An intelligent transfer system for electronic component manufacturing

Abstract

The present invention relates to the field of intelligent manufacturing technology, and provides an intelligent transfer system for electronic component manufacturing, the intelligent transfer system comprising a server, a loading tray, a station demand monitoring module, a transfer module, a cleanliness control module and a safety protection module, the loading tray is provided with electronic components, the station demand monitoring module is used to collect demand data of the station and evaluate to form an evaluation result, the transfer module transfers the loading tray among different stations according to the evaluation result, the cleanliness control module cleans the environment passed by the transfer module during the transfer process, and the safety protection module performs safety protection on the transfer process of the transfer module. The present invention enables transfer according to demand through the mutual cooperation of the station demand monitoring module and the transfer module, and ensures that the whole system has the advantages of high degree of interaction, high degree of intelligence and high accuracy of adaptive adjustment transfer.

Description

Technical Field

[0001] The present invention relates to the field of intelligent manufacturing technology, and in particular to an intelligent transfer system for manufacturing electronic components. Background Art

[0002] In the manufacturing process of modern electronic components, components usually need to be frequently transferred between multiple stations through trays, which may include welding, patching, air knife cleaning, etc. The existing transfer methods mainly rely on manual or traditional automated equipment. In recent years, with the development of micro-electromechanical system technology, the size of some products has become smaller and smaller and the arrangement has become more and more compact. The traditional transfer method can no longer meet the needs of batch and high-precision transfer.

[0003] For example, Chinese patent CN113192868B discloses a large-scale transfer device and a transfer method for microelectronic components, which achieves the adhesion and transfer of electronic components by using an adhesive film to adhere to the microelectronic components. However, the cleanliness requirement during the transfer process is ignored. At the same time, the adhesion ability of the adhesive film is bound to bring in new dust, which is not conducive to subsequent high-cleanliness scenarios such as welding and assembly at the work station.

[0004] In addition, the prior art also has the following defects:

[0005] 1. Due to the inevitable individual differences in manual operations, the efficiency of the transfer process fluctuates greatly, which in turn affects the production rhythm of the entire production line.

[0006] 2. The existing transfer system lacks the means to control the environmental dust during the transfer process. During the movement of the pallet, due to equipment vibration or air flow, the dust in the environment is easily suspended again and falls on the surface of the components, resulting in a decrease in the yield rate.

[0007] 3. Manual operation and traditional automated equipment are prone to instability during the pallet transfer process, such as the pallet shaking or even falling during the movement, causing damage to components.

[0008] 4. Most existing systems perform automated transfers in a predetermined order and lack the ability to respond in real time to the actual needs of each workstation on the production line. This means that if a workstation needs to prioritize a certain pallet due to special needs, the current system is difficult to flexibly schedule and transfer, resulting in a decrease in overall production efficiency.

[0009] The present invention is made to solve the common problems in the field, such as low transfer efficiency, inability to ensure cleanliness during the transfer process, lack of safety protection measures during the transfer process, inability to monitor the needs of multiple stations and adaptively adjust the transfer, insufficient intelligence and lack of interaction. Summary of the invention

[0010] The purpose of the present invention is to propose an intelligent transfer system for electronic component manufacturing in view of the current shortcomings.

[0011] In order to overcome the shortcomings of the prior art, the present invention adopts the following technical solutions:

[0012] An intelligent transfer system for electronic component manufacturing, the intelligent transfer system comprising a server and a loading tray, the intelligent transfer system further comprising a station demand monitoring module, a transfer module, a cleanliness control module and a safety protection module, the server being connected to the station demand monitoring module, the transfer module, the cleanliness control module and the safety protection module respectively;

[0013] Electronic components are placed in the loading tray, the station demand monitoring module is used to collect demand data of the station and evaluate it to form an evaluation result, the transfer module transfers the loading tray among different stations according to the evaluation result, the cleanliness control module cleans the environment passed by the transfer module during the transfer process, and the safety protection module performs safety protection on the transfer process of the transfer module;

[0014] The workstation demand monitoring modules are respectively arranged in at least two workstations, and the workstation demand monitoring modules include a demand monitoring unit and a demand evaluation unit. The demand monitoring unit monitors at least two workstations to obtain demand data of at least two workstations. The demand evaluation unit evaluates the demand of at least two workstations according to the demand data to form an evaluation result, so as to trigger the transfer module to transfer the loading pallet. The transfer module transfers the loading pallet between at least two workstations according to the evaluation result.

[0015] The cleanliness control module and the safety protection module are arranged on the transfer module, and follow the transfer module to be transferred between at least two workstations.

[0016] Optionally, the demand monitoring unit includes a workstation load sensor array and a data storage device, wherein the workstation load sensor array collects demand data of the current workstation, and the data storage device stores the demand data collected by the workstation load sensor array;

[0017] The workstation load sensing array includes a weight sensor, an α temperature sensor, a vibration sensor and a photoelectric sensor. The weight sensor is used to monitor the weight of the electronic components in the loading tray on the workstation, the α temperature sensor monitors the operating temperature of the equipment, the vibration sensor monitors the operating status of the assembly equipment in the workstation, and the photoelectric sensor monitors the change in the number of trays or components on the workstation;

[0018] The demand data includes weight data of electronic components in the tray, equipment operating temperature data, equipment vibration status data, and component quantity change data.

[0019] Optionally, the transfer module includes a fixing unit, an identification unit and a transfer unit, the fixing unit is used to adsorb the loading tray, the identification unit identifies the position of the placed loading tray and triggers the fixing unit to adsorb the loading tray after identification, and the transfer unit transfers the adsorbed loading tray between at least two stations;

[0020] The transfer unit includes a mechanical arm, a moving track, a moving seat, a moving drive mechanism, an identification probe and at least two positioning marking members, the moving track connects at least two workstations, the moving seat is slidably connected to the moving track, the moving drive mechanism is arranged on the moving seat, and drives the moving seat to slide along the extension direction of the moving track, at least two positioning marking members are distributed at equal intervals along the length direction of the moving track, the identification probe is arranged on the moving seat, and extends toward the arrangement direction of the at least two positioning marking members to identify the at least two positioning marking members;

[0021] Wherein, the robotic arm is arranged on the moving seat, and the execution end of the robotic arm is connected to the fixing unit and the identification unit.

[0022] Optionally, the cleanliness control module includes a vacuum cleaning unit, an electrostatic adsorption unit, a cleanliness monitoring unit and a dynamic control unit, the vacuum cleaning unit and the electrostatic adsorption unit clean the environment passed through during the transfer process, the cleanliness monitoring unit detects environmental status data of the passed environment in real time, and the dynamic control unit dynamically calculates the working intensity index of the vacuum cleaning unit and the electrostatic adsorption unit according to the environmental status data, and determines the corresponding operation mode;

[0023] Wherein, the cleanliness control module is arranged on the identification unit and the fixing unit.

[0024] Optionally, the demand assessment unit obtains the demand data of the i-th workstation collected by the demand monitoring unit, and calculates the demand index Demand of the i-th workstation according to the following formula: i :

[0025]

[0026] Where W i is the weight data of the electronic components in the loading tray of the i-th station, W0 is the typical mass of a single component, and its value is set by the system according to the actual situation of the component.i is the number of components in the loading tray of the i-th station, F i (T) is the temperature influence function of the assembly equipment in the i-th station, G i (T) is the vibration influence function of the assembly equipment in the i-th workstation;

[0027] If the demand index Demand of the i-th station i Greater than the transfer threshold M set by the system threshold , then the transfer module is triggered to transfer the loading tray to the i-th station.

[0028] Optionally, the security protection module includes an obstacle detection unit, an early warning analysis unit and an interactive prompt unit. The obstacle detection unit detects obstacles in the moving transfer process of the mobile unit. The early warning analysis unit analyzes the obstacle data obtained by the obstacle detection unit to form a passage judgment index. The interactive prompt unit prompts the administrator based on the passage judgment index.

[0029] Optionally, the fixing unit includes an adsorption seat, an adsorption member and a locking member, wherein the adsorption member is disposed on the adsorption seat and adsorbs the loading tray, and the locking member is disposed on a side of the adsorption seat and is detachably connected to the execution end of the robot arm;

[0030] The adsorption component includes a telescopic rod, a telescopic driving mechanism, a pressure sensor, a vacuum suction cup and a vacuum generator, wherein the vacuum generator is connected to the vacuum suction cup through a connecting pipe to form a suction part, one end of the telescopic rod is drivingly connected to the telescopic driving mechanism to form a telescopic part, the telescopic part is arranged on one side end surface of the adsorption seat and is evenly spaced along the extension direction of the adsorption seat, and the other end of the telescopic rod is connected to the suction part;

[0031] Wherein, the identification unit is arranged above the fixing unit so that the identification unit and the adsorption portion are arranged facing each other.

[0032] Optionally, the identification unit includes a support seat, a support rod, a visual acquisition probe and a data processor, the support seat is for placing the visual acquisition probe, one end of the support rod is connected to one side end surface of the support seat, and the other end of the support rod is connected to the adsorption seat, the visual acquisition probe collects image data of the loading tray, and the data processor analyzes the position of the loading tray according to the image data collected by the visual acquisition probe to determine the adsorption posture and adsorption position of the fixing unit;

[0033] After the data processor analyzes the position of the loading tray according to the image data and determines the alignment, the fixing unit is triggered to adsorb the loading tray.

[0034] Optionally, the vacuum cleaning unit includes a dust suction chamber, a dust suction port, a vacuum pump, a motor, a filter component, and an exhaust component. The dust suction port is arranged on the side wall of the dust suction chamber, and the vacuum pump, the filter component, and the exhaust component are all arranged in the dust suction chamber. The filter component filters the air entering the dust suction chamber, and the exhaust component discharges the air filtered by the filter component out of the dust suction chamber. The vacuum pump sucks the environment passed through during the transfer process so that dust in the environment enters the dust suction chamber from the dust suction port and is captured by the filter component. The motor is connected to the vacuum pump so that the vacuum pump generates negative pressure suction.

[0035] Optionally, at least two workstations are arranged beside the moving track and are provided with a storage area for placing the loading pallet.

[0036] The beneficial effects achieved by the present invention are:

[0037] 1. Through the cooperation between the workstation demand monitoring module and the transfer module, the transfer is carried out according to the demand, ensuring that the whole system has the advantages of high degree of interaction, high degree of intelligence, and high accuracy of adaptive adjustment and transfer;

[0038] 2. Through the cooperation of the transfer module and the cleanliness control module, the environment on the transfer path is cleaned and dusted, ensuring high safety, high intelligence, strong dynamic adjustment of dust removal ability and high dust removal reliability of component transfer;

[0039] 3. Through the cooperation of the transfer module and the safety protection module, the potential obstacles and dangers in the transfer process of the loaded pallet are monitored, ensuring the safety of the pallet during the transfer process, effectively preventing equipment damage and accidents, and ensuring the safety of the entire production system;

[0040] 4. Through the coordination between the vacuum cleaning unit, electrostatic adsorption unit, cleanliness monitoring unit and dynamic control unit, the environmental cleanliness during the transfer process is ensured, the cleaning strategy is dynamically adjusted and the overall cleaning efficiency of the system is improved, ensuring that the entire system has the advantages of strong dynamic adaptability to environmental changes, high cleaning efficiency, good coordination of multiple cleaning methods, high degree of automation and intelligence, and reduced manual intervention;

[0041] 5. Through the mutual cooperation of the workstation demand monitoring module, transfer module, cleanliness control module and full protection module, the entire system has the advantages of intelligent and efficient transfer process, strong dynamic cleaning ability in the transfer process, good safety protection ability, strong adaptability and high intelligence. BRIEF DESCRIPTION OF THE DRAWINGS

[0042] The present invention can be further understood from the following description in conjunction with the accompanying drawings. The components in the figures are not necessarily drawn to scale, but the emphasis is placed on illustrating the principles of the embodiments. In different views, the same reference numerals designate the same parts.

[0043] Figure 1 It is an overall block diagram of the present invention.

[0044] Figure 2 It is a schematic diagram of the evaluation process of the demand monitoring unit and the demand evaluation unit of the present invention.

[0045] Figure 3 It is a block diagram of the transfer unit, the fixing unit, the identification unit and the workstation of the present invention.

[0046] Figure 4 It is a block diagram of the identification unit, the fixing unit and the cleanliness control module of the present invention.

[0047] Figure 5 It is a top view schematic diagram of the workstation transfer module of the present invention.

[0048] Figure 6 It is a front view schematic diagram of a work station of the present invention.

[0049] Figure 7 for Figure 6 Enlarged schematic diagram of AA in the middle.

[0050] Figure 8 It is a side view schematic diagram of the work station of the present invention.

[0051] Fig. 9 for Figure 8 Schematic cross-sectional view at the middle BB.

[0052] Fig.10 It is a schematic diagram of the application scenario of the workstation and the robot arm of the present invention.

[0053] Fig.11 It is a partial top view schematic diagram of the placement seat and the transfer module of the present invention.

[0054] Fig.12 for Fig.11 Schematic cross-sectional view at CC in the middle.

[0055] Fig.13 for Fig.11 Partial cross-sectional diagram at DD in the middle.

[0056] Fig.14 for Fig.13 Enlarged schematic diagram of point E in the middle.

[0057] Fig.15 for Fig.13 Enlarged schematic diagram of point F in the middle.

[0058] Fig.16 for Fig.13 Schematic cross-sectional view at GG in the middle.

[0059] Fig.17 It is a structural schematic diagram of a robot arm of the present invention having a transfer module.

[0060] Fig.18 It is a schematic top view of the fixing unit of the present invention.

[0061] Fig.19 It is a schematic structural diagram of the placement seat, the receiving component and the magnetic attraction component of the present invention.

[0062] Fig. 20 It is a schematic top view of the loading tray of the present invention.

[0063] Fig.21 It is a bottom view schematic diagram of the support base, laser marking device and visual acquisition probe of the present invention.

[0064] Explanation of reference numerals: 1. Robotic arm; 2. Moving track; 3. Distribution station; 4. Recycling station; 5. Station; 6. Placement seat; 7. Station demand monitoring module; 8. Delivery chamber; 9. Magnetic seat; 10. Receiving rod; 11. Support seat; 12. Support rod; 13. Laser marker; 14. Visual acquisition probe; 15. Adsorption seat; 16. Locking seat; 17. Sliding seat; 18. Vacuum suction cup; 19. Storage slot; 20. Operation cavity; 21. loading tray; 22. return spring; 23. locking groove; 24. locking rod; 25. limiting groove; 26. suction port; 27. discharge port; 28. static electrode; 29. ​​dust collecting electrode; 30. fan; 31. vacuum pump; 32. dust suction cavity; 33. primary filter; 34. exhaust valve; 35. silencer; 36. lifting rod; 37. weight sensor; 38. fan; 39. connecting rod; 40. obstacle detection unit. DETAILED DESCRIPTION

[0065] The following is an explanation of the embodiments of the present invention through specific embodiments. Those skilled in the art can understand the advantages and effects of the present invention from the contents disclosed in this specification. The present invention can be implemented or applied through other different specific embodiments, and the details in this specification can also be modified and changed in various ways based on different viewpoints and applications without departing from the spirit of the present invention. In addition, the drawings of the present invention are only simple schematic illustrations and are not depicted according to actual sizes. It is stated in advance. The following embodiments will further explain the relevant technical contents of the present invention in detail, but the disclosed contents are not intended to limit the scope of protection of the present invention.

[0066] Embodiment 1: According to Figure 1 , Figure 2 , Figure 3 , Figure 4 , Figure 5 , Figure 6 , Figure 7 , Figure 8 , Fig. 9 , Fig.10 , Fig.11 , Fig.12 , Fig.13 , Fig.14 , Fig.15 , Fig.16 , Fig.17 , Fig.18 , Fig.19 , Fig. 20 and Fig.21 As shown, this embodiment provides an intelligent transfer system for electronic component manufacturing, the intelligent transfer system includes a server and a loading tray 21, the intelligent transfer system also includes a station demand monitoring module, a transfer module, a cleanliness control module, and a safety protection module, the server is connected to the station demand monitoring module, the transfer module, the cleanliness control module, and the safety protection module respectively, and the intermediate data and process data of the station demand monitoring module, the transfer module, the cleanliness control module, and the safety protection module are stored in the database of the server for query and call;

[0067] Electronic components are placed in the loading tray 21, the station demand monitoring module is used to collect demand data of the station 5 and evaluate it to form an evaluation result, the transfer module transfers the loading tray 21 among different stations 5 according to the evaluation result, the cleanliness control module cleans the environment passed by the transfer module during the transfer process, and the safety protection module performs safety protection on the transfer process of the transfer module;

[0068] The intelligent transfer system also includes a central processor, which is respectively connected to the workstation demand monitoring module, the transfer module, the cleanliness control module, and the safety protection module, and centrally controls the workstation demand monitoring module, the transfer module, the cleanliness control module, and the safety protection module based on the central processor, and stores the control data of the central processor in the database of the server to improve the transfer accuracy and transfer efficiency of the entire system;

[0069] The workstation demand monitoring modules are respectively arranged in at least two workstations 5, and the workstation demand monitoring modules include a demand monitoring unit and a demand evaluation unit. The demand monitoring unit monitors at least two workstations 5 to obtain demand data of at least two workstations 5, and the demand evaluation unit evaluates the demand of at least two workstations 5 according to the demand data to form an evaluation result, so as to trigger the transfer module to transfer the loading tray 21, and the transfer module transfers the loading tray 21 between at least two workstations 5 according to the evaluation result;

[0070] The cleanliness control module and the safety protection module are arranged on the transfer module, and follow the transfer module to transfer between at least two workstations 5;

[0071] Optionally, the demand monitoring unit 7 includes a workstation load sensor array and a data storage device, wherein the workstation load sensor array collects demand data of the current workstation 5, and the data storage device stores the demand data collected by the workstation load sensor array;

[0072] The station load sensing array includes a weight sensor 37, an α temperature sensor, a vibration sensor and a photoelectric sensor. The weight sensor 37 is used to monitor the weight of the electronic components in the loading tray 21 on the station 5, the α temperature sensor monitors the operating temperature of the equipment, the vibration sensor monitors the operating state of the assembly equipment in the station 5, and the photoelectric sensor monitors the change in the number of trays or components on the station 5;

[0073] The demand data includes weight data of electronic components in the tray, equipment operating temperature data, equipment vibration status data, and component quantity change data;

[0074] Optionally, the demand assessment unit obtains the demand data of the i-th workstation collected by the demand monitoring unit, and calculates the demand index Demand of the i-th workstation according to the following formula: i :

[0075]

[0076] Where W i is the weight data of the electronic components in the loading tray of the i-th station, W0 is the typical mass of a single component, and its value is set by the system according to the actual situation of the component. i is the number of components in the loading tray of the i-th station, and its value is obtained by collecting image data of the components on the loading tray through a photoelectric sensor, processing the image data with image processing technology, and extracting the number data of components, which is well known to those skilled in the art and will not be described in detail. i(T) is the temperature influence function of the assembly equipment in the i-th station, G i (V) is the vibration influence function of the assembly equipment in the i-th workstation;

[0077] The temperature influence function F of the assembly equipment in the i-th station i (T) is calculated according to the following formula:

[0078]

[0079] Where, T i is the temperature of the assembly equipment in the i-station, and its value is collected by the α temperature sensor, T norm a normal operating temperature threshold of the assembled device set for the system;

[0080] The vibration influence function G of the assembly equipment in the i-th workstation i (V) is calculated according to the following formula:

[0081]

[0082] Where V i is the vibration data of the assembly equipment at the i-th station, and its value is collected by the vibration sensor, V norm is the normal vibration state threshold of the assembly equipment at the i-th station, and its value is set by the system, which is equivalent to a known default value;

[0083] If the demand index Demand of the i-th station i Greater than the transfer threshold M set by the system threshold , then the transfer module is triggered to transfer the loading tray to the i-th station;

[0084] If the demand index Demand of the i-th station i Less than the transfer threshold M set by the system threshold , it means that the demand of the i-th station meets the production demand and there is no need to transfer and schedule the loading pallet;

[0085] Among them, the transfer threshold M set by the system threshold The system or the administrator sets the settings according to the actual situation. This is a technical means well known to those skilled in the art. Those skilled in the art can refer to relevant technical manuals to learn about the technology, so it will not be described in detail in this embodiment.

[0086] Optionally, the transfer module includes a fixing unit, an identification unit and a transfer unit, the fixing unit is used to adsorb the loading tray 21, the identification unit identifies the position of the placed loading tray 21, and triggers the fixing unit to adsorb the loading tray 21 after identification, and the transfer unit transfers the adsorbed loading tray 21 between at least two workstations 5;

[0087] The transfer unit includes a robot arm 1, a moving track 2, a moving seat, a moving drive mechanism, an identification probe and at least two positioning markers, the moving track 2 is connected to at least two workstations 5, the moving seat is slidably connected to the moving track 2, the moving drive mechanism is arranged on the moving seat, and drives the moving seat to slide along the extension direction of the moving track, at least two positioning markers are distributed at equal intervals along the length direction of the moving track 2, the identification probe is arranged on the moving seat, and extends toward the arrangement direction of the at least two positioning markers to identify the at least two positioning markers;

[0088] Wherein, the mechanical arm 1 is arranged on the moving seat, and the execution end of the mechanical arm 1 is connected with the fixing unit and the identification unit;

[0089] In this embodiment, it is assumed that two independent mechanical arms 1 are provided in the transfer unit, one mechanical arm 1 is used to transfer the loading tray 21 after use, and the other mechanical arm 1 is used to transfer and dispatch the fully loaded loading tray 21; at the same time, both mechanical arms 1 are equipped with an identification unit and a fixing unit, and move with the movement of the moving base under the drive of the moving drive mechanism, and work independently accordingly;

[0090] In this embodiment, at least two positioning marking members are provided with independent RFID tags, and each positioning marking member is provided with an independent identification and an independent RFID tag identity;

[0091] Optionally, at least two workstations 5 are arranged beside the moving track 2 and are provided with a storage area for placing the loading tray 21;

[0092] At the same time, at least two workstations 5 are provided with a delivery cavity 8 for the passage of the robot arm 1;

[0093] In this embodiment, if Figure 5 and Fig.10 As shown, the robot arm 1 is driven by the moving seat to slide along the extension direction of the moving track 2, so that the robot arm 1 drives the identification unit and the fixing unit to transfer the loading tray 21;

[0094] Optional, such as Fig.11 , Fig.12 As shown, the recognition unit includes a support seat 11, a support rod 12, a visual acquisition probe 14 and a data processor, the support seat 11 is for placing the visual acquisition probe 14, one end of the support rod 12 is connected to one side end surface of the support seat 11, and the other end of the support rod 12 is connected to the adsorption seat 15, the visual acquisition probe 14 collects image data of the loading tray 21, and the data processor analyzes the position of the loading tray 21 according to the image data collected by the visual acquisition probe 14 to determine the adsorption posture and adsorption position of the fixing unit;

[0095] When the data processor analyzes the position of the loading tray 21 according to the image data and determines the alignment, the fixing unit is triggered to adsorb the loading tray 21;

[0096] In this embodiment, the loading tray 21 is configured in a regular shape, such as a square and a rectangle;

[0097] The data processor determines whether the centroid of the image and the center of the alignment template coincide according to the following steps:

[0098] S1, laser marking device 13 projects cross intersection point:

[0099] The laser marker 13 projects a set of cross lines on the station 5 or path where the loading tray 21 is located, and the intersection of the cross lines is an ideal alignment reference point;

[0100] S2. Image acquisition:

[0101] Use the visual acquisition probe 14 (camera) to collect images of the loading tray 21 and the laser mark in real time;

[0102] S3. Image preprocessing:

[0103] Perform basic image processing operations to remove noise and enhance image details to facilitate subsequent centroid and feature point calculations;

[0104] The processing operations include:

[0105] 1) Grayscale: Convert the color image into a grayscale image to facilitate subsequent edge detection and line extraction;

[0106] 2) Filtering: Use Gaussian filter or median filter to remove noise from the image;

[0107] 3) Edge detection: using Canny or Sobel edge detection algorithm to extract the outline of the loading tray 21 and the laser line;

[0108] 4) Binarization: Binarize the image after edge detection to ensure a clear contrast between the laser line and the background;

[0109] S4. Extract laser cross intersection points:

[0110] Extracting the position of the cross point projected by the laser marking device 13 in the image;

[0111] 1) Line segment detection: Use Hough Transform to detect straight lines in the image; when using Hough Transform, calculations are performed based on the laser projection lines in the image. These laser lines are high-brightness pixel lines in the image. Compared with other background and loading tray 21 pixels, they are clear bright lines (vertical and horizontal lines such as Fig.21 The bright lines are the laser projection lines in the image; therefore, the Hough transform identifies these highlighted line segments and transforms them from the image space (x, y) coordinate system to the parameter space (ρθ), thereby extracting the position and direction of the laser line;

[0112] Hough transform formula: For each straight line in the image, it is expressed as:

[0113] ρ = x·cos(θ)+y·sin(θ);

[0114] Where ρ is the polar radius of the laser line segment, that is, the shortest distance from the origin of the image (the upper left corner of the image captured by the camera) to the laser line, x and y are the horizontal and vertical coordinates of the laser line pixel points in the image, where these pixel points are the coordinates of each point on the laser projection line captured by the camera, representing the projection of the laser line in the image at the x, y position. In the image, each pixel of the laser line has a corresponding x, y value, and θ is the inclination angle of the laser line, that is, the angle between the laser line and the horizontal direction of the image (x-axis); where this angle represents the direction of the laser line, and vertical laser lines (90 degrees to the x-axis) and horizontal laser lines (parallel to the x-axis) have different θ values;

[0115] Working principle of Hough transform: The principle of Hough transform is to convert the straight line detection in the image into a polar coordinate system; the line segments projected by the laser are obvious straight lines in the image. The Hough transform calculates the representation of the laser line in polar coordinates (ρ, θ) by detecting the pixel position (x, y) and direction (θ) of these laser line segments. The image collected by the camera includes the pixels of the laser line.

[0116] Use Hough transform to detect straight lines in the image (in this case, laser lines);

[0117] Through conversion, the Hough transform can transform these line segments from image coordinates (x, y) to polar coordinates (ρ, θ), thereby clarifying the position and direction of these laser lines;

[0118] The Hough transform will represent the line segments in the image as points in the parameter space, and finally detect the laser lines in the image;

[0119] For horizontal lines θ≈0 degrees, for vertical lines θ≈90 degrees;

[0120] 2) Intersection point calculation: find the intersection point of two laser line segments, i.e. the cross intersection point;

[0121] For the two detected straight lines, they are expressed as:

[0122]

[0123] Where a1 is the slope of the first laser line, that is, the tangent value of the angle between the straight line and the x-axis, a2 is the slope of the second laser line, b1 is the intercept of the first laser line, and b2 is the intercept of the second laser line;

[0124] The intercept is the intersection of the line and the y-axis, that is, the value of y when x=0;

[0125] In this embodiment, the slopes a1, a2 and the intercepts b1, b2 of the straight line are obtained by detecting and fitting the laser line segments, and the specific steps are as follows:

[0126] Laser line detection: First, an image with laser line segments is acquired through an image acquisition device (such as a camera). The two laser lines in the image are usually bright vertical and horizontal line segments. These line segments can be extracted through image processing technology;

[0127] Edge detection: Identify the boundaries of the laser line in the image through edge detection algorithms (such as Canny edge detection);

[0128] Line segment detection: Through Hough Transform, straight lines in the image are extracted from the detected edges and expressed as equations;

[0129] Solve for the intersection coordinates (x laser ,y laser ):

[0130]

[0131] In the formula, (x laser ,y laser ) are the coordinates of the laser cross intersection points;

[0132] S5. Extract the center of mass of the loading pallet:

[0133] Calculate the center of mass of the loaded pallet as the position reference point of the loaded pallet;

[0134] Calculate the center of mass of the loaded pallet based on the binarized image:

[0135]

[0136] In the formula, (C x ,C y ) is the coordinate of the center of mass of the loading pallet, I(x i ,y i ) is the pixel point (x i ,y i ), the binarized value 1 represents the loading tray area, and n is the number of all pixels in the image;

[0137] Calculate the center of mass (C x ,C y ), which represents the geometric center of the loading tray in the image;

[0138] S6. Calculate the deviation between the center of mass and the cross point:

[0139] Calculate the deviation between the center of mass of the loading pallet and the intersection of the laser cross to determine whether it is aligned;

[0140] The calculation formula for the deviation is:

[0141]

[0142] In the formula, Δ x and Δ y are the deviations between the center of mass of the loaded pallet and the cross point in the horizontal and vertical directions, respectively;

[0143] S7. Determine the alignment standard:

[0144] Based on the calculated deviation, determine whether the loading pallet is aligned;

[0145] Set an allowable error range ε ​​(its value is set by the system, i.e., equivalent to the amount that the system can tolerate). When the deviation is less than this range, the loading tray is considered to be aligned.

[0146] The judgment conditions are:

[0147] |Δx|≤ε and |Δy|≤ε

[0148] If the conditions are met, the loading tray is considered aligned; otherwise, the loading tray position needs to be adjusted through the control program of the robot arm;

[0149] Specific:

[0150] The control program of the robotic arm includes:

[0151] S711, obtaining deviation values: according to the deviations Δx and Δy between the center of mass and the laser intersection point;

[0152] S712, calculating three-dimensional adjustment:

[0153] If there is only translational deviation (i.e., Δx and Δy), the robot adjusts the lateral and longitudinal positions of the loaded pallet;

[0154] S713, control the movement of the robot arm:

[0155] The robot arm moves in the required Δx and Δy positions through the coordinated motion of multiple joints;

[0156] Based on the data from the feedback system (such as an encoder or sensor), the deviation is gradually reduced until the loaded pallet is aligned with the laser intersection point;

[0157] The specific control procedure is a technical means well known to those skilled in the art, and thus will not be described in detail in this embodiment;

[0158] S8, Loading pallet position adjustment:

[0159] If the loading tray is not aligned, adjust the position and posture of the loading tray according to the deviation value until it is aligned;

[0160] According to the deviations of Δx and Δy, the movement of the loading pallet is adjusted by the control system;

[0161] S9. Secondary verification:

[0162] After adjusting the position of the loading tray, re-capture the image and repeat steps S4 to S7 to confirm whether the loading tray is fully aligned;

[0163] In this embodiment, after the recognition unit is aligned, the fixing unit is triggered to adsorb the loading tray, and the loading tray is transferred and placed at the required work station under the drive of the transfer unit;

[0164] Optionally, the fixing unit includes an adsorption seat 15, an adsorption member and a locking member, wherein the adsorption member is disposed on the adsorption seat 15 and adsorbs the loading tray 21, and the locking member is disposed on the side of the adsorption seat 15 and is detachably connected to the execution end of the robot arm 1;

[0165] Among them, Fig.11 or Fig.19 As shown, the adsorption seat 15 is provided with at least one storage slot 19 for placing the adsorption member, and at least one storage slot 19 is distributed at equal intervals along the extension direction of the adsorption seat 15;

[0166] The adsorption component includes a telescopic rod, a telescopic driving mechanism, a pressure sensor, a vacuum suction cup 18, and a vacuum generator. The vacuum generator is connected to the vacuum suction cup 18 through a connecting pipe to form a suction part. One end of the telescopic rod is driven and connected to the telescopic driving mechanism to form a telescopic part. The telescopic part is arranged on one side end surface of the adsorption seat 15 and is evenly spaced along the extension direction of the adsorption seat 15. The other end of the telescopic rod is connected to the suction part.

[0167] The adsorption seat 15 is provided with an operation cavity 20, and the operation cavity 20 is used to support and receive the loading tray 21;

[0168] Wherein, the identification unit is arranged above the fixing unit so that the identification unit and the adsorption part are arranged facing each other;

[0169] The locking member includes a locking seat 16, a locking rod 24, a reset spring 22, and a locking cavity arranged on the locking seat 16, wherein the locking cavity is for the execution end of the mechanical arm 1 to be placed, and locking grooves 23 are symmetrically arranged on the inner walls of both sides of the locking cavity, one end of the reset spring 22 is connected to the rod body of the locking rod 24, and the other end of the reset spring 22 is connected to the bottom wall of the locking groove 23, so that the locking rod 24 extends out of the axis of the locking cavity to form a locking portion, and when the execution end is placed in the locking cavity, the locking engagement is achieved under the engagement of the locking portion;

[0170] A connecting rod 39 is provided at the execution end of the mechanical arm 1, and the connecting rod 39 can be detachably loaded in the locking cavity. A limiting groove 25 is provided on the outer wall of the connecting rod 39 facing the locking rod 24, and the limiting groove 25 is adapted to the shape of the locking rod 24;

[0171] The locking member and the robot arm 1 are detachably loaded, so that the entire robot arm 1 can be loaded with the loading trays 21 of different styles and sizes according to actual needs, thereby improving the adaptability of the entire system;

[0172] Each of the workstations 5 is also provided with a receiving unit for the mobile unit to transfer and place the loading tray 21, wherein after the loading tray 21 is transferred or placed on the workstation 5, it is received by the receiving unit to achieve accurate transfer and placement of the loading tray 21;

[0173] The receiving unit includes a placement seat 6, a receiving component and a magnetic attraction component. The placement seat 6 is used to place the loading tray 21. The placement seat 6 body is provided with a placement cavity, and the placement cavity is used to place the receiving component and the magnetic attraction component. The receiving component receives the transfer tray, and the magnetic attraction component synchronously magnetically attracts the loading tray 21 to achieve synchronous receiving efficiency and accuracy of the loading tray 21.

[0174] In this embodiment, the receiving member includes a receiving rod 10, a receiving drive structure and a height detection member. One end of the receiving rod 10 is connected to the receiving drive mechanism to form a receiving portion. The other end of the receiving rod 10 extends toward a side away from the bottom wall of the placement cavity to form a placement platform for receiving the loading tray 21. The height detection member monitors the telescopic length of the receiving rod 10, and feeds back the real-time telescopic height to the central processor, and drives the receiving drive mechanism through the central processor.

[0175] In addition, the weight sensor 37 is disposed on the contact end surface of the receiving rod 10 and the bottom wall of the loading tray 21 to collect the weight of the loading tray 21 and feed it back to the demand assessment unit;

[0176] In this embodiment, the receiving rod 10 is configured as a retractable structure, and performs a retractable action under the drive of the receiving drive mechanism;

[0177] The magnetic attraction component includes a magnetic attraction seat 9, a lifting rod 36, a lifting drive mechanism, and a lifting detection member. One end of the lifting rod 36 is drivingly connected to the lifting drive mechanism to form a lifting portion, and the other end of the lifting rod 36 extends toward a side away from the bottom wall of the placement cavity to form a placement platform for receiving the loading tray 21. The lifting detection member monitors the lifting length of the lifting rod 36, and feeds back the real-time lifting height to the central processor, and drives the lifting drive mechanism through the central processor;

[0178] In this embodiment, the lifting rod 36 is configured as a retractable structure, and performs a retractable action under the drive of the lifting drive mechanism;

[0179] At the same time, the lifting rod 36 and the receiving rod 10 are operated synchronously to form a stable placement platform, and cooperate with the adsorption member to release the adsorption state and receive the loading tray 21;

[0180] In this embodiment, two robot arms 1 are provided in the transfer unit, one robot arm 1 is used to transfer the loading tray 21 after use, so that the empty loading tray 21 is recovered to the recovery station 4 (the position shown by the dotted line frame A in the figure), and the other robot arm 1 transfers and delivers the fully loaded loading tray 21 from the issuing station 3 ((the position shown by the dotted line frame B in the figure)) to each required station 5, so as to transfer the loading tray 21 fully loaded with the electronic components to the empty placement seat 6;

[0181] At the same time, in this embodiment, a specific process of transferring the empty loading tray 21 by one of the robot arms 1 is also provided, specifically:

[0182] The robot arm 1 moves to the workstation 5 where the loading tray 21 needs to be transferred. At this time, the receiving rod 10 and the lifting rod 36 lift the empty loading tray 21 to a set height, so that the loading tray 21 is separated from the upper end surface of the adsorption seat 15, forming an operating gap of a set height. At this time, the adsorption member, driven by the robot arm 1, extends the adsorption seat 15 into the operating gap. When the identification unit performs an alignment operation and allows the adsorption member to adsorb the empty loading tray 21, at this time, the lifting rod 36 and the receiving rod 10 need to lower the previously raised set height, so that the loading tray 21 can be completely placed on the adsorption seat 15, thereby achieving the support of the loading tray 21 by the adsorption seat 15, and transferring the empty loading tray 21 to make room for the loading tray 21 filled with the electronic components;

[0183] In this embodiment, a process is provided in which the robot arm 1 transfers and hands over the fully loaded loading tray 21 to the hollow placement seat 6 in the workstation 5. Specifically: during the transfer and handover of the loading tray 21, the lifting rod 36 and the receiving rod 10 need to be lifted to a set height so that the loading tray 21 is separated from the upper end surface of the adsorption seat 15 to form an operating gap of a set height. At this time, the adsorption member, driven by the robot arm 1, pulls the adsorption seat 15 out of the operating gap. After the adsorption seat 15 is pulled out of the operating gap, the lifting rod 36 and the receiving rod 10 need to lower the previously raised set height so that the empty loading tray 21 can be completely placed on the upper end surface of the placement seat 6, thereby placing the loading tray 21 on the placement seat 6;

[0184] Through the cooperation between the workstation demand monitoring module and the transfer module, the transfer is carried out according to the demand, ensuring that the whole system has the advantages of high degree of interaction, high degree of intelligence, and high accuracy of adaptive adjustment and transfer;

[0185] In this embodiment, the posture of the robot arm is fine-tuned or adjusted to adapt the robot arm to carry the loading tray and place it on the placement seat of the workstation, wherein the fine-tuning control and posture control of the robot arm is a conventional control program and a mature means in the field of robot arm control. Therefore, the fine-tuning control and posture control of the robot arm are technologies that can be obtained by referring to relevant technical manuals, and thus will not be described in detail in this embodiment.

[0186] Optionally, the safety protection module includes an obstacle detection unit 40, an early warning analysis unit and an interactive prompt unit, wherein the obstacle detection unit 40 detects obstacles in the mobile transfer process of the mobile unit, the early warning analysis unit analyzes the obstacle data detected by the obstacle detection unit 40 to form a traffic evaluation index, and the interactive prompt unit prompts the manager according to the traffic evaluation index;

[0187] The obstacle detection unit 40 includes a laser radar, an ultrasonic sensor and an infrared sensor. The laser radar is used to identify and locate obstacles, the ultrasonic sensor is used to detect obstacles at a relatively close distance (especially small or transparent obstacles that are difficult for the laser radar to detect), and the infrared sensor is used to detect heat sources (such as people or animals) in the transfer path, which can play an important role especially in low light conditions;

[0188] The obstacle detection unit 40 is arranged on the robot arm 1 and the moving seat, and detects the front of the moving direction of the moving seat and the robot to detect obstacles in front of the moving direction of the robot arm 1 and the moving seat;

[0189] The early warning analysis unit obtains the obstacle data collected by the obstacle detection unit and calculates the traffic evaluation index R according to the following formula: obstacle :

[0190]

[0191] Where D LiDAR is the distance of the obstacle detected by the laser radar, D Ultrasonic is the distance of the obstacle detected by the ultrasonic sensor, T IR is the temperature value detected by the infrared sensor, T norm The reference temperature or normal temperature set by the system. In this embodiment, the temperature of the usage scenario set by the system is usually set to 20°C to 30°C;

[0192] If the common evaluation index R obstacleIf the threshold value of the traffic monitoring Move set by the system is exceeded, it means that traffic is not allowed, and the mobile driving mechanism is triggered to stop driving the mobile seat and stay in place;

[0193] If the common evaluation index R obstacle If the value is lower than the passage monitoring threshold Move set by the system, it means that passage is allowed, then the moving drive mechanism is triggered to drive the moving seat to slide along the extension direction of the moving track 2, and then the transfer scheduling of the loading tray is performed;

[0194] The passage monitoring threshold Move set by the system is set by the administrator or the system according to actual needs and input from the human-computer interaction interface. This is a technical means well known to those skilled in the art. Those skilled in the art can refer to relevant technical manuals to learn about the technology, so it will not be described in detail in this embodiment.

[0195] The interactive prompt unit includes a display screen, an audible and visual alarm, an LED indicator light, a communicator and an operation panel.

[0196] The display screen shows the traffic evaluation index R to the manager in real time obstacle The value of the obstacle, current obstacle information, and path status data. When the sound and light alarm detects an obstacle threat, it issues an audible and visual alarm to ensure that the manager can respond quickly, wherein the intensity and duration of the alarm are adjusted according to the severity of the traffic evaluation index; the LED indicator displays the current system status through LED lights of different colors (such as red, yellow, and green), for example, green indicates safe passage, yellow indicates warning, and red indicates dangerous and impassable; the communicator is used to transmit the traffic evaluation index R obstacle The value, current obstacle information, and path status data are transmitted to the manager; the operation panel provides the manager with a manual control interface, allowing manual shutdown or adjustment of system parameters in dangerous situations;

[0197] In this embodiment, the communication mode of the communicator includes but is not limited to the following, including: Wi-Fi, 4G / 5G, Ethernet and other connection modes to ensure that information can be transmitted in a timely manner; wherein, the operation panel is provided with a control button or switch for handling emergency situations;

[0198] Through the cooperation of the transfer module and the safety protection module, the potential obstacles and dangers in the transfer process of the loaded pallet are monitored, ensuring the safety of the pallet during the transfer process, effectively preventing equipment damage and accidents, and ensuring the safety of the entire production system;

[0199] Optionally, the cleanliness control module includes a vacuum cleaning unit, an electrostatic adsorption unit, a cleanliness monitoring unit and a dynamic control unit, the vacuum cleaning unit and the electrostatic adsorption unit clean the environment passed through during the transfer process, the cleanliness monitoring unit detects environmental status data of the passed environment in real time, and the dynamic control unit dynamically calculates the working intensity index of the vacuum cleaning unit and the electrostatic adsorption unit according to the environmental status data, and determines the corresponding operation mode;

[0200] Wherein, the cleanliness control module is arranged on the identification unit and the fixing unit;

[0201] The cleanliness monitoring unit includes a particle sensor, an AQI sensor, an electrostatic sensor, a β temperature sensor, a humidity sensor, and a data buffer, wherein the particle sensor is used to detect the concentration of suspended particles in the air, especially tiny particles (such as PM2.5 and PM10), the AQI sensor detects the concentration of volatile gases in the air, the electrostatic sensor is used to detect the electrostatic charge intensity in the environment, the β temperature sensor monitors the temperature in the environment in real time, the humidity sensor monitors the humidity in the environment in real time, and the data buffer stores the concentration of suspended particles collected by the particle sensor, the concentration of volatile gases collected by the AQI sensor, the electrostatic charge intensity in the environment collected by the electrostatic sensor, the environmental humidity data collected by the humidity sensor, and the environmental temperature data collected by the β temperature sensor;

[0202] The environmental status data include the concentration of suspended particulate matter, the concentration of volatile gases, the intensity of electrostatic charge, the ambient humidity and the ambient temperature;

[0203] Among them, volatile organic gases include the concentration of harmful gases such as carbon dioxide and sulfur dioxide;

[0204] In this embodiment, the cleanliness monitoring unit is arranged on the outer wall of the robot arm to collect environmental status data of the environment passed through during the movement;

[0205] The dynamic control unit obtains the environmental status data and calculates the working intensity index P of the vacuum cleaning unit according to the following formula: vacuum :

[0206]

[0207] Where PM is the concentration of suspended particulate matter, which is collected by the particulate matter sensor. normAQI is the reference value of the particle concentration, indicating the concentration of particles in the air under normal conditions. AQI is the Air Quality Index, which is used to indicate the concentration of volatile organic gases (such as CO2, SO2, etc.) in the air. Its value is collected by the AQI sensor. norm is the normal reference value of volatile gas, which is used as the benchmark of air quality. Humidity is the humidity of the current environment, and its value is collected by the humidity sensor. norm It is the normal humidity reference value, which is used to indicate the appropriate humidity level. It is generally set at 40%-60%. The humidity is moderate within this range, which is conducive to reducing static electricity and maintaining air cleanliness. T is the current ambient temperature, which is collected by the β temperature sensor. T norm It is the reference value of the ambient temperature, indicating the normal working temperature, which is generally set at 20℃-25℃ and used as the temperature benchmark;

[0208] In this embodiment, the specific working mode of the vacuum cleaning unit is Mode vacuum :

[0209]

[0210] Where P vacuum is the working intensity index of the vacuum cleaning unit, LowMode is the low intensity operation mode of the vacuum cleaning unit, MediumMode is the medium intensity operation mode of the vacuum cleaning unit, and HighMode is the high intensity operation mode of the vacuum cleaning unit;

[0211] The dynamic control unit is configured to determine the working intensity index P of the vacuum cleaning unit according to the working intensity index P of the vacuum cleaning unit. vacuum Comparing with the division boundary of the working mode, and determining the operation mode of the vacuum cleaning unit, and controlling the vacuum cleaning unit to operate in the corresponding operation mode through the central processing unit;

[0212] The dynamic control unit obtains the environmental state data and calculates the working intensity index P of the electrostatic adsorption unit according to the following formula: static :

[0213]

[0214] Where static_charge is the electrostatic charge intensity in the environment, and its value is collected by the electrostatic sensor, S norm is the normal reference value of electrostatic charge strength, indicating the safe range of electrostatic charge in a normal environment. Humidity is the humidity of the current environment, and its value is collected by the humidity sensor. normIt is a normal humidity reference value, used to indicate the appropriate humidity level, generally set at 40%-60%. The humidity within this range is moderate, which is conducive to reducing static electricity and maintaining air cleanliness;

[0215] In this embodiment, the specific operation mode of the electrostatic adsorption unit is determined according to the following formula:

[0216]

[0217] Where P static is the working intensity index of the electrostatic adsorption unit, LowMode' is the low intensity operation mode of the electrostatic adsorption unit, MediumMode' is the medium intensity operation mode of the electrostatic adsorption unit, and HighMode' is the high intensity operation mode of the electrostatic adsorption unit;

[0218] In addition, the dynamic control unit is based on the working intensity index P of the electrostatic adsorption unit. static Comparing with the division value of the working mode, determining the operating mode of the electrostatic adsorption unit, and controlling the electrostatic adsorption unit to operate in the corresponding operating mode through the central processing unit;

[0219] In this embodiment, the division values ​​of each operation mode (i.e., the limit values ​​of the piecewise function, such as 0.3, 0.4, 0.7, 0.8, 1.0, etc.) can be set according to actual conditions. The examples provided in the above formula are specific setting values ​​used in the chip transfer scenario. Those skilled in the art can set them according to actual conditions and input them from the human-computer interaction interface. Therefore, in this embodiment, they are not described one by one.

[0220] Optionally, the vacuum cleaning unit includes a dust suction chamber 32, a dust suction port, a vacuum pump 31, a motor, a filter component and an exhaust component, the dust suction port is arranged on the side wall of the dust suction chamber 32, the vacuum pump 31, the filter component and the exhaust component are all arranged in the dust suction chamber 32, the filter component filters the air entering the dust suction chamber 32, the exhaust component discharges the air filtered by the filter component out of the dust suction chamber 32, the vacuum pump 31 sucks the environment passed through during the transfer process, so that the dust in the environment enters the dust suction chamber 32 from the dust suction port and is captured by the filter component, and the motor is drivingly connected to the vacuum pump 31, so that the vacuum pump 31 generates negative pressure suction;

[0221] The dust suction chamber 32 is provided with an exhaust port, and the exhaust component is arranged at the exhaust port of the dust suction chamber 32 and discharges the air filtered by the filter component;

[0222] The filter component includes a filter chamber, a primary filter 33, a HEPA filter layer, an active filter layer, and a particle filter layer. The filter chamber is used to support the primary filter 33, the HEPA filter layer, the active filter layer, and the particle filter layer, and both ends of the filter layer are connected to the inner wall of the dust suction chamber 32 to filter the air entering the dust suction chamber 32; the primary filter 33 is used to filter larger particles, the HEPA filter layer is used to capture fine particles with a diameter as small as 0.3 microns, the active filter layer removes odors and harmful gases (such as volatile organic compounds VOC, etc.) in the air to improve air quality, and the particle filter layer further filters the ultrafine particles remaining in the airflow to ensure that only clean air is discharged to prevent secondary pollution;

[0223] The primary filter 33, the HEPA filter layer, the active filter layer and the particle filter layer are stacked in sequence near the dust suction port.

[0224] The exhaust component includes an exhaust valve 34, an exhaust diffuser, a muffler 35, and a fan 38. The exhaust valve 34 is used to control the airflow balance inside and outside the dust suction chamber 32 to ensure that the internal pressure is not too high or too low, which affects the working efficiency of the vacuum pump 31; at the same time, the exhaust valve 34 ensures that the flow rate and direction of the exhaust gas can be controlled to prevent the secondary diffusion of pollutants; the exhaust diffuser is used to diffuse the exhaust airflow, reduce the exhaust noise, and ensure that the exhaust is evenly distributed to avoid the impact of concentrated exhaust at the exhaust port on the environment. The muffler 35 is used to reduce the exhaust noise when the vacuum pump 31 is working, and the noise generated during the exhaust process is reduced by adjusting the airflow rate and direction;

[0225] The fan 38 is used to help the exhaust gas to flow out of the dust suction chamber 32 faster, especially when the vacuum pump 31 generates negative pressure, to assist the smooth discharge of the airflow and maintain the balance of airflow inside and outside the system;

[0226] The exhaust valve 34 is installed at the outlet of the dust suction chamber 32, and the air is discharged from the dust suction chamber 32 to ensure that the internal pressure is kept within an appropriate range to prevent the negative pressure from being too large or too small. The exhaust diffuser is usually connected after the exhaust valve 34 and is located at the end of the exhaust system. It is responsible for dispersing and evenly discharging the air from the exhaust port. At the same time, during the discharge process, the fan 38 is used to accelerate the discharge.

[0227] The airflow path of the exhaust component is as follows: the airflow first passes through the vacuum pump 31, the flow rate is adjusted by the exhaust valve 34, the airflow then passes through the exhaust diffuser to disperse the airflow, and then passes through the muffler 35 to reduce the noise, and the fan 38 finally accelerates the airflow discharge to maintain the system airflow balance;

[0228] The electrostatic adsorption unit includes an adsorption chamber, an adsorption member, a power supply member, a static electrode 28, a dust collecting electrode 29, and an insulating layer. The adsorption chamber is provided with an intake port 26 and an exhaust port 27. The adsorption chamber is used to place the adsorption member, the power supply member, the static electrode 28, the dust collecting electrode 29, and the insulating layer. The adsorption member draws air from the surrounding environment into the adsorption chamber and adheres to the dust collecting electrode 29. The power supply member is used to provide direct current so that the particles in the air generate electric charges through the electrostatic field, so as to be adsorbed on the dust collecting electrode 29. The static electrode 28 is used to ionize the particles in the passing ambient air to charge these particles. The dust collecting electrode 29 is used to adsorb the charged particles, remove them from the air and accumulate them on the surface of the dust collecting electrode 29. The insulating layer is used to separate and protect the static electrode 28 and the dust collecting electrode 29 to prevent short circuit or current leakage between the electrodes, while ensuring efficient electrostatic adsorption effect.

[0229] The adsorption component includes a fan 30 and a stand, the stand is used to support the fan 30, the fan 30 is used to generate airflow, suck air from the outside into the adsorption chamber, and ensure that the air can pass through the static electrode 28 and the dust collecting electrode 29 in the adsorption chamber;

[0230] The power supply component includes a DC power supply, a voltage regulator and a current protector. The DC power supply provides high-voltage DC power to the electrostatic adsorption unit to generate a strong electric field to charge the particles in the air. The voltage of the DC power supply is usually in the range of several kilovolts to several tens of kilovolts to ensure ionization and adsorption efficiency. The voltage regulator controls and adjusts the voltage output by the power supply component to ensure that the electrostatic adsorption unit can adjust the electric field strength when used in different environments. The current protector is used to prevent damage caused by excessive current or short circuit, and protects the power supply component and the static electrode 28 and the dust collecting electrode 29 through an automatic power-off mechanism.

[0231] Through the cooperation of the transfer module and the cleanliness control module, the environment on the transfer path is cleaned and dusted, ensuring high safety, high intelligence, strong dynamic adjustment dust removal capability and high dust removal reliability of component transfer;

[0232] Among them, through the cooperation between the vacuum cleaning unit, electrostatic adsorption unit, cleanliness monitoring unit and dynamic control unit, the environmental cleanliness during the transfer process is ensured, the cleaning strategy is dynamically adjusted and the overall cleaning efficiency of the system is improved, ensuring that the entire system has the advantages of strong dynamic adaptability to environmental changes, high cleaning efficiency, good coordination of multiple cleaning methods, high degree of automation and intelligence, and reduced manual intervention;

[0233] In this embodiment, the power supply component and the adsorption component cooperate with each other, so that dust particles and other particles in the environment can be adsorbed, effectively ensuring the safety and reliability of the electronic components during the transfer process, and improving the transfer accuracy and reliability of the entire system;

[0234] In this embodiment, through the mutual cooperation of the workstation demand monitoring module, the transfer module, the cleanliness control module and the safety protection module, the entire system has the advantages of intelligent and efficient transfer process, strong dynamic cleaning capability of the transfer process, good safety protection capability, strong adaptability and high intelligence.

[0235] Embodiment 2: This embodiment should be understood to include all the features of any of the above embodiments, and further improve upon them. Figure 1 , Figure 2 , Figure 3 , Figure 4 , Figure 5 , Figure 6 , Figure 7 , Figure 8 , Fig. 9 , Fig.10 , Fig.11 , Fig.12 , Fig.13 , Fig.14 , Fig.15 , Fig.16 , Fig.17 , Fig.18 , Fig.19 , Fig. 20 and Fig.21 As shown, the workstation demand monitoring module also includes a position acquisition unit, a priority evaluation unit and a mobile control unit. The position acquisition unit collects real-time position data of the transfer unit, and the priority evaluation unit determines the position of the transfer unit according to the demand index Demand of the i-th workstation. i , and the position data of the transfer unit calculate the priority of the i-th station, the mobile control unit triggers the control of the transfer unit according to the priority, and transfers the loading tray 21 by the transfer unit to the station 5 with the highest priority;

[0236] The position acquisition unit includes an encoder, a position caller and an RFID reader. The encoder is installed on the mobile drive mechanism and continuously monitors the movement of the mobile drive mechanism. The position caller calls the position data of the position marker. The RFID reader reads the RFID tag to record the position information passed by the transfer unit.

[0237] The priority evaluation unit obtains the position data of the position marker and calculates the current position P of the robot arm according to the following formula: current :

[0238] P current =P marker,i +v·t;

[0239] Where P marker,i is the known position of the last positioning mark, v is the speed of the moving base, and t is the time after the transfer unit passes the positioning mark;

[0240] The priority evaluation unit obtains the demand index Demand of the i-th station i , and calculate the priority P of the i-th station according to the following formula i :

[0241]

[0242] Where Demand i is the demand index of the i-th workstation, d i is the distance from the robot arm to the i-th station, and its value is calculated according to the following formula:

[0243]

[0244] In the formula, (x current ,y current ) is the coordinate of the robot or transfer unit, (x workstation,i ,y workstation,i ) is the fixed coordinate of the i-th station;

[0245] The priority evaluation unit calculates the priorities of all workstations, sorts them according to the calculation structure, and selects the workstation with the highest priority i max Position P workstation,imax As a priority delivery;

[0246] The mobile control unit is based on the highest priority station i max Position P workstation,imax Generate a control signal and send it to the central processor, so that the central processor controls the mobile drive mechanism of the transfer unit, thereby driving the robot arm (which has already attracted the loading tray loaded with electronic components) to the required station (here refers to the highest priority station i max Position P workstation,imax );

[0247] The control signal includes:

[0248] Movement direction: tells the mobile unit the direction to move to the target station;

[0249] Movement speed: Set the movement speed according to the current distance;

[0250] Target position: Set the final target to workstation i max Position P workstation,imax ;

[0251] In this embodiment, through the cooperation among the position acquisition unit, the priority evaluation unit and the mobile control unit, the workstation with the highest priority can be transferred first, thereby improving the efficiency and accuracy of the entire transfer.

[0252] The contents disclosed above are only preferred feasible embodiments of the present invention, and do not limit the protection scope of the present invention. Therefore, all equivalent technical changes made using the contents of the present invention specification and drawings are included in the protection scope of the present invention. In addition, the elements therein can be updated as technology develops.

Claims

1. An intelligent transfer system for electronic component manufacturing, the intelligent transfer system comprising a server and a loading tray, characterized in that: The intelligent transfer system also includes a workstation demand monitoring module, a transfer module, a cleanliness control module and a safety protection module, and the server is connected to the workstation demand monitoring module, the transfer module, the cleanliness control module and the safety protection module respectively; The loading tray is used to place electronic components, the station demand monitoring module is used to collect station demand data and evaluate to form an evaluation result, the transfer module transfers the loading tray among different stations according to the evaluation result, the cleanliness control module cleans the environment passed by the transfer module during the transfer process, and the safety protection module performs safety protection on the transfer process of the transfer module; The workstation demand monitoring modules are respectively arranged in at least two workstations, and the workstation demand monitoring modules include a demand monitoring unit and a demand evaluation unit. The demand monitoring unit monitors at least two workstations to obtain demand data of at least two workstations. The demand evaluation unit evaluates the demand of the workstations according to the demand data to form an evaluation result, so as to trigger the transfer module to transfer the loading pallet. The transfer module transfers the loading pallet between at least two workstations according to the evaluation result. Wherein, the cleanliness control module and the safety protection module are arranged on the transfer module, and follow the transfer module to transfer between at least two workstations; The demand assessment unit obtains the demand data of the i-th workstation collected by the demand monitoring unit, and calculates the demand index Demand of the i-th workstation according to the following formula: i : Where W i is the weight data of the electronic components in the loading tray of the i-th station, W0 is the typical mass of a single component, and its value is set by the system according to the actual situation of the component, N i is the number of components in the loading tray of the i-th station, F i (T) is the temperature influence function of the assembly equipment in the i-th station, G i (T) is the vibration influence function of the assembly equipment in the i-th workstation; If the demand index Demand of the i-th station i Greater than the transfer threshold M set by the system threshold , then the transfer module is triggered to transfer the loading tray to the i-th station.

2. The intelligent transfer system for electronic component manufacturing according to claim 1, characterized in that: The demand monitoring unit includes a workstation load sensor array and a data storage device, wherein the workstation load sensor array collects demand data of the current workstation, and the data storage device stores the demand data collected by the workstation load sensor array; The workstation load sensing array includes a weight sensor, an α temperature sensor, a vibration sensor and a photoelectric sensor. The weight sensor is used to monitor the weight of the electronic components in the loading tray on the workstation, the α temperature sensor monitors the operating temperature of the equipment, the vibration sensor monitors the operating status of the assembly equipment in the workstation, and the photoelectric sensor monitors the change in the number of trays or components on the workstation; The demand data includes weight data of electronic components in the tray, equipment operating temperature data, equipment vibration status data, and component quantity change data.

3. The intelligent transfer system for electronic component manufacturing according to claim 2, characterized in that: The transfer module includes a fixing unit, an identification unit and a transfer unit, wherein the fixing unit is used to adsorb the loading tray, the identification unit identifies the position of the placed loading tray and triggers the fixing unit to adsorb the loading tray after identification, and the transfer unit transfers the adsorbed loading tray between at least two stations; The transfer unit includes a mechanical arm, a moving track, a moving seat, a moving drive mechanism, an identification probe and at least two positioning marking members, the moving track connects at least two workstations, the moving seat is slidably connected to the moving track, the moving drive mechanism is arranged on the moving seat, and drives the moving seat to slide along the extension direction of the moving track, at least two positioning marking members are distributed at equal intervals along the length direction of the moving track, the identification probe is arranged on the moving seat, and extends toward the arrangement direction of the at least two positioning marking members to identify the at least two positioning marking members; Wherein, the robotic arm is arranged on the moving seat, and the execution end of the robotic arm is connected to the fixing unit and the identification unit.

4. The intelligent transfer system for electronic component manufacturing according to claim 3, characterized in that: The cleanliness control module includes a vacuum cleaning unit, an electrostatic adsorption unit, a cleanliness monitoring unit and a dynamic control unit. The vacuum cleaning unit and the electrostatic adsorption unit clean the environment passed through during the transfer process. The cleanliness monitoring unit detects the environmental status data of the environment passed through in real time. The dynamic control unit dynamically calculates the working intensity index of the vacuum cleaning unit and the electrostatic adsorption unit according to the environmental status data, and determines the corresponding operation mode; Wherein, the cleanliness control module is arranged on the identification unit and the fixing unit.

5. The intelligent transfer system for electronic component manufacturing according to claim 4, characterized in that: The safety protection module includes an obstacle detection unit, an early warning analysis unit and an interactive prompt unit. The obstacle detection unit detects obstacles in the movement and transfer process of the transfer unit. The early warning analysis unit analyzes the obstacle data obtained by the obstacle detection unit to form a passage evaluation index. The interactive prompt unit prompts the manager according to the passage evaluation index.

6. The intelligent transfer system for electronic component manufacturing according to claim 5, characterized in that: The fixing unit includes an adsorption seat, an adsorption member and a locking member, wherein the adsorption member is arranged on the adsorption seat and adsorbs the loading tray, and the locking member is arranged on the side of the adsorption seat and is detachably connected to the execution end of the robot arm; The adsorption component includes a telescopic rod, a telescopic driving mechanism, a pressure sensor, a vacuum suction cup and a vacuum generator, wherein the vacuum generator is connected to the vacuum suction cup through a connecting pipe to form a suction part, one end of the telescopic rod is drivingly connected to the telescopic driving mechanism to form a telescopic part, the telescopic part is arranged on one side end surface of the adsorption seat and is evenly spaced along the extension direction of the adsorption seat, and the other end of the telescopic rod is connected to the suction part; Wherein, the identification unit is arranged above the fixing unit so that the identification unit and the adsorption seat are arranged facing each other.

7. The intelligent transfer system for electronic component manufacturing according to claim 6, characterized in that: The recognition unit includes a support seat, a support rod, a visual acquisition probe and a data processor, the support seat is for the visual acquisition probe to be placed, one end of the support rod is connected to one side end surface of the support seat, and the other end of the support rod is connected to the adsorption seat, the visual acquisition probe collects image data of the loading tray, and the data processor analyzes the position of the loading tray according to the image data collected by the visual acquisition probe to determine the adsorption posture and adsorption position of the fixing unit; After the data processor analyzes the position of the loading tray according to the image data and determines the alignment, the fixing unit is triggered to adsorb the loading tray.

8. The intelligent transfer system for electronic component manufacturing according to claim 7, characterized in that: The vacuum cleaning unit includes a dust suction chamber, a dust suction port, a vacuum pump, a motor, a filter component and an exhaust component. The dust suction port is arranged on the side wall of the dust suction chamber, and the vacuum pump, the filter component and the exhaust component are all arranged in the dust suction chamber. The filter component filters the air entering the dust suction chamber, and the exhaust component discharges the air filtered by the filter component out of the dust suction chamber. The vacuum pump sucks the environment passed through during the transfer process so that the dust in the environment enters the dust suction chamber from the dust suction port and is captured by the filter component. The motor is connected to the vacuum pump so that the vacuum pump generates negative pressure suction.

9. The intelligent transfer system for electronic component manufacturing according to claim 8, characterized in that: At least two workstations are arranged beside the moving track and are provided with a storage area for placing the loading tray.

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