CN210633666U

CN210633666U - Intelligent joint dismounting robot

Info

Publication number: CN210633666U
Application number: CN201921771204.XU
Authority: CN
Inventors: 曹才玲; 陈远荣
Original assignee: Soyi Intelligent Equipment Dongguan Co ltd
Current assignee: Soyi Intelligent Equipment Dongguan Co ltd
Priority date: 2019-10-21
Filing date: 2019-10-21
Publication date: 2020-05-29
Anticipated expiration: 2029-10-21

Abstract

The utility model discloses an intelligence dismouting joint robot, including frame, support plate conveying mechanism, first joint manipulator, second joint manipulator, tilting mechanism, steel sheet platform and feed mechanism, support plate conveying mechanism locates in the frame. The first joint mechanical arm is arranged on one side of the support plate conveying mechanism, and a first visual positioning device is arranged on the first joint mechanical arm. The second joint mechanical arm is arranged on the other side, away from the first joint mechanical arm, of the support plate conveying mechanism, and a second visual positioning device is arranged on the second joint mechanical arm. The turnover mechanism is arranged above the support plate conveying mechanism. The steel sheet platform is positioned on one side of the carrier plate conveying mechanism. The feeding mechanism comprises a first lifting motor and a feeding platform, and the first lifting motor controls the feeding platform to lift. The utility model discloses simple structure can dismouting single face FPC, can also two positive and negative FPCs of dismouting simultaneously, realizes the two-sided dismouting of FPC, and degree of automation is high, and the dismouting is efficient, and the suitability is strong, has higher economic value.

Description

Intelligent joint dismounting robot

Technical Field

The utility model relates to a subsides dress technical field especially relates to an intelligence dismouting joint robot.

Background

With the rapid development of information technology, the life cycle of electronic products is shorter and shorter, the updating speed is obviously accelerated, and the electronic manufacturing industry faces a production environment with multiple machines and less batches. Therefore, the Surface Mount Technology (SMT) is also developing towards high efficiency, flexibility and intelligence as a new generation of electronic assembly technology to meet the production requirements of multiple users, multiple tasks and multiple machines.

The traditional dismounting device has a complex structure and low processing efficiency, can only complete a single-side dismounting process, has poor applicability, and cannot meet the dismounting operation of various specifications of various products.

Accordingly, the prior art is deficient and needs improvement.

SUMMERY OF THE UTILITY MODEL

Based on this, it is necessary to provide an intelligence dismouting joint robot to prior art problem, and its degree of automation is high, can realize the two-sided dismouting simultaneously of FPC, and the dismouting is efficient.

For solving the prior art problem, the utility model discloses an intelligence dismouting joint robot, including frame, support plate conveying mechanism, first joint manipulator, second joint manipulator, tilting mechanism, steel sheet platform and feed mechanism, support plate conveying mechanism locates in the frame. The first joint mechanical arm is arranged on one side of the support plate conveying mechanism, and a first visual positioning device is arranged on the first joint mechanical arm. The second joint mechanical arm is arranged on the other side, away from the first joint mechanical arm, of the support plate conveying mechanism, and a second visual positioning device is arranged on the second joint mechanical arm. The turnover mechanism is arranged above the support plate conveying mechanism. The steel sheet platform is positioned on one side of the carrier plate conveying mechanism. The feeding mechanism comprises a first lifting motor and a feeding platform, and the first lifting motor controls the feeding platform to lift.

In one embodiment of the present invention, the turnover mechanism includes a fixing base, a turnover platform, a rotary cylinder and a rotary shaft, the rotary cylinder is fixedly disposed on the fixing base, one end of the rotary shaft is connected to the rotary cylinder, the other end of the rotary shaft is connected to the fixing base, one end of the turnover platform is fixedly connected to the rotary shaft, and the turnover platform is provided with a plurality of vacuum suction heads.

In one embodiment of the vacuum suction device, the vacuum suction device further comprises a flat suction mechanism, the flat suction mechanism is arranged on the other side, away from the overturning platform, of the rotating shaft, a flat suction platform is arranged on the flat suction mechanism, and a plurality of vacuum suction heads are arranged on the flat suction platform.

In one embodiment of the above, the support plate conveying mechanism includes two parallel first guide rails, a limiting mechanism disposed on the first guide rails, and a transmission motor, the transmission motor drives the support plate translation on the first guide rails through a belt, the limiting mechanism includes a fixed plate, a first movable plate, a second movable plate, and a first limiting cylinder, the fixed plate is fixed on the first guide rails, the fixed plate, the first movable plate, and the second movable plate are arranged in parallel side by side, the first movable plate and the second movable plate are connected through two parallel connecting rods, a compression spring is disposed on the connecting rod, the first limiting cylinder is disposed between the first movable plate and the second movable plate, and a piston end of the first limiting cylinder is fixedly connected to the second movable plate.

In one embodiment, a second limiting cylinder is arranged on one side of the limiting mechanism parallel to the first guide rail, and a limiting bump is arranged at the piston end of the second limiting cylinder.

In one embodiment, a width adjusting mechanism is arranged below the first guide rail, the width adjusting mechanism includes two parallel second guide rails, a first sliding seat, a second sliding seat, a transmission screw rod and an adjusting motor, the first sliding seat is arranged on the second guide rail, the second sliding seat is fixedly connected with the first sliding seat and penetrates through the transmission screw rod, and the adjusting motor is connected with the transmission screw rod through a synchronizing wheel and a belt.

In one embodiment, the first and second joint robots may be four-axis joint robots or six-axis joint robots.

In one embodiment, a waste paper discharging mechanism is arranged on one side of the feeding mechanism, and the waste paper discharging mechanism comprises a second lifting motor and a discharging platform, and the second lifting motor controls the discharging platform to lift.

In one embodiment, the device further comprises a plastic suction box feeding mechanism and a finished product blanking mechanism.

The intelligent joint dismounting robot comprises a rack, a support plate conveying mechanism, a first joint manipulator, a second joint manipulator, a turnover mechanism, a steel sheet platform and a feeding mechanism, wherein the support plate conveying mechanism is arranged on the rack. The first joint mechanical arm is arranged on one side of the support plate conveying mechanism, and a first visual positioning device is arranged on the first joint mechanical arm. The second joint mechanical arm is arranged on the other side, away from the first joint mechanical arm, of the support plate conveying mechanism, and a second visual positioning device is arranged on the second joint mechanical arm. The turnover mechanism is arranged above the support plate conveying mechanism. The steel sheet platform is positioned on one side of the carrier plate conveying mechanism. The feeding mechanism comprises a first lifting motor and a feeding platform, and the first lifting motor controls the feeding platform to lift. The utility model discloses simple structure can dismouting single face FPC, can also two positive and negative FPCs of dismouting simultaneously, realizes the two-sided dismouting of FPC, and degree of automation is high, and the dismouting is efficient, and the suitability is strong, has higher economic value.

Drawings

Fig. 1 is a schematic perspective view of the joint robot for intelligent assembly and disassembly of the present invention;

fig. 2 is a schematic perspective view of a carrier plate conveying mechanism of the intelligent joint-dismounting robot of the present invention;

fig. 3 is a schematic view of a three-dimensional structure of a first joint manipulator or a second joint manipulator of the intelligent joint robot for assembling and disassembling the present invention;

fig. 4 is a schematic view of a three-dimensional structure of a turnover mechanism of the intelligent joint-dismounting robot of the present invention;

fig. 5 is a schematic view of a three-dimensional structure of a feeding mechanism of the intelligent joint-dismounting robot of the present invention;

the reference numerals are explained below:

10 an intelligent robot for assembling and disassembling joints,

100 a frame;

200 a carrier plate conveying mechanism, 210 a first guide rail, 220 a limiting mechanism, 221 a fixed plate, 222 a first movable plate, 223 a second movable plate, 224 a first limiting cylinder, 225 a connecting rod, 226 a compression spring, 227 a second limiting cylinder, 228 a limiting bump, 230 a transmission motor, 240 a width adjusting mechanism, 241 a second guide rail, 242 a first sliding seat, 243 a second sliding seat, 244 a transmission screw rod and 245 a adjustment motor;

300 a first articulated manipulator, 310 a first visual positioning device;

400 a second articulated manipulator, 410 a second visual positioning device 410;

500 turning mechanism, 510 fixing seat, 520 turning platform, 530 rotary cylinder and 540 rotating shaft; 550 sucking flat mechanism, 551 sucking flat platform;

600 steel sheet platforms;

700 feeding mechanisms, 710 a first lifting motor and 720 a feeding platform;

800 a plastic uptake box feeding mechanism;

900 finished product blanking mechanism.

Detailed Description

In order to facilitate understanding of the present invention, the present invention will be described more fully hereinafter with reference to the accompanying drawings. Preferred embodiments of the present invention are shown in the drawings. The invention may, however, be embodied in many different forms and should not be construed as limited to the embodiments set forth herein. Rather, these embodiments are provided so that this disclosure will be thorough and complete.

It will be understood that when an element is referred to as being "secured to" another element, it can be directly on the other element or intervening elements may also be present. When an element is referred to as being "connected" to another element, it can be directly connected to the other element or intervening elements may also be present. The terms "vertical," "horizontal," "left," "right," and the like as used herein are for illustrative purposes only.

Unless defined otherwise, all technical and scientific terms used herein have the same meaning as commonly understood by one of ordinary skill in the art to which this invention belongs. The terminology used in the description of the invention herein is for the purpose of describing particular embodiments only and is not intended to be limiting of the invention. As used herein, the term "and/or" includes any and all combinations of one or more of the associated listed items.

Referring to fig. 1 to 5, the present invention discloses an intelligent dismounting joint robot 10, which includes a frame 100, a support plate conveying mechanism 200, a first joint robot 300, a second joint robot 400, a turnover mechanism 500, a steel sheet platform 600 and a feeding mechanism 700. The carrier plate conveying mechanism 200 is provided on the rack 100. The first articulated manipulator 300 is disposed at one side of the carrier plate conveying mechanism 200, and the first articulated manipulator 300 is provided with a first visual positioning device 310. The second joint manipulator 400 is arranged on the other side of the support plate conveying mechanism 200 far away from the first joint manipulator 300, and a second visual positioning device 410 is arranged on the second joint manipulator 400. The turnover mechanism 500 is disposed above the carrier plate conveying mechanism 200. The steel plate platform 600 is located at one side of the carrier plate conveying mechanism 200. The feeding mechanism 700 includes a first lifting motor 710 and a feeding platform 720, and the first lifting motor 710 controls the feeding platform 720 to lift.

Referring to fig. 4, the turnover mechanism 500 includes a fixing base 510, a turnover platform 520, a revolving cylinder 530 and a rotating shaft 540. The fixing base 510 is a flat plate supported by four supporting rods distributed at four corners. The rotary cylinder 530 is fixed on the edge of the fixing base 510, one end of the rotary shaft 540 is connected with the rotary cylinder 530, and the other end of the rotary shaft 540 is connected to the fixing base 510. One end of the flipping platform 520 is fixedly connected to the rotating shaft 540. A plurality of vacuum suction heads are arranged on the overturning platform 520. A plurality of limiting grooves are radially formed in the overturning platform 520 from the center, and the vacuum suction head is movably clamped in the limiting grooves. A plurality of limiting grooves are radially formed in the overturning platform 520 from the center, and the vacuum suction head is movably clamped in the limiting grooves. When the FPC is transferred to the overturning platform 520, the vacuum suction head is started to suck the FPC to be overturned, the rotary cylinder 530 drives the rotary shaft 540 to rotate, the rotary shaft 540 drives the overturning platform 520 to overturn, the FPC to be overturned is placed on the flatting mechanism 550, the vacuum suction head is closed, and the FPC to be overturned falls on the flatting mechanism 550 to realize the overturning of the FPC.

The utility model discloses intelligence dismouting joint robot 10 still includes one and inhales flat mechanism 550, inhales flat mechanism 550 and establishes the opposite side of keeping away from in upset platform 520 at axis of rotation 540. The sucking and leveling mechanism 550 is provided with a sucking and leveling platform 551, and the sucking and leveling platform 551 is provided with a plurality of vacuum suction heads. The flat suction platform 551 is provided with a plurality of limiting grooves radiating outwards from the center, and the vacuum suction head is movably clamped on the limiting grooves. By moving the position of the vacuum suction head, the FPC with various sizes can be adapted, and the applicability is stronger. The vacuum suction head on the sucking and leveling mechanism 550 is beneficial to sucking and stabilizing the turned FPC, and the accuracy of subsequent operation is ensured.

Referring to fig. 2, the carrier conveying mechanism 200 includes two parallel first guide rails 210, a position-limiting mechanism 220 disposed on the first guide rails 210, and a transmission motor 230. The driving motor 230 drives the carrier plate placed on the first guide rail 210 to move horizontally through a belt. Further, the limiting mechanism 220 includes a fixed plate 221, a first movable plate 222, a second movable plate 223, and a first limiting cylinder 224. The fixed plate 221 and the first movable plate 222 are both strip-shaped sheet metal parts, and the length thereof is equivalent to the length of the carrier plate. The fixing plate 221 is fixed to the first rail 210 by screws. The fixed plate 221, the first movable plate 222, and the second movable plate 223 are disposed side by side in parallel. The first movable plate 222 and the second movable plate 223 are connected by two parallel connecting rods 225, and the connecting rods 225 are provided with compression springs 226. The first limit cylinder 224 is disposed between the first movable plate 222 and the second movable plate 223, and a piston end of the first limit cylinder 224 is fixedly connected to the second movable plate 223. Still further, a second limit cylinder 227 is disposed on one side of the limit mechanism 220 parallel to the first guide rail 210, and a limit protrusion 228 is disposed at a piston end of the second limit cylinder 227. When a carrier plate is detected to pass through, the piston of the second limiting cylinder 227 extends out, and the limiting bump 228 clamps the following carrier plate. The piston of the first limiting cylinder 224 retracts to drive the second movable plate 223 and the first movable plate 222 to move horizontally, and the carrier plate is clamped under the combined action of the fixed plate 221 and the first movable plate 222.

Further, a width adjusting mechanism 240 is disposed below the first guide rails 210 for adjusting the width between the two first guide rails 210. The width adjusting mechanism 240 includes two parallel second guide rails 241, a first slide 242, a second slide 243, a transmission screw 244 and an adjusting motor 245. The first slider 242 is disposed on the second rail 241. The second slide base 243 is fixedly connected with the first slide base 242 and is arranged on the transmission screw rod 244 in a penetrating way, and the adjusting motor 245 is connected with the transmission screw rod 244 through a synchronous wheel and a belt. Through this width adjustment mechanism 240, can adjust the width between two first guide rails 210 as required, adapt to various size's support plate and FPC, the suitability is strong.

The first and second

joint robots

300 and 400 may be four-axis joint robots or six-axis joint robots. The first joint robot 300 is provided with a first visual positioning device 310. The second joint robot 400 is provided with a second visual positioning device 410. The first and second

visual positioning devices

310 and 410 are each provided with a gripping disk (not shown) on which a plurality of vacuum suction heads are provided. When first joint manipulator 300 and second joint manipulator 400 are six joint manipulators, the last lower face of grabbing the dish all is provided with vacuum suction head for the two sides simultaneous operation about the grabbing dish of first joint manipulator 300 and second joint manipulator 400 can be, improves the efficiency of one time, simultaneously, because six joint manipulators can realize 360 degrees multidimension rotations, can save tilting mechanism 500's structure, makes the structure simpler.

A used paper discharging mechanism (not shown) is provided at one side of the feeding mechanism 700. The structure of the used paper blanking mechanism is the same as that of the loading mechanism 700, and will not be described in detail.

The utility model discloses intelligence dismouting joint robot 10 still includes plastic uptake box feed mechanism 800 and finished product unloading mechanism 900. The blister box feeding mechanism 800 and the finished product discharging mechanism 900 have the same structure and are the same as the feeding mechanism 700, which is not described herein.

Wherein, elaborating one of the front and back double-sided FPC dismounting method in detail, the steps flow is as follows:

the empty carrier plate flows in through the carrier plate conveying mechanism 200, the first joint manipulator 300 is transferred to the feeding mechanism 700 to take a picture in a visual positioning mode and grab a new FPC, then the empty carrier plate is moved to the position above the carrier plate conveying mechanism 200 to take a picture in a visual positioning mode, the FPC is put down to be attached to the carrier plate, and the original point is returned. The second joint manipulator 400 moves to the steel sheet platform 600, performs visual positioning shooting to grab the steel sheet and moves to the upper portion of the carrier plate conveying mechanism to perform visual positioning shooting, visual positioning shooting data are transmitted to the joint manipulator, accurate product taking and placing positions can be achieved through visual shooting, then the steel sheet is put down to be attached, returning is completed, the carrier plate flows out to be printed, and the FPC is a semi-finished product PFC after one side of the FPC is printed.

When the semi-finished product FPC flows back, the sensor recognizes that the steel sheet is on the carrier plate, the second joint manipulator 400 moves to the top of the carrier plate conveying mechanism 200 and takes the steel sheet away by visual positioning photographing, the visual positioning photographing data are transmitted to the joint manipulator, accurate product taking and placing can be achieved by visual photographing, then the steel sheet platform 600 is placed and returned to the top of the carrier plate conveying mechanism 200, the FPC is grabbed and transferred to the turnover mechanism 500 to take the picture by visual positioning, the turnover mechanism 500 turns over the semi-finished product FPC, the second joint manipulator 400 takes the turned-over FPC out and moves the turned-over FPC to the carrier plate conveying mechanism 200 for secondary laminating, and the FPC returns to the in-situ. The second joint manipulator 400 moves to the steel sheet platform 600 to take the steel sheet, moves to the upper part of the carrier plate conveying mechanism 200 to be attached to the steel sheet, the FPC and the carrier plate, returns to the original position for standby after the completion, and the carrier plate flows out for printing.

And when the carrier plate finishes printing and other processes, the finished product FPC is obtained after the printing of the other surface is finished, the finished product FPC returns to the device, the second joint manipulator 400 moves to the position above the carrier plate conveying mechanism 200 and takes a picture in a visual positioning mode, the steel sheet is taken out, the steel sheet is moved to the steel sheet platform 600 to place the steel sheet, and the return is finished. The finished product FPC is moved to the upper part of the finished product blanking mechanism and is placed in the blister box (2 or 4 pieces can be placed optionally, when the blister box is full, the finished product placing area descends by one grid, the second joint manipulator 400 takes away a new blister box, and after an empty blister box is taken away, the blister box ascends by one layer). The circulation can realize the printing of the front and the back of the FPC, and the working efficiency is high.

To sum up, the intelligent joint-dismounting robot 10 comprises a frame 100, a support plate conveying mechanism 200, a first joint manipulator 300, a second joint manipulator 400, a turnover mechanism 500, a steel sheet platform 600 and a feeding mechanism 700, wherein the support plate conveying mechanism 200 is arranged on the frame 100. The first articulated manipulator 300 is disposed at one side of the carrier plate conveying mechanism 200, and the first articulated manipulator 300 is provided with a first visual positioning device 310. The second joint manipulator 400 is arranged on the other side of the support plate conveying mechanism 200 far away from the first joint manipulator 300, and a second visual positioning device 410 is arranged on the second joint manipulator 400. The turnover mechanism 500 is disposed above the carrier plate conveying mechanism 200. The steel sheet platform 600 is located at one side of the carrier plate conveying mechanism 200. The feeding mechanism 700 includes a first lifting motor 710 and a feeding platform 720, and the first lifting motor 710 controls the feeding platform 720 to lift. The utility model discloses simple structure can dismouting single face FPC, can also two positive and negative FPCs of dismouting simultaneously, realizes the two-sided dismouting of FPC, and degree of automation is high, and the dismouting is efficient, and the suitability is strong, has higher economic value.

The above-mentioned embodiments only represent some embodiments of the present invention, and the description thereof is specific and detailed, but not to be construed as limiting the scope of the present invention. It should be noted that, for those skilled in the art, without departing from the spirit of the present invention, several variations and modifications can be made, which are within the scope of the present invention. Therefore, the protection scope of the present invention should be subject to the appended claims.

Claims

1. An intelligent joint robot comprising:

a frame;

the support plate conveying mechanism is arranged on the rack;

the first joint manipulator is arranged on one side of the support plate conveying mechanism, and a first visual positioning device is arranged on the first joint manipulator;

the second joint manipulator is arranged on the other side, away from the first joint manipulator, of the support plate conveying mechanism, and a second visual positioning device is arranged on the second joint manipulator;

the turnover mechanism is arranged above the support plate conveying mechanism;

the steel sheet platform is positioned on one side of the carrier plate conveying mechanism; and

the feeding mechanism comprises a first lifting motor and a feeding platform, and the first lifting motor controls the feeding platform to lift.

2. The robot of claim 1, wherein the turning mechanism comprises a fixing base, a turning platform, a turning cylinder and a rotating shaft, the turning cylinder is fixed on the fixing base, one end of the rotating shaft is connected with the turning cylinder, the other end of the rotating shaft is connected to the fixing base, one end of the turning platform is fixed on the rotating shaft, and the turning platform is provided with a plurality of vacuum suction heads.

3. The robot of claim 2, further comprising a leveling mechanism, wherein the leveling mechanism is disposed on the other side of the rotating shaft away from the turning platform, the leveling mechanism is provided with a leveling platform, and the leveling platform is provided with a plurality of vacuum suction heads.

4. The robot of claim 1, wherein the carrier plate conveying mechanism comprises two parallel first guide rails, a limiting mechanism arranged on the first guide rails, and a transmission motor, the transmission motor drives the support plate on the first guide rail to translate through a belt, the limiting mechanism comprises a fixed plate, a first movable plate, a second movable plate and a first limiting cylinder, the fixed plate is fixedly arranged on the first guide rail, the fixed plate, the first movable plate and the second movable plate are arranged in parallel side by side, the first movable plate and the second movable plate are connected through two parallel connecting rods, compression springs are arranged on the connecting rods, the first limiting cylinder is arranged between the first movable plate and the second movable plate, and the piston end of the first limiting cylinder is fixedly connected with the second movable plate.

5. The robot of claim 4, wherein a second limiting cylinder is disposed on a side of the limiting mechanism parallel to the first guide rail, and a limiting protrusion is disposed at a piston end of the second limiting cylinder.

6. The robot of claim 4, wherein a width adjusting mechanism is disposed below the first guide rail, the width adjusting mechanism includes two parallel second guide rails, a first slide seat, a second slide seat, a transmission screw rod and an adjusting motor, the first slide seat is disposed on the second guide rail, the second slide seat is fixedly connected with the first slide seat and is disposed on the transmission screw rod in a penetrating manner, and the adjusting motor is connected with the transmission screw rod through a synchronizing wheel and a belt.

7. The robot of claim 1, wherein the first joint robot and the second joint robot are four-axis joint robots or six-axis joint robots.

8. The robot of claim 1, wherein a waste paper discharging mechanism is disposed on one side of the loading mechanism, the waste paper discharging mechanism includes a second lifting motor and a discharging platform, and the second lifting motor controls the discharging platform to lift.

9. The robot of claim 1, further comprising a plastic uptake box feeding mechanism and a finished product discharging mechanism.