CN-121990343-A - Plate-planting and plate-removing integrated machine

CN121990343ACN 121990343 ACN121990343 ACN 121990343ACN-121990343-A

Abstract

The invention relates to the technical field of FPC board processing equipment, and discloses a board-mounting and board-dismounting integrated machine which comprises a frame, wherein a carrier rail, an empty plastic box bin, a full plastic box bin, a plastic box carrying manipulator mechanism and a double four-axis manipulator assembly are arranged in the frame, the empty plastic box bin and the full plastic box bin are symmetrically arranged on the front surface of the frame, the plastic box carrying manipulator mechanism is arranged between the two bins and used for cross-bin carrying of plastic boxes, lifting mechanisms are arranged on the empty plastic box bin and the full plastic box bin and used for lifting and bearing stacked plastic boxes, a steel sheet bin is fixedly arranged in the frame, the double four-axis manipulator assembly comprises a front manipulator assembly and a rear manipulator assembly, the front manipulator assembly is used for taking, placing and implanting a PCB board, and the rear manipulator assembly is used for taking, placing and implanting a steel sheet.

Inventors

Guo Chengzhuo
LI XUEFENG
XIE YINCHAO
CHEN MEISHAN
XU KAIPENG
LIU FUZHENG
LIU BING
LI YI

Assignees

深圳市智晟威自动化科技有限公司

Dates

Publication Date: 20260508
Application Date: 20260317

Claims (10)

1. The integrated machine for transplanting and removing the plates comprises a frame (1) and is characterized in that a carrier rail (2), an empty plastic suction box storage bin (3), a full plastic suction box storage bin (4), a plastic suction box carrying manipulator mechanism (5) and a double four-shaft manipulator assembly (6) are arranged in the frame (1); The empty plastic suction box bin (3) and the full plastic suction box bin (4) are symmetrically arranged on the front surface of the frame (1), and the plastic suction box conveying manipulator mechanism (5) is arranged between the two bins and used for conveying plastic suction boxes across bins; Lifting mechanisms are arranged on the empty plastic suction box bin (3) and the full plastic suction box bin (4) and used for lifting and bearing stacked plastic suction boxes; A steel sheet bin (9) is fixedly arranged in the frame (1); The double four-axis manipulator assembly (6) comprises a front manipulator assembly (7) and a rear manipulator assembly (8), wherein the front manipulator assembly (7) is used for taking, placing and implanting a PCB, and the rear manipulator assembly (8) is used for taking, placing and implanting a steel sheet; The vehicle track (2) is an automatic variable-pitch and wide-width track and has functions of stopping, side clamping and jacking of vehicles, the vehicle track (2) adopts a ball screw-driven automatic variable-pitch and wide-width structure, rail width adjustment is controlled through a servo motor, a blocking block and a side clamping device driven by a cylinder are arranged on the vehicle track (2), after the vehicles flow in, the blocking block is lifted and positioned, the side clamping device clamps the vehicles from two sides, and meanwhile, the jacking mechanism jacks the vehicles.
2. The integrated plate-transplanting and plate-removing machine according to claim 1, wherein the double-four-axis manipulator assembly (6) comprises two first screw rods (10) rotatably mounted in the frame (1), first screw rod sleeves (11) are sleeved on the surfaces of the two first screw rods (10) in a threaded mode, mounting plates (12) are fixedly connected between the two first screw rod sleeves (11), second screw rods (13) are rotatably mounted on the upper surfaces of the mounting plates (12), second screw rod sleeves (14) are rotatably mounted on the surfaces of the second screw rods (13) in a threaded mode, supporting frames (15) are fixedly mounted on the upper surfaces of the second screw rod sleeves (14), third screw rods (55) are rotatably mounted on the two side surfaces of the supporting frames (15), third screw rod sleeves (56) are fixedly connected on the surfaces of the two third screw rod sleeves (56), and mounting boxes (16) are fixedly connected on the surfaces of the two third screw rod sleeves (56), and the front manipulator assembly (7) and the rear manipulator assembly (8) are mounted on the two boxes (16) respectively.
3. The plate-transplanting and plate-disassembling integrated machine according to claim 2, wherein the front manipulator assembly (7) and the rear manipulator assembly (8) have the same structure and comprise adsorption plates (17), the two adsorption plates (17) are respectively rotatably installed below the two installation boxes (16), first vacuum sucking discs (18) are respectively arranged below the two adsorption plates (17), rotating motors (19) are respectively fixedly installed inside the two installation boxes (16), and output ends of the two rotating motors (19) penetrate through the connected installation boxes (16) and are respectively fixedly connected with the corresponding adsorption plates (17).
4. The integrated machine for transplanting and removing plates according to claim 3, wherein the dual-four-axis manipulator assembly (6) further comprises two first sliding rails (20) fixedly installed inside the frame (1), first sliding blocks (21) are slidably installed on the two first sliding rails (20), the two first sliding blocks (21) are fixedly connected with the installing plate (12), two second sliding rails (22) are fixedly installed on the upper surface of the installing plate (12), second sliding blocks (23) are slidably installed on the two second sliding rails (22), the two second sliding blocks (23) are fixedly connected with the supporting frame (15), a group of third sliding rails (24) are fixedly installed on two side surfaces of the supporting frame (15), third sliding blocks (25) are slidably installed on each third sliding rail (24), and each group of third sliding blocks (25) are fixedly connected with the corresponding installing boxes (16).
5. The plate-planting and plate-removing integrated machine according to claim 4, wherein two first motors (26) are fixedly connected to the inside of the frame (1), the output ends of the two first motors (26) are fixedly connected with the two first screw rods (10) respectively, a second motor (27) is fixedly connected to the upper surface of the mounting plate (12), the output end of the second motor (27) is fixedly connected with the second screw rod (13), two third motors (28) are fixedly installed on the supporting frame (15), transmission is carried out between the two third motors (28) and the two third screw rods (55) through chain sprockets, and the two third motors (28) provide power for rotation of the two third screw rods (55).
6. The plate-planting and plate-removing integrated machine according to claim 2, wherein an upper following camera (29) is fixedly arranged on the side face of the supporting frame (15), two lower cameras (30) are fixedly arranged in the frame (1), the two lower cameras (30) are respectively positioned on two sides of the carrier track (2), the model number of the upper following camera (29) is MV-CE200-10GMG, and the model number of the two lower cameras (30) is MV-CS050-10GM.
7. The integrated plate-transplanting and plate-disassembling machine according to claim 1, wherein the lifting mechanism comprises fixing plates (31) fixedly installed on the back surfaces of the empty plastic suction box bin (3) and the full plastic suction box bin (4), fourth screw rods (32) are rotatably installed on the lower surfaces of the fixing plates (31), fourth screw rod sleeves (33) are fixedly sleeved on the surfaces of the two fourth screw rods (32), connecting frames (34) are fixedly sleeved on the surfaces of the two fourth screw rod sleeves (33), the two connecting frames (34) are respectively extended to the front surfaces of the corresponding bins and are respectively fixedly connected with a group of bearing plates (35), a group of movable grooves are respectively formed in the surfaces of the empty plastic suction box bin (3) and the full plastic suction box bin (4), the connecting frames (34) can move in the corresponding movable grooves, fourth motors (36) are respectively fixedly connected to the upper surfaces of the two fixing plates (31), connecting frames (34) are respectively connected with the surfaces of the two limiting sleeves (37) through the corresponding chain wheels, and a group of limiting sleeves (37) are respectively fixedly installed between the two surfaces of the two fourth motors (36).
8. The integrated machine for removing and mounting the plant boards according to claim 1, wherein the plastic sucking box carrying manipulator mechanism (5) comprises a long board (39) fixedly mounted in the frame (1), a driving sprocket (40) is rotatably mounted on the upper surface of one end of the long board (39), a driven sprocket (41) is rotatably mounted on the upper surface of the other end of the long board (39), a transmission chain (42) is in transmission connection with the driven sprocket (41), a connecting seat (43) is fixedly mounted on the surface of the transmission chain (42), a supporting seat (44) is fixedly mounted on the upper surface of the connecting seat (43), a first air cylinder (45) is fixedly mounted on the supporting seat (44), a transverse frame (46) is fixedly mounted at the output end of the first air cylinder (45), two transverse plates (47) are fixedly mounted on the lower surface of the transverse frame (46), a second air cylinder (48) is fixedly mounted at two ends of each transverse plate (47), a short air cylinder (49) is fixedly mounted at the output end of each second air cylinder (48), and a vacuum sucking disc (50) is fixedly mounted on each short air cylinder (49).
9. The plate-planting and plate-removing integrated machine according to claim 8, wherein a fifth motor (51) is fixedly arranged on the upper surface of the long plate (39), the output end of the fifth motor (51) is fixedly connected with the driving sprocket (40), a fourth sliding rail (52) is fixedly connected with the upper surface of the long plate (39), a fourth sliding block (53) is slidably arranged on the fourth sliding rail (52), and the fourth sliding block (53) is fixedly connected with the supporting seat (44).
10. The integrated machine for transplanting and removing plates according to claim 1, wherein the front and the back of the frame (1) are provided with protective doors (54), both sides of the frame (1) are provided with carrier inlets and outlets, the front of the frame (1) is provided with a control computer, and three-color alarm lamps are arranged above the frame (1).

Description

Plate-planting and plate-removing integrated machine Technical Field The invention relates to the technical field of FPC board processing equipment, in particular to a board planting and disassembling integrated machine. Background In the production and processing process of FPC and PCB, the process of planting board (accurately assembling PCB, steel sheet and carrier) and disassembling board is a key process, and the assembly precision and production efficiency of the product are directly affected. In the prior art, the plate-mounting and dismounting operation has the following defects that most of equipment relies on manual assistance to finish carrier positioning, material transferring and product taking and placing, the labor intensity is high, the operation efficiency is low, positioning deviation is easily caused by manual operation, and the product qualification rate is affected. Disclosure of Invention Aiming at the defects of the prior art, the invention provides a plate-planting and plate-removing integrated machine, which solves the problems that most equipment relies on manual assistance to finish carrier positioning, material transferring and product taking and placing, the labor intensity is high, the operation efficiency is low, positioning deviation is easy to cause by manual operation, and the product qualification rate is influenced. The invention provides a technical scheme that the plate-planting and plate-removing integrated machine comprises a rack, wherein a carrier track, an empty plastic suction box storage bin, a full plastic suction box storage bin, a plastic suction box carrying manipulator mechanism and a double four-axis manipulator assembly are arranged in the rack; The empty plastic suction box bin and the full plastic suction box bin are symmetrically arranged on the front face of the frame, and the plastic suction box conveying manipulator mechanism is arranged between the two bins and used for conveying plastic suction boxes across bins; Lifting mechanisms are arranged on the empty plastic suction box bin and the full plastic suction box bin and used for lifting and bearing stacked plastic suction boxes; a steel sheet bin is fixedly arranged in the frame; the double four-axis manipulator assembly comprises a front manipulator assembly and a rear manipulator assembly, wherein the front manipulator assembly is used for taking, placing and implanting a PCB, and the rear manipulator assembly is used for taking, placing and implanting a steel sheet; The vehicle track is an automatic variable-pitch and wide-adjusting track and has functions of stopping, side clamping and jacking of the vehicle, the vehicle track adopts a ball screw driven automatic variable-pitch and wide-adjusting structure, the width adjustment of the track is controlled through a servo motor, a blocking block and a side clamping device driven by a cylinder are arranged on the vehicle track, after the vehicle flows in, the blocking block is lifted and positioned, the side clamping device clamps the vehicle from two sides, and meanwhile, the jacking mechanism jacks the vehicle. The first technical scheme includes that the double-four-axis manipulator assembly comprises two first screw rods rotatably mounted in the frame, the surfaces of the two first screw rods are respectively and fixedly connected with a mounting plate in a threaded manner, the upper surface of the mounting plate is rotatably provided with a second screw rod, the surfaces of the second screw rods are respectively and fixedly provided with a support frame, the two side surfaces of the support frame are respectively and rotatably provided with a third screw rod, the surfaces of the two third screw rods are respectively and fixedly connected with mounting boxes, and the front manipulator assembly and the rear manipulator assembly are respectively arranged on the two mounting boxes. The multi-dimensional accurate removal of manipulator can be realized to this scheme, promotes positioning accuracy. The structure of the front manipulator assembly is the same as that of the rear manipulator assembly, the front manipulator assembly and the rear manipulator assembly comprise adsorption plates, the two adsorption plates are respectively and rotatably arranged below the two mounting boxes, a first vacuum chuck is arranged below the two adsorption plates, a rotating motor is fixedly arranged inside the two mounting boxes, and output ends of the two rotating motors penetrate through the connected mounting boxes and are respectively and fixedly connected with the corresponding adsorption plates. This scheme can make the absorption stable, and the operation is got to adaptation multi-angle. The double-four-axis manipulator assembly further comprises two first sliding rails with fixed mounting rods inside the frame, first sliding blocks are slidably mounted on the two first sliding rails, the two first sliding blocks are fixedly connected with the mounting p