CN111288904A - Plate taking device and plate taking method - Google Patents
Plate taking device and plate taking method Download PDFInfo
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- CN111288904A CN111288904A CN202010159934.5A CN202010159934A CN111288904A CN 111288904 A CN111288904 A CN 111288904A CN 202010159934 A CN202010159934 A CN 202010159934A CN 111288904 A CN111288904 A CN 111288904A
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- 230000007246 mechanism Effects 0.000 claims abstract description 97
- 230000005540 biological transmission Effects 0.000 claims description 15
- 230000009471 action Effects 0.000 claims description 4
- 230000033001 locomotion Effects 0.000 claims description 4
- 230000002349 favourable effect Effects 0.000 abstract description 3
- 230000008569 process Effects 0.000 abstract description 3
- 230000009286 beneficial effect Effects 0.000 description 2
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- 238000004519 manufacturing process Methods 0.000 description 2
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- G—PHYSICS
- G01—MEASURING; TESTING
- G01B—MEASURING LENGTH, THICKNESS OR SIMILAR LINEAR DIMENSIONS; MEASURING ANGLES; MEASURING AREAS; MEASURING IRREGULARITIES OF SURFACES OR CONTOURS
- G01B11/00—Measuring arrangements characterised by the use of optical techniques
- G01B11/02—Measuring arrangements characterised by the use of optical techniques for measuring length, width or thickness
- G01B11/06—Measuring arrangements characterised by the use of optical techniques for measuring length, width or thickness for measuring thickness ; e.g. of sheet material
- G01B11/0608—Height gauges
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- G—PHYSICS
- G01—MEASURING; TESTING
- G01B—MEASURING LENGTH, THICKNESS OR SIMILAR LINEAR DIMENSIONS; MEASURING ANGLES; MEASURING AREAS; MEASURING IRREGULARITIES OF SURFACES OR CONTOURS
- G01B11/00—Measuring arrangements characterised by the use of optical techniques
- G01B11/002—Measuring arrangements characterised by the use of optical techniques for measuring two or more coordinates
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- H—ELECTRICITY
- H05—ELECTRIC TECHNIQUES NOT OTHERWISE PROVIDED FOR
- H05K—PRINTED CIRCUITS; CASINGS OR CONSTRUCTIONAL DETAILS OF ELECTRIC APPARATUS; MANUFACTURE OF ASSEMBLAGES OF ELECTRICAL COMPONENTS
- H05K3/00—Apparatus or processes for manufacturing printed circuits
- H05K3/0008—Apparatus or processes for manufacturing printed circuits for aligning or positioning of tools relative to the circuit board
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Abstract
The invention relates to the technical field of printed circuit board processing equipment, in particular to a board taking device and a board taking method. The plate taking device can accurately measure the height of the upper edge of a plate to be taken, and then the plate is automatically moved to be horizontally placed on a specified plate placing position through the cooperation of the plate lifting mechanism and the plate placing mechanism, so that the plate taking device is efficient, convenient and high in accuracy, and is favorable for keeping the stress balance of the plate in the process of moving and overturning the plate, and the plate plane is prevented from being bent or warped and deformed.
Description
Technical Field
The invention relates to the technical field of printed circuit board processing equipment, in particular to a board taking device and a board taking method.
Background
At present, when a Printed Circuit Board (PCB) is processed and manufactured, the PCB is generally a square board with a large size, and a plurality of finished board pieces with small sizes are cut at the later stage of manufacturing. Before the PCB board cuts, usually insert a plurality of PCB boards of the same size in the sheet frame and accomodate, generally be equipped with a plurality of vertical slots side by side in the sheet frame, the length of slot generally equals to the length of PCB board, but the width of slot is greater than the thickness of PCB board usually, therefore the PCB board can slightly incline in the slot, and the inclination angle of each PCB board is also inequality, consequently makes the height on each PCB board in the sheet frame along difficult to the accurate determination. Because the circuit is printed on the PCB, only the blank area at the edge part can be grabbed by the mechanical clamping jaw of the board taking device, the blank area at the edge part of the board is generally narrow, if the clamping depth is too deep, the blank area can exceed the blank area to damage the circuit structure on the board, if the clamping depth is too shallow, the clamping is not firm, therefore, if the upper edge height of the PCB cannot be accurately determined, the PCB cannot be taken out from the board frame by the board taking device and placed on the board placing position of the printed circuit board processing equipment for processing, therefore, the PCB still can be taken out from the board frame and placed on the board placing position by adopting a manual operation mode basically in the prior art, time and labor are wasted, the efficiency is low, and the accuracy of the placing position is low. Moreover, the PCB is large in size and thin in thickness, so that the plate is easily bent or warped due to its own weight when being moved and turned over, thereby causing damage to the plate.
Disclosure of Invention
In order to overcome the defects of the prior art, the invention provides the plate taking device and the plate taking method, the height of the upper edge of the plate to be taken can be accurately measured, and then the plate is automatically moved to be horizontally placed on the appointed plate placing position through the matching of the plate lifting mechanism and the plate placing mechanism, so that the manual plate taking mode is replaced, the plate taking device is efficient, convenient and high in accuracy, the stress balance of the plate is favorably kept in the plate moving and overturning processes, and the plate plane is prevented from being bent or warped and deformed.
The invention is realized by the following technical scheme:
the utility model provides a get board device, moves the mechanism including the sheet frame that is used for moving the sheet frame along X axle direction, is used for snatching and lifting to the board lifting mechanism who shifts out the sheet frame along Z axle direction to the square board of waiting to get of vertical planting in the sheet frame, is used for carrying out the balance to the plate of proposing the sheet frame and snatchs and remove and overturn to keeping flat the board mechanism of putting the board position to and laser photoelectric sensor and controlling means, laser photoelectric sensor includes laser emitter and laser receiver, and laser emitter fixes and sets up the front side of sheet frame and highly be less than the last edge of waiting to get the board, and laser receiver fixes and sets up the last edge that is higher than the board of waiting to get at the rear side of sheet frame, and the direction slope of laser emitter transmission is upwards in order to face towards laser receiver, controlling means connects sheet frame and moves mechanism, board lifting mechanism, puts board.
Preferably, put trigger structure and include the anchor clamps seat, be used for driving the arm that the anchor clamps seat removed and overturned to and set up left anchor clamps and right anchor clamps in order to centre gripping plate left and right border respectively at the left and right both ends of anchor clamps seat, and the upper and lower both sides at left and right border of centre gripping plate can be symmetrical respectively at the upper and lower both ends of left anchor clamps and right anchor clamps, so that the plate atress is balanced when the upset, thereby avoids the plate plane to produce and buckles or warp.
Preferably, the left clamp and the right clamp respectively comprise two or more first clamping jaws arranged at intervals and a first clamping jaw driving mechanism capable of driving the first clamping jaws to rotate and perform opening and closing actions, so that the left clamp and the right clamp can clamp or loosen the plate from two sides of the plate at the same time.
Preferably, the left clamp and/or the right clamp are/is in transmission connection with the clamp seat through a first linear driving module, so that the distance between the left clamp and the right clamp can be adjusted.
Preferably, the plate lifting mechanism comprises an upper clamp for clamping the upper edge of the plate and a lifting mechanism for driving the upper clamp to reciprocate along the Z-axis direction; the upper clamp comprises a second clamping jaw and a second clamping jaw driving mechanism capable of driving the second clamping jaw to open and close.
Preferably, the lifting plate mechanism further comprises a transverse support, the upper clamp and the transverse support are in transmission connection through a second linear driving module arranged along the Y axis direction, so that the transverse support can move in a reciprocating mode along the Y axis direction relatively, the lifting mechanism comprises an upright post and a third linear driving module, and one end of the transverse support and the upright post are in transmission connection through the third linear driving module, so that the transverse support can move in a reciprocating mode along the Z axis direction relatively.
Preferably, the plate frame moves and carries mechanism includes the base and is used for fixing a position the frame that carries of placing the plate frame, carries the frame and places on the base and carry out the transmission with the base through the fourth linear drive module that sets up along the X axle direction and be connected to make and carry the frame and can carry the base along X axle direction reciprocating motion relatively.
Preferably, the plate taking device comprises two or more plate frame transfer mechanisms, each plate frame transfer mechanism is arranged in parallel, and each plate frame transfer mechanism is correspondingly provided with one laser photoelectric sensor.
Preferably, each plate frame transplanting mechanism is correspondingly provided with one plate lifting mechanism.
A plate taking method adopting the plate taking device comprises the following steps:
(1) placing the plate frame with the plate inserted in the plate frame transfer mechanism at the starting point position of the plate frame transfer mechanism, and prestoring the position information of the plate frame slot, the size information of the plate and the upward inclination angle of the laser emitted by the laser emitter in a control device;
(2) the control device controls the laser transmitter to transmit laser signals towards the laser receiver, the laser receiver receives the laser signals and feeds the laser signals back to the control device, the control device controls the plate frame transfer mechanism to drive the plate frame to move forwards along the X-axis direction until the upper edge of the first plate at the forefront blocks the laser signals transmitted by the laser transmitter, the laser receiver stops receiving the laser signals and feeds the laser signals back to the control device, and the control device controls the plate frame transfer mechanism to stop driving the plate frame to move;
(3) the control device records the forward movement distance of the plate frame, and combines the position information of the slot where the first plate is located and the oblique upward angle of the laser, so as to analyze and calculate the height of the upper edge of the first plate, further analyze and calculate the XYZ-axis coordinate of the midpoint of the upper edge of the first plate, and the control device controls the plate lifting mechanism to grab and lift the upper edge of the first plate according to the XYZ-axis coordinate of the midpoint of the upper edge of the first plate, so that the first plate moves upwards in a balanced manner, and controls the plate lifting mechanism to stop moving upwards until the first plate leaves the plate frame;
(4) the control device records the upward moving distance of the first plate, analyzes and calculates the XYZ-axis coordinates of the middle points of the left edge and the right edge of the first plate at the moment by combining plate size information, controls the plate placing mechanism to symmetrically grab the left edge and the right edge of the first plate according to the XYZ-axis coordinates of the middle points of the left edge and the right edge of the first plate, moves the first plate above the plate placing position according to the target coordinates of the plate placing position, and overturns and lays the first plate on the plate placing position; simultaneously, when first plate was carried out the sheet frame by the lifter mechanism and when no longer sheltered from the laser, laser receiver received laser signal again and fed back to controlling means, controlling means control the sheet frame moves and carries mechanism drive sheet frame and continue the antedisplacement along the X axle direction, until the last edge of the second plate in the forefront blocks the laser signal of laser emitter transmission, laser receiver stops receiving laser signal and feeds back to controlling means, and controlling means control the sheet frame moves and carries mechanism stop drive sheet frame and remove, then circulates in proper order and reciprocates.
Compared with the prior art, the invention has the beneficial effects that: utilize laser photoelectric sensor, can accurately measure the interior upward height of following of waiting to get the plate of sheet frame, and then through carrying board mechanism and putting board mechanism matched with mode, carry out the sheet frame on with the plate through carrying board mechanism earlier, rethread is put board mechanism and is balanced snatching and remove the plate to the plate, the upset until placing the plate level on putting the board position, replaced the artifical mode of getting the board, it is high-efficient convenient, high accuracy, and remove, the in-process of upset plate is favorable to keeping the balanced atress of plate, avoid the plate plane to produce and buckle or warp.
The conception, specific structure and effects of the present invention will be further described in conjunction with the accompanying drawings to fully understand the objects, features and effects of the present invention.
Drawings
FIG. 1 is a schematic view of the structure of a plate taking apparatus in example 1;
FIG. 2 is a schematic view of the structure of a plate taking apparatus in example 2.
Wherein: the plate frame moves and carries mechanism 1, base 11, carry frame foundation 12, fourth lead screw slip table module 13, lifting plate mechanism 2, go up anchor clamps 21, second clamping jaw 211, second clamping jaw cylinder 212, horizontal support 22, second lead screw slip table module 23, third lead screw slip table module 24, stand 25, put trigger structure 3, anchor clamps seat 31, arm 32, left anchor clamps 33, right anchor clamps 34, first clamping jaw 35, first clamping jaw cylinder 36, first lead screw slip table module 37, laser emitter 41, laser receiver 42, plate frame 5, plate 6, put trigger position 7.
Detailed Description
In order to make the objects, technical solutions and advantages of the present invention more apparent, the present invention is described in further detail below with reference to the accompanying drawings and embodiments. It should be understood that the description of the specific embodiments is intended to be illustrative of the invention and is not intended to limit the invention.
It should be noted that when an element is referred to as being "connected" to another element, it can be directly connected to the other element or intervening elements may also be present, and the terms "fixed," "connected," "front," "back," "left," "right," "up," "down," and the like as used herein are for illustrative purposes only and are not intended to limit the present invention. In addition, the components such as the mechanical arm, the cylinder, the lead screw sliding table module, the clamping jaw, the control device and the laser photoelectric sensor in the embodiment can be selected from common products which are mature in the prior art, and the specific structure of the mechanism does not influence the implementation of the technical scheme and the realization of the purpose of the invention, so the structure of the mechanism is not described and limited in detail herein, and the arrangement position and the mode of the control device have various selection modes, which are not specifically limited in the invention and are not shown in the attached drawings.
Example 1:
as shown in fig. 1, a plate taking device includes a frame (the frame is not shown in fig. 1), on which: a plate frame transfer mechanism 1 for moving the plate frame 5 along the X-axis direction, a plate lifting mechanism 2 for lifting the square plate 6 to be taken vertically inserted in the plate frame 5 and lifting the plate to be taken out of the plate frame 5 along the Z-axis direction, a plate placing mechanism 3 for lifting the plate 6 of the plate frame 5 and moving the plate to be taken horizontally at the plate placing position 7, a laser photoelectric sensor and a control device, wherein the laser photoelectric sensor comprises a laser emitter 41 and a laser receiver 42, the laser emitter 41 is fixedly arranged on the front side of the plate frame 5 and is lower than the upper edge of the plate 6 to be taken, the laser receiver 42 is fixedly arranged on the rear side of the plate frame 5 and is higher than the upper edge of the plate 6 to be taken, the direction of the laser emitted by the laser emitter 41 is inclined upwards to face the laser receiver 42 (as shown by an arrow in figure 1), and the control device is connected with the plate frame transfer mechanism 1, the plate lifting mechanism 2, A plate placing mechanism 3 and a laser photoelectric sensor.
Put trigger structure 3 and include anchor clamps seat 31, be used for driving anchor clamps seat 31 to remove and the arm 32 of upset, and set up left anchor clamps 33 and right anchor clamps 34 in order to centre gripping the left and right border of plate 6 respectively at the left and right both ends of anchor clamps seat 31, and the upper and lower both ends of left anchor clamps 33 and right anchor clamps 34 can the symmetry centre gripping the upper and lower both sides at the left and right border of plate 6 respectively, so that plate 6 atress is balanced when the upset, thereby avoid 6 planes of plate to produce and buckle or warp.
The left clamp 33 and the right clamp 34 respectively comprise two first clamping jaws 35 arranged at intervals and a first clamping jaw air cylinder 36 capable of driving the first clamping jaws 35 to rotate and perform opening and closing actions, so that the left clamp 33 and the right clamp 34 can clamp or release the plate 6 from two sides of the plate 6 at the same time. When the left clamp 33 and the right clamp 34 are respectively located at the left side and the right side of the plate 6, the first jaw cylinder 36 first drives each first jaw 35 to rotate so that the two clamping heads of the first jaw 35 are respectively located at the front side and the rear side of the side edge of the plate 6, and then drives the two clamping heads of each first jaw 35 to close so as to clamp the side edge of the plate 6.
The right clamp 34 is in transmission connection with the clamp base 31 through a first lead screw sliding table module 37, so that the distance between the left clamp 33 and the right clamp 34 can be adjusted.
The lifting plate mechanism 2 comprises an upper clamp 21 used for clamping the upper edge of the plate 6, the upper clamp 21 is in transmission connection with a transverse support 22 through a second lead screw sliding table module 23 arranged along the Y-axis direction, so that the upper clamp can move back and forth along the Y-axis direction relative to the transverse support 22, one end of the transverse support 22 is connected with a stand column 25 through a third lead screw sliding table module 24 arranged along the Z-axis direction, and the one end of the transverse support 22 can move back and forth along the Z-axis direction under the driving of the third lead screw sliding table module 24. Because the width of the plate in the same plate frame and the position of the plate in the Y-axis direction are the same normally, the action of the second lead screw sliding table module 23 is not needed generally, and when the type of the plate is adjusted integrally, the position of the upper clamp 21 in the Y-axis direction can be adjusted through the transverse sliding table 23, so that the upper clamp 21 is aligned to the middle position of the plate again. The upper clamp 21 includes a second clamping jaw 211 and a second clamping jaw cylinder 212 capable of driving the second clamping jaw 211 to open and close.
The plate frame transfer mechanism 1 comprises a base 11 and a frame carrying seat 12 for positioning and placing the plate frame 5, wherein the frame carrying seat 12 is placed on the base 11 and is in transmission connection with the base 11 through a fourth lead screw sliding table module 13 arranged along the X-axis direction, so that the frame carrying seat 12 can move in a reciprocating manner along the X-axis direction under the driving of the fourth lead screw sliding table module 13.
What each linear drive module and clamping jaw actuating mechanism in this embodiment equally divide and do not choose is very ripe lead screw slip table module and clamping jaw cylinder among the prior art. Of course, in other embodiments, other products that can achieve the same or similar functions in the prior art may also be selected, and this embodiment is not illustrated.
The plate taking method of the plate taking device comprises the following steps:
(1) placing the plate frame with the plate inserted in the plate frame transfer mechanism at the starting point position of the plate frame transfer mechanism, and prestoring the position information of the plate frame slot, the size information of the plate and the upward inclination angle of laser emitted by a laser emitter in a control device;
(2) the control device controls the laser transmitter to transmit laser signals towards the laser receiver, the laser receiver receives the laser signals and feeds the laser signals back to the control device, the control device controls the plate frame transfer mechanism to drive the plate frame to move forwards along the X-axis direction until the upper edge of the first plate at the forefront blocks the laser signals transmitted by the laser transmitter, the laser receiver stops receiving the laser signals and feeds the laser signals back to the control device, and the control device controls the plate frame transfer mechanism to stop driving the plate frame to move;
(3) the control device records the forward movement distance of the plate frame and combines the position information of the slot where the first plate is located and the oblique upward angle of the laser, so that the height of the upper edge of the first plate is analyzed and calculated, and further the XYZ-axis coordinate of the midpoint of the upper edge of the first plate is analyzed and calculated; it should be noted here that although the width of the slot of the plate frame is greater than the thickness of the plate, which may result in the front-back position (i.e. the X-axis coordinate) of the plate not being particularly accurate, since the jaws of the plate lifting mechanism are folded from both sides of the plate to clamp the plate, a slight deviation of the front-back position of the plate may not affect the clamping of the plate, but if the height of the upper edge of the plate is not accurate, the jaws may be too deep to clamp the circuit structure on the plate, or too shallow to clamp the plate firmly, so the height of the upper edge of each plate must be measured accurately to clamp and lift the plate;
(4) the control device records the upward moving distance of the first plate, and analyzes and calculates the XYZ-axis coordinates of the midpoint of the left edge and the right edge of the first plate at the moment by combining the plate size information, controls the left clamp and the right clamp of the plate placing mechanism to symmetrically grab the left edge and the right edge of the first plate according to the XYZ-axis coordinates of the midpoint of the left edge and the right edge of the first plate, moves the first plate to be above the plate placing position and overturns and lays the first plate on the plate placing position according to the target coordinates of the plate placing position, and after the plate is horizontally placed on the plate placing position, the printed circuit board processing equipment can process and manufacture the plate in the next step; simultaneously, when first plate is carried out the sheet frame by the lifter mechanism and no longer shelters from the laser, laser receiver receives laser signal again and feeds back to controlling means, controlling means control sheet frame moves and carries mechanism drive sheet frame and continues to move along the X axle direction to the front, until the last edge of the second plate in the forefront blocks the laser signal of laser emitter transmission, laser receiver stops receiving laser signal and feeds back to controlling means, controlling means control sheet frame moves and carries the mechanism and stops driving the sheet frame and remove, then cycle is reciprocal in proper order.
And after the last plate in the plate frame is lifted by the plate lifting mechanism, the plate frame transfer mechanism returns backwards to move to the position of the initial point, the plate frame inserted with the plate is replaced, and the plate frame is circularly reciprocated in sequence.
Compared with the prior art, the invention has the beneficial effects that: utilize laser photoelectric sensor, can accurately measure wait to get the last height of following of plate 6 in the sheet frame 5, and then through carrying board mechanism 2 and putting board mechanism 3 matched with mode, carry out earlier and carry out the sheet frame 5 on with plate 6 through carrying board mechanism 2, rethread is put board mechanism 3 and is balanced snatching and remove plate 6 to plate 6, the upset is until placing plate 6 level on putting board position 7, the artifical mode of getting the board of having replaced, high efficiency is convenient, high accuracy, and moving, the in-process of upset plate 6 is favorable to keeping plate 6's stress balance, avoid 6 planes of plate to produce and buckle or warp.
Example 2:
on the basis of the technical scheme of the embodiment 1, the method is further improved:
as shown in fig. 2, the plate taking device comprises two plate frame transfer mechanisms 1, each plate frame transfer mechanism 1 is arranged in parallel, and each plate frame 5 transfer mechanism is correspondingly provided with a laser photoelectric sensor and a plate lifting mechanism 2 respectively, so that the plate placing mechanism 3 can alternately move, turn and place plates lifted in the two plate frames 5, and the plate placing efficiency is further improved. In fig. 2, the laser photosensor and a part of the support structure in the present embodiment are not shown in order not to obscure other structures.
Preferred embodiments of the present invention are shown in the drawings. This invention may, however, be embodied in many different forms and should not be construed as limited to the embodiments set forth herein. Rather, these embodiments are provided so that this disclosure will be thorough and complete.
Claims (10)
1. A plate taking device is characterized by comprising a plate frame transfer mechanism for moving a plate frame along the X-axis direction, a plate lifting mechanism for grabbing a square plate to be taken which is vertically inserted in the plate frame and lifting the square plate to be taken out of the plate frame along the Z-axis direction, a plate placing mechanism for carrying out balanced grabbing on the plate which is lifted out of the plate frame and moving and turning the plate to be taken out of the plate frame to be horizontally placed at a plate placing position, the laser photoelectric sensor comprises a laser transmitter and a laser receiver, the laser transmitter is fixedly arranged on the front side of the plate frame and is lower than the upper edge of the plate to be taken, the laser receiver is fixedly arranged on the rear side of the plate frame and is higher than the upper edge of the plate to be taken, the direction of the laser emitted by the laser transmitter is inclined upwards to face the laser receiver, the control device is connected with the plate frame transfer mechanism, the plate lifting mechanism, the plate placing mechanism and the laser photoelectric sensor.
2. The plate taking device according to claim 1, wherein the plate placing mechanism comprises a clamp seat, a mechanical arm for driving the clamp seat to move and turn, and a left clamp and a right clamp which are arranged at the left end and the right end of the clamp seat to respectively clamp the left edge and the right edge of the plate, and the upper end and the lower end of the left clamp and the right clamp can respectively and symmetrically clamp the upper side and the lower side of the left edge and the right edge of the plate, so that the plate is stressed in balance when turned over, and the plate plane is prevented from being bent or warped and deformed.
3. The plate taking device according to claim 2, wherein the left clamp and the right clamp respectively comprise two or more first clamping jaws arranged at intervals and a first clamping jaw driving mechanism capable of driving the first clamping jaws to rotate and perform opening and closing actions, so that the left clamp and the right clamp can clamp or release the plate from two sides of the plate at the same time.
4. The plate taking device according to claim 2, wherein the left clamp and/or the right clamp are in transmission connection with the clamp base through a first linear driving module, so that the distance between the left clamp and the right clamp can be adjusted.
5. The plate taking device according to claim 1, wherein the plate lifting mechanism comprises an upper clamp for clamping the upper edge of the plate and a lifting mechanism for driving the upper clamp to reciprocate along the Z-axis direction, and the upper clamp comprises a second clamping jaw and a second clamping jaw driving mechanism capable of driving the second clamping jaw to open and close.
6. The plate taking device according to claim 5, wherein the plate lifting mechanism further comprises a transverse support, the upper clamp is in transmission connection with the transverse support through a second linear driving module arranged along the Y-axis direction so as to be capable of reciprocating relative to the transverse support along the Y-axis direction, the lifting mechanism comprises an upright column and a third linear driving module, and one end of the transverse support is in transmission connection with the upright column through the third linear driving module so as to be capable of reciprocating relative to the upright column along the Z-axis direction.
7. The plate taking device according to claim 1, wherein the plate frame transfer mechanism comprises a base and a frame carrying seat for positioning and placing the plate frame, the frame carrying seat is placed on the base and is in transmission connection with the base through a fourth linear driving module arranged along the X-axis direction, so that the frame carrying seat can reciprocate relative to the base along the X-axis direction.
8. The board taking device according to claim 1, wherein the board taking device comprises two or more than two board frame transfer mechanisms, each board frame transfer mechanism is arranged in parallel, and each board frame transfer mechanism is provided with one corresponding laser photoelectric sensor.
9. The board taking device according to claim 8, wherein each plate frame transplanting mechanism is correspondingly provided with one board lifting mechanism.
10. A plate taking method using the plate taking device according to any one of claims 1 to 9, comprising the steps of:
(1) placing the plate frame with the plate inserted in the plate frame transfer mechanism at the starting point position of the plate frame transfer mechanism, and prestoring the position information of the plate frame slot, the size information of the plate and the upward inclination angle of the laser emitted by the laser emitter in a control device;
(2) the control device controls the laser transmitter to transmit laser signals towards the laser receiver, the laser receiver receives the laser signals and feeds the laser signals back to the control device, the control device controls the plate frame transfer mechanism to drive the plate frame to move forwards along the X-axis direction until the upper edge of the first plate at the forefront blocks the laser signals transmitted by the laser transmitter, the laser receiver stops receiving the laser signals and feeds the laser signals back to the control device, and the control device controls the plate frame transfer mechanism to stop driving the plate frame to move;
(3) the control device records the forward movement distance of the plate frame, and combines the position information of the slot where the first plate is located and the oblique upward angle of the laser, so as to analyze and calculate the height of the upper edge of the first plate, further analyze and calculate the XYZ-axis coordinate of the midpoint of the upper edge of the first plate, and the control device controls the plate lifting mechanism to grab and lift the upper edge of the first plate according to the XYZ-axis coordinate of the midpoint of the upper edge of the first plate, so that the first plate moves upwards in a balanced manner, and controls the plate lifting mechanism to stop moving upwards until the first plate leaves the plate frame;
(4) the control device records the upward moving distance of the first plate, analyzes and calculates the XYZ-axis coordinates of the middle points of the left edge and the right edge of the first plate at the moment by combining plate size information, controls the plate placing mechanism to symmetrically grab the left edge and the right edge of the first plate according to the XYZ-axis coordinates of the middle points of the left edge and the right edge of the first plate, moves the first plate above the plate placing position according to the target coordinates of the plate placing position, and overturns and lays the first plate on the plate placing position; simultaneously, when first plate was carried out the sheet frame by the lifter mechanism and when no longer sheltered from the laser, laser receiver received laser signal again and fed back to controlling means, controlling means control the sheet frame moves and carries mechanism drive sheet frame and continue the antedisplacement along the X axle direction, until the last edge of the second plate in the forefront blocks the laser signal of laser emitter transmission, laser receiver stops receiving laser signal and feeds back to controlling means, and controlling means control the sheet frame moves and carries mechanism stop drive sheet frame and remove, then circulates in proper order and reciprocates.
Priority Applications (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN202010159934.5A CN111288904A (en) | 2020-03-09 | 2020-03-09 | Plate taking device and plate taking method |
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| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN202010159934.5A CN111288904A (en) | 2020-03-09 | 2020-03-09 | Plate taking device and plate taking method |
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| CN111288904A true CN111288904A (en) | 2020-06-16 |
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| CN202010159934.5A Pending CN111288904A (en) | 2020-03-09 | 2020-03-09 | Plate taking device and plate taking method |
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Cited By (1)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN116900509A (en) * | 2023-08-24 | 2023-10-20 | 广东百能家居有限公司 | Automatic blanking device and method for stainless steel sheet laser cutting production |
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| CN116900509A (en) * | 2023-08-24 | 2023-10-20 | 广东百能家居有限公司 | Automatic blanking device and method for stainless steel sheet laser cutting production |
| CN116900509B (en) * | 2023-08-24 | 2024-01-19 | 广东百能家居有限公司 | Automatic blanking device and method for stainless steel sheet laser cutting production |
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