Automatic feeding and discharging drilling machine

Abstract

The utility model relates to the technical field of drilling machines, in particular to an automatic feeding and discharging drilling machine which comprises a turnover device, a laser drilling machine, a first feeding and discharging unit and a second feeding and discharging unit. Each of the first feeding and discharging unit and the second feeding and discharging unit comprises a feeding and discharging tray device, a feeding and discharging device, a first manipulator and a second manipulator, the first manipulator is movably arranged above the feeding and discharging device and the feeding and discharging tray device, and the second manipulator is movably arranged above the feeding and discharging tray device and the laser drilling machine; the turnover device is located on one side of the feeding and discharging device of the second feeding and discharging unit, and a third mechanical arm is movably arranged above the turnover device and the corresponding feeding and discharging device. According to the double-sided drilling machine, automatic feeding, drilling and discharging of materials are achieved, the materials can be turned over through the turning device and then drilled, double-sided drilling of the materials is achieved, the materials subjected to double-sided drilling can be stacked, and production efficiency is greatly improved.

Description

Technical Field

[0001] The utility model relates to the technical field of drilling machines, in particular to an automatic loading and unloading drilling machine. Background Art

[0002] In the production process of PCB boards, drilling holes in PCB boards is one of the processes, and sometimes it is necessary to drill holes on both sides of the PCB board. Among the existing patents, the Chinese patent document with application number 201510074279.2 discloses a high-speed laser drilling machine with automatic loading and unloading, including a machine platform, a loading device and a unloading device. The machine platform is provided with a vacuum adsorption platform and a high-speed laser galvanometer. The machine platform is also provided with a drilling linear module for driving the high-speed laser galvanometer to move along the Z-axis direction; the loading device includes a loading frame, a loading box, a loading assembly and a loading vacuum suction cup. The loading frame is provided with a loading movable plate and a loading linear module. The loading assembly is connected to the movable plate. The loading box is provided with a loading support plate. The rear side of the loading box is provided with a loading lifting assembly; the unloading device includes an unloading frame, a unloading box, a unloading assembly and a unloading vacuum suction cup. The unloading frame is provided with a unloading movable plate and a unloading linear module. The unloading assembly is connected to the movable plate. A unloading support plate is provided in the unloading box. The unloading box is provided with an unloading lifting assembly. Although this patent document can realize automatic loading and unloading, has high loading and unloading efficiency, and can avoid damage to the material, it can only drill holes on one side of the material.

[0003] Therefore, the defects are very obvious and a solution is urgently needed. Utility Model Content

[0004] In order to solve the above technical problems, the purpose of the utility model is to provide an automatic loading and unloading drilling machine.

[0005] In order to achieve the above purpose, the utility model adopts the following technical solutions:

[0006] An automatic loading and unloading drilling machine comprises a flipping device, a laser drilling machine, and a first loading and unloading unit and a second loading and unloading unit symmetrically arranged on both sides of the laser drilling machine; when the first loading and unloading unit is in a loading state, the second loading and unloading unit is in a unloading state; when the second loading and unloading unit is in a loading state, the first loading and unloading unit is in a unloading state; the first loading and unloading unit and the second loading and unloading unit both comprise a loading and unloading tray device, a loading and unloading device, a first manipulator and a second manipulator, the loading and unloading tray device is located between the loading and unloading device and the laser drilling machine, the first manipulator is movably arranged above the loading and unloading device and the loading and unloading tray device, the second manipulator is movably arranged above the loading and unloading tray device and the laser drilling machine, the flipping device is located on one side of the loading and unloading device of the second loading and unloading unit, and a third manipulator is movably arranged above the flipping device and the loading and unloading device of the second loading and unloading unit.

[0007] Furthermore, the laser drilling machine has two drilling stations, the second manipulator has two second suction cup mechanisms, and a transition platform is reciprocatingly arranged above the upper and lower material tray device and an adjacent drilling station, and the transition platform is located below the second suction cup mechanism.

[0008] Furthermore, the flipping device includes a fixed seat arranged on one side of the corresponding loading and unloading device, a flipping frame rotatably connected to the fixed seat, a flipping drive mechanism installed on the fixed seat and used to drive the flipping frame to flip, a lifting mechanism arranged below the flip frame, at least one first clamping mechanism installed on the inner wall of one side plate of the flip frame, a pulling mechanism installed on the other side plate of the flip frame, and at least one second clamping mechanism installed on the pulling end of the pulling mechanism. The first clamping mechanism and the second clamping mechanism are arranged opposite to each other, and the pulling mechanism is used to drive the second clamping mechanism to approach or move away from the first clamping mechanism, and the lifting end of the lifting mechanism can extend into the flip frame.

[0009] Furthermore, the lifting mechanism includes a base, a lifting drive installed on the base and a lifting plate installed on the lifting end of the lifting drive, the lifting drive is used to drive the lifting plate to rise and fall, and the first clamping mechanism and the second clamping mechanism are respectively located outside the two sides of the lifting plate.

[0010] Furthermore, the lifting plate is provided with a four-way positioning mechanism; the four-way positioning mechanism includes four positioning modules, and the four positioning modules are respectively located on the four sides of the lifting plate. The positioning module includes a positioning cylinder installed on the bottom surface of the lifting plate, a piston rod installed on the positioning cylinder and a movable plate movable on the bottom surface of the lifting plate and a plurality of positioning rods installed on the movable plate. The positioning rods are located outside the side of the lifting plate, and the top of the positioning rods is higher than the top surface of the lifting plate. The first clamping mechanism or the second clamping mechanism is staggered with the corresponding positioning rod.

[0011] Furthermore, the loading and unloading device includes a frame, two parallel supporting arms, a lifting drive mechanism installed on the frame, and a spacing adjustment mechanism installed on the lifting end of the lifting drive mechanism and used to adjust the spacing between the two supporting arms. The supporting part of the supporting arm is provided with multiple floating units, the main body of the supporting arm is provided with multiple correction mechanisms, and the two supporting arms are provided with side beating mechanisms on the outside of the sides away from each other. The frame is equipped with an end face beating mechanism, and the end face beating mechanism is located between the two supporting arms. A loading and unloading space is enclosed between the two side face beating mechanisms and the end face beating mechanism.

[0012] Furthermore, the side beating tidying mechanism includes a mounting frame, a side clapper, a side beating cylinder, two first shafts, two swing frames and two second shafts. The two first shafts are installed in parallel on the mounting frame, the two second shafts are installed in parallel on the back of the side clapper, the two swing frames are arranged in parallel, the two ends of one swing frame are respectively hinged to a first shaft and a second shaft, the two ends of the other swing frame are respectively hinged to the other first shaft and the other second shaft, the cylinder body of the side beating cylinder is hinged to the mounting frame, and the piston rod of the side beating cylinder is hinged to one end of a swing frame close to the first shaft.

[0013] Furthermore, the first manipulator has a first suction cup mechanism, and the third manipulator has a third suction cup mechanism; the width and / or length of the first suction cup mechanism can be adjusted, and correspondingly, the width and / or length of the second suction cup mechanism can be adjusted, and the width and / or length of the third suction cup mechanism can be adjusted.

[0014] Furthermore, the first suction cup mechanism is provided with two groups of suction nozzle assemblies, and one group of suction nozzle assemblies is distributed outside the circumference of the other group of suction nozzle assemblies.

[0015] The beneficial effects of the utility model are as follows: the utility model not only realizes the automatic loading, drilling and unloading of materials, but also can flip the materials through the flipping device before drilling, so as to realize double-sided drilling of the materials, and can stack the materials after double-sided drilling, thereby greatly improving the production efficiency. BRIEF DESCRIPTION OF THE DRAWINGS

[0016] Figure 1 It is a three-dimensional structural schematic diagram of the utility model.

[0017] Figure 2 It is a schematic diagram of the three-dimensional structure of the turning device of the utility model.

[0018] Figure 3 It is a three-dimensional structural schematic diagram of the turning frame, the first clamping mechanism, the pulling mechanism and the second clamping mechanism of the utility model.

[0019] Figure 4 It is a three-dimensional structural schematic diagram of the lifting mechanism of the utility model.

[0020] Figure 5 It is a three-dimensional structural schematic diagram of the lifting mechanism of the utility model from another perspective.

[0021] Figure 6 It is a three-dimensional structural schematic diagram of the loading and unloading device of the utility model.

[0022] Figure 7 It is a three-dimensional structural schematic diagram of the spacing adjustment mechanism, the support arm, the floating unit and the deviation correction mechanism of the utility model.

[0023] Figure 8 It is a three-dimensional structural schematic diagram of the side beating and tidying mechanism of the utility model.

[0024] Fig. 9 It is a three-dimensional structural schematic diagram of the side beating and tidying mechanism of the utility model from another perspective.

[0025] Fig.10 It is a three-dimensional structural schematic diagram of the first manipulator of the utility model.

[0026] Fig.11 It is a schematic diagram of the three-dimensional structure of the second manipulator of the utility model.

[0027] Description of reference numerals:

[0028] 1. Turning device; 11. Fixed seat; 12. Turning frame; 13. Turning drive mechanism; 14. Lifting mechanism; 141. Base; 142. Lifting drive; 143. Lifting plate; 144. Positioning module; 145. Positioning cylinder; 146. Moving plate; 147. Positioning rod; 15. First clamping mechanism; 16. Pulling mechanism; 17. Second clamping mechanism; 2. Laser drilling machine; 21. Drilling station; 3. First loading and unloading unit; 4. Second loading and unloading unit; 5. Loading and unloading tray device; 6. Loading and unloading device; 61. Frame; 62. Support Support arm; 63. Lifting drive mechanism; 64. Spacing adjustment mechanism; 65. Floating unit; 66. Correction mechanism; 67. Side beating mechanism; 671. Mounting frame; 672. Side clapper; 673. Side beating cylinder; 674. First shaft; 675. Swing frame; 676. Second shaft; 68. End face beating mechanism; 69. Loading and unloading space; 7. First manipulator; 71. First suction cup mechanism; 72. Suction nozzle assembly; 8. Second manipulator; 81. Second suction cup mechanism; 82. Transition platform; 9. Third manipulator; 91. Material tray. DETAILED DESCRIPTION

[0029] In order to facilitate the understanding of those skilled in the art, the present invention is further described below in conjunction with embodiments and drawings. The contents mentioned in the implementation modes are not intended to limit the present invention.

[0030] like Figures 1 to 11As shown, the utility model provides an automatic loading and unloading drilling machine, which includes a flipping device 1, a laser drilling machine 2, and a first loading and unloading unit 3 and a second loading and unloading unit 4 symmetrically arranged on both sides of the laser drilling machine 2; when the first loading and unloading unit 3 is in a loading state, the second loading and unloading unit 4 is in a unloading state; when the second loading and unloading unit 4 is in a loading state, the first loading and unloading unit 3 is in a unloading state; the first loading and unloading unit 3 and the second loading and unloading unit 4 both include a loading and unloading tray device 5, a loading and unloading device 6, a first manipulator 7 and a second manipulator 8, the loading and unloading tray device 5 is located between the loading and unloading device 6 and the laser drilling machine 2, the first manipulator 7 is movably arranged above the loading and unloading device 6 and the loading and unloading tray device 5, the second manipulator 8 is movably arranged above the loading and unloading tray device 5 and the laser drilling machine 2, the flipping device 1 is located on one side of the loading and unloading device 6 of the second loading and unloading unit 4, and a third manipulator 9 is movably arranged above the flipping device 1 and the loading and unloading device 6 of the second loading and unloading unit 4.

[0031] The working principle of the automatic loading and unloading drilling machine is:

[0032] Step A, the first loading and unloading unit 3 loads materials to the laser drilling machine 2; wherein the loading and unloading device 6 of the first loading and unloading unit 3 supplies the material tray 91 carrying the materials to the first manipulator 7; the first manipulator 7 picks up the material tray 91 carrying the materials to the loading and unloading tray device 5; the second manipulator 8 picks up the materials on the material tray 91 carried by the loading and unloading tray device 5 to the drilling station 21 of the laser drilling machine 2, and the loading and unloading tray device 5 stacks the empty material trays 91;

[0033] Step B, laser drilling machine 2 performs laser drilling on one side of the material;

[0034] Step C, the second loading and unloading unit 4 unloads the material after laser drilling by the laser drilling machine 2; wherein the second manipulator 8 of the second loading and unloading unit 4 picks up the material after laser drilling carried by the laser drilling machine 2 to the empty material tray 91 carried by the loading and unloading tray device 5; the first manipulator 7 picks up the material tray 91 carrying the laser drilled material to the loading and unloading device 6;

[0035] Step D, the third manipulator 9 picks up the single-sided laser-drilled material carried by the tray 91 on the loading and unloading device 6 and places it on the flipping device 1, and the flipping device 1 flips the single-sided laser-drilled material 180°; the third manipulator 9 then picks up the material flipped by the flipping device 1 and places it on the tray 91 of the loading and unloading device 6, and the loading and unloading device 6 stacks the tray 91 carrying the single-sided laser-drilled material;

[0036] Step E: When the material trays 91 in the loading and unloading device 6 of the second loading and unloading unit 4 are fully stacked, the stacked material trays 91 are transported to the loading and unloading device 6 of the first loading and unloading unit 3 by the vehicle body, and the operations of steps A to C are repeated to complete the double-sided laser drilling and stacking of the materials;

[0037] Alternatively, when the material trays 91 in the loading and unloading device 6 of the second loading and unloading unit 4 are fully stacked, 1) the second loading and unloading unit 4 feeds the laser drilling machine 2; wherein the loading and unloading device 6 of the second loading and unloading unit 4 supplies the material tray 91 carrying the material to the first manipulator 7, the first manipulator 7 picks up the material tray 91 carrying the material to the loading and unloading tray device 5, the second manipulator 8 picks up the material on the material tray 91 carried by the loading and unloading tray device 5 to the drilling station 21 of the laser drilling machine 2, and the loading and unloading tray device 5 stacks the empty material trays 91; 2) the laser drilling machine 2 The other side of the material is laser drilled; 3) the first loading and unloading unit 3 unloads the material after the laser drilling machine 2 completes the laser drilling; wherein the second manipulator 8 of the first loading and unloading unit 3 picks up the material carried by the laser drilling machine 2 that has completed the double-sided laser drilling to the empty material tray 91 carried by the loading and unloading tray device 5; the first manipulator 7 picks up the material tray 91 carrying the double-sided laser drilled material to the loading and unloading device 6, and the loading and unloading device 6 stacks the material tray 91 carrying the double-sided laser drilled material to complete the double-sided laser drilling of the material and stack it. Preferably, the material can be a material, a plate (such as a PCB board), etc.

[0038] The utility model not only realizes the automatic loading, drilling and unloading of materials, but also can turn over the materials through the turning device 1 before drilling, so as to realize double-sided drilling of the materials, and can stack the materials after double-sided drilling, thereby greatly improving the production efficiency.

[0039] In this embodiment, the laser drilling machine 2 has two drilling stations 21, the second manipulator 8 has two second suction cup mechanisms 81, and a transition platform 82 is reciprocatingly arranged above the upper and lower material tray device 5 and an adjacent drilling station 21, and the transition platform 82 is located below the second suction cup mechanism 81.

[0040] Take the first loading and unloading unit 3 or the second loading and unloading unit 4 for loading as an example; the transition platform 82 moves to the top of the drilling station 21, the first manipulator 7 picks up the tray 91 carrying the material in the loading and unloading device 6 to the loading and unloading tray device 5, then a second suction cup mechanism 81 of the second manipulator 8 picks up the material on the loading and unloading tray device 5 to the transition platform 82, and then the first manipulator 7 continues to pick up the tray 91 carrying the material in the loading and unloading device 6 to the loading and unloading tray device 5, when a second suction cup mechanism 81 of the second manipulator 8 absorbs the material on the loading and unloading tray device 5, another second suction cup mechanism 81 of the second manipulator 8 absorbs the material on the transition platform 82, so that the two second suction cup mechanisms 81 of the second manipulator 8 both absorb the material, and then the second manipulator 8 picks up the two materials to the two drilling stations 21 of the laser drilling machine 2, so that the laser drilling machine 2 performs laser drilling on the two materials at one time. The reverse is the unloading principle of the first loading and unloading unit 3 or the second loading and unloading unit 4, which will not be repeated here.

[0041] In this embodiment, the flip device 1 includes a fixed seat 11 arranged on one side of the corresponding loading and unloading device 6, a flip frame 12 rotatably connected to the fixed seat 11, a flip driving mechanism 13 installed on the fixed seat 11 and used to drive the flip frame 12 to flip, a lifting mechanism 14 arranged below the flip frame 12, at least one first clamping mechanism 15 installed on the inner wall of one side plate of the flip frame 12, a pulling mechanism 16 installed on the other side plate of the flip frame 12, and at least one second clamping mechanism 17 installed on the pulling end of the pulling mechanism 16, the first clamping mechanism 15 and the second clamping mechanism 17 are arranged opposite to each other, the pulling mechanism 16 is used to drive the second clamping mechanism 17 to approach or move away from the first clamping mechanism 15, and the lifting end of the lifting mechanism 14 can extend into the flip frame 12. Specifically, the flip driving mechanism 13 can adopt a motor.

[0042] In actual application, the lifting end of the lifting mechanism 14 is extended into the flip frame 12, the clamping end of the first clamping mechanism 15 and the clamping end of the second clamping mechanism 17 are both in an open state, the third manipulator 9 places the material on the lifting end of the lifting mechanism 14, and the lifting mechanism 14 lifts and supports the material, and the two sides of the material are respectively located in the clamping end of the first clamping mechanism 15 and the clamping end of the second clamping mechanism 17, then the clamping end of the first clamping mechanism 15 and the clamping end of the second clamping mechanism 17 are closed, so that the clamping end of the first clamping mechanism 15 and the clamping end of the second clamping mechanism 17 clamp the two sides of the material respectively, and then the lifting end of the lifting mechanism 14 moves out from under the flip frame 12 until the lifting end of the lifting mechanism 14 and the flip frame 12 are aligned. The space between the flip frame 12 and the first clamping mechanism 15 can be used for flipping. At the same time, the pulling end of the pulling mechanism 16 drives the second clamping mechanism 17 to pull the material in a direction away from the first clamping mechanism 15 according to a preset program, so that the material is subjected to a suitable horizontal pulling force to ensure that the material is always straight and prevent the middle of the material from sagging and deforming due to gravity. The flip driving mechanism 13 drives the flip frame 12 to flip 180° with the clamped material, so that the front and back of the material are swapped to achieve flipping of the material. After the material is flipped, the lifting end of the lifting mechanism 14 extends into the flip frame 12 and supports the flipped material. Then the first clamping mechanism 15 and the second clamping mechanism 17 release the grip of the material, and the third manipulator 9 takes the flipped material away. While the flipping device 1 realizes flipping of the material, the pulling force is applied to the material through the pulling mechanism 16 to ensure that the material is straight and prevent the middle of the material from sagging and deforming, thereby ensuring the quality of the material. The lifting mechanism 14 supports the material to facilitate the taking and placing of the material.

[0043] In this embodiment, the lifting mechanism 14 includes a base 141, a lifting driver 142 installed on the base 141, and a lifting plate 143 installed on the lifting end of the lifting driver 142. The lifting driver 142 is used to drive the lifting plate 143 to rise and fall. The first clamping mechanism 15 and the second clamping mechanism 17 are respectively located outside the two sides of the lifting plate 143. Specifically, the lifting driver 142 can be a cylinder. In actual application, the lifting driver 142 drives the lifting plate 143 to rise and fall, so that the lifting plate 143 extends into the flip frame 12 or moves out to the bottom of the flip frame 12.

[0044] In this embodiment, the lifting plate 143 is provided with a four-way positioning mechanism; in actual application, after the third manipulator 9 places the material on the lifting plate 143, the four-way positioning mechanism positions the material, ensuring the position accuracy and stability of the material on the lifting plate 143, which is conducive to the first clamping mechanism 15 and the second clamping mechanism 17 to stably clamp the material.

[0045] In this embodiment, the four-way positioning mechanism includes four positioning modules 144, which are respectively located on the four sides of the lifting plate 143. The positioning module 144 includes a positioning cylinder 145 installed on the bottom surface of the lifting plate 143, a piston rod installed on the positioning cylinder 145 and a movable plate 146 installed on the bottom surface of the lifting plate 143, and a plurality of positioning rods 147 installed on the movable plate 146. The positioning rod 147 is located outside the side of the lifting plate 143, and the top of the positioning rod 147 is higher than the top surface of the lifting plate 143. The first clamping mechanism 15 or the second clamping mechanism 17 is staggered with the corresponding positioning rod 147. In actual application, after the third manipulator 9 places the material on the lifting plate 143, the positioning cylinder 145 drives the movable plate 146 to move with the positioning rod 147 close to the side of the lifting plate 143, so that the positioning rod 147 contacts the side of the material and positions the material.

[0046] In this embodiment, the loading and unloading device 6 includes a frame 61, two parallel supporting arms 62, a lifting drive mechanism 63 installed on the frame 61, and a spacing adjustment mechanism 64 installed on the lifting end of the lifting drive mechanism 63 and used to adjust the spacing between the two supporting arms 62. The supporting part of the supporting arm 62 is provided with a plurality of floating units 65, and the main body of the supporting arm 62 is provided with a plurality of deviation correction mechanisms 66. A side beating and tidying mechanism 67 is relatively provided on the outer side of the two supporting arms 62 away from each other, and the frame 61 is provided with an end face beating and tidying mechanism 68, and the end face beating and tidying mechanism 68 is located between the two supporting arms 62. A loading and unloading space 69 is enclosed between the two side beating and tidying mechanisms 67 and the end face beating and tidying mechanism 68; specifically, the side beating and tidying mechanism The mechanism 67 includes a mounting frame 671, a side clapper 672, a side slapping cylinder 673, two first shafts 674, two swing frames 675 and two second shafts 676. The two first shafts 674 are installed in parallel on the mounting frame 671, and the two second shafts 676 are installed in parallel on the back of the side clapper 672. The two swing frames 675 are arranged in parallel. The two ends of one swing frame 675 are respectively hinged to a first shaft 674 and a second shaft 676, and the two ends of the other swing frame 675 are respectively hinged to another first shaft 674 and another second shaft 676. The cylinder body of the side slapping cylinder 673 is hinged to the mounting frame 671, and the piston rod of the side slapping cylinder 673 is hinged to one end of a swing frame 675 close to the first shaft 674.

[0047] The above material is used as an example for explanation. In actual application, in the initial state, the side beating and aligning mechanism 67 is in a folded state (the side beating plate 672, the swing frame 675 and the mounting frame 671 are in a folded state), and the vehicle body (such as a trolley or an AGV automatic vehicle) stacked with a large number of material trays 91 is moved to the loading and unloading space 69, and then the spacing adjustment mechanism 64 adjusts the spacing between the two support arms 62 so that the spacing between the two support arms 62 is greater than the width of the material tray 91, and the lifting drive mechanism 63 drives the spacing adjustment mechanism 64 and the two support arms 62 to descend to the bottom of the bottom material tray 91, and then the spacing adjustment mechanism 64 adjusts the spacing between the two support arms 62 so that the spacing between the two support arms 62 is less than the width of the material tray 91, so that the floating unit 65 is located below the bottom material tray 91, and the deviation correction mechanism 66 is located outside the peripheral side of the bottom material tray 91. At the same time, the end face beating and aligning mechanism 68 adjusts the stacked material trays 91. The end faces are slapped to make them neat, and the two side slapping mechanisms 67 slap the sides of the stacked material trays 91 to straighten the stacked material trays 91. Then the lifting drive mechanism 63 drives the spacing adjustment mechanism 64 and the two support arms 62 to rise, so that the floating unit 65 on the support arm 62 supports the bottom material tray 91 and leaves the bearing surface of the vehicle body. The multiple correction mechanisms 66 on the two support arms 62 cooperate to correct the bottom material tray 91 carried by the floating unit 65 to correct the stacked material trays 91. After the correction is completed, the floating unit 65 is locked so that the bottom material tray 91 is no longer adjusted in position to ensure the position accuracy and stability of the stacked material trays 91. Each time the first manipulator 7 takes away the top material tray 91, the lifting drive mechanism 63 drives the remaining stacked material trays 91 to rise by the displacement of one material tray 91 to achieve stable feeding of the material trays 91. When the side slapping and aligning mechanism 67 slaps the stacked material trays 91 on the side, the piston rod of the side slapping cylinder 673 extends, the swing frame 675 swings into the upper and lower material space 69 and drives the side clapper 672 to move close to the stacked material trays 91, so that the side clapper 672 slaps the side of the stacked material trays 91, thereby making the stacked material trays 91 neat. After the stacked material trays 91 are slapped neatly, the piston rod of the side slapping cylinder 673 shrinks, the swing frame 675 swings toward the mounting frame 671 and drives the side clapper 672 close to the mounting frame 671 until the side clapper 672, the swing frame 675 and the mounting frame 671 are folded together, and the side slapping and aligning mechanism 67 returns to the folded state. The loading and unloading device 6 can realize the slapping and aligning of the stacked material trays 91 and the deviation correction of the position of the stacked material trays 91, ensuring the position accuracy and stability of the stacked material trays 91, and the side slapping and aligning mechanism 67 can be folded, with a compact structure and small space occupation, which is conducive to use in occasions with limited space.

[0048] Specifically, the spacing adjustment mechanism 64 can adopt a bidirectional screw module or two cylinders, which will not be described in detail here.

[0049] In this embodiment, the first manipulator 7 has a first suction cup mechanism 71, and the third manipulator 9 has a third suction cup mechanism; the width and / or length of the first suction cup mechanism 71 can be adjusted, and correspondingly, the width and / or length of the second suction cup mechanism 81 can be adjusted, and the width and / or length of the third suction cup mechanism can be adjusted. This structural design can transfer material trays 91 or materials of different specifications.

[0050] In this embodiment, the first suction cup mechanism 71 is provided with two groups of suction nozzle assemblies 72, and one group of suction nozzle assemblies 72 is distributed outside the periphery of the other group of suction nozzle assemblies 72. In actual application, the suction nozzle assembly 72 located on the inner side is used to suck materials, and the suction nozzle assembly 72 located on the outer side is used to suck the material tray 91; according to actual use, the two groups of suction nozzle assemblies 72 can be used either selectively or simultaneously, which is flexible and can meet different use requirements.

[0051] Specifically, the functions of the multiple deviation-correcting mechanisms 66 may be the same as those of the prior art, and the floating unit 65 belongs to the prior art, such as the air lock or floating centering unit in the prior art, which will not be described in detail here.

[0052] All technical features in this embodiment can be freely combined according to actual needs.

[0053] The above embodiments are preferred implementation schemes of the present invention. In addition, the present invention can also be implemented in other ways. Any obvious replacement without departing from the concept of the present technical solution is within the protection scope of the present invention.

Claims

1. An automatic loading and unloading drilling machine, characterized in that: The invention comprises a turning device (1), a laser drilling machine (2), and a first loading and unloading unit (3) and a second loading and unloading unit (4) symmetrically arranged on both sides of the laser drilling machine (2); when the first loading and unloading unit (3) is in a loading state, the second loading and unloading unit (4) is in a unloading state; when the second loading and unloading unit (4) is in a loading state, the first loading and unloading unit (3) is in a unloading state; the first loading and unloading unit (3) and the second loading and unloading unit (4) both comprise a loading and unloading tray device (5), a loading and unloading device (6), a first manipulator (7) and a second Two manipulators (8), an upper and lower material tray device (5) is located between the upper and lower material tray device (6) and the laser drilling machine (2), a first manipulator (7) is movably arranged above the upper and lower material tray device (6) and the upper and lower material tray device (5), a second manipulator (8) is movably arranged above the upper and lower material tray device (5) and the laser drilling machine (2), a flipping device (1) is located on one side of the upper and lower material tray device (6) of the second upper and lower material unit (4), and a third manipulator (9) is movably arranged above the flipping device (1) and the upper and lower material tray device (6) of the second upper and lower material unit (4).

2. The automatic loading and unloading drilling machine according to claim 1, characterized in that: The laser drilling machine (2) has two drilling stations (21), the second manipulator (8) has two second suction cup mechanisms (81), and a transition platform (82) is arranged above the upper and lower material tray device (5) and an adjacent drilling station (21) for reciprocating movement, and the transition platform (82) is located below the second suction cup mechanism (81).

3. The automatic loading and unloading drilling machine according to claim 1, characterized in that: The flipping device (1) comprises a fixed seat (11) arranged on one side of a corresponding loading and unloading device (6), a flipping frame (12) rotatably connected to the fixed seat (11), a flipping drive mechanism (13) installed on the fixed seat (11) and used to drive the flipping frame (12) to flip, a lifting mechanism (14) arranged below the flipping frame (12), at least one first clamping mechanism (15) installed on the inner wall of one side plate of the flipping frame (12), a pulling mechanism (16) installed on the other side plate of the flipping frame (12), and at least one second clamping mechanism (17) installed on the pulling end of the pulling mechanism (16), wherein the first clamping mechanism (15) and the second clamping mechanism (17) are arranged opposite to each other, the pulling mechanism (16) is used to drive the second clamping mechanism (17) to approach or move away from the first clamping mechanism (15), and the lifting end of the lifting mechanism (14) can extend into the flipping frame (12).

4. The automatic loading and unloading drilling machine according to claim 3, characterized in that: The lifting mechanism (14) comprises a base (141), a lifting driver (142) mounted on the base (141), and a lifting plate (143) mounted on the lifting end of the lifting driver (142); the lifting driver (142) is used to drive the lifting plate (143) to rise and fall; and the first clamping mechanism (15) and the second clamping mechanism (17) are respectively located outside the two sides of the lifting plate (143).

5. The automatic loading and unloading drilling machine according to claim 4, characterized in that: The lifting plate (143) is provided with a four-way positioning mechanism; the four-way positioning mechanism includes four positioning modules (144), the four positioning modules (144) are respectively located on the four sides of the lifting plate (143), the positioning module (144) includes a positioning cylinder (145) installed on the bottom surface of the lifting plate (143), a piston rod installed on the positioning cylinder (145) and a movable plate (146) movably arranged on the bottom surface of the lifting plate (143), and a plurality of positioning rods (147) installed on the movable plate (146), the positioning rod (147) is located outside the side of the lifting plate (143), the top end of the positioning rod (147) is higher than the top surface of the lifting plate (143), and the first clamping mechanism (15) or the second clamping mechanism (17) is staggered with the corresponding positioning rod (147).

6. The automatic loading and unloading drilling machine according to claim 1, characterized in that: The loading and unloading device (6) comprises a frame (61), two parallel supporting arms (62), a lifting drive mechanism (63) installed on the frame (61), and a spacing adjustment mechanism (64) installed on the lifting end of the lifting drive mechanism (63) and used for adjusting the spacing between the two supporting arms (62); a plurality of floating units (65) are arranged on the supporting portion of the supporting arm (62); a plurality of deviation correction mechanisms (66) are arranged on the main body of the supporting arm (62); a side beating and aligning mechanism (67) is arranged opposite to the side of the two supporting arms (62) away from each other; an end surface beating and aligning mechanism (68) is installed on the frame (61); the end surface beating and aligning mechanism (68) is located between the two supporting arms (62); and a loading and unloading space (69) is enclosed between the two side beating and aligning mechanisms (67) and the end surface beating and aligning mechanism (68).

7. The automatic loading and unloading drilling machine according to claim 6, characterized in that: The side beating and tidying mechanism (67) comprises a mounting frame (671), a side beating plate (672), a side beating cylinder (673), two first shafts (674), two swing frames (675) and two second shafts (676), wherein the two first shafts (674) are parallelly mounted on the mounting frame (671), the two second shafts (676) are parallelly mounted on the back of the side beating plate (672), the two swing frames (675) are parallelly arranged, and a swing frame (676) is disposed on the side of the side beating plate (672). The two ends of the frame (675) are respectively hinged to a first shaft rod (674) and a second shaft rod (676), the two ends of another swing frame (675) are respectively hinged to another first shaft rod (674) and another second shaft rod (676), the cylinder body of the side flapping cylinder (673) is hinged to the mounting frame (671), and the piston rod of the side flapping cylinder (673) is hinged to one end of a swing frame (675) close to the first shaft rod (674).

8. The automatic loading and unloading drilling machine according to claim 2, characterized in that: The first manipulator (7) has a first suction cup mechanism (71), and the third manipulator (9) has a third suction cup mechanism; the width and / or length of the first suction cup mechanism (71) can be adjusted, and correspondingly, the width and / or length of the second suction cup mechanism (81) can be adjusted, and the width and / or length of the third suction cup mechanism can be adjusted.

9. The automatic loading and unloading drilling machine according to claim 8, characterized in that: The first suction cup mechanism (71) is provided with two groups of suction nozzle assemblies (72), and one group of suction nozzle assemblies (72) is distributed outside the peripheral side of the other group of suction nozzle assemblies (72).

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