CN109677912B - Multi-layer board browning on-line board matching machine - Google Patents

Multi-layer board browning on-line board matching machine Download PDF

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Publication number
CN109677912B
CN109677912B CN201910052632.5A CN201910052632A CN109677912B CN 109677912 B CN109677912 B CN 109677912B CN 201910052632 A CN201910052632 A CN 201910052632A CN 109677912 B CN109677912 B CN 109677912B
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CN
China
Prior art keywords
copper
plate
pick
lifting
moving driving
Prior art date
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Active
Application number
CN201910052632.5A
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Chinese (zh)
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CN109677912A (en
Inventor
张乐贡
邱正勋
王宪锋
王文亮
刘志远
孙继伟
张开阳
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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 CN201910052632.5A priority Critical patent/CN109677912B/en
Publication of CN109677912A publication Critical patent/CN109677912A/en
Application granted granted Critical
Publication of CN109677912B publication Critical patent/CN109677912B/en
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Classifications

    • BPERFORMING OPERATIONS; TRANSPORTING
    • B65CONVEYING; PACKING; STORING; HANDLING THIN OR FILAMENTARY MATERIAL
    • B65GTRANSPORT OR STORAGE DEVICES, e.g. CONVEYORS FOR LOADING OR TIPPING, SHOP CONVEYOR SYSTEMS OR PNEUMATIC TUBE CONVEYORS
    • B65G47/00Article or material-handling devices associated with conveyors; Methods employing such devices
    • B65G47/74Feeding, transfer, or discharging devices of particular kinds or types
    • B65G47/90Devices for picking-up and depositing articles or materials
    • B65G47/902Devices for picking-up and depositing articles or materials provided with drive systems incorporating rotary and rectilinear movements
    • BPERFORMING OPERATIONS; TRANSPORTING
    • B65CONVEYING; PACKING; STORING; HANDLING THIN OR FILAMENTARY MATERIAL
    • B65GTRANSPORT OR STORAGE DEVICES, e.g. CONVEYORS FOR LOADING OR TIPPING, SHOP CONVEYOR SYSTEMS OR PNEUMATIC TUBE CONVEYORS
    • B65G47/00Article or material-handling devices associated with conveyors; Methods employing such devices
    • B65G47/02Devices for feeding articles or materials to conveyors
    • B65G47/04Devices for feeding articles or materials to conveyors for feeding articles
    • BPERFORMING OPERATIONS; TRANSPORTING
    • B65CONVEYING; PACKING; STORING; HANDLING THIN OR FILAMENTARY MATERIAL
    • B65GTRANSPORT OR STORAGE DEVICES, e.g. CONVEYORS FOR LOADING OR TIPPING, SHOP CONVEYOR SYSTEMS OR PNEUMATIC TUBE CONVEYORS
    • B65G47/00Article or material-handling devices associated with conveyors; Methods employing such devices
    • B65G47/74Feeding, transfer, or discharging devices of particular kinds or types
    • B65G47/90Devices for picking-up and depositing articles or materials
    • B65G47/91Devices for picking-up and depositing articles or materials incorporating pneumatic, e.g. suction, grippers
    • B65G47/914Devices for picking-up and depositing articles or materials incorporating pneumatic, e.g. suction, grippers provided with drive systems incorporating rotary and rectilinear movements
    • BPERFORMING OPERATIONS; TRANSPORTING
    • B65CONVEYING; PACKING; STORING; HANDLING THIN OR FILAMENTARY MATERIAL
    • B65GTRANSPORT OR STORAGE DEVICES, e.g. CONVEYORS FOR LOADING OR TIPPING, SHOP CONVEYOR SYSTEMS OR PNEUMATIC TUBE CONVEYORS
    • B65G2201/00Indexing codes relating to handling devices, e.g. conveyors, characterised by the type of product or load being conveyed or handled
    • B65G2201/02Articles
    • B65G2201/0214Articles of special size, shape or weigh
    • B65G2201/022Flat

Abstract

The invention discloses a multi-layer board browning online board matching machine, which belongs to board matching machines and structurally comprises copper board preparation devices, copper board pickup manipulators, film pickup manipulators and board discharging roller conveying lines, wherein the copper board preparation devices and the film pickup manipulators respectively comprise two copper board preparation devices which are symmetrically arranged at the left side and the right side of the board discharging roller conveying lines, one film pickup manipulator is respectively arranged at the outer sides of the two copper board preparation devices, and the copper board pickup manipulators are arranged at the upper parts of the copper board preparation devices and the board discharging roller conveying lines and are arranged left and right. Compared with the prior art, the multi-layer plate browning online plate distributing machine has the characteristics of saving labor, improving production efficiency, enabling the quality of workpieces to be high and stable and the like.

Description

Multi-layer board browning on-line board matching machine
Technical Field
The invention relates to a plate distributing machine, in particular to a multi-layer plate browning online plate distributing machine.
Background
When the existing multilayer board is browned and matched in the PCB industry, copper plates are required to be manually grabbed and placed on a roller line at the front end of a browned line according to the sequence, and meanwhile, isolation films between the copper plates are separated, the copper plates are transferred to a dustproof workshop through the browned line, and then the browned copper plates are collected and stacked manually. Namely: manually distributing boards, browning and collecting boards;
the prior art has the following defects that the prior art for preparing the copper plate multi-layer plate brown-oxide board has the following defects;
1. the copper plate multi-layer plate brown-in board matching is manually operated, so that the labor intensity is high and the labor cost is high;
2. the manual browning board matching operation is easy to cause surface scratch of the copper board, scratch, sheet breakage and the like, so that the quality is unstable;
3. the stations for placing the multilayer boards are more, the mutual intersection cannot be concentrated, and the labor efficiency is low.
Disclosure of Invention
The invention aims to provide the multi-layer board browning online board distribution machine aiming at the defects in the prior art, and the multi-layer board browning online board distribution machine has the characteristics of saving labor, improving production efficiency and enabling the quality of workpieces to be high and stable.
The technical scheme adopted for solving the technical problems is as follows: the automatic plate feeding device comprises a copper plate preparation device, a copper plate picking manipulator, a film picking manipulator and a plate discharging roller conveying line, wherein the copper plate preparation device and the film picking manipulator respectively comprise two copper plate preparation devices which are symmetrically arranged on the left side and the right side of the plate discharging roller conveying line, the outer sides of the two copper plate preparation devices are respectively provided with the film picking manipulator, the copper plate picking manipulator is arranged on the upper parts of the copper plate preparation device and the plate discharging roller conveying line, and the copper plate picking manipulator comprises two copper plate preparation devices which are arranged left and right.
Every copper feed preparation device include base, copper tray fixed bolster, copper tray remove actuating mechanism and keep apart the film rack respectively, keep apart the upper portion rear side of film rack setting at the base, the base on be provided with two upper and lower copper tray fixed bolsters, every copper tray fixed bolster links to each other with the base through copper tray removal actuating mechanism respectively, be provided with two copper trays on every copper tray fixed bolster respectively, two copper trays set up around the copper tray fixed bolster.
The copper tray fixing support comprises a fixing support body, unpowered rollers and roller connecting plates, wherein the fixing support body comprises a left side plate, a right side plate, a front side plate, a rear side plate and a middle plate, the left side plate, the right side plate, the front side plate and the rear side plate enclose to form a square frame, the middle plate is arranged in the middle of the square frame, the roller connecting plates are respectively arranged on the front side and the rear side of the middle plate, the rear part of the front side plate and the front part of the rear side plate, a plurality of unpowered rollers are respectively arranged on each roller connecting plate, the unpowered rollers on the front side of the middle plate and the rear part of the front side plate are symmetrically arranged, and copper trays are respectively arranged on the upper parts of the two groups of unpowered rollers which are symmetrically arranged.
The copper tray moving driving mechanism comprises a copper tray moving driving servo motor, a copper tray moving driving gear, a copper tray moving driving rack, a copper tray moving driving sliding block and a copper tray moving driving sliding rail, wherein the copper tray moving driving servo motor is arranged on a base, the copper tray moving driving gear is arranged on a motor shaft of the copper tray moving driving servo motor, the copper tray moving driving gear is meshed with the copper tray moving driving rack, the copper tray moving driving rack is arranged at one lower part of a copper tray fixing support, copper tray moving driving sliding blocks are respectively arranged at the left side and the right side of the lower part of the copper tray fixing support, and are matched with the copper tray moving driving sliding rail, and the copper tray moving driving sliding rail is arranged on the base.
The base include support body, lower support body and landing leg, the upper support body set up the upper portion at the lower support body, the landing leg set up the lower part at the lower support body, two copper tray fixed bolster set up respectively on upper support body and lower support body.
The copper plate picking mechanism comprises two copper plate picking manipulators, wherein the two copper plate picking manipulators are respectively arranged on a copper plate picking manipulator fixing plate, each copper plate picking manipulator comprises a copper plate picking vacuum chuck group and a copper plate picking movement driving mechanism, the copper plate picking vacuum chuck group is arranged on the copper plate picking movement driving mechanism, and the copper plate picking movement driving mechanism is connected with the copper plate picking manipulator fixing plate.
The copper pick-up moving driving mechanism comprises a copper pick-up horizontal moving driving mechanism and a copper pick-up lifting moving driving mechanism, the copper pick-up horizontal moving driving mechanism comprises a copper pick-up horizontal moving driving motor, a copper pick-up horizontal moving driving gear, a copper pick-up horizontal moving driving rack, a copper pick-up horizontal moving driving guide rail, a copper pick-up horizontal moving driving sliding block and a copper pick-up horizontal moving driving motor fixing plate, the copper pick-up horizontal moving driving motor is fixed on the copper pick-up horizontal moving driving motor fixing plate, a copper pick-up horizontal moving driving gear is arranged on a motor shaft of the copper pick-up horizontal moving driving motor and is meshed with the copper pick-up horizontal moving driving rack, the copper pick-up horizontal moving driving rack is fixed on a copper pick-up mechanical arm fixing plate, the copper pick-up horizontal moving driving guide rail is matched with the copper pick-up horizontal moving driving sliding block, the copper pick-up horizontal moving driving sliding block is arranged on the lower portion of the copper pick-up horizontal moving driving motor fixing plate, and the copper pick-up lifting moving driving motor is connected with the copper pick-up horizontal moving driving motor fixing plate.
The copper pick-up lifting driving mechanism comprises a copper pick-up lifting driving motor, a copper pick-up lifting driving gear, a copper pick-up lifting driving rack, a copper pick-up lifting driving guide rail, a copper pick-up lifting driving sliding block fixing plate, a copper pick-up lifting driving motor fixing plate and a copper pick-up lifting rod, wherein the copper pick-up lifting driving motor is fixed on the copper pick-up lifting driving motor fixing plate, the copper pick-up lifting driving gear is meshed with the copper pick-up lifting driving rack, the copper pick-up lifting driving rack is fixed on the front side of the copper pick-up lifting rod, the left side and the right side of the copper pick-up lifting rod are also provided with copper pick-up lifting driving guide rails, the copper pick-up lifting driving guide rail is matched with the copper pick-up lifting driving sliding block, the copper pick-up lifting driving sliding block is fixed on the copper pick-up lifting driving sliding block fixing plate, the copper pick-up lifting driving sliding block fixing plate is arranged on the copper pick-up lifting driving motor fixing plate, the copper pick-up lifting driving sliding block fixing plate is meshed with the copper pick-up lifting driving rack, and the copper pick-up lifting driving rack is meshed with the copper pick-up lifting rod.
The film picking manipulator comprises a film picking vacuum chuck group, a film picking moving driving mechanism and a film picking truss, wherein the film picking vacuum chuck group is arranged on the film picking moving driving mechanism, and the film picking moving driving mechanism is connected with the film picking truss.
The film pick-up moving driving mechanism comprises a linear module, a first lifting cylinder and a second lifting cylinder, wherein the first lifting cylinder fixing plate, the second lifting cylinder fixing plate, a guide post, a first guide sleeve and a second guide sleeve are arranged on the film pick-up truss, the first lifting cylinder fixing plate is connected with the linear module, the first lifting cylinder is fixed on the first lifting cylinder fixing plate, a cylinder rod of the first lifting cylinder penetrates through the first lifting cylinder fixing plate and is connected with the second lifting cylinder fixing plate, the second lifting cylinder fixing plate is arranged at the lower part of the first lifting cylinder fixing plate, the second lifting cylinder fixing plate is fixedly provided with the second lifting cylinder, a cylinder rod of the second lifting cylinder penetrates through the second lifting cylinder fixing plate and is connected with the film pick-up vacuum chuck group, the first lifting cylinder fixing plate and the second lifting cylinder fixing plate are respectively provided with the first guide sleeve and the second guide sleeve, and the upper part of the pick-up vacuum chuck group is provided with the guide post, and the second lifting cylinder penetrates through the second guide sleeve sequentially.
Compared with the prior art, the on-line board distributing machine for the brown-in of the multi-layer board has the following outstanding beneficial effects:
the thin copper plate can be grabbed and placed, the grabbing and placing actions are standardized, and compared with manual picking and placing, the problems of scratch and breakage are greatly reduced;
a plurality of manipulators are mutually cooperated to form an intelligent and automatic brown wire online distribution board;
the working efficiency is greatly improved, the qualification rate of the matching plate is high, and the quality problem caused by improper operation of personnel is reduced;
the adopted copper plate material preparation device is a three-dimensional material warehouse, and the occupied area of equipment is small.
Drawings
FIG. 1 is a perspective view of a multi-layer board browning on-line board distributing machine;
fig. 2 is a perspective view of a copper plate stock device;
FIG. 3 is a second perspective view of the copper plate stock apparatus;
FIG. 4 is a schematic diagram of the connection of the base and the separator stand;
FIG. 5 is a schematic view of the connection of a copper pallet fixing bracket and a copper pallet;
fig. 6 is a perspective view of a copper plate tray fixing bracket;
fig. 7 is a perspective view of a copper plate pallet;
FIG. 8 is a perspective view of a film pick-up robot;
FIG. 9 is a schematic illustration of the film pick-up movement drive mechanism of FIG. 8 coupled to a set of film pick-up vacuum chucks;
FIG. 10 is a perspective view of a copper pick-up robot;
FIG. 11 is a second perspective view of the copper pick-up robot;
reference numerals illustrate:
1. the copper plate material preparation device comprises 11, a base, 111, an upper supporting body, 112, a lower supporting body, 113, supporting legs, 12, a copper plate tray, 121, a copper plate tray bottom plate, 122, a copper plate tray baffle plate, 13, a copper plate tray fixing bracket, 131, a fixing bracket body, 1311, a left side plate, 1312, a right side plate, 1313, a front side plate, 1314, a rear side plate, 1315, a middle plate, 132, an unpowered roller, 133, a roller connecting plate, 134, a copper plate tray moving driving mechanism, 141, a copper plate tray moving driving servo motor, 142, a copper plate tray moving driving gear, 143, a copper plate tray moving driving rack, 144, a copper plate tray moving driving slide block, 145, a copper plate tray moving driving slide rail, 15 and an isolation film placing frame,
2. a copper plate pickup robot, 21, a copper plate pickup vacuum chuck group, 22, a copper plate pickup movement drive mechanism, 221, a copper plate pickup horizontal movement drive mechanism, 2211, a copper plate pickup horizontal movement drive motor, 2212, a copper plate pickup horizontal movement drive gear, 2213, a copper plate pickup horizontal movement drive rack, 2214, a copper plate pickup horizontal movement drive guide rail, 2215, a copper plate pickup horizontal movement drive slider, 2216, a copper plate pickup horizontal movement drive motor fixing plate, 222, a copper plate pickup lifting movement drive mechanism, 2221, a copper plate pickup lifting movement drive motor, 2222, a copper plate pickup lifting movement drive gear, 2223, a copper plate pickup lifting movement drive rack, 2224, a copper plate pickup lifting movement drive guide rail, 2225, a copper plate pickup lifting movement drive slider, 2226, a copper plate pickup lifting movement drive slider fixing plate, 2227, a copper plate pickup lifting movement drive motor fixing plate, 2228, a copper plate pickup lifting lever,
3. film pick-up robot, 31, film pick-up vacuum chuck group, 32, film pick-up moving driving mechanism, 321, linear module, 322, first lifting cylinder, 323, second lifting cylinder, 324, first lifting cylinder fixing plate, 325, second lifting cylinder fixing plate, 326, guide post, 327, first guide sleeve, 328, second guide sleeve, 329, outer cover, 33, film pick-up truss,
4. and (5) a plate placing roller conveying line, and a copper plate picking manipulator fixing plate.
Detailed Description
An on-line board feeder for multi-layer board browning according to the present invention is described in detail below with reference to fig. 1 to 11 of the accompanying drawings.
The invention discloses a multi-layer board browning online board distributing machine which structurally comprises a copper board preparing device 1, copper board picking manipulators 2, film picking manipulators 3 and a board placing roller conveying line 4, wherein the copper board preparing device 1 and the film picking manipulators 3 respectively comprise two copper board preparing devices 1 which are symmetrically arranged on the left side and the right side of the board placing roller conveying line 4, one film picking manipulator 3 is arranged on the outer side of each copper board preparing device 1, the copper board picking manipulators 2 are arranged on the upper parts of the copper board preparing device 1 and the board placing roller conveying line 4, and the copper board picking manipulators 2 comprise two copper board picking manipulators which are arranged left and right.
Every copper feed preparation device 1 include base 11, copper tray 12, copper tray fixed bolster 13, copper tray remove actuating mechanism 14 and keep apart film rack 15 respectively, keep apart film rack 15 setting in the upper portion rear side of base 11, base 11 on be provided with two upper and lower copper tray fixed bolsters 13, every copper tray fixed bolster 13 links to each other with base 11 through copper tray removal actuating mechanism 14 respectively, be provided with two copper trays 12 on every copper tray fixed bolster 13 respectively, two copper trays 12 set up around copper tray fixed bolster 13.
The copper plate tray fixing support 13 comprises a fixing support body 131, unpowered rollers 132 and roller connecting plates 133, the fixing support body 131 comprises a left side plate 1311, a right side plate 1312, a front side plate 1313, a rear side plate 1314 and a middle plate 1315, the left side plate 1311, the right side plate 1312, the front side plate 1313 and the rear side plate 1314 enclose into a square frame, the middle plate 1315 is arranged in the middle of the square frame, the roller connecting plates 133 are respectively arranged on the front side and the rear side of the middle plate 1315, the rear part of the front side plate 1313 and the front part of the rear side plate 1314, a plurality of unpowered rollers 132 are respectively arranged on each roller connecting plate 133, the unpowered rollers 132 on the front side of the middle plate 1315 and the rear part of the front side plate 1313 are symmetrically arranged, and the unpowered rollers 132 on the front part of the middle plate 1315 and the upper parts of the two groups of the symmetrically arranged unpowered rollers 132 are respectively provided with the copper plate tray 12.
The copper tray moving driving mechanism 14 comprises a copper tray moving driving servo motor 141, a copper tray moving driving gear 142, a copper tray moving driving rack 143, a copper tray moving driving sliding block 144 and a copper tray moving driving sliding rail 145, the copper tray moving driving servo motor 141 is arranged on the base 11, a copper tray moving driving gear 142 is arranged on a motor shaft of the copper tray moving driving servo motor 141, the copper tray moving driving gear 142 is meshed with the copper tray moving driving rack 143, the copper tray moving driving rack 143 is arranged at one lower part of the copper tray fixing support 13, copper tray moving driving sliding blocks 144 are respectively arranged at the left side and the right side of the lower part of the copper tray fixing support 13, the copper tray moving driving sliding blocks 144 are matched with the copper tray moving driving sliding rails 145, and the copper tray moving driving sliding rail 145 is arranged on the base 11.
The copper plate tray moving driving servo motor 141 is started to drive the copper plate tray moving driving gear 142 on the motor shaft to rotate, the copper plate tray moving driving gear 142 drives the copper plate tray moving driving rack 143 to move, the copper plate tray fixing support 13 and the copper plate tray 12 on the upper portion of the copper plate tray moving driving rack 143 move simultaneously, the copper plate tray moving driving sliding block 144 is matched with the copper plate tray moving driving sliding rail 145, and a guiding effect is achieved when the copper plate tray moving driving rack 143 moves.
The base 11 comprises an upper supporting body 111, a lower supporting body 112 and supporting legs 113, wherein the upper supporting body 111 is arranged on the upper portion of the lower supporting body 112, the supporting legs 113 are arranged on the lower portion of the lower supporting body 112, and two copper plate tray fixing brackets 13 are respectively arranged on the upper supporting body 111 and the lower supporting body 112.
The legs 113 include 6 legs, which are disposed in pairs at front, middle and rear sides of the lower portion of the lower supporter 112.
The copper tray 12 includes a copper tray bottom plate 121 and a copper tray baffle 122, and the copper tray baffle 122 includes two copper tray baffles respectively disposed on the right side and the rear side of the upper portion of the copper tray bottom plate 121.
The copper plate tray moving driving mechanism 14 drives the copper plate tray fixing support 13 and the copper plate tray 12 on the copper plate tray fixing support 13 to move, and simultaneously drives the copper plate in the copper plate tray 12 to move.
Two copper pick-up manipulators 2 are respectively arranged on the copper pick-up manipulator fixing plate 5, each copper pick-up manipulator 2 respectively comprises a copper pick-up vacuum chuck group 21 and a copper pick-up movable driving mechanism 22, the copper pick-up vacuum chuck group 21 is arranged on the copper pick-up movable driving mechanism 22, and the copper pick-up movable driving mechanism 22 is connected with the copper pick-up manipulator fixing plate 5.
The copper plate pickup horizontal movement driving mechanism 22 comprises a copper plate pickup horizontal movement driving mechanism 221 and a copper plate pickup lifting driving mechanism 222, the copper plate pickup horizontal movement driving mechanism 221 comprises a copper plate pickup horizontal movement driving motor 2211, a copper plate pickup horizontal movement driving gear 2212, a copper plate pickup horizontal movement driving rack 2213, a copper plate pickup horizontal movement driving guide rail 2214, a copper plate pickup horizontal movement driving sliding block 2215 and a copper plate pickup horizontal movement driving motor fixing plate 2216, the copper plate pickup horizontal movement driving motor 2211 is fixed on the copper plate pickup horizontal movement driving motor fixing plate 2216, a copper plate pickup horizontal movement driving gear 2212 is arranged on a motor shaft of the copper plate pickup horizontal movement driving motor 2211, the copper plate pickup horizontal movement driving gear 2212 is meshed with the copper plate pickup horizontal movement driving rack 2213, the copper plate pickup horizontal movement driving rack 2213 is fixed on a copper plate pickup mechanical arm fixing plate 5, the copper plate pickup horizontal movement driving guide rail 2214 is further arranged on the copper plate pickup horizontal movement driving guide rail 2215, the copper plate pickup horizontal movement driving guide rail 4 is matched with the copper plate pickup horizontal movement driving sliding block 5, the copper plate pickup horizontal movement driving mechanism 2216 is arranged on a copper plate pickup horizontal movement driving plate 222, and the copper plate pickup horizontal movement driving mechanism is fixed on the copper plate 222.
The copper pick up lift moving drive mechanism 222 include copper pick up lift moving drive motor 2221, copper pick up lift moving drive gear 2222, copper pick up lift moving drive rack 2223, copper pick up lift moving drive guide 2224, copper pick up lift moving drive slider 2225, copper pick up lift moving drive motor fixed plate 2227 and copper pick up lift bar 2228, copper pick up lift moving drive motor 2221 fix on copper pick up lift moving drive motor fixed plate 2227, the motor shaft of copper pick up lift moving drive motor 2221 on be provided with copper pick up lift moving drive gear 2222, copper pick up lift moving drive gear 2222 mesh with copper pick up lift moving drive rack 2223, copper pick up lift moving drive rack 2223 fix the front side at copper pick up lift bar 2228, the left and right sides of copper pick up lift bar 2228 still be provided with pick up lift moving drive guide 2224, copper lift moving drive guide 2224 and pick up lift moving drive slider 2225 cooperate, the copper pick up lift moving drive slider 2226 and the lift drive plate 2226 and the lift fixed plate that moves under the lift drive slider 2226 moves the vacuum.
When the copper plate pickup vacuum chuck group 21 of the copper plate pickup manipulator 2 moves horizontally, the copper plate pickup horizontal movement driving motor 2211 of the copper plate pickup horizontal movement driving mechanism 221 is started, the copper plate pickup horizontal movement driving motor 2211 drives the copper plate pickup horizontal movement driving gear 2212 on a motor shaft thereof to rotate and simultaneously moves horizontally along the copper plate pickup horizontal movement driving rack 2213, and simultaneously drives the copper plate pickup lifting movement driving mechanism 222 and the copper plate pickup vacuum chuck group 21 to move horizontally, and the copper plate pickup horizontal movement driving sliding block 2215 is matched with the copper plate pickup horizontal movement driving guide rail 2214 to play a guiding role in horizontal movement.
When the copper plate pickup vacuum chuck group 21 of the copper plate pickup manipulator 2 is lifted, the copper plate pickup lifting movement driving motor 2221 of the copper plate pickup lifting movement driving mechanism 222 is started, the copper plate pickup lifting movement driving motor 2221 drives the copper plate pickup lifting movement driving gear 2222 on the motor shaft to rotate, the copper plate pickup lifting movement driving gear 2222 drives the copper plate pickup lifting movement driving rack 2223 meshed with the copper plate pickup lifting movement driving gear 2222 to lift, the copper plate pickup lifting movement driving rack 2223 drives the copper plate pickup lifting rod 2228 and the copper plate pickup vacuum chuck group 21 connected with the copper plate pickup lifting movement driving rack 2223 to lift, and the copper plate pickup lifting movement driving sliding block 2225 is matched with the copper plate pickup lifting movement driving guide rail 2224 to play a guiding role in lifting movement.
The film pick-up manipulator 3 comprises a film pick-up vacuum chuck group 31, a film pick-up moving driving mechanism 32 and a film pick-up truss 33, wherein the film pick-up vacuum chuck group 31 is arranged on the film pick-up moving driving mechanism 32, and the film pick-up moving driving mechanism 32 is connected with the film pick-up truss 33.
The film pick-up and movement driving mechanism 32 comprises a linear module 321, a first lifting cylinder 322 and a second lifting cylinder 323, wherein the first lifting cylinder fixing plate 324, the second lifting cylinder fixing plate 325, a guide post 326, a first guide sleeve 327 and a second guide sleeve 328, the linear module 321 is arranged on a film pick-up truss 33, the first lifting cylinder fixing plate 324 is connected with the linear module 321, the first lifting cylinder 322 is fixed on the first lifting cylinder fixing plate 324, a cylinder rod of the first lifting cylinder 322 penetrates through the first lifting cylinder fixing plate 324 and is connected with the second lifting cylinder fixing plate 325, the second lifting cylinder fixing plate 325 is arranged at the lower part of the first lifting cylinder fixing plate 324, the second lifting cylinder fixing plate 325 is fixedly provided with the second lifting cylinder 323, the cylinder rod of the second lifting cylinder 323 penetrates through the second lifting cylinder fixing plate 325 and is connected with the film pick-up vacuum chuck group 31, the first lifting cylinder fixing plate 324 and the second lifting cylinder fixing plate 322 are respectively provided with the first guide sleeve 326 and the second guide sleeve 327, and the second guide sleeve 328 penetrates through the first guide sleeve 328.
When the film picking vacuum chuck group 31 of the film picking mechanical arm 3 moves horizontally, the linear module 321 drives the film picking vacuum chuck group 31 to move horizontally, when the film picking vacuum chuck group 31 is lifted, one-time lifting operation is realized through the movement of the first lifting cylinder 322, and secondary lifting operation is realized through the movement of the second lifting cylinder 323, so that the film picking mechanical arm is suitable for picking films at different height positions.
The first lifting cylinder fixing plate 324 outside the first lifting cylinder 322 and the second lifting cylinder 323 is provided with a cover 329.
The copper plate picking vacuum chuck group 21 and the film picking vacuum chuck group 31 respectively comprise a vacuum chuck and a vacuum chuck frame body, and the vacuum chucks comprise a plurality of vacuum chuck frames which are respectively arranged on the vacuum chuck frame body.
Placing copper plates of different specifications on each copper plate tray 12 in a copper plate preparation device 1, when the copper plates on the copper plate trays 12 are clamped and taken, firstly enabling the copper plate tray 12 on the front side of the upper part to be positioned at the copper plate grabbing position of the lower part of the copper plate picking manipulator 2, grabbing the copper plates on the lower part of the copper plate picking manipulator 2, then placing the copper plates on the plate roller conveying line 4 after grabbing the copper plates on the front side of the upper part, simultaneously sucking the isolated films between the two copper plates to the isolated film placing frame 15 through the film picking manipulator 3, driving the two copper plates 12 on the upper part through the film picking manipulator 3, simultaneously moving the two copper plates 12 on the front side of the upper part forwards, enabling the copper plates 12 on the rear side of the upper part to be positioned at the copper plate grabbing position, grabbing the copper plates through the film picking manipulator 3, then sucking the isolated films between the two copper plates on the copper plates 12 on the front side of the upper part through the film picking manipulator 3, continuously moving the two copper plates 12 on the front side of the upper part through the film picking manipulator 14, simultaneously moving the two copper plates 12 on the front side of the upper part to the copper plate picking manipulator 12, and then sucking the isolated films between the two copper plates on the copper plates 12 at the isolated film placing frame 15 through the film picking manipulator 3, namely, the feeding operation of copper plates with different specifications is completed. And the loading operation of the copper plate and the separation of the isolation films are completed in a reciprocating cycle mode. The two copper plate picking manipulators 2 and the two film picking manipulators 3 can be operated alternately at the same time, so that the copper plate feeding conveying speed is improved.
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 (8)

1. A multi-layer board browning on-line board distributing machine is characterized in that: the device comprises a copper plate preparation device, a copper plate pickup manipulator, a film pickup manipulator and a plate placing roller conveying line, wherein the copper plate preparation device and the film pickup manipulator respectively comprise two copper plate preparation devices which are symmetrically arranged at the left side and the right side of the plate placing roller conveying line, the outer sides of the two copper plate preparation devices are respectively provided with one film pickup manipulator, the copper plate pickup manipulator is arranged at the upper parts of the copper plate preparation device and the plate placing roller conveying line, and the copper plate pickup manipulator comprises two copper plate preparation devices which are arranged left and right;
each copper plate material preparation device comprises a base, copper plates, copper plate fixing brackets, a copper plate tray moving driving mechanism and an isolation film placing frame, wherein the isolation film placing frame is arranged on the rear side of the upper part of the base, the base is provided with an upper copper plate fixing bracket and a lower copper plate fixing bracket, each copper plate tray fixing bracket is connected with the base through the copper plate tray moving driving mechanism, each copper plate tray fixing bracket is provided with two copper plate trays, and the two copper plate trays are arranged front and back along the copper plate tray fixing brackets;
the copper plate picking mechanism comprises two copper plate picking manipulators, wherein the two copper plate picking manipulators are respectively arranged on a copper plate picking manipulator fixing plate, each copper plate picking manipulator comprises a copper plate picking vacuum chuck group and a copper plate picking movement driving mechanism, the copper plate picking vacuum chuck group is arranged on the copper plate picking movement driving mechanism, and the copper plate picking movement driving mechanism is connected with the copper plate picking manipulator fixing plate.
2. The multi-layer board browning on-line board distributing machine according to claim 1, characterized in that: the copper tray fixing support comprises a fixing support body, unpowered rollers and roller connecting plates, wherein the fixing support body comprises a left side plate, a right side plate, a front side plate, a rear side plate and a middle plate, the left side plate, the right side plate, the front side plate and the rear side plate enclose to form a square frame, the middle plate is arranged in the middle of the square frame, the roller connecting plates are respectively arranged on the front side and the rear side of the middle plate, the rear part of the front side plate and the front part of the rear side plate, a plurality of unpowered rollers are respectively arranged on each roller connecting plate, the unpowered rollers on the front side of the middle plate and the rear part of the front side plate are symmetrically arranged, and copper trays are respectively arranged on the upper parts of the two groups of unpowered rollers which are symmetrically arranged.
3. The multi-layer board browning on-line board distributing machine according to claim 1, characterized in that: the copper tray moving driving mechanism comprises a copper tray moving driving servo motor, a copper tray moving driving gear, a copper tray moving driving rack, a copper tray moving driving sliding block and a copper tray moving driving sliding rail, wherein the copper tray moving driving servo motor is arranged on a base, the copper tray moving driving gear is arranged on a motor shaft of the copper tray moving driving servo motor, the copper tray moving driving gear is meshed with the copper tray moving driving rack, the copper tray moving driving rack is arranged at one lower part of a copper tray fixing support, copper tray moving driving sliding blocks are respectively arranged at the left side and the right side of the lower part of the copper tray fixing support, and are matched with the copper tray moving driving sliding rail, and the copper tray moving driving sliding rail is arranged on the base.
4. The multi-layer board browning on-line board distributing machine according to claim 1, characterized in that: the base include support body, lower support body and landing leg, the upper support body set up the upper portion at the lower support body, the landing leg set up the lower part at the lower support body, two copper tray fixed bolster set up respectively on upper support body and lower support body.
5. The multi-layer board browning on-line board distributing machine according to claim 1, characterized in that: the copper pick-up moving driving mechanism comprises a copper pick-up horizontal moving driving mechanism and a copper pick-up lifting moving driving mechanism, the copper pick-up horizontal moving driving mechanism comprises a copper pick-up horizontal moving driving motor, a copper pick-up horizontal moving driving gear, a copper pick-up horizontal moving driving rack, a copper pick-up horizontal moving driving guide rail, a copper pick-up horizontal moving driving sliding block and a copper pick-up horizontal moving driving motor fixing plate, the copper pick-up horizontal moving driving motor is fixed on the copper pick-up horizontal moving driving motor fixing plate, a copper pick-up horizontal moving driving gear is arranged on a motor shaft of the copper pick-up horizontal moving driving motor and is meshed with the copper pick-up horizontal moving driving rack, the copper pick-up horizontal moving driving rack is fixed on a copper pick-up mechanical arm fixing plate, the copper pick-up horizontal moving driving guide rail is matched with the copper pick-up horizontal moving driving sliding block, the copper pick-up horizontal moving driving sliding block is arranged on the lower portion of the copper pick-up horizontal moving driving motor fixing plate, and the copper pick-up lifting moving driving motor is connected with the copper pick-up horizontal moving driving motor fixing plate.
6. The multi-layer board browning on-line board distributing machine according to claim 5, characterized in that: the copper pick-up lifting driving mechanism comprises a copper pick-up lifting driving motor, a copper pick-up lifting driving gear, a copper pick-up lifting driving rack, a copper pick-up lifting driving guide rail, a copper pick-up lifting driving sliding block fixing plate, a copper pick-up lifting driving motor fixing plate and a copper pick-up lifting rod, wherein the copper pick-up lifting driving motor is fixed on the copper pick-up lifting driving motor fixing plate, the copper pick-up lifting driving gear is meshed with the copper pick-up lifting driving rack, the copper pick-up lifting driving rack is fixed on the front side of the copper pick-up lifting rod, the left side and the right side of the copper pick-up lifting rod are also provided with copper pick-up lifting driving guide rails, the copper pick-up lifting driving guide rail is matched with the copper pick-up lifting driving sliding block, the copper pick-up lifting driving sliding block is fixed on the copper pick-up lifting driving sliding block fixing plate, the copper pick-up lifting driving sliding block fixing plate is arranged on the copper pick-up lifting driving motor fixing plate, the copper pick-up lifting driving sliding block fixing plate is meshed with the copper pick-up lifting driving rack, and the copper pick-up lifting driving rack is meshed with the copper pick-up lifting rod.
7. The multi-layer board browning on-line board distributing machine according to claim 1, characterized in that: the film picking manipulator comprises a film picking vacuum chuck group, a film picking moving driving mechanism and a film picking truss, wherein the film picking vacuum chuck group is arranged on the film picking moving driving mechanism, and the film picking moving driving mechanism is connected with the film picking truss.
8. The multi-layer board browning on-line board distributing machine of claim 7, wherein the multi-layer board browning on-line board distributing machine is characterized in that: the film pick-up moving driving mechanism comprises a linear module, a first lifting cylinder and a second lifting cylinder, wherein the first lifting cylinder fixing plate, the second lifting cylinder fixing plate, a guide post, a first guide sleeve and a second guide sleeve are arranged on the film pick-up truss, the first lifting cylinder fixing plate is connected with the linear module, the first lifting cylinder is fixed on the first lifting cylinder fixing plate, a cylinder rod of the first lifting cylinder penetrates through the first lifting cylinder fixing plate and is connected with the second lifting cylinder fixing plate, the second lifting cylinder fixing plate is arranged at the lower part of the first lifting cylinder fixing plate, the second lifting cylinder fixing plate is fixedly provided with the second lifting cylinder, a cylinder rod of the second lifting cylinder penetrates through the second lifting cylinder fixing plate and is connected with the film pick-up vacuum chuck group, the first lifting cylinder fixing plate and the second lifting cylinder fixing plate are respectively provided with the first guide sleeve and the second guide sleeve, and the upper part of the pick-up vacuum chuck group is provided with the guide post, and the second lifting cylinder penetrates through the second guide sleeve sequentially.
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