Automatic board collecting and releasing machine

Abstract

The utility model relates to an automatic board folding and unfolding machine. The automatic plate collecting and releasing machine comprises a plate carrier, a first carrier track, a third carrier track, a second carrier track, a plate inserting and taking mechanism, a plate track and a mechanical arm. The plate carrier is used for temporarily storing plates, the first carrier track and the third carrier track are used for conveying the plate carrier, and the second carrier track is used for allowing the plate carrier to move between the first carrier track and the third carrier track; the plate track is used for conveying plates; the mechanical arm is installed above the plate track and used for sucking the plates on the plate track and providing the sucked plates for the plate inserting and taking mechanism or sucking the plates provided by the plate inserting and taking mechanism and placing the sucked plates on the plate track. The plate inserting and taking mechanism is used for inserting the plate into the preset position of the plate carrier or taking out the plate from the preset position of the plate carrier. The automatic board folding and unfolding machine can automatically finish board folding and unfolding operation, so that the board folding and unfolding efficiency is improved.

Description

Technical Field

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

[0002] A PCB loading and unloading machine is an automated device used for loading and unloading printed circuit boards (PCBs). The device mainly consists of a mechanical transmission system, a positioning system, a loading and unloading mechanism, an electric control system, etc. The PCB is transported to the positioning system through a board feeding mechanism. The positioning system uses a vision system or mechanical positioning pins to accurately position the PCB to ensure the accuracy of the loading and unloading mechanism. The loading and unloading mechanism uses suction cups or robotic grippers to pick up or place the PCB from or into the positioning system. The electric control system controls all the actions of the device, including board feeding, positioning, loading and unloading, etc.

[0003] In the related art, the PCB loading and unloading machine can quickly load and unload PCBs, improving production efficiency. However, the existing PCB loading and unloading machines have a low degree of automation, resulting in a low efficiency of loading and unloading boards. Summary of the Utility Model

[0004] Based on this, in view of the problem that the existing PCB loading and unloading machines have a low degree of automation, resulting in a low efficiency of loading and unloading boards, it is necessary to provide an automatic plate loading and unloading machine.

[0005] An automatic plate loading and unloading machine includes a plate carrier, a first carrier track and a third carrier track arranged in parallel, a second carrier track connecting the first carrier track and the third carrier track, a board inserting and extracting mechanism, a board track, and a robotic arm;

[0006] The plate carrier is used for temporarily storing plates. The first carrier track and the third carrier track are used for transporting the plate carrier. The second carrier track is used for allowing the plate carrier to move between the first carrier track and the third carrier track;

[0007] The board track is used for transporting boards;

[0008] The robotic arm is installed above the board track and is used for sucking the boards on the board track and providing the sucked boards to the board inserting and extracting mechanism, or sucking the boards provided by the board inserting and extracting mechanism and placing the sucked boards on the board track;

[0009] The board inserting and extracting mechanism is used for inserting a board into a predetermined position of the plate carrier, or taking out a board from a predetermined position of the plate carrier.

[0010] The above-mentioned automatic board loading and unloading machine includes a board carrier, a first carrier track and a third carrier track arranged in parallel, a second carrier track connecting the first carrier track and the third carrier track, a board inserting and extracting mechanism, a board track and a manipulator. The board carrier is used for temporarily storing boards. The first carrier track and the third carrier track are used for transporting the board carrier. The second carrier track is used for the board carrier to move between the first carrier track and the third carrier track. The board track is used for transporting boards. The manipulator is installed above the board track and is used for sucking the boards on the board track and providing the sucked boards to the board inserting and extracting mechanism, or sucking the boards provided by the board inserting and extracting mechanism and placing the sucked boards on the board track. The board inserting and extracting mechanism is used for inserting the board into a predetermined position of the board carrier or taking out the board from a predetermined position of the board carrier. When the automatic board loading and unloading machine performs the board receiving operation, the board track is connected to the upstream equipment, and the boards are transported from the upstream equipment to the automatic board loading and unloading machine. Then, the manipulator sucks the boards from the board track and provides the boards to the board inserting and extracting mechanism, and the board inserting and extracting mechanism inserts the boards into a predetermined position of the board carrier. When the board carrier is full of boards, the first carrier track, the second carrier track and the third carrier track are linked to transport the board carrier to the outside. When the automatic board loading and unloading machine performs the board discharging operation, the board carrier full of boards is located on the first carrier track. First, the board inserting and extracting mechanism takes out the boards from a predetermined position of the board carrier and provides the boards to the manipulator. Then, the manipulator places the boards on the board track. The board track is connected to the downstream equipment and transports the boards to the downstream equipment. When the boards in the board carrier are emptied, the first carrier track, the second carrier track and the third carrier track are linked to transport the empty board carrier to the outside. It can be seen that through the mutual cooperation of the board carrier, the first carrier track, the second carrier track, the third carrier track, the board inserting and extracting mechanism, the board track and the manipulator, the automatic board loading and unloading machine can complete the functions of board loading and unloading. The whole process has a high degree of automation and can improve the efficiency of board loading and unloading in the PCB industry.

[0011] In one embodiment, the board inserting and extracting mechanism includes a horizontal moving member, a vertical moving member and a clamping member;

[0012] The vertical moving member is connected to the horizontal moving member, and the clamping member is connected to the vertical moving member;

[0013] The horizontal moving member is used for driving the vertical moving member and the clamping member to move horizontally;

[0014] The vertical moving member is used for driving the clamping member to move vertically;

[0015] The clamping member includes a first clamping jaw and a second clamping jaw which are symmetrically arranged, and the first clamping jaw and the second clamping jaw are used for clamping both ends of the upper part of the board;

[0016] The clamping member further includes a first clamping jaw and a second clamping jaw which are symmetrically arranged, and the first clamping jaw and the second clamping jaw are respectively arranged directly below the first clamping claw and the second clamping claw;

[0017] The first clamping jaw and the second clamping jaw are used to support both ends of the lower part of the plate.

[0018] In one embodiment, the plate carrier includes a first clamping surface and a second clamping surface which are oppositely arranged, and a plurality of clamping members are arranged on both the first clamping surface and the second clamping surface;

[0019] The first clamping surface is used to clamp one side of the plate through the clamping members, and the second clamping surface is used to clamp the other side of the plate through the clamping members.

[0020] In one embodiment, a plurality of limiting frames are further arranged on both the first clamping surface and the second clamping surface;

[0021] The limiting frames are used to limit the plate.

[0022] In one embodiment, a plurality of serrated support plates are arranged at the bottom of the plate carrier, and the support plates are used to support the plate;

[0023] The support plates are respectively parallel to the first clamping surface and the second clamping surface.

[0024] In one embodiment, a stretching cylinder is arranged on the manipulator, and the stretching cylinder includes a fixed part and a moving part;

[0025] The fixed part is connected with a first clamping arm, and the moving part is connected with a second clamping arm;

[0026] The stretching cylinder is used to drive the second clamping arm to move through the moving part so as to change the distance between the first clamping arm and the second clamping arm;

[0027] First suction cups and second suction cups are respectively arranged at both ends of the first clamping arm, and third suction cups and fourth suction cups are respectively arranged at both ends of the second clamping arm;

[0028] The first suction cup, the second suction cup, the third suction cup and the fourth suction cup are used to suck the four corners of the plate.

[0029] In one embodiment, the automatic plate loading and unloading machine further includes a manipulator controller;

[0030] The manipulator controller is electrically connected with the manipulator and is used to control the manipulator.

[0031] In one embodiment, the automatic loading and unloading board machine further includes a host computer, which is electrically connected to the manipulator controller;

[0032] The host computer is configured to obtain the motion information of the manipulator through the manipulator controller, and perform data statistics and analysis according to the motion information.

[0033] In one embodiment, a clamping opening mechanism is provided above the first carrier track, and the clamping opening mechanism includes a first clamping opening mechanism and a second clamping opening mechanism;

[0034] The first clamping opening mechanism and the second clamping opening mechanism are respectively configured to clamp both sides of the board carrier to position the board carrier.

[0035] In one embodiment, the automatic loading and unloading board machine further includes a CCD camera electrically connected to the manipulator controller;

[0036] The CCD camera is disposed above the board track and is configured to provide a board image to the manipulator controller. BRIEF DESCRIPTION OF THE DRAWINGS

[0037] Figure 1 is a schematic diagram of the overall structure of the automatic loading and unloading board machine of the present utility model;

[0038] Figure 2 is a schematic diagram of the structure of the board carrier in the automatic loading and unloading board machine of the present utility model;

[0039] Figure 3 is a schematic diagram of the structure of the board inserting and extracting mechanism in the automatic loading and unloading board machine of the present utility model;

[0040] Figure 4 is a partial schematic diagram of the structure of the manipulator in the automatic loading and unloading board machine of the present utility model;

[0041] Wherein, 10 is the board carrier, 20 is the first carrier track, 30 is the third carrier track, 40 is the second carrier track, 50 is the board inserting and extracting mechanism, 60 is the board track, 70 is the manipulator, 11 is the first clamping surface, 12 is the second clamping surface, 13 is the clamping member, 14 is the limiting frame, 15 is the support plate, 51 is the horizontal moving member, 52 is the vertical moving member, 53 is the clamping and picking member, 531 is the first clamping jaw, 532 is the second clamping jaw, 533 is the first clamping nozzle, 534 is the second clamping nozzle, 71 is the stretching cylinder, 72 is the first clamping arm, 73 is the second clamping arm, 721 is the first suction cup, 722 is the second suction cup, 731 is the third suction cup, and 732 is the fourth suction cup. DETAILED DESCRIPTION OF THE EMBODIMENTS

[0042] To make the above objects, features, and advantages of the present utility model more obvious and understandable, the following will describe in detail the specific embodiments of the present utility model with reference to the accompanying drawings. Many specific details are set forth in the following description to facilitate a full understanding of the present utility model. However, the present utility model can be implemented in many other ways different from those described herein, and those skilled in the art can make similar improvements without departing from the connotation of the present utility model. Therefore, the present utility model is not limited by the specific embodiments disclosed below.

[0043] It should be noted that when an element is referred to as being "fixed to" another element, it can be directly on the other element or there can also be an intermediate element. When an element is considered to be "connected" to another element, it can be directly connected to the other element or there may be an intermediate element at the same time. In contrast, when an element is referred to as being "directly on" another element, there is no intermediate element. The terms "vertical", "horizontal", "left", "right" and similar expressions used herein are for illustrative purposes only.

[0044] Unless otherwise defined, all technical and scientific terms used herein have the same meaning as commonly understood by those of ordinary skill in the technical field to which the present utility model belongs. The terms used herein in the specification of the present utility model are only for the purpose of describing specific embodiments and are not intended to limit the present utility model. The term "and / or" used herein includes any and all combinations of one or more of the related listed items.

[0045] The present utility model discloses an automatic board loading and unloading machine.

[0046] As Figures 1 to 4 shown, the automatic board loading and unloading machine includes a board carrier 10, a first carrier track 20 and a third carrier track 30 arranged in parallel, a second carrier track 40 connecting the first carrier track 20 and the third carrier track 30, a board inserting and extracting mechanism 50, a board track 60, and a manipulator 70.

[0047] The board carrier 10 is used for temporarily storing boards. The first carrier track 20 and the third carrier track 30 are used for transporting the board carrier 10. The second carrier track 40 is used for the board carrier 10 to move between the first carrier track 20 and the third carrier track 30. The board track 60 is used for transporting boards. The manipulator 70 is installed above the board track 60 and is used for sucking the boards on the board track 60 and providing the sucked boards to the board inserting and extracting mechanism 50, or sucking the boards provided by the board inserting and extracting mechanism 50 and placing the sucked boards on the board track 60. The board inserting and extracting mechanism 50 is used for inserting the boards into the predetermined positions of the board carrier 10, or taking out the boards from the predetermined positions of the board carrier 10.

[0048] The above-mentioned automatic board loading and unloading machine includes a board carrier, a first carrier track and a third carrier track arranged in parallel, a second carrier track connecting the first carrier track and the third carrier track, a board inserting and extracting mechanism, a board track and a manipulator. The board carrier is used for temporarily storing boards. The first carrier track and the third carrier track are used for conveying the board carrier. The second carrier track is used for enabling the board carrier to move between the first carrier track and the third carrier track. The board track is used for conveying boards. The manipulator is installed above the board track and is used for sucking the boards on the board track and providing the sucked boards to the board inserting and extracting mechanism, or sucking the boards provided by the board inserting and extracting mechanism and placing the sucked boards on the board track. The board inserting and extracting mechanism is used for inserting the boards into a predetermined position of the board carrier or taking out the boards from a predetermined position of the board carrier. When the automatic board loading and unloading machine performs the board loading operation, the board track is connected to the upstream equipment, and the boards are conveyed from the upstream equipment to the automatic board loading and unloading machine. Then, the manipulator sucks the boards from the board track and provides the boards to the board inserting and extracting mechanism, and the board inserting and extracting mechanism inserts the boards into a predetermined position of the board carrier. When the board carrier is filled with boards, the first carrier track, the second carrier track and the third carrier track are interlocked to convey the board carrier to the outside. When the automatic board loading and unloading machine performs the board unloading operation, the board carrier filled with boards is located on the first carrier track. First, the board inserting and extracting mechanism takes out the boards from a predetermined position of the board carrier and provides the boards to the manipulator. Then, the manipulator places the boards on the board track. The board track is connected to the downstream equipment and conveys the boards to the downstream equipment. When the boards in the board carrier are emptied, the first carrier track, the second carrier track and the third carrier track are interlocked to convey the empty board carrier to the outside. It can be seen that through the mutual cooperation of the board carrier, the first carrier track, the second carrier track, the third carrier track, the board inserting and extracting mechanism, the board track and the manipulator, the automatic board loading and unloading machine can complete the functions of board loading and unloading. The whole process has a high degree of automation and can improve the board loading and unloading efficiency in the PCB industry.

[0049] Among them, the picking and placing plate mechanism 50 includes a horizontal moving member 51, a vertical moving member 52, and a clamping member 53. The vertical moving member 52 is connected to the horizontal moving member 51, and the clamping member 53 is connected to the vertical moving member 52; the horizontal moving member 51 is used to drive the vertical moving member 52 and the clamping member 53 to move horizontally; the vertical moving member 52 is used to drive the clamping member 53 to move vertically. The clamping member 53 includes symmetrically arranged first clamping claws 531 and second clamping claws 532, and the first clamping claws 531 and the second clamping claws 532 are used to clamp both ends of the upper part of the plate; the clamping member 53 further includes symmetrically arranged first clamping mouths 533 and second clamping mouths 534, and the first clamping mouths 533 and the second clamping mouths 534 are respectively arranged directly below the first clamping claws 531 and the second clamping claws 532; the first clamping mouths 533 and the second clamping mouths 534 are used to support both ends of the lower part of the plate. Further, both the first clamping claws 531 and the second clamping claws 532 are controlled by motors to perform opening and closing operations, so as to realize the clamping and placing of the plate.

[0050] When the clamping member 53 clamps the plate, the first clamping claws 531 and the second clamping claws 532 clamp both ends of the upper part of the plate and place the plate on the first clamping mouths 533 and the second clamping mouths 534. Both the first clamping mouths 533 and the second clamping mouths 534 are arc-shaped structures, which can limit and support the plate and facilitate the manipulator 70 to suck the plate.

[0051] Among them, the plate carrier 10 includes oppositely arranged first clamping surfaces 11 and second clamping surfaces 12, and a plurality of clamping members 13 are provided on the first clamping surface 11 and the second clamping surface 12. The first clamping surface 11 is used to clamp one side of the plate through the clamping member 13, and the second clamping surface 12 is used to clamp the other side of the plate through the clamping member 13. Through the mutual cooperation of the first clamping surface 11 and the second clamping surface 12, both sides of the plate are clamped, thereby enhancing the stability of the plate.

[0052] Further, a plurality of limiting frames 14 are also provided on the first clamping surface 11 and the second clamping surface 12; the limiting frames 14 are used to limit the plate. Through the mutual cooperation of the clamping member 13 and the limiting frame 14, the position of the plate in the plate carrier 10 is relatively fixed, thereby facilitating the picking and placing plate mechanism 50 to perform picking and placing operations on the plate.

[0053] Further, a plurality of serrated support plates 15 are provided at the bottom of the plate carrier 10, and the support plates 15 are used to support the plate; the support plates 15 are respectively parallel to the first clamping surface 11 and the second clamping surface 12. Through the supporting effect of the support plates 15 on the plate, the plate will not generate vertical displacement, so as to ensure that the vertical moving member 52 can move down a predetermined height to smoothly clamp and place the plate.

[0054] Among them, a stretching cylinder 71 is provided on the manipulator 70. The stretching cylinder 71 includes a fixed part and a moving part; the fixed part is connected with a first clamping arm 72, and the moving part is connected with a second clamping arm 73; the stretching cylinder 71 is used to drive the second clamping arm 73 to move through the moving part so as to change the distance between the first clamping arm 72 and the second clamping arm 73.

[0055] First suction cups 721 and 722 are respectively provided at two ends of the first clamping arm 72, and third suction cups 731 and 732 are respectively provided at two ends of the second clamping arm 73; the first suction cups 721, 722, third suction cups 731 and fourth suction cups 732 are used to suck the four corners of the plate.

[0056] It should be noted that some flexible plates are prone to bending deformation. By changing the distance between the first clamping arm 72 and the second clamping arm 73, the bent and deformed plate can be straightened, thereby improving the quality of plate loading and unloading. By sucking the four corners of the plate with the first suction cups 721, 722, third suction cups 731 and fourth suction cups 732, the force on the plate can be made more uniform, and at the same time, the suction of the manipulator 70 on the plate can be made more stable.

[0057] Among them, the automatic plate loading and unloading machine further includes a manipulator controller; the manipulator controller is electrically connected to the manipulator 70 and is used to control the manipulator 70. By controlling the manipulator 70 through the manipulator controller, the work of the manipulator 70 becomes more accurate.

[0058] Among them, the automatic plate loading and unloading machine further includes a host computer, and the host computer is electrically connected to the manipulator controller; the host computer is used to obtain the action information of the manipulator 70 through the manipulator controller and perform data statistics and analysis according to the action information. By performing data statistics and analysis on the action information of the manipulator 70 through the host computer, the working parameters of the automatic plate loading and unloading machine can be grasped in real time, thus facilitating production management.

[0059] Among them, an unclamping mechanism is provided on the upper side of the first carrier track 20. The unclamping mechanism includes a first unclamping mechanism and a second unclamping mechanism; the first unclamping mechanism and the second unclamping mechanism are respectively used to clamp both sides of the plate carrier 10 to position the plate carrier 10. By positioning the plate carrier 10 through the unclamping mechanism, the position of the plate carrier 10 is fixed during the picking operation of the plate picking mechanism 50, thereby improving the picking efficiency of the plate picking mechanism 50.

[0060] Among them, the automatic board loading and unloading machine further includes a CCD camera electrically connected to the manipulator controller; the CCD camera is arranged above the board track 60 and is used to provide the board image to the manipulator controller. By providing the board image to the manipulator controller through the CCD camera, the manipulator controller can grasp the position of the board on the board track 60 in real time and provide the position of the board on the board track 60 to the manipulator 70, so that the manipulator 70 can better perform the operation of sucking the board.

[0061] It can be seen that the automatic board loading and unloading machine can act as a board loading machine or a board unloading machine according to the actual needs of users, and has a high degree of automation, which can better meet the board loading and unloading requirements of the PCB industry.

[0062] The technical features of the above-described embodiments can be combined arbitrarily. For the sake of brevity of description, not all possible combinations of the technical features in the above-described embodiments are described. However, as long as there is no contradiction in the combination of these technical features, it should be considered as the scope described in this specification.

[0063] The above-described embodiments only represent several implementation manners of the present invention, and their descriptions are relatively specific and detailed, but they should not be construed as limiting the scope of the utility model patent. It should be noted that for those of ordinary skill in the art, without departing from the concept of the present invention, several modifications and improvements can still be made, and these all belong to the protection scope of the present invention. Therefore, the protection scope of the utility model patent shall be subject to the appended claims.

Claims

1. An automatic plate retracting machine, characterized in that: It includes a plate carrier, a first carrier track and a third carrier track arranged in parallel, a second carrier track connecting the first carrier track and the third carrier track, a plate insertion and extraction mechanism, a plate track and a manipulator; The plate carrier is used for temporarily storing plates, the first carrier track and the third carrier track are used for conveying the plate carrier, and the second carrier track is used for allowing the plate carrier to move between the first carrier track and the third carrier track; The plate track is used for conveying plates; The manipulator is installed above the plate track, and is used to suck the plate on the plate track and provide the sucked plate to the plate insertion and extraction mechanism, or suck the plate provided by the plate insertion and extraction mechanism and place the sucked plate on the plate track; The plate inserting and taking mechanism is used to insert a plate into a predetermined position of the plate carrier, or to take a plate out of a predetermined position of the plate carrier.

2. The automatic plate retracting and unretracting machine according to claim 1, characterized in that: The inserting and removing plate mechanism comprises a horizontal moving part, a vertical moving part and a clamping part; The vertical moving member is connected to the horizontal moving member, and the clamping member is connected to the vertical moving member; The horizontal moving member is used to drive the vertical moving member and the clamping member to move horizontally; The vertical moving member is used to drive the clamping member to move vertically; The clamping member comprises a first clamping jaw and a second clamping jaw which are symmetrically arranged, and the first clamping jaw and the second clamping jaw are used to clamp two ends of the upper part of the plate; The clamping member further comprises a first clamping mouth and a second clamping mouth which are symmetrically arranged, wherein the first clamping mouth and the second clamping mouth are respectively arranged directly below the first clamping jaw and the second clamping jaw; The first clamping nozzle and the second clamping nozzle are used to support two ends of the lower part of the plate.

3. The automatic plate retracting and unretracting machine according to claim 2, characterized in that: The plate carrier comprises a first clamping surface and a second clamping surface which are arranged opposite to each other, and a plurality of clamping members are arranged on the first clamping surface and the second clamping surface; The first clamping surface is used to clamp one side of the plate through the clamping member, and the second clamping surface is used to clamp the other side of the plate through the clamping member.

4. The automatic plate retracting and unretracting machine according to claim 3, characterized in that: The first clamping surface and the second clamping surface are also provided with a plurality of limit frames; The limiting frame is used to limit the plate.

5. The automatic plate retracting and unretracting machine according to claim 4, characterized in that: A plurality of serrated support plates are provided at the bottom of the plate carrier, and the support plates are used to support the plate; The support plate is parallel to the first clamping surface and the second clamping surface respectively.

6. The automatic plate retracting and unretracting machine according to claim 5, characterized in that: The manipulator is provided with a stretching cylinder, and the stretching cylinder includes a fixed part and a moving part; The fixed part is connected to a first clamping arm, and the moving part is connected to a second clamping arm; The stretching cylinder is used to drive the second clamping arm to move through the moving part to change the distance between the first clamping arm and the second clamping arm; The first clamp arm has a first suction cup and a second suction cup at two ends, respectively, and the second clamp arm has a third suction cup and a fourth suction cup at two ends; The first suction cup, the second suction cup, the third suction cup and the fourth suction cup are used to suck the four corners of the plate.

7. The automatic plate retracting and unretracting machine according to any one of claims 1 to 6, characterized in that: Also included is a robot controller; The manipulator controller is electrically connected to the manipulator and is used to control the manipulator.

8. The automatic plate retracting and unretracting machine according to claim 7, characterized in that: It also includes a host computer, which is electrically connected to the manipulator controller; The host computer is used to obtain the motion information of the manipulator through the manipulator controller, and perform data statistics and analysis according to the motion information.

9. The automatic plate retracting and unretracting machine according to claim 8, characterized in that: A clamping mechanism is provided on the upper side of the first carrier track, and the clamping mechanism includes a first clamping mechanism and a second clamping mechanism; The first clamping mechanism and the second clamping mechanism are respectively used to clamp two sides of the plate carrier to position the plate carrier.

10. The automatic plate retracting and unretracting machine according to claim 9, characterized in that: Also included is a CCD camera electrically connected to the manipulator controller; The CCD camera is arranged above the plate track and is used to provide the plate image to the robot controller.

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