A board separating and discharging machine

Abstract

The utility model relates to automatic equipment technical field, concretely is a kind of unloading machine, including rack and the carrier inflow track being set to rack, uncap mechanical hand, three-axis mechanical hand, edge material collecting frame and NG material collecting frame, swing plate vision camera, discharge belt, swing plate mechanical hand, full material bin, empty tray inflow track, tray handling mechanical hand. The utility model from carrier inflow, automatic uncapping, product suction, NG product rejection, product overturn, visual positioning to accurate swing plate, whole process does not need manual intervention, greatly improves production efficiency.

Description

Technical Field

[0001] This utility model relates to the field of automation equipment technology, specifically a slitting and unloading machine. Background Technology

[0002] In the manufacturing process of electronic products, PCB boards typically need to be divided into independent unit boards and then unloaded and collected. After laser cutting, the traditional board unloading process is mostly completed manually or by semi-automatic equipment, which suffers from problems such as low efficiency, easy damage to products, high labor costs, and difficulty in seamlessly integrating with automated logistics systems. Especially for products that need to be removed from carriers and precisely placed into trays, existing equipment is often limited in function and has poor process integration, making it impossible to achieve full-process automation and intelligent management. Utility Model Content

[0003] In view of the shortcomings of the existing technology, the purpose of this utility model is to provide a fully automatic board-separating and unloading machine that can realize automatic loading and unloading, automatic cap removal, automatic board separation, and visual positioning and tray placement.

[0004] To achieve the above objectives, this utility model adopts the following technical solution: a slitting and unloading machine, comprising a frame and, mounted on the frame: a carrier inflow track for receiving and conveying carriers carrying cut products, which has lifting, width adjustment, and positioning functions to adapt to carriers of different specifications; a cover removal robot located above the carrier inflow track for gripping and removing the cover plates on the carriers; a three-axis robot located above the carrier inflow track for absorbing products from the open carriers; and an edge material collection box and an NG material collection box, respectively used to collect cut products. The system includes: scrap materials from cutting and products that fail inspection; a tray-mounting vision camera for capturing images of the products on the discharge conveyor belt or in the trays for precise positioning; a discharge conveyor belt for transporting products to the tray-mounting station or directly out; a tray-mounting robot for accurately placing products into empty trays based on the positioning information from the tray-mounting vision camera; a full tray for stacking trays filled with products; an empty tray inflow track for inputting empty trays; and a tray handling robot for moving trays between the empty tray inflow track and the full tray.

[0005] Preferably, the carrier inflow track includes a lifting support base, a lifting platform, and a fixed track side plate and an adjustable width side plate disposed on the lifting platform. The lifting support base is provided with a lifting guide rail, and the lifting platform is slidably disposed on the lifting guide rail. The fixed track side plate and the adjustable width side plate are disposed opposite to each other on the lifting platform. Both the fixed track side plate and the adjustable width side plate are provided with a conveyor belt, which is driven by a belt drive motor. The fixed track side plate is provided with a track width adjustment mechanism for adjusting the distance between the fixed track side plate and the adjustable width side plate. The lifting support base is provided with a lifting drive mechanism for driving the lifting platform to move up and down.

[0006] Preferably, the track width adjustment mechanism includes a width adjustment guide rail disposed on the lifting platform, the width adjustment side plate is slidably disposed on the width adjustment guide rail, and a width adjustment screw is rotatably disposed on the fixed track side plate to drive the width adjustment side plate to move. One end of the width adjustment screw is threadedly connected to the width adjustment side plate, and the other end is connected to a screw drive motor.

[0007] Preferably, the lifting drive mechanism includes a lifting drive motor and a lifting lead screw, wherein the lifting lead screw is connected to a lead screw nut on the lifting platform.

[0008] Preferably, both the fixed track side plate and the width-adjusting side plate are provided with a lifting and positioning assembly. The lifting and positioning assembly includes a lifting cylinder, the output end of which is connected to a lifting plate. Both the fixed track side plate and the width-adjusting side plate are fixedly provided with a limiting baffle.

[0009] Preferably, the lifting platform is provided with a vehicle blocking assembly, which includes a blocking cylinder and a blocking block. The telescopic rod of the blocking cylinder is set vertically upward, and the blocking block is fixed to the top of the telescopic rod of the blocking cylinder.

[0010] Preferably, the vehicle entering the track further includes a first photoelectric sensor and a second photoelectric sensor for detecting the position of the vehicle, and a baffle plate is provided on the lifting platform.

[0011] Preferably, the cap-removing robot includes a linear drive module, the output end of which is equipped with a first gripper base, a gripper lifting cylinder is mounted on the first gripper base, the output end of the gripper lifting cylinder is connected to a suction nozzle mounting plate, the suction nozzle mounting plate has an adjustment groove, an adjustment bolt is provided in the adjustment groove, the lower end of the adjustment bolt is connected to a connecting rod, the connecting rod has a suction nozzle mounting groove, and multiple first suction nozzles are provided in the suction nozzle mounting groove.

[0012] Preferably, the three-axis manipulator includes a Y-axis drive module, an X-axis drive module, a Z-axis drive module, and a second gripper mounted on the Z-axis drive module, wherein a plurality of second suction nozzles are mounted on the second gripper.

[0013] Preferably, it also includes a flipping mechanism disposed above the feed end of the discharge belt, used to adjust the posture of the product that needs to be flipped. The flipping mechanism includes a flipping drive motor, the output end of which is connected to a flipping shaft, a flipping platform is mounted on the flipping shaft, and a plurality of third suction nozzles are arranged on the flipping platform.

[0014] Preferably, it also includes a tray lifting mechanism, which is used to support and lift the empty tray into the track. The tray lifting mechanism is a lead screw lifting mechanism driven by a servo motor.

[0015] The beneficial effects of this utility model are: 1. From carrier inflow, automatic cap removal, product suction, rejection of defective products, product flipping, visual positioning to precise tray placement, the entire process requires no manual intervention, greatly improving production efficiency.

[0016] 2. The width of the carrier inflow track is adjustable to accommodate different carrier specifications. Both the cap removal robot and the tray-swiping robot can adapt to different product specifications, enhancing the versatility of the production line.

[0017] 3. Precise positioning is achieved through a visual camera used for plating, ensuring the quality of plating.

[0018] 4. All functional modules are integrated on a single rack, resulting in a compact structure, small footprint, and smooth workflow. Attached Figure Description

[0019] The present invention will be further described with reference to the accompanying drawings, but the embodiments in the drawings do not constitute any limitation on the present invention. For those skilled in the art, other drawings can be obtained based on the following drawings without creative effort.

[0020] Figure 1 This is a schematic diagram of the structure of a plate-slitting and unloading machine according to the present invention.

[0021] Figure 2 This is a schematic diagram of the structure of the carrier flowing into the track in a plate-slitting and unloading machine according to the present invention.

[0022] Figure 3 This is another structural schematic diagram of the carrier flowing into the track in a plate-slitting and unloading machine according to this utility model.

[0023] Figure 4 This is a partial structural diagram of the carrier flowing into the track in a plate-slitting and unloading machine according to the present invention.

[0024] Figure 5 This is a schematic diagram of the structure of the cap removal robot in the plate-slitting and unloading machine of this utility model.

[0025] Figure 6This is a schematic diagram of the structure of a three-axis robot in a slitting and unloading machine according to the present invention.

[0026] Figure 7 This is another structural schematic diagram of the three-axis robot in a slitting and unloading machine according to the present invention.

[0027] Figure 8 This is a schematic diagram of the flipping mechanism in a slitting and unloading machine according to the present invention.

[0028] Figure 9 This is a schematic diagram of the structure of the tray-swinging robot and the tray-handling robot in a slitting and unloading machine according to the present invention.

[0029] The labels in the diagram represent: 1. Frame; 2. Carrier inflow track; 201. Lifting support seat; 202. Lifting guide rail; 203. Lifting drive motor; 204. Lifting screw; 205. Track side plate; 206. Conveyor belt; 207. Width adjustment screw; 208. Width adjustment side plate; 209. Lifting platform; 210. Width adjustment guide rail; 211. Lifting plate; 212. Lifting cylinder; 213. Limiting baffle; 214. Belt drive motor; 215. First photoelectric sensor; 216. Carrier blocking assembly; 217. Second photoelectric sensor; 218. Baffle plate; 3. Unpacking robot; 301. Linear drive module; 302. First gripper seat; 303. Gripper lifting cylinder; 3 04. Suction nozzle mounting plate; 305. Adjusting bolt; 306. Adjusting groove; 307. Connecting rod; 308. Suction nozzle mounting groove; 309. First suction nozzle; 4. Three-axis robot; 401. Y-axis drive module; 402. X-axis drive module; 403. Z-axis drive module; 404. Second gripper base; 405. Second suction nozzle; 5. Edge material collection box; 6. NG material collection box; 7. Tilting mechanism; 701. Tilting drive motor; 702. Tilting shaft; 703. Tilting platform; 704. Third suction nozzle; 8. Tray-mounting vision camera; 9. Discharge belt; 10. Tray-mounting robot; 11. Tray handling robot; 12. Full hopper; 13. Empty tray inflow track; 14. Tray lifting mechanism. Detailed Implementation

[0030] It should be noted that if the embodiments of this utility model involve directional indicators (such as up, down, left, right, front, back, etc.), the directional indicators are only used to explain the relative positional relationship and movement of the components in a certain specific posture (as shown in the figure). If the specific posture changes, the directional indicators will also change accordingly.

[0031] Furthermore, if the embodiments of this utility model involve descriptions such as "first" or "second," these descriptions are for descriptive purposes only and should not be construed as indicating or implying their relative importance or implicitly specifying the number of indicated technical features. Therefore, features defined with "first" or "second" may explicitly or implicitly include at least one of those features. Additionally, the technical solutions of the various embodiments can be combined with each other, but this must be based on the ability of those skilled in the art to implement them. If the combination of technical solutions is contradictory or impossible to implement, it should be considered that such a combination of technical solutions does not exist and is not within the scope of protection claimed by this utility model.

[0032] The following is a detailed description of a slitting and blanking machine provided by an embodiment of the present invention, with reference to the accompanying drawings.

[0033] This embodiment provides a slitting and blanking machine. Figure 1 This is a schematic diagram of the structure of a plate-slitting and unloading machine according to the present invention.

[0034] like Figures 1-9 As shown, this embodiment provides a slitting and unloading machine, including a frame 1; a carrier inflow track 2, mounted on the frame 1, for conveying and positioning carriers carrying products; a cap removal robot 3, mounted above the carrier inflow track 2, for gripping caps on the carriers; a three-axis robot 4, mounted above the carrier inflow track 2, for absorbing products from the carriers; an edge material collection frame 5 and an NG material collection frame 6 are provided beside the carrier inflow track 2, for collecting edge waste generated during cutting and products that fail inspection, respectively; a discharge belt 9, mounted on the frame 1, for receiving and conveying products absorbed by the three-axis robot 4; and a tray-mounting vision camera. 8, positioned above the discharge belt 9, is used to acquire images of the position of the products or trays on the discharge belt 9 for precise positioning; 10, a tray-stacking robot, is positioned on one side of the discharge end of the discharge belt 9 and is used to place the products on the discharge belt 9 into the trays; 12, a full hopper, is positioned below the tray-stacking robot 10 and is used to stack trays filled with products; 13, an empty tray inflow track, is positioned in front of the full hopper 12 and is used to input empty trays; 11, a tray-transferring robot, is positioned above the empty tray inflow track 13 and is used to transfer trays between the empty tray inflow track 13 and the full hopper 12.

[0035] like Figure 2 , Figure 3 , Figure 4As shown, the vehicle inflow track 2 includes a lifting support 201, a lifting platform 209, and a fixed track side plate 205 and an adjustable width side plate 208 disposed on the lifting platform 209. The lifting support 201 is provided with a lifting guide rail 202, and the lifting platform 209 is slidably disposed on the lifting guide rail 202. The fixed track side plate 205 and the adjustable width side plate 208 are disposed opposite to each other on the lifting platform 209. Both the fixed track side plate 205 and the adjustable width side plate 208 are provided with a conveyor belt 206, which is driven by a belt drive motor 214. The fixed track side plate 205 is provided with a track width adjustment mechanism for adjusting the distance between the fixed track side plate 205 and the adjustable width side plate 208. The lifting support 201 is provided with a lifting drive mechanism for driving the lifting platform 209 to move up and down.

[0036] like Figure 2 , Figure 3 , Figure 4 As shown, the track width adjustment mechanism includes a width adjustment guide rail 210 mounted on the lifting platform 209, a width adjustment side plate 208 slidably mounted on the width adjustment guide rail 210, and a width adjustment screw 207 rotatably mounted on the fixed track side plate 205 to drive the width adjustment side plate 208 to move. One end of the width adjustment screw 207 is threadedly connected to the width adjustment side plate 208, and the other end is connected to a screw drive motor.

[0037] like Figure 2 , Figure 3 As shown, the lifting drive mechanism includes a lifting drive motor 203 and a lifting lead screw 204, and the lifting lead screw 204 is connected to the lead screw nut on the lifting platform 209.

[0038] like Figure 4 As shown, both the fixed track side plate 205 and the width-adjustable side plate 208 are equipped with lifting and positioning components. Each lifting and positioning component includes a lifting cylinder 212, the output end of which is connected to a lifting plate 211. Limiting baffles 213 are fixedly installed on the top of both the fixed track side plate 205 and the width-adjustable side plate 208. When the carrier moves to a predetermined position, the lifting cylinder 212 drives the lifting plate 211 upwards, lifting the carrier to the lower part of the limiting baffle 213 for positioning, and then the robotic arm unloads the material.

[0039] like Figure 4As shown, the lifting platform 209 is equipped with a carrier blocking assembly 216, which includes a blocking cylinder and a blocking block. The telescopic rod of the blocking cylinder is vertically upward, and the blocking block is fixed to the top of the telescopic rod of the blocking cylinder. When the carrier is transported to the designated workstation, the blocking cylinder drives the blocking block to rise, thereby blocking the carrier and stopping it at the designated workstation until the product of the previous carrier is unloaded, at which point the blocking is released, allowing the carrier to continue to be transported along the conveyor track.

[0040] like Figure 4 As shown, the vehicle flowing into the track 2 also includes a first photoelectric sensor 215 and a second photoelectric sensor 217 for detecting the position of the vehicle, and a baffle plate 218 is provided on the lifting platform 209.

[0041] like Figure 1 , Figure 5 As shown, the cap-removing robot 3 includes a linear drive module 301. A first gripper base 302 is mounted on the output end of the linear drive module 301. A gripper lifting cylinder 303 is mounted on the first gripper base 302. The output end of the gripper lifting cylinder 303 is connected to a suction nozzle mounting plate 304. An adjustment groove 306 is provided on the suction nozzle mounting plate 304. An adjustment bolt 305 is provided in the adjustment groove 306. A connecting rod 307 is connected to the lower end of the adjustment bolt 305. A suction nozzle mounting groove 308 is provided on the connecting rod 307. Multiple first suction nozzles 309 are provided in the suction nozzle mounting groove 308. The connecting rod 307 is connected to the adjustment groove 306 on the suction nozzle mounting plate 304 via the adjustment bolt 305. The position of each first suction nozzle 309 is adjustable to accommodate caps of different sizes.

[0042] like Figure 1 , Figure 6 , Figure 7 As shown, the three-axis manipulator 4 includes a Y-axis drive module 401, an X-axis drive module 402, a Z-axis drive module 403, and a second gripper base 404 mounted on the Z-axis drive module 403. The second gripper base 404 is equipped with a plurality of second suction nozzles 405.

[0043] like Figure 1 , Figure 8 As shown, it also includes a flipping mechanism 7 disposed above the feed end of the discharge belt 9, which is used to adjust the posture of the product that needs to be flipped. The flipping mechanism 7 includes a flipping drive motor 701, the output end of the flipping drive motor 701 is connected to a flipping shaft 702, a flipping platform 703 is mounted on the flipping shaft 702, and a plurality of third suction nozzles 704 are arranged on the flipping platform 703.

[0044] like Figure 1As shown, it also includes a tray lifting mechanism 14, which is used to support and lift the empty tray into the track 13. The tray lifting mechanism 14 is a lead screw lifting mechanism driven by a servo motor.

[0045] In practical use, the plate cutting machine provided by this utility model has a carrier inflow track 2 that receives the carrier from the previous cutting process. The carrier flows in via the conveyor belt 206. The first photoelectric sensor 215 and the second photoelectric sensor 217 detect the position of the carrier. When the carrier moves to the predetermined position, the lifting cylinder 212 drives the lifting plate 211 to move upward, lifting the carrier to the lower part of the limit baffle 213 for limit.

[0046] After the vehicle is positioned, the cover removal robot 3 starts working. Its drive module 301 drives the first gripper seat 302 to move above the vehicle. The gripper lifting cylinder 303 drives the suction nozzle mounting plate 304 to descend. The first suction nozzles 309 are used to suction the vehicle cover plate, and then the cover plate is lifted and moved to the clearance position.

[0047] Subsequently, the three-axis robot 4 begins to pick up materials. Its Y-axis drive module 401 and X-axis drive module 402 work together to move the Z-axis drive module 403 above the carrier. The Z-axis drive module 403 drives the second gripper 405 to descend, and grabs all products (including OK materials, NG materials, and edge materials) at once through the second suction nozzle 405. The three-axis robot 4 puts the NG materials into the NG material collection box 6, and the edge materials generated by cutting are put into the edge material collection box 5. The three-axis robot 4 puts the OK materials into the discharge belt 9 (or the flipping platform 703). Then the three-axis robot 4 resets, and the cover removal robot 3 puts the cover back into the carrier. The lifting mechanism of the carrier inflow track 2 lowers the carrier to the lower return track and flows out, sending the empty carrier back to the previous cutting process for circulation. Then the lifting mechanism of the carrier inflow track 2 rises to the receiving height position to receive the carrier loaded with products.

[0048] The tray placement process: Empty trays are input via the empty tray inlet track 13, and products are conveyed to the tray placement station via the discharge belt 9. The tray placement vision camera 8 photographs and positions the products and trays, feeding back the position information of the empty trays to the control system. Based on the vision information, the tray placement robot 10 accurately places the products into the empty trays. As tray placement progresses, the tray handling robot 11 transports full trays to the stacking mechanism in the full material bin for stacking. The tray lifting mechanism 14 lifts an empty tray along the empty tray inlet track 13 to raise one empty tray for the next round of tray placement, maintaining the tray placement surface at a suitable height.

[0049] The following points need to be explained: (1) The accompanying drawings of the embodiments of this disclosure only involve the structures involved in the embodiments of this disclosure. Other structures can be referred to the general design.

[0050] (2) Where there is no conflict, features of the same embodiment and different embodiments of this disclosure can be combined with each other.

[0051] The above are merely specific embodiments of this disclosure, but the scope of protection of this disclosure is not limited thereto. Any variations or substitutions that can be easily conceived by those skilled in the art within the scope of the technology disclosed in this disclosure should be included within the scope of protection of this disclosure. Therefore, the scope of protection of this disclosure should be determined by the scope of the claims.

Claims

1. A plate-slitting and blanking machine, characterized in that, include: Rack (1); The carrier flows into the track (2) and is set on the frame (1) for conveying and positioning the carrier that carries the product; A cover removal robot (3) is positioned above the vehicle inflow track (2) and is used to grab the cover plate on the vehicle; A three-axis robot (4) is positioned above the carrier inflow track (2) for picking up products from the carrier; A side material collection box (5) and an NG material collection box (6) are provided on the side of the vehicle flow track (2); The discharge belt (9) is set on the frame (1) and is used to receive and transport the products picked up by the three-axis robot (4); A tray visual camera (8) is set above the discharge belt (9) to capture images of the position of the product or tray on the discharge belt (9) and achieve precise positioning. A tray-loading robot (10) is located on one side of the discharge end of the discharge belt (9) and is used to place the products on the discharge belt (9) into the tray. A full material bin (12) is located below the tray-stacking robot (10) and is used to stack trays filled with products; An empty material tray flows into the track (13), which is located in front of the full material bin (12) and is used to input empty material trays; A material tray handling robot (11) is positioned above the empty material tray inflow track (13) and is used to handle material trays between the empty material tray inflow track (13) and the full material bin (12).

2. The slitting and blanking machine according to claim 1, characterized in that, The vehicle inflow track (2) includes a lifting support base (201), a lifting platform (209), and a fixed track side plate (205) and a width-adjusting side plate (208) disposed on the lifting platform (209). A lifting guide rail (202) is provided on the lifting support base (201), and the lifting platform (209) is slidably disposed on the lifting guide rail (202). The fixed track side plate (205) and the width-adjusting side plate (208) are disposed opposite to each other on the lifting platform (209). A conveyor belt (206) is provided on both the fixed track side plate (205) and the width-adjusting side plate (208). The conveyor belt (206) is driven by a belt drive motor (214). A track width adjustment mechanism for adjusting the distance between the fixed track side plate (205) and the width-adjusting side plate (208) is provided on the fixed track side plate (205). A lifting drive mechanism for driving the lifting platform (209) to move up and down is provided on the lifting support base (201).

3. The slitting and blanking machine according to claim 2, characterized in that, The track width adjustment mechanism includes a width adjustment guide rail (210) set on the lifting platform (209), a width adjustment side plate (208) slidably set on the width adjustment guide rail (210), and a width adjustment screw (207) rotatably set on the fixed track side plate (205) to drive the width adjustment side plate (208) to move. One end of the width adjustment screw (207) is threadedly connected to the width adjustment side plate (208), and the other end is connected to a screw drive motor.

4. The slitting and blanking machine according to claim 2, characterized in that, The lifting drive mechanism includes a lifting drive motor (203) and a lifting screw (204), and the lifting screw (204) is connected to the screw nut on the lifting platform (209).

5. The slitting and blanking machine according to claim 2, characterized in that, The fixed track side plate (205) and the width adjustment side plate (208) are both equipped with lifting and positioning components. The lifting and positioning components include a lifting cylinder (212). The output end of the lifting cylinder (212) is connected to a lifting plate (211). The top of the fixed track side plate (205) and the width adjustment side plate (208) are both fixedly equipped with a limiting baffle (213).

6. The slitting and blanking machine according to claim 2, characterized in that, The lifting platform (209) is provided with a vehicle blocking assembly (216), which includes a blocking cylinder and a blocking block. The telescopic rod of the blocking cylinder is set vertically upward, and the blocking block is fixed to the top of the telescopic rod of the blocking cylinder.

7. The slitting and blanking machine according to claim 2, characterized in that, The vehicle-in-rail (2) also includes a first photoelectric sensor (215) and a second photoelectric sensor (217) for detecting the position of the vehicle, and a baffle plate (218) is provided on the lifting platform (209).

8. The slitting and blanking machine according to claim 1, characterized in that, The cap-removing robotic arm (3) includes A linear drive module (301) is provided, and a first claw holder (302) is installed at the output end of the linear drive module (301). A claw lifting cylinder (303) is installed on the first claw base (302). The output end of the claw lifting cylinder (303) is connected to a suction nozzle mounting plate (304). An adjustment groove (306) is provided on the suction nozzle mounting plate (304). An adjustment bolt (305) is provided in the adjustment groove (306). A connecting rod (307) is connected to the lower end of the adjustment bolt (305). A suction nozzle mounting groove (308) is provided on the connecting rod (307). A plurality of first suction nozzles (309) are provided in the suction nozzle mounting groove (308).

9. The slitting and blanking machine according to claim 1, characterized in that, The three-axis manipulator (4) includes a Y-axis drive module (401), an X-axis drive module (402), a Z-axis drive module (403), and a second gripper base (404) mounted on the Z-axis drive module (403). Multiple second suction nozzles (405) are mounted on the second gripper base (404).

10. The slitting and blanking machine according to claim 1, characterized in that, It also includes a flipping mechanism (7) located above the feed end of the discharge belt (9). The flipping mechanism (7) includes a flipping drive motor (701). The output end of the flipping drive motor (701) is connected to a flipping shaft (702). A flipping platform (703) is mounted on the flipping shaft (702). A plurality of third suction nozzles (704) are arranged on the flipping platform (703).

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