1. The utility model provides an automatic go up unloading mechanism which characterized in that includes:

the material loading and unloading device comprises a material stacking operation area arranged on a material loading and unloading workbench, a material loading and unloading operation area arranged on a material taking and placing workbench and a frame trolley corresponding to the material loading and unloading operation area;

the stacking operation area comprises an upper material bin, a positioning bin and a lower material bin, and a linear material carrying device is arranged between the upper material bin and the positioning bin; the loading and unloading operation area comprises six mechanical arms arranged in the middle of the material taking and placing workbench and frame push-pull devices located on two sides of the six mechanical arms, mechanical arm fixtures used for grabbing the flitches are arranged at the tail ends of the six mechanical arms, a plurality of frames for pushing and pulling the frame push-pull devices are arranged on the frame trolley, and a plurality of clamping stations used for placing the flitches are arranged on each frame.

2. The mechanism of claim 1, wherein the linear material handling device comprises a first sliding assembly erected above the feeding bin and the positioning bin, a lifting assembly connected with a sliding table on the first sliding assembly, and a first sucker assembly arranged at the tail end of the lifting assembly, and a lifting compensation assembly is arranged between the lifting assembly and the first sucker assembly.

3. The mechanism of claim 2, wherein a support frame for erecting the first sliding assembly is arranged on the feeding and discharging worktable of the feeding bin and the positioning bin, the first sliding assembly is arranged along the arrangement direction of the feeding bin and the positioning bin, the lifting assembly comprises a sliding plate connected with the sliding table on the first sliding assembly, a carrying plate connected with the sliding plate in a sliding manner, and a first telescopic cylinder arranged on the sliding plate, the telescopic end of the first telescopic cylinder is connected with the carrying plate, the telescopic compensation assembly comprises a second telescopic cylinder arranged on the carrying plate and a plurality of guide pillars respectively arranged on the periphery of the second telescopic cylinder, and the telescopic end of the second telescopic cylinder and the tail end of each guide pillar are connected with the first suction disc assembly.

4. The mechanism of claim 1, wherein the material taking and placing working tables at two sides of the six-axis manipulator are respectively provided with a second sliding assembly, and the frame pushing and pulling device is installed on the second sliding assemblies.

5. The mechanism as claimed in claim 4, wherein the frame push-pull device comprises a back plate and third sliding assemblies arranged at the top and the bottom of the same side surface of the back plate, a transmission rod is arranged between the two third sliding assemblies, the transmission rod is connected with a servo motor, and a pneumatic claw with a clamping end facing one side of the frame trolley is respectively connected to a corresponding sliding table on each third sliding assembly.

6. The mechanism of claim 1, wherein each of said holding stations has a plurality of holding plates for holding edges of said flitches.

7. The mechanism of claim 6, wherein said manipulator clamp comprises a second sucker assembly, a third telescopic cylinder connected with said second sucker assembly, and a cylinder mounting rack for supporting said third telescopic cylinder and connected with the end of said six-axis manipulator, and said second sucker assembly is provided with a pressure opening device on the periphery side corresponding to said pressure plate, said pressure opening device comprises a linear reciprocating motor and a pressure opening column arranged on said linear reciprocating motor.

8. The mechanism of claim 1, wherein the bottom parts of the positioning bin and the blanking bin are respectively provided with a fourth sliding component and a fifth sliding component.

9. The mechanism of claim 1, wherein a code reading mechanism is arranged above the lower bin.

10. The mechanism as claimed in claim 1, wherein a light curtain is arranged outside the loading and unloading workbench.

Background

Automation (Automation) refers to a process of realizing an expected target by automatic detection, information processing, analysis and judgment, and manipulation control of machine equipment, systems or processes (production and management processes) according to human requirements without direct participation of people or few people.

In the process of processing the PCB, a plurality of stacked PCBs are required to be horizontally placed on a processing rack for processing at a next station, and then the processed PCBs are required to be taken down from the processing rack and stacked for collection. On the one hand, the operation of taking and placing the PCB on the processing frame is mostly followed by manual operation, the labor cost is high, the efficiency is low, and the requirement of automatic processing is difficult to meet.

Disclosure of Invention

In view of the above, the present invention has been made to provide an automatic loading and unloading mechanism that overcomes or at least partially solves the above problems.

In order to solve the above problems, the invention discloses an automatic loading and unloading mechanism, comprising:

the material loading and unloading device comprises a material stacking operation area arranged on a material loading and unloading workbench, a material loading and unloading operation area arranged on a material taking and placing workbench and a frame trolley corresponding to the material loading and unloading operation area;

the stacking operation area comprises an upper material bin, a positioning bin and a lower material bin, and a linear material carrying device is arranged between the upper material bin and the positioning bin; the loading and unloading operation area comprises six mechanical arms arranged in the middle of the material taking and placing workbench and frame push-pull devices located on two sides of the six mechanical arms, mechanical arm fixtures used for grabbing the flitches are arranged at the tail ends of the six mechanical arms, a plurality of frames for pushing and pulling the frame push-pull devices are arranged on the frame trolley, and a plurality of clamping stations used for placing the flitches are arranged on each frame.

Preferably, the linear material device of removing is including erectting go up the first subassembly that slides of feed bin and location storehouse top, with lift assembly that slip table on the first subassembly that slides is connected and locate the terminal first sucking disc subassembly of lift assembly, lift assembly with be equipped with lift compensation assembly between the first sucking disc subassembly.

Preferably, be located be equipped with on the last unloading workstation of going up feed bin and locating bin and be used for erectting first sliding assembly's support frame, first sliding assembly arranges along the array direction of last feed bin and lower feed bin, lifting unit include with sliding plate that sliding table on the first sliding assembly is connected, with sliding plate sliding connection's the board of putting up and locate first telescopic cylinder on the sliding plate, first telescopic cylinder's flexible end with the board of putting up is connected, flexible compensating assembly is including locating second telescopic cylinder and a plurality of root branch row on the board of putting up are in the guide pillar of second telescopic cylinder week side, the flexible end of second telescopic cylinder and the end of guide pillar all with first feed bin subassembly is connected.

Preferably, the material taking and placing working tables positioned at two sides of the six-axis manipulator are respectively provided with a second sliding assembly, and the second sliding assemblies are provided with the frame pushing and pulling device.

Preferably, the frame push-pull device comprises a back plate and third sliding assemblies arranged at the top and the bottom of the same side face of the back plate, a transmission rod is arranged between the two third sliding assemblies and connected with a servo motor, and each sliding table corresponding to each third sliding assembly is respectively connected with an air claw with a clamping end facing one side of the frame trolley.

Preferably, each clamping station is provided with a plurality of pressing plates for clamping the edges of the flitch.

Preferably, the manipulator anchor clamps include second sucking disc subassembly, with the flexible cylinder of third that the second sucking disc subassembly is connected and be used for supporting the flexible cylinder of third and with the end-to-end connection's of six-axis manipulator cylinder mounting bracket, the week side of second sucking disc subassembly corresponds the clamp plate is equipped with pressure opening device, pressure opening device includes the straight line and reciprocates the motor and locates open the pressure post on the straight line reciprocates the motor.

Preferably, the bottom parts of the positioning bin and the blanking bin are respectively provided with a fourth sliding assembly and a fifth sliding assembly.

Preferably, a code reading mechanism is arranged above the blanking bin.

Preferably, a light curtain is arranged on the outer side of the feeding and discharging workbench.

The invention has the beneficial effects that:

the processed frame trolley is moved to the side of the frame push-pull device, a frame fully loaded with a processed material plate is pulled to the front of a back plate, the processed material plate is taken down to a lower storage bin through a mechanical arm clamp on a six-axis mechanical arm, a unprocessed material plate is taken out from a positioning bin and placed on a clamping station which is just vacant on the frame in front of the back plate, after repeated circulation and reciprocation, the processed material plate on the frame is completely replaced by the unprocessed material plate, the frame fully loaded with the unprocessed material plate is pushed onto the frame trolley through the frame push-pull device, the next batch of frame trolley is replaced after the frame trolley is fully loaded with the frame again, on the other hand, continuous feeding (the unprocessed material plate) is carried out on an upper storage bin, and continuous cleaning (the processed material plate) is carried out on the lower storage bin, and therefore the cyclic process of placing and taking down on the frame before and after processing of the PCB plates is achieved.

Drawings

FIG. 1 is a schematic view of the external structure of a loading and unloading mechanism according to the present invention;

FIG. 2 is a schematic top view of the loading/unloading mechanism of the present invention;

FIG. 3 is a schematic structural view of a linear transporter;

FIG. 4 is a schematic view of the frame push-pull configuration;

FIG. 5 is a schematic view of a robot clamp;

in the figure, 10, a feeding and discharging workbench; 20. a material taking and placing workbench; 30. a frame trolley; 40. a material plate;

100. a linear conveyance device; 101. a first glide assembly; 102. a first suction cup assembly; 103. a support frame; 104. a sliding plate; 105. building a support plate; 106. a first telescopic cylinder; 107. a second telescopic cylinder;

200. a frame push-pull device; 201. a frame; 202. a second glide assembly; 203. a back plate; 204. a third glide assembly; 205. a servo motor; 206. a pneumatic claw; 207. pressing a plate;

300. a manipulator clamp; 301. a second chuck assembly; 302. a third telescopic cylinder; 303. a cylinder mounting frame; 304. a linear reciprocating motor; 305. opening a pressure column;

401. feeding a bin; 402. positioning the bin; 403. discharging a bin; 404. a fourth glide assembly; 405. a fifth glide assembly; 406. a code reading mechanism;

500. a six-axis manipulator; 600. a light curtain.

Detailed Description

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

As shown in fig. 1 to 5, an automatic loading and unloading mechanism for automatically placing, taking down and stacking PCB boards before and after processing comprises a stacking operation area arranged on an loading and unloading workbench 10, a loading and unloading operation area arranged on an loading and unloading workbench 20, and a frame trolley 30 corresponding to the loading and unloading operation area;

the stacking operation area comprises an upper storage bin 401, a positioning bin 402 and a lower storage bin 403, and a linear material carrying device is arranged between the upper storage bin 401 and the positioning bin 402; the loading and unloading operation area comprises six-axis manipulators 500 arranged in the middle of the material taking and placing workbench 20 and frame push-pull devices 200 located on two sides of the six-axis manipulators 500, the tail ends of the six-axis manipulators 500 are provided with manipulator clamps 300 used for grabbing the material plates 40, a plurality of frames 201 for pushing and pulling the frame push-pull devices 200 are arranged on the frame trolley 30, and each frame 201 is provided with a plurality of clamping stations used for placing the material plates 40.

Specifically, the automatic loading and unloading mechanism can simultaneously deal with the operations of placing and stacking the PCB, that is, before the PCB is processed, the material plate 40 of the positioning bin 402 in the stacking operation area needs to be placed on the frame 201 on the loading and unloading operation area, and then the frame trolley 30 transports the material plate to the next station for processing; or the like, or, alternatively,

after the PCB is processed, the frame trolley 30 transports the processed frame 201 to a material loading/unloading operation area, and stacks the processed material plates 40 placed on the material loading/unloading operation area in the material unloading bin 403 in the material stacking operation area.

The feeding of the feeding bin 401 and the discharging of the discharging bin 403 can be replaced by manual work or other carrying devices, and only the stacked and orderly material plates 40 are placed therein, which is not limited in this embodiment.

It should be noted that the material plates 40 in the positioning bin 402 are conveyed by the linear conveying device, and the material plates 40 in both bins are unprocessed material plates 40, that is, the material plates 40 in the empty frame 201 need to be conveyed by the robot.

In one embodiment, the linear material handling device comprises a first sliding assembly 101 erected above the upper bin 401 and the positioning bin 402, a lifting assembly connected with a sliding table on the first sliding assembly 101, and a first sucker assembly 102 arranged at the end of the lifting assembly, wherein a lifting compensation assembly is arranged between the lifting assembly and the first sucker assembly 102;

specifically, a support frame 103 for erecting the first sliding assembly 101 is arranged on the feeding and discharging workbench 10 of the feeding bin 401 and the positioning bin 402, the first sliding assembly 101 is arranged along the arrangement direction of the feeding bin 401 and the discharging bin 403, the lifting assembly comprises a sliding plate 104 connected with a sliding table on the first sliding assembly 101, a carrying plate 105 connected with the sliding plate 104 in a sliding manner, and a first telescopic cylinder 106 arranged on the sliding plate 104, the telescopic end of the first telescopic cylinder 106 is connected with the carrying plate 105, the telescopic compensation assembly comprises a second telescopic cylinder 107 arranged on the carrying plate 105 and a plurality of guide pillars distributed on the periphery of the second telescopic cylinder 107, and the telescopic end of the second telescopic cylinder 107 and the tail end of each guide pillar are connected with the first feeding tray assembly 102.

It can be understood that the flitch 40 stacked in the upper bin 401 by a manual or other handling device is not necessarily accurately positioned, and as a result, the accuracy of the six-axis robot 500 in placing the flitch onto the material frame is affected, so that the first sucking disc assembly 102 downwards sucks the flitch 40 in the upper bin 401 and then places the flitch 40 in the positioning bin 402 through the cooperation of the first sliding assembly 101, the first telescopic cylinder 106 and the second telescopic cylinder 107, so that a plurality of flitches 40 are stacked orderly as required.

In the above embodiment, a plurality of air blowing devices for blowing air toward the center of the positioning bin 402 are disposed at the peripheral side of the positioning bin 402, and the air blowing devices are electrostatic air blowing devices for removing foreign matters on the material plate 40.

In an embodiment, the material taking and placing working tables 20 located at two sides of the six-axis robot 500 are respectively provided with a second sliding assembly 202, and the frame pushing and pulling device 200 is installed on the second sliding assembly 202.

It can be understood that the arrangement direction of the plurality of frames 201 on the frame trolley 30 corresponds to the direction in which the second sliding component 202 drives the frame push-pull device 200 to move, that is, the frame push-pull device 200 can push the frames 201 to the corresponding positions of the frame trolley 30, and can also pull out the corresponding frames 201 on the frame trolley 30.

The frame push-pull device 200 comprises a back plate 203 and third sliding assemblies 204 arranged at the top and the bottom of the same side surface of the back plate 203, a transmission rod is arranged between the two third sliding assemblies 204, the transmission rod is connected with a servo motor 205, and each sliding table corresponding to the third sliding assembly 204 is respectively connected with a pneumatic claw 206 with a clamping end facing one side of the frame trolley 30.

With the above embodiment, the frame 201 on the frame trolley 30 can be pulled to the front of the back plate 203, and the frame 201 in front of the back plate 203 can also be pushed to the frame trolley 30. Specifically, the second sliding assembly 202 moves the frame pushing and pulling device 200 to a position corresponding to the frame trolley 30, drives the servo motor 205 to make the sliding tables at the top and bottom drive the pneumatic claw 206 to move synchronously, and the pneumatic claw 206 clamps one side of the frame 201 to pull/push the frame 201.

It will be appreciated that the present embodiment has two frame push-pulls 200, one frame push-pull 200 for each frame trolley 30. Of course, depending on the actual processing environment, more than two frame push-pulls 200 may be provided accordingly. In the process of taking and placing the materials, a set of flow is formed, the processed frame trolley 30 is moved to the side of the frame push-pull device 200, the frame 201 fully loaded with the processed material plate 40 is pulled to the front of the back plate 203, the processed material plate 40 is taken down to the blanking bin 403 by the manipulator clamp 300 on the six-axis manipulator 500, then a piece of unprocessed material plate 40 is taken out from the positioning bin 402 and placed on the clamping station just before the back plate 203 on the frame 201, after a plurality of cycles of reciprocating, the processed material plates 40 on the frame 201 are all replaced by the unprocessed material plates 40, the frame 201 fully loaded with the unprocessed material plates 40 is pushed to the frame trolley 30 by the frame push-pull device 200, the next batch of frame trolleys 30 are replaced after the frame trolley 30 is fully loaded with the frame 201 again, on the other hand, the upper bin 401 is continuously supplied with the unprocessed material plates 40 and the blanking bin 403 is continuously cleaned (the processed material plate 40), therefore, the circulation process of placing and taking down the PCB on the frame 201 before and after processing is realized.

In one embodiment, each of the clamping stations is provided with a plurality of pressing plates 207 for clamping the edges of the flitch 40.

It can be understood that two pressing plates 207 are respectively arranged above and below the clamping station, and the pressing plates 207 can be spring pressing plates 207, that is, one side is pressed, and the other side is opened and closed to clamp the edge of the PCB.

Manipulator anchor clamps 300 include second sucking disc subassembly 301, with the third telescopic cylinder 302 that second sucking disc subassembly 301 is connected and be used for supporting third telescopic cylinder 302 and with six-axis manipulator 500's end connection's cylinder mounting bracket 303, the week side of second sucking disc subassembly 301 corresponds clamp plate 207 is equipped with pressure opening device, pressure opening device includes straight line round trip motor 304 and locates pressure opening post 305 on the straight line round trip motor 304.

It should be noted that, when the flitch 40 is fixed on the clamping station, the flitch 40 is only attracted by the second chuck assembly 301 to cause damage to the flitch 40, and the pressing plate 207 is ejected by the pressing-opening column 305 driven by the linear reciprocating motor 304 in the pressing-opening device, so that the flitch 40 is smoothly placed/taken down on the clamping station by the second chuck assembly 301, thereby avoiding the damage to the PCB structure and ensuring the product quality.

In an embodiment, the bottom of the positioning bin 402 and the bottom of the blanking bin 403 are respectively provided with a fourth sliding assembly 404 and a fifth sliding assembly 405.

Understandably, the positions of the setting bin 402 and the blanking bin 403 can be adjusted by the fourth sliding assembly 404 and the fifth sliding assembly 405, respectively, so that the material plates 40 can be grabbed by the manipulator and the material plates 40 can be stacked.

In one embodiment, a code reading mechanism 406 is disposed above the lower bin 403. The code reading mechanism 406 is used for carrying out code reading identification and recording on each material plate 40 placed in the blanking bin 403 by the manipulator, so that the probability of repeated processing of PCB plates is reduced.

In an embodiment, a light curtain 600 is disposed outside the feeding and discharging worktable 10. The light curtain 600 is a photoelectric protector in an automatic processing process, mainly comprises a sensor and another sensor to form a scanning array, and can play a role in safety monitoring and protection alarming in the operation process of the feeding and discharging mechanism of the embodiment.

In addition, it can be understood that the above embodiments can be programmed and controlled through an external human-machine control interface, and the degree of automation is high.

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

The above-mentioned detailed description is given to the automatic loading and unloading mechanism provided by the present invention, and the principle and the implementation of the present invention are explained by applying a specific example, and the description of the above-mentioned example is only used to help understanding the method and the core idea of the present invention; meanwhile, for a person skilled in the art, according to the idea of the present invention, there may be variations in the specific embodiments and the application scope, and in summary, the content of the present specification should not be construed as a limitation to the present invention.