CN109178823B - Automatic accurate positioning feeding mechanism - Google Patents
Automatic accurate positioning feeding mechanism Download PDFInfo
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- CN109178823B CN109178823B CN201811187419.7A CN201811187419A CN109178823B CN 109178823 B CN109178823 B CN 109178823B CN 201811187419 A CN201811187419 A CN 201811187419A CN 109178823 B CN109178823 B CN 109178823B
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- 230000007246 mechanism Effects 0.000 title claims abstract description 128
- 239000000463 material Substances 0.000 claims abstract description 98
- 230000005540 biological transmission Effects 0.000 claims abstract description 62
- 238000007599 discharging Methods 0.000 claims abstract description 15
- 230000000903 blocking effect Effects 0.000 claims description 63
- 230000033001 locomotion Effects 0.000 claims description 48
- 238000003825 pressing Methods 0.000 claims description 21
- 238000009434 installation Methods 0.000 claims description 19
- 230000000712 assembly Effects 0.000 claims description 7
- 238000000429 assembly Methods 0.000 claims description 7
- 239000000872 buffer Substances 0.000 claims description 6
- 230000006835 compression Effects 0.000 claims description 6
- 238000007906 compression Methods 0.000 claims description 6
- 238000000034 method Methods 0.000 description 7
- 238000010586 diagram Methods 0.000 description 5
- 238000012360 testing method Methods 0.000 description 5
- 238000004519 manufacturing process Methods 0.000 description 3
- 230000005484 gravity Effects 0.000 description 2
- 238000012986 modification Methods 0.000 description 2
- 230000004048 modification Effects 0.000 description 2
- 238000011084 recovery Methods 0.000 description 2
- 238000013461 design Methods 0.000 description 1
- 238000005265 energy consumption Methods 0.000 description 1
- 238000005096 rolling process Methods 0.000 description 1
- 238000000926 separation method Methods 0.000 description 1
- 230000001360 synchronised effect Effects 0.000 description 1
- 238000012546 transfer Methods 0.000 description 1
- 230000007723 transport mechanism Effects 0.000 description 1
Classifications
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- B—PERFORMING OPERATIONS; TRANSPORTING
- B65—CONVEYING; PACKING; STORING; HANDLING THIN OR FILAMENTARY MATERIAL
- B65G—TRANSPORT OR STORAGE DEVICES, e.g. CONVEYORS FOR LOADING OR TIPPING, SHOP CONVEYOR SYSTEMS OR PNEUMATIC TUBE CONVEYORS
- B65G37/00—Combinations of mechanical conveyors of the same kind, or of different kinds, of interest apart from their application in particular machines or use in particular manufacturing processes
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- B—PERFORMING OPERATIONS; TRANSPORTING
- B65—CONVEYING; PACKING; STORING; HANDLING THIN OR FILAMENTARY MATERIAL
- B65G—TRANSPORT OR STORAGE DEVICES, e.g. CONVEYORS FOR LOADING OR TIPPING, SHOP CONVEYOR SYSTEMS OR PNEUMATIC TUBE CONVEYORS
- B65G47/00—Article or material-handling devices associated with conveyors; Methods employing such devices
- B65G47/74—Feeding, transfer, or discharging devices of particular kinds or types
- B65G47/82—Rotary or reciprocating members for direct action on articles or materials, e.g. pushers, rakes, shovels
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- B—PERFORMING OPERATIONS; TRANSPORTING
- B65—CONVEYING; PACKING; STORING; HANDLING THIN OR FILAMENTARY MATERIAL
- B65G—TRANSPORT OR STORAGE DEVICES, e.g. CONVEYORS FOR LOADING OR TIPPING, SHOP CONVEYOR SYSTEMS OR PNEUMATIC TUBE CONVEYORS
- B65G47/00—Article or material-handling devices associated with conveyors; Methods employing such devices
- B65G47/74—Feeding, transfer, or discharging devices of particular kinds or types
- B65G47/90—Devices for picking-up and depositing articles or materials
- B65G47/91—Devices for picking-up and depositing articles or materials incorporating pneumatic, e.g. suction, grippers
- B65G47/914—Devices for picking-up and depositing articles or materials incorporating pneumatic, e.g. suction, grippers provided with drive systems incorporating rotary and rectilinear movements
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- Engineering & Computer Science (AREA)
- Mechanical Engineering (AREA)
- Specific Conveyance Elements (AREA)
Abstract
The invention discloses an automatic precise positioning feeding mechanism which comprises a feeding unit, a transmission line unit, a return line unit, a discharging unit, a carrying unit and a charging tray, wherein the feeding unit is connected with the transmission line unit, the return line unit is connected with the discharging unit, the transmission line unit is arranged side by side with the return line unit, and the transmission direction of the transmission line unit is opposite to that of the return line unit; the material tray sequentially passes through the feeding unit, the transmission line unit, the carrying unit, the return line unit and the blanking unit according to the flow direction. Compared with the prior art, the invention has the advantages of high tray conveying efficiency, tray positioning accuracy, long service life of equipment and the like.
Description
Technical Field
The invention relates to the technical field of flexible circuit board testing, in particular to an automatic precise positioning feeding mechanism.
Background
Flexible Printed Circuit, called FPC, flexible printed circuit board, and flexible printed circuit board, is widely used in electronic products such as mobile phone, notebook computer, PDA, digital camera, LCM, etc. with high wiring density, light weight, and thin thickness. In order to provide absolute assurance of the quality of the electronic product using the FPC, it is necessary to detect and test the FPC after it is produced.
At present, an FPC feeding mechanism in the industry generally adopts a manual conveying tray, the tray is easy to damage in the conveying process, meanwhile, the placement position of the manual conveying tray is also inaccurate, and the whole production test process is low in efficiency and high in labor cost.
Disclosure of Invention
The invention is made in view of the above problems existing in the prior art, and provides an automatic precise positioning feeding mechanism.
The invention is realized by the following technical scheme: the automatic precise positioning feeding mechanism comprises a feeding unit, a transmission line unit, a return line unit, a discharging unit, a carrying unit and a charging tray, wherein the feeding unit is connected with the transmission line unit, the return line unit is connected with the discharging unit, the transmission line unit and the return line unit are arranged side by side, and the transmission direction of the transmission line unit and the transmission direction of the return line unit are opposite; the material tray sequentially passes through the feeding unit, the transmission line unit, the carrying unit, the return line unit and the blanking unit according to the flow direction; the handling unit comprises a DUT handling unit and a tray handling unit, the DUT handling unit comprises a triaxial movement mechanism and a material taking manipulator, the material taking manipulator is arranged on the triaxial movement mechanism, the material taking manipulator comprises a manipulator mounting seat, a rotary structure, a suction nozzle mounting plate and a plurality of suction nozzles, the rotary structure is arranged on the manipulator mounting seat, the suction nozzle mounting plate is fixed at the output end of the rotary structure, and the suction nozzles are arranged on the suction nozzle mounting plate; the tray carrying unit comprises a two-shaft carrying mechanism and a magnetic attraction module, and the two-shaft carrying mechanism drives the magnetic attraction module to move between the transmission line unit and the return line unit.
Further, the two-axis carrying mechanism comprises a transverse driving mechanism and a vertical driving mechanism, wherein the transverse driving mechanism comprises a transverse stepping motor, a transverse sliding rail and a transverse guide column, and buffers are arranged at two ends of the transverse guide column; the vertical driving mechanism comprises a tray air cylinder, a module mounting seat, a dead point nut and a tray air cylinder mounting plate, wherein the tray air cylinder is mounted on the tray air cylinder mounting plate, and the tray air cylinder drives the module mounting seat to move up and down; the transverse stepping motor drives the tray cylinder mounting plate to move between the buffers.
Preferably, the magnetic module comprises a plurality of sucker mounting plates, a connecting plate and sucker assemblies, wherein the sucker mounting plates are arranged side by side, the connecting plate is fixed with the sucker mounting plates, the sucker assemblies are arranged on the sucker mounting plates, and the distance between the sucker mounting plates is adjustable.
Further, the three-axis motion mechanism comprises an X-axis motion structure, a Y-axis motion structure and a Z-axis motion structure, wherein the X-axis motion structure is arranged on the Y-axis motion structure, and the Z-axis motion structure is arranged on the X-axis motion structure; the Y-axis motion structure and the Z-axis motion structure are both of double-driving structures, each double-driving structure comprises a stepping motor, a stepping sliding rail, a screw motor, a screw sliding rail and a driving seat, and the stepping sliding rail and the screw sliding rail are arranged side by side.
Preferably, the transmission line unit comprises a material distributing mechanism, a material pushing mechanism, a material grabbing and jacking module, a conveyor belt module and a material tray baffle, wherein the conveyor belt module comprises two groups of conveyor belt units which are arranged side by side, and the two ends of the conveyor belt module are respectively provided with the material tray baffle and the material pushing mechanism; a tray jacking module is arranged between the two groups of conveyor belt units, a plurality of distributing mechanisms are arranged, and each group of conveyor belt units is provided with at least one distributing mechanism; the material distributing mechanism comprises a material distributing cylinder and a material distributing plate, and a clamping structure for clamping the material tray is arranged on the material distributing plate.
Further, the pushing mechanism comprises a pushing cylinder, a pushing cylinder mounting seat, a limiting compacting plate, a guide wheel, a compacting guide column, a compacting push plate and a push plate, wherein the pushing cylinder is mounted on the pushing cylinder mounting seat, and a gradient groove is formed in the limiting compacting plate; the pressing push plate is fixedly connected with the movable end of the pushing cylinder, the pressing guide column vertically slides through the pressing push plate, one end of the pressing guide column is fixedly provided with a guide wheel, the guide wheel moves on the gradient groove, and the other end of the pressing guide column is fixedly provided with a push plate; an elastic component is arranged between the guide wheel and the compression pushing plate.
Preferably, the transmission line unit and the return line unit are both provided with a transmission width adjusting mechanism, the transmission width adjusting mechanism comprises a width motor, a width adjusting screw rod and a width transmission mechanism, and the width motor drives the width adjusting screw rod to rotate through the width transmission mechanism; the width motor is fixed on the frame, the width adjusting screw rod is rotationally fixed on the frame, two groups of conveyor belt installation seats are fixedly arranged on the width adjusting screw rod in a sliding mode, and the width adjusting screw rod drives the conveyor belt installation seats to move.
Further, the feeding unit comprises a tray stacking frame, a feeding jacking module, a feeding driving belt unit and a limiting structure, wherein the feeding driving belt unit comprises a frame, a feeding motor, a mounting seat, a transmission shaft and two groups of conveying belts, the feeding jacking module is arranged between the two groups of conveying belts, the feeding motor is arranged on the frame, the two groups of conveying belts are fixed on the mounting seat, and the feeding motor drives a conveying shaft to rotate and drives the two groups of conveying belts to move; the limiting structure is provided with a plurality of limiting structures, the limiting structures are fixed on the mounting seat in a sliding mode, each group of conveyor belts is provided with at least one limiting structure, each limiting structure comprises a limiting cylinder and a limiting plate, and each limiting plate is provided with a limiting structure matched with the material tray.
Preferably, the blanking unit comprises a material collecting stack frame, a blanking jacking module, a blanking conveying belt unit and a blocking mechanism, wherein the blanking conveying belt unit comprises a frame, a blanking motor, a mounting seat, a transmission shaft and two groups of conveying belts, the blanking jacking module is arranged between the two groups of conveying belts, the blanking motor is arranged on the frame, the two groups of conveying belts are fixed on the mounting seat, and the blanking motor drives a conveying shaft to rotate and drives the two groups of conveying belts to move; the blocking mechanisms are arranged in a plurality, and are fixed on the mounting seat in a sliding manner, and at least one blocking mechanism is arranged at each group of conveyor belts; the blocking mechanism comprises a blocking installation seat, a first blocking plate, a second blocking plate and a blocking elastic assembly, wherein the blocking installation seat is fixed on the installation seat, the first blocking plate is installed on the blocking installation seat, the second blocking plate is hinged on the blocking installation seat, one end of the blocking elastic assembly is fixed on the blocking installation seat, and the other end of the blocking elastic assembly is fixed on the second blocking plate.
Further, the feeding unit and the discharging unit are both provided with a width adjusting mechanism, the width adjusting mechanism comprises a screw rod and an adjusting structure, and the adjusting structure drives the screw rod to rotate and drives a mounting seat on the screw rod to move.
Compared with the prior art, the automatic recovery device is provided with the transmission line unit, the return line unit and the tray conveying unit, so that the tray is not required to be manually conveyed, the automatic recovery of the tray is realized, and the labor cost is effectively reduced; the material taking manipulator is provided with the rotary structure, so that a plurality of materials can be grabbed at one time, and the material conveying efficiency is effectively improved; the conveying line unit is provided with the material distributing mechanism and the material pushing mechanism, so that the stability of the fixation of the material tray is effectively improved, the influence of the vibration of the conveying belt on the position of the material tray is avoided, the material taking accuracy of the material taking manipulator is improved, and further the later-stage testing efficiency is improved; and the automatic feeding or discharging of the feeding/discharging unit effectively improves the feeding and discharging efficiency of the materials and reduces the labor cost.
Drawings
FIG. 1 is a schematic diagram of the structure of the present invention;
FIG. 2 is a top view of FIG. 1;
FIG. 3 is a schematic diagram of a handling unit;
FIG. 4 is a schematic view of a material picking manipulator;
FIG. 5 is a schematic view of the structure of the vertical drive mechanism;
FIG. 6 is a schematic diagram of the structure of the magnetic module;
FIG. 7 is a schematic view of a transmission line unit;
FIG. 8 is a schematic diagram of another view angle structure of a transmission line unit;
FIG. 9 is a schematic structural view of a pushing mechanism;
FIG. 10 is a schematic structural view of a material separating mechanism;
FIG. 11 is a schematic view of the structure of the return line unit;
FIG. 12 is a schematic diagram of a jack module;
FIG. 13 is a schematic view of the structure of the feeding unit;
FIG. 14 is an enlarged schematic view of the structure of I in FIG. 13;
FIG. 15 is a schematic structural view of a blanking unit;
FIG. 16 is a schematic view of a blocking mechanism;
Fig. 17 is a cross-sectional view of the blocking mechanism.
Detailed Description
For a better understanding and implementation, the present invention is described in detail below with reference to the drawings.
An automatic precise positioning feeding mechanism comprises a feeding unit 1, a transmission line unit 2, a return line unit 3, a discharging unit 4, a carrying unit 5 and a tray 18, wherein the feeding unit 1 is connected with the transmission line unit 2, the return line unit 3 is connected with the discharging unit 4, the transmission line unit 2 and the return line unit 3 are arranged side by side, and the transmission direction of the transmission line unit 2 and the transmission direction of the return line unit 3 are opposite; the material tray 18 sequentially passes through the feeding unit 1, the transmission line unit 2, the carrying unit 5, the return line unit 3 and the discharging unit 4 according to the flow direction; the handling unit 5 comprises a DUT handling unit 6 and a tray handling unit 7, the DUT handling unit 6 comprises a triaxial movement mechanism and a material taking manipulator 61, the material taking manipulator 61 is arranged on the triaxial movement mechanism and comprises a manipulator mounting seat 614, a rotary structure 613, a suction nozzle mounting plate 611 and a plurality of suction nozzles 615, the rotary structure 613 is arranged on the manipulator mounting seat 614, the suction nozzle mounting plate 611 is fixed at the output end of the rotary structure 613, and the suction nozzles 615 are arranged on the suction nozzle mounting plate 611; the tray carrying unit 7 comprises a two-axis carrying mechanism and a magnetic attraction module 71, and the two-axis carrying mechanism drives the magnetic attraction module 71 to move between the transmission line unit 2 and the return line unit 3.
In order to better grasp the material (DUT) on the take-out tray, the take-out manipulator further includes a grasp cylinder 612, the grasp cylinder 612 is provided with a plurality of grasp cylinders, one end of the grasp cylinder is fixed on the rotating structure, and the other end of the grasp cylinder is fixed on the suction nozzle mounting plate. The driving manner of the rotating structure is not particularly limited, and a plurality of rotation limiting structures (to avoid the rotation over) may be provided according to need, and preferably the rotating structure 613 is a motor. When the three-axis motion mechanism is used, a plurality of suction nozzles can absorb a plurality of materials at one time, the materials on the suction nozzles can be placed on the test platform for a plurality of times through the rotary structure, the three-axis motion mechanism is prevented from repeatedly reciprocating, the working efficiency is effectively improved, and the production and manufacturing cost is reduced.
It should be noted that, the triaxial motion mechanism and the biaxial transport mechanism are fixed on the same frame, so that the occupied area of the equipment can be effectively reduced.
Example 1
The two-axis carrying mechanism comprises a transverse driving mechanism 73 and a vertical driving mechanism 72, wherein the transverse driving mechanism 73 comprises a transverse stepping motor, a transverse sliding rail and a transverse guide post 732, and buffer 731 is arranged at two ends of the transverse guide post. The transverse sliding rail and the transverse guide post 732 are arranged at the same time, so that the stability of transverse movement is effectively improved, and meanwhile, the influence of the gravity of the vertical driving mechanism and the magnetic attraction module on the transverse movement is effectively reduced; the buffer is arranged to avoid rigid collision between the driving mechanism and the frame, thereby effectively prolonging the service life of the equipment.
The vertical driving mechanism 72 comprises a tray cylinder 723, a module mounting seat 722, a dead center nut 721 and a tray cylinder mounting plate 724, wherein the tray cylinder 723 is mounted on the tray cylinder mounting plate 724, and the tray cylinder 723 drives the module mounting seat 722 to move up and down; the lateral stepper motor moves the tray cylinder mounting plate 724 between the bumpers 731. The dead point nuts 721 are provided with a plurality of groups and are distributed at the upper end and the lower end of the tray cylinder mounting plate 724, and preferably, the dead point nuts 721 are provided with two dead point nuts and are respectively positioned at the two ends of the tray cylinder mounting plate 724.
The magnetic module 71 comprises a plurality of sucker mounting plates 711, a connecting plate 715 and sucker assemblies 713 which are arranged side by side, wherein the connecting plate is fixed on the module mounting seat 722, the sucker mounting plates are fixed on the connecting plate, the sucker assemblies are arranged on the sucker mounting plates, and the distance between the sucker mounting plates 711 is adjustable.
The distance between the suction plate mounting plates 711 is not particularly limited, and preferably, the connection plate 715 is provided with a plurality of bar-shaped holes 714 and a knob nut 712, and the knob nut 712 passes through the bar-shaped holes 714 to fix the suction plate mounting plates 711 on the connection plate 715. The position of the knob nut 712 in the strip-shaped hole 714 is adjusted, so that the distance between sucker mounting plates is adjusted, the trays with different lengths and sizes are grabbed, and the application range of the equipment is effectively enlarged.
The three-axis motion mechanism comprises an X-axis motion structure 64, a Y-axis motion structure 63 and a Z-axis motion structure 62, wherein the X-axis motion structure 64 is arranged on the Y-axis motion structure 63, and the Z-axis motion structure 62 is arranged on the X-axis motion structure 64; the Y-axis motion structure 63 and the Z-axis motion structure 62 each adopt a dual-drive structure, and the dual-drive structure includes a stepper motor 632, a stepper slide rail (not shown in the figure), a screw motor 634, a screw slide rail 633, and a drive seat 635, where the stepper slide rail and the screw slide rail 633 are arranged side by side. The double slide rails are arranged to effectively improve the stability of the motion of the grabbing manipulator, effectively reduce the influence of gravity such as the manipulator on the triaxial motion, and prolong the service life of the equipment.
In order to improve the movement accuracy of the three-axis movement mechanism or the two-axis conveyance mechanism, a plurality of sensors 631 are provided on the frame, and the sensor feedback method and the method of controlling the three-axis movement mechanism or the two-axis conveyance mechanism are not described in detail.
Example two
The transmission line unit 2 comprises a material distributing mechanism 21, a material pushing mechanism 24, a material grabbing and jacking module 27, a conveyor belt module 23 and a material tray baffle 26, wherein the conveyor belt module 23 comprises two groups of conveyor belt units 233 which are arranged side by side, and the two ends of the conveyor belt module are respectively provided with the material tray baffle 26 and the material pushing mechanism 24; a tray jacking module 27 is arranged between the two groups of conveyor belt units 233, a plurality of material distributing mechanisms 21 are arranged, and each group of conveyor belt units 233 is provided with at least one material distributing mechanism 21; the distributing mechanism 21 comprises a distributing cylinder 211 and a distributing plate 212, and a clamping structure 213 for clamping the material tray is arranged on the distributing plate. The clamping mode of the clamping structure is not particularly limited, a simple groove structure can be adopted, the groove structure is matched with the edge of the material tray, the material tray can be separated from the conveyor belt unit by using the material dividing mechanism, the influence of vibration of the conveyor belt unit on the material tray is avoided, and the material taking precision of the material grabbing manipulator is effectively improved.
In order to better clamp the trays horizontally, the baffle end is also provided with a distributing mechanism 21.
In order to better clamp the tray, the pushing mechanism 24 includes a pushing cylinder 249, a pushing cylinder mounting seat 248, a limiting pressing plate 241, a guide wheel 242, a pressing guide post 244, a pressing push plate 247, and a push plate 245, wherein the pushing cylinder mounting seat 248 is fixed on the frame 12, the pushing cylinder 249 is mounted on the pushing cylinder mounting seat 248, and a gradient groove 243 is formed on the limiting pressing plate 241; the pressing push plate 247 is fixedly connected with the movable end of the pushing cylinder 249, the pressing guide column 244 vertically slides through the pressing push plate 247, one end of the pressing guide column 244 is fixedly provided with a guide wheel 242, the guide wheel 242 moves on the gradient groove 243, and the other end of the pressing guide column 244 is fixedly provided with a push plate 245; an elastic assembly (not shown) is provided between the guide wheel 242 and the pinch push plate 247. The structure of the guide wheel 242 is not particularly limited, and a smooth curved surface without rolling may be used as the contact surface with the slope groove. Meanwhile, in order to be suitable for trays with different lengths, the pushing cylinder mounting seat is slidably fixed on the frame, and preferably, a plurality of mounting holes are horizontally and equidistantly formed in the frame, and the pushing cylinder mounting seat is fixed on the mounting holes.
In order to make the movement of the push plate smoother, the pressing push plate is provided with a linear bearing 246, and the pressing guide post 244 is fixed to the push plate through the linear bearing 246.
The use process of the transmission line unit (only one implementation mode):
(1) After the material tray is conveyed from the feeding unit, starting the conveyor belt unit to convey the material tray to the material tray baffle plate;
(2) After one end of the tray contacts the tray baffle (provided with an associated sensor 27, not described in detail herein), the grab lifting module is started to lift the tray to the feed distributing mechanism;
(3) Starting a material distributing mechanism and starting a material pushing mechanism, and firmly fixing the material tray above the conveyor belt unit;
(4) After the material taking mechanical arm takes away all DUTs on the material tray, the magnetic suction module descends and the empty material tray is sucked under the action of the two-axis conveying mechanism;
(5) Resetting the material distributing mechanism and the material pushing mechanism in sequence, and carrying the empty material tray from the transmission line unit to the return line unit by the magnetic attraction module.
In addition, the specific structure and implementation of the return line are not repeated, and the return line unit is different from the transmission line unit in that: the return line unit is not provided with a material distributing mechanism and a material pushing mechanism.
In order to save energy consumption, the return line unit is provided with a tray sensor 31, that is, when the magnetic attraction module places the tray on the return line unit, the conveyor belt unit of the return line unit is started to convey the empty tray to the blanking unit.
Example III
The transmission line unit 2 and the return line unit 3 are both provided with a transmission width adjusting mechanism, the transmission width adjusting mechanism comprises a width motor 22/33, a width adjusting screw rod 221 and a width transmission mechanism 222, and the width motor 22/33 drives the width adjusting screw rod 221 to rotate through the width transmission mechanism 222; the width motor 22/33 is fixed on the frame 12, the width adjusting screw 221 is rotatably fixed on the frame 12, two groups of conveyor belt mounting seats 28 are slidably fixed on the width adjusting screw 221, and the width adjusting screw drives the conveyor belt mounting seats to move. It should be noted that, the width adjusting screw drives the conveyor belt installation bases to move in opposite directions or away from each other, that is, the screw thread directions of the screw rods on the two groups of conveyor belt installation bases are inconsistent.
In addition, the conveyor belt unit comprises conveyor belt motors 23/32, transmission shafts 231 and conveyor belts 233, wherein the conveyor belt motors drive the conveyor belts 233 on two sides to move through the transmission shafts, and the design can ensure synchronous movement of the conveyor belts on two sides and effectively improve the conveying quality of the material trays. Meanwhile, in order to improve the conveying quality of the conveying belt, an anti-deviation wheel assembly 232 is arranged between the transmission shaft and the conveying belt mounting seat.
Example IV
The feeding unit 1 comprises a tray stacking frame 19, a feeding jacking module 13, a feeding driving belt unit and a limiting structure 110, wherein the feeding driving belt unit comprises a frame 12, a feeding motor 15, a mounting seat, a transmission shaft 16 and two groups of conveying belts, the feeding jacking module 13 is arranged between the two groups of conveying belts, the feeding motor 15 is arranged on the frame 12, the two groups of conveying belts are fixed on the mounting seat 121, and the feeding motor 15 drives the conveying shaft 16 to rotate and drives the two groups of conveying belts to move; the limiting structures 110 are arranged in a plurality, the limiting structures 110 are slidably fixed on the mounting seats 121, each group of conveyor belts is provided with at least one limiting structure 110, each limiting structure comprises a limiting cylinder and a limiting plate, and each limiting plate is provided with a limiting structure 110 matched with the material tray. Trays containing DUTs are stacked on the tray stack, the width of the tray stack in the tray transfer direction being adjustable. In order to achieve a good material separation function, the distance between the limiting structure and the conveying belt is larger than or equal to the thickness of the material tray.
The feeding unit is used in the following process:
(1) Stacking trays filled with DUTs on the tray stacking frame and placing the tray at the bottommost layer on the limiting plate;
(2) Starting a feeding jacking module, and stopping the feeding jacking module when the feeding jacking module contacts the lowest-layer tray;
(3) The limiting structure is reset, that is to say, the limiting plate is separated from the material tray, and the material tray is placed on the feeding jacking module;
(4) The feeding jacking module descends for a certain distance (the descending distance can be preset, a sensor can be arranged to control the descending distance, and the descending distance is the thickness of a material tray);
(5) The limiting structure controls the limiting plate to extend out to fix the next material tray; the feeding jacking module continues to descend until the material tray contacts with the conveyor belt;
(6) And starting the feeding conveyor belt unit and continuously retracting the feeding jacking module.
It should be noted that, the limiting structure 110 may be the same structure as the material distributing mechanism, that is, the limiting plate is provided with a corresponding limiting groove, which is not described in detail herein.
Example five
The blanking unit 4 comprises a material collecting stack frame 48, a blanking jacking module 46, a blanking conveyor belt unit 45 and a blocking mechanism 44, wherein the blanking conveyor belt unit 45 comprises a frame 12, a blanking motor, a mounting seat 43, a transmission shaft and two groups of conveyor belts, the blanking jacking module 46 is arranged between the two groups of conveyor belts, the blanking motor is arranged on the frame, the two groups of conveyor belts are fixed on the mounting seat 43, and the blanking motor drives a conveyor shaft to rotate and drives the two groups of conveyor belts to move; the blocking mechanisms 44 are provided with a plurality of blocking mechanisms 44, the blocking mechanisms 44 are slidably fixed on the mounting seat 43, and each group of conveyor belts is provided with at least one blocking mechanism 44; the blocking mechanism 44 includes a blocking mounting seat 444, a first blocking plate 445, a second blocking plate 443, and a blocking elastic component 441, where the blocking mounting seat 444 is fixed on the mounting seat 43, the first blocking plate 443 is mounted on the blocking mounting seat 444, the second blocking plate is hinged on the blocking mounting seat 444 (provided with a rotation positioning pin 442), one end of the blocking elastic component is fixed on the blocking mounting seat, and the other end of the blocking elastic component is fixed on the second blocking plate. Wherein the first blocking plate 445 is vertically fixed on the blocking mounting seat 444, and the empty tray is stacked on the second blocking plate in a normal state.
The use process of the blanking unit comprises the following steps:
(1) Stopping the blanking conveyor belt unit (may be stopped when the empty tray is conveyed to the material collecting stack frame from the return line);
(2) Starting a blanking lifting module, lifting the empty tray to the second blocking plate and continuously placing the empty tray above the second blocking plate; (due to the presence of the blocking elastic assembly, the second blocking unit is able to reset, fixing the empty tray above said second blocking unit)
(3) And resetting the blanking jacking module.
The feeding unit 1 and the discharging unit 4 are respectively provided with a width adjusting mechanism, the width adjusting mechanism comprises a screw rod 17 and an adjusting structure 10/40, and the adjusting structure 10/40 drives the screw rod 17 to rotate and drives a mounting seat 121/43 on the screw rod to move.
It should be noted that the material receiving stacking frame and the material tray stacking frame may adopt the same stacking frame structure, where the stacking frame structure includes two sets of vertical bars corresponding to the vertical bars and two sets of horizontal bars 193 corresponding to the vertical bars, the vertical bars include a first vertical bar 192 and a second vertical bar, the first vertical bar is fixed on the frame, a stacking sliding rail is provided on the frame, and one end of the second vertical bar is slidably fixed on the stacking sliding rail 112 and fixed by a stacking knob nut 113; the transverse rod is provided with a guide groove, and the other end of the second vertical rod is fixed on the guide groove 194.
It should be noted that, unloading jacking module, material loading jacking module and grab material jacking module all adopt the same jacking structure, the jacking structure includes jacking cylinder, jacking mount pad 275 and jacking board 273, the width of jacking board is less than the width of charging tray, the jacking cylinder is equipped with first cylinder 271 and second cylinder 272, first cylinder with second cylinder series connection, first cylinder with the second cylinder is all installed on the jacking mount pad. In addition, to better control the lift plate position, sensors 274 are provided on the lift plate.
The present invention is not limited to the above-described embodiments, but, if various modifications or variations of the present invention are not departing from the spirit and scope of the present invention, the present invention is intended to include such modifications and variations as fall within the scope of the claims and the equivalents thereof.
Claims (10)
1. Automatic accurate positioning feed mechanism, its characterized in that: the automatic feeding device comprises a feeding unit, a transmission line unit, a return line unit, a discharging unit, a carrying unit and a charging tray, wherein the feeding unit is connected with the transmission line unit, the return line unit is connected with the discharging unit, the transmission line unit and the return line unit are arranged side by side, and the transmission direction of the transmission line unit and the transmission direction of the return line unit are opposite; the material tray sequentially passes through the feeding unit, the transmission line unit, the carrying unit, the return line unit and the blanking unit according to the flow direction; the handling unit comprises a DUT handling unit and a tray handling unit, the DUT handling unit comprises a triaxial movement mechanism and a material taking manipulator, the material taking manipulator is arranged on the triaxial movement mechanism, the material taking manipulator comprises a manipulator mounting seat, a rotary structure, a suction nozzle mounting plate and a plurality of suction nozzles, the rotary structure is arranged on the manipulator mounting seat, the suction nozzle mounting plate is fixed at the output end of the rotary structure, and the suction nozzles are arranged on the suction nozzle mounting plate; the tray carrying unit comprises a two-shaft carrying mechanism and a magnetic attraction module, and the two-shaft carrying mechanism drives the magnetic attraction module to move between the transmission line unit and the return line unit.
2. The automatic precision positioning feeding mechanism according to claim 1, wherein: the two-axis carrying mechanism comprises a transverse driving mechanism and a vertical driving mechanism, the transverse driving mechanism comprises a transverse stepping motor, a transverse sliding rail and a transverse guide column, and the two ends of the transverse guide column are provided with buffers; the vertical driving mechanism comprises a tray air cylinder, a module mounting seat, a dead point nut and a tray air cylinder mounting plate, wherein the tray air cylinder is mounted on the tray air cylinder mounting plate, and the tray air cylinder drives the module mounting seat to move up and down; the transverse stepping motor drives the tray cylinder mounting plate to move between the buffers.
3. The automatic precision positioning feeding mechanism according to claim 1 or 2, characterized in that: the magnetic module comprises a plurality of sucker mounting plates, connecting plates and sucker assemblies, wherein the sucker mounting plates, the connecting plates and the sucker assemblies are arranged side by side, the connecting plates are arranged on the module mounting seats, the sucker mounting plates are fixed on the connecting plates, the sucker assemblies are arranged on the sucker mounting plates, and the distance between the sucker mounting plates is adjustable.
4. The automatic precision positioning feeding mechanism according to claim 1, wherein: the three-axis motion mechanism comprises an X-axis motion structure, a Y-axis motion structure and a Z-axis motion structure, wherein the X-axis motion structure is arranged on the Y-axis motion structure, and the Z-axis motion structure is arranged on the X-axis motion structure; the Y-axis motion structure and the Z-axis motion structure are both of double-driving structures, each double-driving structure comprises a stepping motor, a stepping sliding rail, a screw motor, a screw sliding rail and a driving seat, and the stepping sliding rail and the screw sliding rail are arranged side by side.
5. The automatic precision positioning feeding mechanism according to claim 1, wherein: the conveying line unit comprises a material distributing mechanism, a material pushing mechanism, a material grabbing and jacking module, a conveying belt module and a material disc baffle, wherein the conveying belt module comprises two groups of conveying belt units which are arranged side by side, and the two ends of the conveying belt module are respectively provided with the material disc baffle and the material pushing mechanism; a tray jacking module is arranged between the two groups of conveyor belt units, a plurality of distributing mechanisms are arranged, and each group of conveyor belt units is provided with at least one distributing mechanism; the material distributing mechanism comprises a material distributing cylinder and a material distributing plate, and a clamping structure for clamping the material tray is arranged on the material distributing plate.
6. The automatic precision positioning feeding mechanism according to claim 5, wherein: the pushing mechanism comprises a pushing cylinder, a pushing cylinder mounting seat, a limiting compression plate, a guide wheel, a compression guide column, a compression push plate and a push plate, wherein the pushing cylinder is mounted on the pushing cylinder mounting seat, and a gradient groove is formed in the limiting compression plate; the pressing push plate is fixedly connected with the movable end of the pushing cylinder, the pressing guide column vertically slides through the pressing push plate, one end of the pressing guide column is fixedly provided with a guide wheel, the guide wheel moves on the gradient groove, and the other end of the pressing guide column is fixedly provided with a push plate; an elastic component is arranged between the guide wheel and the compression pushing plate.
7. The automatic precision positioning feeding mechanism according to claim 5 or 6, wherein: the transmission line unit and the return line unit are respectively provided with a transmission width adjusting mechanism, the transmission width adjusting mechanism comprises a width motor, a width adjusting screw rod and a width transmission mechanism, and the width motor drives the width adjusting screw rod to rotate through the width transmission mechanism; the width motor is fixed on the frame, the width adjusting screw rod is rotationally fixed on the frame, two groups of conveyor belt installation seats are fixedly arranged on the width adjusting screw rod in a sliding mode, and the width adjusting screw rod drives the conveyor belt installation seats to move.
8. The automatic precision positioning feeding mechanism according to claim 1, wherein: the feeding unit comprises a tray stacking frame, a feeding jacking module, a feeding driving belt unit and a limiting structure, wherein the feeding driving belt unit comprises a frame, a feeding motor, a mounting seat, a transmission shaft and two groups of conveying belts, the feeding jacking module is arranged between the two groups of conveying belts, the feeding motor is arranged on the frame, the two groups of conveying belts are fixed on the mounting seat, and the feeding motor drives the conveying shafts to rotate and drives the two groups of conveying belts to move; the limiting structure is provided with a plurality of limiting structures, the limiting structures are fixed on the mounting seat in a sliding mode, each group of conveyor belts is provided with at least one limiting structure, each limiting structure comprises a limiting cylinder and a limiting plate, and each limiting plate is provided with a limiting structure matched with the material tray.
9. The automatic precision positioning feeding mechanism according to claim 1, wherein: the blanking unit comprises a material collecting stack frame, a blanking jacking module, a blanking conveying belt unit and a blocking mechanism, wherein the blanking conveying belt unit comprises a frame, a blanking motor, a mounting seat, a transmission shaft and two groups of conveying belts, the blanking jacking module is arranged between the two groups of conveying belts, the blanking motor is arranged on the frame, the two groups of conveying belts are fixed on the mounting seat, and the blanking motor drives the conveying shaft to rotate and drives the two groups of conveying belts to move; the blocking mechanisms are arranged in a plurality, and are fixed on the mounting seat in a sliding manner, and at least one blocking mechanism is arranged at each group of conveyor belts; the blocking mechanism comprises a blocking installation seat, a first blocking plate, a second blocking plate and a blocking elastic assembly, wherein the blocking installation seat is fixed on the installation seat, the first blocking plate is installed on the blocking installation seat, the second blocking plate is hinged on the blocking installation seat, one end of the blocking elastic assembly is fixed on the blocking installation seat, and the other end of the blocking elastic assembly is fixed on the second blocking plate.
10. The automatic precision positioning feeding mechanism according to claim 8 or 9, wherein: the feeding unit and the discharging unit are respectively provided with a width adjusting mechanism, each width adjusting mechanism comprises a screw rod and an adjusting structure, and the adjusting structure drives the screw rods to rotate and drives installation seats on the screw rods to move.
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| CN109607165B (en) * | 2019-01-23 | 2024-02-02 | 迈巴赫机器人（昆山）有限公司 | Separating and blanking device for square materials |
| CN109775312A (en) * | 2019-02-26 | 2019-05-21 | 蓝思智能机器人(长沙)有限公司 | A kind of production line and its conveying positioning flow mechanism |
| CN110026636B (en) * | 2019-04-29 | 2021-04-16 | 泰州市津达电子科技有限公司 | Automatic welding equipment for electronic components of integrated circuit board |
| CN110385579B (en) * | 2019-08-27 | 2024-06-14 | 重庆创璟自动化设备有限公司 | Automatic assembly equipment is detained to table |
| CN110936713A (en) * | 2019-11-19 | 2020-03-31 | 武汉船舶通信研究所（中国船舶重工集团公司第七二二研究所） | Full-automatic oven and control method thereof |
| CN113059614B (en) * | 2021-03-11 | 2023-06-30 | 东莞市冠佳电子设备有限公司 | Full-automatic board detection pendulum material equipment that divides |
| CN113716338B (en) * | 2021-10-11 | 2023-07-25 | 深圳市一鸣达精密技术有限公司 | Multifunctional automatic assembly equipment for mobile phone shell production |
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| CN105151765B (en) * | 2015-09-09 | 2017-09-19 | 苏州艾隆科技股份有限公司 | A kind of infusion bag sorting system |
| CN105965160B (en) * | 2016-06-23 | 2017-08-01 | 深圳市联赢激光股份有限公司 | A kind of battery cover board welding equipment |
| CN206914742U (en) * | 2017-05-16 | 2018-01-23 | 广东光博智能科技有限公司 | A kind of lithium battery PACK lines sorting section upper casing feeder |
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