Blanking manipulator, blanking device, blanking and feeding system and PCB processing equipment

Abstract

A material unloading robot, a material unloading device, a material loading and unloading system, and a PCB processing equipment are disclosed. The material unloading robot includes a lifting component and a pushing component, which are connected to the lifting component. The pushing component includes a first pushing end and a second pushing end spaced apart in a first direction. The first pushing end protrudes below the second pushing end in a second direction. The first and second directions intersect. The lifting component drives the pushing component to move up and down in the second direction so that the first or second pushing end is opposite to the workpiece in the first direction. The material unloading robot can move in the first direction to push the workpiece through the second pushing end and / or the first pushing end. This allows the material unloading robot to push the workpiece through the first and / or the second pushing end to transfer the workpiece to a transport device, such as an AGV (Automated Guided Vehicle), avoiding the need for a material handling robot in the AGV, which would result in a complex and compact structure.

Description

Technical Field

[0001] This utility model relates to the field of mechanical processing equipment technology, specifically to a material unloading robot, a material unloading device, a material loading and unloading system, and PCB processing equipment. Background Technology

[0002] With the rapid development of the consumer electronics and automotive industries, the PCB industry has also grown rapidly, with increasing demand. After the PCB processing stage is completed, the PCBs need to be transported to transport devices such as AGVs (Automated Guided Vehicles). In the current technology, the PCBs are usually unloaded by the AGV's unloading mechanism, which makes the AGV's structure complex and inconvenient to maintain. Utility Model Content

[0003] The purpose of this invention is to provide a material unloading robot, a material unloading device, a material loading and unloading system, and PCB processing equipment to solve the problems of AGV's compact and complex structure and inconvenient maintenance.

[0004] To achieve the objectives of this utility model, the following technical solution is provided: In a first aspect, this utility model provides a material unloading robot, which includes: a lifting assembly; and a pushing assembly connected to the lifting assembly. The pushing assembly includes a first pushing end and a second pushing end spaced apart in a first direction. The first pushing end protrudes below the second pushing end in a second direction, and the first direction and the second direction intersect. The lifting assembly is used to drive the pushing assembly to move up and down in the second direction, so that the first pushing end or the second pushing end is opposite to the workpiece in the first direction. The material unloading robot can move in the first direction to push the workpiece to move through the second pushing end and / or the first pushing end.

[0005] In one embodiment, the pushing assembly includes a first pushing member, a mounting member, and a second pushing member connected in sequence. The first pushing end is disposed on the first pushing member, the second pushing end is disposed on the second pushing member, and the mounting member is connected to the lifting assembly.

[0006] In one embodiment, the pushing assembly further includes a rotating assembly, one end of which is connected to the second pushing member and the other end of which is connected to the mounting member. The second pushing member is capable of rotating relative to the mounting member about a third direction, which intersects both the first direction and the second direction.

[0007] In one embodiment, the rotating assembly includes a hinge, one end of which is connected to the second pusher and the other end of which is connected to the mounting member.

[0008] In one embodiment, the pusher assembly further includes a buffer member, the second pusher member and / or the mounting member having the buffer member connected to their lower surfaces in the second direction, the buffer member being able to contact the workpiece, and the first pusher end protruding from the lower surface of the buffer member in the second direction.

[0009] In one embodiment, the lifting assembly includes a lifting drive component connected to the mounting component. The lifting drive component is used to drive the mounting component to move up and down in the second direction, thereby driving the pushing assembly to move up and down in the second direction.

[0010] In one embodiment, the mounting member has a mounting cavity and a through hole sequentially arranged in the second direction. The mounting cavity communicates with the through hole, and the inner wall surface of the through hole protrudes from the inner wall surface of the mounting cavity to form a step at the connection between the mounting cavity and the through hole. The lifting assembly further includes an elastic member and a limiting member, both of which are housed within the mounting cavity. The elastic member is located between the limiting member and the bottom wall surface of the mounting cavity, and one end of the limiting member facing away from the elastic member is connected to the lifting drive member. The lifting drive member is used to drive the limiting member to move up and down in the second direction. The limiting member can abut against the step to move the mounting member, or the limiting member can abut against the elastic member to compress the elastic member.

[0011] In one embodiment, the lifting assembly further includes a first guide member and a second guide member, the first guide member and the second guide member being slidably connected, the first guide member being connected to the lifting drive member, and the second guide member being connected to the mounting member.

[0012] In one embodiment, the first pusher includes a first arm, a second arm, and a third arm connected in sequence. The first arm is connected to the mounting member, the third arm is located at the lower end of the second arm in the second direction, and the first pusher end is disposed on the third arm.

[0013] Secondly, this utility model also provides a feeding device, including a mounting frame, a support mechanism, a feeding translation component, and a feeding robot as described in any one of the embodiments of the first aspect. The support mechanism and the feeding translation component are both disposed on the mounting frame. The support mechanism includes a first end and a second end opposite to each other in the first direction. The support mechanism is used to support the workpiece. The feeding translation component is connected to the lifting component. The feeding translation component is used to drive the feeding robot to move along the first direction to push the workpiece from the first end to the second end and to remove the workpiece from the support mechanism.

[0014] In one embodiment, the feeding device further includes a sensor connected to the feeding translation component and / or the support mechanism, the sensor being used to detect the position of the workpiece on the support mechanism.

[0015] In one embodiment, the support mechanism has multiple unloading positions arranged sequentially in a third direction. Each unloading position is used to receive the workpiece, and each unloading position is equipped with at least one unloading robot. The third direction intersects both the first direction and the second direction.

[0016] Thirdly, this utility model also provides a loading and unloading system, including a loading device, a lifting device, a conveying device, and a unloading device as described in any of the embodiments of the second aspect. The unloading device and the loading device are both connected to the lifting device. The lifting device is used to drive the unloading device and the loading device to move up and down along the second direction, so that the unloading device and the loading device can respectively dock with the conveying device.

[0017] Fourthly, this utility model also provides a PCB processing equipment, including a machine tool and a processing table, wherein the processing table is movably connected to the machine tool; the PCB processing equipment further includes a feeding device as described in any one of the embodiments of the second aspect, wherein the feeding device is disposed on the machine tool; or, the PCB processing equipment further includes a loading and unloading system as described in any one of the embodiments of the third aspect, wherein the lifting device is connected to the machine tool and is capable of driving the feeding device and the loading device to move up and down relative to the machine tool.

[0018] By setting up a material unloading robot, which includes a lifting component and a pushing component, the pushing component is connected to the lifting component. The pushing component includes a first pushing end and a second pushing end spaced apart in a first direction. The first pushing end protrudes below the second pushing end in a second direction. The first and second directions intersect. The lifting component is used to drive the pushing component to move up and down in the second direction so that the first or second pushing end is opposite to the workpiece in the first direction. The material unloading robot can move in the first direction to push the workpiece through the second pushing end and / or the first pushing end. This allows the material unloading robot to push the workpiece through the first pushing end and / or the second pushing end to transfer the workpiece to a transport device, such as an AGV, avoiding the need for a material handling robot in the AGV, which would result in a complex structure. Attached Figure Description

[0019] To more clearly illustrate the technical solutions in the embodiments of this utility model or the prior art, the drawings used in the description of the embodiments or the prior art will be briefly introduced below. Obviously, the drawings described below are only some embodiments of this utility model. For those skilled in the art, other drawings can be obtained based on these drawings without creative effort.

[0020] Figure 1 This is a structural diagram of a PCB processing equipment according to one embodiment; Figure 2 This is a structural diagram of a loading and unloading system according to one embodiment; Figure 3 This is a structural diagram of a feeding device according to one embodiment; Figure 4 This is a structural diagram of the feeding device according to another embodiment; Figure 5 This is a structural diagram of a material unloading robot according to one embodiment; Figure 6 This is a cross-sectional view of a material unloading robot according to one embodiment.

[0021] Explanation of reference numerals in the attached figures: 10000-PCB processing equipment; 1000-Loading and unloading system; 100 - Feeding device; 10-Unloading robot, 11-Lifting assembly, 111-Lifting drive, 112-Output shaft, 113-Elastic component, 114-Limiting component, 115-First guide component, 116-Second guide component, 12-Pushing assembly, 121-First pushing end, 122-Second pushing end, 123-First pushing component, 1231-First arm, 1232-Second arm, 1233-Third arm, 124-Mounting component, 1241-Mounting cavity, 1242-Through hole, 1243-Step, 125-Second pushing component, 126-Rotating assembly, 1261-Hinge, 127-Buffer component, 128-Connecting component; 20-Discharge translation component, 21-Discharge translation mechanism, 22-Discharge guide mechanism, 23-Discharge connection mechanism; 30 - Mounting bracket; 40-Support mechanism, 41-First end, 42-Second end, 43-Support component, 44-Unloading position; 50 - Transfer assembly; 60-Sensor; 200 - Feeding device; 300 - Lifting device; 2000 - Machine tool, 3000 - Machining table translation device, 20000 - Workpiece; X - Third direction, Y - First direction, Z - Second direction. Detailed Implementation

[0022] The technical solutions of the present invention will be clearly and completely described below with reference to the accompanying drawings of the embodiments. Obviously, the described embodiments are only a part of the embodiments of the present invention, and not all of them. Based on the embodiments of the present invention, all other embodiments obtained by those skilled in the art without creative effort are within the scope of protection of the present invention.

[0023] It should be noted that when a component is said to be "fixed" to another component, it can be directly on the other component or it can be in a middle component. When a component is said to be "connected" to another component, it can be directly connected to the other component or it may be in a middle component.

[0024] Unless otherwise defined, all technical and scientific terms used in this invention have the same meaning as commonly understood by one of ordinary skill in the art to which this invention pertains. The terminology used in this specification is for the purpose of describing particular embodiments only and is not intended to be limiting of the invention. The term "and / or" as used in this invention includes any and all combinations of one or more of the associated listed items.

[0025] The following detailed description, in conjunction with the accompanying drawings, outlines some embodiments of the present invention. Unless otherwise specified, the following embodiments and features can be combined with each other.

[0026] Please refer to Figure 1 and Figure 2 This utility model provides a PCB processing equipment 10000, including a machine tool 2000 and a processing table, the processing table being movably connected to the machine tool 2000. The PCB processing equipment 10000 also includes a feeding device 100 as described in this utility model embodiment, the feeding device 100 being disposed on the machine tool 2000. Alternatively, the PCB processing equipment 10000 also includes a loading and unloading system 1000 as described in this utility model embodiment, a lifting device 300 being connected to the machine tool 2000 and capable of driving the feeding device 100 and the loading device 200 to move up and down relative to the machine tool 2000, so that the feeding device 100 and the loading device 200 can exchange workpieces 20000 with the processing table.

[0027] The PCB processing equipment 10000 is used to perform CNC machining on the workpiece 20000. Specifically, after the workpiece 20000, located on the processing table, moves to the working position of the machine tool 2000, the machine tool 2000 performs milling operations on the workpiece 20000, such as contour milling, slot milling, and hole milling. Optionally, the workpiece 20000 includes at least one of the following: circuit board, cardboard, plastic board, etc. For example, the workpiece 20000 is a PCB board.

[0028] For a detailed implementation, please refer to Figure 1 and Figure 2 The loading and unloading system 1000 includes a loading device 200, a lifting device 300, and a unloading device 100 in this embodiment of the present invention. Both the unloading device 100 and the loading device 200 are connected to the lifting device 300. The lifting device 300 is used to drive the unloading device 100 and the loading device 200 to move up and down along the second direction Z.

[0029] For a detailed implementation, please refer to Figure 1 and Figure 2 The lifting device 300 is connected to the mounting frame 30 of the unloading device 100. The loading device 200 and the unloading device 100 are respectively disposed on both sides of the mounting frame 30 in the second direction Z. The lifting device 300 is used to drive the unloading device 100 and the loading device 200 to move synchronously in the second direction Z through the mounting frame 30, so that the mounting frame 30 has a standby position, a loading position, and an unloading position. When the mounting frame 30 is in the standby position, the loading device 200 is used to receive the workpiece 20000 to be processed transported by an external material handling device (such as an AGV). When the mounting frame 30 is in the loading position, the loading device 200 corresponds to the processing table in the second direction Z to facilitate loading operations. When the mounting frame 30 is in the unloading position, the unloading device 100 corresponds to the processing table in the second direction Z so as to transfer the processed workpiece 20000 from the processing table to the unloading device 100. Then the unloading device 100 docks with an external material handling device (such as an AGV) to transport the processed workpiece 20000 to the material handling device (such as an AGV).

[0030] For a detailed implementation, please refer to Figure 1 and Figure 2 The PCB processing equipment 10000 also includes a processing table translation device 3000. The processing table translation device 3000 is mounted on the machine tool 2000 and connected to the processing table. The processing table translation device 3000 is used to drive the processing table to make translational movements along the first direction Y, moving closer to or away from the loading and unloading system 1000, so that the loading and unloading system 1000 can perform loading or unloading operations on the processing table.

[0031] For a detailed implementation, please refer to Figure 1 and Figure 2 The processing table includes a table surface, a fixing component, and multiple liftable casters. The table surface is connected to the processing table translation device 3000. The fixing component and the multiple liftable casters are all located on the surface of the table facing the workpiece 20000 and are evenly distributed on the table surface. The liftable casters extend out of the surface of the table and support the workpiece 20000 to prevent wear and displacement of the workpiece 20000 when it translates relative to the table surface. When the workpiece 20000 is in an accurate position on the table surface, it extends into the surface of the table surface to connect the workpiece 20000 with the fixing component. The fixing component secures the workpiece 20000 when the multiple liftable casters descend below the table surface. Optionally, the processing table may also be equipped with multiple liftable ball bearings, liftable omnidirectional wheels, or other structures to support the workpiece 20000.

[0032] For a detailed implementation, please refer to Figure 1 and Figure 2 The processing table and the loading / unloading system 1000 are sequentially arranged in the first direction Y, which corresponds to the front-rear direction of the PCB processing equipment 10000. The processing table is configured to be positioned in front of the loading / unloading system 1000 in the first direction Y. The processing table translation device 3000 can drive the processing table to translate along the first direction Y, moving it closer to or further away from the loading / unloading system 1000. When the processing table moves towards the loading / unloading system 1000, it is used to receive workpieces 20000 released by the loading / unloading system 1000, or to release processed workpieces 20000 to the loading / unloading system 1000. Optionally, the processing table translation device 3000 can drive the processing table translation through a ball screw transmission structure, gear and rack transmission structure, or flexible transmission structure driven by a servo motor or stepper motor, or it can directly drive the processing table translation through a linear motor, hydraulic cylinder, pneumatic cylinder, etc., without limitation.

[0033] For a detailed implementation, please refer to Figure 1 and Figure 2 The PCB processing equipment 10000 includes multiple processing tables arranged sequentially in a third direction X, corresponding to the left and right directions of the PCB processing equipment 10000. A processing table translation device 3000 drives the multiple processing tables to translate synchronously, or alternatively, the processing table translation device 3000 drives each processing table to translate independently. The forming machine includes multiple processing parts 20000 to process the workpieces 20000 on the multiple processing tables, thereby improving the production capacity of the PCB processing equipment 10000. In one embodiment, the loading and unloading system 1000 simultaneously performs loading or unloading operations on the multiple processing tables to improve the loading and unloading speed.

[0034] For a detailed implementation, please refer to Figures 2 to 4The unloading device 100 includes a mounting frame 30, a support mechanism 40, an unloading translation component 20, and an unloading robot 10 in this embodiment of the present invention. The support mechanism 40 and the unloading translation component 20 are both mounted on the mounting frame 30. The support mechanism 40 includes a first end 41 and a second end 42 opposite to each other in the first direction Y. The support mechanism 40 is used to support the workpiece 20000. The unloading translation component 20 is connected to the lifting component 11. The unloading translation component 20 is used to drive the unloading robot 10 to move along the first direction Y, so as to push the workpiece 20000 from the first end 41 to the second end 42, and to move the workpiece 20000 out of the support mechanism 40.

[0035] For a detailed implementation, please refer to Figures 2 to 4 The unloading device 100 also includes a material transfer component 50, which is mounted on the mounting frame 30. The material transfer component 50 is used to drive the workpiece 20000 to translate along the first direction Y, so that the workpiece 20000 moves from the processing table to the first end 41 of the support mechanism 40, thereby enabling the unloading robot 10 in this embodiment of the present invention to contact the workpiece 20000 and push the workpiece 20000 from the first end 41 to the second end 42 and move it out of the support mechanism 40, and finally enter the material conveying device to complete the entire unloading process.

[0036] For a detailed implementation, please refer to Figures 2 to 4 The support mechanism 40 has a smooth surface for supporting the workpiece 20000, ensuring that the support mechanism 40 does not wear or scratch the workpiece 20000 during relative sliding. Optionally, the surface of the support mechanism 40 supporting the workpiece 20000 is provided with multiple rolling elements for supporting the workpiece 20000. These rolling elements can be pulleys, balls, or outward-facing wheels, etc., without limitation. By providing multiple rolling elements to support the workpiece 20000, the friction between the workpiece 20000 and the support mechanism 40 during relative translation is all rolling friction, preventing the support mechanism 40 from causing wear or scratches to the workpiece 20000.

[0037] For a detailed implementation, please refer to Figure 3 and Figure 4 The end face of the first end 41 facing away from the second end 42 in the first direction Y is an inclined surface. During the process of the first translation mechanism driving the workpiece 20000 to translate to the first end 41, the inclined surface is used to receive the workpiece 20000 and provide guidance for the workpiece 20000, so that the workpiece 20000 can be translated onto the upper surface of the support member 43, avoiding the positional deviation between the support member 43 and the workpiece 20000 in the second direction Z, which would cause the workpiece 20000 and the support member 43 to collide or get stuck in the first direction Y.

[0038] For a detailed implementation, please refer to Figures 2 to 4 The support mechanism 40 has multiple unloading positions 44 arranged sequentially in the third direction X. Each unloading position 44 is used to accommodate workpieces 20000, and each unloading position 44 is equipped with at least one unloading robot 10. The third direction X intersects with both the first direction Y and the second direction Z. The multiple unloading positions 44 are configured one-to-one with multiple processing tables, or one-to-one with multiple workpieces 20000 on the processing tables. This configuration allows the unloading device 100 to unload multiple workpieces 20000, improving the unloading speed and working efficiency of the unloading device 100.

[0039] In one implementation method, please refer to Figure 3 and Figure 4 The support mechanism 40 includes multiple support members 43, which are spaced apart from each other in a third direction X. The support members 43 are used to support the workpiece 20000. Optionally, the multiple support members 43 all extend along a first direction Y, and each unloading position 44 includes at least two support members 43. By setting the support mechanism 40 to include multiple support members 43, which are spaced apart from each other in a second direction ZX, and used to support the workpiece 20000, the installation and disassembly of the support mechanism 40 are facilitated. It also reduces the contact area between the support mechanism 40 and the workpiece 20000, thereby reducing the risk of the support mechanism 40 wearing or scratching the workpiece 20000. At the same time, it reduces the weight and material cost of the support mechanism 40, and further reduces the power requirements of the aforementioned lifting mechanism.

[0040] In another embodiment, the support mechanism 40 includes a support plate (not shown) connected to the mounting frame 30 and spanning multiple unloading positions 44 in a third direction X, the support plate being used to support the workpiece 20000.

[0041] For a detailed implementation, please refer to Figure 3 and Figure 4 The unloading translation assembly 20 includes an unloading translation mechanism 21, an unloading guide mechanism 22, and an unloading connection mechanism 23. The unloading translation mechanism 21 and the unloading guide mechanism 22 are both connected to the mounting frame 30. The unloading connection mechanism 23 connects the unloading translation mechanism 21 and the unloading robot 10. The unloading translation mechanism 21 is used to drive the unloading connection mechanism 23 and the unloading robot 10 to move synchronously along the first direction Y. The unloading connection mechanism 23 is also connected to the unloading guide mechanism 22 to improve the motion stability of the unloading robot 10 during translation.

[0042] For a detailed implementation, please refer to Figure 3 and Figure 4The unloading device 100 also includes a sensor 60, which is connected to the unloading translation assembly 20 and / or the support mechanism 40. The sensor 60 is used to detect the position of the workpiece 20000 on the support mechanism 40, so that the workpiece 20000 is in a preset position, and the unloading robot 10 can contact the workpiece 20000 to move the workpiece 20000. Specifically, the sensor 60 is connected to the unloading connection mechanism 23. In a specific embodiment, each of the aforementioned unloading positions 44 is provided with a sensor 60.

[0043] Please refer to Figure 5 and Figure 6 This utility model also provides a material unloading robot 10, which includes a lifting assembly 11 and a pushing assembly 12. The pushing assembly 12 is connected to the lifting assembly 11. The pushing assembly 12 includes a first pushing end 121 and a second pushing end 122 spaced apart in the first direction Y. The first pushing end 121 protrudes below the second pushing end 122 in the second direction Z. The first direction Y and the second direction Z intersect. The lifting assembly 11 is used to drive the pushing assembly 12 to move up and down in the second direction Z so that the first pushing end 121 or the second pushing end 122 is opposite to the workpiece 20000. The material unloading robot 10 can move in the first direction Y to push the workpiece 20000 to move through the second pushing end 122 and / or the first pushing end 121.

[0044] The lifting component 11 is connected to the unloading connection mechanism 23 of the aforementioned unloading translation component 20. The unloading translation component 20 is used to drive the unloading robot 10 to move along the first direction Y.

[0045] The unloading robot 10 is used to move the workpiece 20000 in the standby position. Specifically, during unloading, the workpiece 20000 enters from the first end 41 of the support mechanism 40. After the aforementioned material transfer component 50 moves the workpiece 20000 completely from the processing table to the support mechanism 40 in the unloading position, the lifting component 11 drives the pushing component 12 to move up and down along the second direction Z, so that the first pushing end 121 is at least partially opposite to the end face of the workpiece 20000 near the first end 41 in the first direction Y. Under the drive of the aforementioned unloading translation component 20, the unloading robot 10 moves along the first direction Y to move closer to the workpiece 20000, so that the first pushing end 121 contacts the workpiece 20000 and pushes the workpiece 20000 to continue to move towards the second end 42. During this process, the unloading robot 10 can push the workpiece 20000 out from the second end 42 through the first pushing end 121, for example, to be transferred to the AGV, or it can push the workpiece 20000 to a position between the first end 41 and the second end 42, without restriction.

[0046] After the unloading robot 10 pushes the workpiece 20000 through the first pushing end 121, the unloading robot 10 moves away from the workpiece 20000 along the first direction Y under the drive of the unloading translation component 20, so that the first pushing end 121 separates from the workpiece 20000. At this time, if the workpiece 20000 is still at least partially located on the support mechanism 40, the lifting component 11 drives the pushing component 12 to move up and down along the second direction Z, so that the second pushing end 122 is at least partially opposite to the end face of the workpiece 20000 near the first end 41 in the first direction Y. Under the drive of the aforementioned unloading translation component 20, the unloading robot 10 moves along the first direction Y to approach the workpiece 20000, so that the second pushing end 122 contacts the workpiece 20000 and pushes the workpiece 20000 to continue to move towards the second end 42 until the workpiece 20000 is separated from the support mechanism 40, for example, transferred to the AGV, to complete the entire unloading process.

[0047] By setting up a material unloading robot 10, the material unloading robot 10 includes a lifting assembly 11 and a pushing assembly 12. The pushing assembly 12 is connected to the lifting assembly 11 and includes a first pushing end 121 and a second pushing end 122 spaced apart in a first direction Y. The first pushing end 121 protrudes below the second pushing end 122 in a second direction Z. The first direction Y and the second direction Z intersect. The lifting assembly 11 is used to drive the pushing assembly 12 to move up and down along the second direction Z, so that the first pushing end 121 or the second pushing end 122... 2. Relative to workpiece 20000, the unloading robot 10 can move along the first direction Y to push workpiece 20000 through the second pushing end 122 and / or the first pushing end 121, so that the unloading robot 10 can push workpiece 20000 through the first pushing end 121 and / or the second pushing end 122 to transfer workpiece 20000 to a transport device, such as an AGV trolley. This avoids the need to set up a picking robot in the AGV, which leads to complex structure and inconvenient maintenance, and also reduces the weight of the AGV and improves the transport stability of the AGV.

[0048] In a specific embodiment, the pushing assembly 12 includes a first pushing member 123, a mounting member 124, and a second pushing member 125 connected in sequence. A first pushing end 121 is disposed on the first pushing member 123, and a second pushing end 122 is disposed on the second pushing member 125. The mounting member 124 is connected to the lifting assembly 11. Specifically, the first pushing end 121 is the end face of the first pushing member 123 facing the second pushing member 125 in the first direction Y, and the second pushing end 122 is the end face of the second pushing member 125 facing away from the first pushing member 123 in the first direction Y. Optionally, the first pushing member 123 and the second pushing member 125 can be connected and fixed to the mounting member 124 by means of snap-fit, screw-fit, riveting, welding, etc., without limitation.

[0049] By setting the pusher assembly 12 to include a first pusher 123, a mounting component 124, and a second pusher 125 connected in sequence, with the first pusher end 121 disposed on the first pusher 123 and the second pusher end 122 disposed on the second pusher 125, and the mounting component 124 connected to the lifting assembly 11, the structure of the pusher assembly 12 is simple and easy to assemble. Different first pushers 123 and second pushers 125 can also be selected according to the shape and material of the workpiece 20000, thereby improving the practicality of the pusher assembly 12.

[0050] In a specific embodiment, the pushing component 12 further includes a rotating component 126. One end of the rotating component 126 is connected to the second pushing member 125, and the other end is connected to the mounting member 124. The second pushing member 125 can rotate relative to the mounting member 124 about a third direction X. The third direction X intersects with both the first direction Y and the second direction Z.

[0051] In a specific embodiment, the rotating assembly 126 includes a hinge 1261, one end of which is connected to the second pusher 125, and the other end is connected to the mounting member 124. Specifically, the second pusher 125 is used to rotate about an axis extending in a third direction X. In a specific embodiment, the hinge 1261 is disposed on the upper surfaces of the second pusher 125 and the mounting member 124 in the second direction Z. When the second pusher 125 is in its initial position relative to the mounting member 124, the second pusher 125 and the mounting member 124 abut against each other in the first direction Y. During the process of the second pusher 125 pushing the workpiece 20000 onto the conveying device, when the lower surface of the second pusher 125 in the second direction Z is lower than the surface of the conveying device (such as an AGV) used to support the workpiece 20000, the second pusher 125 can rotate upward about the hinge 1261 under the guidance of the guide structure of the conveying device to avoid motion interference.

[0052] In a specific embodiment, the first pusher 123 includes a first arm 1231, a second arm 1232, and a third arm 1233 connected sequentially in the first direction Y. The first arm 1231 and the third arm 1233 are located on both sides of the second arm 1232 in the second direction Z. The first arm 1231 is connected to the mounting member 124, and the first pusher end 121 is disposed on the third arm 1233. Specifically, the first arm 1231 and the third arm 1233 are spaced apart in the second direction Z, and the second arm 1232 is inclined relative to the horizontal plane, so that while the first pusher 123 is connected to the mounting member 124, the third arm 1233 can extend out of the mounting member 124 in the second direction Z, and the first pusher end 121 is lower than the second pusher end 122 in the second direction Z, so that during the process of the first pusher end 121 contacting the workpiece 20000, the second pusher end 122 is always located above the workpiece 20000 in the second direction Z, thereby avoiding motion interference.

[0053] In a specific embodiment, the pushing assembly 12 further includes a buffer 127. The second pushing member 125 and / or the mounting member 124 are connected to the buffer 127 on the surface of the second pushing member 125 facing the support mechanism 40 in the second direction Z. The buffer 127 is used to contact the workpiece 20000, and the first pushing end protrudes below the buffer 127 in the second direction Z. In this embodiment, both the second pushing member 125 and the mounting member 124 are provided with buffers 127. Specifically, when the lifting assembly 11 drives the pushing assembly 12 to move downward along the second direction Z so that the first pushing member 123 is opposite to the workpiece 20000 in the first direction Y, both the second pushing member 125 and the mounting member 124 contact the surface of the workpiece 20000 facing away from the support mechanism 40 in the second direction Z through the buffer 127, that is, contact the upper surface of the workpiece 20000, so that the pushing assembly 12 stops moving upward and downward. Optionally, the buffer 127 may be made of a chemically stable and low-hardness material, such as rubber, silicone, or nylon, without limitation.

[0054] By providing a buffer 127, the second pusher 125 and / or the mounting member 124 are connected to the buffer 127 on the lower surface in the second direction Z. The buffer 127 can contact the workpiece 20000. The first pusher end protrudes from the lower surface of the buffer 127 in the second direction Z, so that the pusher assembly 12 will not cause wear to the workpiece 20000 when it presses against it.

[0055] In a specific embodiment, the lifting assembly 11 includes a lifting drive 111, which is connected to the mounting member 124. The lifting drive 111 drives the mounting member 124 to move vertically along the second direction Z, thereby driving the pushing assembly 12 to move vertically along the second direction Z. Specifically, the lifting drive 111 is a cylinder. Specifically, the output shaft 112 of the lifting drive 111 is connected to the mounting member 124.

[0056] In a specific embodiment, the mounting member 124 has a mounting cavity 1241 and a through hole 1242 arranged sequentially in the second direction Z. The mounting cavity 1241 communicates with the through hole 1242. The inner wall surface of the through hole 1242 protrudes from the inner wall surface of the mounting cavity 1241 to form a step 1243 at the connection between the mounting cavity 1241 and the through hole 1242.

[0057] The lifting assembly 11 also includes an elastic element 113 and a limiting element 114, both of which are housed within the mounting cavity 1241. The elastic element 113 is located between the limiting element 114 and the bottom wall of the mounting cavity 1241, and the end of the limiting element 114 facing away from the elastic element 113 is connected to the lifting drive 111. Specifically, the end of the limiting element 114 facing away from the elastic element 113 is connected to the output shaft 112.

[0058] The lifting drive component 111 is used to drive the limiting component 114 to move up and down along the second direction Z. The limiting component 114 can abut against the step 1243 to drive the mounting component 124 to move, or the limiting component 114 can abut against the elastic component 113 to compress the elastic component 113.

[0059] In a specific embodiment, the outer diameter of the limiting member 114 is smaller than the inner diameter of the mounting cavity 1241 and larger than the inner diameter of the through hole 1242, thus forming a step 1243. This allows the limiting member 114 to move up and down within the mounting cavity 1241 while also abutting against the lower surface of the step 1243 to prevent the limiting member 114 from coming out of the mounting cavity 1241.

[0060] In a specific embodiment, the mounting cavity 1241 also connects to the surface of the mounting member 124 facing away from the lifting assembly 11 in the second direction Z, i.e., the lower surface of the mounting member 124. The buffer member 127 is connected to the mounting member 124 and closes the opening of the mounting cavity 1241 away from the through hole 1242. This arrangement allows both the elastic member 113 and the limiting member 114 to enter the mounting cavity 1241 from below the mounting member 124, reducing assembly difficulty and facilitating maintenance.

[0061] When the pushing component 12 and the workpiece 20000 have a distance between them in the second direction Z, that is, when neither the second pushing component 125 nor the buffer component 127 on the mounting component 124 are in contact with the workpiece 20000, the upper surface of the limiting component 114 abuts against the step 1243. When the lifting component 11 drives the limiting component 114 to rise or fall, the pushing component 12 rises or falls synchronously with the limiting component 114 under the support of the limiting component 114.

[0062] When the lifting assembly 11 drives the pushing assembly 12 to descend, and the second pushing member 125 and the mounting member 124 both contact the upper surface of the workpiece 20000 through the buffer member 127, the pushing assembly 12 stops its lifting motion, the limiting member 114 begins to separate from the step 1243 and continues to descend under the drive of the lifting assembly 11. At this time, the limiting member 114 elastically abuts against and squeezes the elastic member 113 until the first pushing end 121 is at least partially opposite to the end face of the workpiece 20000 near the first end 41 in the first direction Y.

[0063] The mounting component 124 has a mounting cavity 1241 and a through hole 1242 arranged sequentially in the second direction Z. The mounting cavity 1241 communicates with the through hole 1242. The inner wall surface of the through hole 1242 protrudes from the inner wall surface of the mounting cavity 1241, forming a step 1243 at the connection between the mounting cavity 1241 and the through hole 1242. The lifting assembly 11 also includes an elastic element 113 and a limiting element 114. Both the elastic element 113 and the limiting element 114 are received within the mounting cavity 1241, and the elastic element 113 is located between the limiting element 114 and the bottom wall surface of the mounting cavity 1241. One end of the limiting member 114 away from the elastic member 113 is connected to the lifting drive member 111. The lifting drive member 111 is used to drive the limiting member 114 to move up and down along the second direction Z. The limiting member 114 can abut against the step 1243 to drive the mounting member 124 to move, or the limiting member 114 can abut against the elastic member 113 to compress the elastic member 113. This ensures that after the pushing assembly 12 contacts the upper surface of the workpiece 20000, the pushing assembly 12 will not be subjected to excessive pressure from the lifting assembly 11 and will not squeeze the workpiece 20000, thus avoiding damage to the workpiece 20000.

[0064] In a specific embodiment, the lifting assembly 11 further includes a first guide member 115 and a second guide member 116. The first guide member 115 and the second guide member 116 are slidably connected. The first guide member 115 is connected to the lifting drive member 111, and the second guide member 116 is connected to the mounting member 124. Specifically, the first guide member 115 has a groove, and the second guide member 116 extends into the groove and can slide within it. Optionally, the first guide member 115 and the second guide member 116 can also provide guidance for the lifting movement of the pushing assembly 12 through structures such as slide rails and pulleys, without limitation.

[0065] In a specific embodiment, the unloading robot 10 also includes a connector 128, which connects the first guide 115 and the aforementioned unloading translation component 20.

[0066] By setting a first guide 115 and a second guide 116, with the first guide 115 and the second guide 116 slidably connected, the first guide 115 connected to the lifting drive 111, and the second guide 116 connected to the mounting component 124, the lifting assembly 11 drives the pushing assembly 12 to perform lifting and lowering movements. Under the limiting action of the first guide 115 and the second guide 116, the pushing assembly 12 is less prone to jamming and deviation, thus improving the movement stability of the pushing assembly 12.

[0067] In the description of the embodiments of this utility model, it should be noted that the orientation or positional relationship of the terms "center", "upper", "lower", "left", "right", "vertical", "horizontal", "inner", "outer" and other indicators are based on the orientation or positional relationship shown in the accompanying drawings, and are only for the convenience of describing this utility model and simplifying the description, and are not intended to indicate or imply that the device or element referred to must have a specific orientation, or be constructed and operated in a specific orientation, and therefore should not be construed as a limitation of this utility model.

[0068] The above-disclosed embodiments are merely preferred embodiments of the present utility model and should not be construed as limiting the scope of the present utility model. Those skilled in the art can understand that implementing all or part of the above-described embodiments and making equivalent changes in accordance with the claims of the present utility model are still within the scope of the present utility model.

Claims

1. A blanking robot, characterized in that, The unloading robot includes: Lifting components; A feeding assembly is connected to the lifting assembly. The feeding assembly includes a first feeding end and a second feeding end spaced apart in a first direction. The first feeding end protrudes below the second feeding end in a second direction. The first direction and the second direction intersect. The lifting assembly is used to drive the pushing assembly to move up and down along the second direction, so that the first pushing end or the second pushing end is opposite to the workpiece in the first direction, and the unloading robot can move along the first direction to push the workpiece to move through the second pushing end and / or the first pushing end.

2. The blanking robot according to claim 1, characterized in that The pushing component includes a first pushing member, a mounting member, and a second pushing member connected in sequence. The first pushing end is disposed on the first pushing member, and the second pushing end is disposed on the second pushing member. The mounting member is connected to the lifting component.

3. The blanking robot according to claim 2, characterized in that The pushing assembly further includes a rotating assembly, one end of which is connected to the second pushing member and the other end of which is connected to the mounting member. The second pushing member is capable of rotating relative to the mounting member about a third direction, which intersects both the first direction and the second direction.

4. The blanking robot according to claim 3, characterized in that The rotating assembly includes a hinge, one end of which is connected to the second pusher and the other end of which is connected to the mounting component.

5. The blanking robot according to claim 2, characterized in that, The feeding assembly further includes a buffer member, and the second feeding member and / or the mounting member are connected to the buffer member on their lower surfaces in the second direction. The buffer member is capable of contacting the workpiece, and the first feeding end protrudes from the lower surface of the buffer member in the second direction.

6. The blanking robot according to claim 2, characterized in that, The lifting assembly includes a lifting drive component, which is connected to the mounting component. The lifting drive component is used to drive the mounting component to move up and down in the second direction, thereby driving the pushing assembly to move up and down in the second direction.

7. The blanking robot according to claim 6, characterized in that The mounting component has a mounting cavity and a through hole arranged sequentially in the second direction. The mounting cavity communicates with the through hole, and the inner wall surface of the through hole protrudes from the inner wall surface of the mounting cavity to form a step at the connection between the mounting cavity and the through hole. The lifting assembly further includes an elastic element and a limiting element, both of which are housed within the mounting cavity. The elastic element is located between the limiting element and the bottom wall of the mounting cavity, and the end of the limiting element facing away from the elastic element is connected to the lifting drive component. The lifting drive is used to drive the limiting member to move up and down along the second direction. The limiting member can abut against the step to drive the mounting member to move, or the limiting member can abut against the elastic member to compress the elastic member.

8. The blanking robot according to claim 6, characterized in that The lifting assembly further includes a first guide and a second guide, the first guide and the second guide being slidably connected, the first guide being connected to the lifting drive, and the second guide being connected to the mounting component.

9. The blanking robot according to claim 6, characterized in that, The first pusher includes a first arm, a second arm, and a third arm connected in sequence. The first arm is connected to the mounting component, the third arm is located at the lower end of the second arm in the second direction, and the first pusher end is disposed on the third arm.

10. A blanking device characterized by comprising: The device includes a mounting frame, a support mechanism, a material unloading and translation assembly, and a material unloading robot as described in any one of claims 1-9. The support mechanism and the material unloading and translation assembly are both disposed on the mounting frame. The support mechanism includes a first end and a second end opposite to each other in the first direction. The support mechanism is used to support the workpiece. The material unloading and translation assembly is connected to the lifting assembly. The material unloading and translation assembly is used to drive the material unloading robot to move along the first direction to push the workpiece from the first end to the second end and to remove the workpiece from the support mechanism.

11. The feeding device according to claim 10, characterized in that, The feeding device further includes a sensor connected to the feeding translation component and / or the support mechanism, and the sensor is used to detect the position of the workpiece on the support mechanism.

12. The blanking device of claim 10, wherein, The support mechanism has multiple unloading positions, which are arranged sequentially in a third direction. Each unloading position is used to receive the workpiece, and each unloading position is equipped with at least one unloading robot. The third direction intersects with both the first direction and the second direction.

13. A loading and unloading system, characterized by It includes a feeding device, a lifting device, a conveying device, and a discharging device as described in any one of claims 10-12. The discharging device and the feeding device are both connected to the lifting device. The lifting device is used to drive the discharging device and the feeding device to move up and down along the second direction, so that the discharging device and the feeding device can respectively dock with the conveying device.

14. A PCB processing apparatus characterized by comprising: It includes a machine tool and a machining table, wherein the machining table is movably connected to the machine tool; The PCB processing equipment further includes a blanking device as described in any one of claims 10-12, wherein the blanking device is disposed on the machine tool; Alternatively, the PCB processing equipment may further include the loading and unloading system as described in claim 13, wherein the lifting device is connected to the machine tool and is capable of driving the unloading device and the loading device to move up and down relative to the machine tool.

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