CN216234842U - A two-point edge patrol positioning pick and place board device - Google Patents

A two-point edge patrol positioning pick and place board device Download PDF

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CN216234842U
CN216234842U CN202122964471.2U CN202122964471U CN216234842U CN 216234842 U CN216234842 U CN 216234842U CN 202122964471 U CN202122964471 U CN 202122964471U CN 216234842 U CN216234842 U CN 216234842U
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pick
edge
place board
point edge
material rack
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赵卫平
颜朝信
朱辉
陈艺波
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Symtek Automation Dongguan Co Ltd
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Symtek Automation Dongguan Co Ltd
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Abstract

The utility model relates to the technical field of circuit boards, in particular to a two-point edge-inspection positioning board taking and placing device which comprises a material rack, a two-point edge-inspection mechanism and a board taking and placing mechanism arranged on one side of the material rack, wherein the two-point edge-inspection mechanism comprises a fixed frame arranged on one side of the material rack, and a first edge-inspection sensor and a second edge-inspection sensor which are respectively arranged on the fixed frame, and the first edge-inspection sensor and the second edge-inspection sensor are arranged in a linear arrangement mode. The circuit board transfer positioning device is simple in structure, realizes positioning of the circuit board in a non-contact mode, reduces the risk of contact friction of the circuit board, ensures the quality of the circuit board in the transfer process, automatically induces and positions, shortens the positioning time, improves the board taking and placing effect, and improves the stability and precision of transfer of the circuit board.

Description

一种两点巡边定位取放板装置A two-point edge patrol positioning pick and place board device

技术领域technical field

本实用新型涉及线路板技术领域,尤其是指一种两点巡边定位取放板装置。The utility model relates to the technical field of circuit boards, in particular to a two-point edge patrol positioning picking and placing board device.

背景技术Background technique

在线路板生产工艺中,每一步工艺有着不一样生产配置,随着自动化设备投入产线中,线路板往往需要高精度定位后进入下一步工序生产。目前,线路板自动定位取料存在精度及品质的缺陷,并且板件会出现倾斜不水平的问题,同时需要花费大量人力及时间来对产品定位校正,影响后工序的作业生产,导致产线效率偏低,满足不了产能需求,加上板件大部分为接触式定位,不利于板件品质要求,后期板件修复成本过高,对工厂经济效益大打折扣。因此,缺陷十分明显,亟需提供一种解决方案。In the circuit board production process, each step of the process has a different production configuration. As automation equipment is put into the production line, the circuit board often requires high-precision positioning and then enters the next process of production. At present, the automatic positioning and reclaiming of circuit boards have defects in accuracy and quality, and the board will be tilted and not level. At the same time, it takes a lot of manpower and time to correct the product positioning, which affects the operation and production of the subsequent process, resulting in the efficiency of the production line. On the low side, it cannot meet the production capacity requirements. In addition, most of the panels are contact-based positioning, which is not conducive to the quality requirements of the panels. The cost of repairing the panels in the later stage is too high, which greatly reduces the economic benefits of the factory. Therefore, the defects are very obvious, and there is an urgent need to provide a solution.

实用新型内容Utility model content

为了解决上述技术问题,本实用新型的目的在于提供一种两点巡边定位取放板装置。In order to solve the above technical problems, the purpose of the present invention is to provide a two-point edge patrol positioning pick and place board device.

为了实现上述目的,本实用新型采用如下技术方案:In order to achieve the above purpose, the utility model adopts the following technical solutions:

一种两点巡边定位取放板装置,其包括料架、两点巡边机构及设置于料架的一侧的取放板机构,所述两点巡边机构包括装设于料架的一侧的固定架及分别装设于固定架的第一巡边感应器和第二巡边感应器,所述第一巡边感应器和第二巡边感应器呈直线排列设置。A two-point edge inspection positioning pick-and-place board device, which comprises a material rack, a two-point edge inspection mechanism and a pick-and-place plate mechanism arranged on one side of the material rack, the two-point edge inspection mechanism includes a material rack installed on the material rack. A fixing frame on one side and a first edge tracking sensor and a second edge tracking sensor respectively installed on the fixing frame, the first edge tracking sensor and the second edge tracking sensor are arranged in a straight line.

进一步地,所述两点巡边定位取放板装置还包括升降机构,所述料架与升降机构的升降端可拆卸地连接。Further, the two-point edge patrol positioning pick-and-place board device further includes a lifting mechanism, and the material rack is detachably connected to the lifting end of the lifting mechanism.

进一步地,所述升降机构包括支架、装设于支架的直线驱动模组、与直线驱动模组的升降端连接的升降台,所述料架与升降台可拆卸地连接。Further, the lifting mechanism includes a bracket, a linear drive module installed on the bracket, and a lift table connected to the lifting end of the linear drive module, and the material rack is detachably connected to the lift table.

进一步地,所述料架的底部装设有车轮。Further, the bottom of the material rack is provided with wheels.

进一步地,所述料架包括料台及设置于料台的L型储板槽,所述L型储板槽倾斜设置。Further, the material rack includes a material table and an L-shaped plate storage groove arranged on the material table, and the L-shaped plate storage groove is arranged obliquely.

进一步地,所述升降台的中部设置有避让空间,所述料架位于避让空间内,所述料架的两侧均设置有承托部,所述承托部与升降台的顶面抵触。Further, an avoidance space is provided in the middle of the lifting platform, the material rack is located in the avoidance space, and both sides of the material rack are provided with bearing parts, and the bearing parts are in conflict with the top surface of the lifting platform.

进一步地,所述取放板机构包括底座、装设于底座的六轴机械手及装设于六轴机械手的输出端的吸盘组件。Further, the pick-and-place plate mechanism includes a base, a six-axis manipulator mounted on the base, and a suction cup assembly mounted on an output end of the six-axis manipulator.

进一步地,所述两点巡边定位取放板装置还包括可编程逻辑控制器,所述第一巡边感应器、第二巡边感应器和取放板机构均与可编程逻辑控制器电连接。Further, the two-point edge patrol positioning pick and place board device also includes a programmable logic controller, and the first edge patrol sensor, the second edge patrol sensor and the pick and place board mechanism are all electrically connected to the programmable logic controller. connect.

进一步地,所述两点巡边定位取放板装置还包括用于吊挂线路板的挂架,所述挂架位于取放板机构的一侧。Further, the two-point edge patrol positioning pick-and-place board device further includes a hanger for hanging the circuit board, and the hanger is located on one side of the pick-and-place board mechanism.

本实用新型的有益效果:在实际应用中,大量线路板叠放在料架上,取放板机构拾取料架上的线路板,接着取放板机构将拾取的线路板移动至第一巡边感应器和第二巡边感应器处,通过第一巡边感应器和第二巡边感应器对线路板的板边进行检查,以实现两点巡边感应定位,再通过可编程逻辑控制器对第一巡边感应器和第二巡边感应器所感应的结果进行程序运算,确定取放板机构将线路板转移至挂架的距离以及所需调整的角度,从而实现对线路板进行准确定位,保证取放板机构能够稳定、精准和准确地将线轮板转移至挂架上。本实用新型的结构简单,采用非接触的方式实现对线路板的定位,减小了接触摩擦线路板的风险,保证了线路板在转移过程中的质量,自动化感应定位,缩短了定位的时间,提高了取放板的效果,且提高了对线路板进行转移的稳定性和精度。The beneficial effects of the utility model: in practical application, a large number of circuit boards are stacked on the material rack, the pick-and-place board mechanism picks up the circuit boards on the material rack, and then the pick-and-place board mechanism moves the picked up circuit boards to the first patrol edge At the sensor and the second edge patrol sensor, the board edge of the circuit board is checked through the first edge patrol sensor and the second edge patrol sensor to achieve two-point edge patrol induction positioning, and then through the programmable logic controller Perform program operation on the results sensed by the first edge patrol sensor and the second edge patrol sensor to determine the distance that the pick-and-place board mechanism transfers the circuit board to the hanger and the angle that needs to be adjusted, so as to realize the accurate detection of the circuit board. Positioning ensures that the pick-and-place plate mechanism can stably, precisely and accurately transfer the reel plate to the hanger. The utility model has a simple structure, realizes the positioning of the circuit board in a non-contact manner, reduces the risk of contacting and rubbing the circuit board, ensures the quality of the circuit board during the transfer process, automates the induction positioning, and shortens the positioning time. The effect of picking and placing the board is improved, and the stability and precision of transferring the circuit board are improved.

附图说明Description of drawings

图1为本实用新型的立体结构示意图。FIG. 1 is a schematic diagram of the three-dimensional structure of the present invention.

图2为本实用新型的两点巡边机构的立体结构示意图。FIG. 2 is a schematic three-dimensional structure diagram of the two-point edge patrol mechanism of the present invention.

附图标记说明:Description of reference numbers:

1、料架;2、两点巡边机构;3、取放板机构;4、固定架;5、第一巡边感应器;6、第二巡边感应器;7、升降机构;8、支架;9、直线驱动模组;10、升降台;11、车轮;12、料台;13、L型储板槽;14、避让空间;15、承托部;16、底座;17、六轴机械手;18、吸盘组件;19、挂架。1. Material rack; 2. Two-point inspection mechanism; 3. Pick-and-place plate mechanism; 4. Fixed frame; 5. First inspection sensor; 6. Second inspection sensor; 7. Lifting mechanism; 8. Bracket; 9. Linear drive module; 10. Lifting table; 11. Wheels; 12. Material table; 13. L-shaped plate storage slot; 14. Avoidance space; 15. Supporting part; 16. Base; 17. Six axes Manipulator; 18. Suction cup assembly; 19. Hanger.

具体实施方式Detailed ways

为了便于本领域技术人员的理解,下面结合实施例与附图对本实用新型作进一步的说明,实施方式提及的内容并非对本实用新型的限定。In order to facilitate the understanding of those skilled in the art, the present invention will be further described below with reference to the embodiments and the accompanying drawings, and the contents mentioned in the embodiments are not intended to limit the present invention.

如图1和图2所示,本实用新型提供的一种两点巡边定位取放板装置,其包括料架1、两点巡边机构2及设置于料架1的一侧的取放板机构3,所述两点巡边机构2包括装设于料架1的一侧的固定架4及分别装设于固定架4的第一巡边感应器5和第二巡边感应器6,所述第一巡边感应器5和第二巡边感应器6呈直线排列设置;具体地,所述两点巡边定位取放板装置还包括可编程逻辑控制器,所述第一巡边感应器5、第二巡边感应器6和取放板机构3均与可编程逻辑控制器电连接;所述两点巡边定位取放板装置还包括用于吊挂线路板的挂架19,所述挂架19位于取放板机构3的一侧。As shown in Figure 1 and Figure 2, the utility model provides a two-point edge patrol positioning pick-and-place board device, which includes a material rack 1, a two-point edge patrol mechanism 2 and a pick-and-place device arranged on one side of the material rack 1 Plate mechanism 3, the two-point edge inspection mechanism 2 includes a fixed frame 4 installed on one side of the material frame 1 and a first edge inspection sensor 5 and a second edge inspection sensor 6 installed on the fixed frame 4 respectively. , the first edge patrol sensor 5 and the second edge patrol sensor 6 are arranged in a straight line; The edge sensor 5, the second edge patrol sensor 6 and the pick-and-place board mechanism 3 are all electrically connected to the programmable logic controller; the two-point edge patrol positioning pick-and-place board device also includes a hanger for hanging circuit boards 19 , the hanger 19 is located on one side of the pick-and-place plate mechanism 3 .

在实际应用中,大量线路板叠放在料架1上,取放板机构3拾取料架1上的线路板,接着取放板机构3将拾取的线路板移动至第一巡边感应器5和第二巡边感应器6处,通过第一巡边感应器5和第二巡边感应器6对线路板的板边进行检查,以实现两点巡边感应定位,再通过可编程逻辑控制器对第一巡边感应器5和第二巡边感应器6所感应检测的结果进行程序运算,确定取放板机构3将线路板转移至挂架19的距离以及所需调整的角度,从而实现对线路板进行准确定位,保证取放板机构3能够稳定、精准和准确地将线轮板转移至挂架19上。本实用新型的结构简单,采用非接触的方式实现对线路板的定位,减小了接触摩擦线路板的风险,保证了线路板在转移过程中的质量,自动化感应定位,缩短了定位的时间,提高了取放板的效果,且提高了对线路板进行转移的稳定性和精度。In practical applications, a large number of circuit boards are stacked on the rack 1, the pick-and-place board mechanism 3 picks up the circuit boards on the rack 1, and then the pick-and-place board mechanism 3 moves the picked circuit boards to the first edge patrol sensor 5 and the second edge patrol sensor 6, the board edge of the circuit board is checked through the first edge patrol sensor 5 and the second edge patrol sensor 6 to realize the two-point patrol sensor positioning, and then controlled by the programmable logic The device performs a program calculation on the results of the sensing and detection of the first edge patrol sensor 5 and the second edge patrol sensor 6 to determine the distance of the board pick-and-place mechanism 3 to transfer the circuit board to the hanger 19 and the angle that needs to be adjusted, thereby Accurate positioning of the circuit board is achieved, and it is ensured that the pick-and-place board mechanism 3 can stably, precisely and accurately transfer the reel board to the hanger 19 . The utility model has a simple structure, realizes the positioning of the circuit board in a non-contact manner, reduces the risk of contacting and rubbing the circuit board, ensures the quality of the circuit board during the transfer process, automates the induction positioning, and shortens the positioning time. The effect of picking and placing the board is improved, and the stability and precision of transferring the circuit board are improved.

本实施例中,所述两点巡边定位取放板装置还包括升降机构7,所述料架1与升降机构7的升降端可拆卸地连接。在实际应用中,储存满线路板的料架1运输至升降机构7上,升降机构7将承载满线路板的料架1上升至预设的高度,有利于取放板机构3拾取线路板。当然,随着料架1上的线路板数量的减少,升降机构7逐渐上升料架1,保证了取放板机构3能够稳定地拾取料架1上的线路板。当料架1上没有线路板后,升降机构7将料架1下降,以便于更换满载的料架1或向空载的料架1上补充线路板。In this embodiment, the two-point edge patrol positioning pick-and-place board device further includes a lifting mechanism 7 , and the material rack 1 is detachably connected to the lifting end of the lifting mechanism 7 . In practical applications, the rack 1 with full circuit boards is transported to the lifting mechanism 7, and the lifting mechanism 7 lifts the rack 1 full of circuit boards to a preset height, which is beneficial for the pick-and-place mechanism 3 to pick up the circuit boards. Of course, as the number of circuit boards on the rack 1 decreases, the elevating mechanism 7 gradually lifts the rack 1 , ensuring that the board pick-up mechanism 3 can stably pick up the circuit boards on the rack 1 . When there is no circuit board on the material rack 1 , the lifting mechanism 7 lowers the material rack 1 so as to replace the fully loaded material rack 1 or add circuit boards to the empty material rack 1 .

本实施例中,所述升降机构7包括支架8、装设于支架8的直线驱动模组9、与直线驱动模组9的升降端连接的升降台10,所述料架1与升降台10可拆卸地连接;具体地,所述直线驱动模组9包括竖直地转动连接于支架8的丝杆、与丝杆的一端驱动连接的转动驱动器及与丝杆螺纹连接的移动螺母,所述移动螺母与升降台10连接,所述转动驱动器可以采用电机或同步带轮组。在实际应用中,料架1放置在升降台10上,直线驱动模组9驱动升降台10连带料架1升降,以实现料架1的升降。In this embodiment, the lifting mechanism 7 includes a bracket 8 , a linear driving module 9 installed on the bracket 8 , and a lifting platform 10 connected to the lifting end of the linear driving module 9 . The material rack 1 is connected to the lifting platform 10 . Removably connected; specifically, the linear drive module 9 includes a lead screw that is vertically rotatably connected to the bracket 8, a rotary driver that is drivingly connected to one end of the lead screw, and a moving nut that is threadedly connected to the lead screw. The moving nut is connected with the lifting platform 10, and the rotating drive can be a motor or a synchronous pulley set. In practical application, the material rack 1 is placed on the lifting table 10 , and the linear drive module 9 drives the lifting table 10 to lift and lower the material rack 1 to realize the lifting and lowering of the material rack 1 .

本实施例中,所述料架1的底部装设有车轮11,增设车轮11,移动方便,便于料架1运输线路板,也便于料架1移动至升降台10上。In this embodiment, the bottom of the material rack 1 is equipped with wheels 11 , and additional wheels 11 are added, which is convenient to move, facilitates the material rack 1 to transport circuit boards, and also facilitates the material rack 1 to move to the lifting platform 10 .

本实施例中,所述料架1包括料台12及设置于料台12的L型储板槽13,所述L型储板槽13倾斜设置,所述车轮11转动连接于料台12的底部。大量的线路板叠放在L型储板槽13内,由于L型储板槽13倾斜设置,所以便于取放板拾取线路板,也能够避免出现叠板的现象。In this embodiment, the material rack 1 includes a material table 12 and an L-shaped plate storage groove 13 disposed on the material table 12 . The L-shaped plate storage groove 13 is arranged obliquely, and the wheels 11 are rotatably connected to the material table 12 . bottom. A large number of circuit boards are stacked in the L-shaped board storage slot 13. Since the L-shaped board storage slot 13 is arranged obliquely, it is convenient for picking and placing boards to pick up the circuit boards, and the phenomenon of stacking boards can also be avoided.

本实施例中,所述升降台10的中部设置有避让空间14,所述料架1位于避让空间14内,所述料架1的两侧均设置有承托部15,所述承托部15与升降台10的顶面抵触。起始时,升降台10的高度低于承托部15的高度,料架1移动至避让空间14内,承托部15位于升降台10的上方,此时,直线驱动模组9驱动升降台10上升,随着升降台10的上升,升降台10会与料架1两侧的承托部15抵触,从而使得升降台10能够将料架1托起,以实现料架1的上升。In this embodiment, an escape space 14 is provided in the middle of the lifting platform 10, the material rack 1 is located in the avoidance space 14, and both sides of the material rack 1 are provided with supporting parts 15, and the supporting parts 15 is in contact with the top surface of the lift table 10 . At the beginning, the height of the lift table 10 is lower than the height of the support portion 15, the material rack 1 moves into the avoidance space 14, and the support portion 15 is located above the lift table 10. At this time, the linear drive module 9 drives the lift table 10 rises, as the lifting platform 10 rises, the lifting platform 10 will collide with the supporting parts 15 on both sides of the material rack 1 , so that the lifting table 10 can lift the material rack 1 to realize the lifting of the material rack 1 .

本实施例中,所述取放板机构3包括底座16、装设于底座16的六轴机械手17及装设于六轴机械手17的输出端的吸盘组件18。在实际应用中,六轴机械手17控制吸盘组件18移动,移动的吸盘组件18拾取线路板并实现对线路板进行转移。In this embodiment, the pick-and-place plate mechanism 3 includes a base 16 , a six-axis manipulator 17 mounted on the base 16 , and a suction cup assembly 18 mounted on the output end of the six-axis manipulator 17 . In practical applications, the six-axis manipulator 17 controls the suction cup assembly 18 to move, and the moving suction cup assembly 18 picks up the circuit board and transfers the circuit board.

本实施例中的所有技术特征均可根据实际需要而进行自由组合。All the technical features in this embodiment can be freely combined according to actual needs.

上述实施例为本实用新型较佳的实现方案,除此之外,本实用新型还可以其它方式实现,在不脱离本技术方案构思的前提下任何显而易见的替换均在本实用新型的保护范围之内。The above-mentioned embodiments are the preferred implementation solutions of the present invention. In addition, the present invention can also be realized in other ways, and any obvious replacements are within the protection scope of the present invention without departing from the concept of the technical solution. Inside.

Claims (9)

1.一种两点巡边定位取放板装置,其特征在于:包括料架、两点巡边机构及设置于料架的一侧的取放板机构,所述两点巡边机构包括装设于料架的一侧的固定架及分别装设于固定架的第一巡边感应器和第二巡边感应器,所述第一巡边感应器和第二巡边感应器呈直线排列设置。1. A two-point edge patrol positioning pick-and-place plate device, characterized in that: comprising a material rack, a two-point edge inspection mechanism and a pick-and-place plate mechanism arranged on one side of the material rack, and the two-point edge inspection mechanism includes a device. A fixing frame arranged on one side of the material rack, and a first edge tracking sensor and a second edge tracking sensor respectively installed on the fixing frame, the first edge tracking sensor and the second edge tracking sensor are arranged in a straight line set up. 2.根据权利要求1所述的一种两点巡边定位取放板装置,其特征在于:所述两点巡边定位取放板装置还包括升降机构,所述料架与升降机构的升降端可拆卸地连接。2. A two-point edge patrol positioning pick and place board device according to claim 1, characterized in that: the two-point edge patrol positioning pick and place board device further comprises a lifting mechanism, the lifting mechanism of the material rack and the lifting mechanism The ends are detachably connected. 3.根据权利要求2所述的一种两点巡边定位取放板装置,其特征在于:所述升降机构包括支架、装设于支架的直线驱动模组、与直线驱动模组的升降端连接的升降台,所述料架与升降台可拆卸地连接。3. A two-point edge patrol positioning pick-and-place board device according to claim 2, wherein the lifting mechanism comprises a bracket, a linear drive module installed on the bracket, and a lifting end of the linear drive module A connected lifting platform, the material rack is detachably connected with the lifting platform. 4.根据权利要求1所述的一种两点巡边定位取放板装置,其特征在于:所述料架的底部装设有车轮。4 . The two-point edge patrol positioning pick-and-place board device according to claim 1 , wherein the bottom of the material rack is provided with wheels. 5 . 5.根据权利要求1所述的一种两点巡边定位取放板装置,其特征在于:所述料架包括料台及设置于料台的L型储板槽,所述L型储板槽倾斜设置。5. A two-point edge patrol positioning pick-and-place board device according to claim 1, characterized in that: the material rack comprises a material table and an L-shaped plate storage slot arranged on the material table, the L-shaped storage plate Slots are set at an incline. 6.根据权利要求3所述的一种两点巡边定位取放板装置,其特征在于:所述升降台的中部设置有避让空间,所述料架位于避让空间内,所述料架的两侧均设置有承托部,所述承托部与升降台的顶面抵触。6 . The two-point edge patrol positioning pick-and-place board device according to claim 3 , wherein: the middle part of the lifting platform is provided with an avoidance space, and the material rack is located in the avoidance space. 6 . Both sides are provided with supporting parts, and the supporting parts are in conflict with the top surface of the lifting platform. 7.根据权利要求1所述的一种两点巡边定位取放板装置,其特征在于:所述取放板机构包括底座、装设于底座的六轴机械手及装设于六轴机械手的输出端的吸盘组件。7. A two-point edge patrol positioning pick-and-place board device according to claim 1, wherein the pick-and-place board mechanism comprises a base, a six-axis manipulator mounted on the base, and a six-axis manipulator mounted on the six-axis manipulator. Suction cup assembly on the output side. 8.根据权利要求1所述的一种两点巡边定位取放板装置,其特征在于:所述两点巡边定位取放板装置还包括可编程逻辑控制器,所述第一巡边感应器、第二巡边感应器和取放板机构均与可编程逻辑控制器电连接。8 . The two-point edge patrol positioning pick-and-place board device according to claim 1 , wherein the two-point edge patrol positioning and pick-and-place board device further comprises a programmable logic controller, and the first edge patrol The sensor, the second edge patrol sensor and the pick-and-place board mechanism are all electrically connected with the programmable logic controller. 9.根据权利要求1所述的一种两点巡边定位取放板装置,其特征在于:所述两点巡边定位取放板装置还包括用于吊挂线路板的挂架,所述挂架位于取放板机构的一侧。9 . The two-point edge patrol positioning pick-and-place board device according to claim 1 , wherein the two-point edge patrol positioning and pick-and-place board device further comprises a hanger for hanging circuit boards, and the The hanger is located on one side of the pick-and-place plate mechanism.
CN202122964471.2U 2021-11-29 2021-11-29 A two-point edge patrol positioning pick and place board device Active CN216234842U (en)

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