Automatic plate loading and unloading machine

Abstract

The utility model discloses an automatic plate loading and unloading machine which comprises a machine frame, the machine frame is provided with a conveying system, a carrying system and a suction system, the conveying system comprises an objective table and a conveying device capable of achieving bidirectional output, and the carrying system comprises a six-axis mechanical arm and a first driving module connected with the six-axis mechanical arm. The suction system is connected with the six-axis mechanical arm and comprises a first adjusting arm, a second adjusting arm, a second driving module, a suction assembly, a size adjusting module and a connecting base, the connecting base is provided with a mounting part used for being connected with the mechanical arm, and the connecting base is connected with the first adjusting arm and the second adjusting arm. The whole working process is smooth in operation, manual participation is not needed, the automation degree is high, circuit boards of different sizes can be sucked, the reliability is high, and the working efficiency is greatly improved.

Description

Technical Field

[0001] This utility model relates to the field of loading and unloading machine technology, specifically an automatic loading and unloading machine. Background Technology

[0002] PCB board, also known as printed circuit board, is an important electronic component. It serves as the support for electronic components and the carrier for their electrical connections. Because it is made using electronic printing technology, it is called a printed circuit board. During the production of printed circuit boards, loading and unloading are required, thus necessitating the use of automatic PCB board loading and unloading machines.

[0003] However, most transportation equipment on the market today consists only of conveyor belts and robotic arms, which cannot separate circuit boards of different sizes, resulting in low automation and poor efficiency. Utility Model Content

[0004] In order to overcome the shortcomings of existing technical solutions, this utility model provides an automatic loading and unloading machine, which can effectively solve the problems raised in the background art.

[0005] The technical solution adopted by this utility model to solve its technical problem is:

[0006] An automatic board loading and unloading machine includes an L-shaped placement rack for mounting circuit boards, a flat tray, and a frame. The frame is equipped with a conveying system, a handling system, and a suction system. The conveying system includes a platform and a bidirectional output conveying device. The handling system includes a six-axis robotic arm and a first drive module connected to the six-axis robotic arm. The suction system is connected to the six-axis robotic arm and includes a first adjusting arm, a second adjusting arm, a second drive module, a suction assembly, a size adjustment module, and a connecting seat. The connecting seat is provided with a mounting part for connecting the robotic arm, and the connecting seat is respectively connected to the first adjusting arm and the second adjusting arm.

[0007] The first and second adjusting arms are symmetrically arranged on the connecting seat, and the first and second adjusting arms are movably connected to the connecting seat through a size adjustment module. The second drive module includes a cylinder and several tracks. Several sliders are provided at the connection between the first and second adjusting arms and the connecting seat. The first and second adjusting arms are connected to the suction assembly.

[0008] As a further description of the above technical solution, the top of the frame is provided with a filtration system and a mounting bracket. The filtration system includes a set of air filters. The mounting bracket is connected to the first drive module. The six-axis robotic arm is fixed to the frame by suspension through the mounting bracket.

[0009] As a further description of the above technical solution, the conveying device includes a drive box, a conveying structure and a transmission structure disposed on the drive box, the drive box being symmetrically disposed on both sides of the conveying structure, and the conveying structure including a plurality of conveying rollers.

[0010] As a further description of the above technical solution, the frame is also equipped with a control host, several sealing plates and a movable door. The control host is a board-type programmable controller. The control host is connected to a size adjustment module. The size adjustment module includes several tracks, size sensors and signal sensors. The six-axis robotic arm is also equipped with a displacement sensor. The displacement sensor, size sensor and signal sensor are electrically connected to the control host.

[0011] As a further description of the above technical solution, the suction assembly includes multiple fixed suction cups, a movable suction cup, and a suction cup driving cylinder, wherein the suction cup driving cylinder is connected to the movable suction cup.

[0012] As a further description of the above technical solution, the platform also includes a displacement structure, a trolley fixing cylinder, and a fixing structure. The fixing structure includes several fixing side plates, mounting side plates, and connecting plates. The trolley fixing cylinder is L-shaped. The mounting side plates are symmetrically arranged on both sides of the flat tray. The displacement structure is located between the mounting side plates and the fixing side plates. The mounting side plates are connected to the displacement structure. The displacement structure includes a first drive motor and several drive wheels. The mounting side plates are connected to the flat tray. The trolley fixing cylinder is provided with a mounting shaft. The two ends of the mounting shaft are connected to the mounting side plates.

[0013] As a further description of the above technical solution, the conveying rollers are arranged at equal intervals on the drive box, and an antistatic bar is also provided between the conveying rollers, with both ends of the antistatic bar connected to the drive box.

[0014] As a further description of the above technical solution, the transmission structure includes a belt and several guide wheels, the drive box is equipped with a second drive motor, the belt is connected to the second drive motor, the guide wheels are connected to the belt, and the guide wheels are connected to the conveyor rollers.

[0015] As a further description of the above technical solution, the movable door is movably mounted at the front end of the frame via a hinge, and the movable door is transparent.

[0016] Compared with the prior art, the beneficial effects of this utility model are:

[0017] This invention features a dual-plate placement function. First, when placing L-shaped plate racks, the robotic arm picks up the inclined plates from the racks and then places them horizontally onto a conveyor, which then transports them out. Second, when placing horizontal pallets, the robotic arm picks up the plates conveyed by the conveyor and then places them horizontally into the pallet. The overall workflow is smooth, requiring no manual intervention, highly automated, reliable, and significantly improves work efficiency.

[0018] The suction system uses a suction cup drive cylinder to move the movable suction cup. When the fixed suction cup and the movable suction cup hold the circuit board, the suction cup drive cylinder moves the movable suction cup and the circuit board up and down. The movable suction cup can push the circuit board to bend and deform, so that the first circuit board can be separated from the second circuit board placed on the L-shaped placement rack, which can prevent the two circuit boards from sticking together. Attached Figure Description

[0019] Figure 1 This is a schematic diagram of the first overall structure of an automatic loading and unloading machine according to the present invention;

[0020] Figure 2 This is a schematic diagram of the second overall structure of an automatic loading and unloading machine according to the present invention;

[0021] Figure 3 This is a schematic diagram of the second integral side structure of an automatic loading and unloading machine according to the present invention;

[0022] Figure 4 This is a schematic diagram of the first part of the structure of an automatic loading and unloading machine according to the present invention;

[0023] Figure 5 This is a schematic diagram of the second part of the structure of an automatic loading and unloading machine according to the present invention;

[0024] Figure 6 This is a schematic diagram of the third part of an automatic loading and unloading machine according to the present invention.

[0025] Figure 7 This is a schematic diagram of the fourth part of an automatic loading and unloading machine according to the present invention;

[0026] Figure 8 This is a schematic diagram of an L-shaped placement rack structure for an automatic loading and unloading machine according to the present invention;

[0027] Figure 9 This is a schematic diagram of the first side structure of the L-shaped placement rack of the automatic loading and unloading machine of this utility model;

[0028] Figure 10 This is a schematic diagram of the second side structure of an L-shaped placement rack for an automatic loading and unloading machine according to the present invention;

[0029] Figure 11 This is a schematic diagram of the flat tray structure of an automatic loading and unloading machine according to the present invention;

[0030] Figure 12 This is a schematic diagram of the first side structure of the flat tray of an automatic loading and unloading machine according to the present invention;

[0031] Figure 13 This is a schematic diagram of the second side structure of the flat tray of an automatic loading and unloading machine according to the present invention.

[0032] Numbering on the map:

[0033] 1. Frame; 101. Mounting rack; 2. Filtration system; 201. Air filter; 3. Platform; 301. Trolley fixing cylinder; 302. Flat pallet; 303. L-shaped placement rack; 4. Handling system; 401. Six-axis robotic arm; 402. First drive module; 403. Displacement sensor; 5. Suction system; 501. First adjusting arm; 502. Second adjusting arm; 503. Connecting seat; 504. Mounting part; 505. Second drive module; 506. Track; 507. Fixed suction cup; 508. Suction cup drive cylinder; 509. Movable suction cup; 6. Conveying device; 601. Drive box; 602. Conveying roller; 603. Transmission structure; 604. Antistatic bar. Detailed Implementation

[0034] The technical solutions of the present utility model will be clearly and completely described below with reference to the accompanying drawings of the embodiments. Obviously, the described embodiments are only some embodiments of the present utility model, and not all embodiments. Based on the embodiments of the present utility model, all other embodiments obtained by those of ordinary skill in the art without creative effort are within the protection scope of the present utility model.

[0035] like Figure 1-7As shown, this utility model provides an automatic board loading and unloading machine, including a frame 1. An L-shaped placement rack 303 or a flat tray 302 is manually fed into the machine along with the circuit board. The frame 1 is equipped with a conveying system, a handling system 4, and a suction system 5. The conveying system includes a platform 3 and a bidirectional output conveying device 6. The handling system 4 includes a six-axis robotic arm 401 and a first drive module 402 connected to the six-axis robotic arm 401. The suction system 5 is connected to the six-axis robotic arm 401. The six-axis robotic arm 401 is also equipped with a displacement sensor 403. The suction system 5 includes a first adjusting arm 501, a second adjusting arm 502, a second drive module 505, a suction assembly, a size adjustment module, and a connecting seat 503. The connecting seat 503 is equipped with a mounting part 504 for connecting the robotic arm. The connecting seat 503 is connected to the first adjusting arm 501 and the second adjusting arm 502 respectively.

[0036] This embodiment has a dual board placement function, which can place a flat tray 302 or an L-shaped placement rack 303. Either one can be used. When the circuit board is placed on the flat tray 302, one circuit board can be placed, then a pad can be placed, then another circuit board can be placed, and so on, stacking layer by layer.

[0037] Specifically, when placing L-shaped sheet material racks, the robotic arm picks up the inclined sheet material from the racks and then places it horizontally onto the conveyor 6, which then transports the sheet material out. Secondly, when placing horizontal pallets, the robotic arm picks up the sheet material conveyed by the conveyor 6 and then places it horizontally into the pallet 302.

[0038] The platform 3 can hold an L-shaped shelf 303 or a flat tray 302.

[0039] The conveying device 6 includes a drive box 601, a conveying structure and a transmission structure 603 disposed on the drive box 601. The drive box 601 is symmetrically disposed on both sides of the conveying structure, and the conveying structure includes a plurality of conveying rollers 602.

[0040] In this embodiment, the conveying device 6 can transport the circuit board into the machine or out, thus having a bidirectional conveying function.

[0041] When the circuit board is placed on the L-shaped mounting bracket 303, due to the vacuum, the two circuit boards can easily stick together, with only one board being suctioned and the other falling to another location midway, affecting the machine's operation. The suction system 5 uses a suction cup drive cylinder 508 to move the movable suction cup 509. When the fixed suction cup 507 and the movable suction cup 509 hold the circuit board, the suction cup drive cylinder 508 moves the movable suction cup 509 and the circuit board up and down. The movable suction cup 509 can push the circuit board to bend and deform, allowing the first circuit board to separate from the second circuit board placed on the L-shaped mounting bracket 303, preventing the two circuit boards from sticking together.

[0042] Furthermore, the host computer controls the drive module in the suction system 5 to drive the first adjusting arm 501 and the second adjusting arm 502 to a suitable position based on the size information. At the same time, the electronically controlled suction cup is adjusted to the corresponding size position. The six-axis robotic arm 401 moves to make the suction system 5 fit with the circuit board. In conjunction with the first drive module 402 and the second drive module 505, the suction system 5 works. The suction system 5 grips the circuit board tightly, and the six-axis robotic arm 401 picks up the circuit board. The displacement sensor 403 detects the position information of the chassis and transmits it to the host computer. The six-axis robotic arm 401 moves the circuit board to the conveying device 6. The host computer controls the robotic arm to compensate for the offset of the board placement, and the electronically controlled suction cup releases the circuit board. The overall workflow is smooth, requires no manual intervention, has a high degree of automation, strong reliability, and greatly improves work efficiency.

[0043] Furthermore, the top of the frame 1 is provided with a filtration system 2 and a mounting bracket 101. The filtration system 2 includes a set of air filters 201. The mounting bracket 101 is connected to the first drive module 402. The six-axis robotic arm 401 is fixed to the frame 1 in a suspended manner through the mounting bracket 101.

[0044] Furthermore, the first adjusting arm 501 and the second adjusting arm 502 are symmetrically arranged on the connecting seat 503, and the first adjusting arm 501 and the second adjusting arm 502 are movably connected to the connecting seat 503 through a size adjustment module. The second drive module 505 includes a cylinder and several tracks 506. Several sliders are provided at the connection between the first adjusting arm 501, the second adjusting arm 502 and the connecting seat. The first adjusting arm 501 and the second adjusting arm 502 are connected to the suction assembly.

[0045] Furthermore, the frame 1 is also equipped with a control host, several sealing plates and a movable door. The control host is a board-type programmable controller. The control host is connected to the size adjustment module. The size adjustment module includes several tracks 506, size sensors and signal sensors. The displacement sensor 403, size sensors and signal sensors are electrically connected to the control host.

[0046] Furthermore, the suction assembly includes multiple fixed suction cups 507, movable suction cups 509, and a suction cup driving cylinder 508, wherein the suction cup driving cylinder 508 is connected to the movable suction cups 509.

[0047] Furthermore, the platform 3 also includes a displacement structure, a trolley fixing cylinder 301, and a fixing structure. The fixing structure includes several fixing side plates, mounting side plates, and connecting plates. The trolley fixing cylinder 301 is L-shaped. The mounting side plates are symmetrically arranged on both sides of the flat tray 302. The displacement structure is located between the mounting side plates and the fixing side plates. The mounting side plates are connected to the displacement structure. The displacement structure includes a first drive motor and several drive wheels. The mounting side plates are connected to the flat tray 302. The trolley fixing cylinder 301 is provided with a mounting shaft, and both ends of the mounting shaft are connected to the mounting side plates.

[0048] Furthermore, the conveying rollers 602 are arranged at equal intervals on the drive box 601, and an antistatic bar 604 is also provided between the conveying rollers 602. The two ends of the antistatic bar 604 are connected to the drive box 601.

[0049] Furthermore, the transmission structure 603 includes a belt and several guide pulleys. The drive box 601 is equipped with a second drive motor. The belt is connected to the second drive motor. The guide pulleys are connected to the belt and are connected to the conveyor roller 602.

[0050] Furthermore, the movable door is hinged and positioned at the front end of the frame 1, and the movable door is transparent.

[0051] It will be apparent to those skilled in the art that this invention is not limited to the details of the exemplary embodiments described above, and that it can be implemented in other specific forms without departing from the spirit or essential characteristics of this invention. Therefore, the embodiments should be considered illustrative and non-limiting in all respects, and the scope of this invention is defined by the appended claims rather than the foregoing description. Thus, it is intended that all variations falling within the meaning and scope of equivalents of the claims be included within this invention. No reference numerals in the claims should be construed as limiting the scope of the claims.

Claims

1. An automatic loading and unloading machine, characterized in that: The device includes an L-shaped placement rack, a flat tray, and a frame for mounting circuit boards. The frame is equipped with a conveying system, a handling system, and a suction system. The conveying system includes a platform and a bidirectional output conveying device. The handling system includes a six-axis robotic arm and a first drive module connected to the six-axis robotic arm. The suction system is connected to the six-axis robotic arm and includes a first adjusting arm, a second adjusting arm, a second drive module, a suction assembly, a size adjustment module, and a connecting seat. The connecting seat is provided with a mounting part for connecting the robotic arm, and the connecting seat is connected to the first adjusting arm and the second adjusting arm respectively. The first and second adjusting arms are symmetrically arranged on the connecting seat, and the first and second adjusting arms are movably connected to the connecting seat through a size adjustment module. The second drive module includes a cylinder and several tracks. Several sliders are provided at the connection between the first and second adjusting arms and the connecting seat. The first and second adjusting arms are connected to the suction assembly.

2. The automatic loading and unloading machine according to claim 1, characterized in that: The top of the frame is equipped with a filtration system and a mounting bracket. The filtration system includes a set of air filters. The mounting bracket is connected to the first drive module. The six-axis robotic arm is fixed to the frame by suspension through the mounting bracket.

3. The automatic loading and unloading machine according to claim 1, characterized in that: The conveying device includes a drive box, a conveying structure and a transmission structure disposed on the drive box. The drive box is symmetrically disposed on both sides of the conveying structure, and the conveying structure includes a plurality of conveying rollers.

4. An automatic loading and unloading machine according to claim 1, characterized in that: The frame is also equipped with a control host, several sealing plates and a movable door. The control host is a board-type programmable controller. The control host is connected to a size adjustment module. The size adjustment module includes several tracks, size sensors and signal sensors. The six-axis robotic arm is also equipped with a displacement sensor. The displacement sensor, size sensor and signal sensor are electrically connected to the control host.

5. An automatic loading and unloading machine according to claim 1, characterized in that: The suction assembly includes multiple fixed suction cups, a movable suction cup, and a suction cup driving cylinder, wherein the suction cup driving cylinder is connected to the movable suction cup.

6. An automatic loading and unloading machine according to claim 1, characterized in that: The platform also includes a displacement structure, a trolley fixing cylinder, and a fixing structure. The fixing structure includes several fixing side plates, mounting side plates, and connecting plates. The trolley fixing cylinder is L-shaped. The mounting side plates are symmetrically arranged on both sides of the flat tray. The displacement structure is located between the mounting side plates and the fixing side plates. The mounting side plates are connected to the displacement structure. The displacement structure includes a first drive motor and several drive wheels. The mounting side plates are connected to the flat tray. The trolley fixing cylinder has a mounting shaft, and both ends of the mounting shaft are connected to the mounting side plates.

7. An automatic loading and unloading machine according to claim 3, characterized in that: The conveying rollers are arranged at equal intervals on the drive box, and an antistatic bar is provided between the conveying rollers. The two ends of the antistatic bar are connected to the drive box.

8. An automatic loading and unloading machine according to claim 3, characterized in that: The transmission structure includes a belt and several guide pulleys. The drive box is equipped with a second drive motor. The belt is connected to the second drive motor. The guide pulleys are connected to the belt and are connected to the conveyor rollers.

9. An automatic loading and unloading machine according to claim 4, characterized in that: The movable door is hinged and positioned at the front end of the frame; the movable door is transparent.

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