CN107613664B - Carrier board planting device and operation method thereof - Google Patents
Carrier board planting device and operation method thereof Download PDFInfo
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- CN107613664B CN107613664B CN201710978948.8A CN201710978948A CN107613664B CN 107613664 B CN107613664 B CN 107613664B CN 201710978948 A CN201710978948 A CN 201710978948A CN 107613664 B CN107613664 B CN 107613664B
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- Y—GENERAL TAGGING OF NEW TECHNOLOGICAL DEVELOPMENTS; GENERAL TAGGING OF CROSS-SECTIONAL TECHNOLOGIES SPANNING OVER SEVERAL SECTIONS OF THE IPC; TECHNICAL SUBJECTS COVERED BY FORMER USPC CROSS-REFERENCE ART COLLECTIONS [XRACs] AND DIGESTS
- Y02—TECHNOLOGIES OR APPLICATIONS FOR MITIGATION OR ADAPTATION AGAINST CLIMATE CHANGE
- Y02P—CLIMATE CHANGE MITIGATION TECHNOLOGIES IN THE PRODUCTION OR PROCESSING OF GOODS
- Y02P60/00—Technologies relating to agriculture, livestock or agroalimentary industries
- Y02P60/20—Reduction of greenhouse gas [GHG] emissions in agriculture, e.g. CO2
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Abstract
The invention relates to a carrier plate planting device which comprises a rack, a base, a workbench, an electric control system, a product material frame and a carrier material frame, wherein the carrier comprises a bottom plate and a cover plate covered on the bottom plate, a carrier working area is arranged on the base, the workbench is fixedly provided with the product material frame, a product carrying module, a carrier transmission module and a cover plate carrying module, the carrier carrying module is arranged on the carrier transmission module and can carry a carrier in the carrier material frame to the carrier transmission module, the carrier transmission module can drive the carrier to move to the carrier positioning module along the carrier transmission module and is fixed by the carrier positioning module, and the cover plate carrying module can take down and cover the cover plate fixed on the carrier positioning module, and is used for carrying a product in the product material frame into a carrier accommodating groove fixed on the carrier positioning module. The invention can automatically implant the product FPC into the product carrier.
Description
Technical Field
The invention relates to a carrier device, in particular to a device for automatically implanting a flexible circuit board into a jig and an operation method thereof.
Background
In the SMT industry, a flexible circuit board (FPC) is often required to be mounted in a carrier, and at present, a manual assembly mode is often used, but in recent years, along with the development of the SMT industry, the requirements on the process tend to be complicated and automatic, and the requirements on corresponding process equipment are higher; therefore, the manual assembly mode cannot meet the requirements of modern production, and high-precision automatic equipment is urgently needed to realize automatic implantation of the FPC into the carrier.
Disclosure of Invention
In order to overcome the defects, the invention provides a carrier board-planting device which utilizes the cooperation between components such as a CCD, a sensor and the like to realize high-precision implantation of an FPC into a carrier and has high automation degree.
The technical scheme adopted by the invention for solving the technical problems is as follows:
the utility model provides a carrier plant board device, includes the frame, installs in the base of frame bottom, installs in the frame and is located the workstation of base top and installs in the inside electrical system of frame, still including the product material frame that is arranged in depositing the product and be used for depositing the carrier material frame of carrier, the carrier includes the bottom plate that has the storage tank of placing the product and the apron of lid on the bottom plate, be equipped with the carrier workspace on the base and be used for depositing the carrier material frame, the workstation has set firmly product material frame, product transport module, carrier transport module and apron transport module, defines the direction of transmission of carrier transport module as the left and right sides of workstation, and the direction of horizontal direction that is perpendicular to it is defined as the front and back direction of workstation, be equipped with the carrier positioning module that is used for fixing the carrier on the carrier transport module, the carrier transport module can be with the carrier transport to carrier transport module in the carrier material frame, the carrier transport module can drive the carrier along its motion to carrier positioning module department and by the carrier positioning fixation, the apron can be used for the carrier positioning module to take the carrier positioning module to the product carrier positioning module to the carrier positioning module in the carrier positioning module is fixed on the carrier positioning module.
Preferably, the product handling module comprises a product grabbing platform connected to a rotary drive, a first drive, a second drive and a third drive, wherein the plurality of suckers are fixedly connected to the lower part of the product grabbing platform, the first drive is fixed to the workbench along the front-rear direction of the workbench through a support, the second drive is horizontally connected to a sliding table of the first drive and is perpendicular to the first drive, the third drive is vertically connected to a sliding table of the second drive and is perpendicular to the second drive, the rotary drive is horizontally connected to a sliding table of the third drive and is perpendicular to the third drive, the second drive can move back and forth along the first drive, the third drive can move left and right along the second drive, the rotary drive can move up and down along the third drive, and the product grabbing platform can horizontally rotate relative to the third drive.
Preferably, a CCD module is further fixedly arranged on the workbench near the carrier positioning module, the CCD module is used for capturing the position information of the product adsorbed on the product capturing platform, and the rotary drive rotates according to the position information of the product so as to adjust the position of the product.
Preferably, the carrier material frame comprises a supporting frame, a fixed plate, a movable plate and a supporting plate, wherein the fixed plate and the movable plate are respectively arranged on the left side and the right side of the supporting frame, the supporting plate is arranged on the upper side and the lower side of the supporting frame, the fixed plate is fixed on the supporting plate, the movable plate is connected in a long groove in the supporting plate in a sliding mode through a sliding block, a plurality of parallel slots are formed in the opposite surfaces of the fixed plate and the movable plate, and a second jacking device for jacking the carrier material frame upwards is arranged at the bottom of the carrier working area.
Preferably, the product material frame is drawer type product material frame, and it includes the bottom plate, is located the slide rail of bottom plate both sides, with slide rail complex slider and be fixed in the middle of the bottom plate product box, the slider is fixed in on the workstation through the support column, the bottom of product box has movable layer board, movable layer board is connected with a jacking device, the interval of product in the product box has from the type paper, be equipped with first fiber sensor on the product material frame and be used for discernment from type paper and product, second fiber sensor be used for discernment whether the product jacking is in place and photoelectric sensor be used for discernment product box in have the product near the product material frame on the workstation be equipped with be used for from the type paper transport module that takes out from the product material frame from the type paper.
Preferably, the release paper carrying module comprises a fourth drive fixed on the workbench, a fifth drive connected to the fourth drive sliding table, and a release paper grabbing platform connected to the fifth drive sliding table, wherein the fifth drive can move back and forth along the fourth drive, the release paper grabbing platform can move up and down along the fifth drive, and a release paper frame parallel to the product frame is further arranged on the workbench.
Preferably, the carrier handling module comprises a sixth drive, a third jacking device connected to the sixth drive and a carrier adsorption device connected to the third jacking device, the third jacking device can drive the carrier adsorption device to move up and down, the sixth drive can drive the third jacking device to move back and forth, the carrier transmission module comprises a belt with two sides synchronously running, the carrier positioning module comprises a top plate positioned below the belt and a positioning frame positioned above the belt and fixed on a workbench, the top plate is connected with a fourth jacking device, the fourth jacking device is fixed on the workbench, the middle part of the positioning frame is provided with a hollow part which is the same as the carrier and slightly larger than the carrier, the two adjacent sides around the hollow part are provided with positioning reference blocks, and the two adjacent sides are provided with positioning cylinders.
Preferably, the cover plate carrying module is located near the carrier positioning module, the cover plate carrying module comprises a seventh drive fixed on the workbench, an eighth drive connected with the seventh drive sliding table and a cover plate adsorption device connected with the eighth drive sliding table, the seventh drive can drive the eighth drive to move back and forth along the workbench, and the eighth drive can drive the cover plate adsorption device to move up and down.
Preferably, the base is further provided with a first storage area, the first storage area is located in front of the working area of the carrier, a second storage area is further arranged above the workbench, the second storage area is located right above the first storage area, and conveying belts are arranged in the first storage area and the second storage area.
The invention also provides an operation method of the carrier plate planting device, which is characterized in that: the method comprises the following steps:
step one: placing a carrier material frame filled with carriers in a carrier working area: the carrier material frame filled with the carrier is sent to a first storage area by an AGV trolley, then is sent to a carrier working area by a conveyor belt of the first storage area, and the product material frame filled with the product is placed on a workbench;
step two: the carrier is taken out from the carrier material frame through the carrier carrying module and then is placed on the carrier transmission module, and meanwhile, the carrier material frame upwards lifts the height of one carrier through the second lifting device: the sixth driving device in the carrier conveying module drives the carrier adsorbing device to move towards the direction of the carrier material frame, and when the carrier adsorbing device moves to the position right above the carrier, the third jacking device drives the carrier adsorbing device to move downwards until the carrier is adsorbed, then the sixth driving device retracts to the position right above the carrier conveying module, the carrier adsorbing device loosens the carrier, and the carrier falls onto a belt of the carrier conveying module;
step three: the carrier transmission module is started and sends the carrier to the carrier positioning module, and the carrier positioning module starts and fixes the carrier: when the carrier is conveyed to the upper part of the carrier positioning module top plate through the belt, the belt stops running, at the moment, the fourth jacking device jacks the top plate upwards and brings the carrier to move upwards together so that the carrier is separated from the belt and moves to the hollow part of the carrier positioning module material frame, at the moment, positioning cylinders at two sides of the hollow part extend out to jack the carrier, and therefore the carrier is fixed;
step four: the cover plate carrying module takes down the cover plate of the carrier and moves to the waiting area: the seventh drive of the cover plate conveying module drives the cover plate adsorption device to move towards the direction of the carrier, and when the cover plate conveying module moves to the position right above the carrier, the eighth drive drives the cover plate adsorption device to move downwards until the cover plate is pressed, the bottom of the cover plate adsorption device is provided with a plurality of suckers for adsorbing the cover plate, and after the cover plate is adsorbed, the cover plate is conveyed to a waiting area;
step five: the release paper carrying module carries release paper in the product material frame into the release paper material frame: when the first optical fiber sensor detects that the release paper is positioned at the uppermost part of the product material frame, feeding information back to the electronic control system, starting the release paper carrying module by the electronic control system, and carrying the release paper into the release paper material frame by controlling the release paper grabbing platforms through fifth and sixth driving;
step six: when the first optical fiber sensor detects that the product is located at the uppermost part of the product material frame, the product carrying module is started and takes out the product from the product material frame and accurately places the product in the accommodating groove of the carrier, and the cover plate carrying module is started again to cover the cover plate on the product: the product grabbing platform in the product carrying module performs front-back, left-right and up-down triaxial movement through the first, second and third drives, so that the product is accurately grabbed, then the product is transported to the vicinity of the carrier through the first, second and third drives, the CCD module arranged in the vicinity of the carrier grabs the position of the product and combines the positioning direction of the carrier, the product is subjected to fine adjustment in the horizontal direction through the rotary drive, the product is opposite to the accommodating groove of the carrier, and then the product is accurately placed in the accommodating groove of the carrier through the third drive;
step seven: finally, the carrier positioning module releases the carrier, the positioning air cylinders at the two sides of the hollow part retract firstly, and then the fourth jacking device namely the jacking air cylinder retracts, so that the carrier falls on the belt of the carrier transmission module again, and the carrier transmission module conveys the carrier to the next process.
The beneficial effects of the invention are as follows: the invention mainly comprises a carrier carrying module, a product carrying module, a cover plate carrying module, a carrier positioning module and a carrier transmission module, when the carrier carrying module is used for taking out a carrier from a carrier material frame and then placing the carrier on the carrier transmission module, the carrier transmission module is started and sends the carrier to the carrier positioning module, the carrier positioning module is started and fixes the carrier, the cover plate carrying module is used for taking down and moving a cover plate of the carrier to a waiting area, the product carrying module is started and takes out a product FPC from the product material frame and accurately places the FPC in a containing groove of the carrier, the cover plate carrying module is started again to cover the cover plate on the product, thus the work of implanting the product into the carrier is completed, and finally the carrier positioning module is released to fall into the carrier transmission module, and the carrier is conveyed to a next procedure by the carrier transmission module. The invention can automatically implant the product FPC into the product carrier, has high precision and improves the automation degree of the production line.
Drawings
FIG. 1 is a schematic view of the internal structure of the present invention;
FIG. 2 is a top view of the internal structure of the present invention;
FIG. 3 is a front view of the internal structure of the present invention;
FIG. 4 is a schematic diagram of a carrier handling module according to the present invention;
FIG. 5 is a schematic diagram of a product handling module according to the present invention;
FIG. 6 is a schematic view of the structure of a product frame according to the present invention;
FIG. 7 is a front elevational view of the overall structure of the present invention;
FIG. 8 is a schematic diagram of the overall structure of the present invention;
in the figure: 10-frame, 11-base, 12-workstation, 13-first storage area, 14-second storage area, 15-carrier work area, 20-carrier material frame, 21-carrier, 22-apron, 23-support frame, 24-backup pad, 25-fixed plate, 26-fly leaf, 30-carrier transport module, 31-sixth drive, 32-third jacking device, 33-carrier adsorption device, 40-product material frame, 41-bottom plate, 42-product box, 43-release paper transport module, 44-first jacking device, 45-release paper material frame, 50-product transport module, 51-first drive, 52-second drive, 53-third drive, 54-rotary drive, 55-CCD module, 56-product grabbing platform, 60-carrier transmission module, 61-carrier positioning module, 62-apron transport module.
Detailed Description
The technical solutions of the embodiments of the present invention will be clearly and completely described below in conjunction with the embodiments of the present invention, and it is apparent that the described embodiments are only some embodiments of the present invention, not all embodiments. All other embodiments, which can be made by those skilled in the art based on the embodiments of the invention without making any inventive effort, are intended to be within the scope of the invention.
Examples: as shown in fig. 1-8, a carrier board planting device includes a rack 10, a base 11 installed at the bottom of the rack, a workbench 12 installed on the rack and located above the base, an electric control system installed inside the rack, a product frame 40 for storing products, and a carrier frame 20 for storing carriers 21, where the carrier 21 includes a bottom plate with a containing slot for placing the products and a cover plate 22 covering the bottom plate, the base 11 is provided with a carrier working area 15 for storing the carrier frame 20, the workbench 12 is fixedly provided with the product frame 40, a product carrying module 50, a carrier carrying module 30, a carrier transmission module 60, and a cover plate carrying module 62, the transmission direction of the carrier transmission module is defined as the left-right direction of the workbench, the horizontal direction perpendicular to the workbench is defined as the front-rear direction of the workbench, the carrier transmission module 60 is provided with a carrier positioning module 61 for fixing the carriers, the carrier carrying module 30 can carry the carriers in the carrier frame 20 to the carrier transmission module 60, the carrier transmission module 60 can be driven by the carrier positioning module 60 to the carrier positioning module 62 along the carrier positioning module 40 and the carrier positioning module 62 in the carrier positioning module 40 and the cover plate positioning module 22. In this embodiment, when in operation, the product frame 40 and the carrier frame 20 are placed in parallel at the front end of the frame 10, the product frame is located at the right side of the carrier frame, the carrier transmission module 60 is located at the middle of the workbench, the product handling module 50 is located at one side of the product frame of the workbench, and placed front and back along the workbench, the carrier positioning module 61 is located at one side of the carrier transmission module 60 near the product handling module 50, the cover plate handling module 62 is located near the carrier positioning module, the carrier handling module 30 is located at one side of the carrier frame of the workbench, and near the carrier transmission module, and the whole device is controlled by the electronic control system. Before starting, the product frame 40 is placed on the workbench 12, the carrier frame 20 is placed on the carrier working area 15, the carrier is taken out from the carrier frame 20 through the carrier handling module 30 and then placed on the carrier transmission module 60, the carrier transmission module is started and sends the carrier to the carrier positioning module 61, the carrier positioning module is started and fixes the carrier, the cover plate handling module 62 takes down the cover plate of the carrier and moves to the waiting area, the product handling module 50 is started and takes out the product FPC from the product frame and accurately places the product FPC in the accommodating groove of the carrier, the cover plate handling module 62 is started again to cover the cover plate on the product, thus the work of implanting the product into the carrier is completed, and finally the carrier positioning module 61 releases the carrier and enables the carrier to fall into the carrier transmission module 60, and the carrier positioning module conveys the carrier to the next procedure. The invention can automatically implant the product FPC into the product carrier, has high precision and improves the automation degree of the production line.
As shown in fig. 1, the base 11 is further provided with a first storage area 13, the first storage area is located in front of the carrier working area 15, a second storage area 14 is further provided above the working table 12, the second storage area is located right above the first storage area, and conveying belts are arranged in the first storage area and the second storage area. The first storage area 13 is used for docking an AGV trolley, the carrier material frame 20 of the carrier in the AGV trolley is connected by a conveying belt and then conveyed to the carrier working area 15, or waiting (the carrier working area still has the carrier material frame in operation) in the first storage area, when the carrier in the carrier material frame is taken out, the empty carrier material frame is conveyed to the conveying belt of the second storage area 14 by the conveying device on the jacking device, and the AGV trolley is waited for docking, and the first storage area and the second storage area are set up, so that the whole working process has no interruption, and meanwhile, the time is reserved for coordinating the operation of the AVG trolley. Specifically, the frame 10 has a desk-type structure, a casing, a display and a keyboard are arranged outside, an insertion opening for a product frame is arranged on the casing, and casters for facilitating movement of the frame and a foot cup for fixing the frame are arranged at the bottom of the frame.
The cover plate carrying module 62 is located near the carrier positioning module 61, and the cover plate carrying module 62 includes a seventh drive fixed on the workbench, an eighth drive connected to the seventh drive sliding table, and a cover plate adsorption device connected to the eighth drive sliding table, where the seventh drive can drive the eighth drive to move back and forth along the workbench, and the eighth drive can drive the cover plate adsorption device to move up and down. The seventh drive drives the cover plate adsorption device to move towards the direction of the carrier, and when the seventh drive moves to the position right above the carrier, the eighth drive drives the cover plate adsorption device to move downwards until the cover plate, namely the steel sheet, is pressed, a plurality of suckers are arranged at the bottom of the cover plate adsorption device and used for adsorbing the steel sheet, after the steel sheet is adsorbed, the steel sheet is conveyed to a waiting area, until a product is implanted into the carrier, the carrier conveying device covers the steel sheet on the product, and the carrier positioning module 61 loosens the carrier to enable the carrier to fall onto a belt of the carrier conveying module and convey the steel sheet to the next procedure.
As shown in fig. 5, the product handling module 50 includes a product grabbing platform 56 connected to a rotary driving unit 54, a first driving unit 51, a second driving unit 52 and a third driving unit 53, where a plurality of suckers are fixedly connected to the lower part of the product grabbing platform, the first driving unit 51 is fixed to the workbench 12 along the front-rear direction of the workbench through a bracket, the second driving unit 52 is horizontally connected to the first driving unit on a sliding table and is perpendicular to the first driving unit, the third driving unit 53 is vertically connected to the second driving unit on a sliding table and is perpendicular to the second driving unit, the rotary driving unit 54 is horizontally connected to the third driving unit on a sliding table and is perpendicular to the third driving unit, the second driving unit 52 can move back and forth along the first driving unit, the third driving unit 53 can move left and right along the second driving unit, the rotary driving unit 54 can move up and down along the third driving unit, and the product grabbing platform 56 can horizontally rotate relative to the third driving unit. The product grabbing platform 56 adsorbs the FPC through the sucking disc, first, second drive is the level and places, and the third drive is the perpendicular placement, first, second, three drive are the straight line module that has the slip table, rotary drive 54 is rotary motor, can order about the product grabbing platform to carry out the horizontal rotation, like this, the product grabbing platform 56 can carry out back-and-forth (Y axle), control (X axle), upper and lower (Z axle) and the four-axis motion of rotatory (U axle) direction through first, second, three drive and rotary drive, accurately snatchs and fixes a position the product. The CCD module 55 is further fixedly arranged on the workbench near the carrier positioning module 61, the CCD module 55 is used for capturing the position information of the product adsorbed on the product capturing platform, and the rotary drive 54 rotates according to the position information of the product so as to adjust the position of the product. The CCD module 55 comprises a light source, a lens and a camera, the CCD module 55 captures the position of the product and feeds back the position to the electronic control system, the electronic control system finely adjusts the product through rotary driving according to the position of the carrier 21, so that the product is opposite to the accommodating groove of the carrier, and then the product is accurately placed in the accommodating groove of the carrier through third driving.
As shown in fig. 3, the carrier frame 20 includes a supporting frame 23, a fixed plate 25 and a movable plate 26 respectively located at the left side and the right side of the supporting frame, and a supporting plate 24 located at the upper side and the lower side of the supporting frame, the fixed plate 25 is fixed on the supporting plate 24, the movable plate 26 is slidably connected in a long slot in the supporting plate through a sliding block, a plurality of parallel slots are disposed on opposite surfaces of the fixed plate and the movable plate, and a second lifting device for lifting the carrier frame 20 upwards is disposed at the bottom of the carrier working area 15. The carriers are inserted in the carrier material frame in parallel through the slots, the distance between the fixed plate and the movable plate can be adjusted through the movable plate so as to meet the requirements of carriers with different sizes, in the operation process, one carrier in the carrier material frame 20 extends out of the workbench 12 to facilitate the grabbing of the carrier carrying module, after the upper carrier is grabbed, the second jacking device jacks up the carrier material frame 20 to the height of one carrier, the carrier to-be-grabbed area is kept for storing the carriers, and therefore the continuity of work is guaranteed, in the embodiment, the carrier is 380 mm long, 355 mm wide and 563 mm high, the thickness of the carrier is 8 mm, and therefore the second jacking device jacks up the carrier material frame to 8 mm each time through the jacking screw motor.
As shown in fig. 6, the product frame 40 is a drawer-type product frame, and includes a bottom plate 41, sliding rails located at two sides of the bottom plate, a sliding block matched with the sliding rails, and a product box 42 fixed in the middle of the bottom plate, the sliding block is fixed on the workbench 12 through a supporting column, a movable supporting plate is provided at the bottom of the product box 42, the movable supporting plate is connected with a first lifting device 44, a release paper is spaced between products in the product box 42, a first optical fiber sensor is provided on the product frame 40 for identifying release paper and products, a second optical fiber sensor is provided for identifying whether lifting of the products is in place, and a photoelectric sensor is provided for identifying whether products are in the product box, and a release paper handling module 43 for taking the release paper out of the product frame is provided near the product frame on the workbench. The release paper handling module 43 comprises a fourth drive fixed on the workbench, a fifth drive connected to the fourth drive sliding table, and a release paper grabbing platform connected to the fifth drive sliding table, wherein the fifth drive can move back and forth along the fourth drive, the release paper grabbing platform can move up and down along the fifth drive, and a release paper frame 45 parallel to the product frame is further arranged on the workbench. (drawer type product frame is convenient for manual feeding, also is equipped with the sucking disc from the bottom of type paper snatch platform and is used for adsorbing from type paper, when first optical fiber sensor detects that it is from type paper that is located the top of product frame, feeds back information to electrical system, and electrical system starts from type paper transport module 43 and carries from type paper to in from type paper frame 45, and expose the product, and first jacking device 44 is through jacking lead screw motor with the activity layer board of product frame upwards jacking)
As shown in fig. 4, the carrier handling module 30 includes a sixth driving unit 31, a third lifting device 32 connected to the sixth driving unit, and a carrier adsorbing device 33 connected to the third lifting device, where the third lifting device 32 can drive the carrier adsorbing device 33 to move up and down, the sixth driving unit 31 can drive the third lifting device 32 to move back and forth, the carrier transferring module 60 includes a belt with two sides running synchronously, the carrier positioning module 61 includes a top plate below the belt and a positioning frame above the belt and fixed on the workbench, the top plate is connected with a fourth lifting device, the fourth lifting device is fixed on the workbench 12, a hollow portion with the same shape as the carrier and slightly larger than the carrier is provided in the middle of the positioning frame, positioning reference blocks are provided on two adjacent sides around the hollow portion, and positioning cylinders are provided on two adjacent sides. The carrier transporting module 60 has a certain width (the width is adjustable to meet the carriers of different sizes), the two sides of the carrier transporting module are symmetrically provided with the transporting belts, the transporting belts on the two sides are synchronously operated, the carrier material frame 20 and the carrier transporting module 30 are respectively positioned on the two sides of the carrier transporting module, the sixth drive in the carrier transporting module is fixed on the workbench 12 through the supporting frame, the carrier adsorbing device grabs the carrier beyond the carrier transporting module, then retracts to just place the carrier on the belts on the two sides of the carrier transporting module, when the carrier is transported to the upper side of the top plate through the belt, the belt stops running, at the moment, the fourth jacking device jacks the top plate upwards and moves the carrier upwards together to separate the carrier from the belt, and the carrier is moved to the hollow part of the material frame, at the moment, the positioning cylinders on the two sides of the hollow part stretch out to jack the carrier, thereby fixing the carrier. When the carrier is separated, the positioning air cylinders at the two sides of the hollow part retract, and then the fourth jacking device, namely the jacking air cylinder, retracts, so that the carrier falls on the belt of the carrier transmission module again. In this embodiment, the carrier adsorbing device may use a suction cup to adsorb the carrier.
The operation process of the invention comprises the following steps: the method comprises the following steps:
step one: placing the carrier frame 20 filled with carriers in the carrier work area 15: the carrier material frame 20 filled with the carrier is conveyed to the first storage area 13 by the AGV trolley, then conveyed to the carrier working area by the conveyor belt of the first storage area, and the product material frame 40 filled with the product is placed on the working table 12; specifically, the product frame 40 filled with the product is a drawer type, and an operator can insert the drawer type product frame into a sliding block fixed on a workbench through manual feeding, so that the operation is convenient;
step two: the carrier is taken out from the carrier material frame 20 through the carrier carrying module 30 and then placed on the carrier transmission module 60, and meanwhile, the carrier material frame 20 upwards lifts the height of one carrier through the second lifting device: the sixth driving device in the carrier transporting module 30 drives the carrier adsorbing device to move towards the carrier material frame 20, when the carrier adsorbing device moves to the position right above the carrier, the third jacking device drives the carrier adsorbing device to move downwards until the carrier is adsorbed, then the sixth driving device retracts to the position right above the carrier transporting module 60, the carrier adsorbing device releases the carrier, and the carrier falls onto the belt of the carrier transporting module;
step three: the carrier transport module 60 starts and delivers the carrier to the carrier positioning module 61, and the carrier positioning module 61 starts and fixes the carrier: when the carrier is conveyed to the upper part of the top plate of the carrier positioning module 61 through the belt, the belt stops running, at the moment, the fourth jacking device jacks the top plate upwards and brings the carrier to move upwards together so that the carrier is separated from the belt and moves to the hollow part of the carrier positioning module material frame, at the moment, positioning cylinders at two sides of the hollow part extend out to jack the carrier, and therefore the carrier is fixed;
step four: the cover plate handling module 62 removes and moves the cover plate of the carrier to the waiting area: the cover plate carrying module 62 seventh drives to drive the cover plate adsorption device to move towards the direction of the carrier, and when the cover plate carrying module moves to the position right above the carrier, the eighth drives to drive the cover plate adsorption device to move downwards until the cover plate is pressed, a plurality of suckers are arranged at the bottom of the cover plate adsorption device and used for adsorbing the cover plate, and after the cover plate is adsorbed, the cover plate is carried to a waiting area;
step five: the release paper carrying module 43 carries release paper in the product material frame into the release paper material frame: when the first optical fiber sensor detects that the release paper is positioned at the uppermost part of the product material frame, feeding information back to the electronic control system, starting the release paper carrying module 43 by the electronic control system, and carrying the release paper into the release paper material frame by controlling the release paper grabbing platforms through fifth and sixth driving;
step six: when the first optical fiber sensor detects that the product is located at the uppermost part of the product frame, the product handling module 50 is started and takes out the product from the product frame and accurately places the product in the accommodating groove of the carrier, and the cover plate handling module 62 is started again to cover the cover plate on the product: the product grabbing platform 56 in the product carrying module 50 performs front-back, left-right and up-down triaxial movement through the first, second and third drives, so as to accurately grab the product, then the product is transported to the vicinity of the carrier through the first, second and third drives, the position of the product is grabbed through the CCD module arranged in the vicinity of the carrier and combined with the positioning direction of the carrier, the product is subjected to fine adjustment in the horizontal direction through the rotary drive, so that the product is opposite to the accommodating groove of the carrier, and then the product is accurately placed in the accommodating groove of the carrier through the third drive; when the product is moved to a certain depth from the product frame, the first lifting device lifts the movable supporting plate of the product box 42 upwards by a preset height so as to facilitate the product carrying module 50 to grasp the product;
step seven: finally, the carrier positioning module 61 releases the carrier, the positioning cylinders at the two sides of the hollow part retract first, and then the fourth jacking device, namely the jacking cylinder, retracts, so that the carrier falls on the belt of the carrier transmission module again, and the carrier transmission module conveys the carrier to the next process.
It should be noted that it will be apparent to those skilled in the art that several variations and modifications can be made without departing from the spirit of the invention, which are all within the scope of the invention. Accordingly, the scope of protection of the present invention is to be determined by the appended claims.
Claims (6)
1. The utility model provides a board device is planted to carrier, includes frame (10), installs in base (11) of frame bottom, installs workstation (12) that lie in the base top in the frame and installs in the inside electrical system of frame, its characterized in that: the carrier (21) comprises a bottom plate with a containing groove for containing products and a cover plate (22) covered on the bottom plate, a carrier working area (15) is arranged on the base (11) and used for containing the carrier material frame (20), the product material frame (40), a product carrying module (50), a carrier carrying module (30), a carrier carrying module (60) and a cover plate carrying module (62) are fixedly arranged on the workbench (12), the carrying direction of the carrier carrying module is defined as the left-right direction of the workbench, the horizontal direction perpendicular to the left-right direction of the workbench is defined as the front-back direction of the workbench, the carrier carrying module (60) is provided with a carrier positioning module (61) for fixing the carriers, the carrier carrying module (30) can carry the carriers in the carrier material frame (20) to the carrier carrying module (60), the carrier carrying module (60) can drive the carrier (21) to move along the carrier positioning module (61) and fix the carrier carrying module (62) in the carrier frame (40) to the cover plate (50), and the carrier carrying module (62) can be fixed in the carrier positioning module (40) and the carrier positioning module is fixed in the carrier positioning module (40;
the carrier material frame (20) comprises a supporting frame (23), a fixed plate (25) and a movable plate (26) which are respectively positioned at the left side and the right side of the supporting frame, and a supporting plate (24) positioned at the upper side and the lower side of the supporting frame, wherein the fixed plate (25) is fixed on the supporting plate (24), the movable plate (26) is connected in a long groove in the supporting plate in a sliding way through a sliding block, a plurality of parallel slots are arranged on the opposite surfaces of the fixed plate and the movable plate, and a second jacking device for jacking the carrier material frame (20) upwards is arranged at the bottom of a carrier working area (15);
the product frame (40) is a drawer type product frame and comprises a bottom plate (41), sliding rails positioned on two sides of the bottom plate, sliding blocks matched with the sliding rails and a product box (42) fixed in the middle of the bottom plate, wherein the sliding blocks are fixed on a workbench (12) through supporting columns, a movable supporting plate is arranged at the bottom of the product box (42), the movable supporting plate is connected with a first jacking device (44), release paper is arranged at intervals of products in the product box (42), a first optical fiber sensor is arranged on the product frame (40) and used for identifying release paper and products, a second optical fiber sensor is used for identifying whether the products are jacked in place or not, and a photoelectric sensor is used for identifying whether the products are in the product box or not, and a release paper carrying module (43) used for taking the release paper out of the product frame is arranged near the product frame on the workbench;
the release paper carrying module (43) comprises a fourth drive fixed on the workbench, a fifth drive connected to the fourth drive sliding table, and a release paper grabbing platform connected to the fifth drive sliding table, wherein the fifth drive can move back and forth along the fourth drive, the release paper grabbing platform can move up and down along the fifth drive, and a release paper frame (45) which is parallel to the product frame is arranged on the workbench;
the carrier carrying module (30) comprises a sixth drive (31), a third jacking device (32) connected to the sixth drive and a carrier adsorption device (33) connected to the third jacking device, the third jacking device (32) can drive the carrier adsorption device (33) to move up and down, the sixth drive (31) can drive the third jacking device (32) to move back and forth, the carrier transmission module (60) comprises belts with two sides synchronously operated, the carrier positioning module (61) comprises a top plate positioned below the belts and a positioning frame positioned above the belts and fixed on the workbench, the top plate is connected with a fourth jacking device, the fourth jacking device is fixed on the workbench (12), the middle part of the positioning frame is provided with a hollow part which has the same shape as the carrier and is larger than the carrier, the adjacent two sides around the hollow part are provided with positioning reference blocks, and the two adjacent sides are provided with positioning cylinders.
2. The carrier plate mounting apparatus of claim 1, wherein: the product handling module (50) comprises a product grabbing platform (56) connected to a rotary drive (54), a first drive (51), a second drive (52) and a third drive (53), wherein a plurality of suckers are fixedly connected to the lower portion of the product grabbing platform, the first drive (51) is fixed to the workbench (12) along the front-back direction of the workbench through a support, the second drive (52) is horizontally connected to a sliding table of the first drive and is perpendicular to the first drive, the third drive (53) is vertically connected to a sliding table of the second drive and is perpendicular to the second drive, the rotary drive (54) is horizontally connected to a sliding table of the third drive and is perpendicular to the third drive, the second drive (52) can move back and forth along the first drive, the third drive (53) can move left and right along the second drive, the rotary drive (54) can move up and down along the third drive, and the product grabbing platform (56) can horizontally rotate relative to the third drive.
3. The carrier plate mounting apparatus of claim 2, wherein: the CCD module (55) is further fixedly arranged on the workbench near the carrier positioning module (61), the CCD module (55) is used for shooting product position information adsorbed on the product grabbing platform, and the rotary drive (54) rotates according to the product position information to adjust the product position.
4. The carrier plate mounting apparatus of claim 1, wherein: the cover plate carrying module (62) is located near the carrier positioning module (61), the cover plate carrying module (62) comprises a seventh drive fixed on the workbench, an eighth drive connected with the seventh drive sliding table and a cover plate adsorption device connected with the eighth drive sliding table, the seventh drive can drive the eighth drive to move back and forth along the workbench, and the eighth drive can drive the cover plate adsorption device to move up and down.
5. The carrier plate mounting apparatus of claim 1, wherein: the base (11) is further provided with a first storage area (13), the first storage area is located in front of the carrier working area (15), a second storage area (14) is further arranged above the workbench (12), the second storage area is located right above the first storage area, and conveying belts are arranged in the first storage area and the second storage area.
6. A method of operating a carrier plate assembly according to any one of claims 1 to 5, characterized in that: the method comprises the following steps:
step one: placing a carrier material frame (20) filled with carriers in a carrier working area (15): the carrier material frame (20) filled with the carrier is conveyed to the first storage area (13) by the AGV trolley, then conveyed to the carrier working area by the conveyor belt of the first storage area, and the product material frame (40) filled with the product is placed on the workbench (12);
step two: the carrier is taken out from the carrier material frame (20) through the carrier carrying module (30) and then is placed on the carrier transmission module (60), and meanwhile, the carrier material frame (20) upwards lifts the height of one carrier through the second lifting device: the sixth driving device in the carrier carrying module (30) drives the carrier adsorbing device to move towards the carrier material frame (20), and when the carrier adsorbing device moves to the position right above the carrier, the third jacking device drives the carrier adsorbing device to move downwards until the carrier is adsorbed, then the sixth driving device retracts to the position right above the carrier transmission module (60), the carrier adsorbing device loosens the carrier, and the carrier falls onto a belt of the carrier transmission module;
step three: the carrier transmission module (60) is started and sends the carrier to the carrier positioning module (61), and the carrier positioning module (61) starts and fixes the carrier: when the carrier is conveyed to the position above the top plate of the carrier positioning module (61) through the belt, the belt stops running, at the moment, the fourth jacking device jacks the top plate upwards and brings the carrier to move upwards together so that the carrier is separated from the belt and moves to the hollow part of the carrier positioning module material frame, at the moment, positioning cylinders at two sides of the hollow part extend out to jack the carrier, and therefore the carrier is fixed;
step four: the cover plate carrying module (62) takes down the cover plate of the carrier and moves to the waiting area: the cover plate carrying module (62) is used for driving the cover plate adsorption device to move towards the direction of the carrier, and the eighth driving device is used for driving the cover plate adsorption device to move downwards until the cover plate is pressed when the cover plate adsorption device moves to the position right above the carrier, and a plurality of suckers are arranged at the bottom of the cover plate adsorption device and used for adsorbing the cover plate;
step five: the release paper carrying module (43) carries release paper in the product material frame into the release paper material frame: when the first optical fiber sensor detects that the release paper is positioned at the uppermost part of the product material frame, feeding information back to the electronic control system, starting the release paper carrying module (43) by the electronic control system, and carrying the release paper into the release paper material frame by controlling the release paper grabbing platforms through fifth and sixth driving;
step six: when the first optical fiber sensor detects that the product is located at the uppermost part of the product material frame, the product carrying module (50) is started and takes out the product from the product material frame and accurately places the product in the accommodating groove of the carrier, and the cover plate carrying module (62) is started again to cover the cover plate on the product: the product grabbing platform (56) in the product carrying module (50) moves forwards and backwards, leftwards and rightwards and vertically in a triaxial manner through first, second and third driving, so that products are accurately grabbed, then transported to the vicinity of the carrier through the first, second and third driving, the CCD module arranged in the vicinity of the carrier grabs the position of the product and combines the positioning direction of the carrier, and the product is subjected to fine adjustment in the horizontal direction through rotary driving so as to be opposite to the containing groove of the carrier, and then accurately placed in the containing groove of the carrier through third driving;
step seven: finally, the carrier positioning module (61) releases the carrier, the positioning air cylinders at the two sides of the hollow part retract firstly, and then the fourth jacking device namely the jacking air cylinder retracts, so that the carrier falls on the belt of the carrier transmission module again, and the carrier transmission module conveys the carrier to the next process.
Priority Applications (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201710978948.8A CN107613664B (en) | 2017-10-19 | 2017-10-19 | Carrier board planting device and operation method thereof |
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| Application Number | Priority Date | Filing Date | Title |
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| CN201710978948.8A CN107613664B (en) | 2017-10-19 | 2017-10-19 | Carrier board planting device and operation method thereof |
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| CN107613664A CN107613664A (en) | 2018-01-19 |
| CN107613664B true CN107613664B (en) | 2023-05-12 |
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