Six-axis dual-station carrier changer

Abstract

The utility model belongs to the PCB production technical field especially relates to a six -axis double -position carrier conversion machine, including frame and the input station, transport station and output station that set up in the frame, be equipped with first carrier in the input station, be equipped with second carrier and paper box in the output station, first carrier second carrier all are used for loading board spare, be provided with two groups six -axis machine hand and butt joint area in transport station, one six -axis machine hand is used for putting the board spare in first carrier to butt joint area, another six -axis machine hand is used for placing the board spare on butt joint area in second carrier, still be equipped with translation subassembly in the output station, for placing the paper in paper box on second carrier, and the two board spare of adjacent on second carrier are kept apart, realize the effect and reverse effect of collecting board of positive direction.

Description

Technical Field

[0001] This utility model relates to the field of PCB manufacturing technology, and in particular to a six-axis dual-station carrier conversion machine. Background Technology

[0002] In one PCB board transportation process, the carrier includes an integrated flatbed trolley (i.e., horizontally placed) and an L-shaped vertical insertion frame (vertically placed). A robotic arm picks up the board from the integrated flatbed trolley, places it on the conveyor for board barcoding, and then a top-mounted mechanical plate-tapping mechanism (board positioning) positions the board. The robotic arm then retrieves the board from the conveyor position to the L-shaped insertion frame.

[0003] Existing plate take-up machines can usually only take up and put down plates for the same type of carrier, and cannot transfer plates between different types of carriers in both directions, which cannot meet the usage requirements. Utility Model Content

[0004] The purpose of this invention is to provide a six-axis dual-station carrier converter, which aims to solve the technical problem that existing technologies can only load and unload plates for the same type of carrier and cannot convert plates bidirectionally between different types of carriers.

[0005] To achieve the above objectives, this utility model provides a six-axis dual-station carrier converter, including a frame and an input station, a transport station, and an output station disposed within the frame. The input station contains a first carrier, and the output station contains a second carrier and a cardboard box. Both the first and second carriers are used to load boards. The transport station is equipped with two sets of six-axis robotic arms and a docking belt. One of the six-axis robotic arms is used to place the boards from the first carrier onto the docking belt, and the other six-axis robotic arm is used to place the boards from the docking belt into the second carrier. The output station is also equipped with a translation component for placing paper from the cardboard box onto the second carrier and separating two adjacent boards on the second carrier.

[0006] Preferably, a barcode reader is provided above the docking strip.

[0007] Preferably, the first carrier and the second carrier are respectively provided with a bracket and a storage rack for fixing the plates, both of which are used to fix the plates.

[0008] Preferably, the output station is further provided with a first lifting component, which is used for adjusting the height of the storage rack.

[0009] Preferably, the cardboard box includes a support frame, a base plate, and a second lifting assembly. The second lifting assembly is installed at the bottom of the support frame and is used to adjust the height of the base plate. The top surface of the base plate is used to place the paper divider.

[0010] Preferably, the support frame is provided with a plurality of limiting rods around the edge of the base plate, the limiting rods extending upward from the support frame, and the edge of the floor is provided with a plurality of grooves, each of the limiting rods passing through the grooves to limit the position of the paper spacer.

[0011] Preferably, the translation component includes a horizontally arranged guide rail and a suction cup assembly that slides on the guide rail, for placing the divider paper inside the cardboard box onto the second carrier.

[0012] Preferably, the guide rail is slidably connected to an installation component, the installation component is used to install the suction cup assembly, and the installation component is provided with a third lifting component for adjusting the height of the suction cup assembly.

[0013] The above-mentioned technical solutions of the six-axis dual-station carrier converter provided in this embodiment of the utility model have at least one of the following technical effects:

[0014] In operation, the first and second carriers are pushed into the input and output stations respectively. A six-axis robot places the workpieces from the first carrier onto the docking belt and returns to prepare to pick up other workpieces from the first carrier. Simultaneously, another six-axis robot places workpieces from the docking belt onto the second carrier. At the same time, a six-axis robot places workpieces from the first carrier back onto the docking belt and uses a clamping assembly to pick up the paper dividers from the cardboard box and move them above the workpieces on the second carrier, placing the paper dividers onto the workpieces on the second carrier. Then, another six-axis robot places another board on the docking belt onto the divider paper of the second carrier. This process is repeated until the boards on the first carrier are cleared and the boards on the second carrier are fully loaded, achieving the board collection effect. Furthermore, the boards on the second carrier can be transferred to the first carrier. Another six-axis robot places the boards on the second carrier onto the docking belt, while the transport component picks up the top divider paper on the second carrier and transfers it into the cardboard box. Then, a six-axis robot places the boards on the docking belt onto the first carrier, achieving the reverse board collection effect. Attached Figure Description

[0015] Figure 1 A schematic diagram of the overall structure of the six-axis dual-station carrier converter provided in this embodiment of the utility model;

[0016] Figure 2 A schematic diagram of the internal structure of the six-axis dual-station carrier converter provided in this embodiment of the utility model;

[0017] Figure 3 This is a schematic diagram of the structure of the first carrier of the six-axis dual-station carrier converter provided in an embodiment of the present invention;

[0018] Figure 4A schematic diagram of the internal structure of the transport station of the six-axis dual-station carrier converter provided in this embodiment of the utility model;

[0019] Figure 5 This is a schematic diagram of the internal structure of the output station of the six-axis dual-station carrier converter provided in this embodiment of the utility model.

[0020] The following are the labeling elements in the figure:

[0021] 1-Frame, 11-Input Station, 12-Transport Station, 121-Six-Axis Robot, 122-Dating Belt, 123-Code Reader, 13-Output Station, 131-First Lifting Component, 14-Clamping Component, 141-Guide Rail, 142-Suction Cup Assembly, 143-Mounting Component, 2-First Carrier, 21-Installation Frame, 3-Second Carrier, 31-Storage Rack, 4-Paper Box, 41-Support Frame, 411-Limit Rod, 42-Base Plate, 43-Second Lifting Component, 5-Third Lifting Component. Detailed Implementation

[0022] The embodiments of the present invention are described in detail below, examples of which are shown in the accompanying drawings, wherein the same or similar reference numerals denote the same or similar elements or elements having the same or similar functions throughout. The embodiments described below with reference to the accompanying drawings are exemplary and intended to explain the embodiments of the present invention, and should not be construed as limiting the present invention.

[0023] In the description of the embodiments of this utility model, it should be understood that the terms "length", "width", "upper", "lower", "front", "rear", "left", "right", "vertical", "horizontal", "top", "bottom", "inner", "outer", etc., indicate the orientation or positional relationship based on the orientation or positional relationship shown in the drawings. They are only for the convenience of describing the embodiments of this utility model and simplifying the description, and do not indicate or imply that the device or element referred to must have a specific orientation, or be constructed and operated in a specific orientation. Therefore, they should not be construed as limitations on this utility model.

[0024] Furthermore, the terms "first" and "second" are used for descriptive purposes only and should not be construed as indicating or implying relative importance or implicitly specifying the number of indicated technical features. Thus, a feature defined as "first" or "second" may explicitly or implicitly include one or more of that feature. In the description of embodiments of this utility model, "a plurality of" means two or more, unless otherwise explicitly specified.

[0025] In this embodiment of the invention, unless otherwise explicitly specified and limited, the terms "installation," "connection," "linking," and "fixing," etc., should be interpreted broadly. For example, they can refer to a fixed connection, a detachable connection, or an integral part; they can refer to a mechanical connection or an electrical connection; they can refer to a direct connection or an indirect connection through an intermediate medium; they can refer to the internal communication of two components or the interaction between two components. Those skilled in the art can understand the specific meaning of the above terms in this embodiment of the invention according to the specific circumstances.

[0026] In one embodiment of this utility model, such as Figures 1-5 As shown, a six-axis dual-station carrier converter is provided, including a frame 1 and an input station 11, a transport station 12, and an output station 13 disposed within the frame 1. The input station 11 is provided with a first carrier 2, and the output station 13 is provided with a second carrier 3 and a cardboard box 4. Both the first carrier 2 and the second carrier 3 are used to load boards. The transport station 12 is provided with two sets of six-axis robots 121 and a docking belt 122. One of the six-axis robots 121 is used to place the boards in the first carrier 2 onto the docking belt 122, and the other six-axis robot 121 is used to place the boards on the docking belt 122 into the second carrier 3. The output station 13 is also provided with a clamping assembly 14, which is used to place the paper in the cardboard box 4 onto the second carrier 3 and to separate two adjacent boards on the second carrier 3.

[0027] Furthermore, a barcode reader 123 is provided above the docking belt 122. Specifically, when a six-axis robot 121 places a plate from the first carrier 2 onto the docking belt 122, or when another six-axis robot 121 places a plate from the second carrier 3 onto the docking belt 122, the barcode reader 123 scans the plate on the docking belt 122 to achieve identification.

[0028] Furthermore, the first carrier 2 and the second carrier 3 are respectively provided with a bracket 21 and a storage rack 31 for fixing the plates, both used for fixing the plates. The output station 13 is also provided with a first lifting assembly 131, which is used for adjusting the height of the storage rack 31. Specifically, a bracket 21 is placed on the first carrier 2, on which plates are vertically inserted, with gaps between the plates. A storage rack 31 is placed on the second carrier 3, on which plates are horizontally placed. When the storage rack 31 is used to load or unload plates, the height is adjusted by the first lifting assembly 131. In the loading state, the first lifting assembly 131 lifts the empty storage rack 31 and gradually lowers it as more plates are loaded. In the unloading state, the first lifting assembly 131 lifts the full storage rack 31 and gradually raises it as more plates are unloaded. To ensure the positional accuracy of the storage rack 31 during the lifting process, a screw lifting mechanism can be used. It can also be combined with photoelectric sensors to sense the plates on the top surface of the storage rack 31 and transmit the data to a computer. The computer then controls the screw lifting mechanism to adjust the height of the storage rack 31. Those skilled in the art can find corresponding devices for screw lifting mechanisms in the prior art, which belong to the prior art in this field.

[0029] Furthermore, the cardboard box 4 includes a support frame 41, a base plate 42, and a second lifting assembly 43. The second lifting assembly 43 is installed at the bottom of the support frame 41 and is used to adjust the height of the base plate 42. The top surface of the base plate 42 is used to place the paper divider. The support frame 41 is provided with a plurality of limiting rods 411 around the edge of the base plate 42. The limiting rods 411 extend upward from the support frame 41, and the edge of the base plate is provided with a plurality of grooves. Each limiting rod 411 passes through each groove to limit the position of the paper divider. Specifically, the paper divider inside the paper box 4 is removed or retrieved by the clamping assembly 14, while the height of the base plate 42 is adjusted by the second lifting assembly 43. When the paper divider inside the paper box 4 is removed, the height of the base plate 42 of the paper box 4 is raised by the second lifting assembly 43. When the paper divider is placed into the paper box 4, the height of the base plate 42 of the paper box 4 is lowered by the second lifting assembly 43. The combination of each limiting rod 411 forms a space corresponding to the width of the paper divider, which is used to limit the position of the paper divider inside the paper box 4, so as to keep the stack of paper dividers inside the paper box 4 vertical.

[0030] Furthermore, the clamping assembly 14 includes a horizontally arranged guide rail 141 and a suction cup assembly 142 sliding on the guide rail 141, used to place the paper divider inside the cardboard box 4 onto the second carrier 3. The guide rail 141 is slidably connected to an mounting member 143, which is used to mount the suction cup assembly 142. The mounting member 143 contains a third lifting assembly 5 for adjusting the height of the suction cup assembly 142. Specifically, the clamping assembly 14 is used to pick up or collect the paper divider inside the cardboard box 4. In use, the guide rail 141 drives the mounting member 143, which in turn moves the suction cup assembly 142 upwards towards the second carrier 3 or upwards towards the cardboard box 4. When the suction cup assembly 142 reaches above the second carrier 3 or above the cardboard box 4, the third lifting assembly 5 drives the suction cups to pick up and remove the paper divider from the cardboard box 4 and place it into the second carrier 3, or to pick up and remove the paper divider from the second carrier 3 and place it into the cardboard box 4, thus achieving a gripping effect.

[0031] Working principle: In use, the first carrier 2 and the second carrier 3 are pushed into the input station 11 and the output station 13 respectively. A six-axis robot 121 places the board from the first carrier 2 onto the docking belt 122 and returns to prepare to grip other boards from the first carrier 2. Simultaneously, another six-axis robot 121 places the board from the docking belt 122 onto the second carrier 3. At the same time, a six-axis robot 121 places the board from the first carrier 2 back onto the docking belt 122, and the clamping assembly 14 grips the paper divider in the cardboard box 4 and moves it above the board on the second carrier 3, placing the paper divider... After the board is placed on the second carrier 3, another six-axis robot 121 places another board on the docking belt 122 onto the partition paper of the second carrier 3. This process is repeated until the boards on the first carrier 2 are cleared and the second carrier 3 is fully loaded. The boards on the second carrier 3 can also be transferred to the first carrier 2. The other six-axis robot 121 places the boards on the second carrier 3 onto the docking belt 122. At the same time, the transport component picks up the top partition paper on the second carrier 3 and transfers it into the cardboard box 4. The six-axis robot 121 places the boards on the docking belt 122 onto the first carrier 2, achieving a reverse board collection effect.

[0032] The above description is only a preferred embodiment of the present utility model, but the protection scope of the present utility model is not limited thereto. Any equivalent substitutions or changes made by those skilled in the art within the technical scope disclosed in the present utility model, based on the technical solution and the inventive concept of the present utility model, should be included within the protection scope of the present utility model.

Claims

1. A six-axis dual-station carrier changer, characterized in that: The system includes a frame and an input station, a transport station, and an output station set within the frame. The input station contains a first carrier, and the output station contains a second carrier and a cardboard box. Both the first and second carriers are used to load boards. The transport station contains two sets of six-axis robots and a docking belt. One of the six-axis robots is used to place the boards in the first carrier onto the docking belt, and the other six-axis robot is used to place the boards on the docking belt into the second carrier. The output station also contains a translation component for placing paper from the cardboard box onto the second carrier and separating adjacent boards on the second carrier.

2. The six-axis dual-station carrier converter according to claim 1, characterized in that: A barcode reader is installed above the docking strip.

3. The six-axis dual-station carrier converter according to claim 1, characterized in that: The first carrier and the second carrier are respectively equipped with a bracket and a storage rack for fixing the plates, both of which are used to fix the plates.

4. The six-axis dual-station carrier converter according to claim 3, characterized in that: The output station is also equipped with a first lifting component, which is used for adjusting the height of the storage rack.

5. The six-axis dual-station carrier converter according to claim 1, characterized in that: The cardboard box includes a support frame, a base plate, and a second lifting assembly. The second lifting assembly is installed at the bottom of the support frame and is used to adjust the height of the base plate. The top surface of the base plate is used to place the paper divider.

6. The six-axis dual-station carrier converter according to claim 5, characterized in that: The support frame is provided with several limiting rods around the edge of the base plate. The limiting rods extend upward from the support frame. The edge of the floor is provided with several grooves. Each limiting rod passes through each groove to limit the position of the paper divider.

7. The six-axis dual-station carrier converter according to claim 1, characterized in that: The translation component includes a horizontally arranged guide rail and a suction cup assembly that slides on the guide rail, for placing the divider paper inside the cardboard box onto the second carrier.

8. The six-axis dual-station carrier converter according to claim 7, characterized in that: The guide rail is slidably connected to an installation component, which is used to install the suction cup assembly. The installation component is equipped with a third lifting component for adjusting the height of the suction cup assembly.

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