CN118025803A

CN118025803A - Automatic feeding and discharging mechanism, circuit board production equipment and automatic feeding and discharging method

Info

Publication number: CN118025803A
Application number: CN202410445022.2A
Authority: CN
Inventors: 刘云东; 杨兴华; 颜庄
Original assignee: Zhuhai Qichuan Precision Equipment Co ltd
Current assignee: Zhuhai Qichuan Precision Equipment Co ltd
Priority date: 2024-04-15
Filing date: 2024-04-15
Publication date: 2024-05-14
Anticipated expiration: 2044-04-15
Also published as: CN118025803B

Abstract

The invention relates to the technical field of circuit board production equipment, and discloses an automatic feeding and discharging mechanism, circuit board production equipment and an automatic feeding and discharging method. The mechanism comprises a winding drum clamp, a material rack, a positioning mechanism, a multi-axis mechanical arm and a mechanical clamping arm module. The winding drum clamp comprises a clamp bottom plate, a fixed claw and a first belt head claw, wherein the fixed claw and the first belt head claw are arranged on the clamp bottom plate, and the belt heads are respectively used for fixing the winding drum and the coiled material. The work or material rest can hold a plurality of reel anchor clamps, and positioning mechanism sets up in one side of work or material rest for fixed reel anchor clamps. The multi-axis mechanical arm is arranged on one side of the material rack, and the mechanical clamping hand module is arranged on the multi-axis mechanical arm and comprises winding drum clamping jaws and clamp clamping jaws which face different directions. The clamp clamping jaw is used for clamping a winding drum clamp, the winding drum clamping jaw is used for clamping a winding drum of a coil stock, the winding drum clamping jaw is provided with a second belt head clamping jaw, and the second belt head clamping jaw is used for clamping a belt head of the coil stock. The automatic feeding and discharging mechanism can realize full-automatic feeding and discharging of coiled materials.

Description

Automatic feeding and discharging mechanism, circuit board production equipment and automatic feeding and discharging method

Technical Field

The invention relates to the technical field of circuit board production equipment, in particular to an automatic feeding and discharging mechanism, circuit board production equipment and an automatic feeding and discharging method.

Background

In order To facilitate transportation and improve space utilization, products and materials are fed and recovered in a Roll form in the manufacturing process of the PCB, namely, a Roll-To-Roll (Roll toll) mode is adopted for processing. When the roll is exhausted, the newly replaced roll and the roll on the equipment need to be reconnected together by means of adhesive tape or the like so as to avoid re-threading. Some existing roll-to-roll equipment can automatically finish the roll changing and tape splicing of the roll material, but the tape head of the roll material needs to be found manually in an auxiliary manner, and the adhesive tape is manually stuck on the tape head. Because the coiled material with the head is easy to be dispersed, and is inconvenient to store in a large quantity, on-line personnel are required to assist in disassembling the head of the coiled material when the coiled material is fed and discharged each time, and the fully-automatic coiled material feeding and discharging can not be realized.

Disclosure of Invention

In order to overcome the defects of the prior art, the invention aims to provide the automatic feeding and discharging mechanism, which can be used for pre-fixing the belt heads of the coiled materials through the first belt head clamping jaw of the winding drum clamping clamp, so that a large amount of coiled materials with the belt heads unreeled can be stored, and the full-automatic feeding and discharging of the coiled materials of equipment can be conveniently realized.

In order to solve the problems, the technical scheme adopted by the invention is as follows: an automatic feeding and discharging mechanism, comprising: the winding drum clamp comprises a clamp bottom plate, a fixed claw and a first belt head clamping claw, wherein the fixed claw and the first belt head clamping claw are arranged on the clamp bottom plate, the fixed claw is used for clamping a winding drum of a coiled material on the clamp bottom plate, and the first belt head clamping claw is used for clamping a belt head of the coiled material; a material rack which can accommodate a plurality of the roll clamps; the positioning mechanism is arranged at one side of the material rack and used for fixing the winding drum clamp; the multi-axis mechanical arm is arranged on one side of the material rack; the mechanical clamping hand module is arranged on the multi-axis mechanical arm and can move in space under the driving of the multi-axis mechanical arm, the mechanical clamping hand module comprises winding drum clamping jaws and clamping jaw which face different winding drum clamping jaws, the clamping jaw is used for clamping the winding drum of the winding drum clamp, the winding drum clamping jaw is used for clamping a winding drum of a winding material, and a second belt head clamping jaw is arranged on the winding drum clamping jaw and used for clamping a belt head of the winding material.

Compared with the prior art, the invention has the beneficial effects that: the winding drum clamp can fix the belt head of the unreeled coil stock through the first belt head clamping jaw, and the coil stock unreeled the belt head is fixed by matching with the fixing clamping jaw, so that the coil stock unreeled the belt head is prevented from being dispersed, and a large number of coil stocks unreeled the belt head can be stably stored in the material rack. Simultaneously, through the positioning mechanism and the mechanical clamping hand module matched with the winding drum clamp, the coiled material can be detached from the winding drum clamp, and the second belt head clamping jaw on the winding drum clamping jaw is connected with the belt head for unreeling the coiled material from the first belt head clamping jaw, so that the full-automatic feeding and discharging of the coiled material are realized. This automatic unloading mechanism in going up, go up the unloading in-process and need not artificial supplementary, can go up the unloading of automatic coil stock to equipment under long-time unmanned careless, reduce the staff's on-line work load, reduce human cost.

Foretell automatic unloading mechanism that goes up, the work or material rest positioning mechanism with multiaxis arm all sets up on the AGV robot.

The automatic feeding and discharging mechanism comprises a clamping jaw and a positioning camera, wherein the clamping jaw is different from the clamping jaw of the winding drum and the clamping jaw of the clamping tool, the positioning camera is different from the clamping jaw of the winding drum and the clamping jaw of the clamping tool, the clamping jaw of the clamping tool is used for clamping a winding drum gland on a reel changing turntable of the clamping equipment, and the positioning camera is used for collecting images of the winding drum gland or a winding drum rotating shaft and positioning the winding drum rotating shaft and the winding drum gland.

The automatic feeding and discharging mechanism comprises the gland clamping jaw and the buckle triggering mechanism, wherein the gland clamping jaw is used for clamping a body of the reel gland, and the buckle triggering jaw is used for triggering the buckle mechanism on the reel gland, so that the reel gland can be separated from the reel changing turntable.

Foretell automatic unloading mechanism that goes up, gland clamping jaw includes gland clamping jaw cylinder and two L type gland splint, gland clamping jaw's one end with gland clamping jaw cylinder is connected, gland clamping jaw's the other end is equipped with the recess that matches with the shape of the clamping part on the reel pressure cover, the buckle triggers the jack catch and includes buckle trigger cylinder and buckle push pedal, the buckle trigger cylinder sets up in two between the gland clamping plate, the buckle push pedal with the piston rod of buckle trigger cylinder is connected.

The automatic feeding and discharging mechanism comprises more than three clamping jaw cylinders and three winding drum clamping fingers, one ends of the winding drum clamping fingers are connected with the clamping jaw cylinders, the second belt head clamping jaws comprise positioning clamping jaw cylinders and two belt head clamping fingers, the positioning clamping jaw cylinders are arranged on a clamping hand module base through extension plates, one ends of the belt head clamping fingers are connected with the positioning clamping jaw cylinders, and the tail ends of the belt head clamping fingers are far away from the clamping hand module base, and the tail ends of the winding drum clamping fingers are far away from the clamping hand module base.

The automatic feeding and discharging mechanism comprises a feeding frame and a discharging frame, wherein the feeding frame, the discharging frame and the positioning mechanism are arranged on a carrying platform, the feeding frame and the discharging frame are respectively provided with a plurality of drawer positions matched with the width of the winding drum clamp along the vertical direction, the positioning mechanism comprises a bearing platform, a jacking driving device and positioning clamping jaws, the bearing platform, the jacking platform and the jacking driving device are arranged on the carrying platform, the positioning clamping jaws are symmetrically arranged on two sides of the bearing platform, the jacking platform can lift and move in the vertical direction under the driving of the jacking driving device, the bearing platform is provided with a avoidance opening for avoiding the jacking platform, and the positioning clamping jaws are used for clamping two sides of the winding drum clamp on the bearing platform.

The automatic feeding and discharging mechanism comprises at least three groups of reel pressing blocks and reel positioning blocks, wherein the reel positioning blocks are fixedly connected with a clamp base plate, the reel positioning blocks are distributed on a circle at equal angle intervals, the reel pressing blocks are arranged on one side, close to a circle center, of each reel positioning block, the reel pressing blocks are connected with the corresponding reel positioning blocks through elastic pieces, inclined surfaces which incline towards the direction of the circle center and are away from the clamp base plate and the circle center are arranged on one side, facing the circle center, of each reel pressing block, each first belt clamping jaw comprises a belt head positioning block, a movable pressing block and a fixed pressing block, the fixed pressing block and the belt head positioning block are fixedly arranged on the clamp base plate, the movable pressing blocks are arranged between the fixed pressing blocks and the belt head positioning blocks, and the movable pressing blocks are connected with the belt head positioning blocks through the elastic pieces.

The utility model provides a circuit board production facility, includes foretell automatic unloading mechanism and the mechanism that flies to reach, the mechanism that flies to reach includes central symmetry's reel change carousel and carousel drive arrangement, reel change carousel rotates and sets up in the frame of equipment, central symmetry is provided with two reel pivots on the reel change carousel, reel change carousel can be in carousel drive arrangement's drive is rotatory down, reel gland is installed to detachably in the reel pivot, every one side of reel pivot is provided with the first clamping jaw of third, the first clamping jaw of third is used for the tape head of centre gripping coil stock, the first clamping jaw central symmetry of third tape set up in the both ends of reel change carousel.

The automatic loading and unloading method of the circuit board production equipment comprises the following steps:

S100: after receiving a feeding and discharging request signal of the equipment, the multi-axis mechanical arm drives the mechanical gripper module to move to a reel changing turntable of the equipment;

s200: the multi-axis mechanical arm rotates the mechanical clamping hand module to enable the positioning camera to face the reel changing turntable, and photographing and positioning are carried out on the reel changing turntable;

S300: the multi-axis mechanical arm rotates the mechanical clamping arm module to enable the gland clamping jaw to face the reel changing turntable, and according to the positioning result in the step S200, the gland clamping jaw is driven to take down a reel gland on an empty reel on the reel changing turntable;

S400: the multi-axis mechanical arm rotates the mechanical clamping arm module to enable the winding drum clamping jaw to face the winding drum changing turntable, and according to the positioning result in the step S200, the winding drum clamping jaw is driven to take down the empty winding drum on the winding drum changing turntable;

S500: the multi-axis mechanical arm drives the mechanical clamping arm module to move to the positioning mechanism and drives the winding drum clamping jaw to install the empty winding drum on the winding drum clamp on the positioning mechanism;

s600: the multi-axis mechanical arm rotates the mechanical clamping arm module to enable the clamping jaw of the clamp to face the positioning mechanism, the positioning mechanism simultaneously loosens the winding drum clamp, and the multi-axis mechanical arm drives the clamping jaw of the clamp to insert the winding drum clamp onto the blanking frame;

S700: the multi-axis mechanical arm drives the clamp clamping jaw to take off a winding drum clamp with a coil stock from the feeding frame, the winding drum clamp is placed on the positioning mechanism, and the positioning mechanism fixes the winding drum clamp;

s800: the multi-axis mechanical arm rotates the mechanical clamping arm module to enable the winding drum clamping jaw to face the positioning mechanism, and the multi-axis mechanical arm drives the winding drum clamping jaw to take down the coiled material from the positioning mechanism and connects the belt head of the coiled material from the first belt head clamping jaw through the second belt head clamping jaw;

s900: the multi-axis mechanical arm drives the mechanical clamping arm module to move to the reel changing turntable, and rotates the mechanical clamping arm module to enable the positioning camera to face the reel changing turntable, so that photographing and positioning are carried out on the reel changing turntable;

S1000: the multi-axis mechanical arm rotates the mechanical clamping arm module to enable the winding drum clamping jaw to face the winding drum rotating disc, the winding drum clamping jaw is driven to install the winding materials on an empty winding drum rotating shaft on the winding drum rotating disc according to the positioning result of the step S800, and the belt head of the winding materials is handed to a third belt head clamping jaw on the corresponding side of the winding drum rotating disc through a second belt head clamping jaw;

s1100: the multi-axis mechanical arm rotates the mechanical clamping hand module to enable the gland clamping jaw to face the reel changing turntable, and according to the positioning result of the step S800, the gland clamping jaw is driven to install the reel gland on the reel rotating shaft of the new coil stock.

The invention is described in further detail below with reference to the drawings and the detailed description.

Drawings

Fig. 1 is a schematic structural diagram of an automatic feeding and discharging mechanism according to an embodiment of the present invention.

Fig. 2 is a schematic structural diagram of a material rack according to an embodiment of the invention.

Fig. 3 is a schematic structural diagram of a manipulator module according to an embodiment of the invention.

Fig. 4 is a side view of a manipulator module according to an embodiment of the invention.

Fig. 5 is a schematic structural diagram of a positioning mechanism according to an embodiment of the invention.

Fig. 6 is a schematic structural view of a spool clamp according to an embodiment of the present invention.

Fig. 7 is a schematic structural diagram of a reel changer according to an embodiment of the present invention.

Fig. 8 is a schematic structural diagram of a flying device of a circuit board production apparatus according to an embodiment of the present invention.

Reference numerals illustrate:

100AGV robot, 110 carrier, 200 reel clamp, 210 clamp bottom plate, 220 fixed jaw, 221 reel positioning block, 222 reel press block, 230 first band head jaw, 231 band head positioning block, 232 movable press block, 233 fixed press block, 300 work or material rest, 310 blanking work or material rest, 311 drawer position, 320 upper work or material rest, 400 positioning mechanism, 401 positioning bottom plate, 402 bearing platform, 410 jacking platform, 411 jacking driving device, 420 positioning jaw, 421 positioning jaw cylinder, 422 connecting beam, 423 positioning jaw, 500 multiaxial mechanical arm, 600 mechanical clamp module, 610 clamp module base, 620 clamp jaw, 630 reel jaw, 631 three finger jaw cylinder, 632 reel clamp finger, 633 second band head jaw, 634 extension plate, 640 gland jaw, 641 gland jaw cylinder, 642 gland jaw, 643 buckle trigger cylinder, 644 buckle push plate, 650 positioning camera, 700 reel change turntable, 710 third band head, 720 reel gland, 721 buckle mechanism, 722 sleeve, 723 sleeve base, 724 cover plate.

Detailed Description

Referring to fig. 1 and 3, an embodiment of the present invention provides an automatic loading and unloading mechanism, which includes a drum clamp 200, a material frame 300, a positioning mechanism 400, a multi-axis mechanical arm 500, and a mechanical gripper module 600. Wherein the spool clamp 200 includes a clamp base 210, and a fixing jaw 220 and a first tape head jaw 230 provided on the clamp base 210, the fixing jaw 220 for fixing the spool to the clamp base 210, and the first tape head jaw 230 for holding the tape head of unwinding the roll. The material rack 300 is used for accommodating the roll jigs 200, and may accommodate a plurality of roll jigs 200. The positioning mechanism 400 is disposed at one side of the material frame 300, and is used for fixing the roll clamp 200, so as to facilitate the separation of the roll material from the roll clamp 200. The multi-axis mechanical arm 500 is disposed at one side of the material rack 300, and a mechanical gripper module 600 is disposed at the end of the multi-axis mechanical arm 500, so as to drive the mechanical gripper module 600 to move in space. The robot gripper unit 600 includes various facing spool gripping jaws 630 and gripper jaws 620, wherein the spool gripping jaws 630 are used to grip a spool of web material, and the spool may be removed from the spool gripper 200 or loaded onto the spool gripper 200. The spool clamping jaw 630 is further provided with a second tape head clamping jaw 633, and the second tape head clamping jaw 633 can clamp the spool while the spool clamping jaw 630 clamps the spool, and simultaneously, the tape head of the coiled material can be connected with the first tape head clamping jaw 230 of the spool clamp 200. The clamp jaws 620 are used to hold the spool clamp 200, remove the spool clamp 200 from the work stack 300, or replace the spool clamp 200 in the work stack 300.

According to the automatic feeding and discharging mechanism provided by the embodiment of the invention, the winding drum clamp 200 can clamp the tape head of the coiled material through the first tape head clamping jaw 230, and the winding drum of the coiled material is fixed on the bottom plate 210 through the fixing clamping jaw 220, so that the relative position between the winding drum and the unwound tape head is fixed, the coiled material is prevented from being dispersed after the tape head is unwound, and a large amount of coiled material with the tape head is stored on the material frame 300. While the robot gripper unit 600 includes gripper jaws 620 that grip the spool gripper 200 and spool jaws 630 that grip the spool, the spool and the spool gripper 200 may be transported. The material frame 300 side is provided with a positioning mechanism 400 for fixing the spool holder 200, facilitating the removal of the spool from the spool holder 200. The second head clamping jaw 633 capable of clamping the coil stock head is further arranged on the winding drum clamping jaw 630, the coil stock head which is unreeled can be connected from the winding drum clamp 200, and the unreeled head is sent to a specific mechanism on the equipment, so that the need of manually assisting in unreeling the coil stock head when the equipment is used for reel change is avoided. The automatic feeding and discharging mechanism can manually unwind the heads of a large number of coiled materials in advance, mount the unwound coiled materials on the reel clamp 200, and then mount the reel clamp 200 in the material frame 300. When the equipment operates, the equipment can automatically change the coiled material with the unwinding head onto the equipment under the condition of unattended operation for a long time, so that the full-automatic loading and unloading of the equipment are realized, a large number of operators are prevented from being arranged to take charge of the loading and unloading of the coiled material of each equipment, the automation degree of the equipment is improved, the number of the equipment which can be attended by a single person on a production line is improved, a certain manpower resource is liberated, and the manpower cost is reduced.

It will be appreciated that the automatic loading and unloading mechanism described above may be fixedly disposed on one side of the flyer mechanism of the apparatus. Or set up on AGV robot 100, as shown in fig. 1 and 2, can flow between many equipments automatically, and after the coil stock on the work or material rest 300 runs out, can remove to fixed manual feeding department automatically, the manual work will install the reel anchor clamps 200 of coil stock on the work or material rest 300 to retrieve the empty reel on the work or material rest 300, further improve the degree of automation in whole workshop. Preferably, the number of axes of the multi-axis mechanical arm 500 is preferably more than 4, and in this embodiment, the six-axis mechanical arm is used to drive the mechanical gripper module 600, so that the reel and the reel clamp 200 can be more flexibly taken and placed.

Referring to fig. 7, in some apparatuses, a roll of a coil stock needs to be fixed on a roll shaft of the apparatus by a specific roll gland 720 to prevent the roll from being separated from the shaft when rotating, and accordingly, when feeding and discharging the roll stock, the roll gland 720 on the shaft needs to be removed first to remove an empty roll from the shaft and to load a new roll stock. Referring to fig. 3 and 4, in some embodiments, the robotic gripper module 600 further includes a gland jaw 640 and a positioning camera 650, oriented differently from each other and from the spool jaw 630 and the clamp jaw 620. The gland jaws 640 are used to grip the spool gland 720 to facilitate removal of the spool gland 720 from the reel changer 700 of the apparatus. And because the position accuracy of dismouting reel gland 720 is higher in the position accuracy requirement of just dismouting reel, and the arm sets up on movable AGV robot, and the arm is not absolutely fixed for the position of equipment, needs location camera 650 to take a picture reel change carousel 700, fixes a position reel pivot and reel gland 720 on the carousel to ensure that multiaxis arm 500 can accurately dismantle reel gland 720 to the reel pivot. It can be appreciated that, under the condition that the automatic feeding and discharging mechanism is fixedly arranged at one side of the equipment and the repeated positioning accuracy of the mechanical arm and the driving device of the reel changing turntable 700 is high, the positioning camera 650 is not required to perform the pre-photographing positioning on the reel changing turntable 700 due to the relatively fixed position during the feeding and discharging of the reel changing.

It will be appreciated that the fixed jaw 220 and the first chuck jaw 230 on the spool clamp 200 preferably employ a passive clamping fixture that is clamped by the spring drive, since the spool clamp 200 requires a transfer, and an electric or pneumatic drive is inconvenient. The drum clamping jaw 630, the clamp clamping jaw 620, the second clamping jaw 633 and the clamping jaw on the mechanical clamping hand module 600 and the positioning mechanism 400 need to have the capability of actively opening and closing, and controllable clamping mechanisms such as an electric clamping jaw or a clamping finger cylinder are preferably adopted.

Referring to fig. 3 and 4, since the spool is generally cylindrical, in order to ensure that the spool can be clamped more stably, the spool clamping jaw 630 generally adopts more than three-finger clamping jaw cylinders, and the clamping jaw 620 and the second head clamping jaw 633 can meet the requirement by adopting two-finger clamping jaw cylinders because the clamping surfaces are flat. In this embodiment, spool clamp 630 employs a three finger clamp cylinder 631. The reel clamping jaw 630, the positioning camera 650, the gland clamping jaw 640 and the clamp clamping jaw 620 are all connected with the multi-axis mechanical arm 500 through the hand clamping module base 610, and the hand clamping module base 610 can rotate under the drive of the rotating shaft at the tail end of the multi-axis mechanical arm 500. The distance of the ends of the three spool gripping fingers 632 of the spool gripping jaw 630 from the center of the three finger gripping jaw cylinder 631 is determined according to the diameter of the spool to be gripped. The length of the collet fingers 632 needs to be greater than the length of the spool shaft on the device to avoid interference with the spool shaft during loading and unloading. Accordingly, the second tape head clamping jaw 633 needs to be disposed on the gripper module base 610 through the extension plate 634, so that the distance from the end of the clamping finger of the second tape head clamping jaw 633 to the gripper module base 610 is equal to the distance from the end of the reel clamping finger 632 to the gripper module base 610, and when the reel clamping jaw 630 can clamp the reel on the clamp base 210, the second tape head clamping jaw 633 can clamp the tape head for unwinding the coiled material.

In some devices, in order to firmly limit the spool on the spool spindle by the spool gland 720, a locking mechanism 721 is generally disposed between the spool gland 720 and the spool spindle, and when the spool gland 720 is disassembled, the locking mechanism 721 needs to be unlocked first. To solve the above technical problem, the gland clamping jaw 640 includes a gland clamping jaw for clamping the main body of the spool gland 720, and a buckle triggering mechanism for triggering the buckle mechanism 721 on the spool pressing plate, so that the spool gland 720 and the spool rotating shaft can be separated. Referring to fig. 3 and 4, in general, the spool gland 720 has a spindle sleeve 722 that mates with the spool spindle, and the gland clamping jaws facilitate clamping of the spool gland 720 by clamping the spindle sleeve 722. Referring to fig. 7, in the present embodiment, a rotary shaft sleeve 722 and a circular cover plate 724 are connected by a cylindrical sleeve base 723, the sleeve base 723 is clamped as a clamping part by a gland clamping jaw to clamp the spool cover plate 724, the gland clamping jaw includes a gland clamping cylinder 641 and an L-shaped gland clamping plate 642, the gland clamping cylinder 641 is a two-finger clamping cylinder, one end of the two L-shaped gland clamping plates 642 is connected with the gland clamping cylinder 641, and the other end is provided with a groove matched with the circumferential shape of the sleeve base 723 to ensure that the gland clamping plate 642 can firmly clamp the sleeve base 723. The structure of the buckle triggering mechanism needs to be designed according to the unlocking action of the actually adopted buckle mechanism, if the buckle triggering mechanism is in rotary unlocking, the buckle triggering mechanism can be a rotary cylinder or a motor and the like, and if the buckle triggering mechanism is in pressing unlocking, the buckle triggering mechanism can be a cylinder or an electric push rod and the like. Referring to fig. 7, in the present embodiment, the fastening mechanism 721 is a hook rotatably disposed on the drum gland 720, the bottom of the hook is rotatably connected with the sleeve base 723, a torsion spring is disposed between the hook and the sleeve base 723, and a fastening slot (not shown) matching with the hook portion at the upper end of the hook is disposed on the peripheral surface of the drum rotating shaft. The lower extreme of pothook is provided with presses the portion, and correspondingly, buckle trigger mechanism includes buckle trigger cylinder 643 and buckle push pedal 644, buckle push pedal 644 is connected with the piston rod of buckle trigger cylinder 643, buckle trigger cylinder 643 sets up between two gland splint 642, when gland clamping jaw clamping sleeve base 723, can make the buckle push pedal 644 and the portion of pressing of pothook opposite, buckle trigger cylinder 643 outwards release buckle push pedal 644 this moment, make buckle push pedal 644 press down the portion of pressing, make the pothook outwards overturn, the hook portion of the upper end of pothook can be separated with the draw-in groove in the reel pivot for reel gland 720 can be separated with the reel pivot.

It will be appreciated that the arrangement of the spool clamp jaw 630, clamp jaw 620, gland clamp jaw 640 and positioning camera 650 on the gripper module base 610 should be designed with the goal of not interfering with the respective functional actions of each other, and that the orientation between adjacent mechanisms should be perpendicular to each other in order to provide sufficient action space for each mechanism on the robot gripper module 600. In this embodiment, before taking and placing the reel and the reel gland 720, the reel clamping jaw 630, the clamp clamping jaw 620 and the gland clamping jaw 640 need to take a picture of the reel changing turntable 700 through the positioning camera 650, and are arranged on three adjacent sides of the positioning camera 650 with the positioning camera 650 as a center, so that when the mechanical clamping arm module 600 switches functions each time, only 90 degrees of rotation are needed, the efficiency of switching functions of the mechanical clamping arm module 600 is improved, and the beats of feeding and discharging actions are improved.

Referring to fig. 1 and 2, in the present embodiment, in order to facilitate management of rolls and empty reels, the material rack 300 includes an upper material rack 320 for storing the reel jigs 200 with rolls and a lower material rack 310 for storing the reel jigs 200 with empty reels, and a plurality of drawer positions 311 matching the width of the reel jigs 200 are provided inside each of the upper material rack 320 and the lower material rack 310 in a vertical direction, and storage of the reel jigs 200 is achieved by inserting the reel jigs 200 into the drawer positions 311. Each drawer position 311 supports the spool clamp 200 through two parallel sliding rails arranged on the side wall of the upper material rack 320 or the lower material rack 310, so that the clamp clamping jaw 620 can clamp the spool clamp 200 in the material rack 300 conveniently. Be provided with carrier 110 on the ADV robot, go up work or material rest 320, unloading frame 310 and positioning mechanism 400 all set up on carrier 110, multiaxis arm 500 sets up in one side of carrier 110, carrier 110 with work or material rest 300 and positioning mechanism 400 backing up to suitable height, be convenient for multiaxis arm 500 drive mechanical tong module 600 get put reel anchor clamps 200 and reel.

Referring to fig. 5 and 6, the positioning mechanism 400 includes a load platform 402, a lift platform 410, a lift drive 411, and a positioning jaw 420. The carrier platform 402 is used to hold the spool clamp 200 and the positioning clamp jaws 420 are used to secure the spool clamp 200 to the carrier platform 402 so that the spool clamp jaws 630 can be removed from the spool clamp 200. The lifting platform 410 can be driven by the lifting driving device 411 to perform lifting motion in a vertical direction, so as to lift the spool clamp 200 from the carrying platform 402 by a certain height, so that the clamp clamping jaw 620 clamps the edge of the spool clamp 200, and the spool clamp 200 is taken away from the positioning mechanism 400. Referring to fig. 5 and 6, in the present embodiment, the jacking driving device 411 is an air cylinder, and the positioning jaw 420 includes a positioning jaw air cylinder 421 and a positioning jaw 423. Three cylinders are all arranged on the carrier 110 through the positioning bottom plate 401, the carrier 402 is arranged on the positioning bottom plate 401 through two support posts, the jacking driving device 411 is arranged below the carrier 402, and two positioning clamping jaw cylinders 421 are arranged on two sides of the carrier 402. The lifting platform 410 is connected with a piston rod of the lifting driving device 411, and an avoidance port is arranged in the center of the bearing platform 402 to avoid the lifting action of the lifting platform 410. Each positioning jaw 420 comprises two positioning jaws 423, the two positioning jaws 423 are connected with the piston rods of the corresponding positioning jaw cylinders 421 through connecting beams 422, and the two positioning jaws 423 are arranged at two ends of the connecting beams 422. The claw portion of the positioning claw 423 is movably connected with the shell of the positioning claw 423, the shell of the positioning claw 423 is fixedly connected with the bearing platform 402, and the lower end of the claw portion is connected with the connecting beam 422. Guide pins are arranged on two sides of the claw parts, and guide grooves matched with the guide pins are arranged on two sides of the shell of the positioning claw 423. When the spool clamping jaw 630 needs to be fixed on the bearing platform 402, the piston rod of the positioning clamping jaw cylinder 421 extends out to push the claw part of the positioning clamping jaw 423 to move along the guide groove, so that the upper end of the claw part moves towards the center direction of the bearing platform 402, the two side edges of the spool clamp 200 are pressed on the bearing platform 402, and the jacking platform 410 can jack up at the moment to increase the pressure between the positioning clamping jaw 423 and the spool clamp 200, so that the spool clamp 200 is more firmly fixed on the positioning mechanism 400; when the spool clamp 200 needs to be taken out of the positioning mechanism 400, the piston rod of the positioning clamping jaw cylinder 421 is contracted, the lower end of the claw part is pulled down, the claw part moves towards the outer side of the bearing platform 402 under the guidance of the guide groove, and then the jacking platform 410 jacks up the spool clamp 200 to a certain height, so that the clamp clamping jaw 620 clamps the edge of the spool clamp 200.

Referring to fig. 6, in the present embodiment, the fixing jaw 220 includes at least three sets of spool pressing blocks 222 and spool positioning blocks 221, the spool positioning blocks 221 are fixedly disposed on the jig base plate 210, and the three spool positioning blocks 221 are equiangularly spaced apart on a circle so as to achieve stable clamping of a circular spool. The spool pressing block 222 is connected with the spool positioning block 221 through an elastic piece, and a spring is generally adopted, and the spool pressing block 222 is arranged in the direction of the spool positioning block towards the circle center. In order to facilitate embedding the winding drum between the three winding drum pressing blocks 222, a slope inclined towards the direction away from the clamp bottom plate 210 and the circle center is arranged on one surface of the winding drum pressing block 222 towards the circle center, when the winding drum is embedded between the three winding drum pressing blocks 222, the winding drum pressing block 222 can be pushed towards the direction away from the circle center through the slope, the winding drum is clamped between the three winding drum pressing blocks 222, the winding drum pressing blocks 222 apply pressure towards the circle center to the winding drum under the action of a spring, and the winding drum is fixed on the clamp bottom plate 210. The first tape head jaw 230 includes a tape head positioning block 231, a movable press block 232, and a fixed press block 233. The fixed pressing block 233 and the tape head positioning block 231 are fixedly arranged on the clamp base plate 210 and are arranged on one side of the position where the winding drum is fixed on the clamp base plate 210. The movable press block 232 is disposed between the headed positioning block 231 and the fixed press block 233, and is connected to the headed positioning block 231 through an elastic member. When the winding drum of the coil stock is fixed on the clamp base plate 210, the belt head of the coil stock is manually found, and is placed between the movable pressing block 232 and the fixed pressing block 233, and the movable pressing block 232 presses the belt head on the fixed pressing block 233 under the action of the elasticity.

Referring to fig. 7 and 8, the circuit board production device according to the embodiment of the invention includes the automatic feeding and discharging mechanism, and the flying mechanism of the device includes a reel changing turntable 700, where the reel changing turntable 700 is rotatably connected with the device and can be driven by a turntable driving device to rotate. The reel changing turntable 700 is of a central symmetry structure, two reel rotating shafts are arranged on one side of the reel changing turntable back to the turntable driving device in a central symmetry mode, and a reel gland 720 is detachably arranged on each reel rotating shaft. The two ends of the reel changing turntable 700 are respectively provided with a third clamping jaw 710 with a head, the two third clamping jaws 710 with a head are respectively positioned at one side of the reel rotating shaft at the corresponding side, and the two third clamping jaws 710 with a head are symmetrical with the rotating center of the reel changing turntable 700 as the center. The third tape head clamping jaw 710 is used for clamping the tape head of the newly-loaded roll material so as to be taken out by a tape receiving mechanism on the flying device. When the coil stock on the reel rotating shaft close to one side of the equipment main body is used up, the coil-changing rotary table 700 rotates 180 degrees, the empty reel rotates to one side far away from the equipment, and the new coil stock rotates to one side close to the equipment, meanwhile, a request feeding and discharging signal is sent to the automatic feeding and discharging mechanism, the automatic feeding and discharging mechanism is driven by the AGV robot 100 to come to a set position on the equipment side, the empty reel on the coil-changing rotary table 700 is detached, the new coil stock is installed, the tape head of the coil stock is sent to the corresponding third tape head clamping jaw 710 to be clamped, and the coil stock is used when the tape is next replaced.

It will be appreciated that to avoid distortion of the stripped web head and damage to the material in the web, the first, second and third head jaws 230, 633, 710 are preferably disposed tangentially to the roll. Meanwhile, the distance between the second tape head clamping jaw 633 and the clamped reel on the reel clamping jaw 630 should be unequal to the distance between the first tape head clamping jaw 230 and the reel clamped on the clamp base plate 210 by the fixed clamping jaw 220 and the distance between the third tape head clamping jaw 710 and the reel on the reel rotating shaft on the corresponding side so as to avoid structural interference when the second tape head clamping jaw 633 is used for connecting the tape head from the first tape head clamping jaw 230 and the tape head is connected to the third tape head clamping jaw 710. In order to protect the tape from being damaged by the long-time clamping of the first, second and third tape head jaws 230, 633, 710, it is preferable that a buffer layer made of a buffer material such as a rubber pad or a sponge pad is provided at the contact surface of the three tape head jaws with the tape. Since the first tape head holding jaw 230 cannot be actively opened, the surface of the movable pressing block 232 and the fixed pressing block 233, which is in contact with the tape head, is preferably provided with a buffer layer made of a soft material such as a foam cushion, so that the second tape head holding jaw 633 can conveniently withdraw the tape head from the first tape head holding jaw 230.

The automatic feeding and discharging flow of the circuit board production equipment provided by the embodiment of the invention is as follows:

s100: after receiving the feeding and discharging request signal of the equipment, the multi-axis mechanical arm 500 drives the mechanical gripper module 600 to move to the reel changing turntable 700 of the equipment;

s200: the multi-axis mechanical arm 500 rotates the mechanical clamping arm module 600 to enable the positioning camera 650 to face the reel changing turntable 700, and photographing and positioning are carried out on the reel changing turntable 700;

S300: the multi-axis mechanical arm 500 rotates the mechanical gripper module 600 to enable the gland clamping jaw 640 to face the reel changing turntable 700, and according to the positioning result in the step S200, the gland clamping jaw 640 is driven to take down the reel gland 720 on the empty reel on the reel changing turntable 700;

s400: the multi-axis mechanical arm 500 rotates the mechanical clamping arm module 600 to enable the reel clamping jaw 630 to face the reel changing turntable 700, and drives the reel clamping jaw 630 to take off an empty reel on the reel changing turntable 700 according to the positioning result in the step S200;

S500: the multi-axis mechanical arm 500 drives the mechanical gripper module 600 to move to the positioning mechanism 400, and drives the reel clamping jaw 630 to mount an empty reel onto the reel fixture 200 on the positioning mechanism 400;

S600: the multi-axis mechanical arm 500 rotates the mechanical gripper module 600 to enable the clamp clamping jaw 620 to face the positioning mechanism 400, the positioning mechanism 400 simultaneously loosens the winding drum clamp 200, and the multi-axis mechanical arm 500 drives the clamp clamping jaw 620 to insert the winding drum clamp 200 onto the blanking frame 310;

S700: the multi-axis mechanical arm 500 drives the clamp clamping jaw 620 to take off a reel clamp 200 with coiled material from the feeding frame 320, and places the reel clamp 200 on the positioning mechanism 400, and the positioning mechanism 400 fixes the reel clamp 200;

S800: the multi-axis mechanical arm 500 rotates the mechanical clamping arm module 600 to enable the winding drum clamping jaw 630 to face the positioning mechanism 400, and the multi-axis mechanical arm 500 drives the winding drum clamping jaw 630 to take off the winding material from the positioning mechanism 400 and connects the belt head of the winding material from the first belt head clamping jaw 230 through the second belt head clamping jaw 633;

S900: the multi-axis mechanical arm 500 drives the mechanical clamping arm module 600 to move to the position of the reel changing turntable 700, and rotates the mechanical clamping arm module 600 to enable the positioning camera 650 to face the reel changing turntable 700, so as to take a picture of the reel changing turntable 700;

S1000: the multi-axis mechanical arm 500 rotates the mechanical gripper module 600 to enable the reel clamping jaw 630 to face the reel changing turntable 700, drives the reel clamping jaw 630 to install the coiled material on an empty reel rotating shaft on the reel changing turntable 700 according to the positioning result of the step S800, and hands the tape head of the coiled material to the third tape head clamping jaw 710 on the corresponding side of the reel changing turntable 700 through the second tape head clamping jaw 633;

S1100: the multi-axis mechanical arm 500 rotates the mechanical gripper module 600 to orient the gland jaw 640 towards the reel changer 700, and according to the positioning result of step S800, drives the gland jaw 640 to mount the reel gland 720 onto the reel spindle of the new reel.

When the roll material in the loading rack 320 on the AGV robot 100 is exhausted, the AGV robot 100 goes to a fixed manual loading point, manually retrieves the empty roll on the unloading rack 310, and refills the loading rack 320 with new roll material. The circuit board production equipment provided by the embodiment of the invention can complete the full-automatic feeding and discharging actions of the coil stock by the automatic feeding and discharging mechanism, the feeding and discharging process is not assisted by on-line personnel, and the workload of the on-line personnel is reduced, so that the number of on-line personnel is reduced, the automation degree of a workshop is improved, and the labor cost required in production is reduced.

It should be noted that, in the description of the present invention, if an azimuth or positional relationship is referred to, for example, upper, lower, front, rear, left, right, etc., the azimuth or positional relationship is based on the azimuth or positional relationship shown in the drawings, it is merely for convenience of describing the present invention and simplifying the description, and it is not indicated or implied that the referred device or element must have a specific azimuth, be configured or operated in a specific azimuth, and should not be construed as limiting the present invention.

In the description of the present invention, a plurality means one or more, and a plurality means two or more, and it is understood that greater than, less than, exceeding, etc. does not include the present number, and it is understood that greater than, less than, within, etc. include the present number. If any, first or second, etc. are described for the purpose of distinguishing between technical features only and not for the purpose of indicating or implying a relative importance or implicitly indicating the number of technical features indicated or implicitly indicating the precedence of the technical features indicated.

In the description of the present invention, unless explicitly defined otherwise, terms such as arrangement, installation, connection, etc. should be construed broadly and the specific meaning of the terms in the present invention can be reasonably determined by a person skilled in the art in combination with the specific contents of the technical scheme.

The above embodiments are only preferred embodiments of the present invention, and the scope of the present invention is not limited thereto, but any insubstantial changes and substitutions made by those skilled in the art on the basis of the present invention are intended to be within the scope of the present invention as claimed.

Claims

1. Automatic feeding and discharging mechanism, its characterized in that includes:

A spool clamp (200) comprising a clamp base plate (210), a fixed jaw (220) and a first tape head jaw (230) which are arranged on the clamp base plate (210), wherein the fixed jaw (220) is used for clamping a spool of coiled material on the clamp base plate (210), and the first tape head jaw (230) is used for clamping a tape head of coiled material;

A material rack (300) capable of accommodating a plurality of the roll clamps (200);

The positioning mechanism (400) is arranged on one side of the material rack (300) and used for fixing the winding drum clamp (200);

a multi-axis mechanical arm (500) arranged on one side of the material rack (300);

Mechanical tong module (600) set up in on multiaxis arm (500), can be in move in the space under the drive of multiaxis arm (500), including reel clamping jaw (630) and anchor clamps clamping jaw (620) towards the difference, anchor clamps clamping jaw (620) are used for the centre gripping reel anchor clamps (200), reel clamping jaw (630) are used for the reel of centre gripping coil stock, be provided with second tape head clamping jaw (633) on reel clamping jaw (630), second tape head clamping jaw (633) are used for the tape head of centre gripping coil stock.

2. The automatic loading and unloading mechanism of claim 1, wherein the material rest (300), the positioning mechanism (400) and the multi-axis mechanical arm (500) are all disposed on an AGV robot (100).

3. The automatic feeding and discharging mechanism according to claim 1, wherein the mechanical gripper module (600) further comprises a gland clamping jaw (640) and a positioning camera (650), the orientations of the gland clamping jaw (640) and the spool clamping jaw (630) are different, the orientations of the positioning camera (650) and the orientations of the gland clamping jaw (640), the spool clamping jaw (630) and the clamp clamping jaw (620) are different, the gland clamping jaw (640) is used for clamping a spool gland (720) on a roll changing turntable (700), and the positioning camera (650) is used for acquiring images of the spool gland (720) or a spool rotating shaft and positioning the spool rotating shaft and the spool gland (720).

4. An automatic feeding and discharging mechanism according to claim 3, characterized in that the gland clamping jaw (640) comprises a gland clamping jaw for clamping the body of the spool gland (720) and a snap-on triggering mechanism (721) on the spool gland (720) for triggering the spool gland (720) to be separable from the reel changer (700).

5. The automatic feeding and discharging mechanism according to claim 4, wherein the gland clamping jaw comprises a gland clamping jaw cylinder (641) and two L-shaped gland clamping plates (642), one end of each gland clamping plate (642) is connected with the corresponding gland clamping jaw cylinder (641), the other end of each gland clamping plate (642) is provided with a groove matched with the shape of the clamping part on the reel gland (720), each buckle triggering jaw comprises a buckle triggering cylinder (643) and a buckle pushing plate (644), the buckle triggering cylinder (643) is arranged between the two gland clamping plates (642), and the buckle pushing plate (644) is connected with a piston rod of the corresponding buckle triggering cylinder (643).

6. The automatic feeding and discharging mechanism according to claim 1, wherein the spool clamping jaw (630) comprises more than three clamping jaw cylinders and three spool clamping fingers (632), one end of the spool clamping fingers (632) is connected with the clamping jaw cylinders, the second tape head clamping jaw (633) comprises a positioning clamping jaw cylinder (421) and two tape head clamping fingers, the positioning clamping jaw cylinder (421) is arranged on the clamping module base (610) through an extension plate (634), one end of the clamping fingers is connected with the positioning clamping jaw cylinder (421), and the distance between the tail ends of the tape head clamping fingers and the clamping module base (610) is equal to the distance between the tail ends of the spool clamping fingers (632) and the clamping module base (610).

7. The automatic feeding and discharging mechanism according to claim 1, wherein the material frame (300) comprises a feeding frame (320) and a discharging frame (310), the feeding frame (320), the discharging frame (310) and the positioning mechanism (400) are all arranged on the carrier (110), a plurality of drawer positions (311) matched with the width of the winding drum clamp (200) are arranged on the feeding frame (320) and the discharging frame (310) along the vertical direction, the positioning mechanism (400) comprises a bearing platform (402), a jacking platform (410), a jacking driving device (411) and positioning clamping jaws (420), the bearing platform (402), the jacking platform (410) and the jacking driving device (411) are arranged on the carrier (110), the positioning clamping jaws (420) are symmetrically arranged on two sides of the bearing platform (402), the jacking platform (410) can move vertically under the driving of the jacking driving device (411), and the bearing clamping jaws (410) are arranged on two sides of the bearing platform (402) to avoid the clamping jaws (402).

8. The automatic feeding and discharging mechanism according to claim 1, wherein the fixed jaw (220) comprises at least three groups of reel press blocks (222) and reel press blocks (221), the reel press blocks (221) are fixedly connected with the clamp base plate (210), a plurality of reel press blocks (221) are distributed on a circle at equal angular intervals, the reel press blocks (222) are arranged on one side, close to a circle center, of the reel press blocks (221), the reel press blocks (222) are connected with the corresponding reel press blocks (221) through elastic pieces, an inclined surface which is inclined towards the circle center and is away from the clamp base plate (210) and the circle center direction is arranged on one side, facing the circle center, of the reel press blocks (222), the first belt clamping jaw (230) comprises a belt head press block (231), a movable press block (232) and a fixed press block (233), the fixed press block (233) are fixedly arranged on the clamp base plate (210), the movable press block (232) is arranged between the fixed press block (233) and the belt head press block (231), and the movable press block (231) are connected with the elastic pieces (231) through the elastic pieces.

9. The circuit board production facility, characterized by includes according to any one of claims 1 to 8 automatic unloading mechanism and flies to reach the mechanism, fly to reach the mechanism and include central symmetry's reel change carousel (700) and carousel drive arrangement, reel change carousel (700) rotate and set up in the frame of equipment, central symmetry is provided with two reel pivots on reel change carousel (700), reel change carousel (700) can be in carousel drive arrangement's drive is rotatory, reel gland (720) are installed to reel pivot detachably, every one side of reel pivot is provided with third tape head clamping jaw (710), third tape head clamping jaw (710) are used for the tape head of centre gripping coil stock, third tape head clamping jaw (710) central symmetry set up in the both ends of reel change carousel (700).

10. An automatic loading and unloading method for the circuit board production equipment as claimed in claim 9, comprising the following steps:

S100: after receiving a feeding and discharging signal of equipment, a multi-axis mechanical arm (500) drives a mechanical clamping arm module (600) to move to a reel changing turntable (700) of the equipment;

s200: the multi-axis mechanical arm (500) rotates the mechanical clamping arm module (600) to enable the positioning camera (650) to face the reel changing turntable (700) to take a picture of the reel changing turntable (700);

S300: the multi-axis mechanical arm (500) rotates the mechanical clamping arm module (600) to enable the gland clamping jaw (640) to face the reel changing turntable (700), and according to the positioning result in the step S200, the gland clamping jaw (640) is driven to take down the reel gland (720) on the empty reel on the reel changing turntable (700);

S400: the multi-axis mechanical arm (500) rotates the mechanical clamping arm module (600) to enable the winding drum clamping jaw (630) to face the winding drum changing turntable (700), and according to the positioning result in the step S200, the winding drum clamping jaw (630) is driven to take down an empty winding drum on the winding drum changing turntable (700);

S500: the multi-axis mechanical arm (500) drives the mechanical clamping arm module (600) to move to the positioning mechanism (400), and drives the reel clamping jaw (630) to install the empty reel on the reel clamp (200) on the positioning mechanism (400);

s600: the multi-axis mechanical arm (500) rotates the mechanical clamping arm module (600) to enable the clamp clamping jaw (620) to face the positioning mechanism (400), the positioning mechanism (400) simultaneously loosens the winding drum clamp (200), and the multi-axis mechanical arm (500) drives the clamp clamping jaw (620) to insert the winding drum clamp (200) onto the blanking frame (310);

S700: the multi-axis mechanical arm (500) drives the clamp clamping jaw (620) to take off a reel clamp (200) with coiled materials from the feeding frame (320), the reel clamp (200) is placed on the positioning mechanism (400), and the positioning mechanism (400) fixes the reel clamp (200);

S800: the multi-axis mechanical arm (500) rotates the mechanical clamping arm module (600) to enable the winding drum clamping jaw (630) to face the positioning mechanism (400), the multi-axis mechanical arm (500) drives the winding drum clamping jaw (630) to take off the winding material from the positioning mechanism (400), and the second belt head clamping jaw (633) is used for connecting the belt head of the winding material from the first belt head clamping jaw (230);

S900: the multi-axis mechanical arm (500) drives the mechanical clamping arm module (600) to move to the reel changing turntable (700), and rotates the mechanical clamping arm module (600) to enable the positioning camera (650) to face the reel changing turntable (700) to take a picture of the reel changing turntable (700);

S1000: the multi-axis mechanical arm (500) rotates the mechanical clamping arm module (600) to enable the winding drum clamping jaw (630) to face the winding drum changing turntable (700), drives the winding drum clamping jaw (630) to install the winding materials on an empty winding drum rotating shaft on the winding drum changing turntable (700) according to the positioning result of the step S800, and hands the band heads of the winding materials to the third band head clamping jaw (710) on the corresponding side of the winding drum changing turntable (700) through the second band head clamping jaw (633);

S1100: the multi-axis mechanical arm (500) rotates the mechanical clamping arm module (600) to enable the gland clamping jaw (640) to face the reel changing turntable (700), and according to the positioning result of the step S800, the gland clamping jaw (640) is driven to install the reel gland (720) on the reel rotating shaft of the new reel.