CN219506973U - Circuit board loading attachment - Google Patents

Abstract

The utility model relates to the field of circuit board production and discloses a circuit board feeding device which comprises a bearing table, a lifting mechanism, a mechanical arm and a positioning and calibrating mechanism, wherein the bearing table is arranged to be double-layer, the lifting mechanism is arranged on a lower-layer table top, the mechanical arm is arranged on an upper-layer table top, and the positioning and calibrating mechanism is arranged to assist the mechanical arm to perform secondary alignment. According to the utility model, a material disc with a circuit board is loaded into a main lifter, after the material disc is lifted in batches, a single uppermost material disc is lifted above an upper table top by a feeding clamping jaw arranged on the upper table top of a bearing table, so that the circuit board which is grabbed by a mechanical arm is conveyed to a positioning and calibrating mechanism, and after the circuit board is re-fixed in the positioning and calibrating mechanism, the mechanical arm is provided with fixed grabbing coordinates in advance, so that the grabbing precision of the mechanical arm is improved; after the positioning is finished, the circuit board is grabbed to the assembling table board by the mechanical arm; the empty material tray is transported to the returning material clamping jaw by the feeding clamping jaw and is sent to the auxiliary lifter to return to the lower table top. The circuit board feeding device provided by the utility model has the advantages of high automation level, high grabbing precision and high production efficiency.

Description

Circuit board loading attachment

Technical Field

The utility model relates to the field of circuit board processing, in particular to a circuit board feeding device.

Background

Along with technological development, industrial progress and improvement of life quality requirements of human beings, traditional factories are continuously transformed and upgraded to intelligent manufacturing, and intelligent production modes with high efficiency and high precision are continuously pursued. Meanwhile, the circuit board is used as an important intermediate product of industrial production, has very wide application and is applied to the production of almost all electric appliances, but the existing manual assembly circuit board operation mode is low in operation efficiency and easy to cause working errors due to long-time mechanical operation. In order to solve the instability and low efficiency of traditional manual operation and improve the production qualification rate and consistency of products, it is necessary to develop a set of automatic feeding device for circuit boards to adapt to production needs and reduce production cost.

Disclosure of Invention

The utility model aims to solve the problem of low circuit board feeding efficiency in the prior art, and provides a circuit board feeding device which has the advantages of high automation level and low error rate.

In order to achieve the above purpose, the utility model provides a circuit board feeding device, which comprises a bearing table provided with an upper table top and a lower table top, a lifting mechanism arranged on the lower table top, a mechanical arm arranged on the upper table top and a positioning and calibrating mechanism arranged to assist the mechanical arm to perform secondary alignment, wherein the lifting mechanism comprises a main lifter for lifting a material tray carrying a circuit board to the upper table top, a secondary lifter for transporting an empty material tray to the lower table top and a feeding clamping jaw arranged to lift a single material tray to the upper table top and a returning clamping jaw for supporting the material from the feeding clamping jaw to sideslip to the top end of the secondary lifter, and square through holes are formed in positions of the upper table top corresponding to the lifting mechanism; the mechanical arm comprises a control pile fixed with the upper layer table top, a rotating arm installed on the control pile and a rotating gripper installed on one end of the rotating arm far away from the control pile, wherein the rotating arm rotates in a horizontal plane perpendicular to the height direction of the control pile, and the rotating angle is 0-180 degrees.

Preferably, the positioning calibration mechanism comprises a material positioning table formed with a downwardly concave rectangular recess.

Preferably, a pair of adjacent long walls and short walls of the groove are respectively provided with a first cylinder and a second cylinder with pressure sensors.

Preferably, the main lifter includes accept the first loading frame of material dish, follow main lifter direction of height set up in the first mounting panel of first loading frame one side, install in first guide rail on the first mounting panel and slidable mounting in lifting clamping jaw on the first guide rail, lifting clamping jaw central point puts the department and has seted up and runs through the internal thread hole of first clamping jaw, the main lifter top pass square through-hole with the up end of upper table surface flushes.

Preferably, the main lifter further comprises a first lifting rod penetrating through the internal threaded hole of the lifting clamping jaw and provided with external threads matched with the internal threads, and a first servo motor capable of driving the first lifting rod to axially rotate around the first lifting rod.

Preferably, an optical sensor is mounted on the feeding jaw, the feeding jaw facing the top end of the main elevator and being arranged to identify the uppermost one of the stacked plurality of lifted trays and to clamp that tray to the upper table.

Preferably, the feeding clamping jaw and the returning clamping jaw are arranged as clamping jaws which can rotate around the telescopic direction of the clamping jaws.

Preferably, the auxiliary lifter comprises a second loading frame for receiving the material disc, a second mounting plate arranged on one side of the second loading frame in the height direction of the auxiliary lifter, a second guide rail arranged on the second mounting plate and a landing clamping jaw arranged on the second guide rail in a sliding manner, wherein an internal threaded hole penetrating through the landing clamping jaw is formed in the center of the landing clamping jaw, the top end of the auxiliary lifter is flush with the lower end face of the upper table top, and the auxiliary lifter and the main lifter are arranged side by side.

Preferably, the auxiliary lifter further comprises a second lifting rod passing through the internal threaded hole of the falling clamping jaw and having external threads matched with the internal threads in the internal threaded hole, and a second servo motor arranged to drive the second lifting rod to axially rotate around the second lifting rod.

Preferably, an optical sensor is mounted on the return clamping jaw, and the return clamping jaw is opposite to the top end of the auxiliary lifter.

Preferably, a non-contact suction cup is mounted on an end of the rotary grip remote from the rotary arm.

Preferably, the upper table top is provided with a product detection hole penetrating through the upper table top.

Preferably, a light source and a quality inspection camera are sequentially installed right below the product detection hole.

According to the technical scheme, the material trays filled with the circuit boards are loaded into the main lifter, after the material trays are lifted in batches, the uppermost single material tray is lifted above the upper table top by the feeding clamping jaw arranged on the upper table top of the bearing table, so that the circuit boards captured by the mechanical arm can be conveyed to the positioning and calibrating mechanism, the mechanical arm is provided with fixed capturing coordinates in advance after being re-fixed in the positioning and calibrating mechanism, the same positions of capturing the circuit boards in the positioning and calibrating device by the mechanical arm each time are ensured, and the positioning precision is improved; after the positioning is finished, the circuit board is grabbed to the assembling table board by the mechanical arm; the empty material tray is transported to the returning material clamping jaw by the feeding clamping jaw and is sent to the auxiliary lifter to return to the lower table top. The circuit board feeding device provided by the utility model has the advantages of high automation level, high grabbing precision and high production efficiency.

Drawings

FIG. 1 is a schematic view of an assembly of the present utility model;

FIG. 2 is a schematic view of the structure of the lifting device of the present utility model;

FIG. 3 is a schematic view of a mechanical arm according to the present utility model;

FIG. 4 is a schematic diagram of a product monitoring apparatus of the present utility model;

fig. 5 is a schematic structural view of the positioning calibration mechanism of the present utility model.

Description of the reference numerals

1. Bearing table 2, mechanical arm 21, control pile 22 and rotating arm

23. Rotary gripper 24, non-contact suction cup 31, main lifter

32. Auxiliary lifter 4, material positioning table 41, groove 42 and first cylinder

43. Second cylinder 51, first carriage 52, second carriage

61. First guide rail of first mounting plate 62 and second mounting plate 71

72. A second guide rail 81, a lifting jaw 82, and a falling jaw

91. First servo motor 92, second servo motor 10 and material tray

111. First lifting rod 112, second lifting rod 121 and feeding clamping jaw

122. Returning charge clamping jaw 13, product detection hole 14 and quality inspection camera

Detailed Description

The following describes specific embodiments of the present utility model in detail with reference to the drawings. It should be understood that the detailed description and specific examples, while indicating and illustrating the utility model, are not intended to limit the utility model.

In the present utility model, unless otherwise specified, terms such as "upper, lower, left, and right" and "upper, lower, left, and right" are used generically to refer to the attached drawings; "inner and outer" means inner and outer relative to the contour of the respective parts themselves; "distal" and "proximal" refer to the distal and proximal relative to the contours of the components themselves.

Referring to fig. 1, the utility model provides a circuit board feeding device, which is used for conveying a circuit board to be assembled onto an assembling table top, and comprises a bearing table 1 provided with an upper table top and a lower table top, a lifting mechanism arranged on the lower table top, a mechanical arm 2 arranged on the upper table top and a positioning and calibrating mechanism arranged to assist the mechanical arm 2 to perform secondary alignment, wherein the lifting mechanism comprises a main lifter 31 for lifting a material disc 10 carrying the circuit board to the upper table top, a secondary lifter 32 for conveying an empty material disc 10 to the lower table top, a feeding clamping jaw 121 arranged to lift the single material disc 10 to the upper table top, and a returning clamping jaw 122 arranged to slide from the feeding clamping jaw 121 to the top end of the secondary lifter 32, and square through holes are formed in positions of the upper table top corresponding to the lifting mechanism; the mechanical arm 2 comprises a control pile 21 fixed on the upper layer table top, a rotating arm 22 installed on the control pile 21 and a rotating grip 23 installed on one end of the rotating arm 22 far away from the control pile 21, wherein the rotating arm 22 rotates in a horizontal plane perpendicular to the height direction of the control pile 21, and the rotating angle is 0-180 degrees.

The bearing table 1 is a double-layer table top, wherein a mechanical arm and a positioning and calibrating mechanism are arranged on an upper-layer table top, a lifting mechanism is arranged on a lower-layer table top, a square through hole is further formed in the upper-layer table top, the square through hole corresponds to the position of the lifting mechanism, and the lifting mechanism penetrates through the square through hole to lift the material carrying tray 10 carrying the circuit board so as to be grabbed by the mechanical arm 2. The lifting mechanism comprises a main lifter 31 and a sub lifter 32, wherein the main lifter 31 lifts up the material tray 10 loaded with the circuit board placed inside, and the sub lifter 32 recovers the empty material tray 10 to the bottom. The lifting mechanism also comprises a feeding clamping jaw 121 and a returning clamping jaw 122 which are lifted from the uppermost material tray 10 in the batch lifting material trays 10 to be above the upper table surface. When the circuit boards in the material tray 10 lifted by the feeding clamping jaw 121 are all grabbed, the feeding clamping jaw 121 is inclined towards one side of the returning clamping jaw 122, and the empty material tray 10 is transferred onto the returning clamping jaw 122 and placed on the auxiliary lifter 32 downwards to be conveyed back to the bottom of the auxiliary lifter 32 to wait for recovery.

The mechanical arm 2 comprises a control pile 21 and a rotating arm 22 arranged on the control pile 21, wherein the rotating arm 22 is arranged in the middle of the control pile 21 and rotates in a horizontal plane perpendicular to the height direction of the control pile 21, and the rotation angle is 0-180 degrees. The square through holes and the assembling table top of the circuit board are respectively arranged at two sides of the control pile 21, and the rotating angle of the rotating arm 22 is 0-180 degrees, so that the mechanical arm 2 can carry the circuit board to the assembling table top from the material disc 10. The mechanical arm 2 is further provided with a rotary handle 22, and the rotary handle 23 is disposed at one end of the rotary arm 22 away from the control pile 21, so as to increase the working range of the mechanical arm 2.

Referring to fig. 1 and 5, the material tray 10 carries a plurality of circuit boards, so that when the mechanical arm 2 grabs circuit boards at different positions, the positions where the grabbing is difficult to ensure are all at the same position of the circuit boards, and therefore, the circuit board feeding device is provided with a positioning and calibrating mechanism to assist the mechanical arm 2 to perform secondary alignment.

In order to facilitate the fixing of the circuit board to a suitable auxiliary reference system, the positioning and alignment mechanism of the circuit board feeding device comprises a material positioning table 4 formed with a rectangular recess 41 recessed downwards. After the circuit board is placed in the groove 41, the coordinates of the secondary grabbing position of the manipulator 2 are set to be fixed point coordinates in the groove 41 in advance, so that the same position of the manipulator 2 for grabbing the circuit board each time can be ensured. The manipulator 2 after secondary alignment conveys the circuit boards to the fixed coordinates on the assembly table according to the preset, and the positions of the circuit boards are the same, so that the assembly error can be greatly reduced.

Further, to ensure that the circuit board is placed at the same position in the recess 41 each time, a pair of adjacent long and short walls of the recess 41 are provided with a first cylinder 42 and a second cylinder 43 with pressure sensors, respectively. After the circuit board is placed in the groove 41, the first air cylinder 42 and the second air cylinder 43 extend outwards at the same time, the circuit board is made to abut against the groove wall where the long side and the short side of the non-mounted air cylinder are located, meanwhile, pressure sensors are arranged on the first air cylinder 42 and the second air cylinder 43, and when the pressure sensors sense that the pressure exceeds a set threshold value, the first air cylinder 42 and the second air cylinder 43 do not extend outwards any more so as to prevent the circuit board from being damaged.

In order to realize upwards lifting the material disc 10 loaded with the circuit board, the main lifter 31 comprises a first loading frame 51 for placing the stacked material discs 10, a first mounting plate 61 arranged on one side of the first loading frame 51 along the height direction of the main lifter 31, a first guide rail 71 arranged on the first mounting plate 61 and a lifting clamping jaw 81 slidably arranged on the first guide rail 71, wherein an internal threaded hole penetrating through the first clamping jaw 81 is formed in the central position of the lifting clamping jaw 81, and the top end of the main lifter 31 penetrates through the square through hole to be flush with the upper end face of the upper table top. The first mounting plate 61 is provided with a first guide rail 71, and the lifting clamping jaw 81 is slidably mounted on the first guide rail 71, so as to ensure that the loading tray 10 ascends along the same path each time.

Further, to power the lifting jaw 81, the main lift 31 further comprises a first servomotor 91. Wherein, the main lifter 31 further comprises a first lifting rod 111 connected to the first servo motor 91, the first lifting rod 111 passes through the lifting clamping jaw 81, and external threads matched with the internal threads of the lifting clamping jaw 81 are arranged at the joint position, when the first servo motor 91 drives the first lifting rod 111 to rotate, the internal threads and the external threads are matched, and the lifting clamping jaw 81 is pushed to slide upwards along the guide rail.

In order to assist the feeding clamping jaw 121 to identify the passing material tray 10, an optical sensor is arranged on the conveying clamping jaw 121, when the uppermost material tray 10 in the material trays 10 lifted in batches passes through the conveying clamping jaw 121, the optical sensor detects that the material tray 10 is lifted to a specified height, a signal is sent to the first servo motor 91, the first servo motor 91 is controlled to stop providing power, the material tray 10 is not lifted upwards, and meanwhile, the feeding clamping jaw 121 is driven to clamp an upper table top.

To effect transfer of the empty load tray 10 to the return jaw 122, both the feed jaw 121 and the return jaw 122 are arranged rotatable about the jaw's extension direction. After rotation, the end of the feeding jaw 121 close to the return jaw 122 is lower than the end remote from the return jaw 122, and the tray 10 slides from the feeding jaw 121 onto the return jaw 122.

In order to raise the empty material trays 10 upwards, the auxiliary lifter 32 includes a second loading frame 52 for placing the stacked material trays 10, a second mounting plate 62 disposed on one side of the second loading frame 56 along the height direction of the auxiliary lifter 32, a second guide rail 72 mounted on the second mounting plate 62, and a dropping clamping jaw 82 slidably mounted on the second guide rail 72, wherein an internal threaded hole penetrating through the dropping clamping jaw 82 is formed in the central position of the dropping clamping jaw 82, and the top end of the auxiliary lifter 32 penetrates through the square through hole to be flush with the lower end face of the upper table top. The second mounting plate 62 is provided with a second guide rail 72, and the drop jaw 82 is slidably mounted to the second guide rail 72 to ensure that the tray 10 drops along the same path each time. The first elevator 31 and the second elevator 32 are arranged side by side so that the feeding jaw 121 carries an empty tray 10 onto the return jaw 122.

Further, to power the drop jaw 82, the secondary lift 32 also includes a second servo motor 92. Wherein, the auxiliary lifter 32 further comprises a second lifting rod 112 connected to the second servo motor 92, the second lifting rod 112 passes through the landing jaw 82, and is provided with external threads matched with internal threads of the landing jaw 82 at the joint position, when the second servo motor 92 drives the second lifting rod 112 to rotate, the internal threads and the external threads are matched, and the landing jaw 82 is pushed to slide downwards along the guide rail.

The specific structures of the main lifter 31 and the auxiliary lifter 32 are mirror images, in fig. 2, for convenience of showing the positional relationship between the guide rail, the lifting rod and the mounting plate, for convenience of indicating the position of the internal structure, a part of the structures are not shown, but the positional relationship of the above structures is indicated in the marked structures.

To assist the return jaw in identifying the passing material tray 10, an optical sensor is arranged on the return jaw 122, and when the optical sensor detects that the material tray 10 is arranged on the return jaw 122, the return jaw 122 is controlled to move downwards to the falling jaw 82, and the empty material tray 10 is placed on the falling jaw 82.

In order to avoid damage to the circuit board when the mechanical arm 2 grabs the circuit board again, a non-contact sucker 24 is arranged on a rotary handle 23 of the circuit board feeding device for executing grabbing action, and the non-contact sucker 24 can avoid scratching the circuit board when grabbing the circuit board.

In order to further confirm whether the circuit board grabbed by the mechanical arm 2 is a qualified product, the mechanical arm 2 grabs the circuit board to the quality inspection mechanism before grabbing the circuit board to the positioning and calibrating mechanism. The upper table top of the circuit board feeding device is provided with a product detection hole 13 for detecting the quality of the circuit board, the mechanical arm 2 places the circuit board on the product detection hole 13, a light source and a quality inspection camera 14 are sequentially arranged right below the product detection hole 13, the light source penetrates through the product detection hole 13 to irradiate but Luban, and the quality inspection camera 14 detects whether the circuit board has flaws or not under the assistance of the light source.

The preferred embodiments of the present utility model have been described in detail above with reference to the accompanying drawings, but the present utility model is not limited thereto. Within the scope of the technical idea of the utility model, a plurality of simple variants of the technical proposal of the utility model can be carried out, comprising that each specific technical feature is combined in any suitable way, and in order to avoid unnecessary repetition, the utility model does not need to be additionally described for various possible combinations. Such simple variations and combinations are likewise to be regarded as being within the scope of the present disclosure.

Claims (13)

1. The circuit board feeding device is characterized by comprising a bearing table (1) provided with an upper table top and a lower table top, a lifting mechanism arranged on the lower table top, a mechanical arm (2) arranged on the upper table top and a positioning and calibrating mechanism arranged to assist the mechanical arm (2) to perform secondary alignment,

the lifting mechanism comprises a main lifter (31) for lifting a material disc (10) carrying a circuit board to the upper-layer table top, a secondary lifter (32) for conveying the empty material disc (10) to the lower-layer table top, a feeding clamping jaw (121) for lifting a single material disc (10) to the upper-layer table top and a returning clamping jaw (122) for receiving the material disc (121) which slides to the top end of the secondary lifter (32), wherein square through holes are formed in positions of the upper-layer table top corresponding to the lifting mechanism;

the mechanical arm (2) comprises a control pile (21) fixed on the upper layer table top, a rotating arm (22) installed on the control pile (21) and a rotating gripper (23) installed on one end, far away from the control pile (21), of the rotating arm (22), wherein the rotating arm (22) rotates in a horizontal plane perpendicular to the height direction of the control pile (21) and the rotating angle is 0-180 degrees.

2. The circuit board feeding device according to claim 1, wherein the positioning calibration mechanism comprises a material positioning table (4) formed with a rectangular recess (41) recessed downward.

3. The circuit board feeding device according to claim 2, wherein a pair of adjacent long walls and short walls of the recess (41) are provided with a first cylinder (42) and a second cylinder (43) with pressure sensors, respectively.

4. The circuit board feeding device according to claim 1, wherein the main lifter (31) comprises a first loading frame (51) for receiving the material tray (10), a first mounting plate (61) arranged on one side of the first loading frame (51) along the height direction of the main lifter (31), a first guide rail (71) mounted on the first mounting plate (61) and a lifting clamping jaw (81) slidably mounted on the first guide rail (71), an internal threaded hole penetrating through the lifting clamping jaw (81) is formed in the central position of the lifting clamping jaw (81), and the top end of the main lifter (31) penetrates through the square through hole to be flush with the upper end face of the upper table top.

5. The circuit board feeding device according to claim 4, wherein the main lifter (31) further comprises a first lifter (111) penetrating through the internal threaded hole of the lifting jaw (81) and having external threads adapted to the internal threads, and a first servo motor (91) configured to drive the first lifter (111) to rotate around its axis.

6. Circuit board feeding device according to claim 1, characterized in that the feeding claw (121) is provided with an optical sensor, the feeding claw (121) is arranged to face the top end of the main lifter (31) and is arranged to identify the uppermost one of the material trays (10) from the plurality of lifted material trays (10) stacked and to clamp the material tray (10) to the upper table.

7. Circuit board feeding device according to claim 1, characterized in that the feeding jaw (121) and the return jaw (122) are arranged rotatable about the telescopic direction of the jaws.

8. The circuit board feeding device according to claim 1, wherein the auxiliary lifter (32) comprises a second loading frame (52) for receiving the material tray (10), a second mounting plate (62) arranged on one side of the second loading frame (52) along the height direction of the auxiliary lifter (32), a second guide rail (72) mounted on the second mounting plate (62) and a falling clamping jaw (82) slidably mounted on the second guide rail (72), an internal threaded hole penetrating through the falling clamping jaw (82) is formed in the central position of the falling clamping jaw (82), the top end of the auxiliary lifter (32) is flush with the lower end face of the upper table top, and the auxiliary lifter (32) and the main lifter (31) are arranged side by side.

9. The circuit board feeding device according to claim 8, wherein the secondary lifter (32) further comprises a second lifter (112) passing through the internally threaded hole of the drop jaw (82) and having an external thread adapted to the internal thread in the internally threaded hole, and a second servo motor (92) arranged to drive the second lifter (112) to rotate axially therearound.

10. The circuit board feeding device according to claim 1, wherein an optical sensor is mounted on the return jaw (122), and the return jaw (122) is opposite to the top end of the auxiliary lifter (32).

11. The circuit board feeding device according to claim 1, wherein the rotary gripper (23) is provided with a non-contact suction cup (24).

12. The circuit board feeding device according to claim 1, wherein the upper table top is provided with a product detection hole (13) penetrating through the upper table top.

13. The circuit board feeding device according to claim 12, wherein a light source and a quality inspection camera (14) are sequentially installed right under the product detection hole (13).