CN212049521U - High-precision positioning feeding and discharging system for ultrathin plates and high-precision plates - Google Patents
High-precision positioning feeding and discharging system for ultrathin plates and high-precision plates Download PDFInfo
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- CN212049521U CN212049521U CN201922435429.4U CN201922435429U CN212049521U CN 212049521 U CN212049521 U CN 212049521U CN 201922435429 U CN201922435429 U CN 201922435429U CN 212049521 U CN212049521 U CN 212049521U
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Abstract
The utility model discloses an unloading system in high accuracy location of ultra-thin plate and high-precision plate belongs to mechanical equipment technical field. According to the high-precision positioning feeding and discharging system, stable transmission of ultrathin plates and high-precision plates among the feeding conveying mechanism, the discharging conveying mechanism and the exposure machine working table is realized in a conveying belt mode, meanwhile, the adsorption plates are adopted for adsorption during adsorption, and the adsorption plates are provided with the adsorption plate elastic buffer structures, so that the buffer effect can be realized, and the plates are prevented from being damaged in the processes of adsorption and vacuum breaking placement; further, the plate conveying surface of the conveying belt is supported by the high-density conveying belt supporting roller to ensure the flatness of the plate conveying surface of the supporting conveying belt, so that the plate is conveyed stably without inclination and scratch. Furthermore, the adsorption plate can be correspondingly adjusted according to the size of the plate, the adsorption process is more stable, and the condition that the plate falls and is scrapped due to unstable adsorption is avoided.
Description
Technical Field
The utility model relates to an unloading system in high accuracy location of ultra-thin plate and high-precision plate belongs to mechanical equipment technical field.
Background
In the full-automatic exposure process of the PCB, the exposure from the unexposed PCB to the PCB is completed, the transmission of the PCB, the absorption of the PCB, the high-precision positioning and feeding from the unexposed PCB to the worktable of the exposure machine and the blanking from the worktable of the exposure machine after the exposure of the PCB are completed are needed in the middle.
However, due to the particularity of the ultra-thin plate (the thickness of the plate is less than or equal to 0.05mm) and the high-precision plate, the plate is very easy to be broken, bent, abraded, dropped and the like in the whole automation process due to the automatic positioning, transmission, suction and the like, so that the plate is scrapped.
Therefore, there is a need for a loading and unloading system that can not cause damages such as folding, bending, and grinding to the plate, and can realize the exposure automation of ultra-thin plate (plate thickness is less than or equal to 0.05mm) and high precision plate.
SUMMERY OF THE UTILITY MODEL
In order to solve the problem, the utility model provides a go up unloading system in high accuracy location of ultra-thin plate and high-precision plate, include:
the automatic feeding and discharging system comprises a system supporting frame 2, a feeding conveying mechanism 21, a discharging conveying mechanism 22 and a joint manipulator 3 arranged on the system supporting frame 2;
the joint manipulator 3 is used for realizing the transmission of the plate among the feeding conveying mechanism 21, the blanking conveying mechanism 22 and the exposure machine working table 11;
the feeding conveying mechanism 21 and the discharging conveying mechanism 22 both comprise a plurality of conveying belt supporting rollers 213 and conveying belts 212 arranged thereon, the plurality of conveying belt supporting rollers 213 are arranged at the same height on the supporting frame 211, and the conveying belts 212 are supported to ensure that the plates are stably conveyed on the conveying belts 212.
In one embodiment, a feeding and conveying material detecting device 231, a feeding and conveying in-place detecting device 232 and a plate outside positioning detecting device 233 are arranged at the upper side of the system supporting frame 2 corresponding to the feeding and conveying mechanism 21; a blanking and feeding detection device 241 and a blanking and feeding detection device 242 are arranged at the position, corresponding to the blanking and conveying mechanism 22, on the upper side of the system supporting frame 2;
the feeding and conveying detection device 231, the feeding and conveying in-place detection device 232, the discharging and conveying detection device 241, the discharging and conveying plate detection device 242 and the plate outer side positioning detection device 233 are all composed of two or more photoelectric sensors, and the photoelectric sensors in each direction are arranged on the same straight line.
The plate outer side positioning detection device 233 is used for assisting the joint manipulator 3 to complete the positioning of the plate together with the feeding, conveying and feeding detection device 231 and the feeding, conveying and in-place detection device 232;
in one embodiment, the photosensor is a laser sensor.
In one embodiment, the system support frame 2 is further provided with: the plate alignment detection camera 234;
the plate alignment detection camera 234 includes a CCD sensor and an auxiliary illumination light source, and is used to provide a reference for the alignment of the plate by the joint robot 3 in an image manner, and to confirm whether the joint robot 3 has aligned the plate.
In one embodiment, the joint robot 3 has a suction jig 31, and the suction jig 31 includes a jig support beam 310, a fixed adsorption plate 311, and a movable adsorption plate; the fixed adsorption plate 311 and the movable adsorption plate are used for adsorbing the ultrathin plate and the high-precision plate;
wherein the fixed absorption plate 311 is fixed on the jig support beam 310, and the movable absorption plate is connected with the jig support beam 310 through an absorption adjustment shaft.
In one embodiment, the movable suction plate includes a left suction plate 312 and a right suction plate 313; the adsorption adjusting shafts correspondingly comprise a left adsorption adjusting shaft 3120 and a right adsorption adjusting shaft 3130;
the left adsorption adjusting shaft 3120 is connected to the left adsorption plate 312 and the fixed adsorption plate 311, and is used for adjusting a distance between the left adsorption plate 312 and the fixed adsorption plate 311;
the right adsorption adjusting shaft 3130 is connected to the right adsorption plate 313 and the fixed adsorption plate 311, and is used to adjust a distance between the right adsorption plate 313 and the fixed adsorption plate 311.
In one embodiment, the fixed adsorption plate 311 and the movable adsorption plate each include: adsorption support 3111, adsorption plate elastic buffer 3112 and adsorption plate adsorption face 3113.
In one embodiment, the transmission belt 212 is a transmission belt color with a color greatly different from the gray scale value of the PCB.
In one embodiment, the distance between the plurality of conveyor belt supporting rollers 213 is 50 to 80 mm.
In one embodiment, the feeding conveyor 21 and the discharging conveyor 22 are disposed at the same height position as the system support frame 2 and the exposure machine worktable 11, so as to ensure the rapid and stable transmission of the plate members among the feeding conveyor 21, the discharging conveyor 22 and the exposure machine worktable 11;
the utility model has the advantages that:
the utility model provides a high accuracy location unloading system in last unloading of ultra-thin plate and high-accuracy plate realizes through the transmission band mode that ultra-thin plate and high-accuracy plate carry out steady transmission between material loading conveyor, unloading conveyor and exposure machine table surface, adopts the adsorption plate to adsorb simultaneously when adsorbing, and has the adsorption plate elastic buffer structure on the adsorption plate, can play the cushioning effect to avoid the plate to cause the damage in the process of having inhaled and having disconnected vacuum to place; further, the plate conveying surface of the conveying belt is supported by the high-density conveying belt supporting roller to ensure the flatness of the plate conveying surface of the supporting conveying belt, so that the plate is conveyed stably without inclination and scratch. Furthermore, the adsorption plate can be correspondingly adjusted according to the size of the plate, so that the adsorption process is more stable, and the condition that the plate falls and is scrapped due to unstable adsorption is avoided; furthermore, the feeding detection device for feeding and conveying, the feeding detection device for in-place feeding, the plate outer side positioning detection device for feeding and conveying, and the feeding detection device for discharging and the plate detection device for discharging and conveying are all composed of a plurality of two or more photoelectric sensors, and the plurality of photoelectric sensors are guaranteed to be arranged on the same straight line. By means of the simultaneous detection scheme of the sensors, when the joint manipulator positions and adjusts the unexposed plate, the positioning accuracy of the unexposed plate in the X direction and the Y direction can reach +/-0.5 mm, wherein the X direction is the plate conveying direction, and the Y direction is the direction perpendicular to the conveying direction on the horizontal plane; meanwhile, the transmission belt adopts colors with larger difference with the gray value of the plate as the colors of the transmission belt, so that various sensors can successfully detect the plate.
Drawings
Fig. 1 and fig. 2 are schematic perspective views of an exposure machine including the high-precision positioning loading and unloading system provided by the present application in two orientations, respectively.
Fig. 3 is a schematic structural view of the feeding conveyor mechanism.
Fig. 4 is a schematic structural diagram of the suction jig.
Fig. 5 is an enlarged view of the structure of the fixed adsorption plate.
Detailed Description
The following is a detailed description of the present invention.
Example 1
Usually need go on in the PCB exposure machine and go up the unloading operation, so this embodiment explains as an example with the exposure machine that contains the unloading system in high accuracy location that this application provided, refer to fig. 1 to 5, the exposure machine includes the last unloading system in high accuracy location that table surface 11 of exposure device, exposure machine and this application provided, unloading system in high accuracy location includes: the automatic feeding and discharging system comprises a system supporting frame 2, a feeding conveying mechanism 21, a discharging conveying mechanism 22 and a joint manipulator 3 arranged on the system supporting frame 2;
the joint manipulator 3 is used for realizing the transmission of the plate among the feeding conveying mechanism 21, the blanking conveying mechanism 22 and the exposure machine working table 11;
the feeding conveying mechanism 21 and the discharging conveying mechanism 22 both comprise a plurality of conveying belt supporting rollers 213 and conveying belts 212 arranged thereon, the plurality of conveying belt supporting rollers 213 are arranged at the same height on the supporting frame 211, and the conveying belts 212 are supported to ensure that the plates are stably conveyed on the conveying belts 212.
The distance between each roller is 50 to 80mm, and the plurality of high-density conveying belt supporting rollers 213 support the PCB conveying surface of the conveying belt 212 to ensure the flatness of the PCB conveying surface supporting the conveying belt 212, thereby realizing the stable, non-inclined and non-scratched conveying of the PCB.
The transmission belt 212 adopts colors with larger gray value difference with the PCB as transmission belt colors so as to ensure that various sensors can successfully detect the PCB placed on the transmission belt. The conveying and conveying belt 212 is made of an integrated high-flexibility low-hardness material, ultrathin conveying is achieved through the integrated conveying belt, and the PCB is guaranteed not to be damaged when conveyed and sucked by the conveying and conveying belt 212.
Specifically, the conveying belt 212 may be made of kevlar, rubber, PVC, PU, or other materials, and a color having a gray value greatly different from that of the conveying plate is selected.
Such as: when the color of the plate is copper or silver with a lower gray value, the transmission belt 212 adopts gray with a higher gray value; when the color of the plate is gray black with a higher gray value, the transmission belt 212 adopts white or yellow with a lower gray value;
the grabbing end of the joint manipulator 3 is provided with a suction jig 31, and the suction jig 31 comprises a jig support beam 310, a fixed adsorption plate 311 and a movable adsorption plate; the fixed adsorption plate 311 and the movable adsorption plate are used for adsorbing the ultrathin plate and the high-precision plate;
wherein the fixed absorption plate 311 is fixed on the jig support beam 310, and the movable absorption plate is connected with the jig support beam 310 through an absorption adjustment shaft.
The suction jig 31 further comprises an adsorption adjusting shaft;
the movable suction plate includes a left suction plate 312 and a right suction plate 313; the adsorption adjusting shafts correspondingly comprise a left adsorption adjusting shaft 3120 and a right adsorption adjusting shaft 3130;
the left adsorption adjusting shaft 3120 is connected to the left adsorption plate 312 and the fixed adsorption plate 311, and is used for adjusting a distance between the left adsorption plate 312 and the fixed adsorption plate 311;
the right adsorption adjusting shaft 3130 is connected to the right adsorption plate 313 and the fixed adsorption plate 311, and is used to adjust a distance between the right adsorption plate 313 and the fixed adsorption plate 311.
A feeding and conveying detection device 231, a feeding and conveying in-place detection device 232 and a plate outer side positioning detection device 233 are arranged at the position, corresponding to the feeding and conveying mechanism 21, on the upper side of the system supporting frame 2; a blanking and feeding detection device 241 and a blanking and feeding detection device 242 are arranged at the position, corresponding to the blanking and conveying mechanism 22, on the upper side of the system supporting frame 2;
the feeding and conveying detection device 231, the feeding and conveying in-place detection device 232, the discharging and conveying detection device 241, the discharging and conveying plate detection device 242 and the plate outer side positioning detection device 233 are all composed of two or more photoelectric sensors, and it is ensured that the photoelectric sensors in each direction are installed on the same straight line.
The upper side of the system supporting frame 2 corresponding to the position of the feeding conveying mechanism 21 is further provided with: a plate outside positioning detection device 233 and a plate alignment detection camera 234;
the plate outer side positioning detection device 233 is composed of two or more photoelectric sensors, and is used for assisting the joint manipulator 3 to complete the positioning of the plate together with the feeding and feeding detection device 231 and the feeding and in-place detection device 232;
when the joint manipulator 3 carries out positioning adjustment to the unexposed PCB, the positioning accuracy of the unexposed PCB in the X direction and the Y direction can reach +/-0.5 mm, wherein the X direction is the conveying direction of the PCB, and the Y direction is the direction vertical to the conveying direction on the horizontal plane.
The plate alignment detection camera 234 includes a CCD sensor and an auxiliary illumination light source, and is used to provide a reference for the manipulator to align the plate in an image manner, and to confirm whether the manipulator aligns the plate by projecting the PCB plate to the pattern position of the CCD sensing matrix.
Specifically, the auxiliary lighting source is yellow or red in color.
The fixed adsorption plate 311 and the movable adsorption plate each include: adsorption support 3111, adsorption plate elastic buffer 3112 and adsorption plate adsorption face 3113.
The adsorption plate adsorption face 3113 is made of a low friction coefficient soft material, which includes: polytetrafluoroethylene, polyethylene, kevlar, rubber, PVC, PU, etc. So as to avoid the problem that the multiple plates on the contact surface of the jig and the plate cause scratches when the jig sucks the plate.
The feeding conveying mechanism 21 and the blanking conveying mechanism 22 are arranged at the positions of the system supporting frame 2 and the exposure machine working table 11 at the same height, so as to ensure that the plates are quickly and stably transmitted among the feeding conveying mechanism 21, the blanking conveying mechanism 22 and the exposure machine working table 11;
the utility model discloses a theory of operation:
for convenience of description, in the following description, the X direction is a plate conveying direction, and the Y direction is a direction perpendicular to the conveying direction on a horizontal plane.
When unexposed PCB boards are fed into the system by the front end equipment, the feeding and feeding detection 231 detects the PCB boards and gives a signal. At this time, the feeding conveyor mechanism 21 starts to operate, and the PCB 4 placed thereon is conveyed forward until the feeding in-place detection 232 detects the PCB 4, and the feeding conveyor mechanism 21 stops operating. The joint manipulator 3 moves to drive the sucking jig 31 to move above the PCB plate 4, the left adsorption adjusting shaft 3120 and the right adsorption adjusting shaft 3130 automatically move according to the input information of the PCB plate 4 to drive the left adsorption plate 312 and the right adsorption plate 313 to move until the two adsorption plates can just adsorb the PCB plate 4, and the sucking jig 31 stops the adsorption area adjusting movement and gives a signal.
The joint manipulator 3 moves vertically to drive the suction jig 31 to contact the PCB 4. After that, the vacuum equipment works to make the driving suction jig 31 suck the PCB 4, and a signal is given after the sucking is finished. The joint manipulator 3 adjusts the positions of the sucked PCB 4 in the X direction and the Y direction through joint action until the PCB 4 is monitored by a plurality of sensors which are adjusted to the feeding in-place detection 232 and the plate outside positioning detection 233, which shows that the joint manipulator 3 has adjusted the PCB 4 in place in the X direction and the Y direction.
The plate alignment detect 234 performs a second pattern verification on the aligned plate. After the PCB is normal, an instruction is given, the joint manipulator 3 moves to place the PCB 4 on the workbench surface 11 of the exposure machine, and then the joint manipulator 3 moves vertically to drive the suction jig 31 to ascend to a safe height away from the workbench surface 11 of the exposure machine.
The exposure machine working table 11 enters the exposure machine 1 to perform exposure action on the PCB 4, and when exposure is completed, the exposure machine working table 11 extends out of the exposure machine 1 to give an in-place signal. The joint manipulator 3 moves vertically to drive the suction jig 31 to contact the PCB 4. The suction jig 31 is driven to suck the exposed PCB 4, and a signal is given after the suction is completed. The joint manipulator 3 moves to place the plate on the blanking conveying mechanism 22, the blanking conveying feeding detection device 241 monitors that the exposure of the PCB is completed, the blanking conveying mechanism 22 starts to operate, the exposed plate is conveyed to the downstream working structure, and the signal of the plate disappears when the blanking conveying plate detection device 242 detects that the plate is completed, so that the plate is conveyed away, and a signal is given to wait for the next cycle.
The high-precision positioning feeding and discharging system provided by the invention has the advantages that stable transmission of ultrathin plates and high-precision plates among the feeding conveying mechanism, the discharging conveying mechanism and the workbench surface of the exposure machine is realized in a conveying belt mode, meanwhile, the adsorption plates are adopted for adsorption during adsorption, and the adsorption plates are provided with the adsorption plate elastic buffer structures, so that the buffer effect can be realized, and the plates are prevented from being damaged in the processes of adsorption and vacuum-breaking placement; further, the plate conveying surface of the conveying belt is supported by the high-density conveying belt supporting roller to ensure the flatness of the plate conveying surface of the supporting conveying belt, so that the plate is conveyed stably without inclination and scratch. Furthermore, the adsorption plate can be correspondingly adjusted according to the size of the plate, so that the adsorption process is more stable, and the condition that the plate falls and is scrapped due to unstable adsorption is avoided; furthermore, the feeding detection device for feeding and conveying, the feeding detection device for in-place feeding, the plate outer side positioning detection device for feeding and conveying, and the feeding detection device for discharging and the plate detection device for discharging and conveying are all composed of a plurality of two or more photoelectric sensors, and the plurality of photoelectric sensors are guaranteed to be arranged on the same straight line. By means of the simultaneous detection scheme of the sensors, the positioning accuracy of the unexposed plate in the X direction and the Y direction can reach +/-0.5 mm when the joint manipulator positions and adjusts the unexposed plate; meanwhile, the transmission belt adopts colors with larger difference with the gray value of the plate as the colors of the transmission belt, so that various sensors can smoothly detect the plate placed on the transmission belt.
Although the present invention has been described with reference to the preferred embodiments, it should be understood that various changes and modifications can be made by those skilled in the art without departing from the spirit and scope of the invention.
Claims (10)
1. The utility model provides a go up unloading system in high accuracy location of ultra-thin plate and high-precision plate which characterized in that includes:
the automatic feeding and discharging device comprises a system supporting frame (2), a feeding conveying mechanism (21), a discharging conveying mechanism (22) and a joint manipulator (3) arranged on the system supporting frame (2);
the joint manipulator (3) is used for realizing the transmission of the plate among the feeding conveying mechanism (21), the blanking conveying mechanism (22) and the workbench surface (11) of the exposure machine;
the feeding conveying mechanism (21) and the discharging conveying mechanism (22) comprise a plurality of conveying belt supporting rollers (213) and conveying belts (212) arranged on the conveying belt supporting rollers, the plurality of conveying belt supporting rollers (213) are arranged at the same height on a supporting frame (211), and the conveying belts (212) are supported to guarantee that plates are stably conveyed on the conveying belts (212).
2. The high-precision positioning loading and unloading system for ultra-thin plates and high-precision plates as claimed in claim 1, wherein a loading, conveying and feeding detection device (231), a loading, conveying and in-place detection device (232) and a plate outside positioning detection device (233) are arranged at the upper side of the system supporting frame (2) corresponding to the loading and conveying mechanism (21); a blanking and feeding detection device (241) and a blanking and feeding detection device (242) are arranged at the position, corresponding to the blanking and conveying mechanism (22), on the upper side of the system supporting frame (2);
the feeding and conveying detection device (231), the feeding and conveying in-place detection device (232), the discharging and conveying feeding detection device (241), the discharging and conveying plate detection device (242) and the plate outer side positioning detection device (233) are all composed of two or more photoelectric sensors, and the photoelectric sensors in all directions are arranged on the same straight line.
3. The high-precision positioning loading and unloading system for the ultrathin plate and the high-precision plate as claimed in claim 2, wherein the photoelectric sensor is a laser sensor.
4. The high-precision positioning loading and unloading system for ultra-thin plates and high-precision plates according to claim 3, wherein the system supporting frame (2) is further provided with: a plate alignment detection camera (234);
the plate alignment detection camera (234) includes a CCD sensor and an auxiliary illumination light source.
5. The high-precision positioning loading and unloading system for ultra-thin plates and high-precision plates as claimed in any one of claims 1 to 4, wherein the joint robot (3) has a suction jig (31), and the suction jig (31) comprises a jig support beam (310), a fixed adsorption plate (311) and a movable adsorption plate; the fixed adsorption plate (311) and the movable adsorption plate are used for adsorbing the ultrathin plate and the high-precision plate;
wherein the fixed adsorption plate (311) is fixed on the jig supporting beam (310), and the movable adsorption plate is connected with the jig supporting beam (310) through the adsorption adjusting shaft.
6. The high-precision positioning loading and unloading system for ultra-thin plates and high-precision plates as recited in claim 5,
the movable adsorption plate comprises a left adsorption plate (312) and a right adsorption plate (313); the adsorption adjusting shafts correspondingly comprise a left adsorption adjusting shaft (3120) and a right adsorption adjusting shaft (3130);
the left adsorption adjusting shaft (3120) is connected with the left adsorption plate (312) and the fixed adsorption plate (311) and is used for adjusting the distance between the left adsorption plate (312) and the fixed adsorption plate (311);
the right adsorption adjusting shaft (3130) is connected with the right adsorption plate (313) and the fixed adsorption plate (311) and is used for adjusting the distance between the right adsorption plate (313) and the fixed adsorption plate (311).
7. The high-precision positioning loading and unloading system for ultra-thin plates and high-precision plates as claimed in claim 6, wherein the fixed adsorption plate (311) and the movable adsorption plate each comprise: adsorb support piece (3111), adsorption plate elasticity buffer structure (3112) and adsorption plate adsorption face (3113).
8. The high-precision positioning loading and unloading system for the ultrathin plate pieces and the high-precision plate pieces as claimed in any one of claims 1 to 4, wherein if the PCB plate pieces are copper or silver, the transmission belt (212) is gray; if the color of the PCB board is gray black, the transmission belt (212) adopts white or yellow.
9. The high-precision positioning loading and unloading system for ultra-thin plates and high-precision plates as claimed in claim 8, wherein the distance between the plurality of conveyor belt supporting rollers (213) is 50-80 mm.
10. The high-precision positioning loading and unloading system for ultra-thin plates and high-precision plates according to claim 1, wherein the loading conveyor mechanism (21) and the unloading conveyor mechanism (22) are disposed at the same height position of the system support frame (2) and the exposure machine worktable (11).
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| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201922435429.4U CN212049521U (en) | 2019-12-30 | 2019-12-30 | High-precision positioning feeding and discharging system for ultrathin plates and high-precision plates |
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| Application Number | Priority Date | Filing Date | Title |
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| CN201922435429.4U CN212049521U (en) | 2019-12-30 | 2019-12-30 | High-precision positioning feeding and discharging system for ultrathin plates and high-precision plates |
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| CN212049521U true CN212049521U (en) | 2020-12-01 |
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Cited By (2)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN110921326A (en) * | 2019-12-30 | 2020-03-27 | 无锡影速半导体科技有限公司 | High-precision positioning feeding and discharging system and high-precision positioning transmission method |
| CN112792253A (en) * | 2020-12-16 | 2021-05-14 | 格力电器（武汉）有限公司 | Automatic bending device |
-
2019
- 2019-12-30 CN CN201922435429.4U patent/CN212049521U/en active Active
Cited By (3)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN110921326A (en) * | 2019-12-30 | 2020-03-27 | 无锡影速半导体科技有限公司 | High-precision positioning feeding and discharging system and high-precision positioning transmission method |
| CN110921326B (en) * | 2019-12-30 | 2024-07-30 | 无锡影速半导体科技有限公司 | High-precision positioning feeding and discharging system and high-precision positioning transmission method |
| CN112792253A (en) * | 2020-12-16 | 2021-05-14 | 格力电器（武汉）有限公司 | Automatic bending device |
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