CN215835607U

CN215835607U - Intelligent material receiving and releasing robot

Info

Publication number: CN215835607U
Application number: CN202120143181.9U
Authority: CN
Inventors: 赵长明; 李宏杰; 唐友
Original assignee: Shenzhen Gold Stone Intelligent Control Co ltd
Current assignee: Shenzhen Gold Stone Intelligent Control Co ltd
Priority date: 2021-01-19
Filing date: 2021-01-19
Publication date: 2022-02-15
Anticipated expiration: 2031-01-19

Abstract

The utility model provides an intelligent material receiving and placing robot, wherein after an FPC is sucked by a suction plate mechanism, film paper is jacked into an upper layer and a lower layer, the FPC is placed in the two layers of film paper, and a hot pressing process is carried out. And putting the membrane paper and the material into a hot press by using a vacuum suction plate assembly. The vertical lifting structure replaces the former mode that one side is fixed with a rotating shaft and the other side is jacked up by a cylinder. The lifting action is stable, the structure is reasonable and compact, the upper material taking position and the lower material taking position are consistent, the material taking positions are always parallel to the associated mechanisms, the clamping mechanism clamps the material to be discharged, the action to be realized is ensured to be reliable and stable, and the practical production is facilitated. The bidirectional stripping mode solves the uncontrollable factors of randomness, high failure rate, high product reject ratio and the like of the original unidirectional stripping, and the vertical lifting mechanism is matched with the bidirectional stripping mechanism to ensure that the whole production process is stable and controllable in logic.

Description

Intelligent material receiving and releasing robot

Technical Field

The utility model relates to the technical field of flexible circuit boards, in particular to an intelligent material receiving and releasing robot.

Background

At present, manual feeding is carried out in all industries, automatic equipment is not adopted to replace personnel for operation, and the problem that the industry cannot solve the pain point is not solved. Due to the fact that the FPC fast pressing process intelligent material receiving and releasing robot is high in temperature and large in heat dissipation, the working environment of personnel is poor, and the temperature of the working environment is as high as more than 40 ℃. The method mainly comprises the steps that no good automatic feeding mechanism exists due to the complex process, feeding is carried out in the form of a release film plus FPC plus the release film, certain viscosity exists after the pressing process, two pieces of film paper are separated from the FPC, the back of (some FPC products) needs to be recycled, and feeding of a very thin release film is difficult to achieve through a simple manipulator mode. The thickness of the release film is 0.125mm, 0.1mm and 30um, so that the production requirements cannot be met by a common feeding mode, and the technical difficulty which is not broken through in the field is also solved.

SUMMERY OF THE UTILITY MODEL

In view of the above, the present invention has been made to provide an intelligent pick and place robot that overcomes or at least partially solves the above problems.

In order to solve the above problems, the present invention discloses an intelligent material receiving and discharging robot, comprising: a gantry module, a paper feeding mechanism, a suction plate mechanism, a vertical lifting clamping mechanism, a bidirectional stripping mechanism, a pressing mechanism and a counterweight mechanism, the gantry module comprises a bracket, an X-axis slide rail, a Y-axis slide rail and a Z-axis slide rail, the suction plate mechanism is connected with the Z-axis slide rail in a sliding way, the paper feeding mechanisms are arranged at two ends of the gantry module, the bidirectional peeling mechanism, the pressing mechanism and the suction plate mechanism are arranged oppositely, the vertical lifting clamping mechanism is matched with the suction plate mechanism, the counterweight mechanism comprises a counterweight support and a counterweight component, the counterweight support is rotationally connected with the counterweight component, one end of the counterweight component is provided with a fixed weight, the other end of the counterweight component is movably provided with a counterweight element, the counterweight support is fixedly arranged on the support, and the counterweight mechanism and the discharging module are oppositely arranged.

Further, the vertical lift clamping mechanism includes: the fixed plate is vertically movably connected with the connecting column through a gear, one end of the connecting column is fixedly connected with the platform, and the platform is provided with a horizontal movable part.

Further, the bidirectional peeling mechanism includes: backup pad, two support columns, first power device, first peeling means and second peeling means, backup pad and external equipment fixed connection, two support column one end fixed connection respectively backup pad bottom surface both ends, the support column surface is equipped with parallel slide rail, first peeling means with the both ends of second peeling means are connected through the slider respectively on the slide rail, second peeling means one end with first power device's output is connected.

Furthermore, the paper feeding mechanism comprises a discharging module and a receiving module, and the discharging module and the receiving module are respectively arranged at two ends of the support.

Furthermore, the comb tooth structure is arranged at the upper end and the lower end of the gantry module.

Further, the broach structure includes the upper comb tooth, the upper comb tooth with the blowing module sets up relatively.

Furthermore, the broach structure includes lower floor's broach, lower floor's broach with receive the material module and set up relatively.

Furthermore, the suction plate mechanism comprises a base, a manifold block, two cross beams, at least two longitudinal beams and at least two suction nozzle units, one end of each cross beam is fixedly connected with the manifold block, the other end of each cross beam is fixedly connected with one longitudinal beam in a vertical mode, the longitudinal beam arranged at the end portion of each cross beam is a first longitudinal beam, at least two threaded holes distributed according to preset intervals are formed in each cross beam, the rest longitudinal beams are longitudinally and fixedly connected with the cross beams through the threaded holes, the suction nozzle units are connected with the longitudinal beams through threads, the manifold block is provided with vacuum air inlets and at least two vacuum connectors, the vacuum connectors are connected with the suction nozzle units, and the vacuum air inlets are connected with an external air pump.

Furthermore, the suction disc mechanism further comprises an ion bar and a paper pushing rod, the ion bar is fixedly connected with the cross beam and arranged in parallel with the longitudinal beam, and two ends of the paper pushing rod are connected with two ends of the first longitudinal beam through bearings.

Furthermore, the suction plate mechanism further comprises a protective cover, the protective cover is wrapped on the top surfaces of the cross beam and the longitudinal beam, and one end of the protective cover is fixedly connected with the two sides of the base.

The utility model has the following advantages: after the FPC is sucked by the sucking plate mechanism, the film paper is jacked into an upper layer and a lower layer, the FPC is placed in the two layers of film paper, and a hot pressing process is carried out. And putting the membrane paper and the material into a hot press by using a vacuum suction plate assembly. The vertical lifting structure replaces the former mode that one side is fixed with a rotating shaft and the other side is jacked up by a cylinder. The lifting action is stable, the structure is reasonable and compact, the upper material taking position and the lower material taking position are consistent, the material taking positions are always parallel to the associated mechanisms, the clamping mechanism clamps the material to be discharged, the action to be realized is ensured to be reliable and stable, and the practical production is facilitated. The bidirectional stripping mode solves the uncontrollable factors of randomness, high failure rate, high product reject ratio and the like of the original unidirectional stripping, and the vertical lifting mechanism is matched with the bidirectional stripping mechanism to ensure that the whole production process is stable and controllable in logic.

Drawings

Fig. 1 is a schematic structural diagram of an intelligent material receiving and releasing robot of the present invention.

1 blowing module, 2 receive the material module, 3 upper broach, 4 first peeling means, 5 second peeling means, 6 lower floor's broach, 7 suction disc mechanisms, 8 vertical lift fixture.

Detailed Description

In order to make the aforementioned objects, features and advantages of the present invention comprehensible, embodiments accompanied with figures are described in further detail below.

One of the core ideas of the utility model is to provide an intelligent material receiving and discharging robot, which comprises: the method comprises the following steps: the paper feeding device comprises a gantry module, a paper feeding mechanism, a plate sucking mechanism 7, a vertical lifting clamping mechanism 8, a two-way stripping mechanism and a pressing mechanism, wherein the gantry module comprises a support, an X-axis sliding rail, a Y-axis sliding rail and a Z-axis sliding rail, the plate sucking mechanism 7 is connected with the Z-axis sliding rail in a sliding mode, the paper feeding mechanism is arranged at two ends of the gantry module, the two-way stripping mechanism, the pressing mechanism and the plate sucking mechanism 7 are arranged oppositely, and the vertical lifting clamping mechanism 8 and the plate sucking mechanism 7 are arranged in a matched mode. The suction plate mechanism 7 sucks an FPC (flexible printed circuit), then pushes the film paper into upper and lower layers, places the FPC in the two layers of film paper, and performs a hot pressing process. And putting the membrane paper and the material into a hot press by using a vacuum suction plate assembly. The vertical lifting structure replaces the former mode that one side is fixed with a rotating shaft and the other side is jacked up by a cylinder. The lifting action is stable, the structure is reasonable and compact, the upper material taking position and the lower material taking position are consistent, the material taking positions are always parallel to the associated mechanisms, the clamping mechanism clamps the material to be discharged, the action to be realized is ensured to be reliable and stable, and the practical production is facilitated. The bidirectional stripping mode solves the uncontrollable factors of randomness, high failure rate, high product reject ratio and the like of the original unidirectional stripping, and the vertical lifting mechanism is matched with the bidirectional stripping mechanism to ensure that the whole production process is stable and controllable in logic.

Referring to fig. 1, which shows a schematic structural diagram of an intelligent material receiving and discharging robot of the present invention, in an initial state, a film paper is unwound from a film paper in a material discharging module 1 and sequentially passes through a paper feeding mechanism, upper comb teeth 3, a first upper peeling mechanism, a first lower peeling mechanism, a second upper peeling mechanism, a second lower peeling mechanism, lower comb teeth 6 and a film paper received in a material receiving module 2, an FPC to be processed is placed on a vertical lifting clamping mechanism 8, the FPC is sucked by the vertical lifting clamping mechanism 8 and a three-axis movement mechanism in cooperation with a suction plate mechanism 7, and exits to an original position after being pushed into the first upper peeling mechanism and the first lower peeling mechanism together with the film paper, the vertical lifting clamping mechanism 8 is connected with the second lower peeling mechanism to drive the first upper peeling mechanism, the first lower peeling mechanism and the second upper peeling mechanism to ascend, so as to realize a film combining process, the vertical lifting clamping mechanism 8 follows a mold to open, after the second upper stripping mechanism is driven by the cylinder to descend to the position basically attached to the second lower stripping mechanism, the lower comb teeth 6 pull the membrane paper downwards, and the motor in the first lower stripping mechanism pulls the membrane paper upwards to realize stripping the membrane paper from an FPC (flexible circuit board) up and down simultaneously. The FPC receiving mechanism and the vertical lifting clamping mechanism 8 are matched with the bidirectional stripping mechanism to clamp the FPC out, the action principle of an upper layer is the same as that of a lower layer, the first upper stripping mechanism descends to be close to the first lower stripping mechanism, a motor in the second upper stripping mechanism drives the first upper stripping mechanism to strip upper-wall lower-layer membrane paper, the upper-layer comb teeth 3 mechanism strips the upper-layer membrane paper, and after the FPC is collected, the receiving mechanism collects all the stored materials in the bidirectional stripping mechanism below the feeding mechanism. The machine table of the equipment corresponds to a press and is divided into two sides, an upper cavity and a lower cavity are arranged on each side, a three-axis motion mechanism, a suction plate mechanism 7 and an FPC placing motion platform are shared, the feeding step of the FPC is realized, and the other mechanisms are two groups, are bilaterally symmetrical and perform reciprocating continuous cycle operation. The counterweight mechanism comprises a counterweight support and a counterweight assembly, the counterweight support is connected with the counterweight assembly in a rotating mode, one end of the counterweight assembly is provided with fixed weight, the other end of the counterweight assembly is movably provided with a counterweight element, the counterweight support is fixedly arranged on the support, and the counterweight mechanism and the discharging module are arranged oppositely.

The intelligent material receiving and releasing robot in the embodiment may specifically include: the paper feeding device comprises a gantry module, a paper feeding mechanism, a plate sucking mechanism 7, a vertical lifting clamping mechanism 8, a two-way stripping mechanism and a pressing mechanism, wherein the gantry module comprises a support, an X-axis sliding rail, a Y-axis sliding rail and a Z-axis sliding rail, the plate sucking mechanism 7 is connected with the Z-axis sliding rail in a sliding mode, the paper feeding mechanism is arranged at two ends of the gantry module, the two-way stripping mechanism, the pressing mechanism and the plate sucking mechanism 7 are arranged oppositely, and the vertical lifting clamping mechanism 8 and the plate sucking mechanism 7 are arranged in a matched mode.

In this embodiment, the vertical lift gripping mechanism 8 includes: the fixed plate is vertically movably connected with the connecting column through a gear, one end of the connecting column is fixedly connected with the platform, and the platform is provided with a horizontal movable part. The fixed plate in this application is used for fixed mounting to equip at the complete machine, plays the fixed action, and above-mentioned spliced pole is used for connecting platform and fixed plate, and this application passes through gear connection on the spliced pole with platform and fixed plate, can realize that the platform removes on the spliced pole length direction, adopts the connected mode of gear, stable in structure, and the output is reliable. The horizontal movable part is arranged on the platform, so that flexible adjustment of the structure in the horizontal direction can be realized, flexible movement and clamping of the clamping structure in two directions in space are met, and the reliability of the clamping structure in movement in the vertical direction and the horizontal direction is improved. The lifting action is stable, the structure is reasonable and compact, the upper material taking position and the lower material taking position are consistent, the material taking positions are always parallel to the associated mechanisms, the clamping mechanism clamps the material to be discharged, the action to be realized is ensured to be reliable and stable, and the practical production is facilitated.

In this embodiment, the bidirectional peeling mechanism includes: backup pad, two support columns, first power device, first peeling means 4 and second peeling means 5, backup pad and external equipment fixed connection, two support column one end fixed connection respectively backup pad bottom surface both ends, the support column surface is equipped with parallel slide rail, first peeling means 4 with the both ends of second peeling means 5 are connected through the slider respectively on the slide rail, 5 one end of second peeling means with first power device's output is connected. Through setting up two peeling means in this application, realize two-way peeling off, the upper strata of both pressing the in-process soon is peeled off and lower floor peels off, first power device is used for realizing the control to second peeling means 5, all locate the slide rail on two pillars with first peeling means 4 and second peeling means 5, can realize the relative position change of first peeling means 4 and second peeling means 5, be connected with second peeling means 5 through first power device, realize whole two-way peeling means's preliminary positioning. Compared with the prior unidirectional stripping, the method has the advantages of low failure rate, small randomness, low product reject ratio, capability of realizing continuous production and strong stability of the whole production process.

In this embodiment, the paper advance mechanism includes blowing module 1 and receipts material module 2, blowing module 1 with receive material module 2 and locate respectively the both ends of support.

The comb tooth structure is arranged at the upper end and the lower end of the gantry module. The comb tooth structure includes broach motor, broach synchronizing wheel, fixed bars and activity bars, the broach motor can drive the broach synchronizing wheel rotates, and the broach synchronizing wheel drives through the lead screw the activity bars alternates in the clearance motion of fixed bars to the membrane paper that will locate between fixed bars and the activity bars is elongated, plays the effect of adjusting length, and lower floor's broach stimulates the membrane paper down simultaneously, and the motor among the first stripping off mechanism up draws the membrane paper, peels off membrane paper from FPC about realizing simultaneously, and the broach on the upper strata is the same reason.

In this embodiment, the broach structure includes upper comb tooth 3, upper comb tooth 3 with blowing module 1 sets up relatively.

In this embodiment, the broach structure includes lower floor's broach 6, lower floor's broach 6 with receive material module 2 and set up relatively.

In this embodiment, the suction plate mechanism includes base, manifold block, two crossbeams, two at least longerons and two at least suction nozzle units, the one end of crossbeam with manifold block fixed connection, the perpendicular fixed connection of the other end and a longeron locate the longeron of crossbeam tip is first longeron 1, be equipped with two at least screw holes of laying according to predetermineeing the interval on the crossbeam, all the other longerons pass through the screw hole vertically with crossbeam fixed connection, the suction nozzle unit with the longeron passes through threaded connection, the manifold block is equipped with vacuum inlet 2 and two at least vacuum joint 1, vacuum joint 1 with the suction nozzle unit is connected, vacuum inlet 2 is connected with outside air pump. The suction plate mechanism further comprises an ion rod and a paper pushing rod, the ion rod is fixedly connected with the cross beam and arranged in parallel with the longitudinal beam, and two ends of the paper pushing rod are connected to two ends of the first longitudinal beam 1 through bearings. The suction plate mechanism further comprises a protective cover, the protective cover is wrapped on the top surfaces of the cross beams and the longitudinal beams, and one end of the protective cover is fixedly connected with the two sides of the base. The suction nozzle units are connected with the vacuum joints 1 on the manifold block through air pipes, the vacuum air inlet holes 2 on the manifold block are connected with an external air pump, and the vacuum air inlet holes 2 are distributed into the suction nozzle units through the manifold block, so that the number of the air pipes of the suction plate and the equipment body is reduced, and the switching of the actual number of the used suction nozzles generated due to different sizes of products is facilitated. The base is connected with the Z-axis slide rail in a sliding mode. Adopt air pump and suction nozzle unit to be connected, when being relative with the FPC of suction nozzle unit, start the air pump, realize the absorption to FPC. The accident rate of manual transfer is reduced, and meanwhile, the precision of FPC adsorption is improved. In this application the longeron pass through the screw thread with crossbeam fixed connection is equipped with the screw hole of predetermineeing the interval on the crossbeam, can be through the position of adjusting the screw hole that crossbeam and longeron are connected, and then realize each crossbeam interval to realize not unidimensional FPC's absorption. Be equipped with the bar groove on the crossbeam for pass through the suction nozzle unit the bar groove is fixed, is in through adjusting the suction nozzle unit the position of bar inslot, and then adjusts the position of suction nozzle unit to adapt to the absorption of different FPC sizes.

In this embodiment, the suction disc mechanism further comprises an ion bar and a paper pushing rod, the ion bar is fixedly connected with the cross beam and arranged in parallel with the longitudinal beam, and two ends of the paper pushing rod are connected with two ends of the first longitudinal beam 1 through bearings. In an embodiment, the paper pushing rod is configured as a release film guide roller, the paper guide rod is used for feeding the release film into the hot pressing cavity, and in an embodiment, the paper pushing rod is configured as a cylinder, which is beneficial to reducing the resistance of the paper pushing rod for feeding the release film into the cavity. Two ends of the paper pushing rod are rotatably connected with the first longitudinal beam 1 through bearings. The contact friction of the paper pushing rod and the release film can be reduced, the paper pushing rod is prevented from being adhered to the release film, the paper guiding efficiency is improved, and the hot pressing speed is increased. And the top surface of the beam is provided with a static-removing ion bar. Above-mentioned ion stick passes through the ion stick mounting panel and installs on above-mentioned crossbeam, and electrostatic interference can fundamentally be solved to the ion stick, can reduce the suction disc body simultaneously and from the adhesion condition of type membrane.

In this embodiment, the suction plate mechanism further includes a shield, the shield is wrapped on the top surfaces of the cross beam and the longitudinal beam, and one end of the shield is fixedly connected with two sides of the base. The top surface of the protective cover is also provided with a plurality of protruding parts, and the protruding parts are used for reducing friction with the surface of the release film, so that adhesion is avoided, and static electricity is reduced. The interference of static electricity on the adsorption process of the FPC is avoided, and the subsequent hot pressing process is influenced.

Finally, it should also be noted that, herein, relational terms such as first and second, and the like may be used solely to distinguish one entity or action from another entity or action without necessarily requiring or implying any actual such relationship or order between such entities or actions. Also, the terms "comprises," "comprising," or any other variation thereof, are intended to cover a non-exclusive inclusion, such that a process, method, article, or terminal that comprises a list of elements does not include only those elements but may include other elements not expressly listed or inherent to such process, method, article, or terminal. Without further limitation, an element defined by the phrase "comprising an … …" does not exclude the presence of other like elements in a process, method, article, or terminal that comprises the element.

The intelligent material receiving and releasing robot provided by the utility model is described in detail, a specific example is applied in the description to explain the principle and the implementation mode of the utility model, and the description of the embodiment is only used for helping to understand the method and the core idea of the utility model; meanwhile, for a person skilled in the art, according to the idea of the present invention, there may be variations in the specific embodiments and the application scope, and in summary, the content of the present specification should not be construed as a limitation to the present invention.

Claims

1. The utility model provides an intelligence material robot that receives and releases which characterized in that includes: a gantry module, a paper feeding mechanism, a suction plate mechanism, a vertical lifting clamping mechanism, a bidirectional stripping mechanism, a pressing mechanism and a counterweight mechanism, the gantry module comprises a bracket, an X-axis slide rail, a Y-axis slide rail and a Z-axis slide rail, the suction plate mechanism is connected with the Z-axis slide rail in a sliding way, the paper feeding mechanisms are arranged at two ends of the gantry module, the bidirectional peeling mechanism, the pressing mechanism and the suction plate mechanism are arranged oppositely, the vertical lifting clamping mechanism is matched with the suction plate mechanism, the counterweight mechanism comprises a counterweight support and a counterweight component, the counterweight support is rotationally connected with the counterweight component, one end of the counterweight component is provided with a fixed weight, the other end of the counterweight component is movably provided with a counterweight element, the counterweight support is fixedly arranged on the support, and the counterweight mechanism and the discharging module are arranged oppositely.

2. The intelligent material receiving and discharging robot as claimed in claim 1, wherein the vertical lifting clamping mechanism comprises: the fixed plate is vertically movably connected with the connecting column through a gear, one end of the connecting column is fixedly connected with the platform, and the platform is provided with a horizontal movable part.

3. The intelligent material receiving and discharging robot according to claim 1, wherein the bidirectional peeling mechanism comprises: backup pad, two support columns, first power device, first peeling means and second peeling means, backup pad and external equipment fixed connection, two support column one end fixed connection respectively backup pad bottom surface both ends, the support column surface is equipped with parallel slide rail, first peeling means with the both ends of second peeling means are connected through the slider respectively on the slide rail, second peeling means one end with first power device's output is connected.

4. The intelligent material receiving and discharging robot as claimed in claim 1, wherein the paper feeding mechanism comprises a material receiving module and a material discharging module, and the material receiving module and the material discharging module are respectively arranged at two ends of the bracket.

5. The intelligent material receiving and discharging robot as claimed in claim 4, further comprising comb structures arranged at the upper end and the lower end of the gantry module.

6. The intelligent material receiving and discharging robot according to claim 5, wherein the comb structure comprises upper comb teeth, and the upper comb teeth are arranged opposite to the material discharging module.

7. The intelligent material receiving and discharging robot according to claim 5, wherein the comb structure comprises a lower layer of comb teeth, and the lower layer of comb teeth is arranged opposite to the material receiving module.

8. The intelligent material receiving and discharging robot as claimed in claim 1, wherein the suction plate mechanism comprises a base, a manifold block, two cross beams, at least two longitudinal beams and at least two suction nozzle units, one end of each cross beam is fixedly connected with the manifold block, the other end of each cross beam is vertically and fixedly connected with one longitudinal beam, the longitudinal beam arranged at the end part of each cross beam is a first longitudinal beam, at least two threaded holes distributed at preset intervals are formed in each cross beam, the other longitudinal beams are longitudinally and fixedly connected with the cross beams through the threaded holes, the suction nozzle units are connected with the longitudinal beams through threads, each manifold block is provided with a vacuum air inlet hole and at least two vacuum joints, each vacuum joint is connected with the suction nozzle unit, and each vacuum air inlet hole is connected with an external air pump.

9. The intelligent material receiving and discharging robot according to claim 8, wherein the suction plate mechanism further comprises an ion rod and a paper pushing rod, the ion rod is fixedly connected with the cross beam and arranged in parallel with the longitudinal beam, and two ends of the paper pushing rod are connected to two ends of the first longitudinal beam through bearings.

10. The intelligent material receiving and discharging robot as claimed in claim 8, wherein the suction plate mechanism further comprises a shield, the shield is wrapped on the top surfaces of the cross beam and the longitudinal beam, and one end of the shield is fixedly connected with two sides of the base.