CN113770047B - Automatic turn-over area NG of many tools of cooperation AOR deposits function all-in-one - Google Patents

Automatic turn-over area NG of many tools of cooperation AOR deposits function all-in-one Download PDF

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Publication number
CN113770047B
CN113770047B CN202111119962.5A CN202111119962A CN113770047B CN 113770047 B CN113770047 B CN 113770047B CN 202111119962 A CN202111119962 A CN 202111119962A CN 113770047 B CN113770047 B CN 113770047B
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Prior art keywords
station
circuit board
detection
turnover
plate moving
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CN202111119962.5A
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CN113770047A (en
Inventor
徐冬冬
路多富
周卿荣
邓娜
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Transystem Technology Ltd
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Transystem Technology Ltd
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    • B—PERFORMING OPERATIONS; TRANSPORTING
    • B07—SEPARATING SOLIDS FROM SOLIDS; SORTING
    • B07C—POSTAL SORTING; SORTING INDIVIDUAL ARTICLES, OR BULK MATERIAL FIT TO BE SORTED PIECE-MEAL, e.g. BY PICKING
    • B07C5/00—Sorting according to a characteristic or feature of the articles or material being sorted, e.g. by control effected by devices which detect or measure such characteristic or feature; Sorting by manually actuated devices, e.g. switches
    • B07C5/02—Measures preceding sorting, e.g. arranging articles in a stream orientating
    • B—PERFORMING OPERATIONS; TRANSPORTING
    • B07—SEPARATING SOLIDS FROM SOLIDS; SORTING
    • B07C—POSTAL SORTING; SORTING INDIVIDUAL ARTICLES, OR BULK MATERIAL FIT TO BE SORTED PIECE-MEAL, e.g. BY PICKING
    • B07C5/00—Sorting according to a characteristic or feature of the articles or material being sorted, e.g. by control effected by devices which detect or measure such characteristic or feature; Sorting by manually actuated devices, e.g. switches
    • B07C5/34—Sorting according to other particular properties
    • B07C5/342—Sorting according to other particular properties according to optical properties, e.g. colour
    • B—PERFORMING OPERATIONS; TRANSPORTING
    • B07—SEPARATING SOLIDS FROM SOLIDS; SORTING
    • B07C—POSTAL SORTING; SORTING INDIVIDUAL ARTICLES, OR BULK MATERIAL FIT TO BE SORTED PIECE-MEAL, e.g. BY PICKING
    • B07C5/00—Sorting according to a characteristic or feature of the articles or material being sorted, e.g. by control effected by devices which detect or measure such characteristic or feature; Sorting by manually actuated devices, e.g. switches
    • B07C5/36—Sorting apparatus characterised by the means used for distribution
    • B—PERFORMING OPERATIONS; TRANSPORTING
    • B65—CONVEYING; PACKING; STORING; HANDLING THIN OR FILAMENTARY MATERIAL
    • B65G—TRANSPORT OR STORAGE DEVICES, e.g. CONVEYORS FOR LOADING OR TIPPING, SHOP CONVEYOR SYSTEMS OR PNEUMATIC TUBE CONVEYORS
    • B65G47/00—Article or material-handling devices associated with conveyors; Methods employing such devices
    • B65G47/22—Devices influencing the relative position or the attitude of articles during transit by conveyors
    • B65G47/24—Devices influencing the relative position or the attitude of articles during transit by conveyors orientating the articles
    • B65G47/248—Devices influencing the relative position or the attitude of articles during transit by conveyors orientating the articles by turning over or inverting them
    • B—PERFORMING OPERATIONS; TRANSPORTING
    • B65—CONVEYING; PACKING; STORING; HANDLING THIN OR FILAMENTARY MATERIAL
    • B65G—TRANSPORT OR STORAGE DEVICES, e.g. CONVEYORS FOR LOADING OR TIPPING, SHOP CONVEYOR SYSTEMS OR PNEUMATIC TUBE CONVEYORS
    • B65G47/00—Article or material-handling devices associated with conveyors; Methods employing such devices
    • B65G47/74—Feeding, transfer, or discharging devices of particular kinds or types
    • B65G47/90—Devices for picking-up and depositing articles or materials
    • Y—GENERAL TAGGING OF NEW TECHNOLOGICAL DEVELOPMENTS; GENERAL TAGGING OF CROSS-SECTIONAL TECHNOLOGIES SPANNING OVER SEVERAL SECTIONS OF THE IPC; TECHNICAL SUBJECTS COVERED BY FORMER USPC CROSS-REFERENCE ART COLLECTIONS [XRACs] AND DIGESTS
    • Y02—TECHNOLOGIES OR APPLICATIONS FOR MITIGATION OR ADAPTATION AGAINST CLIMATE CHANGE
    • Y02P—CLIMATE CHANGE MITIGATION TECHNOLOGIES IN THE PRODUCTION OR PROCESSING OF GOODS
    • Y02P90/00—Enabling technologies with a potential contribution to greenhouse gas [GHG] emissions mitigation
    • Y02P90/02—Total factory control, e.g. smart factories, flexible manufacturing systems [FMS] or integrated manufacturing systems [IMS]

Abstract

The invention relates to an AOR (automatic optic inspection) multi-jig automatic turnover belt NG (NG) storage function integrated machine, which comprises an operation table and a plate moving mechanical arm, wherein the operation table comprises a taking and placing station in the middle and detection stations symmetrically arranged on two sides, an unqualified station is also arranged between the taking and placing station and the detection stations on each side, the plate moving mechanical arm comprises a first plate moving mechanical arm and a second plate moving mechanical arm, the first plate moving mechanical arm moves between the taking and placing station and the detection stations on the left side, the second plate moving mechanical arm moves between the taking and placing station and the detection stations on the right side, the detection stations are provided with plate turnover machines, the plate turnover machines are provided with turnover suckers, and the disc surfaces of the turnover suckers are turned over to be opposite to the plate moving mechanical arms or are turned to be parallel to detection table surfaces of the detection stations. The invention realizes that one detection device has double detection stations, completes double-sided detection of the circuit board, improves the detection speed by one time, and effectively solves the problem of limited site space.

Description

Automatic turn-over area NG of many tools of cooperation AOR deposits function all-in-one
Technical Field
The invention relates to the field of PCB production, in particular to an all-in-one machine with NG storage function and automatic turnover by matching with AOR multiple jigs.
Background
In electronic products, a circuit board is an important electronic component and a carrier for electrical connection of electronic components, so that in the manufacturing process of the circuit board, the quality of the circuit board is critical, and the circuit board needs to be inspected after being manufactured. Along with the rapid development of the electronic industry, the density of the circuit boards is higher and higher, the production yield of the circuit boards is also higher and higher, the mode of manually testing the circuit boards by points is gradually eliminated, and the requirements of the industry can be met only by utilizing automatic detection equipment.
For example, AOI optical automatic inspection equipment becomes an important inspection tool and process quality control tool for ensuring product quality in the electronic manufacturing industry, automatically scans a circuit board to be inspected through a high-definition CCD camera, acquires an image, compares the inspected inspection point with qualified parameters in a database, inspects defects on a target circuit board through image processing, and displays/marks the defects through a display or an automatic mark.
On the other hand, most of circuit boards have the effect of electrical connection on the front and back sides, when detecting the circuit board, the circuit board needs to be subjected to double-sided detection, and AOI optical automatic detection equipment can only detect one side at a time, and the circuit board needs to be turned over in the detection process. Therefore, how to further improve the detection efficiency based on the existing detection equipment becomes a problem to be solved in the industry.
Disclosure of Invention
In order to overcome the problems in the prior art, the invention provides an all-in-one machine which is matched with AOR multi-jig automatic turnover and has NG storage function.
The technical scheme of the invention is as follows:
an automatic turnover and NG storage integrated machine matched with an AOR multi-jig comprises an operation table and a board moving manipulator, wherein the board moving manipulator moves a circuit board to be detected on the operation table, the automatic turnover and NG storage integrated machine is characterized in that the operation table comprises a picking and placing station positioned in the middle and detection stations symmetrically arranged on two sides, an unqualified station is also arranged between the picking and placing station and the detection stations on each side,
the plate moving mechanical arms comprise a first plate moving mechanical arm and a second plate moving mechanical arm, the first plate moving mechanical arm moves between the pick-and-place station and the detection station on the left side, the second plate moving mechanical arm moves between the pick-and-place station and the detection station on the right side,
the detection station is provided with a plate turnover machine, the plate turnover machine is provided with a turnover sucker, and the plate surface of the turnover sucker is turned to be over against the plate moving manipulator or is turned to be parallel to the detection table surface of the detection station.
The turnover device is characterized in that the turnover machine is provided with a turnover manipulator capable of rotating 90 degrees, and the disc surface of the turnover sucker is rotated by the turnover manipulator or is in a vertical state and is opposite to the plate moving manipulator; or in a horizontal state and parallel to the detection table surface.
The invention according to the scheme is characterized in that the taking and placing stations comprise a feeding port station and a discharging port station which are transversely arranged side by side.
Further, the operation panel comprises a left detection station, a left unqualified station, a feed inlet station, a discharge outlet station, a right unqualified station and a right detection station from left to right in sequence.
Furthermore, a box moving mechanical arm is arranged above the taking and placing station, and the box moving mechanical arm moves between the feed port station and the discharge port station.
The invention according to the above scheme is characterized in that the taking and placing station is provided with a trolley inlet and a trolley outlet which are positioned below.
Furthermore, a box separating mechanism is arranged at the top of the inlet and the outlet of the trolley and connected with a lifting module, and the box separating mechanism can move to the top of the pallet stack on the trolley through the lifting module.
The automatic turnover and storage integrated machine with the NG function matched with the AOR multiple fixtures is characterized by further comprising a sliding guide rail parallel to the operating platform, and the first plate moving manipulator and the second plate moving manipulator slide on the sliding guide rail.
Furthermore, a box moving mechanical arm is arranged above the taking and placing station, and the box moving mechanical arm and the plate moving mechanical arm share the same sliding guide rail.
The invention according to the scheme is characterized in that the detection station is provided with an AOI optical detection machine.
The invention according to the scheme is characterized in that the operating platform is further provided with a spacer storage area, and the plate moving manipulator can move between the spacer storage area and the pick-and-place station.
Further, the spacer storage area is provided with an L-shaped storage rack for accommodating the spacers.
On the other hand, the invention also provides a using method of the all-in-one machine, which is characterized in that the all-in-one machine which is matched with the AOR multi-jig automatic turnover belt NG storage function and adopts the scheme realizes the following steps:
s1, a plate moving manipulator acquires a circuit board to be tested from a taking and placing station;
s2, the first plate moving mechanical arm conveys the circuit board to the detection station on the left side, and the second plate moving mechanical arm conveys the circuit board to the detection station on the right side;
s3, if the detection station judges that the circuit board is unqualified, executing the step S4; if the detection station judges that the circuit board is qualified, executing the step S5;
s4, conveying the circuit board to a corresponding unqualified station by the board moving manipulator, and returning to the step S1;
s5, the panel turnover machine absorbs the circuit board on the detection station, rotates 90 degrees, and the corresponding panel moving manipulator is connected with the circuit board and placed back to the detection station;
s6, if the detection station judges that the circuit board is unqualified, executing the step S4; if the detection station judges that the circuit board is qualified, executing the step S7;
and S7, conveying the qualified circuit board to a discharge port station in the pick-and-place station by the board moving manipulator.
The present invention according to the above aspect is characterized by further including, before the step S1, the steps of:
sa1, conveying the tray stack filled with the circuit board to be tested into a feeding hole station in the pick-and-place station by a trolley;
sa2, lifting a first tray at the top of the tray stack by a box separating mechanism at the feed inlet station;
sa3, an empty tray is lifted by the box separating mechanism at the material outlet station, and the empty tray and the box separating mechanism at the material inlet station are located at the same height.
The present invention according to the above aspect is characterized in that the step S7 includes:
701, placing the qualified circuit board to be detected into a tray of a discharge port station by a board moving manipulator;
and step 702, taking a spacer from the spacer storage area by the mobile manipulator, placing the spacer on the circuit board, and performing blocking.
The present invention according to the above aspect is characterized by further including, after the step S7:
s8, when the empty tray lifted by the box separating mechanism at the discharge port station is full of qualified circuit boards, the box separating mechanism at the position descends and is stacked on the trolley at the discharge port station;
s9, moving the empty tray to a discharge port station by a box moving manipulator;
and S10, descending a box separating mechanism of a feed port station, lifting a first tray at the top of a tray stack of the trolley below, and repeating the step S1.
The invention according to the scheme has the advantages that:
the detection equipment disclosed by the invention not only realizes double-sided detection of the circuit board, but also realizes that one detection equipment has double detection stations, the two mechanical arms are matched, the circuit board to be detected is obtained from the same picking and placing station, and qualified products and unqualified products are classified and stored, so that the detection speed is doubled; meanwhile, one detection device can complete the task amount of two traditional detection devices, the efficiency is improved, and the problem of limited site space is effectively solved.
Drawings
FIG. 1 is a schematic structural view of the present invention;
FIG. 2 is a schematic top view of the structure of the present invention;
FIG. 3 is a block diagram of a method flow of the present invention.
In the figure, 1, an operation table; 11. detecting a station; 12. a picking and placing station; 121. a feed port station; 122. a discharge port station; 13. an unqualified station;
2. a plate moving manipulator; 21. a first plate moving manipulator; 22. a second plate moving manipulator;
3. turning over a plate machine; 4. a box moving manipulator;
5. a box separating mechanism; 51. a lifting module;
6. a sliding guide rail; 7. and (5) pushing a cart.
Detailed Description
For better understanding of the objects, technical solutions and effects of the present invention, the present invention will be further explained with reference to the accompanying drawings and examples. Meanwhile, the following described examples are only for explaining the present invention, and are not intended to limit the present invention.
It will be understood that when an element is referred to as being "secured to" or "disposed on" another element, it can be directly on the other element or intervening elements may also be present, and when an element is referred to as being "connected" to another element, it can be directly connected to the other element or intervening elements may also be present.
The terms "upper", "lower", "left", "right", "top", "bottom", "inner", "outer", and the like indicate orientations or positions based on the orientations or positions shown in the drawings, and are for convenience of description only and should not be construed as limiting the technical solution.
The meaning of "a number" is two or more unless specifically defined otherwise. The terms "first", "second" and "first" are used merely for descriptive purposes and are not to be construed as indicating or implying relative importance or to implicitly indicate a number of technical features.
As shown in fig. 1 and 2, an all-in-one machine with NG storage function is provided for multiple automatic turnover panels matched with AOR, and includes an operation table 1 and a panel moving manipulator 2, the panel moving manipulator 2 moves a circuit board to be detected on the operation table 1, the operation table 1 includes a middle pick-and-place station 12 and detection stations 11 symmetrically arranged on two sides, the detection stations 11 are provided with AOI optical detection machines, an unqualified station 13 is further provided between the pick-and-place station 12 and the detection station 11 on each side, the panel moving manipulator 2 includes a first panel moving manipulator 21 and a second panel moving manipulator 22, the first panel moving manipulator 21 moves between the pick-and-place station 12 and the left detection station 11, the second panel moving manipulator 22 moves between the pick-and-place station 12 and the right detection station 11, the detection station 11 is provided with a panel turnover panel 3, the panel of the turnover suction cup is either transferred to the panel moving manipulator 2 or transferred to a detection table surface parallel to the detection station 11.
It should be noted that the present invention includes an AOR (Automated Optical Repair) device, which has an AOI Optical inspection machine and a light source system, such as a laser light source, built therein, and has an Optical inspection function and a circuit board Repair function, and the AOR device is an existing mature Repair device.
The turnover machine is provided with the independent turnover sucker, the turnover sucker comprises a fixing piece and a plurality of vacuum suction nozzles arranged on the fixing piece, and the plurality of vacuum suction nozzles are arranged on the same fixing piece, so that the distance stability among different suction nozzles can be ensured, and the circuit boards can be better sucked in a matched manner; and the independent turnover sucker is convenient to disassemble and assemble for maintenance and overhaul. Every suction nozzle in this embodiment is equipped with the check valve, can prevent the gaseous backward flow, can ensure when being the vertical state with the circuit board, and the upset sucking disc can firmly "grab" the circuit board.
The detection equipment disclosed by the invention not only realizes double-sided detection of the circuit board, but also realizes that one detection equipment has double detection stations 11, the two mechanical arms are matched, the circuit board to be detected is obtained from the same pick-and-place station 12, and qualified products and unqualified products are classified and stored, so that the detection speed is doubled; meanwhile, one detection device of the invention completes the task amount of two traditional detection devices, thereby effectively solving the problem of limited field space.
In this embodiment, the turnover machine is provided with a turnover manipulator capable of rotating 90 degrees, and the disc surface of the turnover sucker is rotated by the turnover manipulator or is in a vertical state and is opposite to the plate moving manipulator 2; or in a horizontal state and parallel to the detection table surface.
In the present embodiment, the pick-and-place station 12 includes a feed inlet station 121 and a discharge outlet station 122 which are laterally arranged side by side. The position design of feed inlet station 121 and discharge gate station 122 for operation panel 1 includes left detection station 11 from a left side to the right side in proper order, left unqualified station 13, feed inlet station 121, discharge gate station 122, unqualified station 13 on right side and the detection station 11 on right side, be a straight line, be favorable to first board moving manipulator 21, the second moves board manipulator 22 and moves the overall arrangement of box manipulator 4, realize that a plurality of manipulators can accomplish the demand of transplanting article, also can furthest simplify equipment structure, reduce equipment cost.
In this embodiment, a box moving manipulator 4 is arranged above the pick-and-place station 12, and the box moving manipulator 4 moves between the feed inlet station 121 and the discharge outlet station 122. The transfer robot 4 can perform lateral and longitudinal movements for moving the trays.
In this embodiment, the pick-and-place station 12 is provided with a cart entrance and exit located below, the top of the cart entrance and exit is provided with the box separation mechanism 5, so that the pick-and-place station 12 includes the box moving manipulator 4, the box separation mechanism 5 and the cart entrance and exit from top to bottom, the box separation mechanism 5 is connected to a lifting module 51, and the box separation mechanism 5 can move to the top of the pallet stack on the cart 7 through the lifting module 51. The box separating mechanism 5 is provided with box separating pins which are matched with the inductive sensors at the side and can be inserted between the first tray at the top of the tray stack and the tray below the tray stack to separate the first tray at the top from the tray below the tray stack.
A user only needs to put the circuit boards into the trays, then the trays are stacked on the cart 7 according to a certain height, and the cart 7 is used for feeding materials into the cart inlet and outlet, so that the material guiding work of the detection equipment can be completed. The work of loading the circuit boards into boxes and loading trays in the prior art is conventional circuit board transportation work, and therefore the feeding and discharging area of the detection equipment is combined with the conventional circuit board transportation, convenience is provided, and meanwhile efficiency is improved.
In this embodiment, the AOR-compatible multi-tool automatic turnover and NG storage all-in-one machine further includes a sliding rail 6 parallel to the operation table 1, and the first plate moving manipulator 21 and the second plate moving manipulator 22 slide on the sliding rail 6. The detection equipment skillfully utilizes the same sliding guide rail 6 to realize the movement of the two plate moving manipulators 2 with double stations, thereby not only simplifying the equipment structure and reducing the occupied space, but also saving the manufacturing cost for manufacturers.
In the embodiment, the box moving manipulator 4 above the pick-and-place station 12 and the plate moving manipulator 2 share the same sliding guide rail 6, and the pick-and-place station 12 is designed between the two detection stations 11, so that the three manipulators share the same sliding guide rail 6.
In this embodiment, the operation table 1 is further provided with a spacer storage area, and the plate-moving robot 2 can move between the spacer storage area and the pick-and-place station 12. Many spacers are placed in spacer storage area, and during the use, after a circuit board is put into to the tray, a spacer is taken earlier and is put into, puts into another circuit board again, can separate two circuit boards, prevents to take place friction etc. and influence each other between two circuit boards.
In an alternative embodiment, the spacer storage area is provided with an L-shaped storage rack for accommodating spacers, facilitating gripping of the spacers by a robot.
As shown in fig. 3, on the other hand, the invention further provides a use method of the all-in-one machine, and the all-in-one machine with the AOR multi-fixture automatic turnover belt NG storage function of the scheme is used for realizing the following steps:
s1, a plate moving manipulator 2 obtains a circuit board to be tested from a pick-and-place station 12;
specifically, the first plate moving manipulator 21 and the second plate moving manipulator 22 sequentially grab the circuit board to be detected from the material inlet station 121 of the pick-and-place station 12;
s2, the first plate moving mechanical arm 21 conveys the circuit board to the left detection station 11, and the second plate moving mechanical arm 22 conveys the circuit board to the right detection station 11;
specifically, after the circuit board is conveyed to a proper position by the board moving manipulator 2, the circuit board is placed on a detection table board of an AOI optical detection machine of the detection station 11, and the detection of the front side of the circuit board is completed;
s3, if the detection station 11 judges that the circuit board is unqualified, executing a step S4; if the circuit board is judged to be qualified by the detection station 11, executing the step S5;
specifically, the AOI optical detector detects that the front surface of the circuit board is unqualified, feeds the circuit board back to the board moving manipulator 2 through the system, and executes the step S4; the AOI optical detector detects that the front side of the circuit board is qualified, feeds the circuit board back to the board moving manipulator 2 through the system, and executes the step S5;
s4, the board moving manipulator 2 conveys the circuit boards to the corresponding unqualified stations 13 and returns to the step S1;
specifically, the board moving manipulator 2 sucks up the circuit board on the detection table board and conveys the circuit board to an unqualified station 13 for temporary placement, so that an operator can conveniently perform collection, analysis and correction; the plate moving manipulator 2 acquires the next circuit board to be detected from the material inlet station 121 of the pick-and-place station 12 again;
s5, the circuit board on the detection station 11 is sucked by the board turnover machine 3, rotated by 90 degrees, and the corresponding board moving manipulator 2 is placed back to the detection station 11 after receiving the circuit board;
specifically, a mechanical arm of the panel turnover machine 3 rotates 90 degrees towards the direction of the detection table board, a turnover sucker is parallel to the table board, the circuit board is sucked and then reversely rotates 90 degrees, the circuit board is in a vertical state, a panel moving mechanical arm 2 sucks the circuit board from the turnover sucker and puts the circuit board back to the detection table board again, and the turnover of the circuit board is completed;
s6, if the detection station 11 judges that the circuit board is unqualified, executing the step S4; if the circuit board is judged to be qualified by the detection station 11, executing a step S7;
specifically, the AOI optical detector detects that the back of the circuit board is unqualified, feeds the circuit board back to the board moving manipulator 2 through the system, and executes the step S4; the AOI optical detection machine detects that the back of the circuit board is qualified, feeds the back to the board moving manipulator 2 through the system, and executes the step S7;
and S7, the plate moving manipulator 2 conveys the qualified circuit board to a material outlet station 122 in the pick-and-place station 12.
In this embodiment, the method further includes the following steps before the step S1:
sa1, the cart 7 conveys the tray stack filled with the circuit board to be tested into a feeding hole station 121 in the pick-and-place station 12;
sa2, a box separating mechanism 5 at the feed inlet station 121 lifts the first tray at the top of the tray stack;
specifically, the box separating mechanism 5 at the feed port station 121 descends and moves to the first tray at the top of the tray stack, and the box separating pins of the box separating mechanism 5 are inserted into the bottom of the first tray and lift the first tray to the surface of the operation table 1;
sa3, a box separating mechanism 5 at the material outlet station 122 lifts an empty tray, and the empty tray and the box separating mechanism 5 at the material inlet station 121 are located at the same height;
specifically, when the inspection is started, an empty tray needs to be placed at the position of the discharge port station 122, so that the qualified circuit boards can be conveniently detected and stored.
In this embodiment, the step S7 includes:
701, placing the qualified circuit board to be detected into a tray of a discharge port station 122 by the board moving manipulator 2;
step 702, taking a spacer from the spacer storage area by the mobile manipulator, placing the spacer on the circuit board, and performing spacing;
specifically, when the mobile manipulator places a circuit board qualified for detection, a spacer is placed to separate the circuit board, and then a circuit board qualified for detection is placed.
In this embodiment, after step S7, the method further includes:
s8, when the empty tray lifted by the box separating mechanism 5 of the discharging port station 122 is full of qualified circuit boards, the box separating mechanism 5 at the position descends and is stacked on the trolley 7 at the discharging port station 122;
s9, moving the empty tray to a discharge port station 122 by the box moving manipulator 4;
specifically, the box moving manipulator 4 first picks up an empty tray at the feed inlet station 121, places the empty tray at the discharge outlet station 122 when the box separating mechanism 5 at the discharge outlet station 122 is empty, and then picks up the empty tray from the feed inlet station 121; in other embodiments, an empty tray temporary storage area may be set to cope with the situation that the defective circuit boards are abundant and the tray at the station 122 of the discharge hole is full for a long time;
and S10, descending the box separating mechanism 5 of the feed inlet station 121, supporting the first tray on the top of the tray stack of the trolley 7 below, and repeating the step S1.
The technical features of the above embodiments can be arbitrarily combined, and for the sake of brevity, all possible combinations of the technical features in the above embodiments are not described, but should be considered as the scope of the present specification as long as there is no contradiction between the combinations of the technical features.
The above examples only show several embodiments of the present invention, and the description thereof is specific and detailed, but not to be construed as limiting the scope of the invention. It should be noted that, for a person skilled in the art, several variations and modifications can be made without departing from the inventive concept, which falls within the scope of the present invention. Therefore, the protection scope of the present patent shall be subject to the appended claims.

Claims (3)

1. An automatic turnover and NG storage function integrated machine matched with an AOR multi-jig comprises an operation table and a panel moving manipulator, wherein the panel moving manipulator moves a circuit board to be detected on the operation table;
the plate moving manipulators comprise a first plate moving manipulator and a second plate moving manipulator, the two plate moving manipulators are used for acquiring a circuit board to be detected from the same picking and placing station, the first plate moving manipulator moves between the picking and placing station and the detection station on the left side, and the second plate moving manipulator moves between the picking and placing station and the detection station on the right side;
the automatic turnover and NG storage integrated machine matched with the AOR multi-jig further comprises a sliding guide rail parallel to the operating platform, and the first plate moving manipulator, the second plate moving manipulator and the box moving manipulator slide on the same sliding guide rail;
the detection station is provided with a plate turnover machine, the plate turnover machine is provided with a turnover sucker, and the surface of the turnover sucker is turned to be over against the plate moving manipulator or is turned to be parallel to the detection table surface of the detection station;
the turnover machine is provided with a turnover manipulator capable of rotating 90 degrees, and the disc surface of the turnover sucker is rotated by the turnover manipulator or is in a vertical state and is opposite to the plate moving manipulator; or is in a horizontal state and is parallel to the detection table surface;
the realization process is as follows:
s1, a first plate moving manipulator and a second plate moving manipulator grab a circuit board to be detected from a material inlet station of a pick-and-place station in sequence;
s2, the first plate moving mechanical arm conveys the circuit board to the detection station on the left side, and the second plate moving mechanical arm conveys the circuit board to the detection station on the right side to finish the detection of the front side of the circuit board;
s3, if the detection station judges that the circuit board is unqualified, executing the step S4; if the detection station judges that the circuit board is qualified, executing the step S5;
s4, the board moving manipulator sucks up the circuit board on the detection table board and conveys the circuit board to an unqualified station for temporary placement; the plate moving manipulator acquires the next circuit board to be detected from the material inlet station of the pick-and-place station again;
s5, rotating the mechanical arm of the board turnover machine 90 degrees in the direction of the detection table board, enabling the turnover sucker to be parallel to the table board, reversely rotating the turnover sucker by 90 degrees after sucking the circuit board, enabling the circuit board to be in a vertical state, sucking the circuit board by the board moving mechanical arm from the turnover sucker, and putting the circuit board back to the detection table board again to complete turnover of the circuit board;
s6, if the detection station judges that the circuit board is unqualified, executing the step S4; if the detection station judges that the circuit board is qualified, executing a step S7;
and S7, each plate moving manipulator conveys the corresponding qualified circuit board to a discharge port station in the pick-and-place station.
2. The AOR multi-jig automatic turnover belt NG storage function all-in-one machine as claimed in claim 1, wherein the pick-and-place station is provided with a trolley inlet and outlet located below.
3. The AOR multi-jig automatic turnover belt NG storage function integrated machine as claimed in claim 2, wherein a box separation mechanism is arranged at the top of an inlet and an outlet of the cart, the box separation mechanism is connected with a lifting module, and the box separation mechanism can move to the top of a stack of trays on the cart through the lifting module.
CN202111119962.5A 2021-09-24 2021-09-24 Automatic turn-over area NG of many tools of cooperation AOR deposits function all-in-one Active CN113770047B (en)

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CN104670896A (en) * 2015-02-05 2015-06-03 孙平 AOI (Automated Optical Inspection) station capable of conveying and automatically loading and unloading PCBs (Printed Circuit Board) in parallel by two lines
CN105467300B (en) * 2015-12-14 2018-11-13 赣州市超跃科技有限公司 AOI detects the automatic turn-over device and its detection method of pcb board automatically
CN205367108U (en) * 2016-02-03 2016-07-06 广州市泰立机电设备有限公司 Hypoplastron system in automation that two -sided AOI of circuit board detected
CN105729218B (en) * 2016-05-05 2019-04-16 江苏金铁人自动化科技有限公司 A kind of pcb board cutting means of double-manipulator
CN207030394U (en) * 2016-10-28 2018-02-23 上海飞为智能系统股份有限公司 One kind is used for dual stage AOI loading and unloading equipment
CN206373081U (en) * 2016-11-17 2017-08-04 苏州特鲁姆普电子科技有限公司 A kind of AOI automatic loading and unloading devices
EP3650180A1 (en) * 2018-11-07 2020-05-13 Wolfgang Grigo System for optical inspection
CN212502533U (en) * 2020-05-11 2021-02-09 惠州铭奥自动化科技有限公司 Multifunctional integrated machine assembly line

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