CN114346483A

CN114346483A - Plate drilling and loading and unloading machine and drilling method thereof

Info

Publication number: CN114346483A
Application number: CN202111462220.2A
Authority: CN
Inventors: 熊雪亮; 黄春宇; 徐冬冬; 刘世杰
Original assignee: Transystem Technology Ltd
Current assignee: Transystem Technology Ltd
Priority date: 2021-12-02
Filing date: 2021-12-02
Publication date: 2022-04-15
Anticipated expiration: 2041-12-02
Also published as: CN114346483B

Abstract

The application is suitable for the technical field of plate processing and manufacturing, and provides a plate drilling and loading and unloading machine which comprises a rack, a drilling machine, a plate turning mechanism, a fork mechanism, a forward positioning platform, a reverse positioning platform, a grabbing mechanism and a multi-layer temporary storage mechanism; the drilling machine is used for drilling holes in the plate; the plate turning mechanism is arranged beside the drilling machine and used for turning the plate; the pallet fork mechanism is arranged on one side of the drilling machine and used for grabbing the plate; the reverse positioning platform is arranged beside the plate turnover mechanism and used for positioning the plate; the positive positioning platform is arranged on one side of the drilling machine, which is far away from the plate turnover mechanism, and is used for positioning the plate; the grabbing mechanism is used for grabbing the plate; the multi-layer temporary storage is used for storing the NG plates and the detection sample plates; this application is multiple functional, can realize the location, drilling and turn-over, the redrilling to panel automatically, and this application intelligent degree is high simultaneously, can realize the automatic drilling of panel positive and negative to and panel drilling back accuracy is classifyed and is deposited, and the practicality is strong.

Description

Plate drilling and loading and unloading machine and drilling method thereof

Technical Field

The invention relates to the technical field of plate processing and manufacturing, in particular to a plate drilling and loading and unloading machine and a drilling process thereof.

Background

When the PCB board adopts laser drilling machine to carry out the drilling in-process, generally need carry out two-sided drilling, in order to improve the flexibility of circuit board drilling process, generally all can adopt automatic device that can turn over the board to fix the circuit board, can turn over the board operation at any time simultaneously. However, in the prior art, the plate-turning structure mostly adopts a three-axis or multi-axis plate-turning mechanism to turn the plate, and the plate-turning process is usually 180-fold.

In the prior art, after the PCB is turned over, the PCB needs to be placed into a drilling machine, alignment correction is carried out before drilling, manual operation is usually needed in the process, in the alignment correction process, the same position of the PCB needs to be taken every time, namely, drilling equipment, turning equipment and centering equipment need to be frequently operated according to processing requirements, the process is complicated, faults are easy to occur, and NG boards are generated in the drilling process.

Disclosure of Invention

To above-mentioned condition, this application provides trigger and drilling process about panel drilling, has solved the two-sided manual process of drilling of panel loaded down with trivial details, the lack problem of centering process in prior art at least.

The embodiment of the application provides a plate drilling and loading and unloading machine which comprises a rack, and a drilling machine, a plate turning mechanism, a pallet fork mechanism, a forward positioning platform, a reverse positioning platform and a grabbing mechanism which are arranged on the rack;

the drilling machine is used for drilling holes in the plate;

the grabbing mechanism is used for grabbing the plate and placing the plate into the forward positioning platform or the reverse positioning platform;

the plate turning mechanism is arranged beside the drilling machine and used for turning the plate;

the positive positioning platform is arranged on one side, away from the plate turnover mechanism, of the drilling machine and used for positioning a plate before turnover;

the reverse positioning platform is arranged beside the plate turnover mechanism and used for positioning the turned plate;

the fork mechanism is arranged on one side of the drilling machine and is used for grabbing the plate.

In one embodiment, the flap mechanism comprises a flap rotating rod, a flap base plate and a flap sucker;

one end of the turning plate rotating rod is hinged to the rack, the turning plate substrate is fixed to the other end of the turning plate rotating rod, and the turning plate sucker is fixed to the turning plate substrate.

In one embodiment, the fork mechanism comprises a telescopic beam, a fork sucker mechanism;

one end of the telescopic beam is fixed on the rack, and the fork sucker mechanism is fixed at the other end of the telescopic beam;

the fork sucker mechanism comprises a fork swing arm fixed on the telescopic beam, a fork base plate is fixed at the other end of the fork swing arm, and a fork sucker is fixed on the fork base plate.

In one embodiment, the forward positioning platform and the reverse positioning platform each comprise a hollow topless positioning cavity, an X-position cylinder and a Y-position cylinder;

the X-position cylinder and the Y-position cylinder are respectively fixed on the adjacent side walls of the corresponding positioning cavities.

In an embodiment, the plate loading and unloading machine for drilling a plate further includes a plurality of inlet and outlet positions, and the inlet and outlet positions are fixed to the frame and located beside the forward positioning platform and the backward positioning platform respectively;

import and export the position including L shape's grillage, grillage locking mechanical system and walking wheel seat, the walking wheel seat is fixed in the frame, grillage locking mechanical system is fixed in the walking wheel seat, the grillage can be followed the walking wheel seat slides and passes through locking mechanical system is fixed.

In one embodiment, the plate frame comprises a lower supporting surface and an upper supporting surface which are perpendicular to each other and connected with each other, the plane where the lower supporting surface is located is intersected with the horizontal plane of the walking wheel seat, and the included angle is an acute angle;

when the turnover of the turnover mechanism is finished, the plate taken by the turnover mechanism is parallel to the upper supporting surface.

In one embodiment, the fork mechanism and the grabbing mechanism are respectively provided with two fork mechanisms and two grabbing mechanisms, the two fork mechanisms and the grabbing mechanisms are respectively positioned on one sides of the forward positioning platform and the reverse positioning platform, and the two inlet and outlet positions are arranged beside the forward positioning platform.

In one embodiment, the temporary storage device further comprises a multi-layer temporary storage mechanism, wherein the multi-layer temporary storage mechanism is arranged beside the fork mechanism and used for storing NG plates and detection templates, and the multi-layer temporary storage mechanism comprises a plurality of sliding rails, a plurality of telescopic cylinders and a plurality of drawers which are fixed on the rack;

the plurality of drawers are respectively arranged in the plurality of slide rails in a sliding manner, and the drawers are used for storing plates;

and two ends of the telescopic cylinders are respectively fixed on the corresponding drawer and the corresponding slide rail, and the telescopic cylinders are used for driving the corresponding drawers to slide along the slide rails.

In one embodiment, the gripping mechanism comprises a three-axis displacement mechanism and a gripping suction cup fixed to the frame;

the three-axis displacement mechanism comprises a displacement frame, and further comprises an X-axis cylinder, a Y-axis cylinder, an R-axis cylinder, a Z-axis cylinder and a rotating cylinder which are fixed on the displacement frame;

one end of the Z-axis cylinder is fixed to the R-axis cylinder, and the rotating cylinder is fixed to the other end of the Z-axis cylinder;

the grabbing sucker comprises the grabbing base plate, a clamp, an adjusting shaft and a suction nozzle beam, wherein the grabbing base plate, the clamp, the adjusting shaft and the suction nozzle beam are fixed at the other end of the rotating cylinder;

the clamp with the regulating spindle is fixed in the base plate, the suction nozzle roof beam slides and locates snatch the base plate, the suction nozzle roof beam is fixed in the other end of regulating spindle, be equipped with a plurality of suction nozzles on the suction nozzle roof beam.

The embodiment of the application also provides a plate drilling method, which comprises the following procedures:

double-plate front positioning process: the grabbing mechanism conveys a first plate to the positive positioning platform and is positioned by the positive positioning platform, and the fork mechanism grabs the first plate;

the grabbing mechanism conveys the second plate to the positive positioning platform for positioning, and the fork mechanism grabs the second plate again;

double-plate drilling: the fork mechanism puts the two plates into a drilling machine and drills holes;

double-plate turnover procedure: the pallet fork mechanism takes a first plate, then the first plate is placed on the reverse positioning platform and positioned by the reverse positioning platform, the plate turning mechanism takes the first plate and turns over, and the grabbing mechanism takes the turned-over first plate and places the first plate on the adjacent inlet and outlet positions;

the pallet fork mechanism takes the second plate and then places the second plate on the reverse positioning platform and is positioned by the reverse positioning platform, the plate turning mechanism takes the second plate and turns over, and the grabbing mechanism takes the turned-over second plate and places the second plate on the adjacent inlet and outlet positions;

double-plate reverse side positioning process: the grabbing mechanism conveys the first plate to the reverse positioning platform and is positioned by the reverse positioning platform, and the fork mechanism grabs the first plate again;

the grabbing mechanism conveys the second board to the reverse positioning platform and is positioned by the reverse positioning platform, and the fork mechanism grabs the second board again.

The application makes the design improvement to the problem that the manual process of the two-sided drilling of panel is loaded down with trivial details among the prior art, lacks centering process, has following beneficial effect:

1. the automatic positioning device is characterized in that a positive positioning platform is additionally arranged and used for positioning the plate before drilling on the front side of the plate, a reverse positioning platform is additionally arranged and used for positioning the plate before drilling on the back side of the plate, and a fork mechanism is additionally arranged and used for taking the plate, so that the automatic positioning and grabbing of the plate are realized;

2. the positive positioning platform and the negative positioning platform are respectively arranged on two sides of the drilling machine, and the plate turnover mechanism is arranged on one side of the negative positioning platform, so that the pallet fork mechanism can conveniently take plates and carry out positive positioning, negative positioning and turnover;

this application is multiple functional, and the accuracy of being convenient for is controlled, can realize the location to panel, drilling and turn-over, redrilling automatically, and this application intelligent degree is high simultaneously, can realize the automatic drilling of panel positive and negative, and the practicality is strong.

Drawings

In order to more clearly illustrate the technical solutions in the embodiments of the present application, the drawings needed to be used in the embodiments or the prior art descriptions will be briefly described below, and it is obvious that the drawings in the following description are only some embodiments of the present application, and it is obvious for those skilled in the art to obtain other drawings based on these drawings without inventive exercise.

Fig. 1 is a first perspective view of a plate drilling and loading and unloading machine according to an embodiment of the present invention.

Fig. 2 is a second perspective view of the plate drilling and feeding machine shown in fig. 1.

Fig. 3 is a front view of the plate turnover mechanism of the plate drilling and feeding machine shown in fig. 1 when the plate turnover mechanism is not in use.

Fig. 4 is a front view of the plate turnover mechanism of the plate drilling and loading and unloading machine shown in fig. 1.

Fig. 5 is a left side view of the plate turnover mechanism of the plate drilling and loading and unloading machine shown in fig. 1.

Fig. 6 is a perspective view of a telescoping beam of the fork mechanism of the panel drill loader and unloader shown in fig. 1.

FIG. 7 is a front view of the fork suction cup mechanism of the board drilling loader/unloader shown in FIG. 1.

Fig. 8 is a perspective view of a pallet fork suction cup mechanism in the board drilling and blanking machine shown in fig. 1.

FIG. 9 is a top view of the positive or negative positioning table of the plate drilling loader/unloader of FIG. 1.

Fig. 10 is a perspective view of a forward positioning platform or a reverse positioning platform of the plate drilling and blanking machine shown in fig. 1.

Fig. 11 is a perspective view of the three-axis displacement mechanism of the panel drilling loader and unloader of fig. 1.

Fig. 12 is a perspective view of the R-axis cylinder and its related structure in the three-axis displacement mechanism shown in fig. 11.

Fig. 13 is a perspective view of the Z-axis cylinder and the rotary cylinder in the three-axis displacement mechanism shown in fig. 11.

Fig. 14 is a top view of the gripping chuck of the gripping mechanism of the panel drilling loader/unloader shown in fig. 1.

Fig. 15 is a perspective view of a gripping suction cup of the gripping mechanism of the plate drilling and feeding machine shown in fig. 1.

Fig. 16 is a left side view of a gripping suction cup of the gripping mechanism of the board drilling loader/unloader shown in fig. 1.

FIG. 17 is a front view of the access location in the plate drilling machine of FIG. 1.

FIG. 18 is a top view of the access location in the panel drill loader shown in FIG. 1.

FIG. 19 is a perspective view of the double-deck structure of the multi-deck temporary storage mechanism of the board drilling loader/unloader shown in FIG. 1.

Fig. 20 is a perspective view of the three-layer structure of the temporary multi-layer storage mechanism of the plate drilling and loading and unloading machine shown in fig. 1.

The designations in the figures mean:

1. a frame;

2. a panel turnover mechanism; 21. a turning plate rotating rod; 22. a flap substrate; 23. a flap sucker;

3. a fork mechanism; 32. a telescopic beam; 33. a pallet fork suction cup mechanism; 331. a fork swing arm; 332. a fork base plate; 333. pallet fork suction cups;

4. a positive positioning platform; 5. a reverse positioning platform; 41. a positioning cavity; 42. an X position cylinder; 43. a Y position cylinder;

6. an inlet and outlet position; 61. a plate frame; 62. a panel frame locking mechanism; 63. a traveling wheel seat;

7. a grabbing mechanism; 71. a three-axis displacement mechanism; 711. a displacement frame; 712. an X-axis cylinder; 713. a Y-axis cylinder; 714. a Z-axis cylinder; 715. an R-axis cylinder; 716. a rotating cylinder; 72. grabbing a sucker; 721. grabbing the substrate; 722. a clip; 723. an adjustment shaft; 724. a suction nozzle beam;

8. a multi-layer temporary storage mechanism; 81. a telescopic cylinder; 82. a slide rail; 83. a drawer;

9. a drilling machine.

Detailed Description

In order to make the objects, technical solutions and advantages of the present invention more apparent, the present invention will be described in further detail below with reference to the accompanying drawings, which are examples. It should be understood that the specific embodiments described herein are merely illustrative of the invention and are not intended to limit the 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 or indirectly secured to the other element. When an element is referred to as being "connected to" another element, it can be directly or indirectly connected to the other element. The terms "upper", "lower", "left", "right", and the like indicate orientations or positional relationships based on the orientations or positional relationships shown in the drawings, and are only for convenience of description, and do not indicate or imply that the referred devices or elements must have a specific orientation, be constructed and operated in a specific orientation, and thus, are not to be construed as limiting the patent. 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 implicitly indicating the number of technical features. The meaning of "plurality" is two or more unless specifically limited otherwise.

It should be noted that the same reference numerals are used to denote the same components or parts in the embodiments of the present application, and for the same parts in the embodiments of the present application, only one of the parts or parts may be given the reference numeral, and it should be understood that the reference numerals are also applicable to the other same parts or parts.

In order to explain the technical solution of the present invention, the following description is made with reference to the specific drawings and examples.

Referring to fig. 1 and 2, an embodiment of the present application provides a plate drilling and loading and unloading machine for achieving automatic turning and positioning of a plate.

Referring to fig. 1 and 2, the plate drilling and loading and unloading machine provided by the embodiment of the application comprises a frame 1, wherein the frame 1 is used for providing a fixed foundation for a subsequent structure, and further comprises a drilling machine 9, a plate turnover mechanism 2, a pallet fork mechanism 3, a forward positioning platform 4 and a reverse positioning platform 5.

The drilling machine 9 is used for drilling the sheet material, the drilling machine 9 being a conventional sheet material drilling machine 9.

The plate turning mechanism 2 is arranged beside the drilling machine 9, and the plate turning mechanism 2 is used for turning the plate, namely turning the plate from the front side to the back side.

The pallet fork mechanism 3 is arranged on one side of the drilling machine 9, and the pallet fork mechanism 3 is used for grabbing the plate from the positive positioning platform 4 or the negative positioning platform 5 and placing the plate on the drilling machine 9 or the plate turnover mechanism 2.

The reverse positioning platform 5 is arranged at the side of the plate turning mechanism 2, the reverse positioning platform 5 is used for positioning plates, the positive positioning platform 4 is arranged on one side of the drilling machine 9 far away from the plate turning mechanism 2, the positive positioning platform 4 is used for positioning plates, the positive positioning platform 4 is used for positioning the front surfaces of the plates before the drilling machine 9 drills, the reverse positioning platform 5 is used for positioning the back surfaces of the plates after the plate turning mechanism 2 turns the plates, and the reverse positioning platform 5 is used for positioning the back surfaces of the plates after the plate turning mechanism 2 turns the plates.

The grabbing mechanism 7 is used for grabbing the plate and putting the plate into the forward positioning platform 4 or the reverse positioning platform 5.

And a numerical control module is also arranged in the rack 1 and can control the working states of the drilling machine 9, the plate turnover mechanism 2, the fork mechanism 3, the grabbing mechanism 7, the positive positioning platform 4 and the negative positioning platform 5.

The automatic drilling machine is simple in structure and high in automation degree, can automatically realize complete processes of taking, aligning, drilling and turning, improves efficiency, and meanwhile guarantees accuracy of drilling positions.

Referring to fig. 3, 4 and 5, in an embodiment, the plate turnover mechanism 2 includes a plate turnover rotating rod 21, a plate turnover substrate 22 and a plate turnover suction cup 23, the plate turnover rotating rod 21 is hinged to the frame 1, the plate turnover rotating rod 21 can rotate on the frame 1, a rotary cylinder is arranged at the hinged position of the plate turnover rotating rod 21 and the frame 1, the rotary cylinder can control the plate turnover rotating rod 21 to rotate, the working state of the rotary cylinder is controlled by the numerical control module, the plate turnover substrate 22 is fixed at the other end of the plate turnover rotating rod 21, the plate turnover suction cup 23 is fixed on the plate turnover substrate 22, the plate turnover suction cups 23 are multiple, and the plate turnover suction cups 23 are used for adsorbing plates.

After the pallet fork mechanism 3 puts the plate on the plate turning mechanism 2, the plate turning sucker 23 adsorbs the plate, the plate turning rotating rod 21 rotates and drives the plate to turn over, and then the pallet fork mechanism 3 takes up the plate again from the back side of the plate, namely one-time turning over is completed.

The application provides a concrete structure of panel turnover mechanism 2 for with panel turn-over and be convenient for fork mechanism 3 take panel.

Referring to fig. 6, 7, 8, 16, in one embodiment, the fork mechanism 3 includes a telescoping beam 32 and a fork suction cup mechanism 33, both the telescoping beam 32 and the fork suction cup mechanism 33 being controlled by the numerical control module.

Referring to fig. 6, the telescopic beam 32 is a common telescopic beam 32, preferably a mechanical telescopic beam 32, and controls the telescopic motion by means of pulleys, and the counter positioning platform 5, the drilling machine 9, and the forward positioning platform 4 are all located on the same axis, i.e. the telescopic beam 32 can place the plate on the counter positioning platform 5, the drilling machine 9, and the forward positioning platform 4 at the exact position without adjusting the position after telescopic motion, and this axis is called as the telescopic axis.

Referring to fig. 7 and 8, the fork suction cup mechanism 33 is fixed at the other end of the telescopic beam 32, and the telescopic beam 32 can be extended and contracted to drive the fork suction cup mechanism 33 to move synchronously.

The fork sucker mechanism 33 comprises a fork swing arm 331 which is slidably connected to the telescopic beam 32, a telescopic cylinder is arranged at the sliding connection position of the fork swing arm 331 and the telescopic beam 32 and also controlled by a numerical control module, a fork base plate 332 is fixed at the other end of the fork swing arm 331, a fork sucker 333 is fixed on the fork base plate 332 and also controlled by the numerical control module, the fork sucker 333 is used for sucking plates, and the telescopic cylinder can stretch and drive the fork sucker 333 to synchronously move through the fork swing arm 331 so as to be convenient for the fork sucker 333 to suck and put down the plates.

Referring to fig. 9 and 10, in an embodiment, the forward positioning platform 4 and the reverse positioning platform 5 each include a hollow positioning cavity 41 without a top, an X-position cylinder 42, and a Y-position cylinder 43, and the forward positioning platform 4 and the reverse positioning platform 5 have the same structure and are respectively named only by being mounted at different positions of the frame 1.

The X-position cylinder 42 and the Y-position cylinder 43 are respectively fixed on the adjacent side walls of the corresponding positioning cavities 41, the X-position cylinder 42 and the Y-position cylinder 43 are both electric cylinders, and can also be pneumatic cylinders or hydraulic cylinders, and the X-position cylinder 42 and the Y-position cylinder 43 synchronously extend out to push a plate to one corner of the positioning cavity 41, so that the positioning effect is achieved.

The embodiment provides a specific structure of the forward positioning platform 4 and the reverse positioning platform 5, and ensures that the fork suckers 333 of the fork mechanism 3 are adsorbed at the same position of a plate after the forward positioning platform 4 or the reverse positioning platform 5 is positioned, so that the drilling position can be accurately positioned.

Referring to fig. 14 and 15, in an embodiment, the plate loading and unloading machine for plate drilling further includes a plurality of inlet and outlet positions 6, the inlet and outlet positions are used for placing a plate and taking the plate after drilling is completed, and the plurality of inlet and outlet positions 6 are all fixed to the frame 1 and are respectively located beside the forward positioning platform 4 and the backward positioning platform 5.

Import and export position 6 includes the grillage 61 of L shape, grillage locking mechanical system 62 and walking wheel seat 63, grillage 61 is fixed in walking wheel seat 63 through grillage locking mechanical system 62, and open the back at grillage locking mechanical system 62, grillage 61 can move on walking wheel seat 63, grillage 61 includes mutually perpendicular and the continuous bottom surface of one end and last supporting surface, go up the surface contact who closes with the long wide enclosure of panel in the supporting surface, the surface contact that encloses of bottom surface and panel width height, contained angle between the plane at bottom surface place and the horizontal plane of walking wheel seat 63 is the acute angle, this setting makes panel place for the tilt state when importing and exporting position 6, thereby be convenient for fork mechanism 3 to take.

Referring to fig. 1, fig. 17, fig. 18, walking wheel seat 63 is fixed in frame 1, walking wheel seat 63 is including the base that is fixed in frame 1, it is connected with a plurality of walking wheels to rotate on the base, grillage 61 and the contact of walking wheel and can move on the walking wheel, grillage locking mechanical system 62 is fixed in the base, grillage locking mechanical system 62 is common electronic buckle promptly and is controlled by numerical control module, grillage 61 bottom surface is equipped with and grillage locking mechanical system 62 complex draw-in groove, when grillage 61 moves to walking wheel seat 63 one end, grillage locking mechanical system 62 can stretch out and the chucking is in the draw-in groove, thereby fix grillage 61 on walking wheel seat 63.

Preferably, the included angle between the plane of the upper supporting surface and the horizontal plane of the walking wheel seat 63 is called as the maximum inclination angle, the maximum swing angle of the turning plate rotating rod 21 is the same as the angle of the maximum inclination angle, namely, after the turning plate mechanism 2 drives the plate to turn over and turn over, the plate is horizontal to the upper supporting surface, and the grabbing mechanism 7 can adopt the same inclination angle to realize the grabbing when the plate after the turning plate is taken by the grabbing mechanism 7 and the plate at the inlet and outlet position 6, so that the control complexity of the fork mechanism 3 is reduced.

Referring to fig. 1 and 2, further, a traveling trolley is arranged on the side surface of the traveling wheel base 63, the traveling trolley is also provided with a plate frame 61, and in the plate processing process, the traveling trolley can be pushed to the side of the traveling wheel base 63, and the empty plate frame 61 can be taken out, and the plate frame 61 with the plate can be pushed into the traveling wheel base 63.

The trolley locking mechanism is fixed on one side of the traveling wheel seat 63, and can fix the trolley after the traveling trolley is contacted with the traveling wheel seat 63, so that the plate frame 61 can be conveniently replaced, and the trolley locking mechanism is a common electric buckle structure.

In one embodiment, the fork mechanism 3 and the grabbing mechanism 7 are two and are respectively located on one side of the forward positioning platform 4 and one side of the reverse positioning platform 5, after a plate to be processed is placed on the inlet and outlet position 6, the grabbing mechanism 7 on one side of the forward positioning platform 4 takes the plate, and after drilling is completed, the grabbing mechanism 7 on one side of the reverse positioning platform 5 conveys the plate to the reverse positioning platform 5.

The other two inlet and outlet positions 6 are arranged on the positive positioning platform 4, the pallet fork mechanism 3 comprises two pallet fork sucker mechanisms 33, the other grabbing mechanism 7 of the positive positioning platform 4 can grab the plate from the two inlet and outlet positions 6 in a circulating manner, so that the working efficiency is improved, the other two pallet fork sucker mechanisms 33 of the positive positioning platform 4 can sequentially grab the plate from the adjacent positive positioning platform 4, the two pallet fork sucker mechanisms 33 can also simultaneously place the plate into the drilling machine 9, the other two pallet fork sucker mechanisms 33 of the reverse positioning platform 5 can take the plate out of the drilling machine 9 and sequentially place the two plates into the reverse positioning platform 5, and the other grabbing mechanism 7 of the reverse positioning platform 5 can place the plate turned over by the plate turning mechanism 2 on the adjacent inlet and outlet positions 6.

The embodiment comprises a drilling machine 9, a turning plate mechanism 2, a forward positioning platform 4, a reverse positioning platform 5, two fork mechanisms 3 and two grabbing mechanisms 7, wherein one telescopic beam 32 and two fork sucker mechanisms 33 in the fork mechanisms 3 are set to be optimal structures under the comprehensive consideration of cost, drilling period and control procedures.

Referring to fig. 19 and 20, in an embodiment, the plate material drilling and plate loading and unloading machine further comprises a multi-layer temporary storage mechanism 8, wherein the multi-layer temporary storage mechanism 8 comprises a plurality of sliding rails 82 fixed on the frame 1, a plurality of telescopic cylinders 81 and a plurality of drawers 83.

The drawers 83 are respectively arranged in the sliding rails 82 in a sliding manner, the drawers 83 are hollow cavities without tops, and the drawers 83 are used for storing plates.

The two ends of the telescopic cylinders 81 are respectively fixed on the corresponding drawer 83 and the corresponding slide rail 82, the telescopic cylinders 81 are used for driving the corresponding drawer 83 to slide along the slide rail 82, and the telescopic cylinders 81 are preferably rodless cylinders, so that the space in the rack 1 can be effectively saved, and the drawer 83 can be driven to slide along the slide rail 82.

Multilayer temporary storage mechanism 8 is used for depositing NG board, detection model, bottom plate and bottom plate NG board, and wherein NG board produces NG's PCB panel after for drilling, detects the model and additionally carries out other PCB panels that detect for the artifical needs, and the required base plate that leans on of filling up when the bottom plate is PCB panel drilling, and bottom plate NG board is the bottom plate behind the certain degree of bottom plate loss.

After reading and writing the information code on the PCB panel before drilling or after drilling through the CCD image sensor or the reading head of locating frame 1, send the information of reading and writing to numerical control module and classify, rethread fork mechanism 3 places respectively in multilayer temporary storage mechanism 8 with snatching mechanism 7, multilayer temporary storage mechanism 8 can have two-layerly, three-layerly or more, considers the inside high space of frame 1 and drilling technology needs, and multilayer temporary storage mechanism 8 sets up to two-layerly or three-layerly as the optimum.

When the plate storage device is used, when a plate needs to be taken to a certain layer of temporary storage mechanism, the telescopic cylinder 81 controls the corresponding drawer 83 to extend out, so that the fork mechanism 3 or the grabbing mechanism 7 can place the plate in the corresponding temporary storage mechanism.

Referring to fig. 11 to 16, in an embodiment, the gripping mechanism 7 includes a three-axis displacement mechanism 71 and a gripping suction cup 72 fixed to the frame 1;

referring to fig. 11, 12 and 13, the three-axis displacement mechanism 71 includes a displacement frame 711, the displacement frame 711 is fixed to the frame 1, the three-axis displacement mechanism 71 can drive the gripping suction cup 72 to move along the telescopic axis direction, the vertical telescopic axis direction and the height direction of the positive positioning platform 4, and specifically includes an X-axis cylinder 712 and a Y-axis cylinder 713 fixed to the displacement frame 71 and a Z-axis cylinder 714 fixed to the R-axis cylinder 715, and specifically referring to fig. 12 and 13, the Z-axis cylinder 714 is fixed between two structural plates, and a rotating shaft of the R-axis cylinder 715 passes through one structural plate and is fixedly connected to the Z-axis cylinder 714, so that the R-axis cylinder 715 can drive the Z-axis cylinder 714 to rotate synchronously.

The movement in the telescopic axis direction is controlled by an X-axis cylinder 712.

The movement in the direction of the vertical telescopic axis is controlled by the Y-axis cylinder 713, in which direction the Y-axis cylinder 713 controls the gripping suction cups 72 to move towards the adjacent access position 6.

The movement along the height direction of the positive positioning platform 4 is controlled by a Z-axis cylinder 714, and the Z-axis cylinder 714 can control the grabbing sucker 72 to place the plate into the adjacent positive positioning platform 4 or the negative positioning platform 5.

The three-axis displacement mechanism 71 further comprises an R-axis cylinder 715 fixed to the displacement frame 711, wherein the R-axis cylinder 715 is used for driving the Z-axis cylinder 714 to swing, so as to drive the grabbing suction cup 72 to swing, and the R-axis cylinder 715 is arranged to grab the plate since the plate is placed in the inlet/outlet position 6 in an inclined state.

The three-axis displacement mechanism 71 further comprises a rotating cylinder 716 fixed at the other end of the Z-axis cylinder 714, and the rotating cylinder 716 can drive the grabbing sucker 72 to rotate, so as to drive the plate to rotate, and the rotating angles of the grabbing sucker are 90 ° and 180 °, so as to meet the plate processing requirements.

Referring to fig. 14, 15 and 16, the gripping chuck 72 includes a gripping base plate 721 fixed to the other end of the rotary cylinder 716, and the gripping base plate 721 is used to provide a fixed base for the subsequent structure.

The grabbing sucker 72 further comprises a clamp 722, the clamp 722 is used for assisting in clamping the side face of the plate and further preventing the plate from falling off, the clamp 722 is driven by an electric telescopic cylinder fixed on the sucker frame, the electric telescopic cylinder is controlled by a numerical control module, and the electric telescopic cylinder can control the swing of the clamp 722 so as to clamp the plate from the side face.

The grabbing sucker 72 further comprises an adjusting shaft 723 and a suction nozzle beam 724, the clamp 722 and the adjusting shaft 723 are fixed on the base plate 721, the adjusting shaft 723 is an electric telescopic cylinder and is controlled by a control module, the suction nozzle beam 724 is slidably arranged on the grabbing base plate 721, the suction nozzle beam 724 is fixed at the other end of the adjusting shaft 723, the adjusting shaft 723 can stretch and retract to drive the suction nozzle beam 724 to stretch and retract synchronously, so that the suction nozzle beam 724 can adsorb a plate material, a plurality of vacuum suction nozzles are fixed on the suction nozzle beam 724, and the vacuum suction nozzles are controlled by a numerical control module.

Preferably, there are four clamps 722, and four clamps 722 may correspond to four sides of the sheet material, respectively, or two clamps 722 may correspond to two opposite sides of the sheet material, and the four clamps 722 may work simultaneously to clamp the sheet material.

Preferably, the two suction nozzle beams 724 are arranged oppositely, one of the two suction nozzle beams 724 is fixed on the grabbing base plate 721, the other of the two suction nozzle beams 724 is connected with the adjusting shaft 723, and the adjusting shaft 723 can be extended and contracted to adjust the distance between the two suction nozzle beams 724, so that the suction nozzle beams 724 can adapt to plates with different sizes.

In one embodiment, a method for drilling a double plate is provided, which is applied to plate loading and unloading machines for drilling a plate, and can realize drilling on the front and back surfaces of the plate and accurate positioning in the drilling process by using the working procedure, and the method comprises the following working procedures:

double-plate front positioning process: the grabbing mechanism 7 conveys the first plate to the positive positioning platform 4 to put down, and the positive positioning platform 4 positions the first plate and then the fork mechanism 3 takes the first plate;

the grabbing mechanism 7 conveys the second board to the positive positioning platform 4 to be put down, and after the positive positioning platform 4 positions the second board, the fork mechanism 3 takes the second board again.

In the working procedure, the grabbing mechanisms 7 respectively take two plates and respectively realize the front positioning of the plates, and the fork mechanism 3 simultaneously grabs the two plates which are completely positioned.

Double-plate drilling: the fork mechanism 3 puts the two plates into the drilling machine 9 and drills the holes.

Double-plate turnover procedure: the pallet fork mechanism 3 takes a plate and puts a first plate on the reverse positioning platform 5, after the reverse positioning platform 5 is positioned, the plate turning mechanism 2 takes the first plate and turns over, and the grabbing mechanism 7 takes the turned-over first plate and puts the first plate into the adjacent inlet and outlet position 6;

then the pallet fork mechanism 3 puts the second plate on the reverse positioning platform 5, after the reverse positioning platform 5 is positioned, the plate turning mechanism 2 takes the second plate and turns over, and the grabbing mechanism 7 takes the turned-over second plate and puts the second plate into the adjacent inlet and outlet position 6.

In the process, the fork mechanism 3 respectively conveys two boards with front holes drilled to the upper part of the board turnover mechanism 2, and after the two boards are turned over, the grabbing mechanism 7 sequentially places the two boards on the inlet and outlet positions 6.

Double-plate reverse side positioning process: the grabbing mechanism 7 conveys the first plate to the reverse positioning platform 5 to put down, and the reverse positioning platform 5 positions the first plate and then the fork mechanism 3 takes the first plate;

the grabbing mechanism 7 conveys the second plate to the reverse positioning platform 5 to be put down, and after the reverse positioning platform 5 positions the second plate, the fork mechanism 3 takes the second plate.

In the process, the grabbing mechanism 7 places the turned plate on the reverse positioning platform 5 for positioning, and the fork mechanism 3 takes the positioned plate, so that the fork suckers 333 are ensured to be adsorbed at the same position of the plate every time.

In one embodiment, when drilling holes on the front and back surfaces of two plates, the following steps are performed in sequence:

the grabbing mechanism 7 sequentially takes the first plate and the second plate on the inlet and outlet positions 6 beside the positive positioning platform 4 and executes a double-plate positive positioning process, and after the process is finished, the fork suckers 333 are adsorbed at the same position of the plates, so that the drilling position of the drilling machine 9 can be conveniently determined, and accurate positioning and drilling can be conveniently realized.

And (4) executing a double-plate drilling process, and simultaneously drilling the front surfaces of the two plates.

And executing a double-plate turnover process, and sequentially turning the plates with the front drilled holes respectively.

And (3) executing a double-plate turnover positioning procedure, and re-positioning the turnover plate, wherein the fork suction cups 333 adsorb the reverse side of the plate and the fork suction cups 333 adsorb the same position of the plate.

And (4) executing a double-plate drilling process, and simultaneously drilling the reverse sides of the two plates.

The pallet fork mechanism 3 sequentially places two plates with two sides drilled on the reverse positioning platform 5, the grabbing mechanism 7 sequentially places plates on the inlet and outlet positions 6, and one working cycle of drilling on the front and back sides of the double plates is completed.

In an embodiment, this embodiment also provides a function of drilling only the front or back of the board, specifically, when drilling one side of two boards, the following steps are sequentially performed:

the grabbing mechanism 7 sequentially takes the first plate and the second plate on the inlet and outlet positions 6 beside the positive positioning platform 4 and executes a double-plate positive positioning process, and after the process is finished, the fork suckers 333 are adsorbed at the same position of the plates, so that the position of a drill bit of the drilling machine 9 can be conveniently determined, and accurate positioning and drilling can be conveniently carried out.

And (3) executing a double-plate reverse positioning process, taking the plate with the drilled front surface by the fork mechanism 3, and putting the plate into the reverse positioning platform 5 for positioning again.

The grabbing mechanism 7 places the two boards with the front drilled holes at the inlet and outlet positions 6, and the inlet and outlet positions 6 are the inlet and outlet positions 6 close to the reverse positioning platform 5.

In the process of drilling the plate, a new plate to be processed is placed on the inlet and outlet position 6 close to the positive positioning platform 4 again.

The above embodiments are only used to illustrate the technical solutions of the present application, and not to limit the same; although the present application has been described in detail with reference to the foregoing embodiments, it should be understood by those of ordinary skill in the art that: the technical solutions described in the foregoing embodiments may still be modified, or some technical features may be equivalently replaced; such modifications and substitutions do not substantially depart from the spirit and scope of the embodiments of the present application and are intended to be included within the scope of the present application.

Claims

1. A plate drilling and loading and unloading machine comprises a rack (1), and is characterized by further comprising a drilling machine (9), a plate turning mechanism (2), a pallet fork mechanism (3), a forward positioning platform (4), a reverse positioning platform (5) and a grabbing mechanism (7), wherein the drilling machine is arranged on the rack (1);

the drilling machine (9) is used for drilling the plate;

the grabbing mechanism (7) is used for grabbing the plate and putting the plate into the forward positioning platform (4) or the reverse positioning platform (5);

the plate turning mechanism (2) is arranged beside the drilling machine (9), and the plate turning mechanism (2) is used for turning the plate;

the positive positioning platform (4) is arranged on one side, away from the plate turnover mechanism (2), of the drilling machine (9), and the positive positioning platform (4) is used for positioning a plate before turnover;

the reverse positioning platform (5) is arranged beside the plate turnover mechanism (2), and the reverse positioning platform (5) is used for positioning the turned plate;

the pallet fork mechanism (3) is arranged on one side of the drilling machine (9), and the pallet fork mechanism (3) is used for grabbing the plate on the forward positioning platform (4) or the reverse positioning platform (5) and placing the plate in the drilling machine (9).

2. A board drilling loader/unloader according to claim 1 wherein the flap mechanism (2) comprises a flap rotating lever (21), a flap base plate (22) and a flap suction cup (23);

one end of the turning plate rotating rod (21) is hinged to the rack (1), the turning plate substrate (22) is fixed to the other end of the turning plate rotating rod (21), and the turning plate sucker (23) is fixed to the turning plate substrate (22).

3. A board drilling loader/unloader according to claim 1 wherein the pallet fork mechanism (3) comprises a telescoping beam (32), a pallet fork suction cup mechanism (33);

one end of the telescopic beam (32) is fixed on the rack (1), and the fork sucker mechanism (33) is fixed on the other end of the telescopic beam (32);

the fork sucker mechanism (33) comprises a fork swing arm (331) fixed on the telescopic beam (32), a fork base plate (332) is fixed at the other end of the fork swing arm (331), and a fork sucker (333) is fixed on the fork base plate (332).

4. A plate drilling and blanking machine according to claim 1, characterized in that the forward positioning platform (4) and the reverse positioning platform (5) each comprise a hollow topless positioning cavity (41), an X-position cylinder (42), a Y-position cylinder (43);

the X-position cylinder (42) and the Y-position cylinder (43) are respectively fixed on the adjacent side walls of the corresponding positioning cavities (41).

5. A board drilling loader/unloader according to claim 1, wherein the board drilling loader/unloader further comprises a plurality of inlet/outlet locations (6), wherein the plurality of inlet/outlet locations (6) are fixed to the frame (1) and located beside the forward positioning platform (4) and the reverse positioning platform (5), respectively;

import and export position (6) are including grillage (61), grillage locking mechanical system (62) and the walking wheel seat (63) of L shape, walking wheel seat (63) are fixed in frame (1), grillage locking mechanical system (62) are fixed in walking wheel seat (63), grillage (61) can be followed walking wheel seat (63) slide and pass through locking mechanical system is fixed.

6. The plate drilling loader-unloader as recited in claim 5, wherein the plate frame (61) comprises a lower supporting surface and an upper supporting surface which are perpendicular to each other and connected with each other, the plane of the lower supporting surface is intersected with the horizontal plane of the walking wheel seat (63) and the included angle is an acute angle;

when the turnover of the turnover mechanism (2) is finished, the plate taken by the turnover mechanism is parallel to the upper supporting surface.

7. A plate drilling and blanking machine according to claim 5, characterized in that the pallet fork mechanism (3) and the grabbing mechanism (7) are respectively arranged at one side of the forward positioning platform (4) and the reverse positioning platform (5), and two inlet and outlet positions (6) are arranged beside the forward positioning platform (4).

8. A board drilling and loading and unloading machine as claimed in claim 1, characterized by further comprising a multi-layer temporary storage mechanism (8), wherein the multi-layer temporary storage mechanism (8) comprises a plurality of sliding rails (82), a plurality of telescopic cylinders (81) and a plurality of drawers (83) fixed on the frame (1);

the drawers (83) are respectively arranged in the sliding rails (82) in a sliding manner, and the drawers (83) are used for storing plates;

the two ends of the telescopic cylinders (81) are respectively fixed on the corresponding drawer (83) and the corresponding sliding rail (82), and the telescopic cylinders (81) are used for driving the corresponding drawer (83) to slide along the corresponding sliding rail (82).

9. A board drilling and blanking machine according to claim 1, characterized in that the gripping mechanism (7) comprises a three-axis displacement mechanism (71) and a gripping suction cup (72) fixed to the frame (1);

the three-axis displacement mechanism (71) comprises a displacement frame (711), and the three-axis displacement mechanism (71) further comprises an X-axis cylinder (712), a Y-axis cylinder (713), an R-axis cylinder (715), a Z-axis cylinder (714) and a rotating cylinder (716) which are fixed on the displacement frame (71);

one end of the Z-axis cylinder (714) is fixed to the R-axis cylinder (715), and the rotating cylinder (716) is fixed to the other end of the Z-axis cylinder (714);

the grabbing sucker (72) comprises a grabbing base plate (721) fixed at the other end of the rotating cylinder (716), a clamp (722), an adjusting shaft (723) and a suction nozzle beam (724);

the clamp (722) and the adjusting shaft (723) are fixed on the substrate (721), the suction nozzle beam (724) is slidably arranged on the grabbing substrate (721), the suction nozzle beam (724) is fixed at the other end of the adjusting shaft (723), and a plurality of suction nozzles are arranged on the suction nozzle beam (724).

10. A plate drilling method applied to the plate drilling upper and lower machine as claimed in any one of claims 1 to 9, characterized by comprising the following steps:

double-plate front positioning process: the grabbing mechanism (7) conveys a first board to the positive positioning platform (4) and is positioned by the positive positioning platform (4), and the fork mechanism (3) grabs the first board;

the grabbing mechanism (7) conveys the second board to the positive positioning platform (4) for positioning, and the fork mechanism (3) grabs the second board again;

double-plate drilling: the fork mechanism (3) puts the two plates into a drilling machine (9) and drills holes;

double-plate turnover procedure: the pallet fork mechanism (3) takes a first plate, then the first plate is placed on the reverse positioning platform (5) and positioned by the reverse positioning platform (5), the plate turning mechanism (2) takes the first plate and turns over, and the grabbing mechanism (7) takes the turned-over first plate and places the first plate on the adjacent inlet and outlet positions (6);

the pallet fork mechanism (3) takes the second block plate, then the second block plate is placed on the reverse positioning platform (5) and positioned by the reverse positioning platform (5), the plate turning mechanism (2) takes the second block plate and turns over, and the grabbing mechanism (7) takes the turned-over second block plate and places the second block plate on the adjacent inlet and outlet positions (6);

double-plate reverse side positioning process: the grabbing mechanism (7) conveys the first board to the reverse positioning platform (5) and is positioned by the reverse positioning platform (5), and the fork mechanism (3) grabs the first board again;

the grabbing mechanism (7) conveys the second board to the reverse positioning platform (5) and is positioned by the reverse positioning platform (5), and the fork mechanism (3) grabs the second board again.