Feeding equipment, circuit board processing system and circuit board processing method

Abstract

The invention discloses a feeding device, a circuit board processing system and a circuit board processing method, and belongs to the technical field of circuit board processing equipment.The feeding device comprises a feeding device, the feeding device comprises a positioning platform, and the positioning platform is provided with a first positioning part; the material taking and placing device comprises a mechanical arm and a material moving mechanism which are connected, and the mechanical arm is arranged on the material supply device and used for driving the material moving mechanism to move; and the first positioning device is arranged on the material moving mechanism, and the first positioning device is used for being matched with the first positioning part so as to adjust the position of the material moving mechanism relative to the positioning platform. According to the feeding equipment, the first positioning part is arranged on the positioning platform, the first positioning device is arranged on the material moving mechanism, the relative position of the material moving mechanism and the positioning platform can be adjusted through mutual cooperation of the first positioning device and the first positioning part, the precision of grabbing materials from the positioning platform by the material moving mechanism is improved, and therefore the feeding precision is improved; and the processing precision of the circuit board can be improved.

Description

Technical Field

[0001] The present application belongs to the technical field of circuit board processing equipment, and specifically relates to a feeding device, a circuit board processing system and a processing method thereof. Background Art

[0002] During the preparation of printed circuit boards (PCBs), it is necessary to move PCB sheets to processing equipment such as drilling machines to achieve the sheet transfer and loading steps. Currently, automated guided vehicles (AGVs) and robotic arms are generally used to transfer, grab, and load sheets to complete this step. However, due to the positioning accuracy errors of AGVs, the absolute positioning accuracy and rotation accuracy errors of robotic arms, sheet material errors, and ground errors, the board placement accuracy is insufficient, affecting the precise processing of PCBs. Summary of the invention

[0003] Purpose of the invention: An embodiment of the present application provides a loading device, aiming to overcome the technical problem of insufficient precision of square plates in the prior art, which affects the precise processing of PCBs; another purpose of an embodiment of the present application is to provide a circuit board processing system; a third purpose of an embodiment of the present application is to provide a circuit board processing method.

[0004] Technical solution: The feeding equipment described in the embodiment of the present application includes:

[0005] The feeding device comprises a positioning platform, wherein the positioning platform is provided with a first positioning portion;

[0006] A material taking and placing device, comprising a mechanical arm and a material moving mechanism connected to each other, wherein the mechanical arm is arranged on the material feeding device, and the mechanical arm is used to drive the material moving mechanism to move;

[0007] The first positioning device is arranged on the material moving mechanism, and the first positioning device is used to cooperate with the first positioning portion to adjust the position of the material moving mechanism relative to the positioning platform.

[0008] In some embodiments, the material transfer mechanism comprises:

[0009] A bearing assembly connected to the mechanical arm;

[0010] A clamping assembly, provided on the bearing assembly, and used for clamping the material on the positioning platform;

[0011] The first positioning device is arranged on the bearing assembly.

[0012] In some embodiments, the bearing assembly includes:

[0013] A first bearing portion connected to the mechanical arm;

[0014] a second bearing portion, wherein the first positioning device is disposed on the second bearing portion;

[0015] A clutch mechanism, connected between the first bearing portion and the second bearing portion, the clutch mechanism having a switchable first state and a second state;

[0016] In the first state, the clutch mechanism fixes the second bearing part to the first bearing part;

[0017] In the second state, the clutch mechanism releases the second bearing portion, and the second bearing portion can move relative to the first bearing portion, so that the first positioning device can cooperate with the first positioning portion.

[0018] In some embodiments, the second bearing portion is provided with a first through hole; and the clutch mechanism comprises:

[0019] A first driving part connected to the first bearing part;

[0020] a first moving part, which is inserted into the first through hole; the first moving part is driven to move by the first driving part to switch between the first state and the second state;

[0021] The first pressing block is connected to the first moving part and is disposed on a side of the second bearing part away from the first bearing part. In the first state, the first pressing block presses the second bearing part against the first bearing part.

[0022] In some embodiments, the bearing assembly further comprises:

[0023] A reset mechanism is connected between the first bearing portion and the second bearing portion, and is used to reset the position of the second bearing portion relative to the first bearing portion, so as to fix the second bearing portion to the first bearing portion.

[0024] In some embodiments, the second bearing portion includes a first guiding inclined surface, the first guiding inclined surface is provided on a side of the second bearing portion away from the first bearing portion, and the second bearing portion is provided with a second through hole penetrating the first guiding inclined surface;

[0025] The reset mechanism comprises:

[0026] A second driving part connected to the first bearing part;

[0027] A second moving part is inserted into the second through hole, and the second moving part is driven to move by the second driving part;

[0028] A second pressing block is connected to the second movable portion and is arranged on a side of the second bearing portion away from the first bearing portion; the second pressing block has a second guiding inclined surface arranged toward the first guiding inclined surface, and the second guiding inclined surface is used to cooperate with the first guiding inclined surface to reset the position of the second bearing portion relative to the first bearing portion.

[0029] In some embodiments, one of the first positioning device and the first positioning portion is a positioning hole, and the other is a positioning pin; in the second state, the positioning pin can be inserted into the positioning hole to cooperate with each other to adjust the position of the material moving mechanism relative to the positioning platform.

[0030] In some embodiments, the diameter of the positioning hole is D mm, and the portion of the positioning pin inserted into the positioning hole has a maximum dimension d mm along the radial direction of the positioning hole, satisfying: 0.1≤Dd≤0.5.

[0031] In some embodiments, the first positioning device reads the first positioning portion visually to adjust the position of the material moving mechanism relative to the positioning platform.

[0032] In some embodiments, the feeding device further comprises:

[0033] The second positioning device is arranged on the material moving mechanism, and is used for adjusting the position of the material moving mechanism by visually reading the positioning marker.

[0034] In some embodiments, the feeding device further comprises:

[0035] A distance detection device is provided on the material moving mechanism, and the distance detection device is used to adjust the distance between the material moving mechanism and the positioning platform.

[0036] In some embodiments, the feeding device further comprises:

[0037] An inclination detection device is provided on the material moving mechanism and / or the positioning platform, and the inclination detection device is used to adjust the inclination of the material moving mechanism relative to the positioning platform.

[0038] Accordingly, an embodiment of the present application provides a circuit board processing system, including a processing device and a loading device, wherein the loading device is used to load the processing device, and the loading device includes:

[0039] The feeding device comprises a positioning platform, wherein the positioning platform is provided with a first positioning portion;

[0040] A material taking and placing device, comprising a mechanical arm and a material moving mechanism connected to each other, wherein the mechanical arm is arranged on the material feeding device, and the mechanical arm is used to drive the material moving mechanism to move;

[0041] The first positioning device is arranged on the material moving mechanism, and the first positioning device is used to cooperate with the first positioning portion to adjust the position of the material moving mechanism relative to the positioning platform.

[0042] In some embodiments, the processing equipment includes:

[0043] The workbench is provided with a second positioning portion;

[0044] The feeding equipment is used to feed materials onto the workbench, and the first positioning device is also used to cooperate with the second positioning portion to adjust the position of the material moving mechanism relative to the workbench.

[0045] In some embodiments, the processing equipment includes:

[0046] A positioning marker, wherein the second positioning device of the material transfer mechanism reads the positioning marker visually to adjust the position of the material transfer mechanism relative to the processing equipment.

[0047] Accordingly, an embodiment of the present application provides a circuit board processing method, comprising:

[0048] Move the loading equipment to the preset loading position;

[0049] The robot arm moves the material transfer mechanism to the upper side of the theoretical material picking position according to the preset action route, and adjusts the material transfer mechanism to the actual material picking position on the positioning platform through the cooperation of the first positioning device and the first positioning part, thereby completing the material picking;

[0050] The robotic arm moves the material transfer mechanism to above the theoretical material discharge position according to a preset action route, visually reads the positioning marker through the second positioning device, and adjusts the position of the material transfer mechanism to above the actual material discharge position by using the relative position relationship with the positioning marker; and adjusts the material transfer mechanism to the actual material discharge position on the workbench through the cooperation of the first positioning device and the second positioning part to complete the material discharge.

[0051] In some embodiments, the circuit board processing method further includes:

[0052] Moving the feeding device to a preset feeding position;

[0053] The material moving mechanism is moved to the upper part of the positioning platform, and the material moving mechanism is adjusted to move to the material taking position on the positioning platform through the cooperation of the first positioning device and the first positioning part, so as to complete the calibration of the theoretical material taking position;

[0054] The material transfer mechanism is moved above the workbench, and the material transfer mechanism is adjusted to move to the material discharge position on the workbench through the cooperation of the first positioning device and the second positioning part, so as to complete the calibration of the theoretical material discharge position.

[0055] Beneficial effect: Compared with the prior art, the feeding equipment of the embodiment of the present application includes: a feeding device, including a positioning platform, the positioning platform is provided with a first positioning part; a material taking and releasing device, including a connected mechanical arm and a material moving mechanism, the mechanical arm is provided on the feeding device, and the mechanical arm is used to drive the material moving mechanism to move; a first positioning device is provided on the material moving mechanism, and the first positioning device is used to cooperate with the first positioning part to adjust the position of the material moving mechanism relative to the positioning platform. The positioning platform of the feeding equipment is provided with a first positioning part, and the first positioning device is provided on the material moving mechanism. Through the cooperation between the first positioning device and the first positioning part, the relative position of the material moving mechanism and the positioning platform can be adjusted, and the accuracy of the material moving mechanism grabbing materials from the positioning platform is improved, thereby improving the feeding accuracy, and further improving the processing accuracy of the circuit board.

[0056] Compared with the prior art, the circuit board processing system of the embodiment of the present application may include all the technical features and beneficial effects of the above-mentioned loading equipment, which will not be repeated here.

[0057] Compared with the prior art, the circuit board processing method of the embodiment of the present application cooperates with the first positioning device and the first positioning part so that the material transfer mechanism can be accurately moved to the actual material picking position on the positioning platform to complete the material picking; the positioning marker is visually read by the second positioning device, and the position of the material transfer mechanism is adjusted to above the actual material discharge position by utilizing the relative position relationship with the positioning marker; the first positioning device and the second positioning part cooperate so that the material transfer mechanism can be accurately moved to the actual material discharge position on the workbench to complete the material discharge. BRIEF DESCRIPTION OF THE DRAWINGS

[0058] In order to more clearly illustrate the technical solutions in the embodiments of the present application, the drawings required for use in the description of the embodiments will be briefly introduced below. Obviously, the drawings described below are only some embodiments of the present application. For those skilled in the art, other drawings can be obtained based on these drawings without creative work.

[0059] Figure 1 A schematic diagram of the three-dimensional structure of the feeding equipment provided in the embodiment of the present application;

[0060] Figure 2 for Figure 1 A schematic diagram of the local enlarged structure of the middle A area;

[0061] Figure 3 It is a schematic diagram of the three-dimensional structure of the material moving mechanism and the first positioning device in the first embodiment of the present application;

[0062] Figure 4 for Figure 3 A schematic diagram of the three-dimensional structure of the middle material moving mechanism and the first positioning device from another angle;

[0063] Figure 5 for Figure 3 A schematic diagram of the top view of the structure of the middle material moving mechanism and the first positioning device;

[0064] Figure 6 For along Figure 5 Schematic diagram of the cross-sectional structure along the AA line;

[0065] Figure 7 For along Figure 5 Schematic diagram of the three-dimensional structure after sectioning along the AA line;

[0066] Figure 8 for Figure 7 A schematic diagram of the local enlarged structure of the middle B area;

[0067] Fig. 9 This is a partial structural schematic diagram of a feeding device according to a second embodiment of the present application;

[0068] Fig.10 It is a schematic diagram of the partial structure of the feeding equipment of the second embodiment of the present application from another angle;

[0069] Fig.11 A schematic diagram of the three-dimensional structure of a circuit board processing system provided in an embodiment of the present application;

[0070] Fig.12 A schematic diagram of the three-dimensional structure of a processing device in a circuit board processing system provided in an embodiment of the present application;

[0071] Fig.13 This is a schematic diagram of relative position calibration of the material moving mechanism and the positioning platform in the embodiment of the present application;

[0072] Fig.14 This is a schematic diagram of the material moving mechanism of the embodiment of the present application moving to above the theoretical material discharge position;

[0073] Fig.15 This is a schematic diagram of the material moving mechanism of the embodiment of the present application moving to above the actual material discharge position;

[0074] Fig.16 for Fig.15 The local magnified structure of the middle C area;

[0075] Fig.17 It is a schematic diagram of the theoretical board grabbing state of the material transfer mechanism of the circuit board processing system;

[0076] Fig.18 It is a schematic diagram of the board material of the circuit board processing system;

[0077] Fig.19 It is a schematic diagram of the theoretical square plate state of the material transfer mechanism of the circuit board processing system;

[0078] Reference numerals: 100-feeding device; 110-feeding device; 111-positioning platform; 112-first positioning part; 120-pick-up and unloading device; 121-mechanical arm; 122-material moving mechanism; 123-carrying assembly; 124-clamping assembly; 125-first bearing part; 126-second bearing part; 1261-first through hole; 1262-second through hole; 1263-first guiding inclined plane; 127-clutch mechanism; 1271-first driving mechanism part; 1272-first moving part; 1273-first pressing block; 128-resetting mechanism; 1281-second driving part; 1282-second moving part; 1283-second pressing block; 1284-second guiding slope; 130-first positioning device; 140-second positioning device; 150-distance detection device; 160-inclination detection device; 200-processing equipment; 210-workbench; 211-second positioning part; 212-positioning marker. DETAILED DESCRIPTION

[0079] The technical solutions in the embodiments of the present application will be described clearly and completely below in conjunction with the drawings in the embodiments of the present application. Obviously, the described embodiments are only part of the embodiments of the present application, rather than all of the embodiments. Based on the embodiments in the present application, all other embodiments obtained by those skilled in the art without creative work are within the scope of protection of the present application.

[0080] In the description of the present application, it should be understood that the terms "length", "width", "thickness", "upper", "lower", "top", "bottom", "inside", "outside", etc., indicating the orientation or positional relationship, are based on the orientation or positional relationship shown in the drawings, and are only for the convenience of describing the present application and simplifying the description, rather than indicating or implying that the device or element referred to must have a specific orientation, be constructed and operated in a specific orientation, and therefore cannot be understood as a limitation on the present application. In the description of the present application, "multiple" means two or more, and at least one means one, two or more, unless otherwise clearly and specifically defined.

[0081] The applicant noted that currently, PCB board loading usually uses AGV loading robot arms, which are equipped with claws for gripping boards, and use 2D vision to guide the position so that the boards on the AGV are placed on the PCB processing equipment. However, there are errors in the positioning accuracy of the AGV, the absolute positioning accuracy and rotation accuracy of the robot arm, the boards, and the ground in the loading area, resulting in deviations in the board placement accuracy. The boards cannot be accurately placed on the work surface of the processing equipment, and the teaching process is also relatively slow, affecting production efficiency.

[0082] In view of this, the embodiments of the present application provide a loading device, a circuit board processing system and a processing method thereof, so as to overcome at least one of the above-mentioned technical problems.

[0083] like Figure 1 As shown, the loading device 100 includes a feeding device 110 , a material taking and placing device 120 and a first positioning device 130 .

[0084] The feeding device 110 is used to transport and supply PCB sheets. Specifically, the feeding device 110 can be an AGV vehicle that can move and transport materials according to a planned route, or it can also be a belt conveyor device, a linear conveyor device, or other equipment that can transport materials. The feeding device 110 is provided with a positioning platform 111, on which the PCB sheets are placed, and the positioning platform 111 is provided with a first positioning portion 112.

[0085] The material picking and placing device 120 is used for clamping and placing the sheet material, and can clamp the sheet material on the positioning platform 111, and then place it in the target area to achieve material loading. The material picking and placing device 120 includes a mechanical arm 121 and a material transfer mechanism 122. The mechanical arm 121 is arranged on the feeding device 110, and the mechanical arm 121 is used to drive the material transfer mechanism 122 to move. In other words, the mechanical arm 121 is installed on the feeding device 110, and the material transfer mechanism 122 is installed on the movable end of the mechanical arm 121, so that the material transfer mechanism 122 can be driven to move by the mechanical arm 121. The material transfer mechanism 122 is a component for directly clamping the sheet material, which can clamp the sheet material from the positioning platform 111 and place it in the target area to achieve material picking and placing.

[0086] The first positioning device 130 is provided on the material moving mechanism 122, and the first positioning device 130 is used to cooperate with the first positioning portion 112 to adjust the position of the material moving mechanism 122 relative to the positioning platform 111. In other words, the first positioning device 130 is installed on the material moving mechanism 122, moves along with the material moving mechanism 122, and the first positioning device 130 cooperates with the first positioning portion 112 to adjust the position of the material moving mechanism 122 relative to the positioning platform 111, so as to achieve accurate positioning of the material moving mechanism 122, which is conducive to the material moving mechanism 122 accurately grabbing materials from the positioning platform 111, thereby being able to improve the accuracy of material loading to a certain extent, and further improve the processing accuracy of the circuit board.

[0087] Please also read Figure 3 , Figure 4 and Figure 5 In the first embodiment of the present application, the material moving mechanism 122 includes a bearing assembly 123 and a clamping assembly 124. The bearing assembly 123 is connected to the mechanical arm 121. The bearing assembly 123 can be connected to the movable end of the mechanical arm 121 through a mounting flange provided thereon, thereby being fixed to the movable end of the mechanical arm 121. The clamping assembly 124 is provided on the bearing assembly 123. A bearing structure for carrying the clamping assembly 124 can be provided on the bearing assembly 123, and the clamping assembly 124 can be fixed through the bearing structure. The clamping assembly 124 is used to clamp the material on the positioning platform 111. The clamping assembly 124 includes a driving motor, a ball screw, a slider, a slide rail, and a clamping jaw. A gear is provided at the output end of the driving motor. The gear rotates to drive the screw shaft of the ball screw to rotate, and drives the slider connected to the screw nut to move back and forth along the slide rail, thereby adjusting the spacing between the relative clamping jaws to meet the clamping requirements of sheets of different sizes. The clamp is a rotatable clamp, and the clamping fingers of the clamp are driven by a motor to rotate to achieve switching between the clamping position and the release position, so as to facilitate the clamping and placing of PCB sheets.

[0088] In the first embodiment, the first positioning device 130 is disposed on the bearing assembly 123 . The first positioning device 130 can be installed on the bearing assembly 123 , or can be integrally formed with the bearing assembly 123 .

[0089] Thus, by driving the carrying assembly 123 to move through the robotic arm 121, the clamping assembly 124 and the first positioning device 130 can be driven to move, and the first positioning device 130 and the first positioning portion 112 cooperate with each other to enable the clamping assembly 124 to move to a precise material picking position on the positioning platform 111, thereby achieving accurate material picking through the clamping assembly 124.

[0090] Please combine Figure 6 , Figure 7 , Figure 8Further, in some embodiments, the bearing assembly 123 includes a first bearing portion 125, a second bearing portion 126 and a clutch mechanism 127. The first bearing portion 125 is connected to the mechanical arm 121, and its main body can be a plate-shaped structure, on which a connecting flange is provided for connecting and fixing to the mechanical arm 121. The clutch mechanism 127 is connected between the first bearing portion 125 and the second bearing portion 126, and is used to separate the first bearing portion 125 and the second bearing portion 126 from each other or to combine with each other. Specifically, the clutch mechanism 127 has a switchable first state and a second state; in the first state, the clutch mechanism 127 fixes the second bearing portion 126 to the first bearing portion 125; in the second state, the clutch mechanism 127 releases the second bearing portion 126, and the second bearing portion 126 can move relative to the first bearing portion 125. The first positioning device 130 is disposed on the second supporting portion 126 , and can be moved relative to the first supporting portion 125 through the second supporting portion 126 , so that the first positioning device 130 can cooperate with the first positioning portion 112 , and further can adjust the position of the material moving mechanism 122 relative to the positioning platform 111 to achieve accurate positioning of the material moving mechanism 122 .

[0091] Specifically, the second bearing part 126 is provided with a first through hole 1261; the clutch mechanism 127 includes a first driving part 1271 connected to the first bearing part 125, a first moving part 1272 passing through the first through hole 1261, and a first pressing block 1273 connected to the first moving part 1272. The first driving part 1271 can be a driving device such as a cylinder, an oil cylinder, a linear motor, etc., and its output end is connected to the first moving part 1272, so that the first moving part 1272 can be driven to move by the first driving part 1271. In this embodiment, the switching between the first state and the second state can be achieved by moving the first moving part 1272. The first pressing block 1273 is arranged on a side of the second bearing portion 126 away from the first bearing portion 125. In the first state, the first pressing block 1273 presses the second bearing portion 126 against the first bearing portion 125, so that the second bearing portion 126 can be fixed to the first bearing portion 125; in the second state, the first moving portion 1272 drives the first pressing block 1273 to move to a position where the second bearing portion 126 is released, so that the second bearing portion 126 can be driven by its own gravity or an elastic member arranged between the first bearing portion 125 and the second bearing portion 126 to move relative to the first bearing portion 125, so that the first positioning device 130 can cooperate with the first positioning portion 112, and then the position of the material moving mechanism 122 relative to the positioning platform 111 can be adjusted to achieve precise positioning of the material moving mechanism 122.

[0092] Please read again Figure 6 , Figure 7 and Figure 8In some embodiments, the supporting assembly 123 also includes a reset mechanism 128, which is connected between the first supporting portion 125 and the second supporting portion 126, and is used to reset the position of the second supporting portion 126 relative to the first supporting portion 125 to fix the second supporting portion 126 to the first supporting portion 125.

[0093] Specifically, the second bearing part 126 includes a first guiding inclined surface 1263, and the first guiding inclined surface 1263 is arranged on the side of the second bearing part 126 away from the first bearing part 125, and the second bearing part 126 is provided with a second through hole 1262 penetrating the first guiding inclined surface. The reset mechanism 128 includes a second driving part 1281, a second moving part 1282, and a second pressing block 1283. Among them, the second driving part 1281 is connected to the first bearing part 125, and the second driving part 1281 can be a driving device such as a cylinder or a linear motor, and its moving end is connected to the second moving part 1282. The second moving part 1282 is penetrated by the second through hole 1262, and the second moving part 1282 is driven to move by the second driving part 1281. The second pressing block 1283 is connected to the second moving part 1282 and is arranged on the side of the second bearing part 126 away from the first bearing part 125. The second pressing block 1283 has a second guiding inclined surface 1284 disposed toward the first guiding inclined surface 1263, and the second guiding inclined surface 1284 is used to cooperate with the first guiding inclined surface 1263 to reset the position of the second bearing portion 126 relative to the first bearing portion 125. Specifically, the first guiding inclined surface 1263 and the second guiding inclined surface 1284 can be adapted to be round table surfaces, and when the second pressing block 1283 is driven by the second moving portion 1282 to move toward the second bearing portion 126, the second guiding inclined surface 1284 can cooperate with the first guiding inclined surface 1263, so that the two gradually fit together, so that when the second pressing block 1283 presses the second bearing portion 126 against the first bearing portion 125, the second bearing portion 126 can be gradually reset and restored to a fixed position.

[0094] Please also read Figure 2 and Figure 6 In the first embodiment of the present application, one of the first positioning device 130 and the first positioning portion 112 is a positioning hole, and the other is a positioning pin; in the second state, the positioning pin can be inserted into the positioning hole to cooperate with each other to adjust the position of the material moving mechanism 122 relative to the positioning platform 111. That is to say, when in the second state, the clutch mechanism 127 releases the second bearing portion 126, so that the second bearing portion 126 has a certain degree of freedom of movement relative to the first bearing portion 125. When the second bearing portion 126 moves downward under the action of gravity, the positioning pin can be gradually inserted into the positioning hole. Even if the positioning pin and the positioning hole are eccentric to each other at the beginning, they will gradually correct the deviation during the falling process, thereby guiding the second bearing portion 126 to adjust to the precise target position.

[0095] It can be understood that in the above-mentioned first embodiment, when the clutch mechanism 127 is in the second state, the first bearing part 125 and the second bearing part 126 are relatively floating, and the absolute position accuracy error of the robot arm 121 itself can be compensated through the mutual cooperation of the positioning pin top and the positioning hole, thereby ensuring the final pick-and-place plate effect.

[0096] For further information, please refer again to Figure 2 and Figure 6 In some embodiments, the aperture of the positioning hole is D mm, and the portion of the positioning pin inserted into the positioning hole has a maximum dimension d mm along the radial direction of the positioning hole, satisfying: 0.1≤Dd≤0.5, that is, Dd can be any value in the range of 0.1 to 0.5, for example, it can be any value among 0.1, 0.2, 0.3, 0.4, 0.5 or a range value between any two values. By setting the difference between the maximum dimension d of the positioning pin and the aperture D of the positioning hole within the above range, on the one hand, the positioning pin can be inserted into the positioning hole to achieve mutual cooperation between the two, and on the other hand, in the second state, the hole wall of the positioning hole can act on the positioning pin, thereby pushing the positioning pin to drive the second bearing part 126 and the clamping assembly 124, so as to achieve the accuracy error compensation of the absolute position of the robot itself. Specifically, both D and d can be measured by conventional measuring tools such as vernier calipers and micrometers.

[0097] Please also read Fig. 9 and Fig.10 In the second embodiment of the present application, the first positioning device 130 reads the first positioning portion 112 visually to adjust the position of the material moving mechanism 122 relative to the positioning platform 111. Specifically, in the second embodiment, the material moving mechanism 122 can also be configured as the structural form of the supporting component 123 and the clamping component 124 in the first embodiment, and the clutch mechanism 127 in the supporting component 123 can always be in the first state, or the supporting component 123 can also be an integrated supporting plate. The first positioning device 130 can be replaced with a camera, and the first positioning portion 112 can be a circular hole or other types of markers (such as a QR code, etc.). The position of the first positioning portion 112 is read by the first positioning device 130 to compensate for the position accuracy error and rotation accuracy error of the robotic arm 121 and the material moving mechanism 122 itself.

[0098] For further information, please refer to Figure 3 , Figure 4 and Figure 7In some embodiments, the feeding device 100 further includes a second positioning device 140, which is disposed on the material transfer mechanism 122. The second positioning device 140 is used to read the positioning marker 212 by vision to adjust the position of the material transfer mechanism 122. Specifically, the second positioning device 140 is also a camera, which can compensate for the movement error of the feeding device 110 such as the AGV by reading the positioning marker 212, and can achieve rough positioning, and cooperate with the first positioning device 130 and the first positioning part 112 for fine positioning, thereby improving the final success rate of placing the board.

[0099] For further information, please refer to Figure 4 , Figure 7 and Fig. 9 In some embodiments, the feeding device 100 further includes a distance detection device 150, which is disposed on the material moving mechanism 122 and is used to adjust the distance between the material moving mechanism 122 and the positioning platform 111. Specifically, the distance detection device 150 may be a distance measuring sensor, which accurately measures and controls the height of the material moving mechanism 122, and controls the height accuracy error within ±0.05 mm.

[0100] For further information, please refer to Figure 1 , Figure 3 , Figure 5 , Fig. 9 and Fig.10 In some embodiments, the feeding device 100 further includes an inclination detection device 160, which is disposed on the material moving mechanism 122 and / or the positioning platform 111, and is used to adjust the inclination of the material moving mechanism 122 relative to the positioning platform 111. Specifically, the inclination detection device 160 may be an inclination sensor, which is added to measure the inclination of the material moving mechanism 122 in real time, so as to ensure that the inclination of the material moving mechanism 122 is parallel to the plane of the positioning platform 111 of the feeding device 110 and the plane of the workbench 210 of the processing equipment 200 as much as possible, and the parallelism error is within ±0.05°.

[0101] Accordingly, the present application also provides a circuit board processing system, see Fig.11The circuit board processing system includes a processing device 200 and a loading device 100. The loading device 100 is used to load materials to the processing device 200. The loading device 100 includes a feeding device 110, a material taking and placing device 120, and a first positioning device 130. The feeding device 110 includes a positioning platform 111, and the positioning platform 111 is provided with a first positioning portion 112; the material taking and placing device 120 includes a connected mechanical arm 121 and a material moving mechanism 122, the mechanical arm 121 is provided on the feeding device 110, and the mechanical arm 121 is used to drive the material moving mechanism 122 to move; the first positioning device 130 is provided on the material moving mechanism 122, and the first positioning device 130 is used to cooperate with the first positioning portion 112 to adjust the position of the material moving mechanism 122 relative to the positioning platform 111.

[0102] It can be understood that the circuit board processing system can include all the technical features and beneficial effects of the above-mentioned loading equipment, which will not be repeated here.

[0103] For further information, see Fig.12 The processing equipment 200 includes a workbench 210, on which PCB sheets can be placed for processing, and the workbench 210 is provided with a second positioning portion 211. The feeding equipment 100 is used to feed materials to the workbench 210, and the first positioning device 130 is also used to cooperate with the second positioning portion 211 to adjust the position of the material moving mechanism 122 relative to the workbench 210. Through the cooperation between the first positioning device 130 and the second positioning portion 211, the relative position of the material moving mechanism 122 and the workbench 210 can be adjusted, and the accuracy of placing materials on the workbench 210 by the material moving mechanism 122 can be improved, thereby improving the accuracy of feeding, and further improving the processing accuracy of the PCB.

[0104] For further information, please refer again to Fig.12 In some embodiments, the processing equipment 200 includes a positioning marker 212, and the second positioning device 140 of the material moving mechanism 122 reads the positioning marker 212 visually to adjust the position of the material moving mechanism 122 relative to the processing equipment 200. The moving position error and angle error of the feeding device 110 are compensated.

[0105] Accordingly, the embodiment of the present application also provides a circuit board processing method, which is applied to the above circuit board processing system. Before describing the method in detail, the theoretical material flow of the circuit board processing system is explained here.

[0106] For details, please refer to Fig.17 , Fig.18 and Fig.19 , PCB board (such as Fig.18)'s two pins K1 and K2 are absolutely centered, the front pin K1 is the same distance from the edge, the sheet shape is a theoretical rectangle, the sheet rigidity is good enough, and no bending deformation occurs. Feeding device 110 ( Fig.17 The AGV mobile platform in the middle stops at a certain horizontal position O1, the positioning platform 111 (the plane where the front pin positioning hole K4 and the first positioning parts K5 and K6 are located) remains absolutely parallel to the ground, the installation surface of the robot arm 121 is absolutely parallel to the positioning platform 111, and the robot arm 121 carries the material transfer mechanism 122 and is located in the theoretical position (regardless of the size of the sheet, the center position of the robot arm 121 is the same, only the opening size of the clamping assembly 124 will be different depending on the size of the sheet). The material transfer mechanism 122 on the robot arm 121 grabs the sheet. At this time, the center line K1 and K2 of the two pins of the sheet are parallel to the center line of the clamping assembly 124, and the distance between the center line of the clamping assembly 124 and the front pin K1 is fixed and always equal (regardless of how the size of the sheet changes). The front pin K1, the rear pin K2, the rear pin positioning groove K3, and the front pin positioning hole K4 coincide in the YOZ plane. At this time, the position coordinates of the robot arm 121 are the teaching point A of the gripper position on the feeding device 110. Processing equipment 200 ( Fig.19 The drilling rig (in the middle) stops at a certain position O2, and is measured and adjusted by a level meter and an adjustment tool to ensure that the work surface of the drilling rig is level. The workbench 210 on the processing equipment 200 is consistent with the positioning platform structure on the feeding device 110, and the relative positions of K3, K4, K5, K6 and K7, K8, K9, K10 (rear pin positioning groove K7, front pin positioning hole K8, second positioning parts K9 and K10) are exactly the same. Move the mechanical arm 121 and move the material transfer mechanism 122 to the theoretical board grabbing and releasing point, which is the teaching point B. The feeding device 110 moves from other positions to the theoretical O1 position, and the material transfer mechanism 122 moves to point A, grabs the board, then moves to position B, and then releases the board. In theory, automatic loading and unloading of sheets can be achieved. If the feeding device 110 cannot achieve accurate movement in the XOY plane, a camera can be placed on the material moving mechanism 122 to locate the positioning marker 212 on the processing equipment 200 to determine the error between the calibrated position and the actual position. After testing the errors in the X and Y directions, compensation can be performed through the robotic arm 121.

[0107] However, there are errors in the actual process: the feeding device 110 (AGV) cannot move to the theoretical position and there are errors such as height difference, position difference, horizontal angle difference, vertical angle difference, etc. The picking and unloading device 120 cannot achieve accurate movement from fixed point B to fixed point B', and there must be errors in X, Y, Z, rotation angle, and inclination angle. Visual guidance is used to compensate for the movement error of the AGV. The visual sensor itself has errors and cannot recognize the error of the theoretical position. The deformation of the mechanical gripper itself and the sheet itself cannot guarantee that the pin can be moved from the theoretical position of position B to the theoretical position of position B' after the sheet is grabbed.

[0108] In view of this, the circuit board processing system of the embodiment of the present application can be adopted, and the circuit board processing method of the embodiment of the present application can be used to achieve precision compensation.

[0109] The circuit board processing method of the embodiment of the present application includes:

[0110] Moving the loading device 100 to a preset loading position;

[0111] The mechanical arm 121 moves the material transfer mechanism 122 to the upper side of the theoretical material fetching position according to the preset action route, and adjusts the material transfer mechanism 122 to move to the actual material fetching position on the positioning platform 111 through the cooperation of the first positioning device 130 and the first positioning part 112, thereby completing the material fetching;

[0112] The robot arm 121 moves the material transfer mechanism 122 to above the theoretical material discharge position according to the preset action route, visually reads the positioning marker 212 through the second positioning device 140, and adjusts the position of the material transfer mechanism 122 to above the actual material discharge position by using the relative position relationship with the positioning marker 212; and adjusts the material transfer mechanism 122 to the actual material discharge position on the workbench 210 through the cooperation of the first positioning device 130 and the second positioning part 211 to complete the material discharge.

[0113] Furthermore, the circuit board processing method also includes calibrating the position, specifically:

[0114] Moving the loading device 100 to a preset loading position;

[0115] The material moving mechanism 122 is moved to the top of the positioning platform 111, and the material moving mechanism 122 is adjusted to move to the material taking position on the positioning platform 111 through the cooperation of the first positioning device 130 and the first positioning part 112, so as to complete the calibration of the theoretical material taking position;

[0116] The material transfer mechanism 122 is moved above the workbench 210 , and the material transfer mechanism 122 is adjusted to move to the material discharge position on the workbench 210 through the cooperation of the first positioning device 130 and the second positioning portion 211 , so as to complete the calibration of the theoretical material discharge position.

[0117] For details, please refer to Figures 13 to 19In some embodiments, the feeding device 110 (AGV) is first calibrated: the AGV is stationary at the predetermined position M in the front center of the processing equipment, the clutch mechanism 127 is in the first state, and the reset mechanism 128 is in the locked reset state, ensuring that the center of the clamping assembly 124 coincides with the center of the robotic arm 121, so that the first bearing part 125 and the second bearing part 126 do not move relative to each other. Move the material transfer mechanism 122 to A1 above the digital display theoretical position A of the positioning platform 111. At this time, manually control the robotic arm 121 so that the two positioning pins slowly enter the positioning holes. Ensure that the perpendicular bisector of K11 and K12 is parallel to the connecting line of K3 and K4 as much as possible in the YOZ plane, and the angle is within 0.05°, which is used to compensate for the rotation angle error of the robotic arm 121 itself as much as possible, so that the error is stable within a controllable range. And ensure that the positioning pin will not get stuck in the positioning hole. At this time, the material moving mechanism 122 is located at the calibration point position N on the positioning platform 111 (the X, Y, Z rotation angle values ​​digitally recorded by the robot arm 121).

[0118] Then, the processing equipment 200 (such as a drilling machine) is calibrated: After the AGV is calibrated, the mechanical arm 121 moves the material transfer mechanism 122 to point B1 above the theoretical gripping position B of the drilling machine without gripping the plate. At this time, the two positioning pins of the material transfer mechanism 122 are manually inserted into the two pin holes on the drilling machine, and the mechanical arm 121 is fine-tuned to ensure that the plane of the clamp is horizontal and nearly parallel to the table surface of the drilling machine workbench 210. At this time, the position of the material transfer mechanism 122 is the calibration position L at the drilling machine (record X, Y, Z, and rotation angle values).

[0119] AGV upper gripping process during the loading process: AGV is stationary at the predetermined area position M1 in the front center of the drilling rig (due to the AGV positioning accuracy of ±10mm, angle 1° error), the clutch mechanism 127 is in the first state, and the reset mechanism 128 is in the locked reset state, ensuring that the center of the clamping assembly 124 coincides with the center of the mechanical arm 121, so that the first bearing part 125 and the second bearing part 126 do not move relative to each other. At this time, the material transfer mechanism 122 automatically moves to the N position. The PCB sheet (pin centered, error within 2mm) is placed on the AGV air clamp and is in a precise positioning state. The material transfer mechanism 122 is moved to the digital display theoretical position N of the positioning platform 111, which is actually not the theoretical position N at this time. First, the positioning platform 111 and the material transfer mechanism 122 are adjusted to ensure parallelism or a small error (±0.05°). The rest, such as the XYZ position, has errors in the rotation angle. However, the error inclination angle is within the range of 0.05°, XYZ is within the range of 0.2mm, and the rotation angle is within the range of 0.1°. At this time, the chamfered upper surface of the positioning pin on the clamp is basically flush with the upper surface of the positioning hole, with an error within the range of 0.1mm. At this time, the clutch mechanism 127 and the reset mechanism 128 are slowly released, and the clamping jaws of the clamping assembly 124 move downward under the guidance of the positioning pin guide angle, and the first bearing part 125 and the second bearing part 126 move relative to each other. Here, the relative movement of the two can be achieved by gravity or other additional thrusts (including spring force, etc.). The two positioning pins slowly enter the positioning holes to ensure that the mid-perpendicular lines of K11 and K12 are parallel to the connecting line of K3 and K4 as much as possible in the YOZ plane, and the angle is within 0.05°, which is used to compensate for the rotation angle error of the material transfer mechanism 122 itself as much as possible, so that the error is stable within a controllable range. And ensure that the pin will not get stuck in the positioning hole. The material transfer mechanism 122 moves downward to the set height value, which is based on the ability to grab the sheet material. Then the clutch mechanism 127 is tightened to ensure that the first bearing portion 125 and the second bearing portion 126 do not move relative to each other, and the positioning pin does not disengage from the positioning hole. The sheet material is clamped by the clamping assembly 124 .

[0120] The process of placing the plate on the drilling rig: the AGV is stationary at the predetermined area position M1 in the front center of the drilling rig (due to the positioning accuracy of the AGV, there is an error of ±10mm and an angle of 1°), and the material transfer mechanism 122 automatically moves from N to L1 according to the relative position from N to L. The workbench moves forward until the positioning marker 212 is located in the lower field of view of the second positioning device 140 (camera) (the field of view is within the range of 30x30, and the deviation caused by the AGV will not cause the positioning marker 212 to be unable to be within the field of view of the camera). Read the positioning marker 212 and determine the relative displacement in the X, Y plane with the positioning marker 212. The robotic arm moves the material transfer mechanism 122 to L2 according to the relative displacement value. At this time, the L2 position is close to the theoretical gripping plate position on the drilling rig, but it is actually not the theoretical position L2 at this time. First, the inclination angle of the material transfer mechanism 122 is used to ensure that it is parallel to the drilling rig workbench or the error is small (±0.05°). There are errors in other aspects such as XYZ position and rotation angle. However, the error inclination angle is within the range of 0.05°, XYZ is within the range of 0.2mm, and the rotation angle is within the range of 0.1°. At this time, the chamfered upper surface of the positioning pin on the material shifting mechanism 122 is basically flush with the upper surface of the positioning hole, and the error is within the range of 0.1mm. At this time, the clutch mechanism 127 is slowly released, and the material shifting mechanism 122 moves downward under the guiding effect of the positioning pin guide angle, and the first bearing part 125 and the second bearing part 126 move relative to each other. Here, gravity or other additional thrusts (including spring force, etc.) can be relied on to assist the relative movement of the two. The two positioning pins slowly enter the positioning hole, and the positioning hole is slightly larger than the positioning pin, which can be a reasonable value within the range of 0.1-0.5mm, ensuring that the perpendicular midline of K11 and K12 is parallel to the line connecting K7 and K8 as much as possible in the YOZ plane, and the angle is within 0.05°, which is used to compensate for the rotation angle error of the material shifting mechanism 122 itself as much as possible, so that the error is stable within a controllable range. And ensure that the pin will not get stuck in the positioning hole. The material moving mechanism 122 moves downward to a set height value, which is sufficient to loosen the sheet material. At this time, the drilling rig air clamp has been opened, and the sheet material pin has partially entered the pin hole or pin groove. The material moving mechanism 122 releases the material, so that the sheet material falls onto the drilling rig plane. Then the reset mechanism 128 is tightened, and the second bearing part 126 is reset. The clutch mechanism 127 is tightened to ensure that the first bearing part 125 and the second bearing part 126 do not move relative to each other.

[0121] In the above embodiments, the description of each embodiment has its own emphasis. For parts that are not described in detail in a certain embodiment, reference can be made to the relevant descriptions of other embodiments.

[0122] The above describes in detail the loading equipment, circuit board processing system and processing method provided in the embodiments of the present application, and uses specific examples to illustrate the principles and implementation methods of the present application. The description of the above embodiments is only used to help understand the technical solution and core idea of ​​the present application; ordinary technicians in this field should understand that they can still modify the technical solutions recorded in the aforementioned embodiments, or replace some of the technical features therein with equivalents; and these modifications or replacements do not make the essence of the corresponding technical solution deviate from the scope of the technical solution of the embodiments of the present application.

Claims

1. A feeding device (100), characterized in that: include: The feeding device (110) comprises a positioning platform (111), wherein the positioning platform (111) is provided with a first positioning portion (112); A material taking and placing device (120) comprises a mechanical arm (121) and a material moving mechanism (122) connected to each other, wherein the mechanical arm (121) is arranged on the material feeding device (110), and the mechanical arm (121) is used to drive the material moving mechanism (122) to move; A first positioning device (130) is provided on the material moving mechanism (122), and the first positioning device (130) is used to cooperate with the first positioning portion (112) to adjust the position of the material moving mechanism (122) relative to the positioning platform (111).

2. The feeding device (100) according to claim 1, characterized in that: The material transfer mechanism (122) comprises: A bearing assembly (123) connected to the mechanical arm (121); A clamping assembly (124), disposed on the bearing assembly (123), the clamping assembly (124) being used to clamp materials on the positioning platform (111); The first positioning device (130) is arranged on the supporting component (123).

3. The feeding device (100) according to claim 2, characterized in that: The bearing assembly (123) comprises: A first bearing portion (125) connected to the mechanical arm (121); A second bearing portion (126), wherein the first positioning device (130) is disposed on the second bearing portion (126); A clutch mechanism (127) connected between the first bearing portion (125) and the second bearing portion (126), the clutch mechanism (127) having a switchable first state and a second state; In the first state, the clutch mechanism (127) fixes the second bearing portion (126) to the first bearing portion (125); In the second state, the clutch mechanism (127) releases the second bearing portion (126), and the second bearing portion (126) is movable relative to the first bearing portion (125), so that the first positioning device (130) can cooperate with the first positioning portion (112).

4. The feeding device (100) according to claim 3, characterized in that: The second bearing portion (126) is provided with a first through hole (1261); the clutch mechanism (127) comprises: A first driving part (1271) connected to the first bearing part (125); A first moving part (1272) is inserted into the first through hole (1261); the first moving part (1272) is driven to move by the first driving part (1271) to switch between the first state and the second state; The first pressing block (1273) is connected to the first moving part (1272) and is arranged on a side of the second bearing part (126) away from the first bearing part (125); in the first state, the first pressing block (1273) presses the second bearing part (126) against the first bearing part (125).

5. The feeding device (100) according to claim 3, characterized in that: The bearing assembly (123) further comprises: A reset mechanism (128) is connected between the first bearing part (125) and the second bearing part (126), and the reset mechanism (128) is used to reset the position of the second bearing part (126) relative to the first bearing part (125) so as to fix the second bearing part (126) to the first bearing part (125).

6. The feeding device (100) according to claim 5, characterized in that: The second bearing portion (126) comprises a first guiding inclined surface (1263), the first guiding inclined surface is arranged on a side of the second bearing portion (126) away from the first bearing portion (125), and the second bearing portion (126) is provided with a second through hole (1262) penetrating the first guiding inclined surface (1263); The reset mechanism (128) comprises: A second driving part (1281) connected to the first bearing part (125); A second moving part (1282) is inserted into the second through hole (1262), and the second moving part (1282) is driven to move by the second driving part (1281); A second pressing block (1283) is connected to the second movable portion (1282) and is arranged on a side of the second bearing portion (126) away from the first bearing portion (125); the second pressing block (1283) has a second guiding inclined surface (1284) arranged toward the first guiding inclined surface, and the second guiding inclined surface (1284) is used to cooperate with the first guiding inclined surface (1263) to reset the position of the second bearing portion (126) relative to the first bearing portion (125).

7. The feeding device (100) according to any one of claims 3 to 6, characterized in that: One of the first positioning device (130) and the first positioning portion (112) is a positioning hole, and the other is a positioning pin; in the second state, the positioning pin can be inserted into the positioning hole to cooperate with each other to adjust the position of the material moving mechanism (122) relative to the positioning platform (111).

8. The feeding device (100) according to claim 1, characterized in that: The first positioning device (130) reads the first positioning portion (112) visually to adjust the position of the material transfer mechanism (122) relative to the positioning platform (111).

9. The feeding device (100) according to claim 1, characterized in that: The feeding device (100) further comprises: The second positioning device (140) is arranged on the material moving mechanism (122), and the second positioning device (140) is used to read the positioning marker (212) by vision to adjust the position of the material moving mechanism (122).

10. The feeding device (100) according to claim 1, characterized in that: The feeding device (100) further comprises: A distance detection device (150) is provided on the material moving mechanism (122), and the distance detection device (150) is used to adjust the distance between the material moving mechanism (122) and the positioning platform (111).

11. The feeding device (100) according to claim 1, characterized in that: The feeding device (100) further comprises: An inclination detection device (160) is provided on the material transfer mechanism (122) and / or the positioning platform (111), and the inclination detection device (160) is used to adjust the inclination of the material transfer mechanism (122) relative to the positioning platform (111).

12. A circuit board processing system, characterized in that: The invention comprises a processing device (200) and a feeding device (100), wherein the feeding device (100) is used to feed materials to the processing device (200), and the feeding device (100) comprises: The feeding device (110) comprises a positioning platform (111), wherein the positioning platform (111) is provided with a first positioning portion (112); A material taking and placing device (120) comprises a mechanical arm (121) and a material moving mechanism (122) connected to each other, wherein the mechanical arm (121) is arranged on the material feeding device (110), and the mechanical arm (121) is used to drive the material moving mechanism (122) to move; A first positioning device (130) is provided on the material moving mechanism (122), and the first positioning device (130) is used to cooperate with the first positioning portion (112) to adjust the position of the material moving mechanism (122) relative to the positioning platform (111).

13. The circuit board processing system according to claim 12, characterized in that: The processing equipment (200) comprises: The workbench (210) is provided with a second positioning portion (211); The loading device (100) is used to load materials onto the workbench (210), and the first positioning device (130) is also used to cooperate with the second positioning portion (211) to adjust the position of the material moving mechanism (122) relative to the workbench (210).

14. The circuit board processing system according to claim 12, characterized in that: The processing equipment (200) comprises: A positioning marker (212), wherein the second positioning device (140) of the material transfer mechanism (122) reads the positioning marker (212) visually to adjust the position of the material transfer mechanism (122) relative to the processing equipment (200).

15. A circuit board processing method, characterized in that: include: Moving the loading device (100) to a preset loading position; The mechanical arm (121) moves the material transfer mechanism (122) to the upper side of the theoretical material picking position according to a preset action route, and adjusts the material transfer mechanism (122) to move to the actual material picking position on the positioning platform (111) through the cooperation of the first positioning device (130) and the first positioning part (112), thereby completing the material picking; The mechanical arm (121) moves the material transfer mechanism (122) to above the theoretical material discharge position according to a preset action route, visually reads the positioning marker (212) through the second positioning device (140), and adjusts the position of the material transfer mechanism (122) to above the actual material discharge position based on the relative position relationship with the positioning marker (212); and adjusts the material transfer mechanism (122) to the actual material discharge position on the workbench (210) through the cooperation of the first positioning device (130) and the second positioning part (211), thereby completing the material discharge.

16. The circuit board processing method according to claim 15, characterized in that: Also includes: Moving the loading device (100) to a preset loading position; The material moving mechanism (122) is moved to the top of the positioning platform (111), and the material moving mechanism (122) is adjusted to move to the material picking position on the positioning platform (111) through the cooperation of the first positioning device (130) and the first positioning part (112), so as to complete the calibration of the theoretical material picking position; The material transfer mechanism (122) is moved above the workbench (210), and the material transfer mechanism (122) is adjusted to move to a material discharge position on the workbench (210) through the cooperation of the first positioning device (130) and the second positioning portion (211), thereby completing the calibration of the theoretical material discharge position.

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