CN115593923A

CN115593923A - Automatic feeding and discharging equipment and method and automatic feeding system for Tray core sheet materials

Info

Publication number: CN115593923A
Application number: CN202110776849.8A
Authority: CN
Inventors: 王程; 李轶; 卢超; 魏棋; 张千
Original assignee: Delta Electronics Inc
Current assignee: Delta Electronics Inc
Priority date: 2021-07-09
Filing date: 2021-07-09
Publication date: 2023-01-13

Abstract

An automatic feeding and discharging device and method and a Tray disc core sheet material automatic feeding system. Automatic go up unloading equipment includes: a movable frame having a first region and a second region distributed in the left and right direction along the X-axis direction; the material taking and placing device is arranged in a first area and comprises a lifting mechanism, a transplanting mechanism, a rotating mechanism and a conveying mechanism, wherein the lifting mechanism is connected with the transplanting mechanism, the conveying mechanism, the rotating mechanism and the transplanting mechanism are stacked and connected from top to bottom along the Z-axis direction, the conveying mechanism is configured to reciprocate in the conveying direction to take and place materials, the rotating mechanism is configured to enable the conveying mechanism to rotate in the rotating direction relative to the transplanting mechanism, the lifting mechanism is configured to enable the transplanting mechanism to ascend and descend in the Z-axis direction, and the transplanting mechanism is configured to enable the rotating mechanism to reciprocate in the X-axis direction; the cache device is arranged in the second area and comprises a cache box and a cache box positioning platform; the cache box is arranged at the top of the cache box positioning platform in a removable/insertable manner.

Description

Automatic feeding and discharging equipment and method and automatic feeding system for Tray core sheet materials

Technical Field

The invention relates to the field of intelligent manufacturing, in particular to automatic feeding and discharging equipment and method and a Tray disc core sheet material automatic feeding system.

Background

At present, the intelligent manufacturing and intelligent logistics field is developed in a factory in an increasingly less-human direction due to higher and higher automation degree.

At present, the chip loading process of the SMT (Surface Mounted Technology) automatic production line is as follows: manually opening a cabinet door of the feeding equipment, taking out a Tray without chips (also called a Tray) and putting the Tray full of chips, closing the cabinet door of the feeding equipment, and clicking a feeding completion button of the feeding equipment to complete feeding of the chips.

In order to ensure the challenges of no damage to the chip, precise positioning and docking, anti-collision processing during movement of the precise chip, data interaction between a machine and a Manufacturing Execution System (MES), and the like, the loading and unloading of the chip are finished manually at present, but the labor has the disadvantages of high replacement rate, complicated procedure, high labor cost, and the like.

Therefore, how to realize the 100% automation of SMT production line to accomplish the last back way that the material was carried, help the mill to build advanced SMT intelligence production line, become the problem that the industry urgent need was solved.

Disclosure of Invention

The invention aims to provide an automatic loading and unloading device and method and a Tray core sheet material automatic loading system, which can overcome one or more defects in the prior art and realize the automation of an SMT production line.

In order to achieve the above object, according to an embodiment of the present invention, there is provided an automatic loading and unloading apparatus, including: a movable frame having a first region and a second region distributed in the left and right direction along the X-axis direction; the material taking and placing device is arranged in the first area and comprises a lifting mechanism, a transplanting mechanism, a rotating mechanism and a transmission mechanism, wherein the lifting mechanism is connected with the transplanting mechanism, and the transmission mechanism, the rotating mechanism and the transplanting mechanism are stacked and connected from top to bottom along a Z-axis direction, the transmission mechanism is configured to reciprocate in the transmission direction to take and place materials, the rotating mechanism is configured to enable the transmission mechanism to rotate in the rotation direction relative to the transplanting mechanism, the lifting mechanism is configured to enable the transplanting mechanism to ascend and descend in the Z-axis direction, and the transplanting mechanism is configured to enable the rotating mechanism to reciprocate in the X-axis direction; the cache device is arranged in the second area and comprises a cache box and a cache box positioning platform; the cache box is arranged at the top of the cache box positioning platform in a removable/insertable manner.

In an embodiment of the present invention, the automatic loading and unloading apparatus further includes one or more of the following systems: the optical self-calibration system is configured to correct the position of the automatic loading and unloading equipment according to the relative position information between the automatic loading and unloading equipment and the loading equipment; the restarting self-recovery system is configured to enable the material taking and placing device to automatically return to a position before power failure according to historical data before power failure after power failure restarting; the material taking and placing force control system is configured to detect first position information of whether the material is put in place and/or resistance information of the material in a taking and placing process, and control the movement of the transmission mechanism according to the first position information and/or the resistance information; a vertical position positioning system configured to position a vertical position of the material on the transport mechanism relative to a section of the buffer device.

In an embodiment of the present invention, the optical self-calibration system includes: the first optical mark point is arranged on the feeding equipment; the camera is arranged in the middle of the side face, facing the feeding device, of the rotating mechanism and is configured to be capable of collecting second position information of the first optical mark point; a first control system configured to generate a first control command to control the movement of the transport mechanism, the rotation mechanism and/or the transplanting mechanism according to the second position information.

In an embodiment of the present invention, the first optical marker point includes one or more infrared LED light sources; the camera is an infrared camera.

In an embodiment of the present invention, the first optical mark point includes a plurality of infrared LED light sources, and the optical self-calibration system further includes: and the inclination adjusting mechanism is connected with the rotating mechanism and can adjust the inclination of the rotating mechanism in the X-axis direction.

In an embodiment of the invention, the historical data before power failure is stored in a database of an industrial personal computer, and the industrial personal computer can automatically return the material taking and placing device to the position before power failure according to the historical data before power failure.

In an embodiment of the present invention, the industrial personal computer is further configured to store operation data of the automatic loading and unloading device and/or interaction data with the outside.

In an embodiment of the present invention, the material taking and placing capacity control system includes: the first force sensor is arranged at the front end of the conveying mechanism and is configured to acquire the first position information of whether the material is put in place or not and/or acquire resistance information of the material in the taking and putting process; a second control system configured to generate a second control command to control the reciprocating motion of the transmission mechanism according to the first position information and/or the resistance information.

In one embodiment of the present invention, the vertical position locating system includes: the scanning ranging mechanism is used for taking an original point as a central rotating point, wherein the original point is the central point of the rotating mechanism and has an initial opposite direction, and scanning ranging is carried out on a plurality of scanning points from the original point to the left side and the right side of the vertical position of the section of the cache device so as to obtain a plurality of corresponding scanning results; the analysis unit is used for analyzing the plurality of scanning results to obtain scanning points with equal scanning results in the areas on the left side and the right side of the vertical position as reference points, and analyzing the deflection angle between the initial facing direction and the vertical position according to the reference points; wherein the rotating mechanism is further configured to be capable of rotating the deflection angle such that a facing direction of the material loaded on the transport mechanism is perpendicular to the section.

In an embodiment of the present invention, the movable frame includes: the device comprises a frame structure, a shell arranged on the frame structure and a caster arranged on the frame structure.

In an embodiment of the invention, the caster is an adjustable caster configured to be capable of height adjustment in the Z-axis direction.

In an embodiment of the invention, the movable frame further comprises: the first cabinet door can be electrically controlled and is arranged corresponding to the first area; and/or a second cabinet door which can be electrically controlled and is arranged corresponding to the second area; and the electric control mechanism is electrically controlled and connected with the first cabinet door and/or the second cabinet door and is configured to be capable of controlling the first cabinet door and/or the second cabinet door to be automatically opened or closed.

In an embodiment of the present invention, the movable frame further comprises: a first opening formed on one side of the movable frame and configured to allow the transfer mechanism to enter and exit.

In an embodiment of the present invention, the lifting mechanism includes: the first linear sliding rail is arranged along the Z-axis direction and is provided with a first sliding block; the first ball screw is arranged in parallel with the first linear sliding rail; the lifting bearing plate is simultaneously connected with the first ball screw and the first sliding block and bears the transplanting mechanism; the first motor is in driving connection with the first ball screw, and the first motor can drive the first ball screw to enable the lifting bearing plate to slide up and down.

In an embodiment of the present invention, the number of the first linear sliding rails is two, and each of the first linear sliding rails is mounted on one side surface of the movable rack through a sliding rail bottom plate; and/or the first ball screw is positioned between the two first linear sliding rails and is fixedly installed through a fixed bottom plate.

In an embodiment of the present invention, the transplanting mechanism includes: one side surface of each fixed side plate is connected with the lifting bearing plate; the second linear sliding rail is arranged along the X-axis direction and is provided with a second sliding block; the second ball screw is arranged in parallel with the second linear sliding rail; the translation bottom plate is fixedly connected with the fixed side plate, and the fixed side plate, the second linear slide rail and the second ball screw are arranged on the translation bottom plate in parallel from outside to inside; and the second motor is in driving connection with the second ball screw, and can drive the second ball screw to move along the X-axis direction.

In an embodiment of the present invention, the second linear sliding rail includes two second linear sliding rails, the two fixed side plates are located at the outermost sides of the translation bottom plate, the two second linear sliding rails are located between the two fixed side plates, and the second ball screw is located between the two second linear sliding rails.

In an embodiment of the present invention, the rotating mechanism includes: the rotating bottom plate is connected with the second ball screw and the second sliding block; the first synchronous wheel is arranged on the front surface of the rotating bottom plate; the second synchronizing wheel is arranged in the middle of the front side of the rotating bottom plate; a first timing belt connecting the first and second timing wheels; the rotary bearing plate is connected with the side surface of the second synchronous wheel flange; the third motor is arranged on the back face of the rotating bottom plate and is in driving connection with the first synchronous wheel, the third motor can drive the first synchronous wheel to rotate and drive the second synchronous wheel to rotate synchronously through the first synchronous belt, and the second synchronous wheel further drives the rotating bearing plate to rotate between the first station and the second station.

In an embodiment of the invention, the rotating mechanism further includes a plurality of first supporting pillars, and the plurality of first supporting pillars are uniformly disposed on the front edge of the rotating receiving plate for supporting and connecting the transmission mechanism.

In one embodiment of the invention, the transmission mechanism comprises a power assembly, a connecting rod transmission assembly and a material taking clamping jaw assembly; the power assembly is connected with the connecting rod transmission assembly and drives the connecting rod transmission assembly to reciprocate along the transmission direction; get material clamping jaw subassembly set up in the front end of connecting rod transmission assembly is used for getting and putting the material.

In an embodiment of the present invention, the transmission mechanism is disposed on a transmission workbench, the transmission workbench has a front surface and a back surface opposite to each other, the power assembly is disposed on one side of the back surface of the transmission workbench, and the connecting rod transmission assembly is disposed on one side of the front surface of the transmission workbench.

In an embodiment of the present invention, the cache box positioning platform includes: the cache box bearing platform is fixed in the second area; the guide block is arranged in the middle of the front face of the cache box receiving platform along the leading-in direction and is configured to be matched with the guide groove at the bottom of the cache box to guide the cache box to be led in and placed on the cache box receiving platform; the blocking plate is positioned at the tail end of the guide block, is connected with the side edge of the cache box bearing table and is used for storing and limiting the cache box; the positioning cylinder is provided with a positioning push rod and is inserted into the positioning hole in the bottom of the cache box in a matching way; and the transplanting cylinder is provided with a transplanting push rod and is connected with the positioning cylinder, wherein the transplanting cylinder is configured to drive the positioning cylinder to enable the positioning push rod to be inserted into the positioning hole, and the positioning cylinder drives the buffer box to slide to a storage position.

In an embodiment of the present invention, the cache box positioning platform further includes: and the four positioning pillars are used for fixedly connecting the cache box bearing table with the bottom of the movable rack.

In order to achieve the above object, the present invention further provides an automatic loading and unloading method, which includes:

the automatic loading and unloading equipment is configured;

moving the automatic loading and unloading equipment to be opposite to the loading equipment, and adjusting one or more states of the automatic loading and unloading equipment to enable the automatic loading and unloading equipment to be in a standby working state;

through the material taking and placing device of the automatic loading and unloading equipment, a Tray disc with chips can be taken out from a storage grid of the cache box and placed into the loading equipment, so that the automatic loading of the chips is completed; or the empty Tray can be taken out from the feeding equipment and put into the storage grid of the cache box, so that the automatic blanking of the Tray is completed.

In another embodiment of the present invention, the adjusting one or more states of the automatic loading and unloading apparatus includes: and correcting the position of the automatic feeding and discharging equipment according to the relative position information between the automatic feeding and discharging equipment and the feeding equipment.

In another embodiment of the present invention, the automatic loading and unloading method further includes: after the automatic loading and unloading equipment is restarted after power failure, the material taking and placing device automatically returns to the position before power failure according to historical data before power failure.

In order to achieve the above object, the present invention further provides an automatic loading system for Tray core sheets, comprising: the automatic loading and unloading equipment is characterized in that the loading and unloading equipment is arranged on the base; feeding equipment; the Tray disk with chips can be taken out from the storage grid of the cache box and placed into the feeding equipment through the material taking and placing device of the automatic feeding and discharging equipment so as to complete automatic feeding of the chips; or the empty Tray can be taken out from the feeding equipment and placed into the storage grid of the buffer box, so that the automatic blanking of the Tray is completed.

The invention adopts the train disk chip automatic loading and unloading equipment with innovative ideas to finish the last inner path of material conveying, can help factories to build advanced SMT intelligent production lines, and realizes 100% automation of the SMT production lines.

Additional aspects and advantages of the invention will be set forth in part in the description which follows and, in part, will be obvious from the description, or may be learned by practice of the invention.

Drawings

The above and other features and advantages of the present invention will become more apparent by describing in detail exemplary embodiments thereof with reference to the attached drawings.

FIG. 1A is a schematic structural view of the Tray core sheet automatic feeding system of the present invention;

FIG. 1B is a schematic structural view of an automatic loading and unloading apparatus according to the present invention;

FIG. 1C is a schematic structural view of the automatic loading and unloading apparatus of the present invention after the cabinet door is removed;

FIG. 2 is a schematic structural view of a material taking and placing device in the automatic loading and unloading apparatus of the present invention;

fig. 3A is a schematic structural view of a lifting mechanism in the material taking and placing device shown in fig. 2;

fig. 3B is a schematic structural diagram of a transplanting mechanism in the material taking and placing device shown in fig. 2;

fig. 3C is a schematic structural view of the rotating mechanism in the material taking and placing device shown in fig. 2;

fig. 3D and fig. 3E are schematic structural diagrams of a front surface and a back surface of the conveying mechanism in the material taking and placing device shown in fig. 2, respectively;

FIG. 3F is a schematic structural diagram of a buffer device in the automatic loading and unloading apparatus shown in FIG. 1C;

FIG. 3G is a schematic structural diagram of a cache box positioning platform in the cache apparatus shown in FIG. 3F;

FIG. 4 is a schematic structural diagram of a tilt adjusting mechanism in the optical self-calibration system of the present invention;

FIG. 5 is a schematic structural diagram of a Tray disk according to the present invention;

FIG. 6 is a flow chart illustrating an automatic loading and unloading method according to the present invention.

Detailed Description

Example embodiments will now be described more fully with reference to the accompanying drawings. Example embodiments may, however, be embodied in many different forms and should not be construed as limited to the embodiments set forth herein; rather, these embodiments are provided so that this disclosure will be thorough and complete, and will fully convey the concept of example embodiments to those skilled in the art. The same reference numerals in the drawings denote the same or similar structures, and thus their detailed description will be omitted.

When introducing elements/components/etc. described and/or illustrated herein, the articles "a," "an," "the," "said," and "at least one" are intended to mean that there are one or more of the elements/components/etc. The terms "comprising," "including," and "having" are intended to be inclusive and mean that there may be additional elements/components/etc. other than the listed elements/components/etc. Relative terms, such as "upper" or "lower," may be used in embodiments to describe one component of an icon relative to another component. It will be appreciated that if the device of the icon is turned upside down, components described as being on the "upper" side will be components on the "lower" side. Furthermore, the terms "first," "second," and the like in the claims are used merely as labels, and are not numerical limitations of their objects.

As shown in FIGS. 1A-1C, the Tray core sheet automatic feeding system 1000 of the present invention can include an automatic feeding and discharging apparatus 100 (shown in FIGS. 1B and 1C) and a feeding apparatus 200. In an embodiment of the present invention, the automatic loading and unloading apparatus 100 may include, for example, a movable frame 10, a material taking and placing device 20, and a buffer device 30. In other embodiments, the automated loading and unloading apparatus 100 may further include one or more of an optical self-calibration system 40, a restart self-recovery system 50, a pick-and-place force control system 60, and a vertical position positioning system 70, for example. In the present invention, the pick-and-place device 20 of the automatic loading and unloading apparatus 100 can pick up the Tray 300 (shown in fig. 5) with chips from the storage cells 311 (see fig. 3F) of the buffer box 31 and place the Tray into the loading apparatus 200, so as to complete the automatic loading of the chips. Alternatively, the empty Tray 300 can be taken out from the loader 200 and put into the storage cells 311 of the buffer box 31 by the taking and placing device 20 of the automatic loader/unloader 100, so that the automatic feeding of the Tray 300 can be completed. As shown in FIG. 5, the Tray disk 300 may have a length L, a width W, and a height H, and further has a clamping portion 301 at one end.

As shown in fig. 1B to 1C, in the automatic loading and unloading apparatus 100 according to the present invention, the movable frame 10 has a first region 11 and a second region 12 distributed in the left-right direction along the X-axis direction. In some embodiments of the present invention, the moveable frame 10 may include, for example, a frame structure 13, a housing 14 mounted on the frame structure 13, and casters 15 mounted on the frame structure 13. Preferably, the frame structure 13 can be, for example, a profile structure; the caster 15 may be, for example, an adjustable caster, which may be configured to be capable of height adjustment in the Z-axis direction. In some embodiments of the present invention, the movable housing 10 may further include a first door 16 and/or a second door 17 that may be electrically controlled and an electrically controlled mechanism (not shown). The first door 16 is disposed corresponding to the first region 11, for example, and the second door 17 is disposed corresponding to the second region 12, for example. The electric control mechanism may be electrically connected to the first cabinet door 16 and/or the second cabinet door 17, and may be configured to control the first cabinet door 16 and/or the second cabinet door 17 to automatically open or close. In the present invention, the movable frame 10 further includes a first opening 18, which is formed on one side surface of the movable frame 10 (e.g., the back surface of the automatic loading and unloading apparatus 100 shown in fig. 1C) and can be configured to allow the conveying mechanism 24 of the material taking and placing device 20 to enter and exit.

As shown in fig. 1C, in the automatic loading and unloading apparatus 100 of the present invention, the material taking and placing device 20 is disposed in the first area 11. Referring to fig. 2 in combination, the material taking and placing device 20 may include, for example, a lifting mechanism 21, a transplanting mechanism 22, a rotating mechanism 23, and a conveying mechanism 24. Wherein, the lifting mechanism 21 can be connected with the transplanting mechanism 22. The transfer mechanism 24, the rotation mechanism 23, and the transplanting mechanism 22 are stacked and connected from top to bottom along the Z-axis direction. Also, the transport mechanism 24 may be configured to reciprocate in the transport direction T to pick and place materials, such as a Tray 300 (shown in fig. 5). The rotating mechanism 23 may be configured to rotationally move the transfer mechanism 24 relative to the transplanting mechanism 22 in a rotational direction R. The lifting mechanism 21 may be configured to move the transplanting mechanism 22 up and down in the Z-axis direction. The transplanting mechanism 22 may be configured to reciprocate the rotating mechanism 23 in the X direction.

As shown in fig. 2, the conveying mechanism 24 is at the first position D1, and the conveying direction T is the same as the X-axis direction in the drawing, and in this state, the conveying mechanism 24 can reciprocate along the conveying direction T (i.e. the X-axis direction) to achieve the material taking and placing into and out of the buffer box 31. When the rotating mechanism 23 rotates to drive the transporting mechanism 24 to rotate from the first position D1 to the second position D2 in the rotating direction R relative to the transplanting mechanism 22, that is, the transporting mechanism 24 is rotated counterclockwise by, for example, 90 degrees, at this time, the transporting direction T of the transporting mechanism 24 is also changed correspondingly, that is, the transporting direction T' (the same direction as the Y-axis direction in the drawing) shown by the dotted line in the drawing is changed, and in this state, the transporting mechanism 24 can reciprocate along the transporting direction T (that is, the Y-axis direction), so as to achieve the object fetching and placing of the object to the loading device 200 (as shown in fig. 1A).

As shown in fig. 1C and referring to fig. 3F, in the automatic loading and unloading apparatus 100 of the present invention, the buffer device 30 is disposed in the second area 12, and may include a buffer box 31 and a buffer box positioning platform 32. Wherein the cache box 31 has a plurality of storage cells 311 (as shown in fig. 3F), and the cache box 31 is removably/insertably disposed on the top of the cache box positioning platform 32, for example, the cache box 31 can be removed or inserted along the Y-axis direction shown in fig. 3F.

As shown in fig. 3A, with reference to fig. 2, in an embodiment of the present invention, the lifting mechanism 21 may include, for example, a first linear slide 211, a first ball screw 212, a lifting receiving plate 213, and a first motor 214. Wherein, the first linear sliding rail 211 may be arranged along the Z-axis direction, and a first slider 2111 is further disposed thereon. The first ball screw 212 is disposed parallel to the first linear guide 211. The lifting receiving plate 213 is connected to the first ball screw 212 and the first slider 2111 at the same time, and is used for receiving the transplanting mechanism 22. The first motor 214 is in driving connection with the first ball screw 212, and can drive the first ball screw 212 to make the lifting receiving plate 213 slide up and down along the Z-axis direction.

Preferably, the number of the first linear sliding rails 211 may be two, and each of the first linear sliding rails 211 may be mounted on one side of the movable rack 10 through a sliding rail bottom plate 216, for example, mounted on the left side in fig. 1C by being engaged with the frame structure 13 of the movable rack 10. The first ball screw 212 is located between the two first linear sliding rails 211 and can be fixedly installed through a fixed bottom plate 215.

As shown in fig. 3B, with reference to fig. 2, in an embodiment of the present invention, the transplanting mechanism 22 may include two fixed side plates 221, a second linear slide 222, a second ball screw 223, a translation bottom plate 224 and a second motor 225. One side of each fixed side plate 221 is connected to the lifting support plate 213. The second linear slide 222 may be disposed along the X-axis direction, and a second slider 2221 is further disposed thereon. The second ball screw 223 is disposed in parallel with the second linear guide 222. The translation bottom plate 224 is fixedly connected to the fixed side plate 221, and the fixed side plate 221, the second linear sliding rail 222 and the second ball screw 223 are all disposed on the translation bottom plate 224 in parallel from outside to inside. The second motor 225 is in driving connection with the second ball screw 223, and can drive the second ball screw 223 to move along the X-axis direction.

Preferably, the second linear guide 222 includes two second linear guides 222, for example, the two fixed side plates 221 are located at the outermost two sides of the translation base plate 224, the two second linear guides 222 are located between the two fixed side plates 221, and the second ball screw 223 is located between the two second linear guides 222.

As shown in fig. 3C, with reference to fig. 2, in an embodiment of the present invention, the rotating mechanism 23 may include, for example, a rotating base plate 231, a first synchronizing wheel 232, a second synchronizing wheel 233, a first synchronizing belt 234, a rotating receiving plate 235, and a third motor 236. Wherein, the rotating base 231 may be connected with the second ball screw 223 and the second slider 2221. The first sync wheel 232 may be disposed on a front surface of the rotating base 231. The second synchronizing wheel 233 may be disposed at a front middle portion of the rotating base 231. The first timing belt 234 connects the first timing pulley 232 and the second timing pulley 233. The rotary bearing plate 235 is connected to the flange side of the second synchronizing wheel 233. The third motor 236 is disposed on the back of the rotating base plate 231 and is in driving connection with the first synchronizing wheel 232, the third motor 236 can drive the first synchronizing wheel 232 to rotate and drive the second synchronizing wheel 233 to rotate synchronously via the first synchronizing belt 234, and the second synchronizing wheel 233 further drives the rotating receiving plate 235 to rotate between a first station (for example, a station corresponding to the material taking and placing from the buffer device 30) and a second station (for example, a station corresponding to the material taking and placing from the feeding device 200).

Preferably, the rotating mechanism 23 may further include a plurality of first supporting pillars 237 uniformly disposed on the front edge of the rotating receiving plate 235 for supporting and connecting the transferring mechanism 24. In some implementations of the invention, the number of first struts 237 is preferably 4. It is understood that the number and position of the first support posts 237 can be flexibly set, and the invention is not limited thereto.

As shown in fig. 3D and 3E, with combined reference to fig. 2, in one embodiment of the present invention, the transfer mechanism 24 may include, for example, a power assembly 241, a linkage transfer assembly 242, and a take-off jaw assembly 243. The power assembly 241 is connected to the connecting rod transmission assembly 242 and can drive the connecting rod transmission assembly 242 to reciprocate along the transmission direction T. The material pick-up jaw assembly 243 is disposed at the front end F of the link rod transfer assembly 243 for picking and placing materials, such as a Tray 300 (shown in fig. 5).

Preferably, the transfer mechanism 24 is disposed on a transfer table 244. The transfer station 244 has opposing front and back surfaces 2441 (shown in fig. 3D and 2442 (shown in fig. 3E). The power assembly 241 may be disposed on a rear surface 2442 side of the transfer table 244, and the link transfer assembly 242 may be disposed on a front surface 2441 side of the transfer table 244.

In an embodiment of the invention, as shown in fig. 3E, the power assembly 241 may include, for example, a motor 2411, a first synchronous pulley 2412, a second synchronous pulley 2413, a synchronous pulley 2414, a linear slide 2415, a third sliding block 2416, and a receiving plate 2417. The first and second

synchronous wheels

2412 and 2413 may be disposed at the rear end B and the front end F of the transfer table 244, respectively, along the transfer direction T, and connected by the synchronous belt 2414. The motor 2411 is connected to the first synchronous wheel 2412 and is disposed at the rear end B of the transfer table 244. The linear slide 2415 is disposed on the back 2442 of the transfer table 244. The receiving plate 2417 is connected to the synchronous belt 2414 and a third sliding block 2416 disposed on the linear sliding rail 2415, and connected to the connecting rod transmission assembly 242, and is configured to drive the connecting rod transmission assembly 242 to reciprocate along the transmission direction T.

As shown in fig. 3D, the connecting rod transfer assembly 242 is capable of moving the material extraction jaw assembly 243 back and forth along the transfer direction T. The take-out jaw assembly 243 may include, for example, a jaw 2431 and a moving device 2432 coupled to the jaw 2431. The moving device 2432 can control the clamping jaw 2431 to move along a moving direction M (in fig. 3D, the same direction as the X-axis direction) so that the clamping jaw 2431 can clamp or unclamp the material, for example, in cooperation with the clamping portion 301 on one end of the Tray 300 (shown in fig. 5). Wherein the transport direction T is perpendicular to the moving direction M.

In some embodiments of the present invention, the transfer mechanism 24 may further include a pair of material interface blocks 245, which may be disposed on a front surface 2441 of the transfer table 244. Each of the material receiving blocks 245 extends along the conveying direction T, and is disposed at the left and right sides of the conveying workbench 244 oppositely for receiving the taken-out material. In other embodiments, the conveying mechanism 24 may further include a support roller 246, which may be disposed at the front end F of the front face of the conveying table 244, for assisting in supporting the removed material. The conveying mechanism 24 may further include a photoelectric sensor 247 disposed at the front end F of the conveying table 244 for detecting the material taking and placing states.

As shown in fig. 3G, with reference to fig. 3F and fig. 1C, in an embodiment of the present invention, the buffer box positioning platform 32 may include, for example, a buffer box receiving platform 321, a guide block 322, a blocking plate 323, a positioning cylinder 324, and a transplanting cylinder 325. The buffer box receiving platform 321 is fixed to the second area 12. The guide block 322 may be disposed at a front middle portion of the buffer box receiving platform 321 along a guide direction G (the same direction as the Y-axis direction in the drawing), and may be configured to cooperate with the guide groove 312 at the bottom of the buffer box 31 to guide the buffer box 31 to be guided and placed on the buffer box receiving platform 321. The blocking plate 323 is located at the end of the guiding block 322 and connected to the side of the buffer box receiving platform 321, and is used for limiting the storage of the buffer box 31. The positioning cylinder 324 has a positioning rod that can be inserted into a positioning hole (not shown) in the bottom of the buffer box 31. The transplanting cylinder 325 has a transplanting push rod, which is connectable with the positioning cylinder 324. The transplanting cylinder 325 may be configured to drive the positioning cylinder 324 to insert the positioning rod into the positioning hole at the bottom of the buffer box 31, and the positioning cylinder 324 drives the buffer box 31 to slide to the storage position.

Preferably, the buffer box positioning platform 32 further comprises four positioning pillars 326 for fixedly connecting the buffer box receiving platform 321 with the bottom of the movable frame 10 (shown in fig. 1C).

In the present invention, the optical self-calibration system 40 may be configured to correct the position of the automatic loading and unloading apparatus 100 according to the relative position information between the automatic loading and unloading apparatus 100 and the loading apparatus 200.

In an embodiment of the present invention, as shown in fig. 1A, the optical self-calibration system 40 may include, for example, a first optical mark point 41, a camera 42, and a first control system (not shown). Wherein the first optical mark point 41 is disposed on the feeding device 200. Preferably, the first optical marker point 41 may include one or more infrared LED light sources, for example, three infrared LED light sources may be included in fig. 1A. The camera 42 may be, for example, an infrared camera, which may be disposed in the middle of the side of the rotating mechanism 23 facing the feeding apparatus 200 and configured to be capable of acquiring the second position information of the first optical mark point 41. The first control system may be configured to generate first control instructions to control the movement of the transport mechanism 24, the rotation mechanism 23 and/or the transplanting mechanism 22 according to the second position information. For example, the optical self-calibration system 40 can control the second motor 225 to drive the second ball screw 223 through the first control system, so as to complete the self-calibration between the automatic loading and unloading apparatus 100 and the loading apparatus 200 in the horizontal direction.

In other embodiments, the first optical mark point 41 includes a plurality of infrared LED light sources, for example, and the optical self-calibration system 40 may further include an inclination adjusting mechanism 43 (as shown in fig. 4) connected to the rotating mechanism 23 and capable of adjusting the inclination of the rotating mechanism 23 in the X-axis direction, for example. As shown in fig. 4, the inclination adjusting mechanism 43 may include, for example: a fixed base 431, a rotating mechanism 432, and a moving mechanism 433. The fixing base 431 may be, for example, the translation base plate 224 of the transplanting mechanism 22, and is rotatably connected with the rotation base plate 231 of the rotation mechanism 23. The rotating mechanism 432 is mounted on the fixed base 431. The moving mechanism 433 is connected to the rotating mechanism 432 and the rotating mechanism 23, and is configured to convert the rotation generated by the rotating mechanism 432 into a parallel movement along a second direction F2 (for example, the same direction as the Z-axis direction in fig. 1C), wherein the second direction F2 is perpendicular to the first direction F1 (for example, the same direction as the X-axis direction in fig. 1C), and the moving mechanism 433 can drive the rotating mechanism 23 to move along the second direction F2 to adjust the inclination of the rotating mechanism 23 in the first direction F1.

Preferably, the rotating mechanism 432 can include, for example, a driving device 4321, a bearing support 4322, a bearing 4323, a threaded sleeve 4324, a first pulley 4325, a second pulley 4326 and a belt 4327. The drive 4321 may be, for example, a motor, which may have a drive shaft. The bearing support 4322 is fixedly installed on the fixed base 431. The bearing 4323 is mounted on the bearing support 4322. The threaded sleeve 4324 is sleeved on the bearing 4323. The first pulley 4325 is sleeved on the driving shaft of the driving device 4321. The second pulley 4326 is sleeved on the threaded sleeve 4324. The belt 4327 connects the first pulley 4325 and the second pulley 4326. The driving device 4321 can drive the first pulley 4325 to rotate via the belt 4327, and the second pulley 4326 is driven to rotate, so as to drive the threaded sleeve 4324 to rotate.

Preferably, the moving mechanism 433 includes, for example, a limiting block 4331, a limiting shaft 4332 and a threaded rod 4333. The limiting block 4331 is fixedly mounted at the bottom of the rotating bottom plate 231 of the rotating mechanism 23. The first end of the limiting shaft 4332 is hinged to the limiting block 4331. The first end of the threaded rod 4333 is fixedly connected to the second end of the limiting shaft 4332, and the second end of the threaded rod 4333 is threadedly connected to the threaded sleeve 4324. Thus, the rotation of the threaded sleeve 4324 can drive the threaded rod 4333 to move in parallel along the second direction F2.

The driving device 4321 drives the first pulley 4325 to rotate the second pulley 4326 via the belt 4327, and the threaded sleeve 4326 is rotated because the threaded sleeve 4324 is fixed to the second pulley 4326. Since the threaded sleeve 4324 cannot be moved up and down and can only rotate, and due to the characteristics of the threaded connection, the threaded rod 4333 cannot rotate and can only translate up and down, when the threaded sleeve 4324 rotates, the threaded rod 4333 is driven to translate up and down along the second direction F2, so that the threaded rod 4333 is driven to translate by the driving device 4321, and the inclination of the rotating mechanism 23 is adjusted.

In the invention, the restarting self-recovery system 50 can be configured to automatically return the material taking and placing device 20 to the position before the power failure according to historical data before the power failure after the power failure is restarted. Preferably, the historical data before power failure is stored in a database of an industrial personal computer, for example, and the industrial personal computer can automatically return the material taking and placing device 20 to the position before power failure according to the historical data before power failure. In some embodiments of the present invention, the industrial personal computer may be further configured to store operation data of the automatic loading and unloading apparatus 100 and/or interaction data with the outside.

In the present invention, the material taking and placing force control system 60 may be configured to detect first position information of whether the material is put in place and/or resistance information of the material during taking and placing, and control the movement of the conveying mechanism 24 according to the first position information and/or the resistance information.

In some embodiments of the present invention, as shown in fig. 3D in combination with fig. 1B and fig. 2, the material-taking and placing force control system 60 may include, for example, a force sensor 61 and a second control system (not shown). The force sensor 61 is disposed at the front end F of the conveying mechanism 24, and may include, for example, a first force sensor 611 and/or a second force sensor 612 disposed on the material taking clamping jaw assembly 243, where the first force sensor 611 may obtain, for example, first position information of whether the material is put in place, and the second force sensor 612 may obtain, for example, resistance information of the material in the taking and placing processes. The second control system may be configured to generate second control instructions to control the reciprocating movement of the transport mechanism 24 based on the first position information and/or the resistance information.

In the present invention, the vertical position positioning system 70 may be configured to position the vertical position of the material on the conveyor mechanism 24 relative to a section of the buffer device 30.

In some embodiments of the present invention, the vertical position positioning system 71 may include, for example, a scanning ranging mechanism 71 (shown in FIG. 2, which may be, for example, a laser ranging mechanism) and an analysis unit (not shown). The scanning and ranging mechanism 71 may be configured to rotate around an origin, which may be a central point of the rotating mechanism 23 and has an initial facing direction, and perform scanning and ranging on a plurality of scanning points on left and right sides of a vertical position of the cross section of the buffer device 30 from the origin to obtain a plurality of corresponding scanning results. The analysis unit may be configured to analyze the plurality of scanning results to obtain scanning points having equal scanning results in regions on the left and right sides of the vertical position as reference points, and analyze a deflection angle between the initial facing direction and the vertical position according to the reference points. Wherein the rotating mechanism 23 can be further configured to rotate the deflection angle so that the facing direction of the material (e.g., tray) loaded on the conveying mechanism 24 is perpendicular to the cross section.

As shown in fig. 6, with reference to fig. 1A, 1C and 2, the present invention further provides an automatic loading and unloading method 600, which mainly includes:

step S601, configuring the automatic loading and unloading apparatus 100.

Step S602, the automatic loading and unloading apparatus 100 is moved to be opposite to the loading apparatus 200 (as shown in fig. 1A), and one or more states of the automatic loading and unloading apparatus 100 are adjusted to be in a standby state.

Step S603, the Tray disk 300 (shown in fig. 5) with chips can be taken out from the storage grid 311 (shown in fig. 3F) of the buffer box 31 and put into the loading device 200 through the material taking and placing device 20 of the automatic loading and unloading device 100, so as to complete automatic loading of chips; alternatively, the empty Tray 300 can be taken out from the loading apparatus 200 and put into the storage compartment 311 of the buffer box 30 to complete the automatic unloading of the Tray.

In some embodiments of the present invention, in the step S602, the adjusting one or more states of the automatic loading and unloading apparatus may include: and correcting the position of the automatic loading and unloading device 100 according to the relative position information between the automatic loading and unloading device 100 and the loading device 200.

In some embodiments of the present invention, the automatic loading and unloading method 600 may further include: after the automatic loading and unloading equipment 100 is restarted after power failure, the material taking and unloading device 20 automatically returns to the position before power failure according to historical data before power failure.

In order to match with an Automatic Guided Vehicle (AGV) for accurate docking, a related automatic control mechanism and an electronic control element may be added to the cabinet door 17 and the bottom support structure of the buffer device, and the buffer device and the AGV are assisted by a scheduling system and control software to complete accurate docking, so as to implement remote delivery of Tray core sheets.

The automatic loading and unloading device for the Tray chip, which adopts an innovative idea, can complete the last inner path of material conveying, can help a factory to build an advanced SMT intelligent production line, and realizes 100% automation of the SMT production line.

Exemplary embodiments of the present invention have been particularly shown and described above. It is to be understood that the invention is not to be limited to the disclosed embodiments, but on the contrary, is intended to cover various modifications and equivalent arrangements included within the spirit and scope of the appended claims.

Claims

1. The utility model provides an automatic go up unloading equipment which characterized in that includes:

a movable frame having a first region and a second region distributed in the left and right direction along the X-axis direction;

the material taking and placing device is arranged in the first area and comprises an elevating mechanism, a transplanting mechanism, a rotating mechanism and a transmission mechanism, wherein the elevating mechanism is connected with the transplanting mechanism, and the transmission mechanism, the rotating mechanism and the transplanting mechanism are stacked and connected from top to bottom along a Z-axis direction;

the cache device is arranged in the second area and comprises a cache box and a cache box positioning platform; the cache box is arranged at the top of the cache box positioning platform in a removable/insertable manner.

2. The automated loading and unloading apparatus of claim 1, further comprising one or more of the following:

the optical self-calibration system is configured to correct the position of the automatic loading and unloading equipment according to the relative position information between the automatic loading and unloading equipment and the loading equipment;

the restarting self-recovery system is configured to enable the material taking and placing device to automatically return to a position before power failure according to historical data before power failure after power failure restarting;

the material taking and placing force control system is configured to detect first position information of whether the material is put in place and/or resistance information of the material in a taking and placing process, and control the movement of the transmission mechanism according to the first position information and/or the resistance information;

a vertical position positioning system configured to position a vertical position of the material on the transport mechanism relative to a section of the buffer device.

3. The automated loading and unloading apparatus of claim 2, wherein the optical self-calibration system comprises:

the first optical mark point is arranged on the feeding equipment;

the camera is arranged in the middle of the side face, facing the feeding equipment, of the rotating mechanism and is configured to be capable of acquiring second position information of the first optical mark point;

and the first control system is configured to generate a first control command according to the second position information to control the movement of the transmission mechanism, the rotating mechanism and/or the transplanting mechanism.

4. The automated loading and unloading apparatus of claim 3, wherein the first optical marker points comprise one or more infrared LED light sources; the camera is an infrared camera.

5. The automated loading and unloading apparatus of claim 4, wherein the first optical marker point comprises a plurality of infrared LED light sources, and the optical self-calibration system further comprises:

and the inclination adjusting mechanism is connected with the rotating mechanism and can adjust the inclination of the rotating mechanism in the X-axis direction.

6. The automatic loading and unloading device of claim 2, wherein the historical data before power failure is stored in a database of an industrial personal computer, and the industrial personal computer can automatically return the material taking and placing device to the position before power failure according to the historical data before power failure.

7. The automatic loading and unloading device according to claim 6, wherein the industrial personal computer is further configured to store operation data of the automatic loading and unloading device and/or interaction data with the outside.

8. The automated loading and unloading apparatus of claim 2, wherein the material pick-and-place force control system comprises:

the first force sensor is arranged at the front end of the conveying mechanism and is configured to be capable of acquiring the first position information of whether the material is put in place or not and/or acquiring resistance information of the material in the taking and placing process;

and the second control system is configured to generate a second control command to control the reciprocating motion of the transmission mechanism according to the first position information and/or the resistance information.

9. The automated loading and unloading apparatus of claim 2, wherein the vertical position positioning system comprises:

the scanning ranging mechanism is used for taking an original point as a central rotating point, wherein the original point is the central point of the rotating mechanism and has an initial opposite direction, and scanning ranging is carried out on a plurality of scanning points from the original point to the left side and the right side of the vertical position of the section of the cache device so as to obtain a plurality of corresponding scanning results;

the analysis unit is used for analyzing the plurality of scanning results to obtain scanning points with equal scanning results in areas on the left side and the right side of the vertical position as reference points, and analyzing the deflection angle between the initial facing direction and the vertical position according to the reference points;

wherein the rotating mechanism is further configured to be capable of rotating the deflection angle such that a facing direction of the material loaded on the conveying mechanism is perpendicular to the section.

10. The automated loading and unloading apparatus of claim 1, wherein the moveable frame comprises: the device comprises a frame structure, a shell arranged on the frame structure and a caster arranged on the frame structure.

11. The automated loading and unloading apparatus of claim 10, wherein the caster wheel is an adjustable caster wheel configured to be height adjustable in the Z-axis direction.

12. The automated loading and unloading apparatus of claim 10, wherein the moveable frame further comprises:

the first cabinet door can be electrically controlled and is arranged corresponding to the first area; and/or the presence of a catalyst in the reaction mixture,

the second cabinet door can be electrically controlled and is arranged corresponding to the second area;

and the electric control mechanism is electrically controlled and connected with the first cabinet door and/or the second cabinet door and is configured to be capable of controlling the first cabinet door and/or the second cabinet door to be automatically opened or closed.

13. The automated loading and unloading apparatus of claim 10, wherein the moveable frame further comprises:

a first opening formed on one side of the movable frame and configured to allow the transfer mechanism to enter and exit.

14. The automatic loading and unloading device as claimed in any one of claims 1 to 13, wherein the lifting mechanism comprises:

the first linear sliding rail is arranged along the Z-axis direction, and a first sliding block is arranged on the first linear sliding rail;

the first ball screw is arranged in parallel with the first linear sliding rail;

the lifting bearing plate is simultaneously connected with the first ball screw and the first sliding block and bears the transplanting mechanism;

the first motor is in driving connection with the first ball screw, and the first motor can drive the first ball screw to enable the lifting bearing plate to slide up and down.

15. The automated loading and unloading apparatus of claim 14,

the number of the first linear sliding rails is two, and each first linear sliding rail is arranged on one side surface of the movable rack through a sliding rail bottom plate; and/or the like, and/or,

the first ball screw is located between the two first linear sliding rails and is fixedly installed through the fixed bottom plate.

16. The automated loading and unloading apparatus of claim 14, wherein the transplanting mechanism comprises:

one side surface of each fixed side plate is connected with the lifting bearing plate;

the second linear sliding rail is arranged along the X-axis direction, and a second sliding block is arranged on the second linear sliding rail;

the second ball screw is arranged in parallel with the second linear sliding rail;

the translation bottom plate is fixedly connected with the fixed side plate, and the fixed side plate, the second linear slide rail and the second ball screw are all arranged on the translation bottom plate in parallel from outside to inside;

and the second motor is in driving connection with the second ball screw, and can drive the second ball screw to move along the X-axis direction.

17. The automatic loading and unloading apparatus of claim 16,

the second linear sliding rail comprises two second linear sliding rails, the two fixed side plates are located on the outermost two sides of the translation bottom plate, the two second linear sliding rails are located between the two fixed side plates, and the second ball screw is located between the two second linear sliding rails.

18. The automated loading and unloading apparatus of claim 16, wherein the rotation mechanism comprises:

the rotating bottom plate is connected with the second ball screw and the second sliding block;

the first synchronous wheel is arranged on the front surface of the rotating bottom plate;

the second synchronizing wheel is arranged in the middle of the front side of the rotating bottom plate;

a first timing belt connecting the first and second timing wheels;

the rotary bearing plate is connected with the side surface of the second synchronous wheel flange;

the third motor is arranged on the back face of the rotating bottom plate and is in driving connection with the first synchronous wheel, the third motor can drive the first synchronous wheel to rotate and drive the second synchronous wheel to rotate synchronously through the first synchronous belt, and the second synchronous wheel further drives the rotating bearing plate to rotate between the first station and the second station.

19. The automated loading and unloading apparatus of claim 18, wherein the rotating mechanism further comprises a plurality of first pillars uniformly disposed on the front edge of the rotating receiving plate for supporting and connecting the transporting mechanism.

20. The automated loading and unloading apparatus of claim 1, wherein the transport mechanism includes a power assembly, a link transport assembly, and a take-off jaw assembly; the power assembly is connected with the connecting rod transmission assembly and drives the connecting rod transmission assembly to reciprocate along the transmission direction; the material taking clamping jaw assembly is arranged at the front end of the connecting rod transmission assembly and used for taking and placing the materials.

21. The automated loading and unloading apparatus of claim 20, wherein the transfer mechanism is disposed on a transfer table having opposing front and back sides, the power assembly is disposed on the back side of the transfer table, and the link transfer assembly is disposed on the front side of the transfer table.

22. The automated loading and unloading apparatus of claim 1, wherein the buffer bin positioning platform comprises:

the cache box bearing platform is fixed in the second area;

the guide block is arranged in the middle of the front face of the cache box receiving platform along the leading-in direction and is configured to be matched with the guide groove at the bottom of the cache box to guide the cache box to be led in and placed on the cache box receiving platform;

the blocking plate is positioned at the tail end of the guide block, is connected with the side edge of the cache box bearing table and is used for storing and limiting the cache box;

the positioning cylinder is provided with a positioning push rod and is inserted into the positioning hole at the bottom of the cache box in a matching way;

and the transplanting cylinder is provided with a transplanting push rod and is connected with the positioning cylinder, wherein the transplanting cylinder is configured to drive the positioning cylinder to enable the positioning push rod to be inserted into the positioning hole, and the positioning cylinder drives the buffer box to slide to a storage position.

23. The automated feeding and discharging apparatus of claim 22, wherein the buffer bin positioning platform further comprises:

and the four positioning pillars are used for fixedly connecting the cache box bearing table with the bottom of the movable rack.

24. An automatic feeding and discharging method is characterized by comprising the following steps:

configuring the automatic loading and unloading equipment as claimed in any one of claims 1 to 23;

25. The method of claim 24, wherein the adjusting one or more states of the auto loader comprises:

and correcting the position of the automatic feeding and discharging equipment according to the relative position information between the automatic feeding and discharging equipment and the feeding equipment.

26. The automated loading and unloading method of claim 24, further comprising:

after the automatic loading and unloading equipment is restarted after power failure, the material taking and placing device automatically returns to the position before power failure according to historical data before power failure.

27. The utility model provides a Tray core sheet material automatic feeding system which characterized in that includes:

the automatic loading and unloading apparatus of any one of claims 1 to 23;

a feeding device;

the Tray disk with chips can be taken out from the storage grid of the cache box and placed into the feeding equipment through the material taking and placing device of the automatic feeding and discharging equipment so as to complete automatic feeding of the chips; or the empty Tray disk can be taken out from the loading equipment and put into the storage grid of the cache box, so that the automatic unloading of the Tray disk is completed.