Clamping jaw assembly and feeding and discharging mechanism

Abstract

The utility model relates to the technical field of PCB processing, in particular to a clamping jaw assembly and a feeding and discharging mechanism, and the feeding and discharging mechanism comprises the clamping jaw assembly, a vertical moving assembly and a transverse moving support. The clamping jaw assembly comprises a fixing plate, and a plurality of pneumatic jaw modules are evenly arranged at the bottom of the fixing plate. Each pneumatic claw module comprises a clamping air cylinder, a first clamping piece and a second clamping piece, the first clamping piece and the second clamping piece are connected with the clamping air cylinder, and the first clamping piece and the second clamping piece are symmetrically arranged along the clamping air cylinder; and the confluence plate is arranged above the fixing plate, a plurality of electromagnetic valves are integrated on the confluence plate, and the electromagnetic valves are connected with the gas claw modules through gas circuits of the confluence plate. The multiple cutter boxes are transferred between the feeding and discharging port of the cutter preparing machine and the cutter distributing device, compared with an existing method that a single cutter box is transferred for multiple times, the carrying speed can be effectively increased, and time waste caused by carrying waiting in the operation period is avoided.

Description

TECHNICAL FIELD

[0001] The application relates to the PCB processing technical field, in particular to a clamping jaw assembly and a feeding and discharging mechanism. BACKGROUND

[0002] A PCB drilling machine is a main processing equipment for PCB processing, and is used for processing a plurality of hole positions by using drill bits with different hole diameters to install required components. On an existing automatic drill bit preparation equipment in a PCB drill bit preparation room, a feeding operation of a drill bit preparation process is usually performed manually, the drill bit preparation room needs to prepare corresponding specification drill bit preparation boxes in advance according to different operation requirements of the drilling machine, and the drill bit preparation boxes are installed to a drill bit preparation and withdrawal mechanism in a form of manual or mechanical arm to be arranged and prepared or withdrawn by the drill bit preparation and withdrawal mechanism.

[0003] In the actual operation process of the existing automatic drill bit preparation machine, a supply bit disc structure and a drill bit preparation disc structure are usually used at a supply end of the drill bit to be prepared, so that a grabbing mechanism realizes grabbing and placing operations between the supply bit disc structure and the drill bit preparation disc structure. During the operation, the drill bit preparation machine (grabbing mechanism) needs to be in a stagnant state to wait for manual replacement of a new drill bit to be prepared and transfer of the drill bit preparation box that has completed the drill bit preparation to a discharge port until the replacement is completed. CONTENT OF THE UTILITY MODEL

[0004] In view of the above problems, the application provides a clamping jaw assembly and a feeding and discharging mechanism. Compared with the existing multiple transfer of a single drill bit box, the multiple transfer of the drill bit boxes between the drill bit preparation machine and the drill bit preparation device can effectively improve the carrying speed and avoid time waste caused by carrying waiting during operation.

[0005] To achieve the purpose of the application, the application provides the following technical solutions:

[0006] In a first aspect, the application provides a clamping jaw assembly, which comprises:

[0007] A fixed plate is uniformly provided with a plurality of air claw modules at the bottom;

[0008] Each air claw module comprises a clamping air cylinder, and a first clamping piece and a second clamping piece connected with the clamping air cylinder, and the first clamping piece and the second clamping piece are symmetrically arranged along the clamping air cylinder;

[0009] A busbar is arranged above the fixed plate, the busbar integrates a plurality of electromagnetic valves, and the plurality of electromagnetic valves are connected with the plurality of air claw modules through the busbar.

[0010] In a possible implementation, the first clamping member includes a first horizontal pneumatic member and a first vertical clamping member fixedly connected with the first horizontal pneumatic member, and the second clamping member includes a second horizontal pneumatic member and a second vertical clamping member fixedly connected with the second horizontal pneumatic member; wherein the first vertical clamping member is located at one end of the first horizontal pneumatic member away from the center of symmetry of the clamping cylinder, and the second vertical clamping member is located at one end of the second horizontal pneumatic member away from the center of symmetry of the clamping cylinder.

[0011] In a possible implementation, an included angle between the first vertical clamping member and the first horizontal pneumatic member is ≤ 90°, and an included angle between the second vertical clamping member and the second horizontal pneumatic member is ≤ 90°.

[0012] In a possible implementation, one side of the first clamping member clamping the workpiece is provided with a first protrusion, and one side of the second clamping member clamping the workpiece is provided with a second protrusion.

[0013] In a possible implementation, a plurality of photoelectric sensors are arranged uniformly along the length direction of the fixed plate; wherein the plurality of photoelectric sensors correspond to the positions of the plurality of air claw modules one by one on one side of the fixed plate; two speed control valves are arranged correspondingly for each clamping cylinder; for each air claw module, a first speed control valve is arranged on one side of the clamping cylinder close to the first clamping member, and a second speed control valve is arranged on one side of the clamping cylinder close to the second clamping member.

[0014] In a second aspect, the application provides a feeding and discharging mechanism, which includes the above-described clamping jaw assembly, a vertical moving assembly, and a horizontal moving support; wherein: the vertical moving assembly includes a vertical electric cylinder and a connecting lifting plate arranged at the bottom end of the piston rod of the vertical electric cylinder; the connecting lifting plate is fixedly connected with the fixed plate; the horizontal moving support is provided with a horizontal moving sliding rail, a horizontal moving sliding block, and a horizontal moving driving module; the horizontal moving driving module drives the horizontal moving sliding block to slide along the horizontal moving sliding rail; the top end of the vertical moving assembly is fixedly connected with the horizontal moving sliding block; and a plurality of workpieces on the clamping jaw assembly are simultaneously transferred between the first work station and the second work station.

[0015] In a possible implementation, the workpiece is a PCB tool box.

[0016] In a possible implementation, the first work station is a loading cutter disc or a cutter-equipped cutter disc, and the second work station is a temporary storage work station or a cutter-equipment work station of a cutter-equipment mechanism; before cutter-equipment processing, the horizontal moving support drives the vertical moving assembly to move above the loading cutter disc, the vertical moving assembly drives the gripper assembly to move downward and simultaneously clamps a plurality of empty PCB cutter boxes, and the plurality of empty PCB cutter boxes are moved to the temporary storage work station of the cutter-equipment mechanism for placement; after cutter-equipment is completed, the horizontal moving support drives the vertical moving assembly to move above the cutter-equipment work station or the temporary storage work station, the vertical moving assembly drives the gripper assembly to move downward and simultaneously clamps a plurality of cutter-equipped PCB cutter boxes, and the plurality of cutter-equipped PCB cutter boxes are moved to the cutter-equipped cutter disc for placement.

[0017] In a possible implementation, the plurality of PCB cutter boxes placed on the loading cutter disc, the temporary storage work station, the cutter-equipment work station, and the cutter-equipped cutter disc are arranged at the same interval.

[0018] In a possible implementation, the temporary storage work station and the cutter-equipment work station are respectively provided with a plurality of fixed slots matched with each of the plurality of PCB cutter boxes.

[0019] The gripper assembly and the loading and unloading mechanism provided by the embodiments of the present application can effectively improve the carrying speed and avoid time waste caused by carrying and waiting during operation by transferring a plurality of cutter boxes between the cutter box loading and unloading port of the cutter preparation machine and the cutter-equipment mechanism compared with the existing multiple transfers of a single cutter box. BRIEF DESCRIPTION OF DRAWINGS

[0020] The accompanying drawings are included to provide a further understanding of the present application, and constitute a part of the specification, illustrate the embodiments of the present application, and are used to explain the present application, and do not constitute a limitation on the present application.

[0021] Figure 1 The structure schematic diagram of the full-automatic cutter preparation machine provided by the embodiments of the present application is shown in the figure;

[0022] Figure 2 The flow schematic diagram of the feeding mechanism provided by the embodiments of the present application is shown in the figure;

[0023] Figure 3 The structure schematic diagram of the first carrier provided by the embodiments of the present application is shown in the figure;

[0024] Figure 4 The structure schematic diagram of the first cutter box work station provided by the embodiments of the present application is shown in the figure;

[0025] Figure 5 The structure schematic diagram of the cutter-equipment mechanism provided by the embodiments of the present application is shown in the figure;

[0026] Figure 6A rear view structure schematic diagram of the tool matching device provided by the embodiment of the present application;

[0027] Figure 7 A structure schematic diagram of the first and second supporting modules provided by the embodiment of the present application;

[0028] Figure 8 A structure schematic diagram of the vertical lifting assembly of the second supporting module provided by the embodiment of the present application;

[0029] Figure 9 A structure schematic diagram of the clamping jaw assembly provided by the embodiment of the present application;

[0030] Figure 10 A structure schematic diagram of the feeding and discharging mechanism provided by the embodiment of the present application;

[0031] Figure 11 A structure schematic diagram of the conveying system provided by the embodiment of the present application;

[0032] Figure 12 An optional flow schematic diagram of the automatic feeding method for tool preparation provided by the embodiment of the present application;

[0033] Figure 13 An optional flow schematic diagram of the automatic feeding method for tool withdrawal provided by the embodiment of the present application;

[0034] Figure 14 A flow schematic diagram of the tool matching method provided by the embodiment of the present application.

[0035] Reference signs:

[0036] 10, feeding mechanism; 111, first conveying guide rail; 1111, guide groove; 112, first carrier; 1121, first vertical column; 11211, first base; 11212, first sliding block; 1122, first carrier box station; 11220, first tool storage supply station; 11221, tool box placing station; 11222, tool box transfer station; 1123, junction box; 120, second conveying guide rail; 122, second carrier; 100, feeding system; 12, tool storage mechanism; 121, storage rack; 1211, material cabinet; 12111, material layer; 13, transfer mechanism; 131, transfer track; 132, mechanical arm unit; 1321, movable base; 1322, lifting piece; 1323, vertical lifting track; 1324, material taking module; 13241, first positioning part; 13242, second positioning part;

[0037] Tool matching device, 200; 210, supporting conveying mechanism; 211, first supporting module; 2111, first carrier plate; 2112, first pick-and-place station; 2113, target station; 21131a, standby tool box; 21131b, tool box; 2114, first conveying rail; 2115, first conveying member; 2116, first driving motor; 2117, conveying belt one; 212, second supporting module; 2120, supporting bottom plate; 2121, second carrier plate; 21210, vertical lifting assembly; 212101, push rod assembly; 212102, auxiliary lifting rod; 212103, reinforcing sleeve; 2122, second pick-and-place station; 2123, second conveying rail;

[0038] 2124, second conveying member; 2125, second driving motor; 2126, conveying belt two; 213, tool storage supply station; 2131a, tool storage box; 2131b, tool storage box; 220, supporting mechanism; 230, grabbing mechanism; 240, cavity;

[0039] 310, feeding and discharging mechanism; 311, clamping jaw assembly; 3111, fixed plate; 31111, through hole; 3112, air jaw module; 31121, clamping air cylinder; 31122, first clamping member; 311221, first horizontal pneumatic member; 311222, first vertical clamping member; 31123, second clamping member; 311231, second horizontal pneumatic member; 311232, second vertical clamping member; 31124, photoelectric sensor; 311251, first speed control valve; 311252, second speed control valve; 3113, bus plate; 31131, electromagnetic valve; 312, vertical moving assembly; 3121, vertical electric cylinder; 3122, connecting lifting plate; 3123, connecting support frame; 313, transverse moving support; 3131, transverse moving slide rail; 3132, transverse moving slide block; 3133, transverse moving driving module. DETAILED DESCRIPTION

[0040] In order to make the objects, technical solutions and advantages of the present application clearer, the technical solutions in the present application will be described clearly and completely below with reference to the drawings in the present application. Obviously, the described embodiments are only some of the embodiments of the present application, rather than all the embodiments. Based on the embodiments in the present application, all other embodiments obtained by those of ordinary skill in the art without creative work fall within the protection scope of the present application.

[0041] The terms "first", "second", are only for descriptive purposes and cannot be understood to indicate or imply relative importance or imply the number of the indicated technical features. Therefore, the features defined with "first", "second" can explicitly or implicitly include one or more of the features; in the description of the present application, unless otherwise stated, the meaning of "a plurality" is two or more.

[0042] The terms of the present application are explained as follows, and the specific interpretation refers to the application scenarios of corresponding embodiments 1 to 5.

[0043] The support mechanism refers to the basic support of the tool matching device for carrying tool matching related equipment or related workpieces to provide stable support for various machining operations in the tool matching process.

[0044] The grabbing mechanism, i.e. the spare tool mechanism, refers to the related equipment and components for transferring one or more drill bits in the storage tool box to the tool matching tool box, including the tool matching gripper and the auxiliary components above the support mechanism for controlling the movement and operation of the tool matching gripper; wherein the tool matching gripper is used to realize automatic bit taking and tool matching, the spare tool box is used to place a plurality of drill bits arranged to meet the drilling operation of the drilling machine, and the storage tool box refers to a tool magazine for placing a plurality of drill bits of the same model or different models;

[0045] The drill bit to be matched refers to one or more drill bits from the storage tool box;

[0046] The tool box without drill bits refers to the tool box after all drill bits in the storage tool box are taken out and transferred to the spare tool box;

[0047] The spare tool supply station refers to the corresponding working station in front of the grabbing mechanism, i.e. the station within the physical working range of the grabbing mechanism, which is usually a fixed spatial coordinate position;

[0048] The target station refers to a fixed spatial coordinate position in front of the grabbing mechanism for placing the first carrier plate or the second carrier plate, which is located within the physical working range of the grabbing mechanism and close to the above-mentioned spare tool supply station;

[0049] The loading and unloading station refers to a fixed spatial coordinate position on each conveying guide rail, which is located within the physical working range of the transfer mechanism.

[0050] The technical solutions of the present application will be described below in combination with the embodiments shown in the drawings. Figures 1 to 14

[0051] Embodiment 1

[0052] As Figure 1 ​As shown, the full-automatic tool magazine is configured to supply the tool magazine device 200 with the tool to be supplied by the feeding mechanism 10, and to deliver the tool magazine (tool magazine to be supplied) generated by the tool magazine device 200 to the discharge port through the feeding and discharging mechanism 310, so as to install the tool magazine to the drilling machine in the next process to perform PCB processing.

[0053] Reference Figure 2 As shown in the drawings, the feeding mechanism 10 includes at least two feeding assemblies; each of the feeding assemblies includes a conveying guide rail and a carrier which is movable along the conveying guide rail to carry out the feeding of the tool magazine to and from the conveying guide rail through the base at the bottom of the carrier.

[0054] In the first feeding assembly of the feeding mechanism 10, the first conveying guide rail 111 and the first carrier 112 are included; the second feeding assembly includes the second conveying guide rail 120 and the second carrier 122, and the second feeding assembly is configured to move the second carrier 122 (with the second tool magazine) to the tool magazine supply station (second tool magazine supply station) of the second conveying guide rail 120 before the first tool magazine on the first carrier 112 is taken out by the tool magazine and tool withdrawal mechanism (grabbing mechanism); here, each conveying guide rail is provided with a tool magazine supply station which cooperates with the tool magazine and tool withdrawal mechanism, and the tool magazine supply station is a tool taking station (actually the same station) of the tool magazine mechanism. At the same time, before the second tool magazine at the second tool magazine supply station is taken out by the tool magazine mechanism, the first feeding assembly withdraws the first tool magazine based on the first carrier and feeds the next tool magazine to the first tool magazine supply station.

[0055] Specifically, for each feeding assembly, the carrier includes a column and a tool magazine station; a sliding block which is adapted to the guide groove of the conveying guide rail is arranged at the bottom of the base of the carrier, and the guide groove is arranged on the conveying guide rail and extends along the length direction of the conveying guide rail; the sliding block is embedded in the guide groove and is in sliding cooperation with the flanges on both sides of the guide groove; the column is fixedly arranged above the base, and the height of the column is the same as the height of the operation table of the tool magazine and tool withdrawal mechanism; and the tool magazine station is fixedly arranged at the top end of the column. Figure 3As shown, taking the first feeding assembly as an example, the first carrier 112 includes a first vertical column 1121 and a first carrier station 1122, a first base 11211 is arranged at the bottom of the first vertical column 1121, a plurality of first sliders 11212 adapted to the guide groove 1111 of the first conveying guide rail 111 are arranged at the bottom of the first base 11211, the first sliders 11212 drive the first base 11211 and the first vertical column 1121 to move along the first conveying guide rail 111 under the drive of the linear motor; the terminal box 1123 of the embodiment is fixedly connected to one side of the first vertical column 1121; wherein the first carrier station is located at the feeding starting position of the first conveying guide rail 111, and the first spare tool supply station is located at the feeding target position of the first conveying guide rail 111.

[0056] In the embodiments of the present application, reference is made to Figure 3 As shown, taking the first feeding assembly as an example, the feeding mechanism further includes a detection unit and a control unit; the detection unit includes a plurality of detection modules arranged on the first conveying guide rail 111 simultaneously, for detecting whether the first carrier 112 reaches the first spare tool supply station 11220, and respectively blocking the first carrier 112 reaching the first spare tool supply station 11220 through the blocking mechanism arranged at the detection module; the control unit is connected with the detection unit and the plurality of feeding assemblies respectively, and the control unit is configured to: when the detection unit detects that the first carrier 112 stays at the first spare tool supply station 11220 for a preset time length, control the first carrier 112 to return to the first carrier station of the first conveying guide rail 111 along the first conveying guide rail 111. As a feasible implementation manner, the detection unit includes: a first detection module arranged at the loading and unloading station of the first conveying guide rail 111, a second detection module arranged at the first spare tool supply station 11220 of the first conveying guide rail 111, a third detection module arranged at the loading and unloading station of the second conveying guide rail 120, and a fourth detection module arranged at the second spare tool supply station of the second conveying guide rail 120; the first detection module is configured to detect whether the returned first carrier 112 reaches the first carrier station (i.e. the first loading and unloading station) corresponding to the first feeding assembly; the second detection module is configured to detect whether the first carrier 112 reaches the first spare tool supply station 11220; the third detection module is configured to detect whether the returned second carrier 122 reaches the second carrier station (the second loading and unloading station) corresponding to the second feeding assembly; the fourth detection module is configured to detect whether the second carrier 122 reaches the second spare tool supply station corresponding to the second feeding assembly; wherein the first spare tool supply station 11220 and the second spare tool supply station are arranged side by side in the second direction relative to the workbench of the spare tool return mechanism, and the second direction is the direction in which the front side of the workbench (the workbench is rectangular) is located.

[0057] Reference is made to Figure 3、 Figure 4 As shown, the magazine station of the present application is provided with a knife magazine placing station 11221 and a knife magazine transfer station 11222; the knife magazine placing station 11221 is used to place the next to-be-provisioned knife storage knife magazine; the knife magazine transfer station 11222 is used to temporarily store the returned knife storage knife magazine at the first loading and unloading station of the first conveying guide rail 111. As a feasible implementation, after the last to-be-provisioned drill bit in the knife storage knife magazine 2131a of the knife magazine placing station 11221 is grabbed, a no-knife knife magazine is generated, and for the missing to-be-provisioned drill bit, it can be grabbed in the supplementary knife storage knife magazine 2131a placed by the knife magazine transfer station 11222. And after the grabbing is completed, the no-knife knife magazine and the supplementary knife magazine are simultaneously returned to the knife library by the feeding mechanism 10.

[0058] Here, by adopting the round-trip conveying based on the movable carrier for supplying the knife storage knife magazine of the standby return mechanism, the real-time dynamic supply of the to-be-provisioned drill bit during the standby return process is realized; the existing feeding mechanism directly transfers the knife storage knife magazine from the knife library mechanism to the knife storage disc (i.e., the supply disc, which is specially used to place multiple knife storage knife magazines required), or in order to reduce the number of mechanical grippers and improve the operation efficiency, a knife magazine temporary storage position is arranged between the knife library mechanism and the knife storage disc, but it is impossible to avoid arranging the knife storage disc at the corresponding position of the standby return mechanism for the standby return mechanism to grab the to-be-provisioned drill bit, therefore, compared with the existing knife storage disc, the feeding system of the present application directly conveys the to-be-provisioned drill bit to the corresponding knife taking position (i.e., the standby knife supply station), reducing the transfer nodes of the knife storage knife magazine; at the same time, in the operation process, the time waste of needing the standby return mechanism to stop operation to reorganize the knife magazines in the knife storage disc and place multiple knife storage knife magazines corresponding to the next standby knife magazine is also avoided, greatly improving the operation efficiency. It should be noted that the standby knife supply station in the feeding mechanism of the present application refers to a space position meeting the requirements of the standby return operation, such as the position at the output end of each conveying guide rail.

[0059] Reference Figures 5-8As shown, the tool matching device 200 of the embodiment of the present application comprises a supporting and conveying mechanism 210, a supporting mechanism 220 and a grabbing mechanism 230; wherein the supporting and conveying mechanism 210 is movably connected with the supporting mechanism 220, and comprises a first supporting module 211 and a second supporting module 212. The first supporting module 211 comprises a first carrier plate 2111 and a first carrier plate conveying assembly for conveying the first carrier plate 2111, and the first carrier plate conveying assembly is configured to move the first carrier plate 2111 from a first material taking and placing station 2112 to a target station 2113, or move the first carrier plate 2111 from the target station 2113 back to the first material taking and placing station 2112. The second supporting module 212 comprises a second carrier plate 2121 and a second carrier plate conveying assembly for conveying the second carrier plate 2121, and the second carrier plate conveying assembly is configured to move the second carrier plate 2121 from a second material taking and placing station 2122 to the target station 2113, or move the second carrier plate 2121 from the target station 2113 back to the second material taking and placing station 2122. The grabbing mechanism 230 is located above the supporting and conveying mechanism 220, and is used to obtain a tool to be matched at a corresponding position (a tool storage and supply station 213, at least comprising a first tool storage and supply station 11220) of the target station 2113, and perform tool matching processing on a tool box 21131a to be matched carried on the first carrier plate 2111 or the second carrier plate 2121 at the target station 2113. Herein, the spatial positional relationship of the first supporting module 211 and the second supporting module 212 on the supporting mechanism 220 can be an arrangement based on relative up-down or left-right positions.

[0060] Considering the space usage of the unit, in the embodiment of the present application, the first supporting module 211 and the second supporting module 212 are simultaneously located inside a cavity 240 formed by the supporting mechanism 220 and the grabbing mechanism 230, wherein the second supporting module 212 is located below the first supporting module 211, and the supporting mechanism 220 is two supports symmetrically arranged on both sides of the supporting and conveying mechanism 210. In the shutdown state of the tool matching device 200, referring to Figure 6 As shown, the first material taking and placing station 2112 and the second material taking and placing station 2122 are parallel to each other and are arranged along a first vertical direction, i.e., the second material taking and placing station (stopping the second carrier plate 2121) 2122 is located directly below the first material taking and placing station (stopping the first carrier plate 2111) 2112.

[0061] The storage knife supply station 213 (at least including the first storage knife supply station 11220), the knife distribution device 200 (from the target station 2113 to the first loading and unloading station 2112 / second loading and unloading station 2122), and the loading and unloading mechanism 310 are longitudinally arranged in sequence. The knife distribution device 200 is used to control the grabbing mechanism 230 to grab one or more storage knives in the storage knife box 2131a at the storage knife supply station 213, and insert the to-be-distributed drill knife into the preset acupuncture point in the to-be-ready knife box 21131a at the target station 2113. After the to-be-ready knife box 21131a is filled, a ready knife box 21131b is generated, and the ready knife box 21131b is conveyed to the discharge port by the loading and unloading mechanism 310. As a feasible implementation, the plurality of box loading stations of the feeding mechanism 10 and the target station 2113 and the first loading and unloading station 2112 can be arranged on an environmental surface (at the same height), or the full-automatic ready knife machine further includes a fixed base plate, and the feeding mechanism 10 and the knife distribution device 200 are fixed to the fixed base plate through the supporting mechanism 220. The fixed base plate can also be a mobile base plate, which can drive the full-automatic ready knife machine to move. In the embodiment of the application, after the to-be-distributed drill knife in any storage knife box 2131a is grabbed, a ready storage knife box 2131b is generated, and the ready storage knife box 2131b is conveyed to the knife library by the feeding mechanism 10 for the drill knife in the knife returning process. The loading and unloading mechanism 310 is used to load (supply the to-be-ready knife box 21131a) on the first carrier plate 2111 at the first loading and unloading station 2112 or the second carrier plate 2121 at the second loading and unloading station 2122, or convey the ready knife box 21131b of the first carrier plate 2111 at the first loading and unloading station 2112 or the second carrier plate 2121 at the second loading and unloading station 2122 to the discharge port of the full-automatic ready knife machine.

[0062] The grabbing mechanism 230 grabs the to-be-distributed drill knife from the storage knife box 2131a at the storage knife supply station 213, and arranges the to-be-distributed drill knife to the ready knife box 21131b according to the drill knife arrangement order. The drill knife arrangement order is a source file based on the drill machine operation preset in the system program. It should be noted that the to-be-ready knife box 21131a and the ready knife box 21131b are used to illustrate the different states of the knife box before and after the knife is ready. Similarly, the storage knife box 2131a and the ready storage knife box 2131b are also used to illustrate the different states of the knife box before and after the knife is given.

[0063] Specifically, the first carrier plate conveying assembly includes two first horizontal conveying components arranged in a horizontal direction and spaced apart from each other, the first carrier plate 2111 is fixedly connected between the two first horizontal conveying components, and under the condition that a conveying power source located on one side of the support mechanism 220 provides power, the first carrier plate 2111 and the cutter box assembly located on the first carrier plate 2111 are driven to move along a moving track between the first loading and unloading station 2112 and the target station 2113. Wherein, when the first supporting module of the tool matching device 200 needs to be conveyed to the target station 2113, the first carrier plate conveying assembly conveys the first carrier plate 2111 from the first loading and unloading station 2112 to the target station 2113, at this time, the first carrier plate 2111 carries the to-be-matched cutter box 21131a (to-be-matched cutter box) horizontally conveyed to the target station 2113, so that the grabbing mechanism 230 realizes the transfer of the to-be-matched drill cutter from the cutter storage box 2131a to the to-be-matched cutter box 21131a; then, after the to-be-matched cutter box 21131a completes the matching at the target station 2113, a matched cutter box 21131b (matched state or not matched state) is generated, at this time, the first carrier plate conveying assembly horizontally conveys the first carrier plate 2111 (carrying the matched cutter box) to the first loading and unloading station 2112.

[0064] As a feasible implementation, the first horizontal conveying component includes a first conveying guide rail 2114, the first conveying guide rail 2114 acts on the first carrier plate 2111 through a first conveying piece 2115, and any one end of the first carrier plate 2111 is connected with the first conveying piece 2115. Wherein, the first conveying piece 2115 is fixedly connected with a conveying belt one 2117 of a first driving motor 2116 as a driving source, for driving the first carrier plate 2111 to move back and forth on the first conveying guide rail 2114 through the first conveying piece 2115 during conveying; wherein, the first conveying guide rail 2114 is fixed on a side support of the support mechanism 220, the first conveying guide rail 2114 extends in a horizontal direction and is consistent with the moving direction of the first carrier plate 2111 to the target station 2113; the first conveying piece 2115 is in sliding fit with the first conveying guide rail 2114; the output shaft of the first driving motor 2116 is connected with the conveying belt one 2117, and the first conveying piece 2115 is fixed on the conveying belt one 2117, for driving the first conveying piece 2115 to drive the first carrier plate 2111 to move along the first conveying guide rail 2114 to the target station 2113, and after the first carrier plate 2111 completes the work, driving the first carrier plate 2111 to move back along the first conveying guide rail 2114 to the first loading and unloading station 2112. Here, the two first conveying guide rails 2114 are respectively and symmetrically fixed on the two side supports of the support mechanism 220.

[0065] In the embodiment of the present application, the second carrier plate conveying component can include a supporting bottom plate 2120 located below the second carrier plate 2121, two second horizontal conveying components respectively located below the first horizontal conveying components, and a vertical lifting assembly arranged between the second carrier plate 2121 and the supporting bottom plate 2120;

[0066] The supporting bottom plate 2120 is fixedly connected between the two second horizontal conveying components, and the supporting bottom plate 2120 and the second carrier plate 2121 are integrally arranged. The supporting bottom plate 2120 drives the supporting bottom plate 2120 and the second carrier plate 2121 to move integrally between the corresponding horizontal positions of the second material taking and placing station 2122 and the target station 2113 under the condition that the two second horizontal conveying components are powered by the conveying power sources. The vertical lifting assembly is used to drive the second carrier plate 2121 to rise to a target height in the vertical direction after the supporting bottom plate 2120 and the second carrier plate 2121 move to the horizontal position, or to drive the second carrier plate 2121 to descend from the target station 2113 to the horizontal position after the second carrier plate 2121 finishes work.

[0067] The knife distribution device of the present application is different from the existing knife distribution device which can only perform a stop operation on the knife preparation / distribution device after the knife preparation / distribution device completes the current knife preparation, and manually or by a mechanical arm removes the prepared knife box for the next time, and then starts the knife preparation / distribution device to perform the next knife preparation operation. The present application allows the generated knife box to be removed by the first carrier plate and immediately moves the second carrier plate carrying the next to-be-prepared knife box to the target station to perform continuous operation of the grabbing mechanism in the time dimension. Further, the second supporting module of the knife distribution device of the present application is located below the first supporting module, which realizes the expansion of the knife distribution device in limited space, thereby improving the work efficiency in the space dimension.

[0068] Specifically, the second horizontal conveying component comprises second conveying rails 2123, which act on the supporting bottom plate 2120 through second conveying members 2124, and any end of the supporting bottom plate 2120 is connected with the second conveying members 2123 (relative to the other side of the supporting mechanism 220 of the first conveying member 2115), wherein the second conveying members 2124 are fixedly connected with a conveying belt two 2126 of a second driving motor 2125 as a drive, for driving the supporting bottom plate 2120 to slide fit on the second conveying rails 2123 during conveying; wherein the output shaft of the second driving motor 2125 is connected with the conveying belt two 2126, and the second conveying members 2124 are fixed on the conveying belt two 2126, for driving the second conveying members 2124 to drive the supporting bottom plate 2120 to move to the target work station 2113 along the second conveying rails 2234, and after the supporting bottom plate 2120 finishes work, driving the supporting bottom plate 2120 to move back to the second material taking and placing work station 2122 along the second conveying rails 2123; the two second conveying rails 2123 are respectively fixed symmetrically on the two side supports of the supporting mechanism 220. Here, the second horizontal conveying component can be the same as the above-mentioned first horizontal conveying component, to drive the second conveying members 2124 to produce reciprocating movement on the second conveying rails 2123.

[0069] As a feasible implementation manner, the vertical lifting assembly 21210 can comprise one or more push rod assemblies 212101 fixed through the supporting bottom plate 2120 on the bottom of the second bottom plate 2121, and the push rod end of the push rod assembly 212101 is connected with the bottom (center) of the second bottom plate 2121. Specifically, referring to FIG. 8, the push rod assembly 212101 is a linear motor, one auxiliary lifting rod 212102 is arranged at each of the four corner positions of the second bottom plate 2121, and a reinforcing sleeve 212103 is arranged at a position of the supporting bottom plate 2120 corresponding to each auxiliary lifting rod 212102. Figure 8

[0070] In the embodiment of the present application, a plurality of cutter box loading positions are arranged on the first bottom plate 2111 and the second bottom plate 2121, and the plurality of cutter box loading positions on the first bottom plate 2111 and the plurality of cutter box loading positions on the second bottom plate 2121 are the same in position and number; wherein each cutter box loading position comprises a fixed groove matched with the cutter box specification and a positioning mechanism communicated with the fixed groove.

[0071] In the embodiment of the present application, when the first bottom plate 2111 is located at the first material taking and placing work station 2112 or the second bottom plate 2121 is located at the second material taking and placing work station 2122 for material placing, a corresponding code reader is arranged above each cutter box loading position, for detecting the cutter box code on the standby cutter cutter box 21131a and whether the cutter box is placed correctly. Here, a plurality of code readers are arranged on the rear side of the gantry of the grabbing mechanism 230.​

[0072] In the embodiment of the present application, the above-mentioned tool matching device 200 can be used to perform the tool withdrawal operation of the standby tool magazine. During the tool withdrawal process, the feeding and discharging mechanism 310 places the standby tool magazine 21131b that has completed the operation at the first or second feeding and discharging station 2112 or 2122, so as to convey the standby tool magazine 21131b to the target station 2113 through the first or second supporting module, and the grabbing mechanism 230 realizes the tool withdrawal process of the standby tool magazine based on the feeding mechanism 10. Specifically, the operation process of the standby tool is the reverse process, which will not be described here.

[0073] The tool matching device of the present application is movably connected with the supporting structure, and the supporting structure includes a supporting and conveying mechanism including a first supporting module and a second supporting module. The first supporting module includes a first carrier plate and a first carrier plate conveying assembly configured to realize the reciprocating movement of the first carrier plate between the first feeding and discharging station and the target station. The second supporting module includes a second carrier plate and a second carrier plate conveying assembly configured to move the second carrier plate from the second feeding and discharging station to the target station when the target station is in an idle state, or move the second carrier plate from the target station to the second feeding and discharging station when the operation of the second carrier plate at the target station is completed. In this way, through the alternate operation of the first and second supporting modules at the target station corresponding to the grabbing mechanism, the continuous operation of the grabbing mechanism in time and space is realized, and the operation efficiency of the tool matching device is effectively improved.

[0074] Embodiment 2

[0075] Based on the above-mentioned embodiments, the present application provides an upper and lower feeding mechanism 310 including a gripper assembly 311, a vertical moving assembly 312, and a horizontal moving bracket 313. The gripper assembly 311 is used to move a plurality of tool magazines (empty PCB tool matching tool magazines) from the feeding tool disc to the first or second feeding and discharging station 2112 or 2122 based on the upward and downward movement of the vertical moving assembly 312 and the horizontal movement of the horizontal moving bracket 313, or move the tool matching tool magazine (PCB tool matching tool magazine that has been matched with tools) at the first or second feeding and discharging station 2112 or 2122 to the tool matching tool disc that has been matched with tools.

[0076] Specifically, referring to Figure 9As shown, the clamp jaw assembly 311 includes a fixed plate 3111, a plurality of air claw modules 3112 uniformly arranged on the bottom of the fixed plate 3111, and a bus plate 3113. Each air claw module 3112 includes a clamping air cylinder 31121, a first clamping piece 31122, and a second clamping piece 31123 connected to the clamping air cylinder 31121. The first clamping piece 31122 and the second clamping piece 31123 are symmetrically arranged along the clamping air cylinder 31121. The bus plate 3113 is arranged above the fixed plate 3111 and integrates a plurality of electromagnetic valves 31131. The plurality of electromagnetic valves 31131 are connected in airway with the plurality of air claw modules 3112 through the bus plate 3113 and a plurality of through holes 31111 in the fixed plate 3111. The first clamping piece 31122 includes a first horizontal pneumatic component 311221 and a first vertical clamping piece 311222 fixedly connected to the first horizontal pneumatic component 311221 at one end thereof. The second clamping piece 31123 includes a second horizontal pneumatic component 311231 and a second vertical clamping piece 311232 fixedly connected to the second horizontal pneumatic component 311231 at one end thereof. The tail ends of the first vertical clamping piece 311222 and the second vertical clamping piece 311232 are used to combine clamping of the knife box. When each air claw module 3112 is used to clamp the knife box, the tail ends of the first vertical clamping piece 311222 and the second vertical clamping piece 311232 slide inward under the movement of the first horizontal pneumatic component 311221 and the second horizontal pneumatic component 311231, respectively, to clamp the knife box, and maintain the clamping action in the upward and horizontal movement until reaching the first station or the second station. In order to increase the stability of clamping the knife box, a first protrusion is arranged on one side of the first vertical clamping piece 311222 clamping the knife box, and a second protrusion is arranged on one side of the second vertical clamping piece 311232 clamping the knife box.

[0077] The plurality of photoelectric sensors 31124 are uniformly arranged along the length direction of the fixed plate 3111. The plurality of photoelectric sensors 31124 correspond one-to-one with the positions of the plurality of air claw modules 3112 on one side of the fixed plate 3111. Two speed control valves are arranged corresponding to each clamping air cylinder 31121. For each air claw module 3112, a first speed control valve 311251 is arranged on the side of the clamping air cylinder 31121 close to the first clamping piece 31122, and a second speed control valve 311252 is arranged on the side of the clamping air cylinder 31121 close to the second clamping piece 31123.

[0078] Reference Figure 10As shown, the vertical moving assembly 312 includes a vertical electric cylinder 3121 and a connecting lifting plate 3122 arranged at the bottom end of the piston rod of the vertical electric cylinder 3121 and used for connecting with the fixed plate 3111 of the gas claw assembly 311. A servo motor is arranged at one side of the vertical electric cylinder 3121. Connecting support frames 3123 are arranged at both sides of the vertical electric cylinder 3121 and connected to the outer periphery of the vertical electric cylinder 3121 to form an electric cylinder placing cavity inside. The top end of the connecting support frame 3123 is fixedly connected with the horizontal moving slider 3132.

[0079] Reference Figure 10 As shown, the horizontal moving support 313 of the present application is provided with a horizontal moving slide rail 3131, a horizontal moving slider 3132 and a horizontal moving drive module 3133. The horizontal moving drive module 3133 drives the horizontal moving slider 3132 to slide along the horizontal moving slide rail 3131 to realize the transfer of the cutter boxes on the plurality of gas claw modules 3112 between the first work station and the second work station. Here, the second work station is the first material taking and placing work station 2112 or the second material taking and placing work station 2122 of the cutter arranging device, and the first work station is the feeding cutter disc or the cutter disc with arranged cutters of the feeding and discharging port.

[0080] Here, the arrangement interval of the plurality of fixed grooves on the first material taking and placing work station 2112 and the second material taking and placing work station 2122 is the same as the arrangement interval of the plurality of gas claw modules 3112 on the claw assembly 311, so as to realize direct and convenient grabbing. The arrangement interval of the plurality of cutter boxes on the feeding cutter disc and the cutter disc with arranged cutters is also the same as the arrangement interval of the plurality of gas claw modules 3112 on the claw assembly 311.

[0081] The feeding and discharging mechanism of the embodiment of the present application can effectively improve the carrying speed and avoid the time waste caused by carrying and waiting during the operation by transferring the plurality of cutter boxes between the cutter preparation machine feeding and discharging port and the cutter arranging device, compared with the existing multiple transfers of a single cutter box.

[0082] Embodiment 3

[0083] Based on the foregoing embodiments, reference Figure 11 As shown, the present application provides a feeding system 100, which includes the feeding mechanism 10 described above, and a cutter library mechanism 12 and a transfer mechanism 13 cooperating with the feeding mechanism 10.

[0084] In the embodiment of the present application, the tool magazine mechanism 12 is located on both sides of the feeding mechanism 10, including a magazine rack 121 (in the form of a straight line) arranged in parallel with the guide rail of the feeding mechanism 10, the magazine rack 121 including a plurality of cabinets 1211, each of which is provided with a plurality of equally spaced layers 12111, and each layer 12111 is provided with a plurality of parallel arranged slots, and a plurality of tool storage boxes 2131a are arranged in the slots; the drill bits to be matched in the tool storage boxes 2131a can be the same or different. The transfer mechanism 13 is located in the middle area between the tool magazine mechanism 12 and the feeding mechanism 10, and is used to transfer the tool storage boxes 2131a on the tool magazine mechanism 12 to the first carrier 112 or the second carrier 122 during the standby tool process, so as to provide the drill bits to be matched for the standby tool supply station 213.

[0085] Specifically, the transfer mechanism 13 includes a transfer track 131 parallel to the direction of the guide rail of the feeding mechanism 10 (or the arrangement direction of the magazine rack), and at least one mechanical arm unit 132 is arranged on the transfer track 131; the mechanical arm unit 132 includes a movable base 1321, a lifting member 1322, a vertical lifting track 1323, and a material taking module 1324; the lifting member 1322 drives the material taking module 1324 to lift on the vertical lifting track 1322; the movable base 1321 moves or positions on the transfer track 131; the material taking module 1324 includes a first positioning part 13241, a second positioning part 13242, and a mechanical gripper arranged at the end of the second positioning part 13242, the first positioning part 13241 is used to perform X-axis direction positioning, and the second positioning part 13242 is used to perform Y-axis direction positioning; the mechanical gripper is used to take and place the tool storage box from the tool magazine mechanism 12, the first carrier box station 1122, or the second carrier box station.

[0086] In the embodiment of the present application, after the drill bits to be matched in the tool storage box are grabbed, a tool-free tool storage box is generated; the tool-free tool storage box is used to assemble drill bits during the tool returning process, or to assemble the ground drill bits from the standby tool machine feeding port, so as to meet the operation of the feeding mechanism 10 and the tool matching device 200. As a feasible implementation, for the tool-free tool storage box generated during the feeding process, one or more special empty box cabinets are arranged in the plurality of cabinets 1211, so as to perform separate tool magazine mechanism replenishment processing on the empty box cabinet.

[0087] In the embodiment of the present application, the tool magazine mechanism 12 includes a first magazine module and a second magazine module; the first magazine module is located on one side of the first conveying guide rail 111, and the second magazine module is located on the side of the second conveying guide rail 120 away from the first conveying guide rail 111; wherein the first magazine module and the second magazine module have the same list of drill bit models; the transfer mechanism 13 includes a first transfer module between the first magazine module and the first feeding assembly, and a second transfer module between the second magazine module and the second feeding assembly; the first transfer module is configured to transfer the tool box on the first magazine module to the first carrier 112, or transfer the tool box on the first carrier 112 to the first magazine module; the second transfer module is configured to transfer the tool box on the second magazine module to the second carrier 122, or transfer the tool box on the second carrier 122 to the second magazine module.

[0088] Specifically, in the case where the feeding mechanism includes four conveying guide rails, the third conveying guide rail and the fourth conveying guide rail extend along the transverse arrangement direction of the first conveying guide rail 111 and the second conveying guide rail 120, the first magazine module is located on one side of the first conveying guide rail 111, and the second magazine module is located on the side of the fourth conveying guide rail away from the first conveying guide rail, so that the first transfer module is configured to transfer the tool box on the first magazine module to the first carrier 112 or the second carrier 122, and the second transfer module is configured to transfer the tool box on the second magazine module to the third carrier corresponding to the third conveying guide rail or the fourth carrier corresponding to the fourth conveying guide rail.

[0089] In the embodiment of the present application, a tool box turning mechanism is arranged between the first conveying guide rail 111 and the second conveying guide rail 120; the tool box turning mechanism is used to, in the case where the next target tool box to be transported corresponding to the first carrier station 1122 is absent from the first magazine module and stored in the second magazine module, transfer the target tool box to the tool box turning mechanism through the second transfer module, and then transfer the target tool box to the first carrier station 1122 by the first transfer module.

[0090] The feeding system of the embodiment of the present application realizes efficient supply of the feeding mechanism by arranging the tool magazine mechanism and the transfer mechanism on both sides of the feeding mechanism.

[0091] Embodiment 4

[0092] Based on the foregoing embodiments, the embodiment of the present application provides an automatic feeding method for tool preparation, which is applied to the feeding system described above, and refers to FIG. 8, and includes the following steps: Figure 12 The automatic feeding method for tool preparation includes the following steps:

[0093] S101, the transfer mechanism transfers the first storage tool magazine in the tool magazine mechanism to the first carrier.

[0094] In the embodiment of the present application, the mechanical arm unit takes out the first transfer tool magazine from the tool magazine rack according to the rack position of the first target tool magazine and transfers it to the first carrier at the first magazine changing station; at this time, the first carrier waits for placement at the feeding starting position of the first conveying guide rail.

[0095] S102, the first feeding assembly feeds the first storage tool magazine to the first tool supply station based on the first carrier; the first tool supply station is the first tool taking station corresponding to the tool supply mechanism.

[0096] S103, before the tool supply mechanism finishes taking the first storage tool magazine at the first tool supply station, the second feeding assembly feeds the second storage tool magazine to the second tool supply station based on the second carrier; the second tool supply station is the second tool taking station corresponding to the tool supply mechanism, wherein the first tool supply station and the second tool supply station are arranged side by side relative to the tool supply mechanism.

[0097] In the embodiment of the present application, when the first feeding mechanism feeds the first storage tool magazine to the first tool supply station, the transfer mechanism is configured to place the second target tool magazine on the second carrier, and before the tool supply mechanism finishes taking the first storage tool magazine at the first tool supply station, the second feeding assembly feeds the second storage tool magazine to the second tool supply station based on the second carrier. At the same time, before the tool supply mechanism finishes taking the second storage tool magazine at the second tool supply station, the first feeding assembly feeds the first storage tool magazine back based on the first carrier and feeds the next storage tool magazine to the first tool supply station.

[0098] It should be noted that the tool supply mechanism of the present application is a continuous operation mechanism, which continuously takes multiple drill needles from the tool taking station, moves to the target tool magazine at the tool supply station to place the drill, and returns to the tool taking station again. For example, the tool taking (tool taking station) - placing - returning to the tool taking station of the tool supply mechanism is one cycle, and the operation time of this cycle can be 4S. Here, the tool supply mechanism only grabs the standby drill a at the first target tool magazine at the first tool taking station once, and then returns to the second tool taking station to grab the standby drill b at the second storage tool magazine.

[0099] In the embodiment of the present application, the first feeding assembly transports the first storage knife magazine back to the first magazine changing station based on the first carrier; the transfer mechanism transfers the first storage knife magazine to the corresponding storage position of the knife library mechanism; the post-transfer mechanism transfers the third storage knife magazine in the knife library mechanism to the first carrier at the first magazine changing station; the first feeding assembly transports the third storage knife magazine to the first spare knife supply station based on the first carrier, so that the spare knife mechanism performs the grabbing of the drill bit c in the third storage knife magazine after grabbing the drill bit b in the second storage knife magazine, and the cycle supply is performed in this way.

[0100] In the embodiment of the present application, when the A1 channel finishes taking the drill bit, the C1 channel knife magazine is in place (the drill bit taking station), and the D1 channel knife magazine is completed; when the B1 channel finishes taking the drill bit, the D1 channel knife magazine is in place, and the A1 channel knife magazine is completed; when the C1 channel finishes taking the drill bit, the A1 channel knife magazine is in place, and the B channel knife magazine is completed; when the D1 channel finishes taking the drill bit, the B1 channel knife magazine is in place, and the C1 channel knife magazine is completed; when the A1 channel finishes taking the drill bit, the C1 channel knife magazine is in place, and the D1 channel knife magazine is completed, and the cycle is repeated. That is, when the four feeding assemblies are used for feeding, two transport rails will transport the next two storage knife magazines to the corresponding drill bit taking station when the current channel finishes taking the drill bit, so that the knife magazine is completed in the transport line, and the time cycle is not affected by the taking and placing of the drill bit.

[0101] Similarly, the embodiment of the present application also provides an automatic feeding method for returning the drill bit, which is applied to the feeding system described above, as shown in Figure 13 , comprising the following steps:

[0102] S201, the transfer mechanism transfers the first storage knife magazine in the knife library mechanism to the first carrier; wherein the first storage knife magazine contains a plurality of empty hole positions for placing drill bits.

[0103] S202, the first feeding assembly transports the first storage knife magazine to the first spare knife supply station based on the first carrier; the first spare knife supply station is the first drill bit placing station corresponding to the spare knife mechanism.

[0104] S203, before the spare knife mechanism finishes placing the drill bit in the first storage knife magazine at the first spare knife supply station, the second feeding assembly transports the second storage knife magazine to the second spare knife supply station based on the second carrier; the second spare knife supply station is the second drill bit placing station corresponding to the spare knife mechanism, wherein the first spare knife supply station and the second spare knife supply station are arranged side by side relative to the spare knife mechanism, and the second storage knife magazine contains a plurality of empty hole positions for placing drill bits.

[0105] In the embodiment of the present application, before the standby tool mechanism finishes putting the second tool magazine at the second standby tool supply station, the first feeding assembly returns the first tool magazine based on the first carrier and transports the next tool magazine to the first standby tool supply station to wait for putting.

[0106] Here, the process of returning the tool is the opposite process of the standby tool process.

[0107] Embodiment 5

[0108] Based on the foregoing embodiments, the embodiment of the present application provides a tool matching method, as shown in the accompanying drawings, comprising the following steps: Figure 14 as shown in the accompanying drawings, comprising the following steps:

[0109] S301, when the grabbing mechanism finishes matching the plurality of first tool magazines at the target station, the first supporting module moves the first carrier plate on which the plurality of first tool magazines are located to the first loading and unloading station, and the second supporting module moves the second carrier plate on which the plurality of second tool magazines are located from the second loading and unloading station to the target station; wherein the second tool magazine is the next tool magazine to be matched, and the second supporting module is located below the first supporting module.

[0110] In the embodiment of the present application, when the grabbing mechanism matches the plurality of first tool magazines at the target station, the loading and unloading mechanism arranges the second tool magazine at the second loading and unloading station and waits for the second tool magazine to be matched after the arrangement is completed.

[0111] Here, the grabbing mechanism is the standby tool mechanism or the tool returning mechanism.

[0112] S302, the grabbing mechanism matches the plurality of second tool magazines at the target station.

[0113] In the embodiment of the present application, the grabbing mechanism matches 6 first tool magazines (6 second tool magazines) at the same time.

[0114] The computer program product of the present application can be a storage medium or a computer program product that stores instructions which can be executed by one or more processors to cause the processor or processors to carry out actions according to the present application. The computer program product can be a non-transitory computer readable medium having stored thereon computer program instructions that, when executed by one or more processors, carry out actions according to the present application. The computer program product can be embodied in one or more computer readable media, which can be non-transitory. The computer readable medium can include computer readable storage medium or computer readable signal medium.

[0115] It should be noted that although several modules or units of the device for action execution are mentioned in the foregoing detailed description, the division is not mandatory. Indeed, according to an embodiment of the application, the features and functionalities of two or more modules or units described above can be embodied in one module or unit. Conversely, the features and functionalities of one module or unit described above can be further divided into several modules or units embodied.

[0116] From the above description of the embodiments, it is easy for those skilled in the art to understand that the example embodiments described herein can be implemented by software, or by software in combination with necessary hardware. Therefore, the technical solutions according to the embodiments of the present application can be embodied in the form of a software product, which can be stored in a non-volatile storage medium (which can be a CD-ROM, a USB flash disk, a mobile hard disk, etc.) or a network, and includes several instructions to enable a computing device (which can be a personal computer, a server, a touch terminal, or a network device, etc.) to perform the methods according to the embodiments of the present application.

[0117] In several embodiments provided in the present application, it should be understood that the disclosed system, modules and methods can be implemented in other ways. For example, the above-described module embodiments are merely illustrative. For example, the division of units is only a logical function division. In actual implementation, another division manner can be used, for example, a plurality of units or components can be combined or integrated into another system, or some features can be omitted or not executed. In addition, the coupling or direct coupling or communication connection between the displayed or discussed units can be indirect coupling or communication connection through some interfaces, modules or units, and can be electrical, mechanical or other forms.

[0118] The above examples are only used to illustrate the technical solutions of the present application, but not to limit them. The present application is not limited to the exact structure as has been described above and shown in the drawings, and the specific implementation of the present application should not be considered as limited to these descriptions. Any changes and modifications made by those skilled in the art without departing from the concept of the present application should be considered as falling within the scope of the present application.

Claims

1. A gripper assembly, characterized in that, include: A fixing plate (3111) is provided with a plurality of pneumatic gripper modules (3112) evenly arranged at the bottom of the fixing plate (3111); The pneumatic gripper module (3112) includes a gripping cylinder (31121), a first gripping member (31122) and a second gripping member (31123) connected to the gripping cylinder (31121), wherein the first gripping member (31122) and the second gripping member (31123) are symmetrically arranged along the gripping cylinder (31121); A manifold (3113) is disposed above the fixed plate (3111). The manifold (3113) integrates multiple solenoid valves (31131). The multiple solenoid valves (31131) are connected to the multiple pneumatic gripper modules (3112) through the manifold (3113).

2. The gripper assembly according to claim 1, characterized in that, The first clamping member (31122) includes a first horizontal pneumatic member (311221) and a first vertical clamping member (311222) fixedly connected to the first horizontal pneumatic member (311221). The second clamping member (31123) includes a second horizontal pneumatic member (311231) and a second vertical clamping member (311232) fixedly connected to the second horizontal pneumatic member (311231). The first vertical clamping member (311222) is located at one end of the first horizontal pneumatic member (311221) away from the center of symmetry of the clamping cylinder (31121), and the second vertical clamping member (311232) is located at one end of the second horizontal pneumatic member (311231) away from the center of symmetry of the clamping cylinder (31121).

3. The gripper assembly according to claim 2, characterized in that, The included angle between the first vertical clamping member (311222) and the first horizontal pneumatic member (311221) is ≤90°, and the included angle between the second vertical clamping member (311232) and the second horizontal pneumatic member (311231) is ≤90°.

4. The gripper assembly according to any one of claims 1 to 3, characterized in that, The first clamping member (31122) has a first protrusion on one side of the workpiece; the second clamping member (31123) has a second protrusion on one side of the workpiece.

5. The gripper assembly according to claim 1, characterized in that, Multiple photoelectric sensors (31124) are uniformly arranged along the length of the fixing plate (3111); wherein, the multiple photoelectric sensors (31124) are respectively positioned on one side of the fixing plate (3111) and correspond one-to-one with the positions of the multiple pneumatic gripper modules (3112); Each of the clamping cylinders (31121) is provided with two speed control valves; for each gripper module (3112), a first speed control valve (311251) is provided on the side of the clamping cylinder (31121) near the first gripper (31122), and a second speed control valve (311252) is provided on the side of the clamping cylinder (31121) near the second gripper (31123).

6. A loading and unloading mechanism, characterized in that, include: The gripper assembly (311), the vertical movement assembly (312), and the lateral movement support (313) as described in any one of claims 1-5; wherein: The vertical moving assembly (312) includes a vertical electric cylinder (3121) and a connecting lifting plate (3122), wherein the connecting lifting plate (3122) is disposed at the bottom end of the piston rod of the vertical electric cylinder (3121); the connecting lifting plate (3122) is fixedly connected to the fixing plate (3111). The transverse support (313) is provided with a transverse slide rail (3131), a transverse slider (3132), and a transverse drive module (3133). The transverse drive module (3133) drives the transverse slider (3132) to slide along the transverse slide rail (3131). The top end of the vertical moving component (312) is fixedly connected to the transverse slider (3132). The component simultaneously transfers several workpieces on the gripper components (311) between the first station and the second station.

7. The loading and unloading mechanism according to claim 6, characterized in that, The workpiece is a PCB with a tool holder.

8. The loading and unloading mechanism according to claim 7, characterized in that, The first station is a feeding cutter head or a cutter head with pre-equipped cutters, and the second station is a temporary storage station or a cutter-equipping station for the cutter-equipping mechanism. Before the cutting tool processing, the transverse support (313) drives the vertical moving component (312) to move above the feeding cutting disc. The vertical moving component (312) drives the gripper component (311) to grip multiple empty PCB cutting tool boxes downwards at the same time, and moves multiple empty PCB cutting tool boxes to the temporary storage station of the cutting tool mechanism for placement. After the tooling is completed, the horizontal moving bracket (313) drives the vertical moving component (312) to move to the tooling station or the temporary storage station. The vertical moving component (312) drives the gripper component (311) to grip multiple tooled PCB tooling boxes downwards at the same time, and moves the multiple tooled PCB tooling boxes to the tooling disc for placement.

9. The loading and unloading mechanism according to claim 8, characterized in that, The arrangement intervals between the feeding cutter head, the temporary storage station, the cutter matching station, and the multiple PCB cutter boxes placed on the cutter head are the same.

10. The loading and unloading mechanism according to any one of claims 8 or 9, characterized in that, The temporary storage station and the tool-matching station are provided with multiple fixing slots that are adapted to each of the PCB tool-matching boxes.

Images