Automatic plate planting machine

Abstract

The utility model discloses an automatic plate planting machine. The automatic board planting machine comprises a loading and unloading robot and a loading and unloading platform, wherein the loading and unloading robot is used for transferring a circuit board between the loading and unloading platform and a circuit board carrier; wherein the feeding and discharging robot comprises a multi-axis mechanical arm and a working module arranged on the multi-axis mechanical arm, and the working module can be driven by the multi-axis mechanical arm to move in the space; the working module comprises a main body part connected with the multi-axis mechanical arm and two sets of suction cup assemblies arranged on the main body part in a back-to-back mode, each set of suction cup assembly comprises a plurality of suction cups, and the suction cups are used for sucking a plurality of circuit boards at the same time. The automatic board planting machine disclosed by the utility model can be used for automatically and quickly loading and unloading a plurality of circuit boards at the same time.

Description

TECHNICAL FIELD

[0001] The utility model relates to a kind of automatic boarder for circuit board feeding and discharging. BACKGROUND

[0002] Circuit board (especially flexible circuit board) is widely used in processing, detection and conveying process circuit board carrier, for example, flexible circuit board (FPC) test, usually need to be placed to the circuit board carrier in test machine to complete test job.For the simultaneous test of multiple products (multiple circuit boards), the current test machine is usually manually fed and discharged, and the operator needs to put the positioning hole of the circuit board into the positioning needle on the circuit board carrier, and then close the cover plate, the overall operation is complex, and the product is difficult to place, and the manual feeding and discharging production efficiency is low. SUMMARY

[0003] To at least partially solve the problems of the prior art, the main purpose of the utility model is to provide an automatic boarder capable of simultaneously performing automatic feeding and discharging of multiple circuit boards.

[0004] In order to achieve the above-mentioned main purpose, the utility model discloses an automatic boarder, comprising a feeding and discharging robot and a feeding and discharging platform, the feeding and discharging robot is used for transferring circuit boards between the feeding and discharging platform and the circuit board carrier; wherein the feeding and discharging robot comprises a multi-axis mechanical arm and a working module arranged on the multi-axis mechanical arm, the working module can move in space under the drive of the multi-axis mechanical arm; the working module comprises a main body connected to the multi-axis mechanical arm and two groups of suction cup assemblies arranged on the back of the main body, each group of suction cup assemblies comprises a plurality of suction cups, and the plurality of suction cups are used to simultaneously suck multiple circuit boards.

[0005] Further, the working module further comprises two groups of jacking column assemblies arranged on the back of the main body; wherein each group of jacking column assemblies comprises a plurality of jacking columns and a driving device for driving the plurality of jacking columns to synchronously extend and retract, and the jacking columns are used to open the spring clips on the circuit board carrier.

[0006] Further, the end of the jacking column is provided with a roller. When abutting with the spring clip, the roller keeps the force point consistent by rotating, increasing the overall stability.

[0007] Further, the suction cup is a rectangular suction cup with a plurality of suction nozzles; wherein one pair of diagonal positions of each suction cup is provided with one jacking column. That is, the diagonal positions of the spring clips on the circuit board carrier fix the circuit board, achieving better fixing effect.

[0008] Further, a plurality of the suction cups are arranged side by side on the main body, and the plurality of the top pillars are arranged on the sliding frames mounted on opposite sides of the main body, the sliding frames being in sliding fit with the main body, and the driving device is mounted on the main body and connected with the sliding frames.

[0009] Further, the multi-axis robot is a six-axis robot.

[0010] Further, the automatic board mounting machine further comprises a feeding lifting platform and a circuit board transplanting module; the feeding lifting platform is used for stacking the trays containing the circuit boards to be processed / tested, and the circuit board transplanting module is used for transplanting the circuit boards between the trays on the feeding lifting platform and the feeding / discharging platform.

[0011] Further, the automatic board mounting machine further comprises a discharging lifting platform and a tray transplanting module, the tray transplanting module is used for transplanting the trays from the feeding lifting platform to the discharging lifting platform for stacking.

[0012] Further, the feeding lifting platform and the feeding / discharging platform are arranged side by side along a first horizontal direction; along a second horizontal direction perpendicular to the first horizontal direction, the feeding lifting platform and the discharging lifting platform are arranged side by side to realize more reasonable layout of the equipment.

[0013] Further, a detection camera is arranged between the feeding / discharging platform and the feeding lifting platform.

[0014] The technical scheme of the utility model has at least the following technical effects:

[0015] In the utility model, the feeding / discharging robot uses a multi-axis robot, especially a six-axis robot, the feeding position is relatively flexible and changeable, and the robot can be compatible with various types of testing / processing equipment; the multi-axis robot drives the working module to move in space, two groups of suction cup assemblies of the working module are arranged oppositely, a plurality of suction cups of each group of suction cup assemblies simultaneously suck a plurality of circuit boards, after a plurality of suction cups of one group of suction cup assemblies suck the circuit boards to be tested / processed from the feeding / discharging platform, the multi-axis robot drives the working module to overturn by 180 degrees, and a plurality of suction cups of the other group of suction cup assemblies can place the tested / processed circuit boards on the feeding / discharging platform, the motion path and time of the working module between taking and placing the circuit boards are reduced, and thus the automatic and rapid feeding / discharging operation of the plurality of circuit boards is realized, the efficiency is improved, and the labor cost can be saved.

[0016] Further, the utility model discloses a spring clamp is used to fix circuit board on circuit board carrier, need no longer configure apron, and the top post set up on the working module opens the spring clamp first before the working module draws circuit board from carrier and places circuit board to carrier, and then the working module can draw circuit board from carrier and place circuit board to carrier. In this way, the structure of circuit board carrier can be simplified and the fixing effect is better, and the taking and placing operation of circuit board on carrier can also be more simply realized.

[0017] In order to more clearly illustrate the purpose, technical scheme and advantages of the utility model, the utility model will be further described in detail below with the drawings and specific embodiments. BRIEF DESCRIPTION OF DRAWINGS

[0018] Figure 1 It is the whole structure diagram of automatic board planting machine embodiment of the utility model;

[0019] Figure 2 It is the structure diagram of suction cup assembly in embodiment;

[0020] Figure 3 It is the first visual angle internal structure diagram of automatic board planting machine in embodiment;

[0021] Figure 4 It is the second visual angle internal structure diagram of automatic board planting machine in embodiment. DETAILED DESCRIPTION

[0022] In the following description, a lot of specific details are set forth in order to facilitate a full understanding of the utility model, but the utility model can also be implemented by other ways different from the description, therefore, the protection scope of the utility model is not limited to the specific embodiments disclosed below.

[0023] As shown in Figure 1 And Figure 2 The automatic board planting machine of embodiment includes feeding and discharging robot 100 and feeding and discharging platform 210, and feeding and discharging robot 100 is used to transfer circuit board between feeding and discharging platform 210 and circuit board carrier 300, wherein circuit board carrier 300 can be the carrier used in circuit board testing or processing equipment. Exemplarily, circuit board carrier 300 is used in circuit board testing equipment, and the automatic board planting machine is used to cooperate with circuit board testing equipment to carry out feeding and discharging operation of circuit board.

[0024] The feeding and discharging robot 100 comprises a multi-axis robot arm 110 and a working module 120 arranged on the multi-axis robot arm 110. The working module 120 can move in space under the driving of the multi-axis robot arm 110, and specifically can move between the feeding and discharging platform 210 and the circuit board carrier 300 to complete the feeding and discharging work of the circuit board. Preferably, the multi-axis robot arm 110 is a six-axis robot arm. The feeding and discharging robot 100 can be installed on the top wall of the box body 400 of the automatic boarder and can be completely accommodated in the box body 400.

[0025] As shown in Figure 2 The working module 120 comprises two groups of suction cup assemblies 122 and a main body 121 provided with a connecting head 124, and the connecting head 124 is connected to the multi-axis robot arm 110. Preferably, the connecting head 124 and the multi-axis robot arm 110 adopt a quick release connection structure to facilitate disassembly and assembly of the working module 120. The two groups of suction cup assemblies 122 are arranged back to back on the main body 121, and each group of suction cup assemblies 122 comprises a plurality of suction cups 122a for simultaneously sucking a plurality of circuit boards P. The number of suction cups 122a in each group of suction cup assemblies 122 can be set as required; for example, each group of suction cup assemblies 122 has three suction cups 122a. Preferably, the plurality of suction cups 122a in each group of suction cup assemblies 122 are arranged side by side on the main body 121. The suction cup 122a can be a rectangular suction cup with a plurality of (for example, six) suction nozzles 122b.

[0026] Further, the circuit board carrier 300 is provided with a spring clamp 310 for clamping and fixing the circuit board P. The working module 120 further comprises two groups of top pillar assemblies 123 arranged back to back on the main body 121; each group of top pillar assemblies 123 comprises a plurality of top pillars 123a and a driving device 123b for driving the plurality of top pillars 123a to synchronously extend and retract, and the top pillars 123a are used to press and open the spring clamp 310 on the circuit board carrier 300. For example, the spring clamp 310 adopts a torsion spring clamp.

[0027] Specifically, the plurality of top pillars 123a in each group of top pillar assemblies 123 are arranged on the sliding frames 123c mounted on opposite sides of the main body 121, respectively, the sliding frames 123c are in sliding cooperation with the main body 121, and the driving device 123b is mounted on the main body 110 and connected with the sliding frames 123c. The driving device 123b can be a pneumatic cylinder, but is not limited thereto, for example, can also be a motor.

[0028] In the embodiment, the sliding frames 123c on opposite sides of the main body 121 in each group of the top pillar assembly 123 are independently arranged and synchronously driven by two driving devices 123b. As a variation of the embodiment, the sliding frames 123c on opposite sides of the main body 121 in each group of the top pillar assembly 123 can also be connected to each other and driven by the same driving device 123b.

[0029] In the embodiment, the spring clips 310 on the circuit board carrier 300 fix one pair of diagonal positions of the circuit board P, achieving a better fixing effect; correspondingly, one pair of diagonal positions of each suction cup 122a is provided with a top pillar 123a. The circuit board carrier 300 can be provided with a plurality of positioning pins 320, which are used for fine positioning of another pair of diagonal positions of the circuit board P, increasing the processing / testing stability. The feeding / discharging platform 210 can also be provided with a plurality of positioning pins for positioning the circuit board placed thereon.

[0030] It can be understood that the spring clips 310 and the top pillars 123a can also be arranged at other positions, for example, the spring clips 310 can be arranged to fix two opposite sides of the circuit board P, and the top pillars 123a are correspondingly arranged at the corresponding sides of the suction cups 122a. Preferably, the end of the top pillar 123a is provided with a roller 1231, which is in rolling contact with the spring clip 310. The roller 1231 keeps the force point consistent through rotation, increasing the overall stability.

[0031] When the circuit board is taken and placed on the feeding / discharging platform 210, the top pillars 123a are in the retracted state, and the front end of the top pillar 123a does not protrude out of the suction nozzle 122b. After the multi-axis robot arm 110 drives the working module 120 to move above the feeding / discharging platform 210, the working module 120 is pressed down, and one group of the empty suction cup assembly 122 of the working module 120 simultaneously sucks a plurality of circuit boards to be detected / processed from the feeding / discharging platform 210. Then, the multi-axis robot arm 110 drives the working module 120 to rise to a safe position and turn 180 degrees. After turning, the working module 120 is pressed down again, and the other group of the suction cup assembly 122 places a plurality of detected / processed circuit boards on the feeding / discharging platform 210 and becomes a new empty suction cup assembly.

[0032] After the circuit board pick-and-place operation on the loading and unloading platform 210 is completed, the multi-axis robot 110 drives the working module 120 to move above the circuit board carrier 300. When the circuit board pick-and-place operation is performed on the circuit board carrier 300, the driving device 123b drives the top column 123a to extend from the front end of the suction nozzle 122b, and during the downward movement of the working module 120, the top column 123a first pushes open the spring clamp 310, and the suction disc assembly 122 simultaneously sucks a plurality of detected / processed circuit boards on the circuit board carrier 300; then the multi-axis robot 110 drives the working module 120 to rise to a safe position and turn 180 degrees, after turning, the working module 120 is pressed downward again, the top column 123a pushes open the spring clamp 310, and the other group of suction disc assemblies 122 places a plurality of to-be-detected / processed circuit boards on the circuit board carrier 300, the driving device 123b drives the top column 123a to return to the retracted state, and the spring clamp 310 compresses the circuit boards. After that, the multi-axis robot 110 drives the working module 120 to move above the loading and unloading platform 210 again to perform the circuit board pick-and-place operation, and the cycle is repeated to complete the circuit board loading and unloading operation.

[0033] As shown in Figure 3 and 4 , the automatic boarder of the embodiment further comprises a material lifting platform 220 and a circuit board transplanting module 230; wherein the material lifting platform 220 is used for stacking trays containing to-be-detected / processed circuit boards, and the circuit board transplanting module 230 is used for transferring circuit boards between the trays on the material lifting platform 220 and the loading and unloading platform 210.

[0034] Specifically, the material lifting platform 220 can be connected with a lifting mechanism arranged below it and lifted to adapt to the stacking height of the trays; the circuit board transplanting module 230 comprises a suction disc 231 for sucking circuit boards, an X-axis moving module 232, a Y-axis moving module 233 and a Z-axis lifting module 234, and the suction disc 231 is installed on the Z-axis lifting module 234. Further, the Z-axis lifting module 234 can be provided with an R-axis rotating module, and the suction disc 231 is installed on the R-axis rotating module to be able to rotate around the Z-axis. The specific structure of the material lifting platform 220 and the circuit board transplanting module 230 can refer to the prior art, which will not be described here.

[0035] The incoming lifting platform 220 and the feeding and discharging platform 210 are preferably arranged side by side in the X direction (the first horizontal direction), and a detection camera 240 is arranged between the two. The suction disc 231 of the circuit board transplanting module 230 sucks the circuit board to be detected / processed from the uppermost tray of the incoming lifting platform 220, moves to the detection camera 240, and the circuit board position is detected by the detection camera 240, so that the circuit board transplanting module 230 can accurately place the circuit board to be detected / processed on the predetermined position on the feeding and discharging platform 210. Specifically, the circuit board transplanting module 230 can suck one circuit board from the uppermost tray each time, and place multiple circuit boards to be detected / processed on the feeding and discharging platform 210 through multiple repeated operations.

[0036] Further, the automatic circuit board mounting machine of the embodiment can further comprise an outgoing lifting platform 250 and a tray transplanting module 260; preferably, the incoming lifting platform 220 and the outgoing lifting platform 250 are arranged side by side along the Y direction (the second horizontal direction) perpendicular to the X direction. The tray transplanting module 260 is used to move the tray from the incoming lifting platform 220 to the outgoing lifting platform 250 for stacking.

[0037] The outgoing lifting platform 250 can be connected with a lifting mechanism arranged below and lifted to adapt to the stacking height of the tray; the tray transplanting module 260 comprises a suction disc 261, a Y-axis moving module 263 and a Z-axis lifting module 262, and the suction disc 261 can be installed on the Z-axis lifting module 262. The specific structure of the outgoing lifting platform 250 and the tray transplanting module 260 can also refer to the prior art, which will not be described here.

[0038] After the circuit board to be detected / processed is placed back on the feeding and discharging platform 210 by the feeding and discharging manipulator 100, the circuit board to be detected / processed on the feeding and discharging platform 210 is placed back on the uppermost tray of the incoming lifting platform 220 by the circuit board transplanting module 230. After the circuit board to be detected / processed in the uppermost tray is detected / processed and placed back, the uppermost tray on the feeding and discharging platform 210 is moved to the outgoing lifting platform 230 by the tray transplanting module 260 for stacking, and the stacked tray is manually taken away after being stacked to a certain height. It can be understood that the tray carrying the detected / processed circuit board can also not be stacked, but directly moved to the next station by a conveying mechanism (such as a manipulator or a conveying belt).

[0039] Although the above describes the present application through the embodiments, it should be understood that any equivalent changes made within the scope of the present application by those skilled in the art without departing from the scope of the present application shall be covered by the protection scope of the present application.

Claims

1. An automatic plate mounting machine, comprising a feeding and discharging robot and a feeding and discharging platform, the feeding and discharging robot being configured to transfer circuit boards between the feeding and discharging platform and a circuit board carrier; characterized in that: the feeding and discharging robot comprises a multi-axis robot arm and a working module arranged on the multi-axis robot arm, the working module being configured to move in space under the drive of the multi-axis robot arm; the working module comprises a main body connected to the multi-axis robot arm and two groups of suction disc assemblies arranged on the main body in a back-to-back manner, each group of the suction disc assemblies comprising a plurality of suction discs, the plurality of suction discs being configured to simultaneously suck a plurality of circuit boards.

2. The automated plate loader of claim 1, wherein: the working module further comprises two groups of jacking post assemblies arranged on the main body in a back-to-back manner, each group of the jacking post assemblies comprising a plurality of jacking posts and a driving device configured to drive the plurality of jacking posts to synchronously extend and retract, the jacking posts being configured to open spring clips on the circuit board carrier.

3. The automated plate loader of claim 2, wherein: an end of each jacking post is provided with a roller.

4. The automated plate loader of claim 2, wherein: each suction disc is a rectangular suction disc comprising a plurality of suction nozzles; one of each pair of diagonal positions of each suction disc is provided with one jacking post.

5. The automated plate loader of claim 2, wherein: the plurality of suction discs are arranged side by side on the main body, and the plurality of jacking posts are arranged on sliding frames mounted on opposite sides of the main body, the sliding frames being in sliding cooperation with the main body, and the driving device is mounted on the main body and connected to the sliding frames.

6. The automated plate loader of claim 1, wherein: the multi-axis robot arm is a six-axis robot arm.

7. The automated plate loader of claim 1, wherein: the automatic plate mounting machine further comprises an incoming lifting platform and a circuit board transplanting module, the incoming lifting platform being configured to stack trays containing circuit boards to be detected / processed, and the circuit board transplanting module being configured to transfer circuit boards between the trays on the incoming lifting platform and the feeding and discharging platform.

8. The automated plate loader of claim 7, wherein: the automatic plate mounting machine further comprises an outgoing lifting platform and a tray transplanting module, the tray transplanting module being configured to transfer trays from the incoming lifting platform to the outgoing lifting platform for stacking.

9. The automated platemaker of claim 8 wherein: the incoming lifting platform and the feeding and discharging platform are arranged side by side along a first horizontal direction; in a second horizontal direction perpendicular to the first horizontal direction, the incoming lifting platform and the outgoing lifting platform are arranged side by side.

10. The automated plate loader of claim 7, wherein: a detection camera is arranged between the feeding and discharging platform and the incoming lifting platform.

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