High-speed double-sided detecting and sorting equipment for copper-clad plates

Abstract

The utility model relates to high-speed double-sided detecting and sorting equipment for a copper-clad plate. The high-speed double-sided detecting and sorting equipment comprises a feeding assembly, a turntable detecting assembly, a first spider manipulator, a second spider manipulator and a discharging assembly, the rotating disc detection assembly comprises a transparent rotating disc, a lower visual detection mechanism, an upper visual detection mechanism, a second visual positioning mechanism and a photoelectric sensor, the transparent rotating disc is sequentially divided into a disc feeding position, a lower detection position, an upper detection position and a disc discharging position around the same rotating direction, and the lower visual detection mechanism is located on the lower portion of the lower detection position; the photoelectric sensor detects the copper-clad plate reaching the lower detection position from the horizontal direction, and the upper visual detection mechanism is located on the upper portion of the upper detection position. According to the equipment, the first spider manipulator and the second spider manipulator can transfer the copper-clad plate at a very high speed, the transparent rotary table can enable the copper-clad plate to be subjected to flaw detection on the upper surface and the lower surface in sequence through a stepping conveying method, and the average treatment rhythm of each copper-clad plate can reach up to 1.9 s / pcs.

Description

Technical Field

[0001] The utility model relates to the technical field of sorting equipment, and particularly relates to a high-speed double-sided detection and sorting equipment for copper clad laminates. Background Art

[0002] Copper clad laminate, also known as base material, is a sheet material made by impregnating a reinforcing material with resin and covering one or both sides with copper foil through hot pressing, called copper clad laminate. It is the basic material for making PCBs and is widely used in electronic devices. When it is used in the production of multi-layer boards, it is also called core board (CORE). The copper clad laminate needs to be subjected to appearance defect detection on both sides before further production on the surface. With the improvement of production efficiency, the detection speed requirement for copper clad laminates has also increased.

[0003] Chinese Patent CN112077025A discloses an AOI detector for 3C stamping large sheet products. The turntable machine in it can transport the detection object to the lower part of the CCD vision camera for vision detection. The loading of the turntable machine is completed by a multi-axis manipulator, and the unloading is completed by an unloading part composed of a single-axis linear module, a lifting cylinder and a rotating cylinder. The transfer speed of these two is relatively slow, which will restrict the improvement of the overall processing rhythm; moreover, the CCD vision camera can only detect the upper surface of the detection object and cannot meet the requirements of double-sided detection and detection rhythm.

[0004] Therefore, a dedicated sorting equipment is needed to solve the above problems. Summary of the Utility Model

[0005] The main purpose of the utility model is to provide a high-speed double-sided detection and sorting equipment for copper clad laminates, which can quickly detect the appearance defects on both sides of the copper clad laminate and perform sorting.

[0006] The utility model realizes the above purpose through the following technical solutions: a high-speed double-sided detection and sorting equipment for copper clad laminates, including a feeding component, a turntable detection component, a first spider manipulator, a second spider manipulator and a discharging component;

[0007] The feeding component includes a feeding conveyor line and a first vision positioning mechanism for detecting that the copper clad laminate reaches a specified position on the feeding conveyor line;

[0008] The turntable detection component includes a transparent turntable rotating around a vertical axis, a lower vision detection mechanism located below the transparent turntable, an upper vision detection mechanism, a second vision positioning mechanism and a photoelectric sensor located above the transparent turntable. The transparent turntable is sequentially divided into four stations: a feeding station, a lower detection station, an upper detection station and a discharging station around the same rotation direction. The lower vision detection mechanism is located below the lower detection station, the photoelectric sensor detects the copper clad laminate reaching the lower detection station from the horizontal direction, and the upper vision detection mechanism is located above the upper detection station;

[0009] The material taking position on the feeding conveyor line and the disk feeding position on the transparent turntable are within the lower operating range of the first spider manipulator;

[0010] The discharging assembly includes a discharging conveyor line, an NG material collecting table, and a tray fixing mechanism. The discharging conveyor line horizontally passes through one side of the transparent turntable. The middle of the discharging conveyor line has a discharging position close to the transparent turntable. The NG material collecting table is located above the discharging conveyor line and adjacent to the discharging position. The tray fixing mechanism is arranged at the discharging position;

[0011] The discharging position of the transparent turntable and the NG material collecting table are within the lower operating range of the second spider manipulator.

[0012] Specifically, it further includes a first pick-up head replacement table and a second pick-up head replacement table. Both the first pick-up head replacement table and the second pick-up head replacement table are provided with a plurality of placement positions for placing pick-up heads of different models. The first pick-up head replacement table is within the lower operating range of the first spider manipulator. The second pick-up head replacement table is within the lower operating range of the second spider manipulator.

[0013] Further, the first pick-up head replacement table and the upper vision detection mechanism are located on opposite sides of the transparent turntable.

[0014] Further, the second pick-up head replacement table and the transparent turntable are located on opposite sides of the discharging conveyor line.

[0015] Specifically, the included angle between adjacent workstations is an integer multiple of 180° / N, where N is a positive integer not less than 3. The disk discharging position is on the opposite side of the disk feeding position.

[0016] Specifically, the discharging conveyor line includes a pair of belt lines, a line width adjusting mechanism for adjusting the distance between the two belt lines, and a plurality of slide rail mechanisms for guiding the horizontal movement of the belt lines.

[0017] Specifically, the discharging assembly further includes a first buffer mechanism and a second buffer mechanism. The first buffer mechanism is located at the feeding section of the discharging conveyor line. The second buffer mechanism is located at the discharging section of the discharging conveyor line.

[0018] Further, both the first buffer mechanism and the second buffer mechanism include a lifting mechanism, a lifting slide table, and two brackets. The lifting mechanism is located below the discharging conveyor line and drives the lifting slide table to lift. The two brackets are respectively located on both sides of the discharging conveyor line and horizontally move under the guidance of the lifting slide table. The height difference between adjacent supporting bars is greater than the thickness of the tray.

[0019] Further, the discharge conveyor line includes a pair of belt lines, a line width adjustment mechanism for adjusting the distance between the two belt lines, and a plurality of slide rail mechanisms for guiding the translation of the belt lines. The outer side of the belt line is provided with vertical sliders, and a plurality of support bars are arranged up and down on the inner side of the bracket, and vertical slide rails for cooperating with the vertical sliders are arranged on the outer side. The horizontal distance between each bracket and its nearest belt line is fixed.

[0020] The beneficial effects of the technical solution of the present utility model are as follows:

[0021] In this equipment, both the first spider manipulator and the second spider manipulator can transfer the copper clad laminate at a very high speed, and the transparent turntable can detect the defects on the upper and lower surfaces of the copper clad laminate successively by means of step-by-step conveying. The processing rhythm of each copper clad laminate can be as high as 1.9 s / pcs on average. Description of the Drawings

[0022] Figure 1 It is a three-dimensional view of the high-speed double-sided detection and sorting equipment for copper clad laminates in the embodiment;

[0023] Figure 2 is Figure 1 a partial enlarged view of position A in

[0024] Figure 3 It is a three-dimensional view of the discharge assembly;

[0025] Figure 4 It is a three-dimensional view of the first buffer mechanism.

[0026] The numbers in the figure represent:

[0027] 100 - High-speed double-sided detection and sorting equipment for copper clad laminates,

[0028] 1 - Feeding assembly, 11 - Feeding conveyor line, 12 - First vision positioning mechanism;

[0029] 2 - Turntable detection assembly, 21 - Transparent turntable, 22 - Lower vision detection mechanism, 23 - Upper vision detection mechanism, 24 - Second vision positioning mechanism, 25 - Photoelectric inductor;

[0030] 3a - First spider manipulator, 3b - Second spider manipulator;

[0031] 4 - Discharge assembly, 41 - Discharge conveyor line, 411 - Belt line, 412 - Line width adjustment mechanism, 413 - Slide rail mechanism, 414 - Vertical slider, 42 - NG receiving table, 43 - Tray fixing mechanism, 44a - First buffer mechanism, 44b - Second buffer mechanism, 441 - Lifting mechanism, 442 - Lifting slide table, 443 - Bracket, 4431 - Support bar, 4432 - Vertical slide rail;

[0032] 5a - First pick - up head replacement platform, 5b - Second pick - up head replacement platform;

[0033] 200 - Copper - clad laminate;

[0034] 300 - Pick - up head;

[0035] 400 - Tray, 401 - Empty tray, 402 - Full tray. Detailed implementation mode

[0036] The present utility model will be further described in detail below with reference to specific embodiments.

[0037] Embodiment:

[0038] As Figure 1 shown, a high - speed double - sided detection and sorting device 100 for copper - clad laminates of the present utility model includes a feeding assembly 1, a turntable detection assembly 2, a first spider robot 3a, a second spider robot 3b, a discharging assembly 4, a first pick - up head replacement platform 5a and a second pick - up head replacement platform 5b.

[0039] As Figure 1 and Figure 2 shown, the feeding assembly 1 includes a feeding conveyor line 11 and a first vision positioning mechanism 12 for detecting that the copper - clad laminate 200 reaches a specified position on the feeding conveyor line 11.

[0040] The feeding conveyor line 11 is used to horizontally move the copper - clad laminate 200 to the picking position of the first spider robot 3a. When the copper - clad laminate 200 passes through the detection range of the first vision positioning mechanism 12, the first vision positioning mechanism 12 can identify the specific position and attitude of the copper - clad laminate 200. The first spider robot 3a can quickly adjust the state of the pick - up head 300, pick up the copper - clad laminate 200, and then place the copper - clad laminate 200 into the turntable detection assembly 2 in a suitable attitude.

[0041] As Figure 1 and Figure 2 shown, both the first pick - up head replacement platform 5a and the second pick - up head replacement platform 5b are provided with a plurality of placement positions for placing pick - up heads 300 of different models. The first pick - up head replacement platform 5a is within the operation range below the first spider robot 3a, and the second pick - up head replacement platform 5b is within the operation range below the second spider robot 3b.

[0042] The material picking head 300 is a material picking component arranged at the bottom of the spider manipulator, generally including four suction heads arranged in a 2×2 pattern. When dealing with copper clad laminates 200 of different sizes, in order to adapt to the side lengths of different copper clad laminates 200, the distances between the suction heads will vary. Here, the method of directly replacing the entire material picking head 300 is adopted to handle different products, and through direct software control, the purpose of rapid model change is achieved. This equipment can adapt to the full inspection of copper clad laminates 200 within the range of 5mm*5mm to 80mm*80mm.

[0043] As Figure 1 and Figure 2 shown, the turntable detection assembly 2 includes a transparent turntable 21 that rotates around a vertical axis, a lower vision detection mechanism 22 located below the transparent turntable 21, an upper vision detection mechanism 23 located above the transparent turntable 21, a second vision positioning mechanism 24, and a photoelectric sensor 25. The transparent turntable 21 is sequentially divided into four working positions: a feeding position, a lower detection position, an upper detection position, and a discharging position around the same rotation direction. The angle between adjacent working positions is an integer multiple of 180° / N (N is a positive integer not less than 3). The material picking position on the feeding conveyor line 11, the feeding position on the transparent turntable 21, and the placement position of the first material picking head replacement support 5a are within the operating range below the first spider manipulator 3a. The lower vision detection mechanism 22 is located at the lower part of the lower detection position, the photoelectric sensor 25 detects the copper clad laminate 200 reaching the lower detection position from the horizontal direction, the upper vision detection mechanism 23 is located at the upper part of the upper detection position, and the discharging position is on the opposite side of the feeding position. The upper vision detection mechanism 23, the second vision positioning mechanism 24, and the photoelectric sensor 25 are outside the moving range of the first spider manipulator 3a.

[0044] The transparent turntable 21 is generally made of glass material, which is used to move the copper clad laminate 200 step by step (the step feeding angle is 180° / N), and also to make the light transmit through the lower part of the copper clad laminate 200, so that when the copper clad laminate 200 is placed on it, the lower vision inspection mechanism 22 can capture the lower surface of the copper clad laminate 200. During the inspection of the lower surface defects and the upper surface defects, the mechanisms should not interfere with each other, so the lower inspection position and the upper inspection position need to be staggered. The copper clad laminate 200 moves along a semi-circular path on the transparent turntable 21 from the feeding position to the discharging position. The upper vision inspection mechanism 23 is located above this semi-circular area, and there is no obstruction in the upper part of the semi-circular area, so it is available for the first spider manipulator 3a to move flexibly. The first pick-up head replacement platform 5a will be located on one side of the other semi-circular area, that is to say, the first pick-up head replacement platform 5a and the upper vision inspection mechanism 23 are located on the opposite sides of the transparent turntable 21. Since the position of the lower vision inspection mechanism 22 does not interfere with the movement of the first spider manipulator 3a, the lower inspection position can be closer to the feeding position. The photoelectric sensor 25 is used to correct the step distance. Since the copper clad laminate 200 always protrudes from the upper surface of the transparent turntable 21, the photoelectric sensor 25 can determine that the copper clad laminate 200 has reached the ideal upper surface defect inspection position by sensing the copper clad laminate 200. The second vision positioning mechanism 24 is used to judge the specific position where the copper clad laminate 200 after defect inspection stops at the discharging position for the second spider manipulator 3b to pick up accurately. Both the first spider manipulator 3a and the second spider manipulator 3b can transfer the copper clad laminate 200 at a very high speed, and the transparent turntable 21 can also make the copper clad laminate 200 undergo defect inspections on the upper and lower surfaces successively by the step feeding method. The processing rhythm of each copper clad laminate 200 can be as high as 1.9 s / pcs on average.

[0045] As Figure 3 shown, the discharging assembly 4 includes a discharging conveyor line 41, an NG collecting table 42, a pallet fixing mechanism 43, a first buffer mechanism 44a and a second buffer mechanism 44b. The discharging conveyor line 41 passes horizontally through one side of the transparent turntable 21. The middle part of the discharging conveyor line 41 has a feeding position close to the transparent turntable 21. The NG collecting table 42 is located above the discharging conveyor line 41 and adjacent to the feeding position. The pallet fixing mechanism 43 is arranged at the feeding position. The discharging position of the transparent turntable 21, the feeding position of the discharging conveyor line 41, the NG collecting table 42 and the second pick-up head replacement platform 5b are within the lower operation range of the second spider manipulator 3b. The second pick-up head replacement platform 5b and the transparent turntable 21 are located on the opposite sides of the discharging conveyor line 41.

[0046] The discharging conveyor line 41 is used to convey the pallet 400 in one direction. There are cavities on the pallet 400 for placing the copper clad laminate 200. A pallet 400 for collecting a small amount of defective products is also placed separately on the NG receiving table 42. When the pallet 400 is sent to the loading position, the pallet fixing mechanism 43 will fix its position and wait for the second spider manipulator 3b to arrange the plates. For products with problems in appearance defect detection, the equipment system will also record the detection results. The second spider manipulator 3b will send the qualified products to the pallet at the loading position in the recorded order, and the defective products to the pallet on the NG receiving table 42. The second spider manipulator 3b mainly moves among three positions: the plate discharging position of the transparent turntable 21, the loading position of the discharging conveyor line 41, and the NG receiving table 42. In order to speed up the sorting rhythm, these three positions should be relatively close. Since the loading position of the discharging conveyor line 41 and the NG receiving table 42 are both above the discharging conveyor line 41, the second pick-up head replacement table 5b is generally set at a place farther from the transparent turntable 21.

[0047] As Figure 3 shown, the discharging conveyor line 41 includes a pair of belt lines 411, a line width adjusting mechanism 412 for adjusting the distance between the two belt lines 411, and a number of slide rail mechanisms 413 for guiding the translation of the belt lines 411.

[0048] Here, the belt lines 411 are used to convey the pallet 400. Since the width of the pallet 400 varies, the conveying width of the discharging conveyor line 41 also needs to be adjusted adaptively. The specific method is to control it through the line width adjusting mechanism 412. The line width adjusting mechanism 412 used here is a double screw rod driven by a servo motor. The double screw rod is divided into two threaded parts, and the spiral structures of the two threaded parts are symmetrical. The lower part of each belt line 411 is matched with a threaded part. When the double screw rod rotates, the two belt lines 411 can perform mirror-image translation. The slide rail mechanism 413 is used to guide the direction of the mirror-image movement of the belt lines 411, so as to maintain the parallel relationship between the two belt lines 411 during adjustment.

[0049] The first buffer mechanism 44a is located at the feeding section of the discharging conveyor line 41, and the second buffer mechanism 44b is located at the discharging section of the discharging conveyor line 41. Both the first buffer mechanism 44a and the second buffer mechanism 44b include a lifting mechanism 441, a lifting slide 442, and two brackets 443. The lifting mechanism 441 is located below the discharging conveyor line 41 and drives the lifting slide 442 to move up and down. The two brackets 443 are respectively located on both sides of the discharging conveyor line 41 and move horizontally under the guidance of the lifting slide 442. A vertical slider 414 is provided on the outer side of the belt line 411. A plurality of strip supports 4431 are arranged vertically on the inner side of the bracket 443, and a vertical slide rail 4432 that cooperates with the vertical slider 414 is provided on the outer side. The horizontal distance between each bracket 443 and the nearest belt line 411 is fixed, and the height difference between adjacent strip supports 4431 is greater than the thickness of the tray 400.

[0050] The structures of the first buffer mechanism 44a and the second buffer mechanism 44b are the same, and the buffering principles are the same. The only difference is that the object to be buffered by the first buffer mechanism 44a is the empty tray 401 without loading materials, and the object to be buffered by the second buffer mechanism 44b is the slow tray 402 that has been fully loaded with materials. The strip support 4431 is the position for supporting the tray 400. When the lifting mechanism 441 drives the bracket 443 to rise, the strip support 4431 can lift a tray 400 between the brackets 443 above the conveying surface of the discharging conveyor line 41, so that the device can automatically load multiple trays 400, thereby reducing the participation time of personnel and ensuring the continuous operation of the device. The cooperation between the vertical slider 414 and the vertical slide rail 4432 can, on the one hand, guide the lifting of the bracket 443, and on the other hand, enable the bracket 443 to synchronously adapt to the position of the belt line 411, so as to ensure that the bracket 443 adapts to the width of the tray 400.

[0051] The working process of this high-speed double-sided detection and sorting equipment 100 for copper clad laminates is as follows:

[0052] The feeding conveyor line 11 sends the copper clad laminate 200 to be detected near the transparent turntable 21. When the copper clad laminate 200 passes through the first visual positioning mechanism 12, it is visually positioned. The control system of the device will calculate the position correction amount according to the position of the copper clad laminate 200, and then quickly transfer the copper clad laminate 200 to the loading position of the transparent turntable 21 through the first spider manipulator 3a and complete the adjustment during the transfer process.

[0053] The transparent turntable 21 rotates the copper clad laminate 200 by an angle. When the copper clad laminate 200 is sensed by the photoelectric inductor 25, the copper clad laminate 200 reaches the lower detection position. At this time, the lower vision detection mechanism 22 will first detect the defects on the lower surface of the copper clad laminate 200. Then the copper clad laminate 200 rotates by the above angle again and reaches the upper detection position. If the lower surface detection has determined that the copper clad laminate 200 is unqualified, the upper vision detection mechanism 23 does not need to detect; if the lower surface detection determines that the copper clad laminate 200 has no defects, the upper vision detection mechanism 23 will then detect whether there are defects on the upper surface of the copper clad laminate 200. After the two detections are completed, the copper clad laminate 200 finally reaches the discharging position, and at this time it will be detected by the second vision positioning mechanism 24.

[0054] The empty tray 401 is placed on the discharging conveyor 41 from the first buffer mechanism 44a. The discharging conveyor 41 will move the empty tray 401 to the loading position in advance, and the tray fixing mechanism 43 fixes it. In addition, there will be a tray 400 placed on the NG receiving table 42. The second spider robot 3b will place the copper clad laminate 200 on the tray at the loading position or the tray on the NG receiving table 42 one by one according to the detection result of the copper clad laminate 200, and complete the position adjustment during the movement.

[0055] After the tray on the discharging conveyor 41 is full, the discharging conveyor 41 will move the full tray 402 to the second buffer mechanism 44b. The second buffer mechanism 44b will lift and buffer the full tray 402. After the second buffer mechanism 44b is full, the operator will remove all the full trays 402 from the equipment.

[0056] The above are only some embodiments of the present utility model. For those of ordinary skill in the art, without departing from the inventive concept of the present utility model, several deformations and improvements can still be made, and these all belong to the protection scope of the present utility model.

Claims

1. A high-speed double-sided detection and sorting device for copper clad laminates, characterized in that: It includes a feeding component, a turntable detection component, a first spider manipulator, a second spider manipulator and a discharging component; The feeding component includes a feeding conveyor line and a first vision positioning mechanism for detecting that the copper clad laminate reaches a specified position on the feeding conveyor line; The turntable detection component includes a transparent turntable rotating around a vertical axis, a lower vision detection mechanism located below the transparent turntable, an upper vision detection mechanism, a second vision positioning mechanism and a photoelectric inductor located above the transparent turntable. The transparent turntable is sequentially divided into four working positions, namely a feeding position, a lower detection position, an upper detection position and a discharging position, around the same rotation direction. The lower vision detection mechanism is located below the lower detection position. The photoelectric inductor detects the copper clad laminate reaching the lower detection position from the horizontal direction. The upper vision detection mechanism is located above the upper detection position; The picking position on the feeding conveyor line and the feeding position on the transparent turntable are within the lower operation range of the first spider manipulator; The discharging component includes a discharging conveyor line, an NG receiving table and a tray fixing mechanism. The discharging conveyor line horizontally passes through one side of the transparent turntable. The middle of the discharging conveyor line has a discharging position close to the transparent turntable. The NG receiving table is located above the discharging conveyor line and adjacent to the discharging position. The tray fixing mechanism is arranged at the discharging position; The discharging position of the transparent turntable and the NG receiving table are within the lower operation range of the second spider manipulator; 2. The high-speed double-sided detection and sorting equipment for copper clad laminates according to claim 1, wherein: It further includes a first pick-up head replacement platform and a second pick-up head replacement platform. A plurality of placement positions for placing pick-up heads of different models are provided on both the first pick-up head replacement platform and the second pick-up head replacement platform. The first pick-up head replacement platform is within the lower operation range of the first spider manipulator. The second pick-up head replacement platform is within the lower operation range of the second spider manipulator; 3. The high-speed double-sided detection and sorting equipment for copper clad laminates according to claim 2, wherein: The first pick-up head replacement platform and the upper vision detection mechanism are located on opposite sides of the transparent turntable; 4. The high-speed double-sided inspection and sorting equipment for copper clad laminates according to claim 2, wherein: The second pick-up head replacement platform and the transparent turntable are located on opposite sides of the discharging conveyor line; 5. The high-speed double-sided inspection and sorting equipment for copper clad laminates according to claim 1, characterized in that: The angle between adjacent working positions is an integer multiple of 180° / N, where N is a positive integer not less than 3. The discharging position is located on the opposite side of the feeding position; 6. The high-speed double-sided inspection and sorting equipment for copper clad laminates according to claim 1, characterized in that: The discharging conveyor line includes a pair of belt lines, a line width adjusting mechanism for adjusting the distance between the two belt lines and a plurality of slide rail mechanisms for guiding the horizontal translation of the belt lines; 7. The high-speed double-sided inspection and sorting equipment for copper clad laminates according to claim 1, characterized in that: The discharging component further includes a first buffer mechanism and a second buffer mechanism. The first buffer mechanism is located at the feeding section of the discharging conveyor line. The second buffer mechanism is located at the discharging section of the discharging conveyor line; 8. The high-speed double-sided inspection and sorting equipment for copper clad laminates according to claim 7, characterized in that: Both the first buffer mechanism and the second buffer mechanism include a lifting mechanism, a lifting slide and two brackets. The lifting mechanism is located below the discharging conveyor line and drives the lifting slide to lift and lower. The two brackets are respectively located on both sides of the discharging conveyor line and horizontally move under the guidance of the lifting slide. The height difference between adjacent support bars is greater than the thickness of the tray; 9. The high-speed double-sided inspection and sorting device for copper clad laminates according to claim 8, characterized in that: The discharging conveyor line includes a pair of belt lines, a line width adjusting mechanism for adjusting the distance between the two belt lines, and a plurality of slide rail mechanisms for guiding the translation of the belt lines. The outer side of the belt line is provided with vertical sliders. A plurality of support bars are arranged up and down on the inner side of the bracket, and a vertical slide rail for cooperating with the vertical slider is arranged on the outer side. The horizontal distance between each bracket and its nearest belt line is fixed.

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