Structure of loading and unloading manipulator for front module of multi-station equipment

Abstract

The utility model relates to the technical field of PCB (printed circuit board) cutters, in particular to a structure of a front module feeding and discharging manipulator of multi-station equipment, which comprises a rack, a C shaft, a front module feeding and discharging manipulator and an automatic safety outer protection mechanism. Through cooperative work of the C shaft, the front module feeding and discharging mechanical arm and the automatic safety outer protection mechanism, the problems that a traditional device is inconvenient to operate, insufficient in safety and low in automation degree are solved, efficient and accurate feeding, discharging and conveying of bars are achieved, and the safety, reliability and production efficiency of the device are remarkably improved.

Description

TECHNICAL FIELD

[0001] The utility model relates to PCB cutter technical field especially relates to a structure of multi -position equipment front -end module unloading mechanical hand. BACKGROUND

[0002] In the PCB cutter processing industry, the traditional multi -position equipment unloading mechanical hand adopts the rear -mounted module design. However, this design has the following technical problems:

[0003] Convenient operation and maintenance, the installation position of rear -mounted mechanical hand leads to the operator to need to go around to the rear of the equipment to carry out the adjustment or maintenance, and the narrow space and the limited operation visual angle increase the difficulty and time cost of manual intervention.

[0004] Safety is insufficient, and the existing mechanical hand lacks effective safety protection, and there is a safety hazard, so it is necessary to improve. UTILITY MODEL CONTENTS

[0005] The utility model discloses a kind of structures of multi -position equipment front -end module unloading mechanical hand, and the collaborative work of C shaft, front -end module unloading mechanical hand and automatic safety outer protection mechanism, solve the problems of inconvenient operation, insufficient safety and low degree of automation in traditional equipment, realize the efficient, accurate feeding and conveying of bar stock, significantly improve the safety, reliability and production efficiency of equipment.

[0006] To achieve the above object, a kind of structure of multi -position equipment front -end module unloading mechanical hand of the utility model, including rack, C shaft, front -end module unloading mechanical hand and automatic safety outer protection mechanism,

[0007] The C shaft is set to the middle part of the rack and is used to convey bar stock to processing station to carry out microneedle processing;

[0008] The front -end module unloading mechanical hand is set to the front end of the rack and is used to convey bar stock to or take down from the C shaft;

[0009] The automatic safety outer protection mechanism is set to the edge of the rack, and sensor is arranged between automatic safety outer protection mechanism and front -end module unloading mechanical hand;

[0010] The front -end module unloading mechanical hand includes open clamping material guiding mechanism, feeding mechanism, Y4 axis mechanism and X4 axis mechanism;

[0011] The open clamping material guiding mechanism is set to the outside of the C shaft, for controlling the C shaft clamping or releasing bar stock and for assisting the feeding mechanism to convey bar stock to C shaft;

[0012] The feeding and discharging mechanism is arranged outside the frame and is used for clamping or releasing the bar;

[0013] The Y4-axis mechanism is used for driving the feeding and discharging mechanism to move along the Y direction of the C axis;

[0014] The X4-axis mechanism is used for driving the Y4-axis mechanism to move along the X direction of the C axis.

[0015] Preferably, the C axis comprises a working head, the working head is fixed to the C axis and is used for clamping or releasing the bar, and the C axis drives the working head to rotate and lift along the frame;

[0016] The working head is provided with a fixing hole for fixing the bar, and a self-resetting tongue plate, an elastic reset member and a limiting rod are arranged in the fixing hole,

[0017] The limiting rod is arranged on one side of the fixing hole, and the limiting rod is used for limiting the depth of the bar inserted into the fixing hole;

[0018] The self-resetting tongue plate is hinged in the fixing hole and is used for pressing the bar against the inner wall of the fixing hole;

[0019] One end of the elastic reset member abuts against the fixing hole, and the other end of the elastic reset member abuts against the self-resetting tongue plate to force the self-resetting tongue plate to press the bar against the inner wall of the fixing hole.

[0020] Preferably, the fixing hole is provided with a through hole, and the through hole is located on the side of the self-resetting tongue plate close to the elastic reset member;

[0021] The opening and clamping guide mechanism is provided with a lifting driver and a lifting pin, the lifting driver is used for driving the lifting pin to extend into the through hole and abut against the self-resetting tongue plate, or is used for driving the lifting pin to exit the through hole.

[0022] Preferably, the C axis is provided with a rotating driver, a lifting driver and a rotating shaft seat,

[0023] The rotating shaft seat is movably arranged in the frame, and the working head is fixed to the rotating shaft seat;

[0024] The lifting driver is fixed to the frame and is used for driving the rotating shaft seat to lift;

[0025] The rotating driver is fixed to the frame and drives the lifting driver to rotate through a transmission member.

[0026] Preferably, the opening and clamping guide mechanism is provided with a guide and pulling material driver, a guide and correcting fixed plate and a clamping plate,

[0027] The guide pin driver is fixed to the frame and used to drive the guide fixed plate and the clamping plate to move close to or away from each other;

[0028] The guide fixed plate is provided with a guide groove, and the clamping plate is provided with a clamping part.

[0029] Preferably, the feeding and discharging mechanism comprises a rotary driver, a rotary support, an extension driver, an extension support, a feeding clamp and a discharging clamp.

[0030] The rotary driver is fixed to the Y4 shaft mechanism and used to drive the rotary support to rotate.

[0031] The extension driver is connected with the rotary driver through the rotary support.

[0032] The extension support is slidingly arranged in the rotary support, and the feeding clamp and the discharging clamp are both fixed to the extension support.

[0033] The extension driver drives the feeding clamp and the discharging clamp to displace through the extension support.

[0034] Preferably, the automatic safety outer protection mechanism comprises a shell, a safety automatic door and an electromagnetic lock,

[0035] The shell is arranged on the edge of the frame.

[0036] The inner side of the shell is provided with a guide rail, and the safety automatic door slides along the guide rail.

[0037] The safety automatic door is provided with a magnetic attraction part, and the electromagnetic lock is fixed to the shell and used to magnetically attract the magnetic attraction part of the safety automatic door.

[0038] Preferably, the safety automatic door comprises a sliding driver,

[0039] The sliding driver is fixed to the inner side of the shell and drives the safety automatic door to slide along the guide rail.

[0040] Preferably, the shell is further provided with a partition plate, and the partition plate is arranged between the clamping and guiding mechanism and the feeding and discharging mechanism.

[0041] The partition plate comprises a first maintenance door and a second maintenance door, the first maintenance door is hingedly connected with the partition plate, and the second maintenance door is slidingly connected with the partition plate.

[0042] Preferably, the second maintenance door comprises a first sliding part, a sliding block and a fixing part,

[0043] The fixing piece is fixed to the partition plate, the sliding block is fixed to the partition plate, a sliding groove is arranged between the sliding block and the partition plate, and the first sliding piece is slidably connected to the partition plate through the sliding groove.

[0044] The first sliding piece and the fixing piece are provided with a feeding and discharging hole for the feeding and discharging mechanism to pass through.

[0045] The utility model discloses the beneficial effect has: the utility model discloses the collaborative work of C axle, front module group feeding and discharging mechanical hand and automatic safety outer protection mechanism has solved the problem of inconvenient operation, insufficient safety and low automation degree in traditional equipment, has realized the efficient, accurate feeding and discharging and conveying of bar material, has improved the safety, reliability and production efficiency of equipment significantly. BRIEF DESCRIPTION OF DRAWINGS

[0046] Figure 1 It is the structural diagram of the utility model.

[0047] Figure 2 It is the structural diagram of the utility model C axle and front module group feeding and discharging mechanical hand.

[0048] Figure 3 It is the structural diagram of the utility model C axle.

[0049] Figure 4 It is the sectional structure schematic diagram of the utility model work head.

[0050] Figure 5 It is the structural diagram of the utility model open clamping material guiding mechanism.

[0051] Figure 6 It is the structural diagram of the utility model feeding and discharging mechanism.

[0052] Figure 7 It is the structural diagram of the utility model automatic safety outer protection mechanism.

[0053] Figure 8 It is the structural diagram of the utility model partition plate.

[0054] The reference signs include:

[0055] 1, rack;

[0056] 2, C axle;21, work head;211, fixed hole;212, self-resetting tongue plate;213, elastic reset piece;214, limiting rod;215, through hole;22, rotary driver;23, lifting driver;24, rotary shaft seat;

[0057] 3, front module up and down mechanical hand; 31, open clamp guide material mechanism; 311, jack-up driver; 312, thimble; 313, guide pin driving device; 314, guide fixing plate; 315, clamping plate; 316, guide groove; 617, clamping part; 32, up and down material mechanism; 321, rotary driver; 322, rotary support; 323, telescopic driver; 324, telescopic support; 325, feeding clamp; 326, discharging clamp; 33, Y4 axis mechanism; 34, X4 axis mechanism;

[0058] 4, automatic safety outer protection mechanism; 41, shell; 411, guide rail; 412, partition; 413, first inspection door; 414, second inspection door; 4141, first sliding part; 4142, sliding block; 4143, fixed part; 4144, up and down hole; 42, safety automatic door; 421, magnetic attraction part; 422, sliding driver; 43, electromagnetic lock. DETAILED DESCRIPTION

[0059] The utility model is described in detail below in combination with the drawings.

[0060] As Figures 1 to 8 shown, the structure of the multi-station equipment front module up and down mechanical hand of the utility model, including frame 1, C shaft 2, front module up and down mechanical hand 3 and automatic safety outer protection mechanism 4. C shaft 2 is arranged in the middle of frame 1 and is used to convey bar material to the processing station to carry out microneedle processing. Specifically, the conveying action of C shaft 2 has rotation and lifting.

[0061] Front module up and down mechanical hand 3 is arranged at the front end of frame 1 and is used to convey bar material to or take down from C shaft 2. Specifically, front module up and down mechanical hand 3 conveys the bar material in the tray to C shaft 2 to complete the feeding operation, and front module up and down mechanical hand 3 takes down the bar material from C shaft 2 to the tray to complete the up and down operation.

[0062] By arranging the up and down mechanical hand at the front end of frame 1, the operator can directly complete the adjustment, maintenance and up and down operation at the front end of the equipment, without going to the back, which significantly reduces the operation complexity.

[0063] Automatic safety outer protection mechanism 4 is arranged at the edge of frame 1 to form a safety protection barrier, which increases the safety of the equipment and avoids accidents caused by human error.

[0064] A sensor is installed between the automatic safety outer protection mechanism 4 and the front module loading / unloading robot 3. The on / off state of the automatic safety outer protection mechanism 4 is linked to the working state of the front module loading / unloading robot 3. Specifically, when the sensor detects that the automatic safety outer protection mechanism 4 is open, the operation of the front module loading / unloading robot 3 is immediately suspended. After the automatic safety outer protection mechanism 4 is closed, the operation of the front module loading / unloading robot 3 is resumed, thus avoiding safety accidents.

[0065] Specifically, sensors such as magnetic switches, photoelectric sensors, and limit switches detect the switching status of the automatic safety outer protection mechanism 4.

[0066] like Figure 2 As shown, the front module loading and unloading robot 3 includes a clamping and guiding mechanism 31, a loading and unloading mechanism 32, a Y4 axis mechanism 33, and an X4 axis mechanism 34.

[0067] The clamping and guiding mechanism 31 is located on the outside of the C-axis 2, which facilitates the positioning and stopping of the C-axis 2 at the clamping and guiding mechanism 31. At the same time, the clamping and guiding mechanism 31 is used to control the C-axis 2 to clamp or release the bar stock, and to assist the loading and unloading mechanism 32 in conveying the bar stock to the C-axis 2, so as to realize the rapid clamping, conveying and releasing of the bar stock, and improve processing efficiency and accuracy.

[0068] The loading and unloading mechanism 32 is located on the outside of the frame 1 and is used to clamp or release the bar stock, so as to move the bar stock from the storage position to the feed point of the C-axis 2, or from the feed point of the C-axis 2 back to the storage position.

[0069] Y4 axis mechanism 33 is used to drive loading / unloading mechanism 32 to move along the Y direction of C axis 2; X4 axis mechanism 34 is used to drive Y4 axis mechanism 33 to move along the X direction of C axis 2, so that Y4 axis mechanism 33 and X4 axis mechanism 34 work together to drive loading / unloading mechanism 32 to move closer to or away from C axis 2.

[0070] Specifically, both the Y4-axis mechanism 33 and the X4-axis mechanism 34 are linear motion mechanisms, such as linear motors, electric push rods, ball screws, synchronous belt drive modules, cylinders or hydraulic cylinders, etc.

[0071] During operation, C-axis 2 stops at the clamping and guiding mechanism 31. C-axis 2 lowers its height so that the bar stock conveyed by C-axis 2 is above the clamping and guiding mechanism 31. Y4 axis mechanism 33 and X4 axis mechanism 34 work together to drive loading and unloading mechanism 32 to clamp the unprocessed bar stock from the storage position and move it closer to C-axis 2. After loading and unloading mechanism 32 approaches C-axis 2, it clamps the bar stock that has completed micro-needle processing on C-axis 2. Clamping and guiding mechanism 31 controls C-axis 2 to release the bar stock that has completed micro-needle processing. Y4 axis mechanism 33 and X4 axis mechanism 34 work together to drive loading and unloading mechanism 32 away from C-axis 2. The bar stock that has completed micro-needle processing is separated from C-axis 2 to complete the unloading operation.

[0072] The Y4 axis mechanism 33 and the X4 axis mechanism 34 work together again to drive the loading and unloading mechanism 32 to approach the C axis 2. The unprocessed bar material clamped by the loading and unloading mechanism 32 is axially aligned with the feed point of the C axis 2. The Y4 axis mechanism 33 drives the loading and unloading mechanism 32 to insert the clamped unprocessed bar material into the feed point of the C axis 2. The clamping guide mechanism 31 clamps the unprocessed bar material, and the loading and unloading mechanism 32 releases the unprocessed bar material to complete one pushing operation.

[0073] Y4 axis mechanism 33 drives loading / unloading mechanism 32 to move away from C-axis 2 and back to the neck position of the bar stock. Loading / unloading mechanism 32 clamps the neck position of the unprocessed bar stock. Opening guide mechanism 31 releases the unprocessed bar stock. Y4 axis mechanism 33 drives loading / unloading mechanism 32 to move closer to C-axis 2 again for a second push to ensure that the unprocessed bar stock is completely in the feed point of C-axis 2. Opening guide mechanism 31 controls C-axis 2 to clamp the unprocessed bar stock, completing the loading operation.

[0074] After the loading operation is completed, the Y4 axis mechanism 33 and the X4 axis mechanism 34 work together to drive the loading and unloading mechanism 32 away from the C axis 2, so that the loading and unloading mechanism 32 can place the bar material that has been clamped and processed by micro needles into the storage position.

[0075] like Figure 3 As shown, the C-axis 2 in this embodiment includes a working head 21, which is fixed to the C-axis 2 and used to clamp or release the bar stock. The C-axis 2 drives the working head 21 to rotate and lift along the frame 1, thereby achieving precise positioning and multi-dimensional conveying of the bar stock, improving processing efficiency and automation level, and reducing manual intervention.

[0076] like Figure 4 As shown, the working head 21 is provided with a fixing hole 211 for fixing the bar stock. The fixing hole 211 is provided with a self-resetting tongue plate 212, an elastic reset member 213 and a limiting rod 214, so that the fixing hole 211 serves as the feed point of the C-axis 2, which facilitates the C-axis 2 to clamp or release the bar stock.

[0077] The limiting rod 214 is set on one side inside the fixing hole 211. The limiting rod 214 is used to limit the depth of the bar stock inserted into the fixing hole 211. The limiting rod 214 prevents the bar stock from being inserted too deeply, ensuring that the bar stock is inserted at a consistent depth, avoiding processing errors or equipment damage due to excessive depth, and improving processing stability.

[0078] The self-resetting tongue plate 212 is hinged in the fixing hole 211 and is used to press the bar against the inner wall of the fixing hole 211. One end of the elastic reset member 213 abuts against the fixing hole 211, and the other end of the elastic reset member 213 abuts against the self-resetting tongue plate 212, forcing the self-resetting tongue plate 212 to press the bar against the inner wall of the fixing hole 211.

[0079] The elastic reset member 213 forces the self-resetting tongue plate 212 to press the bar stock through the elastic force, so that it is close to the inner wall of the fixing hole 211. When the bar stock is released, the tongue plate is automatically reset to loosen due to the hinged structure. The stable clamping and quick release of the bar stock are realized, the loosening caused by vibration during processing is avoided, the taking and placing of the bar stock is simplified, and the operation efficiency is improved.

[0080] As shown in Figure 4 and Figure 5 , the fixing hole 211 of the embodiment is provided with a through hole 215, and the through hole 215 is located on the side of the self-resetting tongue plate 212 close to the elastic reset member 213. The opening and clamping guide mechanism 31 is provided with a lifting driver 311 and a lifting pin 312, and the lifting driver 311 is used to drive the lifting pin 312 to extend into the through hole 215 and abut against the self-resetting tongue plate 212, or to drive the lifting pin 312 to exit the through hole 215. The lifting driver 311 drives the lifting pin 312 to directly abut against the self-resetting tongue plate 212 through the through hole 215, and releases the self-resetting tongue plate 212 from the bar stock by overcoming the elastic force of the elastic reset member 213. The quick and automatic release of the bar stock is realized, without manual intervention, and the efficiency of loading and unloading is improved. After the lifting pin 312 exits, the elastic reset member 213 automatically resets the tongue plate to restore the clamping function, ensuring the continuity of the operation.

[0081] Among them, the elastic reset member 213 is a spring or a spring piece, so that the elastic reset member 213 has elasticity.

[0082] As shown in Figure 3 , the C shaft 2 of the embodiment is provided with a rotating driver 22, a lifting driver 23 and a rotating shaft seat 24,

[0083] The rotating shaft seat 24 is movably arranged on the rack 1, and the working head 21 is fixed on the rotating shaft seat 24. The rotating shaft seat 24 is movably installed on the rack 1 through bearings or guide rails 411, and simultaneously bears the rotating and lifting movements of the working head 21. The dynamic stability of the C shaft 2 is enhanced, the vibration and deviation during movement are reduced, and the reliability of the bar stock conveying is improved.

[0084] The lifting driver 23 is fixed on the rack 1 and is used to drive the rotating shaft seat 24 to lift. The lifting driver 23 directly drives the rotating shaft seat 24 to move vertically along the rack 1 through linear motion. The lifting transmission chain is simplified, the energy loss and mechanical delay are reduced, and the working head 21 is quickly and accurately adjusted in height. The lifting driver 23 is, for example, a lead screw, a pneumatic cylinder, etc.

[0085] The rotating driver 22 is fixed on the rack 1 and drives the lifting driver 23 to rotate through a transmission member. The rotating driver 22 transmits power to the lifting driver 23 through the transmission member, so that the rotating driver 22 drives the rotating shaft seat 24 to rotate. The independent control of the rotating movement and the lifting movement of the C shaft 2 is realized, the power coupling interference is avoided, and the movement precision and stability are improved.

[0086] The rotating driver 22 is an electric motor, such as a servo motor, a step motor or a hydraulic motor.

[0087] Specifically, the transmission member is a driving gear and a driven gear that are engaged with each other, the driven gear is fixed to the lifting driver 23, and the driving gear is fixed to the rotating driver 22, so that the rotating driver 22 drives the lifting driver 23 to rotate through the transmission member, thereby driving the rotating shaft base 24 to rotate along the rack 1, and achieving the C-axis 2 for conveying the rod to the machining station for microneedle machining.

[0088] In other embodiments, the transmission member can also be a belt, which is sleeved between the rotating driver 22 and the lifting driver 23 to achieve transmission.

[0089] As shown in the drawings, Figure 5 The opening and clamping material guiding mechanism 31 of the embodiment is provided with a material guiding driver 313, a guiding fixed plate 314 and a clamping plate 315.

[0090] The material guiding driver 313 is fixed to the rack 1 and is used to drive the guiding fixed plate 314 and the clamping plate 315 to move close to or away from each other. The material guiding driver 313 drives the guiding fixed plate 314 and the clamping plate 315 to move close to or away from each other to achieve clamping or releasing of the rod, which assists the feeding and discharging mechanism 32 to convey the rod to the C-axis 2.

[0091] The material guiding driver 313 can be a pneumatic finger or a pneumatic cylinder.

[0092] Specifically, the guiding fixed plate 314 is provided with a guiding groove 316, which is used to guide the movement of the rod along a predetermined track, and ensures the accurate position of the rod during clamping or conveying. The positioning accuracy of the rod conveying is improved, the machining error caused by deviation or inclination is avoided, and the stability and reliability of the feeding and discharging process are enhanced.

[0093] The clamping plate 315 is provided with a clamping portion 617, which cooperates with the guiding groove 316 to form a clamping space, and the rod is firmly fixed in the guiding groove 316 by applying appropriate pressure. The stable clamping of the rod is achieved, the rod is prevented from loosening or falling off during machining or conveying, and the operation safety and machining quality are improved.

[0094] As shown in the drawings, Figure 6 The feeding and discharging mechanism 32 of the embodiment includes a rotating driver 321, a rotating support 322, an extension driver 323, an extension support 324, a feeding clamp 325 and a discharging clamp 326.

[0095] The rotary actuator 321 is fixed to the Y4 axis mechanism 33 and is used to drive the rotary support 322 to rotate. The telescopic actuator 323 is connected to the rotary actuator 321 through the rotary support 322. The telescopic support 324 is slidably disposed on the rotary support 322, and the loading clamp 325 and the unloading clamp 326 are both fixed to the telescopic support 324. The telescopic actuator 323 drives the loading clamp 325 and the unloading clamp 326 to move through the telescopic support 324, so that the rotary actuator 321, the rotary support 322, the telescopic actuator 323, the telescopic support 324, the loading clamp 325 and the unloading clamp 326 are interconnected. The loading clamp 325 and the unloading clamp 326 move synchronously with the telescopic support 324 and rotate synchronously with the rotary support 322, respectively used to clamp or release the bar material to complete the loading and unloading operations.

[0096] Specifically, the rotary actuator 321 drives the rotary support 322 to rotate around its axis via power output, thereby adjusting the angular positions of the loading clamp 325 and the unloading clamp 326. The rotary actuator 321 can be a rotary cylinder, an electric motor, or a hydraulic motor.

[0097] The telescopic actuator 323 pushes the telescopic bracket 324 to slide along the rotating bracket 322 via linear motion, thereby causing the loading clamp 325 and unloading clamp 326 fixed on the telescopic bracket 324 to move back and forth. The telescopic actuator 323 can be a cylinder, lead screw, or electric push rod.

[0098] like Figures 7 to 8 As shown, the automatic safety external protection mechanism 4 in this embodiment includes a housing 41, an automatic safety door 42, and an electromagnetic lock 43.

[0099] The outer casing 41 is installed around the edge of the frame 1, forming a closed protective barrier that isolates the inside of the equipment from the external environment. This effectively prevents foreign objects from entering the equipment, protects operators from injury by moving mechanical parts, and improves the safety and reliability of the equipment.

[0100] The inner side of the outer casing 41 is provided with a guide rail 411. The automatic safety door 42 slides along the guide rail 411 to realize the automatic opening and closing action, ensuring that the automatic safety door 42 moves smoothly and accurately, reducing jamming or deviation, and improving the stability and safety of the equipment operation.

[0101] The automatic safety door 42 is equipped with a magnetic attractor 421. An electromagnetic lock 43 is fixed to the outer casing 41 and is used to magnetically attract the magnetic attractor 421 to the automatic safety door 42. When the electromagnetic lock 43 on the outer casing 41 is energized, it generates a magnetic force that attracts the magnetic attractor 421 to lock the automatic safety door 42. When the power is off, the magnetic force disappears, and the automatic safety door 42 can be opened freely. This achieves rapid locking and unlocking of the automatic safety door 42, with a fast response and no need for complex mechanical structures, improving automation and security.

[0102] The safety automatic door 42 of the embodiment comprises a sliding driver 422, wherein the sliding driver 422 can be a combination of a motor and a synchronous belt, an air cylinder or an electric push rod.

[0103] The sliding driver 422 is fixed to the inside of the shell 41 and drives the safety automatic door 42 to slide along the guide rail 411. The automation operation of the safety automatic door 42 is realized, the manual intervention is reduced, the equipment operation efficiency and safety are improved; at the same time, the smooth and accurate movement of the door body is ensured, and the jamming or deviation phenomenon is avoided.

[0104] The shell 41 of the embodiment is further provided with a partition plate 412, which is arranged between the opening and clamping material guiding mechanism 31 and the feeding and discharging mechanism 32. The partition plate 412 is fixed to the inside of the shell 41, which separates the opening and clamping material guiding mechanism 31 and the feeding and discharging mechanism 32 into two independent areas, avoiding the movement interference or foreign matter transmission between the two. The safety and stability of the equipment operation are improved, and the failure caused by component interference is reduced; at the same time, the space layout is optimized, which is convenient for modular design and maintenance.

[0105] The partition plate 412 comprises a first access door 413 and a second access door 414. The first access door 413 is hinged to the partition plate 412, so that the first access door 413 is connected to the partition plate 412 through a hinge and can be rotated to open or close, which simplifies the maintenance operation and improves the maintenance efficiency.

[0106] The second access door 414 is slidingly connected to the partition plate 412, so that the second access door 414 is connected to the partition plate 412 through a sliding rail and slides horizontally along the sliding rail to open or close, which provides a stable opening mode and avoids the space conflict caused by the swing of the hinged door.

[0107] As shown in Figure 8 The second access door 414 of the embodiment comprises a first sliding part 4141, a sliding block 4142 and a fixing part 4143,

[0108] The fixing part 4143 is fixed to the partition plate 412, the sliding block 4142 is fixed to the partition plate 412, and a sliding groove is arranged between the sliding block 4142 and the partition plate 412. The first sliding part 4141 is slidingly connected to the partition plate 412 through the sliding groove, so that the second access door 414 can slide horizontally along the sliding groove.

[0109] The fixing part 4143 is installed on the partition plate 412 to provide support and limit for the first sliding part 4141, so as to ensure that the first sliding part 4141 remains stable and moves along the predetermined path during the sliding process. The overall stability of the second access door 414 is enhanced, the loosening or misalignment caused by vibration or external force during the sliding process is prevented, and the safety of the equipment is improved.

[0110] The first sliding part 4141 and the fixing part 4143 are provided with a feeding and discharging hole 4144 for the feeding and discharging mechanism 32 to pass through, so that the feeding and discharging mechanism 32 can complete the bar conveying through the feeding and discharging hole 4144.

[0111] The above is only the preferred embodiment of the present application, and for those skilled in the art, according to the idea of the present application, the specific implementation and application range will be changed, and the content of the specification should not be understood as the limitation of the present application.

Claims

1. A structure of a front-end module loading and unloading manipulator of a multi-station device, characterized in that, The device comprises a rack (1), a C-axis (2), a front module feeding and discharging manipulator (3) and an automatic safety outer protection mechanism (4), The C-axis (2) is arranged at the middle of the rack (1) and is used for conveying the rod to the processing station for microneedle processing; The front module feeding and discharging manipulator (3) is arranged at the front end of the rack (1) and is used for conveying the rod to or taking the rod off the C-axis (2); The automatic safety outer protection mechanism (4) is arranged at the edge of the rack (1), and a sensor is arranged between the automatic safety outer protection mechanism (4) and the front module feeding and discharging manipulator (3); The front module feeding and discharging manipulator (3) comprises an opening and clamping material guiding mechanism (31), a feeding and discharging mechanism (32), a Y4-axis mechanism (33) and an X4-axis mechanism (34); The opening and clamping material guiding mechanism (31) is arranged outside the C-axis (2) and is used for controlling the C-axis (2) to clamp or release the rod and assisting the feeding and discharging mechanism (32) to convey the rod to the C-axis (2); The feeding and discharging mechanism (32) is arranged outside the rack (1) and is used for clamping or releasing the rod; The Y4-axis mechanism (33) is used for driving the feeding and discharging mechanism (32) to displace along the Y direction of the C-axis (2); The X4-axis mechanism (34) is used for driving the Y4-axis mechanism (33) to displace along the X direction of the C-axis (2).

2. The structure of the front-end module unloading manipulator of a multi-station device according to claim 1, characterized in that, The C-axis (2) comprises a working head (21), the working head (21) is fixed to the C-axis (2) and is used for clamping or releasing the rod, and the C-axis (2) drives the working head (21) to rotate and lift along the rack (1); The working head (21) is provided with a fixing hole (211) for fixing the rod, and a self-resetting tongue plate (212), an elastic reset member (213) and a limiting rod (214) are arranged in the fixing hole (211), The limiting rod (214) is arranged at one side in the fixing hole (211), and the limiting rod (214) is used for limiting the depth of the rod inserted into the fixing hole (211); The self-resetting tongue plate (212) is hinged in the fixing hole (211) and is used for pressing the rod against the inner wall of the fixing hole (211); One end of the elastic reset member (213) abuts against the fixing hole (211), and the other end of the elastic reset member (213) abuts against the self-resetting tongue plate (212) to force the self-resetting tongue plate (212) to press the rod against the inner wall of the fixing hole (211).

3. The structure of the front-end module unloading manipulator of a multi-station device according to claim 2, characterized in that, The fixing hole (211) is provided with a through hole (215), and the through hole (215) is located at the side of the self-resetting tongue plate (212) close to the elastic reset member (213); The opening and clamping material guiding mechanism (31) is provided with a lifting driver (311) and a lifting pin (312), the lifting driver (311) is used for driving the lifting pin (312) to extend into the through hole (215) and abut against the self-resetting tongue plate (212), or is used for driving the lifting pin (312) to exit the through hole (215).

4. The structure of the front-end module unloading manipulator of a multi-station device according to claim 2, characterized in that, The C shaft (2) is provided with a rotating driver (22), a lifting driver (23) and a rotating shaft base (24), The rotating shaft base (24) is movably arranged on the rack (1), and the working head (21) is fixed on the rotating shaft base (24); The lifting driver (23) is fixed on the rack (1) and used to drive the rotating shaft base (24) to lift; The rotating driver (22) is fixed on the rack (1) and drives the lifting driver (23) to rotate through a transmission member.

5. The structure of a multi-station device front-end module loading and unloading manipulator according to claim 1, characterized in that, The opening and clamping guide mechanism (31) is provided with a guide and pulling material driver (313), a guide fixing plate (314) and a clamping plate (315), The guide and pulling material driver (313) is fixed on the rack (1) and used to drive the guide fixing plate (314) and the clamping plate (315) to move close to or away from each other; The guide fixing plate (314) is provided with a guide groove (316), and the clamping plate (315) is provided with a clamping portion (617).

6. The structure of a front-end module unloading manipulator of a multi-station device according to claim 1, wherein, The feeding and discharging mechanism (32) comprises a rotating driver (321), a rotating support (322), a telescopic driver (323), a telescopic support (324), a feeding clamp (325) and a discharging clamp (326); The rotating driver (321) is fixed on the Y4 shaft mechanism (33) and used to drive the rotating support (322) to rotate; The telescopic driver (323) is connected with the rotating driver (321) through the rotating support (322); The telescopic support (324) is slidably arranged on the rotating support (322), and the feeding clamp (325) and the discharging clamp (326) are both fixed on the telescopic support (324); The telescopic driver (323) drives the feeding clamp (325) and the discharging clamp (326) to displace through the telescopic support (324).

7. The structure of a multi-station device front-end module loading and unloading manipulator according to claim 1, characterized in that, The automatic safety outer protection mechanism (4) comprises an outer shell (41), a safety automatic door (42) and an electromagnetic lock (43), The outer shell (41) is arranged on the edge of the rack (1); The inner side of the outer shell (41) is provided with a guide rail (411), and the safety automatic door (42) slides along the guide rail (411); The safety automatic door (42) is provided with a magnetic attraction member (421), and the electromagnetic lock (43) is fixed on the outer shell (41) and used to magnetically attract the magnetic attraction member (421) of the safety automatic door (42).

8. The structure of a front-end module unloading manipulator of a multi-station device according to claim 7, characterized in that, The safety automatic door (42) comprises a sliding driver (422), The sliding driver (422) is fixed on the inner side of the outer shell (41) and drives the safety automatic door (42) to slide along the guide rail (411).

9. The structure of a front-end module unloading manipulator of a multi-station device according to claim 7, wherein, The outer shell (41) is further provided with a partition plate (412), and the partition plate (412) is arranged between the opening and clamping guide mechanism (31) and the feeding and discharging mechanism (32); The partition plate (412) comprises a first maintenance door (413) and a second maintenance door (414), the first maintenance door (413) is hinged to the partition plate (412), and the second maintenance door (414) is slidably connected with the partition plate (412).

10. The structure of a front-end module unloading manipulator of a multi-station device according to claim 9, wherein, The second inspection door (414) comprises a first sliding piece (4141), a sliding block (4142) and a fixed piece (4143), The fixed piece (4143) is fixed to the partition plate (412), the sliding block (4142) is fixed to the partition plate (412), a sliding groove is arranged between the sliding block (4142) and the partition plate (412), and the first sliding piece (4141) is slidably connected with the partition plate (412) through the sliding groove; An up-down feeding hole (4144) for the up-down feeding mechanism (32) to pass through is arranged between the first sliding piece (4141) and the fixed piece (4143).

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