CN111822391A

CN111822391A - Automatic sorting machine

Info

Publication number: CN111822391A
Application number: CN201910325259.6A
Authority: CN
Inventors: 邱国丰; 张超宁; 童小鹏
Original assignee: Shenzhen Micro Zhuo Technologies Co ltd
Current assignee: Shenzhen Micro Zhuo Technologies Co ltd
Priority date: 2019-04-22
Filing date: 2019-04-22
Publication date: 2020-10-27

Abstract

The utility model provides an automatic sorting machine, includes frame, control system to and locate feed elevating system, picking mechanism, feed transfer chain, delta robot, letter sorting transfer chain, CCD camera, backing plate feeding mechanism, non-defective products assembly line, substandard product recovery mechanism in the frame, letter sorting transfer chain and feed transfer chain butt joint, two and more feed elevating system arranges in one side of feed transfer chain along the extending direction of feed transfer chain, picking mechanism locates the opposite side of feed transfer chain, the top of letter sorting transfer chain is located to the CCD camera, non-defective products transport assembly line locates one side of letter sorting transfer chain extending direction, backing plate feeding mechanism, substandard product recovery mechanism locate the both sides of non-defective products assembly line respectively, delta robot locates the top of non-defective products assembly line. Through automatic feed and automatic sorting, effectual time-saving and the manpower promote the operating efficiency of production line, reduction in production cost.

Description

Automatic sorting machine

Technical Field

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

Background

In the PCB field, the PCB product is usually sorted and packaged, and in order to prevent the same batch of products from being mixed with different batches of PCB boards, the PCB boards need to be sorted before being packaged. The existing sorting mode is distinguished by operators of the production line through naked eyes. The feeding mode is low in efficiency, consumes a large amount of manpower, works for a long time, and greatly influences the operation efficiency of a production line.

Disclosure of Invention

In order to solve the problems, the invention provides the automatic sorting machine which effectively saves time and labor, promotes the operation efficiency of a production line and reduces the production cost through automatic feeding and automatic sorting.

In order to achieve the purpose, the invention adopts the technical scheme that: the utility model provides an automatic sorting machine, includes frame, control system to and locate feed elevating system, picking mechanism, feed transfer chain, delta robot, letter sorting transfer chain, CCD camera, backing plate feeding mechanism, non-defective products assembly line, substandard product recovery mechanism in the frame, letter sorting transfer chain and feed transfer chain butt joint, two and more feed elevating system arranges in one side of feed transfer chain along the extending direction of feed transfer chain, picking mechanism locates the opposite side of feed transfer chain, the top of letter sorting transfer chain is located to the CCD camera, non-defective products transport assembly line locates one side of letter sorting transfer chain extending direction, backing plate feeding mechanism, substandard product recovery mechanism locate the both sides of non-defective products assembly line respectively, delta robot locates the top of non-defective products assembly line.

Specifically, backing plate feeding mechanism with feed elevating system's structure is the same, feed elevating system includes lift drive module, elevating platform, lift drive module includes lift driving motor, the trapezoidal lead screw of lift, screw-nut, the vertical setting of the trapezoidal lead screw of lift, lift driving motor fixes in the frame and is connected with the trapezoidal lead screw drive of lift, the screw-nut cover is established on the surface of the trapezoidal lead screw of lift and is established with elevating platform fixed connection.

Specifically, feed elevating system still includes spacing subassembly, spacing subassembly includes a plurality of fixed gag lever posts, a plurality of fixed gag lever posts are vertical to be located in the frame, a plurality of fixed gag lever posts distribute to set into two rows and lie in the adjacent both sides of elevating platform respectively.

Specifically, spacing subassembly is still including adjusting gag lever post, slide rail, slider, adjust the gag lever post and one of them one row of fixed gag lever post setting in the relative both sides of elevating platform, the slide rail is located in the frame, adjust the gag lever post and pass through slider and sliding linkage for adjust the gag lever post and can remove to the fixed gag lever post of opposite side, set up the movable groove that supplies to adjust the gag lever post and remove on the elevating platform.

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.

Specifically, 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 follow driving wheel, second follow driving wheel, first conveyer belt, first carriage level sets up, first follow driving wheel and second set up respectively at the both ends of first carriage from the driving wheel, first action wheel is located first follow driving wheel and second and is followed between the driving wheel, first conveyer belt cover is established on first follow driving wheel, second follow the surface of driving wheel, first action wheel, thereby the first action wheel of buncher drive rotates and drives first conveyer belt and rotate.

Specifically, the feed transfer chain still includes drive shaft, second conveying frame, second action wheel, third from driving wheel, fourth from driving wheel, second conveyer belt, first movable frame and second conveying frame set up side by side, the third sets up respectively at the both ends of second conveying frame from driving wheel and fourth from the driving wheel, the third is located to the second action wheel from driving wheel and fourth from between the driving wheel, the second conveyer belt cover is established on the third from the surface of driving wheel, fourth from driving wheel, second action wheel, the surface at the drive shaft is all established to first action wheel and second action wheel cover, the buncher drive thereby the drive shaft rotates and drives first action wheel and second action wheel synchronous rotation.

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 conveying frame is close to or separated from the first conveying frame.

Specifically, the substandard product recovery mechanism comprises a substandard product lifting driving module, a recovery platform and a recovery plate, wherein the substandard product lifting driving module is arranged on the recovery platform and is in driving connection with the recovery plate, and the substandard product lifting driving module drives the recovery plate to move along the vertical direction.

Specifically, it constructs still to be equipped with on the yields assembly line and puts humidity card, it includes first cylinder, second cylinder, suction nozzle to put humidity card mechanism, first cylinder is fixed to be located the top of conveying assembly line one end, 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.

The invention has the beneficial effects that: according to the automatic feeding device, a workpiece is lifted to a preset position by a feeding lifting mechanism, a material taking transverse driving module and a material taking longitudinal driving module drive a material taking manipulator to move above the workpiece, the material taking manipulator absorbs the workpiece and moves above a feeding conveying line, the workpiece is placed on a conveying belt of the feeding conveying line, and the workpiece is conveyed to a sorting area by the feeding conveying line, so that the automatic feeding before PCB sorting is realized; backing plate feeding mechanism upwards conveys the backing plate, take out the backing plate on the backing plate feeding mechanism and place on the yields assembly line by the delta robot again, sort the transfer chain and begin to remove simultaneously, remove the PCB board and discern to CCD camera detection area, it finishes to detect, the one end of letter sorting transfer chain is sent the PCB board to the letter sorting transfer chain, control system detects the data control delta robot of discernment and snatchs the PCB board according to the CCD camera, then place the PCB board of yields on the backing plate, place the PCB board of substandard product on substandard product recovery mechanism, repeat that the above-mentioned action can be accurate carry out information recognition to the PCB board, high efficiency, the quick pile up neatly sorts the PCB board. The time and the manpower are effectively saved, the operation efficiency of the production line is promoted, the practical value is high, and the production cost is reduced.

Drawings

FIG. 1 is a schematic view of the overall structure of the automatic sorter of the present invention;

FIG. 2 is a schematic view showing the overall structure of the automatic feeding apparatus of the present invention;

FIG. 3 is a schematic view of the external structure of the automatic feeding device of the present invention;

FIG. 4 is a schematic view showing the overall structure of the feed elevating mechanism of the automatic feeding apparatus of the present invention;

FIG. 5 is a schematic view of the front view of the material lifting mechanism of the automatic material feeding device of the present invention;

FIG. 6 is a rear view structural diagram of the material supplying lifting mechanism of the automatic material supplying device of the present invention;

FIG. 7 is a schematic view of the material extracting mechanism of the automatic feeding device of the present invention;

FIG. 8 is a left side view of the feed conveyor line of the automatic feed device of the present invention;

FIG. 9 is a right side view schematic of the feed conveyor line of the automatic feed device of the present invention;

fig. 10 is a schematic overall structure diagram of the sorting and stacking device of the invention;

FIG. 11 is a schematic structural view of a delta robot of the sorting and stacking apparatus of the present invention;

FIG. 12 is a schematic diagram of the structure of the sorting conveying lines of the sorting and stacking device of the invention;

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

FIG. 14 is a schematic structural view of a backing plate feeding mechanism of the sorting and stacking device of the present invention;

FIG. 15 is a schematic structural view of another perspective of the pad feeding mechanism of the sorting and stacking apparatus of the present invention;

fig. 16 is a schematic structural diagram of a good product assembly line and a humidity releasing mechanism of the sorting and stacking device of the invention;

fig. 17 is a schematic structural diagram of a defective product recycling mechanism of the sorting and stacking device.

The reference numbers illustrate:

1-automatic feeding device; 2-a sorting and stacking device;

11-a feed rack; 12-a feed lifting mechanism; 13-a material taking mechanism; 14-a feed conveyor line;

111-a chassis; 112-lower substrate; 113-a mesa substrate; 114-a chassis;

121-a feeding lifting driving module; 122-a feed elevator; 123-feeding worm gear reducer; 125-feeding lifting support;

1211-material supply lifting driving motor; 1212-feeding lifting trapezoidal screw; 1213-feeding screw rod and feeding nut;

1221-a feed lifting slide; 1222-a feeding lifting table; 1223-feeding lifting reinforcing ribs; 1224-feed chute;

1241-feeding and fixing a limiting rod; 1242-feeding adjusting limit rod; 1243-feeding slide rail; 1244-feeding slide block;

1251-a feed lifting base; 1252-feeding the lift substrate; 1253-feeding lifting base plate reinforcing ribs; 1254-feed guide bar; 1255-feed guide block;

131-material taking longitudinal driving module; 132-a take-off transverse drive module; 134-module holder;

1331-a material taking cylinder; 1332-reclaiming the material rack; 1333-vacuum nozzle;

141-a feed speed regulating motor; 145-feed drive shaft;

1421-supply first driving wheel; 1422-supply second driving wheels;

1431 — feed first driven wheel; 1432-feed second driven wheel; 1433-feed third driven wheel; 434-feeding a fourth driven wheel;

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

1451-feeding a first transfer rack; 1452-feeding a second transfer rack; 1461-feed regulating motor; 1462-feed adjustment ball screw; 1463-supply nut; 1464-feed adjusting worm; 1465-feed regulating worm gear;

21-a sorting rack; a 22-delta robot; 23-sorting conveyor lines; 25-a backing plate feeding mechanism; 26-a good product production line; 27-defective product recovery mechanism; 28-a PCB board;

221-a robot body; 222-a gripper;

230-a carriage; 231-a fourth motor; 232-a fifth motor; 233-a third ball screw; 234-worm; 235-a rotating shaft; 236-a third ball screw nut; 237-a conveying track; 238-piece baseband; 239-driving wheel;

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

250-a first trapezoidal lead screw; 251-a base; 252 — a first motor; 253-worm gear reducer; 254-a lifting platform; 255-a lifting frame; 256-fixed limit rod; 257-adjusting a limit rod; 258-second slider; 259-a chute;

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

271-a second motor; 272-recovery table; 273-second ball screw; 274-a limiting plate; 275-a recovery plate; 276-a second ball screw nut; 277-recycling rack;

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

2541-lifting table top; 2542-a limit groove; 2543-lifting reinforcing ribs; 2544-lifting slide plate.

Detailed Description

Referring to fig. 1, the present invention relates to an automatic sorting machine, which comprises a frame, a control system, and a feeding lifting mechanism 12, a material taking mechanism 13, a feeding conveying line 14, a delta robot 22, a sorting conveying line 23, a CCD camera 242, a mat feeding mechanism 25, a good product flow line 26, and a defective product recycling mechanism 27, which are arranged on the frame, wherein the sorting conveying line 23 is butted with the feeding conveying line 14, two or more feeding lifting mechanisms 12 are arranged on one side of the feeding conveying line 14 along the extending direction of the feeding conveying line 14, the material taking mechanism 13 is arranged on the other side of the feeding conveying line 12, the CCD camera 242 is arranged above the sorting conveying line 23, the good product conveying flow line 26 is arranged on one side of the extending direction of the sorting conveying line 23, the mat feeding mechanism 25 and the defective product recycling mechanism 27 are respectively arranged on both sides of the good product flow line 26, the delta robot 22 is disposed above the good product line 26.

The automatic sorting machine comprises two parts, namely an automatic feeding device 1 and a sorting and stacking device 2. The rack includes a feed rack 11 and a sorting mechanism 21. The system may be an existing PLC control system.

The delta robot 22 is a prior art, and the delta robot 22 belongs to a high-speed and low-load parallel robot, and generally captures a target object through a teaching programming or a vision system, and determines a spatial position of a gripper center (TCP) by three parallel servo axes to realize operations such as transportation and processing of the target object.

First, automatic feeding device

Referring to fig. 2, an automatic feeding device includes a feeding frame 11, and a feeding lifting mechanism 12, a material taking mechanism 13, and a feeding conveyor line 14 disposed on the feeding frame 11, wherein two or more feeding lifting mechanisms 12 are arranged on one side of the feeding conveyor line 14 along an extending direction of the feeding conveyor line 14, the material taking mechanism 13 is disposed on the other side of the feeding conveyor line 14,

as shown in fig. 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 conveyor belt, the driving wheel and the driven wheel are disposed on the conveying frame, the conveyor belt is sleeved on the surfaces of the driving wheel and the driven wheel, the feeding speed-regulating motor 141 drives the driving wheel to rotate so as to drive the upper section of the conveyor belt to horizontally convey,

as shown in fig. 4-6, the feeding lifting mechanism 12 includes a feeding lifting driving module 121, and a feeding lifting platform 122, the feeding lifting driving module 121 is drivingly connected to the feeding lifting platform 122, the feeding lifting driving module 121 drives the feeding lifting platform 122 to move vertically,

as shown in fig. 7, the material taking mechanism 13 includes a material taking longitudinal driving module 131, a material taking transverse driving module 132, and a material taking manipulator, the material taking manipulator is located above the feeding lifting mechanism 12 and the feeding conveying line 14, the material taking longitudinal driving module 131 is in driving connection with the material taking transverse driving module 132, the material taking transverse driving module 132 is in driving connection with the material taking manipulator, the material taking longitudinal driving module 131 drives the material taking transverse driving module 132 to move along the extending direction parallel to the feeding conveying line 14, and the material taking transverse driving module 132 drives the material taking manipulator to move along the extending direction perpendicular to the feeding conveying line 14.

Referring to fig. 2, in this embodiment, in order to ensure that the machine has enough workpieces to ensure the post-production, the left and right ends of the apparatus are respectively provided with two feeding and lifting mechanisms 12, a set of material taking mechanisms 13, and a feeding and conveying line 14 to transport the workpieces.

Referring to fig. 2, in the present embodiment, the feeding frame 11 includes a bottom frame 1111, a lower substrate 112, and a table substrate 113, wherein the lower substrate 112 and the table substrate 113 are fixed on the top of the bottom frame 1111. Wherein, the feeding lifting mechanism 12 is arranged on the lower base plate 112, and the material taking mechanism 13 and the feeding conveying line 14 are arranged on the table-board base plate 113. Wherein, the material taking longitudinal driving module 131 is installed on the table-board substrate 113 through a module bracket.

Referring to fig. 3, in the present embodiment, a chassis 114 is further disposed on the feeding rack 11, and a control system is disposed in the chassis 114 and is in control connection with motors of the feeding lifting mechanism 12, the material taking mechanism 13, and the feeding conveyor line 14 for coordinating the mechanisms to work in an orderly manner. The control system may employ an existing control system such as a PLC control system.

The working principle of the automatic feeding device is as follows: the workpiece is lifted to a preset position (the upper section of the conveyor belt of the parallel and level feeding conveyor line 14) by the feeding lifting mechanism 12, meanwhile, the material taking transverse driving module 132 and the material taking longitudinal driving module 131 at the two ends drive the material taking manipulator to move to the position above the workpiece (when the workpiece of one group of feeding lifting mechanism 12 is grabbed, the material taking manipulator starts to move to the position above the other group of feeding lifting mechanism 12 to grab, meanwhile, the operator starts to add the workpiece to the previous group of feeding lifting mechanism 12), the material taking manipulator starts to move downwards and sucks the workpiece by the vacuum suction nozzle 1333, the material taking manipulator moves upwards and drives the workpiece to move to the position above the feeding conveyor line 14 and place the workpiece on the conveyor belt of the feeding conveyor line 14, and the workpiece is conveyed to a sorting area.

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

Referring to fig. 8-9, in particular, the transmission frame includes a first feeding transmission frame 1451 including a first feeding driving wheel 1421, the driven wheels include a first feeding driven wheel 1431 and a second feeding driven wheel 1432, the transmission belt includes a first feeding transmission belt 1441, the first feeding transmission frame 1451 is horizontally disposed, the first feeding driven wheel 1431 and the second feeding driven wheel 1432 are respectively disposed at two ends of the first feeding transmission frame 1451, the first feeding driving wheel 1421 is disposed between the first feeding driven wheel 1431 and the second feeding driven wheel 1432, the first feeding transmission belt 1441 is sleeved on the surfaces of the first feeding driven wheel 1431, the second feeding driven wheel 1432 and the first feeding driving wheel 1421, and the first feeding speed regulating motor 141 drives the first feeding driving wheel 1421 to rotate so as to drive the first feeding transmission belt 1441 to rotate.

By adopting the above scheme, the feeding first driving wheel 1421 is located in the middle of the feeding first conveying frame 1451, when the feeding adjustable-speed motor 141 drives the feeding first driving wheel 1421 to rotate, the feeding first driving wheel 1421 drives the feeding first conveying belt 1441 to rotate around the outer edges of the feeding first driven wheel 1431 and the feeding second driven wheel 1432, and the upper section of the feeding first conveying belt 1441 is horizontally conveyed to convey the workpiece.

Referring to fig. 8-9, in particular, the feeding conveyor line 14 further includes a feeding driving shaft 145, the driving frame further includes a feeding second transmission frame 1452, the driving wheel further includes a feeding second driving wheel 1422, the driven wheels further include a feeding third driven wheel 433, a feeding fourth driven wheel 1434, the conveyor belt further includes a feeding second conveyor belt 1442, the first driving frame and the feeding second transmission frame 1452 are arranged side by side, the feeding third driven wheel 433 and the feeding fourth driven wheel 1434 are respectively arranged at two ends of the feeding second transmission frame 1452, the feeding second driving wheel 1422 is arranged between the feeding third driven wheel 433 and the feeding fourth driven wheel 1434, the feeding second conveyor belt 1442 is sleeved on the surfaces of the feeding third driven wheel 433, the feeding fourth driven wheel 1434, and the feeding second driving wheel 1422, the feeding first driving wheel 1421 and the feeding second driving wheel 1422 are both sleeved on the surface of the feeding driving shaft 145, the feeding speed regulating motor 141 drives the feeding driving shaft 145 to rotate so as to drive the feeding first driving wheel 1421 and the feeding second driving wheel 1422 to rotate synchronously.

With the above scheme, the feeding speed regulating motor 141 drives the feeding driving shaft 145 to rotate so as to drive 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 second driving wheel 1422 drive the feeding first conveyor belt 1441 and the feeding second conveyor belt 1442 to rotate synchronously. The first feeding conveyor 1441 and the second feeding conveyor 1442 are symmetrically arranged, and when the first feeding conveyor 1441 and the second feeding conveyor 1442 convey a workpiece (i.e., a PCB), two side edges of the PCB are respectively pressed on the first feeding conveyor 1441 and the second feeding conveyor 1442.

It should be noted that the upper segment of the conveyor belt refers to the upper segment of the two segments of the conveyor belt that run in opposite directions. Specifically, in the present embodiment, the upper stage of the feeding first belt 1441 means that the feeding first belt 1441 is fitted over the upper portions of the feeding first driven wheel 1431 and the feeding second driven wheel 1432, and the upper stage of the feeding second belt 1442 means that the feeding second belt 1442 is fitted over the upper portions of the feeding third driven wheel 433 and the feeding fourth driven wheel 1434.

Specifically, the feed conveyor line 14 further includes a feed adjusting motor 1461, a feed adjusting ball screw 1462, and an adjusting feed nut 1463, wherein the feed first transmission frame 1451 is fixedly disposed on the feed frame 11, the feed adjusting ball screw 1462 is disposed on the feed frame 11 perpendicular to the feed first transmission frame 1451, the adjusting feed nut 1463 is sleeved on a surface of the feed adjusting ball screw 1462 and is fixedly connected with the feed second transmission frame 1452, and the feed adjusting motor 1461 drives the feed adjusting ball screw 1462 to rotate to drive the adjusting feed nut 1463 to move along the feed adjusting ball screw 1462, so that the feed second transmission frame 1452 moves close to or away from the feed first transmission frame 1451.

The feeding adjustment motor 1461 drives the feeding adjustment ball screw 1462 to rotate, drives the adjustment feeding nut 1463 on the feeding adjustment ball screw 1462 to move, and enables the feeding second transmission frame 1452 to approach or separate to the feeding first transmission frame 1451, thereby realizing the distance between the feeding first transmission belt 1441 and the feeding second transmission belt 1442, and enabling the distance between the feeding first transmission belt 1441 and the feeding second transmission belt 1442 to be adapted to the width of the PCB so as to smoothly transmit the PCB.

Specifically, the feed conveying line 14 still includes that the worm wheel 1465 is adjusted in the feed, the worm 1464 is adjusted in the feed, the worm 1465 cover is adjusted in the feed and is established on ball screw's surface, the worm 1464 is adjusted with the feed to the feed and the meshing of worm wheel 1465 is adjusted, thereby the feed accommodate motor 1461 drive feed accommodate the worm 1464 and rotate and drive ball screw and rotate.

The feeding adjustment worm 1464 is arranged in parallel with the feeding first conveying frame 1451, the feeding adjustment worm 1464 is meshed with the feeding adjustment worm wheel 1465, and when the feeding adjustment motor 1461 drives the feeding adjustment worm 1464 to rotate, the feeding adjustment worm 1464 drives the ball screw to rotate through the feeding adjustment worm wheel.

Referring to fig. 4-6, specifically, the feeding lifting driving module 121 includes a feeding lifting driving motor 1211, a feeding lifting trapezoidal screw 1212, and a feeding lifting feeding nut 213, wherein the feeding lifting trapezoidal screw 1212 is vertically disposed, the feeding lifting driving motor 1211 is fixed on the feeding frame 11 and is in driving connection with the feeding lifting trapezoidal screw 1212, and the feeding lifting feeding nut 213 is sleeved on the surface of the feeding lifting trapezoidal screw 1212 and is fixedly connected with the feeding lifting platform 122.

The feed lifting driving motor 1211 drives the ball screw to rotate, so that the feed lifting feed nut 213 moves along the feed lifting trapezoidal screw 1212 to drive the feed lifting table 122 to move in the vertical direction, automatically conveys the PCB stacked on the feed lifting table 122 to be level with the upper section of the conveyor belt of the feed conveyor line 14, and moves the PCB onto the feed conveyor line 14 by the material taking mechanism 13. When the last workpiece is removed, the feed elevating drive motor 1211 drives the feed elevating table 122 to reset, and the workpiece is manually added to prepare for the next feeding. The feeding lifting driving module 121 of the embodiment adopts a combination of a motor and a ball screw, so that the feeding lifting platform 122 is stable and accurate in movement, and the feeding lifting platform 122 cannot slide down after power failure, so that the feeding lifting driving module has high safety.

Referring to fig. 4-6, specifically, the feeding lifting mechanism 12 further includes a feeding lifting bracket 125, the feeding lifting bracket 125 is disposed on the feeding frame 11, the top end of the feeding lifting trapezoidal screw 1212 is rotatably connected to the top end of the feeding lifting bracket 125, a feeding guide rod 1254 parallel to the feeding lifting trapezoidal screw 1212 is disposed on the feeding lifting bracket 125, a feeding guide block 1255 is sleeved on the surface of the feeding guide rod 1254, and the feeding guide block 1255 is fixedly connected to the feeding lifting platform 122. The movement of the feed lift 122 is made more smooth by the provision of the feed guide bar 1254 in cooperation with the feed guide block 1255.

Referring to fig. 4-6, specifically, the feeding lifting support 125 includes a feeding lifting base 1251, a feeding lifting base 1252, and feeding lifting base reinforcing ribs 1253, the feeding lifting base 1252 is vertically disposed on the feeding lifting base 1251, and two sides of the feeding lifting base 1252 are fixedly connected to the feeding lifting base 1251 through the feeding lifting base reinforcing ribs 1253. By the above structure, the structure of the feed elevating bracket 125 is stabilized.

Referring to fig. 4 to 6, specifically, the feeding lifting driving motor 1211 is connected to the feeding lifting trapezoidal screw rod 1212 through the feeding worm gear reducer 123, the feeding worm gear reducer 123 includes a reduction worm gear and a reduction worm, the reduction worm gear is sleeved on the surface of the feeding lifting trapezoidal screw rod 1212, a crankshaft of the feeding lifting driving motor 1211 is fixedly connected to the reduction worm, and the reduction worm gear is engaged with the reduction worm.

By adopting the above scheme, the feeding lifting driving motor 1211 is connected with the feeding lifting trapezoidal screw rod 1212 through the feeding worm gear speed reducer 123, the structure is stable, the output torque is high, the lifting load is greatly improved, and therefore the single-time emptying can be greatly increased.

Referring to fig. 4-6, specifically, the feeding lifting mechanism 12 further includes a limiting component, the limiting component includes a plurality of feeding fixing limiting rods 1241, the feeding fixing limiting rods 1241 are vertically disposed on the feeding frame 11, and the feeding fixing limiting rods 1241 are distributed in two rows and respectively located at two adjacent sides of the feeding lifting platform 122.

By adopting the above scheme, the two adjacent sides of the feeding lifting platform 122 are provided with the feeding fixing limiting rods 1241, the PCB stacked on the feeding lifting platform 122 is placed by the two rows of feeding fixing limiting rods 1241, so that the arrangement of the PCB is neat, the material taking mechanism 13 is convenient to take the material, and the PCB can be prevented from sliding off in the lifting process to play a role in limiting protection.

Referring to fig. 4-6, specifically, the limiting assembly further includes a feeding adjusting limiting rod 1242, a feeding sliding rail 1243, and a feeding sliding block 1244, the feeding adjusting limiting rod 1242 and one row of feeding fixing limiting rods 1241 are disposed on two opposite sides of the feeding lifting platform 122, the feeding sliding rail 1243 is disposed on the feeding frame 11, the feeding adjusting limiting rod 1242 is connected to the feeding sliding rail 1243 through the feeding sliding block 1244, so that the feeding adjusting limiting rod 1242 can move toward the feeding fixing limiting rod 1241 on the opposite side, and the feeding lifting platform 122 is provided with a feeding moving groove 1224 for the feeding adjusting limiting rod 1242 to move.

By adopting the above scheme, the feed adjusting limiting rod 1242 is moved to the feed fixing limiting rod 1241 through the matching of the feed sliding block 1244 and the feed sliding rail 1243, so that the feed adjusting limiting rod 1242 and the feed fixing limiting rod 1241 clamp the PCB together, the PCB is further limited, and the conveying stability of the feed lifting mechanism 12 and the material taking effect of the material taking mechanism 13 are ensured.

Referring to fig. 4-6, specifically, the feeding lifting platform 122 includes a feeding lifting sliding plate 1221, a feeding lifting platform 1222, and a feeding lifting rib 1223, the feeding lifting platform 1222 is disposed at the upper end of the feeding lifting sliding plate 1221, and the side edge of the feeding lifting sliding plate 1221 is fixedly connected to the side edge of the feeding lifting platform 1222 through the feeding lifting rib 1223. Through the arrangement, the structure of the feeding lifting platform 122 is more stable, the feeding lifting platform 122 can better bear the weight of workpieces, and the single-time emptying can be greatly increased.

Referring to fig. 4 to 6, specifically, the material taking manipulator includes a material taking cylinder 1331, a material taking bracket 1332, and a vacuum nozzle 1333, the material taking transverse driving module 132 is drivingly connected to the material taking cylinder 1331, the material taking cylinder 1331 is drivingly connected to the material taking bracket 1332 and drives the material taking bracket 1332 to move vertically, and the vacuum nozzle 1333 is fixedly disposed on the material taking bracket 1332.

In this embodiment, four vacuum nozzles 1333 are distributed on four end points of the material taking support 1332, and the vacuum nozzles 1333 are connected to a vacuum generator. When the material taking manipulator is driven by the material taking transverse driving module 132 and the material taking longitudinal driving module 131 to move to the position above the feeding lifting mechanism 12, the material taking cylinder 1331 drives the material taking support 1332 to descend to enable the vacuum suction nozzle 1333 to be in contact with the PCB, the vacuum generator works to enable the vacuum suction nozzle 1333 to generate negative pressure to absorb the PCB, the material taking cylinder 1331 drives the material taking support 1332 to reset and lift, the material taking manipulator moves to the position above the feeding conveying line 14, the material taking cylinder 1331 drives the material taking support 1332 to descend, and the vacuum suction nozzle 1333 removes the negative pressure to place the PCB on the feeding conveying line 14.

Sorting and stacking device

Referring to fig. 10-17, a sorting and stacking apparatus includes a sorting rack 21, a delta robot 22, a sorting conveyor line 23, a CCD camera 242, a pad feeding mechanism 25, a non-defective product flow line 26, a defective product recycling mechanism 27, and a control system, wherein the delta robot 22 is disposed in the sorting rack 21, the sorting conveyor line 23, the pad feeding mechanism 25, the non-defective product flow line 26, and the defective product recycling mechanism 27 are disposed below the delta robot 22, the sorting conveyor line 23, the pad feeding mechanism 25, and the defective product recycling mechanism 27 are disposed at two sides of the non-defective product flow line 26, the CCD camera 242 is disposed above the sorting conveyor line 23, a detection end of the CCD camera 242 faces the sorting conveyor 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 disposed on the base 251 and is drivingly connected to the lifting table 254, the lifting table 254 is driven by the first driving member to move in a vertical direction, the defective product recycling mechanism 27 comprises a second driving member, a recycling table and a recycling plate 275, the second driving member is arranged on the recycling table and is in driving connection with the recycling plate 275, the second driving member drives the recycling plate 275 to move along the vertical direction, the first driving member, the second driving member, the delta robot 22 and the sorting conveying line 23 are connected with the output end of the control system, and the CCD camera 242 is connected with the input end of the control system.

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

firstly, the backing plate feeding mechanism 25 conveys the backing plates upwards, then the delta robot 22 takes out the backing plates on the backing plate feeding mechanism 25 and places the backing plates on the good product assembly line 26, meanwhile, the sorting conveying line 23 starts to move, the PCB 28 is moved to the detection area of the CCD camera 242 for identification, after the detection is finished, the sorting conveying line 23 conveys the PCB 28 to one end of the sorting conveying line 23, the control system controls the delta robot 22 to grab the PCB 28 according to the data detected and identified by the CCD camera 242, then the good product PCB 28 is placed on the backing plates, the inferior product PCB 28 is placed on the recovery plates 275, and the sorting and stacking of the PCB 28 can be completed by repeating the actions.

Compared with the prior art, the PCB 28 sorting and stacking device can accurately identify information of the PCB 28, efficiently and quickly sort and stack the PCB 28, effectively saves time and labor, promotes the operation efficiency of a production line, and can improve the qualification rate of sorting by detecting the PCB 28 through the CCD camera 242.

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

In this embodiment, the worm gear reducer 253 is further included, a worm gear of the worm gear reducer 253 is sleeved on the surface of the first trapezoidal screw 250, a crankshaft of the first motor 252 is fixedly connected with a worm of the worm gear reducer 253, and the worm gear is meshed with the worm.

Adopt above-mentioned scheme, through setting up worm gear speed reducer 253, make first driving piece output torque higher, the lifting load promotes greatly to but make the single blowing greatly increased.

In this embodiment, still be provided with dustcoat 241, dustcoat 241 and cover CCD camera 242 inside, still be provided with light source and backlight simultaneously, the light source is located the top of letter sorting transfer chain 23 and is located dustcoat 241, the below of letter sorting transfer chain 23 is located to the backlight, can improve the accuracy of the detection of CCD camera 242 through setting up light source and backlight.

Specifically, still include the crane 255, the first driving piece includes first motor 252, first trapezoidal lead screw 250, first trapezoidal screw nut 283, crane 255 locates the base 251 upper end, first motor 252 is located on the base 251, first motor 252 is connected with the one end drive of first trapezoidal lead screw 250, the other end of first trapezoidal lead screw 250 rotates with crane 255 to be connected, first trapezoidal screw nut 283 overlaps the surface of locating first trapezoidal lead screw 250, and first trapezoidal screw nut 283 and elevating platform 254 fixed connection.

By adopting the scheme, the first driving piece adopts the combination of the motor and the screw rod, so that the lifting platform 254 is ensured to move stably and accurately, the lifting platform 254 cannot slide downwards after power failure, and the safety is very high.

Specifically, the recycling table further comprises a limiting plate 274, the second driving element comprises a second motor 271, a second ball screw 273 and a second ball screw nut 276, the recycling table comprises a recycling table top 272 and a recycling frame 277, the recycling table top 272 is fixedly arranged at the upper end of the recycling frame 277, the second ball screw 273 vertically penetrates through two ends of the recycling table top 272, the second ball screw nut 276 is sleeved on the surface of the second ball screw 273, the second ball screw nut 276 is fixedly connected with the recycling table top 272, the second motor 271 is arranged in the recycling frame 277, a motor shaft of the second motor 271 is fixedly connected with the lower end of the second ball screw 273, the recycling plate 275 is fixedly connected with the upper end of the second ball screw 273, and the second motor 271 is connected with an output end of the control system.

By adopting the scheme, the inferior PCB 28 can be placed on the recovery plate 275 by the delta robot 22 and stacked on the recovery plate 275, the second motor 271 controls the recovery plate 275 to move downwards when each layer is stacked, and when the layers are stacked to a certain extent, an alarm is started to remind a worker to intensively transport the inferior PCB.

Specifically, good product assembly line 26 includes conveying frame 263, conveyer belt 265, gyro wheel, third motor 266, the gyro wheel is located the both ends of conveying frame 263, conveyer belt 265 cover is located the outer wall of gyro wheel, third motor 266 is connected with the gyro wheel drive, and third motor 266 drive gyro wheel rotates, third motor 266 is connected with control system's output.

By adopting the above scheme, after the good-quality PCB 28 is stacked at one end of the conveyor belt 265, the control system controls the third motor 266 to operate, so as to convey the PCB 28 to the other end of the conveyor belt 265 for the next process.

Specifically, the good product assembly line 26 is further provided with a moisture releasing mechanism, the moisture releasing mechanism comprises a first cylinder 261, a second cylinder 262 and a suction nozzle 64, the first cylinder 261 is fixedly arranged above one end of the good product assembly line 26, the second cylinder 262 is fixedly connected with a piston rod of the first cylinder 261, the first cylinder 261 drives the second cylinder 262 to move along the horizontal direction, the suction nozzle 64 is connected with the piston rod of the second cylinder 262, and the second cylinder 262 drives the suction nozzle 64 to move along the vertical direction.

With the above-mentioned scheme, when the PCB 28 is conveyed to the other end of the conveyor 265, the suction nozzle 64 sucks the moisture card placed on one side of the good product flow line 26 and places the moisture card on the upper end of the good product PCB 28 through the cooperation of the first cylinder 261 and the second cylinder 262.

Specifically, the sorting conveyor 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 a plurality of driven wheels 240, where the two conveying rails 237 are disposed at the upper end of the conveying frame 230 and are parallel to each other, the driven wheels 240 are rotatably disposed at the inner sides of the two conveying rails 237, the rotating shaft 235 is disposed at the lower ends of the two conveying rails 237 and is perpendicular to the two conveying rails 237, the two driving wheels 239 are sleeved on the outer walls at the two ends of the rotating shaft 235, the base belts 238 are sleeved on the outer walls of the driving wheels 239 and the driven wheels 240, the fourth motor 231 is disposed on the conveying frame 230, the fourth motor 231 is drivingly connected to the rotating shaft 235, and the fourth motor 231 drives the.

By adopting the above scheme, the delta robot 22 places the PCB 28 to be detected on the upper ends of the two base bands 238, and the fourth motor 231 drives the PCB 28 placed on the base band 238 to move to the detection area of the CCD camera 242 for identification when the base band 238 moves, wherein a limiting block is arranged at one end of the base band 238 to limit the PCB 28 and prevent the PCB from sliding out of the base band 238 due to the inertia of movement.

Specifically, the sorting conveyor line 23 further includes a fifth motor 232, a worm 234, two worm wheels 243, two third ball screws 233 and two third ball screw nuts 236, the two third ball screws 233 are rotatably disposed on the conveying frame 230, 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, one conveying rail 237 of the two conveying rails 237 is fixedly disposed on the conveying frame 230, the other conveying rail 237 is fixedly connected to the two third ball screw nuts 236, the worm 234 is disposed between the two third ball screws 233 and perpendicular to the two third ball screws 233, the two worm wheels 243 are respectively sleeved on the outer walls of the two third ball screws 233, the worm 234 is engaged with the two worm wheels 243, the fifth motor 232 is disposed on the conveying frame 230 and is drivingly connected to the worm 234, the fifth motor 232 drives the worm 234 to rotate and drive the two third ball screws 233 to rotate, so as to change the distance between the two conveying rails 237.

By adopting the scheme, the width of different PCB boards 28 can be adapted by changing the distance between the two conveying tracks 237, so that the sorting conveying line 23 can convey the PCB boards 28 with different widths, the adaptability of the invention is stronger, the different sorting conveying lines 23 can not be replaced again due to the fact that the PCB boards 28 with different sorting widths are sorted, and the production cost is saved invisibly.

Specifically, still include stop gear, stop gear includes spout 259, first slider 282, adjusts gag lever post 257, a plurality of fixed gag lever post 256, fixed gag lever post 256 is vertical to be located the upper end of base 251, and fixed gag lever post 256 is provided with two rows and distributes in the adjacent both sides of elevating platform 254, spout 259 is located on the base 251, adjust gag lever post 257 and one row of fixed gag lever post 256 therein and distribute in the relative both sides of elevating platform 254, adjust gag lever post 257 and be connected with spout 259 through first slider 282 for adjust gag lever post 257 can remove to the fixed gag lever post 256 of opposite side, offer the spacing groove 2542 that supplies to adjust gag lever post 257 removal on the elevating platform 254.

Adopt above-mentioned scheme, through setting up fixed gag lever post 256 in the adjacent both sides of elevating platform 254, the PCB board 28 that will pile up on elevating platform 254 is close to the fixed gag lever post 256 of both sides, then makes to adjust gag lever post 257 and remove to fixed gag lever post 256 through sliding second slider 258 to make and adjust gag lever post 257 and fixed gag lever post 256 and press from both sides tight PCB board 28 jointly, it is fine spacing to PCB board 28, can not the landing when guaranteeing that PCB board 28 rises.

Specifically, the number of the sorting conveying lines 23 is two, and the two sorting conveying lines 23 are located on two sides of the good product production line 26.

Adopt above-mentioned scheme, dock with two feed transfer chain 14 respectively through setting up two letter sorting transfer chain 23 to have two CCD cameras 242 to detect, letter sorting pile up neatly simultaneously, make output efficiency higher, make the productivity promote greatly.

In this embodiment, the lifting platform 254 includes a lifting slide plate 2544, a lifting table surface 2541, and lifting ribs 2543, the lifting table surface 2541 is disposed at the upper end of the lifting slide plate 2544, the side edge of the lifting slide plate 2544 is fixedly connected to the side edge of the lifting table surface 2541 through the lifting ribs 2543, and the second slider 258 is disposed on the lifting slide plate 2544.

By adopting the scheme, the lifting platform 254 comprises the lifting sliding plate 2544, the lifting table surface 2541 and the lifting reinforcing ribs 2543, and the side edge of the lifting sliding plate 2544 is fixedly connected with the side edge of the lifting table surface 2541 through the lifting reinforcing ribs 2543, so that the structure of the lifting platform 254 is more stable, the lifting platform 254 can better bear the weight of the PCB 28, and the single-time emptying is greatly increased.

In this embodiment, the lifting platform further comprises a nut seat 284, and the first trapezoidal lead screw nut 283 is fixedly connected with one side of the lifting platform 254 through the nut seat 284.

By adopting the above scheme, the nut seat 284 is arranged, so that the connection between the first trapezoidal lead screw nut 283 and the lifting platform 254 is more stable, and the moving stability of the lifting platform 254 is ensured.

The above embodiments are merely illustrative of the preferred embodiments of the present invention, and not restrictive, and various changes and modifications to the technical solutions of the present invention may be made by those skilled in the art without departing from the spirit of the present invention, and the technical solutions of the present invention are intended to fall within the scope of the present invention defined by the appended claims.

Claims

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.