Plate taking and placing device with edge searching, positioning and deviation rectifying functions

Abstract

The utility model discloses a board pick-and-place device with an edge-finding positioning deviation-rectifying function, which comprises a transmission mechanism, an automatic edge-finding mechanism and an arm mechanism, the transmission mechanism is used for transmitting a circuit board to a fixed point position, and the automatic edge-finding mechanism is used for identifying the actual position and the placing angle of the circuit board staying at the fixed point position. And the arm mechanism is used for picking up the circuit board staying on the transmission mechanism, correcting the posture of the circuit board and transferring and placing the circuit board onto a specified carrier. According to the board taking and placing device and method with the edge searching, positioning and deviation correcting functions, the position and posture of the circuit board are corrected in the board taking and placing action process, a centering adjusting assembly does not need to be additionally arranged to correct the circuit board, the steps of the circuit board conveying process are simplified, friction between the circuit board and the conveying mechanism is effectively avoided, and the circuit board conveying efficiency is improved. And the possibility of scratching the circuit board is reduced, so that the reject ratio of products is reduced.

Description

Technical Field

[0001] This utility model relates to the field of circuit board manufacturing technology, and in particular discloses a board picking and placing device with edge finding, positioning and correction functions. Background Technology

[0002] In the circuit board manufacturing process of the electronics industry, circuit boards conveyed on a conveyor belt are often transferred to special fixtures. Since the circuit boards inevitably deviate from their original positions during their movement on the conveyor belt, they need to be corrected during pick-up and drop. A common approach in the prior art is to install actuating levers on both sides of the conveyor belt. When a circuit board with an angular deviation (i.e., an misaligned circuit board) is placed on the conveyor belt, its position is corrected by actuating its sides, as illustrated in Chinese Utility Model Patent Application No. 2022212879626, "A Non-Contact Magnetic Positioning Adjustment Conveyor Mechanism". However, this method adds a correction cycle to the conveyor belt process, leading to reduced conveyor efficiency. Furthermore, the correction process increases friction between the circuit board and the conveyor belt, potentially scratching the circuit board and increasing the defect rate. Utility Model Content

[0003] In order to overcome the shortcomings and deficiencies of the existing technology, the purpose of this utility model is to provide a board picking and placing device with edge finding, positioning and correction function. The automatic edge finding mechanism positions the circuit board that is stopped on the conveyor mechanism. After adjusting the board picking angle and position with the arm mechanism, the board can be picked and placed directly. There is no need to set a centering adjustment mechanism on the conveyor mechanism to straighten the board. This simplifies the production steps and effectively avoids the circuit board from being scratched by friction between the circuit board and the conveyor belt, thus reducing the product defect rate.

[0004] To achieve the above objectives, the present invention provides a pick-and-place device with edge-finding, positioning, and correction functions, comprising:

[0005] A transmission mechanism is used to transport circuit boards to a fixed location;

[0006] An automatic edge-finding mechanism is used to identify the actual position of a circuit board that is stopped at a fixed point. The automatic edge-finding mechanism includes an X-axis drive module, an X-axis sensor, a Y-axis drive module, and a Y-axis sensor. The X-axis drive module drives the X-axis sensor to move back and forth along the X-axis, and the Y-axis drive module drives the Y-axis sensor to move back and forth along the Y-axis. The X-axis sensor is used to sense and identify the position of the first side edge of the circuit board that is stopped on the transmission mechanism, and the Y-axis sensor is used to identify the position of the second side edge of the circuit board that is stopped on the transmission mechanism. The first side edge and the second side edge are two adjacent edges of the circuit board.

[0007] An arm mechanism is used to pick up a circuit board that is resting on a transfer mechanism, correct the position of the circuit board, and transfer the circuit board to a designated carrier. The arm mechanism includes an X-axis movable module, a Y-axis movable module, a Z-axis movable module, an R-axis movable module, and a picking component. The X-axis movable module is used to drive the picking component to reciprocate along the X-axis, the Y-axis movable module is used to drive the picking component to reciprocate along the Y-axis, the Z-axis movable module is used to drive the picking component to reciprocate along the Z-axis, and the R-axis movable module is used to drive the picking component to rotate. The picking component is used to pick up the circuit board.

[0008] Specifically, it also includes a support mechanism. The transmission mechanism and the automatic edge-finding mechanism are both installed on the support mechanism. The support mechanism includes a base plate, two sets of first support columns, two sets of frame beams, two sets of second support columns, and two baffles.

[0009] Two sets of first support columns are installed at both ends of the same side of the base plate, and two sets of frame beams are set in parallel, with one set of frame beams installed on one set of first support columns;

[0010] Both sets of second support columns are installed on the base plate, and two baffles are installed one-to-one with the two sets of second support columns. The two baffles are used to cover the X-axis drive module and the Y-axis drive module respectively.

[0011] Specifically, the transmission mechanism includes a drive assembly and multiple roller assemblies. The roller assembly includes a roller shaft, multiple rollers, and multiple locking elements. The multiple rollers are equidistantly mounted on the roller shaft. The two ends of the roller shaft are rotatably mounted on two sets of frame beams via bearings. The multiple locking elements are used to lock the multiple rollers to fix the multiple rollers on the roller shaft.

[0012] The drive assembly includes a motor, axle, multiple drive wheels and multiple driven wheels. The motor drives the axle to rotate. The axle is rotatably mounted on a beam via bearings and is arranged parallel to the beam. Multiple drive wheels are sleeved on the axle and rotate with the axle. Multiple drive wheels mesh with multiple driven wheels in a one-to-one correspondence. Multiple driven wheels are assembled with multiple rollers in a one-to-one correspondence.

[0013] Specifically, the transmission mechanism also includes a board arrival monitoring device, which is located at the end of the board flow direction on the transmission mechanism. The board arrival monitoring device is used to monitor whether the board being transmitted by the transmission mechanism is in place. The board arrival monitoring device is connected to the automatic edge finding mechanism and the drive component via signal connection.

[0014] Specifically, the transmission mechanism also includes two transmission components located at the ends of the transmission direction of the roller assembly, with a detection gap between the two transmission components. The Y-axis sensor is used to identify the second side of the circuit board after passing through the detection gap.

[0015] Specifically, the arm mechanism also includes multiple photoelectric switches, which are used to detect whether the X-axis movable module, Y-axis movable module, Z-axis movable module and R-axis movable module are in position / reset.

[0016] Specifically, the pickup assembly includes a mounting frame and multiple suction nozzles. The mounting frame is connected to the R-axis movable module and rotates with the R-axis movable module. The mounting frame has several hollow mounting parts, and the multiple suction nozzles are respectively set on each mounting part. The mounting frame is provided with an external interface and several vacuum interfaces for evacuating the suction cup. The several vacuum interfaces are connected to several mounting parts in a one-to-one correspondence, and the several vacuum inlets are connected to an external air source through the external interface.

[0017] Specifically, the direction perpendicular to the transmission direction of the transmission mechanism is used as the first reference line, and the direction parallel to the transmission direction of the transmission mechanism is used as the second reference line; the number of X-axis sensors is at least two, the line connecting the two X-axis sensors is parallel to the first reference line, and the two X-axis sensors are used to identify the positions of two points passed by the first side of the circuit board;

[0018] The number of Y-axis sensors is at least one, and the Y-axis sensors are used to identify the position of a point passed by the second side of the circuit board.

[0019] Specifically, the X-axis drive module includes a motor, a lead screw, a lead screw nut, a slider, and a slide rail. The motor drives and connects to the lead screw, the lead screw nut is movably sleeved on the lead screw, the slider is fixedly connected to the lead screw nut and slidably connected to the slide rail, and the slide rail is mounted on the base plate.

[0020] Specifically, the structure of the Y-axis drive module is the same as that of the X-axis drive module, and the driving direction of the X-axis drive module is perpendicular to the driving direction of the Y-axis drive module.

[0021] A method for picking up and placing boards with edge-finding, positioning, and correction functions includes:

[0022] S01, The transmission mechanism transports the circuit board to a designated location for parking;

[0023] S02. The automatic edge-finding mechanism identifies the position of the edge of the circuit board and feeds back the identified information to the arm mechanism.

[0024] S03. The arm mechanism adjusts the position and rotation angle of the picking component on the X and Y axes according to the information identified by the automatic edge finding mechanism, and then descends along the Z axis to pick up the circuit board.

[0025] S04. After the arm mechanism picks up the circuit board, it lifts the circuit board upwards, corrects the angle of the circuit board by rotating the R-axis movable module, and adjusts the position of the circuit board on the X and Y axes so that the circuit board conforms to the preset specified position and posture. Finally, the circuit board is placed in the specified carrier.

[0026] Step S02 includes:

[0027] S201, the X-axis drive module drives two X-axis sensors to move simultaneously until the two X-axis sensors are not blocked by the circuit board at the same time or one after the other, and records the first position information of the two X-axis sensors when they are not blocked by the circuit board.

[0028] S202, the Y-axis drive module drives the Y-axis sensor to move closer to the second side of the circuit board until the Y-axis sensor is no longer blocked by the circuit board, and records the second position information of the Y-axis sensor.

[0029] S203. Calculate the actual position and deflection angle of the first side of the circuit board based on the two first position information, and obtain the actual position of the second side of the circuit board based on the second position information;

[0030] S204. The actual position and deflection angle of the first side of the circuit board and the actual position of the second side are transmitted to the arm mechanism respectively.

[0031] Specifically, step S01 includes:

[0032] S101, The drive component of the transmission mechanism drives multiple roller assemblies to rotate, and a person or a robot places the plate on the multiple roller assemblies for transmission;

[0033] S102. When the plate is transferred to the position of multiple roller assemblies near the arm mechanism, the plate position monitoring device senses that the plate has reached the fixed position and feeds back the plate position information to the drive assembly.

[0034] S103. The drive assembly stops driving multiple roller assemblies to rotate based on the board's positioning information, so that the board stays at a fixed position.

[0035] Step S04 includes:

[0036] S401. After the arm mechanism picks up the plate, the Z-axis movable module rises. The photoelectric switch on the Z-axis recognizes that the Z-axis movable module has been reset, and the Z-axis movable module stops moving.

[0037] After the S402 and Z-axis movable modules have been reset, the R-axis movable module drives the pickup component to rotate. The photoelectric switch on the R-axis recognizes that the R-axis movable module has been reset, and the R-axis movable module stops rotating.

[0038] After the S403 and R-axis movable modules are reset, the X-axis movable module moves. The photoelectric switch on the X-axis recognizes that the X-axis movable module has been reset, and the X-axis movable module stops moving.

[0039] S404 After the X-axis moving module is reset, the Y-axis moving module will move the pickup component to the position of the designated vehicle. The photoelectric switch on the Y-axis will recognize that the Y-axis moving module has reached the designated vehicle and stop moving.

[0040] After the S405 and Y-axis movable modules are in place, the Z-axis movable module descends. The photoelectric switch on the Z-axis recognizes that the Z-axis movable module has descended to the correct position, and the suction nozzle of the pickup component is vented to place the board in the designated carrier.

[0041] S406. After the workpiece is placed on the designated carrier, the Z-axis movable module rises. The photoelectric switch on the Z-axis recognizes that the Z-axis movable module has been reset, and the Z-axis movable module stops moving. All axis movable modules stop moving and wait for the next pick-up and transfer of workpieces.

[0042] The beneficial effects of this utility model: The board pick-and-place device with edge-finding and positioning correction function described in this utility model includes a transmission mechanism, an automatic edge-finding mechanism, and an arm mechanism. The transmission mechanism is used to transmit the circuit board to a fixed position. The automatic edge-finding mechanism is used to identify the actual position and placement angle of the circuit board at the fixed position. The arm mechanism is used to pick up the circuit board at the transmission mechanism, correct the posture of the circuit board, and transfer the circuit board to a designated carrier. A board pick-and-place method with edge-finding and positioning correction function includes: the transmission mechanism transmits the circuit board to the fixed position; the automatic edge-finding mechanism identifies the position of the edge of the circuit board and feeds back the identified information to the arm mechanism; the arm mechanism adjusts the position and rotation angle of the picking component on the X and Y axes according to the information identified by the automatic edge-finding mechanism, and then descends along the Z axis to pick up the circuit board; after picking up the circuit board, the arm mechanism raises the circuit board, corrects the angle of the circuit board by rotating the rotating platform, and adjusts the position of the circuit board on the X and Y axes so that the circuit board conforms to the preset designated position and posture, and finally places the circuit board into the designated carrier. The pick-and-place device and method with edge-finding and positioning correction function can correct the position and orientation of the circuit board during the pick-and-place operation. There is no need to set up a separate centering adjustment component to straighten the circuit board, which simplifies the steps of the circuit board transmission process and effectively avoids friction between the circuit board and the transmission mechanism, reducing the possibility of scratching the circuit board and thus reducing the product defect rate. Attached Figure Description

[0043] Figure 1 This is a three-dimensional structural diagram of the present invention;

[0044] Figure 2 This is a three-dimensional structural diagram of the arm mechanism of this utility model;

[0045] Figure 3 This is a partial structural schematic diagram of the arm mechanism of this utility model;

[0046] Figure 4 This is a three-dimensional structural diagram of the transmission mechanism of this utility model;

[0047] Figure 5 This is a three-dimensional structural diagram of the automatic edge-finding mechanism of this utility model;

[0048] Figure 6 This is a flowchart of the method of this utility model.

[0049] The reference numerals in the figures include:

[0050] 1—Transmission mechanism; 11—Drive assembly; 12—Roller assembly

[0051] 13—Panel positioning monitoring device; 111—Axle; 112—Drive wheel

[0052] 113—Driven wheel; 121—Roller; 122—Roller

[0053] 123—Locking component

[0054] 2—Automatic edge finding mechanism; 21—X-axis drive module; 22—X-axis sensor

[0055] 23—Y-axis drive module; 24—Y-axis sensor; 211—Motor

[0056] 212—Lead screw; 213—Lead screw nut; 214—Slider

[0057] 215—Slide rail

[0058] 3—Arm Mechanism; 31—X-Axis Movable Module; 32—Y-Axis Movable Module

[0059] 33—Z-axis movable module; 34—R-axis movable module; 35—Pickup assembly

[0060] 36—Photoelectric switch; 351—Mounting bracket; 352—Nozzle

[0061] 353—Mounting component; 354—External interface; 355—Vacuum interface

[0062] 4—Supporting Mechanism; 41—Base Plate; 42—First Support Column

[0063] 43—Beam erection; 44—Second support column; 45—Baffle. Detailed Implementation

[0064] To facilitate understanding by those skilled in the art, the present invention will be further described below with reference to embodiments and accompanying drawings. The content mentioned in the embodiments is not intended to limit the present invention.

[0065] Please see Figures 1 to 5As shown, the present invention provides a pick-and-place device with edge-finding, positioning, and correction functions, including a conventional control system.

[0066] The transmission mechanism 1 is electrically connected to the control system and is used to transmit the circuit board to a fixed position. The fixed position is a position area at the end of the circuit board in the flow direction when the transmission mechanism 1 is working. This fixed position can be preset by the control system.

[0067] Please see Figure 5 As shown, the automatic edge-finding mechanism 2 is electrically connected to the control system and located below the transmission mechanism 1. It is used to identify the actual position of the circuit board that is stopped at a fixed position. The automatic edge-finding mechanism 2 includes an X-axis drive module 21, an X-axis sensor 22, a Y-axis drive module 23, and a Y-axis sensor 24. The X-axis sensor 22 is used to drive the Y-axis sensor 24 to move back and forth along the X-axis, and the Y-axis drive module 23 is used to drive the Y-axis sensor 24 to move back and forth along the Y-axis. The X-axis sensor 22 is used to sense and identify the position of the first side of the circuit board that is stopped on the transmission mechanism 1, and the Y-axis sensor 24 is used to identify the position of the second side of the circuit board that is stopped on the transmission mechanism 1. The first side and the second side are two adjacent sides of the circuit board.

[0068] In this embodiment, both the X-axis sensor 22 and the Y-axis sensor 24 are photoelectric sensors. When the circuit board is positioned at a fixed point, the X-axis drive module 21 and the Y-axis drive module 23 operate simultaneously, driving the X-axis sensor 22 and the Y-axis sensor 24 to move respectively. The X-axis sensor 22 moves along the X-axis direction closer to the first side of the circuit board. The position information of that point on the first side of the circuit board can be identified the instant the light signal emitted by the X-axis sensor 22 is blocked by the circuit board. Similarly, the Y-axis sensor 24 moves along the Y-axis direction closer to the second side of the circuit board. The position information of that point on the second side of the circuit board can be identified the instant the photoelectric signal emitted by the Y-axis sensor 24 is blocked by the circuit board. To obtain the actual deflection position information of the circuit board, it is necessary to set two X-axis sensors 22 and one Y-axis sensor 24, or two Y-axis sensors 24 and one X-axis sensor 22, to form a triangle position for three-point edge-finding positioning and identification of the circuit board. The position information obtained by the X-axis sensor 22 and the Y-axis sensor 24 is transmitted to the control system, which then outputs the next operation command based on this position information.

[0069] Please see Figures 2 to 3As shown, the arm mechanism 3 is electrically connected to the control system and receives operation commands from the control system. According to the operation commands, it picks up the circuit board that is resting on the transmission mechanism 1, corrects the position of the circuit board, and transfers the circuit board to a designated carrier. The arm mechanism 3 includes an X-axis movable module 31, a Y-axis movable module 32, a Z-axis movable module 33, an R-axis movable module 34, and a picking component 35. The X-axis movable module 31 is used to drive the picking component 35 to reciprocate along the X-axis, the Y-axis movable module 32 is used to drive the picking component 35 to reciprocate along the Y-axis, the Z-axis movable module 33 is used to drive the picking component 35 to reciprocate along the Z-axis, and the R-axis movable module 34 is used to drive the picking component 35 to rotate. The picking component 35 is used to pick up the circuit board. The X-axis movable module 31, Y-axis movable module 32, Z-axis movable module 33, and R-axis movable module 34 are all conventional methods in the prior art. The pickup component 35 is mounted on the R-axis movable component, which is rotatably mounted on the R-axis. The R-axis is mounted on the X-axis movable component, which is movably mounted on the X-axis. The X-axis is mounted on the Z-axis movable component, which is movably mounted on the Z-axis. The Z-axis is mounted on the Y-axis movable component, and the Y-axis movable component is movably mounted on the Y-axis. The direction of movement of the X-axis movable module 31 is the same as the driving direction of the X-axis drive module 21. The direction of movement of the Y-axis movable module 32 is the same as the driving direction of the Y-axis drive module 23. The direction of movement of the Z-axis movable module 33 is vertical. The projection of the rotation center axis of the R-axis movable module 34 during operation coincides with the center point of the circuit board in its un-rotated state. The X-axis movable module 31, Y-axis movable module 32, Z-axis movable module 33, and R-axis movable module 34 are each driven by their respective drive motors or drive cylinders.

[0070] In practical applications, the arm mechanism 3 adjusts the position of the picking component 35 on the X and Y axes and the R axis movable module 34 rotates by the corresponding angle according to the position information obtained by the automatic edge finding mechanism 2. Then, it descends along the Z axis to pick up the circuit board, the picking component 35 rises along the Z axis to its original position, the X axis movable module 31 drives the picking component 35 back to its original position, the R axis movable module 34 rotates to reset, the Y axis movable module 32 drives the picking component 35 to move to the designated position, and then the circuit board is placed into the designated carrier.

[0071] Please see Figures 4 to 5 As shown, it also includes a support mechanism 4. The transmission mechanism 1 and the automatic edge-finding mechanism 2 are both installed on the support mechanism 4. The support mechanism 4 includes a base plate 41, two sets of first support columns 42, two sets of frame beams 43, two sets of second support columns 44, and two baffles 45.

[0072] Two sets of first support columns 42 are respectively installed at both ends of the same side of the base plate 41. Two sets of frame beams 43 are arranged in parallel, and one set of frame beams 43 is installed on one set of first support columns 42. In this embodiment, the number of each set of first support columns 42 is at least 4. Each set of frame beams 43 includes one long beam and one short beam. The two long beams are respectively supported by two first support columns 42 at both ends of the length direction of the base plate 41. The two long beams are parallel to each other and parallel to the edge of the base plate 41. The two short beams are respectively supported by two first support columns 42 at the middle of the length direction of the base plate 41. That is, the two short beams are located between the two long beams, and the two short beams are parallel to the two long beams. The two short beams are located at the second side of the fixed position and are perpendicular to the second side.

[0073] Both sets of second support columns 44 are mounted on the base plate 41. Two baffles 45 are installed one-to-one with the two sets of second support columns 44. The two baffles 45 are used to shield the X-axis drive module 21 and the Y-axis drive module 23, respectively. In this embodiment, the two baffles 45 are located on the same plane and perpendicular to each other. Each set of second support columns 44 has at least four columns, which are located at the four corners of the baffles 45 to support them. The two baffles 45 and the two sets of second support columns 44 are located between the two long beams and below the multiple roller assemblies 12. The baffles 45 can prevent foreign objects falling from the circuit board when it moves on the roller assembly 12 from entering the X-axis drive module 21 and the Y-axis drive module 23, thereby affecting the movement of the X-axis sensor 22 and the Y-axis sensor 24.

[0074] Please see Figure 4 As shown, the transmission mechanism 1 includes a drive assembly 11 and multiple roller assemblies 12. Each roller assembly 12 includes a roller shaft 121, multiple rollers 122, and multiple locking members 123. The multiple rollers 122 are equidistantly sleeved on the roller shaft 121. The two ends of the roller shaft 121 are rotatably mounted on two sets of frame beams 43 via bearings. The multiple locking members 123 are used to lock the multiple rollers 122 to fix the multiple rollers 122 on the roller shaft 121. In this embodiment, the axial end of the roller 122 is provided with a protruding locking part. When the roller 122 is installed on the roller shaft 121, the locking part is sleeved outside the roller shaft 121. The locking member 123 is an open annular part. The locking member 123 is sleeved outside the locking part and then locked with screws at the opening to make the roller 122 firmly sleeved on the roller shaft 121.

[0075] The drive assembly 11 includes a motor, an axle 111, multiple drive wheels 112, and multiple driven wheels 113. The motor drives the axle 111 to rotate. The axle 111 is rotatably mounted on a frame beam 43 via bearings and is arranged parallel to the frame beam 43. The multiple drive wheels 112 are sleeved on the axle 111 and rotate with the axle 111. The multiple drive wheels 112 mesh with the multiple driven wheels 113 in a one-to-one correspondence, and the multiple driven wheels 113 are assembled with the multiple rollers 121 in a one-to-one correspondence. The drive wheels 112 and the driven wheels 113 are a pair of radially perpendicular magnetic gears that mesh with each other using magnetic force. The principle can be found in the description of "permanent magnet radially perpendicular magnetic ring" in Embodiment 2 of "A Permanent Magnet Transmission Conveying Device" with application number 2008200429178, and will not be repeated here. In practical applications, the motor drives the axle 111 (not shown in the diagram) via belt or gear chain transmission. The axle 111 drives the drive wheel 112 to rotate, which in turn drives the driven wheel 113 to rotate via magnetic engagement. This, in turn, drives the roller 121 to rotate, ultimately causing multiple rollers 122 to rotate and transmit power to the circuit board. The gear meshing between the drive wheel 112 and the driven wheel 113 involves no mechanical contact, resulting in no frictional energy loss. The transmission is smooth, oil-free, requires no lubrication or cleaning, and is dustproof and waterproof, offering advantages such as high efficiency, high reliability, and long service life.

[0076] Please see Figure 1 As shown, the transmission mechanism 1 also includes a board arrival monitoring device 13. The board arrival monitoring device 13 is located at the end of the board flow direction on the transmission mechanism 1, i.e., at a fixed position. The board arrival monitoring device 13 is used to monitor whether the circuit board transmitted by the transmission mechanism 1 is in place. The board arrival monitoring device 13 is signal connected to the automatic edge finding mechanism 2 and the drive component 11. The board arrival monitoring device 13 can use an existing photoelectric sensor. The board arrival monitoring device 13 continuously emits light signals. If the board reaches the fixed position, it will block the photoelectric signal and reflect the light signal back to the board arrival monitoring device 13. The board arrival monitoring device 13 receives the light signal reflected by the board and transmits the signal back to the control system. The control system will issue a stop driving command to the drive component 11 based on the signal, so that the circuit board stays at the fixed position and waits for the automatic edge finding mechanism 2 to identify the position.

[0077] Please see Figure 4As shown, the transmission mechanism 1 also includes two transmission components, each comprising the plurality of roller assemblies 12 and the drive assembly 11. The two transmission components are located at the ends of the roller assemblies 12 in the transmission direction, and a detection gap is provided between them. The Y-axis sensor 24 is used to identify the second side of the circuit board after passing through the detection gap. In this embodiment, the two short beams form the detection gap. The plurality of roller assemblies 12 are arranged symmetrically in two groups around the clearance channel. The two ends of the two groups of roller shafts 121 are rotatably mounted on the long beam and the short beam respectively via bearings. Because the detection setup divides the plurality of roller assemblies 12 into two groups, the drive assembly 11 needs to be configured with two groups so that all roller assemblies 12 can rotate synchronously.

[0078] Please see Figures 1 to 3 As shown, the arm mechanism 3 also includes multiple photoelectric switches 36. The multiple photoelectric switches 36 are used to detect whether the X-axis movable module 31, Y-axis movable module 32, Z-axis movable module 33 and R-axis movable module 34 are in position / reset. The photoelectric switch 36 includes multiple pairs of signal transmitters and signal receivers, and a sensing plate. The multiple signal transmitters continuously emit light signals, and the signal receiver receives the light signals. When the sensing plate enters between the signal transmitter and the signal receiver, it will block the light signals emitted by the signal transmitter. The signal receiver cannot receive the light signals, so it transmits the signals to the control system to indicate that the X-axis movable module 31, Y-axis movable module 32, Z-axis movable module 33 and R-axis movable module 34 are in position / reset.

[0079] Multiple signal transmitters and receivers for detecting the R-axis movable module 34 are arranged in pairs around the R-axis on the X-axis movable component. A sensing plate is mounted on the pickup assembly 35. When the R-axis movable component drives the pickup assembly 35 to rotate around the R-axis, if the sensing plate reaches between a certain signal transmitter and signal receiver, blocking the optical signal transmission between the signal transmitter and signal receiver, then the R-axis movable module 34 is detected to be in position / reset.

[0080] Two signal transmitters and a signal receiver for detecting the X-axis movable module 31 are respectively arranged in pairs at both ends of the same side of the X-axis movable component. One signal transmitter is located at the original position of the X-axis, and the other signal transmitter is located at the corresponding fixed position. A sensing plate is arranged on the X-axis and on the same side as the signal transmitter. When the X-axis movable component moves relative to the X-axis, if the sensing plate enters between one of the pair of signal transmitters and the signal receiver, blocking the optical signal transmission between the signal transmitter and the signal receiver, then the X-axis movable module 31 is detected to have been reset / positioned.

[0081] Multiple signal transmitters and receivers for detecting the Y-axis movable module 32 are respectively arranged in pairs on the Y-axis. At least one signal transmitter is located at the original position on the Y-axis, another signal transmitter is located at a corresponding fixed position, and yet another signal transmitter is located at a corresponding position on a designated carrier. A sensing plate is arranged on the Y-axis movable component and on the same side as the signal transmitter. When the Y-axis movable component moves relative to the Y-axis, if the sensing plate enters between one of the pairs of signal transmitters and receivers, blocking the optical signal transmission between the signal transmitter and receiver, then the Y-axis movable module 32 is detected to have been reset / positioned.

[0082] Two signal transmitters and receivers for detecting the Z-axis movable module 33 are respectively arranged in pairs at both ends of the same side of the Z-axis. One signal transmitter is located at the original position of the Z-axis, and the other signal transmitter is located at the corresponding fixed position. A sensing plate is arranged on the Z-axis movable part and on the same side as the signal transmitter. When the Z-axis movable part moves relative to the Z-axis, if the sensing plate enters between one of the pair of signal transmitters and receivers, blocking the optical signal transmission between the signal transmitter and receiver, then the Z-axis movable module 33 is detected to have been reset / positioned.

[0083] Please see Figures 2 to 3 As shown, the pickup assembly 35 includes a mounting frame 351 and multiple suction nozzles 352. The mounting frame 351 is connected to the R-axis movable module 34 and rotates with the R-axis movable module 34. The mounting frame 351 has several hollow mounting parts 353. The mounting parts 353 are interconnected to form a shape similar to the circuit board to be picked up. The multiple suction nozzles 352 are respectively disposed on each mounting part 353. The mounting frame 351 is provided with an external interface 354 and several vacuum interfaces 355 for evacuating the suction nozzles 352. The several vacuum interfaces 355 are connected to the several mounting parts 353 one by one. The suction nozzles 352 are connected to the mounting parts 353. The several vacuum interfaces 355 are connected to an external air source through the external interface 354. When picking up a board, the external air source device draws a vacuum. Gas enters the mounting part 353 from the suction nozzle 352 and flows through the vacuum interface 355, finally entering the external air source device through the external interface 354. When the suction nozzle 352 approaches and contacts the board, it will pick up the board. When releasing the board, the external air source device vents air through the external interface 354. The gas is diverted from the vacuum interface 355 to each mounting part 353 and finally flows to each suction nozzle 352, thereby causing the suction nozzle 352 to release the board.

[0084] Please see Figure 1As shown, the direction perpendicular to the transmission direction of the transmission mechanism 1 is taken as the first reference line, and the direction parallel to the transmission direction of the transmission mechanism 1 is taken as the second reference line; the first reference line is taken as the Y-axis, the second reference line as the X-axis, and the intersection of the first reference line and the second reference line is taken as the origin O(0,0). The number of X-axis sensors 22 is at least two, and the line connecting the two X-axis sensors 22 is parallel to the first reference line. The two X-axis sensors 22 are used to identify the positions of two points passed by the first side of the circuit board. When the first X-axis sensor 22 moves to the first side of the circuit board, it continuously emits light signals. When the light signals are blocked by the circuit board and reflected back to the X-axis sensor 22, the first position point A1(x1, y1) of the first side is obtained. When the second X-axis sensor 22 moves to the first side of the circuit board at the same time, it continuously emits light signals. When the light signals are blocked by the circuit board and reflected back to the X-axis sensor 22, the second position point B1(x2, y2) of the first side is obtained.

[0085] There is at least one Y-axis sensor 24, which is used to identify the position of a point passed by the second side of the circuit board. When the Y-axis sensor 24 moves to the second side of the circuit board, it continuously emits light signals. When the light signals are blocked by the circuit board and reflected back to the Y-axis sensor 24, the position point C1(x3, y3) of the second side is obtained.

[0086] It should be noted that in this embodiment, y1, y2, and x3 are preset fixed values. The initial coordinates of the two X-axis sensors 22 and the Y-axis sensor 24 are A0(0, y1), B0(0, y2), and C0(x3, 0), respectively. x1 is the distance moved by the first X-axis sensor 22 when it reaches the first side of the circuit board and receives the reflected light signal; x2 is the distance moved by the second X-axis sensor 22 when it reaches the first side of the circuit board and receives the reflected light signal; and y3 is the distance moved by the Y-axis sensor 24 when it reaches the second side of the circuit board and receives the reflected light signal. After the two X-axis sensors 22 and the Y-axis sensor 24 have finished edge finding, the X-axis drive module 21 and the Y-axis drive module 23 respectively drive the X-axis sensors 22 and the Y-axis sensors 24 back to their respective initial positions to wait for edge finding and positioning of the next circuit board.

[0087] Please see Figure 5As shown, the X-axis drive module 21 includes a motor 211, a lead screw 212, a lead screw nut 213, a slider 214, and a slide rail 215. The motor 211 drives and connects to the lead screw 212. The lead screw nut 213 is movably sleeved on the lead screw 212. The slider 214 is fixedly connected to the lead screw nut 213 and slidably connected to the slide rail 215. The slide rail 214 is mounted on the base plate. During the actual edge-finding operation, the motor 211 is driven by the control system to rotate the lead screw 212, causing the lead screw nut 213 to move along the lead screw 212, which in turn moves the slider 214, thereby causing the X-axis sensor 22 to move closer to the first side of the circuit board.

[0088] It also includes an X-axis moving frame and a Y-axis moving frame. The X-axis moving frame is fixedly connected to the lead screw nut 213 of the X-axis drive module 21 and is used to install the X-axis sensor 22. Connectors are provided at both ends of the X-axis moving frame to connect to both sides of the lead screw nut 213, thereby avoiding the baffle 45, so that the X-axis sensor 22 can be located above the baffle 45 and move with the lead screw nut 213. The Y-axis moving frame is fixedly connected to the lead screw nut 213 of the Y-axis drive module 23 and is used to install the Y-axis sensor 24. Connectors are provided at both ends of the Y-axis moving frame to connect to both sides of the lead screw nut 213, thereby avoiding the baffle 45, so that the Y-axis sensor 24 can be located above the baffle 45 and move with the lead screw nut 213.

[0089] The structure of the Y-axis drive module 23 is the same as that of the X-axis drive module 21, and the driving direction of the X-axis drive module 21 is perpendicular to the driving direction of the Y-axis drive module 23. Photoelectric sensors are also provided on the sides of both ends of the slide rail 215 along its length, and a sensing plate is provided on the same side as the lead screw nut 213. When the slider 214 moves to the end of the slide rail 215, the sensing plate slides into the photoelectric sensor to block the photoelectric signal, causing the motor to stop driving and thus preventing the slider 214 from disengaging from the slide rail 215.

[0090] Please see Figure 6 As shown, a method for picking up and placing boards with edge-finding, positioning, and correction functions includes:

[0091] S01. The transmission mechanism 1 transmits the circuit board to a fixed position and waits for the automatic edge-finding mechanism 2 to identify the position of the circuit board.

[0092] S02, Automatic edge finding mechanism 2 identifies the position of the edge of the circuit board and feeds back the identified information to arm mechanism 3;

[0093] S03, the arm mechanism 3 adjusts the position of the picking component 35 on the X and Y axes and the rotation angle on the R axis according to the information recognized by the automatic edge finding mechanism 2, and then descends along the Z axis to pick up the circuit board.

[0094] S04. After the arm mechanism 3 picks up the circuit board, it lifts the circuit board upwards, corrects the angle of the circuit board by rotating the R-axis movable module 34, and adjusts the position of the circuit board on the X-axis and Y-axis so that the circuit board conforms to the preset specified position and posture, and finally places the circuit board into the specified carrier.

[0095] Step S02 includes:

[0096] S201, the X-axis drive module 21 drives the two X-axis sensors 22 to move simultaneously until the two X-axis sensors 22 are not blocked by the circuit board at the same time or one after the other. The first position information of the two X-axis sensors 22 when they are not blocked by the circuit board is recorded respectively. The coordinates of the first position are A1(x1, y1) and B1(x2, y2).

[0097] S202, Y-axis drive module 23 drives Y-axis sensor 24 to move closer to the second side of the circuit board until Y-axis sensor 24 is no longer blocked by the circuit board. Then, record the second position information of Y-axis sensor 24. The coordinate point of the second position is C1(x3, y3).

[0098] S203. Based on the two first position information, calculate the actual position and deflection angle θ of the first side of the circuit board. Based on the second position information, obtain the actual position of the second side of the circuit board, and thus calculate the intersection point P(x) of the first side and the second side. p ,y p The offset position relative to the origin O(0,0) is used to obtain the offset distance x of point P on the circuit board on the X and Y axes. p With y p The following formula can be set:

[0099]

[0100] Deflection angle:

[0101]

[0102] a = l * sinα;

[0103] The distance of point P off the X-axis: x p = x² - a*sinθ;

[0104] The distance of point P offset along the Y-axis: y p =y3-tanθ*(x3-x p );

[0105] Where l is the distance from point B1 to point C1, which is a variable that can be determined; α is the deflection angle of the X-axis sensor 22 relative to the Y-axis sensor 24 with the X-axis as the reference, which is a known constant; and a is the distance from point B1 to point P, which is a variable that can be determined.

[0106] S204. The actual position and deflection angle of the first side of the circuit board and the actual position of the second side are transmitted to the arm mechanism 3 respectively.

[0107] Specifically, step S01 includes:

[0108] S101, the drive component 11 of the transmission mechanism 1 drives multiple roller assemblies 12 to rotate, and a person or a robot places the plate on the multiple roller assemblies 12 for transmission.

[0109] S102. When the plate is transferred to the position of multiple roller assemblies 12 near the arm mechanism 3, the plate position monitoring device 13 senses that the plate has reached the fixed position and feeds back the plate position information to the drive assembly 11.

[0110] S103, the drive assembly 11 stops driving the multiple roller assemblies 12 to rotate according to the plate position information, so that the plate stays at a fixed position;

[0111] Step S04 includes:

[0112] S401. After the arm mechanism 3 picks up the plate, the Z-axis movable module 33 rises. The photoelectric switch 36 on the Z-axis recognizes that the Z-axis movable module 33 has been reset, and the Z-axis movable module 33 stops moving.

[0113] S402 After the Z-axis movable module 33 has been reset, the R-axis movable module 34 drives the pickup component 35 to rotate. The photoelectric switch 36 on the R-axis recognizes that the R-axis movable module 34 has been reset, and the R-axis movable module 34 stops rotating.

[0114] After S403 and R-axis movable module 34 are reset, X-axis movable module 31 moves. The photoelectric switch 36 on the X-axis recognizes that X-axis movable module 31 has been reset, and X-axis movable module 31 stops moving.

[0115] S404 After the X-axis active module 31 is reset, the Y-axis active module 32 moves to bring the pickup component 35 to the position of the designated vehicle. The photoelectric switch 36 on the Y-axis recognizes that the Y-axis active module 32 has reached the top of the designated vehicle, and the Y-axis active module 32 stops moving.

[0116] S405 After the Y-axis movable module 32 is in place, the Z-axis movable module 33 descends. The photoelectric switch 36 on the Z-axis recognizes that the Z-axis movable module 33 has descended to the position. The suction nozzle 352 of the pickup component 35 is vented to place the board in the designated carrier.

[0117] S406. After the plate is placed on the designated carrier, the Z-axis movable module 33 rises. The photoelectric switch 36 on the Z-axis recognizes that the Z-axis movable module 33 has been reset. The Z-axis movable module 33 stops moving, and all axis movable modules stop moving, waiting for the next pick-up and transfer of the plate.

[0118] The above description is only a preferred embodiment of this utility model. For those skilled in the art, there will be changes in the specific implementation method and application scope based on the idea of ​​this utility model. The content of this specification should not be construed as a limitation of this utility model.

Claims

1. A plate-loading device with edge-finding, positioning, and correction functions, characterized in that: include: A transmission mechanism (1) is used to transmit the circuit board to a fixed position; Automatic edge finding mechanism (2) is used to identify the actual position of the circuit board that is stopped at a fixed position; Automatic edge finding mechanism (2) includes X-axis drive module (21), X-axis sensor (22), Y-axis drive module (23) and Y-axis sensor (24), which drives X-axis sensor (22) to move back and forth along the X-axis, Y-axis drive module (23) is used to drive Y-axis sensor (24) to move back and forth along the Y-axis, X-axis sensor (22) is used to sense and identify the position of the first side of the circuit board that is stopped on the transmission mechanism (1), and Y-axis sensor (24) is used to identify the position of the second side of the circuit board that is stopped on the transmission mechanism (1). The first side and the second side are two adjacent sides of the circuit board; The arm mechanism (3) is used to pick up the circuit board that is resting on the transfer mechanism (1), correct the position of the circuit board, and transfer the circuit board to a designated carrier. The arm mechanism (3) includes an X-axis movable module (31), a Y-axis movable module (32), a Z-axis movable module (33), an R-axis movable module (34), and a picking component (35). The X-axis movable module (31) is used to drive the picking component (35) to reciprocate along the X-axis. The Y-axis movable module (32) is used to drive the picking component (35) to reciprocate along the Y-axis. The Z-axis movable module (33) is used to drive the picking component (35) to reciprocate along the Z-axis. The R-axis movable module (34) is used to drive the picking component (35) to rotate. The picking component (35) is used to pick up the circuit board.

2. The pick-and-place device with edge-finding, positioning, and correction functions according to claim 1, characterized in that: It also includes a support mechanism (4), and the transmission mechanism (1) and the automatic edge-finding mechanism (2) are both installed on the support mechanism (4). The support mechanism (4) includes a base plate (41), two sets of first support columns (42), two sets of beams (43), two sets of second support columns (44), and two baffles (45). Two sets of first support columns (42) are respectively installed at both ends of the same side of the base plate (41), and two sets of frame beams (43) are arranged in parallel, with one set of frame beams (43) installed on one set of first support columns (42); Both sets of second support columns (44) are installed on the base plate (41). Two baffles (45) are installed one-to-one with the two sets of second support columns (44). The two baffles (45) are used to block the X-axis drive module (21) and the Y-axis drive module (23) respectively.

3. The pick-and-place device with edge-finding, positioning, and correction functions according to claim 2, characterized in that: The transmission mechanism (1) includes a drive assembly (11) and multiple roller assemblies (12). The roller assembly (12) includes a roller (121), multiple rollers (122) and multiple locking elements (123). The multiple rollers (122) are equidistantly sleeved on the roller (121). The two ends of the roller (121) are respectively rotatably mounted on two sets of frame beams (43) via bearings. The multiple locking elements (123) are respectively used to lock the multiple rollers (122) so that the multiple rollers (122) are fixed on the roller (121). The drive assembly (11) includes a motor, axle (111), multiple drive wheels (112) and multiple driven wheels (113). The motor drives the axle (111) to rotate. The axle (111) is rotatably mounted on a beam (43) via bearings and is arranged parallel to the beam (43). Multiple drive wheels (112) are sleeved on the axle (111) and rotate with the axle (111). Multiple drive wheels (112) mesh with multiple driven wheels (113) in a one-to-one correspondence. Multiple driven wheels (113) are assembled with multiple rollers (121) in a one-to-one correspondence.

4. The pick-and-place device with edge-finding, positioning, and correction functions according to claim 3, characterized in that: The transmission mechanism (1) also includes a board arrival monitoring device (13). The board arrival monitoring device (13) is located at the end of the board flow direction on the transmission mechanism (1). The board arrival monitoring device (13) is used to monitor whether the board transmitted by the transmission mechanism (1) is in place. The board arrival monitoring device (13) is connected to the automatic edge finding mechanism (2) via signal.

5. The pick-and-place device with edge-finding, positioning, and correction functions according to claim 3, characterized in that: The transmission mechanism (1) also includes two transmission components located at the end of the transmission direction of the roller assembly (12), with a detection gap between the two transmission components. The Y-axis sensor (24) is used to identify the second side of the circuit board after passing through the detection gap.

6. The pick-and-place device with edge-finding, positioning, and correction functions according to claim 1, characterized in that: The arm mechanism (3) also includes multiple photoelectric switches (36), which are used to detect whether the X-axis movable module (31), Y-axis movable module (32), Z-axis movable module (33) and R-axis movable module (34) are in position / reset.

7. The pick-and-place device with edge-finding, positioning, and correction functions according to claim 1, characterized in that: The pickup assembly (35) includes a mounting frame (351) and multiple suction nozzles (352). The mounting frame (351) is connected to the R-axis movable module (34) and rotates with the R-axis movable module (34). The mounting frame (351) has several hollow mounting parts (353), and the multiple suction nozzles (352) are respectively disposed on each mounting part (353). The mounting frame (351) is provided with an external interface (354) and several vacuum interfaces (355) for evacuating the suction nozzles (352). The several vacuum interfaces (355) are connected to the several mounting parts (353) one by one, and the several vacuum interfaces (355) are connected to an external air source through the external interface (354).

8. The pick-and-place device with edge-finding, positioning, and correction functions according to claim 1, characterized in that: The direction perpendicular to the transmission direction of the transmission mechanism (1) is taken as the first reference line, and the direction parallel to the transmission direction of the transmission mechanism (1) is taken as the second reference line; the number of X-axis sensors (22) is at least two, the line connecting the two X-axis sensors (22) is parallel to the first reference line, and the two X-axis sensors (22) are used to identify the positions of the two points passed by the first side of the circuit board respectively; The number of Y-axis sensors (24) is at least one, and the Y-axis sensors (24) are used to identify the position of a point passed by the second side of the circuit board.

9. The pick-and-place device with edge-finding, positioning, and correction functions according to claim 2, characterized in that: The X-axis drive module (21) includes a motor (211), a lead screw (212), a lead screw nut (213), a slider (214), and a slide rail (215). The motor (211) drives the lead screw (212), the lead screw nut (213) is movably sleeved on the lead screw (212), the slider (214) is fixedly connected to the lead screw nut (213) and slidably connected to the slide rail (215), and the slide rail (215) is mounted on the base plate (41).

10. The pick-and-place device with edge-finding, positioning, and correction functions according to claim 9, characterized in that: The structure of the Y-axis drive module (23) is the same as that of the X-axis drive module (21), and the driving direction of the X-axis drive module (21) is perpendicular to the driving direction of the Y-axis drive module (23).

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