CN213801926U - Automatic feeding and discharging equipment control system of PCB drilling machine - Google Patents
Automatic feeding and discharging equipment control system of PCB drilling machine Download PDFInfo
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- CN213801926U CN213801926U CN202022847828.4U CN202022847828U CN213801926U CN 213801926 U CN213801926 U CN 213801926U CN 202022847828 U CN202022847828 U CN 202022847828U CN 213801926 U CN213801926 U CN 213801926U
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Abstract
The utility model discloses an automatic unloading equipment control system that goes up of PCB drilling machine, including PLC, total control system and the automatic unloading equipment that goes up of PCB drilling machine, the automatic unloading equipment that goes up of PCB drilling machine includes intelligent robot travelling car AMR and the automatic unloader that goes up of cooperation robot, be equipped with AMR unit control system in the intelligent robot travelling car AMR, AMR dispatch system and ISS system, AMR unit control system passes through AMR dispatch system and ISS system signal connection, AMR unit control system is used for controlling the automatic unloader that goes up of intelligent robot travelling car AMR and cooperation robot, ISS system and total control system communication, total control system and PLC signal connection. The utility model discloses unloading equipment in accessible signal control PCB drilling machine automation to replace traditional artifical unloading of going up, whole process is the full automatization, has reduced the cost of labor, has improved machining efficiency, and sustainable stable operation.
Description
Technical Field
The utility model relates to a PCB board processing technology field, concretely relates to unloading equipment control system in PCB drilling machine automation.
Background
The PCB is also called a printed circuit board, and is an important electronic component, a support for electronic components, and a carrier for electrical connection of electronic components. It is called a "printed" circuit board because it is made using electronic printing. PCB boards have evolved from single-layer to double-sided, multi-layer, and flexible, and still maintain their respective trends. In PCB board production process, need punch to the PCB board, adopt the manual work to place the PCB board at present and process on the drilling machine, the artifical unloading of rethread after processing finishes, artifical intensity of labour is big, and machining efficiency relies on the staff completely, and after staff is tired, must influence machining efficiency, if adopt the mode of a plurality of staff's processing in turn, then the cost of labor is very high, and manual operation also has certain potential safety hazard simultaneously.
Disclosure of Invention
An object of the utility model is to overcome prior art not enough, provide an unloading equipment control system in PCB drilling machine automation, through the unloading equipment in control PCB drilling machine automation to replace traditional artifical unloading, greatly reduced cost of labor improves machining efficiency.
The technical scheme of the utility model as follows:
the utility model provides a PCB drilling machine automatic feeding and discharging equipment control system, includes PLC, total control system and at least one PCB drilling machine automatic feeding and discharging equipment, PCB drilling machine automatic feeding and discharging equipment includes intelligent robot travelling car AMR and sets up automatic feeding and discharging device of cooperation robot on the intelligent robot travelling car AMR, be equipped with AMR unit control system, AMR dispatch system and ISS system in the intelligent robot travelling car AMR, the AMR unit control system passes through AMR dispatch system with ISS system signal connection, AMR unit control system is used for control automatic feeding and discharging device of intelligent robot travelling car AMR and cooperation robot, the ISS system pass through the http service with total control system sets up the communication, total control system with PLC signal connection.
Furthermore, the AMR single-machine control system comprises a navigation guide device, a path selection device, a vehicle driving device, a vehicle steering device and a loading and unloading operation device, wherein the navigation guide device, the path selection device, the vehicle driving device and the vehicle steering device are respectively in signal connection with the AMR of the intelligent robot moving trolley, and the loading and unloading operation device is in signal connection with the automatic loading and unloading device of the cooperative robot.
Furthermore, an automatic charging system is further arranged in the AMR of the intelligent robot moving trolley, and the automatic charging system is respectively electrically connected with the AMR of the intelligent robot moving trolley, the AMR single machine control system, the AMR scheduling system and the ISS system.
Furthermore, the automatic feeding and discharging equipment of the PCB drilling machine further comprises a main base frame arranged on the AMR of the intelligent robot travelling car, wherein the main base frame comprises a raw material frame, a cooked material frame and an electric control cabinet mounting frame, an electric control cabinet is arranged in the electric control cabinet mounting frame, the electric control cabinet mounting frame is arranged on one side of the cooked material frame, the raw material frame is arranged above the electric control cabinet mounting frame, and the automatic feeding and discharging device of the cooperative robot is arranged on the other side of the cooked material frame.
Further, the raw material rack is provided with a first opening for the automatic feeding and discharging device of the cooperative robot to extend into and take the PCB to be processed and a second opening for the automatic feeding and discharging device of the cooperative robot to feed materials, the second opening is communicated with the first opening, the first opening faces the automatic feeding and discharging device of the cooperative robot, the second opening is positioned at the top end of the raw material rack, a plurality of PCB positioning grooves to be processed are arranged on the first inner side wall and the second inner side wall opposite to the raw material rack, the first opening is positioned on one side of the first inner side wall and the second inner side wall, a first limiting plate is arranged on the other side of the first inner side wall and the second inner side wall, a third opening for the automatic feeding and discharging device of the cooperative robot to extend into and place the processed PCB is arranged on the top end of the cooked material rack, a plurality of processed PCB positioning grooves are arranged on the third inner side wall and the fourth inner side wall opposite to the cooked material rack, and a second limiting plate is arranged at the bottom end of the cooked material rack.
Further, automatic unloader that goes up of cooperation robot includes the manipulator controller, fixes six manipulators on the manipulator controller and fixes the unloading mechanism on the PCB board of six manipulator tail ends, unloading mechanism includes arm rotating electrical machines, pneumatic gripper, air pump, CCD and loop type light source on the PCB board, the arm rotating electrical machines is fixed the tail end of six manipulators, the arm rotating electrical machines is connected with pneumatic gripper through the connecting axle, pneumatic gripper passes through the air pump drive, CCD, loop type light source are fixed from top to bottom one side of connecting axle.
Further, the automatic loading and unloading equipment control system of the PCB drilling machine further comprises a simulation system, and the ISS system is communicated with the simulation system through http service.
Further, the automatic feeding and discharging equipment control system of the PCB drilling machine further comprises a visual display system, and the visual display system is in signal connection with the master control system.
Further, the automatic feeding and discharging equipment control system of the PCB drilling machine further comprises a storage logistics management system, and the storage logistics management system is in signal connection with the master control system.
Further, PLC includes input unit, output unit, microprocessor, memory, peripheral hardware interface, IO expansion interface and power, microprocessor respectively through input unit, output unit with total control system signal connection, microprocessor includes arithmetic unit and controller, the memory with the microprocessor electricity is connected, the memory includes system memory and user memory, peripheral hardware interface, IO expansion interface respectively with the microprocessor electricity is connected, the peripheral hardware interface is used for inserting external equipment, IO expansion interface is used for inserting expansion equipment, microprocessor with the power electricity is connected.
Compared with the prior art, the beneficial effects of the utility model reside in that:
the utility model discloses an automatic unloading equipment of going up of signal control PCB drilling machine, the automatic unloading equipment of going up of PCB drilling machine can replace the manual automatic unloading function of going up that realizes drilling machine processing PCB board, as the staff through the automatic unloader that goes up of cooperation robot, get from waiting of raw material frame and take and wait to process the PCB board in the PCB board constant head tank of processing, and will wait to process the PCB board and place and process on the drilling machine, PCB board processing is placed in the processed PCB board constant head tank of grog frame by the automatic unloader that goes up of cooperation robot after accomplishing again, whole process is the full automatization, can place a plurality of PCB boards in its raw material frame and the ripe material frame, continuous steady operation has been guaranteed, help improving machining efficiency.
Drawings
In order to more clearly illustrate the technical solutions of the embodiments of the present invention, the drawings required for the embodiments or the prior art descriptions will be briefly described below, and it is obvious that the drawings in the following description are only some embodiments of the present invention, and it is obvious for those skilled in the art to obtain other drawings without creative efforts.
Fig. 1 is a system block diagram of an automatic feeding and discharging equipment control system of a PCB drilling machine provided by the present invention;
fig. 2 is a schematic perspective view of the automatic feeding and discharging device of the PCB drilling machine of the present invention;
fig. 3 is the utility model discloses an automatic unloader that goes up of cooperation robot does not contain the spatial structure sketch map of pneumatic gripper.
Detailed Description
In order to make the objects, technical solutions and advantages of the present invention more clearly understood, the present invention will be further described in detail with reference to the accompanying drawings and embodiments. It should be understood that the specific embodiments described herein are merely illustrative of the invention and are not intended to limit the invention.
In order to explain the technical solution of the present invention, the following description is made by using specific examples.
Examples
As shown in fig. 1, the utility model provides a control system for automatic feeding and discharging equipment of a PCB drilling machine, which comprises a PLC 1, a master control system 2, a simulation system 3, a visual display system 4, a warehouse management system 5 and at least one automatic feeding and discharging equipment 6 of a PCB drilling machine, and as shown in fig. 2, the automatic feeding and discharging equipment 6 of a PCB drilling machine comprises an intelligent robot moving trolley AMR 61, a main base frame 62 and a cooperative robot automatic feeding and discharging device 63 which are arranged on the intelligent robot moving trolley AMR 61, the main base frame 62 comprises a raw material frame 621, a clinker frame 622 and an electric control cabinet mounting frame 623, the electric control cabinet is arranged in the electric control cabinet mounting frame 623, the electric control cabinet mounting frame 623 is arranged at one side of the clinker frame 622, the raw material frame 621 is arranged above the electric control cabinet mounting frame 623, the cooperative robot automatic feeding and discharging device 63 is arranged at the other side of the clinker frame 622, wherein, raw material frame 621 is used for placing the PCB board of waiting to process, ripe work frame 622 is used for placing the PCB board that has processed, and automatic unloader 63 that goes up of cooperation robot is used for accomplishing the unloading work of going up of PCB board. Be equipped with AMR stand-alone control system 7 in intelligent robot travelling car AMR 61, AMR dispatch system 8, ISS system 9, AMR stand-alone control system 7 passes through AMR dispatch system 8 and ISS system 9 signal connection, AMR stand-alone control system 7 is used for controlling intelligent robot travelling car AMR 61 and automatic unloader 63 that goes up of cooperative robot, ISS system 9 passes through http service and total control system 2, simulation system 3 establishes communication, total control system 2 respectively with PLC 1, visual display system 4, warehouse logistics management system 5 signal connection.
Furthermore, the AMR stand-alone control system 7 includes a navigation guide device 71, a route selection device 72, a vehicle driving device 73, a vehicle steering device 74 and a handling device 75, wherein the navigation guide device 71, the route selection device 72, the vehicle driving device 73 and the vehicle steering device 74 are respectively in signal connection with the intelligent robot moving trolley AMR 61, and the handling device 74 is in signal connection with the automatic loading and unloading device 63 of the cooperative robot. The AMR single machine control system 7 is responsible for controlling the functions of navigation guidance, path selection, vehicle driving, loading and unloading operation of the automatic loading and unloading device 63 of the cooperative robot and the like of the intelligent robot moving trolley AMR 61 after receiving the instruction of the upper system.
AMR 61 of the intelligent robot moving trolley adopts four-wheel independent drive and steering, has certain road surface adaptability, and a driving mechanism and driving wheels of the intelligent robot moving trolley adopt integrated modular processing so as to be convenient to use and maintain.
The intelligent robot moving trolley AMR 61 can be automatically charged, an automatic charging system 10 is further arranged in the intelligent robot moving trolley AMR 61, and the automatic charging system 10 is electrically connected with the intelligent robot moving trolley AMR 61, the AMR single machine control system 7, the AMR scheduling system 8 and the ISS system 9 respectively.
The automatic feeding and discharging equipment 6 of the PCB drilling machine can be in wireless communication with the master control system 2 through the ISS system 9, and the ISS system 9 can be compatible with a standard data communication protocol, so that the real-time performance and the reliability of information exchange are ensured; the frequency range of wireless communication meets the national wireless communication frequency use standard, and the working frequencies of wireless equipment (such as interphones) on the workshop site are not overlapped, so that mutual interference is prevented.
The AMR scheduling system 8 can communicate with the main control system 2 through the ISS system 9. The AMR scheduling system 8 can receive the scheduling task of the master control system 2 and feed back the completion information to the master control system 2; the AMR scheduling system 8 can provide information such as state monitoring signals, alarm information, transfer requests and the like and transmit the information to the master control system; the AMR scheduling system 8 can cooperate with the master control system 2 and the PLC 1 to complete the feeding and discharging interactive flow of the automatic feeding and discharging device 63 of the cooperative robot.
Specifically, the AMR scheduling system 8 and the master control system 2 perform data interaction in an http manner. The main control system 2 provides http service for the AMR scheduling system 8 to call, and the AMR scheduling system 8 provides information such as the running state, abnormity, task process and the like of the automatic feeding and discharging equipment 6 of the PCB drilling machine to the main control system 2 through the service. Meanwhile, the AMR scheduling system 8 provides http service for the main control system to call, and the main control system 2 provides information such as tasks, task process instructions, task processes and the like to the AMR scheduling system 8 through the service. The AMR scheduling system 8 and the master control system 2 are interactively cooperated in the above mode to complete different operations.
The AMR scheduling system 8 can perform data interaction with the simulation system 3 in an http mode. The simulation system 3 provides http service for the AMR dispatching system 8 to call, and the AMR dispatching system 8 provides information of the running state, the abnormity, the task process and the like of the automatic feeding and discharging equipment 6 of the PCB drilling machine to the simulation system 3 by calling the service.
The PLC 1 comprises an input unit 11, an output unit 12, a microprocessor 13, a memory 14, a peripheral interface 15, an I/O expansion interface 16 and a power supply 17, wherein the microprocessor 13 is in signal connection with a master control system 2 through the input unit 11 and the output unit 12 respectively, the microprocessor 13 comprises an arithmetic unit 131 and a controller 132, the memory 14 is electrically connected with the microprocessor 13, the memory 14 comprises a system memory 141 and a user memory 142, the peripheral interface 15 and the I/O expansion interface 16 are electrically connected with the microprocessor 13 respectively, the peripheral interface 15 is used for accessing external equipment, the I/O expansion interface 16 is used for accessing expansion equipment, and the microprocessor 13 is electrically connected with the power supply 17.
About the concrete structural design of raw material frame 621 and ripe material frame 622, as shown in fig. 2, raw material frame 621 is equipped with the first opening that supplies cooperation robot automatic unloader 63 to stretch into and get and treat the processing PCB board towards the one side of cooperation robot automatic unloader 63, raw material frame 621 is equipped with the second opening that makes things convenient for cooperation robot automatic unloader 63 to feed on, the second opening communicates with each other with first opening, raw material frame 621 relative first inside wall and second inside wall all are equipped with the waiting of a plurality of setting side by side and process PCB board constant head tank 6211, first opening is located one side of first inside wall and second inside wall, the opposite side of first inside wall and second inside wall is provided with first limiting plate 6212. And the top of grog frame 622 is equipped with and supplies cooperation robot automatic feeding unloader 63 to stretch into the third opening of placing the processing PCB board, and the third inside wall and the fourth inside wall that ripe work or material rest 622 is relative all are equipped with the processing PCB board constant head tank 6221 that a plurality of set up side by side, and the bottom of ripe work or material rest is provided with second limiting plate 6222.
Regarding the specific structural design of the automatic loading and unloading device 63 of the cooperative robot, as shown in fig. 3, the automatic loading and unloading device 63 of the cooperative robot includes a robot controller 631, a six-axis robot 632 fixed on the robot controller 631, and a PCB board loading and unloading mechanism 633 fixed at the tail end of the six-axis robot 632, where the PCB board loading and unloading mechanism 633 includes a robot arm rotating motor 6331, a pneumatic robot claw 6335, an air pump, a CCD 6333, and a ring-shaped light source 6334, the robot arm rotating motor 6331 is fixed at the tail end of the six-axis robot 632, the robot arm rotating motor 6331 is connected to the pneumatic robot claw 6335 through a connecting shaft 6332, the pneumatic robot claw 6335 is driven by the air pump, and the CCD 6333 and the ring-shaped light source 6334 are fixed up and down on one side of the connecting shaft 6332.
The principle of loading and unloading: the PCB positioning grooves 6211 to be processed on the first inner side wall and the second inner side wall of the raw material rack 621 can be inserted with a plurality of PCB boards to be processed, when the raw material rack is loaded, the manipulator controller 631 controls the six-axis manipulator 632 to drive the PCB loading and unloading mechanism 633 to extend into the raw material rack 621 through the first opening and take the PCB boards to be processed out of the PCB board positioning grooves 6211 to be processed, in the process, the PCB loading and unloading mechanism 633 takes a picture through the CCD 6333 for positioning, the annular light source 6334 provides illumination for the CCD 6333, the PCB boards to be processed are grabbed through the pneumatic mechanical claw 6335, and then the six-axis manipulator 632 takes the PCB boards to be processed out of the second opening and places the PCB boards to be processed on a drilling machine for processing; after the PCB is processed, the pneumatic gripper 6335 grips the processed PCB, and the six-axis manipulator 632 carries the processed PCB to extend into the cooked material rack 622 from the third opening and insert the processed PCB into the processed PCB positioning groove 6221.
The above description is only exemplary of the present invention and should not be construed as limiting the present invention, and any modifications, equivalents and improvements made within the spirit and principles of the present invention are intended to be included within the scope of the present invention.
Claims (10)
1. The utility model provides an unloading equipment control system in PCB drilling machine automation which characterized in that: including PLC, total control system and the automatic unloading equipment of going up of at least one PCB drilling machine, the automatic unloading equipment of going up of PCB drilling machine includes intelligent robot travelling car AMR and sets up automatic unloading device of going up of cooperation robot on the intelligent robot travelling car AMR, be equipped with AMR unit control system, AMR dispatch system and ISS system in the intelligent robot travelling car AMR, AMR unit control system passes through AMR dispatch system with ISS system signal connection, AMR unit control system is used for control automatic unloading device of going up of intelligent robot travelling car AMR and cooperation robot, ISS system pass through the http service with total control system establishes the communication, total control system with PLC signal connection.
2. The automatic feeding and discharging equipment control system of the PCB drilling machine as claimed in claim 1, wherein: the AMR single-machine control system comprises a navigation guide device, a path selection device, a vehicle driving device, a vehicle steering device and a loading and unloading operation device, wherein the navigation guide device, the path selection device, the vehicle driving device and the vehicle steering device are respectively in signal connection with the AMR of the intelligent robot moving trolley, and the loading and unloading operation device is in signal connection with the automatic loading and unloading device of the cooperative robot.
3. The automatic feeding and discharging equipment control system of the PCB drilling machine as claimed in claim 1, wherein: and an automatic charging system is also arranged in the AMR of the intelligent robot moving trolley, and the automatic charging system is respectively and electrically connected with the AMR of the intelligent robot moving trolley, the AMR single machine control system, the AMR scheduling system and the ISS system.
4. The automatic feeding and discharging equipment control system of the PCB drilling machine as claimed in claim 1, wherein: the automatic feeding and discharging equipment of the PCB drilling machine further comprises a main base frame arranged on the AMR of the intelligent robot travelling car, wherein the main base frame comprises a raw material frame, a cooked material frame and an electric control cabinet mounting frame, an electric control cabinet is arranged in the electric control cabinet mounting frame, the electric control cabinet mounting frame is arranged on one side of the cooked material frame, the raw material frame is arranged above the electric control cabinet mounting frame, and the automatic feeding and discharging device of the cooperative robot is arranged on the other side of the cooked material frame.
5. The automatic feeding and discharging equipment control system of the PCB drilling machine as claimed in claim 4, wherein: the automatic feeding and discharging device of the cooperation robot is provided with a first opening for the feeding of the automatic feeding and discharging device of the cooperation robot to stretch into and take the PCB to be processed and a second opening for the feeding of the automatic feeding and discharging device of the cooperation robot, the second opening is communicated with the first opening, the first opening faces the automatic feeding and discharging device of the cooperation robot, the second opening is positioned at the top end of the raw material frame, a plurality of PCB positioning grooves to be processed are arranged on a first inner side wall and a second inner side wall which are opposite to each other of the raw material frame, the first opening is positioned on one side of the first inner side wall and one side of the second inner side wall, a first limiting plate is arranged on the other side of the first inner side wall and the second inner side wall, a third opening for the feeding and discharging device of the cooperation robot to stretch into and place the processed PCB is arranged on the top end of the cooked material frame, a plurality of processed PCB positioning grooves are arranged on the third inner side wall and a fourth inner side wall which are opposite to each other of the cooked material frame, and a second limiting plate is arranged at the bottom end of the cooked material rack.
6. The automatic feeding and discharging equipment control system of the PCB drilling machine as claimed in any one of claims 1 to 5, wherein: automatic unloader that goes up of cooperation robot includes the manipulator controller, fixes six manipulators on the manipulator controller and fixes the unloading mechanism on the PCB board of six manipulator tail ends, unloading mechanism includes arm rotating electrical machines, pneumatic gripper, air pump, CCD and loop type light source on the PCB board, the arm rotating electrical machines is fixed the tail end of six manipulators, the arm rotating electrical machines is connected with pneumatic gripper through the connecting axle, pneumatic gripper passes through the air pump drive, CCD, loop type light source fix from top to bottom one side of connecting axle.
7. The automatic feeding and discharging equipment control system of the PCB drilling machine as claimed in claim 1, wherein: the automatic loading and unloading equipment control system of the PCB drilling machine further comprises a simulation system, and the ISS system is communicated with the simulation system through http service.
8. The automatic feeding and discharging equipment control system of the PCB drilling machine as claimed in claim 1, wherein: the automatic feeding and discharging equipment control system of the PCB drilling machine further comprises a visual display system, and the visual display system is in signal connection with the master control system.
9. The automatic feeding and discharging equipment control system of the PCB drilling machine as claimed in claim 1, wherein: the automatic feeding and discharging equipment control system of the PCB drilling machine further comprises a storage logistics management system, and the storage logistics management system is in signal connection with the master control system.
10. The automatic feeding and discharging equipment control system of the PCB drilling machine as claimed in claim 1, wherein: the PLC comprises an input unit, an output unit, a microprocessor, a memory, a peripheral interface, an I/O expansion interface and a power supply, wherein the microprocessor is respectively connected with the master control system through the input unit and the output unit through signals, the microprocessor comprises an arithmetic unit and a controller, the memory is electrically connected with the microprocessor, the memory comprises a system memory and a user memory, the peripheral interface and the I/O expansion interface are respectively electrically connected with the microprocessor, the peripheral interface is used for accessing external equipment, the I/O expansion interface is used for accessing the expansion equipment, and the microprocessor is electrically connected with the power supply.
Priority Applications (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN202022847828.4U CN213801926U (en) | 2020-12-02 | 2020-12-02 | Automatic feeding and discharging equipment control system of PCB drilling machine |
Applications Claiming Priority (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN202022847828.4U CN213801926U (en) | 2020-12-02 | 2020-12-02 | Automatic feeding and discharging equipment control system of PCB drilling machine |
Publications (1)
| Publication Number | Publication Date |
|---|---|
| CN213801926U true CN213801926U (en) | 2021-07-27 |
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Family Applications (1)
| Application Number | Title | Priority Date | Filing Date |
|---|---|---|---|
| CN202022847828.4U Active CN213801926U (en) | 2020-12-02 | 2020-12-02 | Automatic feeding and discharging equipment control system of PCB drilling machine |
Country Status (1)
| Country | Link |
|---|---|
| CN (1) | CN213801926U (en) |
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2020
- 2020-12-02 CN CN202022847828.4U patent/CN213801926U/en active Active
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| GR01 | Patent grant | ||
| GR01 | Patent grant | ||
| TR01 | Transfer of patent right | ||
| TR01 | Transfer of patent right |
Effective date of registration: 20211105 Address after: 523000 No. 77 Ruan Yong Road, Guancheng District, Dongguan City, Guangdong Province Patentee after: Fan Xiaohuan Address before: 523000 room 508, unit 1, building 2, Tian'an Digital City, No. 1, Huangjin Road, Nancheng street, Dongguan City, Guangdong Province Patentee before: Huayu Zhizao (Dongguan) Technology Co.,Ltd. Patentee before: Zhang Li |
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| TR01 | Transfer of patent right |
Effective date of registration: 20220321 Address after: 523465 508, building B1, Dongguan Tian'an Digital City, No. 1, Huangjin Road, Nancheng District, Dongguan City, Guangdong Province Patentee after: Fangyuan (Guangdong) robot technology Co.,Ltd. Address before: 523000 No. 77 Ruan Yong Road, Guancheng District, Dongguan City, Guangdong Province Patentee before: Fan Xiaohuan |