CN118545547A - Mounting equipment capable of automatically replacing flying machine - Google Patents

Abstract

The invention relates to the technical field of circuit board production equipment, and discloses mounting equipment capable of automatically replacing a flying device, which comprises a frame, a transmission rail arranged on the frame, a flying device mounting frame, a mounting device, a flying device mechanism and an automatic AGV feeding robot. The device comprises a flying device mechanism, a flying device mechanism and a power supply mechanism, wherein the flying device mechanism is used for providing materials to be mounted and comprises a flying device bracket and a plugging mechanism arranged on the flying device bracket, the plugging mechanism comprises a first electric connector, and the first electric connector is electrically connected with an electric device on the flying device mechanism; the flying device mounting frame comprises at least one flying device station for mounting the flying device mechanism, a working butt joint mechanism matched with the plugging mechanism is arranged on the flying device station, the working butt joint mechanism comprises a second electric plug, and the second electric plug is electrically connected with a control system of the device. AGV automatic feeding robot can be through the material loading arm to the mechanism of flying to on the mounting bracket of flying to dismouting change. The mounting equipment can realize full-automatic feeding and discharging of coiled materials by replacing the flying device.

Description

Mounting equipment capable of automatically replacing flying machine

Technical Field

The invention relates to the technical field of circuit board production equipment, in particular to mounting equipment capable of automatically replacing a flying machine mechanism.

Background

With the development of technology, the automation level of factories is higher and higher, and more factories start to realize little or no humanization. In the circuit board production and manufacturing process, most materials are stored and transported in the form of coil materials for convenience in storage and transportation. Because the coiled material needs to be reeled or connected when the coiled material is changed, the threading and the connecting drive of the coiled material are too complex for a manipulator, and no automatic scheme for completely eliminating human interference exists, a certain number of operators still need to be arranged on the circuit board production line to take care of equipment, and the unmanned progress of a circuit board production factory is hindered.

Disclosure of Invention

In order to overcome the defects of the prior art, the invention aims to provide the mounting equipment capable of automatically replacing the flying device, the flying device on the flying device mounting frame can be replaced through an AGV automatic feeding robot, automatic replacement of coil stock is realized, and the unmanned degree of the equipment is improved.

In order to solve the problems, the technical scheme adopted by the invention is as follows: a frame; the transmission rail is arranged on the rack and used for transporting products to be attached; the device comprises a flying device mechanism, a mounting mechanism and a power supply mechanism, wherein the flying device mechanism is used for providing materials to be mounted and comprises a flying device bracket and a connector mechanism arranged on the flying device bracket, the connector mechanism comprises a first electric connector, and the first electric connector is electrically connected with an electric device on the flying device mechanism; the device comprises a frame, a flying device mounting frame, a flying device mechanism, a first electric connector and a second electric connector, wherein the flying device mounting frame is arranged on the frame and at least one side of the transmission track, the flying device mounting frame comprises at least one flying device station, a working butt joint mechanism matched with the connector mechanism is arranged on the flying device station, the working butt joint mechanism comprises a second electric connector, the second electric connector is electrically connected with a control system of equipment, the flying device mechanism can be detachably arranged in the flying device station through the matching of the connector mechanism and the working butt joint mechanism, and when the flying device mechanism is arranged in the flying device station, the first electric connector is connected with the second electric connector in an inserting mode, and an electricity utilization device on the flying device mechanism is electrically connected with the control system of the equipment; the mounting mechanism is arranged on the frame and used for mounting the material provided by the flying mechanism on the product on the transmission track; AGV automatic feeding robot is provided with and is used for placing the flying to the storage rack and the material loading arm of flying to the mechanism, the end of material loading arm is provided with and is used for snatching the flying to the mechanism snatchs the mechanism

Compared with the prior art, the invention has the beneficial effects that: the electric device on the flying device mechanism can be connected into a control system of equipment through the connector between the first electric connector and the second electric connector, so that the control of the flying device mechanism by the equipment is avoided from being influenced by the disassembly and assembly of the flying device mechanism. Because the flyer mechanism can be integrally assembled, disassembled and replaced from the equipment, when the coil stock on the flyer mechanism is used up, the flyer mechanism filled with new coil stock can be replaced by the flyer mechanism for the coil stock on the equipment through the AGV automatic feeding robot, so that the coil stock is fed. The whole replacement flying machine mechanism avoids the threading process of coil stock, so that the automatic feeding robot of the AGV can completely and independently complete feeding and discharging of the coil stock without manual assistance, the automation degree of equipment is improved, and the manpower resource cost is reduced.

The mounting device capable of automatically replacing the flying device, the flying device further comprises: the unreeling rotating shaft is rotatably arranged on the flying support and used for mounting a winding drum loaded with a coil stock; the stripping mechanism is arranged at the front end of the flying support and is used for stripping the material to be pasted from the coil; the winding rotating shaft is rotationally arranged on the flying support and used for installing an empty winding drum; the winding driving mechanism is arranged on the flying support, is in transmission connection with the winding rotating shaft, is electrically connected with the first electric connector and is used for driving the winding rotating shaft to rotate.

The mounting device capable of automatically replacing the flying device comprises a plugging end plate and a plugging bottom plate, wherein the plugging end plate is vertically arranged at the front end of the flying device support, the plugging bottom plate is horizontally arranged at the front end of the flying device support, one of the plugging end plate and the plugging bottom plate is provided with a first electric connector, the other one of the plugging end plate and the plugging bottom plate is provided with a plugging sliding rail or a plugging sliding groove, the direction of the plugging sliding rail or the plugging sliding groove is parallel to the plugging direction of the first electric connector, and the working docking mechanism comprises a docking end plate matched with the plugging end plate and a docking bottom plate matched with the plugging bottom plate.

The mounting equipment capable of automatically replacing the flying device comprises the flying device storage rack, wherein the flying device storage rack comprises a storage frame and a storage transverse plate horizontally arranged in the storage frame, and a plurality of sliding grooves or sliding rails matched with the plugging sliding rails or the plugging sliding grooves on the flying device are arranged on the storage transverse plate in parallel.

The mounting device capable of automatically replacing the flying device comprises a first electric connector, wherein at least one side of the first electric connector is provided with a flying positioning hole or a flying positioning pin, and at least one side of the second electric connector is provided with a flying positioning pin or a flying positioning hole matched with the flying positioning hole or the flying positioning pin.

The mounting device capable of automatically replacing the flying device further comprises a control board card, and all the electric devices on the flying device are electrically connected with the first electric connector through the control board card.

The mounting equipment capable of automatically replacing the flying machine mechanism comprises a flying machine support, wherein an air channel system is further arranged on the flying machine support, the air channel system is communicated with a pneumatic device in the stripping mechanism, a first quick connector is arranged on the flying machine support and used as a total air inlet of the air channel system, an electromagnetic valve and a sensor in the air channel system are electrically connected with the first electric connector, and a second quick connector communicated with the air channel system of the equipment is arranged on one side of each flying machine station.

The mounting equipment capable of automatically replacing the flying device comprises an unwinding rotating shaft, a winding rotating shaft and a winding driving mechanism, wherein the winding rotating shaft and the winding driving mechanism are arranged on the same side face of the flying device support, the flying device support faces away from one side of the unwinding rotating shaft, a clamping part is arranged on one side of the flying device support, and the flying device grabbing mechanism is a pneumatic clamping jaw or an electric clamping jaw.

The mounting device capable of automatically replacing the flying device comprises a flying device mounting frame, wherein the flying device mounting frame is further provided with at least one standby station, the standby station is used for detachably mounting the flying device, the standby station is provided with a standby docking mechanism matched with the plugging mechanism, the flying device is matched with the standby docking mechanism to realize detachable connection with the flying device mounting frame through the plugging mechanism, the standby docking mechanism comprises a protective connector matched with a first electric connector, and the first electric connector is plugged with the corresponding protective connector when the flying device is mounted on the flying device station.

The mounting device capable of automatically replacing the flying machine comprises a mounting driving mechanism, a suction nozzle connecting seat, a quick-release suction nozzle and a positioning camera, wherein the suction nozzle connecting seat and the positioning camera are arranged on the mounting driving mechanism, the quick-release suction nozzle is arranged between the quick-release suction nozzle and the suction nozzle connecting seat, the quick-release suction nozzle is capable of being detachably connected with the suction nozzle connecting seat, an adsorption hole is formed in the lower surface of the quick-release suction nozzle, a cavity communicated with the adsorption hole is formed in the quick-release suction nozzle, a first interface communicated with the cavity is formed in the upper surface of the quick-release suction nozzle, a vacuum interface used for connecting a vacuum source is arranged on one side of the suction nozzle connecting seat, an air passage communicated with the vacuum interface is formed in the suction nozzle connecting seat, a second interface communicated with the air passage is formed in the lower surface of the suction nozzle connecting seat, and when the quick-release suction nozzle is mounted on the connecting seat, the first interface is in butt joint communication with the second interface.

The mounting device capable of automatically replacing the flying device comprises a spring card and a clamping groove, wherein the spring card is arranged on at least one pair of side surfaces of one of the suction nozzle connecting seat and the quick-release suction nozzle, the clamping groove is correspondingly arranged on at least one pair of side surfaces of the other suction nozzle connecting seat and the quick-release suction nozzle, the tail end of the spring card is provided with a convex part facing to the suction nozzle connecting seat or the central direction of the quick-release suction nozzle, the width of the clamping groove is matched with the convex part, and when the quick-release suction nozzle is mounted on the suction nozzle connecting seat, the convex part is clamped into the clamping groove.

The mounting device capable of automatically replacing the flying device comprises the quick-dismantling mechanism, wherein the quick-dismantling mechanism comprises magnets arranged on the lower surface of the suction nozzle connecting seat and/or the upper surface of the quick-dismantling suction nozzle.

The mounting device capable of automatically replacing the flying machine mechanism, the quick-release mechanism further comprises a suction nozzle positioning pin and a suction nozzle positioning hole, wherein the suction nozzle positioning pin is arranged on the lower surface of the suction nozzle connecting seat or the upper surface of the quick-release suction nozzle, and the suction nozzle positioning hole is correspondingly arranged on the upper surface of the quick-release suction nozzle or the lower surface of the suction nozzle connecting seat.

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

Drawings

Fig. 1 is a schematic perspective view of a mounting apparatus according to an embodiment of the present invention;

FIG. 2 is a schematic perspective view of an AGV automatic loading robot according to an embodiment of the present invention;

FIG. 3 is a schematic perspective view of a mounting frame for a vehicle according to an embodiment of the present invention;

FIG. 4 is a schematic perspective view of a view angle of a flying device according to an embodiment of the present invention;

FIG. 5 is a schematic perspective view of another view of the flying device according to the embodiment of the present invention;

FIG. 6 is a rear view of the fly-away mechanism of an embodiment of the invention;

fig. 7 is an exploded view of a nozzle connecting base and a quick-release nozzle according to an embodiment of the present invention.

Reference numerals illustrate:

100 frames, 200 transmission tracks, 300 flying-up mechanisms, 310 flying-up brackets, 311 grab handles, 312 identification plates, 313 clamping parts, 320 unreeling rotating shafts, 3201 racks, 321 reel covers, 3211 sliding sleeves, 3212 buckles, 330 stripping mechanisms, 331 stripping platforms, 3311 adjusting sliding grooves, 3312 side baffles, 332 carrying platforms, 333 outer support plates, 340 winding rotating shafts, 350 winding driving mechanisms, 360 plugging mechanisms, 361 plugging end plates, 3611 first electric connectors, 3612 flying-up positioning pins, 362 plugging bottom plates, 3621 plugging sliding rails, 370 first quick connectors, 380 guiding mechanisms, 381 guiding plates, 383 guiding shafts, 383 guiding rollers, 400 flying-up mounting frames, 410 femtocells, 411 butt-joint end plates, 4111 protection connectors, 4112 femtocells, 412 butt-joint bottom plates, 4121 connector sliding grooves, 420 standby stations, 430 second quick connectors, 500 mounting mechanisms, 510Y-axis driving mechanisms, 520X-axis driving mechanisms, 530Z-axis driving mechanisms, 540R-axis driving mechanisms, 550 suction nozzle connecting seats, 551 vacuum interfaces, 552 spring cards, 553 suction nozzle positioning pins, 560 quick-release suction nozzles, 561 clamping grooves, 562 first interfaces, 563 suction nozzle positioning holes, 600AGV automatic feeding robots, 610 feeding mechanical arms, 611 femtocells grabbing mechanisms, 620 femtocells, 621 storage frames, 622 storage transverse plates.

Detailed Description

Referring to fig. 1 and 2, a mounting apparatus capable of automatically replacing a robot according to an embodiment of the present invention includes a frame 100, a transfer rail 200 provided on the frame 100, a robot mounting frame 400, a mounting mechanism 500, and a robot 300 and an AGV automatic loading robot 600 detachably mounted on the robot mounting frame 400. The conveyor track 200 is used to transport tape mounted products and the AGV automatic loading robot 600 is used to mount the fly mechanism 300 to the fly mount 400 or to remove it from the fly mount 400. The flyer mechanism 300 is used for providing materials to be mounted, and comprises a flyer bracket 310 and a connector mechanism 360 arranged on the flyer bracket 310, wherein the connector mechanism 360 comprises a first electric connector 3611, and the first electric connector 3611 is electrically connected with an electric device on the flyer mechanism 300. The flyer mounting frame 400 is disposed on at least one side of the transmission rail 200, and includes at least one flyer station 410, and a working docking mechanism matched with the plugging mechanism 360 is disposed on the flyer station 410, and the working docking mechanism includes a second electrical connector, where the second electrical connector is electrically connected with a control system of the device. The flying device 300 can be detachably installed in the flying device station 410 through the matching of the plugging mechanism 360 and the working docking mechanism, and when the flying device 300 is installed in the flying device station 410, the first electric connector 3611 is plugged with the second electric connector, so that the electric device on the flying device 300 is electrically connected with the control system of the equipment. The AGV automatic feeding robot 600 is provided with a feeder storage rack 620 for placing the feeder mechanism 300 and a feeding mechanical arm 610, the tail end of the feeding mechanical arm 610 is provided with a feeder grabbing mechanism 611 for grabbing the feeder mechanism 300, and the feeding mechanical arm 610 can mount the feeder mechanism 300 on the feeder storage rack 620 to the feeder station 410 on the feeder mounting rack 400 and detach and store the feeder mechanism 300 with the coil material used up in the feeder station 410 in the feeder storage rack 620.

In the mounting apparatus of the embodiment of the present invention, since the femto-cell mechanism 300 may be matched with the working docking mechanism on the femto-cell mounting frame 400 through the plugging mechanism 360, so as to be detachably mounted on the femto-cell mounting frame 400, and may be plugged with the corresponding second electrical connector through the first electrical connector 3611, the power utilization device on the femto-cell mechanism 300 may be electrically connected with the control system on the apparatus, so that the apparatus may supply and control the power utilization device on the femto-cell mechanism 300. When the coil stock on the feeder mechanism 300 is exhausted, the AGV automatic feeding robot 600 may be called, the whole feeder mechanism 300 is detached by the feeding mechanical arm 610, and another new feeder mechanism 300 with the coil stock manually installed in advance is taken from the feeder storage rack 620 to the feeder mounting rack 400, so that the replacement of the coil stock is completed. Because the whole of the flying machine 300 can be directly disassembled and assembled during loading and unloading, the tape receiving or penetrating actions of the coiled material are not needed, the action flow of loading and unloading is simplified, the loading and unloading actions can be independently completed by the loading mechanical arm 610, manual intervention is not needed, the automation degree of a circuit board production line is convenient to improve, the number of operators on the production line is reduced, and the black lamp scheme of the circuit board mounting production line can be realized. By adopting the factory of the mounting equipment, the coiled materials are only required to be manually arranged at the specific position of the factory in a centralized manner to be worn on the flyer mechanism 300 in advance, then the worn flyer mechanism 300 is stored on the flyer storage racks 620 of the AGV automatic feeding robots 600, the subsequent automatic feeding and discharging processes can be automatically completed independently by the AGV automatic feeding robots 600, the number of operators on the line is reduced, the training investment of the operators is reduced, frequent online running of the operators is avoided, the labor utilization rate of a production line is further improved, and the human resource cost of the factory is reduced.

Referring to fig. 4 and 5, the flyer mechanism 300 further includes an unreeling shaft 320, a stripping mechanism 330, a reeling shaft 340, and a reeling driving mechanism 350 disposed on the flyer frame 310. Wherein the unreeling shaft 320 is rotatably disposed on the femto support 310, for mounting a reel carrying a roll. The stripping mechanism 330 and the front end of the feeder support 310 are used for stripping the material to be mounted from the coil. The winding rotating shaft 340 is rotatably disposed on the femto support 310 and used for installing an empty spool, the winding driving mechanism 350 is in transmission connection with the winding rotating shaft 340 and used for driving the winding rotating shaft 340 to rotate, and the power utilization devices in the winding driving mechanism 350, such as a motor, an encoder and the like, are electrically connected with the first electrical connector 3611 so as to be connected into a control system of the device through the first electrical connector 3611. In this embodiment, the connector 360 is disposed at the front end of the feeder support 310, so that the feeding mechanical arm 610 can detach or mount the feeder 300. It will be appreciated that the specific structure of the plugging mechanism 360 needs to be designed in cooperation with the working docking mechanism, and the plugging action process should be single linear motion or a combination of multiple linear motions, so as to be convenient for the loading mechanical arm 610 to implement. The plugging mechanism 360 can adopt various common quick-connection and quick-disconnection structures such as sliding grooves, sliding rails, magnetic attraction or bosses for clamping by clamping jaws. Since the device side is the live side, the electrical connectors on the live side are typically female connectors for safety reasons, and therefore the first electrical connectors 3611 on the flying machine 300 are typically male connectors.

Referring to fig. 4 and 5, in the present embodiment, the connection between the flyer mechanism 300 and the device is achieved by plugging the slide rail into the slide slot. The plugging mechanism 360 comprises a plugging end plate 361 and a plugging bottom plate 362 which are arranged below the stripping platform 331, the plugging end plate 361 is vertically arranged at the front end of the femto support 310, the plugging bottom plate 362 is horizontally arranged at the front end of the femto support 310, the first electric connector 3611 is arranged at the center of the front end face of the plugging end plate 361, two plugging sliding rails 3621 are arranged on the lower surface of the plugging bottom plate 362 in parallel, and the direction of the plugging sliding rails 3621 is parallel to the plugging direction of the first electric connector 3611. Referring to fig. 3, accordingly, the work docking mechanism includes a vertical docking end plate 411 and a horizontal docking base plate 412, and the front end of the docking base plate 412 is connected to the docking end plate 411 and is mounted on the base plate of the femto mounting 400 through a bracket. The second electrical connector is a female connector, and is disposed at the center of the docking end plate 411, and two connector sliding grooves 4121 are disposed on the docking bottom plate 412. When the flying device 300 is installed, the feeding mechanical arm 610 grabs the rear end of the flying device bracket 310, the connector sliding rail 3621 is aligned with the corresponding connector sliding slot 4121 in the working docking mechanism, and the first electric connector 3611 is horizontally inserted into the second electric connector on the working docking mechanism under the guidance of the connector sliding rail 3621 and the connector sliding slot 4121, and the disassembly process is vice versa. It will be appreciated that the positions of the connector sliding rail 3621 and the first electrical connector 3611 may be reversed, that is, the first electrical connector 3611 is disposed on the lower surface of the connector base plate 362, the connector sliding rail 3621 is disposed on the front end surface of the connector end plate 361, and the flying device 300 may be inserted into the flying device mounting frame 400 in a top-down insertion manner. The splice slide 3621 in the splice mechanism 360 can also be reversed with the splice slide 4121 in the reach mechanism 300. Accordingly, in order that the flying apparatus 300 may be stably stored on the flying apparatus storage rack 620, in the present embodiment, the flying apparatus storage rack 620 includes a storage frame 621 and a storage cross plate 622 horizontally disposed in the storage frame 621, and a plurality of sliding grooves matching with the sliding grooves 3621 on the flying apparatus 300 are provided on the storage cross plate 622 in parallel, so that the flying apparatus 300 may be stably stored on the flying apparatus storage rack 620 by inserting the sliding grooves 3621 of the flying apparatus 300 into the sliding grooves of the storage cross plate 622. In some embodiments, if the plugging chute 4121 is disposed on the plugging base plate 362 of the femto-cell 300, a plurality of sliding rails matching the plugging chute 4121 should be disposed on the storage transverse plate 622 in parallel.

In some embodiments, to further reduce the difficulty of docking the femto-cell 300 with a device, the electrical connector is prevented from being damaged due to misalignment between the first electrical connector 3611 and the second electrical connector on the device when the femto-cell 300 is plugged, and a positioning mechanism, which may be a positioning boss, a positioning pin, or a positioning hole, is provided between the plugging mechanism 360 and the working docking mechanism. Referring to fig. 4, in the present embodiment, two femto positioning pins 3612 are symmetrically disposed on two sides of the first electrical connector 3611, two femto positioning holes 4112 matching with the outer diameters of the positioning pins are correspondingly and symmetrically disposed on two sides of the second electrical connector, and when the first electrical connector 3611 is inserted, the femto positioning pins 3612 are abutted into the femto positioning holes 4112 before the two electrical connectors, so as to ensure that the first electrical connector 3611 and the second electrical connector can be accurately abutted. It is understood that the femto positioning pins 3612 may be disposed on two sides of the second electrical connector, and the femto positioning holes 4112 are disposed on two sides of the first electrical connector 3611.

In this embodiment, referring to fig. 4, in order to facilitate the insertion of the flyer mechanism 300 onto the flyer station 410 or the storage cross plate 622, one end of the insertion sliding rail 3621 facing the insertion direction is provided with a converging portion with gradually converging width to facilitate the insertion of the insertion sliding rail 3621 into the insertion sliding slot 4121, and referring to fig. 5, correspondingly, one end of the insertion sliding slot 4121 facing the insertion direction is provided with a guiding portion with gradually widening width to cooperate with the converging portion to realize the guiding of the butt joint of the insertion sliding rail 3621 and the insertion sliding slot 4121. Accordingly, the sliding grooves or rails on the storage rails 622 should be provided with converging portions or guiding portions, respectively.

It is understood that the specific structure of the stripping mechanism 330 needs to be designed according to the stripping manner between the material to be mounted and the coil stock. Referring to fig. 4 and 5, taking a reinforcing sheet of an FPC board as an example of a material to be mounted, since the reinforcing sheet has a higher hardness than a roll material to be carried, the reinforcing sheet cannot be bent at a small angle along with the roll material. The stripping mechanism 330 comprises a stripping platform 331 and a loading platform 332, wherein one end of the stripping platform 331 close to the loading platform 332 is provided with a blade part, and the thickness of the blade part gradually converges from far away to near the loading platform 332. A gap through which the coil material can pass is arranged between the stripping platform 331 and the loading platform 332, and the coil material is discharged from the unreeling rotating shaft 320, is overturned to the lower side of the stripping platform 331 after passing through the blade part along the upper surface of the stripping platform 331, and is recovered into a coil by the reeling rotating shaft 340. When the coil stock passes through the blade part, the front ends of the reinforcing sheets are separated from the coil stock under the action of self elasticity and fall onto the material carrying platform 332, and along with unreeling of the coil stock, the reinforcing sheets can be completely separated from the coil stock under the assistance of the material carrying platform 332 and fall onto the material carrying platform 332 to wait for the suction of the working head. In some embodiments, in order to further facilitate the peeling between the material and the coil stock, the loading platform 332 has an adsorption capability and can move in a direction away from the peeling platform 331, and when peeling, the front end of the peeled material can be adsorbed and then move in a direction away from the peeling platform 331, so as to accelerate the peeling speed and reliability of the material and the coil stock. Because the driving of the material loading platform 332 is generally implemented by an air cylinder, the air channel system is disposed on the flyer frame 310 to provide vacuum for the adsorption function of the material loading platform 332, and the air cylinder is driven to act, and the flyer frame 310 is provided with a first quick connector 370 communicated with the air channel system, so that the quick connection with the air channel system of the device is facilitated when the flyer mechanism 300 is disassembled. Meanwhile, solenoid valves, sensors, etc. for controlling the cylinder and the vacuum generator are also required to be electrically connected to the first electrical connector 3611 in order to be connected to the control system of the apparatus. Referring to fig. 3, correspondingly, a plurality of second quick connectors 430 are also disposed on a side of the bottom plate of the flyer mounting frame 400, which is opposite to the insertion direction, the second quick connectors 430 are communicated with the air channel system of the device, and after the flyer mechanism 300 is inserted into the flyer station 410, an air pipe can be inserted between the first quick connectors 370 and the second quick connectors 430, so that the air channel system of the flyer mechanism 300 is communicated with the air channel system of the device, and the air cylinder, the vacuum generator and other pneumatic devices on the flyer mechanism 300 can work. The second quick connector 430 is selected to be a quick connector with a valve, and is closed when not communicated with the femto-cell 300, so that pressure relief of an air circuit system of the equipment is avoided. The feeding mechanical arm 610 of the automatic AGV feeding robot 600 may further be provided with an air pipe manipulator for clamping the air pipe, so as to realize automatic air pipe connection between the first quick connector 370 and the second quick connector 430. It should be understood that the embodiment of the stripping mechanism 330 is common in the art, and other embodiments of the stripping mechanism 330 in other stripping manners may refer to the design of the existing flyer mechanism 300, which is not illustrated herein.

Referring to fig. 2, in order to prevent the web from being deviated during the feeding process, a pair of side guards 3312 parallel to the feeding direction are provided on the stripping platform 331. In order to adapt to coiled materials with different widths, an adjusting chute 3311 perpendicular to the tape running direction is arranged on the stripping platform 331, and the side baffles 3312 are arranged on the stripping platform 331 in a sliding manner through a sliding block capable of sliding along the adjusting chute 3311, so that the adjustment of the distance between the two side baffles 3312 is realized.

In some embodiments, to ensure stability of the feeding process of the coil stock, the flyer frame 310 is provided with a guide mechanism 380. Referring to fig. 1 and 2, in the present embodiment, the guide mechanism 380 includes an arc-shaped guide plate 381 and one guide shaft 382 disposed between the discharge reel and the peeling table 331, and two guide rollers 383 disposed below the peeling table 331. In order to enhance the connection strength of the stripping platform 331, the plugging end plate 361 and the plugging bottom plate 362 with the dart support 310, one side of the stripping platform 331, the plugging end plate 361 and the plugging bottom plate 362 facing away from the dart support 310 is connected by an outer support plate 333, and two guide rollers 383 are rotatably arranged between the outer support plate 333 and the dart support 310.

Referring to fig. 2 and 3, in order to prevent the coil stock on the unreeling shaft 320 from being unwound or falling off from the anti-reeling shaft during the feeding process, a drum cover 321 is detachably provided on the anti-reeling shaft, and at the same time, in order to accommodate coil stock of different widths, the interval between the drum cover 321 and the inner baffle of the anti-reeling shaft may be adjusted. In this embodiment, the winding cover 321 is slidably disposed on the unwinding shaft 320 through a sliding sleeve 3211, a buckle 3212 is rotatably disposed on the sliding sleeve 3211, and a torsion spring is disposed between the buckle 3212 and the sliding sleeve 3211. The unreeling rotating shaft 320 is provided with a rack 3201, the end face of the buckle 3212, facing one end of the unreeling rotating shaft 320, is provided with saw teeth matched with the rack 3201, the saw teeth of the buckle 3212 are meshed with the rack 3201 under the action of elastic force of the torsion spring in a normal state, and the position of the reel cover 321 on the unreeling rotating shaft 320 is fixed. When the interval between the drum cover 321 and the inner baffle needs to be adjusted, the buckle 3212 is pulled outwards to separate the saw teeth on the buckle 3212 from the rack 3201. The inner diameter edge and the outer diameter edge of the inner baffle are both provided with inclined planes which incline from inside to outside, and radial patterns are arranged on the inclined planes so as to increase the friction force between the winding cover 321 and the winding material and prevent slipping between the winding material and the unreeling rotating shaft 320.

In some embodiments, in order to avoid adding multiple expansion modules on the device to adapt to multiple flyer mechanisms 300, and reduce the utilization rate of hardware resources on the device side, a control board card is disposed on a flyer bracket 310 of the flyer mechanism 300, and the first electrical connector 3611 is electrically connected to the control board card, and the control board card is electrically connected to a motor in the winding driving mechanism 350 and other electrical devices such as an electromagnetic valve or a sensor in the flyer mechanism 300. When the flying device 300 is installed on the equipment, the control board card is in communication connection with a control system on the equipment side through the first electric connector 3611, and the control board card controls the winding driving mechanism 350 and other devices to act according to instructions sent by the control system, so that feeding of the equipment is realized. By arranging the control board card on the flying device 300, excessive hardware resources can be prevented from being reserved for the number of the indeterminate flying devices 300 on the equipment, and the improvement and expansion of the equipment are facilitated. Referring to fig. 4 and 5, in the present embodiment, the winding driving mechanism 350 includes a motor, and the motor is in transmission connection with the winding shaft 340 through a transmission mechanism such as a synchronous belt or a chain, and the transmission mechanism is disposed inside the femto support 310 to form protection for the transmission mechanism.

Referring to fig. 4 and 5, in the present embodiment, in order to facilitate the gripping of the fly-by-wire mechanism 300, and to facilitate the loading of the fly-by-wire mechanism 300 onto a logistics device such as an AGV robot by an operator, a grip 311 is provided at the upper end of the fly-by-wire bracket 310. Meanwhile, the marking plate 312 is further arranged on the feeder support 310, and electronic tags such as two-dimensional codes or bar codes can be arranged on the marking plate 312, so that the equipment can acquire the incoming material information of the coil stock on the feeder mechanism 300 by reading the electronic tags on the marking plate 312 when using the feeder mechanism 300. The end of the feeding manipulator may be provided with a camera for photographing an electronic tag on the identification half, and photographing an air pipe inserted into the flying device storage rack 620, the flying device mounting rack 400 or the second quick connector 430, and assisting the grabbing and dismounting of the flying device mechanism 300 and the air pipe connection between the first quick connector 370 and the second quick connector 430.

Referring to fig. 3 to 5, in order to facilitate the feeding robot to grasp the flyer mechanism 300 and to avoid the feeding robot arm 610 from damaging the feeding path of the roll material that has been previously threaded on the flyer mechanism 300 when clamping the flyer mechanism 300, one side of the flyer bracket 310 is provided with a clamping portion 313, and structures such as the unreeling shaft 320, the reeling shaft 340, and the stripping mechanism 330 on the flyer bracket 310 are all disposed on the other side of the flyer bracket 310. Referring to fig. 2, the flyer grabbing mechanism 611 is a pneumatic or electric clamping jaw accordingly, and the clamping portion 313 on one side of the flyer support 310 can be clamped by the pneumatic clamping jaw to grab the flyer mechanism 300, so as to avoid the contact between the mechanical arm and the coil stock on the other side of the flyer support 310 during the action process, and avoid the scraping of the coil stock or the separation of the coil stock from the preset tape path.

In some embodiments, a material preparation station may also be provided on the flyer mount 400 for storing the spare flyer mechanism 300. The configuration of the stock station is similar to that of the flyer station 410 and includes a standby docking mechanism that is substantially identical to the working docking mechanism. The difference between the standby docking mechanism and the working docking mechanism is that the protection connector 4111 that interfaces with the first electrical connector 3611 may not be electrically connected to the control system of the apparatus, but is only used to protect the first connector of the flying device 300 stored at the standby station 420.

The mounting mechanism 500 adsorbs the material to be mounted on the stripping platform 331 of the flying machine 300 by driving the suction nozzle, and moves to the upper part of the product on the transmission track 200, so as to press the material to be mounted on the specific position of the product to realize the mounting processing of the product. Referring to fig. 1 and 7, in order to facilitate replacement of the suction nozzle to adapt to different sizes and suction areas of materials to be mounted, the mounting mechanism 500 includes a mounting driving mechanism, a suction nozzle connecting seat 550, a quick-release suction nozzle 560, and a positioning camera (not shown in the drawings) for photographing the product on the transmission rail 200 to position the product. The suction nozzle connecting seat 550 and the positioning camera are arranged on the mounting driving mechanism, a quick-dismantling mechanism is arranged between the quick-dismantling suction nozzle 560 and the suction nozzle connecting seat 550, and the quick-dismantling suction nozzle 560 can be detachably connected with the suction nozzle connecting seat 550 through the quick-dismantling mechanism. The lower surface of suction nozzle is provided with the absorption hole, and the inside of quick detach suction nozzle 560 is provided with the cavity with absorption hole intercommunication, and the upper surface of quick detach suction nozzle 560 is provided with the first interface 562 with the cavity intercommunication. One side of the nozzle connection base 550 is provided with a vacuum interface 551 for connecting a vacuum source, an air passage communicating with the vacuum interface 551 is provided inside the nozzle connection base 550, and a second interface (not shown in the figure) communicating with the air passage is provided on the lower surface of the nozzle connection base 550. When the quick-release nozzle 560 is mounted on the lower surface of the nozzle connecting seat 550, the first interface 562 is in butt-joint communication with the second interface, so as to connect the cavity inside the quick-release nozzle 560 with a vacuum source. The mounting mechanism 500 of the embodiment of the invention can adapt to materials to be mounted with different sizes and shapes by disassembling the quick-dismantling suction nozzle 560 with different suction nozzle shapes, thereby improving the applicability of the device.

It is understood that the quick release mechanism may be capable of realizing the quick release of the quick release nozzle 560 and the nozzle connecting seat 550 by a latch or a magnetic attraction. Referring to fig. 7, in the present embodiment, the quick release mechanism includes a spring card 552, a card slot 561, and a magnet (not shown). The spring card 552 is disposed on a pair of sides of the nozzle connecting seat 550, and an upper end of the spring card 552 is fixedly connected with the nozzle connecting seat 550, and a lower end is lower than a lower surface of the nozzle connecting seat 550. The clamping grooves 561 are disposed on a pair of side surfaces of the quick release nozzle 560 corresponding to the positions of the spring clamping pieces 552, and the magnets are embedded in the lower surface of the nozzle connecting seat 550. The lower end of the spring card 552 is provided with a protrusion facing the center direction of the nozzle connecting seat 550, and when the quick release nozzle 560 is mounted on the nozzle connecting seat 550, the protrusion can be clamped into the clamping groove 561. According to the quick-release nozzle 560 provided by the embodiment of the invention, the quick-release nozzle 560 can be inserted into the spring clamping pieces 552 on two sides from the lower side, so that the convex parts of the spring clamping pieces 552 are clamped into the clamping grooves 561, the detachable connection between the quick-release nozzle 560 and the nozzle connecting seat 550 is realized, and meanwhile, the magnet on the lower surface of the nozzle connecting seat 550 can adsorb the upper surface of the quick-release nozzle 560 made of metal, or adsorb the magnet embedded in the upper surface of the quick-release nozzle 560 or a metal block magnetized by the magnet, so that the quick-release nozzle 560 is more firmly mounted on the nozzle connecting seat 550. It will be appreciated that in some embodiments, the spring card 552 may be disposed on a peripheral side of the quick-release nozzle 560, and the upper surface of the quick-release nozzle 560 may be embedded with magnets, and accordingly, the card slot 561 may be disposed on a peripheral side of the nozzle connecting seat 550, and the nozzle connecting seat 550 is made of metal, or the lower surface of the nozzle connecting seat is embedded with magnets or metal blocks that may be magnetized by the magnets. The pluggable detachable connection mode between the quick-release suction nozzle 560 and the suction nozzle connection seat 550 in the embodiment of the invention is convenient for the mechanical arm to grasp and disassemble, and the suction nozzle clamping jaw can be arranged at the tail end of the mechanical arm of the feeding mechanical arm 610 or other AGV robots, so that the suction nozzle of the mounting mechanism 500 can be replaced fully automatically.

It will be appreciated that the specific structures of the first and second interfaces 562 and 562 should be designed in a matched manner, and referring to fig. 7, in this embodiment, the first interface 562 is disposed in a cross-shaped recess, and accordingly, the second interface should be disposed on a cross-shaped boss. It should be appreciated that a sealing ring should be provided between the nozzle connecting seat 550 and the quick-release nozzle 560 to ensure that air does not enter from the connection between the nozzle connecting seat 550 and the nozzle during vacuum pumping, so that the quick-release nozzle 560 breaks vacuum.

In some embodiments, to facilitate alignment of the quick-release nozzle 560 when mounted on the nozzle connecting holder 550, a positioning structure is also provided between the nozzle connecting holder 550 and the quick-release nozzle 560. Referring to fig. 7, in the present embodiment, the positioning structure includes a nozzle positioning pin 553 provided on the lower surface of the nozzle connection base 550 and a nozzle positioning hole 563 provided on the upper surface of the quick release nozzle 560, the inner diameter of the nozzle positioning hole 563 matches the outer diameter of the nozzle positioning pin 553, and when the quick release nozzle 560 is mounted on the nozzle connection base 550, the nozzle positioning pin 553 can be inserted into the nozzle positioning hole 563.

The mounting driving mechanism is used for driving the quick-release nozzle 560 and the positioning camera to reciprocate between the flying-to-the-head mounting frame 400 and the transmission rail 200, and driving the quick-release nozzle 560 to suck a piece of material to be mounted from the flying-to-the-head mechanism 300 and then to move to the transmission rail 200 for mounting. It will be appreciated that the number of axes of the mounting driving mechanism needs to be set according to the specific mounting process requirements, referring to fig. 1, in this embodiment, the mounting driving mechanism includes a Y-axis driving mechanism 510, an X-axis driving mechanism 520, a Z-axis driving mechanism 530, and an R-axis driving mechanism 540, and a downward shooting camera (not shown in the figure) for shooting upward is disposed between the transmission rail 200 and the femto mounting frame 400. Referring to fig. 7, the suction nozzle connection base 550 is disposed on the R-axis driving mechanism 540 through a mounting base, and can rotate in a horizontal plane under the driving of the R-axis driving mechanism 540, and is matched with the shooting of the photo shot by the camera, so as to correct the angle of the material to be mounted sucked by the quick-release suction nozzle 560. The R-axis driving mechanism 540 and the positioning camera are both disposed on the Z-axis driving mechanism 530, and can perform lifting motion under the driving of the Z-axis driving mechanism 530, so as to absorb the material on the femto-cell mechanism 300 and attach the material on the product of the conveying track 200. The Z-axis driving mechanism 530 is disposed on the X-axis driving mechanism 520, and can move along the direction of the transmission rail 200 under the driving of the X-axis driving mechanism 520, and the X-axis driving mechanism 520 is disposed on the Y-axis driving mechanism 510, and can move along the direction perpendicular to the transmission rail 200 under the driving of the Y-axis driving mechanism 510, and back and forth above the femto-cell mounting frame 400, the down-shooting camera, and the transmission rail 200. The X-axis driving mechanism 520, the Y-axis driving mechanism 510, and the Z-axis driving mechanism 530 may be a linear platform, a combination of a motor and a screw pair, or a combination of a motor and a conveyor belt, and the specific structure thereof is common knowledge in the art, and will not be described herein. The transmission track 200 may be a combination of a track, a conveyor belt and a motor, or a combination of a roller and a motor, and the specific structure thereof is also common knowledge in the art, and will not be described herein.

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 (13)

1. A mounting apparatus capable of automatically replacing a flying machine, comprising:

a frame (100);

the transmission rail (200) is arranged on the rack (100) and is used for transporting products to be attached;

The device comprises a flying device mechanism (300) and a mounting mechanism (360), wherein the flying device mechanism (300) is used for providing materials to be mounted and comprises a flying device bracket (310) and a plugging mechanism (360) arranged on the flying device bracket (310), the plugging mechanism (360) comprises a first electric connector (3611), and the first electric connector (3611) is electrically connected with an electric device on the flying device mechanism (300);

The device comprises a flying device mounting frame (400) which is arranged on a frame (100), is arranged on at least one side of a transmission track (200) and comprises at least one flying device station (410), wherein a working butt joint mechanism matched with a plug-in mechanism (360) is arranged on the flying device station (410), the working butt joint mechanism comprises a second electric plug-in, the second electric plug-in connector is electrically connected with a control system of equipment, the flying device mechanism (300) can be detachably arranged in the flying device station (410) through the matching of the plug-in mechanism (360) and the working butt joint mechanism, and when the flying device mechanism (300) is arranged in the flying device station (410), the first electric plug-in connector (3611) is plugged in the second electric plug-in connector and electrically connects an electricity utilization device on the flying device mechanism (300) with the control system of the equipment;

The mounting mechanism (500) is arranged on the frame (100) and is used for mounting the material provided by the flying device (300) on the product on the transmission track (200);

AGV automatic feeding robot (600) is provided with and is used for placing the flying to storage rack (620) and the material loading arm (610) of flying to mechanism (300), the end of material loading arm (610) is provided with and is used for snatching flying to mechanism (611) of flying to mechanism (300).

2. The mounting apparatus of an automatically replaceable flying machine according to claim 1, wherein the flying machine (300) further comprises:

The unreeling rotating shaft (320) is rotatably arranged on the flying tower bracket (310) and is used for installing a winding drum loaded with a coil stock;

The stripping mechanism (330) is arranged at the front end of the flying support (310) and is used for stripping the material to be mounted from the coil;

A winding rotating shaft (340) rotatably arranged on the flying support (310) and used for installing an empty reel;

the winding driving mechanism (350) is arranged on the flying device bracket (310), is in transmission connection with the winding rotating shaft (340), is electrically connected with the first electric connector (3611), and is used for driving the winding rotating shaft (340) to rotate.

3. The mounting apparatus capable of automatically replacing a flying machine according to claim 1, wherein the plugging mechanism (360) comprises a plugging end plate (361) and a plugging bottom plate (362), the plugging end plate (361) is vertically disposed at the front end of the flying machine support (310), the plugging bottom plate (362) is horizontally disposed at the front end of the flying machine support (310), the first electric connector (3611) is disposed on one of the plugging end plate (361) and the plugging bottom plate (362), the plugging slide rail (3621) or the plugging slide groove (4121) is disposed on the other one of the plugging end plate (361) and the plugging bottom plate (362), the plugging direction of the plugging slide rail (3621) or the plugging slide groove (4121) is parallel, and the working docking mechanism comprises a docking end plate (411) matched with the plugging end plate (361) and a docking bottom plate (412) matched with the plugging bottom plate (362).

4. The mounting device capable of automatically replacing a flying machine according to claim 3, wherein the flying machine storage rack (620) comprises a storage frame (621) and a storage transverse plate (622) horizontally arranged in the storage frame (621), and a plurality of sliding grooves or sliding rails matched with the plugging sliding rails (3621) or the plugging sliding grooves (4121) on the flying machine (300) are arranged on the storage transverse plate (622) in parallel.

5. The mounting device capable of automatically replacing a flying machine mechanism according to claim 1, wherein at least one side of the first electrical connector (3611) is provided with a flying machine positioning hole (4112) or a flying machine positioning pin (3612), and at least one side of the second electrical connector is provided with a flying machine positioning pin (3612) or a flying machine positioning hole (4112) matched with the flying machine positioning hole (4112) or the flying machine positioning pin (3612).

6. The mounting apparatus of claim 1, further comprising a control board card, wherein all electrical devices on the flying machine (300) are electrically connected to the first electrical connector (3611) through the control board card.

7. The mounting device capable of automatically replacing a flying machine according to claim 2, wherein the flying machine support (310) is further provided with an air channel system, the air channel system is communicated with pneumatic devices in the stripping mechanism (330), the flying machine support (310) is provided with a first quick connector (370), the first quick connector (370) is used as a total air inlet of the air channel system, an electromagnetic valve and a sensor in the air channel system are electrically connected with the first electric connector (3611), and one side of each flying machine station (410) is provided with a second quick connector (430) communicated with the air channel system of the device.

8. The mounting device capable of automatically replacing a flying machine according to claim 2, wherein the unreeling rotating shaft (320), the reeling rotating shaft (340) and the reeling driving mechanism (350) are all arranged on the same side face of the flying machine support (310), a clamping part (313) is arranged on one side, facing away from the unreeling rotating shaft (320), of the flying machine support (310), and the flying machine grabbing mechanism (611) is a pneumatic clamping jaw or an electric clamping jaw.

9. The mounting device capable of automatically replacing a flying machine according to claim 1, wherein at least one standby station (420) is further arranged on the flying machine mounting frame (400), the standby station (420) is used for detachably mounting the flying machine (300), a standby docking mechanism matched with the plugging mechanism (360) is arranged on the standby station (420), the flying machine (300) is matched with the standby docking mechanism through the plugging mechanism (360) to realize detachable connection with the flying machine mounting frame (400), the standby docking mechanism comprises a protection connector (4111) matched with the first electric connector (3611), and when the flying machine (300) is mounted on the flying machine station (410), the first electric connector (3611) is plugged with the corresponding protection connector (4111).

10. The mounting device capable of automatically replacing a flying machine according to claim 1, wherein the mounting device (500) comprises a mounting driving mechanism, a suction nozzle connecting seat (550), a quick-release suction nozzle (560) and a positioning camera, the suction nozzle connecting seat (550) and the positioning camera are arranged on the mounting driving mechanism, a quick-release mechanism is arranged between the quick-release suction nozzle (560) and the suction nozzle connecting seat (550), the quick-release suction nozzle (560) can be detachably connected with the suction nozzle connecting seat (550) through the quick-release mechanism, an adsorption hole is formed in the lower surface of the quick-release suction nozzle (560), a cavity communicated with the adsorption hole is formed in the quick-release suction nozzle (560), a first interface (562) communicated with the cavity is formed in the upper surface of the quick-release suction nozzle (560), a vacuum interface (551) for connecting a vacuum source is arranged on one side of the suction nozzle connecting seat (550), the inside of the suction nozzle connecting seat (550) is provided with the vacuum interface (551), and the suction nozzle connecting seat (550) is connected with the second interface (550), and the suction nozzle connecting seat (550) is arranged on the upper surface of the second interface (550) in a first interface (562).

11. The mounting apparatus capable of automatically replacing a flying machine according to claim 10, wherein the quick release mechanism comprises a spring card (552) and a clamping groove (561), the spring card (552) is disposed on at least one pair of sides of one of the suction nozzle connecting seat (550) and the quick release suction nozzle (560), the clamping groove (561) is disposed on at least one pair of sides of the other of the suction nozzle connecting seat (550) and the quick release suction nozzle (560), a convex part facing to a center direction of the suction nozzle connecting seat (550) or the quick release suction nozzle (560) is disposed at an end of the spring card (552), a width of the clamping groove (561) is matched with the convex part, and when the quick release suction nozzle (560) is mounted on the suction nozzle connecting seat (550), the convex part is clamped into the clamping groove (561).

12. The mounting apparatus of the automatic exchange flying machine according to claim 10, wherein the quick release mechanism includes magnets provided on a lower surface of the nozzle connecting base (550) and/or an upper surface of the quick release nozzle (560).

13. The mounting apparatus of an automatically exchangeable flying machine according to claim 11 or 12, wherein the quick release mechanism further comprises a nozzle positioning pin (553) and a nozzle positioning hole (563), the nozzle positioning pin (553) being provided on a lower surface of the nozzle connection base (550) or an upper surface of the quick release nozzle (560), the nozzle positioning hole (563) being provided on an upper surface of the quick release nozzle (560) or a lower surface of the nozzle connection base (550), respectively.