Tray type six-axis plate placing machine

Abstract

The utility model belongs to the technical field of plate placing machines, and particularly relates to a Tray type six-axis plate placing machine which comprises a conveying belt, a mechanical arm and two material taking stations, the mechanical arm is used for grabbing plates on the two material taking stations to the conveying belt, the two material taking stations are provided with first lifts, the first lifts are matched with two symmetrically-distributed first brackets in a lifting mode, and the two first brackets are arranged on the conveying belt. The two material taking stations are used for moving stacked tray stacks up and down, tray collecting positions are arranged at the tops of the two material taking stations, storage frames with downward openings are arranged in the tray collecting positions, the storage frames are provided with driving parts and side frame plates, the driving parts are used for driving the side frame plates to be in sliding fit with the storage frames, and second lifters are arranged between the tray collecting positions and the material taking stations. The second lifter is matched with a horizontal sliding rail in a lifting mode, second brackets are connected to the two ends of the horizontal sliding rail in a sliding mode, all the side frame plates and the second brackets are provided with barbs used for bearing the bottoms of the Tray plates, and automatic split-flow storage of the plates and the Tray plates is achieved.

Description

TECHNICAL FIELD

[0001] The utility model relates to a plate placing machine technical field especially relates to a Tray formula six axle plate placing machine. BACKGROUND

[0002] PCB board incoming material is placed in Tray disc, and PCB board needs to be taken out from Tray disc and flow to next process, currently, Tray disc type plate taking and placing machine mainly relies on six axle mechanical arm to realize the movement of Tray disc, connects suction disc group and six axle mechanical arm, adjusts the position and angle of suction disc group through the rotation of multiple degrees of freedom of six axle mechanical arm, makes suction disc group reach each work position and carries out the taking and placing of Tray disc, and the empty Tray disc is left on the transportation mechanism after the taking and placing of plate placing machine, and the existing storage method is usually that Tray disc is transported away through transportation mechanism and is stacked by hand, and automatic stacking cannot be realized. UTILITY MODEL CONTENTS

[0003] The utility model aims at providing a Tray formula six axle plate placing machine, and aims at solving the technical problem that the existing storage method in the prior art is usually that Tray disc is transported away through transportation mechanism and is stacked by hand, and automatic stacking cannot be realized.

[0004] In order to realize the above-mentioned purpose, the utility model embodiment provides a Tray formula six axle plate placing machine, which comprises a transportation belt, a mechanical hand and two material taking stations, the mechanical hand is used for respectively grabbing the plate pieces on the two material taking stations to the transportation belt, the two material taking stations are equipped with a first elevator, the first elevator is lifted and cooperated with two symmetrical first cradles, and is used for moving the Tray disc stack that is well stacked up and down, the top of the two material taking stations is equipped with a disc collecting position, the disc collecting position is equipped with a downward opening storage frame, the storage frame is equipped with a driving part and a side frame plate, the driving part is used for driving each side frame plate and the storage frame to slide, a second elevator is arranged between the disc collecting position and the material taking station, the second elevator is lifted and cooperated with a horizontal slide rail, the horizontal slide rail is slidably connected with a second cradle at both ends, each side frame plate and the second cradle are equipped with a barb for supporting the bottom of Tray disc.

[0005] Preferably, the driving part is arranged at the top of the storage frame, the driving part comprises a plurality of pneumatic push rods and a plurality of guide rails, the output shafts of the pneumatic push rods are connected with the top of each side frame plate respectively, and the top of each side frame plate is slidably connected with the two slide rails.

[0006] Preferably, the two said material taking stations are movably provided with transport vehicles for transporting the stacked Tray disc stacks, and the inner walls of the two said material taking stations are provided with first positioning parts, the first positioning parts comprising two first positioning blocks and one second positioning block, the two first positioning blocks and the second positioning block being triangularly distributed with the inner sides of the material taking stations, the two first positioning blocks being drivingly provided with driving push rods, and the second positioning block being drivingly connected with a positioning cylinder.

[0007] Preferably, the extrusion surfaces of the two first positioning blocks are provided with triangular grooves for extruding two corners of the Tray disc stack, and the extrusion surface of the second positioning block is for extruding the side surface of the Tray disc stack.

[0008] Preferably, each of the first brackets is provided with two groups of second positioning parts, the second positioning parts comprising first pushing cylinders and rotating cylinders, the first pushing cylinders being pushingly connected with push plates, and the rotating cylinders being rotationally connected with limiting plates.

[0009] Preferably, the top portions of the two said material taking stations are provided with third positioning parts, the third positioning parts comprising a plurality of second pushing cylinders and position sensors, each of the second pushing cylinders being pushingly connected with the push plate for positioning the periphery of the Tray disc stack, and the position sensors being for positioning the top surface height of the Tray disc stack.

[0010] Preferably, the two sides of the transport belt are provided with positioning wheels for positioning the position of the board on the transport belt.

[0011] Preferably, the Tray six-axis board placing machine further comprises an NG board storage table.

[0012] The Tray six-axis board placing machine provided by the embodiment of the present application has at least one of the following technical effects:

[0013] In use, stacked trays are placed at the material handling station. Each tray contains a sheet. A robotic arm removes the sheet from the top tray and places it on a conveyor belt. A second lift lowers the horizontal guide rail, bringing the top surfaces of two second brackets down to the top tray. The horizontal guide rail drives the two second brackets to move closer together, bringing their hooks into contact with the bottom of the tray. The second lift then raises the second brackets. When the second brackets have raised the trays close to the bottom of the storage frame, the side frames of the storage frame are driven away from the center, creating a space larger than the tray's area. The second lift continues to raise the second brackets, allowing the tray to enter the storage frame. Finally, the drive unit moves the side frames closer together, bringing them into contact with the storage frame. The trays are stacked and stored by hooks supporting the bottom of the trays. A first lifter raises the tray stack via a first bracket, bringing the top of the tray stack to the designated retrieval position. With trays already in the storage frame, a second lifter raises the second bracket, raising the trays close to the bottom of the storage frame. At this point, there is a slight distance between the trays on the second bracket and the bottom of the trays in the storage frame. The side panels of the storage frame are driven away from the center of the frame, causing the trays in the storage frame to fall onto the trays on the second bracket. The second lifter continues to raise the second bracket, bringing the trays into the storage frame. Finally, the drive unit moves the side panels closer to the storage frame, so that the hooks on the side panels support the bottom of the trays, completing the stacking and storage of the trays. This achieves automated separation and storage of boards and trays. Attached Figure Description

[0014] Fig. 1 A schematic diagram of the overall structure of the Tray-type six-axis plate-laying machine provided in this embodiment of the utility model;

[0015] Fig. 2 One of the internal structural schematic diagrams of the Tray-type six-axis plate feeding machine provided in this embodiment of the utility model;

[0016] Fig. 3 A second schematic diagram of the internal structure of the Tray-type six-axis plate-laying machine provided for an embodiment of this utility model;

[0017] Fig. 4 A schematic diagram of the structure of the storage frame of the Tray-type six-axis plate feeding machine provided in an embodiment of this utility model;

[0018] Fig. 5 A schematic diagram of the structure of the first lifting mechanism of the Tray-type six-axis plate-laying machine provided in an embodiment of this utility model.

[0019] In the drawings:

[0020] 1-transport belt, 11-positioning wheel, 12-NG plate storage table, 2-robot, 3-material taking station, 31-first elevator, 311-first bracket, 312-first positioning block, 313-second positioning block, 314-driving push rod, 315-positioning cylinder, 316-triangle groove, 32-first pushing cylinder, 321-rotary cylinder, 322-pushing cylinder, 323-position sensor, 324-pushing plate, 325-limiting plate, 33-transport vehicle, 4-receiving frame, 41-side frame plate, 42-pneumatic push rod, 43-guide rail, 5-second elevator, 51-horizontal slide rail, 511-second bracket, 52-inverted hook. DETAILED DESCRIPTION

[0021] The embodiments of the present application are described in detail below, examples of which are shown in the drawings, wherein the same or similar notations represent the same or similar elements or elements having the same or similar functions throughout. The embodiments described below by reference to the drawings are exemplary and are intended to explain the embodiments of the present application, and cannot be understood as a limitation of the present application.

[0022] In the description of the embodiments of the present application, it should be understood that the terms "length", "width", "upper", "lower", "front", "back", "left", "right", "vertical", "horizontal", "top", "bottom", "inner", "outer" and the like indicate the orientation or positional relationship based on the orientation or positional relationship shown in the drawings, and are only for the purpose of facilitating the description of the embodiments of the present application and simplifying the description, and therefore cannot be understood as indicating or implying that the device or element referred to must have a particular orientation, be constructed and operated in a particular orientation, and therefore cannot be understood as a limitation of the present application.

[0023] In addition, the terms "first", "second" are only for the purpose of description, and cannot be understood as indicating or implying relative importance or implicitly indicating the number of the technical features indicated. Therefore, the features defined with "first", "second" can explicitly or implicitly include one or more of the features. In the description of the embodiments of the present application, the meaning of "multiple" is two or more, unless otherwise specifically limited.

[0024] In the embodiments of the present application, unless otherwise explicitly specified and limited, the terms "mounting", "connecting", "connecting", "fixing" and the like should be understood in a broad sense, for example, it can be fixedly connected, or it can be detachably connected, or it can be integrated; it can be mechanically connected, or it can be electrically connected; it can be directly connected, or it can be indirectly connected through an intermediate medium; it can be the communication or interaction relationship between two elements. For those skilled in the art, the specific meanings of the above terms in the embodiments of the present application can be understood according to the specific circumstances.

[0025] In one embodiment of the present application, as shown in Figs. 1-5 A Tray six-axis plate placing machine is provided, which comprises a conveying belt 1, a mechanical hand 2 and two material taking stations 3. The mechanical hand 2 is used to grab the plate pieces on the two material taking stations 3 to the conveying belt 1 respectively. The two material taking stations 3 are provided with a first elevator 31. The first elevator 31 is matched with two symmetrically distributed first carriages 311 for moving the stacked Tray disc up and down. The top of the two material taking stations 3 is provided with a disc collecting position. The disc collecting position is provided with a downwardly opening receiving frame 4. The receiving frame 4 is provided with a driving part and a side frame plate 41. The driving part is used to drive each side frame plate 41 to slide with the receiving frame 4. A second elevator 5 is arranged between the disc collecting position and the material taking station 3. The second elevator 5 is matched with a horizontal slide rail 51. The horizontal slide rail 51 is slidably connected with a second carriage 511 at both ends. Each side frame plate 41 and the second carriage 511 are provided with a barb 52 for supporting the bottom of the Tray disc.

[0026] Further, the driving part is arranged at the top of the receiving frame 4. The driving part comprises a plurality of pneumatic push rods 42 and a plurality of guide rails 43. The output shaft of each pneumatic push rod 42 is connected with the top of each side frame plate 41 respectively. The top of each side frame plate 41 is slidably connected with two guide rails 43. Specifically, each side frame plate 41 corresponds to a pneumatic push rod 42, and the top of the receiving frame 4 is provided with two guide rails 43 at the position corresponding to each side frame plate 41. When the driving part pushes each side frame plate 41, each side frame plate 41 is pushed at the top by each pneumatic push rod 42, so that each side frame plate 41 moves towards or away from the center of the receiving frame 4. At the same time, when each side frame plate 41 moves, the top of each side frame plate 41 is slidably connected with two guide rails 43 respectively, so that the linear effect of each side frame plate 41 is better when it moves.

[0027] Further, the two said material taking stations 3 are movably provided with transport vehicles 33 for transporting the stacked Tray disc stacks, the inner walls of the two said material taking stations 3 are provided with first positioning parts, the first positioning parts include two first positioning blocks 312 and one second positioning block 313, the two first positioning blocks 312 and the second positioning block 313 are in triangular distribution with the inner sides of the material taking stations 3, the two first positioning blocks 312 are drivenly provided with driving push rods 314, and the second positioning block 313 is drivingly connected with a positioning cylinder 315. The pressing surfaces of the two first positioning blocks 312 are provided with triangular grooves 316 for pressing two corners of the Tray disc stack respectively, and the pressing surface of the second positioning block 313 is for pressing the side surface of the Tray disc stack. Specifically, the transport vehicle 33 can be used to push the stacked Tray disc stack into the material taking station 3, the first lifting machine 31 drives the first bracket 311 to rise so that the top of the first bracket 311 holds the Tray disc stack, after the Tray disc is taken by the mechanical arm 2, the second lifting machine 5 drives the second bracket 511 to hold the empty Tray disc and put it into the storage frame 4, at this time, the top height of the Tray disc stack is lower than the set Tray disc taking height, the first lifting machine 31 drives the first bracket 311 to push the Tray disc stack to move upward, so that the Tray disc at the top of the Tray disc stack has the same height as the Tray disc taken before, after the Tray disc stack is lifted, the Tray disc stack needs to be arranged, the two driving push rods 314 are used to drive the first positioning blocks 312 to move to the two corners on the same side of the Tray disc stack, and the triangular grooves 316 of the first positioning blocks 312 are in close contact with the two corners of the Tray disc stack for positioning. It is worth noting that the first lifting machine 31 is a lead screw lifting machine, the lead screw is driven by a motor and cooperates with a guide rod to make the first bracket 311 move up and down, so as to realize accurate lifting effect, in addition, the second lifting machine 5 is a lead screw lifting machine, the lead screw is driven by a motor and cooperates with a guide rod to make the first bracket 311 move up and down, so as to realize accurate lifting effect, the lead screw lifting machine is prior art, which will not be described here.

[0028] Further, each of the first bracket 311 is provided with two groups of second positioning parts, the second positioning parts include a first push cylinder 32 and a rotary cylinder 321, the first push cylinder 32 is connected with a push plate 324, the rotary cylinder 321 is connected with a limiting plate 325. Specifically, the transport vehicle 33 can also be used for transporting the carrier box loaded with the board piece, when the transport vehicle 33 transports the carrier box, by pushing the transport vehicle 33 into the material taking station 3, the first bracket 311 is driven by the first elevator 31 to hold up the carrier box, and the carrier box is positioned by the second positioning part, the left and right sides of the carrier box are respectively driven by each first push cylinder 32 to extrude the push plate 324 on the two sides of the carrier box, so that the left and right positioning effect is realized, the front and rear sides of the carrier box are limited by rotating the limiting plate 325 by each rotary cylinder 321, the two first brackets 311 can be connected by a guide rail, and the guide rail is used to adjust the distance between the two first brackets 311, by adjusting the distance between the two first brackets 311, the two first brackets 311 can be located at the bottom of the tray stack or away from the bottom of the tray stack, when the two first brackets 311 are located at the bottom of the tray stack, the first bracket 311 can hold up the tray stack when the first elevator 31 is driven.

[0029] Further, the top of the two material taking stations 3 is provided with third positioning parts, the third positioning parts include a plurality of second push cylinders 322 and a position sensor 323, each of the second push cylinders 322 is connected with the push plate 324, for positioning the periphery of the tray stack, the position sensor 323 is used to position the top surface height of the tray stack. Specifically, the tray stack in the material taking station 3 is held up by the first bracket 311, and the first bracket 311 is lifted by the first elevator 31 until the top surface of the tray stack is sensed by the position sensor 323 to stop lifting, the push plate is extruded by the second push cylinder 322 to press the side surface of the tray stack, so that the positioning effect of the side surface of the top of the tray stack is realized; when the carrier vehicle loaded with the carrier box enters the material taking station 3, the carrier box is held up by the first bracket 311 and positioned by the second positioning part, and is lifted by the first elevator 31 until the side surface of the carrier box is captured by the position sensor 323, and then the third positioning part is further positioned, so that good positioning effect is realized.

[0030] Further, the conveying belt 1 is provided with positioning wheels 11 on both sides for positioning the position of the board on the conveying belt 1. An NG board storage table 12 is further included. Specifically, after the board on the Tray is gripped by the mechanical arm 2, the code reader arranged at the head end of the conveying belt 1 reads the code, and when the reading result is correct, the board is placed on the conveying belt 1 by the mechanical arm 2 for conveying, the board is positioned and matched with the positioning wheels 11 during the conveying process, and when the reading result is incorrect, the board is placed on the NG board storage table 12 by the mechanical arm 2 for storage. It is worth noting that the conveying belt 1 includes a plurality of transmission rods, a group of conveying wheels and two groups of conveying wheels are arranged on the transmission rods, one group of conveying wheels includes three wheel bodies with large radii, which are arranged at the left, middle and right positions of the transmission rod respectively, and the wheels on the left and right sides are inside the positioning wheels 11 on both sides of the conveying belt, so that the board can be positioned during the conveying process; the two groups of conveying wheels include four wheel bodies with small radii, and two small wheel bodies are arranged as a group between two adjacent large wheel bodies; one group of conveying wheels and two groups of conveying wheels are respectively used for conveying CSP boards and BGA boards, and have a wide range of applications.

[0031] Working principle: when in use, the Tray disc stack is placed on the material taking station 3, the Tray disc in the Tray disc stack contains the plate, the plate in the Tray disc at the top is taken out by the mechanical arm 2 and placed on the conveying belt 1, the horizontal guide rail is lowered by the second lifting machine 5, the top surface of the two second brackets 511 is lowered to the Tray disc at the top, the two second brackets 511 are driven to move towards each other by the horizontal guide rail, the hooks 52 of the two second brackets 511 abut against the bottom surface of the Tray disc, the second bracket 511 is lifted by the second lifting machine 5, when the second bracket 511 lifts the Tray disc close to the bottom of the storage frame 4, the side frame plates 41 of the storage frame 4 are driven to move away from the center of the storage frame 4 by the driving part, and the space formed between the side frame plates 41 is larger than the area of the Tray disc, the Tray disc is put into the storage frame 4 by the second lifting machine 5, finally the side frame plates 41 are driven to close to the storage frame 4 by the driving part, the hooks 52 of the side frame plates 41 support the bottom of the Tray disc, the storage of the Tray disc stack is completed, the Tray disc stack is lifted by the first bracket 311 through the first lifting machine 31, and the top surface of the Tray disc stack reaches the predetermined material taking position; when the Tray disc is stored in the storage frame 4, the second bracket 511 is lifted by the second lifting machine 5, the Tray disc is lifted close to the bottom of the storage frame 4, at this time, there is a small distance between the Tray disc on the second bracket 511 and the bottom of the Tray disc in the storage frame 4, the side frame plates 41 of the storage frame 4 are driven to move away from the center of the storage frame 4 by the driving part, the Tray disc in the storage frame 4 falls onto the Tray disc on the second bracket 511, the Tray disc is put into the storage frame 4 by the second lifting machine 5, finally the side frame plates 41 are driven to close to the storage frame 4 by the driving part, the hooks 52 of the side frame plates 41 support the bottom of the Tray disc, and the storage of the Tray disc stack is completed.

[0032] The above is only the preferred specific implementation of the present application, but the protection scope of the present application is not limited to this, any skilled person in the art can make equivalent replacement or change according to the technical scheme and the inventive concept of the present application within the technical range disclosed by the present application, which should be covered in the protection scope of the present application.

Claims

1. A Tray six-axis plate loader, characterized by: The device comprises a conveying belt, a mechanical hand and two material taking stations, the mechanical hand is used to grab the plate pieces on the two material taking stations to the conveying belt respectively, the two material taking stations are provided with a first elevator, the first elevator is provided with two symmetrically distributed first brackets, which are used to move the stacked Tray disc stack up and down, the top of the two material taking stations is provided with a disc collecting station, the disc collecting station is provided with a downward opening receiving frame, the receiving frame is provided with a driving part and a side frame plate, the driving part is used to drive each side frame plate to slide with the receiving frame, a second elevator is arranged between the disc collecting station and the material taking station, the second elevator is provided with a horizontal slide rail, the second bracket is slidably connected to the two ends of the horizontal slide rail, each side frame plate and the second bracket are provided with a barb for supporting the bottom of the Tray disc.

2. The tray six-axis panel placer according to claim 1, characterized by: The driving part is arranged on the top of the receiving frame, and the driving part comprises a plurality of pneumatic push rods and a plurality of guide rails, the output shafts of the pneumatic push rods are connected to the top of each side frame plate respectively, and the top of each side frame plate is slidably connected to the two slide rails.

3. The tray six-axis panel placer of claim 1, wherein: Transport vehicles are movably installed in the two material taking stations, which are used to transport the stacked Tray disc stack, the inner side walls of the two material taking stations are provided with first positioning parts, the first positioning parts comprise two first positioning blocks and one second positioning block, the two first positioning blocks and the second positioning block are triangularly distributed on the inner side of the material taking station, the two first positioning blocks are drivingly connected with driving push rods, and the second positioning block is drivingly connected with a positioning cylinder.

4. The tray six-axis panel placer according to claim 3, characterized by: The pressing surfaces of the two first positioning blocks are provided with triangular grooves for pressing two corners of the Tray disc stack respectively, and the pressing surface of the second positioning block is used to press the side surface of the Tray disc stack.

5. The tray six-axis panel placer of claim 1, wherein: Each first bracket is provided with two groups of second positioning parts, the second positioning parts comprise a first push cylinder and a rotating cylinder, the first push cylinder is pushingly connected with a push plate, and the rotating cylinder is rotationally connected with a limiting plate.

6. The tray six-axis panel placer of claim 5, wherein: The top of the two material taking stations is provided with a third positioning part, the third positioning part comprises a plurality of second push cylinders and a position sensor, each second push cylinder is pushingly connected with the push plate, which is used to position the Tray disc stack, and the position sensor is used to position the top surface height of the Tray disc stack.

7. The tray six-axis panel placer of claim 1, wherein: Positioning wheels are arranged on the two sides of the conveying belt, which are used to position the position of the plate piece on the conveying belt.

8. The tray six-axis panel placer of claim 1, wherein: The device further comprises an NG plate storage table.

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