CN113084913A

CN113084913A - Plate collecting machine for support plate

Info

Publication number: CN113084913A
Application number: CN202110409809.XA
Authority: CN
Inventors: 张成宣; 程彦
Original assignee: Dongguan Siwo Intelligent Equipment Co ltd
Current assignee: Dongguan Siwo Intelligent Equipment Co ltd
Priority date: 2021-04-15
Filing date: 2021-04-15
Publication date: 2021-07-09

Abstract

The invention provides a support plate collecting machine which comprises a rack, a side edge searching assembly, a front edge searching assembly, a carrying manipulator, an electric control system and a discharging mechanism, wherein the rack is provided with a conveying mechanism, and the conveying mechanism is used for conveying a support plate with a workpiece forward position or a workpiece offset position; the side edge searching assembly is used for identifying a first point position and a second point position of one side edge of the positioning carrier plate; the front edge searching assembly is used for identifying and positioning a third point position of the front edge connected with the side edge in the carrier plate; the conveying manipulator comprises a moving part, a rotating part and a conveying part, wherein the conveying part is provided with a conveying forward position and a conveying offset position, the conveying forward position corresponds to the workpiece forward position, and the conveying offset position corresponds to the workpiece offset position; calculating the position offset information of the carrier plate according to the first point position, the second point position and the third point position by the electric control system, so that the rotating part drives the conveying part to rotate to a conveying offset position; the blanking mechanism is provided with a carrier for placing the support plate.

Description

Plate collecting machine for support plate

Technical Field

The invention relates to the technical field of carrier plate production, in particular to a carrier plate collecting machine.

Background

The IC carrier is one of the core components of electronic products such as desktop computers, portable computers, audio-visual products, digital cameras and the like. IC carrier board factories are usually delivered by a board splicing method, and one board is often provided with dozens or even hundreds of unit boards. In order to meet the requirement of the automatic operation of the processing line, after each processing procedure of the IC carrier is completed, the IC carriers conveyed by the conveyor belt are generally placed on each carrier one by a trigger so as to be transferred to other devices for processing. However, the existing plate placing machine has the following problems: when the position of the IC carrier on the conveyor belt is tilted relative to the placing position, the manipulator of the plate placing machine cannot accurately and effectively carry the IC carrier to the carrier. If the adjusting mechanism for pushing and adjusting the position of the IC carrier is disposed on the conveyor belt, the IC carrier may be scratched, which may seriously affect the yield of the IC carrier.

Disclosure of Invention

The invention aims to provide a carrier plate collecting machine which can carry out non-contact positioning on a carrier plate and automatically collect the carrier plate.

In order to achieve the purpose, the invention provides a support plate collecting machine which comprises a rack, a side edge searching assembly, a front edge searching assembly, a carrying manipulator, an electric control system and a discharging mechanism, wherein the rack is provided with a conveying mechanism, and the conveying mechanism is used for conveying a support plate with a workpiece forward position or a workpiece offset position; the side edge searching assembly is arranged on the rack and is positioned below the conveying mechanism, and the side edge searching assembly is used for identifying and positioning a first point position and a second point position of one side edge of the carrier plate; the front edge searching assembly is arranged on the rack and is positioned below the conveying mechanism, and the front edge searching assembly is used for identifying and positioning a third point position of a front edge of the carrier plate, which is connected with the side edge; the conveying manipulator is arranged on the rack and positioned above the conveying mechanism, the conveying manipulator comprises a moving part, a rotating part and a conveying part, the rotating part is arranged on the moving part, the conveying part is arranged on the rotating part, the conveying part is provided with a conveying forward position and a conveying offset position, the conveying forward position corresponds to the workpiece forward position, and the conveying offset position corresponds to the workpiece offset position; the electric control system is respectively electrically connected with the side edge searching assembly, the front edge searching assembly and the carrying manipulator, and the electric control system calculates the position deviation information of the carrier plate according to the first point position, the second point position and the third point position, so that the rotating part drives the carrying part to rotate from the carrying forward position to the carrying deviation position according to the position deviation information; the blanking mechanism is arranged on the rack, and a carrier for placing the support plate at the forward position of the workpiece is arranged on the blanking mechanism.

Preferably, the side edge finding assembly comprises a side edge finding moving mechanism, a first sensor and a second sensor, the side edge finding moving mechanism is disposed on the rack, the first sensor and the second sensor are respectively disposed on the side edge finding moving mechanism, the side edge finding moving mechanism can drive the first sensor and the second sensor to move, the first sensor is used for identifying and positioning the first point position, and the second sensor is used for identifying and positioning the second point position.

Preferably, the side edge finding moving mechanism comprises a first motor, a first lead screw, a first sliding sleeve and a first connecting plate, the first motor is arranged on the rack, the output end of the first motor is connected with the first lead screw, the first sliding sleeve is arranged on the first lead screw, the first sliding sleeve is connected with the first connecting plate, and the first inductor and the second inductor are arranged on the first connecting plate side by side along the moving direction of the first connecting plate.

Preferably, the leading edge searching assembly includes a leading edge searching moving mechanism and a third sensor, the leading edge searching moving mechanism is disposed on the frame, the third sensor is disposed on the leading edge searching moving mechanism, the leading edge searching moving mechanism can drive the third sensor to move, and the third sensor is used for identifying and positioning the third point.

Preferably, the front edge finding moving mechanism includes a second motor, a second lead screw, a second sliding sleeve and a second connecting plate, the second motor is disposed on the frame, an output end of the second motor is connected to the second lead screw, the second sliding sleeve is disposed on the second lead screw, the second sliding sleeve is connected to the second connecting plate, and the third sensor is disposed on the second connecting plate.

Preferably, the carrier is located on the conveying mechanism, and the carrier is used for carrying the carrier plate.

Preferably, the carrier loading device further comprises a top lifting assembly, the top lifting assembly is disposed on the rack and located below the carrier, and the carrier is lifted up and separated from the conveying mechanism by the top lifting assembly, so that the carrier plate on the carrier is carried by the carrying manipulator.

Preferably, the top lifting assembly comprises a top lifting driving mechanism and a top lifting member, the top lifting driving mechanism is arranged on the rack, and an output end of the top lifting driving mechanism is connected with the top lifting member and can drive the top lifting member to lift.

Preferably, the blanking mechanism comprises a first lifting mechanism, a second lifting mechanism and a supporting mechanism, a first station for placing carrier components formed by stacking a plurality of unloaded carriers is arranged at the lower part of the rack, a second station is arranged at the middle part of the rack, and a third station is arranged at the upper part of the rack; the first lifting mechanism is arranged on the frame and used for lifting the carrier assembly positioned at the first station to the second station; the second lifting mechanism is arranged on the rack and used for lifting the carrier assembly positioned at the second station to the third station; the supporting mechanism is arranged on the rack and located at the third station, and supports the carriers located at the second layer and above from bottom to top in the carrier assembly by means of the supporting mechanism, so that the second lifting mechanism lowers the carriers at the bottommost layer in the carrier assembly to the second station, and the carrying manipulator carries the carrier plate to the carriers located at the second station.

Preferably, the first lifting mechanism includes a first lifting driving mechanism and a lifting carrier, the first lifting driving mechanism is disposed on the frame, an output end of the first lifting driving mechanism is connected to the lifting carrier, and the first lifting driving mechanism can drive the lifting carrier to lift the carrier assembly located at the first station to the second station.

Preferably, the second lifting mechanism includes a second lifting driving mechanism and a clamping mechanism, the second lifting driving mechanism is disposed on the frame, an output end of the second lifting driving mechanism is connected to the clamping mechanism, and the clamping mechanism is configured to clamp the carrier at the bottom layer of the carrier assembly; the carrier at the bottommost layer in the carrier assemblies at the second station is clamped by the clamping mechanism, so that the second lifting driving mechanism drives the clamping mechanism to be lifted to the third station together with the carrier assemblies.

Preferably, the clamping mechanism includes a clamping bracket and clamping components, the clamping bracket has an accommodating space for the carrier component to pass through, the two clamping components are respectively disposed on two opposite sides of the clamping bracket, and the clamping components are used for clamping the carrier at the bottommost layer of the carrier components.

Preferably, the clamping assembly comprises a clamping driving mechanism and a clamping member, the clamping driving mechanism is arranged on the clamping bracket, and an output end of the clamping driving mechanism is connected with the clamping member and can drive the clamping member to move and clamp the carrier.

Preferably, the clamping member is provided with a plurality of first positioning members which are matched with the grooves of the carrier.

Preferably, two bearing mechanism be the interval set up in the frame, bearing mechanism includes bearing support, bearing actuating mechanism and bearing hook plate, the bearing support set up in the frame, bearing actuating mechanism set up in on the bearing support, bearing actuating mechanism with the bearing hook plate is connected, bearing actuating mechanism can drive the bearing hook plate removes, makes the bearing hook plate bearing by down up lie in the second floor and more than in the carrier subassembly the carrier.

Preferably, the bearing hook plate is provided with a plurality of second positioning parts matched with the grooves of the carrier.

Preferably, unloading mechanism still includes positioning mechanism, positioning mechanism set up in the frame and be located the storage station, positioning mechanism is used for the adjustment to be located the storage station the position of carrier subassembly.

Preferably, the blanking mechanism further comprises an AGV trolley, a storage carrier located at the storage station is arranged on the rack, the storage carrier is used for carrying the carrier assembly, and a trolley access space located below the storage carrier is arranged on the rack; the AGV trolley enters and exits the trolley entering and exiting space so as to carry the carrier assembly to the storage bearing piece, or the carrier assembly on the storage bearing piece is carried away.

Compared with the prior art, the carrier plate receiving machine provided by the invention has the advantages that the first point position and the second point position of one side edge of the carrier plate are identified and positioned through the side edge searching component, the third point position in the front edge connected with the side edge in the carrier plate is identified and positioned through the front edge searching component, so that the electric control system can calculate the position deviation information of the carrier plate according to the first point position, the second point position and the third point position, the rotating part drives the carrying part to rotate from the carrying forward direction position to the carrying deviation position according to the position deviation information, the carrying part further enables the carrying part to absorb the carrier plate from the carrying deviation position corresponding to the carrier plate, and after the carrier plate is absorbed, the rotating part can drive the carrying part to reset to the carrying forward direction position, so that the carrier plate is corrected to the workpiece forward direction position, and the carrying manipulator can place the. Therefore, the carrier plate receiving machine can carry out non-contact edge finding and positioning on the carrier plate, directly absorb and correct the position of the carrier plate through the carrying manipulator, ensure that each workpiece is positioned at the same forward position and placed on the carrier, and simultaneously protect the carrier plate, thereby avoiding the quality problems of wiping and the like caused by the existing contact adjustment of the carrier plate.

Drawings

Fig. 1 is a schematic perspective view of a carrier board receiving machine according to the present invention.

Fig. 2 is a schematic structural view of the conveying mechanism and the transfer robot of the present invention.

Fig. 3 is a schematic view of the structure at the position of the conveying mechanism of the present invention.

FIG. 4 is a schematic structural diagram of a side edge finder and a front edge finder according to the present invention.

Fig. 5 is a schematic diagram of the electrical connection among the electrical control system, the side edge searching assembly, the front edge searching assembly and the handling robot according to the present invention.

Fig. 6 is a schematic structural view of the ceiling assembly of the present invention.

Fig. 7 is a schematic structural view of the carrier assembly of the blanking mechanism of the present invention at the first station.

Fig. 8 is a schematic structural view of the carrier assembly of the blanking mechanism of the present invention at the second station.

Fig. 9 is a schematic structural view of the carrier assembly of the blanking mechanism of the present invention at the third station.

Fig. 10 is a schematic structural view of the carrier of the blanking mechanism of the present invention when it is lowered from the third station to the second station.

Fig. 11 is a schematic structural view of the first lifting mechanism of the present invention.

Fig. 12 is a schematic structural view of a second lifting mechanism of the present invention.

Figure 13 is a schematic view of the construction of the racking mechanism of the present invention.

Fig. 14 is a schematic structural diagram of a carrier assembly according to the present invention.

Fig. 15 is a schematic structural view of another carrier assembly of the blanking mechanism of the present invention at a third station.

Fig. 16 is a schematic structural view of an alignment assembly of the alignment mechanism of the present invention.

Detailed Description

In order to explain technical contents and structural features of the present invention in detail, the following description is made with reference to the embodiments and the accompanying drawings.

Referring to fig. 1 to 5, a carrier board receiving machine 100 of the present invention includes a frame 1, a side edge searching assembly 3, a front edge searching assembly 4, a carrying manipulator 5, an electric control system 6 and a blanking mechanism 9, wherein the frame 1 is provided with a conveying mechanism 2, and the conveying mechanism 2 is used for conveying a carrier board having a workpiece forward position or a workpiece offset position; the side edge searching assembly 3 is arranged on the rack 1 and is positioned below the conveying mechanism 2, and the side edge searching assembly 3 is used for identifying and positioning a first point position and a second point position of one side edge of the carrier plate; the front edge searching assembly 4 is arranged on the rack 1 and is positioned below the conveying mechanism 2, and the front edge searching assembly 4 is used for identifying and positioning a third point position of the front edge connected with the side edge in the carrier plate; the conveying manipulator 5 is arranged on the frame 1 and positioned above the conveying mechanism 2, the conveying manipulator 5 comprises a moving part 51, a rotating part 52 and a conveying part 53, the rotating part 52 is arranged on the moving part 51, the conveying part 53 is arranged on the rotating part 52, the conveying part 53 has a conveying forward position and a conveying offset position, the conveying forward position corresponds to the workpiece forward position, and the conveying offset position corresponds to the workpiece offset position; the electric control system 6 is electrically connected with the side edge searching component 3, the front edge searching component 4 and the carrying manipulator 5 respectively, and the electric control system 6 calculates the position deviation information of the carrier plate according to the first point position, the second point position and the third point position, so that the rotating part 52 drives the carrying part 53 to rotate from the carrying forward position to the carrying deviation position according to the position deviation information; the blanking mechanism 9 is arranged on the frame 1, and a carrier 301 for placing a carrier plate in the forward position of a workpiece is arranged on the blanking mechanism 9.

Referring to fig. 2 and 4, the side edge finding assembly 3 includes a side edge finding moving mechanism 31, a first sensor 32 and a second sensor 33, the side edge finding moving mechanism 31 is disposed on the frame 1, the first sensor 32 and the second sensor 33 are respectively disposed on the side edge finding moving mechanism 31, the side edge finding moving mechanism 31 can drive the first sensor 32 and the second sensor 33 to move, the first sensor 32 is used for identifying and positioning a first point position, and the second sensor 33 is used for identifying and positioning a second point position. The conveying mechanism 2 has a first space along the moving direction of the first sensor 32 for the first sensor 32 to identify and position, and the conveying mechanism 2 has a second space along the moving direction of the second sensor 33 for the second sensor 33 to identify and position. By providing the first space and the second space, it is ensured that both the first sensor 32 and the second sensor 33 can identify and position the carrier plate located on the conveying mechanism 2. Specifically, the side edge finding moving mechanism 31 includes a first motor 311, a first screw 312, a first sliding sleeve 313 and a first connecting plate 314, the first motor 311 is disposed on the frame 1, an output end of the first motor 311 is connected to the first screw 312, the first sliding sleeve 313 is sleeved on the first screw 312, the first sliding sleeve 313 is connected to the first connecting plate 314, and the first sensor 32 and the second sensor 33 are disposed on the first connecting plate 314 side by side along a moving direction of the first connecting plate 314. The first motor 311 can drive the first lead screw 312 to rotate, so as to drive the first sliding sleeve 313 to drive the first connecting plate 314 to move, and further drive the first sensor 32 and the second sensor 33 to move. By driving the first sensor 32 and the second sensor 33 to move, the first sensor 32 and the second sensor 33 can identify the first point position and the second point position of the positioning carrier plate in sequence. For example, the side edge finder 3 may respectively use two separate driving mechanisms to separately drive the first sensor 32 and the second sensor 33 to move, so as to identify the first point position and the second point position of the positioning carrier. Further, a first linear guide 11 is disposed on the frame 1, and a first connecting plate 314 is connected to the first linear guide 11. The first linear guide 11 may guide and bear against the first link plate 314.

Referring to fig. 2 and 4, the front edge searching assembly 4 includes a front edge searching moving mechanism 41 and a third sensor 42, the front edge searching moving mechanism 41 is disposed on the frame 1, the third sensor 42 is disposed on the front edge searching moving mechanism 41, the front edge searching moving mechanism 41 can drive the third sensor 42 to move, and the third sensor 42 is used for identifying and positioning a third point. The first inductor 32, the second inductor 33 and the third inductor 42 are not in the same straight line. Specifically, the front edge searching moving mechanism 41 includes a second motor 411, a second screw 412, a second sliding sleeve 413 and a second connecting plate 414, the second motor 411 is disposed on the rack 1, an output end of the second motor 411 is connected to the second screw 412, the second sliding sleeve 413 is sleeved on the second screw 412, the second sliding sleeve 413 is connected to the second connecting plate 414, and the third sensor 42 is disposed on the second connecting plate 414. The second motor 411 can drive the second lead screw 412 to rotate, so as to drive the second sliding sleeve 413 to drive the second connecting plate 414 to move, and further drive the third sensor 42 to move, so that the third sensor 42 identifies a third point position of the carrier board located on the conveying mechanism 2. Further, a second linear guide rail 12 is disposed on the frame 1, and a second connecting plate 414 is connected to the second linear guide rail 12. The second linear guide 12 may guide and carry the second link plate 414.

Referring to fig. 3 and fig. 6, the carrier board receiving machine 100 of the present invention further includes a carrier 7, the carrier 7 is located on the conveying mechanism 2, and the carrier 7 is used for carrying a carrier board. Specifically, the supporting member 7 has a first opening for the first sensor 32 to identify and locate, a second opening for the second sensor 33 to identify and locate, and a third opening for the third sensor 42 to identify and locate, so as to prevent the supporting member 7 from shielding the first sensor 32, the second sensor 33, and the third sensor 42. Further, the present invention further includes a top-lifting assembly 8, wherein the top-lifting assembly 8 is disposed on the rack 1 and located below the carrier 7, and the carrier 7 is lifted up and separated from the conveying mechanism 2 by the top-lifting assembly 8, so that the carrier 7 is carried by the carrying robot 5. Specifically, the number of the top lifting assemblies 8 is four, and the four top lifting assemblies 8 respectively lift four corners of the bearing member 7, but not limited thereto. More specifically, the top assembly 8 includes a top driving mechanism 81 and a top member 82, the top driving mechanism 81 is disposed on the frame 1, and an output end of the top driving mechanism 81 is connected to the top member 82 and can drive the top member 82 to move up and down. The upper ejector 82 is driven to ascend by the upper ejector driving mechanism 81, so that the upper ejector 82 ejects the carrier 7 and disengages from the conveying mechanism 2, so that the carrier robot 5 carries the carrier board placed on the carrier 7. The top driving mechanism 81 may be a conventional telescopic cylinder, but is not limited thereto.

Referring to fig. 7 to 10, in the present embodiment, the two sides of the conveying mechanism 2 are both provided with the blanking mechanisms 9, so as to improve the board collecting efficiency of the carrier board. The blanking mechanism 9 includes a first lifting mechanism 91, a second lifting mechanism 92, and a holding mechanism 93. The lower part of the frame 1 is provided with a first station for placing a carrier assembly 300 formed by stacking a plurality of empty carriers 301. The carrier 301 is a conventional tray or a frame, but not limited thereto. The middle part of the frame 1 is provided with a second station, and the upper part of the frame 1 is provided with a third station; the first lifting mechanism 91 is arranged on the frame 1, and the first lifting mechanism 91 is used for lifting the carrier assembly 300 located at the first station to the second station; the second lifting mechanism 92 is arranged on the frame 1, and the second lifting mechanism 92 is used for lifting the carrier assembly 300 located at the second station to the third station; the supporting mechanism 93 is disposed on the frame 1 and located at the third station, and supports the carriers 301 located at the second layer and above from bottom to top in the carrier assembly 300 by means of the supporting mechanism 93, so that the second lifting mechanism 92 lowers the bottommost carrier 301 in the carrier assembly 300 to the second station, and the carrying manipulator 5 carries the carrier to the carrier 301 located at the second station.

Referring to fig. 11, in the embodiment, the first lifting mechanism 91 includes a first lifting driving mechanism 911 and a lifting carrier 912, the first lifting driving mechanism 911 is disposed on the frame 1, an output end of the first lifting driving mechanism 911 is connected to the lifting carrier 912, and the first lifting driving mechanism 911 can drive the lifting carrier 912 to lift the carrier assembly 300 located at the first station to the second station. Specifically, the lifting carrier 912 has two spaced apart carrying arms 912 a. Wherein, first promotion actuating mechanism 911 adopts the mode that motor and screw mechanism cooperation are connected, and the lead screw through motor drive screw mechanism rotates for screw mechanism's sliding sleeve drives to promote and holds carrier 912 to remove, thereby realizes going up and down, nevertheless does not regard this as the limit, for example, first promotion actuating mechanism 911 also can adopt current jacking cylinder to drive.

Referring to fig. 12 and 14, in the present embodiment, the second lifting mechanism 92 includes a second lifting driving mechanism 921 and a clamping mechanism 922, the second lifting driving mechanism 921 is disposed on the frame 1, an output end of the second lifting driving mechanism 921 is connected to the clamping mechanism 922, and the clamping mechanism 922 is used for clamping the bottommost carrier 301 in the carrier assembly 300; the bottommost carrier 301 in the carrier assembly 300 at the second station is clamped by the clamping mechanism 922, so that the second lifting driving mechanism 921 drives the clamping mechanism 922 to be lifted to the third station together with the carrier assembly 300; the carrier 301 on the second layer and above in the carrier assembly 300 is supported by the supporting mechanism 93 from bottom to top, so that the second lifting driving mechanism 921 drives the clamping mechanism 922 and the carrier 301 on the bottom layer to descend to the second station, so that the carrying robot 5 carries the carrier plate to the carrier 301 on the second station. Specifically, the clamping mechanism 922 includes a clamping bracket 922a and clamping elements 922b, the clamping bracket 922a has a receiving space 922a1 for the carrier element 300 to pass through, the two clamping elements 922b are respectively disposed on two opposite sides of the clamping bracket 922a, and the clamping elements 922b are used for clamping the carrier 301 at the bottom layer of the carrier element 300. More specifically, the clamping assembly 922b comprises a clamping driving mechanism 922b1 and a clamping member 922b2, the clamping driving mechanism 922b1 is disposed on the clamping bracket 922a, and an output end of the clamping driving mechanism 922b1 is connected to the clamping member 922b2 and can drive the clamping member 922b2 to move the clamping carrier 301. The clamping driving mechanism 922b1 may be a conventional telescopic cylinder, but is not limited thereto. Furthermore, the clamping member 922b2 is provided with a plurality of first positioning members 922b3 which are engaged with the grooves 301a of the carrier 301. When the clamping driving mechanism 922b1 drives the clamping piece 922b2 to move the clamping carrier 301, the first positioning piece 922b3 is inserted into and matched with the groove 301a of the carrier 301, so as to position each carrier 301 of the carrier assembly 300.

Referring to fig. 13 and 14, in this embodiment, the supporting mechanism 93 includes a supporting bracket 931, a supporting driving mechanism 932 and a supporting hook 933, the supporting bracket 931 is disposed on the frame 1, the supporting driving mechanism 932 is disposed on the supporting bracket 931, the supporting driving mechanism 932 is connected to the supporting hook 933, and the supporting driving mechanism 932 can drive the supporting hook 933 to move, so that the supporting hook 933 supports the carrier 301 located on the second layer and above from bottom to top in the carrier assembly 300. The bearing driving mechanism 932 drives the bearing hook plate 933 to move and insert between the carrier 301 at the bottommost layer and the carrier 301 at the second layer, so that the bearing hook plate 933 supports the carrier 301 at the second layer and above from bottom to top in the carrier assembly 300, the clamping mechanism 922 and the carrier 301 at the bottommost layer are driven by the second lifting driving mechanism 921 of the second lifting mechanism 92 to descend to the second station, and the carrier 301 at the bottommost layer can be supported by the lifting carrier 912 of the first lifting mechanism 91. Specifically, the two supporting mechanisms 93 are disposed on the frame 1 at intervals, and a gap between the two supporting mechanisms 93 is allowed to pass through the carrier assembly 300. Further, a plurality of second positioning members 934 are disposed on the supporting hook 933, and are engaged with the grooves 301a of the carrier 301. When the support driving mechanism 932 drives the support hook plate 933 to move and support the second layer and the carriers 301 above the second layer in the carrier assembly 300, the second positioning element 934 is inserted into and matched with the groove 301a of the carrier 301, so as to perform secondary positioning on each carrier 301 of the carrier assembly 300.

Referring to fig. 16, the blanking mechanism 9 further includes an adjusting and positioning mechanism 94, the adjusting and positioning mechanism 94 is disposed on the frame 1 and located at the storage station, and the adjusting and positioning mechanism 94 is used for adjusting the position of the carrier assembly 300 located at the storage station. Specifically, the adjusting and positioning mechanism 94 includes a plurality of alignment assemblies 941 arranged along the circumferential direction of the storage station, the alignment assemblies 941 include alignment driving mechanisms 941a and alignment members 941b, the alignment driving mechanisms 941a are disposed on the machine frame 1, and the output ends of the alignment driving mechanisms 941a are connected to the alignment members 941 b; each alignment driving mechanism 941a drives each alignment member 941b to move, so that each alignment member 941b adjusts the position of the carrier assembly 300 at the stocker station. The alignment driving mechanism 941a may be an existing telescopic cylinder, but is not limited thereto. In this embodiment, four are counterpointed the subassembly 941 and are arranged along the circumferential direction of storage station, counterpoint the adjustment through four are counterpointed the subassembly 941 and are carried out the four corners of carrying the subassembly 300 at the storage station to guarantee that carrying the subassembly 300 can be promoted to material loading station accurately. However, the number of the alignment elements 941 is not limited thereto.

Referring to fig. 1, a magazine carrier 13 is disposed on the rack 1 at the magazine station, and the magazine carrier 13 is used for carrying the carrier assemblies 300. In the embodiment, two stockers 13 are disposed on the rack 1 at intervals, and two stockers 13 are a group, and two groups are disposed in the embodiment for respectively carrying the carrier assemblies 300, but not limited thereto. Further, the carrier board receiving machine 100 of the present invention further includes an AGV cart 95, and the rack 1 is provided with a cart in-out space located below the storage carrier 13; the AGV cart 95 enters and exits the cart entrance space to transport the carrier assemblies 300 to the stocker 13, or to transport the carrier assemblies 300 located on the stocker 13 away. The AGV trolley 95 is used for carrying the carrier assembly 300 loaded with the carrier plate to the storage carrier 13, or the AGV trolley 95 is used for carrying the carrier assembly 300 unloaded on the storage carrier 13 away, so that automatic material carrying is realized, manual operation is not needed, and a large amount of labor cost is saved.

With reference to fig. 1 to 16, the specific working principle of the carrier board receiving machine 100 of the present invention is as follows:

the side edge searching moving mechanism 31 of the side edge searching assembly 3 drives the first sensor 32 and the second sensor 33 to move, so that the first sensor 32 identifies and positions a first point position of a side edge of a carrier plate positioned on the conveying mechanism 2, and the second sensor 33 identifies and positions a second point position of the same side edge of the carrier plate positioned on the conveying mechanism 2; the front edge searching moving mechanism 41 of the front edge searching assembly 4 drives the third sensor 42, so that the third sensor 42 identifies the position of the third point on the front edge of the positioning carrier plate, which is connected to the side edge. The electric control system 6 calculates the position offset information of the carrier plate according to the first point position, the second point position and the third point position, so that the rotating part 52 of the carrying manipulator 5 drives the carrying part 53 to rotate from the carrying forward position to the carrying offset position according to the position offset information, the carrying part 53 sucks the carrier plate from the carrying offset position corresponding to the carrier plate, after sucking the carrier plate, the rotating part 52 can drive the carrying part 53 to reset to the carrying forward position, so as to correct the carrier plate to the workpiece forward position, and ensure that the carrying manipulator 5 can place the carrier plate on the carrier 301 located at the second station in the blanking mechanism 9 according to the forward position each time.

As shown in fig. 7 to 10, when the carrier 301 is a tray, the first lifting mechanism 91 lifts the carrier assembly 300 on the magazine carrier 13 from the first station to the second station, the clamping mechanism 922 of the second lifting mechanism 92 clamps the carrier 301 on the bottom layer of the carrier assembly 300, the second lifting driving mechanism 921 drives the clamping mechanism 922 to lift the carrier assembly 300 to the third station, the support driving mechanism 932 of the support mechanism 93 can drive the support hook 933 to move, so that the support hook 933 supports the carrier 301 on the second layer and above of the carrier assembly 300 from bottom to top, the second lifting driving mechanism 921 of the second lifting mechanism 92 drives the clamping mechanism 922 to descend to the second station together with the carrier 301 on the bottom layer, and at the same time, the carrier 301 is supported on the lifting carrier 912 of the first lifting mechanism 91, after the carrier robot 5 carries the carrier 301 on the second station, the first lifting mechanism 91 drives the carrier 301 with the carrier plate to descend by the height of one carrier 301. The individual carriers 301 are lowered from the third station to the second station by the second lifting mechanism 92 moving back and forth between the third station and the second station. After all the carriers 301 are loaded with the carrier plates, the first lifting mechanism 91 drives the carrier assembly 300 to descend to the first station, and the empty carrier assembly 300 on the storage carrier 13 is removed by the AGV cart 95, so as to achieve automatic material handling.

As shown in fig. 15, when the carrier 301 is a carrier frame, the first lifting mechanism 91 lifts the carrier frame from the first station to the second station, the clamping mechanism 922 of the second lifting mechanism 92 clamps the carrier frame, and the carrier robot 5 directly stacks the carrier plates one by one in the carrier frame in the forward direction position.

In summary, the carrier board receiving machine 100 of the present invention can perform non-contact edge finding and positioning on the carrier board, directly absorb and correct the position of the carrier board through the carrying manipulator 5, and protect the carrier board while ensuring that each workpiece is located at the same forward position and placed on the carrier 301, thereby avoiding the quality problems of the prior art, such as scratch caused by contact adjustment of the carrier board. The carrier plate receiving machine 100 of the invention has two receiving blanking modes, can be compatible with a tray or a carrying frame, and meets the requirements of different carriers 301.

The above disclosure is only a preferred embodiment of the present invention, and should not be taken as limiting the scope of the invention, so that the appended claims are intended to cover all such modifications and changes as fall within the true spirit of the invention.

Claims

1. A carrier plate receiving machine is characterized by comprising:

the device comprises a rack, wherein a conveying mechanism is arranged on the rack and is used for conveying a carrier plate with a workpiece forward position or a workpiece offset position;

the side edge searching assembly is arranged on the rack and positioned below the conveying mechanism, and is used for identifying and positioning a first point position and a second point position of one side edge of the carrier plate;

the front edge searching assembly is arranged on the rack and is positioned below the conveying mechanism, and the front edge searching assembly is used for identifying and positioning a third point position of a front edge, connected with the side edge, in the carrier plate;

the conveying mechanical hand is arranged on the rack and positioned above the conveying mechanism, and comprises a moving part, a rotating part and a conveying part, wherein the rotating part is arranged on the moving part, the conveying part is arranged on the rotating part, the conveying part is provided with a conveying forward position and a conveying offset position, the conveying forward position corresponds to the workpiece forward position, and the conveying offset position corresponds to the workpiece offset position;

the electric control system is respectively electrically connected with the side edge searching assembly, the front edge searching assembly and the carrying manipulator, and the electric control system is used for calculating the position deviation information of the carrier plate according to the first point position, the second point position and the third point position, so that the rotating part drives the carrying part to rotate from the carrying forward position to the carrying deviation position according to the position deviation information;

the blanking mechanism is arranged on the rack, and a carrier for placing the support plate at the forward position of the workpiece is arranged on the blanking mechanism.

2. The board collector according to claim 1, wherein the side edge finding assembly comprises a side edge finding moving mechanism, a first sensor and a second sensor, the side edge finding moving mechanism is disposed on the rack, the first sensor and the second sensor are respectively disposed on the side edge finding moving mechanism, the side edge finding moving mechanism can drive the first sensor and the second sensor to move, the first sensor is used for identifying and positioning the first point position, and the second sensor is used for identifying and positioning the second point position.

3. The carrier board receiving machine according to claim 2, wherein the side edge finding moving mechanism includes a first motor, a first screw, a first sliding sleeve and a first connecting board, the first motor is disposed on the rack, an output end of the first motor is connected to the first screw, the first sliding sleeve is sleeved on the first screw, the first sliding sleeve is connected to the first connecting board, and the first sensor and the second sensor are disposed side by side on the first connecting board along a moving direction of the first connecting board.

4. The carrier board receiving machine of claim 1, wherein the front edge searching assembly comprises a front edge searching moving mechanism and a third sensor, the front edge searching moving mechanism is disposed on the rack, the third sensor is disposed on the front edge searching moving mechanism, the front edge searching moving mechanism can drive the third sensor to move, and the third sensor is used for identifying and positioning the third point.

5. The carrier board receiving machine of claim 4, wherein the front edge searching and moving mechanism comprises a second motor, a second screw, a second sliding sleeve and a second connecting plate, the second motor is disposed on the rack, an output end of the second motor is connected to the second screw, the second sliding sleeve is sleeved on the second screw, the second sliding sleeve is connected to the second connecting plate, and the third sensor is disposed on the second connecting plate.

6. The carrier board receiving machine according to claim 1, further comprising a carrier on the conveyor mechanism for carrying the carrier board.

7. The board collector of claim 6, further comprising an upper lifting assembly disposed on the rack and under the carrier, wherein the carrier is lifted up and separated from the conveying mechanism by the upper lifting assembly, so that the carrier on the carrier is carried by the carrying robot.

8. The carrier board receiving machine of claim 7, wherein the top pushing assembly comprises a top pushing driving mechanism and a top pushing member, the top pushing driving mechanism is disposed on the rack, and an output end of the top pushing driving mechanism is connected to the top pushing member and can drive the top pushing member to move up and down.

9. The carrier board receiving machine according to claim 1, wherein the blanking mechanism comprises a first lifting mechanism, a second lifting mechanism and a supporting mechanism, a first station for placing a carrier component formed by stacking a plurality of unloaded carriers is arranged at the lower part of the rack, a second station is arranged at the middle part of the rack, and a third station is arranged at the upper part of the rack; the first lifting mechanism is arranged on the frame and used for lifting the carrier assembly positioned at the first station to the second station; the second lifting mechanism is arranged on the rack and used for lifting the carrier assembly positioned at the second station to the third station; the supporting mechanism is arranged on the rack and located at the third station, and supports the carriers located at the second layer and above from bottom to top in the carrier assembly by means of the supporting mechanism, so that the second lifting mechanism lowers the carriers at the bottommost layer in the carrier assembly to the second station, and the carrying manipulator carries the carrier plate to the carriers located at the second station.

10. The carrier board receiving machine of claim 9, wherein the first lifting mechanism comprises a first lifting driving mechanism and a lifting carrier, the first lifting driving mechanism is disposed on the rack, an output end of the first lifting driving mechanism is connected to the lifting carrier, and the first lifting driving mechanism can drive the lifting carrier to lift the carrier assembly located at the first station to the second station.

11. The carrier board receiving machine of claim 9, wherein the second lifting mechanism comprises a second lifting driving mechanism and a clamping mechanism, the second lifting driving mechanism is disposed on the rack, an output end of the second lifting driving mechanism is connected to the clamping mechanism, and the clamping mechanism is used for clamping the carrier at the bottommost layer in the carrier assembly; the carrier at the bottommost layer in the carrier assemblies at the second station is clamped by the clamping mechanism, so that the second lifting driving mechanism drives the clamping mechanism to be lifted to the third station together with the carrier assemblies.

12. The board carrier receiving machine according to claim 11, wherein the clamping mechanism comprises a clamping bracket and clamping members, the clamping bracket has a receiving space for the carrier member to pass through, the clamping members are respectively disposed on two opposite sides of the clamping bracket, and the clamping members are used for clamping the carrier member at the bottom layer.

13. The carrier board receiving machine of claim 12, wherein the clamping assembly comprises a clamping driving mechanism and a clamping member, the clamping driving mechanism is disposed on the clamping bracket, and an output end of the clamping driving mechanism is connected with the clamping member and can drive the clamping member to move and clamp the carrier.

14. The board carrier loading machine according to claim 13, wherein the clamping member is provided with a plurality of first positioning members engaged with the grooves of the carrier.

15. The carrier board collecting device according to claim 9, wherein two of the supporting mechanisms are disposed on the rack at intervals, each supporting mechanism includes a supporting bracket, a supporting driving mechanism and a supporting hook board, the supporting bracket is disposed on the rack, the supporting driving mechanism is disposed on the supporting bracket, the supporting driving mechanism is connected to the supporting hook board, and the supporting driving mechanism can drive the supporting hook board to move, so that the supporting hook board supports the carriers on a second layer and above from bottom to top in the carrier assembly.

16. The board carrier loader of claim 15, wherein the support hook plate is provided with a plurality of second positioning members that engage with the recesses of the carriers.

17. The carrier board receiving machine according to claim 9, wherein the blanking mechanism further comprises an adjusting and positioning mechanism, the adjusting and positioning mechanism is disposed on the rack and located at the storage station, and the adjusting and positioning mechanism is configured to adjust a position of the carrier assembly located at the storage station.

18. The board collecting machine of claim 9, wherein the blanking mechanism further comprises an AGV cart, a storage carrier located at the storage station is arranged on the rack, the storage carrier is used for carrying the carrier assembly, and the rack is provided with a cart access space located below the storage carrier; the AGV trolley enters and exits the trolley entering and exiting space so as to carry the carrier assembly to the storage bearing piece, or the carrier assembly on the storage bearing piece is carried away.