CN116119354A

CN116119354A - Automatic feeding and discharging device, method and system

Info

Publication number: CN116119354A
Application number: CN202211581563.5A
Authority: CN
Inventors: 蒲知航
Original assignee: Shenzhen Siptory Technologies Co ltd
Current assignee: Shenzhen Siptory Technologies Co ltd
Priority date: 2022-12-07
Filing date: 2022-12-07
Publication date: 2023-05-16

Abstract

The invention relates to an automatic feeding and discharging device, a method and a system, wherein the device comprises a manipulator, an isolation frame, a first storage device and a second storage device; the manipulator comprises a first magnet part, and the isolation frame comprises a frame body and a second magnetic part; the frame body is fixedly connected with the second magnetic part; under a first preset condition, the manipulator is connected with the isolation frame; under a second preset condition, the manipulator is separated from the isolation frame; a storage space for storing the isolation frame is arranged in the first storage device or the second storage device; wherein the first predetermined condition includes: the first magnet part is magnetically connected with the second magnet part; the second predetermined condition includes: the first magnet portion is separated from the second magnet portion. According to the automatic feeding and discharging device, method and system, the first magnet part and the second magnet part are respectively adopted to realize the capability of carrying materials by the manipulator, so that the requirements of preventing the isolation frame and the falling of objects on the isolation frame can be met.

Description

Automatic feeding and discharging device, method and system

Technical Field

The invention relates to the technical field of PCB (printed circuit board) or carrier board processing, in particular to an automatic feeding and discharging device, an automatic feeding and discharging method and an automatic feeding and discharging system.

Background

The existing automatic board loading and unloading device for the horizontal line of the PCB board or carrier board industry generally adopts an air suction mode to pick up the PCB board or carrier board and store the PCB board or carrier board in a preset place, such as a BOX for placing the PCB board or carrier board or a Tray. If the suction type upper and lower devices encounter the situations of dust sticking and blockage of a suction nozzle, insufficient air supply and the like, the problem of board falling is very easy to occur, and the board falling can possibly cause damage to a PCB or a carrier board, so that the yield of the PCB or the carrier board is reduced. In addition, in the process of solder resist, such as automatic upper and lower plates of a solder resist roll coating line, the ink is not completely hardened after the solder resist is pre-cured and is not suitable to be stored in direct contact with other plates or partition paper, so that the plates are stored in a frame inserting mode. When the automatic board feeding and discharging equipment is matched with the automatic inserting frame, the problems of board falling, clamping boards and the like caused by damage of the inserting frame clamping heads are easy to occur, so that the situation that the humor which is not completely hardened is damaged is caused.

Therefore, it is necessary to provide an automatic feeding and discharging device capable of effectively preventing the problems of board falling and the like, realizing automatic feeding and discharging of boards in the processing process of a PCB or a carrier board, and ensuring the excellent rate of the processing of the PCB or the carrier board.

Disclosure of Invention

In view of the above, the present invention provides an automatic feeding and discharging device, feeding and discharging method and feeding and discharging system, which can solve the problem of easy board dropping during feeding and discharging. In addition, the automatic feeding and discharging device, the feeding and discharging method and the feeding and discharging system can ensure that the plate surface is not basically contacted with other plates or objects, so that the problem that the ink is rubbed off or rubbed off due to incomplete drying during the automatic feeding and discharging of the plate in the solder resist process can be solved.

The following technical scheme is adopted to solve the technical problems:

the invention provides an automatic feeding and discharging device which comprises a manipulator, a separation frame, a first storage device and a second storage device, wherein the first storage device is connected with the manipulator; the manipulator comprises a first magnet part, and the isolation frame comprises a frame body and a second magnetic part; the frame body is fixedly connected with the second magnetic part; under a first preset condition, the manipulator is connected with the isolation frame; under a second preset condition, the manipulator is separated from the isolation frame; a storage space for storing the isolation frame is arranged in the first storage device or the second storage device;

wherein the first predetermined condition includes: the first magnet part is magnetically connected with the second magnet part; the second predetermined condition includes: the first magnet portion is separated from the second magnet portion.

Preferably, the frame body of the isolation frame comprises a plurality of side frames; at least one frame is provided with the second magnetic part.

Preferably, the frame provided with the second magnetic part comprises an inlaid part and a supporting part respectively; the embedded part is provided with an installation space; the second magnetic part is arranged in the installation space; the inlaid part comprises a first surface and a second surface; the second surface is provided with a magnetism isolating part; or the second face is made of a magnetically isolated material; the supporting part is fixedly connected with the embedding part.

Preferably, the first storage device includes a first lifting mechanism; the first lifting mechanism is located in the storage space of the first storage device.

Preferably, the automatic feeding and discharging device further comprises a conveying mechanism, wherein the conveying mechanism comprises a conveying roller, a detecting mechanism and a baffle plate; the conveying roller and the detection mechanism are arranged on the first storage device; in a first state, a portion of the baffle is located within the storage space of the first storage device; in the second state, the barrier is remote from the storage space of the first storage device.

Preferably, the second storage device comprises a second lifting mechanism and a frame; the second lifting mechanism is arranged in the storage space of the second storage device; the bottom of the frame is of an arc-shaped structure.

Preferably, the frame comprises a bottom portion and a support portion; the supporting part is fixed on the bottom part; the bottom comprises an arc-shaped frame; the length of the arc-shaped frame is greater than or equal to the length of at least one frame of the isolation frame.

Preferably, the ratio of the edge height to the middle height of the arc-shaped frame is 5:3-5:1; the central angle corresponding to the arc-shaped frame is more than or equal to 10 degrees and less than 90 degrees.

The invention also provides an automatic feeding and discharging method, which comprises the following steps:

starting an automatic feeding and discharging device, wherein the automatic feeding and discharging device is the automatic feeding and discharging device in any embodiment;

and (3) feeding: the material to be transported is placed on the isolation frame in the second storage device

Under a first preset condition, the mechanical arm grabs the isolation frame stored in the second storage device through attraction of the first magnet part and the magnetic field of the second magnet part;

the mechanical arm transfers the grabbed isolation frame to a first storage device, and under a second preset condition, the isolation frame is separated from the mechanical arm, and materials on the isolation frame and the isolation frame are reserved in the first storage device;

transmitting the object to be transmitted to a preset position, and completing the feeding process;

and (3) blanking: the material to be transported is placed on an isolation frame in the first storage device;

under a first preset condition, the first magnet part attracts the magnetic field of the second magnet part, and the mechanical arm grabs the isolation frame stored in the first storage device and the materials on the isolation frame;

the isolation frame and the materials on the isolation frame are separated from the isolation frame under a second preset condition when being transferred to the second storage device; the isolation frame and the materials on the isolation frame are reserved in the second storage device, and blanking is completed.

The invention also provides an automatic feeding and discharging system, which comprises a control device and an automatic feeding and discharging device; the automatic feeding and discharging device is any one of the automatic feeding and discharging devices in the embodiment; the control device controls the automatic feeding and discharging device to finish at least one of an automatic feeding process and a discharging process.

The invention has the beneficial effects that:

according to the automatic feeding and discharging device, the mechanical arm is provided with the first magnetic part, and the isolation frame is provided with the second magnetic part; the frame body is fixedly connected with the second magnetic part; under a first preset condition, the manipulator is connected with the isolation frame; under a second preset condition, the manipulator is separated from the isolation frame; the first storage device or the second storage device is provided with a storage space for storing the isolation frame, and the mechanical arm is magnetically connected with the isolation frame, so that the isolation frame and objects on the isolation frame can be effectively prevented from falling when being carried by the mechanical arm.

In addition, in another embodiment, the bottom of the frame in the second storage device is an arc-shaped structure. Because the bottom of the frame is of an arc structure, objects on all the isolation frames form a certain radian after being placed. The objects on the isolation frame are respectively arranged at intervals, and as the middle of the isolation frame is hollow, i.e. no support exists in the middle of the isolation frame, the isolation frame is contacted with the edge of the object on the isolation frame (such as the contact of a non-pattern area on the edge of the PCB or the carrier plate). The pattern area with the ink in the middle of the object on the isolation frame is not contacted with the frame and the isolation frame at all, so that the object on the isolation frame can be prevented from being scratched or damaged. And because the objects on the isolation frame can be stored with a certain radian, the frame is arranged into an arc shape, and the objects on the isolation frame can be prevented from being thin plates and being self-supported by the objects on the isolation frame, so that the objects can not be naturally supported by the objects on the isolation frame to generate radian to be contacted with the lower plate to cause the wiping.

The automatic feeding and discharging method and the automatic feeding and discharging system respectively use the feeding and discharging devices, so that the method and the system can meet the requirement of preventing the situation that the isolation frame and objects on the isolation frame fall. In addition, in other embodiments, the effects of preventing objects on the isolation frame from contacting each other, preventing objects on the isolation frame from being rubbed and the like can be achieved.

Drawings

In order to more clearly illustrate the technical solutions of the present invention, the following brief description of the drawings will make it apparent that the drawings in the following description relate only to some embodiments of the invention and are not limiting of the invention.

FIG. 1 is a schematic diagram showing an automatic loading and unloading device combined with a production facility in a preferred embodiment of the present invention;

FIG. 2 is a schematic view of a spacer mounting object to be transported according to a preferred embodiment of the present invention;

FIG. 3 is a cross-sectional view of a spacer in accordance with a preferred embodiment of the present invention;

FIG. 4 is a top view of a spacer in a first storage device according to the preferred embodiment of the present invention;

FIG. 5 is a schematic diagram of a frame in accordance with a preferred embodiment of the present invention;

FIG. 6 is a schematic view of an arc-shaped rim of a frame according to a preferred embodiment of the present invention;

FIG. 7 is a schematic diagram of a second memory device according to a preferred embodiment of the invention.

Detailed Description

The preferred embodiments of the present invention will be described in detail below with reference to the attached drawings: it should be understood that the preferred embodiments are presented by way of illustration only and not by way of limitation.

Referring to fig. 1-7, an automatic loading and unloading device is provided in this embodiment, and includes a manipulator 1, an isolation frame 2, a first storage device 3, and a second storage device 4. The manipulator 1 includes a first magnet portion 11, and the spacer 2 includes a frame 21 and a second magnet portion 22. The frame body 21 is fixedly connected with the second magnetic part 22. Under a first preset condition, the manipulator 1 is connected with the isolation frame 2; in a second predetermined condition, the robot arm 1 is separated from the spacer 2. The first storage device 3 or the second storage device 4 is respectively provided with a storage space for storing the isolation frame. The first predetermined condition includes: the first magnet part 11 is magnetically connected to the second magnet part 22. The second predetermined condition includes: the first magnet part 11 is separated from the second magnet part 22. When the first magnet 11 is magnetically connected with the second magnet 22, at least one of the first magnet 11 and the second magnet 22 can generate a magnetic field, and the two can magnetically attract each other by the opposite attraction principle of the magnetic field or the magnetization principle of the magnetic field that one can be generated by the other. When the first magnet part 11 is separated from the second magnet part 22, neither of them generates a magnetic field, or one of them may generate a magnetic field, but the other is not magnetized by the magnetic field, so that both are not separated by attraction of magnetism. According to the invention, the isolation frame 2 and the objects M (PCB or carrier plate) on the isolation frame 2 are transported by the manipulator 1 according to the principle of magnetic attraction, so that the isolation frame 2 and the objects M on the isolation frame 2 can be stably transported to a preset position when the manipulator 1 carries the plates. Therefore, the problem that the plate is easy to fall due to the situation that the suction nozzle is blocked due to dust sticking, insufficient air supply and the like of the suction nozzle of the suction type upper and lower devices can be effectively avoided.

The first magnet part 11 on the manipulator 1 may generate a magnetic field when needed, for example, the first magnet part may be an electromagnet, and the electromagnet may be a non-permanent magnet, which may generate a magnetic force by applying a current; after the circuit is disappeared, the magnetic force disappears, so that the first magnet part can easily start or eliminate the magnetism. The second magnet portion may be made of an iron-nickel alloy material. When the first magnet generating magnetic force is close to the second magnet part, the first magnet and the second magnet are attracted by the magnetic force. When the magnetic force of the first magnet disappears, the first magnet is separated from the second magnet, and even if the first magnet is in contact with the second magnet, the manipulator cannot grasp the isolation frame.

Referring to fig. 2-4 in combination, the frame 21 of the isolation frame 2 includes a plurality of rims 211; at least one frame 211 is provided with the second magnetic part 22. The frames 211 form a polygonal geometric figure, such as a rectangle, a pentagon, a hexagon, and other different types of polygons. The frame body can be arranged into a required shape in order to meet different shapes of objects to be loaded and unloaded. The middle of the frame body 21 of the geometric figure may be hollow, so that when the objects to be loaded and unloaded are carried, only the edges of the objects to be loaded and unloaded are usually contacted with part or all of the frame body 21. The middle of the frame body 21 can be hollow, so that the contact area between the objects to be loaded and unloaded and the isolation frame 2 can be reduced as much as possible, further, the phenomenon that the objects to be loaded and unloaded are rubbed or scratched in the carrying process is prevented, and further, the yield of the objects to be loaded and unloaded during processing is improved. When the objects to be loaded and unloaded (the PCB board or the carrier board) are placed on the isolation frame 2, the edges of the objects to be loaded and unloaded are in contact with part or all of the frame 211, so that the objects to be loaded and unloaded (the objects on the isolation frame) and the isolation frame 2 can be carried together when the isolation frame 2 is carried. Preferably, in order to improve the stability of the spacer 2 during transportation, the second magnetic portion 22 may be provided on two parallel or spaced frames 211. Or the second magnetic part 22 may be provided on all the frames 211.

Preferably, the frame 211 provided with the second magnetic portion 22 includes an embedding portion 2111 and an abutting portion 2112. The inlay 2111 is provided with an installation space. The second magnetic part 22 is installed in the installation space. The inlay 2111 includes a first face 2111a and a second face 2111b. The second face 2111b is provided with a magnetism blocking portion, or the second face 2111b is made of magnetism blocking material. As another example, the inlay 2111 is entirely made of a magnetically isolated material. As another embodiment, the frame 211 with the second magnetic part 22 is made of a magnetic isolation material. As another embodiment, the frame body 21 is made of a magnetic shielding material. The abutting portion 2112 is fixedly connected to the inlay portion 2111. Preferably, the abutting portion 2112 may be used for contacting with the object to be loaded and unloaded. Through placing the objects to be loaded and unloaded at the supporting part 21112, the situation that the material is knocked off or damaged by the manipulator 1 in the carrying process can be effectively prevented. The magnetism isolating part can also be made of magnetism isolating materials. By providing the magnetism isolating part on the second surface or making it from magnetism isolating material, when two or more than two isolation frames 2 are close to each other (such as when there are a plurality of isolation frames stacked in the first storage device or the second storage device), under the first condition, and when the manipulator 1 only needs to grasp the isolation frame close to the manipulator 1, the manipulator 1 only grasps the isolation frame 2 required by the manipulator, and the other isolation frames 2 are prevented from being grasped. In the first condition, the first surface 2111a may be a surface that allows the robot arm 1 to grasp the spacer 2. In order to enable the manipulator 1 to better grasp the spacer, a notch or a groove may be formed on the first surface 2111 a. The notch or groove may communicate with the installation space. To further enhance the ability of the robot arm 1 to grip and stabilize the spacer 2, part or all of the second magnet 22 may be exposed to the first surface 2111a, for example, part of the second magnet may be passed through the notch or groove.

Preferably, the cross section of the inlay portion 2111 and the abutment portion 2112 may be stepped. After the isolation frame 2 is lifted by the manipulator 1, the object M on the isolation frame 2 is placed at the bottom of the step (i.e. the object is contacted with the abutting part), and the cross sections of the inlaid part 2111 and the abutting part 2112 can be in a step shape, so that the object M on the isolation frame 2 is limited, as shown in fig. 3. The frame 211 of part or all of the spacer 2 is fitted with a second magnet part 2 for being sucked up.

Preferably, the first storage device 3 includes a first lifting mechanism 31. The first lifting mechanism 31 is located in the storage space of the first storage device 3. The first lifting mechanism 31 may be lifted or lowered, so that the isolation frame 2 and the object M on the isolation frame 2 may be accurately carried to a predetermined position (such as a position to be processed or a second storage device, etc.) during the loading and unloading process. When the spacer 2 and the second storage device 4 are to be carried from the first storage device 3 to the second storage device 2, the first elevating mechanism 31 may be gradually elevated in a direction F1 from the bottom to the top of the storage space. When the separator 2 and the objects M on the separator 2 are transferred from the second storage means 4 to the first storage means 3, the first elevating mechanism 31 may be gradually lowered in a direction F2 from the top to the bottom of the storage space. The storage space may be used for storing the spacer 2, or the spacer 2 and the objects M on the spacer 2. The conveyor 5 is used for conveying objects to be lifted and lowered onto the isolation frame 2 or separating the isolation frame 2 from the objects M on the isolation frame 2, so that the operations of feeding or discharging materials are realized.

The automatic feeding and discharging device can further comprise a conveying mechanism 5. The objects to be loaded and unloaded can be continuously conveyed to a preset position. For example, the objects to be transferred can be transferred from the isolation frame to the processing position (such as the processing equipment of the PCB board or the carrier board) in the feeding process, and the objects processed in the processing position (the objects to be transferred) can be accurately transferred to the isolation frame 2 in the discharging process. Part of the components of the transfer mechanism 5 are mounted to the first storage device.

The conveying structure may also be provided with a retractable barrier and a detection mechanism to enable the objects to be conveyed to be more accurately transferred to a predetermined position. The predetermined location may include a machining location or a spacer. Preferably, the conveying mechanism 5 includes a conveying roller 51, a detecting mechanism 52 and a baffle 53; the conveying roller 51 and the detecting mechanism 52 are mounted on the first storage device 3. The positions of the transfer roller 51 and the detection mechanism 52 are fixed relative to the horizontal ground. The transfer roller 51 can roll at its position. The outer periphery of the detection mechanism 52 is provided with a plurality of the conveying rollers 51. The shutter 53 is retractable. In the first state, a portion of the shutter 53 is located in the storage space of the first storage device 3; in the second state, the shutter 53 is away from the storage space of the first storage device 3. The first lifting mechanism 31 may be located outside the conveying roller 51 and the detecting mechanism 52. The first lifting mechanism 31 can reciprocate relative to the conveying roller 51 and the detecting mechanism 52. When it is desired to separate the spacer 2 from the object M on the spacer 2, the spacer 2 may be left on the first elevating mechanism 31. Each time the first lifting mechanism 31 is added with one isolation frame, the first lifting mechanism 31 needs to be lowered. When the objects to be loaded and unloaded need to be transported from the first storage device 3 to the second storage device 4, the isolation frame 2 of the first storage device 3 and the objects M on the isolation frame 2 are transferred to the second storage device 4 by the manipulator, and at this time, the number of the isolation frames 3 on the first lifting mechanism 31 is reduced, and the first lifting mechanism 31 needs to be lifted.

When the objects to be loaded and unloaded are pushed to the first storage device 3, the objects to be loaded and unloaded are conveyed to the conveying roller 51, and the objects to be loaded and unloaded are conveyed to the preset position by the conveying roller 51 through driving the conveying roller 51 to roll by a motor. Of course, the conveying roller 51 may be pushed by the objects to be loaded and unloaded to roll, so that the objects to be loaded and unloaded can be conveyed more smoothly. With the detection mechanism 52 being an infrared detection mechanism, when the objects to be loaded and unloaded reach the detection mechanism 52 through the transmission roller 51, the objects to be loaded and unloaded can be detected by the detection mechanism 52, so as to perform the operation of separating the objects to be loaded and unloaded from the isolation frame 2 or the operation of pushing the objects to be loaded and unloaded onto the isolation frame 2. The first state may be a process in which the baffle 53 pushes the objects to be loaded and unloaded to the isolation frame 2. The second state may be that the shutter 53 has completed the process of pushing the objects to be loaded and unloaded to the separator 2 or that the process of pushing the objects to be loaded and unloaded to the separator 2 is not started. The baffle 53 can also position objects to be loaded and unloaded in a plate placing area in the parting bead, and the baffle 53 is retracted after the plates are conveyed into place.

Preferably, the second storage device 4 includes a second lifting mechanism 41 and a frame 42; the second lifting mechanism 41 is installed in the storage space of the second storage device 4; the bottom of the frame 42 is arc-shaped. The frame 42 is mounted to a second elevating mechanism 41, and the second elevating mechanism 41 can raise or lower the frame 42. In the case of a horizontal placement, the spacer 2 and the object M on the spacer 2 may be placed on the frame 42 when the spacer 2 and the object M on the spacer 2 are placed in the second storage device 4. Wherein when a plurality of spacer frames 42 are located in the storage space of the second storage device 4, the lowermost spacer frame 2 is in contact with the frames 42. Because the bottom 421 of the frame 42 has an arc structure, a certain arc is formed after the objects M on all the isolation frames 2 are placed. The objects M on the isolation frame 2 are respectively placed at intervals, and as the middle of the isolation frame 2 is hollow, i.e. no support exists in the middle of the isolation frame 2, the isolation frame 2 is contacted with the edge of the object M on the isolation frame 2 (such as the contact of a non-pattern area on the edge of a PCB board or a carrier board). The pattern area of the object M on the spacer 2 with the ink in between is not in contact with the frame 42 and the spacer 2 at all, so that the object M on the spacer 2 can be prevented from being scratched or damaged. And because the objects M on the isolation frame 2 can be stored with a certain radian, the frame 42 is arranged into an arc shape, so that the objects M on the isolation frame 2 can be prevented from being a thin plate, and the objects M on the isolation frame 2 can not be supported by themselves, so that the radian is naturally generated to be contacted with the lower plate, and the friction is avoided. A schematic view of the storage stack of objects M on the spacer 2 is shown in fig. 7.

Preferably, the frame 42 includes a bottom 421 and a supporting portion 422; the support 422 is fixed to the bottom 421; the bottom 421 includes an arc-shaped rim; the length of the arc-shaped frame is greater than or equal to the length of at least one frame of the isolation frame 2. The support 422 may be used to support the spacer 2. The two ends of the arc-shaped frame may be in contact with the edges of the spacer 2 closest to the bottom 421. The frame 42 may be mounted to the second elevating mechanism 41 so as to be reciprocally moved by the second elevating mechanism 41. To further improve the stability of the frame 42, the bottom 421 may be fixedly connected to the second lifting structure. In the case of horizontal placement, the bottom 421 is located below the support 422; the arc-shaped frame of the bottom 421 is concave downward.

As a preferable scheme, the ratio of the edge height L1 to the middle height L2 of the arc-shaped frame is 5:3-5:1; the central angle d corresponding to the arc-shaped frame is more than or equal to 10 degrees and less than 90 degrees. Preferably, the central angle d corresponding to the arc-shaped frame is 25 degrees to 30 degrees or 45 degrees to 50 degrees. The arrangement can realize good bearing of the isolation frame 2 and the objects M on the isolation frame 2, and the objects M on the isolation frame 2 cannot be scratched or damaged. It should be noted that the object M on the isolation frame 2 and the object to be loaded and unloaded may be the same object, for example, may be a PCB board or a carrier board. Only the PCB board or carrier board will be described with different names in different cases.

In summary, according to the automatic feeding and discharging device disclosed by the invention, the first magnet part 11 is arranged on the arm of the manipulator 1, the second magnet part 22 is arranged on the isolation frame 2, the problem that the object M on the isolation frame 2 and the isolation frame 2 falls down due to dust and the like when the plate is grabbed can be effectively avoided by carrying the isolation frame 2 through the principle of magnetic attraction, and whether the grabbing mechanism works normally or not can be effectively detected by using the first magnet part 11 to electrify the isolation frame 2, so that the problem is prevented. Meanwhile, when a plurality of isolation frames 2 and objects M on the isolation frames 2 are stored in the second storage device 4, the objects M on the isolation frames 2 can be completely prevented from being contacted, and the problems of rubbing, pollution and the like of the objects M on the isolation frames 2 are effectively prevented.

The invention also provides an automatic feeding and discharging method, which is a method for completing automatic feeding and discharging based on the automatic feeding and discharging device in any embodiment. The feeding and discharging method comprises the following steps:

step S1, starting an automatic feeding and discharging device, wherein the automatic feeding and discharging device is the automatic feeding and discharging device in any embodiment;

and (2) feeding: the objects to be transferred are placed on the spacer 2 in the second storage means 4; under a first predetermined condition, the robot arm 1 grips the spacer 2 stored in the second storage device 4 by attracting the magnetic field of the first magnet portion 11 with the magnetic field of the second magnet portion 22. The mechanical arm 1 transfers the isolation frame 2 which is already grabbed to the first storage device 3, under a second preset condition, the isolation frame 2 is separated from the mechanical arm 1, and the isolation frame 2 and the material M on the isolation frame 2 are reserved in the first storage device 3; and (5) conveying the objects to be conveyed to a preset position, and finishing the feeding process. The feeding step S2 may be repeated to realize the feeding process of a plurality of objects.

As a preferred solution, in the process of placing the objects to be transferred on the isolation frame 2 in the second storage device 4, the objects to be transferred are stacked on the second storage device 4 at intervals sequentially through the isolation frame 2, see fig. 7. The objects to be transported here may be objects with a charge or objects M on the spacer 2. Since the bottom 421 of the frame 42 in the second storage device 4 is curved, the objects to be transported are spaced from each other and do not contact each other.

Preferably, the step of performing the first predetermined condition may include: the manipulator 1 is started, and the object to be transferred on the isolation frame 2 and the isolation frame 2 in the second storage device 4 are prepared to be grasped by the manipulator 1. Under the first predetermined condition, the first magnet portion 11 on the robot arm 1 forms a magnetic field; when the first magnet 11 approaches the spacer 2 in the second storage device 4, the first magnet 11 may attract the second magnet 22 on the spacer 2 by the attractive force of the magnetic field. The first magnet part 11 may be energized to generate a magnetic field. In the process that the manipulator 1 grabs the isolation frame 2 stored in the second storage device 4, the first magnet part 11 and the second magnet part 22 of the manipulator 1 are connected with the isolation frame 2, so that the isolation frame 2 can move along with the manipulator 1, and therefore the manipulator 1 can store the isolation frame 2 to a preset position.

Preferably, the step of performing the second predetermined condition may include: the robot arm 1 is in a closed state or the robot arm 1 puts down or releases the separator 2 that it has grabbed. In said loading step S2, the second predetermined condition is preferably that the robot arm 1 drops or releases the spacer 2 it has grabbed. Under the second predetermined condition, the first magnet portion 11 on the robot arm 1 forms a magnetic field cancellation. The magnetic field can be eliminated by powering off the first magnet portion 11. At this time, the first magnet 11 no longer attracts the second magnet 22, and the isolation frame 2 and the objects to be transported on the isolation frame 2 are separated from the robot 1.

As a preferred embodiment, the conveying the object to be conveyed to the predetermined position, and completing the feeding process may include the following steps: separating the object to be transported from the spacer 2; the object to be transmitted is transmitted to a preset device; the spacer 2 is retained in the first storage means 3; the feeding process is completed. Preferably, the process of separating the objects to be transported from the separator 2 includes: when the isolation frame 2 reaches the first storage device 3, the isolation frame 2 reaches the first lifting mechanism 31, and descends through the first lifting mechanism 31, and the isolation frame 2 is separated from the objects to be conveyed. After the separation frame 2 is separated from the object to be transported, the object to be transported is transported. The process of transferring the object to be transferred to the predetermined device may include: the object to be transferred is transferred to the processing apparatus by rolling of the transfer roller 51. The spacer 2 remains in the first storage device 3, and the first elevating mechanism 31 descends, so that the spacer 2 descends without being transported away with the transported object, and remains in the first storage device 3.

And (3) blanking: the material to be transported is placed on the spacer 2 in the first storage means 3; under a first preset condition, the first magnet part 11 attracts the magnetic field of the second magnet part 22, and the manipulator 1 grabs the isolation frame 2 stored in the first storage device 3 and the material M on the isolation frame 2; when the isolation frame 2 and the material M on the isolation frame 2 are transferred to the second storage device 4, the manipulator 1 is separated from the isolation frame 2 under a second preset condition; the isolation frame 2 and the material M on the isolation frame 2 are reserved in the second storage device 4, and blanking is completed. Preferably, the first predetermined condition and the second predetermined condition in step S3 may refer to the first predetermined condition and the second predetermined condition in step S2. Or the first predetermined condition and the second predetermined condition in the step S2 and the step S3 may refer to the first predetermined condition and the second predetermined condition in the feeding and discharging device.

Preferably, before the material to be transported is placed on the spacer 2 in the first storage device 3, the material to be transported may be transported towards the first storage device 3 by the processing equipment; the objects to be transported are separated from the spacer 2. The uppermost isolation frame 2 in the first storage device 3 can be lifted to be close to the processing equipment by the first lifting mechanism 31, and preferably, the isolation frame 2 can be contacted with a conveyor belt of the processing equipment, so that materials to be conveyed can smoothly enter the isolation frame 2 of the first storage device 3. The first isolation frame 2 above the first storage device 3 is the uppermost isolation frame 2 with the ground below and the vertical ground upward direction above.

As a preferable solution, before the manipulator 1 grabs the isolation frame 2 stored in the first storage device 3 and the material M on the isolation frame 2, after the detection mechanism 52 detects that the material to be transferred reaches the conveying mechanism; the baffle plate 53 is started, and the object to be conveyed is pushed to move through the conveying roller 51 by the baffle plate 53 until the edge of the object to be conveyed is contacted with the abutting part of the isolation frame 2, so that the object to be conveyed can be completely supported by the isolation frame 2. After the robot 1 grabs the separator 2 stored in the first storage device 3 and the material M on the separator 2, the first lifting mechanism 31 is lifted to place the next separator 2 on the table, and the next separator 2 is the new uppermost separator 2.

In step S2 of the present invention, the suction nozzle of the manipulator 1 is changed into an electromagnet (the first magnet portion 11), and meanwhile, flexible material with a thickness of 0.2mm can be wrapped around the first magnet portion 11 to prevent the objects to be transported from being scratched. In step S3, the object to be transferred is transferred to the clapping area, and the clapping plate is transferred forward to the first storage device 3 after the clapping plate is positive. When the sensing mechanism senses the object to be conveyed, the conveying roller 51 is opened. The storage mode of the isolation frame 2 in the first storage device 3 is shown in fig. 7, the isolation frame 2 is stacked on the lifter, the design of the isolation frame 2 is shown in fig. 3, the frame of the isolation frame 2 is made of flexible plastic capable of isolating magnetic fields, and iron-nickel alloy strips (such as the second magnet portion 22) are inlaid on the upper surface of part of the frame and are used for being sucked up by the electromagnet (the first magnet portion 11) on the mechanical arm. The middle of the storage area of the isolation frame 2 is provided with an independent conveying mechanism, objects to be conveyed can be conveyed to the isolation frame 2 continuously, and the objects to be conveyed can be positioned in the board placing area of the isolation frame 2 by the baffle 53 of the conveying mechanism. In addition, the transfer of the object to be conveyed into position and retraction of the tailgate 53 can be detected by the detection mechanism 52. And after the object to be conveyed is conveyed, the object to be conveyed is completely overlapped with the middle plate placing area of the isolation frame 2. The robot 1 moves down and activates the electromagnet, which picks up the plate together with the spacer frame 42 to the second storage device 4, and closes the electromagnet to place the objects to be transferred together with the spacer frame 2 in the stacked second storage device, as shown in fig. 1 and 7. The first lifter starts to send the next isolation frame 2 upwards to the designated position, the baffle 53 returns to the initial position, so that the manipulator 1 repeatedly grabs the produced objects to be transferred and places the objects into the second storage device, and the isolation frame 2 and the objects to be transferred are stacked so that the objects to be transferred are not contacted.

In step S2 of the present invention, the spacer 2 is placed in the second lifter, and the robot 1 grasps the spacer 2 and the objects to be separated together using the first magnet portion 11. The gripped separator 2 is brought to the starting position (first storage means 3). The starting position is additionally provided with an induction mechanism, the induction mechanism induces the object to be transmitted to enable the first lifter to downwards separate the isolation frame 2 from the object to be transmitted, the object to be transmitted is placed on the conveying roller 51, the conveying roller 51 forwards conveys the object to be transmitted forwards, the isolation frame 2 is left in the first storage device 3, and the first lifting mechanism 31 downwards descends to leave the placement position of the next isolation frame 2 and the object to be transmitted. Whereby the feeding of the board from the storage device into the production facility is repeated as shown in fig. 1.

The invention also provides an automatic feeding and discharging system, which comprises a control device and an automatic feeding and discharging device; the automatic feeding and discharging device according to any one of the above embodiments; the control device can be an industrial personal computer, a computer or a handheld mobile device and the like, and can control the automatic feeding and discharging device to complete at least one process of an automatic feeding process or a discharging process. The feeding or discharging process may be as described in any of the above embodiments. The control means may control whether the first magnet portion 11 is energized; control whether the shutter 53 is activated or not, and the like.

When the objects to be transmitted are placed on the isolation frame 2 in the second storage device 4 and are required to be fed; the control device controls the first magnet part 11 to be electrified, the first magnet part 11 generates a magnetic field, and drives the manipulator 1 to approach the isolation frame 2 in the second storage device 4. The robot arm 1 can grasp the spacer 2 stored in the second storage device 4 by attracting the magnetic field of the second magnet portion 22 with the first magnet portion 11. The control device drives the manipulator 1 to move towards the first storage device 3, so that the isolation frame 2 which is grabbed by the manipulator 1 is transferred to the first storage device 3. The control device turns off the power of the first magnet part 11, and the magnetic field of the first magnet part 11 disappears, so that the isolation frame 2 is separated from the manipulator 1. The separator 2 and the material M on the separator 2 are retained in the first storage means 3. When the detection structure detects that the manipulator 1 transfers the isolation frame 2 and the object M on the isolation frame 2 to the first storage device 3, a detection signal for separating the isolation frame 2 from the object to be transferred is formed, and the control device controls the first lifting mechanism 31 to descend according to the detection signal, so that the isolation frame 2 is separated from the object M on the isolation frame 2. And starting the conveying structure to convey the objects to be conveyed to the processing equipment, and finishing the feeding process. If other materials are required to be fed, the control device controls the manipulator 1 to move towards the second storage device 4 again, and the isolation frame 2 in the second storage device 4 and the objects M on the isolation frame 2 are repeatedly grabbed until all the objects to be fed are fed.

When the materials to be conveyed are placed in the first storage device 3 and the isolation frame 2 is used for blanking; the control device drives the machine to move towards the first storage device 3, and controls the first magnet part 11 to be electrified to form a magnetic field. The first magnet 11 attracts the magnetic field of the second magnet 22, so that the manipulator 1 grabs the isolation frame 2 stored in the first storage device 3 and the material M on the isolation frame 2; the control means controls the movement of the manipulator 1 towards the second storage means 4. Until the manipulator 1 transfers the isolation frame 2 and the material M on the isolation frame 2 to the second storage device 4, the control device removes the power-off magnetic field of the first magnet 11, and the manipulator 1 is separated from the isolation frame 2. The isolation frame 2 and the material M on the isolation frame 2 are reserved in the second storage device 4, and blanking is completed. Before the manipulator 1 grabs the isolation frame 2 stored in the first storage device 3 and the material M on the isolation frame 2, the control device can control the conveying mechanism to accurately push the material to be transmitted onto the isolation frame 2, so that the manipulator 1 can simultaneously transmit the material to be transmitted when grabbing the isolation frame 2. If the blanking is still needed to be continued, the control device continues to control the manipulator 1 to move towards the first storage device 3, and the next blanking process is performed until the blanking of all the objects is completed. The control device also controls the first lifting mechanism 31 to lift the next isolation frame 2 so as to catch the next object to be conveyed which needs to be blanked.

In summary, in the automatic feeding and discharging device, the automatic feeding and discharging method and the automatic feeding and discharging system, the feeding and discharging processes are realized through the first magnet part 11 and the second magnet part 22, so that the problem that the plate falls due to dust and the like when the plate is grabbed can be effectively avoided, whether the grabbing mechanism works normally or not can be effectively detected by electrifying the grabbing plate through the electromagnet, and the problem is prevented. Meanwhile, the contact of the plate surface can be completely avoided during storage, and the problems of plate surface wiping, pollution and the like are effectively prevented.

In addition, by placing the objects to be transferred in the frame 42, the bottom 421 of the frame 42 has an arc-shaped structure, so that a certain arc is formed after all the plates are placed. The pattern area with the ink in the middle of the object to be transmitted is completely not contacted with the frame 42 and the isolation frame 2, and all the plates are stored in a U shape with a certain radian, so that the phenomenon that the plate body cannot support and naturally generates radian to contact with the lower plate to cause wiping is avoided.

In the description of the present application, it should be understood that the terms "first," "second," and the like are used for descriptive purposes only and are not to be construed as indicating or implying a relative importance or an implicit indication of the number of technical features being indicated. Thus, a feature defining "a first" or "a second" may explicitly or implicitly include one or more of the described features. In the description of the present application, the meaning of "a plurality" is two or more, unless explicitly defined otherwise.

It should be noted that, unless explicitly stated or limited otherwise, the terms "mounted," "connected," and "connected" are to be construed broadly, and may be, for example, fixedly connected, detachably connected, or integrally connected; can be mechanically connected, electrically connected or can be communicated with each other; can be directly connected or indirectly connected through an intermediate medium, and can be communicated with the inside of two elements or the interaction relationship of the two elements. The specific meaning of the terms in this application will be understood by those of ordinary skill in the art as the case may be.

It will be apparent to those skilled in the art from this disclosure that various other changes and modifications can be made which are within the scope of the invention as defined in the appended claims.

Claims

1. An automatic feeding and discharging device which is characterized in that: the device comprises a manipulator, an isolation frame, a first storage device and a second storage device; the manipulator comprises a first magnet part, and the isolation frame comprises a frame body and a second magnetic part; the frame body is fixedly connected with the second magnetic part; under a first preset condition, the manipulator is connected with the isolation frame; under a second preset condition, the manipulator is separated from the isolation frame; a storage space for storing the isolation frame is arranged in the first storage device or the second storage device;

2. The automatic loading and unloading device of claim 1, wherein: the frame body of the isolation frame comprises a plurality of frames; at least one frame is provided with the second magnetic part.

3. The automatic loading and unloading device of claim 2, wherein: the frame provided with the second magnetic part comprises an inlaid part and a supporting part respectively; the embedded part is provided with an installation space; the second magnetic part is arranged in the installation space; the inlaid part comprises a first surface and a second surface; the second surface is provided with a magnetism isolating part; or the second face is made of a magnetically isolated material; the supporting part is fixedly connected with the embedding part.

4. An automatic loading and unloading device according to any one of claims 1-3, characterized in that: the first storage device comprises a first lifting mechanism; the first lifting mechanism is located in the storage space of the first storage device.

5. An automatic loading and unloading device according to any one of claims 1-3, characterized in that: the conveying mechanism comprises a conveying roller, a detection mechanism and a baffle plate; the conveying roller and the detection mechanism are arranged on the first storage device; in a first state, a portion of the baffle is located within the storage space of the first storage device; in the second state, the barrier is remote from the storage space of the first storage device.

6. An automatic loading and unloading device according to any one of claims 1-3, characterized in that: the second storage device comprises a second lifting mechanism and a frame; the second lifting mechanism is arranged in the storage space of the second storage device; the bottom of the frame is of an arc-shaped structure.

7. The automatic loading and unloading device of claim 6, wherein: the frame comprises a bottom and a supporting part; the supporting part is fixed on the bottom part; the bottom comprises an arc-shaped frame; the length of the arc-shaped frame is greater than or equal to the length of at least one frame of the isolation frame.

8. The automatic loading and unloading device of claim 7, wherein: the ratio of the edge height to the middle height of the arc-shaped frame is 5:3-5:1; the central angle corresponding to the arc-shaped frame is more than or equal to 10 degrees and less than 90 degrees.

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

starting an automatic feeding and discharging device, wherein the automatic feeding and discharging device is an automatic feeding and discharging device according to any one of claims 1-8;

10. An automatic feeding and discharging system is characterized by comprising a control device and an automatic feeding and discharging device; the automatic feeding and discharging device is according to any one of claims 1-8; the control device controls the automatic feeding and discharging device to complete at least one of an automatic feeding process and a discharging process.