CN108901134B - Copper plate assembling device - Google Patents

Copper plate assembling device Download PDF

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Publication number
CN108901134B
CN108901134B CN201810766223.7A CN201810766223A CN108901134B CN 108901134 B CN108901134 B CN 108901134B CN 201810766223 A CN201810766223 A CN 201810766223A CN 108901134 B CN108901134 B CN 108901134B
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CN
China
Prior art keywords
transplanting
clamping
assembly
assembling
plate
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CN201810766223.7A
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Chinese (zh)
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CN108901134A (en
Inventor
张乐贡
邱正勋
王宪锋
刘志远
肖圣曦
王文亮
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Shenzhen Zhihuizhe Robot Technology Co ltd
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Shenzhen Zhihuizhe Robot Technology Co ltd
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Priority to CN201810766223.7A priority Critical patent/CN108901134B/en
Publication of CN108901134A publication Critical patent/CN108901134A/en
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    • HELECTRICITY
    • H05ELECTRIC TECHNIQUES NOT OTHERWISE PROVIDED FOR
    • H05KPRINTED CIRCUITS; CASINGS OR CONSTRUCTIONAL DETAILS OF ELECTRIC APPARATUS; MANUFACTURE OF ASSEMBLAGES OF ELECTRICAL COMPONENTS
    • H05K3/00Apparatus or processes for manufacturing printed circuits
    • YGENERAL 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
    • Y02TECHNOLOGIES OR APPLICATIONS FOR MITIGATION OR ADAPTATION AGAINST CLIMATE CHANGE
    • Y02PCLIMATE CHANGE MITIGATION TECHNOLOGIES IN THE PRODUCTION OR PROCESSING OF GOODS
    • Y02P70/00Climate change mitigation technologies in the production process for final industrial or consumer products
    • Y02P70/50Manufacturing or production processes characterised by the final manufactured product

Abstract

The invention discloses a copper plate assembling device, which belongs to PCB production equipment, and structurally comprises an assembling and transplanting manipulator, an assembling and positioning mechanism, a clamping and transplanting mechanism, an assembling support frame and an assembling support plate, wherein the assembling and positioning mechanism, the clamping and transplanting mechanism and the assembling support plate are respectively arranged on the assembling support frame, and the assembling and transplanting manipulator is arranged on the upper part of the assembling and positioning mechanism. Compared with the prior art, the copper plate assembling device has the advantages that errors of the placement position are avoided, the influence on the following production line is avoided, and waste product processing is not formed; the copper plate is prevented from being shifted up and down during conveying, labor force can be saved, labor intensity is reduced, production efficiency is improved, production equipment is prevented from being stopped, waiting time is long, unstable surface quality of copper plates due to scratching is avoided, and the copper plate has good popularization and application values.

Description

Copper plate assembling device
Technical Field
The invention relates to PCB production equipment, in particular to a copper plate assembling device used in a PCB production line.
Background
The existing nailing and encapsulation processing technology generally comprises a pretreated copper plate, a pretreated fiber plate and an aluminum film, and comprises two technological routes of manual nailing and encapsulation. The two routes are mutually independent, are mutually connected through operation processes, and are stacked from pretreated copper plates to rubber coating, and are transported to a nailing process through a workshop transportation trolley, then wire plate positioning holes are manually arranged in nailing copper plate pins, an aluminum film is manually placed on the other side of the copper plate, and workpiece assembly is completed through four rubber coating, namely:
and (3) nailing: manually feeding, nailing and stacking;
and (3) an encapsulation procedure: manually feeding, namely assembling a fiber board, a copper plate and an aluminum film together, encapsulating four times and stacking;
according to the technology, the following defects exist in the existing PCB production technology in the aspects of copper plate positioning and in the process of conveying a plurality of copper plates after positioning:
when a plurality of copper plates are stacked, the positions of the pin holes are distinguished manually, errors are prone to occurring during placement, the subsequent production line is affected, and waste products are prone to being formed. The copper plate after lamination needs manual transportation material loading to carry, produces the aversion easily, brings the influence to subsequent production line, and intensity of labour is big moreover, and production efficiency is low, the human cost is higher, carries and goes up unloading operation many times, causes copper fish tail surface quality unstable easily, production facility shut down and latency is long.
Disclosure of Invention
The technical task of the invention is to provide a copper plate assembling device which can avoid error of the placement position, avoid influence on the following production line and avoid waste processing in order to overcome the defects in the prior art; the copper plate is prevented from being shifted up and down during conveying, labor force can be saved, labor intensity is reduced, production efficiency is improved, production equipment is prevented from being stopped, waiting time is long, and unstable surface quality of copper plate scratch is avoided.
The technical scheme adopted for solving the technical problems is as follows: the automatic transplanting machine comprises an assembling and transplanting manipulator, an assembling and positioning mechanism, a clamping and transplanting mechanism, an assembling and supporting frame and an assembling and supporting plate, wherein the assembling and positioning mechanism, the clamping and transplanting mechanism and the assembling and supporting plate are respectively arranged on the assembling and supporting frame, and the assembling and transplanting manipulator is arranged on the upper part of the assembling and positioning mechanism.
The assembling and transplanting manipulator comprises a copper plate assembling and transplanting vacuum chuck group, an assembling and transplanting lifting cylinder, an assembling and transplanting horizontal movement driving module and a copper plate assembling and transplanting manipulator fixing frame, wherein the copper plate assembling and transplanting vacuum chuck group is connected with a cylinder rod of the assembling and transplanting lifting cylinder, the assembling and transplanting lifting cylinder is connected with the assembling and transplanting horizontal movement driving module, and the assembling and transplanting horizontal movement driving module is arranged on the copper plate assembling and transplanting manipulator fixing frame.
The copper plate assembling and transplanting vacuum chuck group comprises a chuck frame body and vacuum chucks, wherein a plurality of vacuum chucks are arranged at the lower part of the chuck frame body, and the upper part of the chuck frame body is connected with a cylinder rod of an assembling and transplanting lifting cylinder.
The assembly transplanting horizontal movement driving module comprises an assembly transplanting truss, an assembly transplanting horizontal movement driving motor, an assembly transplanting gear, an assembly transplanting rack, an assembly transplanting sliding plate, an assembly transplanting guide rail and an assembly transplanting guide rail sliding block, wherein the assembly transplanting rack is arranged on the side face of the assembly transplanting truss, the assembly transplanting gear is matched with the assembly transplanting rack, the assembly transplanting gear is arranged on a motor shaft of the assembly transplanting horizontal movement driving motor, the assembly transplanting horizontal movement driving motor is arranged on the assembly transplanting sliding plate, the assembly transplanting guide rail sliding block is arranged on the inner side of the assembly transplanting sliding plate, the assembly transplanting guide rail sliding block is matched with the assembly transplanting guide rail, the assembly transplanting guide rail is arranged on the side face of the assembly transplanting truss, and the assembly transplanting sliding plate is connected with an assembly transplanting lifting cylinder.
The assembly transplanting guide rails comprise two assembly transplanting guide rails which are symmetrically arranged on two sides of the assembly transplanting rack, and each assembly transplanting guide rail is provided with 2 assembly transplanting guide rail sliding blocks respectively.
The assembly positioning mechanism comprises two assembly positioning mechanisms, the two assembly positioning mechanisms are symmetrically arranged on two sides of the clamping transplanting mechanism, each assembly positioning mechanism comprises an assembly positioning moving module, an assembly positioning pin driving cylinder, an assembly positioning bracket, a clamping rotating cylinder and a pressing rod, the assembly positioning bracket is arranged on the upper portion of the assembly positioning moving module, the assembly positioning pin driving cylinder is arranged on the assembly positioning bracket, the cylinder rod of the assembly positioning pin driving cylinder is provided with the assembly positioning pin, the central position of the assembly positioning bracket is provided with a round hole, the upper portion of the assembly positioning pin penetrates into the round hole of the assembly positioning bracket, the assembly positioning bracket is provided with the clamping rotating cylinder, the pressing rod is arranged on the cylinder rod of the clamping rotating cylinder, and the pressing rod is positioned on the upper portion of the assembly positioning bracket and flush with the upper surface of the assembly supporting plate.
The assembly positioning moving module comprises an assembly positioning moving driving motor, an assembly positioning moving section bar, an assembly positioning moving screw rod and an assembly positioning moving sliding block, wherein the assembly positioning moving driving motor is connected with the assembly positioning moving section bar, a motor shaft of the assembly positioning moving driving motor is connected with the assembly positioning moving screw rod, the assembly positioning moving screw rod is positioned in the assembly positioning moving section bar, the assembly positioning moving screw rod is matched with the assembly positioning moving sliding block, and the assembly positioning moving sliding block is connected with the lower part of the assembly positioning bracket.
The clamping transplanting mechanism comprises a supporting platform, a clamping mechanism moving driving device, a clamping transplanting lifting driving module and a clamping transplanting horizontal moving driving module, wherein the supporting platform and the clamping mechanism are respectively arranged on the clamping mechanism moving driving device, the lower part of the clamping mechanism moving driving device is provided with the clamping transplanting lifting driving module, and the clamping transplanting lifting driving module is arranged on the clamping transplanting horizontal moving driving module.
The clamping mechanism comprises two clamping mechanisms, the two clamping mechanisms are symmetrically arranged around the supporting platform, each clamping mechanism comprises an upper clamping plate, an upper clamping plate lifting cylinder, an upper clamping plate telescopic cylinder, a lower clamping plate and a lower clamping plate support, the lower clamping plates are arranged on the upper parts of the lower clamping plate supports, the lower parts of the lower clamping plates are provided with the upper clamping plate telescopic cylinders, cylinder rods of the upper clamping plate telescopic cylinders are connected with the upper clamping plate lifting cylinders, the upper clamping plates are arranged on the cylinder rods of the upper clamping plate lifting cylinders, the upper surfaces of the lower clamping plates are flush with the upper surfaces of the supporting platform, and the lower parts of the lower clamping plate supports are connected with the clamping mechanism moving driving device.
The clamping mechanism moving driving device comprises a clamping mechanism moving driving motor, a clamping mechanism moving driving belt wheel, a clamping mechanism moving driving driven belt wheel and a clamping mechanism moving driving synchronous belt, wherein the clamping mechanism moving driving guide rail, a clamping mechanism moving driving sliding block and a clamping mechanism moving driving fixing seat are arranged on the clamping mechanism moving driving fixing seat, the clamping mechanism moving driving belt wheel is arranged on a motor shaft of the clamping mechanism moving driving motor, the clamping mechanism moving driving belt wheel is connected with the clamping mechanism moving driving driven belt wheel through the clamping mechanism moving driving synchronous belt, the clamping mechanism moving driving driven belt wheel is arranged on the clamping mechanism moving driving fixing seat, the lower parts of the clamping mechanism are respectively connected with the clamping mechanism moving driving synchronous belt, the clamping mechanism moving driving guide rail is matched with the clamping mechanism moving driving sliding block, and the clamping mechanism moving driving sliding block is arranged on the lower part of the clamping mechanism.
The clamping and transplanting lifting driving module comprises a clamping and transplanting lifting base plate, a clamping and transplanting lifting middle plate and a clamping and transplanting lifting cylinder, wherein the clamping and transplanting lifting cylinder comprises two clamping and transplanting lifting cylinders which are respectively arranged between the clamping and transplanting lifting middle plate and the clamping mechanism moving driving device and between the clamping and transplanting lifting base plate, and the clamping and transplanting lifting base plate is connected with the clamping and transplanting horizontal moving driving module.
Guide rods are respectively arranged between the clamping transplanting lifting bottom plate and the clamping transplanting lifting middle plate and between the clamping transplanting lifting middle plate and the clamping mechanism moving driving device.
The clamping and transplanting horizontal movement driving module comprises a clamping and transplanting horizontal movement driving motor, a clamping and transplanting horizontal movement section bar, a clamping and transplanting horizontal movement driving screw rod and a clamping and transplanting horizontal movement driving slide block, wherein the clamping and transplanting horizontal movement driving motor is connected with the clamping and transplanting horizontal movement section bar, a motor shaft of the clamping and transplanting horizontal movement driving motor is connected with the clamping and transplanting horizontal movement driving screw rod, the clamping and transplanting horizontal movement driving screw rod is positioned in the clamping and transplanting horizontal movement section bar, the clamping and transplanting horizontal movement driving screw rod is matched with the clamping and transplanting horizontal movement driving slide block, and the clamping and transplanting horizontal movement driving slide block is connected with the clamping and transplanting lifting driving module.
Compared with the prior art, the copper plate assembling device has the following outstanding beneficial effects: the plurality of copper plates are positioned through the assembly positioning mechanism, so that errors of the placement positions are avoided, the influence on the following production line is avoided, and waste product processing is not formed; when the superimposed copper plates are conveyed, the upper copper plates and the lower copper plates are prevented from being shifted through clamping and transplanting mechanisms, labor force can be saved, labor intensity is reduced, production efficiency is improved, production equipment is prevented from being stopped, waiting time is long, and unstable surface quality of copper plates due to scratch is avoided.
Drawings
Fig. 1 is a perspective view of a copper plate assembly apparatus;
FIG. 2 is a schematic structural view of an assembled transplanting manipulator;
FIG. 3 is an enlarged view of a portion of the assembled transplanting horizontal movement drive module;
FIG. 4 is a schematic view of the assembled transplanting slide plate of FIG. 3;
FIG. 5 is a schematic view of the copper plate assembling device after the assembling and transplanting manipulator is removed;
FIG. 6 is a top view of the drawing;
FIG. 7 is a perspective view of a single assembled positioning mechanism;
FIG. 8 is a perspective view of the clamping transplanting mechanism;
FIG. 9 is a perspective view of the clamping and transplanting mechanism after the clamping and transplanting horizontal movement driving module is removed;
reference numerals illustrate:
1. an assembly transplanting mechanical arm, 11, a copper plate assembly transplanting vacuum chuck group, 111, a chuck frame body, 112, a vacuum chuck, 12, an assembly transplanting lifting cylinder, 13, an assembly transplanting horizontal movement driving module, 131, an assembly transplanting truss, 132, an assembly transplanting horizontal movement driving motor, 133, an assembly transplanting gear, 134, an assembly transplanting rack, 135, an assembly transplanting slide plate, 136, an assembly transplanting guide rail, 137, an assembly transplanting guide rail slide block, 14 and a copper plate assembly transplanting mechanical arm fixing frame,
2. the assembly positioning mechanism, 21, the assembly positioning moving module, 211, the assembly positioning moving driving motor, 212, the assembly positioning moving section bar, 213, the assembly positioning moving slide block, 22, the assembly positioning pin, 23, the assembly positioning pin driving cylinder, 24, the assembly positioning bracket, 25, the clamping rotating cylinder, 26, the compression bar,
3. clamping transplanting mechanism, 31, supporting platform, 32, clamping mechanism, 321, upper clamping plate, 322, upper clamping plate lifting cylinder, 323, upper clamping plate telescopic cylinder, 324, lower clamping plate, 325, lower clamping plate support, 33, clamping mechanism moving driving device, 331, clamping mechanism moving driving motor, 332, clamping mechanism moving driving pulley, 333, clamping mechanism moving driving driven pulley, 334, clamping mechanism moving driving synchronous belt, 335, clamping mechanism moving driving guide rail, 336, clamping mechanism moving driving slide block, 337, clamping mechanism moving driving fixing seat, 34, clamping transplanting lifting driving module, 341, clamping transplanting lifting bottom plate, 342, clamping transplanting lifting middle plate, 343, clamping transplanting lifting cylinder, 35, clamping transplanting horizontal moving driving module, 351, clamping transplanting horizontal moving driving motor, 352, clamping transplanting horizontal moving section bar, 353, clamping transplanting horizontal moving driving slide block,
4. and 5, assembling a supporting frame and assembling a supporting plate.
Detailed Description
The copper plate assembling device of the present invention will be described in detail below with reference to fig. 1 to 9 of the accompanying drawings.
The copper plate assembling device structurally comprises an assembling and transplanting manipulator 1, an assembling and positioning mechanism 2, a clamping and transplanting mechanism 3, an assembling and supporting frame 4 and an assembling and supporting plate 5, wherein the assembling and positioning mechanism 2, the clamping and transplanting mechanism 3 and the assembling and supporting plate 5 are respectively arranged on the assembling and supporting frame 4, and the assembling and transplanting manipulator 1 is arranged on the upper part of the assembling and positioning mechanism 2.
The assembly transplanting manipulator 1 comprises a copper plate assembly transplanting vacuum chuck group 11, an assembly transplanting lifting cylinder 12, an assembly transplanting horizontal movement driving module 13 and a copper plate assembly transplanting manipulator fixing frame 14, wherein the copper plate assembly transplanting vacuum chuck group 11 is connected with a cylinder rod of the assembly transplanting lifting cylinder 12, the assembly transplanting lifting cylinder 12 is connected with the assembly transplanting horizontal movement driving module 13, and the assembly transplanting horizontal movement driving module 13 is arranged on the copper plate assembly transplanting manipulator fixing frame 14.
The assembly and transplanting lifting cylinder 12 drives the copper plate assembly and transplanting vacuum chuck group 11 to move in a lifting manner, and the assembly and transplanting horizontal movement driving module 13 drives the copper plate assembly and transplanting vacuum chuck group 11 to move horizontally.
The copper plate assembling and transplanting vacuum chuck group 11 comprises a chuck frame body 111 and vacuum chucks 112, wherein a plurality of vacuum chucks 112 are arranged at the lower part of the chuck frame body 111, and the upper part of the chuck frame body 111 is connected with a cylinder rod of the assembling and transplanting lifting cylinder 12.
The assembly transplanting horizontal movement driving module 13 comprises an assembly transplanting truss 131, an assembly transplanting horizontal movement driving motor 132, an assembly transplanting gear 133, an assembly transplanting rack 134, an assembly transplanting slide plate 135, an assembly transplanting guide rail 136 and an assembly transplanting guide rail slide block 137, wherein the assembly transplanting rack 134 is arranged on the side face of the assembly transplanting truss, the assembly transplanting gear 133 is matched with the assembly transplanting rack 134, the assembly transplanting gear 133 is arranged on a motor shaft of the assembly transplanting horizontal movement driving motor 132, the assembly transplanting horizontal movement driving motor 132 is arranged on the assembly transplanting slide plate 135, the assembly transplanting guide rail slide block 137 is arranged on the inner side of the assembly transplanting slide plate 135, the assembly transplanting guide rail 136 is matched with the assembly transplanting guide rail 136, the assembly transplanting slide plate 135 is arranged on the side face of the assembly transplanting truss, and the assembly transplanting slide plate 135 is connected with the assembly transplanting lifting cylinder 12.
The assembly transplanting guide rails 136 include two symmetrically arranged on two sides of the assembly transplanting rack 134, and each assembly transplanting guide rail 136 is respectively provided with 2 assembly transplanting guide rail sliding blocks 137.
When the assembly transplanting horizontal movement driving module 13 drives the copper plate assembly transplanting vacuum chuck group 11 to horizontally move, the assembly transplanting horizontal movement driving motor 132 is started, and the assembly transplanting horizontal movement driving motor 132 drives the assembly transplanting gear 133 to rotate and horizontally move along the assembly transplanting rack 134, so that the assembly transplanting sliding plate 135 and the copper plate assembly transplanting vacuum chuck group 11 are driven to horizontally move, and the assembly transplanting guide rail sliding block 137 is matched with the assembly transplanting guide rail 136 to play a guiding role.
The assembly positioning mechanism 2 comprises two assembly positioning mechanisms, which are symmetrically arranged on two sides of the clamping transplanting mechanism 3, each assembly positioning mechanism 2 comprises an assembly positioning moving module 21, an assembly positioning pin 22, an assembly positioning pin driving cylinder 23, an assembly positioning bracket 24, a clamping rotating cylinder 25 and a pressing rod 26, the assembly positioning bracket 24 is arranged on the upper part of the assembly positioning moving module 21, the assembly positioning pin driving cylinder 23 is arranged on the assembly positioning bracket 24, the cylinder rod of the assembly positioning pin driving cylinder 23 is provided with the assembly positioning pin 22, the central position of the assembly positioning bracket 24 is provided with a round hole, the upper part of the assembly positioning pin 22 penetrates into the round hole of the assembly positioning bracket 24, the assembly positioning bracket 24 is provided with the clamping rotating cylinder 25, the cylinder rod of the clamping rotating cylinder 25 is provided with the pressing rod 26, the pressing rod 26 is arranged on the upper part of the assembly positioning bracket 24, and the upper surface of the assembly positioning bracket 24 is flush with the upper surface of the assembly supporting plate 5.
The assembly positioning moving module 21 comprises an assembly positioning moving driving motor 211, an assembly positioning moving section bar 212, an assembly positioning moving screw rod and an assembly positioning moving sliding block 213, wherein the assembly positioning moving driving motor 211 is connected with the assembly positioning moving section bar 212, a motor shaft of the assembly positioning moving driving motor 211 is connected with the assembly positioning moving screw rod, the assembly positioning moving screw rod is positioned in the assembly positioning moving section bar 212, the assembly positioning moving screw rod is matched with the assembly positioning moving sliding block 213, and the assembly positioning moving sliding block 213 is connected with the lower part of the assembly positioning bracket 24.
The assembly positioning moving module 21 drives the assembly positioning mechanism 2 to move in the same direction or in the opposite direction so as to adapt to the assembly positioning of copper plates with different specifications and models, namely, the assembly positioning moving driving motor 211 is started, the assembly positioning moving driving motor 211 drives the assembly positioning moving screw rod to rotate, and the assembly positioning moving screw rod drives the assembly positioning moving slide block 213 and parts on the upper part of the assembly positioning moving slide block 213 to move simultaneously, so that the distance between the two assembly positioning mechanisms 2 is adjusted.
When the copper plate is positioned for the second time, the copper plate is respectively placed on the assembly positioning bracket 24 and the assembly supporting plate 5, the pin holes of the copper plate are aligned with the assembly positioning pins 22, then the clamping rotary cylinder 25 drives the pressing rod 26 to rotate and press down to the copper plate, then the clamping transplanting mechanism 3 is started, when the clamping transplanting lifting driving module drives the supporting platform to rise to be flush with the assembly supporting plate 5, the clamping mechanism moving driving device drives the clamping mechanism to move and press down, so that the clamping mechanism clamps the copper plate, at the moment, the clamping rotary cylinder 25 of the assembly positioning mechanism 2 drives the pressing rod 26 to rise to return, then the clamping transplanting lifting driving module drives the supporting platform to rise to a height again, and when the height is higher than the assembly supporting plate 5, the clamping transplanting horizontal movement driving module is started to drive the supporting platform and the copper plate on the supporting platform to move backwards horizontally to the position of the automatic pin punching device of the next station copper plate.
The clamping and transplanting mechanism 3 comprises a supporting platform 31, a clamping mechanism 32, a clamping mechanism moving driving device 33, a clamping and transplanting lifting driving module 34 and a clamping and transplanting horizontal moving driving module 35, wherein the supporting platform 31 and the clamping mechanism 32 are respectively arranged on the clamping mechanism moving driving device 33, the clamping and transplanting lifting driving module 34 is arranged at the lower part of the clamping mechanism moving driving device 33, and the clamping and transplanting lifting driving module 34 is arranged on the clamping and transplanting horizontal moving driving module 35.
The clamping mechanism 32 include two, along supporting platform 31 fore-and-aft symmetry setting, every clamping mechanism 32 includes punch holder 321, punch holder lift cylinder 322, punch holder telescopic cylinder 323, lower plate 324 and lower plate support 325 respectively, lower plate 324 set up in lower plate support 325 upper portion, the lower part of lower plate 324 be provided with punch holder telescopic cylinder 323, the jar pole of punch holder telescopic cylinder 323 links to each other with punch holder lift cylinder 322, the jar pole of punch holder lift cylinder 322 on be provided with punch holder 321, the upper surface of lower plate 324 and supporting platform 31 upper surface parallel and level, the lower part of lower plate support 325 link to each other with clamping mechanism removal drive arrangement 33.
When the copper plate is clamped, the upper clamping plate lifting cylinder 322 stretches out to drive the upper clamping plate 321 to move upwards, then the upper clamping plate telescopic cylinder 323 retracts to drive the upper clamping plate 321 to move inwards, and then the upper clamping plate lifting cylinder 322 retracts to drive the upper clamping plate 321 to move downwards to compress the copper plate.
A plurality of vacuum chucks are respectively arranged on the assembly supporting plate 5, the supporting platform 31 and the lower clamping plate 324.
The clamping mechanism moving driving device 33 comprises a clamping mechanism moving driving motor 331, a clamping mechanism moving driving belt pulley 332, a clamping mechanism moving driving driven belt pulley 333 and a clamping mechanism moving driving synchronous belt 334, a clamping mechanism moving driving guide rail 335, a clamping mechanism moving driving sliding block 336 and a clamping mechanism moving driving fixing base 337, the clamping mechanism moving driving motor 331 is arranged on the clamping mechanism moving driving fixing base 337, a clamping mechanism moving driving belt pulley 332 is arranged on a motor shaft of the clamping mechanism moving driving motor 331, the clamping mechanism moving driving belt pulley 332 is connected with the clamping mechanism moving driving driven belt pulley 333 through the clamping mechanism moving driving synchronous belt 334, the clamping mechanism moving driving driven belt pulley 333 is arranged on the clamping mechanism moving driving fixing base 337, the lower part of the clamping mechanism 32 is respectively connected with the clamping mechanism moving driving synchronous belt 334, the clamping mechanism moving driving fixing bases 337 on two sides of the clamping mechanism 32 are respectively provided with a clamping mechanism moving driving guide rail 335, the clamping mechanism moving driving guide rail 335 is matched with the clamping mechanism moving driving sliding block 336, and the clamping mechanism moving driving sliding block 336 is arranged on the lower part of the clamping mechanism 32.
The clamping mechanism moving driving device 33 drives the clamping mechanism 32 to horizontally move, the clamping mechanism moving driving motor 331 is started to drive the clamping mechanism moving driving pulley 332 to rotate, the clamping mechanism moving driving pulley 332 and the clamping mechanism moving driving driven pulley 333 are driven to rotationally drive the clamping mechanism moving driving synchronous belt 334 to move, so that the clamping mechanism 32 fixed with the clamping mechanism moving driving synchronous belt 334 horizontally moves, and the clamping mechanism moving driving guide rail 335 is matched with the clamping mechanism moving driving sliding block 336 to play a guiding role.
The clamping and transplanting lifting driving module 34 comprises a clamping and transplanting lifting bottom plate 341, a clamping and transplanting lifting middle plate 342 and a clamping and transplanting lifting cylinder 343, wherein the clamping and transplanting lifting cylinder 343 comprises two clamping and transplanting lifting cylinders which are respectively arranged between the clamping and transplanting lifting middle plate 342 and the clamping mechanism moving driving device 33 and between the clamping and transplanting lifting bottom plate 341, and the clamping and transplanting lifting bottom plate 341 is connected with the clamping and transplanting horizontal movement driving module 35.
Guide rods are respectively arranged between the clamping transplanting lifting base plate 341 and the clamping transplanting lifting middle plate 342 and between the clamping transplanting lifting middle plate 342 and the clamping mechanism moving driving device 33.
The clamping and transplanting lifting driving module 34 drives the supporting platform 31 to lift twice through two clamping and transplanting lifting cylinders 343 at the lower part, so that the supporting platform 31 is arranged at three positions outside, and the first position is: when the two clamping transplanting lifting cylinders 343 are all extended, the top surface of the supporting platform 31 is higher than the assembling supporting plate 5, and the second position is: one clamping transplanting lifting cylinder 343 extends out, the top surface of the supporting platform 31 is aligned with the assembling supporting plate 5, and the third position is: when the two clamping transplanting lifting cylinders 343 are fully retracted, the top surface of the supporting platform 31 is lower than the assembling supporting plate 5.
The clamping and transplanting horizontal movement driving module 35 comprises a clamping and transplanting horizontal movement driving motor 351, a clamping and transplanting horizontal movement profile 352, a clamping and transplanting horizontal movement driving screw rod and a clamping and transplanting horizontal movement driving slide block 353, wherein the clamping and transplanting horizontal movement driving motor 351 is connected with the clamping and transplanting horizontal movement profile 352, a motor shaft of the clamping and transplanting horizontal movement driving motor 351 is connected with the clamping and transplanting horizontal movement driving screw rod, the clamping and transplanting horizontal movement driving screw rod is positioned in the clamping and transplanting horizontal movement profile 352, the clamping and transplanting horizontal movement driving screw rod is matched with the clamping and transplanting horizontal movement driving slide block 353, and the clamping and transplanting horizontal movement driving slide block 353 is connected with the clamping and transplanting lifting driving module 34.
The clamping and transplanting horizontal movement driving module 35 drives the supporting platform 31 and the clamping mechanism 32 to horizontally move, the clamping and transplanting horizontal movement driving motor 351 is started, the clamping and transplanting horizontal movement driving motor 351 drives the clamping and transplanting horizontal movement driving screw rod to rotate, and the clamping and transplanting horizontal movement driving screw rod drives the clamping and transplanting horizontal movement driving slide block 353 to horizontally move, so that the supporting platform 31 and the clamping mechanism 32 on the clamping and transplanting horizontal movement driving slide block 353 are driven to horizontally move, and the copper plate is conveyed.
The assembly transplanting manipulator 1 of the copper plate assembly device transplants copper plates positioned at the left side and the right side to the assembly supporting plate 5 and the assembly positioning mechanism 2 for multiple times, positions a single copper plate, or positions the copper plates conveyed at the left side and the right side in a superposition manner, then a compression bar 26 on the assembly positioning mechanism 2 compresses the secondarily positioned copper plate, then the clamping transplanting mechanism 3 ascends to clamp the copper plate, at the moment, the compression bar 26 on the assembly positioning mechanism 2 is lifted, the clamping transplanting mechanism 3 ascends again to enable the bottom of the copper plate to be separated from the assembly supporting plate 5 and the assembly positioning mechanism 2, and then the clamping transplanting mechanism 3 drives the copper plate to move backwards and convey the copper plate to the next station.
The above-mentioned embodiments are only for understanding the present invention, and are not intended to limit the technical solutions described in the present invention, and a person skilled in the relevant art may make various changes or modifications based on the technical solutions described in the claims, and all equivalent changes or modifications are intended to be included in the scope of the claims of the present invention. The present invention is not described in detail in the present application, and is well known to those skilled in the art.

Claims (7)

1. Copper equipment device, characterized by: the device comprises an assembling and transplanting manipulator, an assembling and positioning mechanism, a clamping and transplanting mechanism, an assembling and supporting frame and an assembling and supporting plate, wherein the assembling and positioning mechanism, the clamping and transplanting mechanism and the assembling and supporting plate are respectively arranged on the assembling and supporting frame;
the assembly positioning mechanism comprises two assembly positioning mechanisms which are symmetrically arranged on two sides of the clamping transplanting mechanism, each assembly positioning mechanism comprises an assembly positioning moving module, an assembly positioning pin driving cylinder, an assembly positioning bracket, a clamping rotating cylinder and a pressing rod, the assembly positioning bracket is arranged on the upper part of the assembly positioning moving module, the assembly positioning pin driving cylinder is arranged on the assembly positioning bracket, the cylinder rod of the assembly positioning pin driving cylinder is provided with the assembly positioning pin, the central position of the assembly positioning bracket is provided with a round hole, the upper part of the assembly positioning pin penetrates into the round hole of the assembly positioning bracket, the assembly positioning bracket is provided with the clamping rotating cylinder, the pressing rod is arranged on the cylinder rod of the clamping rotating cylinder, and the pressing rod is positioned on the upper part of the assembly positioning bracket;
the assembly positioning moving module comprises an assembly positioning moving driving motor, an assembly positioning moving section bar, an assembly positioning moving screw rod and an assembly positioning moving sliding block, wherein the assembly positioning moving driving motor is connected with the assembly positioning moving section bar, a motor shaft of the assembly positioning moving driving motor is connected with the assembly positioning moving screw rod, the assembly positioning moving screw rod is positioned in the assembly positioning moving section bar, the assembly positioning moving screw rod is matched with the assembly positioning moving sliding block, and the assembly positioning moving sliding block is connected with the lower part of the assembly positioning bracket;
the clamping transplanting mechanism comprises a supporting platform, a clamping mechanism moving driving device, a clamping transplanting lifting driving module and a clamping transplanting horizontal moving driving module, wherein the supporting platform and the clamping mechanism are respectively arranged on the clamping mechanism moving driving device, the lower part of the clamping mechanism moving driving device is provided with the clamping transplanting lifting driving module, and the clamping transplanting lifting driving module is arranged on the clamping transplanting horizontal moving driving module.
2. The copper plate assembly device according to claim 1, wherein: the assembling and transplanting manipulator comprises a copper plate assembling and transplanting vacuum chuck group, an assembling and transplanting lifting cylinder, an assembling and transplanting horizontal movement driving module and a copper plate assembling and transplanting manipulator fixing frame, wherein the copper plate assembling and transplanting vacuum chuck group is connected with a cylinder rod of the assembling and transplanting lifting cylinder, the assembling and transplanting lifting cylinder is connected with the assembling and transplanting horizontal movement driving module, and the assembling and transplanting horizontal movement driving module is arranged on the copper plate assembling and transplanting manipulator fixing frame;
the copper plate assembling and transplanting vacuum chuck group comprises a chuck frame body and vacuum chucks, wherein a plurality of vacuum chucks are arranged at the lower part of the chuck frame body, and the upper part of the chuck frame body is connected with a cylinder rod of an assembling and transplanting lifting cylinder.
3. The copper plate assembly device according to claim 2, wherein: the assembly transplanting horizontal movement driving module comprises an assembly transplanting truss, an assembly transplanting horizontal movement driving motor, an assembly transplanting gear, an assembly transplanting rack, an assembly transplanting sliding plate, an assembly transplanting guide rail and an assembly transplanting guide rail sliding block, wherein the assembly transplanting rack is arranged on the side face of the assembly transplanting truss, the assembly transplanting gear is matched with the assembly transplanting rack, the assembly transplanting gear is arranged on a motor shaft of the assembly transplanting horizontal movement driving motor, the assembly transplanting horizontal movement driving motor is arranged on the assembly transplanting sliding plate, the assembly transplanting guide rail sliding block is arranged on the inner side of the assembly transplanting sliding plate, the assembly transplanting guide rail sliding block is matched with the assembly transplanting guide rail, the assembly transplanting guide rail is arranged on the side face of the assembly transplanting truss, and the assembly transplanting sliding plate is connected with an assembly transplanting lifting cylinder.
4. The copper plate assembly device according to claim 1, wherein: the clamping mechanism comprises two clamping mechanisms, the two clamping mechanisms are symmetrically arranged around the supporting platform, each clamping mechanism comprises an upper clamping plate, an upper clamping plate lifting cylinder, an upper clamping plate telescopic cylinder, a lower clamping plate and a lower clamping plate support, the lower clamping plates are arranged on the upper parts of the lower clamping plate supports, the lower parts of the lower clamping plates are provided with the upper clamping plate telescopic cylinders, cylinder rods of the upper clamping plate telescopic cylinders are connected with the upper clamping plate lifting cylinders, the cylinder rods of the upper clamping plate lifting cylinders are provided with upper clamping plates, the upper surfaces of the lower clamping plates are flush with the upper surfaces of the supporting platform, and the lower parts of the lower clamping plate supports are connected with the clamping mechanism moving driving device.
5. The copper plate assembly device according to claim 1, wherein: the clamping mechanism moving driving device comprises a clamping mechanism moving driving motor, a clamping mechanism moving driving belt wheel, a clamping mechanism moving driving driven belt wheel and a clamping mechanism moving driving synchronous belt, wherein the clamping mechanism moving driving guide rail, a clamping mechanism moving driving sliding block and a clamping mechanism moving driving fixing seat are arranged on the clamping mechanism moving driving fixing seat, the clamping mechanism moving driving belt wheel is arranged on a motor shaft of the clamping mechanism moving driving motor, the clamping mechanism moving driving belt wheel is connected with the clamping mechanism moving driving driven belt wheel through the clamping mechanism moving driving synchronous belt, the clamping mechanism moving driving driven belt wheel is arranged on the clamping mechanism moving driving fixing seat, the lower parts of the clamping mechanism are respectively connected with the clamping mechanism moving driving synchronous belt, the clamping mechanism moving driving guide rail is matched with the clamping mechanism moving driving sliding block, and the clamping mechanism moving driving sliding block is arranged on the lower part of the clamping mechanism.
6. The copper plate assembly device according to claim 1, wherein: the clamping and transplanting lifting driving module comprises a clamping and transplanting lifting base plate, a clamping and transplanting lifting middle plate and a clamping and transplanting lifting cylinder, wherein the clamping and transplanting lifting cylinder comprises two clamping and transplanting lifting cylinders which are respectively arranged between the clamping and transplanting lifting middle plate and the clamping mechanism moving driving device and between the clamping and transplanting lifting base plate, and the clamping and transplanting lifting base plate is connected with the clamping and transplanting horizontal moving driving module.
7. The copper plate assembly device according to claim 1, wherein: the clamping and transplanting horizontal movement driving module comprises a clamping and transplanting horizontal movement driving motor, a clamping and transplanting horizontal movement section bar, a clamping and transplanting horizontal movement driving screw rod and a clamping and transplanting horizontal movement driving slide block, wherein the clamping and transplanting horizontal movement driving motor is connected with the clamping and transplanting horizontal movement section bar, a motor shaft of the clamping and transplanting horizontal movement driving motor is connected with the clamping and transplanting horizontal movement driving screw rod, the clamping and transplanting horizontal movement driving screw rod is positioned in the clamping and transplanting horizontal movement section bar, the clamping and transplanting horizontal movement driving screw rod is matched with the clamping and transplanting horizontal movement driving slide block, and the clamping and transplanting horizontal movement driving slide block is connected with the clamping and transplanting lifting driving module.
CN201810766223.7A 2018-07-12 2018-07-12 Copper plate assembling device Active CN108901134B (en)

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CN116632621B (en) * 2023-07-25 2023-09-29 四川和恩泰半导体有限公司 Automatic USB joint assembling system

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