CN108262798A - A kind of automatic board descending machine and automatic board descending system - Google Patents

Abstract

The invention belongs to pcb board procedure for processing technical field of automation, are particularly suitable for the arrangement of pcb board automatic disc filling, the automation equipment of storage.Including rack and be respectively arranged in the rack into trigger structure, send pallet body and discharging mechanism.The Material moving device is set to PCB board separators rear end, it is described send pallet body include from into pcb board, pallet crawl, pcb board is put, pallet shift, pallet fills several mechanisms such as tote cart.Relative to the prior art, since the present invention includes several groups of transfer module mechanisms, therefore the polylith pcb board divided can be carried out while sequentially puts pallet, it is packed into a series of automated jobs such as tote cart storage, so as to substantially increase the rate of coming into force, cost of labor is reduced, and can realize the automatic flow of processing procedure.Therefore the high degree of automation of the present invention, it is suitable for mass production.

Description

An automatic unloading machine and an automatic unloading system

technical field

The invention belongs to the field of PCB board processing automation, and more specifically relates to an automatic board unloading machine and an automatic board unloading system suitable for automatic palletizing and storage of PCB boards.

Background technique

The unloading machine is an electronic device used for placing and storing cut printed circuit boards (PCBs). Generally, the cut PCB boards are manually arranged and palletized, stored and transferred.

However, manual operations are labor-intensive and inefficient, resulting in higher costs.

In view of this, it is indeed necessary to provide a general-purpose unloading machine, which uses automated operations to complete the tray storage of the divided PCB boards at one time, greatly improving production efficiency and reducing labor costs. Moreover, the degree of automation is high, and subsequent processes can be connected to realize the automatic production of the entire process.

Contents of the invention

In view of the above defects or improvement needs of the prior art, the present invention provides an automatic plate unloading machine, the purpose of which is to realize continuous Automatic operation, thereby greatly improving production efficiency and reducing labor costs, and it can also realize the connection with subsequent operations, with a high degree of automation.

In order to achieve the above object, the present invention adopts following technical scheme:

An automatic plate unloading machine, comprising: a plate feeding mechanism, a plate moving mechanism, a pallet moving mechanism, a pallet loading and unloading mechanism, an empty tray lifting vehicle and a full tray lifting vehicle;

The plate feeding mechanism includes a first linear motion component and a supporting plate, and the supporting plate is fixed on the first linear mover of the first linear motion component; when working, the first linear mover moves back and forth linearly to drive the supporting plate in the The reciprocating movement between the board feeding station and the board taking station is used to transport the board to be loaded from the board feeding station to the board taking station;

The starting position of the plate-moving mechanism is located above the plate-taking station, and the plate-moving mechanism has a plate-moving manipulator, which is used to transfer the plate to be loaded to the plate-loading station when it arrives at the plate-retrieving station, and load the plate to be loaded into on an empty tray at the tray station;

The pallet moving mechanism includes a second linear motion component and a moving plate, the moving plate is fixed on the second linear mover of the second linear motion component, and the moving plate is used to carry and/or push the pallet; when working, the second linear mover reciprocates The linear motion drives the moving plate to reciprocate between the loading station and the full tray station, so as to transport the full tray loaded with plates from the loading station to the full tray station;

The pallet loading and unloading mechanism includes a third linear motion component, a pallet loading component, a fourth linear motion component and a pallet unloading component;

The pallet feeding assembly is fixed on the third linear mover of the third linear motion assembly, and the pallet feeding assembly has a feeding manipulator; when working, the third linear mover moves back and forth in a straight line to drive the pallet feeding assembly in the process of removing empty disks. The reciprocating movement between the loading station and the loading station, so that the empty tray is transported from the empty tray station to the loading station by the feeding manipulator, and the empty tray is placed on the moving plate located at the loading station;

The pallet blanking assembly is fixed on the fourth linear mover of the fourth linear motion assembly, and the pallet blanking assembly has a blanking manipulator; when working, the fourth linear mover moves back and forth in a straight line to drive the pallet blanking assembly in the process of taking a full tray. The reciprocating movement between the loading station and the unloading station, so that the full tray loaded with boards can be transported from the full tray to the unloading station by the unloading manipulator, so that the full tray loaded with boards can be transported from the full tray to the unloading station. The station is transported to the unloading station.

Further, the first linear motion assembly includes a first linear slide rail, a first screw rod assembly, and a board feeding motor; the first linear slide rail includes a first guide rail and a first slider sliding on the first guide rail, The first screw assembly includes a first screw and a first linear mover, the first linear mover is a first guide sleeve moving on the first screw, and the first guide rail is arranged in parallel with the first screw; The output shaft of the plate motor is connected to the first screw, and the supporting plate is fixed on the first slider and the first guide sleeve;

When working, the plate feeding motor drives the first screw rod to rotate forward and reverse, so that the first supporting plate is driven to reciprocate along the first guide rail between the plate feeding station and the plate taking station through the first guide sleeve, so that the plate to be loaded Transport from the board entry station to the board removal station.

Further, the plate feeding mechanism includes three position control mechanisms, which are respectively set at the starting point, end point and abnormal position of the movement of the first guide sleeve, so as to judge and control the operation of the plate feeding motor according to the signals received by the three position control mechanisms at corresponding positions state.

Further, the second linear motion assembly includes a second linear slide rail, a second screw rod assembly, and a tray transfer motor; the second linear slide rail includes a second guide rail and a second slider sliding on the second guide rail, and the second wire The rod assembly includes a second screw rod and a second linear mover, the second linear mover is a second guide sleeve moving on the second screw rod, and the second guide rail is arranged in parallel with the second screw rod; the output shaft of the tray moving motor Connecting the second screw rod, the moving plate is fixed on the second slider and the second guide sleeve;

When working, the tray-moving motor drives the second screw rod to rotate forward and reverse, so that the second guide sleeve drives the moving plate to reciprocate along the second guide rail between the loading station and the full-disk station, so as to move the loaded plate Full trays are transported from the loading station to the full tray taking station.

Further, the third linear motion assembly includes a third linear slide rail, a third screw assembly and a translation motor; the third linear slide rail includes a third guide rail and a third slide block sliding on the third guide rail, and the third screw rod The assembly includes a third screw rod and a third linear mover, the third linear mover is a third guide sleeve moving on the third screw rod, the third guide rail is arranged in parallel with the third screw rod; the output shaft of the translation disc motor is connected to The third screw rod, the moving plate is fixed on the third slider and the third guide sleeve;

When working, the translation motor drives the third screw rod to rotate forward and reverse, so that the tray loading assembly is driven to reciprocate along the third guide rail between the empty tray station and the tray loading station through the third guide sleeve, so as to remove the empty tray from the tray. The empty tray station is transported to the tray loading station.

Further, the fourth linear motion assembly includes a fourth linear slide rail, a fourth screw assembly and a feeding motor; the fourth linear slide rail includes a fourth guide rail and a fourth slider sliding on the fourth guide rail, and the fourth wire The rod assembly includes the fourth screw rod and the fourth linear mover, the fourth linear mover is the fourth guide sleeve moving on the fourth screw rod, the fourth guide rail is arranged in parallel with the fourth screw rod; the output shaft of the feeding motor Connect the fourth screw rod, the moving plate is fixed on the fourth slider and the fourth guide sleeve;

When working, the unloading motor drives the fourth screw rod to rotate forward and backward, so that the pallet unloading assembly is driven to reciprocate along the fourth guide rail between the full tray filling station and the unloading station through the fourth guide sleeve, so as to fully load the pallet. The full pallet of boards is transported from the full pallet station to the unloading station.

Further, the third linear motion assembly includes a fifth guide sleeve moving on the third screw rod and a fifth slider sliding on the third guide rail; the plate moving mechanism is fixed on the fifth guide sleeve and the fifth slider; When working, the translation motor drives the third screw rod to rotate forward and reverse, so that the tray feeding assembly and the plate moving mechanism are respectively driven to reciprocate synchronously through the third guide sleeve and the fifth guide sleeve.

Further, at least one of the loading manipulator of the tray loading assembly and the unloading manipulator of the tray unloading assembly includes: a square outer frame, two claws, and two biaxial cylinders; the two biaxial cylinders are symmetrically arranged on the square Both sides of the outer frame, and the cylinder shafts are set outward; the two claws are installed on the cylinder shafts of the two double-axis cylinders one by one.

Further, the square outer frame has two opposite sides, one of which is provided with a row of through holes, and the other side is provided with a chute parallel to the through holes; two parallel cylinder mounting plates are placed at one end In the chute, the other end is fixed in the through hole by bolts and nuts; two double-axis cylinders are installed on the two cylinder mounting plates correspondingly.

In order to achieve the above object, the present invention also adopts the following technical solutions: an automatic unloading system, including a control unit and an automatic unloading machine as described in any one of the above; the control unit includes a controller, a display screen and control buttons, and the display screen And the control button is connected with the controller; the controller is used to control the plate feeding mechanism, plate moving mechanism, pallet moving mechanism, pallet loading and unloading mechanism, empty tray lift car and full tray lift car according to preset and/or real-time input control instructions Working sequence; the display screen is used to display the working status in real time; the control buttons are used to input and/or select control commands.

Generally speaking, compared with the prior art, the above technical solution conceived by the present invention improves the work efficiency of the process due to the use of multiple manipulator linkage operations. , Loading into a series of automated operations such as turnover car storage, which greatly improves production efficiency, reduces labor costs, and can realize the automation of the manufacturing process. Therefore, the present invention has a high degree of automation and is suitable for mass production.

Description of drawings

Fig. 1 is the three-dimensional assembly schematic diagram of the present invention;

Fig. 2 is the front view of Fig. 1;

Fig. 3 is a top view of Fig. 1 , omitting the frame 1 and the board feeding mechanism 2;

Fig. 4 is a schematic diagram of the three-dimensional structure of the plate feeding mechanism in Fig. 1;

Fig. 5 is the front view of Fig. 4;

Fig. 6 is the top view of Fig. 4;

Fig. 7 is a schematic diagram of the three-dimensional structure of the moving plate mechanism in Fig. 1;

Fig. 8 is a schematic diagram of the three-dimensional structure of the moving tray mechanism in Fig. 1;

Fig. 9 is a schematic diagram of the layout of the tray blanking assembly on the back of Fig. 1;

Fig. 10 is a three-dimensional schematic diagram of a manipulator of the tray loading assembly and the tray unloading assembly in Fig. 1;

Fig. 11 is the front view of Fig. 10;

Fig. 12 is a three-dimensional structural schematic diagram of the empty tray lifting vehicle and the full tray lifting vehicle in Fig. 1 .

Throughout the drawings, the same reference numerals are used to designate the same elements or structures, wherein:

1-rack

2-board feeding mechanism 21-first bottom plate 22-first support plate

23-The first guide rail 24-The first slider 25-The first screw support plate

26-Plate Feed Motor 27-Position Sensor 28-Pallet

29-The first screw rod

3-Plate moving mechanism 31-Substrate 32-First lift assembly

33-Swivel driven wheel 34-Swivel motor 35-First lift motor

36-Translation component 37-Suction plate component 38-Rotation motor mount

4-Transfer tray mechanism 41-Active support plate 42-Adjustment handle

43-fixed support plate 44-moving tray motor 45-moving plate

46-Guide groove 47-Second guide rail 48-Second slider

49-Second lead screw

5-Tray loading and unloading mechanism 51-Tray loading assembly 52-Tray unloading assembly

53-The fourth screw support plate 54-Translation motor 55-The fourth guide rail

56-Unloading motor 57-The fourth screw rod 58-The third guide rail

59-Third screw

6-Empty plate lifting car 7-Full plate lifting car

61, 71-Second supporting plate 62, 72-Motor mounting plate 63, 73-Third supporting plate

64, 74-Second lift assembly 65, 75-Bracket assembly 66, 76-Fourth support plate

67, 77-Width adjustment assembly 68, 78-Second bottom plate 69, 79-Pallet support plate

A-Board feeding station B-Board taking station C-Packing station

D- Empty plate taking station E- Full plate taking station F- Unloading station

P - empty pallet

Detailed ways

In order to make the object, technical solution and advantages of the present invention clearer, the present invention will be further described in detail below in conjunction with the accompanying drawings and embodiments. It should be understood that the specific embodiments described here are only used to explain the present invention, not to limit the present invention. In addition, the technical features involved in the various embodiments of the present invention described below can be combined with each other as long as they do not constitute a conflict with each other.

As shown in Fig. 1 to Fig. 3, the automatic unloading machine provided by the present invention includes the frame 1 shown in Fig. 1 and the plate feeding mechanism 2, the plate moving mechanism 3, the pallet moving mechanism 4, Tray loading and unloading mechanism 5, empty tray lifting car 6 and full tray lifting car 7. The divided PCB boards are sent from the plate feeding mechanism 2 to the plate moving mechanism 3, and the empty tray is grabbed by the empty plate lifting vehicle 6 by the tray feeding assembly 51 to the swinging station on the plate moving mechanism 4, and the plate moving mechanism 3 The PCB board is grasped by the plate feeding mechanism 2 and placed in the empty tray, and then the full tray with the PCB board is pushed to the lower plate station by the moving tray mechanism 4, and then loaded into the full tray after being grabbed by the tray unloading assembly 52. 7. PCB board grabbing and tray loading are completed synchronously by the plate lifting car. That is to say, the plate-moving mechanism has multiple sets of mechanical arms, so that the PCB board and the tray can be placed in the pallet-moving mechanism 4 at one time. The plate moving mechanism and the empty tray mechanism share the same motor for translation, and the lifting mechanism is controlled separately. The program logic is to place the PCB board after the empty tray is advanced, and the whole tray is pushed to the full tray moving station by the pushing tray mechanism after the tray is full. PCB boards can be placed into pallets as required. Wherein, in this embodiment, all actions are set to be controlled by servo motors, which can meet various placement requirements. Versatile.

Wherein, as shown in Figures 4 to 6, the board feeding mechanism 2 includes a first base plate 21, a first support plate 22 respectively arranged on the first base plate 21, a first guide rail 23, a first slide block 24, a first screw rod Support plate 25 , plate feeding motor 26 , position control mechanism 27 , supporting plate 28 and first screw mandrel 29 . Wherein, the first support plate 22 is arranged as two and parallel to each other, the first guide rail 23 is located between the first support plates 22, and the precision screw guide sleeve 24 is located above the first guide rail 23; the first screw support plate 25 is set 2 and parallel to each other, the first guide rail 23 is located between the first screw mandrel support plates 25, on the first bottom plate 21, the stepper motor 26 is arranged on one side of the first screw mandrel support plate 25, and the position control The mechanism 27 is located on the first bottom plate 21 , and the supporting plate 28 is located on the first guide rail 23 ; the first linear mover is a precision screw guide bush matched with the first screw rod 29 .

The board feeding mechanism 2 is also provided with a position control mechanism. When the position control mechanism senses the PCB board, it will transmit the signal to the stepping motor 26, and then the stepping motor 26 will start to rotate, thereby driving the first guide rail 23 to start moving. The pallet 28 is sent to the board removal station to wait for an instruction. Wherein the position control mechanism is provided with 3, is respectively control pallet 28 origins, control pallet 28 end point and control pallet 28 super-setting alarm program. The position control mechanism 27 of this embodiment is three laser sensors, and when the PCB is placed on the supporting board 28 and the supporting board 28 drives the PCB to move, the corresponding laser sensors are triggered. In other embodiments, the leftmost sensor of the position control mechanism 27 in FIG.

In this embodiment, the length of the PCB board that can be placed by the board feeding mechanism is 350 mm and the width is 350 mm, and the board feeding speed can reach 500-800 mm/s.

The working principle of the plate feeding mechanism is: the pallet 28 is initially located at the board feeding station A, the PCB board enters the pallet 28 from the front machine, and when the position control mechanism 27 senses the incoming material, the motor 26 starts to run, thereby driving the precision The screw guide sleeve 24 starts to rotate and drives the first guide rail 23 to move and drives the supporting plate 28 to move to the plate taking station B. When the position control mechanism 27 senses that the material of the pallet 28 has arrived at the board-taking station B, the board-moving mechanism 3 sucks the PCB away, and the pallet 28 returns to the board-feeding station A, ready to place the next PCB board.

As shown in Figure 7, the plate moving mechanism 3 also includes a base plate 31, a first lifting assembly 32, a rotating driven wheel 33, a rotating motor 34, a first lifting motor 35, a translation assembly 36, a suction plate assembly 37 and a rotating motor mounting base 38 . The first lifting motor 35 and the translation assembly 36 are all arranged on the base plate 31, the rotating motor 34 and the rotating driven wheel 33 are arranged on the rotating motor mounting base 38, the rotating motor mounting base 38 is connected with the base plate 31, and the center of the suction plate assembly 37 rotates The shaft is connected and arranged on the motor mount 38 by a bearing. The upper end of the central rotating shaft of the suction plate assembly 37 is fixedly connected with the rotating driven wheel 33, and the output shaft of the rotating driven wheel 33 and the rotating motor 34 can be connected and driven by belt pulleys, sprockets, ring racks and the like. In this embodiment, the translation component 36 is a slider that cooperates with the third guide rail 58 . During installation, the mover of the third screw rod 59 is fixedly connected with the base plate 31 .

In this embodiment, the board moving mechanism 3 can be applied to a PCB board with a length of 350 mm and a width of 350 mm, which can be applied to PCB boards of various P numbers, and the rotation mechanism 33 can be added to realize the placement of the PCB board at any angle.

The working principle of the plate moving mechanism is: the first lifting motor 35 controls the first lifting assembly 32 to drive the rotating motor 34 to realize the lifting movement, and the rotating driven wheel 33 is driven by the rotating motor 34 to drive the suction plate assembly 37 to rotate the PCB board, and follow the translation assembly 36 Do translational movement along the third guide rail 58 . Realize the grabbing, lifting, rotating, and translation of the PCB board machine to the loading station.

The rotation driven wheel 33 is controlled by the rotation motor 34, which can realize the placement of the product at any angle. In this embodiment, by adjusting the program parameters of the rotating motor 34 device, the present invention can be applied to a PCB board of length×width (350×350). The suction plate assembly 37 is provided with a plurality of suction heads which can simultaneously absorb a plurality of small PCB boards and arrange them in sequence (according to actual requirements, they can be rotated at any angle). In this embodiment, the suction head of the suction plate assembly 37 is arranged in a through groove provided on the cross mounting frame, and fixed by a nut, and the specific position of the suction head can be adjusted according to different products by using the nut tightness.

As shown in FIG. 8 , the tray moving mechanism 4 includes a movable support plate 41 , an adjustment handle 42 , a fixed support plate 43 , a tray moving motor 44 , and a moving plate 45 . The fixed support plate 43 is arranged on the second bottom plate of the machine table, and the movable support plate 41 is connected to the fixed support plate 43 through the adjustment handle 42 . The fixed support plate 43, the adjustment handle 42, and the movable support plate 41 are all arranged in 2 groups, distributed on both sides, and can be regulated to the middle at the same time. Tray-moving motor 44 and moving plate 45 are arranged on the second bottom plate of the machine table, in the middle of two fixed supporting plates 43 . The empty pallet P is grabbed by the robot arm from the lift car to the pallet placement position and used to place PCB products.

In this embodiment, the two fixed support plates 43 are fixedly connected by two parallel fixed rods, and the two movable support plates 41 are respectively penetrated by the above two rods. Each adjusting handle 42 has a threaded rod parallel to the fixed rod and penetrates the fixed support plate 43 and the movable support plate 41 on the corresponding side. Each threaded rod is threadedly connected to the corresponding movable support plate 41 . The movable support plate 41 of this embodiment is provided with a guide groove 46 for supporting and guiding the PCB board to move forward.

In this embodiment, the maximum external dimension of the pallet that the pallet-moving mechanism 4 can be applied to is length * width * height (380 * 380 * 50), and the minimum external dimension of the pallet is length * width (120 * 120).

The working principle of the tray-moving mechanism 4 is: the fixed support plate 43 is arranged on the frame 1 for positioning, and when the rotating adjustment handle 42 drives the threaded rod to rotate forward or reversely, since the two ends of the movable support plate 41 are restricted by the fixed rods, the freedom of rotation Degree, the movable support plate 41 can only advance or retreat along the threaded rod, thereby realizing width adjustment. The moving plate 45 is controlled by the tray-moving motor 44, returns to its original position after completing the action, and waits for the next action.

As shown in Figures 1 to 3 and Figure 9, the tray loading and unloading mechanism 5 includes a tray loading assembly 51, a tray unloading assembly 52, a fourth screw support plate 53, a translation motor 54, a fourth guide rail 55, and a loading motor 56. , the fourth screw mandrel 57 , the third guide rail 58 and the third screw mandrel 59 . The two third guide rails 58 and the third screw rod 59 are parallel to each other, and the third screw rod 59 is located between the two third guide rails 58 . Please refer to Fig. 2 and Fig. 7, in this embodiment, the translation, lifting structure and translation, lifting principle of the pallet feeding assembly 51 and the pallet unloading assembly 52 are the same as the base plate 31 of the plate moving mechanism 3, the first lifting assembly 32 , the first lifting motor 35 and the translation assembly 36 are the same. The difference is that both the tray loading assembly 51 and the tray unloading assembly 52 are equipped with manipulators on the lifting assembly, which are lifted and lowered under the control of the lifting motor.

In this embodiment, the loading manipulator of the tray feeding assembly 51 and the unloading manipulator of the tray unloading assembly 52 have the same structure, please refer to FIG. 12 and FIG. 11 . The loading manipulator of the pallet loading assembly 51 includes a square outer frame 511 , two claws 512 and two biaxial cylinders 513 . The square outer frame 511 is placed horizontally and fixed on the lifting assembly 514. Two biaxial cylinders 513 are symmetrically arranged on both sides of the square outer frame 511, and the cylinder shafts are all set outward. The minimum stroke of the cylinder shaft can be directly used to control the clamping range, so that there is no need to deliberately control the clamping force, and it can also avoid clamping the PCB board. The two claws 512 are mounted on the cylinder shafts of the two double-axis cylinders 513 one by one, so that they are driven by the two double-axis cylinders 513 to approach or move away from each other to realize the clamping and releasing of the PCB board. The square outer frame 511 has two opposite sides 515, wherein one side 515 is provided with a row of through holes 516, and the other side 515 is provided with a chute 517 parallel to the through holes 516; two cylinder mounting plates 518 parallel to each other One end is placed in the chute 517, and the other end is fixed in the through hole 516 by bolts and nuts (not shown); the two biaxial cylinders 513 are installed on the two cylinder mounting plates 518 correspondingly. By adjusting the bolts and nuts to cooperate with different through holes 516, the positions of the two cylinder mounting holes can be changed, thereby adjusting the clamping range.

As shown in FIG. 12 , the empty tray lift mechanism 6 and the full tray lift mechanism 7 have the same structure, so they are combined in FIG. 12 for display. The part numbers of the full tray lift mechanism 7 are shown in parentheses in FIG. 12 . The following is an introduction by taking the empty disk lifting vehicle mechanism 6 as an example: the empty disk lifting vehicle mechanism 6 includes a bottom plate 68, which is arranged on the bottom plate of the machine platform, a support plate 61 is arranged on the bottom plate 68, and a motor mounting plate 62 is arranged on the support plate 61. The lifting mechanism 64 is connected to the pallet support plate 63 through a slide table. The support mechanism 65 is arranged under the supporting plate 63 and above the lifting mechanism 64, and is driven by a motor to move up and down together. The supporting plate 66 is arranged on the lifting mechanism 64 , the width adjusting mechanism 67 is arranged between the two supporting plates 66 , and the tray placing plate is arranged on the supporting plate 66 .

In the present embodiment, the maximum dimensions of the trays that the empty tray lift car mechanism 6 and the full tray lift cart mechanism 7 can be applied to are length × width × height (380 × 380 × 50), and the minimum dimensions of the tray are length × width (120 ×120), the height of pallet stacking size is about 300.

Empty tray lifting car mechanism 6 operating principle is: after lifting car puts in place, detection mechanism controls lifting mechanism 64 by the program automatic lifting pallet support plate 63 of program setting, support mechanism 65 and width adjustment mechanism 67. Realize automatic loading and unloading of pallets.

In order to improve the degree of automation, the unloading machine also includes a control unit, the control unit is arranged on the frame 1, and the control unit includes a controller, a display screen and control buttons, and the display screen and the control buttons are all connected to the controller. The incoming material sensor of the plate feeding mechanism, the clamping cylinder sensor, the main motor, the motor of the upper tray mechanism and the motor of the material moving mechanism are all connected to the controller, and an alarm is also set on the frame 1, and the alarm is connected to the controller. When there is an abnormality in the process of dividing the board, the alarm will alarm to remind the staff to stop the operation or have the controller to perform the shutdown operation. The counting module is set in the controller, and the processing output can be preset, which can be displayed intuitively on the display screen. In a word, small PCB boards can be placed on the plate at one time, which greatly improves production efficiency, reduces labor costs, and can realize automatic loading and unloading. Therefore, the present invention has a high degree of automation and is suitable for mass production.

This embodiment has the following 6 stations: board feeding station A, board taking station B, tray loading station C, empty tray taking station D, full tray taking station E, and material unloading station F, as shown in the figure 2, 3, for the sake of brevity, each station is replaced by the corresponding letter in the following text.

Below in conjunction with Figures 2 to 10, the supporting plate 28 of the moving plate mechanism 2, the suction plate assembly 37 of the suction plate mechanism 3, the moving plate 45 of the moving tray mechanism, the tray feeding mechanism 51, and the empty tray lifting car mechanism 6 are shown in the initial state. , the tray unloading mechanism 52, and the full tray lifting mechanism 7 are respectively located at A, C, C, D, D, E, and F stations as an example, and introduce the working process of the present invention in detail.

(1) Place the PCB1 on the pallet 28 manually or by using automated equipment. The pressure sensor or infrared sensor detects that there is PCB1 on the pallet 28, and the feedback signal is sent to the controller. The controller controls the forward rotation of the board feeding motor 26 to drive the pallet 28 Send the PCB1 from the A station to the B station; the controller starts the motor of the empty tray lifting car 6 to rotate forward, and the support plate 69 rises to send the empty tray P1 to the D station and put it in place;

(2) The controller starts the lifting motor of the tray feeding mechanism 51 to rotate forward, lowers the manipulator to grab the empty tray P1, and then reverses to rise;

(3) The controller controls the translation motor 54 to reverse, drives the third guide sleeve and the fifth guide sleeve to drive the suction plate assembly 37 of the suction plate mechanism 3 to move synchronously with the tray feeding mechanism 51, and the suction plate assembly 37 moves from station C to station B station, the pallet loading mechanism 51 is from station D to station C;

(4) The controller controls the lifting motor 35 to turn forward to lower the suction plate assembly 37, start the vacuum suction device to suck up the PCB1, and then reverse to rise; P1 is placed on two movable support plates 41, and then rises in reverse;

(5) The controller starts the translation motor 54 to rotate forward, drives the third guide sleeve and the fifth guide sleeve to drive the suction plate assembly 37 of the suction plate mechanism 3 to move synchronously with the tray feeding mechanism 51, and the suction plate assembly 37 carries the PCB board from the B worker station to station C, the pallet loading mechanism 51 is empty and returns from station C to station D;

(6) The controller starts the board feeding motor 26 to reverse, and drives the unloaded pallet 28 to return from the B station to the A station to load the PCB2; The A station is sent to the B station; the controller starts the motor of the empty tray lifting car 6 to rotate forward, and the support plate 69 rises to send the empty tray P2 to the D station and put it in place;

(7) The controller starts the lifting motor 35 to turn forward and lower the suction plate assembly 37, controls the vacuum suction device to unload and puts the PCB1 board on the empty tray, and then reverses to drive the suction plate assembly 37 to rise;

(8) Repeat steps (2) to (7) to enter the next disk loading cycle; starting from the second disk loading cycle, during each repetition of steps (2) and (3), the controller also executes the previous disk loading cycle. Subsequent unloading cycle steps (9) to (11), before each loading cycle step (4) places an empty tray, step (10) of the previous unloading cycle is completed, and unloading cycle steps (9) to ( 11) as follows:

(9) The controller starts the moving tray motor 44 to rotate forward, drives the moving plate 45 to push the tray P1 equipped with PCB1 from C to E, the lifting motor of the tray unloading mechanism 52 rotates forward, and lowers the manipulator to pick up the tray P1 equipped with PCB1 , and then control the lifting motor to reverse and rise;

(10) The controller starts the tray moving motor 44 to reverse, and drives the unloaded moving plate 45 to return from E to C;

(11) The controller starts the unloading motor 56 to rotate forward, drives the pallet unloading mechanism 52 to carry the pallet P1 with PCB1 from E to F, then controls the lifting motor to rotate forward, lowers the manipulator to put the pallet P1 with PCB1 into the full The full plate support plate 79 of the plate lift car 7; the controller starts the motor of the full plate lift car 7 to reverse, and the full plate support plate 79 descends to a full plate height to prepare for the next blanking; (10) and (11) In no particular order.

The invention is suitable for automatically swinging pallets after cutting PCB boards, stacking pallets, storing individual cars and connecting automatic storage. It can also be extended and applied to the automatic placement and stacking of other boards.

The maximum pallet size of the present invention is 380×380, the working temperature is 10-35°C, and the working power is 220V.

In other embodiments, the pallet lift mechanism includes an appearance sheet metal, a width adjustment mechanism, a tray placement mechanism and swivel casters, and the appearance sheet metal is placed outside the width adjustment mechanism and the tray placement mechanism, so The width adjustment mechanism is located under the tray placement mechanism, and the universal caster is connected with the tray placement mechanism by a sheet metal part, and the universal caster is positioned at the bottom of the appearance sheet metal.

It is easy for those skilled in the art to understand that the above descriptions are only preferred embodiments of the present invention, and are not intended to limit the present invention. Any modifications, equivalent replacements and improvements made within the spirit and principles of the present invention, All should be included within the protection scope of the present invention. In addition, although some specific terms are used in this specification, these terms are only for convenience of description and do not constitute any limitation to the present invention.

Claims (10)

1. a kind of automatic board descending machine, which is characterized in that including：Into trigger structure, move trigger structure, shifting pallet body, pallet loading and unloading Mechanism, blank panel lift truck and dishful lift truck；

Include first straight line moving parts and supporting plate into trigger structure, the first straight line that supporting plate is fixed on first straight line moving parts is moved On son；During work, first straight line mover linear reciprocating motion is so as to drive supporting plate into plate station and taking reciprocal between plate station Movement will treat that loading board takes plate station from being transported into plate station；

The initial position of trigger structure is moved positioned at taking above plate station, trigger structure is moved with plate manipulator is moved, plate is taken for that will reach Station treats that loading board is transferred to sabot station, and will treat that loading board is packed on the empty pallet of sabot station；

It moves pallet body and includes second straight line moving parts and movable plate, movable plate is fixed on the second of second straight line moving parts On straight line mover, movable plate is used to carrying and/or pushing pallet；During work, second straight line mover linear reciprocating motion is so as to band Dynamic movable plate is moved back and forth in sabot station and taking between dishful station, and the dishful pallet that will install plate is transported from sabot station To taking dishful station；

Pallet charging and discharging mechanism is included under third linear motion component, pallet loading assemblies, the 4th linear motion component and pallet Expect component；

Pallet loading assemblies are fixed on the third straight line mover of third linear motion component, and pallet loading assemblies have feeder Tool hand；During work, third straight line mover linear reciprocating motion is so as to drive pallet loading assemblies taking blank panel station and sabot work Moved back and forth between position, with by feeding manipulator by empty pallet from blank panel station is taken to be transported to sabot station, and by empty pallet It is positioned on the movable plate of sabot station；

Pallet blanking component is fixed on the 4th straight line mover of the 4th linear motion component, and pallet blanking component has blanking machine Tool hand；During work, the 4th straight line mover linear reciprocating motion is so as to drive pallet blanking component taking dishful station and blankers Moved back and forth between position, with by blanking mechanical hand by the dishful pallet for installing plate from dishful station is taken to be transported to discharge station, The dishful pallet of plate will be installed from dishful station is taken to be transported to discharge station.

2. a kind of automatic board descending machine as described in claim 1, which is characterized in that first straight line moving parts include first straight line Sliding rail, the first screw component and send pan motor；First straight line sliding rail includes the first guide rail and slided on the first guide rail first Sliding block, the first screw component include the first screw and first straight line mover, and first straight line mover moves on the first screw First guide sleeve, the first guide rail are arranged in parallel with the first screw；The first screw of output axis connection of pan motor is sent, supporting plate is fixed on On one sliding block and the first guide sleeve；

During work, pan motor is sent to drive the first screw rotating, so as to drive the first supporting plate along the first guide rail by the first guide sleeve It is moved back and forth between plate station into plate station and taking, will treat that loading board takes plate station from being transported into plate station.

3. a kind of automatic board descending machine as claimed in claim 2, which is characterized in that include three position control machines into trigger structure Structure is respectively arranged on starting point, terminal and the abnormal position of the first guide bush movement, with according to three position control mechanisms in corresponding position The signal received judges and pan motor working condition is sent in control.

4. a kind of automatic board descending machine as described in claim 1, which is characterized in that second straight line moving parts include second straight line Sliding rail, the second screw component and shifting holding tray motor；Second straight line sliding rail includes the second guide rail and slided on the second guide rail the Two sliding blocks, the second screw component include the second screw and second straight line mover, and second straight line mover is moves on the second screw The second guide sleeve, the second guide rail is arranged in parallel with the second screw；The second screw of output axis connection of holding tray motor is moved, movable plate is solid Due on the second sliding block and the second guide sleeve；

It during work, moves holding tray motor and drives the second screw rotating, so as to drive movable plate along the second guide rail by the second guide sleeve It is moved back and forth between dishful station in sabot station and taking, the dishful pallet for installing plate from sabot station is transported to and takes dishful Station.

5. a kind of automatic board descending machine as described in claim 1, which is characterized in that third linear motion component includes third straight line Sliding rail, third screw component and translation motor；Third line slide rail includes third guide rail and the third slided on third guide rail Sliding block, third screw component includes third screw and third straight line mover, third straight line mover move on third screw Third guide sleeve, third guide rail are arranged in parallel with third screw；The output axis connection third screw of disk motor is translated, movable plate is fixed In on third sliding block and third guide sleeve；

During work, translation motor drives third screw rotating, so as to drive pallet loading assemblies along third by third guide sleeve Guide rail is moved back and forth between blank panel station and sabot station taking, by empty pallet from blank panel station is taken to be transported to sabot station.

6. a kind of automatic board descending machine as described in claim 1 or 5, which is characterized in that the 4th linear motion component includes the 4th Line slide rail, the 4th screw component and blanking motor；4th line slide rail includes the 4th guide rail and is slided on the 4th guide rail Four-slider, the 4th screw component include the 4th screw and the 4th straight line mover, and the 4th straight line mover is transports on the 4th screw The 4th dynamic guide sleeve, the 4th guide rail are arranged in parallel with the 4th screw；The 4th screw of output axis connection of blanking motor, movable plate are solid Due on Four-slider and the 4th guide sleeve；

During work, blanking motor drives the 4th screw rotating, so as to drive pallet blanking component along the 4th by the 4th guide sleeve Guide rail is moved back and forth between dishful station and discharge station taking, by the dishful pallet for installing plate from dishful station is taken to be transported to Discharge station.

7. a kind of automatic board descending machine as claimed in claim 5, which is characterized in that third linear motion component is included in third silk The 5th guide sleeve moved on bar and the 5th sliding block slided on third guide rail；It moves trigger structure and is fixed on the 5th guide sleeve and the On five sliding blocks；During work, translation motor drives third screw rotating, so as to be driven respectively by third guide sleeve and the 5th guide sleeve Pallet loading assemblies and the synchronous reciprocating movement of shifting trigger structure.

8. a kind of automatic board descending machine as described in claim 1, which is characterized in that the feeding manipulator and support of pallet loading assemblies At least one of blanking mechanical hand of disk blanking component includes：Square frame, two claws and two twin shaft cylinders；Two Twin shaft cylinder is symmetrically disposed on square frame both sides, and cylinder axis is set outward；Two claw one-to-one correspondence are installed on two On the cylinder axis of twin shaft cylinder.

9. a kind of automatic board descending machine as claimed in claim 8, which is characterized in that square frame there are two opposite side, wherein One side is equipped with an exhausting hole, another side is equipped with a sliding slot parallel with through-hole；Two cylinders parallel to each other The equal one end of installing plate is placed in sliding slot, and the other end is fixed in through-holes by bolt and nut；Two twin shaft cylinders correspond peace On two cylinder mounting plates.

10. a kind of automatic board descending system, which is characterized in that including control unit and as described in claim 1~9 any one Automatic board descending machine；Control unit includes controller, display screen and control button, and display screen and control button connect with controller It connects；

Controller is used to be controlled into trigger structure according to control instruction that is default and/or inputting in real time, moves trigger structure, shifting pallet machine Structure, pallet charging and discharging mechanism, blank panel lift truck and dishful lift truck work schedule；Display screen is for real-time display work shape State；Control button is used to inputting and/or selecting control instruction.