Full-automatic carrier replacing equipment

Abstract

The utility model is suitable for the field of automatic production equipment, and provides full-automatic carrier changing equipment which comprises a main conveying track assembly, a carrier taking and placing assembly, a carrier changing conveying track assembly, an overturning assembly, a main carrying assembly and a camera positioning assembly which are matched with one another. Automatic feeding and discharging of carriers and PCBs are carried out through the main conveying track assembly and the transfer carrier conveying track assembly, the carriers and the PCBs can be accurately carried through mutual cooperation of the carrier taking and placing assembly, the main carrying assembly and the overturning assembly, and the camera positioning assembly can automatically position and rectify the positions of the carriers and the PCBs. High efficiency and high accuracy in the carrier changing process are guaranteed, the whole carrier changing equipment has the functions of automatic carrier feeding and discharging, PCB transferring, automatic PCB positioning and deviation rectifying and automatic carrier changing so as to meet the automatic production requirements of modern factories, the production efficiency of the factories is improved, and the production cost is reduced.

Description

Technical Field

[0001] The utility model belongs to the field of automated production equipment, and particularly relates to a full-automatic carrier changing device. Background Art

[0002] In the SMT industry, PCB boards need to be transferred between different production stages or equipment. Usually, the PCB changes the corresponding carrier according to different production requirements to improve production efficiency and flexibility. Generally, the work of changing carriers is mostly manually disassembled. Workers use auxiliary tools to disassemble the cover plate of the old carrier and then take out the PCB board. Then, the cover plate of the new carrier is disassembled manually, and the PCB board taken out from the old carrier is put into the new carrier. This traditional operation method relying on manual or semi-manual work leads to low production efficiency and is prone to errors, which does not meet the intelligent production requirements of modern factories.

[0003] Therefore, there are defects in the prior art. Content of the Utility Model

[0004] The purpose of the utility model is to overcome the deficiency of low working efficiency in the above-mentioned prior art, and provides a full-automatic carrier changing device.

[0005] The utility model is realized as follows: A full-automatic carrier changing device, comprising:

[0006] A main conveying track assembly, which is used to dock with the upstream workstation and the downstream workstation, and is used for inputting the old carrier and the converted new carrier;

[0007] A carrier picking and placing assembly, comprising a first driving mechanism, a first sucking mechanism connected to the first driving mechanism for sucking the carrier cover plate, and a clamping mechanism for clamping the new carrier or the old carrier;

[0008] A converted carrier conveying track assembly, which is used for the feeding conveying of the new carrier and the discharging conveying of the old carrier. The clamping mechanism transports the new carrier from the converted carrier conveying track assembly to the main conveying track assembly, and the clamping mechanism transports the old carrier from the main conveying track assembly to the converted carrier conveying track assembly;

[0009] A flipping assembly, comprising a second driving mechanism and a second sucking mechanism connected to the second driving mechanism, which is used to separate the PCB product from the old carrier and perform a 180° horizontal flip;

[0010] A main handling assembly, comprising a third driving mechanism and a third sucking mechanism connected to the third driving mechanism, which is used to handle the PCB product separated from the old carrier by the flipping assembly into the new carrier.

[0011] A camera positioning assembly, which is used to take pictures of the carrier to read the carrier identity two-dimensional code and determine the position of the PCB product.

[0012] Furthermore, the main conveying track assembly includes a first conveying track, and the first conveying track includes two first side plates. On one side of each first side plate, a first conveyor belt is provided, and the surface height of each first conveyor belt is lower than the surface height of the corresponding first side plate.

[0013] Furthermore, the main conveying track assembly further includes a limiting mechanism. The limiting mechanism includes a plurality of telescopic cylinders. The plurality of telescopic cylinders are arranged on one of the first side plates. The telescopic cylinders extend the output shafts to push the old carrier or the new carrier from one first side plate to abut against the other first side plate to achieve the limiting effect.

[0014] Furthermore, a jacking mechanism is further provided between the two side plates. The jacking mechanism includes a bottom plate and a plurality of ejector pins arranged on the bottom plate. When the old carrier or the new carrier is transported to the corresponding position of the bottom plate through the first conveying track, the plurality of ejector pins move upward to jack up the cover plate on the old carrier or the new carrier.

[0015] Furthermore, there are two sets of jacking mechanisms, and a limiting mechanism is arranged at the position of each first side plate corresponding to each set of jacking mechanisms.

[0016] Furthermore, both the first driving mechanism and the third driving mechanism are four-axis robotic arms, respectively driving the first suction mechanism and the third suction mechanism to horizontally move on the X-axis, Y-axis and Z-axis and rotate on the R-axis; the second driving mechanism includes a rotating motor capable of horizontal movement, and the second suction mechanism is connected to the output shaft of the rotating motor.

[0017] Furthermore, there are two sets of carrier picking and placing assemblies and transfer carrier conveying track assemblies. The position of one set of carrier picking and placing assemblies corresponds to the position of one set of transfer carrier conveying track assemblies to correspond to the picking and loading of new carriers or the picking and unloading of old carriers.

[0018] Furthermore, the first suction mechanism, the second suction mechanism and the third suction mechanism are all vacuum suction cup assemblies.

[0019] Furthermore, the transfer carrier conveying track assembly includes a second conveying track, and the second conveying track includes two second side plates. On one side of each second side plate, a second conveyor belt is provided.

[0020] Furthermore, the transfer carrier conveying track assembly is arranged on one side of the main conveying track assembly.

[0021] The full-automatic vehicle-changing device provided by the utility model automatically loads and unloads the vehicle through the main conveying track assembly and the conversion vehicle conveying track assembly. The mutual cooperation of the vehicle picking and placing assembly, the main handling assembly and the flipping assembly can accurately handle the vehicle and the PCB board. The camera positioning assembly can automatically position and correct the positions of the vehicle and the PCB board, ensuring high efficiency and high accuracy in the vehicle-changing process, improving the production efficiency of the factory and reducing the production cost. Brief Description of the Drawings

[0022] In order to more clearly illustrate the technical solutions in the embodiments of the present utility model or the prior art, the following will briefly introduce the drawings required for use in the description of the embodiments or the prior art. Obviously, the drawings in the following description are some embodiments of the present utility model. For those of ordinary skill in the art, without creative efforts, other drawings can also be obtained based on these drawings.

[0023] The following drawings are only intended to illustrate and explain the present utility model schematically and do not limit the scope of the present utility model.

[0024] Figure 1 It is a schematic structural diagram provided by the present utility model.

[0025] Figure 2 It is a schematic structural diagram of the mutual cooperation between the main conveying track assembly and the conversion vehicle conveying track assembly in the present utility model.

[0026] Figure 3 It is a schematic structural diagram of the vehicle picking and placing assembly in the present utility model.

[0027] Figure 4 It is a schematic structural diagram of the cooperation of the main handling assembly in the present utility model.

[0028] Figure 5 It is a schematic structural diagram of the flipping assembly in the present utility model.

[0029] Description of the attached reference numerals: 1. Main conveying track assembly; 11. First conveying track; 111. First side plate; 112. First conveyor belt; 12. Limiting mechanism; 13. Lifting mechanism; 131. Bottom plate; 132. Thimble; 2. Carrier picking and placing assembly; 21. First driving mechanism; 211. First X-axis driving slide rail; 212. First Y-axis driving slide rail; 213. First Z-axis driving slide rail; 22. First suction mechanism; 23. Clamping mechanism; 3. Converted carrier conveying track assembly; 31. Second conveying track; 311. Second side plate; 312. Second conveyor belt; 4. Flipping assembly; 41. Second driving mechanism; 42. Second suction mechanism; 5. Main handling assembly; 51. Third driving mechanism; 511. Third X-axis driving slide rail; 512. Third Y-axis driving slide rail; 513. Third Z-axis driving slide rail; 52. Third suction mechanism. Detailed implementation manners

[0030] In order to make the objectives, technical solutions and advantages of the present utility model clearer, the present utility model will be further described in detail below with reference to the accompanying drawings and embodiments. It should be understood that the specific embodiments described herein are only used to explain the present utility model and are not used to limit the present utility model.

[0031] Please refer to Figures 1-5 , a fully automatic carrier changing device disclosed by the utility model, mainly including: a main conveying track assembly 1, a carrier picking and placing assembly 2, a converted carrier conveying track assembly 3, a flipping assembly 4, a main handling assembly 5 and a camera positioning assembly. Each assembly cooperates with each other, enabling the entire carrier changing device to have functions of automatic loading and unloading of carriers, transfer of PCB boards, automatic positioning and deviation correction of PCB boards, and automatic carrier changing, so as to meet the automation production requirements of modern factories. The specific structure of the device is as follows:

[0032] The main conveying track assembly 1 is used to dock the upstream work station and the downstream work station to input the old carrier and the converted new carrier. The main conveying track assembly 1 includes a first conveying track 11 and a limiting mechanism 12. The first conveying track 11 includes two first side plates 111. A first conveyor belt 112 is provided on each opposite side of each first side plate 111. When conveying the old carrier or the new carrier, the two sides of the old carrier or the two sides of the new carrier respectively abut against a first conveyor belt 112 to achieve the conveying effect. The limiting mechanism 12 includes a plurality of telescopic cylinders. The plurality of telescopic cylinders are provided on one of the first side plates 111. The telescopic cylinder extends the output shaft to push the old carrier or the new carrier from one first side plate 111 to abut against the other first side plate 111 to achieve the limiting effect. In order to limit and fix the old carrier or the new carrier to ensure the accuracy of the subsequent carrier replacement operation, the surface height of each first conveyor belt 112 is lower than the surface height of the corresponding first side plate 111, that is, the height difference between the first conveyor belt 112 and the first side plate 111 can provide a limiting space for the carrier, and it can ensure that during the process of limiting the carrier, the carrier can be limited between the first side plate 111 and the output shaft of the telescopic cylinder. In addition, a plurality of carrier blocking assemblies can be provided on each first side plate 111, aiming to stop the carrier on the first conveyor belt 112 so that it stays at the correct working position, facilitating the subsequent carrier replacement operation.

[0033] As is well known, a PCB carrier is covered with a cover plate for fixing the PCB board. It is necessary to first separate the cover plate from the carrier before moving the PCB board in the carrier, or it is necessary to first separate the cover plate from the carrier before putting the PCB board into the carrier. Further, a lifting mechanism 13 is provided between the two side plates. The lifting mechanism 13 includes a bottom plate 131 and a plurality of ejector pins 132 provided on the bottom plate 131. When the old carrier or the new carrier is transported to the corresponding position of the bottom plate 131 through the first conveying track 11, the plurality of ejector pins 132 move upward to lift the cover plate on the old carrier or the new carrier, facilitating the subsequent removal of the PCB board on the old carrier or the placement of the PCB board on the new carrier. To correspond to the cover plate lifting operation of the new carrier and the old carrier, two groups of lifting mechanisms 13 are provided, and the limiting mechanism 12 is provided at the position of each first side plate 111 corresponding to each group of lifting mechanisms 13.

[0034] The vehicle picking and placing assembly 2 includes a first driving mechanism 21, a first suction mechanism 22 connected to the first driving mechanism 21 for sucking the vehicle cover plate, and a clamping mechanism 23 for clamping a new vehicle or an old vehicle. The first driving mechanism 21 is preferably a four-axis robotic arm, which respectively drives the first suction mechanism 22 and the clamping mechanism 23 to move horizontally on the X-axis, Y-axis and Z-axis and rotate on the R-axis; in this solution, the first driving mechanism 21 can specifically be a first X-axis driving slide rail 211, a first Y-axis driving slide rail 212, a first Z-axis driving slide rail 213 and a first R-axis rotating motor, and the connection sequence between the first X-axis driving slide rail 211, the first Y-axis driving slide rail 212, the first Z-axis driving slide rail 213 and the first R-axis rotating motor is not limited in this embodiment. As one of the embodiments of this solution, the first Z-axis driving slide rail 213 is connected to the first X-axis driving slide rail 211, the first Y-axis driving slide rail 212 is connected to the first Z-axis driving slide rail 213, the first R-axis rotating motor is connected to the first Y-axis driving slide rail 212, and both the first suction mechanism 22 and the clamping mechanism 23 are connected to the output shaft of the first R-axis rotating motor to realize the position movement of the first suction mechanism 22 and the clamping mechanism 23 in the four-axis direction. Preferably, the first suction mechanism 22 is a vacuum suction cup assembly, and the clamping mechanism 23 includes driving cylinders arranged on both sides of the vacuum suction cup assembly, and clamping plates are arranged on the output shafts of each driving cylinder, and the two clamping plates can be opened and closed with each other under the drive of the corresponding driving cylinder.

[0035] In addition, to enable the picking and placing of the cover plates of the new vehicle and the old vehicle and the clamping and transfer operations of the new vehicle and the old vehicle to be carried out simultaneously, there are two sets of vehicle picking and placing assemblies 2 and conversion vehicle conveying track assemblies 3. The position of one set of vehicle picking and placing assemblies 2 is set corresponding to the position of one set of conversion vehicle conveying track assemblies 3 to correspond to the clamping and loading of the new vehicle or the clamping and unloading of the old vehicle.

[0036] The transfer vehicle conveying track assembly 3 is used for the loading and conveying of new vehicles and the unloading and conveying of old vehicles. Specifically, the transfer vehicle conveying track assembly 3 includes a second conveying track 31. The second conveying track 31 includes two second side plates 311, and a second conveyor belt 312 is provided on each opposite side of each second side plate 311. When loading a new vehicle, the new vehicle is loaded through the second conveying track 31 of a set of transfer vehicle conveying track assemblies 3. The clamping mechanism 23 in a set of vehicle picking and placing assemblies 2 at the corresponding position transports the new vehicle from the transfer vehicle conveying track assembly 3 to the main conveying track assembly 1. And the entire transfer vehicle conveying track assembly 3 is arranged on one side of the main conveying track assembly 1, facilitating the clamping mechanism 23 to quickly transport the new vehicle to the first conveying track 11. Similarly, when unloading an old vehicle, the clamping mechanism 23 in another set of vehicle picking and placing assemblies 2 transports the old vehicle after the vehicle replacement operation from the main conveying track assembly 1 to the second conveying track 31 in another set of transfer vehicle conveying track assemblies 3 for unloading.

[0037] The flipping assembly 4 includes a second driving mechanism 41 and a second sucking mechanism 42 connected to the second driving mechanism 41. The second driving mechanism 41 specifically includes a rotating motor capable of horizontal movement. The second sucking mechanism 42 is connected to the output shaft of the rotating motor. The rotating motor can specifically move along the transmission direction of the first conveying track 11 to ensure that the second sucking mechanism 42 can adjust its position corresponding to the moving direction of the old vehicle. The second sucking mechanism 42 is preferably a vacuum suction cup assembly. The second sucking mechanism 42 is used to separate the PCB product from the old vehicle and then horizontally flip the PCB product 180° under the drive of the rotating motor, so that the PCB product is completely exposed.

[0038] The main handling component 5 includes a third driving mechanism 51 and a third suction mechanism 52 connected to the third driving mechanism 51 for sucking the PCB product. The third suction mechanism 52 is preferably a vacuum chuck assembly, which is used to transfer the PCB product separated from the old carrier by the flipping component 4 to the new carrier. The structure of the third driving mechanism 51 is the same as that of the first driving mechanism 21, and preferably includes a third X-axis driving slide rail 511, a third Y-axis driving slide rail 512, a third Z-axis driving slide rail 513 and a third R-axis rotating motor. Among them, the third Z-axis driving slide rail 513 is connected to the third X-axis driving slide rail 511, the third Y-axis driving slide rail 512 is connected to the third Z-axis driving slide rail 513, the third R-axis rotating motor is connected to the third Y-axis driving slide rail 512, and the third suction mechanism 52 is connected to the output shaft of the third R-axis rotating motor to realize the position movement of the third suction mechanism 52 in the four-axis direction. After the PCB product on the old carrier is disassembled and rotated by the flipping component 4, at this time, the PCB product is located below the third suction mechanism 52, and the third suction mechanism 52 can move in the direction of the PCB product under the drive of the third driving mechanism 51 to suck the PCB product, and move the PCB product to the new carrier located on the first conveying track 11 at the same time.

[0039] The camera positioning component is used to take pictures of the carrier to read the carrier identity QR code and determine the positions of the carrier and the PCB product, so as to ensure the picking and placing accuracy of the PCB product.

[0040] When the carrier needs to be replaced, the old carrier flows into the first conveying track 11 in the main conveying track component 1 from the upstream workstation. At this time, after the limiting mechanism 12 positions the old carrier, the ejector pin 132 in the lifting mechanism 13 lifts up to lift the cover plate in the old carrier. At this time, the first suction mechanism 22 in a set of carrier picking and placing components 2 moves to the position of the cover plate of the old carrier under the drive of the first driving mechanism 21 and sucks up the cover plate, completing the separation of the old carrier from its cover plate; after the cover plate in the old carrier is lifted up, the flipping component 4 immediately moves to the position of the old carrier. The second suction mechanism 42 sucks and flips the PCB product in the old carrier by 180° under the drive of the second driving mechanism 41, so that the PCB product in the old carrier faces the third suction mechanism 52, and the third suction mechanism 52 adsorbs the PCB product under the drive of the third driving mechanism 51; when the PCB product is separated from the old carrier, the first suction mechanism 22 places the cover plate of the old carrier back on the old carrier, and at the same time, the clamping mechanism 23 clamps the old carrier and moves the old carrier to the second conveying track 31 in a set of transfer carrier conveying track components 33 at the corresponding position under the drive of the first driving mechanism 21 for discharging the old carrier.

[0041] Meanwhile, the new carrier flows in from the second conveying track 31 in another set of transfer carrier conveying track assemblies 3. The clamping mechanism 23 in another set of carrier picking and placing assemblies 2 moves to the position corresponding to the new carrier on the second conveying track 31 under the drive of the corresponding first drive mechanism 21, clamps the new carrier and moves it to the first conveying track 11. After the limiting mechanism 12 positions the new carrier, the ejector pin 132 in the lifting mechanism 13 jacks up to lift the cover plate in the new carrier. The first suction mechanism 22 in another set of carrier picking and placing assemblies 2 moves to the position of the cover plate of the new carrier under the drive of the first drive mechanism 21 and sucks up the cover plate. After the cover plate in the new carrier is jacked up, the third suction mechanism 52 drives the PCB product to move towards the new carrier under the drive of the third drive mechanism 51 and places the PCB product on the new carrier. After completion, the first suction mechanism 22 in another set of carrier picking and placing assemblies 2 places the cover plate on the new carrier again. After completion, the new carrier flows out from the first conveying track 11, completing the replacement of the carrier for the PCB product. During the process of carrier replacement, the position of the PCB product is located by the camera positioning assembly throughout the process. If the PCB product has a deviation in position during the movement, it can automatically correct its own position to ensure the picking and placing accuracy of the PCB product.

[0042] In summary, the entire carrier replacement device has the functions of automatic loading and unloading of carriers, transfer of PCB boards, automatic positioning and deviation correction of PCB boards, and automatic replacement of new and old carriers, ensuring high efficiency and high accuracy during the carrier replacement process, improving the production efficiency of the factory and reducing the production cost.

[0043] The above are only the preferred embodiments of the present invention and are not intended to limit the present invention. Any modifications, equivalent replacements, or improvements made within the spirit and principle of the present invention shall be included within the protection scope of the present invention.

Claims

1. An automatic vehicle-changing device, characterized in that: Comprising: A main conveyor track assembly (1) for docking with an upstream workstation and a downstream workstation, and for inputting old carriers and converted new carriers; A carrier picking and placing assembly (2), including a first driving mechanism (21), a first suction mechanism (22) connected to the first driving mechanism (21) for sucking the carrier cover plate, and a clamping mechanism (23) for clamping a new carrier or an old carrier; A converted carrier conveyor track assembly (3) for feeding and conveying new carriers and discharging and conveying old carriers. The clamping mechanism (23) transports the new carrier from the converted carrier conveyor track assembly (3) to the main conveyor track assembly (1), and the clamping mechanism (23) transports the old carrier from the main conveyor track assembly (1) to the converted carrier conveyor track assembly (3); A flipping assembly (4), including a second driving mechanism (41) and a second suction mechanism (42) connected to the second driving mechanism (41), for separating the PCB product from the old carrier and horizontally flipping it by 180°; A main handling assembly (5), including a third driving mechanism (51) and a third suction mechanism (52) connected to the third driving mechanism (51) for sucking the PCB product, for handling the PCB product separated from the old carrier by the flipping assembly (4) into the new carrier; A camera positioning assembly for taking pictures of the carrier to read the carrier identity QR code and determine the position of the PCB product.

2. The fully automatic vehicle-changing device according to claim 1, characterized in that: The main conveyor track assembly (1) includes a first conveyor track (11). The first conveyor track (11) includes two first side plates (111). On the opposite side of each first side plate (111), a first conveyor belt (112) is provided. The surface height of each first conveyor belt (112) is lower than the surface height of the corresponding first side plate (111).

3. The fully automatic vehicle changing device according to claim 2, wherein: The main conveyor track assembly (1) further includes a limiting mechanism (12). The limiting mechanism (12) includes a plurality of telescopic cylinders. The plurality of telescopic cylinders are provided on one of the first side plates (111). The telescopic cylinder extends its output shaft to push the old carrier or the new carrier from one first side plate (111) to abut against the other first side plate (111) to achieve a limiting effect.

4. The fully automatic vehicle changing device according to claim 3, characterized in that: A lifting mechanism (13) is further provided between the two side plates. The lifting mechanism (13) includes a bottom plate (131) and a plurality of ejector pins (132) provided on the bottom plate (131). When the old carrier or the new carrier is transported to the corresponding position of the bottom plate (131) through the first conveyor track (11), the plurality of ejector pins (132) move upward to lift the cover plate on the old carrier or the new carrier.

5. The fully automatic vehicle-changing device according to claim 4, wherein: There are two sets of the lifting mechanism (13), and the limiting mechanism (12) is provided at the position of each first side plate (111) corresponding to each set of the lifting mechanism (13).

6. The fully automatic vehicle changing device according to claim 1, characterized in that: Both the first driving mechanism (21) and the third driving mechanism (51) are four-axis robotic arms, respectively driving the first suction mechanism (22) and the third suction mechanism (52) to horizontally move on the X-axis, Y-axis and Z-axis and rotate on the R-axis; The second driving mechanism (41) includes a rotating motor capable of horizontal movement, and the second suction mechanism (42) is connected to the output shaft of the rotating motor.

7. The full-automatic vehicle-changing device according to claim 1, wherein: There are two sets of the vehicle loading and unloading assemblies (2) and the transfer vehicle conveying track assemblies (3). The positions of one set of the vehicle loading and unloading assemblies (2) are set corresponding to the positions of one set of the transfer vehicle conveying track assemblies (3) to correspond to the clamping and loading of new vehicles or the clamping and unloading of old vehicles.

8. A fully automatic vehicle changing device according to claim 1, characterized in that: The first suction mechanism (22), the second suction mechanism (42), and the third suction mechanism (52) are all vacuum suction cup assemblies.

9. The fully automatic vehicle changing device according to claim 1, wherein: The transfer vehicle conveying track assembly (3) includes a second conveying track (31). The second conveying track (31) includes two second side plates (311), and a second conveyor belt (312) is provided on each opposite side of each second side plate (311).

10. A fully automatic vehicle changing device according to claim 1, characterized in that: The transfer vehicle conveying track assembly (3) is provided on one side of the main conveying track assembly (1).

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