Material changer automatic replacement device

Abstract

The utility model relates to surface assembly technical field discloses a kind of material ware automatic replacement equipment, including platform, storage mechanism, mechanical arm and pick-and-place module, pick-and-place module is set in the output end of mechanical arm, including clamping mechanism, righting mechanism and push-pull mechanism, clamping mechanism includes first driving part and two clamping pieces, and first driving part drives two clamping pieces and takes or loosens material ware;Righting mechanism is located between two clamping pieces, and righting mechanism includes two opposite setting anti-toppling frame;Push-pull mechanism includes second driving part and push-pull piece, and push-pull piece is located between two anti-toppling frame, and second driving part drives push-pull piece and moves between extension state and retraction state;Extension state, push-pull piece extends two anti-toppling frame outside;When retraction state, push-pull piece is retracted in two anti-toppling frame.The utility model structure is compact, and degree of integration is high, convenient to use, can reduce mechanical arm action, improve material ware replacement efficiency, prevent material ware from toppling in insertion or extraction process simultaneously.

Description

Technical Field

[0001] This utility model relates to the field of surface mount technology, and in particular to an automatic material changing device. Background Technology

[0002] A surface mount technology (SMT) pick-and-place machine is a device that accurately mounts electronic components onto a circuit board by moving a placement head. The feeders in an SMT pick-and-place machine are responsible for accurately and efficiently delivering the electronic components to the placement position. To ensure a continuous and stable supply of components during high-speed placement, the feeders in the SMT pick-and-place machine need to be replaced promptly.

[0003] In traditional SMT (Surface Mount Technology) assembly, component loading and unloading relies primarily on manual loading. This manual loading process is susceptible to errors, fatigue, and other factors, leading to risks such as incorrect component selection and contamination, ultimately impacting assembly yield. While some existing technologies utilize mechanical devices for automated component loading and unloading, these devices often lack integration. The gripper and push-pull components are typically separate, resulting in a loose structure and requiring multiple coordinated steps, significantly reducing loading and unloading efficiency. Furthermore, existing push-pull components are fixed to the robotic arm without independent power. Pushing or pulling the component requires traction from the robotic arm, which is inconvenient, inefficient, and prone to tipping over when the robotic arm switches to gripping mode after being pulled out.

[0004] Therefore, there is an urgent need for an automatic material changing device to solve the above-mentioned technical problems. Utility Model Content

[0005] Based on the above, the purpose of this utility model is to provide an automatic material changing device with a compact structure, high integration, and convenient use. It can reduce the movement of the robotic arm, improve the material changing efficiency, and prevent the material from tipping over during insertion or extraction.

[0006] To achieve this objective, the present invention adopts the following technical solution:

[0007] An automatic material changing device includes a platform, a storage mechanism and a robotic arm mounted on the platform, and a pick-and-place module fixed to the output end of the robotic arm. The pick-and-place module includes:

[0008] The clamping mechanism includes a first driving member and two oppositely arranged clamping members, wherein the first driving member drives the two clamping members to clamp or release the material;

[0009] A straightening mechanism is located between the two clamping members. The straightening mechanism includes two anti-tipping frames arranged opposite each other, and the two anti-tipping frames have a gap between them that matches the thickness of the material container.

[0010] The push-pull mechanism includes a second driving member and a push-pull member, the push-pull member being located between the two anti-tipping frames. The second driving member drives the push-pull member to move between an extended state and a retracted state. In the extended state, the push-pull member extends outside the two anti-tipping frames; in the retracted state, the push-pull member retracts inside the two anti-tipping frames.

[0011] In some possible implementations, the anti-tipping frame is provided with anti-tipping wheels configured to roll in contact with the surface of the material container.

[0012] In some possible implementations, the material container is provided with a clamping and limiting part, and the clamping member is provided with a support part, which is configured to engage with the material container.

[0013] In some possible implementations, the pick-and-place module further includes a fixed base, which is fixed to the output end of the robotic arm; the first driving member is fixed to the fixed base, and the two clamping members are slidably disposed on the fixed base along a first direction; the two anti-tipping frames are fixed to the fixed base at intervals; the second driving member is fixed to the fixed base, and the push-pull member is slidably disposed on the fixed base along a second direction; the first direction is perpendicular to the second direction.

[0014] In some possible implementations, the fixed base is provided with a first linear guide rail extending in a first direction, and the two clamping members are slidably connected to the first linear guide rail respectively; the fixed base is provided with a second linear guide rail extending in a second direction, and the push-pull member is slidably connected to the second linear guide rail.

[0015] In some possible implementations, the push-pull member includes a push-pull head having a pushing portion and a pulling portion, the pushing portion being configured to engage with the outer surface of a spring switch on the feeder, and the pulling portion being configured to engage with the inner surface of the spring switch.

[0016] In some possible implementations, a barcode scanning and positioning camera is also included, which is located at the output end of the robotic arm.

[0017] In some possible implementations, a six-dimensional force sensor is also provided between the output end of the robotic arm and the pick-and-place module.

[0018] In some possible implementations, the storage mechanism includes multiple buffer storage positions, each of which is equipped with a material detection device and a spring.

[0019] In some possible implementations, an AGV chassis is also included, with the platform mounted on the AGV chassis.

[0020] The beneficial effects of this utility model are:

[0021] The automatic material changing device provided in this embodiment integrates a push-pull mechanism, a clamping mechanism, and a straightening mechanism into a compact structure with high integration, which helps reduce operation steps and saves equipment space. Furthermore, the push-pull mechanism has an independent drive component, making it easy to use, reducing the movement of the robotic arm, and improving material changing efficiency. The straightening mechanism has two opposing anti-tipping frames; when the material is partially pulled out by the push-pull mechanism, it can enter between the two anti-tipping frames, effectively preventing the material from tipping over during insertion or removal from the pick-and-place machine, achieving more efficient automated production. Moreover, this automatic material changing device saves labor costs, reduces uncontrollable risks during manual material loading, avoids abnormal phenomena such as incorrect electronic component loading and contamination, ensures stable production, and realizes an unmanned, digital, and flexible factory. Attached Figure Description

[0022] Figure 1 This is a schematic diagram of the structure of the automatic material changing device provided in this embodiment of the utility model;

[0023] Figure 2 This is a schematic diagram of the material storage mechanism provided in an embodiment of the present utility model;

[0024] Figure 3 This is a schematic diagram of the material gripper of the pick-and-place module provided in this embodiment of the utility model;

[0025] Figure 4 This is a partial structural schematic diagram of the material container provided in an embodiment of the present utility model;

[0026] Figure 5 This is a schematic diagram of the structure of the pick-and-place module and the six-dimensional force sensor provided in this embodiment of the utility model;

[0027] Figure 6 This is a schematic diagram of the structure of a partial pick-and-place module and a six-dimensional force sensor provided in an embodiment of this utility model;

[0028] Figure 7 This is a schematic diagram of the structure of the clamping member provided in this embodiment of the utility model;

[0029] Figure 8 This is a schematic diagram of the anti-tipping frame provided in this embodiment of the utility model;

[0030] Figure 9 This is a schematic diagram of the push-pull component provided in an embodiment of the present utility model;

[0031] Figure 10This is a diagram showing the relative position of the material container and the pick-and-place module when they are in the transfer position, as provided in this embodiment of the utility model.

[0032] Figure 11 This is a diagram showing the relative position of the material handling unit and the pick-and-place module when the material handling unit is in the upright position, as provided in this embodiment of the utility model.

[0033] Figure 12 This is a diagram showing the relative position of the material container and the pick-and-place module when the material container is in the locked position, as provided in this embodiment of the utility model.

[0034] In the picture:

[0035] 100. Material handling unit; 101. Clamping and limiting part; 102. Spring block switch; 103. Abutment part; 1. Platform; 2. Storage mechanism; 21. Buffer storage position; 3. Robotic arm; 4. Pick-and-place module; 41. Clamping mechanism; 411. First driving component; 412. Clamping component; 4121. Support part; 413. First linear guide rail; 42. Straightening mechanism; 421. Anti-tipping frame; 4211. Crossbar ; 4212, longitudinal rod; 422, anti-tipping wheel; 43, push-pull mechanism; 431, second drive component; 432, push-pull component; 4321, first connecting arm; 4322, second connecting arm; 4320, push-pull head; 43201, push part; 43202, pull part; 433, second linear guide rail; 44, fixed base; 5, barcode scanning positioning camera; 6, six-dimensional force sensor; 7, AGV chassis. Detailed Implementation

[0036] The embodiments of this utility model are described in detail below. Examples of the embodiments are shown in the accompanying drawings, wherein the same or similar reference numerals denote the same or similar parts or parts having the same or similar functions throughout. The embodiments described below with reference to the accompanying drawings are exemplary and intended to explain this utility model, and should not be construed as limiting this utility model.

[0037] In the description of this utility model, unless otherwise explicitly specified and limited, the terms "connected," "linked," and "fixed" should be interpreted broadly. For example, they can refer to a fixed connection or a detachable connection; a mechanical connection or an electrical connection; a direct connection or an indirect connection through an intermediate medium; or 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 utility model according to the specific circumstances.

[0038] In the description of this utility model, unless otherwise expressly specified and limited, "above" or "below" the second feature can include direct contact between the first and second features, or contact between the first and second features through another feature between them. Furthermore, "above," "over," and "on top" of the second feature includes the first feature directly above or diagonally above the second feature, or simply indicates that the first feature is at a higher horizontal level than the second feature. "Below," "below," and "under" the second feature includes the first feature directly below or diagonally below the second feature, or simply indicates that the first feature is at a lower horizontal level than the second feature.

[0039] The technical solution of this utility model will be further described below with reference to the accompanying drawings and specific embodiments.

[0040] like Figures 1 to 12 As shown, this utility model provides an automatic material changer device for batch loading and unloading of material dispensers 100 on an SMT pick-and-place machine, thereby improving production efficiency. It should be noted that a spring switch 102 is provided at the rear of the material dispenser 100. When the material dispenser 100 is loaded into the pick-and-place machine, the spring switch 102 must be pressed to lock the material dispenser 100 to the pick-and-place machine; when the material dispenser 100 needs to be removed, the spring switch 102 must first be pressed to pop outwards, thereby unlocking the material dispenser 100 from the pick-and-place machine.

[0041] The automatic material changing device provided in this embodiment includes a platform 1, a storage mechanism 2, a robotic arm 3, a pick-and-place module 4, and an AGV chassis 7. The platform 1 is mounted on the AGV chassis 7, the storage mechanism 2 and the robotic arm 3 are respectively mounted on the platform 1, and the pick-and-place module 4 is located at the output end of the robotic arm 3. The platform 1 supports components such as the storage mechanism 2 and the robotic arm 3. The storage mechanism 2 stores the material container 100. The pick-and-place module 4 can push, pull, and clamp the material container 100. The robotic arm 3 can drive the pick-and-place module 4 to achieve the picking, placing, and transferring of the material container 100. The AGV chassis 7 is equipped with a laser radar for path navigation and obstacle avoidance, which enables the entire automatic material changing device to move along a planned path. For example, this automatic material changer can move between the electronic rack containing material holders 100 and the pick-and-place machine. When it moves to the location of the electronic rack, the robotic arm 3 and the pick-and-place module 4 can remove the full material holders 100 from the electronic rack and place them into the storage mechanism 2, and simultaneously remove the empty material holders 100 from the storage mechanism 2 and place them into the electronic rack. When it moves to the location of the pick-and-place machine, the robotic arm 3 and the pick-and-place module 4 can remove the empty material holders 100 from the pick-and-place machine and place them into the storage mechanism 2, and simultaneously remove the full material holders 100 from the storage mechanism 2 and load them into the pick-and-place machine, thus achieving automatic material holder replacement. Furthermore, a positioning camera is also installed on the AGV chassis 7. This positioning camera can scan the navigation path QR code to correct the position of the automatic material changer, achieving precise positioning of the automatic material changer.

[0042] The storage mechanism 2 is located on one side of the platform 1. Optionally, the storage mechanism 2 includes multiple buffer storage positions 21, each buffer storage position 21 for placing a material container 100. Further, each buffer storage position 21 is provided with a material detection device for detecting whether a material container 100 is present in the buffer storage position 21 and whether the material container 100 has been placed in the correct position. Specifically, the material detection device can be a laser sensor, an infrared sensor, etc., which senses the material container 100 in the corresponding buffer storage position 21 through the principle of optical path propagation. Optionally, each buffer storage position 21 is also provided with an indicator light, which can more intuitively display the storage status of the material container 100 in each buffer storage position 21.

[0043] The robotic arm 3 is positioned on the platform 1 on the side opposite to the storage mechanism 2. Optionally, the robotic arm 3 is a six-axis robotic arm, which can flexibly adjust the position and posture of the pick-and-place module 4 in three-dimensional space, complete complex motion trajectories, and improve positional accuracy. Optionally, the output end of the robotic arm 3 is equipped with a barcode scanning and positioning camera 5. The barcode scanning and positioning camera 5 can scan the storage code on the pick-and-place machine or electronic rack to obtain the storage information of the material container 100 in the pick-and-place machine or electronic rack. The barcode scanning and positioning camera 5 can also identify the position and direction of the surrounding environment, so that the robotic arm 3 can drive the pick-and-place module 4 to move precisely to the position corresponding to the specific storage location in the pick-and-place machine or electronic rack, so as to achieve precise pick-and-place of the material container 100 and improve work reliability. Moreover, in this embodiment, the barcode scanning and positioning camera 5 is integrated into the robotic arm 3, so that the barcode scanning and positioning camera 5 can move synchronously with the pick-and-place module 4, thereby facilitating the precise positioning of the push, pull, and clamping position of the material container 100 by the pick-and-place module 4. Optionally, the barcode scanning and positioning camera 5 is a CCD camera. The CCD camera is used for barcode scanning and visual inspection to achieve precise picking and placing of the material container 100. For example: when an empty material container 100 is removed, the AGV chassis 7 reaches the location of the pick-and-place machine. The CCD camera at the output end of the robotic arm 3 scans the storage code on the pick-and-place machine and accurately locates the storage location where the empty material container 100 needs to be removed. Then, the pick-and-place module 4 pulls out and clamps the empty material container 100, placing it into the storage mechanism 2. Afterward, a full material container 100 is clamped from the storage mechanism 2. The CCD camera at the output end of the robotic arm 3 scans the storage code on the pick-and-place machine again and accurately locates the storage location where the full material container 100 needs to be filled. The pick-and-place module 4 then fills the full material container 100 into this storage location, thus achieving the replacement of the material container 100.

[0044] In some embodiments, a six-dimensional force sensor 6 is also provided between the output end of the robotic arm 3 and the pick-and-place module 4. The six-dimensional force sensor 6 can simultaneously measure the force (Fx, Fy, Fz) in three orthogonal directions in space and the torque (Mx, My, Mz) around these three axes, thereby significantly improving measurement accuracy. By providing real-time feedback of multi-dimensional force / torque data, the robotic arm 3 can dynamically adjust its motion trajectory and force to ensure motion accuracy. Moreover, by monitoring the force on the robotic arm 3 in real time, an emergency stop mechanism can be triggered within 0.5ms in the event of an abnormal external force (such as a collision) to prevent equipment damage or personnel injury and ensure safe use.

[0045] The pick-and-place module 4 includes a clamping mechanism 41, a straightening mechanism 42, and a push-pull mechanism 43. The clamping mechanism 41 can clamp the material container 100 and, driven by the robotic arm 3, realize the transfer of the material container 100 between the electronic rack and the storage mechanism 2, and between the storage mechanism 2 and the pick-and-place machine. Specifically, the clamping mechanism 41 includes a first driving member 411 and two opposing clamping members 412. The first driving member 411 is used to drive the two clamping members 412 to move closer or further apart to realize the clamping or releasing of the material container 100. The straightening mechanism 42 is located between the two clamping members 412. The straightening mechanism 42 includes two anti-tipping frames 421 arranged opposite each other. The two anti-tipping frames 421 are parallel to each other and have a certain gap. The gap matches the thickness of the material container 100. This allows the material container 100 to enter between the two anti-tipping frames 421 after being pulled out part of the way by the push-pull mechanism 43. The two anti-tipping frames 421 straighten and limit the material container 100 to prevent it from tipping over. The push-pull mechanism 43 includes a second drive member 431 and a push-pull member 432. The push-pull member 432 is located between two anti-tipping frames 421. The second drive member 431 is used to drive the push-pull member 432 to move between an extended state and a retracted state. When the push-pull member 432 is in the extended state, it extends relatively beyond the two anti-tipping frames 421. When the push-pull member 432 is in the retracted state, it retracts relatively within the two anti-tipping frames 421. In this embodiment, the push-pull member 432 is provided with independent power. During the process of the second drive member 431 driving the push-pull member 432 to extend, the push-pull member 432 can push and press the spring switch 102 on the material container 100, causing the spring switch 102 to pop out and unlock the material container 100. Since the spring switch 102 on the material container 100 is T-shaped, the push-pull member 432 can be engaged in the T-shaped spring switch 102. Therefore, during the process of the second drive member 431 driving the push-pull member 432 to retract, the push-pull member 432 can pull the spring switch 102 on the material container 100, thereby pulling the material container 100 outward and into the space between the two anti-tipping frames 421. This configuration is compact, easy to use, reduces the movement of the robotic arm 3, and improves the replacement efficiency of the material container 100.

[0046] It should be noted that the material container 100 in this embodiment moves in the storage position of the pick-and-place machine or electronic rack in the following three positions: the locked position, the upright position, and the intermediate position. In the locked position, the material container 100 is completely filled in the storage position of the pick-and-place machine or electronic rack. At this time, if the spring switch 102 is in the locked state, the position of the material container 100 is locked; if the spring switch 102 is in the pop-out state, the position of the material container 100 is unlocked. In the upright position, the material container 100 is pulled out a small part by the push-pull member 432. At this time, the tail of the material container 100 just enters between the two anti-tipping brackets 421. The two anti-tipping brackets 421 can prevent the material container 100 from tipping over during the subsequent pulling out process. In the intermediate position, more of the material container 100 is pulled out. At this time, the clamping mechanism 41 has enough space to clamp the material container 100, which can improve the stability of clamping.

[0047] In some embodiments, the pick-and-place module 4 further includes a fixed base 44, which is fixed to the output end of the robotic arm 3. The clamping mechanism 41, the straightening mechanism 42, and the push-pull mechanism 43 are respectively disposed on the fixed base 44. This facilitates the integrated design of the pick-and-place module 4, reduces operational steps, and saves equipment space. Specifically, the first driving member 411 is fixedly disposed on the fixed base 44, and the two clamping members 412 are slidably disposed on the fixed base 44 along the first direction. Further, the fixed base 44 is provided with a first linear guide rail 413 extending along the first direction, and the two clamping members 412 are slidably connected to the first linear guide rail 413. This guides the clamping movement of the clamping members 412, making the clamping process more stable and precise. Moreover, the first linear guide rail 413 can withstand torques from all directions, ensuring the reliability of the clamping members 412. The tops of the two anti-tipping brackets 421 are respectively fixed to the fixed base 44. The second driving member 431 is fixed to the fixed base 44, and the push-pull member 432 is slidably disposed on the fixed base 44 along the second direction. Further, the fixed base 44 is provided with a second linear guide rail 433 extending along the second direction, and the push-pull member 432 is slidably connected to the second linear guide rail 433. This guides the pushing and pulling motion of the push-pull member 432, making its movement more stable and precise when pushing or pulling the material container 100. In this embodiment, the first direction is perpendicular to the second direction; specifically, the first direction is the thickness direction of the material container 100, and the second direction is the length direction of the material container 100.

[0048] In some embodiments, the material container 100 is provided with a clamping and limiting part 101, and two clamping members 412 are respectively provided with supporting parts 4121. When the two clamping members 412 approach each other to clamp the material container 100, the supporting parts 4121 and the clamping and limiting part 101 can engage with each other. Specifically, the clamping and limiting part 101 is a limiting through hole opened on the material container 100, and the supporting part 4121 is a contoured disc protruding from the inner side of the clamping member 412. The contour of the contoured disc matches the contour of the limiting through hole. When the two clamping members 412 approach each other to clamp the material container 100, the two contoured discs on both sides are respectively inserted into the limiting through hole, thereby realizing the supporting and limiting function of the material container 100. This increases the reliability of clamping and prevents the material container 100 from falling off during the transfer process. For example, the aforementioned limiting through hole is an oblong hole, and two contour discs are respectively provided at intervals on the inner side of each clamping member 412. The two contour discs are inserted and matched with the two ends of the oblong hole. This arrangement makes the connection more convenient and the limiting more reliable. Of course, in other embodiments, the clamping limiting part 101 can also be configured as a limiting groove, a limiting boss, or other structures, and the structure of the support part 4121 adaptably matches the structure of the clamping limiting part 101.

[0049] In some embodiments, the anti-tipping frame 421 is also provided with anti-tipping wheels 422. When the material container 100 moves between the two anti-tipping frames 421, the anti-tipping wheels 422 on both sides roll in contact with the surface of the material container 100. In this embodiment, by providing anti-tipping wheels 422, it can serve as a guide, which is conducive to the smooth entry of the material container 100 between the two anti-tipping frames 421. On the other hand, the rolling contact between the anti-tipping wheels 422 and the surface of the material container 100 reduces the contact area and reduces frictional resistance. In addition, the mutual contact between the anti-tipping wheels 422 and the two sides of the material container 100 provides a better limiting effect, preventing the material container 100 from lateral swaying and tipping over. Optionally, the anti-tipping frame 421 in this embodiment includes a horizontal bar 4211 and a vertical bar 4212 connected in an L-shape. The horizontal bar 4211 extends along a second direction (i.e., the length direction of the material container 100), one end of the horizontal bar 4211 is fixed to the fixed base 44, and the other end of the horizontal bar 4211 is connected to the vertical bar 4212. The vertical bar 4212 extends along a third direction (i.e., the width direction of the material container 100), and the anti-tipping wheel 422 is rotatably mounted on the end of the vertical bar 4212. In this embodiment, the horizontal bar 4211 is located above the clamping member 412 along the third direction, and the vertical bar 4212 is located in front of the clamping member 412 along the second direction. This allows for avoidance of the clamping member 412, preventing any impact on the clamping and releasing actions of the clamping member 412.

[0050] Optionally, the push-pull member 432 in this embodiment includes a first connecting arm 4321 and a second connecting arm 4322. The first connecting arm 4321 extends along a second direction. One end of the first connecting arm 4321 is connected to the output end of the second driving member 431 and is slidably connected to the second linear guide rail 433 via a slider. The other end of the first connecting arm 4321 is fixedly connected to the second connecting arm 4322. The second connecting arm 4322 is inclined forward and downward to avoid the clamping member 412. A push-pull head 4320 is provided at the lower end of the second connecting arm 4322. The push-pull head 4320 has a pushing part 43201 and a pulling part 43202. The pushing part 43201 cooperates with the outer side of the spring switch 102 at the tail of the material container 100 and can press the spring switch 102 of the material container 100. The pulling part 43202 cooperates with the inner side of the spring switch 102 and can pull the material container 100. In addition, the tail of the material container 100 is provided with an abutment part 103, and the pushing part 43201 can also abut and cooperate with the abutment part 103 to push the material container 100. It should be noted that, in this embodiment, in addition to the second driving member 431 driving the push-pull member 432 to perform extension and retraction actions to push or pull the material container 100, the entire pick-and-place module 4 can also be moved by the robotic arm 3 to make the push-pull member 432 push or pull the material container 100.

[0051] The automatic material changing device provided in this embodiment integrates the push-pull mechanism 43, the clamping mechanism 41, and the straightening mechanism 42 into a compact structure with high integration, which helps reduce operation steps and save equipment space. Furthermore, the push-pull mechanism 43 has an independent drive component, making it easy to use and reducing the movement of the robotic arm 3, thus improving the changing efficiency of the material container 100. The straightening mechanism 42 has two opposing anti-tipping frames 421. When the material container 100 is partially pulled out by the push-pull mechanism 43, it can enter between the two anti-tipping frames 421, effectively preventing the material container 100 from tipping over during insertion or removal from the chip mounter, achieving more efficient automated production. Moreover, this automatic material changing device saves labor costs, reduces uncontrollable risks during manual loading of the material container 100, avoids abnormal phenomena such as incorrect electronic component loading and contamination, ensures stable production, and realizes an unmanned, digital, and flexible factory.

[0052] This embodiment also provides an automatic material changing method, including the following steps:

[0053] S1. Obtain the material container replacement instruction issued by the host system;

[0054] Specifically, when the material handler 100 in the pick-and-place machine needs to be replaced, the pick-and-place machine sends a material handler replacement instruction to the AGV control system through the MES system.

[0055] S2. Control the automatic material changer to move to the position of the electronic material rack;

[0056] Specifically, after receiving instructions from the MES system, the AGV control system will assign the AGV chassis 7 to carry the entire automatic material changer to the location of the electronic rack. In step S2, once the automatic material changer has reached the location of the electronic rack, the barcode scanning camera 5 at the output end of the robotic arm 3 can scan the marking plate on the electronic rack to accurately locate the automatic material changer.

[0057] It should be noted that in this embodiment, the barcode positioning camera 5 can also accurately position the movement of the robotic arm 3 through visual guidance, enabling the robotic arm 3 to move precisely to the positions corresponding to the material container 100, and to complete various operations such as pushing, pulling, and clamping the material container 100 through the pick-and-place module 4; moreover, the barcode positioning camera 5 also integrates RFID / QR code technology, which can automatically read and upload the model, material information and status of the material container 100, etc., and combined with the MES system, it can realize the automatic scheduling of the material container 100 (for example, automatically retrieving the material container 100 required by the pick-and-place machine from the electronic rack according to the production plan).

[0058] S31. Scan the storage location code information on the electronic material rack and take out the full material container 100 from the electronic material rack;

[0059] In step S31, the barcode scanning and positioning camera 5 at the output end of the robotic arm 3 scans the storage code information on the electronic rack to obtain the storage status of the material dispensers 100 in the electronic rack, such as the number and storage location of the full material dispensers 100. Then, the robotic arm 3 drives the pick-and-place module 4 to take out the full material dispensers 100 at the corresponding position.

[0060] Specifically, removing the full feeder 100 from the electronic feed rack includes the following steps:

[0061] S311. Unlock the full material feeder 100 in the electronic material rack;

[0062] Specifically, the robotic arm 3 is controlled to move to a first position, which is the position where the pick-and-place module 4 is directly opposite a full material container 100 to be taken out in the electronic material rack; then the second drive member 431 drives the push-pull member 432 to extend and press the spring switch 102 on the full material container 100, so that the spring switch 102 pops out from the full material container 100, thus unlocking the full material container 100.

[0063] S312. Pull out the full material device 100 in the electronic material rack to the upright position;

[0064] Specifically, the robotic arm 3 is controlled to move to the second position, which is the position when the push-pull head 4320 is engaged with the spring switch 102 (i.e., when the pull part 43202 abuts against the inner side of the spring switch 102); then the second drive member 431 drives the push-pull member 432 to retract. During this process, the push-pull member 432 pulls the full material device 100 on the electronic material rack out to the upright position. At this time, the tail of the full material device 100 enters the uprighting mechanism 42, which can prevent the full material device 100 from tipping over.

[0065] S313. Pull out the full material dispenser 100 in the electronic material rack to the transfer position;

[0066] Specifically, the robotic arm 3 is controlled to move to the third position to pull the full material container 100 to the transfer position.

[0067] In step S313, the push-pull member 432 ceases to move and remains extended. Since a larger portion of the full-load feeder 100 is pulled out of the electronic rack during this process, its travel distance is relatively long. Therefore, the robotic arm 3 drives the entire pick-and-place module 4 backward, which in turn drives the full-load feeder 100 to the intermediate position via the push-pull member 432. At this intermediate position, the gripping limit part 101 on the full-load feeder 100 is fully exposed outside the electronic rack, facilitating engagement with the support part 4121 on the clamping member 412. Simultaneously, in step S313, the two clamping members 412 of the clamping mechanism 41 open.

[0068] S314, Full material holder 100 for clamping electronic material rack;

[0069] Specifically, the control robot arm 3 drives the push-pull head 4320 to disengage from the spring switch 102, and moves the robot arm 3 to the fourth position. The fourth position refers to the position where the clamping mechanism 41 and the full material device 100 can clamp and cooperate, that is, the position when the support part 4121 on the clamping member 412 is engaged with the clamping limit part 101 on the full material device 100. At this time, the two clamping members 412 are controlled to close together to achieve reliable clamping of the full material device 100.

[0070] S315. Completely remove the full material container 100 from the electronic material rack.

[0071] Specifically, the robotic arm 3 continues to move away from the electronic rack along the second direction until it reaches the fifth position, at which point the full material container 100 is completely removed from the storage position of the electronic rack.

[0072] S32. Place the full material container 100 into the empty buffer storage position 21 of the storage mechanism 2;

[0073] Specifically, step S32 further includes: detecting whether there is an empty buffer storage position 21 in the storage mechanism 2. If so, the full material container 100 is put into the empty buffer storage position 21 of the storage mechanism 2. If not, there may be two situations: one is that the buffer storage positions 21 in the storage mechanism 2 are all filled with full material containers 100. In this case, there is no need to put the full material container 100 into the storage mechanism 2, and the process can proceed to step S4; the other is that there is an empty material container 100 in the storage mechanism 2. In this case, the full material container 100 can be returned to the electronic material rack first, and then the process can proceed to step S33.

[0074] S33. Remove the empty material container 100 from the storage mechanism 2;

[0075] In step S33, the empty material container 100 is clamped by the clamping mechanism 41, and the empty material container 100 is taken out from the storage mechanism 2 by the robotic arm 3.

[0076] S34. Place the removed empty material container 100 into the empty storage position of the electronic material rack;

[0077] Specifically, step S34 includes:

[0078] S341, clamp the empty material container 100 and control the robotic arm 3 to move to the sixth position, so that the empty material container 100 is aligned with the empty storage position of the electronic material rack;

[0079] S342. Move the empty material container 100 to the intermediate position and release the empty material container 100;

[0080] Specifically, the control robot arm 3 drives the empty material container 100 into the empty storage position of the electronic material rack through the clamping mechanism 41. When the robot arm 3 moves to the seventh position, the empty material container 100 moves to the transfer position, at which time the control clamping mechanism 41 releases the empty material container 100.

[0081] S343, straighten the empty material container 100;

[0082] Specifically, the robotic arm 3 is controlled to move to the eighth position, so that one end of the empty material container 100 is in the straightening mechanism 42, and the push-pull mechanism 43 abuts against the abutting part 103 of the empty material container 100.

[0083] Since the clamping mechanism 41 has released the empty material container 100, to prevent the empty material container 100 from tipping over, in this step S343, the robotic arm 3 drives the pick-and-place module 4 to move, so that one end of the empty material container 100 is in the straightening mechanism 42, straightening and limiting the empty material container 100. Since the spring switch 102 of the empty material container 100 is in the popped-out state at this time, the empty material container 100 cannot be pushed forward by pushing the spring switch 102. At this time, it is necessary to push the abutment part 103 through the push-pull member 432 to push the entire empty material container 100.

[0084] S344. In the upright position, push the empty material container 100 completely into the empty storage position;

[0085] Specifically, the robotic arm 3 is controlled to move to the ninth position. During this process, the robotic arm 3 drives the push-pull component 432 to push the empty material container 100 to the upright position. Then, the second drive component 431 controls the push-pull component 432 to extend so as to completely push the empty material container 100 into the empty storage position of the electronic material rack.

[0086] S345, Control the robotic arm 3 to move to the tenth position, so that the push-pull component 432 is aligned with the spring switch 102 of the empty material container 100;

[0087] S346, control the robotic arm 3 to move to the eleventh position, and drive the push-pull component 432 to press the spring switch 102 to the locked state, thus realizing the locking of the empty material container 100 and the electronic material rack;

[0088] S347, control the robotic arm 3 to return to its original position, and control the push-pull component 432 to retract via the second drive component 431.

[0089] S35. Repeat steps S31-S34 until a set number of full material containers 100 have been placed in the storage mechanism 2, and all empty material containers 100 in the storage mechanism 2 have been removed. This setting can improve the loading and unloading efficiency of the material containers 100 and realize the batch transfer of the material containers 100.

[0090] S4. Control the material handler to automatically change the equipment and move it to the location of the corresponding pick and place machine;

[0091] In step S4, the entire automatic material changer is carried by the AGV chassis 7 to the location of the pick and place machine. The barcode scanning and positioning camera 5 at the output end of the robotic arm 3 can scan the marking plate on the pick and place machine to accurately locate the automatic material changer.

[0092] S51. Scan the storage code information on the pick-and-place machine and retrieve the empty material container 100 from the pick-and-place machine;

[0093] In step S51, the barcode scanning and positioning camera 5 at the output end of the robotic arm 3 scans the storage code information on the pick-and-place machine to obtain the storage status of the material container 100 in the pick-and-place machine, such as the number and storage location of empty material containers 100. Then, the robotic arm 3 drives the pick-and-place module 4 to take out the empty material container 100 at the corresponding position.

[0094] Specifically, removing the empty material container 100 from the pick-and-place machine includes the following steps:

[0095] S511. Unlock the empty material container 100 in the pick and place machine;

[0096] Specifically, the robotic arm 3 is controlled to move to a first position, which is the position where the pick-and-place module 4 is directly opposite an empty material container 100 to be taken out in the pick-and-place machine; then the second drive member 431 drives the push-pull member 432 to extend and press the spring switch 102 on the empty material container 100, so that the spring switch 102 pops out from the empty material container 100, thus unlocking the empty material container 100.

[0097] S512. Pull out the empty material container 100 in the pick and place machine to the upright position;

[0098] Specifically, the robotic arm 3 is controlled to move to the second position, which is the position when the push-pull head 4320 is engaged with the spring switch 102 (i.e., when the pull part 43202 abuts against the inner side of the spring switch 102); then the second drive member 431 drives the push-pull member 432 to retract. During this process, the push-pull member 432 pulls the empty material container 100 on the pick-and-place machine out to the straightening position. At this time, the tail of the empty material container 100 enters the straightening mechanism 42, which can prevent the empty material container 100 from tipping over.

[0099] S513. Pull out the empty material container 100 in the pick and place machine to the transfer position;

[0100] Specifically, the robotic arm 3 is controlled to move to the third position to pull the empty material container 100 to the transfer position.

[0101] In step S513, the push-pull member 432 ceases to move and remains extended. Since a larger portion of the empty material container 100 is pulled out of the placement machine during this process, its travel distance is relatively long. Therefore, the robotic arm 3 drives the entire pick-and-place module 4 backward, which in turn drives the empty material container 100 to the intermediate position via the push-pull member 432. At this intermediate position, the gripping limit part 101 on the empty material container 100 is fully exposed outside the placement machine, facilitating engagement with the support part 4121 on the clamping member 412. Simultaneously, in step S513, the two clamping members 412 of the clamping mechanism 41 open.

[0102] S514, Empty material holder 100 in the pick and place machine;

[0103] Specifically, the control robot arm 3 drives the push-pull head 4320 to disengage from the spring switch 102, and moves the robot arm 3 to the fourth position. The fourth position refers to the position where the clamping mechanism 41 and the empty material container 100 can clamp and cooperate, that is, the position when the support part 4121 on the clamping member 412 is engaged with the clamping limit part 101 on the empty material container 100. At this time, the two clamping members 412 are controlled to close together to achieve reliable clamping of the empty material container 100.

[0104] S515. Completely remove the empty material container 100 from the pick-and-place machine.

[0105] Specifically, the robotic arm 3 continues to move away from the pick-and-place machine along the second direction until it reaches the fifth position, at which point the empty material container 100 is completely removed from the pick-and-place machine's storage position.

[0106] S52. Place the empty material container 100 into the empty buffer storage position 21 of the storage mechanism 2;

[0107] Specifically, step S52 further includes: detecting whether there is an empty buffer storage position 21 in the storage mechanism 2; if so, placing the taken-out empty material container 100 into the empty buffer storage position 21 of the storage mechanism 2.

[0108] S53. Remove the full material container 100 from the storage mechanism 2;

[0109] In step S53, the full material container 100 is clamped by the clamping mechanism 41, and the full material container 100 is taken out from the storage mechanism 2 by the robotic arm 3.

[0110] S54. Place the full material container 100 into the empty storage position of the pick and place machine;

[0111] Specifically, step S54 includes:

[0112] S541. Clamp the full material feeder 100 and control the robotic arm 3 to move to the sixth position so that the full material feeder 100 is aligned with the empty storage position of the pick and place machine.

[0113] S542. Move the full material container 100 to the intermediate position and release the full material container 100;

[0114] Specifically, the control robot arm 3 drives the full material device 100 into the empty storage position of the chip mounter through the clamping mechanism 41. When the robot arm 3 moves to the seventh position, the full material device 100 moves to the transfer position, and at this time the control clamping mechanism 41 releases the full material device 100.

[0115] S543, straighten the full material container 100;

[0116] Specifically, the robotic arm 3 is controlled to move to the eighth position, so that one end of the full material device 100 is in the straightening mechanism 42, and the push-pull mechanism 43 abuts against the abutting part 103 of the full material device 100.

[0117] Since the clamping mechanism 41 has released the full material container 100, in order to prevent the full material container 100 from tipping over, in this step S543, the robotic arm 3 drives the pick-and-place module 4 to move, so that one end of the full material container 100 is in the straightening mechanism 42, which straightens and limits the full material container 100. Since the spring switch 102 of the full material container 100 is in the popped-out state at this time, the full material container 100 cannot be pushed forward by pushing the spring switch 102. At this time, the push-pull member 432 needs to push the abutment part 103 to push the entire full material container 100.

[0118] S544. In the upright position, push the full material container 100 completely into the empty storage position;

[0119] Specifically, the robotic arm 3 is controlled to move to the ninth position. During this process, the robotic arm 3 drives the push-pull component 432 to push the full material container 100 to the upright position. Then, the second drive component 431 controls the push-pull component 432 to extend so as to completely push the full material container 100 into the empty storage position of the chip mounter.

[0120] S545, control the robotic arm 3 to move to the tenth position, so that the push-pull component 432 is aligned with the spring switch 102 of the full material feeder 100;

[0121] S546, control the robotic arm 3 to move to the eleventh position, and drive the push-pull component 432 through the robotic arm 3 to press the spring switch 102 to the locked state, thus realizing the locking of the full material container 100 and the pick-and-place machine;

[0122] S547, control the robotic arm 3 to return to its original position, and control the push-pull component 432 to retract via the second drive component 431.

[0123] S55. Repeat steps S51-S54 until the set number of full feeders 100 have been replaced in the pick-and-place machine. This setting can improve the loading and unloading efficiency of the feeders 100 and realize batch loading of the feeders 100.

[0124] Furthermore, the replacement method in this embodiment also includes: scanning the QR code of the material container on the pick-and-place machine, determining whether the required full material container 100 on the pick-and-place machine matches the full material container 100 in the storage mechanism 2 based on the information obtained from the scan, if they match, then taking out the full material container 100 from the storage mechanism 2 and placing the full material container 100 into the empty storage position of the pick-and-place machine; if they do not match, then the upper system reissues the material container replacement command; if they still do not match, then an audible and visual alarm is issued to prompt manual handling.

[0125] Furthermore, in steps S31-S35 and S51-S55 of this embodiment, the information of the material containers in the pick-and-place machine, the storage mechanism 2, and the electronic material rack is synchronously fed back to the host system. This enables more efficient movement and replacement of the material containers 100.

[0126] The automatic material container replacement method provided in this embodiment can automatically operate between the pick-and-place machine and the electronic rack after receiving the material container replacement instruction from the upper system. It can also scan the barcode to obtain the storage location code information on the pick-and-place machine and the electronic rack. Based on real-time production changes, it can automatically retrieve the required material container 100 from the electronic rack and transfer and load the material container 100 into the corresponding position on the pick-and-place machine. This realizes the full automation of the process of retrieving and loading the material container 100 from the electronic rack into the pick-and-place machine, which greatly improves the level of intelligence and production efficiency, and realizes an unmanned, digital, and flexible factory.

[0127] The automatic material container replacement device provided in this embodiment replaces the material container 100 using the replacement method described above.

[0128] The automatic material changer provided in this embodiment enables the automatic picking, placing, transferring, and replacing of material containers 100, improving the automation and integration of the SMT production line, achieving more efficient automated production, saving labor costs, reducing resource waste, increasing production efficiency, and lowering the loss rate. This automatic material changer connects online with the SMT production line, realizing an unmanned workshop.

[0129] Obviously, the above embodiments of this utility model are merely examples for clearly illustrating the present utility model, and are not intended to limit the implementation of the present utility model. Those skilled in the art can make other variations or modifications based on the above description. It is neither necessary nor possible to exhaustively list all possible implementations here. Any modifications, equivalent substitutions, and improvements made within the spirit and principles of this utility model should be included within the protection scope of the claims of this utility model.

Claims

1. An automatic material changing device, comprising a platform and a storage mechanism and a robotic arm disposed on the platform, characterized in that, It also includes a pick-and-place module fixed to the output end of the robotic arm, the pick-and-place module comprising: The clamping mechanism includes a first driving member and two oppositely arranged clamping members, wherein the first driving member drives the two clamping members to clamp or release the material; A straightening mechanism is located between the two clamping members. The straightening mechanism includes two anti-tipping frames arranged opposite each other, and the two anti-tipping frames have a gap between them that matches the thickness of the material container. The push-pull mechanism includes a second driving member and a push-pull member, the push-pull member being located between the two anti-tipping frames. The second driving member drives the push-pull member to move between an extended state and a retracted state. In the extended state, the push-pull member extends outside the two anti-tipping frames; in the retracted state, the push-pull member retracts inside the two anti-tipping frames.

2. The automatic material changing device according to claim 1, characterized in that, The anti-tipping frame is equipped with anti-tipping wheels, which are configured to roll in contact with the surface of the material container.

3. The automatic material changing device according to claim 1, characterized in that, The clamping member is provided with a support portion, which is configured to engage with the material container.

4. The automatic material changing device according to claim 1, characterized in that, The pick-and-place module further includes a fixed base, which is fixed to the output end of the robotic arm; the first driving member is fixed to the fixed base, and the two clamping members are slidably disposed on the fixed base along a first direction; the two anti-tipping frames are fixed to the fixed base at intervals; the second driving member is fixed to the fixed base, and the push-pull member is slidably disposed on the fixed base along a second direction; the first direction is perpendicular to the second direction.

5. The automatic material changing device according to claim 4, characterized in that, The fixed base is provided with a first linear guide rail extending along a first direction, and the two clamping members are slidably connected to the first linear guide rail respectively; the fixed base is provided with a second linear guide rail extending along a second direction, and the push-pull member is slidably connected to the second linear guide rail.

6. The automatic material changing device according to claim 1, characterized in that, The push-pull component includes a push-pull head having a pushing portion and a pulling portion. The pushing portion is configured to cooperate with the outer surface of a spring switch on the material container, and the pulling portion is configured to cooperate with the inner surface of the spring switch.

7. The automatic material changing device according to any one of claims 1-6, characterized in that, It also includes a barcode scanning and positioning camera, which is located at the output end of the robotic arm.

8. The automatic material changing device according to any one of claims 1-6, characterized in that, A six-dimensional force sensor is also installed between the output end of the robotic arm and the pick-and-place module.

9. The automatic material changing device according to any one of claims 1-6, characterized in that, The storage mechanism includes multiple buffer storage positions, each of which is equipped with a material detection device and a spring.

10. The automatic material changing device according to any one of claims 1-6, characterized in that, It also includes an AGV chassis, with the platform mounted on the AGV chassis.

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