Multi-station six-shaft plate throwing and collecting machine

Abstract

The utility model belongs to the technical field of plate throwing and collecting machines, and particularly relates to a multi-station six-axis plate throwing and collecting machine which comprises a box body, a six-axis mechanical arm is arranged at the top of the box body, a feeding part and a discharging part are arranged at the two ends of the box body, the feeding part is provided with a feeding belt, a detection part is arranged at the top of the feeding belt, two discharging positions are arranged in the discharging part, and the detection part is arranged at the bottom of the box body. A first storage rack and a second storage rack are arranged in the two discharging positions respectively, a side plate is hinged to the side face of the box body, a control panel is arranged on the outer side of the side plate, a buffer storage rack is arranged on the inner side of the side plate, the space utilization rate in the box body is increased, and the overall size of the box body is reduced.

Description

Technical Field

[0001] The utility model relates to the technical field of feeding and receiving machines, in particular to a multi-station six-axis feeding and receiving machine. Background Art

[0002] At present, the layout of the six-axis robot receiving and unloading machine commonly used in the PCB production industry is usually two PCB board loading stations, one conveying station, and another paper loading station. The six-axis robot is hoisted directly above the four stations. When there are NG scrapped boards on the incoming materials of the receiving and unloading machine, an alarm is issued to notify the staff to remove the boards through special equipment. The existing receiving and unloading machine needs to divide an independent area in the machine body to place the board receiving rack. The low space utilization rate in the machine body will cause the machine body to become larger, resulting in the machine body occupying a larger space in the workshop. Utility Model Content

[0003] The purpose of the utility model is to provide a multi-station six-axis board feeding and receiving machine, aiming to solve the technical problem in the prior art that the space utilization rate within the machine body is low and the machine body becomes larger, resulting in the machine body occupying a large space in the workshop.

[0004] To achieve the above-mentioned purpose, an embodiment of the present invention provides a multi-station six-axis feeding and receiving machine, comprising a box body, a six-axis manipulator is provided on the top of the box body, a feeding part and a discharging part are provided at both ends of the box body, the feeding part is provided with a feeding belt, a detection part is provided on the top of the feeding belt, two discharging positions are provided in the discharging part, a first storage rack and a second storage rack are provided in the two discharging positions respectively, a side panel is hinged on the side of the box body, a control panel is provided on the outer side of the side panel, and a cache rack is provided on the inner side of the side panel.

[0005] Preferably, the cache rack is an inclined L-shaped structure, and a backing plate is provided on a side of the cache rack close to the feed belt.

[0006] Preferably, the movable end of the six-axis manipulator is provided with a clamping claw portion, the clamping claw portion includes a moving module and a movable claw sliding on the moving module, and the moving module is provided with a fixed claw at one end away from the movable claw.

[0007] Preferably, the movable claw and the fixed claw both include a mounting frame and a plurality of first suction cups provided on the mounting frame, and an extension direction of the mounting frame is perpendicular to an extension direction of the movable module.

[0008] Preferably, the movable claw and the fixed claw further include a plurality of fixing rods, and the fixing rods are evenly distributed on a side of the mounting frame away from the movable module.

[0009] Preferably, each of the mounting brackets is provided with a fixing bracket, the bottom of the fixing bracket is connected to an elastic telescopic rod, the bottom of the elastic telescopic rod is connected to a second suction cup, and the height of the second suction cup is lower than that of the first suction cup.

[0010] Preferably, the two discharge positions are further provided with elevators, and the two elevators are both provided with brackets, and the tops of the brackets are provided with positioning pins, which are respectively used to achieve positioning cooperation with the positioning holes provided at the bottoms of the first storage rack and the second storage rack.

[0011] The above one or more technical solutions in the multi-station six-axis plate feeding and receiving machine provided by the embodiment of the utility model have at least one of the following technical effects:

[0012] During use, the panels are placed on the feed belt of the feed section, the detection section on the feed belt reads the code of the panels, and the positioning section locates the position of the panels. The panels on the feed belt are clamped by the six-axis robot. When the detection section detects an NG signal after reading the code of the panels, the six-axis robot clamps the panels to the cache rack inside the box. When the detection section detects a pass signal after reading the code of the panels, the six-axis robot clamps the panels to the first storage rack or the second storage rack. When the cache rack is full, a signal is sent through the control panel to remind personnel to take out the panels. When taking out, the panels in the cache rack can be taken out by opening the side panel, which improves the space utilization rate in the box and reduces the overall volume of the box. BRIEF DESCRIPTION OF THE DRAWINGS

[0013] Figure 1 A schematic diagram of the overall structure of a multi-station six-axis plate feeding and receiving machine provided by an embodiment of the present utility model;

[0014] Figure 2 A schematic diagram of the internal structure of a multi-station six-axis plate feeding and receiving machine provided by an embodiment of the present utility model;

[0015] Figure 3 A schematic diagram of the outer structure of the side plate of the multi-station six-axis feeding and receiving machine provided by an embodiment of the utility model;

[0016] Figure 4 A schematic diagram of the inner structure of the side panel of the multi-station six-axis loading and unloading machine provided by an embodiment of the utility model;

[0017] Figure 5 A schematic diagram of the structure of the elevator of the multi-station six-axis loading and unloading machine provided by the embodiment of the utility model;

[0018] Figure 6 A schematic diagram of the structure of the positioning holes of the multi-station six-axis loading and unloading machine provided by an embodiment of the utility model;

[0019] Figure 7A schematic structural diagram of the positioning portion of a multi-station six-axis loading and unloading machine provided by an embodiment of the present utility model;

[0020] Figure 8 This is a schematic diagram of the structure of the clamping jaw portion of the multi-station six-axis feeding and receiving machine provided by an embodiment of the present utility model;

[0021] Figure 9 This is the second structural schematic diagram of the clamping jaw portion of the multi-station six-axis trigger feeding and receiving machine provided by an embodiment of the present utility model.

[0022] Among them, the reference numerals in the figures are:

[0023] 1-box, 11-feeding belt, 12-detection part, 13-positioning part, 14-discharging position, 141-first storage rack, 142-second storage rack, 143-elevator, 144-bracket, 145-positioning pin, 146-positioning hole, 2-six-axis manipulator, 3-side panel, 31-control panel, 32-cache rack, 321-back plate, 4-clamping claw part, 41-movable module, 42-movable claw, 421-mounting frame, 422-first suction cup, 423-fixed frame, 424-elastic telescopic rod, 425-second suction cup, 43-fixed claw, 44-fixed rod. DETAILED DESCRIPTION

[0024] The following describes in detail embodiments of the present invention, examples of which are shown in the accompanying drawings, wherein the same or similar reference numerals throughout represent the same or similar elements or elements having the same or similar functions. The embodiments described below with reference to the accompanying drawings are exemplary and are intended to be used to explain the embodiments of the present invention, and should not be construed as limiting the present invention.

[0025] In the description of the embodiments of the present invention, it should be understood that the terms "length", "width", "up", "down", "front", "back", "left", "right", "vertical", "horizontal", "top", "bottom", "inside", "outside", etc., indicating the orientation or position relationship, are based on the orientation or position relationship shown in the accompanying drawings, and are only for the convenience of describing the embodiments of the present invention and simplifying the description, and do not indicate or imply that the device or element referred to must have a specific orientation, be constructed and operated in a specific orientation, and therefore cannot be understood as a limitation on the present invention.

[0026] Furthermore, the terms "first" and "second" are used for descriptive purposes only and should not be understood to indicate or imply relative importance or implicitly specify the number of the technical features indicated. Thus, a feature defined as "first" or "second" may explicitly or implicitly include one or more of the features. In the description of the embodiments of the present invention, "plurality" means two or more, unless otherwise specifically defined.

[0027] In the embodiments of the present invention, unless otherwise expressly specified or limited, the terms "installed," "connected," "connected," "fixed," etc. should be understood in a broad sense. For example, they may refer to fixed connection, detachable connection, or integration; mechanical connection, electrical connection; direct connection, indirect connection through an intermediate medium; internal communication between two components, or interaction between two components. Those skilled in the art will understand the specific meanings of the above terms in the embodiments of the present invention based on specific circumstances.

[0028] In one embodiment of the present invention, Figures 1 to 9 As shown, a multi-station six-axis plate feeding and receiving machine is provided, comprising a box body 1, a six-axis manipulator 2 is provided on the top of the box body 1, a feed part and a discharge part are provided at both ends of the box body 1, the feed part is provided with a feed belt 11, a detection part 12 and a positioning part 13 are provided on the top of the feed belt 11, two discharge positions 14 are provided in the discharge part, and a first storage rack 141 and a second storage rack 142 are provided in the two discharge positions 14 respectively, a side panel 3 is hinged on the side of the box body 1, a control panel 31 is provided on the outside of the side panel 3, and a cache rack 32 is provided on the inside of the side panel 3. Among them, the detection part 12 is an industrial code reader for reading the code plate on the plate. When the plate is placed in the feed belt 11, as the feed belt 11 is transported, the code plate on the plate will enter the detection range of the detection part 12, thereby achieving the code reading effect.

[0029] Furthermore, the buffer rack 32 is an inclined L-shaped structure, and a support plate 321 is provided on the side of the buffer rack 32 close to the feed belt 11. Specifically, when the detection unit 12 detects an NG signal after reading the barcode of a panel, the six-axis robot 2 clamps the panel into the buffer rack 32 inside the box 1. The panel can lean against the support plate 321 due to gravity, preventing it from shaking and falling when the panel is removed.

[0030] Furthermore, the movable end of the six-axis manipulator 2 is provided with a clamping claw 4, which includes a movable module 41 and a movable claw 42 that slides on the movable module 41. The movable module 41 is provided with a fixed claw 43 at one end away from the movable claw 42. The movable claw 42 and the fixed claw 43 each include a mounting frame 421 and a plurality of first suction cups 422 disposed on the mounting frame 421. The extending direction of the mounting frame 421 is perpendicular to the extending direction of the movable module 41. Specifically, the plate is placed in the feed belt 11 of the feed section, and the detection section 12 on the feed belt 11 reads the code of the plate to obtain the size information of the plate, and the movable claw 42 is adjusted to a position corresponding to the size of the plate by the mobile module 41, and the first suction cup 422 on the movable claw 42 and the fixed claw 43 is used to simultaneously adsorb and grasp the plate to achieve a grasping effect; it is worth noting that the mobile module 41 can adopt a linear motor, and the movement is achieved by sliding the mounting bracket 421 on the movable claw 42 on the linear motor, or the mobile module 41 can adopt The use of a motor to drive the screw rod and the screw rod to drive the mounting frame 421 to move are all existing technologies and will not be repeated here; in addition, the positioning part 13 includes a push rod arranged at the bottom of the feed belt 11 and a racket rod arranged on both sides of the feed belt 11. The push rod is moved up and down by a cylinder, and each racket rod is moved by a guide rail. When in use, the push rod is driven by the cylinder to rise through the feed belt 11 and lift the plate, and the racket rod is pushed to the two sides of the plate through the guide rail and one of the rackets is brought into contact with the plate to push the plate, and finally the left and right sides of the plate are respectively in contact with a racket to complete the positioning.

[0031] Furthermore, the movable claw 42 and the fixed claw 43 further include a plurality of fixing rods 44, each of which is evenly distributed on a side of the mounting frame 421 away from the movable module 41. Specifically, the movable claw 42 is adjusted to a position corresponding to the size of the panel through the movable module 41, and the panel is simultaneously sucked and grasped by the first suction cups 422 on the movable claw 42 and the fixed claw 43. During grasping, the first suction cups 422 grasp the top surface of the panel. However, the panel lacks fixing devices around its perimeter and is prone to drifting. The provision of the fixing rods 44 can limit the position of the panel around its perimeter, preventing the panel from drifting while being sucked and fixed by the first suction cups 422.

[0032] Furthermore, each mounting bracket 421 is provided with a fixed bracket 423, the bottom of which is connected to an elastic telescopic rod 424, and the bottom of which is connected to a second suction cup 425. The height of the second suction cup 425 is lower than that of the first suction cup 422. Specifically, the movable claw 42 is adjusted to a position corresponding to the size of the panel by the moving module 41, and the panel is simultaneously sucked and grasped by the first suction cup 422 on the movable claw 42 and the fixed claw 43. Before the first suction cup 422 contacts the panel, the second suction cup 425 first contacts and absorbs the top surface of the panel to achieve preliminary fixation. At the same time, as the clamping portion continues to descend, the elastic telescopic rod 424 is elastically compressed until the first suction cup 422 contacts and absorbs the top surface of the panel, achieving high precision in clamping the panel and preventing the panel from drifting and misaligning. The elastic telescopic rod 424 includes a telescopic portion and a spring sleeved on the telescopic portion. The top of the spring abuts the fixed bracket 423, and the bottom of the spring abuts the top of the second suction cup, achieving an elastic effect.

[0033] Furthermore, the two discharge positions 14 are also provided with elevators 143, and the two elevators 143 are both provided with brackets 144. The top of the brackets 144 is provided with positioning pins 145, which are respectively used to achieve positioning cooperation with the positioning holes 146 provided at the bottom of the first storage rack 141 and the second storage rack 142.

[0034] Working principle: When in use, the panel is placed in the feed belt 11 of the feed section, the detection section 12 on the feed belt 11 reads the code of the panel, and the positioning section 13 locates the position of the panel, and then the six-axis manipulator 2 clamps the panel on the feed belt 11. When the detection section 12 detects an NG signal after reading the code of the panel, the six-axis manipulator 2 clamps the panel to the cache rack 32 on the inside of the box 1. When the detection section 12 detects a pass signal after reading the code of the panel, the six-axis manipulator 2 clamps the panel to the first storage rack 141 or the second storage rack 142; when the cache rack 32 is full, a signal is sent through the control panel 31 to remind personnel to take out the panel. When taking out, the panel in the cache rack 32 can be taken out by opening the side panel 3, which improves the space utilization rate in the box 1 and reduces the overall volume of the box 1.

[0035] The above is only a preferred specific implementation method of the present invention, but the protection scope of the present invention is not limited to this. Any technician familiar with the technical field within the technical scope disclosed by the present invention can make equivalent replacements or changes based on the technical solution and utility model concept of the present invention, which should be covered by the protection scope of the present invention.

Claims

1. A multi-station six-axis plate feeding and receiving machine, characterized by: It includes a box body, a six-axis robot is provided on the top of the box body, a feeding part and a discharging part are provided at both ends of the box body, the feeding part is provided with a feeding belt, the top of the feeding belt is provided with a detection part, two discharging positions are provided in the discharging part, and the two discharging positions are respectively provided with a first storage rack and a second storage rack, a side panel is hinged on the side of the box body, a control panel is provided on the outer side of the side panel, and a cache rack is provided on the inner side of the side panel.

2. The multi-station six-axis plate feeding and receiving machine according to claim 1, characterized in that: The cache rack is an inclined L-shaped structure, and a backing plate is provided on a side of the cache rack close to the feed belt.

3. The multi-station six-axis plate feeding and receiving machine according to claim 1, characterized in that: The movable end of the six-axis manipulator is provided with a clamping claw portion, which includes a moving module and a movable claw sliding on the moving module. The moving module is provided with a fixed claw at one end away from the movable claw.

4. The multi-station six-axis plate feeding and receiving machine according to claim 3, characterized in that: The movable claw and the fixed claw both include a mounting frame and a plurality of first suction cups arranged on the mounting frame. The extending direction of the mounting frame is perpendicular to the extending direction of the movable module.

5. The multi-station six-axis plate feeding and receiving machine according to claim 4, characterized in that: The movable claw and the fixed claw further include a plurality of fixing rods, and the fixing rods are evenly distributed on a side of the mounting frame away from the moving module.

6. The multi-station six-axis plate feeding and receiving machine according to claim 4, characterized in that: Each of the mounting brackets is provided with a fixing bracket, the bottom of the fixing bracket is connected to an elastic telescopic rod, the bottom of the elastic telescopic rod is connected to a second suction cup, and the height of the second suction cup is lower than that of the first suction cup.

7. The multi-station six-axis plate feeding and receiving machine according to claim 1, characterized in that: The two discharge positions are also provided with elevators, and the two elevators are both provided with brackets. The tops of the brackets are provided with positioning pins, which are respectively used to achieve positioning cooperation with the positioning holes provided at the bottoms of the first storage rack and the second storage rack.

Images