Self-moving feeding device, transplanting assembly, circuit board processing system and loading and unloading method

Abstract

The present invention belongs to the technical field of circuit board processing, and discloses a self-moving feeding device, a transplanting assembly, a circuit board processing system, and a loading and unloading method. The self-moving feeding device includes a lifting assembly for driving the rise or fall of a silo; the transplanting assembly is used to drive the material in the silo to move horizontally to transport the material and avoid the lifting of the silo by rotation; the self-moving feeding device also includes a motion assembly, which is arranged at the bottom of the silo and the frame, and the motion assembly moves the silo to transfer the material between the silo and the circuit board processing equipment. The automatic circuit board processing system includes the above-mentioned self-moving feeding device and can realize automatic loading and unloading of circuit board materials through the loading and unloading method, which can reduce scratches and bumps caused by manual loading and unloading, improve production efficiency, and realize factory automation.

Description

Technical Field

[0001] The present invention relates to the technical field of circuit board processing, and in particular to a self-moving material conveying device, a transplanting component, a circuit board processing system and a loading and unloading method. Background Art

[0002] Circuit boards, or printed circuit boards, are widely used in the electronic information industry and are key components of various electronic instruments and equipment. In the production process of printed circuit boards, circuit board processing equipment is required to drill holes in printed circuit boards according to design requirements, mill the edges of circuit board sheets according to design requirements, or inspect the drilled or formed printed circuit boards. In the prior art, circuit board sheets are mainly transported manually. The long downtime of manual loading and unloading affects the equipment utilization rate, and the handling process easily causes scratches and bumps on the circuit board sheets, and the labor cost is high. Summary of the invention

[0003] The purpose of the present invention is to provide a self-moving feeding device, a transplanting assembly, a circuit board automatic processing system and a loading and unloading method, so as to realize automatic loading and unloading, improve production efficiency, save costs and realize factory automation.

[0004] To achieve this object, the present invention adopts the following technical solutions:

[0005] A self-propelled feeding device, characterized in that it comprises:

[0006] A silo, a frame arranged in the circumference of the silo, the frame being provided with at least one lifting assembly and a transplanting assembly; the lifting assembly is used to drive the silo to lift vertically; the transplanting assembly is used to drive the material in the silo to move horizontally to transport the material, and avoid lifting of the silo by rotating;

[0007] The moving component is arranged at the bottom of the silo and the frame, and the moving component is loaded with the silo and moves itself to transport the material.

[0008] Preferably, the transplanting assembly comprises a material moving part and a clamping part, and the material moving part drives the clamping part to rotate and move horizontally to take out the material to be processed in the silo, and / or recycle the processed material to the silo.

[0009] Preferably, the clamping portion comprises a conveying position and an avoidance position, wherein at the conveying position, the clamping portion clamps the material in the silo, and at the avoidance position, the lifting assembly drives the material in the silo to rise or fall.

[0010] Preferably, in the conveying position, the material moving part drives the clamping part to perform reciprocating linear motion along the conveying direction of the material, the linear motion includes a starting position and an ending position, and the clamping part switches between the avoidance position and the starting position or between the avoidance position and the ending position.

[0011] Preferably, the clamping portion comprises a clamping drive portion, and an output end of the clamping drive portion is connected to two clamping pieces suitable for clamping the material.

[0012] Preferably, the transplanting assembly further comprises a rotating power piece, an output end of which is connected to the clamping part to drive the clamping part to rotate to avoid lifting of the silo.

[0013] Preferably, the transplanting assembly further comprises a lifting drive unit, and an output end of the lifting drive unit is connected to the clamping unit to drive the clamping unit to lift and lower.

[0014] Preferably, limit baffles are provided at the beginning and the end of the moving line of the material moving part to limit the moving distance of the material moving part.

[0015] Preferably, the lifting assembly comprises a carrier plate and a lifting power unit, and an output end of the lifting power unit is connected to the carrier plate to drive the silo placed on the carrier plate to rise or fall.

[0016] Preferably, an adjustment component is further included, and the adjustment component includes an adjustment plate, and the adjustment plate is used to adjust and compensate the horizontal position of the silo so that the inlet and outlet of the silo are accurately aligned with the feed end.

[0017] Preferably, the silo includes a silo rack, the silo rack is provided with a plurality of silo partitions, the silo partitions are provided with at least one support bar extending along the material transmission direction, and the opposite side of the silo partition is provided with a partition notch parallel to the support bar for easy clamping.

[0018] Preferably, it further comprises a conveying assembly, which comprises a conveying plate, on which a conveying member is arranged, and the conveying direction of the conveying member is arranged along the material conveying direction so as to be able to convey the silo to the lifting assembly for lifting.

[0019] Preferably, it further comprises a tracing component, wherein the tracing component comprises a tracing lifting member, and an output end of the tracing lifting member is connected to a code reader to enable the tracing lifting member to move along the lifting direction of the lifting component.

[0020] Preferably, it further comprises an information acquisition module, which can identify the mark of the feeding end for accurate alignment of the silo and the feeding end.

[0021] A transfer assembly is also provided for transferring materials between circuit board processing equipment and a silo, comprising:

[0022] A clamping part, the clamping part is used to clamp the material in the silo, and the clamping part switches between a conveying position and an avoidance position;

[0023] The material moving part drives the clamping part to perform reciprocating linear motion along the material transmission direction when the clamping part is in the conveying position, so as to take out the material to be processed in the silo, and / or recover the processed material to the silo.

[0024] A circuit board processing system is also provided, comprising a self-moving material conveying device and a circuit board processing device, wherein the self-moving material conveying device comprises:

[0025] A lifting component, the lifting component is used to drive the silo to rise and fall vertically;

[0026] A transplanting assembly, the transplanting assembly is used to drive the material in the silo to move horizontally;

[0027] A motion component is disposed at the bottom of the silo, and the motion component loads the silo and moves to transport the material to the circuit board processing equipment;

[0028] The circuit board processing equipment includes a material conveying end, and the material conveying end is used to receive the material transmitted by the transplanting component, or to transmit the material to the material bin through the transplanting component.

[0029] A method for loading and unloading is also provided, comprising the following steps:

[0030] S1. Control the self-moving feeding device to move to the feeding end of the circuit board processing equipment;

[0031] S2. Control the lifting assembly to lift the silo to align with the feed end;

[0032] S3. Control the clamping portion of the transplanting assembly to rotate from the avoidance position to the delivery position;

[0033] S4. The clamping part clamps the material in the silo, and controls the material moving part of the transplanting assembly to move linearly to move the material out of the silo to the feeding end of the circuit board processing equipment.

[0034] As a preference, it also includes:

[0035] S51: controlling the clamping part to rotate from the conveying position to the avoiding position;

[0036] S52: Control the lifting assembly to lift the silo to align with the feeding end;

[0037] S53: receiving the processed material, and controlling the clamping part to rotate from the avoidance position to the conveying position;

[0038] S54: The clamping part clamps the received material and controls the material moving part of the transplanting assembly to move linearly to move the processed material into the silo.

[0039] As a preference, it also includes:

[0040] S61. Control the material transfer unit to move linearly from the end position back to the starting position;

[0041] S62. Control the clamping portion to rotate from the conveying position to the avoidance position;

[0042] S63. Control the lifting assembly to lift the silo to adjust the height of the material to the feeding end and continue to execute S4 to complete the conveying of the material in the silo.

[0043] As a preference, it also includes:

[0044] S71: Control the clamping part to move linearly from the end position of the conveying position to the starting position; control the clamping part to rotate from the conveying position to the avoidance position;

[0045] S72: Control the lifting assembly to lift the silo until it is aligned with the feeding end;

[0046] S73: Control the clamping part to rotate from the avoidance position to the conveying position; control the clamping part to move linearly to the end position;

[0047] S74: receiving the processed material, the clamping part clamps the received material, and controlling the material moving part of the transplanting assembly to move linearly to move the processed material into the silo.

[0048] Preferably, the method further includes: before the clamping part clamps the material in the silo, controlling the lifting drive part to drive the clamping part to move in a vertical direction to align with and clamp the material.

[0049] Preferably, controlling the self-moving conveying device to move to the conveying end also includes: after the information acquisition module acquires the mark of the conveying end, controlling the adjustment component on the self-moving conveying device to adjust and compensate the horizontal position of the silo to accurately align with the conveying end, and controlling the lifting component of the self-moving conveying device to adjust the vertical position of the silo to accurately align with the conveying end.

[0050] Beneficial effects of the present invention:

[0051] Through the coordination of lifting components, transplanting components and motion components, automatic loading and unloading of circuit board materials can be realized. On the one hand, the materials to be processed can be transported from the silo to the feed end, and the materials processed at the feed end can be transported to the silo. In addition, the position of the silo can be adjusted according to the position difference between the feeding and discharging to maintain the stability of loading and unloading. This can reduce scratches and bumps caused by manual loading and unloading, improve production efficiency, save costs and realize factory automation. BRIEF DESCRIPTION OF THE DRAWINGS

[0052] Figure 1 is a schematic diagram of the self-moving material conveying device of the present invention;

[0053] Figure 2 It is a schematic diagram of placing a conveying assembly in the self-moving material conveying device of the present invention;

[0054] Figure 3 is a schematic diagram of a transplanting assembly in a self-moving material conveying device of the present invention;

[0055] Figure 4 It is a schematic diagram of a lifting component in a self-moving material conveying device of the present invention;

[0056] Figure 5 It is a schematic diagram of a conveying component in a self-moving material conveying device of the present invention;

[0057] Figure 6 It is a schematic diagram of a silo in the self-moving material feeding device of the present invention;

[0058] Figure 7 It is a schematic diagram of a silo partition in the self-moving material conveying device of the present invention;

[0059] Figure 8 It is a schematic diagram of the combination of the positioning block and the inserting block of the silo in the self-moving material feeding device of the present invention;

[0060] Fig. 9 It is a schematic diagram of a cone pin positioning type silo in the self-moving material feeding device of the present invention;

[0061] Fig.10 It is a schematic diagram of an adjustment component in a self-moving material conveying device of the present invention;

[0062] Fig.11 It is a schematic diagram of a tracing component in a self-moving material conveying device of the present invention;

[0063] Fig.12 It is a schematic diagram of the information acquisition module in the self-moving material conveying device of the present invention being located on one side of the material inlet and outlet;

[0064] Fig.13 It is a schematic diagram showing that the information acquisition module in the self-moving material conveying device of the present invention is located on the opposite side of the material inlet and outlet.

[0065] In the figure:

[0066] 10. Frame; 20. Lifting assembly; 21. Carrier; 211. Side plate; 212. Clamping plate; 213. Bottom plate; 22. Lifting power unit; 23. Lifting track; 30. Transplanting assembly; 31. Material transfer unit; 311. Linear guide rail; 312. Material transfer cylinder; 32. Clamping unit; 321. Clamping drive unit; 322. Clamping sheet; 33. Limit baffle; 34. Rotating power unit; 341. Rotating plate; 35. Lifting drive unit; 40. Moving assembly; 50. Silo; 51. Silo rack; 52. Silo partition; 53. Support bar; 54. Partition notch; 55. Positioning block ; 56. Limiting groove; 57. Insert block; 58. Support block; 59. Cone pin; 60. Adjustment assembly; 61. Adjustment plate; 62. Moving slide rail; 63. Adjustment output part; 64. Eccentric wheel; 65. Waist-shaped hole; 70. Conveying assembly; 71. Conveying plate; 72. Conveying power unit; 73. Conveying part; 74. First regularizing plate; 75. Second regularizing plate; 76. Regularizing power unit; 77. Regularizing slideway; 78. Sensor; 79. Blocking plate; 710. Buffer pad; 80. Information acquisition module; 90. Traceability assembly; 91. Traceability lifting part; 92. Code reader; 100. Material. DETAILED DESCRIPTION

[0067] The present invention will be further described in detail below in conjunction with the accompanying drawings and embodiments. It is to be understood that the specific embodiments described herein are only used to explain the present invention, rather than to limit the present invention. It should also be noted that, for ease of description, only parts related to the present invention, rather than all structures, are shown in the accompanying drawings.

[0068] In the description of the present invention, unless otherwise clearly specified and limited, the terms "connected", "connected", and "fixed" should be understood in a broad sense, for example, it can be a fixed connection, a detachable connection, or an integral connection; it can be a mechanical connection or an electrical connection; it can be a direct connection or an indirect connection through an intermediate medium, it can be the internal connection of two elements or the interaction relationship between two elements. For ordinary technicians in this field, the specific meanings of the above terms in the present invention can be understood according to specific circumstances.

[0069] In the present invention, unless otherwise clearly specified and limited, a first feature being "above" or "below" a second feature may include that the first and second features are in direct contact, or may include that the first and second features are not in direct contact but are in contact through another feature between them. Moreover, a first feature being "above", "above" and "above" a second feature includes that the first feature is directly above and obliquely above the second feature, or simply indicates that the first feature is higher in level than the second feature. A first feature being "below", "below" and "below" a second feature includes that the first feature is directly below and obliquely below the second feature, or simply indicates that the first feature is lower in level than the second feature.

[0070] In the description of this embodiment, the terms "upper", "lower", "left", "right" and other directions or positional relationships are based on the directions or positional relationships shown in the drawings, and are only for the convenience of description and simplification of operation, rather than indicating or implying that the device or element referred to must have a specific direction, be constructed and operate in a specific direction, and therefore cannot be understood as limiting the present invention. In addition, the terms "first" and "second" are only used to distinguish in the description and have no special meaning.

[0071] like Figures 1 to 13 As shown, this embodiment provides a self-moving material conveying device, including a lifting component 20, which is used to drive the silo 50 to rise or fall in the vertical direction; it also includes a transplanting component 30, which is used to drive the material 100 in the silo 50 to move horizontally to transport the material 100, and avoid the lifting of the silo 50 by rotation; it also includes a moving component 40, which is arranged at the bottom of the silo 50 and the frame 10, and the moving component 40 moves the silo 50 to transfer the material 100 between the silo 50 and the circuit board processing equipment.

[0072] Through the cooperation of the lifting component 20, the transplanting component 30, and the moving component 40, automatic loading and unloading of circuit board sheet materials can be realized. On the one hand, the material 100 to be processed can be transported from the silo 50 to the circuit board processing equipment, and the material 100 processed by the circuit board processing equipment can be transferred to the silo 50, and the position of the silo 50 can be adjusted by the lifting component 20 according to the alternating changes of loading and unloading to maintain the stability of loading and unloading; thereby, scratches and bumps caused by manual loading and unloading can be reduced, and production efficiency can be improved, costs can be saved, and factory automation can be realized.

[0073] The present embodiment is described in detail below. Figures 1 to 4 As shown, the self-moving feeding device includes a frame 10, which is arranged on at least one side of the silo 50. A receiving cavity is formed in the frame 10, and the silo 50 is placed in the receiving cavity. The frame 10 is used to support and protect the material 100 in the silo 50. The silo 50 is provided with the frame 10 around its periphery. Figure 1As shown, the frame 10 is set up around the silo 50. Optionally, the frame 10 is set up on one side of the silo 50 in the circumferential direction, or the frame 10 is set up on two opposite sides of the silo 50 in the circumferential direction. The layout can be made according to the actual space of the silo 50 and the frame 10, and there is no limitation here.

[0074] A lifting assembly 20 is provided on at least one side of the frame 10, which is used to drive the silo 50 to vertically lift. The lifting assembly 20 includes a carrier plate 21 and a lifting power unit 22. The output end of the lifting power unit 22 is connected to the carrier plate 21. The carrier plate 21 is used to place the silo 50 to drive the silo 50 placed on the carrier plate 21 to rise or fall. It should be noted that in this embodiment, the carrier plate 21 includes a bottom plate 213 and a pair of side plates 211 extending along the lifting direction of the silo 50. The silo 50 is loaded in the space enclosed by the bottom plate 213 and the side plates 211. A plurality of pairs of triangular clamps 212 are provided at the connection between the bottom plate 213 and the side plates 211. The clamps 212 can strengthen the firmness of the connection between the bottom plate 213 and the side plates 211 on the one hand, and can limit the horizontal displacement of the silo 50 on the other hand, so as to fix the silo on the carrier plate 21. Optionally, a plurality of pairs of positioning columns (not shown) are provided on the bottom plate 213 of the carrier plate 21. The positioning columns are located in the area between the plurality of pairs of clamping plates 212. The positioning columns accurately limit and guide the silo 50 loaded on the carrier plate 21 to ensure that the silo 50 can smoothly enter and exit the carrier plate 21, while fixing the silo 50 in a predetermined precise position. The carrier plate 21 is based on being able to load and lift the silo 50, and minimizes the occupied area. Optionally, in order to maintain the stability of lifting, lifting assemblies 20 are provided on opposite sides of the carrier plate 21, that is, a lifting assembly 20 is provided on each of the opposite sides of the silo 50 on the frame 10. The two groups of lifting assemblies 20 move synchronously, which can lift the silo 50 more stably and accurately. Specifically, if Figure 4 As shown, the lifting assembly 20 includes at least one set of lifting rails 23 arranged along the height direction of the frame 10, and the carrier 21 is slidably connected to the lifting rails 23 through a slider, wherein in this embodiment, the lifting power unit 22 includes a servo motor fixed to the frame 10 and a ball screw connected to the servo motor, and the nut on the ball screw is connected to the carrier 21. In other embodiments, the servo motor and the ball screw can be replaced by a cylinder or an electric cylinder.

[0075] The lifting process of the silo 50 is as follows: after receiving the control signal, the lifting power unit 22 starts, drives the ball screw to rotate, and drives the carrier plate 21 to move up and down on the slide rail 23 through the rotation of the ball screw, thereby realizing the vertical lifting movement of the silo 50 on the carrier plate 21. The lifting power unit 22 receives the forward and reverse rotation signals to realize the lifting movement of the silo 50. The lifting power unit 22 receives the forward rotation signal of the controller, and the silo 50 realizes the rising process; the lifting power unit 22 receives the reverse rotation signal of the controller, and the silo 50 realizes the descending process; optionally, the lifting power unit 22 receives the reverse rotation signal of the controller, and the silo 50 realizes the rising process; the lifting power unit 22 receives the forward rotation signal of the controller, and the silo 50 realizes the descending process.

[0076] The self-moving feeding device is used to transport materials to the circuit board processing equipment. The circuit board processing equipment includes drilling equipment, molding equipment, AOI inspection equipment, etc. These circuit board processing equipment need to perform automated loading and unloading processes. The self-moving feeding device receives control instructions from the host computer, and after loading the material bin, it moves closer to or away from the circuit board processing equipment to realize automated loading and unloading processes. In an embodiment of the present invention, the circuit board processing equipment can be directly connected to the self-moving feeding device, and the circuit board processing equipment is provided with a feeding end; it can also be a structure in which the circuit board processing equipment is added with a buffer device, and the self-moving feeding device is connected to the circuit board processing equipment through the buffer device, and the buffer device is provided with a feeding end. In the contextual embodiment, the feeding end can be directly provided on the circuit board processing equipment, or it can be indirectly provided on the circuit board processing equipment through the buffer device.

[0077] The silo 50 of the self-moving feeding device includes a multi-layer chamber, each of which is used to place a material 100. The vertical lifting of the silo 50 is achieved through the lifting assembly 20 to achieve the purpose of switching the multi-layer chambers and realize the alternating loading and unloading process. The self-moving feeding device also includes a transplanting assembly 30, which is used to drive the material 100 in the silo 50 to move horizontally to take out the material 100 to be processed in the silo 50, or to recycle the processed material 100 to the silo 50. The transplanting assembly 30 is arranged on the frame 10. In the embodiment of the present application, the frame 10 includes an inlet and outlet, and the material 100 exchanges the material 100 with the circuit board processing equipment through the inlet and outlet. The horizontal straight line direction of the material 100 from a chamber of the silo 50 through the inlet and outlet to the end of the circuit board processing equipment is defined as the material transmission direction. The frame 10 includes four side surfaces, and the silo 50 is placed in a containing cavity surrounded by the four side surfaces; at least one side of the frame 10 is an inlet and outlet.

[0078] In one embodiment of the present application, the frame 10 has a side for the inlet and outlet, and also includes three other sides: the side opposite to the inlet and outlet, and the sides adjacent to the two inlet and outlet. The lifting assembly 20 is fixedly mounted on any side adjacent to the inlet and outlet of the frame 10, the transplanting assembly 30 is fixedly mounted on the side opposite to the inlet and outlet of the frame 10, and the side adjacent to the other inlet and outlet is used for the overall entry and exit of the silo 50 from the mobile feeding device. This layout of four sides with four functions is compact and reasonable, effectively utilizes space, reduces costs, and achieves the effect of automated loading and unloading with better cost performance.

[0079] In another embodiment of the present application, the frame 10 has a side surface as an inlet and outlet, and also includes three other sides: a side opposite to the inlet and outlet, and sides adjacent to the two inlet and outlets. The lifting assembly 20 is fixedly mounted on the side adjacent to any one of the inlet and outlet of the frame 10, and the transplanting assembly 30 is fixedly mounted on the side adjacent to another inlet and outlet of the frame 10. The side opposite to the inlet and outlet is used for the self-moving feeding device for the entire entry and exit of the silo 50. This layout of four functions on four sides is compact and reasonable, effectively utilizes space, reduces costs, and achieves the effect of automated loading and unloading with better cost performance. At the same time, the overall moving direction of the silo 50 is consistent with the transmission direction of the material 100, which reduces positioning and guiding costs and improves transmission accuracy.

[0080] In another embodiment of the present application, the frame 10 has a side surface as an inlet and outlet, and also includes three other sides: a side opposite to the inlet and outlet, and two adjacent sides of the inlet and outlet. Two groups of lifting components 20 are fixedly mounted on the adjacent sides of the two inlet and outlet of the frame 10, and two groups of transplanting components 30 are fixedly mounted on the adjacent sides of the inlet and outlet of the frame 10. Each transplanting component 30 is located between the silo 50 and each lifting component 20, and the side surface opposite to the inlet and outlet is used for the silo 50 to enter and exit the self-moving feeding device as a whole. This layout of the two groups of lifting components 20 and the transplanting components 30 improves the stability of the vertical lifting of the silo 50 and the horizontal movement of the material 100, and the reliability, stability, and utilization rate of the self-moving feeding device are steadily improved.

[0081] In another embodiment of the present application, the frame 10 has two sides as inlets and outlets. The side where any of the inlets and outlets are located is not only used for exchanging materials 100 between the silo 50 and the circuit board processing equipment, but also can be used for exchanging the silo 50 between the self-moving feeding device and other buffer devices. The frame 10 also includes two other sides: two sides adjacent to the inlets and outlets. Two groups of lifting components 20 are fixedly mounted on the two adjacent sides of the inlets and outlets of the frame 10, and two groups of transplanting components 30 are fixedly mounted on the adjacent sides of the inlets and outlets of the frame 10, and each transplanting component 30 is located between the silo 50 and each lifting component 20. This layout of two groups of lifting components 20 and transplanting components 30 improves the stability of vertical lifting of the silo 50 and horizontal movement of the material 100, and steadily improves the reliability, stability, and utilization rate of the self-moving feeding device; at the same time, the overall exchange movement direction of the silo 50 is consistent with the transmission interaction direction of the material 100, which reduces the positioning and guiding costs and improves the transmission accuracy; in this embodiment, the interaction between the silo 50 and the material 100 can be achieved in two directions, and the self-moving feeding device can adapt to more application scenarios.

[0082] like Figure 3As shown, the self-moving material conveying device includes a transplanting assembly 30, and the transplanting assembly 30 includes a material moving part 31. The material moving part 31 is linearly arranged along the material transmission direction. The output end of the material moving part 31 is connected to a clamping part 32 for clamping or loosening the material 100, which is used to drive the clamping part 32 to perform linear reciprocating motion along the transmission direction of the material 100. The material moving part 31 drives the clamping part 32 to move to take out the material 100 to be processed in the bin 50, and / or recycle the processed material 100 to the bin 50. Specifically, the material moving part 31 includes a linear guide rail 311 arranged on at least one side of the frame 10 and a material moving cylinder 312 sliding along the linear guide rail 311. The material moving cylinder 312 is driven by a driving part. In other embodiments, the material moving part 31 can directly use a rodless cylinder, a linear motor, etc. instead of the linear guide rail 311 and the material moving cylinder 312. The clamping part 32 includes a clamping drive part 321, and the output end of the clamping drive part 321 is connected to two clamping pieces 322 that can move closer to or farther from each other. In order to ensure the stability of the conveyed material, two groups of the transplanting assembly 30 are arranged, respectively arranged on the adjacent two sides of the inlet and outlet of the frame 10, clamping and driving the material 100 in and out of each layer of the bin 50 from both sides, so that the material 100 will not deflect, and it is more stable and reliable. In other embodiments, the material moving part 31 can be connected to a ball screw by a motor, or a conveyor belt. In this embodiment, the clamping drive part 321 adopts a double-headed cylinder, and two clamping pieces 322 are arranged on both sides of the double-headed cylinder for clamping. The clamping drive part 321 drives the two clamping pieces 322 to clamp the single-piece material up and down along the transmission direction perpendicular to the material 100. In other embodiments, the drive can also be driven by a motor or an electric cylinder. Among them, the two clamping pieces 322 are long pieces to better match the sheet material 100. Furthermore, in order to avoid exceeding the moving range during material loading and unloading, a limit baffle 33 is provided at the beginning and the end of the moving line of the material moving part 31 to limit the moving distance of the material moving part 31, so that the clamping part 32 clamps the material 100 and moves a predetermined distance to avoid interference and safety accidents. In this embodiment, a limit baffle 33 is specifically provided at the moving end of the linear guide rail 311 to limit the moving distance of the material moving cylinder 312. Furthermore, in order to avoid interference between the silo 50 and the clamping part 32 when the silo 50 is lifted or lowered, the clamping part 32 includes a conveying position and an avoidance position. In the conveying position, the clamping part 32 clamps the material 100 in the silo 50, and in the avoidance position, the lifting assembly 20 drives the material 100 in the silo 50 to rise or fall. At the conveying position, the material moving part 31 drives the clamping part 32 to perform reciprocating linear motion along the conveying direction of the material 100 . The linear motion includes a starting position and an ending position. The limiting baffle 33 limits the clamping part 32 at the starting position and the ending position of the conveying direction of the material 100 .

[0083] In this embodiment, the transplanting assembly 30 further includes a rotating power member 34 to drive the clamping portion 32 to switch between the conveying position and the avoidance position; the rotating power member 34 is disposed on the material transfer cylinder 312, and the output end of the rotating power member 34 is connected to the clamping driving portion 321 to drive the clamping portion 32 to rotate. When the lifting assembly 20 drives the material bin 50 to rise or fall, the rotating power member 34 drives the clamping portion 32 to rotate into the avoidance position to avoid the material bin 50, and when the material bin 50 is adjusted and a single piece of material 100 needs to be loaded and unloaded, the rotating power member 34 again rotates the clamping portion 32 back to the conveying position, and then the two clamping pieces 322 begin to clamp the material 100 and move along the material transmission direction to convey the material 100. In this embodiment, the rotating power member 34 is a rotating cylinder, which is installed on the material transfer cylinder 312. The output end of the rotating power member 34 is provided with a rotating plate 341, and the clamping drive part 321 in the clamping part 32 is arranged on the rotating plate 341, thereby driving the entire clamping part 32 to rotate to realize the conversion between the conveying position and the avoidance position. In this real-time example, the rotation angle is 90 degrees, so that when the clamping part 32 is in the conveying position, the clamping piece 322 is perpendicular to the transmission direction of the material 100, and when the clamping part 32 is in the avoidance position, the clamping piece 322 is parallel to the transmission direction of the material 100. The clamping drive part 321 drives the clamping part 32 to rotate, and at the starting position, the clamping part 32 rotates and switches between the avoidance position and the starting position; at the end position, the clamping part 32 rotates and switches between the avoidance position and the end position. In other embodiments, the rotating power member 34 can be replaced by a motor.

[0084] Furthermore, in order to adapt to the height error between the feeding end and the discharging end of the circuit board processing equipment, in other embodiments, the feeding end can also be a buffer structure, and the transplanting assembly 30 also includes a lifting drive unit 35, which is arranged at the output end of the rotating power member 34, and the output end of the lifting drive unit 35 is connected to the clamping drive unit 321 to drive the clamping unit 32 to lift and lower, which is used to fine-tune the height of the clamping unit 32 in the vertical direction. The clamping unit 32 is used to clamp each layer of material 100 in the silo 50, and each silo 50 or each layer of the bin also has mechanical errors, so it is also necessary to fine-tune the position of the clamping unit 32 in the vertical direction to ensure that the clamping unit 32 accurately clamps the material 100 in each layer of the bin. In this embodiment, the lifting drive unit 35 uses a motor and a synchronous pulley connected to the motor, wherein the lifting drive unit 35 is arranged on the rotating plate 341, and the synchronous pulley is connected to a ball screw, and the nut on the ball screw is connected to the clamping drive unit 321, thereby driving the entire clamping unit 32 to lift and lower. In other embodiments, air cylinders or electric cylinders may be used to replace motors and synchronous pulleys for transmission.

[0085] like Figures 1 to 11As shown, the self-moving feeding device includes a moving component 40 to transfer materials 100 between a silo 50 and circuit board processing equipment, wherein in this embodiment, the circuit board processing equipment refers to drilling equipment, molding equipment, testing equipment, etc., and the lifting component 20 and the transplanting component 30 are arranged on the moving component 40 to facilitate the transfer of the lifting component 20 and the transplanting component 30. Specifically, the frame 10 is arranged on the moving component 40. In this embodiment, the moving component 40 adopts an AGV vehicle, and other transportation tools with GPS navigation function can also be used in other embodiments.

[0086] like Figure 1 and Fig.10 As shown, the self-moving feeding device also includes an adjustment component 60, which includes an adjustment output part 63 and an adjustment plate 61. The adjustment plate 61 is used to adjust and compensate the horizontal position of the silo 50 so that the inlet and outlet of the silo 50 are accurately aligned with the feeding end. Specifically, the frame 10 is set on the adjustment plate 61; when the silo 50 is placed on the carrier 21, if the AGV vehicle has a transportation error that causes the silo 50, the lifting component 20 and the transplanting component 30 to have a position deviation, the position of the adjustment plate 61 can be fine-tuned by adjusting the output part 63 to correct the deviation. In this embodiment, the adjustment output part 63 adopts a servo motor, and other forms of rotary motors can also be used in other embodiments. Specifically, the adjustment component 60 also includes a movable slide rail 62 arranged on the motion component 40. In this embodiment, the movable slide rail 62 is arranged along the length direction of the motion component 40, and the adjustment plate 61 is slidably connected to the movable slide rail 62; the output end of the adjustment output part 63 is connected to an eccentric wheel 64 that is eccentric to the axis of the output end of the adjustment output part 63, and a waist-shaped hole 65 is provided on the adjustment plate 61, and the eccentric wheel 64 is inserted into the waist-shaped hole 65. When the adjustment output part 63 drives the eccentric wheel 64 to rotate, since the eccentric wheel 64 and the waist-shaped hole 65 are used, the eccentric wheel 64 will drive the adjustment plate 61 to slide on the movable slide rail 62, thereby fine-tuning the horizontal position of the silo 50, so that the position of the transplanting component 30 can be more precise when transferring materials.

[0087] like Figures 6 to 9As shown, in this embodiment, the silo 50 includes a silo frame 51, and a plurality of silo partitions 52 are arranged along the height direction of the silo frame 51. The above-mentioned chamber is formed between every two layers of partitions 52. At least one support bar 53 extending along the material transmission direction is arranged on the silo partition 52. When the clamping portion 32 clamps the material 100 on the silo partition 52 and drags it, the support bar 53 can support the material 100 and move it more conveniently. At the same time, the support bar 53 can also play a buffering role to avoid hard contact between the material 100 and the silo partition 52. In this embodiment, the support bar 53 can adopt soft buffering materials such as rubber. Among them, a partition notch 54 is set on the opposite side of the silo partition 52, and the length direction of the partition notch 54 is parallel to the support bar 53. On the one hand, the partition notch 54 can reserve a clamping position for the clamping part 32, so that the clamping piece 322 can be inserted under the material 100 to clamp the material 100; on the other hand, it can also reduce the weight of the entire silo 50 and facilitate movement. In addition, a positioning part that cooperates with the silo 50 is set on the moving component 40.

[0088] In order to facilitate the positioning of the silo 50 when the silo 50 is manually loaded and unloaded, a positioning block 55 is provided under the silo frame 51, and a limiting groove 56 is provided on the positioning block 55. The opening of the limiting groove 56 faces the moving component 40, and the moving component 40 is provided with an insert block 57 that cooperates with the limiting groove 56 to position the silo 50. Specifically, in this embodiment, the insert block 57 is arranged on the adjustment plate 61 in the adjustment component 60, and is arranged on the moving component 40 through the adjustment plate 61 to facilitate the adjustment of the silo 50. In this embodiment, the insert block 57 adopts a follower.

[0089] In order to realize the loading and unloading of materials 100 of multiple material numbers to facilitate the distinction of processing, the positioning member is a cone pin 59, and the lower end of the silo frame 51 is provided with a support block 58, and the support block 58 is provided with a support hole facing the motion component 40; the upper end of the silo frame 51 and the motion component 40 are provided with a cone pin 59 that cooperates with the support hole. In this embodiment, the cone pin 59 is set on the adjustment plate 61 in the adjustment component 60, and is set on the motion component 40 through the adjustment plate 61 to facilitate the adjustment of the silo 50. On the one hand, the silo 50 can be fixed by the cone pin 59 on the adjustment plate 61, and on the other hand, multiple silos 50 are stacked by the cone pin 59 on the upper end of the silo frame 51 and the support holes under other silo frames 51, so that materials 100 of different material numbers are placed in different silos 50 to realize the loading and unloading of materials 100 of multiple material numbers.

[0090] like Figure 2 and Figure 5As shown, in order to facilitate the automatic loading and unloading of the silo 50, the self-moving feeding device includes a conveying assembly 70 to be able to convey the silo 50 to the lifting assembly 20 for lifting. It should be noted that at this time, the adjustment plate 61 may not be provided with the positioning block 55, the plug block 57 and the cone pin 59 used when manually loading the silo 50. Of course, the conveying assembly 70 can also be directly covered on the plug block 57 and the cone pin 59 without causing movement interference. Specifically, the conveying assembly 70 includes a conveying plate 71, and the conveying plate 71 is provided with a conveying power unit 72 and a conveying member 73 driven by the conveying power unit 72. In this embodiment, the conveying drive unit is driven by a motor, and the conveying member 73 is a plurality of power rollers arranged at intervals. The plurality of power rollers are connected by a transmission hinge to rotate synchronously and move the silo 50. In other embodiments, a conveyor belt can also be used for transmission. The conveying plate 71 is detachably arranged on the carrier plate 21, and the conveying direction of the conveying member 73 is arranged at intervals along the direction in which the clamping portion 32 moves the material 100. Furthermore, in order to allow the silo 50 to be aligned after entering the conveying member 73 to facilitate material loading and unloading, the conveying assembly 70 also includes a first regularizing plate 74 and a second regularizing plate 75 arranged on both sides of the conveying member 73, and the first regularizing plate 74 and the second regularizing plate 75 are arranged on the conveying plate 71; the conveying plate 71 is provided with a regularizing power unit 76, in this embodiment, the regularizing power unit 76 is a cylinder, and in other embodiments, a motor can also be used for driving, and the regularizing power unit 76 drives the first regularizing plate 74 and / or the second regularizing plate 75 to bring the two closer or farther away. In this embodiment, the first regularizing plate 74 is fixed on the conveying plate 71, and the output end of the regularizing power unit 76 is connected to the second regularizing plate 75. The conveying plate 71 is provided with a regularizing slideway 77 perpendicular to the conveying direction, and the second regularizing plate 75 is slidably connected to the regularizing slideway 77 to bring the second regularizing plate 75 closer to or farther away from the first regularizing plate 74. Furthermore, in order to facilitate monitoring of the conveying process of the silo 50, a plurality of sensors 78 are sequentially arranged at intervals on the top of the first regularized plate 74 and / or the second regularized plate 75, and the two sensors 78 located at the head and tail are respectively arranged at the head and tail ends of the first regularized plate 74 and / or the second regularized plate 75 along the conveying direction of the conveying member 73. In this embodiment, three sensors 78 are arranged on each side of the first regularized plate 74 and the second regularized plate 75, two of which are located at the ends of the first regularized plate 74 and the second regularized plate 75, and the other is located in the middle of the first regularized plate 74 and the second regularized plate 75. Taking the direction of the conveying member 73 when discharging as an example, the sensor located at the initial end of the conveying member 73 when discharging is defined as an in-place sensor, and the sensor 78 located at the opposite end of the same regularized plate is defined as an acceleration sensor, and the sensor in the middle is defined as a deceleration sensor. It should be noted that the sensor 78 is connected to the signal of the output end of the regularized power unit 76 through an external control system.Furthermore, in order to facilitate the limiting of the silo 50 when entering, a blocking plate 79 is provided on the conveying plate 71. The blocking plate 79 limits the stroke of the conveying member 73 when entering the silo 50, that is, the blocking plate 79 is arranged in the initial direction of the clamping part 32 to move out the material 100, and a buffer pad 710 is provided on the blocking plate 79. The buffer pad 710 in this embodiment is made of a soft material such as rubber.

[0091] like Figure 1 , Fig.12 , Fig.13 As shown, in order to facilitate automatic positioning, the self-moving feeding device also includes an information acquisition module 80, which is arranged on the frame 10 to identify the marks on the factory area and the feeding end. Specifically, the information acquisition module 80 is located on the side of the inlet and outlet of the silo 50; optionally, the information acquisition module 80 can also be arranged on the opposite side of the inlet and outlet of the silo 50, so that when the silo 50 has two inlets and outlets, it can load and unload materials on both sides of the silo 50. The information acquisition module is connected to the transplanting component 30, the lifting component 20 and the motion component 40 through an external control system. The external control system in this embodiment is arranged on the top of the frame 10 for electrical control. A control system such as PLC can be used, which will not be described in detail here. In this embodiment, an intelligent camera is used. In other embodiments, the information acquisition module 80 can be other information acquisition modules such as lasers and photoelectric sensors to read the marks on the feeding end of the self-moving feeding device, so as to accurately and automatically approach and accurately align the feeding end, and complete the task of automatic loading and unloading of materials. The information acquisition module 80 is arranged on the frame 10. After obtaining the mark of the feed end, it guides the self-moving feed device to accurately align with the feed end of the circuit board processing equipment to ensure that the self-moving feed device recognizes the target feed end of the circuit board processing equipment, and before loading and unloading, controls the adjustment component 60 on the self-moving feed device to adjust and compensate the horizontal position of the silo 50 to accurately align with the feed end, and controls the lifting drive part 35 and / or the lifting component 20 of the self-moving feed device to adjust the vertical position of the silo 50 to accurately align with the feed end, thereby completing the precise alignment.

[0092] like Figure 1 and Fig.11 As shown, in order to facilitate the whole process traceability of the material 100, a traceability component 90 is also included. The traceability component 90 includes a traceability lifting member 91. The traceability lifting member 91 is arranged on the frame 10. The output end of the traceability lifting member 91 is connected to a code reader 92 to make it move along the lifting direction of the lifting component 20. The traceability lifting member 91 in this embodiment adopts a cylinder. The lifting of the traceability lifting member 91 can drive the lifting of the code reader 92 to adapt to different silos 50.

[0093] The present embodiment also provides an automatic circuit board processing system for automatically loading and unloading materials 100 for processing. The system includes a self-moving feeding device and circuit board processing equipment. The self-moving feeding device can move to the feeding end of the circuit board processing equipment. The self-moving feeding device includes a clamping part 32 and a material moving part 31. The clamping part 32 is used to clamp the material 100 in the bin 50; the material moving part 31 on the self-moving feeding device drives the clamping part 32 to move so as to take out the material 100 to be processed in the bin 50 to the feeding end of the circuit board processing equipment; the self-moving feeding device can move to the feeding end of the circuit board processing equipment, and the material moving part 31 on the self-moving feeding device drives the clamping part 32 to move so as to retrieve the material 100 to be processed into the bin 50 to realize factory automation.

[0094] In an embodiment of the present application, a self-moving feeding device is used to load and unload materials to circuit board processing equipment, and the loading and unloading method includes the following steps: after the self-moving feeding device interacts with the buffer device to load the material bin 50, the loading material bin 50 moves by itself to approach or move away from the circuit board processing equipment.

[0095] First, the loading steps are as follows:

[0096] S1. After receiving the control signal from the host computer, the self-moving feeding device is controlled to move, and the inlet and outlet of the silo 50 is aligned with the feeding end of the circuit board processing equipment;

[0097] S2. The self-mobile feeding device controls the lifting assembly 20 to lift the silo 50 to a certain level of the chamber and align it with the feeding end;

[0098] S3. The self-moving feeding device controls the clamping portion 32 of the transplanting assembly 30 to rotate from the avoidance position to the conveying position;

[0099] S4. The clamping portion 32 clamps the material 100 in the silo 50 and controls the material transfer portion 31 of the transplanting assembly 30 to move linearly to move the material 100 in the layer of the silo out of the silo 50 to the feeding end of the circuit board processing equipment.

[0100] At this point, the self-moving conveying device has completed the conveying of a piece of material 100 from the silo 50 to the circuit board processing equipment. Since the self-moving conveying device belongs to a single silo to complete the process of loading and unloading, loading and unloading are performed alternately. After one loading is completed, the circuit board processing equipment processes the material, and the self-moving conveying device is ready to unload the material, so as to transfer the processed material 100 from the feeding end of the circuit board processing equipment to the silo 50.

[0101] The cutting process includes the following steps:

[0102] S51: Control the clamping part 32 to rotate from the end position of the conveying position to the avoidance position;

[0103] S52: Control the lifting assembly 20 to lift the material bin 50 to another layer of the bin chamber and align it with the material feeding end;

[0104] S53: receiving the processed material 100, and controlling the clamping part 32 to rotate from the avoidance position to the end position of the conveying position;

[0105] S54: The clamping portion 32 clamps the received material 100 and controls the material moving portion 31 of the transplanting assembly 30 to move linearly to move the processed material 100 into another layer of the bin 50.

[0106] The circuit board processing equipment includes a variety of spindle layout structures. When a self-moving feeding device needs to feed materials to the feeding ends of the processing stations of multiple circuit board processing equipment, for example, to feed materials to at least two processing stations, there is a continuous feeding process. Therefore, the continuous feeding process also includes the following steps:

[0107] S61. Control the material transfer unit 31 to move linearly from the end position back to the starting position;

[0108] S62. Control the clamping part 32 to rotate from the conveying position to the avoidance position,

[0109] S63 . Control the lifting assembly 20 to lift the silo 50 to adjust the material 100 to the height of the conveying end and continue to execute S4 to complete the conveying of the material 100 in the silo 50 .

[0110] In other embodiments, the circuit board processing equipment further includes a material unloading process, and after completing the material loading process of S1 to S4, it further includes the following steps:

[0111] S71: Control the clamping part 32 to move linearly from the end position of the conveying position to the starting position; control the clamping part 32 to rotate from the starting position of the conveying position to the avoidance position;

[0112] S72: Control the lifting assembly 20 to lift the silo 50 until it is aligned with the feeding end;

[0113] S73: Control the clamping part 32 to rotate from the avoidance position to the starting position of the conveying position; control the clamping part 32 to move linearly to the end position;

[0114] S74: receiving the processed material 100, the clamping part 32 clamps the received material 100, and controls the material moving part 31 of the transplanting assembly 30 to move linearly to move the processed material 100 into the silo 50.

[0115] In the above-mentioned embodiment of loading and unloading of the self-moving feeding device, before the clamping part 32 clamps the material 100 in the silo 50, it also includes that the lifting drive part 35 drives the clamping part 32 to move up and down in the vertical direction, fine-tunes the position to adapt to the position of the material 100 in each layer of the bin, and more accurately aligns and clamps the material 100. In the process of the clamping part 32 clamping the material 100 in the silo 50, it also includes that the clamping drive part 321 drives the two clamping pieces 322 to move in the vertical direction to stably clamp the material 100 or release the material 100. Moving the material 100 into the silo 50 or moving the material 100 out of the bin also includes: controlling the clamping drive part 321 to drive the two clamping pieces 322 to move to release the material 100.

[0116] Controlling the self-moving feeding device to move to the feeding end of the circuit board processing equipment also includes: after receiving the control signal of the upper computer, controlling the self-moving feeding device to move, and the inlet and outlet of the silo 50 completes the rough docking with the feeding end of the circuit board processing equipment; after the information acquisition module 80 obtains the mark of the feeding end, controlling the adjustment component 60 on the self-moving feeding device to adjust and compensate the horizontal position of the silo 50 to accurately align with the feeding end, and controlling the lifting drive part 35 and / or the lifting component 20 of the self-moving feeding device to adjust the vertical position of the silo 50 to accurately align with the feeding end, thereby completing the fine alignment.

[0117] The process of this embodiment is described in detail below:

[0118] The AGV drives the transplanting component 30 and the lifting component 20 to move in the processing area and the material area. The information acquisition module 80 performs autonomous positioning through the marking points set on the factory area and the circuit board processing equipment. The appropriate self-moving feeding device is selected according to different scenarios. For example, if the adjustment plate 61 is provided with an insert block 57, the manual loading and unloading bin mode is adopted, and a single bin is used for the processing of large batches of work orders; and if the adjustment plate 61 is provided with a cone pin 59, the manual loading and unloading bin mode is adopted, and multiple bins 50 are stacked to suit the processing of multiple material numbers; and when the conveying component 70 is provided on the carrier plate 21, the automatic loading and unloading bin mode is adopted. The manual loading and unloading is performed by a forklift to place the bin 50 on the insert block 57 or the cone pin 59 for fixing, and then the lifting component 20 is used to lift it.

[0119] When automatic loading and unloading is adopted, the AGV vehicle moves to the designated loading position to prepare to receive the silo 50, the roller rotates to feed the material, and after the acceleration sensor 78 senses the silo 50, the conveying power unit 72 drives the power roller to accelerate, and the silo 50 accelerates the conveying. After the deceleration sensor senses the silo 50, the conveying power unit 72 drives the power roller to decelerate, slowly decelerates, and the silo 50 decelerates for conveying. When the in-place sensor senses the silo 50, the conveying power unit 72 drives the driving roller to stop; after the silo 50 stops, the regularizing power unit 76 drives the second regularizing plate 75 to approach the first regularizing plate 74 to regularize the silo 50 to one place to ensure the positioning accuracy, and the loading silo process is completed.

[0120] Then the AGV vehicle enters the designated processing position according to the marking point. When the inlet and outlet of the silo 50 completes the rough docking with the feed end of the circuit board processing equipment, the information acquisition module 80 identifies the mark of the feed end of the processing equipment at the processing position. After it is in place, the adjustment component 60 compensates for the position error by adjusting the position of the adjustment plate 61. Then the lifting component 20 lifts the carrier plate 21 to lift the silo 50, lifts it to the designated position and aligns it with the feed end, and the transplanting component 30 moves at the same time for position compensation. The rotating power part 34 drives the clamping part 32 to rotate from the avoidance position to the conveying position to the position of the material 100. Then the two clamping pieces 322 of the clamping part 32 begin to clamp the material 100, and move linearly through the transfer part 31 to move the material 100 out of the silo 50, and the material 100 is received by the processing equipment. It should be explained that the material moving part 31 does not move the entire body of the material 100 out of the silo 50 during transportation. Only a portion of the material 100 needs to be sent out to be received by the circuit board processing equipment. Therefore, there will be no interference between the material moving part 31 and the silo rack 51. Then the material moving part 31 moves straightly from the end position back to the starting position; the clamping part 32 is controlled to rotate from the conveying position to the avoidance position, and the lifting component 20 is controlled to lift the silo 50 to adjust the material 100 to the height of the feeding end. Through the movement of the silo 50, all the materials 100 in the silo 50 can be transported to the processing equipment. During the movement of the silo 50, the rotating power part 34 will drive the clamping part 32 to avoid the position; then when all the materials 100 are processed, the processed materials 100 can be retrieved, which is still the information acquisition module 8. 0 identifies the mark of the material feeding end of the processing equipment, the lifting assembly 20 lifts the bin 50 to align with the material feeding end, and the transplanting assembly 30 moves at the same time to compensate for the position, the clamping part 32 rotates from the avoidance position to the conveying position, the material transfer part 31 moves linearly from the starting position to the end position, and the two clamping pieces 322 begin to clamp the processed material 100 conveyed by the circuit board processing equipment, and the material transfer part 31 moves linearly from the end position to the starting position to move the processed material 100 of the circuit board processing equipment into the bin 50. In addition, it can also be set to send out the material 100 to be processed while recycling the processed material 100.

[0121] Obviously, the above embodiments of the present invention are merely examples for clearly illustrating the present invention, and are not intended to limit the embodiments of the present invention. For those skilled in the art, various obvious changes, readjustments and substitutions can be made without departing from the protection scope of the present invention. It is not necessary and impossible to list all the embodiments here. Any modifications, equivalent substitutions and improvements made within the spirit and principles of the present invention should be included in the protection scope of the claims of the present invention.

Claims

1. A self-propelled feeding device, characterized in that: include: A silo (50) is provided on a frame (10) in the circumferential direction of the silo (50), and at least one lifting assembly (20) and a transplanting assembly (30) are provided on the frame (10); the lifting assembly (20) is used to drive the silo (50) to lift vertically; the transplanting assembly (30) is used to drive the material (100) in the silo (50) to move horizontally to transport the material (100), and to avoid the lifting of the silo (50) by rotating; a moving assembly (40) is provided at the bottom of the silo (50) and the frame (10), and the moving assembly (40) loads the silo (50) to move itself to transport the material (100); The transplanting assembly (30) comprises a material moving part (31) and a clamping part (32), wherein the material moving part (31) drives the clamping part (32) to rotate and move horizontally so as to take out the material (100) to be processed in the silo (50) and / or recycle the processed material (100) to the silo (50).

2. The self-moving material conveying device according to claim 1, characterized in that: The clamping portion (32) comprises a conveying position and an avoidance position. In the conveying position, the clamping portion (32) clamps the material (100) in the silo (50). In the avoidance position, the lifting component (20) drives the material (100) in the silo (50) to rise or fall.

3. The self-moving material conveying device according to claim 2, characterized in that: In the conveying position, the material shifting portion (31) drives the clamping portion (32) to perform reciprocating linear motion along the conveying direction of the material (100), wherein the linear motion includes a starting position and an ending position, and the clamping portion (32) switches between the avoidance position and the starting position or between the avoidance position and the ending position.

4. The self-moving material conveying device according to claim 1, characterized in that: The clamping portion (32) comprises a clamping drive portion (321), and an output end of the clamping drive portion (321) is connected to two clamping plates (322) suitable for clamping the material (100).

5. The self-moving material conveying device according to claim 1, characterized in that: The transplanting assembly (30) further comprises a rotating power member (34), wherein an output end of the rotating power member (34) is connected to the clamping portion (32) to drive the clamping portion (32) to rotate so as to avoid the lifting of the silo (50).

6. The self-moving material conveying device according to claim 1, characterized in that: The transplanting assembly (30) further comprises a lifting drive unit (35), wherein an output end of the lifting drive unit (35) is connected to the clamping unit (32) to drive the clamping unit (32) to lift and lower.

7. The self-moving material conveying device according to claim 1, characterized in that: Limiting baffles (33) are provided at the beginning and the end of the moving line of the material moving part (31) to limit the moving distance of the material moving part (31).

8. The self-moving material conveying device according to claim 1, characterized in that: The lifting assembly (20) comprises a carrier plate (21) and a lifting power unit (22), wherein an output end of the lifting power unit (22) is connected to the carrier plate (21) to drive the material bin (50) placed on the carrier plate (21) to rise or fall.

9. The self-moving material conveying device according to claim 1, characterized in that: It also includes an adjustment component (60), wherein the adjustment component (60) includes an adjustment plate (61), and the adjustment plate (61) is used to adjust and compensate the horizontal position of the silo (50) so that the inlet and outlet of the silo (50) are accurately aligned with the feeding end.

10. The self-moving material conveying device according to any one of claims 1 to 9, characterized in that: The silo (50) comprises a silo frame (51), wherein the silo frame (51) is provided with a multi-layer silo partition (52), wherein the silo partition (52) is provided with at least one support bar (53) extending along the material transmission direction, and the opposite side of the silo partition (52) is provided with a partition notch (54) parallel to the support bar (53) for easy clamping.

11. The self-moving material conveying device according to any one of claims 1 to 9, characterized in that: The invention also comprises a conveying assembly (70), wherein the conveying assembly (70) comprises a conveying plate (71), and a conveying member (73) is arranged on the conveying plate (71), and the conveying direction of the conveying member (73) is arranged along the conveying direction of the material (100), so as to be able to convey the silo (50) to the lifting assembly (20) for lifting.

12. The self-moving material conveying device according to any one of claims 1 to 9, characterized in that: It also includes a tracing component (90), the tracing component (90) including a tracing lifting member (91), the output end of the tracing lifting member (91) being connected to a code reader (92) so as to enable the tracing lifting member (91) to move along the lifting direction of the lifting component (20).

13. The self-moving material conveying device according to any one of claims 1 to 9, characterized in that: It also includes an information acquisition module (80), which can identify the mark of the material feeding end and is used for accurate alignment of the material bin (50) and the material feeding end.

14. A circuit board processing system, characterized in that: The invention comprises a self-moving material conveying device and a circuit board processing device as described in any one of claims 1 to 13, wherein the self-moving material conveying device comprises: A lifting assembly (20), the lifting assembly (20) is used to drive the silo (50) to vertically lift; A transplanting assembly (30), the transplanting assembly (30) being used to drive the material (100) in the silo (50) to move horizontally; A moving assembly (40) is disposed at the bottom of the material bin (50), and the moving assembly (40) loads the material bin (50) and moves to transport the material (100) to the circuit board processing equipment; The circuit board processing equipment comprises a material conveying end, and the material conveying end is used to receive the material (100) transmitted by the transfer component (30), or to transfer the material (100) to the material bin (50) through the transfer component (30).

15. A material loading and unloading method, using the self-moving material feeding device according to any one of claims 1 to 13, characterized in that: The steps include: S1. Control the self-moving feeding device to move to the feeding end; S2. Control the lifting assembly (20) to lift the silo (50) to align with the feed end; S3. Controlling the clamping portion (32) of the transplanting assembly (30) to rotate from the avoidance position to the transport position; S4. The clamping portion (32) clamps the material (100) in the silo (50), and controls the material moving portion (31) of the transplanting assembly (30) to move linearly to move the material (100) out of the silo (50) to the feeding end.

16. A material loading and unloading method according to claim 15, characterized in that: Also includes: S51: controlling the clamping portion (32) to rotate from the conveying position to the avoidance position; S52: Control the lifting assembly (20) to lift the material bin (50) to align with the material feeding end; S53: receiving the processed material (100), and controlling the clamping part (32) to rotate from the avoidance position to the conveying position; S54: The clamping portion (32) clamps the received material (100), and controls the material moving portion (31) of the transplanting assembly (30) to move linearly to move the processed material (100) into the silo (50).

17. A material loading and unloading method according to claim 15, characterized in that: Also includes: S61. Control the material transfer part (31) to move linearly from the end position back to the start position; S62. Control the clamping portion (32) to rotate from the conveying position to the avoidance position; S63. Control the lifting component (20) to lift the silo (50) to adjust the height of the material (100) to the feeding end and continue to execute S4 to complete the conveying of the material (100) in the silo (50).

18. A material loading and unloading method according to claim 15, characterized in that: Also includes: S71: Control the clamping part (32) to move linearly from the end position of the conveying position to the starting position; control the clamping part (32) to rotate from the conveying position to the avoidance position; S72: Control the lifting assembly (20) to lift the silo (50) until it is aligned with the material feeding end; S73: controlling the clamping portion (32) to rotate from the avoidance position to the conveying position; controlling the clamping portion (32) to move linearly to the end position; S74: receiving the processed material (100), the clamping portion (32) clamps the received material (100), and controls the material moving portion (31) of the transplanting assembly (30) to move linearly to move the processed material (100) into the silo (50).

19. A material loading and unloading method according to claim 15, characterized in that: Also includes: Before the clamping part (32) clamps the material (100) in the silo (50), the method further includes controlling the lifting drive part (35) to drive the clamping part (32) to move in a vertical direction so as to align with and clamp the material (100).

20. A material loading and unloading method according to any one of claims 15 to 19, characterized in that: Controlling the self-moving material conveying device to move to the material conveying end also includes: after the information acquisition module (80) acquires the mark of the material conveying end, controlling the adjustment component (60) on the self-moving material conveying device to adjust and compensate the horizontal position of the silo (50) to accurately align with the material conveying end, and controlling the lifting component (20) of the self-moving material conveying device to adjust the vertical position of the silo (50) to accurately align with the material conveying end.

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