Automatic feeding and discharging device

Abstract

The utility model discloses an automatic feeding and discharging device which comprises a machine table. The feeding equipment comprises a feeding rack, a feeding manipulator and a feeding station switching mechanism, the feeding manipulator and the feeding station switching mechanism are sequentially arranged on the feeding rack in an up-down spaced mode, and the feeding rack is provided with a first horizontal station and a second horizontal station; the discharging equipment comprises a discharging rack, a discharging mechanical arm and a discharging station switching mechanism, the discharging mechanical arm and the discharging station switching mechanism are sequentially arranged on the discharging rack in an up-down spaced mode, and the discharging rack is provided with a third horizontal station and a fourth horizontal station; the feeding mechanical arm and the discharging mechanical arm each comprise two grabbing mechanisms, and the two grabbing mechanisms are located above the first station and the second station or correspond to the third station and the fourth station. The feeding station switching mechanism and the discharging station switching mechanism each comprise a moving mechanism and a temporary storage disc, and the moving mechanisms enable the temporary storage discs to be switched between the first station and the second station or between the third station and the fourth station.

Description

TECHNICAL FIELD

[0001] The utility model relates to a feeding and discharging technology field, especially a kind of automatic feeding and discharging device. BACKGROUND

[0002] Laser processing technology has become a kind of relatively mature industrial processing technology, and some high hardness and certain brittleness materials can be drilled, for example, ceramic sheet, before processing, material is placed on the material placement area set by machining first, then laser is started to drill the material, and the material is taken out after drilling.

[0003] In the prior art, the feeding and discharging of materials are generally manually operated, and the manual feeding and discharging are low in efficiency, which cannot meet the continuous operation of laser processing equipment; meanwhile, when the material is large, manual feeding and discharging are difficult, a large amount of labor is needed, labor cost is increased, and the material is easily damaged during feeding and discharging. UTILITY MODEL CONTENT

[0004] The utility model aims at at least solving one of the technical problems existing in the prior art. To this end, the utility model provides an automatic feeding and discharging device, the temporary storage disc can be moved between the double stations of feeding and discharging by the moving mechanism, the double stations can be simultaneously fed and discharged under the structure size of single station, the processing efficiency is improved, the space is saved, and the cost is reduced.

[0005] An automatic loading and unloading device according to an embodiment of the present invention includes: a machine base, wherein the machine base is provided with a processing platform; a loading device, wherein the loading device is disposed on one side of the machine base, the loading device including: a loading frame, a loading robot, and a loading station switching mechanism, the loading robot and the loading station switching mechanism being sequentially and alternately arranged vertically on the loading frame, the loading frame being provided with a horizontal first station and a second station; and an unloading device, wherein the unloading device is disposed on the other side of the machine base, the unloading device including an unloading frame, an unloading robot, and an unloading station switching mechanism, the unloading robot and the unloading station switching mechanism being sequentially and alternately arranged vertically on the unloading frame, the unloading frame being provided with a horizontal third station. The loading robot and the unloading robot each include two gripping mechanisms. The two gripping mechanisms of the loading robot are located above the first and second workstations, and the two gripping mechanisms of the unloading robot correspond to the third and fourth workstations, respectively. Furthermore, both the loading and unloading workstation switching mechanisms include a moving mechanism and a temporary storage tray. The moving mechanism of the loading workstation switching mechanism is used to switch the position of the temporary storage tray between the first and second workstations, and the moving mechanism of the unloading workstation switching mechanism is used to switch the position of the temporary storage tray between the third and fourth workstations. The first, second, third, and fourth workstations are arranged horizontally in sequence.

[0006] According to the automatic loading and unloading device of this utility model embodiment, the temporary storage tray can move between the two loading and unloading stations through the moving mechanism, which can realize the simultaneous loading and unloading of two stations under the structural size of a single station, thereby improving processing efficiency, saving space and reducing costs.

[0007] According to some embodiments of the present invention, the moving mechanism includes: a first translation component; a second translation component, wherein the second translation component and the first translation component are arranged parallel to each other and spaced apart, and a space for accommodating the temporary storage disk is defined between them; the first translation component and the second translation component are respectively connected to the temporary storage disk, and are used to drive the temporary storage disk to switch positions between a first workstation and a second workstation.

[0008] According to some embodiments of the present invention, the moving mechanism further includes: a first horizontal plate; a second horizontal plate, the first horizontal plate and the second horizontal plate being arranged parallel to each other and spaced apart, the first translation component being movably disposed on the side of the first horizontal plate facing the second horizontal plate, the second translation component being movably disposed on the side of the second horizontal plate facing the first horizontal plate, one of the first translation component and the second translation component being used to drive the temporary storage disk to move horizontally, and the other of the first translation component and the second translation component moving with the temporary storage disk.

[0009] According to some embodiments of the utility model, the feeding manipulator and the discharging manipulator both comprise: horizontal movement module and two up-down movement modules, two up-down movement modules are connected through cantilever plate and are arranged on the horizontal movement module, each up-down movement module is provided with a grabbing mechanism.

[0010] According to some embodiments of the utility model, the grabbing mechanism comprises: mounting frame, the mounting frame is arranged along the first direction and a plurality of adsorption plates are arranged below the mounting frame and are spaced along the first direction, the adsorption plate is arranged along the second direction and a plurality of suction nozzles are arranged on the adsorption plate and are spaced along the second direction, a plurality of branch gas paths are formed in the adsorption plate;Pump assembly, the pump assembly comprises a switch valve and a plurality of control switches, each branch gas path is provided with a control switch, the switch valve controls the opening and closing of a plurality of control switches to open or close different branch gas paths;Wherein, the branch gas path is the gas path of the suction nozzle arranged along the second direction.

[0011] According to some embodiments of the utility model, a plurality of adsorption plates comprise: first adsorption plate, second adsorption plate and a plurality of third adsorption plates, the first adsorption plate and the second adsorption plate are connected and fixed on the mounting frame, a plurality of third adsorption plates are movably arranged on the mounting frame through sliding mechanism.

[0012] According to some embodiments of the utility model, the discharging station switching mechanism further comprises: recovery tray, the recovery tray is arranged below the temporary storage tray and the recovery tray is located at the third station position.

[0013] According to some embodiments of the utility model, the processing platform is provided with a plate placing station and a plate collecting station, the plate placing station is close to one side of the feeding equipment, the plate placing station is below the second station and is horizontally spaced from the second station;The plate collecting station is close to one side of the discharging equipment, the plate collecting station is below the third station and is horizontally spaced from the third station.

[0014] According to some embodiments of the utility model, the feeding equipment further comprises a feeding trolley, the feeding trolley is arranged below the feeding rack and is arranged opposite to the grabbing mechanism corresponding to the first station in the feeding manipulator;The discharging equipment further comprises a discharging trolley, the discharging trolley is arranged below the discharging rack and is arranged opposite to the grabbing mechanism corresponding to the fourth station in the discharging manipulator.

[0015] According to some embodiments of the utility model, the automatic feeding and discharging device further includes: a controller, the controller is electrically connected with the feeding manipulator and the moving mechanism of the feeding station switching mechanism, and the controller is configured to: when the feeding manipulator grasps two products to be processed by relying on the temporary storage disc located at the second station, control the moving mechanism to move the temporary storage disc from the second station to the first station.

[0016] Additional aspects and advantages of the utility model will be partially given in the following description, some will become obvious from the following description, or be understood through the practice of the utility model. BRIEF DESCRIPTION OF DRAWINGS

[0017] The above and / or additional aspects and advantages of the utility model will become apparent and more readily appreciated from the following description of the embodiments, with reference to the following drawings, in which:

[0018] Figure 1 It is the whole structure schematic diagram of automatic feeding and discharging device according to the utility model embodiment;

[0019] Figure 2 It is the structure schematic diagram of feeding equipment according to the utility model embodiment;

[0020] Figure 3 It is the structure schematic diagram of discharging equipment according to the utility model embodiment;

[0021] Figure 4 It is the structure schematic diagram of feeding manipulator according to the utility model embodiment;

[0022] Figure 5 It is the structure schematic diagram of grabbing mechanism according to the utility model embodiment;

[0023] Figure 6 It is the whole schematic diagram of different stations according to the utility model embodiment.

[0024] Reference Signs:

[0025] 1, machine table;11, processing platform;12, plate placing station;13, plate collecting station;

[0026] 2, feeding equipment;21, feeding rack;22, first station;23, second station;24, feeding trolley;

[0027] 3, feeding manipulator;31, horizontal movement module;32, up-down movement module;33, cantilever plate;34, telescopic arm;

[0028] 41, moving mechanism;4101, first translation component;4102, second translation component;42, temporary storage disc;

[0029] 5, blanking equipment; 51, blanking rack; 52, third station; 53, fourth station; 54, blanking trolley;

[0030] 6, blanking manipulator;

[0031] 71, recycling tray;

[0032] 8, grabbing mechanism; 81, mounting frame; 82, adsorption plate; 8201, first adsorption plate; 8202, second adsorption plate; 8203, third adsorption plate; 83, suction nozzle; 84, on-off valve; 85, distance detection sensor; 86, touch plate detection sensor; 87, sliding mechanism.

[0033] 9, processing equipment. DETAILED DESCRIPTION

[0034] The embodiments of the present application are described in detail below, and the embodiments described with reference to the accompanying drawings are exemplary. The embodiments of the present application are described in detail below.

[0035] The following will be described with reference to Figures 1-6 An automatic feeding and discharging device according to an embodiment of the present application is described.

[0036] As shown in Figures 1-6 , the automatic feeding and discharging device comprises a machine table 1, a processing equipment 9, a feeding equipment 2 and a discharging equipment 5. The machine table 1 is provided with a processing platform 11. The feeding equipment 2 is arranged on one side of the machine table 1, and the discharging equipment 5 is arranged on the other side of the machine table 1. The processing equipment 9 is mounted on the machine table 1. In this example, the processing equipment 9 can be a laser processing equipment 9, or it can also be other processing equipment.

[0037] Referring to Figure 1 , Figure 2 and Figure 6 , the feeding equipment 2 comprises a feeding rack 21, a feeding manipulator 3 and a feeding station switching mechanism. The feeding manipulator 3 and the feeding station switching mechanism are arranged in sequence and spaced apart vertically on the feeding rack 21. The feeding rack 21 is provided with a horizontal first station 22 and a second station 23. That is, the feeding equipment 2 is provided with two stations for feeding.

[0038] Referring to Figure 1 , Figure 3 and Figure 6 , the discharging equipment 5 comprises a discharging rack 51, a discharging manipulator 6 and a discharging station switching mechanism. The discharging manipulator 6 and the discharging station switching mechanism are arranged in sequence and spaced apart vertically on the discharging rack 51. The discharging rack 51 is provided with a horizontal third station 52 and a fourth station 53. That is, the discharging equipment 5 is provided with two stations for discharging. The first station 22, the second station 23, the third station 52 and the fourth station 53 are arranged in sequence horizontally.

[0039] It should be noted that the position space occupied by the first station 22 and the second station 23 is the structural size of the original single station. Similarly, the position space occupied by the third station 52 and the fourth station 53 is the structural size of the original single station.

[0040] The feeding manipulator 3 and the discharging manipulator 6 each include two grabbing mechanisms 8. The two grabbing mechanisms 8 of the feeding manipulator 3 are located above the first station 22 and the second station 23, and the two grabbing mechanisms 8 of the discharging manipulator 6 are located above the third station 52 and the fourth station 53. The feeding station switching mechanism and the discharging station switching mechanism each include a moving mechanism 41 and a temporary storage disc 42. The moving mechanism 41 of the feeding station switching mechanism is used to switch the position of the temporary storage disc 42 between the first station 22 and the second station 23, and the moving mechanism 41 of the discharging station switching mechanism is used to switch the position of the temporary storage disc 42 between the third station 52 and the fourth station 53.

[0041] Specifically, in the feeding device 2, first, the temporary storage disc 42 of the feeding station switching mechanism is moved to the second station 23, the first grabbing mechanism 8 far from the machine table 1 in the feeding manipulator 3 downwardly grabs the first product to be processed, such as a PCB substrate, and then the feeding manipulator 3 is moved to place the first processed product on the temporary storage disc 42 at the second station 23, so that the feeding manipulator 3 is moved to the second grabbing mechanism 8 close to the machine table 1 to grab the first processed product. In this way, the first grabbing mechanism 8 far from the machine table 1 can continue to downwardly grab the second product to be processed, and at this time, the two grabbing mechanisms 8 simultaneously grab the respective products to be processed to move to the machine table 1 to simultaneously place the two products to be processed on the processing platform 11. Under the orderly cooperation of the feeding manipulator 3 and the feeding station switching mechanism, the double-station placement action is quickly and stably completed.

[0042] Moreover, the temporary storage disc 42 of the feeding station switching mechanism can have the function of whole board positioning, that is, positioning the product to be processed to meet the position requirement. In the above feeding process, after the first grabbing mechanism 8 far from the machine table 1 downwardly grabs the first product to be processed, the first product to be processed is placed on the temporary storage disc 42 at the second station 23, and the temporary storage disc 42 positions the first product to be processed. Similarly, after the second product to be processed is grabbed, the second product to be processed is placed on the temporary storage disc 42 at the second station 23, and the temporary storage disc 42 positions the second product to be processed, thereby ensuring the position requirement of the product to be processed and facilitating the grabbing mechanism 8 to quickly and effectively grab the product to be processed.

[0043] When the processing equipment 9 finishes processing the two products to be processed, the two grabbing mechanisms 8 of the unloading manipulator 6 simultaneously grab the processed products, the first grabbing mechanism 8 far from the machine table 1 places the first grabbed product into the unloading trolley, and the second grabbing mechanism 8 close to the machine table 1 places the second product into the temporary storage disc 42 located at the third station 52, and the temporary storage disc 42 is moved from the third station 52 to the fourth station 53; then, the first grabbing mechanism 8 moves to above the fourth station 53 to grab the second product, and after the temporary storage disc 42 is moved from the fourth station 53 to the third station 52, the first grabbing mechanism 8 places the second product into the unloading trolley, and under the orderly cooperation of the unloading manipulator 6 and the unloading station switching mechanism, the double-station receiving action is quickly and stably completed.

[0044] According to the automatic feeding and discharging device, the temporary storage disc 42 can be moved between the double stations for feeding and discharging by the moving mechanism 41, the double-station feeding and discharging can be realized under the structure size of a single station, the efficiency of placing and collecting products of the double stations is improved, space is saved, and cost is reduced.

[0045] According to some embodiments of the present application, the automatic feeding and discharging device further comprises a controller, the controller is electrically connected with the feeding manipulator 3 and the moving mechanism 41 of the feeding station switching mechanism, and the controller is configured to: when the feeding manipulator 3 grabs two products to be processed by relying on the temporary storage disc 42 located at the second station 23, control the moving mechanism 41 to move the temporary storage disc 42 from the second station 23 to the first station 22.

[0046] In the feeding equipment 2, the initial position of the temporary storage disc 42 is on the second station 23, and after the feeding manipulator 3 simultaneously grabs two products to be processed, the moving mechanism 41 moves the temporary storage disc 42 from the second station 23 to the first station 22. In this way, when two products to be processed are simultaneously fed, the temporary storage disc 42 only needs to be controlled to change position once.

[0047] When two processed products are simultaneously discharged, the temporary storage disc 42 needs to be controlled to change position twice. However, when two processed products are simultaneously discharged, the temporary storage disc 42 can also be controlled to be located at the third station 52 by the moving mechanism 41, and the unloading manipulator 6 can also be moved up and down and horizontally to discharge the products in the double stations.

[0048] Specifically, when the processing equipment 9 completes the processing of two products to be processed, the two grabbing mechanisms 8 of the unloading manipulator 6 simultaneously grab the processed products, the first grabbing mechanism 8 far from the machine table 1 places the first grabbed product into the unloading trolley, and the second grabbing mechanism 8 close to the machine table 1 places the second product into the temporary storage disc 42 at the third station 52; then, the first grabbing mechanism 8 moves horizontally above the third station 52, the second product is grabbed and moved above the fourth station 53, and then the first grabbing mechanism 8 places the second product into the unloading trolley.

[0049] According to some embodiments of the present application, the moving mechanism 41 comprises: a first translation assembly 4101 and a second translation assembly 4102, the second translation assembly 4102 is arranged in parallel and spaced apart from the first translation assembly 4101, and a space for accommodating the temporary storage disc 42 is defined therebetween, the first translation assembly 4101 and the second translation assembly 4102 are respectively connected with the temporary storage disc 42, for driving the temporary storage disc 42 to switch positions between the first station 22 and the second station 23.

[0050] Specifically, the temporary storage disc 42 is connected between the first translation assembly 4101 and the second translation assembly 4102, and the first translation assembly 4101 and the second translation assembly 4102 can drive the temporary storage disc 42 to move, so as to switch positions between the first station 22 and the second station 23.

[0051] According to some embodiments of the present application, the moving mechanism 41 further comprises: a first cross plate and a second cross plate, the first cross plate and the second cross plate are arranged in parallel and spaced apart, the first translation assembly 4101 is movably arranged on one side of the first cross plate facing the second cross plate, the second translation assembly 4102 is movably arranged on one side of the second cross plate facing the first cross plate, one of the first translation assembly 4101 and the second translation assembly 4102 is used to drive the temporary storage disc 42 to move horizontally, and the other of the first translation assembly 4101 and the second translation assembly 4102 moves with the temporary storage disc 42.

[0052] Specifically, referring to Figure 2 As shown in the figure, the first cross plate and the second cross plate are arranged on opposite sides of the feeding rack 21, the first translation assembly 4101 is installed on one side of the first cross plate facing the second cross plate, and the second translation assembly 4102 is installed on one side of the second cross plate facing the first cross plate, the first translation assembly 4101 is used as a driving part to drive the temporary storage disc 42 to move, and the second translation assembly 4102 moves with the temporary storage disc 42, so that the two translation assemblies do not need to drive the temporary storage disc 42 at the same time.

[0053] In some embodiments, the first translation assembly 4101 includes a first guide rail and a driving member, the second translation assembly 4102 includes a second guide rail, the temporary storage disc 42 is installed between the first guide rail and the second guide rail, the driving member drives the first guide rail to move relative to the first horizontal plate, and the temporary storage disc 42 moves with the first guide rail, and the second guide rail moves with the temporary storage disc 42.

[0054] According to some embodiments of the present application, the feeding manipulator 3 and the discharging manipulator 6 each include: a horizontal movement module 31 and two up-down movement modules 32, the two up-down movement modules 32 are connected through a cantilever plate 33 and are arranged on the horizontal movement module 31, and each up-down movement module 32 is provided with a grabbing mechanism 8.

[0055] Specifically, referring to FIG. 2, the horizontal movement module 31 drives the two up-down movement modules 32 to be horizontally movable, and the two up-down movement modules 32 respectively drive the respective grabbing mechanisms 8 to be up-down movable. Figure 4 When the two up-down movement modules 32 are located above the first station 22 and the second station 23, the two up-down movement modules 32 correspond to the first station 22 and the second station 23 respectively. Similarly, the two up-down movement modules 32 can be moved to correspond to the third station 52 and the fourth station 53 up and down. In addition, the lower end of each up-down movement module 32 is also provided with a telescopic arm 34 for connecting with the grabbing mechanism 8.

[0056] In some embodiments, the up-down movement module 32 and the horizontal movement module 31 adopt a screw rod module design, two up-down movement modules 32 are arranged on the horizontal movement module 31, so as to ensure that the double stations simultaneously place two products to be processed on the placing station 12 of the processing platform 11 and take away two processed products from the collecting station 13 of the processing platform 11.

[0057] According to some embodiments of the present application, the grabbing mechanism 8 includes: a mounting frame 81 and a gas pump assembly. The mounting frame 81 extends in a first direction, and a plurality of adsorption plates 82 are arranged below the mounting frame 81 and spaced apart in the first direction. The adsorption plate 82 extends in a second direction and is provided with a plurality of suction nozzles 83 spaced apart in the second direction. A plurality of branch gas paths are formed in the adsorption plate 82. The gas pump assembly includes a switch valve 84 and a plurality of control switches. Each branch gas path is provided with a control switch. The switch valve 84 controls the opening and closing of the plurality of control switches to open or close different branch gas paths. The branch gas path is the gas path of the suction nozzles 83 arranged in the second direction.

[0058] Referring to FIG. 2, Figure 5As shown, the above gripping mechanism 8 of the feeding manipulator 3 is taken as an example, the mounting frame 81 is connected with the lower end of the up-down moving module 32, and the mounting frame 81 is arranged in extension along the first direction, so that a plurality of adsorption plates 82 are arranged in interval on the lower side of the mounting frame 81 along the first direction. And each adsorption plate 82 is arranged in extension along the second direction, so that a plurality of suction nozzles 83 are arranged in interval on the lower side of the adsorption plate 82 along the second direction. Wherein, a plurality of branch air paths are formed in each adsorption plate 82.

[0059] It can be understood that the branch air path is the air path of the suction nozzle 83 arranged along the second direction. That is to say, different branch air paths have the air path of the suction nozzle 83 at different positions along the second direction. For example, the first branch air path is the first three suction nozzles 83 arranged along the second direction at one end of the adsorption plate 82, the second branch air path is the fourth to sixth suction nozzles 83, and the third branch air path is the seventh to last suction nozzles 83.

[0060] A control switch is arranged in each branch air path, and the opening and closing of the control switch in each branch air path is controlled by the switch valve 84, so as to open or close the air path of the suction nozzle 83 arranged along the second direction. Taking the above-mentioned three branch air paths as an example, the switch valve 84 controls the opening of the control switch of the first branch air path to open the air path of the first three suction nozzles 83. The switch valve 84 controls the opening of the control switch of the first air path and the second branch air path to open the air path of the first six suction nozzles 83. The switch valve 84 controls the opening of the control switch of the first branch air path, the second branch air path and the third branch air path to open the air path of all suction nozzles 83.

[0061] In some embodiments, a distance detection sensor 85 is arranged on the gripping mechanism 8 for monitoring the distance from the product. During the up-down movement of the gripping mechanism 8, the distance from the product is monitored in real time, and when the distance requirement from the product is reached, the gripping mechanism 8 grasps the product, so as to ensure that the gripping mechanism 8 can quickly, accurately and stably grasp the product from the feeding and discharging trolley, the temporary storage disc 42 and the machining platform 11.

[0062] In some embodiments, a touch plate detection sensor 86 is arranged on the gripping mechanism 8 for detecting whether the product adsorbed on the gripping mechanism 8 falls off, so as to ensure that the gripping mechanism 8 can effectively adsorb the product to realize the placing and collecting action.

[0063] According to some embodiments of the present application, the plurality of adsorption plates 82 comprises: a first adsorption plate 8201, a second adsorption plate 8202 and a plurality of third adsorption plates 8203, the first adsorption plate 8201 and the second adsorption plate 8202 are connected and fixed on the mounting frame 81, and the plurality of third adsorption plates 8203 are movably arranged on the mounting frame 81 through a sliding mechanism 87. Referring to Figure 5As shown, according to the size requirement of the product along the first direction, one or more third adsorption plates 8203 can be moved to meet products of different sizes.

[0064] Therefore, the grabbing mechanism 8 of the utility model adopts the size-adjustable design, and for products of different sizes, the matching of the adsorption area can be realized by adjusting the on-off state of the on-off valve 84 and the position of the sliding mechanism 87, the compatibility of the feeding and discharging machine for the product size is improved, and the practicability of the feeding and discharging machine is greatly improved.

[0065] According to some embodiments of the utility model, the discharging station switching mechanism further comprises: a recovery tray 71, the recovery tray 71 is arranged below the temporary storage tray 42, and the recovery tray 71 is located at the third station 52.

[0066] In this way, when the processed product is unqualified or the product is not completed processing, at this time, the discharging manipulator 6 places the product into the recovery tray 71. Wherein, since the initial position of the temporary storage tray 42 is at the third station 52, the moving mechanism 41 needs to move the temporary storage tray 42 to the fourth station 53 first, so as to expose the recovery tray 71, so that the product that does not meet the requirements can be placed on the recovery tray 71. Therefore, the discharging equipment 5 can also realize the differentiation between the normal processing product and the processing error product.

[0067] According to some embodiments of the utility model, the processing platform 11 is provided with a plate placing station 12 and a plate collecting station 13, the plate placing station 12 is close to the side of the feeding equipment 2, the plate placing station 12 is below the second station 23 and is arranged horizontally and spaced apart from the second station 23; the plate collecting station 13 is close to the side of the discharging equipment 5, the plate collecting station 13 is below the third station 52 and is arranged horizontally and spaced apart from the third station 52. Wherein, the plate placing station 12 and the plate collecting station 13 are two respectively.

[0068] According to some embodiments of the utility model, the feeding equipment 2 further comprises a feeding trolley 24, the feeding trolley 24 is arranged below the feeding rack 21 and corresponds to the first station 22. The discharging equipment 5 further comprises a discharging trolley 54, the discharging trolley 54 is arranged below the discharging rack 51 and corresponds to the fourth station 53. In this way, when the first grabbing mechanism 8 of the feeding manipulator 3 moves to the upper side of the first station 22, the product to be processed in the feeding trolley 24 is directly grabbed by moving up and down, which is simple to operate.

[0069] The automatic feeding and discharging device provides a double-station automatic feeding and discharging method, utilizes the above automatic feeding and discharging device, and takes the product as a PCB substrate as an example, and the specific steps are as follows:

[0070] S1, initialization, the temporary storage tray 42 of the feeding station switching mechanism is located at the second station 23, and the temporary storage tray 42 and the recovery tray 71 of the discharging station switching mechanism are located at the third station 52.

[0071] S2, the first grabbing mechanism 8 of the feeding manipulator 3 grabs the first PCB substrate from the feeding trolley 24 and places it on the temporary tray 42 at the second station 23;

[0072] S3, after the first PCB substrate is completed, the second grabbing mechanism 8 of the feeding manipulator 3 grabs and holds it;

[0073] S4, the first grabbing mechanism 8 of the feeding manipulator 3 grabs the second PCB substrate from the feeding trolley 24 and places it on the temporary tray 42 at the second station 23;

[0074] S5, after the second PCB substrate is completed, the first grabbing mechanism 8 of the feeding manipulator 3 grabs and holds it;

[0075] S6, the temporary tray 42 at the second station 23 moves to the first station 22;

[0076] S7, the two grabbing mechanisms 8 of the feeding manipulator 3 place the first and second PCB substrates on the board placing position of the processing platform 11 at the same time;

[0077] S8, it is judged whether the processing is completed, if yes, it goes to S9-S14, if no, it goes to S15;

[0078] S9, the two grabbing mechanisms 8 of the unloading manipulator 6 grab the two PCB substrates on the processing platform 11 at the same time;

[0079] S10, the first grabbing mechanism 8 of the unloading manipulator 6 places the first PCB substrate on the unloading trolley 54, and the second grabbing mechanism 8 of the unloading manipulator 6 places the second PCB substrate on the temporary tray 42 at the third station 52;

[0080] S11, the temporary tray 42 at the third station 52 moves to the fourth station 53;

[0081] S12, the first grabbing mechanism 8 of the unloading manipulator 6 grabs the second PCB substrate;

[0082] S13, the temporary tray 42 at the fourth station 53 moves to the third station 52;

[0083] S14, the first grabbing mechanism 8 of the unloading manipulator 6 places the second PCB substrate on the unloading trolley 54;

[0084] S15, the temporary tray 42 at the third station 52 moves to the fourth station 53, and one or two grabbing mechanisms 8 of the unloading manipulator 6 grab the PCB substrate at the error reporting station and place it on the recycling tray 71;

[0085] Repeat the above S1-S15 to complete the continuous feeding and discharging action.

[0086] Therefore, the automatic feeding and discharging device, first, adopts the moving mechanism 41 to exchange the plate design, realizes the double-station simultaneous feeding and discharging under the structure size of the single-station. Moreover, the design temporary storage disc 42 is arranged between the first translation assembly 4101 and the second translation assembly 4102, when the grabbing mechanism 8 is at the highest position, the temporary storage disc 42 can be moved between the double-station through the moving mechanism 41, realizes that two grabbing mechanisms 8 simultaneously hold the plate after the plate is simultaneously placed, improves the plate efficiency. Second, the grabbing mechanism 8 of adjustable adsorption product size is adopted, for different size products, the matching of the vacuum adsorption area can be realized by adjusting the switch state of the switch valve 84 and the position of the sliding block mechanism, improve the compatibility of the feeding and discharging machine to the product size, greatly improve the practicability of the feeding and discharging machine. In addition, a specific process design is adopted, realizes the double-station simultaneous feeding and discharging action, guarantees the whole feeding and discharging process orderly, safely, stably, efficiently.

[0087] In the description of the utility model, it is understood that the orientation or positional relationship indicated by the terms "center", "longitudinal", "lateral", "length", "width", "thickness", "upper", "lower", "front", "rear", "left", "right", "vertical", "horizontal", "top", "bottom", "inner", "outer", "clockwise", "counterclockwise", "axial", "radial", "circumferential" are based on the orientation or positional relationship shown in the drawings, and are only for the convenience of describing the utility model and simplifying the description, and therefore cannot be understood as limiting the utility model.

[0088] In the description of the specification, the description of the terms "one embodiment", "some embodiments", "illustrative embodiment", "example", "specific example" or "some examples" means that the specific features, structures, materials or characteristics described in conjunction with the embodiment or example are included in at least one embodiment or example of the utility model. In the specification, the illustrative description of the above terms does not necessarily refer to the same embodiment or example.

[0089] Although the embodiments of the utility model have been shown and described, those skilled in the art can understand that various changes, modifications, replacements and variations can be made to these embodiments without departing from the principles and purposes of the utility model, and the scope of the utility model is defined by the claims and their equivalents.

Claims

1. An automatic loading and unloading device, characterized in that, The utility model relates to a kind of automatic loading and unloading device for wafer processing, including: Machine table, the machine table is provided with processing platform; Feeding equipment, the feeding equipment is arranged in one side of the machine table, the feeding equipment includes: feeding rack, feeding manipulator and feeding station switching mechanism, the feeding manipulator and the feeding station switching mechanism are sequentially arranged in upper and lower intervals on the feeding rack, the feeding rack is provided with horizontal first station and second station; Discharging equipment, the discharging equipment is arranged in the other side of the machine table, the discharging equipment includes discharging rack, discharging manipulator and discharging station switching mechanism, the discharging manipulator and the discharging station switching mechanism are sequentially arranged in upper and lower intervals on the discharging rack, the discharging rack is provided with horizontal third station and fourth station; The feeding manipulator and the discharging manipulator include two grabbing mechanisms, the two grabbing mechanisms of the feeding manipulator are located above first station and second station, the two grabbing mechanisms of the discharging manipulator are located above third station and fourth station;And the feeding station switching mechanism and the discharging station switching mechanism include: moving mechanism and temporary storage tray, the moving mechanism of the feeding station switching mechanism is used to make the temporary storage tray switch position between first station and second station, the moving mechanism of the discharging station switching mechanism is used to make the temporary storage tray switch position between third station and fourth station; Wherein, first station, second station, third station and fourth station are sequentially arranged horizontally.

2. The automatic loading and unloading device according to claim 1, characterized in that, The moving mechanism includes: First translation component; Second translation component, the second translation component is arranged in parallel interval with the first translation component and defines the space that contains the temporary storage tray between, the first translation component and second translation component are connected with the temporary storage tray respectively, for driving the temporary storage tray switch position between first station and second station.

3. The automatic loading and unloading device according to claim 2, characterized in that, The moving mechanism further includes: First cross plate; Second cross plate, the first cross plate and the second cross plate are arranged in parallel interval, the first translation component is movably arranged on the side of the first cross plate towards the second cross plate, the second translation component is movably arranged on the side of the second cross plate towards first cross plate, one of the first translation component and the second translation component is used to drive the temporary storage tray horizontal movement and the first translation component and the second translation component another with the temporary storage tray moves.

4. The automatic loading and unloading device according to claim 1, characterized in that, The feeding manipulator and the discharging manipulator include: horizontal movement module and two up-down movement modules, two up-down movement modules are connected through cantilever plate and are arranged on the horizontal movement module, each up-down movement module is provided with a grabbing mechanism.

5. The automatic loading and unloading device according to claim 1, characterized in that, The grabbing mechanism includes: Mounting rack, the mounting rack is arranged in extension along first direction and is provided with multiple suction plates arranged in interval along first direction below the mounting rack, the suction plate is arranged in extension along second direction and is provided with multiple suction nozzles arranged in interval along second direction on the suction plate, multiple branch gas paths are formed in the suction plate; The air pump assembly comprises a switch valve and a plurality of control switches, each of the branch air paths is provided with a control switch, and the switch valve controls the opening and closing of the plurality of control switches to open or close different branch air paths.

6. The automatic loading and unloading device according to claim 5, characterized in that, The plurality of adsorption plates comprise a first adsorption plate, a second adsorption plate, and a plurality of third adsorption plates, the first adsorption plate and the second adsorption plate are connected and fixed on the mounting frame, and the plurality of third adsorption plates are movably arranged on the mounting frame through a sliding mechanism.

7. The automatic loading and unloading device according to claim 1, characterized in that, The unloading station switching mechanism further comprises a recovery tray, which is arranged below the temporary storage tray and is located at the third station position.

8. The automatic loading and unloading device according to claim 1, characterized in that, The processing platform is provided with a plate placing station and a plate collecting station, the plate placing station is close to one side of the feeding device, the plate placing station is located below the second station and is arranged horizontally apart from the second station, the plate collecting station is close to one side of the discharging device, and the plate collecting station is located below the third station and is arranged horizontally apart from the third station.

9. The automatic loading and unloading device according to claim 1, characterized in that, The feeding device further comprises a feeding trolley, which is arranged below the feeding rack and corresponds to the first station, and the discharging device further comprises a discharging trolley, which is arranged below the discharging rack and corresponds to the fourth station.

10. The automatic loading and unloading device according to claim 1, characterized in that, Further comprising: A controller is electrically connected with the feeding manipulator and the moving mechanism of the feeding station switching mechanism, and is configured to control the moving mechanism to move the temporary storage tray from the second station to the first station when the feeding manipulator grasps two products to be processed by the temporary storage tray located at the second station.

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