Vibration reduction mechanism, feeding device and laser drilling machine

Abstract

The utility model discloses a vibration reduction mechanism, a feeding device and a laser drilling machine, the vibration reduction mechanism comprises a base plate, a guide shaft, a damping balance weight plate and an elastic assembly, the base plate is used for being connected with a mechanical arm of the feeding device, the guide shaft is connected with the base plate, the length of the guide shaft extends in the second direction, the damping balance weight plate is movably connected with the guide shaft, and the elastic assembly is connected with the damping balance weight plate. The elastic assembly is arranged between the base plate and the damping balance weight plate, and the two ends of the elastic assembly are connected with the base plate and the damping balance weight plate correspondingly. When the mechanical arm vibrates forwards, due to the inertia effect of the damping balance weight plate, the compression spring can be rapidly compressed to apply backward force to the mechanical arm; when the mechanical arm vibrates backwards, due to the inertia effect of the damping balance weight plate, the compression spring can be rapidly stretched to give forward force to the mechanical arm, so that vibration caused by sudden change of the speed of the mechanical arm can be reduced, vibration energy is transferred to the damping balance weight plate in the vibration reduction mechanism, and the feeding efficiency and stability of the mechanical arm are improved.

Description

Technical Field

[0001] The present application relates to the technical field of circuit board processing, and particularly relates to a vibration damping mechanism, a loading device and a laser drilling machine. Background Art

[0002] The existing transverse transfer manipulator structure for loading circuit boards usually includes a linear module drive assembly, a cantilever and two sets of manipulator assemblies. The cantilever is connected to the linear module drive assembly, and the two sets of manipulator assemblies are connected to the cantilever, so as to drive the cantilever to move horizontally through the linear module drive assembly, thereby driving the manipulator assemblies to move point-to-point among various workstations such as the turnover position, the material bin position, and the main machine platform position.

[0003] The linear module drive assembly includes a servo motor for driving the cantilever to move. However, during the movement of the cantilever, there are operating processes such as acceleration, uniform speed, and deceleration. To improve the loading efficiency, it is necessary to increase the horizontal movement speed of the cantilever, that is, to increase the operating speeds of acceleration, deceleration, and uniform speed.

[0004] However, if the acceleration of the cantilever is too large and the acceleration time is too short during the movement process, the end of the cantilever will vibrate for about 3 seconds when decelerating and stopping suddenly. The greater the acceleration and the shorter the acceleration time, the greater the vibration amplitude and the longer the duration of the cantilever. At this time, if the manipulator assembly grabs the circuit board and moves it to the main machine platform to place the board, there will be a large high-speed relative friction movement between the circuit board and the main machine platform, which will scratch the lower surface of the circuit board. Summary of the Utility Model

[0005] In order to overcome the problems existing in the above-mentioned prior art, the main purpose of the present application is to provide a vibration damping mechanism, a loading device and a laser drilling machine that can improve the loading efficiency and avoid scratching the circuit board.

[0006] In order to achieve the above purpose, the present application specifically adopts the following technical solutions:

[0007] The present application provides a vibration damping mechanism applied to a loading device. The loading device includes a robotic arm that can move along a first direction. The vibration damping mechanism includes:

[0008] A substrate for connecting with the robotic arm;

[0009] A guide shaft connected to the substrate, and the length of the guide shaft extends along a second direction;

[0010] A damping counterweight plate movably connected to the guide shaft;

[0011] An elastic component disposed between the substrate and the damping counterweight plate, and both ends of the elastic component are respectively connected to the substrate and the damping counterweight plate;

[0012] When the elastic component undergoes elastic deformation, the damping counterweight plate can move relative to the guide shaft along the second direction, and the first direction is neither parallel nor collinear with the second direction.

[0013] Through the arrangement of the vibration damping mechanism in this application, the vibration caused by the sudden change in the speed of the robotic arm can be quickly reduced, and the vibration energy is transferred to the damping counterweight plate in the vibration damping mechanism, so as to ensure that the robotic arm can drive the manipulator to stably move the circuit board to the platform, improving the work efficiency and avoiding scratching the circuit board during the feeding process of the manipulator.

[0014] In some embodiments, the substrate is provided with a fixing hole, the middle area of the damping counterweight plate is provided with a connection hole, one end of the guide shaft is installed in the fixing hole, the other end of the guide shaft passes through the connection hole, and the damping counterweight plate and the guide shaft are in clearance fit;

[0015] When the elastic component is in a state without elastic deformation, the distance between the end face of the guide shaft far from the substrate and the surface of the damping counterweight plate far from the substrate is 20 mm to 40 mm.

[0016] In this embodiment, by making the damping counterweight plate and the guide shaft in clearance fit, it is convenient for the damping counterweight plate to move relative to the substrate along the guide shaft. At the same time, when the elastic component is in a state without elastic deformation, the distance between the end face of the guide shaft far from the substrate and the surface of the damping counterweight plate far from the substrate is 20 mm to 40 mm, so as to reduce the cost while preventing the damping counterweight plate from detaching from the guide shaft. Because if the distance between the end face of the guide shaft far from the substrate and the surface of the damping counterweight plate far from the substrate is less than 20 mm, the damping counterweight plate is likely to detach from the guide shaft. If the distance between the end face of the guide shaft far from the substrate and the surface of the damping counterweight plate far from the substrate is greater than 40 mm, the length of the guide shaft needs to be made very long, increasing the cost.

[0017] In some embodiments, the surface roughness of the guide shaft is Ra, 0.2 μm ≤ Ra ≤ 0.8 μm, and the inner wall of the connection hole is provided with a lubricating layer.

[0018] In this embodiment, by setting the surface roughness Ra of the guide shaft to be less than or equal to 0.8 μm and providing a lubricating layer on the inner wall of the connection hole at the same time, the friction force between the guide shaft and the damping counterweight plate during relative movement is reduced, making the movement of the guide shaft smoother. In addition, by setting the surface roughness Ra of the guide shaft to be greater than or equal to 0.2 μm, the production efficiency is improved and the cost is reduced, because if the roughness is too small, it is difficult to achieve in terms of technology and the cost is high.

[0019] In some embodiments, the surface roughness of the guiding shaft is Ra, where 0.2 μm ≤ Ra ≤ 0.8 μm. The damping mechanism further includes a linear bearing. The outer ring of the linear bearing is installed in the connection hole, and the guiding shaft passes through the inner ring of the linear bearing.

[0020] In this embodiment, by setting the surface roughness Ra of the guiding shaft to be less than or equal to 0.8 μm, and at the same time installing a linear bearing in the connection hole, the friction between the guiding shaft and the damping counterweight plate during relative movement is reduced, making the movement of the guiding shaft smoother. In addition, by setting the surface roughness Ra of the guiding shaft to be greater than or equal to 0.2 μm, the production efficiency is improved and the cost is reduced, because it is difficult to achieve in terms of technology and the cost is high if the roughness is too small.

[0021] In some embodiments, the elastic component includes an elastic member, a first fixing column, and a second fixing column. The first fixing column is connected to one side of the substrate facing the damping counterweight plate, the second fixing column is connected to one side of the damping counterweight plate facing the substrate, and both ends of the elastic member are respectively sleeved on the first fixing column and the second fixing column.

[0022] In this embodiment, by making the elastic component include an elastic member, when the distance between the substrate and the damping counterweight plate changes, the elastic member will undergo elastic deformation, and based on the elastic deformation of the elastic member, a force opposite to the vibration direction of the robotic arm is given to the robotic arm, thereby reducing the vibration amplitude of the robotic arm.

[0023] In some embodiments, the elastic component further includes a first limiting member and a second limiting member. The side of the first fixing column is provided with a plurality of first threaded holes, the side of the second fixing column is provided with a plurality of second threaded holes, there are a plurality of the first limiting members and the second limiting members respectively, and the plurality of first limiting members are respectively threadedly connected to the plurality of first threaded holes, and the plurality of second limiting members are respectively threadedly connected to the plurality of second threaded holes.

[0024] In this embodiment, through the arrangement of the first limiting member and the second limiting member, the elastic member can be limited to prevent the elastic member from detaching from the substrate and the damping counterweight plate.

[0025] In some embodiments, the substrate is further provided with a first mounting hole, the damping counterweight plate is further provided with a second mounting hole, the first fixing column is provided with a first through hole, the second fixing column is provided with a second through hole, the elastic component further includes a first fastener and a second fastener, the first fastener passes through the first through hole and is fixedly connected to the first mounting hole, and the second fastener passes through the second through hole and is fixedly connected to the second mounting hole.

[0026] In this embodiment, by providing the first mounting hole and the second mounting hole, the installation of the first fixing column and the second fixing column is facilitated.

[0027] In some embodiments, the substrate is further provided with a plurality of reserved mounting holes, and the damping counterweight plate is further provided with a plurality of counterweight holes. The plurality of reserved mounting holes are used for connecting with the robotic arm, and the plurality of counterweight holes are used for installing damping counterweight members.

[0028] In this embodiment, by providing the reserved mounting holes, the installation of the substrate on the robotic arm is facilitated. By providing the counterweight holes, it is convenient to add damping counterweight members to the damping counterweight plate, so that the damping counterweight can be designed according to needs.

[0029] In some embodiments, there are two sets of elastic components, and the two sets of elastic components are respectively located on opposite sides of the guide shaft.

[0030] In this embodiment, by providing two sets of elastic components, the forces on opposite sides of the damping counterweight plate are made uniform, so that the damping counterweight plate can stably move along the length extension direction of the guide shaft.

[0031] Correspondingly, the present application further provides a loading device, and the loading device includes:

[0032] A driving mechanism;

[0033] A robotic arm, the robotic arm is connected to the driving mechanism;

[0034] A manipulator, the manipulator is connected to the robotic arm, wherein the driving mechanism is used to drive the robotic arm to move so as to drive the manipulator to move along a first direction;

[0035] The damping mechanism as described in any of the above embodiments, the damping mechanism is connected to the robotic arm.

[0036] Correspondingly, the present application further provides a laser drilling machine, and the laser drilling machine includes a frame, a workbench, a laser drilling machine main body, a control mechanism, a blanking device and the loading device as described in the above embodiments. The loading device is used to transport the circuit board to be processed to the workbench. The laser drilling machine main body is connected to the frame and is located above the workbench, and is used to drill the circuit board to be processed located on the workbench. The blanking device is used to transport the processed circuit board to a preset position. The control mechanism is respectively connected to the laser drilling mechanism, the loading device and the blanking device, and the control mechanism is used to control the work of the laser drilling mechanism, the loading device and the blanking device.

[0037] Implementing the embodiments of the present invention has the following beneficial effects:

[0038] The vibration damping mechanism of the present application includes a substrate, a guide shaft, a damping counterweight plate, and an elastic component. The substrate is used to connect to the robotic arm. The guide shaft is connected to the substrate, and the length of the guide shaft extends along the second direction. The damping counterweight plate is movably connected to the guide shaft. The elastic component is disposed between the substrate and the damping counterweight plate, and both ends of the elastic component are respectively connected to the substrate and the damping counterweight plate. When the robotic arm vibrates forward, due to the inertial effect of the damping counterweight plate, the compression spring will be quickly compressed to give the robotic arm a backward force; when the robotic arm vibrates backward, due to the inertial effect of the damping counterweight plate, the compression spring will be quickly stretched to give the robotic arm a forward force, thereby reducing the vibration caused by the sudden change in the speed of the robotic arm and transferring the vibration energy to the damping counterweight plate in the vibration damping mechanism to improve the feeding efficiency and stability of the robotic arm. Description of the Drawings

[0039] Figure 1 Fig. is a perspective view of the feeding device when the robotic arm provided in the embodiment of the present application is in the extended state.

[0040] Figure 2 is Figure 1 the partial enlarged view in

[0041] Figure 3 Fig. is a top view of the feeding device when the robotic arm provided in the embodiment of the present application is in the extended state.

[0042] Figure 4 Fig. is a perspective view of the feeding device when the robotic arm provided in the embodiment of the present application is in the retracted state.

[0043] Figure 5 Fig. is a top view of the feeding device when the robotic arm provided in the embodiment of the present application is in the retracted state.

[0044] Figure 6 Fig. is a perspective view of the vibration damping mechanism provided in the embodiment of the present application.

[0045] Figure 7 Fig. is an exploded perspective view of the vibration damping mechanism provided in the embodiment of the present application.

[0046] Reference Signs:

[0047] 1. Driving mechanism; 2. Robot arm; 3. Manipulator; 4. Vibration damping mechanism; 41. Substrate; 411. Fixing hole; 412. First mounting hole; 413. Reserved mounting hole; 42. Guide shaft; 43. Damping counterweight plate; 431. Connection hole; 432. Second mounting hole; 433. Counterweight hole; 44. Elastic component; 441. Elastic member; 442. First fixing post; 442a. First threaded hole; 442b. First through hole; 443. Second fixing post; 443a. Second threaded hole; 443b. Second through hole; 444. First fastener; 445. Second fastener; 446. First limiting member; 447. Second limiting member; 100. Loading device; X. First direction; Y. Second direction; Z. Third direction. Detailed implementation manner

[0048] In order to make the purpose, technical solutions and advantages of the present application clearer, the present application will be further described in detail below with reference to the drawings and embodiments. It should be understood that the specific embodiments described herein are only used to explain the present application and are not used to limit the present application.

[0049] In the description of the present application, unless otherwise clearly defined and limited, the terms "first" and "second" are only used for descriptive purposes and cannot be understood as indicating or implying relative importance; unless otherwise specified or stated, the term "plurality" means two or more; the terms "connection", "fixation", etc. should be understood in a broad sense. For example, "connection" can be a fixed connection, a detachable connection, an integral connection, or an electrical connection; it can be directly connected or indirectly connected through an intermediate medium. For those of ordinary skill in the art, the specific meanings of the above terms in the present application can be understood according to specific circumstances.

[0050] In the description of this specification, it should be understood that the orientation terms such as "upper" and "lower" described in the embodiments of the present application are described from the angles shown in the drawings and should not be construed as limiting the embodiments of the present application. In addition, in the context, it should also be understood that when it is mentioned that an element is connected "above" or "below" another element, it can not only be directly connected "above" or "below" another element, but also be indirectly connected "above" or "below" another element through an intermediate element.

[0051] In the related art, the cantilever of the cross-feed manipulator loading device may vibrate during operation, thereby affecting the stability of loading. To reduce the vibration of the cantilever, the following measures can be taken: a. Reduce the acceleration, deceleration, and lengthen the acceleration and deceleration time during the operation of the cantilever, and reduce the constant speed; b. Keep the original acceleration, deceleration, and constant speed of the cantilever unchanged. After suddenly stopping at the main machine platform position, the manipulator remains stationary for 2 s to 3 s to make the vibration of the cantilever disappear. However, the above methods to avoid scratching the circuit board will increase the time required for the entire manipulator to move horizontally, resulting in a decrease in efficiency.

[0052] In the following description, the first direction refers to Figure 1 the X direction in Figure 1 the Y direction in Figure 1 the Z direction in

[0053] Referring to Figures 1 to 5 As shown, an embodiment of the present application discloses a loading device 100, which includes a driving mechanism 1, a robotic arm 2, a manipulator 3, a vibration damping mechanism 4, and a lifting mechanism (not shown in the figure). The robotic arm 2 is connected to the driving mechanism 1 so that the driving mechanism 1 can drive the robotic arm 2 to move, enabling the robotic arm 2 to move in the first direction. The manipulator 3 is connected to the robotic arm 2. Among them, the driving mechanism 1 is used to drive the robotic arm 2 to move to drive the manipulator 3 to move in the first direction. The lifting mechanism is disposed on the robotic arm 2 and is connected to the manipulator 3, and the manipulator 3 can be driven to move up and down through the lifting mechanism. The vibration damping mechanism 4 is connected to the robotic arm 2, and the vibration damping mechanism 4 is used to reduce the vibration generated by the robotic arm 2 during the feeding process. During loading, the driving mechanism 1 can be used to drive the robotic arm 2 to move in the first direction to drive the manipulator 3 to move to the picking position, then control the manipulator 3 to grasp the circuit board (PCB board), and then continue to drive the robotic arm 2 to move in the first direction through the driving mechanism 1 to drive the manipulator 3 to move to the loading position, and then control the manipulator 3 to place the circuit board on the workbench. Among them, during the feeding process of the manipulator 3, the vibration amplitude of the robotic arm 2 can be reduced through the vibration damping mechanism 4, so that the manipulator 3 can stably place the circuit board on the workbench.

[0054] Through the setting of the vibration damping mechanism 4 in the present application, the vibration caused by the sudden change in the speed of the robotic arm 2 can be quickly reduced, and the vibration energy is transferred to the damping counterweight plate 43 in the vibration damping mechanism 4 to ensure that the manipulator 3 can stably move the circuit board to the platform.

[0055] In some embodiments, the loading device further includes a reinforcing rib, and the reinforcing rib is connected to the robotic arm 2 to enhance the rigidity of the robotic arm 2, thereby reducing the vibration amplitude of the robotic arm 2.

[0056] As shown in Figure 6 FIG. 5, the vibration damping mechanism 4 includes a base plate 41, a guide shaft 42, a damping counterweight plate 43, and an elastic component 44. The base plate 41 is connected to the robotic arm 2, and the guide shaft 42 is connected to the base plate 41. The length of the guide shaft 42 extends along the second direction, that is, the extending direction of the length of the guide shaft 42 is the same as the vibration direction of the robotic arm 2. The damping counterweight plate 43 is movably connected to the guide shaft 42, enabling the damping counterweight plate 43 to move along the extending direction of the length of the guide shaft 42, that is, the damping counterweight plate 43 can move relative to or away from the base plate 41. The elastic component 44 is disposed between the base plate 41 and the damping counterweight plate 43, and both ends of the elastic component 44 are respectively connected to the base plate 41 and the damping counterweight plate 43. When the elastic component 44 is in a state where no elastic deformation occurs, the distance between the end face of the guide shaft 42 away from the base plate 41 and the surface of the damping counterweight plate 43 away from the base plate 41 is 20 mm to 40 mm; when the elastic component 44 undergoes elastic deformation, the damping counterweight plate 43 can move relative to the guide shaft 42 along the second direction.

[0057] During loading, the driving mechanism 1 can drive the robotic arm 2 to move along the first direction to drive the manipulator 3 and the circuit board grasped by the manipulator 3 to move to the loading position for discharging. At this time, when the robotic arm 2 vibrates in the -Y direction, due to the inertial effect of the damping counterweight plate 43, the elastic component 44 will be quickly compressed to give the robotic arm 2 a force in the +Y direction; when the robotic arm 2 vibrates in the +Y direction, due to the inertial effect of the damping counterweight plate 43, the elastic component 44 will be quickly stretched to give the robotic arm 2 a force in the -Y direction, thereby reducing the vibration caused by the sudden change in the speed of the robotic arm 2 and transferring the vibration energy to the damping counterweight plate 43 in the vibration damping mechanism 4, so that the manipulator 3 can stably place the circuit board on the workbench, improving the work efficiency.

[0058] In this embodiment, two sets of elastic components 44 are provided, and the two sets of elastic components 44 are respectively located on opposite sides of the guide shaft 42. By providing two sets of elastic components 44 in this embodiment, the forces on both sides of the damping counterweight plate 43 are made uniform, and further the damping counterweight plate 43 can stably move along the extending direction of the length of the guide shaft 42.

[0059] As shown in Figure 7 FIG. 6, the base plate 41 is provided with a fixing hole 411, the middle area of the damping counterweight plate 43 is provided with a connection hole 431, one end of the guide shaft 42 is installed in the fixing hole 411, the other end of the guide shaft 42 passes through the connection hole 431, and the damping counterweight plate 43 and the guide shaft 42 are in clearance fit.

[0060] In some embodiments, the vibration damping mechanism 4 further includes a linear bearing, and the outer ring of the linear bearing is installed in the connection hole 431. The surface roughness of the guide shaft 42 is Ra, where 0.2 μm ≤ Ra ≤ 0.8 μm, and one end of the guide shaft 42 is installed in the fixing hole 411. The other end of the guide shaft 42 passes through the inner ring of the linear bearing, so that the damping counterweight plate 43 and the guide shaft 42 are in clearance fit. In this embodiment, by installing a linear bearing in the connection hole 431 and setting the surface roughness Ra of the guide shaft 42 to 0.2 μm

[0061] to 0.8 μm, the frictional force between the guide shaft 42 and the damping counterweight plate 43 during relative movement is reduced, making the movement of the guide shaft 42 smoother. Among them, surface roughness refers to the unevenness of a processed surface with smaller spacing and minute peaks and valleys.

[0062] In other embodiments, a lubricating layer is provided on the inner wall of the connection hole 431, and the material of the lubricating layer is lubricating oil. The surface roughness of the guide shaft 42 is Ra, where 0.2 μm ≤ Ra ≤ 0.8 μm, and one end of the guide shaft 42 is installed in the fixing hole 411. The other end of the guide shaft 42 directly passes through the connection hole 431, so that the damping counterweight plate 43 and the guide shaft 42 are in clearance fit. In this embodiment, by providing a lubricating layer on the inner wall of the connection hole 431 and setting the surface roughness Ra of the guide shaft 42 to 0.2 μm to 0.8 μm, the frictional force between the guide shaft 42 and the damping counterweight plate 43 during relative movement is reduced, making the movement of the guide shaft 42 smoother.

[0063] Continuing to refer to Figure 7 as shown, each set of elastic components 44 respectively includes an elastic member 441, a first fixing post 442, a second fixing post 443, a first limiting member 446, and a second limiting member 447. The first fixing post 442 is connected to the side of the substrate 41 facing the damping counterweight plate 43, and the second fixing post 443 is connected to the side of the damping counterweight plate 43 facing the substrate 41. Both ends of the elastic member 441 are respectively sleeved on the first fixing post 442 and the second fixing post 443. The first limiting member 446 passes through the elastic member 441 and is connected to the side of the first fixing post 442, and the second limiting member 447 passes through the elastic member 441 and is connected to the side of the second fixing post 443. Among them, the elastic member 441 is set as a compression spring. In this embodiment, through the arrangement of the first fixing post 442, the second fixing post 443, the first limiting member 446, and the second limiting member 447, the elastic member 441 can be limited to prevent the elastic member 441 from detaching from the substrate 41 and the damping counterweight plate 43.

[0064] For convenient connection, the substrate 41 is further provided with a first mounting hole 412, the damping counterweight plate 43 is further provided with a second mounting hole 432, the first fixing post 442 is provided with a first through hole 442b, and the second fixing post 443 is provided with a second through hole 443b. Each set of elastic components 44 further includes a first fastener 444 and a second fastener 445. In this embodiment, the first fastener 444 and the second fastener 445 can be set as screws. The first fastener 444 passes through the first through hole 442b and is fixedly connected to the first mounting hole 412, so that the first fixing post 442 is fixedly connected to the substrate 41. The second fastener 445 passes through the second through hole 443b and is fixedly connected to the second mounting hole 432, so that the second fixing post 443 is fixedly connected to the damping counterweight plate 43.

[0065] A plurality of first threaded holes 442a are provided on the side of the first fixing post 442, and a plurality of second threaded holes 443a are provided on the side of the second fixing post 443. A plurality of first limiting members 446 and a plurality of second limiting members 447 are respectively provided. The plurality of first limiting members 446 are respectively threadedly connected to the plurality of first threaded holes 442a, and the plurality of second limiting members are respectively threadedly connected to the plurality of second threaded holes 443a. In this embodiment, by threadedly connecting the first fixing post 442 to the substrate 41, the second fixing post 443 to the damping counterweight plate 43, the first limiting member 446 to the first fixing post 442, and the second limiting member 447 to the second fixing post 443, the disassembly and installation of the first fixing post 442, the second fixing post 443, and the elastic member 441 are facilitated.

[0066] Continue to refer to Figure 7 As shown, the substrate 41 is further provided with a plurality of reserved mounting holes 413, and the plurality of reserved mounting holes 413 are used for connecting to the robotic arm. That is, the substrate 41 can be mounted on the robotic arm 2 through the reserved mounting holes 413. The damping counterweight plate 43 is further provided with a plurality of counterweight holes 433, and the plurality of counterweight holes 433 are used for mounting damping counterweight members. When it is necessary to increase the damping counterweight, the damping counterweight members can be fixed through the counterweight holes 433.

[0067] When the robotic arm 2 vibrates forward ( Figure 1 in the -Y direction in the figure), due to the inertial effect of the damping counterweight plate 43, the compression spring will be quickly compressed to give the robotic arm 2 a backward ( Figure 1 in the +Y direction in the figure) force; when the robotic arm 2 vibrates backward, due to the inertial effect of the damping counterweight plate 43, the compression spring will be quickly stretched to give the robotic arm 2 a forward force, and of course, the damping counterweight plate 43 will also always receive an elastic force with the same magnitude and opposite direction as the force received by the robotic arm 2. Therefore, its movement is always in the same frequency but out of phase with the robotic arm 2, being complementary or nearly complementary, and thus can reduce the vibration amplitude of the robotic arm 2.

[0068] Based on the above embodiments, an embodiment of the present application further discloses a laser drilling machine, which includes a frame, a workbench, a laser drilling machine main body, a control mechanism, a blanking device, and a feeding device as described in any of the above embodiments. Among them, the feeding device is used to transport the circuit board to be processed to the workbench. The laser drilling machine main body is connected to the frame and located above the workbench, and is used to drill the circuit board to be processed located on the workbench. The blanking device is used to transport the processed circuit board to a preset position. The control mechanism is respectively connected to the laser drilling machine main body, the feeding device, and the blanking device, and is used to control the operation of the laser drilling machine main body, the feeding device, and the blanking device.

[0069] In the specific implementation process, the control mechanism can be used to control the feeding device to transport the circuit board to be processed to the workbench, and then control the laser drilling machine main body to drill the circuit board to be processed through the control mechanism. After the processing is completed, the control mechanism is used to control the blanking device to transport the processed circuit board to a preset position.

[0070] As described above, the above are only the preferred specific implementation manners of the present application, but the protection scope of the present application is not limited thereto. Any changes or substitutions that can be easily thought of by those skilled in the art within the technical scope disclosed in the present application should be covered by the protection scope of the present application. Therefore, the protection scope of the present application should be subject to the protection scope of the claims.

Claims

1. A vibration damping mechanism is applied to a feeding device. The feeding device includes a robotic arm that can move along a first direction. It is characterized in that, The damping mechanism includes: a substrate for connecting with the robotic arm; a guiding shaft connected to the substrate, and the length of the guiding shaft extends along a second direction; a damping counterweight plate movably connected to the guiding shaft; an elastic component disposed between the substrate and the damping counterweight plate, and two ends of the elastic component are respectively connected to the substrate and the damping counterweight plate; When the elastic component undergoes elastic deformation, the damping counterweight plate can move along the second direction relative to the guiding shaft, and the first direction is neither parallel nor collinear with the second direction.

2. The vibration damping mechanism according to claim 1, wherein The substrate is provided with a fixing hole, a middle area of the damping counterweight plate is provided with a connecting hole, one end of the guiding shaft is installed in the fixing hole, the other end of the guiding shaft passes through the connecting hole, and the damping counterweight plate and the guiding shaft are in clearance fit; When the elastic component is in a state without elastic deformation, the distance between the end face of the guiding shaft away from the substrate and the surface of the damping counterweight plate away from the substrate is 20 mm to 40 mm.

3. The vibration damping mechanism according to claim 2, characterized in that, The surface roughness of the guiding shaft is Ra, where 0.2 μm ≤ Ra ≤ 0.8 μm, and the inner wall of the connecting hole is provided with a lubricating layer.

4. The shock-absorbing mechanism according to claim 2, wherein The surface roughness of the guiding shaft is Ra, where 0.2 μm ≤ Ra ≤ 0.8 μm, and the damping mechanism further includes a linear bearing, an outer ring of the linear bearing is installed in the connecting hole, and the guiding shaft passes through an inner ring of the linear bearing.

5. The vibration damping mechanism according to claim 1, characterized in that The elastic component includes an elastic member, a first fixing column, and a second fixing column. The first fixing column is connected to a side of the substrate facing the damping counterweight plate, the second fixing column is connected to a side of the damping counterweight plate facing the substrate, and two ends of the elastic member are respectively sleeved on the first fixing column and the second fixing column.

6. The vibration damping mechanism according to claim 5, characterized in that, The elastic component further includes a first limiting member and a second limiting member. A plurality of first threaded holes are provided on a side portion of the first fixing column, a plurality of second threaded holes are provided on a side portion of the second fixing column, there are a plurality of the first limiting members and the second limiting members respectively, and the plurality of first limiting members are respectively threadedly connected to the plurality of first threaded holes, and the plurality of second limiting members are respectively threadedly connected to the plurality of second threaded holes.

7. The vibration damping mechanism according to claim 5, characterized in that, The substrate is further provided with a first mounting hole, the damping counterweight plate is further provided with a second mounting hole, the first fixing column is provided with a first through hole, the second fixing column is provided with a second through hole, and the elastic component further includes a first fastener and a second fastener. The first fastener passes through the first through hole and is fixedly connected to the first mounting hole, and the second fastener passes through the second through hole and is fixedly connected to the second mounting hole.

8. The vibration damping mechanism according to claim 5, characterized in that The substrate is further provided with a plurality of reserved mounting holes, the damping counterweight plate is further provided with a plurality of counterweight holes, the plurality of reserved mounting holes are used for connecting with the robotic arm, and the plurality of counterweight holes are used for mounting damping counterweight members.

9. The damping mechanism according to any one of claims 1 to 8, characterized in that, There are two groups of the elastic components, and the two groups of elastic components are respectively located on opposite sides of the guiding shaft.

10. A feeding device, characterized in that, Including: a driving mechanism; a robotic arm connected to the driving mechanism; A manipulator, the manipulator is connected to the robotic arm, wherein the driving mechanism is used to drive the robotic arm to move so as to drive the manipulator to move in a first direction; The damping mechanism according to any one of claims 1 to 9, the damping mechanism is connected to the robotic arm.

11. A laser drilling machine, characterized in that, It includes a frame, a workbench, a main body of a laser drilling machine, a control mechanism, a blanking device and the loading device according to claim 10. The loading device is used to transport the circuit board to be processed to the workbench. The main body of the laser drilling machine is connected to the frame and located above the workbench, and is used to drill the circuit board to be processed located on the workbench. The blanking device is used to transport the processed circuit board to a preset position. The control mechanism is respectively connected to the main body of the laser drilling machine, the loading device and the blanking device, and the control mechanism is used to control the operations of the main body of the laser drilling machine, the loading device and the blanking device.

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