CN209740180U

CN209740180U - Three-station robot plate collecting and releasing machine capable of realizing butt joint of feeding and discharging of intelligent trolley

Info

Publication number: CN209740180U
Application number: CN201822133318.3U
Authority: CN
Inventors: 党振
Original assignee: Shanghai Flies For Intelligent System Ltd By Share Ltd
Current assignee: Shenzhen fudewai Intelligent Technology Co., Ltd
Priority date: 2018-12-19
Filing date: 2018-12-19
Publication date: 2019-12-06
Anticipated expiration: 2028-12-19

Abstract

The utility model discloses a three station robots of unloading receive and release trigger on butt joint intelligent vehicle, a serial communication port, including six robots, the front side of six robots is equipped with the transport section, and the left side of six robots is equipped with a station that is used for the feeding of PCB board, and the right side of six robots is equipped with a station of placing the sucking disc frame, and the right front of six robots is equipped with the station that is used for the PCB board ejection of compact, is equipped with the carrier saddle on the station of the right front of six robots, and the carrier saddle passes through intelligent vehicle and carrier butt joint. The utility model discloses a sucking disc on the sucking disc frame snatchs the process of PCB board fast, steady, and whole journey realizes automaticly, to the characteristics of PCB intelligent factory and design, is applicable to the PCB board of different specifications, and easy operation is convenient, guarantees PCB intelligent factory's smooth and easy operation.

Description

Three-station robot plate collecting and releasing machine capable of realizing butt joint of feeding and discharging of intelligent trolley

Technical Field

The utility model relates to a three station robot that butt joint intelligent vehicle (hereinafter abbreviated as AGV) goes up unloading receive and releases trigger belongs to circuit board (hereinafter abbreviated as PCB) printing production facility technical field.

Background

In the era of intelligent manufacturing, the requirements of PCB production factories on automation equipment are increasing, and industrial robots are being widely used in PCB automation production equipment because of their advantages of flexibility, stability, high efficiency, high precision, etc.

However, problems still exist in the application of the intelligent factory, for example, the accurate butt joint of the PCB collecting and releasing machine and the AGV cannot be realized, or the precision after the butt joint is poor, so that the precision of the equipment collecting and releasing plate is influenced; the existing sucker structure generally adopts a manual size adjustment mode to grab PCB boards with different sizes, so that the problems of requirements and the like of an unmanned intelligent factory cannot be met, and the PCB intelligent factory cannot smoothly operate due to the problems.

Disclosure of Invention

The to-be-solved technical problem of the utility model is: the plate collecting and releasing device solves the problems of ensuring the plate collecting and releasing precision of the plate collecting and releasing machine and meeting the requirements of an unmanned intelligent factory.

In order to solve the technical problem, the utility model provides a three station robots of unloading receive and release trigger on butt joint intelligent vehicle is provided, a serial communication port, including six robots, the front side of six robots is equipped with the transport section, and the left side of six robots is equipped with a station that is used for the feeding of PCB board, and the right side of six robots is equipped with a station of placing the suction disc frame, and the right front of six robots is equipped with the station that is used for the PCB board ejection of compact, is equipped with the carrier saddle on the station of six robots right front, and the carrier saddle passes through intelligent vehicle and carrier butt joint.

Preferably, the conveying section is provided with a conveying mechanism, the conveying mechanism consists of a plurality of conveying roller groups, and the plurality of conveying roller groups are provided with a clapper mechanism and a baffle mechanism for adjusting the position of the PCB on the conveying section; two-dimensional code recognition devices for recognizing the information of each PCB are arranged on the right sides of the plurality of conveying roller groups; the left sides of the plurality of conveying roller groups are provided with two detection sensors for preventing two PCB boards from being placed at the same time.

Preferably, the six-axis robot, the conveying section and the three stations are all arranged in the frame.

preferably, the suction cup frame is an integrated suction cup frame structure which can be used for boards with various specifications and sizes.

Preferably, the carrier is an angle positioning carrier, a plate frame is arranged at the top of the angle positioning carrier, and the plate surface and two edges of the bottom surface of the plate frame are inclined at an angle of 20-30 degrees simultaneously.

Preferably, the carrier saddle is provided with a positioning pin, and the carrier is provided with a positioning pin sleeve matched with the positioning pin in size and position.

The utility model discloses a sucking disc on the sucking disc frame snatchs the process of PCB board fast, steady, and whole journey realizes automaticly, to the characteristics of PCB intelligent factory and design, is applicable to the PCB board of different specifications, and easy operation is convenient, guarantees PCB intelligent factory's smooth and easy operation. And the positioning pin on the carrier pallet is matched with the positioning pin sleeve on the carrier, so that the butt joint precision of the loading and unloading of an intelligent vehicle (AGV) and the board receiving and placing machine is achieved.

Drawings

FIG. 1 is an overall three-dimensional view of a three-station robot plate receiving and releasing machine for docking loading and unloading of an intelligent trolley;

FIG. 2 is a top view of a three-station robot trigger for docking the intelligent cart for loading and unloading;

FIG. 3 is a schematic diagram of a butt joint of a carrier pallet and an AGV in a three-station robot plate collecting and releasing machine for butt joint of loading and unloading of an intelligent trolley;

Fig. 4 is a suction cup frame structure of a three-station robot plate collecting and releasing machine for butt joint of feeding and discharging of an intelligent trolley.

Detailed Description

In order to make the present invention more comprehensible, preferred embodiments are described in detail below with reference to the accompanying drawings.

the utility model relates to a three station robots of unloading receive and release trigger on butt joint intelligent vehicle, as shown in FIG. 1-FIG. 4, the spatial layout who receives and releases trigger adopts three station 1, a transport section 4, a six robots 2, and three station 1 distributes in 2 both sides of six robots, and transport section 4 places in 2 front sides of six robots. That is, the left side of the six-axis robot 2 is provided with a station 1 for feeding the PCB, the right side of the six-axis robot 2 is provided with a station 1 for placing the sucker frame 3, and the right front of the six-axis robot 2 is provided with a station 1 for discharging the PCB. A carrier saddle 7 is arranged on a station 1 at the front right of the six-axis robot 2, and the carrier saddle 7 is in butt joint with a carrier 8 through an intelligent trolley 9. The layout structure is compact, the carrier 8 can be replaced without stopping, the capacity is improved, and the occupied area is saved. Six robots 2, transport section 4 and three station 1 all locate in frame 5. The positioning pin 10 on the carrier saddle 7 is matched with the positioning pin sleeve on the carrier 8, so that the accuracy of butt joint of the loading and unloading of the intelligent trolley 9 and the board receiving and placing machine is achieved.

The suction disc frame 3 is of an integrated suction disc frame structure, the suction disc frame 3 is designed according to the rule that the specification of a produced PCB changes, boards with various specifications and sizes in an intelligent factory are contained, and the suction disc frame 3 does not need to be adjusted.

The carrier 8 is an angle positioning carrier, the top of the angle positioning carrier is provided with a plate frame, and the plate surface of the plate frame and two edges of the bottom surface are inclined at a certain angle (20-30 degrees) at the same time, so that the PCB can automatically slide towards the two edges of the bottom surface under the action of self gravity and finally fall on one corner of the plate frame, and the position of the PCB is positioned.

The conveying mechanism consists of a plurality of conveying roller groups, and a clapper mechanism and a baffle mechanism are arranged on the plurality of conveying roller groups, so that the position of the PCB on the conveying section is adjusted, and the precision of the clapper is improved; the two-dimensional code recognition device 6 is arranged on the right side of the plurality of conveying roller groups to recognize the information of each PCB; two detection sensors are installed on the left sides of the plurality of conveying roller groups, so that the condition that two sheets are placed when the PCB is placed is prevented.

The working process of the utility model is as follows:

during board collection, before the PCB is fed, the intelligent trolley 9 carries the carrier 8 to enter the station 1 at the front right of the six-axis robot 2 to be butted with the carrier pallet 7 → the carrier 8 is recognized to be butted completely → the PCB enters the conveying section 4 from the left side → the position of the PCB is adjusted to be in place through the plate shooting mechanism and the baffle mechanism → the two-dimensional code scanning recognition device 6 carries out two-dimensional code scanning recognition → the six-axis robot 2 carries the sucking disc frame 3 to pick up the PCB → places the PCB in the carrier 8 → the carrier 8 is recognized to be full of the PCB → the full carrier 8 is carried out of the station 1 by the intelligent trolley 9, the carrier 8 is replaced to be empty → the six-axis robot 2 continues to collect the boards to the carrier 8 of the other station 1 at the moment, and the work is repeated in such a circulating way.

Correspondingly, the plate placing action flow is opposite to the plate collecting action flow.

Claims

1. the utility model provides a three station robot that unloading was gone up to butt joint intelligent vehicle receive and releases trigger, a serial communication port, including six robots (2), the front side of six robots (2) is equipped with transport section (4), the left side of six robots (2) is equipped with one and is used for station (1) of PCB board feeding, the right side of six robots (2) is equipped with one and places station (1) of sucking disc frame (3), the right front of six robots (2) is equipped with station (1) that is used for the PCB board ejection of compact, be equipped with carrier saddle (7) on station (1) of six robots (2) right front, carrier saddle (7) dock with carrier (8) through intelligent dolly (9).

2. The three-station robot board collecting and releasing machine capable of butting with the intelligent trolley for feeding and discharging is characterized in that a conveying mechanism is arranged on the conveying section (4), the conveying mechanism consists of a plurality of conveying roller groups, and a board beating mechanism and a baffle mechanism which are used for adjusting the position of a PCB on the conveying section (4) are arranged on the plurality of conveying roller groups; two-dimensional code recognition devices (6) for recognizing the information of each PCB are arranged on the right sides of the plurality of conveying roller groups; the left sides of the plurality of conveying roller groups are provided with two detection sensors for preventing two PCB boards from being placed at the same time.

3. The three-station robot plate collecting and releasing machine for butting with the intelligent trolley to feed and discharge materials, as claimed in claim 1, is characterized in that the six-axis robot (2), the conveying section (4) and the three stations (1) are all arranged in a rack (5).

4. The three-station robot plate collecting and releasing machine capable of docking intelligent vehicle feeding and discharging as claimed in claim 1, wherein the suction cup frame (3) is an integrated suction cup frame structure capable of being used for plates of various specifications and sizes.

5. The three-station robot plate collecting and releasing machine capable of docking intelligent trolley feeding and discharging as claimed in claim 1, characterized in that the carrier (8) is an angle positioning carrier, a plate frame is arranged at the top of the angle positioning carrier, and the two edges of the plate frame and the bottom surface are inclined at an angle of 20-30 degrees simultaneously.

6. The three-station robot plate retracting and releasing machine for butting with the intelligent trolley to feed and discharge materials is characterized in that a positioning pin (10) is arranged on the carrier supporting table (7), and a positioning pin sleeve matched with the positioning pin (10) in size and position is arranged on the carrier (8).