Feeding device and laser processing system
By setting a pressure plate assembly at the end of the robotic arm to fix and blow away the PCB board to reduce wrinkles, the problem of PCB board deformation on the processing platform is solved, and the accuracy of laser processing is improved.
Patent Information
- Authority / Receiving Office
- CN · China
- Patent Type
- Utility models(China)
- Current Assignee / Owner
- HANS CNC SCI & TECH
- Filing Date
- 2025-05-15
- Publication Date
- 2026-06-02
AI Technical Summary
When the robotic arm picks up the PCB board, the thinness of the board causes deformation, resulting in wrinkles on the processing platform and affecting the accuracy of laser processing.
By setting a pressure plate assembly at the end of the robot arm, including a pressure plate cylinder and a pressure plate nozzle, the workpiece to be processed is fixed and the gas is blown to reduce wrinkles. The workpiece is then picked up by the processing platform.
It reduces wrinkles and interference on the workpiece during processing, and improves the accuracy of laser processing.
Smart Images
Figure CN224310647U_ABST
Abstract
Description
Technical Field
[0001] This application relates to the field of PCB (Printed Circuit Board) manufacturing technology, particularly to feeding devices and laser processing systems. Background Technology
[0002] Taking PCB boards as an example, as the core carrier of electronic products, the optimization of their processing technology directly determines the product performance, reliability and manufacturing cost.
[0003] Currently, PCB boards are typically gripped onto a processing platform using robotic arms for manufacturing. However, when the robotic arm grips the PCB, because the PCB is thin, the area held by the arm's suction cups undergoes elastic deformation, resulting in an overall uneven surface. Consequently, after placing the PCB on the processing platform, it shrinks in size. When the platform holds the PCB in this deformed and shrunken state for processing, wrinkles appear, making it easy to misalign the laser-cut holes.
[0004] Therefore, there is an urgent need for a feeding device that can reduce workpiece wrinkles, as well as a laser processing system that uses the feeding device to accurately perform laser processing on the workpiece. Utility Model Content
[0005] Therefore, it is necessary to provide a feeding device that reduces workpiece wrinkles, and a laser processing system that uses the feeding device to accurately perform laser processing on the workpiece.
[0006] In a first aspect, this application provides a feeding device, comprising:
[0007] A processing platform is used to place the workpiece to be processed.
[0008] A robotic arm is used to grasp workpieces to be processed.
[0009] The pressure plate assembly is located at the end of the robot arm. The pressure plate assembly includes a pressure plate cylinder and a pressure plate nozzle.
[0010] After the robotic arm picks up the workpiece to be processed and places it on the processing platform, the pressure plate cylinder is used to fix the workpiece to be processed on the processing platform, and the pressure plate nozzle is used to blow gas toward the surface of the workpiece to be processed.
[0011] After the pressure plate nozzle has purged the gas, the pressure plate assembly moves away from the processing platform, which is also used to adsorb the workpiece to be processed.
[0012] In one embodiment, the device further includes:
[0013] First master cylinder;
[0014] The second main cylinder has one end connected to the first main cylinder and the other end connected to the robot arm. The maximum movement distance of the first main cylinder is greater than the maximum movement distance of the pressure plate cylinder, and the maximum movement distance of the pressure plate cylinder is greater than the maximum movement distance of the second main cylinder.
[0015] After the robotic arm grasps the workpiece to be processed, the first main cylinder and the second main cylinder are used to drive the robotic arm to move towards the processing platform until the robotic arm places the workpiece to be processed on the processing platform.
[0016] Before the pressure plate nozzle finishes blowing out the gas, the second main cylinder is used to drive one end of the robot arm and pressure plate assembly to move away from the processing platform.
[0017] After the pressure plate nozzle has finished blowing out the gas, the first main cylinder is used to drive the pressure plate assembly to move away from the processing platform.
[0018] In one embodiment, the first main cylinder includes a first cylinder body and a first movable end, the second main cylinder includes a second cylinder body and a second movable end, and the pressure plate cylinder includes a third cylinder body and a third movable end.
[0019] One end of the first movable end is connected to the first cylinder body, the other end of the first movable end is connected to the second cylinder body, one end of the second movable end is connected to the second cylinder body, the other end of the second movable end is connected to the robot arm, the end of the robot arm is connected to the third cylinder body, the third cylinder body is connected to one end of the third movable end, and the other end of the third movable end is connected to the pressure plate nozzle.
[0020] After the robotic arm grasps the workpiece to be processed, the first movable end and the second movable end are used to move simultaneously toward the processing platform to drive the robotic arm to move toward the processing platform until the robotic arm places the workpiece to be processed on the processing platform.
[0021] After the workpiece to be processed is placed on the processing platform, the third movable end is used to fix the workpiece to be processed on the processing platform;
[0022] Before the pressure plate air nozzle finishes blowing out the gas, the second movable end is used to drive the robot arm and one end of the third movable end to move away from the processing platform, while the other end of the third movable end continues to be used to fix the workpiece to be processed on the processing platform.
[0023] After the pressure plate nozzle has finished purging the gas, the first movable end is used to drive the pressure plate assembly to move away from the processing platform.
[0024] In one embodiment, the maximum movement distance of the first movable end and the maximum movement distance of the second movable end are equal to the distance the robot places the workpiece to be processed on the processing platform;
[0025] After the robotic arm grasps the workpiece to be processed, the first movable end and the second movable end move toward the processing platform until both the first movable end and the second movable end reach their respective preset maximum movement distance, and the robotic arm places the workpiece to be processed on the processing platform.
[0026] In one embodiment, the device further includes:
[0027] The main cylinder moving unit has a first cylinder body disposed thereon. The main cylinder moving unit is used to move the first main cylinder in a direction parallel to the processing platform to move the position of the robot arm.
[0028] In one embodiment, the pressure plate assembly further includes:
[0029] The pressure plate is a rubber block; one end of the pressure plate cylinder is located at the end of the robot arm, and the other end of the pressure plate cylinder is located at the pressure plate.
[0030] Air nozzle holder, installed on the pressure plate block, is used to install the pressure plate air nozzle on the pressure plate block;
[0031] After the workpiece to be processed is placed on the processing platform and the pressure plate cylinder moves toward the processing platform, the pressure plate rubber block is used to fix the workpiece to be processed on the processing platform.
[0032] In one embodiment, the pressure plate assembly further includes:
[0033] At least one solenoid valve, each solenoid valve including a solenoid valve outlet;
[0034] After the robotic arm picks up the workpiece to be processed and places it on the processing platform, the air outlet of the solenoid valve is used to supply air to the pressure plate nozzle and the pressure plate cylinder, so that the pressure plate cylinder moves toward the processing platform and the pressure plate nozzle blows gas toward the surface of the workpiece to be processed.
[0035] After the pressure plate nozzle has been blowing gas for a preset time, the solenoid valve outlet stops supplying gas to the pressure plate nozzle and pressure plate cylinder, causing the pressure plate cylinder to move away from the processing platform and the pressure plate nozzle to stop blowing gas toward the surface of the workpiece to be processed.
[0036] In one embodiment, the device further includes:
[0037] The first adsorption unit is located on the robotic arm;
[0038] The first adsorption unit is used to adsorb the workpiece to be processed onto the robotic arm;
[0039] After the robot moves toward the processing platform, when the distance between the workpiece to be processed and the processing platform is less than a preset distance threshold, the first adsorption unit stops adsorbing the workpiece to be processed and places the workpiece to be processed on the processing platform.
[0040] In one embodiment, the device further includes:
[0041] The second adsorption unit is located on the processing platform;
[0042] After the gas is purged by the pressure plate nozzle, the second adsorption unit is used to adsorb the workpiece to be processed on the processing platform.
[0043] In the aforementioned feeding device, by setting a pressure plate assembly, which is located at the end of the robot arm and includes a pressure plate cylinder and a pressure plate nozzle, the robot arm places the workpiece to be processed onto the processing platform. The pressure plate cylinder then fixes the workpiece on the processing platform, and the pressure plate nozzle blows gas toward the surface of the workpiece to reduce wrinkles. After the pressure plate nozzle has finished blowing the gas and the pressure plate assembly has moved away from the processing platform, the wrinkles on the workpiece 200 adsorbed by the processing platform are reduced, thus reducing the probability of interference from wrinkles during the subsequent processing of the workpiece. Therefore, the workpiece can be processed accurately.
[0044] Secondly, this application also provides a laser processing system, which includes the feeding device and laser processing equipment as described in the above embodiments, and the laser processing equipment and the feeding device are communicatively connected.
[0045] After the workpiece is picked up by the processing platform in the loading device, the laser processing equipment performs laser processing on the workpiece. In the above laser processing system, through the loading device and laser processing equipment in the above embodiment, after the workpiece is picked up by the processing platform in the loading device, the wrinkles of the workpiece picked up by the processing platform are reduced. Therefore, the probability of interference from wrinkles during the laser processing of the workpiece is also reduced, and the accuracy of the laser processing equipment in laser processing the workpiece is greatly improved. Attached Figure Description
[0046] To more clearly illustrate the technical solutions in the embodiments of this application or the conventional technology, the drawings used in the description of the embodiments or the conventional technology will be briefly introduced below. Obviously, the drawings described below are only some embodiments of this application. For those skilled in the art, other drawings can be obtained based on these drawings without creative effort.
[0047] Figure 1 This is a schematic diagram of the feeding device in one embodiment;
[0048] Figure 2 This is a schematic diagram of the main cylinder structure in one embodiment;
[0049] Figure 3 This is a schematic diagram of the main cylinder moving unit in one embodiment;
[0050] Figure 4 Here are multiple views of the pressure plate assembly in one embodiment;
[0051] Figure 5 This is a schematic diagram of the structure of a laser processing system in one embodiment;
[0052] Figure 6 This is a schematic diagram of a dual-workpiece feeding device in one embodiment;
[0053] Figure 7 A multi-view diagram of a pressure plate assembly in a specific application embodiment;
[0054] Figure 8 A multi-view illustration of a robotic arm grasping a workpiece to be processed and placing it above a processing platform in a specific application embodiment;
[0055] Figure 9 This is a multi-view diagram of the process in a specific application embodiment where the first movable end of the first master cylinder and the second movable end of the second master cylinder descend simultaneously, and the robot places the workpiece to be processed on the processing platform.
[0056] Figure 10 A multi-view diagram of the descent process of the third movable end of the pressure plate cylinder in a specific application embodiment;
[0057] Figure 11 A multi-view diagram of the rising process of the second movable end of the second master cylinder in a specific application embodiment;
[0058] Figure 12 This is a multi-view diagram of the rising process of the first moving end of the first master cylinder in a specific application embodiment. Detailed Implementation
[0059] To facilitate understanding of this application, a more complete description will be provided below with reference to the accompanying drawings, which illustrate embodiments of the present application. However, the present application can be implemented in many different forms and is not limited to the embodiments described herein. Rather, these embodiments are provided so that the disclosure of this application will be thorough and complete.
[0060] Unless otherwise defined, all technical and scientific terms used herein have the same meaning as commonly understood by one of ordinary skill in the art to which this application belongs. The terminology used herein is for the purpose of describing particular embodiments only and is not intended to be limiting of the application.
[0061] It is understood that the terms "first," "second," etc., used herein may be used to describe various elements, but these elements are not limited by these terms. These terms are only used to distinguish one element from another. For example, without departing from the scope of this application, a first resistor may be referred to as a second resistor, and similarly, a second resistor may be referred to as a first resistor. Both the first resistor and the second resistor are resistors, but they are not the same resistor.
[0062] It is understood that the term "connection" in the following embodiments should be understood as "electrical connection," "communication connection," etc., if the connected circuits, modules, units, etc., have electrical signal or data transmission with each other.
[0063] It is understandable that "at least one" refers to one or more, and "multiple" refers to two or more. "At least a part of an element" refers to part or all of an element.
[0064] When used herein, the singular forms of “a,” “an,” and “ / the” may also include the plural forms unless the context clearly indicates otherwise. It should also be understood that the terms “comprising / including” or “having,” etc., specify the presence of the stated features, wholes, steps, operations, components, parts, or combinations thereof, but do not preclude the possibility of the presence or addition of one or more other features, wholes, steps, operations, components, parts, or combinations thereof. Meanwhile, the term “and / or” as used in this specification includes any and all combinations of the associated listed items.
[0065] Taking a PCB board as an example, when a robotic arm grasps the PCB board, because the PCB board is relatively thin, the area where it is held by the suction cup will undergo elastic deformation, resulting in an overall uneven surface on the PCB board. After the robotic arm grasps the PCB board and places it on the processing platform of the host machine, due to the aforementioned local deformation, the PCB board will shrink in overall size (the front-to-back dimension shrinks the most because its front-to-back dimension is larger). In this deformed and shrunken state, the platform holds the PCB board, resulting in wrinkles. This can cause the laser to deviate during subsequent laser processing, making it impossible to accurately process the holes in the PCB board.
[0066] To address the aforementioned technical problems, this application provides a feeding device for reducing workpiece wrinkles, and a laser processing system for accurately performing laser processing on workpieces using the feeding device.
[0067] In the feeding device, a pressure plate assembly is installed at the end of the robot arm. This assembly includes a pressure plate cylinder and a pressure plate nozzle. After the robot arm places the workpiece to be processed onto the processing platform, the pressure plate cylinder fixes the workpiece on the processing platform. The pressure plate nozzle blows gas toward the surface of the workpiece to reduce wrinkles. After the pressure plate nozzle has finished blowing the gas and the pressure plate assembly moves away from the processing platform, the wrinkles on the workpiece 200 adsorbed by the processing platform are reduced. This reduces the probability of interference from wrinkles during the subsequent processing of the workpiece, thus enabling accurate processing of the workpiece.
[0068] In the laser processing system, the system includes the aforementioned loading device and laser processing equipment, with the laser processing equipment and loading device communicatively connected. After the processing platform in the loading device adsorbs the workpiece to be processed, the laser processing equipment performs laser processing on the workpiece. In the aforementioned laser processing system, through the loading device and laser processing equipment described in the above embodiment, after the processing platform in the loading device adsorbs the workpiece to be processed, the wrinkles on the workpiece adsorbed by the processing platform are reduced. Therefore, the probability of interference from wrinkles during the laser processing of the workpiece is also reduced, and the accuracy of the laser processing equipment in processing the workpiece is greatly improved.
[0069] like Figure 1 As shown, a feeding device 1000 in one embodiment includes:
[0070] The processing platform 100 is used to place the workpiece 200 to be processed;
[0071] Robotic arm 300 is used to grasp workpiece 200 to be processed;
[0072] The pressure plate assembly 400 is located at the end of the robot arm 300. The pressure plate assembly 400 includes a pressure plate cylinder 410 and a pressure plate nozzle 420.
[0073] After the robot arm 300 grabs the workpiece 200 to be processed and places it on the processing platform 100, the pressure plate cylinder 410 is used to fix the workpiece 200 to be processed on the processing platform 100, and the pressure plate nozzle 420 is used to blow gas toward the surface of the workpiece 200 to be processed.
[0074] After the pressure plate nozzle 420 purges the gas, the pressure plate assembly 400 moves away from the processing platform 100, which is also used to adsorb the workpiece 200 to be processed.
[0075] Among them, the workpiece 200 to be processed is generally a PCB board. PCBs are developing towards larger and thinner, and the thickness of the packaging substrate is only 40μm~90μm. At present, this application mainly targets PCB boards with a thickness of 0.1mm~3mm, but it can also be applied to PCB boards of other thicknesses, which are not limited here.
[0076] The processing platform 100 is the carrier of the workpiece 200 to be processed. Its surface is prone to elastic deformation when it is adsorbed by the suction cup of the robot arm.
[0077] The robotic arm 300 is a mechanical device controlled by a program or driven by automation. It simulates the movements of a human arm / hand to perform operations such as grasping, handling, positioning, assembling, and processing objects. Its core consists of a mechanical structure (links, joints, actuators), a drive system (electric / hydraulic / pneumatic), and a control system (sensors + algorithms). Therefore, the robotic arm 300 can simulate the movements of a human arm / hand to grasp the workpiece 200 to be processed. By controlling the movement of the robotic arm 300, the workpiece 200 grasped by the robotic arm 300 is moved to the processing platform 100, thereby placing the workpiece 200 on the processing platform 100.
[0078] The pressure plate assembly 400 is located at the end of the robot arm 300. When the robot arm 300 moves toward the processing platform 100, the pressure plate assembly 400 is also driven by the robot arm 300 to move toward the processing platform 100. Therefore, after the robot arm 300 picks up the workpiece 200 to be processed and places it on the processing platform 100, the pressure plate assembly 400 at the end of the robot arm 300 can be used to fix the workpiece 200 to be processed and blow gas toward the surface of the workpiece 200 to make the wrinkles on the surface of the workpiece 200 to be processed smooth. Furthermore, the pressure plate assembly 400 includes a pressure plate cylinder 410 and a pressure plate nozzle 420. The pressure plate nozzle 420 is generally a flat nozzle, and there is more than one pressure plate nozzle 420. After the robot arm 300 places the workpiece 200 to be processed on the processing platform 100, the pressure plate cylinder 410 extends toward the processing platform 100 to press the workpiece 200 to be processed, so that the workpiece 200 to be processed is fixed to the processing platform 100. At this time, the pressure plate nozzle 420 can blow gas onto the surface of the workpiece 200 fixed to the processing platform 100, so that the wrinkles on the surface of the workpiece 200 to be processed are blown flat.
[0079] Specifically, this application sets up a processing platform 100, a robotic arm 300 and a pressure plate assembly 400, wherein the pressure plate assembly 400 includes a pressure plate cylinder 410 and a pressure plate nozzle 420, so that when the processing platform 100 adsorbs the workpiece 200 to be processed, the adsorbed workpiece 200 is a workpiece with reduced or no wrinkles, so as to facilitate the subsequent accurate laser processing of the workpiece 200.
[0080] First, the robot arm 300 grasps the workpiece 200 to be processed. The robot arm 300 moves above the processing platform 100, so that the workpiece 200 grasped by the robot arm 300 also moves above the processing platform 100. The robot arm 300 places the workpiece 200 to be processed on the processing platform 100. At this time, the pressure plate cylinder 410 in the pressure plate assembly 400 at the end of the robot arm 300 extends towards the processing platform 100 and presses the workpiece 200 to be processed on the processing platform 100 to fix the workpiece 200 to be processed on the processing platform 100. After the workpiece 200 to be processed is fixed on the processing platform 100, the pressure plate nozzle 420 in the pressure plate assembly 400 can blow gas on the surface of the workpiece 200 to smooth out the wrinkles on the surface of the workpiece 200, so that the surface of the workpiece 200 returns to its original flat state from elastic deformation. After the pressure plate nozzle 420 has purged the gas, it is assumed that the surface wrinkles of the workpiece 100 have been reduced or have disappeared. At this time, the pressure plate assembly 400 moves away from the processing platform 100, and the processing platform 100 picks up the workpiece 200 to be processed in order to perform subsequent laser processing operations.
[0081] Furthermore, the methods for determining whether the pressure plate nozzle 420 has finished blowing gas include: visually observing whether the wrinkles on the surface of the workpiece 200 have been smoothed by the pressure plate nozzle 420; or pre-setting the blowing time of the gas, and when the preset blowing time is exceeded, it is considered that the wrinkles on the surface of the workpiece 200 have been smoothed by the pressure plate nozzle 420, and the blowing gas operation of the pressure plate nozzle 420 toward the workpiece 200 is stopped.
[0082] In an exemplary embodiment, this application can be a loading device 1000 with a single robotic arm 300 or a loading device 1000 with multiple robotic arms 300. Specifically, in a loading device 1000 with multiple robotic arms 300, there is more than one robotic arm 300, one processing platform 100, and the number of pressure plate assemblies 400 and the number of workpieces 200 to be processed are the same as the number of robotic arms 300. Each robotic arm 300 grabs the corresponding workpiece 200 to be processed, and through the pressure plate assembly 400 set at the end of each robotic arm 300, blows gas onto the surface of the corresponding workpiece 200 to be processed to smooth out the surface wrinkles, and then the processing platform 100 adsorbs all the workpieces 200 to be processed.
[0083] In the aforementioned feeding device 1000, by setting a pressure plate assembly 400, which is located at the end of the robot arm 300, including a pressure plate cylinder 410 and a pressure plate nozzle 420, the robot arm 300 places the gripped workpiece 200 onto the processing platform 100. The pressure plate cylinder 410 fixes the workpiece 200 on the processing platform 100, and the pressure plate nozzle 420 blows gas toward the surface of the workpiece 200 to reduce wrinkles. After the pressure plate nozzle 420 has finished blowing the gas and the pressure plate assembly 400 is away from the processing platform 100, the wrinkles of the workpiece 200 adsorbed by the processing platform 100 are reduced, and the probability of interference from wrinkles during the subsequent processing of the workpiece 200 is reduced. Therefore, the workpiece 200 can be accurately processed.
[0084] In one exemplary embodiment, the apparatus further includes:
[0085] First master cylinder 510;
[0086] The second main cylinder 520 has one end connected to the first main cylinder 510 and the other end connected to the robot arm 300. The maximum movement distance of the first main cylinder 510 is greater than the maximum movement distance of the pressure plate cylinder 410, and the maximum movement distance of the pressure plate cylinder 410 is greater than the maximum movement distance of the second main cylinder 520.
[0087] After the robot arm 300 grabs the workpiece 200 to be processed, the first main cylinder 510 and the second main cylinder 520 are used to drive the robot arm 300 to move towards the processing platform 100 until the robot arm 300 places the workpiece 200 to be processed on the processing platform 100.
[0088] Before the pressure plate nozzle 420 finishes blowing out the gas, the second main cylinder 520 is used to drive the robot arm 300 and one end of the pressure plate assembly 400 to move away from the processing platform 100.
[0089] After the pressure plate nozzle 420 has finished purging the gas, the first main cylinder 510 is used to drive the pressure plate assembly 400 to move away from the processing platform 100.
[0090] Among them, the main cylinder (main arm cylinder) connected to the robot arm 300 is the core pneumatic actuator of the robot arm 300. It drives the piston movement with compressed air to control the linear or swinging movements of the main arm of the robot arm 300, realizing automated operations such as workpiece gripping, handling, and positioning. The main cylinder in this application includes a first main cylinder and a second main cylinder. The maximum movement distance of the first main cylinder 510 is greater than that of the second main cylinder 520. Therefore, the first main cylinder 510 can be called a long cylinder, and the second main cylinder 520 can be called a short cylinder. In addition, this application also provides a pressure plate cylinder 410. Through the cooperation of the first main cylinder 510, the second main cylinder 520, and the pressure plate cylinder 410, the loading process of the workpiece 200 to be processed is completed.
[0091] Specifically, this application is provided with a main cylinder connected to the robot arm 300. By compressing air, the moving end in the main cylinder, such as the piston, moves towards the processing platform 100, thereby driving the robot arm 300 to move towards the processing platform 100, and then driving the robot arm 300 to place the gripped workpiece 200 on the processing platform 100.
[0092] The extension distance of the robotic arm 300 is directly determined by the maximum travel distance of the main cylinder. The maximum travel distance of the main cylinder refers to the linear distance that the moving end of the main cylinder travels within the main cylinder from its fully retracted initial position to its fully extended limit position; it is a core parameter for measuring the cylinder's range of motion. The maximum travel distance of the main cylinder needs to be set appropriately. When the maximum travel distance is insufficient, the robotic arm 300 cannot place the workpiece 200 onto the processing platform 100. When the maximum travel distance exceeds the limit, the piston in the main cylinder will collide with the cylinder barrel, causing damage to the cylinder barrel.
[0093] Furthermore, this application has more than one main cylinder, including a first main cylinder 510 and a second main cylinder 520. One end of the second main cylinder 520 is connected to the first main cylinder 510, and the other end of the second main cylinder 520 is connected to the robot arm 300. After the robot arm 300 grasps the workpiece 200 to be processed, the first main cylinder 510 drives the second main cylinder 520 to move towards the processing platform 100. The second main cylinder 520 itself also has a thrust to move towards the processing platform 100. Therefore, the actual movement distance of the second main cylinder 520 is the sum of the theoretical movement distance of the first main cylinder and the theoretical movement distance of the second main cylinder. At this time, the first main cylinder 510 and the second main cylinder 520 jointly drive the robot arm 300 to move towards the processing platform 100 until the robot arm 300 places the workpiece 200 to be processed on the processing platform 100.
[0094] At this time, since the maximum movement distance of the pressure plate cylinder 410 is greater than the maximum movement distance of the second main cylinder 520, the pressure plate cylinder 410 does not reach its own maximum movement distance regardless of whether the second main cylinder 520 reaches its maximum movement distance. The pressure plate cylinder 410 is in a state where there is downward air pressure but it cannot move downward because the processing platform 100 is below. Then, the pressure plate cylinder 410 fixes the workpiece 200 to be processed on the processing platform 100, and the pressure plate nozzle 420 blows gas to the workpiece 200 to be processed.
[0095] Before the pressure plate nozzle 420 finishes blowing out the gas, other structures besides the pressure plate assembly 400 can be moved away from the processing platform 100. At this time, the second main cylinder 520 moves away from the processing platform 100 to move the robot arm 300 away from the processing platform 100. Since the pressure plate cylinder 410 has not yet reached its maximum movement distance, that is, the pressure plate cylinder 410 has not fully extended, even though the robot arm 300 is connected to one end of the pressure plate assembly 400, the second main cylinder 520 cannot move the entire pressure plate assembly 400 away from the processing platform 100. Instead, it moves only the end of the pressure plate assembly 400 connected to the robot arm 300. Moving away from the processing platform 100, one end of the pressure plate cylinder 410 in the pressure plate assembly 400 still presses the workpiece 200 to be processed on the processing platform 100. The pressure plate nozzle 420 continues to blow gas on the surface of the workpiece 200. After the pressure plate nozzle 420 finishes blowing gas, since the maximum movement distance of the first main cylinder 510 is greater than the maximum movement distance of the pressure plate cylinder 410, the first main cylinder 510 can drive the entire pressure plate assembly 400 to move away from the processing platform 100. At this time, if the second main cylinder 520 has not yet fully retracted and is still moving away from the processing platform 100, then the second main cylinder 520 and the first main cylinder 510 together drive the entire pressure plate assembly 400 to move away from the processing platform 100. In practical applications, the time difference between the time it takes for the second main cylinder 520 to drive the robot arm 300 and one end of the pressure plate assembly 400 to move away from the processing platform 100, and the time it takes for the first main cylinder 510 to drive the entire pressure plate assembly 400 to move away from the processing platform 100, shall not exceed a preset time difference threshold, which is generally 2 to 3 seconds.
[0096] In the above embodiments, by setting the maximum movement distance of the pressure plate cylinder 410 to be greater than the maximum movement distance of the second main cylinder 520, when the robot arm 300 places the workpiece 200 to be processed on the processing platform 100, the pressure plate cylinder 410 has not completed its own stroke. As a result, when the second main cylinder 520 moves away from the processing platform 100, the other end of the pressure plate assembly 400 can continue to press the workpiece 200 to be processed, and the pressure plate nozzle 420 continues to blow gas onto the workpiece 200 to be processed. At this time, the structure other than the pressure plate assembly 400 can move away from the processing platform 100, and the pressure plate assembly 400 also has a tendency to move away from the processing platform 100. Furthermore, the maximum movement distance of the first main cylinder 510 is set to be greater than the maximum movement distance of the pressure plate cylinder 410, so that when the first main cylinder 510 moves away from the processing platform 100, the entire pressure plate assembly 400 can move away from the workpiece 200 to be processed.
[0097] In one exemplary embodiment, such as Figure 2 As shown, the first main cylinder 510 includes a first cylinder body and a first movable end, the second main cylinder 520 includes a second cylinder body and a second movable end, and the pressure plate cylinder 410 includes a third cylinder body and a third movable end.
[0098] One end of the first movable end is connected to the first cylinder body, the other end of the first movable end is connected to the second cylinder body, one end of the second movable end is connected to the second cylinder body, the other end of the second movable end is connected to the robot arm 300, the end of the robot arm 300 is connected to the third cylinder body, the third cylinder body is connected to one end of the third movable end, and the other end of the third movable end is connected to the pressure plate nozzle 420.
[0099] After the robot arm 300 grasps the workpiece 200 to be processed, the first movable end and the second movable end are used to move simultaneously toward the processing platform 100 to drive the robot arm 300 to move toward the processing platform 100 until the robot arm 300 places the workpiece 200 to be processed on the processing platform 100.
[0100] After the workpiece 200 to be processed is placed on the processing platform 100, the third movable end is used to fix the workpiece 200 to be processed on the processing platform 100.
[0101] Before the pressure plate air nozzle 420 finishes blowing out the gas, the second movable end is used to drive the robot arm 300 and one end of the third movable end to move away from the processing platform 100, and the other end of the third movable end continues to be used to fix the workpiece 200 to be processed on the processing platform 100.
[0102] After the pressure plate nozzle 420 has finished purging the gas, the first movable end is used to drive the pressure plate assembly 400 to move away from the processing platform 100.
[0103] In the main cylinder, the moving end (moving component) and the cylinder body (stationary component) are the core components of the actuator, and they differ significantly in function, structure, materials, and motion characteristics. The moving end is a movable output component within the cylinder (such as a piston rod, slider, or tension spring), which transmits power or torque through linear / oscillating motion. The cylinder body is a fixed, rigid shell that houses the medium (gas / liquid) or guide components, providing motion constraints for the moving end.
[0104] Specifically, the first main cylinder 510 includes a first cylinder body and a first movable end, the second main cylinder 520 includes a second cylinder body and a second movable end, and the pressure plate cylinder 410 in the pressure plate assembly 400 includes a third cylinder body and a third movable end. One end of the first movable end of the first main cylinder 510 is connected to the first cylinder body, and the other end of the first movable end is connected to the second cylinder body of the second main cylinder 520. When the first movable end of the first main cylinder 510 moves, it can drive the second cylinder body of the second main cylinder 520 to move as well, and thus the second movable end of the second main cylinder 520 also moves accordingly.
[0105] One end of the second movable end of the second main cylinder 520 is connected to the second cylinder body, and the other end of the second movable end is connected to the robot arm 300. When the second movable end moves, it can drive the robot arm 300 to move as well. Since the pressure plate cylinder 410 is set on the robot arm 300, it is equivalent to a second main cylinder 520 superimposed on the first main cylinder 510, and a pressure plate cylinder 410 superimposed on the second main cylinder 520. Therefore, when the second movable end moves, it can also drive the pressure plate cylinder 410 connected to the robot arm 300 to move accordingly.
[0106] It should be noted that the pressure plate cylinder 410 is installed on the robot arm 300. In fact, one end of the third cylinder body of the pressure plate cylinder 410 is connected to the end of the robot arm 300, and the other end of the third cylinder body is connected to one end of the third movable end of the pressure plate cylinder 410. The other end of the third movable end is connected to the pressure plate nozzle 420.
[0107] When the first main cylinder 510 and the second main cylinder 520 move toward the processing platform 100, it actually means that the first movable end and the second movable end move toward the processing platform 100. At this time, the robot arm 300 will also move toward the processing platform 100 until the robot arm 300 places the workpiece 200 to be processed onto the processing platform 100. Furthermore, the first movable end and the second movable end can move toward the processing platform 100 simultaneously, or they can move toward the processing platform 100 one after the other.
[0108] After the workpiece 200 to be processed is placed on the processing platform 100, the end of the third movable end connected to the pressure plate nozzle 420 is used to fix the workpiece 200 to be processed on the processing platform 100. At this time, the pressure plate nozzle 420 can blow gas toward the surface of the workpiece 200 to be processed.
[0109] Before the pressure plate nozzle 420 finishes blowing out the gas, the second movable end drives the robot arm 300 to move away from the processing platform 100, and the robot arm 300 drives one end of the third movable end to move away from the processing platform 100.
[0110] It should be explained that, since the pressure plate cylinder 410 has not yet reached its maximum movement distance and has not fully extended, when the second movable end drives the robot arm 300 to move away from the processing platform 100, even though the robot arm 300 is connected to one end of the pressure plate assembly 400, the second movable end cannot drive the entire pressure plate assembly 400 away from the processing platform 100. Instead, it drives the end of the pressure plate assembly 400 connected to the robot arm 300 to move away from the processing platform 100. At this time, the end of the pressure plate cylinder 410 used to fix the workpiece 200 to be processed on the processing platform 100 still presses down on the workpiece 200, and the pressure plate nozzle 420 continues to blow gas onto the workpiece 200.
[0111] After the pressure plate nozzle 420 has finished purging with gas, because the maximum movement distance of the first main cylinder 510 is greater than that of the pressure plate cylinder 410, the first movable end of the first main cylinder 510 can drive the entire pressure plate assembly 400 to move away from the processing platform 100. At this time, if the second movable end has not yet fully retracted and continues to move away from the processing platform 100, then the first movable end and the second movable end together drive the entire pressure plate assembly 400 to move away from the processing platform 100. At the same time, the processing platform 100 adsorbs the workpiece 200 to be processed.
[0112] In the above embodiments, by setting each main cylinder to include a cylinder body and a movable end, the second cylinder body of the second main cylinder 520 is connected to the first movable end of the first main cylinder 510, the second movable end of the second main cylinder 520 is connected to the robot arm 300, the end of the robot arm 300 is connected to the third cylinder body, and the other end of the third movable end is connected to the pressure plate nozzle 420, so that when the first movable end of the first main cylinder 510 moves, it drives the second main cylinder 520 to move as well. When the second movable end moves, it can drive the robot arm 300 to move as well. Thus, the robot arm 300 can efficiently place the workpiece 200 to be processed on the processing platform 100. Then, when other structures in the loading device 1000 need to leave the processing platform 100, the second movable end can drive the other structures except the pressure plate assembly 400 to leave in advance, and the first movable end can drive the entire pressure plate assembly 400 to leave.
[0113] In an exemplary embodiment, the maximum movement distance of the first movable end is greater than the maximum movement distance of the second movable end, and the maximum movement distance of the first movable end and the maximum movement distance of the second movable end are equal to the distance that the robot arm 300 places the workpiece 200 to be processed on the processing platform 100.
[0114] After the robot arm 300 grasps the workpiece 200 to be processed, the first movable end and the second movable end are used to move towards the processing platform 100 until the first movable end and the second movable end reach their respective preset maximum movement distance, and the robot arm 300 places the workpiece 200 to be processed on the processing platform 100.
[0115] Specifically, the maximum movement distance of the first main cylinder 510 is the same as the maximum movement distance of the first movable end, and the maximum movement distance of the second main cylinder 520 is also the same as the maximum movement distance of the first movable end. Since the maximum movement distance of the first main cylinder is greater than that of the second main cylinder, the maximum movement distance of the first movable end is greater than that of the second movable end. The maximum movement distance is actually the stroke of the movable end in the main cylinder. The maximum movement distance of the first movable end and the maximum movement distance of the second movable end are equal to the distance that the robot arm 300 places the workpiece 200 to be processed on the processing platform 100. With this design, the first and second movable ends move simultaneously toward the processing platform 100, and when both the first and second movable ends reach their respective preset maximum movement distances, the robot arm 300 can place the workpiece 200 to be processed on the processing platform 100.
[0116] For example, if the maximum movement distance of the first movable end is 150 and the maximum movement distance of the second movable end is 50, and the distance from when the robot arm 300 places the workpiece 200 to be processed on the processing platform 100 is 200, then the first movable end and the second movable end move towards the processing platform 100 at the same time until the first movable end reaches the corresponding maximum movement distance of 150 and the second movable end reaches the corresponding maximum movement distance of 50, then 150 + 50 = 200. At this time, the robot arm 300 places the workpiece 200 to be processed on the processing platform 100.
[0117] Furthermore, when the first movable end and the second movable end move toward the processing platform 100, they can move toward the processing platform 100 simultaneously; or the first movable end can move toward the processing platform 100 first, and then the second movable end can move toward the processing platform 100; or the second movable end can move toward the processing platform 100 first, and then the first movable end can move toward the processing platform 100. No limitation is made here.
[0118] In the above embodiments, by setting the maximum movement distance of the first movable end to be greater than the maximum movement distance of the second movable end, and the maximum movement distance of the first movable end and the maximum movement distance of the second movable end being equal to the distance at which the robot arm 300 places the workpiece 200 to be processed on the processing platform 100, the robot arm 300 can place the workpiece 200 to be processed on the processing platform 100 when the first movable end and the second movable end move toward the processing platform 100 and both reach their respective preset maximum movement distances.
[0119] In one exemplary embodiment, the cylinder size of the pressure plate cylinder 410 is smaller than the cylinder size of the first main cylinder 510 and the cylinder size of the second main cylinder 520.
[0120] Specifically, when the first main cylinder and the second main cylinder move toward the processing platform 100, and the robot arm 300 places the workpiece 200 to be processed on the processing platform 100, a pressure plate cylinder 410 is provided on the robot arm 300. At this time, the pressure plate cylinder 410 is under the air pressure that moves downward. However, the processing platform 100 is below the pressure plate cylinder 410, which causes the movable end of the pressure plate cylinder 410 to be unable to continue to extend.
[0121] At this point, since the cylinder size is directly proportional to the thrust, the larger the cylinder size, the greater the thrust. Therefore, if the cylinder size of the pressure plate cylinder 410 is larger than the cylinder size of the first main cylinder 510 and the cylinder size of the second main cylinder 520, theoretically the pressure plate cylinder 410 will push the first main cylinder 510 and the second main cylinder 520 away from the processing platform 100. Therefore, it is necessary to set a limiting condition, that is, to set the cylinder size of the pressure plate cylinder 410 to be smaller than the cylinder size of the first main cylinder 510 and the cylinder size of the second main cylinder 520, so that the pressure plate cylinder 410 continues to press the workpiece 200 to be processed, and cannot push the first main cylinder 510 and the second main cylinder 520 away from the processing platform 100.
[0122] In practical applications, the cylinder size can be specifically the cylinder diameter. When the cylinder is cylindrical, the cylinder diameter is the diameter of the cylinder; when the cylinder is elliptical, the cylinder diameter is the major or minor diameter of the cylinder. The specific size can be set according to the production work.
[0123] In the above embodiment, by setting the cylinder size of the pressure plate cylinder 410 to be smaller than the cylinder size of the first main cylinder 510 and the cylinder size of the second main cylinder 520, the pressure plate cylinder 410 continues to press down on the workpiece 200 to be processed, and cannot push the first main cylinder 510 and the second main cylinder 520 away from the processing platform 100.
[0124] In one exemplary embodiment, such as Figure 3 As shown, the device also includes:
[0125] The main cylinder moving unit 600 has a first cylinder body disposed thereon. The main cylinder moving unit 600 is used to move the first main cylinder 510 along a direction parallel to the processing platform 100 to move the position of the robot arm 300.
[0126] Specifically, by placing the first cylinder body on the main cylinder moving unit 600, the first main cylinder 510 can move on the main cylinder moving unit 600 in a direction parallel to the processing platform 100, thereby driving the movement of the second main cylinder 520 connected to the first main cylinder 510 and the robot arm 300, so as to change the position of the workpiece 200 placed on the processing platform 100. In practical applications, the main cylinder moving unit 600 is generally parallel to the processing platform 100.
[0127] In an exemplary embodiment, the present application further includes a support platform for supporting and fixing the main cylinder moving unit, which is generally located on the side of the main cylinder moving unit.
[0128] In the above embodiments, by setting the first cylinder body on the main cylinder moving unit 600 and setting a support platform, not only can the first main cylinder 510 be supported, but the first main cylinder 510 can also be moved on the main cylinder moving unit 600 in a direction parallel to the processing platform 100.
[0129] In one exemplary embodiment, such as Figure 4 The image shown is a multi-view of the pressure plate assembly 400. Figure 1 and Figure 4 Therefore, the pressure plate assembly 400 also includes:
[0130] The pressure plate is 430, and one end of the pressure plate cylinder 410 is located at the end of the robot arm 300, while the other end of the pressure plate cylinder 410 is located at the pressure plate 430.
[0131] Air nozzle holder 440 is set on pressure plate block 430. Air nozzle holder 440 is used to set pressure plate air nozzle 420 on pressure plate block 430.
[0132] After the workpiece 200 to be processed is placed on the processing platform 100 and the pressure plate cylinder 410 moves toward the processing platform, the pressure plate rubber block 430 is used to fix the workpiece 200 to be processed on the processing platform 100.
[0133] Specifically, from Figure 4 As can be seen from the image, the pressure plate assembly 400 includes not only the pressure plate cylinder 410 and the pressure plate nozzle 420, but also the pressure plate rubber block 430 and the nozzle holder 440.
[0134] The surface area of the pressure plate block 430 is larger than the bottom area of the third movable end of the pressure plate cylinder 410. One end of the pressure plate cylinder 410 is located at the end of the robot arm 300, and the other end of the pressure plate cylinder 410 is located at the pressure plate block 430, which presses down on the workpiece 200 to be processed. That is to say, after the workpiece 200 to be processed is placed on the processing platform 100, the pressure plate cylinder 410 fixes the workpiece 200 to be processed on the processing platform 100. In fact, the pressure plate cylinder 410 moves in the direction of the processing platform 100 so that the pressure plate block 430 fixes the workpiece 200 to be processed on the processing platform 100.
[0135] A nozzle holder 440 is mounted on the pressure plate block 430. A pressure plate nozzle 420 is mounted on the pressure plate block 430 via the nozzle holder 440. Specifically, the pressure plate nozzle 420 is connected to the pressure plate cylinder 410 via the pressure plate block. The nozzle holder 440 is used to fix the pressure plate nozzle 420 to the side of the pressure plate block 430, so that after the pressure plate block 430 presses down on the workpiece 200, the nozzles on the side of the pressure plate block 430 can blow purging gas onto the workpiece 200. Furthermore, there is more than one nozzle; when there are two nozzles, one nozzle is fixed to each side of the pressure plate block 430.
[0136] In the above embodiments, by setting the pressure plate rubber block 430, the effect is better and the fixing ability is stronger than directly pressing the workpiece 200 to be processed by the third movable end. By setting the air nozzle bracket 440 on the pressure plate rubber block 430 to fix the pressure plate air nozzle 420, after the pressure plate rubber block 430 presses the workpiece 200 to be processed, the air nozzle on the side of the pressure plate rubber block 430 can blow purging gas onto the workpiece 200 to be processed.
[0137] In one exemplary embodiment, the pressure plate assembly 400 further includes:
[0138] At least one solenoid valve, each solenoid valve including a solenoid valve outlet;
[0139] After the robot arm 300 grabs the workpiece 200 to be processed and places it on the processing platform 100, the solenoid valve outlet is used to supply air to the pressure plate nozzle 420 and the pressure plate cylinder 410, so that the pressure plate cylinder 410 moves toward the processing platform 100 and the pressure plate nozzle 420 blows gas toward the surface of the workpiece 200 to be processed.
[0140] After the time for the pressure plate nozzle 420 to purge gas reaches the preset time, the solenoid valve outlet is used to stop supplying gas to the pressure plate nozzle 420 and the pressure plate cylinder 410, causing the pressure plate cylinder 410 to move away from the processing platform 100, and the pressure plate nozzle 420 to stop purge gas toward the surface of the workpiece 200 to be processed.
[0141] Specifically, the pressure plate assembly 400 also includes at least one solenoid valve, each solenoid valve including a solenoid valve outlet.
[0142] After the robotic arm 300 grasps the workpiece 200 and places it on the processing platform 100, the solenoid valve supplies air to the pressure plate nozzle 420 and the pressure plate cylinder 410 through its air outlet. In practical applications, since the solenoid valve supplies air to both the pressure plate nozzle 420 and the pressure plate cylinder 410, a maximum of two solenoid valves are required.
[0143] When the solenoid valve outlet of the same solenoid valve simultaneously supplies air to the pressure plate nozzle 420 and the pressure plate cylinder 410, the pressure plate nozzle 420 blows air toward the surface of the workpiece 200 to be processed; the pressure plate cylinder 410 is a single-acting cylinder, that is, it pops out when air is supplied and automatically retracts when air is not supplied. The pressure plate cylinder 410 moves toward the processing platform 100, so that the pressure plate rubber block 430 fixes the workpiece 200 to be processed on the processing platform 100.
[0144] When the air outlets of the two solenoid valves supply air to the pressure plate nozzle 420 and the pressure plate cylinder 410 respectively, one solenoid valve outlet supplies air to the pressure plate nozzle 420, causing the pressure plate nozzle 420 to blow air towards the surface of the workpiece 200; the other solenoid valve outlet supplies air to the pressure plate cylinder 410, causing the pressure plate cylinder 410 to move towards the processing platform 100, and the pressure plate block 430 fixes the workpiece 200 to the processing platform 100. Furthermore, when the two solenoid valves supply air to the pressure plate nozzle 420 and the pressure plate cylinder 410 respectively, the start time of the air supply may not be the same and can be set according to actual needs.
[0145] After the pressure plate nozzle 420 has been blowing gas for a preset time, the solenoid valve outlet stops supplying gas to the pressure plate nozzle 420 and the pressure plate cylinder 410, causing the pressure plate cylinder 410 to move away from the processing platform 100. That is, the pressure plate cylinder 410 retracts its cylinder body, driving the pressure plate assembly 400 away from the processing platform 100, and also causing the pressure plate nozzle 420 to stop blowing gas toward the surface of the workpiece 200 to be processed. At this time, the processing platform 100 adsorbs the workpiece 200 to be processed.
[0146] In the above embodiments, by providing at least one solenoid valve, air can be supplied to the pressure plate nozzle 420 and the pressure plate cylinder 410, thereby reliably fixing the workpiece 200 to be processed on the processing platform 100, and providing purging gas to the workpiece 200 to be processed.
[0147] In one exemplary embodiment, the apparatus further includes:
[0148] The first adsorption unit is located on the robotic arm 300;
[0149] The first adsorption unit is used to adsorb the workpiece 200 to be processed onto the robot arm 300;
[0150] After the robot arm 300 moves toward the processing platform 100, when the distance between the workpiece 200 to be processed and the processing platform 100 is less than a preset distance threshold, the first adsorption unit stops adsorbing the workpiece 200 to be processed, so as to place the workpiece 200 to be processed on the processing platform 100.
[0151] Specifically, the first adsorption unit is disposed on the robot arm 300. The robot arm 300 adsorbs the workpiece 200 to be processed through the first adsorption unit, and the workpiece 200 to be processed moves towards the processing platform 100 by the descent of the robot arm 300. During this process, the workpiece 200 to be processed and the robot arm 300 are connected through the first adsorption unit. Therefore, when the distance between the workpiece 200 to be processed and the processing platform 100 is less than a preset distance threshold, in order to separate the robot arm 300 and the workpiece 200 to be processed, the first adsorption unit needs to be in a vacuum state so that the first adsorption unit stops adsorbing the workpiece 200 to be processed. At this time, the robot arm 300 separates from the workpiece 200 to be processed, and the workpiece 200 to be processed is placed stably on the processing platform 100.
[0152] In the above embodiments, the first adsorption unit of the robot arm 300 is used to adsorb the workpiece 200 to be processed onto the processing platform 100.
[0153] In one exemplary embodiment, the apparatus further includes:
[0154] The second adsorption unit is located on the processing platform 100;
[0155] After the gas is purged by the pressure plate nozzle 420, the second adsorption unit is used to adsorb the workpiece 200 to be processed on the processing platform 100.
[0156] Specifically, the second adsorption unit is set on the processing platform 100. The second adsorption unit can be multiple adsorption ports on the processing platform 100. After the pressure plate nozzle 420 blows the gas, it is assumed that the surface wrinkles of the workpiece 200 to be processed have been flattened by the pressure plate nozzle 420. At this time, the processing platform 100 uses the second adsorption unit to adsorb the workpiece 200 to be processed, so as to fix the workpiece 200 to be processed after wrinkle removal treatment and perform subsequent laser processing operations.
[0157] In the above embodiments, by setting a second adsorption unit, the processing platform 100 can use the second adsorption unit to adsorb the workpiece 200 to be processed, so that even without the pressure plate cylinder 410 pressing down on the workpiece 200 to be processed, the workpiece 200 after de-wrinkling can be firmly fixed and subsequent laser processing operations can be performed.
[0158] In one exemplary embodiment, such as Figure 5 As shown, it also includes a laser processing system 2000, which includes the feeding device 1000 and the laser processing equipment 3000 in the above embodiments, and the laser processing equipment 3000 and the feeding device 1000 are communicatively connected.
[0159] After the processing platform 100 in the feeding device 100 picks up the workpiece 200 to be processed, the laser processing equipment 3000 is used to perform laser processing on the workpiece 200.
[0160] Specifically, the specific structure of the loading device 1000 is as described in the above embodiment, and will not be repeated here. After the loading device 1000 smooths out the wrinkles on the surface of the workpiece 200 by the pressure plate assembly 400 on the robot arm 300, the processing platform 100 in the loading device 1000 adsorbs the workpiece 200. At this time, the laser processing equipment performs laser processing on the workpiece 200.
[0161] In the above-described laser processing system, through the loading device 1000 and the laser processing equipment in the above embodiment, after the processing platform 100 in the loading device 100 adsorbs the workpiece 200 to be processed, the wrinkles of the workpiece 200 adsorbed by the processing platform 100 are reduced. Therefore, the probability of interference from wrinkles during the laser processing of the workpiece 200 is also reduced, and the accuracy of the laser processing equipment in laser processing the workpiece 200 will be greatly improved.
[0162] In a detailed application embodiment, this application provides a laser processing system. Taking the workpiece 200 to be processed as a PCB board as an example, the laser processing system includes a feeding device 1000 and a laser processing equipment.
[0163] Among them, such as Figure 6 The image shows a dual-workpiece loading device 1000, comprising:
[0164] The processing platform 100 is used to place the workpiece 200 to be processed;
[0165] The robotic arm 300 is used to place the corresponding workpiece 200 to be processed into the processing platform 100.
[0166] The first master cylinder 510 (also known as the long master cylinder) includes a first cylinder body and a first movable end;
[0167] The second master cylinder 520 (also known as the short master cylinder) includes a second cylinder body and a second movable end. One end of the first movable end is connected to the first cylinder body, and the other end of the first movable end is connected to the second cylinder body. One end of the second movable end is connected to the second cylinder body, and the other end of the second movable end is connected to the robot arm 300.
[0168] Pressure plate assembly 400, such as Figure 7As shown, the device includes a pressure plate cylinder 410, a pressure plate nozzle 420, a pressure plate block 430, a nozzle holder, and at least one solenoid valve. The pressure plate cylinder 410 includes a third cylinder body and a third movable end. One end of the third cylinder body is located at the end of the robot arm 300, one end of the third movable end is connected to the other end of the third cylinder body, and the other end of the third movable end is located on the pressure plate block 430. A nozzle holder 440 is located on the pressure plate block 430. There is at least one pressure plate nozzle 420, which is located on the side of the pressure plate block 430 via the nozzle holder. The solenoid valve includes an electromagnetic valve. The valve outlet and the solenoid valve outlet are used to supply air to the pressure plate nozzle 420 and the pressure plate cylinder 410; the maximum movement distance of the first movable end is greater than the maximum movement distance of the third movable end, the maximum movement distance of the third movable end is greater than the maximum movement distance of the second movable end, and the maximum movement distance of the first movable end and the maximum movement distance of the second movable end are equal to the distance at which the robot arm 300 places the workpiece 200 to be processed on the processing platform 100; the cylinder size of the pressure plate cylinder 410 is smaller than the cylinder size of the first main cylinder 510 and the cylinder size of the second main cylinder 520.
[0169] The main cylinder moving unit 600 has a first cylinder body disposed in the main cylinder moving unit 600. The main cylinder moving unit 600 is used to move the first main cylinder 510 in a direction parallel to the processing platform 100.
[0170] The first adsorption unit (not shown in the figure) is set on the robot arm 300, and the robot arm 300 adsorbs the workpiece 200 to be processed through the first adsorption unit.
[0171] The second adsorption unit is disposed on the processing platform 100 and is used to adsorb the workpiece 200 to be processed on the processing platform 100.
[0172] like Figures 8-12 The image shows multiple views of the feeding device 1000 during each step of the feeding process. The feeding process based on the feeding device 1000 includes:
[0173] S1, such as Figure 8 As shown, the robotic arm 300 grasps the workpiece 200 to be processed and places it above the processing platform 100 through the first adsorption unit.
[0174] S2, such as Figure 9 As shown, the first movable end of the first main cylinder 510 and the second movable end of the second main cylinder 520 descend simultaneously to drive the robot arm 300 to descend until the first movable end and the second movable end both reach their respective preset maximum movement distance. The first adsorption unit is in a vacuum-relieved state, and the robot arm 300 places the workpiece 200 to be processed on the processing platform 100.
[0175] S3, such as Figure 10As shown, the solenoid valve supplies air to the pressure plate cylinder 410, causing the third movable end of the pressure plate cylinder 410 to descend and extend out of the third cylinder body, generating a downward thrust on the pressure plate block 430, thereby fixing the workpiece 200 to be processed onto the processing platform 100. Furthermore, the solenoid valve can also supply air to the pressure plate nozzle 420 on the side of the pressure plate block 430, allowing the nozzle 420 to blow air away wrinkles on the surface of the workpiece 200 to smooth them out.
[0176] S4, such as Figure 11 As shown, after the pressure plate nozzle 420 blows gas onto the surface of the workpiece 200 for a preset first duration, the second movable end of the second main cylinder 520 rises. At this time, since the maximum movement distance of the third movable end of the pressure plate cylinder 410 is greater than the maximum movement distance of the second movable end, the third movable end of the pressure plate cylinder 410 has not yet fully extended. Therefore, the second movable end of the second main cylinder 520 drives one end of the third movable end of the pressure plate cylinder 410 to rise, and the other end of the third movable end continues to fix the workpiece 200 to be processed on the processing platform 100 through the pressure plate rubber block 430. The pressure plate nozzle 420 continues to blow gas onto the workpiece 200.
[0177] S5, such as Figure 12 As shown, after the time for the pressure plate nozzle 420 to purge the workpiece 200 to be processed reaches the preset second time, the first movable end of the first main cylinder 510 rises, causing the entire pressure plate assembly 400 to rise and leave the processing platform 100. The preset second time is longer than the preset first time. In practical applications, the preset first time and preset second time are set according to actual needs; for example, the preset second time can be set to 2-5 seconds after the preset first time. At this time, the processing platform 100 uses the second adsorption unit 620 to adsorb the workpiece 200 to be processed, entering the laser processing flow of the laser processing equipment.
[0178] In the description of this specification, references to terms such as "some embodiments," "other embodiments," etc., indicate that a specific feature, structure, material, or characteristic described in connection with that embodiment or example is included in at least one embodiment or example of this application. In this specification, the illustrative descriptions of the above terms do not necessarily refer to the same embodiments or examples.
[0179] The technical features of the above embodiments can be combined in any way. For the sake of brevity, not all possible combinations of the technical features in the above embodiments are described. However, as long as there is no contradiction in the combination of these technical features, they should be considered to be within the scope of this specification.
[0180] The above embodiments are merely illustrative of several implementation methods of this application, and their descriptions are relatively specific and detailed, but they should not be construed as limiting the scope of this application. It should be noted that those skilled in the art can make various modifications and improvements without departing from the concept of this application, and these all fall within the protection scope of this application. Therefore, the protection scope of this application should be determined by the appended claims.
Claims
1. A feeding device, characterized in that, The device includes: A processing platform is used to place the workpiece to be processed. A robotic arm is used to grasp the workpiece to be processed; A pressure plate assembly is disposed at the end of the robotic arm, and the pressure plate assembly includes a pressure plate cylinder and a pressure plate nozzle; After the robotic arm picks up the workpiece to be processed and places it on the processing platform, the pressure plate cylinder is used to fix the workpiece to be processed on the processing platform, and the pressure plate nozzle is used to blow gas toward the surface of the workpiece to be processed. After the pressure plate nozzle has purged the gas, the pressure plate assembly moves away from the processing platform, which is also used to adsorb the workpiece to be processed.
2. The feeding device according to claim 1, characterized in that, The device further includes: First master cylinder; The second main cylinder has one end connected to the first main cylinder and the other end connected to the robotic arm. The maximum movement distance of the first main cylinder is greater than the maximum movement distance of the pressure plate cylinder, and the maximum movement distance of the pressure plate cylinder is greater than the maximum movement distance of the second main cylinder. After the robotic arm grasps the workpiece to be processed, the first main cylinder and the second main cylinder are used to drive the robotic arm to move toward the processing platform until the robotic arm places the workpiece to be processed on the processing platform. Before the gas is blown out of the pressure plate nozzle, the second main cylinder is used to drive the manipulator and one end of the pressure plate assembly to move away from the processing platform. After the pressure plate nozzle has finished blowing out the gas, the first main cylinder is used to drive the pressure plate assembly to move away from the processing platform.
3. The feeding device according to claim 2, characterized in that, The first main cylinder includes a first cylinder body and a first movable end; the second main cylinder includes a second cylinder body and a second movable end; and the pressure plate cylinder includes a third cylinder body and a third movable end. One end of the first movable end is connected to the first cylinder body, the other end of the first movable end is connected to the second cylinder body, one end of the second movable end is connected to the second cylinder body, the other end of the second movable end is connected to the robotic arm, the end of the robotic arm is connected to the third cylinder body, the third cylinder body is connected to one end of the third movable end, and the other end of the third movable end is connected to the pressure plate nozzle. After the robotic arm grasps the workpiece to be processed, the first movable end and the second movable end are used to move simultaneously toward the processing platform to drive the robotic arm to move toward the processing platform until the robotic arm places the workpiece to be processed on the processing platform. After the workpiece to be processed is placed on the processing platform, the third movable end is used to fix the workpiece to be processed on the processing platform; Before the pressure plate nozzle finishes blowing out the gas, the second movable end is used to drive the robot arm and one end of the third movable end to move away from the processing platform, while the other end of the third movable end continues to be used to fix the workpiece to be processed on the processing platform. After the pressure plate nozzle has finished blowing out the gas, the first movable end is used to drive the pressure plate assembly to move away from the processing platform.
4. The feeding device according to claim 3, characterized in that, The maximum movement distance of the first movable end and the maximum movement distance of the second movable end are equal to the distance that the robot arm places the workpiece to be processed on the processing platform; After the robotic arm grasps the workpiece to be processed, the first movable end and the second movable end move toward the processing platform until both the first movable end and the second movable end reach their respective preset maximum movement distances, and the robotic arm places the workpiece to be processed on the processing platform.
5. The feeding device according to claim 3, characterized in that, The device further includes: A main cylinder moving unit is provided, wherein the first cylinder body is disposed in the main cylinder moving unit, and the main cylinder moving unit is used to move the first main cylinder along a direction parallel to the processing platform to move the position of the robot arm.
6. The feeding device according to claim 1, characterized in that, The pressure plate assembly also includes: A pressure plate rubber block, one end of the pressure plate cylinder is disposed at the end of the robot arm, and the other end of the pressure plate cylinder is disposed at the pressure plate rubber block; An air nozzle holder is disposed on the pressure plate block, and the air nozzle holder is used to mount the pressure plate air nozzle on the pressure plate block; After the workpiece to be processed is placed on the processing platform and the pressure plate cylinder moves toward the processing platform, the pressure plate rubber block is used to fix the workpiece to be processed on the processing platform.
7. The feeding device according to claim 1, characterized in that, The pressure plate assembly also includes: At least one solenoid valve, each of the solenoid valves including a solenoid valve outlet; After the robotic arm grasps the workpiece to be processed and places it on the processing platform, the air outlet of the solenoid valve is used to supply air to the pressure plate nozzle and the pressure plate cylinder, so that the pressure plate cylinder moves toward the processing platform and the pressure plate nozzle blows gas toward the surface of the workpiece to be processed. After the time for blowing gas through the pressure plate nozzle reaches a preset time, the outlet of the solenoid valve is used to stop supplying gas to the pressure plate nozzle and the pressure plate cylinder, so that the pressure plate cylinder moves away from the processing platform and the pressure plate nozzle stops blowing gas toward the surface of the workpiece to be processed.
8. The feeding device according to claim 1, characterized in that, The device further includes: The first adsorption unit is disposed on the robotic arm; The first adsorption unit is used to adsorb the workpiece to be processed onto the robotic arm; After the robotic arm moves toward the processing platform, when the distance between the workpiece to be processed and the processing platform is less than a preset distance threshold, the first adsorption unit stops adsorbing the workpiece to be processed, so as to place the workpiece to be processed on the processing platform.
9. The feeding device according to claim 1, characterized in that, The device further includes: The second adsorption unit is disposed on the processing platform; After the gas is purged by the pressure plate nozzle, the second adsorption unit is used to adsorb the workpiece to be processed on the processing platform.
10. A laser processing system, characterized in that, The system includes the feeding device and laser processing equipment as described in claims 1-9, wherein the laser processing equipment is communicatively connected to the feeding device; After the processing platform in the feeding device adsorbs the workpiece to be processed, the laser processing equipment is used to perform laser processing on the workpiece.