CN109677868A - A kind of pcb board receipts plate automation equipment - Google Patents
A kind of pcb board receipts plate automation equipment Download PDFInfo
- Publication number
- CN109677868A CN109677868A CN201910106537.9A CN201910106537A CN109677868A CN 109677868 A CN109677868 A CN 109677868A CN 201910106537 A CN201910106537 A CN 201910106537A CN 109677868 A CN109677868 A CN 109677868A
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- China
- Prior art keywords
- pcb board
- hopper
- robot
- delta robot
- box
- Prior art date
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- 239000000463 material Substances 0.000 claims description 20
- 230000007306 turnover Effects 0.000 claims description 20
- 230000000875 corresponding effect Effects 0.000 description 9
- 238000000034 method Methods 0.000 description 8
- 238000002360 preparation method Methods 0.000 description 7
- 230000000694 effects Effects 0.000 description 5
- 230000008901 benefit Effects 0.000 description 2
- 238000010586 diagram Methods 0.000 description 2
- 230000001095 motoneuron effect Effects 0.000 description 2
- 238000007747 plating Methods 0.000 description 2
- 238000001514 detection method Methods 0.000 description 1
- 238000009434 installation Methods 0.000 description 1
- 239000000203 mixture Substances 0.000 description 1
Classifications
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- B—PERFORMING OPERATIONS; TRANSPORTING
- B65—CONVEYING; PACKING; STORING; HANDLING THIN OR FILAMENTARY MATERIAL
- B65G—TRANSPORT OR STORAGE DEVICES, e.g. CONVEYORS FOR LOADING OR TIPPING, SHOP CONVEYOR SYSTEMS OR PNEUMATIC TUBE CONVEYORS
- B65G43/00—Control devices, e.g. for safety, warning or fault-correcting
- B65G43/08—Control devices operated by article or material being fed, conveyed or discharged
-
- B—PERFORMING OPERATIONS; TRANSPORTING
- B65—CONVEYING; PACKING; STORING; HANDLING THIN OR FILAMENTARY MATERIAL
- B65B—MACHINES, APPARATUS OR DEVICES FOR, OR METHODS OF, PACKAGING ARTICLES OR MATERIALS; UNPACKING
- B65B35/00—Supplying, feeding, arranging or orientating articles to be packaged
- B65B35/10—Feeding, e.g. conveying, single articles
- B65B35/16—Feeding, e.g. conveying, single articles by grippers
- B65B35/18—Feeding, e.g. conveying, single articles by grippers by suction-operated grippers
-
- B—PERFORMING OPERATIONS; TRANSPORTING
- B65—CONVEYING; PACKING; STORING; HANDLING THIN OR FILAMENTARY MATERIAL
- B65B—MACHINES, APPARATUS OR DEVICES FOR, OR METHODS OF, PACKAGING ARTICLES OR MATERIALS; UNPACKING
- B65B5/00—Packaging individual articles in containers or receptacles, e.g. bags, sacks, boxes, cartons, cans, jars
- B65B5/10—Filling containers or receptacles progressively or in stages by introducing successive articles, or layers of articles
- B65B5/105—Filling containers or receptacles progressively or in stages by introducing successive articles, or layers of articles by grippers
-
- B—PERFORMING OPERATIONS; TRANSPORTING
- B65—CONVEYING; PACKING; STORING; HANDLING THIN OR FILAMENTARY MATERIAL
- B65B—MACHINES, APPARATUS OR DEVICES FOR, OR METHODS OF, PACKAGING ARTICLES OR MATERIALS; UNPACKING
- B65B57/00—Automatic control, checking, warning, or safety devices
- B65B57/10—Automatic control, checking, warning, or safety devices responsive to absence, presence, abnormal feed, or misplacement of articles or materials to be packaged
- B65B57/14—Automatic control, checking, warning, or safety devices responsive to absence, presence, abnormal feed, or misplacement of articles or materials to be packaged and operating to control, or stop, the feed of articles or material to be packaged
-
- B—PERFORMING OPERATIONS; TRANSPORTING
- B65—CONVEYING; PACKING; STORING; HANDLING THIN OR FILAMENTARY MATERIAL
- B65G—TRANSPORT OR STORAGE DEVICES, e.g. CONVEYORS FOR LOADING OR TIPPING, SHOP CONVEYOR SYSTEMS OR PNEUMATIC TUBE CONVEYORS
- B65G47/00—Article or material-handling devices associated with conveyors; Methods employing such devices
- B65G47/74—Feeding, transfer, or discharging devices of particular kinds or types
- B65G47/90—Devices for picking-up and depositing articles or materials
- B65G47/91—Devices for picking-up and depositing articles or materials incorporating pneumatic, e.g. suction, grippers
-
- B—PERFORMING OPERATIONS; TRANSPORTING
- B65—CONVEYING; PACKING; STORING; HANDLING THIN OR FILAMENTARY MATERIAL
- B65G—TRANSPORT OR STORAGE DEVICES, e.g. CONVEYORS FOR LOADING OR TIPPING, SHOP CONVEYOR SYSTEMS OR PNEUMATIC TUBE CONVEYORS
- B65G57/00—Stacking of articles
- B65G57/02—Stacking of articles by adding to the top of the stack
- B65G57/03—Stacking of articles by adding to the top of the stack from above
- B65G57/04—Stacking of articles by adding to the top of the stack from above by suction or magnetic devices
-
- B—PERFORMING OPERATIONS; TRANSPORTING
- B65—CONVEYING; PACKING; STORING; HANDLING THIN OR FILAMENTARY MATERIAL
- B65G—TRANSPORT OR STORAGE DEVICES, e.g. CONVEYORS FOR LOADING OR TIPPING, SHOP CONVEYOR SYSTEMS OR PNEUMATIC TUBE CONVEYORS
- B65G2201/00—Indexing codes relating to handling devices, e.g. conveyors, characterised by the type of product or load being conveyed or handled
- B65G2201/02—Articles
- B65G2201/0214—Articles of special size, shape or weigh
- B65G2201/022—Flat
-
- B—PERFORMING OPERATIONS; TRANSPORTING
- B65—CONVEYING; PACKING; STORING; HANDLING THIN OR FILAMENTARY MATERIAL
- B65G—TRANSPORT OR STORAGE DEVICES, e.g. CONVEYORS FOR LOADING OR TIPPING, SHOP CONVEYOR SYSTEMS OR PNEUMATIC TUBE CONVEYORS
- B65G2203/00—Indexing code relating to control or detection of the articles or the load carriers during conveying
- B65G2203/04—Detection means
- B65G2203/041—Camera
Landscapes
- Engineering & Computer Science (AREA)
- Mechanical Engineering (AREA)
- Refuse Collection And Transfer (AREA)
Abstract
本发明公开了一种PCB板收板自动化设备，包括机器人支架，所述机器人支架的前端外表面固定安装有进箱输送线与出箱输送线，且进箱输送线位于出箱输送线的一侧，所述机器人支架的后端外表面固定安装有光源罩，且光源罩的内部固定安装有相机，所述光源罩的内部靠近后端的位置设置有光源，所述机器人支架的上端内表面活动安装有第一Delta机器人与第二Delta机器人，且第一Delta机器人位于第二Delta机器人的一侧，所述第二Delta机器人的下端外表面固定安装有第二吸盘，所述第一Delta机器人的下端外表面固定安装有第一吸盘。本发明通过设置有一系列的结构使本装置在使用过程中PCB板能够自动定位、识别，收板位置自动规划，无需人工干预。
The invention discloses a PCB board receiving automation equipment, comprising a robot support, the front end outer surface of the robot support is fixedly installed with a box-in conveying line and a box-out conveying line, and the box-in conveying line is located in one of the box-out conveying lines. A light source cover is fixedly installed on the outer surface of the rear end of the robot bracket, and a camera is fixedly installed inside the light source cover, a light source is arranged inside the light source cover near the rear end, and the inner surface of the upper end of the robot bracket is movable A first Delta robot and a second Delta robot are installed, and the first Delta robot is located on one side of the second Delta robot, and a second suction cup is fixedly installed on the outer surface of the lower end of the second Delta robot. A first suction cup is fixedly installed on the outer surface of the lower end. The present invention is provided with a series of structures, so that the device can automatically locate and identify the PCB board during use, and automatically plan the position of the board without manual intervention.
Description
Technical field
The present invention relates to technical field of automation equipment, specially a kind of pcb board receives plate automation equipment.
Background technique
It is cleaned after PCB forming, the processes such as OSP and detection, currently, the PCB after these process links
It is that artificial receipts plate or simple device receive plate that plate, which receives plate,.
The hopper elevator of panel device is received mainly by motor, inside screw rod, inside top plate, outside screw rod, outside pipeline
Composition, by outside pipeline by hopper be delivered to elevator station, inside screw rod and inside top plate motor effect under make to expect
Case inner panel realizes lifting, and then screw rod realizes the lifting of entire hopper under motor effect outside.
Artificial situations such as receiving plate there are pcb boards easily to scrape, low efficiency, there are planks easily to scrape for existing receipts panel device, sheetpile
It puts in disorder, snap-gauge and board falling high failure rate, need situations such as manual sorting.
Summary of the invention
The purpose of the present invention is to provide a kind of pcb boards to receive plate automation equipment, to solve to propose in above-mentioned background technique
The problem of.
To achieve the above object, the invention provides the following technical scheme: a kind of pcb board receives plate automation equipment, including machine
The leading exterior surface of device people's bracket, the robot bracket is fixedly installed with inlet pipeline and outlet pipeline, and inlet is defeated
Line sending is located at the side of outlet pipeline, and the back end outer surface of the robot bracket is fixedly installed with light source cover, and light source cover
Inside be fixedly installed with camera, the inside of the light source cover is provided with light source, the robot bracket close to the position of rear end
Upper end inner surface be movably installed with the first Delta robot and the 2nd Delta robot, and the first Delta robot is located at
The lower end outer surface of the side of 2nd Delta robot, the 2nd Delta robot is fixedly installed with the second sucker, described
The lower end outer surface of first Delta robot is fixedly installed with the first sucker, and the first Delta robot and the 2nd Delta machine
The underside of device people is equipped with pcb board pipeline, and the bottom inner surface of the robot bracket is movably installed with hopper turnover
Pipeline, and the inner surface of robot bracket is provided with hopper, and hopper elevator is movably installed with above the hopper.
By using above-mentioned technical proposal, pcb board can be automatically positioned, identify, receive Board position and plan automatically, without artificial
Intervene.
Preferably, the quantity of the hopper is four, corresponding two hoppers of the first Delta robot, described second
Delta robot corresponds to other two hopper.
By using above-mentioned technical proposal, hopper is for storing pcb board.
Preferably, the hopper elevator is identical as the quantity of hopper.
By using above-mentioned technical proposal, hopper elevator for realizing hopper oscilaltion.
Preferably, the light source cover, camera and light source form vision system.
By using above-mentioned technical proposal, camera is for taking pictures to pcb board.
Preferably, the hopper turnover pipeline is arranged between hopper elevator and inlet pipeline, outlet pipeline.
By using above-mentioned technical proposal, hopper has enough to meet the need pipeline and is used for supply bin elevator empty charging box.
Preferably, the hopper elevator is arranged between hopper turnover pipeline and pcb board pipeline.
By using above-mentioned technical proposal, pcb board pipeline is used to convey the pcb board that the conveying of pcb board special equipment comes
To inside unloader.
In conclusion the invention has the following advantages:
The set equipment has the function of pcb board automatic positioning, identification, receives Board position and plans automatically, is not necessarily to manual intervention,
Pcb board conveys from pcb board special equipment, inputs pcb board by pcb board pipeline and receives panel device, camera is to pcb board
Pcb board on pipeline is taken pictures, and gets the outer dimension and location information of pcb board, and the information is transmitted to first
Delta robot and the 2nd Delta robot grab pcb board using conveyer belt tracking technique, and according to outside pcb board
Shape dimension information distributes the distributed intelligence for putting pcb board automatically, and pcb board is put into hopper, the first Delta robot corresponding two
A hopper, the 2nd Delta robot correspond to other two hopper, the first Delta robot and the 2nd Delta robot corresponding two
A hopper puts plate for replacing, the first elder generation, Delta robot charging box, after hopper trunkful, fills another hopper, hopper exists at this time
The effect of hopper elevator drops on hopper turnover pipeline, has enough to meet the need pipeline by hopper and is sent to outlet pipeline for full plate
Hopper output；Empty charging box has enough to meet the need pipeline by hopper and is transferred at hopper elevator, carries out splicing preparation；Another hopper dress
Man Hou, recharge case then completely expect that hopper has enough to meet the need pipeline by hopper and is sent to outlet pipeline for full plate case output；Similarly
2nd elder generation, Delta robot charging box after hopper trunkful, fills another hopper, and hopper acts in hopper elevator and declining at this time
Onto hopper turnover pipeline, pipeline is had enough to meet the need by hopper and is sent to outlet pipeline for full plate case output；Empty charging box is logical
It crosses hopper turnover pipeline to be transferred at hopper elevator, carries out splicing preparation；After bin full, recharge case, then full material is expected
Case is sent to outlet pipeline by hopper turnover pipeline and exports full plate case, one layer is often discharged in hopper, hopper lifting
Hopper inner bottom plating is declined certain distance together with pcb board by machine together, to keep the first Delta robot and the 2nd Delta machine
The height and position that device people puts plate into hopper is constant；Empty charging box is inputted by inlet pipeline, runs to hopper elevator locations,
Prepare to start next case vanning.
Detailed description of the invention
Fig. 1 is overall structure diagram of the invention；
Fig. 2 is the side view diagram of hopper of the invention.
In figure: 1, the first sucker；2, light source cover；21, camera；22, light source；3, robot bracket；31, the first Delta machine
Device people；32, the 2nd Delta robot；33, the second sucker；4, pcb board pipeline；5, hopper；51, hopper elevator；52, expect
Case has enough to meet the need pipeline；53, inlet pipeline；54, outlet pipeline.
Specific embodiment
Following will be combined with the drawings in the embodiments of the present invention, and technical solution in the embodiment of the present invention carries out clear, complete
Site preparation description, it is clear that described embodiments are only a part of the embodiments of the present invention, instead of all the embodiments.It is based on
Embodiment in the present invention, it is obtained by those of ordinary skill in the art without making creative efforts every other
Embodiment shall fall within the protection scope of the present invention.
In the description of the present invention, it should be noted that term " on ", "lower", "inner", "outside" " front end ", " rear end ",
The orientation or positional relationship of the instructions such as " both ends ", " one end ", " other end " is to be based on the orientation or positional relationship shown in the drawings, only
It is that for the convenience of describing the present invention and simplifying the description, rather than the device or element of indication or suggestion meaning must have specifically
Orientation is constructed and operated in a specific orientation, therefore is not considered as limiting the invention.In addition, term " first ", " the
Two " are used for descriptive purposes only and cannot be understood as indicating or suggesting relative importance.
In the description of the present invention, it should be noted that unless otherwise clearly defined and limited, term " installation " " is set
Be equipped with ", " connection " etc., shall be understood in a broad sense, such as " connection ", may be a fixed connection, may be a detachable connection or one
Connect to body；It can be mechanical connection, be also possible to be electrically connected；It can be directly connected, it can also be indirect by intermediary
It is connected, can be the connection inside two elements.For the ordinary skill in the art, on being understood with concrete condition
State the concrete meaning of term in the present invention.
A kind of embodiment provided by the invention referring to FIG. 1-2: a kind of pcb board receives plate automation equipment, including robot
Bracket 3, light source cover 2, camera 21 and light source 22 form vision system, and camera 21 is placed in 4 top of pcb board pipeline, by right
Pcb board on pipeline is taken pictures, and identifies the outer dimension of pcb board, and carries out identification positioning to pcb board, the first sucker 1 with
Second sucker 33 is respectively arranged in the first Delta robot 31 and 32 end of the 2nd Delta robot, is realized using negative pressure of vacuum
Crawl to pcb board, pcb board convey from pcb board special equipment, input pcb board by pcb board pipeline 4 and receive plate
Equipment, camera 21 take pictures to the pcb board on pcb board pipeline 4, get the outer dimension and location information of pcb board, and
The information is transmitted to the first Delta robot 31 and the 2nd Delta robot 32, using conveyer belt tracking technique, to pcb board into
Row crawl, and distribute the distributed intelligence for putting pcb board automatically according to pcb board outer dimension information, pcb board is put into hopper 5,
First Delta robot 31 corresponds to two hoppers 5, other two corresponding hopper 5 of the 2nd Delta robot 32, the first Delta machine
Two hoppers 5 corresponding with the 2nd Delta robot 32 of device people 31 are for alternately putting plate, the first charging box of the first Delta robot 31
5, after 5 trunkful of hopper, another hopper 5 is filled, hopper 5 drops to hopper turnover pipeline 52 in the effect of hopper elevator 51 at this time
On, outlet pipeline 54 is sent to by hopper turnover pipeline 52 and exports full plate case 5；Empty charging box 5 is had enough to meet the need by hopper
Pipeline 52 is transferred at hopper elevator 51, carries out splicing preparation；After another hopper 5 is filled, fill new hopper 5, then it is full
Material hopper 5 is sent to outlet pipeline 54 by hopper turnover pipeline 52 and exports full plate case 5；Similarly the 2nd Delta machine
The first charging box 5 of device people 32 after 5 trunkful of hopper, fills another hopper 5, hopper 5 drops to material in the effect of hopper elevator 51 at this time
Case has enough to meet the need on pipeline 52, is sent to outlet pipeline 54 by hopper turnover pipeline 52 and exports full plate case 5；Empty charging box
5, which have enough to meet the need pipeline 52 by hopper, is transferred at hopper elevator 51, carries out splicing preparation；After hopper 5 is filled, recharge case 5,
Then completely expect that hopper 5 is sent to outlet pipeline 54 by hopper turnover pipeline 52 and exports full plate case 5, is often put in hopper 5
Complete one layer, 5 inner bottom plating of hopper is declined certain distance together with pcb board by hopper elevator 51 together, to keep the first Delta machine
Device people 31 and the height and position that plate is put into hopper 5 in the 2nd Delta robot 32 are constant；Empty charging box 5 passes through inlet pipeline 53
Input runs to 51 position of hopper elevator, prepares to start next case vanning.
Further, the quantity of hopper 5 is four, corresponding two hoppers 5 of the first Delta robot 31, the 2nd Delta machine
People 32 corresponds to other two hopper 5, and hopper 5 is for storing pcb board.
Further, hopper elevator 51 is identical as the quantity of hopper 5, and hopper elevator 51 is for realizing the upper and lower of hopper 5
Lifting.
Further, light source cover 2, camera 21 and light source 22 form vision system, and camera 21 is for taking pictures to pcb board.
Further, hopper turnover pipeline 52 is arranged in hopper elevator 51 and inlet pipeline 53, outlet pipeline 54
Between, hopper has enough to meet the need pipeline 52 and is used for 51 empty charging box 5 of supply bin elevator.
Further, hopper elevator 51 is arranged between hopper turnover pipeline 52 and pcb board pipeline 4, pcb board conveying
Line 4 is used to for the pcb board that the conveying of pcb board special equipment comes being transported to inside unloader.
It should be noted that the present invention is that a kind of pcb board receives plate automation equipment, light source cover 2, camera 21 and 22 groups of light source
At vision system, camera 21 is placed in 4 top of pcb board pipeline and identifies PCB by taking pictures to the pcb board on pipeline
The outer dimension of plate, and identification positioning is carried out to pcb board, the first sucker 1 and the second sucker 33 are respectively arranged in the first Delta machine
The crawl to pcb board is realized using negative pressure of vacuum in 32 end of device people 31 and the 2nd Delta robot, and pcb board is dedicated from pcb board
Conveying comes in equipment, inputs pcb board by pcb board pipeline 4 and receives panel device, camera 21 is on pcb board pipeline 4
Pcb board is taken pictures, and gets the outer dimension and location information of pcb board, and the information is transmitted to the first Delta robot 31
Pcb board is grabbed using conveyer belt tracking technique with the 2nd Delta robot 32, and is believed according to pcb board outer dimension
The distributed intelligence of pcb board is put in the automatic distribution of breath, and pcb board is put into hopper 5, corresponding two material of the first Delta robot 31
Case 5, other two corresponding hopper 5 of the 2nd Delta robot 32, the first Delta robot 31 and the 2nd Delta robot 32 are right
Answer two hoppers 5 for alternately put plate, 31 elder generation's charging box 5 of the first Delta robot after 5 trunkful of hopper, fills another hopper 5,
Hopper 5 drops on hopper turnover pipeline 52 in the effect of hopper elevator 51 at this time, has enough to meet the need pipeline 52 by hopper and transmits
Full plate case 5 is exported to outlet pipeline 54；Empty charging box 5 has enough to meet the need pipeline 52 by hopper and is transferred to hopper elevator 51
Place carries out splicing preparation；After another hopper 5 is filled, recharge case 5, then completely material hopper 5 is passed by hopper turnover pipeline 52
It send to outlet pipeline 54 and exports full plate case 5；The similarly first charging box 5 of the 2nd Delta robot 32, after 5 trunkful of hopper, dress
Another hopper 5, hopper 5 drops on hopper turnover pipeline 52 in the effect of hopper elevator 51 at this time, is had enough to meet the need by hopper
Pipeline 52 is sent to outlet pipeline 54 and exports full plate case 5；Empty charging box 5 has enough to meet the need pipeline 52 by hopper and is transferred to material
At case elevator 51, splicing preparation is carried out；After hopper 5 is filled, recharge case 5, then completely material hopper 5 has enough to meet the need pipeline by hopper
52, which are sent to outlet pipeline 54, exports full plate case 5, often discharges one layer in hopper 5, and hopper elevator 51 is by bottom in hopper 5
Plate declines certain distance together with pcb board together, to keep the first Delta robot 31 and the 2nd Delta robot 32 to material
The height and position that plate is put in case 5 is constant；Empty charging box 5 is inputted by inlet pipeline 53, runs to 51 position of hopper elevator, quasi-
Standby to start next case vanning, which has pcb board automatic positioning, identification function, receives Board position and plans automatically, without artificial
Intervene, effectively increases the functionality of its own, it is more practical.
Above-mentioned hopper elevator 51 uses given by background information provided by the invention, and cooperates of the invention say
The elaboration of bright book, technical field personnel can obtain its use process, and those skilled in the art are in skill provided by the present invention
Available corresponding effect under art scheme, therefore do not elaborate.
It is obvious to a person skilled in the art that invention is not limited to the details of the above exemplary embodiments, Er Qie
In the case where without departing substantially from spirit or essential attributes of the invention, the present invention can be realized in other specific forms.Therefore, no matter
From the point of view of which point, the present embodiments are to be considered as illustrative and not restrictive, and the scope of the present invention is by appended power
Benefit requires rather than above description limits, it is intended that all by what is fallen within the meaning and scope of the equivalent elements of the claims
Variation is included within the present invention.Any reference signs in the claims should not be construed as limiting the involved claims.
Claims (6)
Priority Applications (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201910106537.9A CN109677868A (en) | 2019-02-01 | 2019-02-01 | A kind of pcb board receipts plate automation equipment |
Applications Claiming Priority (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201910106537.9A CN109677868A (en) | 2019-02-01 | 2019-02-01 | A kind of pcb board receipts plate automation equipment |
Publications (1)
| Publication Number | Publication Date |
|---|---|
| CN109677868A true CN109677868A (en) | 2019-04-26 |
Family
ID=66195641
Family Applications (1)
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|---|---|---|---|
| CN201910106537.9A Pending CN109677868A (en) | 2019-02-01 | 2019-02-01 | A kind of pcb board receipts plate automation equipment |
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Cited By (1)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN114229132A (en) * | 2021-12-24 | 2022-03-25 | 苏州朗坤自动化设备股份有限公司 | Cross flow fan finished product vanning equipment |
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Application publication date: 20190426 |