TWI819301B - Prepreg sheet retrieval device and method - Google Patents

Abstract

The invention discloses a prepreg sheet (prepreg sheet) unloading device, which includes a frame. The frame is provided with a prepreg sheet loading mechanism, a pre-stack table and a sliding bearing frame. The prepreg sheet loading mechanism is placed with a prepreg sheet loading mechanism. For dipping sheets, there is a prepreg picking manipulator on the sliding carrier. The prepreg picking manipulator includes a picking slide and a picking translation drive mechanism for driving the picking slide left and right. There are two lifting cylinders fixed on the slide. The lifting cylinder is used to drive a lifting arm to rise or fall. A long lifting suction claw is fixed on the lifting arm. Two lifting suction claws are fixed on the lifting arm. Parallel to each other, the two suction claws are aligned with the edges of both sides of the prepreg sheet. A plurality of suction nozzles for absorbing the prepreg sheets are fixed on the suction claws. The plurality of suction nozzles are fixed along the edge of the prepreg sheet. The length direction of the material taking suction claw is set in sequence. The invention can improve work efficiency, reduce labor costs and have better automation performance.

Description

Prepreg sheet retrieval device and method

The invention relates to circuit board production equipment, and in particular to a prepreg sheet taking device and method.

Circuit board, also known as Printed Circuit Board (PCB), is an indispensable equipment in current electronic and electrical equipment. It is also an important material for materializing circuit principles. In the existing technology, circuit boards generally include multi-layer structures such as prepregs and core boards that are laminated. During the production process of circuit boards, multi-layer structures such as prepregs and core boards need to be pre-laminated and then pressed. . At present, for prepreg raw materials placed in multiple layers, the commonly used method is to manually retrieve materials with the help of tools. This extraction method has low work efficiency, high labor costs, and cannot pre-laminate automated equipment on the circuit board material layer. promotion and application.

The technical problem to be solved by the present invention is to provide a prepreg sheet retrieving device and method that can improve work efficiency, reduce labor costs and have more automated performance in view of the shortcomings of the existing technology.

In order to solve the above technical problems, the present invention adopts the following technical solutions.

A prepreg sheet retrieving device, which includes a frame. The frame is provided with a prepreg sheet loading mechanism, a pre-stack table and a sliding bearing frame. The prepreg sheet loading mechanism is placed with prepreg sheets, and the sliding bearing frame is provided with prepreg sheets. There is a prepreg picking manipulator. The prepreg picking manipulator includes a picking slide and a picking translation drive mechanism for driving the picking slide left and right. There are two picking slides fixed on it. The material lifting cylinder is used to drive a material lifting arm to rise or fall. The material lifting arm is fixed with a long material taking suction claw. The two material taking suction claws are parallel to each other, and the two material taking suction claws are parallel to each other. The suction claws are aligned with the edges on both sides of the prepreg sheet. A plurality of pickup nozzles for sucking the prepreg sheets are fixed on the pickup claw. The plurality of pickup nozzles are arranged sequentially along the length of the pickup claw. , through the cooperation of the pickup translation drive mechanism, the pickup lifting cylinder and the pickup nozzle, the prepreg sheets on the prepreg sheet loading mechanism can be picked up through negative pressure adsorption, and the prepreg sheets can be transferred to the pre-stack table .

Preferably, a shaking cylinder is fixed on the housing of the lifting cylinder, and the picking arm is mounted on the shaking cylinder, and the shaking cylinder drives the picking arm to rise or fall.

Preferably, the telescopic shaft of the shaking cylinder is fixedly connected to the housing of the lifting cylinder, the housing of the shaking cylinder is fixedly connected to the vertical part of the picking arm, and the picking suction claw is fixed to the horizontal part of the picking arm. connection.

A prepreg sheet picking method. The picking method is based on a picking device. The picking device includes a rack. The rack is equipped with a prepreg sheet loading mechanism, a pre-stack table and a sliding carrier. The prepreg sheet loading mechanism Prepreg sheets are placed on the sliding carrier, and a prepreg picking manipulator is installed on the sliding carrier. The prepreg picking manipulator includes a picking slide and a picking translation drive for driving the picking slide left and right. Mechanism, two reclaiming lifting cylinders are fixed on the reclaiming slide. The reclaiming lifting cylinder is used to drive a reclaiming arm to rise or fall. A long reclaiming suction claw is fixed on the reclaiming arm. Two reclaiming lifting cylinders are fixed on the reclaiming slide. The feeding suction claws are parallel to each other, and the two feeding suction claws are aligned with the edges on both sides of the prepreg sheet. A plurality of feeding suction nozzles for absorbing the prepreg sheets are fixed on the feeding suction claws. The suction nozzles are arranged sequentially along the length direction of the picking claw. The picking method includes: Step S10, the picking translation drive mechanism drives the picking slide to translate until the picking claw moves above the prepreg sheet loading mechanism; Step S11, The lifting cylinder drives the picking arm and the picking suction claw down, so that the picking nozzle is close to the prepreg on the prepreg loading mechanism; step S12, the picking nozzle sucks air and generates negative pressure, using the negative pressure Press the prepreg sheet located on the top layer to be adsorbed on the two picking suction claws; step S13, the picking lifting cylinder drives the picking arm and the picking suction claw to rise, and the prepreg sheet located on the top layer is loaded from the prepreg sheet. The mechanism is taken out; step S14, the picking translation drive mechanism drives the picking slide to translate until the picking suction claw moves above the pre-stack table; step S15, the picking lifting cylinder drives the picking arm and the picking suction claw to descend until The prepreg sheets are placed on the pre-stack table, and then the pickup nozzle stops suctioning; in step S16, the pickup lift cylinder drives the pickup arm and pickup suction claw to rise, and the pickup nozzle is separated from the prepreg sheets, and then the prepreg sheets are separated. The dipped tablets are left on the pre-stack table.

Preferably, step S13 further includes a shaking step: when the picking lifting cylinder drives the picking arm and the picking suction claw to rise, the picking translation drive mechanism drives the picking slide to shake left and right.

Preferably, the lifting cylinder is provided with a shaking cylinder, and the picking arm is mounted on the shaking cylinder. The shaking cylinder drives the picking arm to rise or fall. In the shaking step: the shaking cylinder is used to drive the picking arm and The pickup suction claw vibrates up and down. Through the combination of left and right vibration and up and down vibration, the excess prepreg sheets adsorbed by the pickup suction nozzle are shaken off to the prepreg sheet loading mechanism.

During the execution of the prepreg sheet picking device disclosed by the present invention, the picking translation drive mechanism first drives the picking slide to translate until the picking suction claw moves above the prepreg loading mechanism, and then the picking lifting cylinder drives The picking arm and picking suction claw are lowered so that the picking nozzle is close to the prepreg on the prepreg loading mechanism. At this time, the picking nozzle sucks air and generates negative pressure. The negative pressure is used to move the prepreg on the top layer. The dip tablet is adsorbed on the two suction claws. Next, the picking lifting cylinder drives the picking arm and picking suction claw to rise, and the prepreg sheet located on the top layer is taken out from the prepreg sheet loading mechanism, and then the picking translation drive mechanism drives the picking slide table to translate until The pickup suction claw moves to the top of the pre-stack table, and then the pickup lift cylinder drives the pickup arm and pickup suction claw to lower until the prepreg sheet is placed on the pre-stack table, and then the pickup suction nozzle stops sucking air. Finally, the pickup nozzle is separated from the prepreg sheet, and the prepreg sheet is left on the pre-stack table. Based on the above process, the present invention better completes the prepreg sheet picking process. Compared with the existing technology, the present invention has stronger automation performance, and the picking process does not require personnel participation, thereby saving labor costs and helping It can be flexibly used in automated equipment for pre-lamination of circuit board material layers.

The present invention will be described in more detail below with reference to the accompanying drawings and examples.

Embodiment 1

This embodiment proposes a prepreg sheet unloading device, as shown in Figures 1 to 4. It includes a frame 1, and the frame 1 is provided with a prepreg sheet loading mechanism 2, a pre-stack table 3 and a sliding bearing frame. 7. The prepreg sheet 100 is placed on the prepreg sheet loading mechanism 2, and the prepreg picking manipulator 8 is provided on the sliding carrier 7. The prepreg picking manipulator 8 includes a picking slide 80 and a user. The material-picking translation driving mechanism 81 drives the material-picking slide 80 to slide left and right. Two reclaiming lifting cylinders 82 are fixed on the reclaiming slide 80. The reclaiming lifting cylinder 82 is used to drive a reclaiming arm 83 to rise or fall. A long reclaiming suction claw is fixed on the reclaiming arm 83. 84. The two feeding suction claws 84 are parallel to each other, and the two feeding suction claws 84 are respectively aligned with the edges on both sides of the prepreg sheet 100. A plurality of sucking claws for absorbing the prepreg sheet 100 are fixed on the feeding sucking claws 84. A plurality of material taking suction nozzles 85 are arranged sequentially along the length direction of the material taking suction claw 84 . Through the cooperation of the picking translation drive mechanism 81, the picking lifting cylinder 82 and the picking nozzle 85, the prepreg sheets 100 on the prepreg sheet loading mechanism 2 are picked up through negative pressure adsorption, and the prepreg sheets 100 are transferred to On the pre-stacking table 3.

During the execution of the above device, the picking translation drive mechanism 81 drives the picking slide 80 to translate until the picking suction claw 84 translates to the top of the prepreg sheet loading mechanism 2, and then the picking lifting cylinder 82 drives the picking arm. 83 and the picking suction claw 84 descend, so that the picking suction nozzle 85 is close to the prepreg 100 on the prepreg loading mechanism 2 . At this time, the material taking suction nozzle 85 inhales and generates negative pressure, and uses the negative pressure to adsorb the prepreg sheet 100 on the top layer to the two material taking suction claws 84 . Next, the material lifting cylinder 82 drives the material picking arm 83 and the material picking suction claw 84 to rise, and the prepreg sheet 100 located on the top layer is taken out from the prepreg sheet loading mechanism 2, and then the material picking translation drive mechanism 81 drives it out. The material slide table 80 translates until the material picking suction claw 84 translates to the top of the pre-stack table 3. Then the material lifting cylinder 82 drives the material picking arm 83 and the material picking suction claw 84 to descend until the prepreg sheet 100 is placed on the pre-stack table. 3. Then the suction nozzle 85 stops sucking air. Finally, the picking nozzle 85 is separated from the prepreg sheet 100, and the prepreg sheet 100 is left on the pre-stack table 3. Based on the above process, the present invention better completes the prepreg sheet picking process. Compared with the existing technology, the present invention has stronger automation performance, and the picking process does not require personnel participation, thus saving labor costs and contributing to Flexible use in circuit board material layer pre-lamination automation equipment.

Further, the material taking translation driving mechanism 81 is a motor screw driving mechanism.

In this embodiment, the telescopic shaft of the lifting cylinder 82 is fixedly connected to the sliding table 80 , and the shell of the lifting cylinder 82 drives the lifting arm 83 to rise or fall.

In order to avoid removing multiple layers of prepreg sheets that are adhered to each other at the same time, this embodiment is preferably provided with a shaking step. Specifically, a shaking cylinder 86 is fixed on the housing of the lifting cylinder 82 , and the picking arm 83 is provided on the shaking cylinder 86 so that the shaking cylinder 86 drives the picking arm 83 up or down.

Further, the material taking arm 83 is in an "L" shape.

As a preferred embodiment, the telescopic shaft of the shaking cylinder 86 is fixedly connected to the housing of the picking lifting cylinder 82 , the housing of the shaking cylinder 86 is fixedly connected to the vertical part of the picking arm 83 , and the picking suction claw 84 is connected to the vertical part of the picking arm 83 . The horizontal part of the material taking arm 83 is fixedly connected.

In order to realize batch retrieval, in this embodiment, the prepreg loading mechanism 2 includes two prepreg loading platforms 20. The two prepreg loading platforms 20 are arranged up and down with a preset distance between them. There are two prepreg picking manipulators 8 on the sliding carrier 7, and the two prepreg picking manipulators 8 are arranged up and down. The prepreg picking manipulators 8 are connected to the prepreg sheet loading table 20 one by one. correspond. The two prepreg picking robots 8 pick up the prepreg sheets 100 from the two prepreg sheet loading tables 20 and place them on the prepreg sheet 3 in a preset stacking sequence. The above-mentioned structural design can not only save space, but also utilize two prepreg picking manipulators 8 to take materials alternately, which helps to improve production efficiency.

In practical applications, prepreg sheets can be placed on both prepreg sheet loading stations 20 , or other types of material sheets can be placed. Therefore, even if the prepreg sheets in this embodiment are replaced with other material sheets, It should fall within the protection scope of the present invention.

In order to better illustrate the technical solution of this embodiment, this embodiment further proposes a prepreg sheet picking method. As shown in FIGS. 1 to 4 , the picking method is based on a picking device. The picking device includes an organic Frame 1. The frame 1 is provided with a prepreg sheet loading mechanism 2, a pre-stack table 3 and a sliding bearing frame 7. The prepreg sheet 100 is placed on the prepreg sheet loading mechanism 2. The sliding bearing frame 7 is provided with a prepreg sheet. The prepreg picking manipulator 8 includes a picking slide 80 and a picking translation drive mechanism 81 for driving the picking slide 80 to slide left and right. The picking slide 80 is fixed with Two picking up and down cylinders 82 are used to drive a picking arm 83 up or down. A strip of picking up suction claws 84 are fixed on the picking up arm 83. The two picking up suction claws 84 are parallel to each other, and the two picking suction claws 84 are respectively aligned with the edges of both sides of the prepreg sheet 100. A plurality of picking nozzles 85 for absorbing the prepreg sheet 100 are fixed on the picking suction claws 84. The material picking nozzles 85 are arranged sequentially along the length direction of the material picking suction claw 84. The material picking method includes the following steps.

In step S10 , the material-picking translation driving mechanism 81 drives the material-picking slide 80 to translate until the material-picking suction claw 84 moves above the prepreg loading mechanism 2 .

Step S11 , the picking lifting cylinder 82 drives the picking arm 83 and the picking suction claw 84 to lower, so that the picking nozzle 85 is close to the prepreg 100 on the prepreg loading mechanism 2 .

In step S12 , the material taking suction nozzle 85 inhales and generates negative pressure, and uses the negative pressure to adsorb the prepreg sheet 100 on the top layer to the two material taking suction claws 84 .

In step S13, the picking lifting cylinder 82 drives the picking arm 83 and the picking suction claw 84 to rise, and the prepreg sheet 100 located on the top layer is taken out from the prepreg sheet loading mechanism 2.

In step S14 , the material-picking translation driving mechanism 81 drives the material-picking slide 80 to translate until the material-picking suction claw 84 moves above the pre-stack table 3 .

In step S15, the picking up and down cylinder 82 drives the picking arm 83 and the picking suction claw 84 down until the prepreg sheet 100 is placed on the pre-stack table 3, and then the picking up suction nozzle 85 stops sucking air.

Step S16 , the picking lifting cylinder 82 drives the picking arm 83 and the picking suction claw 84 to rise, the picking nozzle 85 is separated from the prepreg sheet 100 , and the prepreg sheet 100 is left on the pre-stack 3 .

As a preferred implementation, step S13 further includes a shaking step: when the picking lifting cylinder 82 drives the picking arm 83 and the picking suction claw 84 to rise, the picking translation drive mechanism 81 drives the picking slide 80 to shake left and right.

Further, the material picking lifting cylinder 82 is provided with a shaking cylinder 86, and the picking arm 83 is provided on the shaking cylinder 86. The shaking cylinder 86 drives the picking arm 83 to rise or fall. In the shaking step: use the shaking cylinder 86 drives the picking arm 83 and the picking suction claw 84 to vibrate up and down. Through the combination of left and right shaking and up and down shaking, the excess prepreg 100 adsorbed by the picking nozzle 85 is shaken off on the prepreg loading mechanism 2 .

Embodiment 2

This embodiment proposes a circuit board material layer pre-lamination equipment. As shown in Figures 1 to 11, it includes a frame 1. The frame 1 is provided with a prepreg sheet loading mechanism 2, a pre-lamination mechanism 2 and Table 3, transfer table 4, core plate feeding mechanism 5 and paper separator unloading mechanism 6. The frame 1 is further provided with sliding bearing frames 7 arranged left and right. The sliding bearing frame 7 is provided with sliding bearing frames 7 from left to right. Prepreg picking manipulator 8, core board transfer manipulator 9, core board feeding manipulator 10 and separator unloading manipulator 11, prepreg picking manipulator 8 is used to pick up from the prepreg sheet loading mechanism 2 The prepreg sheet 100 is placed on the pre-stacking table 3. The core board loading robot 10 is used to pick up the core board from the core board loading mechanism 5 and placed on the transfer table 4. The separator unloading robot 11 is used to pick up the core board from the core board loading mechanism 5 and place it on the transfer table 4. The core board feeding mechanism 5 picks up the separator paper between the two core boards and places it on the separator paper unloading mechanism 6 . The core board transfer robot 9 is used to pick up the core board from the transfer table 4 and place it on the pre-stacking table 3 . Through the cooperation of the prepreg picking manipulator 8, the core board transfer manipulator 9, the core board loading manipulator 10 and the separator unloading manipulator 11, the prepreg sheets 100 and chips can be stacked in a preset stacking sequence. Suitable for pre-stack table 3.

In the actual application process of the above equipment, according to the hierarchical structure of the circuit board, the prepreg sheet picking step, the core board picking step, the separator unloading step and the core board transfer step can be started according to the preset execution sequence. During the execution of the above process, through the cooperation of the prepreg picking manipulator 8, the core plate transfer manipulator 9, the core plate feeding manipulator 10 and the separator unloading manipulator 11, the prepreg sheet 100 and the chip are moved according to the The preset stacking sequence is stacked on the pre-stacking stage 3. Compared with the existing technology, the present invention does not require manual operation, greatly reduces personnel's labor intensity, effectively saves labor costs and improves production efficiency. In addition, the equipment of the present invention has stronger automation performance, which can effectively reduce the error rate in the production process, thereby improving the product quality of the circuit board.

In order to better pick up the prepreg sheets, in this embodiment, the prepreg picking robot 8 picks up the prepreg sheets 100 through negative pressure adsorption. The core board transfer robot 9 and the core board loading robot 10 both pick up the prepreg sheets 100 through negative pressure adsorption. The core board is picked up by pressure adsorption, and the separator unloading robot 11 picks up the separator by negative pressure adsorption.

Further, a material cart 12 is included, which moves the preset core plate loading box 50 to the core plate loading mechanism 5 and the preset separator paper lowering box 60 to the separator paper unloading mechanism 6 .

Regarding the specific structure of the core board transfer robot 9, in this embodiment, the core board transfer robot 9 includes a transfer slide table 90 and a transfer translation driving mechanism 95 for driving the transfer slide table 90 to slide left and right. The transfer slide table 90 A transfer lift cylinder 91 is fixed on the top. The transfer lift cylinder 91 is used to drive the two transfer arms 92 to rise or fall. A long transfer suction claw 93 is fixed on the transfer arm 92. The two transfer suction claws 93 are parallel to each other. And the two transfer suction claws 93 are respectively aligned with the edges on both sides of the core board. A plurality of transfer suction nozzles 94 for adsorbing the core board are fixed on the transfer suction claw 93. The plurality of transfer suction nozzles 94 are along the length of the transfer suction claw 93. The directions are set in turn. Through the cooperation of the transfer translation drive mechanism 95 , the transfer lifting cylinder 91 , the transfer suction claw 93 and the transfer suction nozzle 94 , the core board on the transfer table 4 can be picked up through negative pressure suction, and the core board can be transferred to the pre-stacking table 3 superior.

In order to position the core board and align the core board transfer robot 9 with the core board on the transfer table 4, in this embodiment, the transfer table 4 is provided with a plurality of positioning slots 40. The plurality of positioning slots are 40 are evenly distributed along the circumferential direction of the transfer platform 4. A support base 41 is provided below the transfer platform 4, and the transfer platform 4 is fixed on the support base 41. The support base 41 is provided with four movable blocks 42 and is used to drive the four The positioning and clamping driving mechanism 43 has the movable blocks 42 that are far away from or relatively close to each other. The four movable blocks 42 are symmetrically arranged around the transfer table 4. A plurality of positioning fingers 420 are formed on the top of the movable block 42. The positioning fingers 420 are connected with the positioning slots. 40 are aligned one by one, the positioning fingers 420 pass through the positioning slots 40 and extend upward, and the positioning fingers 420 can move within the positioning slots 40 . When the core board is placed on the transfer table 4, the positioning and clamping driving mechanism 43 drives the four movable blocks 42 to be relatively close to position the core board on the transfer table 4 through the positioning fingers 420 around the core board.

Further, the positioning slot 40 is a long slot.

In order to improve the efficiency of prepreg loading, in this embodiment, the prepreg loading mechanism 2 includes two prepreg loading stations 20. The two prepreg loading stations 20 are arranged up and down with a preset position between them. spacing, the sliding carrier 7 is provided with two prepreg material picking manipulators 8, the two prepreg material picking manipulators 8 are arranged up and down, the prepreg material picking manipulator 8 is connected with the prepreg sheet loading table 20 One correspondence. The two prepreg picking robots 8 pick up the prepreg sheets 100 from the two prepreg sheet loading tables 20 and place them on the prepreg sheet 3 in a preset stacking sequence.

As a preferred embodiment, the prepreg loading table 20 is provided with a first weight sensor. The first weight sensor is used to collect the weight of the multi-layer prepreg 100 and feed it back to the preset control in the form of an electrical signal. device. In practical applications, two or more pieces of the prepreg 100 may be bonded when picking up materials. Each time a layer of the multi-layer prepreg 100 is removed, the weight value fed back by the first weight sensor will change. Reduce, the controller can determine whether the prepreg picking robot 8 has taken away multiple prepreg sheets 100 at the same time based on the weight difference before and after the prepreg sheets 100 are taken away. If multiple prepreg sheets 100 are taken away at the same time, The controller will issue an alarm reminder in time.

In this embodiment, the frame 1 is provided with a pre-stacked material lifting mechanism 30. The pre-stacked platform 3 is located at the lifting end of the pre-stacked material lifting mechanism 30. The controller is used to control the thickness of the materials stacked on the pre-stacked platform 3 in real time. The pre-stacking material lifting mechanism 30 rises and falls, thereby controlling the vertical height of the pre-stacking table 3 . In practical applications, when each layer is stacked, its overall thickness will increase accordingly. In order to ensure that the height position of the top layer is constant, this embodiment uses the pre-stack material lifting mechanism 30 to drive the pre-stack table 3 to move up and down slightly, so that after stacking The height of the top layer remains constant to better coordinate with each robot.

In order to better illustrate the technical solution of the present invention, the present invention further discloses a circuit board material layer pre-lamination process. As shown in FIGS. 1 to 11 , this process is implemented based on an equipment. The equipment includes a rack 1 , the frame 1 is provided with a prepreg sheet loading mechanism 2, a pre-stacking table 3, a transfer table 4, a core board feeding mechanism 5 and a paper separator unloading mechanism 6 from left to right. The frame 1 is further provided with left and right A sliding bearing frame 7 is provided. The sliding bearing frame 7 is provided with a prepreg picking manipulator 8, a core plate transfer manipulator 9, a core plate feeding manipulator 10 and a paper separator unloading machine from left to right. Hand 11, the process includes the following steps.

Step of picking up the prepreg sheets: Use the prepreg picking robot 8 to pick up the prepreg sheets 100 from the prepreg sheet loading mechanism 2 and place them on the prepreg table 3 .

Core board picking step: Use the core board loading robot 10 to pick up the core boards from the core board loading mechanism 5 and place them on the transfer table 4 .

The separator unloading step: Use the separator unloading robot 11 to pick up the separator between the two core boards from the core plate loading mechanism 5 and place it on the separator unloading mechanism 6 .

Core board transfer step: Use the core board transfer robot 9 to pick up the core boards from the transfer table 4 and place them on the pre-stack table 3 .

By controlling the execution sequence of the prepreg picking step, the core board picking step, the separator unloading step and the core board transferring step, the prepreg picking robot 8, the core board transferring robot 9, and the core board loading The robot 10 and the separator unloading robot 11 cooperate to stack the prepreg sheets 100 and chips on the pre-stacking station 3 according to a preset stacking sequence.

Embodiment 3

At present, when multiple prepreg sheets are stacked, due to factors such as static electricity, two or more prepreg sheets are usually taken away at the same time. Once the number of prepreg sheets is taken out, Errors will directly lead to the scrapping of the circuit board, making the error rate and error rate high, making it difficult to meet production requirements.

In this regard, this embodiment proposes a prepreg loading mechanism that can avoid mistakenly picking up multiple prepregs due to electrostatic adsorption, thereby improving the accuracy of the picking action and helping to improve the circuit board yield. Please refer to Figures 1 and 2. The prepreg loading mechanism 2 includes a square prepreg loading table 20. Four stops 21 are fixed on the prepreg loading table 20. The four stops 21 are respectively close to the prepreg. The four edges of the material table 20 and between the four blocks 21 are used to place multi-layer stacked prepreg sheets 100. An electrostatic device is provided diagonally above the prepreg loading table 20 for blowing negative ion wind to the prepreg sheets 100. Eliminate institutions23.

In the above structure, four blocks 21 are provided on the prepreg loading table 20. The four blocks 21 play a role in resisting the prepreg 100 from all sides, and then play a role in positioning the prepreg 100 before taking the material. At the same time, a static elimination mechanism 23 is provided obliquely above the prepreg loading table 20. The static elimination mechanism 23 is used to blow negative ion wind to the prepreg 100, and the negative ion wind plays a role in eliminating static electricity on the prepreg 100. This enables the robot to avoid taking away multiple prepreg sheets 100 at the same time due to electrostatic adsorption during the picking process, greatly improving the accuracy and reliability of the picking step, and better improving the quality of finished circuit board products. efficiency to meet production requirements.

As a preferred embodiment, the stopper 21 is a strip-shaped stopper, and the stopper 21 extends along the edge of the prepreg sheet loading table 20 .

When the multi-layer prepreg raw material is put in, in order to facilitate the discharge of the bottom airflow, the multi-layer prepreg accurately falls between the four stops 21. In this embodiment, the prepreg loading platform 20 is provided with a hollow hole 200 , and the hollow hole 200 penetrates the upper and lower sides of the prepreg loading platform 20 .

In order to support and fix the prepreg loading table 20, in this embodiment, the prepreg loading mechanism 2 includes a vertical bracket 22, and the prepreg loading table 20 is fixed on the vertical bracket 22.

In order to realize batch loading, in this embodiment, two prepreg sheet loading platforms 20 arranged one above the other are fixed on the vertical bracket 22, and a preset spacing is provided between the two prepreg sheet loading platforms 20.

Regarding the specific structure of the static elimination mechanism 23, in this embodiment, the static elimination mechanism 23 includes an air outlet box 230. The air outlet box 230 is connected to a negative ion air source. The air outlet box 230 is provided with a plurality of air blowing nozzles 231. The air blowing nozzle 231 faces the prepreg sheet loading table 20 .

In order to expand the blowing range of the negative ion wind, in this embodiment, the air outlet box 230 is in a long strip shape, and a plurality of air blowing nozzles 231 are sequentially distributed along the length direction of the air outlet box 230 .

As a preferred embodiment, the static elimination mechanism 23 includes a U-shaped bracket 232, and the air outlet box 230 is installed on the U-shaped bracket 232.

In order to facilitate the adjustment of the blowing direction, in this embodiment, the two ends of the U-shaped bracket 232 are respectively provided with hinge pieces 233 that can rotate within a preset angle, and the two ends of the air outlet box 230 are respectively fixedly connected to the two hinge pieces 233 .

In this embodiment, two L-shaped carrier frames 24 arranged up and down are fixed on the vertical bracket 22, and the two prepreg sheet loading tables 20 are respectively fixed on the two L-shaped carrier frames 24.

In order to better cooperate with the circuit board material layer pre-lamination equipment, in this embodiment, the frame 1 is further provided with a loading platform lifting driving mechanism 25 for driving the vertical bracket 22 to rise or fall, and through L The shaped carrier frame 24 is fixedly connected to the driving end of the loading platform lifting driving mechanism 25.

Embodiment 4

The pre-lamination process of circuit boards inevitably involves the core board feeding step. The raw materials of multi-layer core boards are usually stacked in the material box. In order to avoid friction between adjacent core boards, spacers need to be placed between the two core boards. In order to play a protective role, when performing the pre-lamination step, after the top core board is removed, the separator paper needs to be taken out and collected for reuse. The above process belongs to the material sorting and picking process of the core board and separator paper. Currently, the above processes are all completed manually. Therefore, not only the work efficiency is low, but also the labor cost is high, the automation performance is lacking, and the requirements for automated production cannot be met.

In this regard, this embodiment proposes a core board material sorting and picking device that can automatically complete the work of picking up core boards and separators without manual participation, save labor costs, and have more automated performance. Combined with Figure 1 and Figure 9 As shown in Figure 14, it includes a frame 1. The frame 1 is provided with a transfer table 4, a core plate feeding mechanism 5, a paper unloading mechanism 6 and a sliding bearing frame 7. The transfer table 4, core plate feeding mechanism 7 The mechanism 5 and the separator unloading mechanism 6 are arranged in sequence from left to right. The sliding carrier 7 is provided with a core plate loading manipulator 10 and a separator unloading manipulator 11. The core plate loading mechanism 5 contains a core plate. The core board loading box 50 contains a plurality of stacked core boards. There is a separation paper sandwiched between two adjacent core boards. The separation paper unloading mechanism 6 includes a separation paper unloading box 60 , the core plate loading manipulator 10 includes a loading slide 13 and a loading translation drive mechanism 130 for driving the loading slide 13 to slide left and right. A lifting drive module 131 is fixed on the loading slide 13, and the lifting drive The module 131 is used to drive a loading arm 132 to rise or fall. A long feeding suction claw 133 is fixed on the loading arm 132. The two feeding suction claws 133 are parallel to each other, and the two feeding suction claws 133 are parallel to each other. The claws 133 are respectively aligned with the edges on both sides of the core board. A plurality of feeding suction nozzles 134 for absorbing the core board are fixed on the feeding suction claw 133. The plurality of feeding suction nozzles 134 are along the length direction of the feeding suction claw 133. Set in sequence. Through the cooperation of the loading translation drive mechanism 130, the lifting drive module 131, the loading suction claw 133 and the loading suction nozzle 134, the core board in the core board feeding box 50 is picked up through negative pressure adsorption, and the core board is Transferred to the transfer table 4, the structure of the separator unloading manipulator 11 is the same as that of the core plate loading manipulator 10. The separator unloading manipulator 11 is used to pick up the core plate material box 50 through negative pressure adsorption. the separator paper in the separator, and transfer the separator paper to the separator paper unloading box 60.

During the execution of the above-mentioned core board distributing and retrieving device, the core board loading manipulator 10 first moves to the top of the core board feeding box 50. At this time, the separator unloading manipulator 11 is located above the separator unloading box 60. When the core board loading manipulator 10 picks up the core board, the lifting drive module 131 drives the loading arm 132 and the loading suction claw 133 to descend. The loading suction nozzle 134 inhales air and generates negative pressure, and uses the negative pressure to absorb the core board. Then the lifting drive module 131 drives the loading arm 132 and the loading suction claw 133 to rise, and then the loading translation drive mechanism 130 drives the loading slide 13 to translate until the core board is transferred to the top of the transfer table 4, and finally the lifting drive The module 131 drives the loading arm 132 and the loading suction claw 133 to descend, the loading suction nozzle 134 stops suction, and the core board is placed on the transfer table 4 . Based on the above process, the core plate loading manipulator 10 completes the core plate unloading. Since the structure of the separator unloading manipulator 11 is the same as that of the core plate loading manipulator 10, the separator unloading manipulator 11 only needs to follow the In the above action process, the separator paper in the core plate feeding box 50 is also picked up by negative pressure adsorption, and the separator paper is transferred to the separator paper unloading box 60 to complete the step of unloading the separator paper. Compared with the existing technology, the present invention better completes the automated material separation and retrieval process of core board separators, which not only improves production efficiency, but also effectively saves production costs, thereby meeting production needs.

In order to move up and down, in this embodiment, a vertical slide block 136 is fixed on the loading slide 13, and a vertical slide rail 137 is fixed on the loading arm 132, and the vertical slide rail 137 passes through the vertical slide block. 136 and the two are slidingly matched, the lifting driving module 131 is fixed on the loading arm 132, and the driving end of the lifting driving module 131 is connected to the loading slide 13.

In order to further improve the structural stability, in this embodiment, two vertical slide rails 137 parallel to each other are fixed on the loading arm 132, and four vertical slide blocks 136 are fixed on the loading slide 13. The straight slide rail 137 passes through the two vertical slide blocks 136 correspondingly.

Further, the loading arm 132 is an "L" shaped arm.

As a preferred embodiment, the lifting drive module 131 is fixed on the vertical part of the loading arm 132 .

In order to exert a fixing effect on the two feeding suction claws 133, in this embodiment, a feeding beam 138 is fixed on the horizontal part of the feeding arm 132, and the two feeding suction claws 133 are respectively fixed on both sides of the feeding beam 138. end.

In order to better eliminate static electricity, in this embodiment, a static electricity elimination mechanism 56 is provided on the frame 1. The static electricity elimination mechanism 56 is arranged adjacent to the core plate loading mechanism 5, and the static electricity elimination mechanism 56 is used to feed the core plate. Mechanism 5 blows negative ion wind.

This embodiment further relates to a core board material sorting and picking method. As shown in FIG. 1 and FIG. 9 to FIG. 14, this picking method is based on a picking device, which includes a frame 1, and a transfer device is provided on the frame 1. Table 4, core plate feeding mechanism 5, paper unloading mechanism 6 and sliding bearing frame 7, transfer table 4, core plate feeding mechanism 5 and paper unloading mechanism 6 are arranged in sequence from left to right, sliding bearing frame The frame 7 is provided with a core plate loading manipulator 10 and a paper separator unloading manipulator 11. The core plate loading mechanism 5 includes a core plate feeding box 50. The core plate feeding box 50 contains a plurality of stacked materials. The core board has a separator paper sandwiched between two adjacent core boards. The separator paper unloading mechanism 6 includes a separator unloading box 60. The core board loading manipulator 10 includes a loading slide 13 and a driving unit. The loading slide 13 slides left and right with a loading translation drive mechanism 130. A lifting drive module 131 is fixed on the loading slide 13. The lifting drive module 131 is used to drive a loading arm 132 to rise or fall. A long feeding suction claw 133 is fixed on the arm 132. The two feeding suction claws 133 are parallel to each other, and the two feeding suction claws 133 are respectively aligned with the edges of both sides of the core board. A plurality of feeding suction nozzles 134 for adsorbing the core board are fixed, and the plurality of feeding suction nozzles 134 are arranged sequentially along the length direction of the feeding suction claw 133. This feeding method includes the following steps.

In step S20 , the core plate loading robot 10 is translated to above the core plate feeding box 50 . At this time, the separator unloading robot 11 is located above the separator unloading box 60 .

In step S21, the lifting drive module 131 drives the loading arm 132 and the loading suction claw 133 to lower, the loading suction nozzle 134 inhales air and generates negative pressure, and uses the negative pressure to absorb the core board.

In step S22 , the lifting drive module 131 drives the loading arm 132 and the loading suction claw 133 to rise, and then the loading translation drive mechanism 130 drives the loading slide 13 to translate until the core board is transferred above the transfer platform 4 .

Step S23 , the lifting drive module 131 drives the loading arm 132 and the loading suction claw 133 to lower, the loading suction nozzle 134 stops suctioning, and the core board is placed on the transfer table 4 .

The structure of the separator unloading robot 11 is the same as that of the core plate loading robot 10. The separator unloading robot 11 picks up the core plate feeding box through negative pressure adsorption according to the action process from step S20 to step S23. 50, and transfer the separator paper to the separator paper unloading box 60.

Embodiment 5

In the actual application process, when the preset manipulator takes out the core board and separator paper from the material box, in order to avoid accidentally picking up the materials, it is necessary to accurately distinguish the core board and separator paper. The existing identification method is to manually However, this resolution method is not only inefficient, but also prone to material picking errors due to operator fatigue, which will seriously affect the quality of circuit board production and fail to meet production requirements.

In this regard, this embodiment proposes a core board separation paper separation and detection device that can improve the accuracy and reliability of the core board material picking process, improve the quality of circuit board production, and have more automated performance. As shown in Figure 1, Figure 11 to Figure 14, the core plate separator material distribution detection device includes a frame 1. The frame 1 is provided with a core plate feeding mechanism 5 and a sliding bearing frame 7. On the sliding bearing frame 7 There is a core plate loading manipulator 10 and a paper separator unloading manipulator 11. The core plate loading mechanism 5 includes a core plate feeding box 50. The core plate feeding box 50 contains a plurality of stacked core boards. There is a separation paper sandwiched between two adjacent core boards. The core board loading robot 10 is used to pick up the core boards in the core board loading box 50 through negative pressure adsorption. The core board loading robot 10 includes Loading beam 138 and color sensor 139. The color sensor 139 is installed on the loading beam 138. The sensing end of the color sensor 139 is set downward. The structure of the separator unloading manipulator 11 is consistent with the core plate loading. The structure of the manipulator 10 is the same. The separator unloading manipulator 11 is used to pick up the separators in the core plate feeding box 50 through negative pressure adsorption. The color sensor 139 is used to collect the color and give feedback in the form of electrical signals. To the preset controller, the controller determines whether the core board loading robot 10 picks up the core board according to the electrical signal fed back by the color sensor 139, and determines whether the separator paper unloading robot 11 picks up the separator paper.

In the above structure, the core plate loading manipulator 10 and the separator unloading manipulator 11 are used to unload the core plate and separator paper respectively. At the same time, the core plate loading manipulator 10 and the separator unloading manipulator 11 are used. Color sensors 139 are configured respectively. Taking the core board loading manipulator 10 as an example, the color sensor 139 installed on the loading beam 138 is used to detect the color through the color sensor when the core board loading manipulator 10 picks up the core board. Based on the color data fed back by the detector 139, the preset controller can determine whether the core board loading robot 10 picks up the core board or the separator paper based on the color data. If it picks up the separator paper at this time, it is a mistaken picking action. , the controller can issue alarm prompts in time. Correspondingly, the paper blanking manipulator 11 also has color collection and judgment functions. Based on the above principles, the present invention can greatly improve the accuracy of the material separation process between core boards and separators, effectively avoid the occurrence of mistaken materials, help improve the production quality of circuit boards, and have more automated performance.

Based on the above color sensor, this embodiment can not only be used to distinguish the core board and the separator paper, but can also be further used to pick up sheets such as film. In addition, the color sensor is not limited to detecting different types of sheets. It can further judge single sheets and multiple sheets. For example, when a robot picks up multiple sheets of film, the color depth is the same as that of a single sheet of film. Different colors are different, and the color data fed back are also different. Based on this color difference, the controller can determine whether the robot picks up a single piece or multiple pieces, thereby improving the accuracy of the picking process, and at the same time, it can further issue timely notifications to the user. Alarm prompts not only provide better accuracy, but also further improve automation performance.

As a preferred embodiment, the core board loading robot 10 includes two mutually parallel loading suction claws 133 , and the two loading suction claws 133 are respectively fixed at both ends of the loading beam 138 .

In order to collect the sheet color more accurately, in this embodiment, the color sensor 139 is located between the two feeding suction claws 133 .

On this basis, this embodiment further has a material picking and detection function. Specifically, the core plate loading mechanism 5 includes a detection cylinder 51. The detection cylinder 51 is fixed on the frame 1, and the telescopic shaft of the detection cylinder 51 is fixed with a detection cylinder 51. The loading sensing mechanism 52, when the core board loading robot 10 picks up the core board or the separator unloading robot 11 picks up the separator, the detection cylinder 51 drives the loading sensing mechanism 52 to extend into the core board feeding box 50. When the loading sensing mechanism 52 senses the core board or the separator paper, it feeds back an electrical signal to the controller. Based on the above structure, it helps the controller to determine whether the robot hand has accurately retrieved the sheet material, thereby further improving the accuracy and reliability of the picking action.

In order to play a better supporting role, in this embodiment, the loading induction mechanism 52 includes an induction bracket 520 and a material sensor 521. The induction bracket 520 is fixedly connected to the telescopic shaft of the detection cylinder 51, and the material sensor 521 is fixed to the induction bracket. 520 on.

As a preferred implementation manner, the material sensor 521 is an infrared tube sensor or a proximity switch.

Embodiment 6

In practical applications, during the core board loading and separator unloading process, it is generally necessary to use material boxes to load raw materials and separators, and at the same time, the material boxes need to be manually placed at the core board picking station and separator unloading station. After the material picking and placing is completed, the material box is manually removed and replaced. The whole process is not only cumbersome, but also requires a lot of manpower, low work efficiency, high labor costs, and cannot meet production needs.

In this regard, this embodiment proposes a box transfer mechanism that helps realize automatic picking and placing of boxes, thereby improving the efficiency of loading and unloading core boards and separators, while saving labor costs. Combined with Figure 1, Figure 9 to Figure 15 As shown, it includes a frame 1, a core plate material cart 15 and a paper separator material cart. The frame 1 is provided with a core plate loading mechanism 5 and a separator unloading mechanism 6.

Among them, a first material parking space 53 that can be pushed into the core board material cart 15 is provided below the core board loading mechanism 5. A first material box lifting mechanism 55 is provided on the core board material car 15. The first material box lifting mechanism 55 A core plate material box 50 is placed on the lifting end of The core board material cart 15 is fixed to the first material parking space 53, and then the first material box lifting mechanism 55 drives the core board material box 50 to rise to a preset height;

There is a second material parking space 63 that can be pushed into the paper separator material cart below the separator material unloading mechanism 6. The separator material cart is provided with a second material box lifting mechanism, and a separator is placed at the lifting end of the second material box lifting mechanism. The paper unloading box 60 and the paper unloading mechanism 6 include a second locking mechanism. When the paper material truck is pushed into the second material parking space 63, the paper material truck is fixed to the second material parking space 63 by the second locking mechanism. In the material parking space 63, the second material box lifting mechanism drives the paper lowering box 60 to rise to a preset height.

In the above structure, a first material parking space 53 and a second material parking space 63 are respectively provided below the core plate loading mechanism 5 and the paper separator unloading mechanism 6. When carrying out the process of taking and exchanging the material box, only the core needs to be moved. The board material cart 15 and the separator material cart are pushed into the first material parking space 53 and the second material parking space 63 respectively. After the core board material cart 15 and the separator material cart are fixed through the locking mechanism, the two material carts can be used The unique material box lifting mechanism drives the material box to rise to the preset height for picking and placing materials. The process of picking and placing the material boxes can be completed automatically. The action process is simple and reliable, which not only saves time and effort, but also saves labor costs and helps improve the circuit board. The working efficiency of the material layer pre-lamination equipment better meets the production needs.

In order to position the material box after the material box rises to the preset height, in this embodiment, at least two first locking mechanisms 54 are fixed on the frame 1, and the first locking mechanisms 54 are respectively arranged on the core plate. On both sides of the loading box 50, a first positioning block 540 is fixed on the telescopic shaft of the first locking mechanism 54. When the first loading box lifting mechanism 55 drives the core plate loading box 50 to rise to a preset height, the first positioning block 540 is fixed on the telescopic shaft of the first locking mechanism 54. The locking mechanism 54 drives the first positioning block 540 to extend, and the core plate material box 50 is clamped and positioned by the first positioning blocks 540 on both sides of the core plate material box 50 .

In practical applications, the core panel material cart 15 and the separator material cart have the same structure. In order to facilitate moving the material cart, in this embodiment, four universal wheels 150 are provided at the bottom of the core panel material cart 15 .

Furthermore, the side of the core board material cart 15 is provided with a vertical handrail 151 .

In order to realize batch transportation, in this embodiment, at least two core plate material boxes 50 are placed on the lifting end of the first box lifting mechanism 55 and placed one above the other.

The above are only preferred embodiments of the present invention and are not intended to limit the present invention. Any modifications, equivalent substitutions or improvements made within the technical scope of the present invention shall be included in the scope of protection of the present invention.

1:Rack 2: Prepreg sheet loading mechanism 20:Prepreg sheet loading table 200: Hollow hole 21:Block 22:Vertical bracket 23: Static elimination mechanism 230: Air outlet box 231: Air blower 232:U-shaped bracket 233:Hinged piece 24:L-shaped bearing frame 25: Loading table lifting drive mechanism 3: Pre-stack table 30: Pre-stacked material lifting mechanism 4:Transfer station 40: Positioning slot 41: Support base 42:Activity block 420: Position finger 43: Positioning and clamping drive mechanism 5: Core plate feeding mechanism 50: Core board material box 51: Detect cylinder 52: Feeding induction mechanism 520: Induction bracket 521:Material sensor 53: First material parking space 54:First locking mechanism 540: First positioning block 55: The first material box lifting mechanism 56: Static elimination mechanism 6: Paper cutting mechanism 60: Paper separation box 63: Second material parking space 7: Sliding bearing frame 8: Prepreg reclaiming robot 80:Retrieving slide 81: Material retrieval translation drive mechanism 82: Lifting cylinder 83:Retrieving arm 84:Retrieving suction claw 85:Taking nozzle 86: Shake the cylinder 9: Core board transfer robot 90: Transfer slide 91:Lifting cylinder 92:Transfer arm 93:Transfer suction claw 94: Transfer nozzle 95: Transfer translation drive mechanism 10: Core plate feeding robot 100:Prepreg sheet 11: Paper blanking manipulator 12:Material truck 13: Loading slide 130: Loading translation drive mechanism 131:Lift drive module 132: Loading arm 133: Feeding suction claw 134: Feeding nozzle 136:Vertical slider 137:Vertical slide rail 138:Loading beam 139: Color sensor 15: Core board material truck 150: Universal wheel 151: handrail

Figure 1 is the overall structural diagram of the circuit board material layer pre-lamination equipment; Figure 2 is a structural diagram of the prepreg sheet loading mechanism; Figure 3 is the structural diagram of the prepreg picking manipulator; Figure 4 is a side view of the prepreg picking robot; Figure 5 is a bottom view of the core board transfer robot; Figure 6 is a side view of the core board transfer robot; Figure 7 is a structural diagram of the transfer station; Figure 8 is a side view of the pre-stacking station; Figure 9 is a structural diagram of the core plate loading mechanism and the separator unloading mechanism; Figure 10 is another structural diagram of the core plate loading mechanism and the separator unloading mechanism; Figure 11 is a structural diagram of the core board transfer robot, the core board loading robot, and the separator unloading robot; Figure 12 is a top view of the core plate loading robot; Figure 13 is a front view of the core plate loading robot; Figure 14 is a side view of the core plate loading robot; Figure 15 is a side view of the core board material truck.

7: Sliding bearing frame

8: Prepreg reclaiming robot

80:Retrieving slide

81: Material retrieval translation drive mechanism

82:Retrieving arm

83:Retrieving arm

84:Retrieving suction claw

86: Shake the cylinder

Claims (8)

A prepreg sheet unloading device, which includes a frame. The frame is provided with a prepreg sheet loading mechanism, a pre-stack table and a sliding carrier. A prepreg sheet is placed on the prepreg sheet loading mechanism. A prepreg picking robot is provided on the sliding carrier. The prepreg picking robot includes a picking slide and a picking translation drive mechanism for driving the picking slide left and right. Two reclaiming lifting cylinders are fixed on the reclaiming slide. The reclaiming lifting cylinder is used to drive a reclaiming arm to rise or fall. A long strip of a reclaiming suction claw is fixed on the reclaiming arm. Two reclaiming claws are fixed on the reclaiming slide. The feeding suction claws are parallel to each other, and the two feeding suction claws are respectively aligned with the edges on both sides of the prepreg sheet. A plurality of feeding suction nozzles for absorbing the prepreg sheet are fixed on the feeding suction claws. , the plurality of picking nozzles are arranged in sequence along the length direction of the picking suction claw. Through the cooperation of the picking translation drive mechanism, the picking lifting cylinder and the picking nozzle, the picking up is carried out through negative pressure adsorption. The prepreg sheet is loaded on the prepreg sheet loading mechanism, and the prepreg sheet is transferred to the pre-stack table; wherein a shaking cylinder is fixed on the shell of the picking up and down cylinder, and the picking arm is located on the shaking cylinder On the cylinder, the shaking cylinder drives the material picking arm to rise or fall. The prepreg sheet picking device as claimed in claim 1, wherein the picking translation drive mechanism is a motor screw drive mechanism. The prepreg sheet retrieving device as described in claim 1, wherein the telescopic shaft of the retrieving lifting cylinder is fixedly connected to the retrieving slide, and the housing of the retrieving lifting cylinder drives the retrieving arm to rise or decline. The prepreg sheet unloading device as described in claim 1, wherein the unloading arm is in an "L" shape. The prepreg sheet picking device according to claim 4, wherein the telescopic shaft of the shaking cylinder is fixedly connected to the housing of the picking lifting cylinder, and the housing of the shaking cylinder is fixed to the vertical part of the picking arm. The material-taking suction claw is fixedly connected to the horizontal part of the material-taking arm. The prepreg sheet unloading device as described in claim 1, wherein the prepreg sheet loading mechanism includes two prepreg sheet loading tables, the two prepreg sheet loading tables are arranged up and down with a preset distance between them, The sliding carrier is provided with two prepreg material picking manipulators. The two prepreg material picking manipulators are arranged up and down. The prepreg material picking manipulators are arranged correspondingly to the prepreg sheet loading table. The two prepreg picking robots respectively pick up the prepreg sheets from the two prepreg sheet loading tables and place them on the pre-stack table in a preset stacking order. A prepreg sheet picking method, wherein the picking method is based on a picking device, the picking device includes a frame, the frame is provided with a prepreg sheet loading mechanism, a pre-stack table and a sliding A carrier frame, a prepreg sheet is placed on the prepreg sheet loading mechanism, and a prepreg material picking manipulator is provided on the sliding bearing frame. The prepreg material picking manipulator includes a material picking slide and a driving mechanism. A reclaiming translation drive mechanism that slides left and right on the reclaiming slide. Two reclaiming lifting cylinders are fixed on the reclaiming slide. The reclaiming lifting cylinder is used to drive a reclaiming arm to rise or fall. The reclaiming arm is A long strip of material-taking suction claws is fixed on the arm. The two material-taking suction claws are parallel to each other, and the two material-taking suction claws are aligned with the edges of both sides of the prepreg. The material-taking suction claws A plurality of picking nozzles for adsorbing the prepreg sheets are fixed on the top, and the plurality of picking nozzles are arranged sequentially along the length direction of the picking claw. The picking method includes: step S10, the picking translation drive The mechanism drives the material-taking slide table to translate until the material-picking suction claw moves above the prepreg sheet loading mechanism; In step S11, the material-picking lifting cylinder drives the material-picking arm and the material-picking suction claw to descend, so that the material-picking suction nozzle is close to the prepreg sheet on the prepreg sheet loading mechanism; in step S12, the material picking-up suction claw The mouth inhales and generates negative pressure, and uses the negative pressure to adsorb the prepreg sheet located on the top layer to the two picking suction claws; step S13, the picking lifting cylinder drives the picking arm and the picking suction claw Rise up and take out the prepreg sheet located on the top layer from the prepreg sheet loading mechanism; in step S14, the material picking translation drive mechanism drives the material picking slide table to translate until the picking suction claw moves above the pre-stack table ; Step S15, the pickup lifting cylinder drives the pickup arm and the pickup suction claw to descend until the prepreg is placed on the pre-stack table, and then the pickup nozzle stops suction; Step S16, the pickup The material lifting cylinder drives the material picking arm and the material picking suction claw to rise, the material picking suction nozzle is separated from the prepreg sheet, and then the prepreg sheet is left on the pre-stack table; step S13 further includes a shaking Step: When the material-picking lifting cylinder drives the material-picking arm and the material-picking suction claw to rise, the material-picking translation driving mechanism drives the material-picking slide to vibrate left and right. The prepreg sheet picking method described in claim 7, wherein the picking lifting cylinder is provided with a shaking cylinder, the picking arm is provided on the shaking cylinder, and the shaking cylinder drives the picking arm to rise Or go down. In the shaking step, the shaking cylinder is used to drive the picking arm and the picking suction claw to shake up and down. Through the cooperation of left and right shaking and up and down shaking, the excess preheated material adsorbed by the picking suction nozzle is The prepreg sheets are shaken off from the prepreg sheet loading mechanism.

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