Automatic loading and unloading plate of COB (Chip On Board) robot

Abstract

The utility model discloses an automatic loading and unloading plate of a COB (chip on board) robot, which relates to the technical field of automatic loading and unloading plates and comprises a robot body, a rotating column rotatably connected to the bottom of the robot body, a motor mounted at the top of the robot body, and a rotating plate fixedly connected to the bottom of the rotating column, the two sides of the bottom of the rotating plate are each provided with a clamping mechanism and a reset mechanism which can clamp the plate body, the reset mechanisms are located at the bottom of the rotating plate, the rotating plate is driven by the motor to rotate, and therefore the clamping mechanisms at the bottom of the rotating plate can place the plate body without wire binding on the wire binding machine when the plate body with the wire binding completed is taken down from the wire binding machine. The plate feeding and discharging steps can be completed through one-time operation, the plate feeding and discharging efficiency is effectively improved, meanwhile, the buffer mechanism is arranged on the fixing plate, rigid clamping of the first clamping plate and the second clamping plate to the plate body can be reduced, and damage caused by too large clamping force borne by the plate body is avoided.

Description

Technical Field

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

[0002] COB, also known as chip-on-board (COB), refers to a process where a bare chip is directly mounted onto a printed circuit board (PCB), wire-bonded, and then encapsulated and protected with adhesive. This achieves the electrical and mechanical connection between the chip and the PCB electrodes. Medical devices contain many electrical components, including PCBs. During PCB manufacturing, wire bonding is required, typically using robotic arms to load and unload boards from a wire bonding machine.

[0003] A three-section robotic arm automated loading and unloading device with patent number CN210635365U consists of a base, a first robotic arm, a second robotic arm, a third robotic arm, and a robotic hand. The first robotic arm is fixedly connected to the base, and the top end of the first robotic arm is connected to one end of the second robotic arm via a rotating shaft. A first hydraulic cylinder is provided between the second and first robotic arms. The end of the second robotic arm away from the first robotic arm is connected to one end of the third robotic arm via a rotating shaft. A second hydraulic cylinder is provided between the third and second robotic arms, and the free end of the third robotic arm is connected to the robotic hand.

[0004] However, research has shown that existing robotic arms for automatic loading and unloading still have the following shortcomings:

[0005] Existing robotic arms require the robot to first move to a wire-binding machine to remove the board and place it in a designated position when automatically loading and unloading boards. Then, the robot clamps the unbound board and moves it to the wire-binding machine for binding. This step-by-step loading and unloading process results in low efficiency. Therefore, technological innovation and design optimization are needed to optimize the automatic loading and unloading of COB robots. Utility Model Content

[0006] Existing robotic arms require the robot to first move to a wire-binding machine to remove the board and place it in a designated position before automatically loading and unloading it. Then, the robot clamps the unbound board and moves it to the wire-binding machine for binding. This step-by-step loading and unloading process results in low efficiency. To address this issue, this application provides a COB robot for automatic loading and unloading. A motor drives a rotating plate, allowing the clamping mechanism at the bottom of the rotating plate to remove the bound board from the wire-binding machine and place the unbound board onto it. The loading and unloading process can be completed in a single operation, effectively improving efficiency. Furthermore, a buffer mechanism on the fixed plate reduces the rigid clamping force exerted on the board by clamping plates one and two, preventing damage due to excessive clamping force.

[0007] The technical solution adopted by the embodiments of this application to solve its technical problem is:

[0008] COB robots automatically load and unload boards, including:

[0009] The robot body has a rotating column rotatably connected to its bottom and a motor installed on its top. The output end of the motor passes through the robot body and is fixedly connected to the rotating column.

[0010] A rotating plate is fixedly connected to the bottom of a rotating column, and clamping mechanisms capable of clamping the plate are provided on both sides of the bottom of the rotating plate.

[0011] A reset mechanism, located at the bottom of the rotating plate, is used to reset the clamping mechanism;

[0012] A buffer mechanism, located on the clamping mechanism, is used to buffer the plate.

[0013] In one possible implementation, the clamping mechanism includes a fixed plate with both sides of the bottom of the rotating plate fixed. An electric push rod is fixed on the rotating plate and passes through the rotating plate. A second clamping plate is provided at the bottom of the rotating plate. A sliding groove is opened at the bottom of the rotating plate, and a sliding block slides in the sliding groove. The sliding block is fixedly connected to the second clamping plate. A triangular frame is fixed on the side of the second clamping plate away from the fixed plate. The output end of the electric push rod presses the triangular frame downward. The triangular frame drives the second clamping plate to move towards the fixed plate. At the same time, the second clamping plate drives the sliding block to move in the sliding groove, so that the second clamping plate cooperates with the fixed plate to clamp the plate.

[0014] In one possible implementation, a semi-circular block is fixed to the output end of the electric actuator, and the surface of the triangular frame is polished to reduce the friction between the electric actuator and the triangular frame.

[0015] In one possible implementation, the reset mechanism includes a rectangular groove at the bottom of the rotating plate, a rectangular block sliding in the rectangular groove, the rectangular block being fixedly connected to the clamping plate, and a spring being provided inside the rectangular groove. When the clamping plate moves toward the fixed plate, it will cause the rectangular block to squeeze the spring. After the electric push rod is turned off, the spring will drive the clamping plate to reset through the rectangular block.

[0016] In one possible implementation, a guide post is provided inside the rectangular groove, the guide post passes through the rectangular block, the rectangular block can slide on the guide post, both ends of the guide post are fixedly connected to the inner walls of the rectangular groove, and the spring is sleeved outside the guide post, so that the guide post can prevent the rectangular block and the spring from falling out of the rectangular groove.

[0017] In one possible implementation, the buffer mechanism includes a cylinder penetrating a fixed plate, the cylinder being slidable on the fixed plate, a clamping plate fixed to the side of the cylinder facing the clamping plate, a spring being sleeved on the outside of the guide post between the clamping plate and the fixed plate, and a baffle fixed to the end of the guide post away from the clamping plate. The clamping plate and the clamping plate will first contact the plate body, the baffle will squeeze the clamping plate, the clamping plate will drive the cylinder to slide on the fixed plate, and at the same time the fixed plate and the clamping plate will squeeze the spring, the spring will give the clamping plate a reverse force, which facilitates the clamping of the plate body with the clamping plate and avoids the plate body being damaged by the squeezing of the clamping plate and the clamping plate.

[0018] In one possible implementation, rubber pads are fixed to the opposing surfaces of the first and second clamping plates to protect the plate body.

[0019] In one possible implementation, the robot body is bolted to a slider on a guide rail, and the robot body can move on the guide rail.

[0020] In summary, this utility model has at least one of the following beneficial technical effects:

[0021] 1. The rotating plate is driven by a motor, which allows the clamping mechanism at the bottom of the rotating plate to remove the plate after the binding is completed from the binding machine and place the plate without binding onto the binding machine. The plate loading and unloading steps can be completed in a single run, which effectively improves the efficiency of loading and unloading.

[0022] 2. By setting a buffer mechanism on the fixed plate, the rigid clamping force of clamping plate one and clamping plate two on the plate body can be reduced, thus avoiding damage caused by excessive clamping force on the plate body. Attached Figure Description

[0023] Figure 1 This is a schematic diagram of the overall structure of this utility model;

[0024] Figure 2 This is a partial structural schematic diagram of the present invention;

[0025] Figure 3 for Figure 2 Enlarged schematic diagram of the structure at point A in the middle;

[0026] Figure 4 This is a schematic diagram of the buffer mechanism structure of this utility model.

[0027] Reference numerals in the attached diagram: 1. Robot body; 2. Motor; 3. Rotating column; 4. Rotating plate; 5. Fixed plate; 6. Guide column; 7. Rectangular groove; 8. Electric push rod; 9. Semicircular block; 10. Rectangular block; 11. Spring 1; 12. Clamping plate 1; 13. Clamping plate 2; 14. Triangular frame; 15. Baffle; 16. Sliding groove; 17. Sliding block; 18. Cylinder; 19. Spring 2. Detailed Implementation

[0028] The technical solution of this utility model will be clearly and completely described below with reference to the accompanying drawings. In addition, the forms of the various structures described in the following embodiments are merely illustrative. The instrument placement rack involved in this utility model is not limited to the structures described in the following embodiments. All other embodiments obtained by those skilled in the art without creative effort are within the scope of protection of this utility model.

[0029] This embodiment describes the specific structure of the COB robot's automatic loading and unloading mechanism. See details in the attached document. Figures 1-4 As shown, the COB robot automatically loads and unloads from the platform, including:

[0030] Robot body 1, with a rotating column 3 rotatably connected to the bottom of robot body 1, and a motor 2 installed on the top of robot body 1. The output end of motor 2 passes through robot body 1 and is fixedly connected to rotating column 3.

[0031] Rotating plate 4 is fixedly connected to the bottom of rotating column 3. Both sides of the bottom of rotating plate 4 are provided with clamping mechanisms that can clamp the plate.

[0032] The reset mechanism is located at the bottom of the rotating plate 4 and is used to reset the clamping mechanism.

[0033] The buffer mechanism, located on the clamping mechanism, is used to buffer the plate.

[0034] The clamping mechanism includes a fixed plate 5 fixed to the bottom of both sides of the rotating plate 4. An electric push rod 8 is fixed on the rotating plate 4 and passes through the rotating plate 4. A clamping plate 13 is provided at the bottom of the rotating plate 4. A sliding groove 16 is opened at the bottom of the rotating plate 4. A sliding block 17 slides in the sliding groove 16 and is fixedly connected to the clamping plate 13. A triangular frame 14 is fixed on the side of the clamping plate 13 away from the fixed plate 5. The output end of the electric push rod 8 presses the triangular frame 14 downward. The triangular frame 14 drives the clamping plate 13 to move towards the fixed plate 5. At the same time, the clamping plate 13 drives the sliding block 17 to move in the sliding groove 16, so that the clamping plate 13 cooperates with the fixed plate 5 to clamp the plate.

[0035] Meanwhile, a semi-circular block 9 is fixed at the output end of the electric push rod 8, and the surface of the triangular frame 14 is polished to reduce the friction between the electric push rod 8 and the triangular frame 14.

[0036] More specifically, the reset mechanism includes a rectangular groove 7 at the bottom of the rotating plate 4, a rectangular block 10 sliding inside the rectangular groove 7, the rectangular block 10 being fixedly connected to the clamping plate 13, and a spring 11 inside the rectangular groove 7. When the clamping plate moves toward the fixed plate 5, it will cause the rectangular block 10 to squeeze the spring 11. After the electric push rod 8 is turned off, the spring 11 will drive the clamping plate 13 to reset through the rectangular block 10.

[0037] In addition, a guide post 6 is provided in the rectangular groove 7. The guide post 6 passes through the rectangular block 10 and the rectangular block 10 can slide on the guide post 6. Both ends of the guide post 6 are fixedly connected to the inner walls of the rectangular groove 7. The spring 11 is sleeved on the outside of the guide post 6. The guide post 6 can prevent the rectangular block 10 and the spring from falling out of the rectangular groove 7.

[0038] Furthermore, the buffer mechanism includes a cylinder 18 that passes through the fixed plate 5. The cylinder 18 can slide on the fixed plate 5. A clamping plate 12 is fixed to the side of the cylinder 18 facing the clamping plate 13. A spring 19 is sleeved on the outside of the guide post 6 between the clamping plate 12 and the fixed plate 5. A baffle 15 is fixed to the end of the guide post 6 away from the clamping plate 13. The clamping plate 13 and the clamping plate 12 will first contact the plate body. The plate body will squeeze the clamping plate 12. The clamping plate 12 will drive the cylinder 18 to slide on the fixed plate 5. At the same time, the fixed plate 5 and the clamping plate 12 will squeeze the spring 19. The spring 19 will give the clamping plate 12 a reverse force, which is convenient for the clamping plate 13 to clamp the plate body and prevent the plate body from being damaged by the squeezing of the clamping plate 12 and the clamping plate 13.

[0039] It is worth noting that rubber pads are fixed to the facing surfaces of both the first clamp 12 and the second clamp 13 to protect the plate body.

[0040] In addition, the robot body 1 is fixed to the slider of the guide rail by bolts, and the robot body 1 can move on the guide rail.

[0041] Among them, the robot body 1 is model RM65-B six-degree-of-freedom ultralightweight humanoid robotic arm.

[0042] When workers need to load or unload boards, the robot body 1 moves the rotating plate 4 downwards, aligning the fixed plate 5 and clamping plate 13 on one side of the rotating plate 4 with a board. The electric push rod 8 on that side is activated, and clamping plate 13, in conjunction with clamping plate 12, clamps the board. The robot body 1 then moves the rotating plate 4 upwards, and moves it to the top of the binding machine, aligning the other side with a board that has already been bound with wire. The robot body 1 moves downwards, activating the electric push rod 8 on the other side to clamp the bound board. The robot body 1 then moves the rotating plate 4 upwards, activating motor 2, which rotates the rotating plate 4 180 degrees before turning off motor 2, aligning the unbound board with the binding machine. The robot body 1 then moves the rotating plate 4 downwards, deactivating the electric push rod 8 on the side of the unbound board, placing the unbound board on the binding machine for binding. Finally, the robot body 1 moves the rotating plate 4 upwards and resets, placing the bound board in the designated position. Repeating these steps completes the automatic loading and unloading of boards.

[0043] Finally, it should be noted that the above embodiments are merely examples for clearly illustrating the present invention and are not intended to limit the implementation. Those skilled in the art can make other variations or modifications based on the above description. It is neither necessary nor possible to exhaustively list all possible implementations. However, obvious variations or modifications derived therefrom are still within the protection scope of this invention.

Claims

1. A COB robot automatically loading and unloading a board, characterized in that, include: The robot body (1) has a rotating column (3) rotatably connected to its bottom and a motor (2) installed on its top. The output end of the motor (2) passes through the robot body (1) and is fixedly connected to the rotating column (3). Rotating plate (4), the rotating plate (4) is fixedly connected to the bottom of the rotating column (3), and the bottom sides of the rotating plate (4) are provided with clamping mechanisms that can clamp the plate body; A reset mechanism is located at the bottom of the rotating plate (4) and is used to reset the clamping mechanism; A buffer mechanism, located on the clamping mechanism, is used to buffer the plate.

2. The COB robot automatic board loading and unloading of claim 1, wherein: The clamping mechanism includes a fixed plate (5) with both sides of the bottom of the rotating plate (4) fixed. An electric push rod (8) is fixed on the rotating plate (4) and passes through the rotating plate (4). A clamping plate (13) is provided at the bottom of the rotating plate (4). A sliding groove (16) is provided at the bottom of the rotating plate (4). A sliding block (17) slides in the sliding groove (16). The sliding block (17) is fixedly connected to the clamping plate (13). A triangular frame (14) is fixed on the side of the clamping plate (13) away from the fixed plate (5).

3. The COB robot automatic board loading and unloading of claim 2, wherein: The output end of the electric push rod (8) is fixed with a semi-circular block (9), and the surface of the triangular frame (14) is polished.

4. The COB robot automatic board loading and unloading of claim 1, wherein: The reset mechanism includes a rectangular groove (7) at the bottom of the rotating plate (4), a rectangular block (10) sliding inside the rectangular groove (7), the rectangular block (10) being fixedly connected to the clamping plate (13), and a spring (11) being provided inside the rectangular groove (7).

5. The COB robot automatic board loading and unloading of claim 4, wherein: The rectangular groove (7) is provided with a guide post (6), the guide post (6) passes through the rectangular block (10), the rectangular block (10) can slide on the guide post (6), both ends of the guide post (6) are fixedly connected to the inner wall of the rectangular groove (7), and the spring (11) is sleeved on the outside of the guide post (6).

6. The COB robot automatic board loading and unloading of claim 5, wherein: The buffer mechanism includes a cylinder (18) that passes through the fixed plate (5). The cylinder (18) can slide on the fixed plate (5). A clamping plate (12) is fixed on the side of the cylinder (18) facing the clamping plate (13). A spring (19) is sleeved on the outside of the guide post (6) between the clamping plate (12) and the fixed plate (5). A baffle (15) is fixed on the end of the guide post (6) away from the clamping plate (13).

7. The COB robot automatic board loading and unloading of claim 6, wherein: Rubber pads are fixed to the opposing surfaces of clamping plate one (12) and clamping plate two (13).

8. The COB robot automatic board loading and unloading of claim 1, wherein: The robot body (1) is fixed to the slider of the guide rail by bolts.

Images