CN106879248B - Automatism card machine - Google Patents

Abstract

The present invention provides a kind of automatism card machine, it includes feeding device, material conveying device, pcb board transmission device and plug-in unit robot device, material conveying device has the crawl position that crawl material is carried out for plug-in unit robot device, and material conveying device is connected in the end of feeding device；Pcb board transmission device has the operation area that material grafting is carried out for plug-in unit robot device, and for transmitting pcb board, crawl position is arranged in backwards to the side of feeding device in pcb board transmission device comprising pcb board transport mechanism and pcb board fixed drive mechanism；And plug-in unit robot device, for carrying out material grafting to pcb board, the top of the pcb board transmission device is arranged in the plug-in unit robot device；Automatism card machine of the invention passes through the setting of feeding device, material conveying device, plug-in unit robot device and pcb board transmission device, that is, simplifies structure of the invention, saves cost and improve the efficiency of work.

Description

Automatism card machine

Technical field

The present invention relates to insert arrangements, more particularly to a kind of automatism card machine.

Background technique

With the development of electronic technology, plug connector has become the indispensable component part of many electronic components, and During plug connector, the flexibility of the production of plug-in machine, the quick-replaceable of failed element and plug connector is by blueness It looks at, therefore plug-in machine already becomes pcb board essential tool in the production of plug connector.

But in existing automatism card machine, its structure is complicated and the degree of automation is not high, stability is not enough to And working efficiency is relatively low, in modern high-end automated manufacturing industry, it is clear that be not able to satisfy the demand of production.

Summary of the invention

It is simple, high stability, high automation, high efficiency automatic slotting that the embodiment of the present invention provides a kind of structure Part machine；To solve existing automatism card machine, structure is complicated, the degree of automation is not high, stability is insufficient and production efficiency is lower The technical issues of.

The embodiment of the present invention provides a kind of automatism card machine comprising:

Feeding device, for providing material, including pipe charging loader；

Material conveying device, have for plug-in unit robot device carry out crawl material crawl position, for by material from The feeding device is sent to crawl position, and the material conveying device linking is in the end of the feeding device comprising vibration Transport mechanism and Ting Liao mechanism；

Pcb board transmission device has the operation area that material grafting is carried out for the plug-in unit robot device, for transmitting The crawl position is arranged in backwards to the side of the feeding device in pcb board, the pcb board transmission device comprising pcb board transmission Mechanism and pcb board fixed drive mechanism；And

The plug-in unit robot device, for carrying out material grafting to pcb board, the plug-in unit robot device is arranged in institute State the top of pcb board transmission device, including at least one manipulator mechanism, manipulator mounting structure and lift drive mechanism.

Automatism card machine compared to the prior art, automatism card machine of the invention are filled by feeding device, material transmission It sets, the setting of plug-in unit robot device and pcb board transmission device, that is, simplify structure of the invention, save cost and improves The efficiency of work；Wherein, the setting of the operation conveying mould group of pcb board transmission device, improves the stabilization of pcb board grafting material Property, on the other hand, by the layout and collocation of above-mentioned four partial devices, improve the degree of automation of the invention；It solves existing The automatism card machine technical problem that structure is complicated, the degree of automation is not high and production efficiency is lower.

Detailed description of the invention

In order to more clearly explain the embodiment of the invention or the technical proposal in the existing technology, below to required in embodiment Attached drawing to be used is briefly described.The accompanying drawings in the following description is only section Example of the invention, general for this field For logical technical staff, without creative efforts, other attached drawings can also be obtained according to these attached drawings.

Fig. 1 is the structural schematic diagram of the preferred embodiment of automatism card machine of the invention；

Fig. 2 is the decomposed formula structural schematic diagram of the pipe charging loader in Fig. 1；

Fig. 3 is the explosive view of vibrating mechanism in Fig. 2；

Fig. 4 is that the vibrating mechanism of pipe charging loader is in the structural schematic diagram of original state；

Fig. 5 is that the vibrating mechanism of pipe charging loader is in the structural schematic diagram of promotion state；

Fig. 6 is the structural schematic diagram in the rotation section of rotating block and hollow-out parts in Fig. 4；

Fig. 7 is the structural schematic diagram in the rotation section of rotating block and hollow-out parts in Fig. 5；

Fig. 8 is the structural schematic diagram of the material conveying device and bulk feeder in Fig. 1；

Fig. 9 is the decomposed formula structural schematic diagram of material conveying device in Fig. 8；

Figure 10 is the enlarged drawing of B in Fig. 8；

Figure 11 is the enlarged drawing of C in Fig. 9；

Figure 12 is the schematic view of the front view of plug-in unit robot device in Fig. 1；

Figure 13 is the decomposed formula structural schematic diagram of plug-in unit robot device in Fig. 1；

Figure 14 is the enlarged drawing of D in Figure 13；

Figure 15 is the schematic cross-sectional view of the fixation member in Figure 13；

Figure 16 is the structural schematic diagram of the pcb board transmission device in Fig. 1；

Figure 17 is the decomposed formula structural schematic diagram of Figure 16；

Figure 18 is the structural schematic diagram of the operation conveying mould group in Figure 17；

Figure 19 is the enlarged drawing of G in Figure 17；

Figure 20 is the structural schematic diagram of pcb board fixed drive mechanism in Figure 17；

When Figure 21 is that the top plate of pcb board transport mechanism is in original state, pcb board fixed drive mechanism and operation convey mould The structural schematic diagram of group；

When Figure 22 is that the top plate of pcb board transport mechanism is in jack-up state, pcb board fixed drive mechanism and operation convey mould The structural schematic diagram of group；

Figure 23 is the structural schematic diagram of the incoming conveying mould group in Figure 17；

Figure 24 is the enlarged drawing of H in Figure 17.

Specific embodiment

The schema in attached drawing is please referred to, wherein identical component symbol represents identical component.The following description is to be based on Illustrated by the specific embodiment of the invention, be not construed as the limitation present invention other specific embodiments not detailed herein.

Fig. 1 is please referred to, Fig. 1 is the structural schematic diagram of the preferred embodiment of automatism card machine of the invention；It is of the invention from Dynamic plug-in machine 100 includes feeding device, material conveying device 20, plug-in unit robot device 30 and pcb board transmission device 40, In, feeding device includes pipe charging loader 10 and bulk feeder.

Feeding device is for providing material, including the pipe charging loader 10 for providing pipe charging and for providing bulk cargo Bulk feeder；Material conveying device 20 has the crawl position that crawl material is carried out for plug-in unit robot device 30, is used for Material is sent to crawl position from feeding device, material conveying device 20 is connected in the end of feeding device comprising vibration passes Send mechanism 21 and Ting Liao mechanism 22；Pcb board transmission device 40 has the work that material grafting is carried out for plug-in unit robot device 30 Industry area 40B, for transmitting pcb board, crawl position is arranged in backwards to the side of feeding device in pcb board transmission device 40 comprising PCB Plate transport mechanism 41 and pcb board fixed drive mechanism 42；And plug-in unit robot device 30 is used to carry out material to pcb board to insert It connects, the top of pcb board transmission device 40, including at least one manipulator mechanism 31, machinery is arranged in plug-in unit robot device 30 Hand mounting structure and lift drive mechanism.

Wherein, automatism card machine 100 further includes that mounting platform for installing pcb board transmission device 40 and setting exist The Y-direction guide rail of mounting platform two sides, the X direction guiding rail slided in Y-direction guide rail, plug-in unit robot device 30 be slidably connected to X to Guide rail；The end of feeding device is connected to material conveying device 20 by a channel, which is optionally a sliding slot or pipe Road.

The pipe charging that the quantity of material conveying device 20 is equal in the quantity and pipe charging loader 10 of bulk feeder is put Set the sum of the quantity of mechanism 11.

In this preferred embodiment, pass through feeding device, material conveying device 20, plug-in unit robot device 30 and pcb board The layout of transmission device 40 so that rationally distributed and structure of the invention is relatively easy, thus improve work efficiency and Reduce cost of the invention.

In the preferred embodiment of automatism card machine 100 of the invention, feeding device includes bulk feeder and pipe charging Loader 10, referring to figure 2. to Fig. 7, pipe charging loader 10 includes pipe charge placement mechanism 11, stock stop 12, bobbing machine Structure 13, charging pipe 14 and bottom plate 15.

Specifically, charging pipe 14 is arranged on pipe charge placement mechanism 11 for putting material；Pipe charge placement mechanism 11 include pipe filling place 111, is provided with supporting element 1111 on pipe filling place 111, the upper end of supporting element 1111 opens up useful The holding tank is passed through in the holding tank and charging pipe 14 for placing and supporting charging pipe 14；Stock stop 12 includes a striker plate 121, The discharge port 1211 that the material that one is used in charging pipe 14 passes through is provided on striker plate 121；Vibrating mechanism 13 is used for material It shakes and comes out from charging pipe 14, vibrating mechanism 13 is arranged in side of the striker plate 121 towards charging pipe 14 and is located at discharge port 1211 lower section；

Wherein, the both ends of charging pipe 14 are respectively the feed end far from vibrating mechanism 13 and the discharging close to vibrating mechanism 13 End, vibrating mechanism 13 include a push pipe face 1312a for being used to jack up the discharge end that 13 top surface of vibrating mechanism is arranged in；

When vibrating mechanism 13 is in original state, the height of push pipe face 1312a is lower than the height of the feed end bottom surface.

It is readily apparent that charging pipe 14 must be moved to push pipe face 1312a when pipe charging loader 10 needs to be fed On, and the port face discharge port 1211 of discharge end, it is come out from charging pipe 14 for the ease of material, therefore push pipe face 1312a Height should be lower than feed end bottom surface height, that is to say, that so that be located at push pipe face 1312a on charging pipe 14 be in one It is a to inclined state under discharge port 1211, in this way the effect of gravity and the vibration of vibrating mechanism 13 cooperation under so that material It is come out from charging pipe 14 and material conveying device is entered by discharge port 1211.

In addition, the height of push pipe face 1312a is in minimum state when vibrating mechanism 13 is in original state.

In existing vibrating mechanism, relatively conventional is vibrator, but the price phase for the vibrator that work efficiency is high To higher, and the vibrator that price is relatively low, working efficiency are again relatively low, therefore in view of cost and working efficiency Problem, in this preferred embodiment, such as Fig. 2 to Fig. 3, vibrating mechanism 13 includes push pipe part 131, locating part 132, vibrating member 133 With fixing piece 134.

Specifically, push pipe part 131 includes push pipe ontology 1311, is provided with 1311 top of push pipe ontology and protrudes from push pipe sheet The push pipe portion 1312 of 1311 two sides of body, be arranged in 1311 two sides of push pipe ontology bottom end limiting section 1313, be arranged in push pipe sheet Recessed portion 1314, the Yi Jishe body 1311 two sides middle-end and surrounded by push pipe portion 1312, push pipe ontology 1311 and limiting section 1313 Set the hollow-out parts 1315 on push pipe ontology 1311；

First receiving portion of the locating part 132 towards 131 one end intermediate region of push pipe part is arranged in including one in locating part 132 1321, the side 1322 that 1321 two sides of the first receiving portion are arranged in and setting locating part 132 are under 131 one end of push pipe part The second receiving portion 1323 that is partial and being connected to the first receiving portion 1321；

Wherein, push pipe ontology 1311 passes through the first receiving portion 1321 and stretches out in the first receiving portion 1321, and side 1322 is worn Recessed portion 1314 is crossed to be fixedly connected with striker plate 121；The length of recessed portion 1314 is greater than the length of side 1322, so that push pipe part 131 have certain mobile space；

Vibrating member 133 includes protruding into the rotating block 1331 rotated in hollow-out parts 1315 and in hollow-out parts 1315 and driving The vibrating motor 1332 that rotating block 1331 rotates, rotating block 1331 are connect with vibrating motor 1332 by rotation axis 1333；Vibration Motor 1332 is fixed on fixing piece 134 and fixing piece 134 is fixedly connected on locating part 132；

Specifically, fixing piece 134 includes a base portion 1341, the protrusion 1342 that 1341 top intermediate region of base portion is arranged in And the fixation hole 1343 on protrusion 1342 is set；Protrusion 1342 protrudes into the second receiving portion 1323, vibrating motor 1332 pass through fixation hole 1343 and are fixedly connected with 1343 inner wall of fixation hole, and the two sides of base portion 1341 and locating part 132 pass through spiral shell Line connection.

Wherein, such as Fig. 6 and Fig. 7, rotating block 1331 includes the first radius of gyration R1 and the second radius of gyration R2, the first rotation Radius R1 is the distance of center of rotation O to 1331 peripheral side farthest point C of rotating block, and the second radius of gyration R2 is that center of rotation O is arrived The distance of 1331 peripheral side closest approach D of rotating block；And first radius of gyration R1 be greater than the second radius of gyration R2.

In addition, in order to ensure rotating block 1331 is able to ascend push pipe part 131, therefore in this preferred embodiment, hollow-out parts 1314 inner wall includes a vertex E, and vertex E is the highest point of 1314 inner wall of hollow-out parts, and center of rotation O is to the most short of vertex E Distance L is less than the first radius of gyration R1.

It is readily apparent that shortest distance L is the distance when vibrating mechanism 13 is in original state.

As shown in Figures 4 to 7, when vibrating mechanism 13 is in original state, the bottom surface in push pipe portion 1312 resists locating part The first receiving portion 1321 is stretched out in 132 top surface, the lower part of push pipe ontology 1311, and limiting section 1313 is far from locating part 132, rotation The center of rotation O of block 133 is close to vertex E；When vibrating mechanism 13 is in promotion state, push pipe portion 1312 is far from locating part 132 Top surface, the upper part of push pipe ontology 1311 stretches out the first receiving portion 1321, and limiting section 1313 is close to locating part 132, rotating block 133 center of rotation O is far from vertex E, and farthest point C is overlapped in vertex E.

In addition, when this preferred embodiment is fed, charging pipe 14 is located in push pipe portion 1312, therefore when vibration When mechanism 13 is in promotion state, the discharge end of charging pipe 14 rises；When vibrating mechanism 13 is in original state, charging pipe 14 Discharge end decline, so material is released from charging pipe 14 in continuous raising and lowering.

In this preferred embodiment, rotating block 1331 be it is cylindric, the end face of rotating block 1331 be fixedly connected on vibration electricity The rotation axis 1333 of machine 1332, and hollow-out parts 1315 are also cylindric, wherein the section radius R3 of hollow-out parts 1315 is more than or equal to First radius of gyration R1.

Such setting avoids push pipe part so that rotating block 1331 will not touch the left and right sides of hollow-out parts 1315 131 move left and right and charging pipe 14 are driven to move left and right, to improve the stability of charging pipe 14；On the other hand, due to rotation The lateral surface of block 1331 and the medial surface of hollow-out parts 1315 are periphery, therefore reduce rotating block 1331 and hollow-out parts The relative friction intensity of 1315 inner walls, to improve the service life of the two.

In this preferred embodiment, pipe charge placement mechanism 11 further includes the guide rail being arranged in below pipe filling place 111 112 and the driving motor 113 mobile in guide rail 112 of driving tube filling place 111, the extending direction and charging pipe of guide rail 112 14 extending direction is substantially vertical；

Specifically, the bottom both ends setting of pipe filling place 111 is in sliding block, pipe filling place 111 is by sliding block in guide rail It is moved on 112；The bottom middle-end of pipe filling place 111 is fixedly installed a link block, and driving motor 113 passes through ball screw 114 are drivingly connected block movement, so that pipe filling place 111 be driven to slide along guide rail 112.

The setting of guide rail 112 and driving motor 113 switches over the discharging between charging pipe 114.

1312 push pipe portions further include the inclined-plane 1312b that the push pipe face two sides 1312a are arranged in, to ensure when discharge end bottom surface is low When the 1312a of push pipe face, discharge end is still movable on the 1312a of push pipe face.Wherein inclined-plane 1312b is downwardly inclined.

In the preferred embodiment, pipe charging loader 10 further include a bottom plate 15 that 121 bottom of striker plate is set and Bottom plate 15 is towards being obliquely installed under the one end for being connected to striker plate 121；Guide rail 112 is arranged on bottom plate 15 and pipe filling place Plane where 111 is substantially parallel in the plane where bottom plate 15.

In addition, four angular zones of bottom plate 15 are provided with four pillars, respectively the first, second, third and fourth pillar, In, the height of the first and second pillars is roughly equal, and the height of third and third pillar is roughly equal, and the first, second pillar Height be higher than third, the height of the 4th pillar.When therefore adjusting the gradient of charging pipe 14 if necessary, it is only necessary to adjust the One, the height or third of the second pillar, the height of the 4th pillar.

It is understood that when charging pipe 14 is moved on the 1312a of push pipe face, since discharge port 1211 is opened always , so causing the material in charging pipe 14 to be easy to unintentionally fall out to come from discharge end, to influence subsequent process, it is contemplated that this The problem of sample.

Stock stop 12 in this preferred embodiment further includes a backgauge component 122, and backgauge component 122 includes setting discharging Mouthful 1211 tops and the cylinder fixed seat being fixedly connected with striker plate 121 are arranged below cylinder fixed seat and are located at discharge port Backgauge part in 1211 and be arranged in cylinder fixed seat top for promoting and declining the backgauge cylinder of backgauge part；

When charging pipe 14 does not move on the 1312a of push pipe face or the discharging of charging pipe 14 finishes, backgauge part is located at discharge port 1211 bottom, when charging pipe 14 be moved on the 1312a of push pipe face and charging pipe 14 start discharging (i.e. vibrating mechanism 13 starts to mention Rise) when, backgauge part is located at the top of discharge port 1211.

Specifically, backgauge part is side's shape, and side of the backgauge part towards vibrating mechanism 13 is slightly below in 121 face of striker plate To the side of vibrating mechanism 13.

In this preferred embodiment, in order to enable material is quick and in good order discharge from discharge end and passes through discharge port 1211, the end face of discharge end is bonded with striker plate 121 towards the side of charging pipe 14.

Based on above-mentioned structure, in this preferred embodiment, the quantity of pipe filling place 111 is at least one, discharge port 1211 quantity is consistent with the quantity of pipe filling place 111；The quantity of charging pipe 14 on same pipe filling place 111 is set For at least one, the quantity of the supporting element 1111 on same pipe filling place 111 is at least one, and on each supporting element 1111 Holding tank quantity it is consistent with the quantity of charging pipe 14.

Specifically, the quantity of pipe filling place 111 is two, discharge port 1211 is two, on same pipe filling place 111 Charging pipe 14 be quantity be three, the supporting element 1111 on same pipe filling place 111 is two, and two supporting elements 1111 are set The holding tank set on the both ends of pipe filling place 111 and two supporting elements 1111 corresponds.Certain pipe filling place 111, The quantity of charging pipe 14 and supporting element 1111 is not limited to this.

The Charge motion process of the pipe charging loader 10 of this preferred embodiment is as follows:

Firstly, the driving motor 113 in pipe charge placement mechanism 11 drives ball screw 114 to rotate, to drive fixation The pipe filling place for being connected to link block is moved along guide rail 112 to discharge port 1211；Until the charging pipe on supporting element 1111 14 discharge end is moved on the push pipe face 1312a of the push pipe part 131 of vibrating mechanism 13, the port face discharging of such discharge end Mouth 1211；

Then, the vibrating motor 1332 in vibrating member 133 starts turning and drives rotating block 1331 by rotation axis 1333 It is rotated in the hollow-out parts 1315 of push pipe part 131, to drive push pipe part 131 in the first receiving portion 1321 of locating part 132 It vibrates up and down, vibrates up and down the charging pipe 14 on the 1312a of push pipe face；

Then, the backgauge cylinder driving backgauge part in stock stop 12 rises, and is stable at the top of discharge port 1211, this It is the material in charging pipe 14 due to the influence by gravity and vibration, discharges from the discharge end of charging pipe 14 and pass through discharge port 1211 enter material conveying device；

Finally, backgauge cylinder drives the decline of backgauge part, and is located at discharge port after the material discharging in charging pipe 14 1211 bottom.

The feeder process of the pipe charging loader 10 of this preferred embodiment is just completed in this way.

Pipe charging loader of the invention passes through the setting of vibrating mechanism and pipe charge placement mechanism, improves work efficiency With reduce the spoilage of material, to reduce the fraction defective of product；In addition, pipe charging loader of the invention passes through push pipe The setting of part, locating part, fixing piece and vibrating member reduces cost of the invention.

Fig. 8 to Figure 11 is please referred to, the material conveying device 20 of automatism card machine 100 of the invention includes vibration transmission mechanism 21, Ting Liao mechanism 22 and regulating mechanism 23.

Specifically, vibration transport mechanism 21 include passage component 211 and be arranged in 211 bottom of passage component for shaking The vibrator 212 of dynamic passage component 211, passage component 211 include feed end and discharge end, which is connected to by pipeline The discharge port of bulk feeder；

Ting Liao mechanism 22 is connected to the discharge end of passage component 211, and Ting Liao mechanism 22 includes stopping expecting that platform 221, setting exist Stop expecting that stop the material component 222 and setting of the discharge end one end of platform 221 far from passage component 211 are stopping expecting 221 side of platform Or the induction component 223 of two sides；

Wherein, passage component 211 includes the sliding slot for being used to accommodate and transmit material 50 that 211 top of passage component is arranged in 2111, stop expecting that platform 221 includes that the limiting slot 2211 for stopping expecting 221 top of platform is arranged in；Sliding slot 2111 is towards limiting slot 2211 Lower inclination is correspondingly arranged, and limiting slot 2211 is horizontally disposed.

Since sliding slot 2111 is towards being obliquely installed under limiting slot 2211 and the vibration of vibrator 212 cooperation, so that accommodating In the material 50 in sliding slot 2111 under the action of receiving gravity and vibration, so that feed end of the material 50 from passage component 211 It is mobile to discharge end；Additionally, due to the relationship of sliding slot 2111 and the oblique corresponding undertaking of limiting slot 2211, so that material 50 is from discharging End enter limiting slot 2211, and enter limiting slot 2211 material 50 due to downward inertia force and subsequent material thrust it is common Effect, so that material 50 is after entering horizontally disposed limiting slot 2211, material 50 also will continue to move forward, until material 50 Stopped expecting that component 222 blocks and stays in the crawl position that material is grabbed for plug-in unit robot device 30.

The crawl position is arranged in the end of limiting slot 2211 and is located at and stops expecting front of the component 222 towards limiting slot 2211.

Also in that in view of plug-in unit robot device 30 in stop expect platform 221 crawl position grab material 50 the problem of, If limiting slot 2211 has a gradient, plug-in unit robot device 30 is before grabbing material 50 and carries out plug-in unit behaviour Before work, plug-in unit robot device 30 then needs to carry out the adjustment of angle, accurately to complete the movement of crawl and plug-in unit, so just The regular hour is wasted, to reduce working efficiency；Therefore for the horizontally disposed of limiting slot 2211, subsequent work is improved The working efficiency of sequence.

In addition, the speed that material 50 moves in sliding slot 2111 has depended on two factors, first is that the vibration frequency of vibrator 212 Rate and amplitude, but the gradient of sliding slot 2111；Wherein the vibration frequency and amplitude of vibrator 212 can be by itself adjustings Setting is realized, and the gradient of sliding slot 2111 can then be realized by regulating mechanism 23, then for being carried out by regulating mechanism 23 The adjusting of 2111 gradient of sliding slot, will hereafter be described in detail.

In conclusion the therefore above-mentioned structure setting of this preferred embodiment, not only structure is simple, has flexibility, reduces Cost and the working efficiency for improving automatism card machine.

Further, in order to enable sliding slot 2111 and docking for limiting slot 2211 are more accurate, so that material 50 is more fast It is prompt and safety to enter in limiting slot 2211, in this preferred embodiment, the extension line and limiting slot of 2111 central axes of sliding slot The extension line of 2211 central axes is substantially overlapped in the projection on horizontal plane.

Certainly, coincidence here is the coincidence when vibrator 212 remains static.And when vibrator 212 is in vibration When dynamic state, the extension line that the amplitude of sliding slot 2111 is generally concerned with 2211 central axes of limiting slot is symmetrical.

Further, it is contemplated that material 50 in sliding slot 2111 and limiting slot 2211 movement speed and material it is orderly The uniformity that property and 50 self-view of material are put, therefore the width of limiting slot 2211 and the width of sliding slot 2111 are roughly equal, And the width of the two is slightly larger than the width of material.

In addition, the material 50 in sliding slot 2111 in working condition, is in vibrational state, in order to avoid material 50 exists During vibration, there is material 50 and be detached from sliding slot 2111 or the situation unstable in sliding slot 2111 of material 50, therefore sliding slot 2111 depth is slightly above the height of material 50.

On the other hand, since the material 50 being located in limiting slot 2211 will be grabbed by plug-in unit robot device 30, because This is for the ease of the quick stable crawl material of plug-in unit robot device 30, in this preferred embodiment, the depth of limiting slot 2211 Degree is lower than the height of material 50.

In this preferred embodiment, in order to simplify the processing technology of sliding slot 2111 and limiting slot 2211, sliding slot of being more convenient for 2111 and limiting slot 2211 docking, and improve stability and order of the material in sliding slot 2111 and limiting slot 2211, The bottom surface of sliding slot 2111 is tapered plane, and the bottom surface of limiting slot 2211 is horizontal plane, and the two has straight trough.Certainly, sliding slot 2111 Bottom surface be also possible to cambered surface.

Further, due to stopping expecting that the limiting slot 2211 on platform 221 is stationary, and the sliding slot in working 2111 be in vibrational state, and it is therefore possible to the materials 50 in sliding slot 2111 to be not easily accessed in limiting slot 2211, in order to Material 50 in sliding slot 2111 is fast smoothly entered in limiting slot 2211, in this preferred embodiment, it is flat to stop material Platform 221 is provided with one for leading the 50 guide and limit slot 2211 of material on sliding slot 2111 close to one end of passage component 211 To slot 2212, guide groove 2212 is arranged in the front of limiting slot 2211 and is connected to limiting slot 2211；Guide groove 2212 is opened Open area is gradually increased from the one end for being connected to limiting slot 2211 to towards one end of sliding slot 2111, and the two sides of guide groove 2212 Face is symmetrically arranged guiding surface 2212a.

Preferably, the shape of the horizontal cross-section of guide groove 2212 is isosceles trapezoid, the area of the upper port of guide groove 2212 Less than the area of lower port, wherein upper port is the port being connected to limiting slot 2211, the area and shape of upper port and limit The area of the port of slot 2211 is consistent with shape.

In this preferred embodiment, Ting Liao mechanism 22 further includes a shield materials and parts 224, and the setting of shield materials and parts 224 is stopping expecting platform 221 surface at the top of one end of discharge end and positioned at guide groove 2212；Wherein, the middle part of materials and parts 224 is protected towards guiding One end of slot 2212 offers a feed inlet 2241, and 2241 width of feed inlet is greater than the width of sliding slot 2111.

Further, the width of discharge port 2241 is substantially equal to the width of 2212 lower port of guide groove.

It is readily apparent that the depth due to limiting slot 2211 is lower than the height of material 50, when material 50 is from sliding slot 2111 During being transitioned into limiting slot 2211, when material 50 is completely into guide groove 2212, material 50 also in vibrational state, At this moment, if when the Oscillation Amplitude and excessively high frequency of material 50, material 50 is easy to be detached from guide groove 2212 and limiting slot 2211, Therefore the setting for protecting materials and parts 224, avoids the generation of above situation, so that material 50 is smoothly transitioned into limit from sliding slot 2111 Slot 2211.

In this preferred embodiment, stop expecting component 222 include be arranged in the fixed part 2221 for stopping expecting the top of platform 221, with And fixed part 2221 is set towards 2211 one end of limiting slot and protrude from fixed part 2221 stop material portion 2222, stop material portion 2222 Positioned at the top of limiting slot 2211；The two sides of fixed part 2221 are fixedly connected by screw with material platform 221 is stopped, and material portion 2222 is stopped End face towards material 50 is approximately perpendicular to the bottom surface of limiting slot 2211.

Such setting not only makes material so that material 50 carries out contact of the face with face in the end face for stopping material portion 2222 50 stop is more stable, and increases the forced area for stopping material portion 2222, so that the stress for stopping material portion 2222 is more balanced, Improve its service life.

In this preferred embodiment, induction component 223 is to be symmetricly set on to fiber sensor is penetrated to fiber sensor is penetrated The light for stopping expecting the two sides of platform 221, and issuing to the light emission port for penetrating fiber sensor, which is located at, stops material portion 2222 towards object On the end face of material 50.

That is, being located at the end of crawl position to the light for the sending for penetrating fiber sensor, therefore only work as material 50 When completely into limiting slot 2211 and being completely on crawl position, it can be stopped by material 50 to light is penetrated, at this point, to light is penetrated Fine inductor can just sense material 50, and plug-in unit manipulator is given in rear citation, allow plug-in unit manipulator in crawl material 50 on crawl position.

Based on above-mentioned structure, in this preferred embodiment, material conveying device 20 further includes one for adjusting sliding slot 2111 The regulating mechanism 23 of gradient, regulating mechanism 23 include the seat board 231 that 212 bottom of vibrator is arranged in, are arranged under seat board 231 The pedestal 232 of side and the adjusting stud 233 being arranged between seat board 231 and pedestal 232 adjust stud 233 and are arranged in seat board 231 four angular zones；Wherein, vibrator 212 is fixedly connected by cushion with seat board 232.

Wherein, the gradient of sliding slot 2111 can be adjusted by adjusting the height of four adjusting studs 233.

In addition, being additionally provided with a vibration footstock 2121 between passage component 211 and vibrator 212, passage component 211 is fixed It is connected on vibration footstock 2121, vibration footstock 2121 is fixed at the top of vibrator 212.

Material conveying device 20 further includes a full material inductor 213 that 211 feed end side of passage component is arranged in, should be into Expect to be provided with an opening in the one side wall at end, completely the light-emitting surface face of material inductor 213 opening；

Wherein, completely material inductor 213 is fixedly connected by a fixed plate 214 with passage component 211, and fixed plate 214 is fixed The top of the opening is set.

Material conveying device of the invention works normally effect meeting by the setting of vibration transport mechanism and Ting Liao mechanism Under the premise of rate, simplifies overall structure of the invention and save cost.

Figure 12 to Figure 15 is please referred to, the plug-in unit robot device 30 of automatism card machine 100 of the invention includes at least one Manipulator mechanism 31, manipulator installing mechanism, lift drive mechanism and corner driving mechanism.

Manipulator mechanism 31 includes connecting rod 311, the feeding component 312 of 311 one end of connecting rod is arranged in and is sheathed on Fixation member 313 of the connecting rod 311 close to 312 one end of feeding component；Manipulator installing mechanism includes backboard 321, is arranged and is carrying on the back Plate 321 towards 31 side top of manipulator mechanism and with the first mounting hole 3221 fixed plate 322, be arranged in fixed plate 322 lower sections and with the consistent vertical guide 323 of the extending direction of 3221 axis of the first mounting hole and be slidably connected to vertical Guide rail 323 and the slide 324 for being fixedly connected with fixation member 313；Lift drive mechanism is for driving manipulator mechanism 31 along perpendicular Direction guiding rail 323 is mobile；

Wherein, the bottom end of fixation member 313 be provided with one and first mounting hole 3221 be coaxially disposed the second mounting hole 3131, connecting rod 311 passes through the first mounting hole 3221 and the second mounting hole 3131, and connecting rod 311 passes through first bearing 3222 It is connect with the first mounting hole 3221, connecting rod 311 is connect by the second mounting hole 3131 with fixation member 313.

It is readily apparent that since vertical guide 323 is vertically arranged, and the first mounting hole 3221 and the second mounting hole 3131 extending direction is consistent with the extending direction of vertical guide 323, and connecting rod 311 passes through first bearing 3222 and the first peace It fills hole 3221 to connect, and is flexibly connected by the second mounting hole 3131 with fixation member 313；Since first bearing 3222 is fixed Be placed in the first mounting hole 3221 and the radial direction of first bearing 3222 perpendicular to the first mounting hole 3221 axis direction, The axis direction of second mounting hole 3131 is consistent with the first mounting hole 3221；Therefore, it is installed by first bearing 3222, second The limitation in hole 3131 and vertical guide 323, it is ensured that the axis direction of connecting rod 311 be it is vertical, ensure that connecting rod 311 Verticality.

Furthermore, it is contemplated that the limitation of only first bearing 3222, the second mounting hole 3131 and upright guide rail 323, once It has slight deviations during the installation for being attached bar 311, it is bad to detected, it will affect subsequent work effect in this way Rate, therefore the verticality in order to preferably ensure connecting rod 311, in this preferred embodiment, the top of fixation member 313 is arranged There is a third mounting hole 3133, third mounting hole 3133 and the second mounting hole 3131 are coaxially disposed, and connecting rod 311 is pacified across third Hole 3133 is filled, and connecting rod 311 is connected by 3133 fixation member 313 of third mounting hole.Is fixedly installed in connecting rod 311 Two bearings 3132 and 3rd bearing 3134, second bearing 3132 be arranged in the second mounting hole 3131 and with the second mounting hole 3131 Rotation connection, 3rd bearing 3134 are arranged in third mounting hole 3133 and are rotatablely connected with third mounting hole 3133.

The setting of second bearing 3132 and 3rd bearing 3134, so that fixation member 313 and connecting rod 311 realize connection Bar 311 rotates, and the state that fixation member 313 does not rotate, that is, connecting rod 311 can be rotated relative to fixation member 313；The The setting of three mounting holes 3133, so that connecting rod 311 is under the action of third mounting hole 3133 and upright guide rail 323, further Ensure the verticality of connecting rod 311；On the other hand, since fixed plate 322 is fixed on backboard 321, fixation member 313 It is to be slided in vertical guide 323, therefore the first bearing 3222 being arranged in the first mounting hole 3221 is fixed, and set It sets and follows fixation member 313 to slide in second, third corresponding mounting hole；Once therefore 311 run-off the straight of connecting rod, in fixation In uphill process of the component 313 along vertical guide 323, under the action of the second mounting hole 3131 and third mounting hole 3133, As long as fixation member 313 does not arrive at predeterminated position and the phenomenon that locking occurs, just illustrates 311 run-off the straight of connecting rod, need school Just.

In addition, for the ease of the horizontal positioned of the first mounting hole 3221, fixed plate 322 is plate structure, and fixed plate 322 Transverse extension direction it is vertical with the extending direction of vertical guide 323；In addition, for the ease of accurately installing vertical guide 323, In being provided with guide rail locating slot on backboard 321, for installing vertical guide 323.

It is also arranged in this preferred embodiment, in connecting rod 311 under cushion cover 314 on spring, buffer spring 315, spring Cushion cover 316 and fixing sleeve 317；Wherein, on spring cushion cover 314 on partially protrude into fixation member 313, cushion cover 316 under spring It is fixedly connected on connecting rod 311, buffer spring 315 is arranged on spring under cushion cover 314 and spring between cushion cover 316；

Specifically, fixing sleeve 317 is arranged on fixation member 313 and is fixedly connected with connecting rod 311, cushion cover on spring 314 settings partially protrude under fixation member 313, and on spring on cushion cover 314 in the bottom end of fixation member 313, and spring Lower cushion cover 316 is fixedly connected on connecting rod 311.

Such setting, so that fixation member 313 is limited on fixing sleeve 317 and spring between cushion cover 314.And it buffers The setting of spring 315, so that feeding component 312 plays the role of buffering, avoid feeding component when carrying out grafting to pcb board 312 damage pcb board because grafting is excessive.

In this preferred embodiment, the middle-end of fixation member 313 is additionally provided with a receiving hole 3135, sets in receiving hole 3135 It is equipped with ecto-entad and is disposed with ball bushing outer cylinder 3136 and Miniature ball sliding sleeve 3137；

Wherein, Miniature ball sliding sleeve 3137 is sheathed on connecting rod 311, and it is sliding that ball bushing outer cylinder 3136 is sheathed on Miniature ball Set 3137, receiving hole 3135, the second mounting hole 3131 and third mounting hole 3133 are coaxially disposed, and receiving hole 3135 and the second peace Hole 3131 is filled to be connected to.In addition, the top of receiving hole 3135 is fixedly connected by a baffle 3138 with fixation member 313.

The setting of ball bushing outer cylinder 3136 and Miniature ball sliding sleeve 3137 allows connecting rod 311 more smoothly It is rotated relative to fixation member 313, the pivoting friction of connecting rod 311 Yu fixation member 313 is further reduced, to improve The service life of fixation member 313 and connecting rod 311.

In this preferred embodiment, feeding component 312 is but is not limited to one of mechanical clamp and suction nozzle；Preferably in this In embodiment, there are four manipulator mechanisms 31, wherein three are with mechanical clamp, one suctorial to have, corresponding , there are four the first mounting holes 3221 for setting in fixed plate 322.

In the manipulator mechanism 31 that feeding component 312 is mechanical clamp, connecting rod 311 connects the one of feeding component 312 End is provided with a connecting component 318, and connecting component 318 is including a connection main body 3181 and connection 3181 bottom end of main body is arranged in Pedestal 3182 is connected, the extending direction for connecting main body 3181 is vertical with the extending direction for connecting 3182 bottom surface of pedestal；

Wherein, connection main body 3181 is coaxial with connecting rod 311 by a link block 319 and is fixedly connected, and connects pedestal 3182 bottom surface is coaxially disposed and is fixedly connected with the mechanical clamp.

Specifically, mechanical clamp includes collet attachment base 3121, the collet 3122 that 3121 bottom of collet attachment base is arranged in And the driving cylinder 3123 of the driving clamping material of collet 3122 at 3121 top of collet attachment base is set；Wherein, gas is driven Cylinder 3123 is connected through a screw thread with pedestal 3182 is connect.

Due to the setting of connecting component 318 and link block 319, hang down so that mechanical clamp and connecting rod 311 keep identical Straight degree, and the mode that horizontal 3182 bottom surface of connection pedestal and driving 3123 top surface of cylinder is fitted and connected, further accurate machine The verticality of tool clip.

Feeding component 312 be suction nozzle manipulator mechanism 31 in, the suction nozzle include a columned connector and with even The suction piece for absorbing material that fitting is fixedly connected, wherein connecting rod 311 protrude into connector and by screw with connect Part is fixedly connected, and connector, suction piece and connecting rod 311 are coaxially disposed.

In addition, the lower section of cushion cover 316 is provided with one for connecting driving cylinder 3123 under the spring in connecting rod 311 L-type gas connector, and the top of connecting rod 311 is provided with another gas of a connection L-type gas connector and connects connector.

In this preferred embodiment, lift drive mechanism includes that driving gear 331 and driving driving gear 331 rotate Driving motor 332, slide 324 are fixedly installed the vertical tooth cooperated with driving gear 331 close to the side of driving gear 331 Item 325；

Wherein, side of the backboard 321 backwards to connecting rod 311 is arranged in driving motor 332, and the driving setting of gear 331 is being carried on the back Side of the plate 321 towards connecting rod 311.

Specifically, by the cooperation of driving gear 331 and rack gear 325, so that being fixedly connected on the fixation member of slide 324 313, connecting rod 311 can be driven to move up and down, so that feeding component 312 be driven to move up and down.

Further, the bottom end of side of the backboard 321 towards connecting rod 311 is additionally provided with a limit base 326, limit base 326 are arranged in the underface of rack gear 325 and move down for limiting rack gear 325.

In this preferred embodiment, plug-in unit robot device 30 further includes corner driving mechanism, and corner driving mechanism includes The corner synchronizing wheel 341 at 3222 top of first bearing is set, the splined shaft 342 that 341 top of corner synchronizing wheel is set, is used for Corner driving wheel 343 that drive corner synchronizing wheel 341 rotates and that 341 side of corner synchronizing wheel is arranged and setting are in corner The turn driving motor 344 of 343 top of driving wheel, connecting rod 311 are splined shaft；

Wherein, corner synchronizing wheel 341, hub splines 342, first bearing 3222 be coaxially disposed, and hub splines 342 with turn Angle synchronizing wheel 341 is fixedly connected.Corner driving wheel 343 is connect with corner synchronizing wheel 341 by belt.

In addition, for the ease of adjusting the elasticity of belt between corner driving wheel 343 and corner synchronizing wheel 341, in corner Idle pulley is provided between driving wheel 343 and corner synchronizing wheel 341 or between corner synchronizing wheel 341 and corner synchronizing wheel 341.

Specifically, corner driving wheel 343, corner synchronizing wheel 341 and idle pulley are arranged on the top surface of fixed plate 322, and The bottom of first bearing 3222 is additionally provided with circlip and anticollision rubber ring.

The setting of anticollision rubber ring is for when rising excessive, fixing sleeve 317 being avoided to hit in 311 uphill process of connecting rod Hit fixed plate 322 and first bearing 3222.

The rotation process of connecting rod 311 is as follows: turn driving motor 344 drives corner driving wheel 343 to rotate first, then Corner driving wheel 343 drives corner synchronizing wheel 341 to rotate by belt, is then fixedly connected on the spline of corner synchronizing wheel 341 Axle sleeve 342 rotates simultaneously, and connecting rod 311 (splined shaft) is driven to rotate.

In addition during connecting rod 311 rotates, fixation member 313 is due to being provided with ball bushing outer cylinder 3136 and micro- Type ball sliding bush 3137 rotates connecting rod 311 relative to fixation member 3113.

Plug-in unit robot device 30 of the invention is by the first mounting hole and first bearing cooperation, the second mounting hole and erects The setting of direction guiding rail, so that the verticality for passing through the connecting rod of the first mounting hole and the second mounting hole is more accurate, further Improve the working efficiency of grafting material of the present invention；In addition the work of correction connecting rod verticality is played in the setting of third mounting hole With.

Figure 16 to Figure 17 is please referred to, the pcb board transmission device 40 of automatism card machine 100 of the invention is transmitted including pcb board Mechanism 41 and pcb board fixed drive mechanism 42 and Width adjusting mechanism 43, pcb board transport mechanism 41 include incoming conveying mould group 411, make Industry conveys mould group 412 and outflow conveying mould group 413.

Pcb board transmission device 40 includes the incoming area 40A of a pcb board 60 for being passed to non-grafting material, is used for pcb board The operation area 40B of 60 grafting materials and outflow area 40C for spreading out of the pcb board 60 that grafting material finishes；

Pcb board transport mechanism 41 includes the incoming conveying mould group 411 that the incoming two sides area 40A are arranged in, is arranged in operation area The operation conveying mould group 412 of the two sides 40B and the outflow conveying mould group 413 that the outflow two sides area 40C are set；Wherein, it is passed to defeated Mould group 411, operation conveying mould group 412 and outflow conveying mould group 413 is sent successively to be connected, and pcb board 60 is arranged in pcb board conveyer Between structure 41；Pcb board fixed drive mechanism 42 is arranged for driving the fixed pcb board 60 of operation conveying mould group 412 in operation area The lower section of 41B；

Wherein, operation conveying mould group 412 include one first side plate 511, be arranged in the top of the first side plate 511 and towards work Moving up and down pallet track of first side plate 511 towards the operation area side 40B is arranged in the baffle 512 of industry area 40B stretching 513, pallet track 513 and baffle 512 cooperate, for the fixed pcb board 60 being located in the 40B of operation area.

In this preferred embodiment, pcb board 60 is placed in pallet track 513, and by the rising of pallet track 513 with It is fixed on the cooperation of the baffle 512 on the first side plate 511, to clamp the PCB being placed between pallet track 513 and baffle 512 Two sides of plate 60 are to fix pcb board 60；To play a firm effect；On the other hand, due to incoming conveying The linking of mould group 411, operation conveying mould group 412 and outflow conveying mould group 413, so that the transmission of pcb board 60 is more convenient simple； And pcb board 60 is placed between pcb board transport mechanism 41, limits moving left and right for pcb board 60, so that pcb board 60 is in pcb board Transmission in transport mechanism 41 is more stable and accurate.

Specifically, please referring to Figure 18 and Figure 19, the top half of pallet track 513 is provided with transmission groove body, the conveying trough Body includes at the top of side channel plate 5131 and spaced protrusive board 5132, setting close to the side channel plate 5131 of the first side plate 511, setting Set the bottom cut board 5133 in 5131 bottom of side channel plate and the use that is surrounded by side channel plate 5131, protrusive board 5132 and bottom cut board 5133 In the first conveying trough 5134 for placing pcb board 60, the notch of the first conveying trough 5134 towards operation area 40B, and protrusive board 5132 it Between be arranged jagged 5135；Baffle 512 includes the baffle ontology 5121 for being fixedly connected on the first side plate 511, is arranged in baffle sheet It 5121 side of body and is opened towards the operation area 40B lug 5122 protruded and by what lug 5122 and baffle ontology 5121 surrounded Mouth 5123；

Wherein, notch 5135 and 5122 corresponding matching of lug and lug 5122 protrudes into notch 5135, protrusive board 5132 with open 5123 corresponding matchings of mouth and protrusive board 5132 protrude into opening 5123.

The corresponding matching of notch 5135 and 5122 corresponding matching of lug and protrusive board 5132 and opening 5123, so that supporting plate rail Road 513 and baffle 512 are higher to the clamping stability of pcb board 60, and two cooperations all have the guiding role of up and down direction, Under the action of double guiding, so that positioned at the clamping engagement of transmission groove body and baffle 512 positioned at stable and accurate, further raising Clamp pcb board 60 stability being located in the first conveying trough 5134；And the setting of protrusive board 5132, so that pcb board 60 is first When being transmitted in conveying trough 5134, limitation pcb board 60 is offset up, and the setting of side channel plate 5131, so that pcb board 60 is the When being transmitted in one conveying trough 5134, limitation pcb board 60 deviates in the lateral direction, passes to improve pcb board 60 first Send the stability and precision transmitted in slot 5134.

In order to enable the pcb board 60 in the first conveying trough 5134 to be stayed close and avoided in baffle 512 by clamping Lug 5122 damage pcb board 60 surface the bottom of lug 5122 is provided with soft gasket in this preferred embodiment, Such as rubber, fexible film etc., and one side of the soft gasket towards pcb board 60 is rough surface, such as frosting, serrated face Deng in order to more preferably stable pcb board 60.

In addition, the lower half portion of pallet track 513, which is provided with, is fixedly connected on bottom cut board 5133 close to the base of notch side Plate 5136, two end regions of substrate 5136 are provided with first through hole 5138, the first fixed block are provided in first through hole 5138 516, the two sides of the first fixed block 516 are fixedly connected by screw with the first side plate 511；And substrate 5136 and one is consolidated across first The vertical guide post 517 for determining block 516 is slidably connected.Further, the bottom of first through hole 5138 is additionally provided with a first positioning hole, Vertical guide post 517 passes through the first positioning hole.

Wherein, the sectional area of first through hole 5138 is greater than the sectional area of the first fixed block 516, and particularly, first is fixed The bottom surface of block 516 and the bottom surface of first through hole 5138 have certain distance, to facilitate substrate 5136 to rise along vertical guide post 517 And decline.

The intermediate region of substrate 5136 is provided with the second through-hole 5139, is provided with the second fixed block in the second through-hole 5139 518, the two sides of the second fixed block 518 are fixedly connected by screw with the first side plate 511；And second the bottom of through-hole 5139 pass through 518 elastic connection of one elastomeric element and the second fixed block.Further, the bottom of the second fixed block 518 is provided with one and vertically leads Column, the bottom of the second through-hole 5139 are additionally provided with the second location hole of a through substrate 5136, which is fixedly connected on Second fixed block 518 and the second location hole is passed through, and elastomeric element is sheathed on the vertical guide post, it is preferred that the elastomeric element For a spring.

When the substrate 5136 in pallet track 513 rises, the spring extruding force upward by substrate 5136 generate and Deformation, to generate downward deformation power；Therefore, when pallet track 513 will decline reset, first is that pallet track 513 is by certainly The gravity of body, which declines, to be resetted, and is resetted second is that being declined by the downward deformation power of the spring.Therefore the setting of elastomeric element (spring), one It is the buffer function for playing a rising, to avoid damage pcb board 60, second is that playing the role of a quickening decline.

Wherein, it in order to enable the stability and globality of pallet track 513 are more preferable, transmits groove body and substrate 5136 is integrated Molding structure.

Operation conveying mould group 412 further includes one for conveying the first conveyer belt (not indicating in figure) of pcb board 60, and first passes Band is sent to pass through first conveying trough 5134 and exist around the first synchronizing wheel 514 and setting that 513 both ends of pallet track are arranged in First synchronizing wheel 514 is rotated far from the first driving wheel 515 of 513 side of pallet track；First driving wheel 515 is by the first conveying electricity Machine driving.

Specifically, the both ends of substrate 5136 are arranged in the first synchronizing wheel 514, every one end is provided with two the first synchronizing wheels 514, two the first synchronizing wheels 514 are set side by side, and it is lazy to be additionally provided with one between the first driving wheel 515 and the first synchronizing wheel 514 Wheel, for being tensioned the first transmission belt, the first synchronizing wheel 4125 is fixed on the first side plate 511.

5136 one end of substrate be arranged two the first synchronizing wheel 514 the reason of, be since the height of substrate 4124 is relatively high, So that two corners up and down of two 514 counterpart substrates 5136 of the first synchronizing wheel, so that the first conveyer belt can be smoothly Rotation；If first synchronizing wheel 514 is arranged, the corner that will lead to the first conveyer belt and substrate 5136 generates friction, from And damage the first conveyer belt；If one end of certain substrate 5136 only needs first synchronizing wheel 514, can be by substrate 5136 four corners are arranged to the form of inclined edge either chamfering, enable smooth turn of the first conveyer belt to reach Dynamic effect.

In this preferred embodiment, Figure 18 and Figure 20 are please referred to, substrate 5136 is set towards the both ends of 511 side of the first side plate It is equipped with a top pillar 5137, top pillar 5137 is fixedly connected by screw with substrate 5136, and pcb board fixed drive mechanism 42 includes being used for Jack up the top plate 421 of top pillar 5137, the pushing component 422 for pushing the rising of top plate 421 and for driving pushing component 422 Mobile top plate cylinder 423；

Wherein, the lower section of top plate 421 is arranged in pushing component 422 comprising impeller-hub 4221 is arranged in impeller-hub 4221 The idler wheel 4222 at both ends and the connecting rod 4223 being fixedly connected between impeller-hub 4221；421 bottom four corners region of top plate is solid Surely it is provided with the sliding block 4211 cooperated with idler wheel 4222, bottom surface of the sliding block 4211 towards idler wheel 4222 includes that one and idler wheel 4222 are matched Close the inclined-plane 4211c for propping up top plate 421.

Specifically, when top plate 421 rises and contacts with top pillar 5137, the four angular zones contact of top pillar 5137 and top plate 421.

In addition, the bottom surface of sliding block 4211 further includes the horizontal plane 4211b an of transverse direction, horizontal plane 4211b and inclined-plane 4211c It is connected.And pass through the cooperation of horizontal plane 4211b and inclined-plane 4211c and idler wheel 4222, so that idler wheel 4222 and horizontal plane 4211b Contact is contacted with inclined-plane 4211c, when top plate 421 is in original state, idler wheel 4222 and horizontal plane 4211b contact；When When top plate 421 is in jack-up state, idler wheel 4222 and inclined-plane 4211c contact.During top plate 421 rises, idler wheel 4222 It is mobile from the intersection of inclined-plane 4211c and horizontal plane 4211b to the low side of inclined-plane 4211c.

The edges at two ends of 421 bottom of top plate is fixedly installed top plate guide sleeve 4231, the underface of top plate guide sleeve 4231 Top plate guide seats 4232 are provided with, and are provided with top plate guiding between top plate guide seats 4232 and top plate guide sleeve 4231 Column 4233, one end of top plate guide post 4233 are protruded into top plate guide sleeve 4231 and are fixedly connected with top plate 421, top plate guide post 4233 other end passes through top plate guide seats 4232.

Due to the setting of top plate guide post 4233, so that top plate 421 can only move up and down, therefore top plate guide post 4233 is risen To the effect of a guiding and limitation；Because when idler wheel 4222 is from the high-end mobile to the low side of inclined-plane 4211c of inclined-plane 4211c In the process, idler wheel 4222 has a forward thrust and upward top power to sliding block 4211, and due to top plate guide post 4233 setting, so that forward thrust is obstructed, therefore top plate 421 will not move forward, and can only move up；In addition, due to One top plate guide post 4233 is arranged in the direction of advance of impeller-hub 4221, another is arranged on the direction of retrogressing, therefore Top plate guide post 4233 also acts as the effect that a limitation impeller-hub 4221 continues to be moved forward or rearward.

In this preferred embodiment, when pcb board 60 is located in the first conveying trough 5134 and when in clamped condition, pcb board 60 two sides are to clamp, and middle section is hanging, if at this moment carrying out the grafting of material, will be made hanging The appearance of pcb board 60 is pushed by grafting robot device, so that the case where pcb board 60 deforms occurs to damage pcb board 60, in order to It solves above-mentioned technical problem and is additionally provided with the supporting block for being used to support pcb board 60 on top plate 421 in this preferred embodiment, when When top plate 421 is in jack-up state, supporting block is contacted with the bottom surface of pcb board 60；When top plate 421 is in original state, support Block is far from pcb board 60.

Further, 1 and Figure 22 referring to figure 2., when top plate 421 is in original state, idler wheel 4222 and horizontal plane 4221b contact, top plate 421 protrude from opening 5123, lug 5122 to the direction of pcb board 60 far from top pillar 5137, protrusive board 5132 Positioned at the top of notch 5135 and protruding upward in notch 5135, pcb board 60 and lug 5122 have gap；At top plate 421 When the state of jack-up, the low side of idler wheel 4222 and inclined-plane 4211c are contacted, and top plate guide post 4233 rises, and top plate 421 resists top pillar 5137, protrusive board 5132 protrudes from opening 5123 to the direction backwards to pcb board 60, and lug 5122 is located at the bottom of notch 5135, PCB Plate 60 and lug 5122, which support, to be closed.

The setting of pcb board fixed drive mechanism 42, i.e., for jacking up the two sides quilt that pallet track 513 makes pcb board 60 Clamping is contacted with the bottom of pcb board 60 further through supporting block between baffle 512 and pallet track 513, so that pcb board 60 exists It is more stable when carrying out grafting material.

In this preferred embodiment, 3 and Figure 24, pcb board transport mechanism 31 further include being arranged in incoming area referring to figure 2. The incoming conveying mould group 411 of the two sides 40A and the outflow conveying mould group 413 that the outflow two sides area 40C are arranged in, are passed to conveying mould group 411 is same or similar with the structure of outflow conveying mould group 413；Just the structure of outflow conveying mould group 413 is not repeated hereafter.

Wherein, conveying mould group 411 is passed to include the second side plate 4111, be fixedly connected on the second side plate 4111 towards incoming area The supporting plate 4112 of the side 40A and the baffle 4113 for being fixedly connected on 4112 top of the second side plate, the second side plate 4111, supporting plate One is surrounded between 4112 and baffle 4113 for the second conveying trough 4114 that pcb board 60 transmits, the second conveying trough 4114 and first The corresponding linking of conveying trough 5134.Specifically, the bottom surface of the second conveying trough 4114 and the bottom surface of the first conveying trough 5134 flush.

Further, supporting plate 4112 includes that the limit for being used to limit pcb board 60 towards 4111 side of the second side plate is arranged in Position plate 41221 and the inclined surface 4112a that 4112 two sides of supporting plate are set.

In addition, the both ends of supporting plate 4112 are provided with the second synchronizing wheel 4115, the lower section of supporting plate 4112 is provided with second actively Wheel 4116, by the second transmission band connection between the second synchronizing wheel 4115 and the second driving wheel 4116, and the second conveyer belt passes through Second conveying trough 4114, the second driving wheel 4116 are driven by the second feeder motor.

Specifically, one end of supporting plate 4112 is each provided with second synchronizing wheel 4115, it is synchronous in order to avoid being wound on second The second conveyer belt on wheel 4115 is unlikely to friction and damages the second conveyer belt to the corner of supporting plate 4112, therefore supporting plate 4112 Two sides are provided with inclined surface 4112a.

Based on above-mentioned structure, please refer to Figure 17, pcb board transport mechanism 41 include a mobile pcb board transport mechanism with One fixed pcb board transport mechanism, the structure of two pcb board transport mechanisms are consistent；The Width adjusting mechanism 43 of pcb board transmission device 40 The width of different pcb boards 60 is adapted to for adjusting the width between two pcb board transport mechanisms.

Width adjusting mechanism 43 includes that extending direction is approximately perpendicular to the sliding rail 431 of 41 extending direction of pcb board transport mechanism, sliding It is connected to sliding rail 431 and is fixedly connected on the movable block 432 of a pcb board transport mechanism 41, is fixedly connected on another pcb board transmission The mobile wide motor 434 of tune of the fixing seat 433 and driving movable block 432 of mechanism 41, wherein wide motor 434 is adjusted to pass through screw rod 435 connect with movable block 432.

Specifically, one is arranged in the lower section of incoming area 40A, another setting is in outflow area there are two the tools of sliding rail 431 The lower section of 40C；There are two the tools of movable block 432, and one is fixedly connected on the incoming conveying mould group 411 of mobile pcb board transport mechanism Bottom, another is fixedly connected on the bottom of the outflow conveying mould group 413 of mobile pcb board transport mechanism, so that mobile pcb board Transport mechanism can move；There are two the tools of fixing seat 433, is respectively fixedly connected in the incoming conveying of fixed pcb board transport mechanism Mould group 411 and outflow conveying mould group 413, so that fixed pcb board transport mechanism is fixed.

Wherein, in order to realize two 432 synchronous slides of movable block, it is arranged on being connected to the screw rod 435 for adjusting wide motor 434 There is a third driving wheel 436, a third synchronizing wheel 437 is provided on another screw rod 435, third driving wheel 436 and third are same Step wheel 437 is connected by belt.

Based on above-mentioned mechanism, in this preferred embodiment, in operation area the end of 40B be provided with one for keep off stop PCB The limiting component 44 of plate 60, limiting component 44 include moving down on a limited block 441 towards pcb board 60 and driving limited block 441 Dynamic cylinder 442, limited block 441 are arranged on cylinder 442.The setting of limiting component 44 enables pcb board 60 accurately to stop It stays on the 40B of operation area.

The operating process of this pcb board transmission device 40 is as follows:

Firstly, the width between pcb board transport mechanism 41 is adjusted, to adapt to the width of pcb board 60；It comprises the concrete steps that: opening It is dynamic to adjust wide motor 434, it adjusts wide motor 434 while screw rod 435 and third driving wheel 436 being driven to rotate, at this moment, third driving wheel 436 drive third synchronizing wheel 437 and another screw rod 435 to rotate synchronously by belt, and then, the rotate driving of screw rod 435 is mobile Block 432 is slided on sliding rail 431, to realize the synchronous transfer of mobile pcb board transport mechanism, achievees the purpose that adjustment width；

Then, pcb board 60 is incoming from incoming area 40A；It comprises the concrete steps that: the second feeder motor of starting, the second feeder motor The second driving wheel 4116 is driven to rotate, the second driving wheel 4116 drives the second synchronizing wheel 4114 is synchronous to turn by the second conveyer belt It is dynamic, then, it is put into pcb board 60 in the second conveying trough 4114 in incoming conveying mould group 411, and pass through the second conveyer belt to work Industry area 40B conveying；

Secondly, pcb board 60 conveys in the 40B of operation area；It comprises the concrete steps that: the first feeder motor of starting, the first conveying electricity Machine drives the rotation of the first driving wheel 515, and the first driving wheel 515 drives the first synchronizing wheel 514 to rotate synchronously by the first conveyer belt, Then pcb board 60 is delivered in the first conveying trough 5134 from the second conveying trough 4114, and passes through the first conveyer belt to outflow area 40C Conveying, simultaneously, the cylinder 442 of limiting component 44 drive limited block 441 to rise, until pcb board 60 is located at operation area 40B The limited block 441 of end blocks after can not moving forward, and the first feeder motor shuts down, and at this moment pcb board stays in operation area On 40B；

Then, clamping is carried out to pcb board 60 and material grafting operates；It comprises the concrete steps that: pcb board fixed drive mechanism 42 In top plate cylinder 423 push pushing component 422 in impeller-hub 4221 simultaneously 4221 both ends of impeller-hub are set 4222 rolls forward of idler wheel and under the action of top plate guide post 4233, push sliding block 4211 and top plate 421 and supporting block to Upper movement, until top plate 421 jacks up top pillar 4137, so that pallet track 513 rises along vertical guide post 517, until PCB Plate 60 is clamped between baffle 512 and bottom cut board 5133, and at this moment protrusive board 5132 protrudes from the opening 5123 of baffle 512, lug 5122 are located at the bottom of notch 5135, and supporting block is contacted with the bottom surface of pcb board, then carry out the grafting operation of material, in This simultaneously, limited block 441 decline reset；

Finally, the pcb board 60 that grafting finishes is transferred out from outflow area 40C；Specific step is: 60 material of pcb board After grafting, top plate cylinder 423 resets, and the decline of pallet track 513 resets, the first feeder motor starting, by pcb board 60 from work It is delivered to the outflow conveying mould group 413 in outflow area 40 in the first conveying trough 5134 in industry conveying mould group 412, and is conveyed from outflow It is transferred out in mould group 413.

The operating process of this pcb board transmission device 40 is just completed in this way.

Pcb board transmission device 40 of the invention is equipped with by pallet track and baffle, to press from both sides the two sides of steady pcb board Side, to improve stability of the pcb board in grafting material；In addition, pcb board transmission device of the invention passes through incoming conveying The linking setting of mould group, operation conveying mould group and outflow conveying mould group, so that the transmission of pcb board is more convenient, to improve Transmission efficiency.

In the present invention, automatism card machine 100 further includes a CCD camera, grabs object for obtaining robot device 30 When expecting 50, the position angle information of material 50, so that robot device 30 carries out the adjusting of 50 angle of material, to carry out accurate 50 grafting of material.

In addition, can be grabbed with the manipulator mechanism 31 with suction nozzle when the top surface of material 50 is plane, work as material When 50 top surface is non-planar, it can be grabbed with the manipulator mechanism 31 with mechanical clamp.

In the operation of reality, pcb board 60 generally requires the different material 50 of grafting, therefore just needs multiple infeed ends Mouthful, wherein a bulk feeder has a feed port, and a pipe charging loader 10 has at least one infeed end Mouth (discharge port 1211)；Therefore material conveying device 20 is provided with multiple accordingly, to match each feed port, accordingly The manipulator mechanism 31 of respective numbers is just set in grafting robot device 30.

The operating process of automatism card machine 100 of the invention is as follows:

Firstly, pcb board 60 is delivered to operation area 40B from incoming area 40A by pcb board transmission device 40, and by pcb board 60 into Row is fixed；(specific operating procedure please refers to the operating process of pcb board transmission device 40.)

Then, the pipe charging loader 10 in feeding device and bulk feeder start to discharge, and material 50 is delivered to object Expect transmission device 20；(specific steps that pipe charging loader 10 is fed, please refer to the Charge motion mistake of pipe charging loader 10 Journey.)

Secondly, material 50 enters the sliding slot 2111 of material conveying device 20, and under the vibration of vibrator 212, by material 50 slide into the limiting slot 2211 stopped on material platform 221, until material 50 is stopped expecting that the gear of material portion 2222 that stops in component 222 is stopped at Grab position；Simultaneously, to penetrate fiber sensor crawl position on sense material 50；

Then, plug-in unit robot device 30 will pass through position movement and the lift drive mechanism of X direction guiding rail and Y-direction guide rail Move up and down, the pcb board 60 for grabbing material 50 on crawl position, and material 50 being plugged on the 40B of operation area it is corresponding Position on, during this grafting, if CCD camera discovery material 50 angle have deflection, by corner driving The adjusting of mechanism progress angle；

Finally, the pallet track 513 in pcb board transmission device 40 resets after 50 grafting of material of pcb board 60, Pcb board 60 is transported to outflow area 40C from operation area 40B.

Operating process of the invention is just completed in this way.

In conclusion the present invention is passed by feeding device, material conveying device 20, plug-in unit robot device 30 and pcb board The setting of device 40 is sent, that is, simplify structure of the invention, save cost and improves the efficiency of work；On the other hand, lead to The layout and collocation for crossing above-mentioned four partial devices, improve the degree of automation of the invention.

In conclusion although the present invention has been disclosed above in the preferred embodiment, but above preferred embodiment is not to limit The system present invention, those skilled in the art can make various changes and profit without departing from the spirit and scope of the present invention Decorations, therefore protection scope of the present invention subjects to the scope of the claims.

Claims (8)

1. a kind of automatism card machine characterized by comprising

Feeding device, for providing material, including pipe charging loader；

Material conveying device has the crawl position that crawl material is carried out for plug-in unit robot device, for by material from described Feeding device is sent to crawl position, and the material conveying device linking is in the end of the feeding device comprising vibration transmission Mechanism and Ting Liao mechanism；

Pcb board transmission device has the operation area that material grafting is carried out for the plug-in unit robot device, for transmitting PCB The crawl position is arranged in backwards to the side of the feeding device in plate, the pcb board transmission device comprising pcb board conveyer Structure and pcb board fixed drive mechanism；And

The plug-in unit robot device, for carrying out material grafting to pcb board, the plug-in unit robot device is arranged described The top of pcb board transmission device, including at least one manipulator mechanism, manipulator mounting structure and lift drive mechanism；

The pcb board transmission device includes:

The pcb board transport mechanism, the operation including the operation area two sides are arranged in convey mould group；

The pcb board fixed drive mechanism, for driving the operation conveying mould group, to fix pcb board；It is arranged in the work The lower section in industry area；

Wherein, operation conveying mould group include one first side plate, be arranged at the top of first side plate and towards the work Moving up and down pallet track of first side plate towards the operation area side is arranged in the baffle of industry area stretching；

The top half of the pallet track is provided with transmission groove body, and the transmission groove body includes close to the side of first side plate Frid is arranged at the top of the side channel plate and spaced protrusive board, the bottom cut board that side channel board bottom portion is arranged in, Yi Jiyou The first conveying trough for being used to place pcb board that the side channel plate, protrusive board and bottom cut board surround, the notch court of first conveying trough It is arranged to the operation area, and between the protrusive board jagged；The baffle includes the gear for being fixedly connected on first side plate Baffle ontology side is arranged in and towards the lug of operation area protrusion and by the lug and baffle in piece ontology The opening that ontology surrounds；

Wherein, the notch and the lug corresponding matching, the protrusive board and the opening corresponding matching；For being oriented to the biography It send groove body to rise, and by the cooperation of the lug and the transmission groove body, is placed in first conveying trough with clamping Pcb board.

2. automatism card machine according to claim 1, which is characterized in that the operation conveying mould group further includes one for defeated The first conveyer belt of pcb board is sent, first conveyer belt passes through first conveying trough and around setting in the pallet track First synchronizing wheel of one end and the first driving wheel rotation that the pallet track other end is set；First driving wheel is by The driving of one feeder motor.

3. automatism card machine according to claim 1, which is characterized in that the lower half portion of the pallet track is provided with solid Surely the bottom cut board is connected to close to the substrate of the notch side, and two end regions of the substrate are provided with first through hole, institute It states and is provided with the first fixed block in first through hole, the two sides of first fixed block connect by the way that screw and first side plate are fixed It connects；And the vertical guide post that the substrate passes through first fixed block with one is slidably connected；

The intermediate region of the substrate is provided with the second through-hole, is provided with the second fixed block in second through-hole, and described second The two sides of fixed block are fixedly connected by screw with first side plate；And the bottom of second through-hole passes through an elastomeric element In the second fixed block elastic connection.

4. automatism card machine according to claim 3, which is characterized in that the substrate is towards first side plate side Both ends are provided with a top pillar, the pcb board fixed drive mechanism include for jacking up the top plate of the top pillar, it is described for pushing The pushing component that top plate rises and the top plate cylinder for driving the pushing component mobile；

Wherein, the lower section of the top plate is arranged in the pushing component comprising the impeller-hub both ends are arranged in impeller-hub Idler wheel and the connecting rod being fixedly connected between the impeller-hub；Top plate bottom four corners region is fixedly installed and institute The sliding block of idler wheel cooperation is stated, bottom surface of the sliding block towards the idler wheel includes one for propping up the top with idler wheel cooperation The inclined-plane of plate.

5. automatism card machine according to claim 4, which is characterized in that the edges at two ends of the top plate bottom is fixedly installed There is top plate guide sleeve, top plate guide seats, and the top plate guide seats and institute are provided with immediately below the top plate guide sleeve It states and is provided with a top plate guide post between top plate guide sleeve, one end of the top plate guide post is protruded into the top plate guide sleeve simultaneously It is fixedly connected with the top plate, the other end of the top plate guide post passes through the top plate guide seats.

6. automatism card machine according to claim 1, which is characterized in that the plug-in unit robot device includes:

At least one described manipulator mechanism including connecting rod, is arranged in the feeding component of described connecting rod one end and is arranged In the connecting rod close to the fixation member of feeding component one end；

The manipulator installing mechanism, including backboard, be arranged in the backboard towards manipulator mechanism side top and It fixed plate with the first mounting hole, the vertical guide being arranged in below the fixed plate and is slidably connected to described vertical Guide rail and the slide for being fixedly connected with the fixation member, the extending direction of first mounting hole and first mounting hole axis Unanimously；

The lift drive mechanism, for driving the manipulator mechanism to move along the vertical guide；

Wherein, the bottom end of the fixation member is provided with the second mounting hole of one with first mounting hole coaxial arrangement, described Connecting rod passes through first mounting hole and the second mounting hole, and the connecting rod passes through first bearing and first mounting hole Connection, the connecting rod are connect by second mounting hole with the fixation member；

The top of the fixation member is provided with a third mounting hole, and the third mounting hole is coaxially set with second mounting hole It sets, the connecting rod passes through the third mounting hole, and the connecting rod is connect by third mounting hole with the fixation member；

Second bearing and 3rd bearing are fixedly installed in the connecting rod, the second bearing is arranged in second mounting hole Interior and be rotatablely connected with second mounting hole, the 3rd bearing is arranged in the third mounting hole and pacifies with the third Fill hole rotation connection；

Cushion cover and fixing sleeve under cushion cover on spring, buffer spring, spring are also arranged in the connecting rod；

Wherein, on the spring cushion cover on partially protrude into the fixation member, cushion cover is fixedly connected described under the spring Connecting rod, the buffer spring are arranged on the spring under cushion cover and spring between cushion cover；The fixation is set on described The top of fixation member is simultaneously fixedly connected with the connecting rod.

7. automatism card machine according to claim 1, which is characterized in that the material conveying device includes:

The vibration transport mechanism, including passage component and be arranged in the passage component bottom for vibrating the channel The vibrator of component, the passage component include feed end and discharge end；

The Ting Liao mechanism, is connected to the discharge end, and the Ting Liao mechanism includes stopping expecting that platform, setting stop expecting platform described Far from described discharge end one end stop expect component and be arranged in it is described stop expect platform one or both sides induction component；

Wherein, the passage component includes the sliding slot for being used to accommodate and transmit material being arranged at the top of the passage component, institute It states and stops expecting that platform includes that the limiting slot for stopping expecting table top is arranged in；The sliding slot is corresponded to towards inclination under the limiting slot Setting, the limiting slot are horizontally disposed；

The width of the limiting slot and the width of the sliding slot are roughly equal, and the width of the two is slightly larger than the width of the material Degree；The depth of the sliding slot is slightly above the height of the material, and the depth of the limiting slot is lower than the height of the material；It is described The bottom surface of sliding slot is tapered plane, and the bottom surface of the limiting slot is horizontal plane；

It is described stop expect platform close to one end of the passage component be provided with one for by the sliding slot material guiding described in The guide groove of limiting slot, the guide groove are arranged in the front of the limiting slot and are connected to the limiting slot；The guiding The two sides of slot are guiding surface.

8. automatism card machine according to claim 1, which is characterized in that pipe charging loader includes:

Charging pipe is arranged on pipe charge placement mechanism for putting material；

The pipe charge placement mechanism, including pipe filling place are provided with supporting element, the supporting element on the pipe filling place Upper end offer holding tank and the charging pipe and pass through the holding tank；

Stock stop, including a striker plate are provided with one on the striker plate and go out for what the material in the charging pipe passed through Material mouth；

Vibrating mechanism, for vibrating the charging pipe, the striker plate is arranged in towards the charging pipe in the vibrating mechanism Side and the lower section for being located at the discharge port；

Wherein, the both ends of the charging pipe are respectively the feed end far from the vibrating mechanism and going out close to the vibrating mechanism Expect end, the vibrating mechanism includes a push pipe face for being used to jack up the discharge end that the vibrating mechanism top surface is arranged in；

When the vibrating mechanism is in original state, the height in the push pipe face is lower than the height of the feed end bottom surface；

The vibrating mechanism includes:

Push pipe part, including push pipe ontology, the push pipe for being provided with push pipe ontology top and protruding from push pipe ontology two sides Portion, be arranged in push pipe ontology two sides bottom end limiting section, be arranged in push pipe ontology two sides middle-end and by the top The recessed portion and the hollow-out parts being arranged on the push pipe ontology that pipe portion, push pipe ontology and limiting section surround；

Locating part is arranged in first receiving portion of the locating part towards push pipe part one end intermediate region including one and sets The side in first receiving portion two sides is set, the push pipe ontology, which passes through first receiving portion and stretches out in described first, to be held Receive portion, the side passes through the recessed portion and is fixedly connected with the striker plate；

Vibrating member, including the rotating block and the driving rotating block for protruding into the hollow-out parts and being rotated in the hollow-out parts The vibrating motor of rotation；And

Fixing piece, the vibrating motor is fixed on the fixing piece and the fixing piece is fixedly connected on the limit Part；

Wherein, the rotating block includes first radius of gyration and second radius of gyration, and first radius of gyration is center of rotation To the distance in rotating block peripheral side farthest point, second radius of gyration is the center of rotation to the rotating block periphery The distance of side closest approach；And first radius of gyration is greater than second radius of gyration.