CN111591667A

CN111591667A - Circuit board collecting machine

Info

Publication number: CN111591667A
Application number: CN202010532722.7A
Authority: CN
Inventors: 程建文; 王明飞; 王明道; 王明广; 孙雪峰
Original assignee: Guangzhou Taili Electromechanical Equipment Co ltd
Current assignee: Guangzhou Taili Electromechanical Equipment Co ltd
Priority date: 2020-06-11
Filing date: 2020-06-11
Publication date: 2020-08-28

Abstract

The invention provides a circuit board collecting machine which comprises a support, wherein a conveying mechanism, an opening and closing mechanism, a supporting plate mechanism, a clamping plate mechanism, a frame in-out mechanism, a robot, a mechanical arm clamp and a CCD camera are mounted on the support, the frame in-out mechanism and the robot are arranged on one side of the conveying mechanism, the conveying mechanism comprises a travelling wheel conveying mechanism and a horizontal conveying mechanism, the horizontal conveying mechanism is arranged below the travelling wheel conveying mechanism in parallel, the opening and closing mechanism is arranged below the travelling wheel conveying mechanism, the supporting plate mechanism and the clamping plate mechanism are arranged on the horizontal conveying mechanism, the horizontal conveying mechanism comprises a first horizontal conveying mechanism driving the clamping plate mechanism to move and a second horizontal conveying mechanism driving the supporting plate mechanism to move, the mechanical arm clamp is mounted at the front end of a mechanical arm of the robot, and the CCD camera is arranged above the frame in-out mechanism. The invention realizes full automation, does not need manual auxiliary operation, can protect the circuit board from being damaged in the process of conveying and collecting the circuit board and reduces the production cost.

Description

Circuit board collecting machine

Technical Field

The invention relates to the technical field of circuit board conveying equipment, in particular to a circuit board collecting machine.

Background

Along with the development of science and technology, electronic products are increasing and are seen everywhere in our life, and one of the most main parts in the electronic products is a circuit board which has the characteristics of high wiring density, light weight, thin thickness and good bending property, so that the board surface of the circuit board needs to be protected when the circuit board is conveyed and grabbed, and the unnecessary production cost is prevented from being increased due to the fact that the board surface of the circuit board is damaged.

At present, semi-automation is mainly adopted in board collecting equipment of a circuit board, manual work is needed to perform auxiliary operation beside the circuit board, the efficiency is low, the circuit board is light and thin, the circuit board is easy to damage in the process of conveying and collecting the circuit board, and the production cost is increased.

Disclosure of Invention

The invention aims to solve the problems pointed out in the background technology, and aims to provide a circuit board collecting machine which can realize full automation, does not need manual auxiliary operation, can protect a circuit board from being damaged in the process of conveying and collecting the circuit board and reduces the production cost.

In order to achieve the purpose, the invention adopts the following technical scheme:

the utility model provides a circuit board plate collecting machine, includes the support, install conveying mechanism, the mechanism that opens and shuts, layer board mechanism, splint mechanism, frame discrepancy mechanism, robot and manipulator anchor clamps on the support, frame discrepancy mechanism, robot setting are in conveying mechanism's one side, conveying mechanism is including line rumble conveying mechanism and horizontal conveying mechanism, horizontal conveying mechanism sets up in parallel the below of line rumble conveying mechanism, the mechanism that opens and shuts sets up line rumble conveying mechanism's below is used for the drive line rumble conveying mechanism opens and shuts, layer board mechanism with splint mechanism sets up on the horizontal conveying mechanism, horizontal conveying mechanism is including the first horizontal conveying mechanism who is used for driving splint mechanism back-and-forth movement to and the second horizontal conveying mechanism who drives layer board mechanism back-and-forth movement, layer board mechanism is used for holding line rumble conveying mechanism carries the plate of layer board mechanism top is at second horizontal conveying mechanism The drive of move down arrive splint mechanism top, splint mechanism is used for cliping go rumble conveying mechanism with layer board mechanism carries the plate of splint mechanism top carries the end with the plate under first horizontal conveyor's drive, manipulator anchor clamps are installed the arm front end of robot, manipulator anchor clamps press from both sides the plate that tightly enters into manipulator anchor clamps, manipulator anchor clamps are pegged graft after with the plate upset in the empty frame on the frame discrepancy mechanism, the CCD camera sets up the top of frame discrepancy mechanism, the CCD camera is used for shooing the calculation the position and the distance of the empty frame on the frame discrepancy mechanism.

Preferably, the frame in-out mechanism comprises an empty frame input mechanism, a full frame output mechanism and a lifting mechanism, the empty frame input mechanism is used for empty frame input, the full frame output mechanism is arranged above the empty frame input and used for outputting plates on the empty frame input mechanism, and the lifting mechanism is arranged below the empty frame input mechanism and used for driving the empty frame input mechanism to move up and down.

Preferably, elevating system includes base, lift cylinder, guide arm fixed station, lifter plate, the lift cylinder is installed on the base, the guide arm fixed station sets up the top of lift cylinder, the lifter plate sets up the top of guide arm fixed station and with the lift cylinder is connected, the lift cylinder is used for driving the lifter plate reciprocates.

Preferably, frame discrepancy mechanism includes hold-in range mounting bracket, input motor, driving shaft, input hold-in range and input synchronous pulley, the hold-in range mounting panel is connected on the lifter plate, the input motor is installed hold-in range mounting bracket one is served, the driving shaft sets up the hold-in range mounting bracket is close to one of input motor is served and through the hold-in range with the input motor is connected, the input synchronous pulley sets up respectively the driving shaft with the hold-in range mounting bracket is kept away from one of driving shaft is served and is connected through the input hold-in range.

Preferably, full frame output mechanism includes roll axle mounting bracket, output motor and roll axle, roll axle mounting bracket with leg joint, output motor installs the one end of roll axle mounting bracket, the roll axle sets up on the roll axle mounting bracket and through the hold-in range with output motor connects.

Preferably, the line rumble conveying mechanism includes a plurality of linear guide group, gyro wheel mounting panel, a plurality of gyro wheel, line rumble motor mounting panel, line rumble conveying motor and line rumble hold-in range, linear guide group symmetry sets up horizontal conveying mechanism's both sides and in leg joint, the gyro wheel mounting panel is installed on linear guide group, the gyro wheel mounting panel can along linear guide group removes, the gyro wheel is installed side by side on the gyro wheel mounting panel, line rumble motor mounting panel is installed the bottom of gyro wheel mounting panel, line rumble conveying motor installs on the line rumble motor mounting panel, line rumble conveying motor passes through line rumble hold-in range with the gyro wheel is connected and is driven the gyro wheel.

Preferably, the mechanism that opens and shuts includes a plurality of screw rod supporting seats, ball screw, the motor mounting panel that opens and shuts, the motor that opens and shuts, the transmission shaft and the synchronous pulley that opens and shuts, screw rod supporting seat symmetry sets up the below at gyro wheel mounting panel both ends and with leg joint, ball screw passes the gyro wheel mounting panel is installed on the screw rod supporting seat, the motor mounting panel that opens and shuts is installed the middle part below of gyro wheel mounting panel, the motor that opens and shuts with the transmission shaft is installed side by side on the motor mounting panel that opens and shuts and connect through the hold-in range, the synchronous pulley that opens and shuts sets up ball screw, transmission shaft and the motor mounting panel that opens and shuts with one side on and connect through.

Preferably, first horizontal conveyor includes slide rail mounting panel, slide rail group, band pulley fixing base, horizontal transport motor, horizontal transport band pulley and horizontal transport belt, the slide rail mounting panel set up the middle part below of capable rumble conveyor and with leg joint, the slide rail group install on the slide rail mounting panel, the band pulley fixing base sets up the both ends of slide rail group, horizontal transport band pulley is installed on the band pulley fixing base and through horizontal transport belt connects, horizontal transport motor installs the one end of slide rail mounting panel, horizontal transport motor is used for driving splint mechanism is in the back-and-forth movement on the slide rail group.

Preferably, the second horizontal conveying mechanism comprises a linear module and a linear motor, the linear module is symmetrically arranged on two sides of one end, far away from the horizontal conveying motor, of the sliding rail set, and the linear motor is arranged at one end of the linear module and used for driving the supporting plate mechanism to move on the linear module.

Preferably, the supporting plate mechanism comprises a supporting plate mounting plate, a supporting plate guide rail set, a supporting plate bearing seat, a supporting plate cylinder mounting seat, a fine adjustment motor, a fine adjustment screw rod, a supporting plate lifting cylinder and a supporting plate, the supporting plate mounting plate is fixedly arranged on the linear module, the supporting plate guide rail set is arranged on the supporting plate mounting plate, the supporting plate bearing seats are fixedly arranged at two ends of the supporting plate guide rail group, the supporting plate cylinder mounting seats are arranged on the supporting plate guide rail group, the supporting plate lifting cylinder is fixedly arranged on the supporting plate cylinder mounting seat, the supporting plate is arranged on the supporting plate lifting cylinder, the fine tuning motor is arranged at one end of the supporting plate mounting plate, the fine tuning screw rod is arranged on the supporting plate bearing seat and is connected with the supporting plate cylinder mounting seat and the fine tuning motor, the fine tuning motor is used for driving the fine tuning screw rod and driving the supporting plate to move on the supporting plate guide rail set.

Preferably, the clamping plate mechanism comprises a clamping plate mounting plate, a conveying belt tooth pressing plate, a clamping plate guide rail group, a clamping plate bearing seat, a first clamping plate cylinder mounting seat, a second clamping plate cylinder mounting seat, a clamping plate lifting cylinder, a clamping plate, an adjusting screw rod and an adjusting motor, the clamping plate mounting plate is arranged on the sliding rail group, the conveying belt tooth pressing plate is arranged at two ends of the clamping plate mounting plate and is fixedly connected with the horizontal conveying belt, the clamping plate guide rail group is arranged on the clamping plate mounting plate, the clamping plate bearing seat is arranged at two ends of the clamping plate guide rail group, the first clamping plate cylinder mounting seat is arranged on the clamping plate guide rail group, the second clamping plate cylinder mounting seat is arranged at one end of the clamping plate mounting plate far away from the clamping plate guide rail group, the clamping plate lifting cylinders are symmetrically arranged on the first clamping plate cylinder mounting seat and the second clamping plate cylinder mounting seat, the splint setting is in on the splint lift cylinder, the fixed setting of accommodate motor is in the bottom of first splint cylinder mount pad, accommodate the lead screw sets up on the splint bearing frame and with accommodate the motor is connected, accommodate the motor and be used for driving accommodate the lead screw and drive splint are in move on the splint guide rail group.

Preferably, the robot arm clamp includes a clamp mounting plate, a shaft rail set, a first connecting plate, a second connecting plate, a clamping cylinder mounting seat, a clamping cylinder, a clamping block, a clamp bearing seat, a clamp adjusting motor and a clamp adjusting screw, the clamping cylinder mounting seat is connected with the robot arm of the robot through a connecting flange, the shaft rail set is disposed on the clamp mounting plate, the first connecting plate is disposed on the shaft rail set, the second connecting plate is disposed on one end of the clamp mounting plate, the clamping cylinder mounting seats are symmetrically disposed on the first connecting plate and the second connecting plate, the clamping cylinder is disposed on a rapid clamping cylinder mounting seat, the clamping block is disposed on the clamping cylinder, the clamp bearing seats are disposed on both ends of the shaft rail set, the clamp adjusting motor is disposed on one end of the shaft rail set, the fixture adjusting screw rod is installed on the fixture bearing seat and connected with the first connecting plate and the fixture adjusting motor, and the fixture adjusting motor is used for driving the clamping block to move on the shaft support rail group.

Preferably, a CCD camera is arranged above the frame in-out mechanism, the CCD camera is mounted on the support, a liftable baffle and a pressing plate capable of moving back and forth are arranged on both sides of the frame in-out mechanism, and the baffle and the pressing plate are mounted on the support.

Compared with the prior art, the invention has the following advantages:

(1) the line roller conveying mechanism is adjusted according to the size of a plate by matching the line roller conveying mechanism with the opening and closing mechanism, a ball screw of the opening and closing mechanism is connected with a roller mounting plate of the line roller conveying mechanism, and the opening and closing motor, the transmission shaft and the ball screw are connected with each other through a synchronous belt;

(2) by arranging the supporting plate mechanism and the clamping plate mechanism, when the plate is conveyed above the supporting plate mechanism by the line-roller conveying mechanism, the supporting plate of the supporting plate mechanism can rise and support the middle position of the plate and is matched with the line-roller conveying mechanism to convey the plate above the clamping plate mechanism, so that the plate is effectively prevented from bending and deforming, the plate can be stably and accurately conveyed to a specified position by the clamping plate mechanism matched with the horizontal conveying mechanism, and the plate is prevented from deviating in the conveying process;

(3) through mutual matching of the robot, the manipulator clamp and the frame in-out mechanism, the frame in-out mechanism can automatically realize input of an empty frame and output of a full frame, the robot and the manipulator clamp can accurately plug a plate entering a specified position into the empty frame on the frame in-out mechanism after grabbing and overturning, manual automatic overturning-free frame inserting operation is realized, plate damage caused by manual operation is greatly reduced, and efficient and stable output is provided;

(4) the automatic picture inserting device is characterized in that a CCD camera is arranged, an empty frame on the frame in-out mechanism is photographed and position information of the empty frame is fed back to a terminal, the terminal calculates the distance and the position of the empty frame according to the information fed back by the CCD camera, and finally the distance and the position information of the empty frame are sent to a robot and a manipulator clamp, so that the robot and the manipulator clamp can accurately insert a picture according to information indication when inserting the picture, and high-precision picture inserting operation is realized.

Drawings

FIG. 1 is a schematic perspective view of the present invention;

FIG. 2 is a schematic view of the internal structure of the present invention;

FIG. 3 is a schematic view of the line reel conveying mechanism of the present invention;

FIG. 4 is a schematic structural view of the horizontal conveying mechanism of the present invention;

FIG. 5 is a schematic view of the opening and closing mechanism of the present invention;

FIG. 6 is a schematic structural diagram of a pallet mechanism according to the present invention;

FIG. 7 is a schematic structural view of a clamping mechanism according to the present invention;

FIG. 8 is a schematic view of the frame access mechanism of the present invention;

FIG. 9 is a schematic structural view of the blank frame input mechanism of the present invention;

FIG. 10 is a schematic structural view of a full frame output mechanism according to the present invention;

FIG. 11 is a schematic view of the lifting mechanism of the present invention;

fig. 12 is a schematic view of the structure of the robot clamp of the present invention.

Detailed Description

The technical solutions in the embodiments of the present invention will be clearly and completely described below with reference to the drawings in the embodiments of the present invention, and it is obvious that the described embodiments are only a part of the embodiments of the present invention, and not all of the embodiments.

It will be understood that when an element/feature is referred to as being "disposed on" another element/feature, it can be directly on the other element/feature or intervening elements/features may also be present. When a component/part is referred to as being "connected/coupled" to another component/part, it can be directly connected/coupled to the other component/part or intervening components/parts may also be present. The term "connected/coupled" as used herein may include electrical and/or mechanical physical connections/couplings. The term "comprises/comprising" as used herein refers to the presence of features, steps or components/features, but does not preclude the presence or addition of one or more other features, steps or components/features. As used herein, the term "and/or" includes any and all combinations of one or more of the associated listed items.

Unless defined otherwise, all technical and scientific terms used herein have the same meaning as commonly understood by one of ordinary skill in the art to which this application belongs. The terminology used herein is for the purpose of describing particular embodiments only and is not intended to be limiting of the application.

In addition, in the description of the present application, the terms "first", "second", and the like are used for descriptive purposes only and to distinguish similar objects, and there is no order of precedence between the two, and no indication or implication of relative importance is to be inferred. In addition, in the description of the present application, "a plurality" means two or more unless otherwise specified.

Referring to fig. 1 and 2, a circuit board collecting machine, which comprises a bracket 1, install conveying mechanism 2 on the support 1, mechanism 3 opens and shuts, layer board mechanism 4, splint mechanism 5, frame discrepancy mechanism 6, robot 9 and manipulator anchor clamps 8, frame discrepancy mechanism 6, robot 9 sets up the one side at conveying mechanism 2, conveying mechanism 2 is including line rumble conveying mechanism 21 and horizontal conveying mechanism 22, horizontal conveying mechanism 22 sets up the below at line rumble conveying mechanism 21 in parallel, mechanism 3 that opens and shuts sets up and is used for driving opening and shutting of line rumble conveying mechanism 21 below at line rumble conveying mechanism 21, layer board mechanism 4 and splint mechanism 5 set up on horizontal conveying mechanism 22. The horizontal conveying mechanism 22 comprises a first horizontal conveying mechanism for driving the clamping plate mechanism 5 to move back and forth, and a second horizontal conveying mechanism for driving the supporting plate mechanism 4 to move back and forth, wherein the supporting plate mechanism 4 is used for supporting the plate which is conveyed to the upper part of the supporting plate mechanism 4 by the line-roller conveying mechanism 21 and is moved to the upper part of the clamping plate mechanism 5 under the driving of the second horizontal conveying mechanism, the clamping plate mechanism 5 is used for clamping the plate which is conveyed to the upper part of the clamping plate mechanism 5 by the line-roller conveying mechanism 21 and the supporting plate mechanism 4 and conveying the plate to the tail end under the driving of the first horizontal conveying mechanism, the mechanical arm clamp 8 is arranged at the front end of a mechanical arm of the robot 9, the mechanical arm clamp 8 clamps the plate which enters the designated position of the mechanical arm clamp 8, the mechanical arm clamp 8 overturns the plate and then inserts the plate into an empty frame on the frame in-out mechanism 6, the CCD camera 10 is arranged above the frame in-out mechanism 6.

Referring to fig. 3, the row-roller conveying mechanism 21 includes a plurality of linear guide rail groups 211, a roller mounting plate 212, a plurality of rollers 213, a row-roller motor mounting plate 214, a row-roller conveying motor 215 and a row-roller synchronous belt 216, the linear guide rail groups 211 are symmetrically disposed on both sides of the horizontal conveying mechanism 22 and connected to the bracket 1, the roller mounting plate 212 is mounted on the linear guide rail groups 211, the roller mounting plate 212 can move along the linear guide rail groups 211, the rollers 213 are mounted on the roller mounting plate 212 side by side, the row-roller motor mounting plate 214 is mounted at the bottom end of the roller mounting plate 212 and fixedly connected to the roller mounting plate 212, the row-roller conveying motor 215 is mounted on the row-roller motor mounting plate 214, and the row-roller conveying motor 215 is connected to the rollers 213 through the row-roller synchronous belt 216 and drives the. Preferably, the line rumble conveying motor 215 is connected with the gyro wheel 213 from this one section distance of splint mechanism 4 to splint mechanism 5 through the line rumble hold-in range 216, improves and carries the precision to reach the mesh that the cooperation splint mechanism 4 carried splint mechanism 5 top with the plate, can set up the dustcoat on the gyro wheel mounting panel 212, can play the effect of dustproof protection.

Referring to fig. 5, the opening and closing mechanism 3 includes a plurality of screw supporting seats 31, a ball screw 32, an opening and closing motor mounting plate 33, an opening and closing motor 34, a transmission 35 shaft and an opening and closing synchronous pulley 36, the screw supporting seats 31 are symmetrically disposed below two ends of the roller mounting plate 212 and connected to the bracket 1, the ball screw 32 penetrates the roller mounting plate 212 and is mounted on the screw supporting seat 31, the opening and closing motor mounting plate 33 is mounted below the middle of the roller mounting plate 212, the opening and closing motor 34 and a transmission shaft 35 are mounted on the opening and closing motor mounting plate 33 in parallel and connected through a synchronous belt, and the opening and closing synchronous pulley 36 is disposed on the same side of the ball screw 32, the transmission shaft 35 and the opening and closing. Preferably, the roller mounting plates 212 are symmetrically arranged, and the ball screws 32 connected with the roller mounting plates 212 are also symmetrically arranged, but the rotation directions of the symmetrical ball screws 32 are opposite, and if the left ball screw 32 is a right-handed screw, the right ball screw is a left-handed screw, so that the ball screws 32 can drive the running tackle conveying mechanism 21 to be opened and closed, and the applicability is improved.

Referring to fig. 4, the horizontal transport mechanism 22 includes a first horizontal transport mechanism and a second horizontal transport mechanism, the first horizontal transport mechanism includes a slide rail mounting plate 221, a slide rail set 222, a belt wheel fixing seat 225, a horizontal transport motor 226, a horizontal transport belt wheel 227 and a horizontal transport belt 228, the slide rail mounting plate 221 is disposed below the middle portion of the roller conveyor 21 and connected to the support 1, the slide rail set 222 is mounted on the slide rail mounting plate 221, the belt wheel fixing seats 225 are disposed at two ends of the slide rail set 222, the horizontal transport belt wheel 227 is mounted on the belt wheel fixing seat 225 and connected through the horizontal transport belt 228, the horizontal transport motor 226 is mounted at one end of the slide rail mounting plate 221, and the horizontal transport motor 226 is used for driving the clamping plate mechanism 5 to move on the slide rail. Preferably, a sensor and a sensing plate are arranged on the slide rail mounting plate 221, and are used for limiting the moving distance of the supporting plate mechanism 4 and the clamping plate mechanism 5 and repeatedly moving and positioning and the position of the plate, so that the conveying precision is improved.

The second horizontal conveying mechanism comprises a linear module 223 and a linear motor 224, the linear module 223 is symmetrically installed at two sides of one end of the sliding rail set 222, and the linear motor 224 is installed at one end of the linear module 223 and used for driving the supporting plate mechanism 4 to move on the linear module 223.

Referring to fig. 6, the pallet mechanism 4 includes a pallet mounting plate 41, a pallet rail set 42, a pallet bearing block 43, a pallet cylinder mounting block 44, fine setting motor 45, fine setting lead screw 46, layer board lift cylinder 47 and layer board 48, layer board mounting panel 41 is fixed to be set up on sharp module 223, layer board guide rail set 42 sets up on layer board mounting panel 41, layer board bearing frame 43 is fixed to be set up at the both ends of layer board guide rail set 42, layer board cylinder mount pad 44 sets up on layer board guide rail set 42, layer board lift cylinder 47 is fixed to be set up on layer board cylinder mount pad 44, layer board 48 sets up on layer board lift cylinder 47, fine setting motor 45 sets up the one end at layer board mounting panel 41, fine setting lead screw 46 sets up on layer board bearing frame 43 and is connected with layer board cylinder mount pad 44 and fine setting motor 45, fine setting motor 45 is used for driving fine setting lead screw 46 and drives layer board 48 and moves on layer board guide rail. Preferably, set up the inductor on layer board cylinder mount pad 44, this inductor is preferably the fiber sensor, a position for responding to the plate, set up spacing inductor in the side of layer board mounting panel 41, a position for spacing transport, straight line module 223 is the symmetry and sets up the both sides at slide rail group 222, layer board mechanism 4 establishes also the symmetry setting on straight line module 223, layer board 48 on layer board mechanism 4 still is provided with the inclined plane, the inclined plane opposite direction of layer board 48 of its left and right sides, be the V style of calligraphy, fine setting motor 45 and fine setting lead screw 46 can adjust the position of layer board 48, guarantee the middle part that can stable hold the plate, guarantee that the plate can not take place to warp or damage in transportation process.

Referring to fig. 7, the clamp mechanism includes a clamp mounting plate 51, a conveying belt tooth pressure 52, a clamp rail set 53, a clamp bearing seat 54, a first clamp cylinder mounting seat 55, a second clamp cylinder mounting seat 56, a clamp lifting cylinder 57, a clamp 58, an adjusting screw 510 and an adjusting motor 59, the clamp mounting plate 51 is disposed on the slide rail set 222, the conveying belt tooth pressure plate 52 is disposed on both ends of the clamp mounting plate 51 and fixedly connected with the horizontal conveying belt 228, the clamp rail set 53 is disposed on the clamp mounting plate 51, the clamp bearing seats 54 are disposed on both ends of the clamp rail set 53, the first clamp cylinder mounting seat 55 is disposed on the clamp rail set 53, the second clamp cylinder mounting seat 56 is disposed on one end of the clamp mounting plate 51 away from the clamp rail set 53, the clamp lifting cylinders 57 are symmetrically disposed on the first clamp cylinder mounting seat 55 and the second clamp cylinder mounting seat 56, the clamping plate 58 is arranged on the clamping plate lifting cylinder 57, the adjusting motor 59 is fixedly arranged at the bottom of the first clamping plate cylinder mounting seat 55, the adjusting screw 510 is arranged on the clamping plate bearing seat 54 and is connected with the adjusting motor 59, and the adjusting motor 59 is used for driving the adjusting screw 510 and driving the clamping plate 58 to move on the clamping plate guide rail group 53. Preferably, set up the fiber optic sensor on first splint cylinder mount pad 55 for the position of response plate, set up spacing inductor in the side of splint mounting panel 51, spacing inductor and tablet cooperation, be used for accurate transport plate to assigned position, accommodate motor 59 and accommodate the lead screw 510 can carry out position control to first splint cylinder mount pad 55, can go the distance between the regulation splint 58 according to the plate size, guarantee can be stable carry the plate, prevent that the plate from taking place the skew in transportation process.

Referring to fig. 2 and 8, the frame in-out mechanism includes an empty frame input mechanism, a full frame output mechanism and a lifting mechanism 7, the empty frame input mechanism is used for inputting an empty frame, the full frame output mechanism is arranged above the empty frame input mechanism and used for outputting a plate on the empty frame input mechanism, and the lifting mechanism 7 is arranged below the empty frame input mechanism and used for driving the empty frame input mechanism to move up and down.

Referring to fig. 9, the blank frame input mechanism 6 includes a synchronous belt mounting frame 61, an input motor 63, a driving shaft 65, an input synchronous belt 67 and an input synchronous belt 68 wheel, the synchronous belt mounting frame 61 is connected on the lifting plate 74, the input motor 63 is installed at one end of the synchronous belt mounting frame 61, the driving shaft 65 is arranged at one end of the synchronous belt mounting frame 61 close to the input motor 63 and is connected with the input motor 63 through a synchronous belt, the input synchronous belt wheel 68 is respectively arranged at one end of the driving shaft 66 and the synchronous belt mounting frame 61 far away from the driving shaft 65 and is connected through the input synchronous belt 67.

Referring to fig. 10, the full frame output mechanism includes a rolling shaft mounting bracket 62, an output motor 64 and a rolling shaft 66, the rolling shaft mounting bracket 62 is connected to the support 1, the output motor 64 is mounted on one end of the rolling shaft mounting bracket 62, and the rolling shaft 66 is disposed on the rolling shaft mounting bracket 62 and connected to the output motor 64 through a timing belt.

The synchronous belt mounting rack 61 is connected with the lifting mechanism 7, when the empty frame is input, the lifting mechanism 7 is started and drives the synchronous belt mounting rack 61, the driving shaft 65, the input motor 63, the input synchronous belt 67 and the input synchronous belt wheel 68 to ascend, the height of the input synchronous belt 67 is larger than that of the rolling shaft 66, so that the empty frame is completely positioned on the input synchronous belt 67 and is input to a specified position, and then the empty frame descends to the original position; when the full frame is output, the output motor 64 drives the scroll shaft 66 to output the full frame.

Referring to fig. 11, the lifting mechanism 7 includes a base 71, a lifting cylinder 72, a guide rod fixing table 73, and a lifting plate 74, the lifting cylinder 72 is installed on the base 71, the guide rod fixing table 73 is disposed above the lifting cylinder 72, the lifting plate 74 is disposed above the guide rod fixing table 73 and connected to the lifting cylinder 72, and the lifting cylinder 72 is configured to drive the lifting plate 74 to move up and down.

Referring to fig. 12, the robot hand jig 8 includes a jig mounting plate 81, a shaft rail group 82, a first connecting plate 83, a second connecting plate 84, a clamping cylinder mounting seat 85, a clamping cylinder 86, a clamping block 87, a jig bearing seat 88, a jig adjusting motor 89, and a jig adjusting screw 810, the jig mounting plate 81 is connected to the robot arm of the robot 9 through a connecting flange, the shaft rail group 82 is disposed on the jig mounting plate 81, the first connecting plate 83 is disposed on the shaft rail group 82, the second connecting plate 84 is disposed on one end of the jig mounting plate 81, the clamping cylinder mounting seats 85 are symmetrically disposed on the first connecting plate 83 and the second connecting plate 84, the clamping cylinder 86 is disposed on the clamping cylinder mounting seat 85, the clamping block 87 is disposed on the clamping cylinder 86, the jig bearing seats 88 are disposed on both ends of the shaft rail group 82, the jig adjusting motor 89 is disposed on one end of the shaft rail group 82, the clamp adjusting screw 810 is installed on the clamp bearing shaft 88 and connected with the first connecting plate 83 and the clamp adjusting motor 89, and the clamp adjusting motor 89 is used for driving the clamping block 87 to move on the shaft support rail group 82.

Referring to fig. 1 and 2, a CCD camera 10 is fixedly mounted on a support 1 above a frame access mechanism 6, a liftable baffle 11 and a pressing plate 12 capable of moving back and forth are disposed on two sides of the frame access mechanism 6, the baffle 11 and the pressing plate 12 are mounted on the support 1, and the liftable baffle 11 and the pressing plate 12 capable of moving back and forth are both lifted and moved back and forth by being pushed by a cylinder. The CCD camera 10 is used for shooting the position of the empty frame when the frame in-out mechanism 6 inputs the empty frame, and ensuring that the robot 9 can accurately insert the plate into the empty frame; the baffle 11 is lifted after the frame in-out mechanism 6 inputs the empty frame, then the pressing plate 12 is pressed from the side surface of the empty frame, and finally the empty frame is clamped between the baffle 11 and the pressing plate 12, so that the empty frame is prevented from deviating when plates are inserted.

The specific working principle and process are as follows: the row roller conveying motor 215 of the row roller conveying mechanism 21 drives the roller 213 to convey the plate, and the opening and closing mechanism 3 adjusts the row roller conveying mechanism 21 according to the size of the plate, so that the plate can be stably conveyed; after the supporting plate mechanism 4 senses the position of the plate, the position of the supporting plate 48 is adjusted through the fine adjustment motor 45 and the fine adjustment screw rod 46, then the supporting plate lifting cylinder 47 drives the supporting plate 48 to ascend to support the plate, the second horizontal conveying mechanism drives the supporting plate mechanism 4 to move on the linear module 223, the conveying speeds of the linear module 223 and the line roller conveying mechanism 21 are consistent, the supporting plate mechanism 4 and the line roller conveying mechanism 21 convey the plate above the clamping plate mechanism 5 and deliver the plate to the clamping plate mechanism 5, and then the supporting plate mechanism 4 returns to the original position to convey the next plate; after the plate mechanism 5 senses the position of a plate, the plate lifting cylinder 57 on the first plate cylinder mounting seat 55 firstly drives the plate 58 to ascend to intercept the plate, the plate lifting cylinder 57 on the second plate cylinder mounting seat 56 drives the plate 58 to ascend, the adjusting motor 59 and the adjusting screw 510 adjust the distance between the plates 58 according to the size of the plate, so that the plate can be stably clamped, then the horizontal conveying motor 226 and the horizontal conveying belt 228 on the first horizontal conveying mechanism 22 drive the plate mechanism 5 to move on the slide rail set 222, the plate is conveyed to the position designated by the manipulator clamp 8, and the first horizontal conveying mechanism 22 drives the plate mechanism 5 to return to the initial position to convey the next plate; the empty frame input mechanism drives an input synchronous belt pulley 68 and an input synchronous belt 67 to run through an input motor 63, the lifting mechanism 7 drives the input synchronous belt pulley 68 and the input synchronous belt 67 to ascend, the empty frame is completely positioned on the input synchronous belt 67 and is input to a specified position, then a baffle 11 and a pressing plate 12 fix the empty frame, the CCD camera 10 photographs the empty frame to calculate the position of the empty frame, the robot 9 drives a mechanical arm clamp 8 to clamp a plate entering the specified position of the mechanical arm clamp 8 and turn the plate to insert the empty frame on a frame in-out mechanism 6, and an output motor 64 of a full frame output mechanism drives a rolling shaft 66 to output the full frame after the full frame.

According to the invention, the row roller conveying mechanism 21 is matched with the opening and closing mechanism 3, so that the row roller conveying mechanism 21 can be adjusted according to the size of a plate; by arranging the supporting plate mechanism 4 and the clamping plate mechanism 5, the plate bending deformation and the plate deviation in the conveying process are effectively prevented; through robot 9, manipulator anchor clamps 8, mutually supporting of elevating system 7 and frame discrepancy mechanism 6, empty frame input mechanism and elevating system 7 cooperation and full frame mechanism, can automize and realize the input of empty frame and the output of full frame, robot 9 can snatch the accurate empty frame of pegging graft on frame discrepancy mechanism 6 after the upset with the plate that gets into the assigned position with manipulator anchor clamps 8 in, realize not inserting the frame operation through artifical automatic upset, reduce the plate damage that manual work caused by a wide margin, provide high-efficient stable output.

The above description is only for the preferred embodiment of the present invention, but the scope of the present invention is not limited thereto, and any person skilled in the art should be considered to be within the technical scope of the present invention, and the technical solutions and the inventive concepts thereof according to the present invention should be equivalent or changed within the scope of the present invention.

Claims

1. A circuit board collecting machine is characterized by comprising a support, wherein a conveying mechanism, an opening and closing mechanism, a supporting plate mechanism, a clamping plate mechanism, a frame in-and-out mechanism, a robot, a mechanical arm clamp and a CCD camera are arranged on the support, the frame in-and-out mechanism and the robot are arranged on one side of the conveying mechanism,

the conveying mechanism comprises a traveling winch conveying mechanism and a horizontal conveying mechanism, the horizontal conveying mechanism is arranged below the traveling winch conveying mechanism in parallel, the opening and closing mechanism is arranged below the traveling winch conveying mechanism and is used for driving the traveling winch conveying mechanism to open and close,

the supporting plate mechanism and the clamping plate mechanism are arranged on the horizontal conveying mechanism, the horizontal conveying mechanism comprises a first horizontal conveying mechanism for driving the clamping plate mechanism to move back and forth and a second horizontal conveying mechanism for driving the supporting plate mechanism to move back and forth, the supporting plate mechanism is used for supporting the plates conveyed above the supporting plate mechanism by the line roller conveying mechanism to move above the clamping plate mechanism under the drive of the second horizontal conveying mechanism, the clamping plate mechanism is used for clamping the plates conveyed above the clamping plate mechanism by the line roller conveying mechanism and the supporting plate mechanism and conveying the plates to the tail end under the drive of the first horizontal conveying mechanism,

the manipulator clamp is arranged at the front end of a manipulator arm of the robot, the manipulator clamp clamps a plate entering the manipulator clamp, the manipulator clamp turns over the plate and then inserts the plate into an empty frame on the frame in-out mechanism,

the CCD camera is arranged above the frame in-out mechanism and used for photographing and calculating the position and the distance of an empty frame on the frame in-out mechanism.

2. The board collecting machine for circuit boards according to claim 1, wherein the frame in-out mechanism comprises an empty frame input mechanism, a full frame output mechanism and a lifting mechanism, the empty frame input mechanism is used for inputting an empty frame, the full frame output mechanism is arranged above the empty frame input mechanism and is used for outputting a board on the empty frame input mechanism, and the lifting mechanism is arranged below the empty frame input mechanism and is used for driving the empty frame input mechanism to move up and down.

3. A circuit board collecting machine according to claim 2, characterized in that the lifting mechanism comprises a base, a lifting cylinder, a guide rod fixing table and a lifting plate, wherein the lifting cylinder is mounted on the base, the guide rod fixing table is arranged above the lifting cylinder, the lifting plate is arranged above the guide rod fixing table and connected with the lifting cylinder, and the lifting cylinder is used for driving the lifting plate to move up and down.

4. A circuit board collecting device according to claim 3, wherein the frame access mechanism comprises a synchronous belt mounting bracket, an input motor, a driving shaft, an input synchronous belt and an input synchronous belt pulley, the synchronous belt mounting bracket is connected to the lifting plate, the input motor is mounted at one end of the synchronous belt mounting bracket, the driving shaft is arranged at one end of the synchronous belt mounting bracket close to the input motor and is connected with the input motor through the synchronous belt, and the input synchronous belt pulley is respectively arranged at one end of the driving shaft and one end of the synchronous belt mounting bracket far away from the driving shaft and is connected through the input synchronous belt.

5. A circuit board collecting machine according to claim 2, wherein the full frame output mechanism comprises a rolling shaft mounting rack, an output motor and a rolling shaft, the rolling shaft mounting rack is connected with the support, the output motor is mounted at one end of the rolling shaft mounting rack, and the rolling shaft is arranged on the rolling shaft mounting rack and is connected with the output motor through a synchronous belt.

6. The board collecting machine of claim 1, wherein the line roller conveying mechanism comprises a plurality of linear guide rail groups, a roller mounting plate, a plurality of rollers, a line roller motor mounting plate, a line roller conveying motor and a line roller synchronous belt, the linear guide rail groups are symmetrically arranged on two sides of the horizontal conveying mechanism and connected with the support, the roller mounting plate is mounted on the linear guide rail groups, the roller mounting plate can move along the linear guide rail groups, the rollers are mounted on the roller mounting plate side by side, the line roller motor mounting plate is mounted at the bottom end of the roller mounting plate, the line roller conveying motor is mounted on the line roller motor mounting plate, and the line roller conveying motor is connected with the rollers through the line roller synchronous belt and drives the rollers.

7. A circuit board collecting machine according to claim 6, characterized in that the opening and closing mechanism comprises a plurality of screw supporting seats, a ball screw, an opening and closing motor mounting plate, an opening and closing motor, a transmission shaft and an opening and closing synchronous pulley, the screw supporting seats are symmetrically arranged below two ends of the roller mounting plate and connected with the bracket, the ball screw penetrates through the roller mounting plate and is mounted on the screw supporting seats, the opening and closing motor mounting plate is mounted below the middle part of the roller mounting plate, the opening and closing motor is mounted on the opening and closing motor mounting plate in parallel with the transmission shaft and connected through a synchronous belt, and the opening and closing synchronous pulley is arranged on the same side of the ball screw, the transmission shaft and the opening and.

8. The circuit board collecting machine according to claim 1, wherein the first horizontal conveying mechanism comprises a slide rail mounting plate, a slide rail set, a pulley fixing seat, a horizontal conveying motor, a horizontal conveying pulley and a horizontal conveying belt, the slide rail mounting plate is arranged below the middle of the traveling wheel conveying mechanism and connected with the support, the slide rail set is mounted on the slide rail mounting plate, the pulley fixing seat is arranged at two ends of the slide rail set, the horizontal conveying pulley is mounted on the pulley fixing seat and connected through the horizontal conveying belt, the horizontal conveying motor is mounted at one end of the slide rail mounting plate, and the horizontal conveying motor is used for driving the clamping plate mechanism to move back and forth on the slide rail set.

9. A circuit board collecting machine according to claim 1 or 8, wherein the second horizontal conveying mechanism comprises a linear module and a linear motor, the linear module is symmetrically arranged on two sides of one end of the slide rail set far away from the horizontal conveying motor, and the linear motor is arranged on one end of the linear module and is used for driving the supporting plate mechanism to move on the linear module.

10. A circuit board receiving machine according to claim 9, wherein the supporting plate mechanism comprises a supporting plate mounting plate, a supporting plate guide rail set, a supporting plate bearing seat and a supporting plate cylinder mounting seat, fine setting motor, fine setting lead screw, layer board lift cylinder and layer board, the layer board mounting panel is fixed to be set up on the straight line module, layer board guide rail group sets up on the layer board mounting panel, and the fixed both ends that set up at layer board guide rail group of layer board bearing frame, layer board cylinder mount pad set up on layer board guide rail group, and layer board lift cylinder is fixed to be set up on layer board cylinder mount pad, and the layer board setting is on layer board lift cylinder, and the fine setting motor sets up the one end of layer board mounting panel, the fine setting lead screw setting is on layer board bearing frame and is connected with layer board cylinder mount pad and fine setting motor, and the fine setting motor is used for the drive the fine setting lead screw.

11. The circuit board collecting machine according to claim 8, wherein the clamping mechanism comprises a clamping plate mounting plate, a conveying belt tooth pressing plate, a clamping plate guide rail set, a clamping plate bearing seat, a first clamping plate cylinder mounting seat, a second clamping plate cylinder mounting seat, a clamping plate lifting cylinder, a clamping plate, an adjusting screw rod and an adjusting motor, the clamping plate mounting plate is arranged on the sliding rail set, the conveying belt tooth pressing plate is arranged at two ends of the clamping plate mounting plate and is fixedly connected with the horizontal conveying belt, the clamping plate guide rail set is arranged on the clamping plate mounting plate, the clamping plate bearing seats are arranged at two ends of the clamping plate guide rail set, the first clamping plate cylinder mounting seat is arranged on the clamping plate guide rail set, the second clamping plate cylinder mounting seat is arranged at one end of the clamping plate mounting plate far away from the clamping plate guide rail set, the clamping plate lifting cylinders are symmetrically arranged on the first clamping plate cylinder mounting seat, the clamp plate is arranged on the clamp plate lifting cylinder, the adjusting motor is fixedly arranged at the bottom of the first clamp plate cylinder mounting seat, the adjusting screw rod is arranged on the clamp plate bearing seat and connected with the adjusting motor, and the adjusting motor is used for driving the adjusting screw rod and driving the clamp plate to move on the clamp plate guide rail group.

12. The board collecting machine according to claim 1, wherein the robot clamp includes a clamp mounting plate, a shaft rail set, a first connecting plate, a second connecting plate, a clamp cylinder mounting seat, a clamp cylinder, clamping blocks, a clamp bearing seat, a clamp adjusting motor and a clamp adjusting screw, the clamp mounting plate is connected with the robot arm of the robot through a connecting flange, the shaft rail set is disposed on the clamp mounting plate, the first connecting plate is disposed on the shaft rail set, the second connecting plate is disposed on one end of the clamp mounting plate, the clamp cylinder mounting seats are symmetrically disposed on the first connecting plate and the second connecting plate, the clamp cylinders are disposed on the rapid clamp cylinder mounting seat, the clamping blocks are disposed on the clamp cylinders, the clamp bearing seats are disposed on both ends of the shaft rail set, the clamp adjusting motor is disposed on one end of the shaft rail set, the clamp adjusting is mounted on the clamp bearing seat and connected with the first connecting plate and the clamp adjusting motor, the clamp adjusting motor is used for driving the clamping block to move on the shaft support rail set.

13. A circuit board collecting board machine according to claim 1, characterized in that the CCD camera is fixedly mounted on a bracket above the frame in-out mechanism, a liftable baffle and a pressing board capable of moving back and forth are arranged on two sides of the frame in-out mechanism, and the baffle and the pressing board are mounted on the bracket.