach or move away from the track side plate fixedly arranged on the track base plate in the Y-axis direction, a conveyor belt mechanism is arranged on the inner side of the track side plate, an upper guide plate is arranged on the upper edge of the track side plate, and a lower support plate parallel to the upper guide plate is arranged below the upper guide plate, and the conveyor belt in the conveyor belt mechanism passes between the upper guide plate and the lower support plate.

[0012] The above-mentioned plate planting equipment is provided with a movable clamping platform that can slide along the conveying track. The movable clamping platform includes a clamping platform driving mechanism, two clamping platform side plates and a clamping platform bottom plate. The two clamping platform side plates are vertically arranged on the clamping platform bottom plate in parallel along the X-axis direction. The clamping platform bottom plate is connected to the clamping platform driving mechanism and can reciprocate in the X-axis direction along the conveying track. One of the clamping platform side plates is fixedly arranged on the clamping platform bottom plate, and the other of the clamping platform side plates is slidably arranged on the clamping platform bottom plate. The clamping platform side plates slidably arranged on the clamping platform bottom plate can approach or move away from the clamping platform side plates fixedly arranged on the clamping platform bottom plate in the Y-axis direction. An upper clamping plate is arranged on the upper edge of the clamping platform side plates, and a clamping platform top plate is slidably arranged on the inner side of the clamping platform side plates. A top plate driving mechanism is arranged on the clamping platform side plates, and the clamping platform top plate can approach or move away from the upper clamping plate in the vertical direction under the drive of the clamping platform driving mechanism.

[0013] In the above-mentioned plate planting equipment, the transfer platform is arranged on the frame through the transfer translation mechanism, and the transfer platform can reciprocate in the X-axis direction under the drive of the transfer translation mechanism.

[0014] In the above-mentioned plate implanting equipment, the second positioning camera module is arranged on the second Z-axis driving mechanism, the second positioning camera module and the second suction nozzle perform lifting and lowering movements synchronously, and the lens of the second positioning camera module adopts a double telecentric lens.

[0015] The utility model is further described in detail below in conjunction with the accompanying drawings and specific implementation methods. BRIEF DESCRIPTION OF THE DRAWINGS

[0016] Figure 1 It is a three-dimensional structural schematic diagram of the plate planting device according to an embodiment of the utility model;

[0017] Figure 2 A top view of a plate planting device according to an embodiment of the utility model;

[0018] Figure 3 This is a schematic structural diagram of a first working head according to an embodiment of the utility model;

[0019] Figure 4 This is a schematic structural diagram of a second working head according to an embodiment of the utility model;

[0020] Figure 5 It is a three-dimensional structural schematic diagram of a material tray loading mechanism according to an embodiment of the utility model;

[0021] Figure 6 A top view of a material tray loading mechanism according to an embodiment of the utility model;

[0022] Figure 7 It is a structural schematic diagram of a tray transfer platform of a tray loading mechanism of an embodiment of the utility model;

[0023] Figure 8 This is a structural schematic diagram of a loading and unloading manipulator according to an embodiment of the utility model;

[0024] Fig. 9 It is a schematic diagram of the structure of the transmission track of an embodiment of the utility model;

[0025] Fig.10 It is a schematic diagram of the three-dimensional structure of the mobile clamping platform of an embodiment of the utility model;

[0026] Fig.11 It is a side view of the mobile clamping platform according to an embodiment of the utility model.

[0027] Description of Figure Numbers:

[0028] 100 rack, 200 feeding mechanism, 210 tray loading mechanism, 211 guide bracket, 2111 bottom bracket, 21111 locking mechanism, 2112 side plate, 21121 strip hole, 2113 lifting drive mechanism bracket, 212 tray lifting bracket, 2121 beam, 2122 tray support plate, 21221 adjustment block, 213 tray lifting drive mechanism, 214 first material photoelectric sensor, 215 in-position photoelectric sensor, 220 loading and unloading mechanism, 221 tray suction cup, 222 suction cup lifting drive mechanism, 2221 suction cup lead screw pair, 2222 guide column, 2223 linear bearing seat, 230 tray transfer platform, 231 tray transfer drive mechanism, 232 second material photoelectric sensor, 233 fixed rib, 234 adjustment rib, 300 transfer platform, 310 transfer translation mechanism, 400 transmission track, 401 track bottom plate, 402 track side plate, 4021 upper guide plate, 4022 lower support plate, 4023 conveyor belt mechanism, 403 adjustment slide rail, 404 adjustment screw rod, 405 adjustment hand wheel, 410 mobile clamping table, 411 clamping table bottom plate, 4111 locking side plate, 412 clamping table side plate, 4121 upper clamping plate, 4122 clamping table top plate, 4123 top plate driving mechanism, 500 first working head, 510 first Z-axis driving mechanism, 520R-axis driving mechanism, 530 first suction nozzle, 540 first positioning camera module, 600 lower camera module, 700 second working head, 710 second Z-axis driving mechanism, 720 second positioning camera module, 730 second suction nozzle, 740 real-time positioning camera module, 800Y-axis driving mechanism. DETAILED DESCRIPTION

[0029] The embodiments of the present invention are described in detail below. Figures 1 to 4The embodiment of the utility model provides a plate implanting device, including a feeding mechanism 200, a transfer platform 300, a conveying track 400, a first working head 500, a lower camera module 600, a second working head 700 and a Y-axis driving mechanism 800. The feeding mechanism 200 is used to provide the first working head 500 and the second working head 700 with the plates to be implanted, the transfer platform 300 is used to temporarily store the plates, and the transfer platform 300 can absorb the plates placed thereon to prevent the angle of the plates from changing during movement. The conveying track 400 is arranged on one side of the transfer platform 300, and is used to take over the products of the plates to be implanted from the previous equipment, and send the products with the plates to be implanted to the equipment of the next process, and can transfer the products of the plates to be implanted in the X-axis direction. The first working head 500 is used to absorb a plate to be implanted from the feeding mechanism 200, and correct the angle of the absorbed plate, and place the corrected plate on the transfer platform 300. The first working head 500 includes a first Z-axis driving mechanism 510, an R-axis driving mechanism 520, a first suction nozzle 530 and a first positioning camera module 540. The first suction nozzle 530 is arranged on the R-axis driving mechanism 520, and can be rotated under the drive of the R-axis driving mechanism 520 to adjust the angle of the plate sucked by the first suction nozzle 530. The R-axis driving mechanism 520 is arranged on the first Z-axis driving mechanism 510, and can be lifted and lowered in the vertical direction under the drive of the first Z-axis driving mechanism 510. The first positioning camera module 540 is arranged on one side of the first suction nozzle 530, and is used to take pictures and position the plates on the tray, so that the first suction nozzle 530 can be moved above the plate to be sucked to achieve the suction of the plate. The lower camera module 600 is disposed on one side of the transfer platform 300, and is used to take pictures of the lower surface of the panel sucked by the first working head 500 to determine the actual angle of the panel sucked by the first working head 500, so as to rotate the first suction nozzle 530 through the R-axis drive mechanism 520 to achieve the angle correction of the panel sucked by the first working head 500. The second working head 700 is used to move the panel on the transfer platform 300 to the product on the conveying track 400 to complete the implantation of the panel. The second working head 700 includes a second Z-axis drive mechanism 710, a second suction nozzle 730, a second positioning camera module 720 and a real-time positioning camera module 740. The second suction nozzle 730 is disposed on the second Z-axis drive mechanism 710, and can perform vertical lifting and lowering motion under the drive of the second Z-axis drive mechanism 710.The second positioning camera module 720 and the real-time positioning camera module 740 are respectively arranged on both sides of the second suction nozzle 730. The second positioning camera module 720 is used to take pictures and position the panels placed on the transfer platform 300, so that the second working head 700 can absorb the panels through the second suction nozzle 730, and make the specific marking points on the panels appear in the field of view of the real-time positioning camera module 740, or take pictures and position the products on the conveying track 400 to achieve preliminary positioning of the product position, so that the position of the second working head 700 relative to the product can be controlled so that the specific marking points of the panels sucked by the second suction nozzle 730 and the specific marking points on the products can appear in the field of view of the real-time positioning camera module 740 at the same time. The real-time positioning camera module 740 is used to simultaneously perform real-time image acquisition of the panels on the second suction nozzle 730 and the products on the conveying track 400 to obtain the real-time relative position relationship between the panels and the products. The Y-axis driving mechanism 800 is used to drive the first working head 500 to move back and forth above the feeding mechanism 200 and the transfer platform 300 , and to drive the second working head 700 to move back and forth above the transfer platform 300 and the conveying track 400 .

[0030] The board planting device of the embodiment of the utility model can take photos and locate the board and the product by setting the second positioning camera module 720 and the real-time positioning camera module 740 on the second working head 700, so that the second working head 700 can move to a specific position after sucking the board from the transfer platform 300, so that two specific marking points on the same side of the board and the product can appear in the field of view of the real-time positioning camera module 740 at the same time. The real-time positioning camera module 740 takes photos and locates the marking points of the board and the product at the same time, so that the relative position relationship between the board and the product can be fed back to the controller of the device in real time, thereby realizing closed-loop feedback of the board planting action of the second working head 700, reducing the influence of the positioning accuracy of the mechanical structure of the second working head 700 on the board planting accuracy, and further improving the board planting accuracy of the device. At the same time, the plate planting equipment of the embodiment of the utility model splits the adjustment of the X-axis direction, Y-axis direction and angle between the plate and the product required during plate planting into three mechanisms: the first working head 500, the second working head 700 and the conveying track 400, which reduces the number of axes of a single working head, avoids the mutual coupling of the movements between the axes, further reduces the overall positioning accuracy, simplifies the control, and further improves the plate planting accuracy of the equipment. The two working heads hand over the plate, and the longer Y-axis movement between the plate and the conveying track 400 is split into two shorter movements, avoiding the large cumulative error introduced by long-distance movement that affects the plate planting accuracy.

[0031] It can be understood that the first positioning camera module 540, the lower camera module 600, the second positioning camera module 720 and the real-time positioning camera module 740 all include cameras, light sources, lenses and supporting structures, and their specific structures are common knowledge in the field and will not be elaborated here. The selection of cameras, lenses and light sources needs to be based on the size and material of the panels and products, so that the necessary features of the panels and products can be clearly captured by the corresponding cameras, wherein the field of view of the lower camera module 600 needs to be able to cover at least two marking points on the panel, and the lens of the real-time positioning camera module 740 needs to have a longer depth of field so that clear images of panels closer to the lens and products farther away can be captured at the same time. The first Z-axis drive mechanism 510 and the second Z-axis drive mechanism 710 can be a combination of a motor and a lead screw pair, an electric cylinder or a linear motor or other linear drive mechanism, and the Y-axis drive mechanism 800 can be two linear platforms arranged side by side on the frame 100, or it can be as follows Figure 1 As shown, a screw module or a linear motor with a double mover is used, and the first working head 500 and the second working head 700 are respectively arranged on two sliders. The R-axis drive mechanism 520 can be a motor or a DD motor. The first positioning camera module 540, the second positioning camera module 720 and the real-time positioning camera module 740 can be fixedly installed on the support structure of the first working head 500 or the second working head 700, or can be arranged on the corresponding Z-axis drive mechanism. Figure 4 In this embodiment, the second positioning camera module 720 is installed on the second Z-axis drive mechanism 710, and can be raised and lowered synchronously with the second suction nozzle 730. Therefore, the lens of the second positioning camera module 720 is preferably a double telecentric lens. The size of the collected image will not change with the object distance. Whether close to or far away from the board, the size of the board in the image will not change, further improving the accuracy. In some embodiments, the first positioning camera module 540, the lower camera module 600 and the real-time positioning camera module 740 can also select double telecentric lenses as needed. Figure 2 A circular crosshair is provided on the lens of the lower camera module 600, which will be captured by the camera of the lower camera module 600 together with the plate as a reference for judging the angle of the plate.

[0032] In some embodiments, the panels to be implanted are placed in stackable trays, and the feeding mechanism 200 needs to take out a tray from the tray stack so that the first working head 500 can absorb a panel to be implanted from the tray. Figure 2 , Figures 5 to 8The feeding mechanism 200 includes a tray loading mechanism 210, a tray unloading mechanism, a tray transfer platform 230 and a loading and unloading mechanism 220. The tray loading mechanism 210 and the tray unloading mechanism are arranged side by side on the frame 100. The tray loading mechanism 210 can store stacked trays and lift the stacked trays to a set height so that the loading and unloading mechanism 220 can take out the uppermost tray. The tray unloading mechanism is used to store stacked empty trays. The loading and unloading mechanism 220 is used to move the tray with plates from the tray loading mechanism 210 to the tray transfer platform 230, or to move the empty tray on the tray transfer platform 230 to the tray unloading mechanism. The tray transfer platform 230 is arranged above the tray loading mechanism 210 and the tray unloading mechanism, and is arranged on the tray transfer drive mechanism 231. It can reciprocate in the X-axis direction above the tray loading mechanism 210 and the tray unloading mechanism under the drive of the tray transfer drive mechanism 231, and is used to temporarily store the tray so that the first working head 500 can pick up the plate from the tray.

[0033] Reference Figure 5 and Figure 6 The structure of the tray loading mechanism 210 and the tray unloading mechanism can be the same. Taking the tray loading mechanism 210 as an example, it includes a guide bracket 211, a tray lifting bracket 212 and a tray lifting drive mechanism 213. The tray lifting bracket 212 is slidably connected to the guide bracket 211, and can be lifted and lowered in the vertical direction under the drive of the tray lifting drive mechanism 213. The upper end of the guide bracket 211 is provided with an in-place photoelectric sensor 215 horizontally facing the tray lifting bracket 212, which is used to detect the height of the trays stacked on the tray lifting bracket 212. The bottom of the guide bracket 211 is provided with a first material photoelectric sensor 214 facing vertically upwards, which is used to detect whether there are trays stored on the tray lifting bracket 212. When the in-place photoelectric sensor 215 of the tray loading mechanism 210 does not detect the tray, the tray lifting drive mechanism 213 drives the tray lifting bracket 212 to rise along the guide bracket 211 until the in-place photoelectric sensor 215 detects the tray; when the in-place photoelectric sensor 215 of the tray unloading mechanism detects the tray, the tray lifting drive mechanism 213 drives the tray lifting bracket 212 to descend along the guide bracket 211 to the height of a tray.

[0034] Reference Figure 5 and Figure 6In this embodiment, the guide bracket 211 includes a bottom bracket 2111, a side plate 2112 and a lifting drive mechanism bracket 2113, and the guide bracket 211 is arranged on the frame 100 through the bottom bracket 2111. The tray loading mechanism 210 and the tray unloading mechanism share a bottom bracket 2111 and a lifting drive mechanism bracket 2113, and the lifting drive mechanism bracket 2113 is arranged at the center of the bottom bracket 2111. Two side plates 2112 are vertically arranged at both ends of the bottom bracket 2111, forming two tracks for the two tray lifting brackets 212 to move vertically, and two sets of tray lifting drive mechanisms 213 are arranged inside the lifting drive mechanism bracket 2113. The side plates 2112 and the bottom bracket 2111 are slidably connected by slide rails, and can approach or move away from the lifting drive mechanism bracket 2113 in the X-axis direction to adapt to trays of different lengths. A locking mechanism 21111 is provided between the side plate 2112 and the bottom bracket 2111, which is used to lock the side plate 2112 on the bottom bracket 2111 to achieve the fixation of the adjustment result. Figure 5 The locking mechanism 21111 is a bolt. A waist-shaped hole parallel to the slide rail is provided on the bottom bracket 2111. The bolt passes through the waist-shaped hole and is locked into the bottom of the side plate 2112. The unlocking and locking between the side plate 2112 and the bottom bracket 2111 can be achieved by adjusting the tightness of the bolt.

[0035] The tray lifting bracket 212 includes two parallel beams 2121 and two tray support plates 2122 detachably straddling the two beams 2121. The two beams 2121 and the two tray support plates 2122 form a "well"-shaped structure to achieve stable support for the tray. There are multiple installation positions on the beam 2121, and the two tray support plates 2122 can be installed in different installation positions, and the distance between the two tray support plates 2122 in the X-axis direction can be adjusted to accommodate trays of different lengths. In this embodiment, refer to Figure 6 , multiple installation positions are set on the crossbeam 2121 in the form of multiple groups of bolt holes, and the crossbeam 2121 is connected to the tray support plate 2122 by bolts. One end of the two crossbeams 2121 extends into the lifting drive mechanism bracket 2113 and is connected to the tray lifting drive mechanism 213. The side plate 2112 is provided with vertical strip holes 21121, and the other ends of the two crossbeams 2121 can extend from the two strip holes 21121 respectively to prevent the crossbeams 2121 from interfering with the position adjustment of the side plate 2112. Adjustment blocks 21221 are slidably set on both tray support plates 2122, and the adjustment blocks 21221 can slide along the tray support plate 2122 in the Y-axis direction to adapt to trays of different widths. Refer to Figure 5 and Figure 6In this embodiment, the adjustment block 21221 is a T-shaped block, the bottom of the tray support plate 2122 is provided with a groove in the Y-axis direction, the bottom of the groove is provided with a waist-shaped hole in the Y-axis direction, and multiple bolt holes for detachably connecting the adjustment block 21221 are evenly spaced on both sides of the waist-shaped hole, and the multiple bolt holes can also be used as scales to indicate the position of the adjustment block 21221. In this embodiment, the tray lifting drive mechanism 213 is composed of a motor, a lead screw pair and a slide rail, the crossbeam 2121 is slidably connected to the lifting drive mechanism bracket 2113 through the slide rail, and the crossbeam 2121 is also connected to the lead screw nut of the lead screw pair.

[0036] Reference Figure 7 , a second photoelectric sensor 232 facing upwards is provided on the transfer platform 300 for detecting whether a material tray is placed on the platform. In order to stably place material trays of various sizes, two fixed ribs 233 are provided along two adjacent edges of the transfer platform 300, and two adjustable ribs 234 are slidably provided on the transfer platform 300. The two adjustable ribs 234 are respectively parallel to the two fixed ribs 233, and each adjustable rib 234 can slide along the surface of the transfer platform 300 in a direction perpendicular to it, so that the distance between each adjustable rib 234 and the relative fixed rib 233 can be adjusted to adapt to material trays of different lengths and widths. In the present embodiment, the adjustable rib 234 is slidably connected to the transfer platform 300 by a slide rail embedded in the transfer platform 300. In the present embodiment, the material tray transfer drive mechanism 231 is also composed of a lead screw pair, a motor and a slide rail.

[0037] Reference Figure 1 and Figure 2 In this embodiment, the loading and unloading mechanism 220 includes two loading and unloading manipulators, which are respectively arranged at the two ends of the tray transfer drive mechanism 231. Figure 8 The loading and unloading manipulator includes a tray suction cup 221 and a suction cup lifting drive mechanism 222. The tray suction cup 221 can be lifted and lowered in the vertical direction under the drive of the suction cup lifting drive mechanism 222. In this embodiment, the suction cup lifting drive mechanism 222 is composed of a motor and a lead screw pair. The tray suction cup 221 is connected to the lead screw nut of the suction cup lead screw pair 2221 through two guide columns 2222. A linear bearing seat 2223 is provided on the frame 100. The two guide columns 2222 pass through the linear bearings on the linear bearing seat 2223 to guide the lifting and lowering movement of the tray suction cup 221. A plurality of suction nozzles are provided on the tray suction cup 221. The spacing and distribution positions between the plurality of suction nozzles can be adjusted to adapt to trays of different shapes. It can be understood that the tray suction cup 221 can also be replaced by a pneumatic or electric gripper.

[0038] Reference Fig. 9The conveying track 400 includes a track bottom plate 401 and two track side plates 402, and the track side plates 402 are arranged on the track bottom plate 401 in parallel along the X-axis direction. One of the two track side plates 402 is fixedly arranged on one side of the track bottom plate 401, and the other track side plate 402 is slidably arranged on the track bottom plate 401, and can be away from or close to the fixed track side plate 402 in the Y-axis direction, so that the conveying track 400 can adapt to products of different widths. Fig. 9 In this embodiment, the slidable track side plate 402 is slidably connected to the track bottom plate 401 by adjusting the slide rail 403. An adjusting screw rod 404 is arranged between the two track side plates 402. The slidable track side plate 402 is connected to the screw nut of the adjusting screw rod 404. An adjusting hand wheel 405 is arranged at one end of the adjusting screw rod 404. The width of the conveying track 400 can be precisely adjusted by rotating the adjusting hand wheel 405.

[0039] A conveyor belt mechanism 4023 is provided inside the track side plate 402. The conveyor belt mechanism 4023 is driven by a motor and drives the product to move along the conveyor track 400 through the static friction between the conveyor belt and the two sides of the product. In order to prevent the product from flying out of the conveyor track 400, an upper guide plate 4021 is provided on the upper edge of the track side plate 402. A lower support plate 4022 for supporting the conveyor belt of the conveyor belt mechanism 4023 is provided below the upper guide plate 4021. The conveyor belt of the conveyor belt mechanism 4023 passes through the gap between the upper guide plate 4021 and the lower support plate 4022, driving the product to move along the conveyor track 400 in the gap between the upper guide plate 4021 and the lower support plate 4022.

[0040] In some embodiments, since the conveyor belt mechanism 4023 may slip during the process of transporting the product, it is impossible to accurately adjust the position of the product in the Y-axis direction. Figure 2 , a movable clamping table 410 is provided on the conveying track 400 and can slide along the conveying track 400. Fig.10 and Fig.11The mobile clamping table 410 includes a clamping table driving mechanism, two clamping table side plates 412 and a clamping table bottom plate 411. The two clamping table side plates 412 are vertically arranged on the clamping table bottom plate 411 in parallel along the X-axis direction. The clamping table bottom plate 411 is connected to the clamping table driving mechanism and can reciprocate in the X-axis direction under the drive of the clamping table driving mechanism. In order to adapt to products of different widths, one of the two clamping table side plates 412 is fixedly arranged on the clamping table bottom plate 411, and the other is slidably arranged on the clamping table bottom plate 411 through a slide rail, and can approach or move away from the fixed clamping table side plate 412 in the Y-axis direction. Bolt holes are arranged on the side of the slidable clamping platform side plate 412, and locking side plates 4111 parallel to the slide rails are arranged on both sides of the clamping platform bottom plate 411. The locking side plates 4111 are provided with waist-shaped holes in the X-axis direction. After adjustment, the bolts passing through the waist-shaped holes and locked into the side of the slidable clamping platform side plate 412 can be locked to fix the distance between the two clamping platform side plates 412. An upper clamping plate 4121 is arranged on the upper edge of the clamping platform side plate 412, and a clamping platform top plate 4122 is slidably arranged on the inner side of the clamping platform side plate 412. A top plate driving mechanism 4123 is also arranged on the clamping platform side plate 412, and the clamping platform top plate 4122 can approach or move away from the upper clamping plate 4121 under the drive of the top plate driving mechanism 4123. In order to provide enough movement space for the mobile clamping platform 410, the track bottom plate 401 of the conveying track 400 is divided into two pieces, and the two ends of the two track side plates 402 are respectively connected to the two track bottom plates 401 at the two ends. Fig.11 There is a space between the clamping platform side plate 412 and the clamping platform top plate 4122 for the track side plate 402 to pass through. It can be understood that a photoelectric sensor for detecting products is provided on the clamping platform side plate 412 or the clamping platform bottom plate 411. When it is detected that the product is sent to the mobile clamping platform 410, the clamping platform top plate 4122 is lifted, the product is lifted from the conveyor belt, and is clamped between the clamping platform top plate 4122 and the upper clamping plate 4121, and the precise adjustment of the product position is achieved through the clamping platform driving mechanism. The clamping platform driving mechanism can adopt a linear motor or a combination of a motor and a lead screw pair, and the top plate driving mechanism 4123 generally adopts a cylinder.

[0041] Reference Figure 1 and Figure 2 In order to improve the rhythm of the device, in this embodiment, the number of the first working head 500 and the second working head 700 are both two, which are symmetrically arranged on both sides of the device and driven by two Y-axis driving mechanisms 800 respectively. Correspondingly, two transfer platforms 300 are also provided, and the two transfer platforms 300 are respectively arranged on the frame 100 through two transfer translation mechanisms 310, and can reciprocate in the X-axis direction under the drive of the transfer platform 300 mechanism. A detachable limit block is provided on the transfer platform 300, which cooperates with the adsorption function of the transfer platform 300 to further prevent the plate to be implanted from angular deflection during the movement.

[0042] It should be noted that in the description of the present invention, if there are any orientation descriptions, such as up, down, front, back, left, right, etc., the orientations or positional relationships indicated are all based on the orientations or positional relationships shown in the drawings. They are only for the convenience of describing the present invention and simplifying the description, and do not indicate or imply that the device or element referred to must have a specific orientation, be constructed or operated in a specific orientation, and cannot be understood as a limitation on the present invention.

[0043] In the description of the present utility model, "several" means one or more, "more" means two or more, "greater than", "less than", "exceed" etc. are understood to exclude the number itself, and "above", "below", "within" etc. are understood to include the number itself. If there is a description of "first" or "second", it is only used to distinguish the technical features, and cannot be understood as indicating or implying relative importance or implicitly indicating the number of the indicated technical features or implicitly indicating the order of the indicated technical features.

[0044] In the description of the present invention, unless otherwise clearly defined, terms such as setting, installing, connecting, etc. should be understood in a broad sense, and technicians in the relevant technical field can reasonably determine the specific meanings of the above terms in the present invention based on the specific content of the technical solution.

[0045] The above-mentioned implementation modes are only preferred implementation modes of the present invention, and cannot be used to limit the protection scope of the present invention. Any non-substantial changes and substitutions made by technicians in this field on the basis of the present invention shall fall within the scope of protection required by the present invention.

Claims

1. A board planting device, characterized in that: include: A feeding mechanism (200) for providing a plate to be implanted; A transfer platform (300) is arranged on one side of the feeding mechanism (200) and is used to temporarily store the panels to be implanted and can absorb the panels to be implanted; A conveying track (400) is arranged on one side of the transfer platform (300) and is used to convey the product to be implanted in the X-axis direction; The first working head (500) is used to correct the deviation of the plate to be implanted on the feeding mechanism (200) and place it on the transfer platform (300), comprising a first Z-axis driving mechanism (510), an R-axis driving mechanism (520), a first suction nozzle (530) and a first positioning camera module (540), wherein the R-axis driving mechanism (520) is arranged on the first Z-axis driving mechanism (510), and the R-axis driving mechanism (520) can be lifted and lowered under the drive of the Z-axis driving mechanism, the first suction nozzle (530) is arranged on the R-axis driving mechanism (520), and the first suction nozzle (530) can be rotated under the drive of the R-axis driving mechanism (520), and the first positioning camera module (540) is arranged on one side of the first suction nozzle (530), and the first positioning camera module (540) is used to take pictures of the plate to be implanted in the tray; A lower camera module (600) is disposed on one side of the transfer platform (300) and is used to take a picture of the plate to be implanted sucked by the first working head (500); The second working head (700) is used to implant the panel to be implanted on the transfer platform (300) into the product to be implanted on the conveying track (400), and comprises a second Z-axis driving mechanism (710), a second suction nozzle (730), a second positioning camera module (720) and a real-time positioning camera module (740). The second suction nozzle (730) is arranged on the Z-axis driving mechanism. The second suction nozzle (730) can be lifted and lowered under the drive of the Z-axis driving mechanism. The second positioning camera module (720) and the real-time positioning camera module (740) are respectively arranged on both sides of the second suction nozzle (730). The second positioning camera module (720) is used to take pictures of the product to be mounted. The real-time positioning camera module (740) is used to perform real-time image acquisition of the panel to be implanted sucked by the second suction nozzle (730) and the product to be implanted on the conveying track (400); The Y-axis driving mechanism (800) is used to drive the first working head (500) to move back and forth above the feeding mechanism (200) and the transfer platform (300), and to drive the second working head (700) to move back and forth above the transfer platform (300) and the conveying track (400).

2. The plate planting device according to claim 1, characterized in that: The feeding mechanism (200) comprises: A material tray loading mechanism (210) is used to lift the material tray containing the panels to be implanted to a set height; A tray unloading mechanism, arranged side by side with the tray loading mechanism (210), and used for storing empty trays; The tray transfer platform (230) can reciprocate in the X-axis direction above the tray loading mechanism (210) and the tray unloading mechanism under the drive of the tray transfer driving mechanism (231), and is used for temporarily storing the trays; The loading and unloading mechanism (220) is used to move the material tray in the material tray loading mechanism (210) to the material tray transfer platform (230), or to move the material tray on the material tray transfer platform (230) to the material tray unloading mechanism.

3. The plate planting device according to claim 2, characterized in that: The tray loading mechanism (210) comprises a guide bracket (211), a tray lifting bracket (212) and a tray lifting drive mechanism (213); the tray lifting bracket (212) is slidably connected to the guide bracket (211); the tray lifting bracket (212) can slide along the guide bracket (211) under the drive of the tray lifting drive mechanism (213); an in-position photoelectric sensor (215) facing horizontally toward the tray lifting bracket (212) is arranged at the upper end of the guide bracket (211); a first material presence photoelectric sensor (214) facing vertically upward is arranged at the bottom of the guide bracket (211); and the tray unloading mechanism has the same structure as the tray loading mechanism (210).

4. The plate planting device according to claim 3, characterized in that: The guide bracket (211) comprises a bottom bracket (2111), a side plate (2112) and a lifting drive mechanism bracket (2113); the tray lifting drive mechanism (213) is arranged in the lifting drive mechanism bracket (2113); the lifting drive mechanism bracket (2113) is vertically fixed on the bottom bracket (2111); the side plate (2112) is slidably arranged on the bottom bracket (2111); the side plate (2112) can be moved upward and downward on the bottom bracket (2111); The lifting drive mechanism bracket (2113) is approached or moved away from the lifting drive mechanism bracket (2113) in the X-axis direction, a locking mechanism (21111) is arranged between the bottom of the side plate (2112) and the bottom bracket (2111), and the locking mechanism (21111) can lock the side plate (2112) on the bottom bracket (2111), and the material tray lifting bracket (212) is arranged between the lifting drive mechanism bracket (2113) and the side plate (2112). (212) comprises two parallel cross beams (2121), and two material tray support plates (2122) detachably straddled on the two cross beams (2121), the two cross beams (2121) are provided with a plurality of mounting positions for mounting the material tray support plates (2122), the material tray support plates (2122) are provided with a slidable adjustment block (21221), and the adjustment block (21221) can be slidably moved along the material tray support plates (212) in the Y-axis direction. 2) sliding, one end of the two cross beams (2121) is slidably connected to the lifting drive mechanism bracket (2113), at least one of the two cross beams (2121) is connected to the tray lifting drive mechanism (213), and two vertical strip holes (21121) are provided on the side plate (2112), and one end of the two cross beams (2121) facing away from the lifting drive mechanism bracket (2113) can extend from the two strip holes (21121) respectively.

5. The plate planting device according to claim 2, characterized in that: The tray transfer platform (230) is provided with a second upward material photoelectric sensor (232), two fixed ribs (233) are respectively provided along two adjacent edges of the tray transfer platform (230), and two adjustable ribs (234) are slidably provided on the tray transfer platform (230), the two adjustable ribs (234) are respectively parallel to the two fixed ribs (233), and each of the adjustable ribs (234) can slide along the upper surface of the tray transfer platform (230) in a direction perpendicular to the same.

6. The plate planting device according to claim 2, characterized in that: The loading and unloading mechanism (220) comprises two loading and unloading manipulators, which are respectively arranged at two ends of the material tray transfer drive mechanism (231). The loading and unloading manipulators comprise a material tray suction cup (221) and a suction cup lifting drive mechanism (222). The material tray suction cup (221) can be driven by the suction cup lifting drive mechanism (222) to perform lifting movement above the material tray loading mechanism (210) or the material tray unloading mechanism.

7. The plate planting device according to claim 1, characterized in that: The conveying track (400) comprises a track bottom plate (401) and two track side plates (402), wherein the two track side plates (402) are arranged on the track bottom plate (401) in parallel along the X-axis direction, wherein one track side plate (402) is fixedly arranged on the track bottom plate (401), and the other track side plate (402) is slidably arranged on the track bottom plate (401), and the track side plate (402) slidably arranged on the track bottom plate (401) can be moved in the Y-axis direction. Approaching or moving away from a track side plate (402) fixedly arranged on the track bottom plate (401), a conveyor belt mechanism (4023) is arranged on the inner side of the track side plate (402), an upper guide plate (4021) is arranged on the upper edge of the track side plate (402), a lower support plate (4022) parallel to the upper guide plate (4021) is arranged below the upper guide plate (4021), and a conveyor belt in the conveyor belt mechanism (4023) passes between the upper guide plate (4021) and the lower support plate (4022).

8. The plate planting device according to claim 7, characterized in that: The conveying track (400) is provided with a movable clamping table (410) which can slide along the conveying track (400), and the movable clamping table (410) includes a clamping table driving mechanism, two clamping table side plates (412) and a clamping table bottom plate (411), the two clamping table side plates (412) are vertically arranged on the clamping table bottom plate (411) in parallel along the X-axis direction, the clamping table bottom plate (411) is connected to the clamping table driving mechanism, and can reciprocate along the conveying track (400) in the X-axis direction under the drive of the clamping table driving mechanism, one of the clamping table side plates (412) is fixedly arranged on the clamping table bottom plate (411), and the other of the clamping table side plates (411) is fixedly arranged on the clamping table bottom plate (411). 12) is slidably arranged on the clamping table bottom plate (411), and the clamping table side plate (412) slidably arranged on the clamping table bottom plate (411) can approach or move away from the clamping table side plate (412) fixedly arranged on the clamping table bottom plate (411) in the Y-axis direction, an upper clamping plate (4121) is arranged on the upper edge of the clamping table side plate (412), and a clamping table top plate (4122) is slidably arranged on the inner side of the clamping table side plate (412), and a top plate driving mechanism (4123) is arranged on the clamping table side plate (412), and the clamping table top plate (4122) can approach or move away from the upper clamping plate (4121) in the vertical direction under the drive of the clamping table driving mechanism.

9. The plate planting device according to claim 1, characterized in that: The transfer platform (300) is arranged on the frame (100) via a transfer translation mechanism (310), and the transfer platform (300) can reciprocate in the X-axis direction under the drive of the transfer translation mechanism (310).

10. The plate planting device according to claim 1, characterized in that: The second positioning camera module (720) is arranged on the second Z-axis driving mechanism (710), the second positioning camera module (720) and the second suction nozzle (730) perform lifting and lowering movements synchronously, and the lens of the second positioning camera module (720) adopts a double telecentric lens.

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