CN111822391A - automatic sorter - Google Patents

Abstract

An automatic sorting machine, including a frame, a control system, and a feeding and lifting mechanism, a feeding mechanism, a feeding conveying line, a delta robot, a sorting conveying line, a CCD camera, and a pad feeding mechanism arranged on the frame , Good product assembly line, defective product recovery mechanism, the sorting conveyor line is docked with the feeding conveyor line, and two or more of the feeding lifting mechanisms are arranged along the extension direction of the feeding conveyor line. The reclaiming mechanism is located on the other side of the feeding conveyor line, the CCD camera is located above the sorting conveyor line, and the good product conveyor line is located on one side of the sorting conveyor line in the extension direction. The backing plate feeding mechanism and the defective product recovery mechanism are respectively arranged on both sides of the good product line, and the delta robot is arranged above the good product line. Through automatic feeding and automatic sorting, it can effectively save time and manpower, promote the operation efficiency of the production line, and reduce production costs.

Description

automatic sorter

technical field

The invention relates to the field of sorting machines, in particular to an automatic sorting machine.

Background technique

In the field of PCB, the sorting and packaging of PCB products are usually involved. In order to prevent the mixing of other batches of PCB boards into the same batch of products, the PCB boards need to be sorted before product packaging. The existing sorting method is visually recognized and distinguished by the operator of the production line. This feeding method is not only inefficient, consumes a lot of manpower, but also works for a long time, which greatly affects the operation efficiency of the production line.

SUMMARY OF THE INVENTION

In order to solve the above problems, the present invention provides an automatic sorting machine, which can effectively save time and manpower, promote the operation efficiency of the production line, and reduce the production cost through automatic feeding and automatic sorting.

In order to achieve the above purpose, the technical scheme adopted in the present invention is: an automatic sorting machine, including a frame, a control system, and a feeding lifting mechanism, a feeding mechanism, a feeding conveyor line, and a delta robot arranged on the frame. , Sorting conveyor line, CCD camera, pad feeding mechanism, good product line, defective product recycling mechanism, the sorting conveyor line is connected with the feeding conveyor line, and two or more of the feeding lifting mechanisms are conveyed along the feeding The extension direction of the line is arranged on one side of the feeding conveyor line, the reclaiming mechanism is set on the other side of the feeding conveyor line, the CCD camera is set above the sorting conveyor line, and the good product conveyor line is set up. On one side of the extension direction of the sorting and conveying line, the pad feeding mechanism and the defective product recovery mechanism are respectively arranged on both sides of the good product line, and the delta robot is arranged above the good product line.

Specifically, the backing plate feeding mechanism has the same structure as the feeding lifting mechanism, the feeding lifting mechanism includes a lifting driving module and a lifting table, and the lifting driving module includes a lifting driving motor and a lifting trapezoidal screw. , Screw nut, the lifting trapezoidal screw is vertically arranged, the lifting driving motor is fixed on the frame and drivingly connected with the lifting trapezoidal screw, the screw nut is sleeved on the surface of the lifting trapezoidal screw and is connected with the lifting trapezoidal screw. Lifting platform fixed connection.

Specifically, the feeding lifting mechanism further includes a limit component, and the limit component includes a plurality of fixed limit rods, the plurality of fixed limit rods are vertically arranged on the frame, and the plurality of fixed limit rods are distributed They are arranged in two rows and located on the adjacent two sides of the lifting platform.

Specifically, the limit assembly further includes an adjustment limit rod, a slide rail, and a slider. The adjustment limit rod and a row of fixed limit rods are arranged on opposite sides of the lifting platform, and the slide rails are arranged on the opposite sides of the lifting platform. On the frame, the adjustment limit rod is connected with the slide rail through the slider, so that the adjustment limit rod can move to the fixed limit rod on the opposite side, and the lifting platform is provided with a movable groove for the adjustment limit rod to move. .

Specifically, the reclaiming manipulator includes a reclaiming cylinder, a reclaiming bracket, and a vacuum suction nozzle, the reclaiming transverse drive module is drivingly connected to the reclaiming cylinder, and the reclaiming cylinder is drivingly connected to the reclaiming bracket and drives the reclaiming The material support moves vertically, and the vacuum suction nozzle is fixedly arranged on the material removal support.

Specifically, the sorting and conveying line has the same structure as the feeding and conveying line, and the feeding and conveying line includes a speed regulating motor, a first conveying frame, a first driving wheel, a first driven wheel, and a second driven wheel , The first conveyor belt, the first conveyor frame is arranged horizontally, the first driven wheel and the second driven wheel are respectively arranged at both ends of the first conveyor frame, and the first driving wheel is arranged on the first driven wheel and the second driven wheel. Between the two driven wheels, the first conveyor belt is sleeved on the surfaces of the first driven wheel, the second driven wheel and the first driving wheel, and the speed regulating motor drives the first driving wheel to rotate, thereby driving the first conveyor belt to rotate.

Specifically, the feeding and conveying line further includes a drive shaft, a second conveying frame, a second driving wheel, a third driven wheel, a fourth driven wheel, and a second conveying belt, and the first moving frame and the second conveying frame are side by side set, the third driven wheel and the fourth driven wheel are respectively arranged at both ends of the second conveying frame, the second driving wheel is set between the third driven wheel and the fourth driven wheel, the second conveying belt sleeve Set on the surface of the third driven wheel, the fourth driven wheel and the second driving wheel, the first driving wheel and the second driving wheel are all sleeved on the surface of the drive shaft, and the speed regulating motor drives the drive shaft to rotate Thus, the first driving wheel and the second driving wheel are driven to rotate synchronously.

Specifically, the feeding and conveying line further includes an adjusting motor, an adjusting ball screw, and an adjusting nut, the first conveying frame is fixedly arranged on the frame, and the adjusting ball screw is arranged on the machine perpendicular to the first conveying frame The adjusting nut is sleeved on the surface of the adjusting ball screw and is fixedly connected with the second transmission frame. The adjusting motor drives the adjusting ball screw to rotate and drives the adjusting nut to move along the adjusting ball screw, so that the second transmission The racks are approached or separated from the first transport rack.

Specifically, the defective product recovery mechanism includes a defective product lift drive module, a recovery table, and a recovery plate. The defective product lift drive module is arranged on the recovery table and is drivingly connected to the recovery plate. The defective product lift drive module The group drives the recovery plate to move in the vertical direction.

Specifically, the good product line is also provided with a humidity release card mechanism, the humidity release card mechanism includes a first air cylinder, a second air cylinder, and a suction nozzle, the first air cylinder is fixedly arranged above one end of the conveying line, and the The second cylinder is fixedly connected with the piston rod of the first cylinder, the first cylinder drives the second cylinder to move in the horizontal direction, the suction nozzle is connected to the piston rod of the second cylinder, and the second cylinder drives the suction nozzle to move in the vertical direction.

The beneficial effects of the present invention are as follows: in the present invention, the workpiece is lifted to a predetermined position by the feeding lifting mechanism, the reclaiming transverse driving module and the reclaiming longitudinal driving module drive the reclaiming manipulator to move above the workpiece, and the reclaiming manipulator absorbs the workpiece and moves Go to the top of the feeding conveyor line, place the workpiece on the conveyor belt of the feeding conveyor line, and the workpiece will be transported to the sorting area by the feeding conveyor line, and so on, so as to realize the automatic feeding before PCB sorting; the pad feeding mechanism is upward The backing plate is transferred, and the backing plate on the backing plate feeding mechanism is taken out by the delta robot and placed on the good product line. At the same time, the sorting and conveying line starts to move, and the PCB board is moved to the detection area of the CCD camera for identification. The picking conveyor line sends the PCB board to one end of the sorting conveyor line. The control system controls the delta robot to grab the PCB board according to the data detected and recognized by the CCD camera, and then places the good PCB board on the backing plate, and the defective PCB board. Placed on the defective product recovery mechanism, repeating the above actions can accurately identify the information of the PCB board, and efficiently and quickly sort and stack the PCB board. It effectively saves time and manpower, promotes the operation efficiency of the production line, has high practical value, and reduces production costs.

Description of drawings

Fig. 1 is the overall structure schematic diagram of the automatic sorting machine of the present invention;

Fig. 2 is the overall structure schematic diagram of the automatic feeding device of the present invention;

Fig. 3 is the appearance structure schematic diagram of the automatic feeding device of the present invention;

Fig. 4 is the overall structure schematic diagram of the feeding lifting mechanism of the automatic feeding device of the present invention;

Fig. 5 is the front view structure schematic diagram of the feeding lifting mechanism of the automatic feeding device of the present invention;

Fig. 6 is the rear view structure schematic diagram of the feeding lifting mechanism of the automatic feeding device of the present invention;

Fig. 7 is the structural representation of the reclaiming mechanism of the automatic feeding device of the present invention;

8 is a left-view structural schematic diagram of the feeding conveying line of the automatic feeding device of the present invention;

Fig. 9 is the structural schematic diagram of the right side view of the feeding conveying line of the automatic feeding device of the present invention;

10 is a schematic diagram of the overall structure of the sorting and palletizing device of the present invention;

11 is a schematic structural diagram of a delta robot of the sorting and palletizing device of the present invention;

12 is a schematic structural diagram of the sorting conveying line of the sorting and palletizing device of the present invention;

13 is a schematic structural diagram of the CCD camera of the sorting and palletizing device of the present invention;

Figure 14 is a schematic structural diagram of the backing plate feeding mechanism of the sorting and stacking device of the present invention;

Figure 15 is a schematic structural diagram of another perspective of the backing plate feeding mechanism of the sorting and stacking device of the present invention;

16 is a schematic structural diagram of the good product line and the humidity release card mechanism of the sorting and stacking device of the present invention;

FIG. 17 is a schematic structural diagram of the defective product recovery mechanism of the sorting and palletizing device of the present invention.

Description of reference numbers:

1- Automatic feeding device; 2- Sorting and palletizing device;

11-feeding rack; 12-feeding lifting mechanism; 13-reclaiming mechanism; 14-feeding conveyor line;

111 - chassis; 112 - lower substrate; 113 - table substrate; 114 - chassis;

121-feeding lifting drive module; 122-feeding lifting platform; 123-feeding worm gear reducer; 125-feeding lifting bracket;

1211-feeding lift drive motor; 1212-feeding lift trapezoidal screw; 1213-feeding screw feeding nut;

1221-feeding lifting slide plate; 1222-feeding lifting table; 1223-feeding lifting rib; 1224-feeding movable groove;

1241-feeding fixed limit rod; 1242-feeding adjustment limit rod; 1243-feeding slide rail; 1244-feeding slider;

1251-feeding lifting base; 1252-feeding lifting base plate; 1253-feeding lifting base plate reinforcing rib; 1254-feeding guide rod; 1255-feeding guide block;

131-reclaiming longitudinal drive module; 132-reclaiming transverse drive module; 134-module support;

1331-Reclaiming cylinder; 1332-Reclaiming bracket; 1333-Vacuum nozzle;

141-feeding speed regulating motor; 145-feeding drive shaft;

1421-feeding the first driving wheel; 1422-feeding the second driving wheel;

1431-feeding the first driven wheel; 1432-feeding the second driven wheel; 1433-feeding the third driven wheel; 434-feeding the fourth driven wheel;

1441-feeding the first conveyor belt; 1442-feeding the second conveyor belt;

1451-feeding the first conveying frame; 1452-feeding the second conveying frame; 1461-feeding adjustment motor; 1462-feeding adjustment ball screw; 1463-feeding nut; 1464-feeding adjustment worm; 1465-feeding material adjustment worm gear;

21-sorting rack; 22-delta robot; 23-sorting conveyor line; 25-pad feeding mechanism; 26-good product line; 27-defective product recycling mechanism; 28-PCB board;

221 - robot body; 222 - gripper;

230-conveyor; 231-fourth motor; 232-fifth motor; 233-third ball screw; 234-worm; 235-shaft; 236-third ball screw nut; 237-conveyor track; 238-piece Baseband; 239-drive wheel;

240 - driven wheel; 241 - housing; 242 - CCD camera; 243 - worm gear;

250-first trapezoidal screw; 251-base; 252-first motor; 253-worm gear reducer; 254-lifting table; 255-lifting frame; 256-fixed limit rod; 257-adjustment limit rod; 258 - Second slider; 259 - Chute;

261-first cylinder; 262-second cylinder; 263-conveyor frame; 264-suction nozzle; 265-conveyor belt; 266-third motor;

271-second motor; 272-recovery table; 273-second ball screw; 274-limit plate; 275-recovery plate; 276-second ball screw nut; 277-recovery frame;

281-guide rail; 282-first slider; 283-first trapezoidal screw nut; 284-nut seat;

2541-Lifting table; 2542-Limiting groove; 2543-Lifting stiffener; 2544-Lifting slide.

Detailed ways

Please refer to FIG. 1, the present invention relates to an automatic sorter, an automatic sorter, including a frame, a control system, and a feeding lifting mechanism 12, a feeding mechanism 13, a feeding and conveying mechanism arranged on the frame Line 14, delta robot 22, sorting conveyor line 23, CCD camera 242, pad feeder 25, good product assembly line 26, defective product recovery mechanism 27, the sorting conveyor line 23 is docked with the feeding conveyor line 14, two One or more of the feeding lifting mechanisms 12 are arranged on one side of the feeding and conveying line 14 along the extending direction of the feeding and conveying line 14 , and the reclaiming mechanisms 13 are arranged on the other side of the feeding and conveying line 12 . The CCD camera 242 is arranged above the sorting conveying line 23, the good product conveying line 26 is arranged on one side of the extending direction of the sorting conveying line 23, and the pad feeding mechanism 25 and the defective product recycling mechanism 27 are respectively arranged at On both sides of the good-quality assembly line 26 , the delta robot 22 is disposed above the good-quality production line 26 .

The automatic sorter includes two parts, which are the automatic feeding device 1 and the sorting and palletizing device 2 respectively. The rack includes a feeding rack 11 and a sorting mechanism 21 . The system can be an existing PLC control system.

Among them, the delta robot 22 is an existing technology. The delta robot 22 is a high-speed, low-load parallel robot. Generally, the target object is captured by teaching programming or a vision system, and the gripper center (TCP) is determined by three parallel servo axes. The spatial position of the target object is realized, and the transportation, processing and other operations of the target object are realized.

1. Automatic feeding device

Please refer to FIG. 2 , an automatic feeding device includes a feeding frame 11 , and a feeding lifting mechanism 12 , a feeding mechanism 13 , and a feeding conveying line 14 arranged on the feeding frame 11 , two and the above-mentioned feeding lifting mechanisms 12 are arranged on one side of the feeding and conveying line 14 along the extending direction of the feeding and conveying line 14, and the reclaiming mechanism 13 is arranged on the other side of the feeding and conveying line 14,

As shown in Figures 8-9, the feeding conveyor line 14 includes a feeding speed regulating motor 141, a conveying frame, a driving wheel, a driven wheel, and a conveying belt. The driving wheel and the driven wheel are arranged on the conveying frame, and the conveying belt It is sleeved on the surface of the driving wheel and the driven wheel, and the feeding speed regulating motor 141 drives the driving wheel to rotate so as to drive the upper section of the conveyor belt to convey horizontally.

As shown in FIGS. 4-6 , the feeding elevating mechanism 12 includes a feeding elevating driving module 121 and a feeding elevating platform 122 , and the feeding elevating driving module 121 is drivingly connected with the feeding elevating platform 122 . The feeding and lifting driving module 121 drives the feeding and lifting table 122 to move vertically,

As shown in FIG. 7 , the reclaiming mechanism 13 includes a reclaiming longitudinal driving module 131, a reclaiming transverse driving module 132, and a reclaiming manipulator, and the reclaiming manipulator is located in the feeding lifting mechanism 12 and the feeding conveying line 14. Above, the reclaiming longitudinal drive module 131 is drivingly connected with the reclaiming transverse driving module 132, the reclaiming transverse driving module 132 is drivingly connected with the reclaiming manipulator, and the reclaiming longitudinal driving module 131 drives the The material transverse driving module 132 moves along the extending direction parallel to the feeding conveying line 14 , and the reclaiming transverse driving module 132 drives the material reclaiming manipulator to move along the extending direction perpendicular to the feeding conveying line 14 .

Please refer to FIG. 2 , in this embodiment, in order to ensure that the machine has enough workpieces to ensure the production of the post-process, the left and right ends of the device are equipped with two sets of four feeding lifting mechanisms 12 in total, and each of the left and right ends is equipped with a set of reclaiming mechanisms 13. Each is equipped with a feeding and conveying line 14 to run and transmit workpieces.

Referring to FIG. 2 , in this embodiment, the feeding rack 11 includes a bottom frame 1111 , a lower substrate 112 , and a mesa substrate 113 , and the lower substrate 112 and the mesa substrate 113 are fixed on the upper end of the bottom frame 1111 . The feeding and lifting mechanism 12 is arranged on the lower substrate 112 , and the reclaiming mechanism 13 and the feeding and conveying line 14 are arranged on the table substrate 113 . Wherein, the longitudinal drive module 131 for reclaiming material is installed on the table substrate 113 through the module bracket.

Please refer to FIG. 3 , in this embodiment, the feeding rack 11 is further provided with a case 114 , and a control system is arranged in the case 114 , and the control system is connected with the feeding lifting mechanism 12 , the feeding mechanism 13 , and the feeding conveying line 14 . The motor control connection in each mechanism is used to coordinate the work of each mechanism in an orderly manner. The control system can use an existing control system such as a PLC control system.

The working principle of the automatic feeding device is as follows: firstly, the workpiece is lifted to a predetermined position by the feeding lifting mechanism 12 (the upper section of the conveyor belt of the feeding conveyor line 14 is flush), and at the same time, the reclaiming transverse drive module 132 at both ends and the reclaiming longitudinal The driving module 131 drives the reclaiming manipulator to move to the top of the workpiece (when the workpiece of one group of feeding lifting mechanisms 12 is caught, it starts to move to the top of another group of feeding lifting mechanisms 12 to grab, and at the same time, the operator starts to grasp the previous group. The feeding lifting mechanism 12 adds the workpiece), the reclaiming manipulator starts to move downward, and the vacuum suction nozzle 1333 sucks the workpiece, and the upward movement of the reclaiming manipulator drives the workpiece to move above the feeding conveyor line 14 and place it on the feeding conveyor line 14 On the conveyor belt, the workpiece is transported to the sorting area by the feeding conveyor line 14, and so on.

The invention adopts automatic equipment to replace the traditional manual feeding method, has simple principle and convenient operation, can greatly improve the feeding efficiency, has high practical value, effectively saves manpower and time, and reduces production costs.

Please refer to FIGS. 8-9 , specifically, the transmission frame includes a first feeding conveying frame 1451 , the driving wheel includes a feeding first driving wheel 1421 , and the driven wheel includes a feeding first driven wheel 1431 , a feeding The second driven pulley 1432, the conveyor belt includes a first feeding conveyor belt 1441, the first feeding conveyor frame 1451 is arranged horizontally, the first feeding driven pulley 1431 and the feeding second driven pulley 1432 are respectively arranged in the feeding The two ends of the first conveying frame 1451 are fed. The first driving wheel 1421 for feeding is arranged between the first driven wheel 1431 for feeding and the second driven wheel 1432 for feeding. The first feeding conveyor 1441 is sleeved on the Feeding the first driven wheel 1431, feeding the second driven wheel 1432, feeding the surface of the first driving wheel 1421, the feeding speed regulating motor 141 drives the feeding first driving wheel 1421 to rotate to drive the feeding first conveyor belt 1441 turns.

With the above solution, the first feeding driving wheel 1421 is located in the middle of the feeding first conveying frame 1451. When the feeding speed regulating motor 141 drives the feeding first driving wheel 1421 to rotate, the feeding first driving wheel 1421 drives the feeding The first feeding conveyor belt 1441 rotates around the outer edges of the first feeding driven wheel 1431 and the second feeding driven wheel 1432, and the upper section of the feeding first conveyor belt 1441 is horizontally transported to transport the workpiece.

Please refer to FIGS. 8-9 . Specifically, the feeding conveyor line 14 further includes a feeding driving shaft 145 , the transmission frame further includes a feeding second conveying frame 1452 , and the driving wheel further includes a feeding second driving shaft 1452 . wheel 1422, the driven wheel further includes a third driven wheel 433 for feeding, a fourth driven wheel 1434 for feeding, the conveyor belt also includes a second conveyor belt 1442 for feeding, the first driven frame and the second feeding frame 1452 are arranged side by side, the third feeding driven wheel 433 and the fourth feeding driven wheel 1434 are respectively arranged at both ends of the second feeding conveying frame 1452, and the second feeding driving wheel 1422 is arranged on the third feeding Between the driven wheel 433 and the fourth driven wheel 1434 for feeding, the second feeding conveyor 1442 is sleeved on the surfaces of the third driven wheel 433 for feeding, the fourth driven wheel 1434 for feeding, and the second driving wheel 1422 for feeding , the feeding first driving wheel 1421 and the feeding second driving wheel 1422 are both sleeved on the surface of the feeding drive shaft 145, and the feeding speed regulating motor 141 drives the feeding drive shaft 145 to rotate to drive the feeding The first driving wheel 1421 for feeding and the second driving wheel 1422 for feeding rotate synchronously.

With the above solution, the feeding speed regulating motor 141 drives the feeding driving shaft 145 to rotate, thereby driving the feeding first driving wheel 1421 and the feeding second driving wheel 1422 to rotate synchronously, and the feeding first driving wheel 1421 and the feeding The second driving wheel 1422 drives the first feeding conveyor 1441 and the second feeding conveyor 1442 to rotate synchronously. Among them, the first feeding conveyor 1441 and the second feeding conveyor 1442 are symmetrically arranged. When the first feeding conveyor 1441 and the second feeding conveyor 1442 convey the workpiece (ie, the PCB board), the edges of the PCB board are pressed on both sides respectively. Feed the first conveyor belt 1441 and feed the second conveyor belt 1442.

It should be noted that the upper section of the conveyor belt refers to the upper section of the two sections of the conveyor belt in opposite directions. Specifically in this embodiment, the upper section of the first feeding conveyor belt 1441 refers to that the first feeding conveyor belt 1441 is sleeved on the upper part of the first feeding driven wheel 1431 and the second feeding driven wheel 1432, and the second feeding The upper section of the conveyor belt 1442 means that the second feeding conveyor belt 1442 is sleeved on the upper part of the feeding third driven pulley 433 and the feeding fourth driven pulley 1434 .

Specifically, the feeding conveying line 14 further includes a feeding adjusting motor 1461 , a feeding adjusting ball screw 1462 , and an adjusting feeding nut 1463 , and the first feeding conveying frame 1451 is fixedly arranged on the feeding frame 11 . , the feeding adjustment ball screw 1462 is arranged on the feeding frame 11 perpendicular to the feeding first conveying frame 1451, and the adjusting feeding nut 1463 is sleeved on the surface of the feeding adjustment ball screw 1462 and is connected with the feeding The second feeding frame 1452 is fixedly connected, and the feeding adjusting motor 1461 drives the feeding adjusting ball screw 1462 to rotate and drives the adjusting feeding nut 1463 to move along the feeding adjusting ball screw 1462, thereby making the feeding second feeding frame 1452 The first conveying rack 1451 for feeding is approached or separated.

The feeding regulating motor 1461 drives the feeding regulating ball screw 1462 to rotate, and drives the regulating feeding nut 1463 on the feeding regulating ball screw 1462 to move, so that the feeding second conveying frame 1452 moves to the feeding first feeding frame 1451 close or separate, so as to realize the distance between the first feeding conveyor 1441 and the second feeding conveyor 1442, so that the spacing between the first feeding conveyor 1441 and the second feeding conveyor 1442 is adapted to the width of the PCB board , so that the PCB board can be transported smoothly.

Specifically, the feeding and conveying line 14 further includes a feeding regulating worm wheel 1465 and a feeding regulating worm 1464, the feeding regulating worm wheel 1465 is sleeved on the surface of the ball screw, and the feeding regulating worm 1464 is connected with the feeding The regulating worm gear 1465 is engaged, and the feeding regulating motor 1461 drives the feeding regulating worm 1464 to rotate, thereby driving the ball screw to rotate.

The feeding regulating worm 1464 is arranged parallel to the feeding first conveying frame 1451, and the feeding regulating worm 1464 is engaged with the feeding regulating worm wheel 1465. When the feeding regulating motor 1461 drives the feeding regulating worm 1464 to rotate, the feeding regulating worm 1464 passes through the The feeding adjustment worm gear drives the ball screw to rotate.

Please refer to FIGS. 4-6 . Specifically, the feeding lift driving module 121 includes a feeding lifting driving motor 1211 , a feeding lifting trapezoidal screw 1212 , and a feeding lifting and feeding nut 213 . The feeding lifting trapezoidal wire The rod 1212 is arranged vertically, the feeding lift driving motor 1211 is fixed on the feeding frame 11 and is drivingly connected with the feeding lifting trapezoidal screw 1212, and the feeding lifting and feeding nut 213 is sleeved on the feeding lifting trapezoid. The surface of the screw rod 1212 is fixedly connected with the feeding lifting platform 122 .

The feed lift drive motor 1211 drives the ball screw to rotate, so that the feed lift feed nut 213 moves along the feed lift trapezoidal screw 1212 to drive the feed lift table 122 to move in the vertical direction, automatically stacking the material on the feed lift table The PCB board on 122 is conveyed to the height level with the upper section of the conveyor belt of the feeding conveyor line 14 , and the PCB board is moved to the feeding conveyor line 14 by the reclaiming mechanism 13 . When the last workpiece is picked up, the feeding lifting and lowering drive motor 1211 drives the feeding lifting table 122 to reset, and the workpiece is manually added to prepare for the next feeding. The feeding and lifting drive module 121 of this embodiment adopts the combination of a motor and a ball screw to ensure that the movement of the feeding lifting table 122 is stable and accurate, and the feeding lifting table 122 will not slide down after a power failure, which has high safety. sex.

Please refer to FIGS. 4-6 , specifically, the feeding lifting mechanism 12 further includes a feeding lifting bracket 125 , the feeding lifting bracket 125 is arranged on the feeding frame 11 , and the top end of the feeding lifting trapezoidal screw 1212 is It is rotatably connected with the top of the feeding lifting bracket 125. The feeding lifting bracket 125 is provided with a feeding guide rod 1254 parallel to the feeding lifting trapezoidal screw 1212. The surface of the feeding guide rod 1254 is sleeved with a feeding material. A guide block 1255 is provided, and the feeding guide block 1255 is fixedly connected with the feeding lifting platform 122 . By arranging the feeding guide rod 1254 to cooperate with the feeding guide block 1255, the movement of the feeding lifting platform 122 is more stable.

Please refer to FIGS. 4-6 . Specifically, the feeding lifting bracket 125 includes a feeding lifting base 1251 , a feeding lifting base 1252 , and a feeding lifting base reinforcing rib 1253 . The feeding lifting base 1252 is vertically arranged on the feeding lifting base 1252 . On the material lifting base 1251, both sides of the feeding lifting base plate 1252 are fixedly connected to the feeding lifting base 1251 through the feeding lifting base plate reinforcing ribs 1253. Through the above structure, the structure of the feeding lifting bracket 125 is stabilized.

Please refer to FIGS. 4-6 . Specifically, the feeding elevating drive motor 1211 is connected to the feeding elevating trapezoidal screw 1212 through a feeding worm gear reducer 123 . Worm, the deceleration worm gear is sleeved on the surface of the feeder lift trapezoidal screw 1212, the shaft of the feeder lift drive motor 1211 is fixedly connected to the deceleration worm, and the deceleration worm gear meshes with the deceleration worm.

With the above scheme, the feeding lift drive motor 1211 is connected to the feeding lift trapezoidal screw 1212 through the feeding worm gear reducer 123, the structure is stable, the output torque is high, and the lifting load is greatly increased, so that the single discharge can be greatly increased.

Please refer to FIGS. 4-6 . Specifically, the feeding lifting mechanism 12 further includes a limit component, and the limit component includes a plurality of fixed limit rods 1241 for feeding, and the plurality of fixed limit rods 1241 for feeding are vertical Set on the feeding rack 11 , the plurality of feeding fixed limit rods 1241 are distributed in two rows and located on two adjacent sides of the feeding lifting platform 122 respectively.

By adopting the above solution, by arranging the feeding fixed limit rods 1241 on the adjacent two sides of the feeding lifting table 122, the PCB boards stacked on the feeding lifting table 122 are placed close to the two rows of the feeding fixed limit rods 1241, On the one hand, it can ensure that the PCB boards are arranged neatly, which is convenient for the reclaiming mechanism 13 to take materials, and on the other hand, it can prevent the PCB board from sliding down during the rising process, which plays the role of limit protection.

Please refer to FIGS. 4-6 . Specifically, the limit assembly further includes a feed adjustment limit rod 1242 , a feed slide rail 1243 , and a feed slider 1244 . The feed adjustment limit rod 1242 is connected to one of the rows of The feeding fixed limit rods 1241 are arranged on opposite sides of the feeding lifting platform 122 , the feeding slide rails 1243 are set on the feeding frame 11 , and the feeding adjustment limit rods 1242 pass through the feeding slider 1244 It is connected with the feeding slide rail 1243, so that the feeding adjustment limit rod 1242 can move to the opposite side of the feeding fixed limit rod 1241. The feeding lifting platform 122 is provided with a feeding adjustment limit rod 1242 to move. Feeding activity slot 1224.

With the above solution, the feed adjustment limit rod 1242 is moved to the feed fixed limit rod 1241 through the cooperation of the feed slide block 1244 and the feed slide rail 1243, so that the feed adjustment limit rod 1242 and the feed fixed limit rod 1242 are moved. The position rods 1241 jointly clamp the PCB board to further limit the position of the PCB board, so as to ensure the stability of the conveying of the feeding lifting mechanism 12 and the feeding effect of the feeding mechanism 13 .

Please refer to FIGS. 4-6 . Specifically, the feeding lifting platform 122 includes a feeding lifting slide 1221 , a feeding lifting platform 1222 , and a feeding lifting reinforcing rib 1223 , and the feeding lifting platform 1222 is provided on the feeding lifting slide. On the upper end of the 1221, the side of the feeding lifting slide 1221 and the side of the feeding lifting platform 1222 are fixedly connected by the feeding lifting reinforcing ribs 1223. Through the above arrangement, the structure of the feeding lifting platform 122 is more stable, so that the feeding lifting platform 122 can better bear the weight of the workpiece, so that the single discharge can be greatly increased.

Please refer to FIGS. 4-6 . Specifically, the reclaiming manipulator includes a reclaiming cylinder 1331, a reclaiming bracket 1332, and a vacuum suction nozzle 1333. The reclaiming transverse drive module 132 is drivingly connected to the reclaiming cylinder 1331. The reclaiming cylinder 1331 is drivingly connected with the reclaiming bracket 1332 and drives the reclaiming bracket 1332 to move vertically. The vacuum suction nozzle 1333 is fixedly arranged on the reclaiming bracket 1332 .

In this embodiment, four vacuum suction nozzles 1333 are distributed on the four end points of the reclaiming bracket 1332, and the vacuum suction nozzles 1333 are all connected to a vacuum generator. When the reclaiming manipulator moves to the top of the feeding lifting mechanism 12 under the driving of the reclaiming transverse driving module 132 and the reclaiming longitudinal driving module 131, the reclaiming cylinder 1331 drives the reclaiming bracket 1332 to descend, so that the vacuum suction nozzle 1333 is connected to the PCB. When the board contacts, the vacuum generator works to make the vacuum nozzle 1333 generate negative pressure to adsorb the PCB board, the reclaiming cylinder 1331 drives the reclaiming bracket 1332 to reset and lift, and the reclaiming manipulator moves to the top of the feeding conveyor line 14, and the reclaiming cylinder 1331 drives the reclaiming bracket 1332 to descend, and the vacuum suction nozzle 1333 removes the negative pressure to place the PCB board on the feeding conveyor line 14 .

2. Sorting and palletizing device

Please refer to Figure 10-17, a sorting and palletizing device, including a sorting rack 21, a delta robot 22, a sorting conveyor line 23, a CCD camera 242, a pad feeding mechanism 25, a good product line 26, and a defective product recovery mechanism 27. Control system, the delta robot 22 is arranged in the sorting frame 21, the sorting conveying line 23, the pad feeding mechanism 25, the good product assembly line 26, and the defective product recovery mechanism 27 are arranged below the delta robot 22, And the sorting conveying line 23, the pad feeding mechanism 25, and the defective product recovery mechanism 27 are arranged on both sides of the good product assembly line 26, and the CCD camera 242 is arranged above the sorting conveying line 23. The detection end of the CCD camera 242 Facing the sorting conveying line 23, the pad feeding mechanism 25 includes a first driving member, a base 251, and a lifting table 254. The first driving member is arranged on the base 251 and is drivingly connected with the lifting table 254. The first driving member The lifting platform 254 is driven to move in the vertical direction. The defective product recovery mechanism 27 includes a second driving member, a recovery table and a recovery plate 275. The second driving member is arranged on the recovery table and is drivingly connected with the recovery plate 275. The second driving member drives the recovery plate 275 to move in the vertical direction. The first driving member, the second driving member, the delta robot 22, and the sorting conveyor line 23 are connected to the output end of the control system. The CCD camera 242 is connected to the output end of the control system. The input terminal of the control system is connected.

The principle of the sorting and palletizing device is as follows:

First, the backing plate feeding mechanism 25 conveys the backing plate upward, and then the backing plate on the backing plate feeding mechanism 25 is taken out by the delta robot 22 and placed on the good product line 26. At the same time, the sorting and conveying line 23 starts to move, moving the PCB board 28 It goes to the detection area of the CCD camera 242 for identification. After the detection, the sorting conveyor line 23 sends the PCB board 28 to one end of the sorting conveyor line 23. The control system controls the delta robot 22 to grab the PCB board 28 according to the data detected and recognized by the CCD camera 242. , and then place the good PCB board 28 on the backing plate, place the defective PCB board 28 on the recovery board 275, and repeat the above actions to complete the sorting and palletizing of the PCB board 28.

Compared with the prior art, the present invention can accurately identify the information of the PCB board 28, sort and stack the PCB board 28 efficiently and quickly, effectively save time and manpower, and promote the operation efficiency of the production line. 242 detection of PCB board 28 can improve the pass rate of sorting.

The delta robot 22 generally includes two parts, one part is the robot body 221 , and the other part includes a gripper 222 for grabbing the PCB board 28 , and the gripper 222 is arranged at the lower end of the robot body 221 .

In this embodiment, a worm gear reducer 253 is also included, the worm gear of the worm gear reducer 253 is sleeved on the surface of the first trapezoidal screw 250 , and the shaft of the first motor 252 is fixed to the worm of the worm gear reducer 253 connected, the worm gear is engaged with the worm.

By adopting the above scheme, by setting the worm gear reducer 253, the output torque of the first driving member is higher, the lifting load is greatly increased, so that the single discharge can be greatly increased.

In this embodiment, a cover 241 is also provided, the cover 241 covers the CCD camera 242 inside, and a light source and a backlight are also provided, the light source is arranged above the sorting conveying line 23 and located in the cover 241, The backlight source is arranged below the sorting conveying line 23 , and the detection accuracy of the CCD camera 242 can be improved by arranging the light source and the backlight source.

Specifically, it also includes a lifting frame 255, the first driving member includes a first motor 252, a first trapezoidal screw 250, and a first trapezoidal screw nut 283, the lifting frame 255 is arranged on the upper end of the base 251, the first A motor 252 is arranged on the base 251, the first motor 252 is drivingly connected with one end of the first trapezoidal screw 250, and the other end of the first trapezoidal screw 250 is rotatably connected with the lifting frame 255. The first trapezoidal screw The nut 283 is sleeved on the surface of the first trapezoidal screw 250 , and the first trapezoidal screw nut 283 is fixedly connected with the lifting platform 254 .

With the above solution, the first driving part adopts the combination of a motor and a screw rod, which ensures the smooth and accurate movement of the lift table 254, and the lift table 254 does not slide down after power failure, which has high safety.

Specifically, it also includes a limit plate 274, the second driving member includes a second motor 271, a second ball screw 273, and a second ball screw nut 276, the recovery table includes a recovery table 272, a recovery frame 277, The recovery table 272 is fixed on the upper end of the recovery frame 277 , the second ball screw 273 vertically penetrates both ends of the recovery table 272 , and the second ball screw nut 276 is sleeved on the second ball screw 273, and the second ball screw nut 276 is fixedly connected to the recovery table 272, the second motor 271 is arranged in the recovery frame 277, and the motor shaft of the second motor 271 is fixed to the lower end of the second ball screw 273 connection, the recovery plate 275 is fixedly connected to the upper end of the second ball screw 273, and the second motor 271 is connected to the output end of the control system.

With the above solution, the defective PCB board 28 will be placed on the recycling board 275 by the delta robot 22 and stacked on the recycling board 275 . For each stack layer, the second motor 271 controls the recycling board 275 to move downward. level, start the alarm reminder, prompting the staff to transport the defective products away.

Specifically, the good-quality assembly line 26 includes a conveyor frame 263, a conveyor belt 265, rollers, and a third motor 266. The rollers are provided at both ends of the conveyor rack 263, and the conveyor belt 265 is sleeved on the outer wall of the rollers. The third motor The motor 266 is drivingly connected to the roller, the third motor 266 drives the roller to rotate, and the third motor 266 is connected to the output end of the control system.

With the above solution, when the good PCB boards 28 are stacked on one end of the conveyor belt 265, the control system controls the operation of the third motor 266 to transfer the PCB boards 28 to the other end of the conveyor belt 265, waiting for the next process.

Specifically, the good quality assembly line 26 is also provided with a humidity release card mechanism. The humidity release card mechanism includes a first air cylinder 261 , a second air cylinder 262 and a suction nozzle 64 . The first air cylinder 261 is fixed on the good quality production line 26 . Above one end, the second air cylinder 262 is fixedly connected with the piston rod of the first air cylinder 261, the first air cylinder 261 drives the second air cylinder 262 to move in the horizontal direction, the suction nozzle 64 is connected with the piston rod of the second air cylinder 262, The second air cylinder 262 drives the suction nozzle 64 to move in the vertical direction.

With the above solution, when the PCB board 28 is conveyed to the other end of the conveyor belt 265, through the cooperation of the first air cylinder 261 and the second air cylinder 262, the suction nozzle 64 absorbs the humidity card placed on the side of the good-quality assembly line 26 and places the humidity card on the The upper end of the good quality PCB board 28 .

Specifically, the sorting and conveying line 23 includes a conveying frame 230, a fourth motor 231, a rotating shaft 235, two driving wheels 239, two base belts 238, two conveying rails 237, and several driven wheels 240. The two conveying rails 237 are provided with At the upper end of the conveying frame 230 and parallel to each other, the driven wheel 240 is rotatably arranged on the inner side of the two conveying rails 237, the rotating shaft 235 is arranged at the lower end of the two conveying rails 237 and is perpendicular to the two conveying rails 237, the two driving wheels 239 is sleeved on the outer walls of both ends of the rotating shaft 235, the film base belt 238 is sleeved on the outer walls of the driving wheel 239 and the driven wheel 240, the fourth motor 231 is installed on the conveying frame 230, and the fourth motor 231 is drivingly connected with the rotating shaft 235 , the fourth motor 231 drives the shaft 235 to rotate.

Using the above solution, the delta robot 22 places the PCB board 28 to be detected on the upper ends of the two base tapes 238 , and the fourth motor 231 drives the PCB board 28 placed on the base tape 238 to move to the detection area of the CCD camera 242 when the base tape 238 moves. Identification is performed, wherein a limiting block is provided at one end of the base tape 238 to limit the position of the PCB board 28 to prevent it from sliding out of the base tape 238 due to the inertia of movement.

Specifically, the sorting and conveying line 23 further includes a fifth motor 232, a worm 234, two worm gears 243, two third ball screws 233, and two third ball screw nuts 236. The two third ball screws 233 The two third ball screws 233 are rotatably mounted on the conveying frame 230, and the two third ball screws 233 are parallel to each other and perpendicular to the two conveying rails 237. The two third ball screw nuts 236 are respectively sleeved on the outer walls of the two third ball screws 233. , among the two conveying rails 237, one conveying rail 237 is fixedly arranged on the conveying frame 230, the other conveying rail 237 is fixedly connected with the two third ball screw nuts 236, and the worm screw 234 is arranged on the two third ball screws Between the rods 233 and perpendicular to the two third ball screws 233, the two worm gears 243 are respectively sleeved on the outer walls of the two third ball screws 233, the worm 234 meshes with the two worm gears 243, the fifth motor 232 The fifth motor 232 drives the worm 234 to rotate and drives the two third ball screws 233 to rotate, so as to change the distance between the two conveying tracks 237 .

By adopting the above scheme, by changing the distance between the two conveying rails 237, the width of different PCB boards 28 is adapted, so that the sorting conveying line 23 can convey PCB boards 28 with different widths, so that the adaptability of the present invention is stronger, In addition, it is not necessary to replace different sorting conveyor lines 23 because of different sorting widths of PCB boards 28, which saves production costs virtually.

Specifically, it also includes a limit mechanism. The limit mechanism includes a chute 259, a first slider 282, an adjustment limit rod 257, and a plurality of fixed limit rods 256. The fixed limit rods 256 are vertically arranged on the base. At the upper end of 251, the fixed limit rod 256 is provided with two rows and distributed on both sides adjacent to the lift table 254. The chute 259 is set on the base 251. The position rods 256 are distributed on opposite sides of the lift table 254, and the adjustment limit rod 257 is connected with the chute 259 through the first slider 282, so that the adjustment limit rod 257 can move to the fixed position limit rod 256 on the opposite side, and the lift table A limit slot 2542 for adjusting the limit rod 257 to move is opened on the 254 .

Using the above solution, by setting the fixed limit rods 256 on the adjacent two sides of the lift table 254, the PCB boards 28 stacked on the lift table 254 are placed next to the fixed limit rods 256 on both sides, and then by sliding the second slide The block 258 moves the adjustment limit rod 257 to the fixed limit rod 256, so that the adjustment limit rod 257 and the fixed limit rod 256 clamp the PCB board 28 together, which can well limit the position of the PCB board 28 and ensure the PCB board 28 It doesn't slide off when going up.

Specifically, there are two sorting and conveying lines 23 , and the two sorting and conveying lines 23 are located on both sides of the good-quality assembly line 26 .

By adopting the above solution, two sorting and conveying lines 23 are arranged to connect with the two feeding and conveying lines 14 respectively, and two CCD cameras 242 can be used for detection, sorting and stacking at the same time, so that the output efficiency is higher and the production capacity is increased. Huge improvements.

In this embodiment, the lifting platform 254 includes a lifting slide plate 2544, a lifting platform surface 2541, and a lifting reinforcing rib 2543. The lifting platform surface 2541 is arranged on the upper end of the lifting slide plate 2544. The sides are fixedly connected by the lifting reinforcing ribs 2543 , and the second sliding block 258 is arranged on the lifting sliding plate 2544 .

Using the above solution, the lifting platform 254 of the present invention includes a lifting slide plate 2544, a lifting platform surface 2541, and a lifting reinforcing rib 2543. The structure is more stable, so that the lifting platform 254 can better bear the weight of the PCB board 28, so that the single discharge can be greatly increased.

In this embodiment, a nut seat 284 is also included, and the first trapezoidal screw nut 283 is fixedly connected to one side of the lifting platform 254 through the nut seat 284 .

With the above solution, by arranging the nut seat 284 , the connection between the first trapezoidal screw nut 283 and the lifting platform 254 is more stable, and the smoothness of the movement of the lifting platform 254 is ensured.

The above embodiments are only to describe the preferred embodiments of the present invention, and do not limit the scope of the present invention. On the premise of not departing from the design spirit of the present invention, various modifications and variations of the technical solutions of the present invention made by ordinary engineers and technicians in the art Improvements should all fall within the protection scope determined by the claims of the present invention.

Claims (10)

1. An automatic sorting machine which is characterized in that: the automatic sorting machine comprises a rack, a control system, a feeding lifting mechanism, a material taking mechanism, a feeding conveying line, a delta robot, a sorting conveying line, a CCD camera, a backing plate feeding mechanism, a non-defective product assembly line and a defective product recycling mechanism, wherein the feeding lifting mechanism, the material taking mechanism, the feeding conveying line, the non-defective product assembly line and the defective product recycling mechanism are arranged on the rack, the sorting conveying line is in butt joint with the feeding conveying line, the two or more than two feeding lifting mechanisms are arranged on one side of the feeding conveying line along the extending direction of the feeding conveying line, the material taking mechanism is arranged on the other side of the feeding conveying line, the CCD camera is arranged above the sorting conveying line, the non-defective product conveying assembly line is arranged on one side of the extending direction.

2. The automated sorter according to claim 1, wherein: the base plate feeding mechanism is the same as the feeding lifting mechanism in structure, the feeding lifting mechanism comprises a lifting driving module and a lifting platform, the lifting driving module comprises a lifting driving motor, a lifting trapezoidal screw rod and a screw nut, the lifting trapezoidal screw rod is vertically arranged, the lifting driving motor is fixed on the rack and is in driving connection with the lifting trapezoidal screw rod, and the screw nut sleeve is arranged on the surface of the lifting trapezoidal screw rod and is fixedly connected with the lifting platform.

3. The automated sorter according to claim 2, wherein: the feeding lifting mechanism further comprises a limiting assembly, the limiting assembly comprises a plurality of fixed limiting rods, the fixed limiting rods are vertically arranged on the rack, and the fixed limiting rods are distributed into two rows and are respectively located on two adjacent sides of the lifting platform.

4. The automated sorting machine according to claim 3, wherein: the limiting assembly further comprises a limiting rod, a sliding rail and a sliding block, the limiting rod and one row of fixed limiting rods are arranged on two opposite sides of the lifting platform, the sliding rail is arranged on the rack, the limiting rod is connected with the sliding rail through the sliding block, so that the limiting rod can move towards the fixed limiting rods on the opposite sides, and a movable groove for moving the limiting rod is formed in the lifting platform.

5. The automatic feeding device according to claim 1, characterized in that: the material taking manipulator comprises a material taking cylinder, a material taking support and a vacuum suction nozzle, the material taking transverse driving module is in driving connection with the material taking cylinder, the material taking cylinder is in driving connection with the material taking support and drives the material taking support to move vertically, and the vacuum suction nozzle is fixedly arranged on the material taking support.

6. The automated sorter according to claim 1, wherein: the letter sorting transfer chain with the structure of feed transfer chain is the same, the feed transfer chain includes buncher, first carriage, first action wheel, first from driving wheel, second from driving wheel, first conveyer belt, first carriage level sets up, first from driving wheel and second set up respectively at the both ends of first carriage from the driving wheel, first action wheel is located first from driving wheel and second from between the driving wheel, first conveyer belt cover is established first from the driving wheel, the second from the surface of driving wheel, first action wheel, thereby the first action wheel of buncher drive rotates and drives first conveyer belt and rotate.

7. The automated sorter according to claim 6, wherein: the feed conveying line further comprises a driving shaft, a second conveying frame, a second driving wheel, a third driven wheel, a fourth driven wheel and a second conveying belt, the first conveying frame and the second conveying frame are arranged side by side, the third driven wheel and the fourth driven wheel are respectively arranged at two ends of the second conveying frame, the second driving wheel is arranged between the third driven wheel and the fourth driven wheel, the second conveying belt is arranged on the surface of the third driven wheel, the fourth driven wheel and the second driving wheel, the surface of the driving shaft is sleeved with the first driving wheel and the second driving wheel, and the driving shaft is driven by the speed regulating motor to rotate so as to drive the first driving wheel and the second driving wheel to synchronously rotate.

8. The automated sorter according to claim 7, wherein: the feeding conveying line further comprises an adjusting motor, an adjusting ball screw and an adjusting nut, the first conveying frame is fixedly arranged on the rack, the adjusting ball screw is perpendicular to the first conveying frame and arranged on the rack, the adjusting nut is sleeved on the surface of the adjusting ball screw and fixedly connected with the second conveying frame, the adjusting motor drives the adjusting ball screw to rotate to drive the adjusting nut to move along the adjusting ball screw, and therefore the second transmission piece frame is close to or separated from the first conveying frame.

9. The automated sorter according to claim 1, wherein: the defective product recovery mechanism comprises a defective product lifting driving module, a recovery platform and a recovery plate, the defective product lifting driving module is arranged on the recovery platform and is in driving connection with the recovery plate, and the defective product lifting driving module drives the recovery plate to move along the vertical direction.

10. The automated sorter according to claim 1, wherein: still be equipped with on the yields assembly line and put humidity card mechanism, put humidity card mechanism and include first cylinder, second cylinder, suction nozzle, the fixed top of locating conveying assembly line one end of first cylinder, the piston rod fixed connection of second cylinder and first cylinder, first cylinder drive second cylinder remove along the horizontal direction, the suction nozzle is connected with the piston rod of second cylinder, and second cylinder drive suction nozzle removes along vertical direction.

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