Feeding method, feeding and discharging method and PCB (Printed Circuit Board) processing equipment

Abstract

The invention belongs to the technical field of automation, and particularly relates to a feeding method, a discharging method and PCB processing equipment. The feeding method is applied to the feeding device and used for conveying a PCB to a machining table, the PCB is provided with a fixing pin, the machining table is provided with an avoiding hole, and the feeding method comprises the following steps that the PCB is conveyed to the machining table; and the fixing pin is extruded, so that the fixing pin is inserted into the avoiding hole. According to the invention, the fixing pin is extruded towards the processing table, so that the bottom of the fixing pin is inserted into the avoiding hole, the fixing pin does not interfere with the main shaft of the processing equipment in the process of processing the PCB on the processing table by the main shaft of the processing equipment, and the stability of processing the PCB by the processing equipment is ensured.

Description

Technical Field

[0001] The invention belongs to the field of automation technology, and in particular relates to a material loading method, a material loading and unloading method and PCB processing equipment. Background Art

[0002] Circuit boards are important components of various automation equipment and electrical components. During the processing of circuit boards, they need to be placed and positioned on the processing table, and then the spindle on the machine tool processes the circuit boards. With the continuous advancement of automation technology, some automatic loading devices can realize the automatic loading function of the processing table. The application of automatic loading devices improves the processing efficiency of circuit boards and reduces the manufacturing cost of circuit boards.

[0003] In the prior art, after the automatic loading device places the circuit board on the processing table, there is a protruding fixing pin on the circuit board. During the process of the main shaft of the processing equipment processing the circuit board, there is a technical problem of interference between the main shaft and the fixing pin. Summary of the invention

[0004] The present invention aims at the technical problem of interference between a main shaft and a fixing pin of a processing device in the prior art, and provides a loading and unloading method, a loading and unloading method and a PCB processing device.

[0005] In view of the above technical problems, a first embodiment of the present invention provides a feeding method, which is applied to a feeding device and is used to convey a PCB to a processing table, wherein the PCB is provided with a fixing pin and the processing table is provided with an avoidance hole, comprising the following steps: conveying the PCB to the processing table; The fixing pin is squeezed to insert the fixing pin into the avoidance hole.

[0006] Optionally, the step of squeezing the fixing pin to insert the fixing pin into the avoidance hole specifically includes: squeezing the fixing pin; Until the bottom end of the fixing pin is inserted into the avoidance hole, the top end of the fixing pin protrudes or is flush with the top end of the PCB; wherein, along the first direction, the distance from the top end of the fixing pin to the top end of the PCB is amm, satisfying: 0≤a≤4.

[0007] Optionally, the distance from the top of the fixing pin to the top of the PCB is amm, satisfying: 0≤a≤3.

[0008] Optionally, the feeding device includes a limiting assembly, and a limiting groove is provided in the limiting assembly. The step of conveying the PCB to the processing table specifically includes: Driving the PCB to move to the limiting assembly; Detecting whether the fixing pin is positioned in the limiting groove; If so, the limiting assembly is driven to move along the second direction to push the PCB to be transported to the processing table.

[0009] Optionally, the feeding device includes an alignment tool, and the alignment tool includes a fixed column and an alignment column connected in sequence; Before the step of driving the PCB to move to the limiting assembly, the method further includes: Placing a calibration plate at the position limiting assembly, wherein the calibration plate is provided with a calibration hole; inserting the fixing post into the calibration hole; The position of the limiting assembly is adjusted so that the alignment column is limited in the limiting groove.

[0010] Optionally, the alignment tool further comprises a main body column, the main body column is connected between the fixed column and the alignment column, and the outer diameter of the main body column is greater than the outer diameter of the fixed column; Alternatively, the alignment tool also includes a main body column and a clamping column, the main body column is connected between the fixed column and the alignment column, the clamping column is arranged on the main body column, the outer diameter of the main body column is larger than the outer diameter of the fixed column, and the outer diameter of the clamping column is larger than the outer diameter of the main body column.

[0011] Optionally, the feeding device further comprises a supporting frame, a first adjustment assembly, a second adjustment assembly and a guide plate assembly; The first adjustment assembly is installed on the support frame and connected to the guide plate assembly, and the limit assembly is installed on the guide plate assembly through the second adjustment assembly; The step of adjusting the position of the limiting assembly so that the alignment column is limited in the limiting groove specifically includes: The first adjustment assembly drives the guide plate assembly to move along a third direction perpendicular to the second direction, so that the guide plate assembly is arranged opposite to the alignment column; The second adjustment assembly drives the limiting assembly to move along the second direction, so that the limiting groove and the alignment column are arranged opposite to each other, thereby limiting the alignment column in the limiting groove.

[0012] Optionally, the feeding device further comprises a supporting frame and a supporting mechanism, the limiting assembly is mounted on the supporting frame; the supporting mechanism comprises a guide bracket arranged on the supporting frame and a supporting assembly slidably mounted on the supporting frame; the guide bracket is provided with a guide groove, and the supporting assembly is provided with a guide piece; After the step of detecting whether the fixing pin is positioned in the limiting groove and before the step of driving the limiting assembly to move along the second direction, the following steps are also included: driving the supporting assembly to move along the second direction; Detecting whether the supporting component supports one end of the PCB; If yes, stop driving the supporting component.

[0013] Optionally, the PCB is further provided with a positioning hole, and the processing table is further provided with a positioning pin, and after the step of driving the limiting assembly to move along the second direction to push the PCB to be transported to the processing table and before the step of squeezing the fixing pin, the method further includes: Driving the supporting assembly to move in a direction close to the guide bracket; The guide member enters and moves along the guide groove to separate the support assembly from the PCB; The PCB is driven to move, and the positioning hole is sleeved on the positioning pin.

[0014] Optionally, the feeding device further includes a push-up assembly mounted on the guide plate assembly; after the step of driving the PCB to move and sleeve the positioning hole on the positioning pin and before the step of squeezing the fixing pin, the feeding device further includes: The guide plate assembly is driven to drive the limit assembly to move in a direction away from the PCB, and the abutting assembly presses the PCB; After the limiting assembly is completely separated from the PCB, the abutting assembly returns to its initial state.

[0015] The second embodiment of the present invention further provides a loading and unloading method, which is applied to loading and unloading of PCB processing equipment, and the loading and unloading method includes the loading method, wherein the PCB processing equipment includes the loading device, the processing table, the unloading device and the material moving device; after the step of squeezing the fixing pin to insert the fixing pin into the avoidance hole, the method further includes: Processing the PCB; After the processing is completed, the unloading device drives the PCB away from the processing table and moves it to the material moving device; The material moving device drives the PCB away from the material unloading device.

[0016] The third embodiment of the present invention further provides a PCB processing device, which applies the above-mentioned loading and unloading method, including the loading device, the bed, the processing table and the manipulator; The loading device is located at one side of the processing table, and the processing table and the manipulator are both slidably connected to the bed. The loading device can transport the PCB to the processing table, and the manipulator can insert the fixing pin into the avoidance hole.

[0017] Optionally, the feeding device comprises a support frame, a feeding drive, a support frame, a supporting mechanism and a limiting assembly provided with a limiting groove; the support frame is movably connected to the support frame, and the limiting assembly is installed on the support frame for limiting one end of the PCB; the feeding drive is installed on the support frame and connected to the support frame for driving the support frame to move along the second direction; The material supporting mechanism includes a material supporting driving member, a guide bracket provided with a guide groove, and a material supporting assembly slidably mounted on the supporting frame; the guide bracket is mounted on the supporting frame, the material supporting assembly is provided with a guide member, the material supporting driving member is mounted on the supporting frame and connected to the material supporting assembly, the material supporting driving member is used to drive the material supporting assembly to move along the second direction, and then can drive the guide member to move along the guide groove, so that the material supporting assembly carries or detaches from the other end of the PCB.

[0018] Optionally, the material supporting assembly includes a material supporting elastic member, a claw hook, a support column and a support plate provided with a first through hole; one end of the support column is connected to the claw hook, and the other end of the support column slides through the first through hole and then connects to the guide member, and a material supporting space for supporting the PCB is surrounded by the claw hook, the support plate and the support column; the opposite ends of the material supporting elastic member are respectively connected to the material supporting support plate and the claw hook; the support plate is slidably installed on the support frame, and the material supporting driving member is connected to the support plate.

[0019] Optionally, the limit assembly includes a limit drive, a limit sensor, a limit elastic member, a clamping member, and a limit seat provided with a blocking portion; the limit drive is mounted on the support frame and connected to the limit seat; The clamping member is movably connected to the limiting seat and is surrounded by the blocking portion to form a limiting groove; one end of the limiting elastic member is connected to the limiting seat, and the other end is connected to the clamping member; the clamping member is moved relative to the limiting seat through the limiting elastic member, so that the clamping member blocks or opens the opening of the limiting groove; The limit sensor is installed on the limit seat and is used to detect whether the fixing pin is restricted in the limit groove.

[0020] Optionally, the PCB forming machine also includes a material unloading device, which includes a support seat, a pushing mechanism and a material moving mechanism; the pushing mechanism and the material moving mechanism are both movably mounted on the support seat along the second direction; the pushing mechanism is used to push the PCB on the processing table onto the support seat; the material moving mechanism is used to move the PCB on the support seat to a preset position along the first direction.

[0021] In the present invention, after the loading device conveys the PCB to the processing table, the fixing pin is squeezed so that the fixing pin is inserted into the avoidance hole; the fixing pin is squeezed toward the processing table so that the bottom of the fixing pin is inserted into the avoidance hole, so that when the main shaft of the processing equipment processes the PCB on the processing table, the fixing pin will not interfere with the main shaft of the processing equipment, thereby ensuring the stability of the processing equipment in processing the PCB. BRIEF DESCRIPTION OF THE DRAWINGS

[0022] The present invention is further described below in conjunction with the accompanying drawings and embodiments.

[0023] Figure 1 This is a flow chart of a feeding method provided by an embodiment of the present invention. Figure 2 This is a partial structural schematic diagram of a PCB installed in a loading device according to an embodiment of the present invention; Figure 3 It is a partial structural schematic diagram of a feeding device provided by an embodiment of the present invention; Figure 4 yes Figure 3 A partial enlarged view of the middle A; Figure 5 It is a structural schematic diagram of a supporting assembly of a feeding device provided in one embodiment of the present invention; Figure 6 It is a schematic cross-sectional structural diagram of a limiting component of a feeding device provided by an embodiment of the present invention; Figure 7 It is a front view of an alignment tool provided by an embodiment of the present invention; Figure 8 It is a front view of an alignment tool provided by an embodiment of the present invention; Fig. 9 is a side view of a PCB forming machine provided by an embodiment of the present invention; Fig.10 yes Fig. 9 A partial enlarged view of point B in the middle; Fig.11 It is a structural schematic diagram of a feeding device provided by an embodiment of the present invention; Fig.12 This is a partial structural diagram of the pushing mechanism of the unloading device provided by one embodiment of the present invention. Fig.13It is a schematic diagram of the structure of a PCB provided by an embodiment of the present invention.

[0024] The reference numerals in the specification are as follows: 1. Feeding device; 11. Support frame; 12. Feeding drive member; 13. Limiting assembly; 131. Limiting groove; 132. Limiting driving member; 133. Limiting sensor; 134. Limiting elastic member; 135. Positioning member; 136. Limiting seat; 1361. Blocking part; 14. Support frame; 15. Supporting mechanism; 151. Supporting driving member; 152. Supporting assembly; 1521. Guide member; 1522. Supporting elastic member; 1523. Claw hook; 1524. Support column; 1525. Support plate; 153. Guide bracket; 1531. Guide groove; 16. First adjustment assembly; 17. Second adjustment assembly; 18. Guide plate assembly; 19. Top assembly; 2. Processing table; 21. Positioning pin; 3. PCB; 31. Fixing pin; 32. Positioning hole; 4. Alignment tooling; 41. Fixing column; 42. Main body column; 43. Alignment column; 44. Clamping column; 5. Bed; 6. Unloading device; 61. Support seat; 62. Pushing mechanism; 621. Pushing drive member; 622. Elastic hinge; 623. Support beam; 624. Push claw assembly; 63. Material transfer mechanism. DETAILED DESCRIPTION

[0025] In order to make the technical problems, technical solutions and beneficial effects solved by the present invention more clearly understood, the present invention is further described in detail below in conjunction with the accompanying drawings and embodiments. It should be understood that the specific embodiments described herein are only used to explain the present invention and are not used to limit the present invention.

[0026] It should be understood that the directions or positional relationships indicated by terms such as "upper", "lower", "left", "right", "front", "back", and "middle" are based on the directions or positional relationships shown in the accompanying drawings and are only for the convenience of describing the present invention and simplifying the description. They do not indicate or imply that the device or element referred to must have a specific direction, be constructed and operated in a specific direction, and therefore should not be understood as a limitation of the present invention.

[0027] It should be noted that the first direction in this application is Figure 1 The Z direction (i.e., the height direction of the support frame) in the second direction is Figure 1 The X direction (i.e., the width direction of the support frame) is Figure 1 The Y direction (i.e., the length direction of the support frame) is shown in FIG.

[0028] like Figure 1 As shown, the first embodiment of the present invention provides a feeding method, which is applied to a feeding device 1 and is used to convey a PCB 3 to a processing table 2, such as Fig. 9 , Fig.10 as well as Fig.13 As shown, PCB3 is provided with a fixing pin 31, and the processing table 2 is provided with an avoidance hole; it can be understood that PCB3 can be composed of a base plate and a plurality of circuit boards stacked on the base plate, and the positioning pin 21 can play a positioning role between the circuit board and the base plate, thereby ensuring the stability of PCB3 during transportation; the positioning pin 21 protrudes above the processing table 2; the loading device 1 uses this loading method to transport PCB3 to the processing table 2.

[0029] like Figure 1 As shown, the feeding method comprises the following steps: S100, conveying the PCB 3 to the processing table 2; it can be understood that the feeding device 1 conveys the PCB 3 to the processing table 2; S200, squeeze the fixing pin 31, so that the fixing pin 31 is inserted into the avoidance hole. It can be understood that the pin can be squeezed by using a plug-in and pull-out manipulator on the processing equipment, so that the bottom of the fixing pin 31 is inserted into the avoidance hole.

[0030] In the present invention, after the loading device 1 conveys the PCB3 to the processing table 2, the fixing pin 31 is squeezed so that the fixing pin 31 is inserted into the avoidance hole; the fixing pin 31 is squeezed toward the processing table 2 so that the fixing pin 31 is inserted into the avoidance hole. Therefore, when the main shaft of the processing equipment processes the PCB3 on the processing table 2, the fixing pin 31 will not interfere with the main shaft of the processing equipment, thereby ensuring the stability of the processing equipment in processing the PCB3.

[0031] In one embodiment, the step of squeezing the fixing pin 31 to insert the fixing pin 31 into the avoidance hole specifically includes: Squeeze the fixing pin 31; Until the bottom end of the fixing pin 31 is inserted into the avoidance hole, the top end of the fixing pin 31 protrudes or is flush with the top end of the PCB3; wherein, along the first direction, the distance from the top end of the fixing pin 31 to the top end of the PCB3 is amm, satisfying: 0≤a≤4; it can be understood that a=0, 0.5, 1, 1.5, 2, 2.5, 3, 3.5, 4, etc. Preferably, 0≤a≤3. In this embodiment, the fixing pin 31 is squeezed, the bottom of the fixing pin 31 is inserted into the avoidance hole, and the top of the fixing pin 31 is flush with the top surface of the PCB3, or slightly higher than the top surface of the PCB3, so that when the spindle of the processing equipment processes the PCB3 on the processing table 2, the fixing pin 31 will not interfere with the spindle of the processing equipment, thereby ensuring the stability of the processing equipment in processing the PCB3.

[0032] In one embodiment, if Figure 1 and Figure 6 As shown, the feeding device 1 includes a limiting component 13, and a limiting groove 131 is provided in the limiting component 13; the step of conveying the PCB 3 to the processing table 2 specifically includes: Drive PCB3 to move to the limiting assembly 13 ; it can be understood that a transfer device such as an AGV trolley can be used to transport the PCB3 thereon to the loading device 1 , and the fixing pin 31 on the PCB3 can be limited in the limiting groove 131 .

[0033] Detect whether there is a fixing pin 31 in the limiting groove 131 ; understandably, a laser sensor or the like may be used to detect whether there is a fixing pin 31 in the limiting groove 131 .

[0034] If yes, the limiting assembly 13 is driven to move along the second direction to push the PCB 3 to be transported to the processing table 2. It can be understood that after the fixing pin 31 is limited in the limiting groove 131, the limiting assembly 13 will push the PCB 3 along the second direction through the fixing pin 31 until the PCB 3 is pushed onto the processing table 2.

[0035] If not, it is necessary to readjust the position of the limiting assembly 13 so that the fixing pin 31 can be limited in the limiting groove 131 .

[0036] In this embodiment, after detecting that there is a fixing pin 31 in the limiting groove 131, the limiting component 13 pushes the PCB 3 onto the processing table 2 along the second direction, thereby ensuring the stability of the feeding device 1 in pushing the PCB 3 onto the processing table 2 and improving the degree of intelligence.

[0037] In one embodiment, if Figure 7 As shown, the loading device 1 includes an alignment tool 4, and the alignment tool 4 includes a fixed column 41 and an alignment column 43 connected in sequence; Before the step of driving the PCB 3 to move to the limiting assembly 13, the method further includes: A calibration plate (not shown in the figure) is placed at the limiting component 13, wherein the calibration plate is provided with calibration holes; it can be understood that the calibration plate simulates the PCB3 that actually needs to be loaded, and the calibration holes simulate the fixing pins 31 on the PCB3.

[0038] Insert the fixing column 41 into the calibration hole; it can be understood that the limiting assembly 13 pushes the calibration plate onto the processing table 2 along the second direction, and inserts the fixing column 41 of the alignment tool 4 into the avoidance hole of the processing table 2 after passing through the calibration hole.

[0039] The position of the limit assembly 13 is adjusted so that the alignment column 43 is limited in the limit groove 131. The position of the limit assembly 13 is adjusted until the alignment column 43 is inserted into the limit groove 131, so that the position of the limit assembly 13 on the feeding device 1 has been adjusted; after the limit assembly 13 is positioned, the limit assembly 13 can push the PCB 3 onto the processing table 2. In this embodiment, the design of the alignment tool 4 ensures the stability of the limit assembly 13 in conveying the PCB 3 to the processing table 2.

[0040] In one embodiment, if Figure 7 As shown, the alignment tool 4 also includes a main body column 42, which is connected between the fixed column 41 and the alignment column 43, and the outer diameter of the main body column 42 is larger than the outer diameter of the fixed column 41; it can be understood that the outer diameter of the main body column 42 is larger than the outer diameter of the fixed column 41 to form a step, which is convenient for the insertion of the alignment tool 4; the fixed column 41, the main body column 42 and the alignment column 43 are an integrally formed part. When the alignment tool 4 needs to be installed or removed, the insertion and removal robot or manual can take and place the alignment tool 4 by clamping the fixed column 41.

[0041] In another embodiment, if Figure 8 As shown, the alignment tool 4 also includes a main body column 42 and a clamping column 44. The main body column 42 is connected between the fixed column 41 and the alignment column 43. The clamping column 44 is arranged on the main body column 42. The outer diameter of the main body column 42 is greater than the outer diameter of the fixed column 41. The outer diameter of the clamping column 44 is greater than the outer diameter of the main body column 42. It can be understood that the plugging and unplugging manipulator or manual can clamp the main body column 42 and abut against the clamping column 44. The clamping column 44 can provide a fulcrum when removing the alignment tool 4, ensuring the stability of removing the alignment tool 4.

[0042] In one embodiment, if Figure 2 and Figure 3 As shown, the feeding device 1 also includes a supporting frame 14, a first adjusting component 16, a second adjusting component 17 and a guide plate assembly 18; the first adjusting component 16 is installed on the supporting frame 14 and connected to the guide plate assembly 18, and the limiting component 13 is installed on the guide plate assembly 18 through the second adjusting component 17; it can be understood that the first adjusting component 16 and the second adjusting component 17 both include but are not limited to a screw nut assembly, a guide rail slider assembly, etc.; the first adjusting component 16 is used to adjust the position of the limiting component 13 on the guide plate assembly 18 along the second direction, and the second adjusting component 17 is used to adjust the position of the limiting component 13 on the guide plate assembly 18 along the third direction.

[0043] The step of adjusting the position of the limiting assembly 13 so that the alignment column 43 is limited in the limiting groove 131 specifically includes: The first adjustment component 16 drives the guide plate assembly 18 to move along a third direction perpendicular to the second direction so that the guide plate assembly 18 is arranged relative to the alignment column 43; it can be understood that the first adjustment component 16 adjusts the position of the guide plate assembly 18 along the third direction so that the limit assembly 13 on the guide plate assembly 18 is docked with the alignment column 43.

[0044] The second adjustment component 17 drives the limiting component 13 to move along the second direction, so that the limiting groove 131 is arranged opposite to the alignment column 43, and the alignment column 43 is limited in the limiting groove 131. It can be understood that after the first adjustment component 16 completes the position adjustment of the limiting component 13 in the third direction, the second adjustment component 17 is used to adjust the position of the limiting component 13 in the second direction until the alignment column 43 is inserted into the limiting groove 131, at which time, it is indicated that the position of the limiting component 13 has been adjusted. In this embodiment, the design of the first adjustment component 16 and the second adjustment component 17 facilitates the position adjustment of the limiting component 13.

[0045] In one embodiment, if Figure 2 and Figure 3 As shown, the loading device 1 also includes a supporting frame 14 and a supporting mechanism 15, and the limiting assembly 13 is installed on the supporting frame 14; the supporting mechanism 15 includes a guide bracket 153 arranged on the supporting frame 14 and a supporting assembly 152 slidably installed on the supporting frame 14; the guide bracket 153 is provided with a guide groove 1531, and the supporting assembly 152 is provided with a guide member 1521; in this embodiment, the guide groove 1531 extends obliquely upward along the second direction, and the guide member 1521 includes but is not limited to a guide roller, a guide pin, etc.

[0046] After the step of detecting whether the fixing pin 31 is limited in the limiting groove 131 and before the step of driving the limiting assembly 13 to move along the second direction, the following steps are also included: Drive the supporting assembly 152 to move along the second direction; it can be understood that after the supporting assembly 152 moves along the second direction, the distance between the supporting assembly 152 and the limiting assembly 13 along the second direction can be adjusted, so that the limiting assembly 13 and the supporting assembly 152 can limit the opposite ends of PCB3.

[0047] Detect whether the supporting component 152 supports one end of the PCB 3; it can be understood that a laser sensor, a photoelectric sensor, etc. can be used to detect in real time whether the supporting component 152 supports one end of the PCB 3.

[0048] If yes, stop driving the supporting assembly 152. It can be understood that when the limiting assembly 13 conveys the PCB 3 to the processing table 2 along the second direction, it is detected that the supporting assembly 152 supports the PCB 3, which indicates that the supporting assembly 152 has already supported one end of the PCB, and the supporting assembly 152 will stop moving along the second direction to avoid the accident of damaging the PCB 3.

[0049] Furthermore, when the supporting assembly 152 needs to be separated from the PCB3, the supporting assembly 152 moves along the second direction, and the guide member 1521 moves along the guide groove 1531 to separate the PCB3 from the supporting assembly 152. If it is detected that there is no PCB3 on the supporting assembly 152, it indicates that the PCB3 has been completely separated from the supporting assembly 152, thereby ensuring the stability of the loading device 1 in conveying the PCB3 to the processing table 2.

[0050] In one embodiment, if Figure 4 and Figure 5 As shown, the guide bracket 153 is provided with a guide groove 1531, and the support assembly 152 is provided with a guide member 1521; the PCB 3 is also provided with a positioning hole 32, and the processing table 2 is also provided with a positioning pin 21; after the step of driving the limiting assembly 13 to move along the second direction to push the PCB 3 to be transported to the processing table 2, and before the step of squeezing the fixing pin 31, it also includes: The supporting assembly 152 is driven to move in a direction close to the guide bracket 153 ; it can be understood that after the limiting assembly 13 pushes the PCB 3 to the top of the processing table 2 along the second direction, the supporting assembly 152 moves in a direction close to the guide bracket 153 .

[0051] The guide member 1521 enters and moves along the guide groove 1531 to separate the material support assembly 152 from the PCB 3 ; it can be understood that during the process of the guide member 1521 being inserted into the guide groove 1531 and moving along the guide groove 1531 , the material support assembly 152 will gradually separate from the PCB 3 .

[0052] The PCB 3 is driven to move, and the positioning hole 32 is sleeved on the positioning pin 21. It can be understood that after the support assembly 152 is separated from the PCB 3, the PCB 3 is driven to move toward the processing table 2 until the positioning pin 21 on the processing table 2 is inserted into the positioning hole 32 on the PCB 3. In this embodiment, the positioning pin 21 is inserted into the positioning hole 32, which ensures the position accuracy of the PCB 3 when it is loaded onto the processing table 2.

[0053] In one embodiment, if Figure 2 and Figure 3 As shown, the feeding device 1 further includes a push-up assembly 19 mounted on the guide plate assembly 18; after the step of driving the PCB 3 to move and the positioning hole 32 to be sleeved on the positioning pin 21 and before the step of squeezing the fixing pin 31, it also includes: The guide plate assembly 18 is driven to drive the limit assembly 13 to move in a direction away from the PCB 3, and the push assembly 19 presses the PCB 3. It can be understood that after the PCB is positioned, the guide plate assembly 18 needs to be evacuated. In the process of the guide plate assembly 18 driving the limit assembly 13 to separate from the PCB 3, there may be friction between the limit assembly 13 and the fixing pin of the PCB 3, causing the PCB 3 to be lifted and thus shifted. Therefore, in the process of the limit assembly 13 separating from the PCB 3, the push assembly 19 presses the PCB 3 to prevent the position of the PCB 3 from shifting, thereby ensuring the position accuracy of the PCB.

[0054] After the limiting assembly 13 is completely separated from the PCB 3 , the resisting assembly 19 returns to its initial state, for example, the cylinder in the resisting assembly returns from the extended state to the retracted state.

[0055] The second embodiment of the present invention further provides a loading and unloading method, which is applied to loading and unloading of PCB3 processing equipment. The loading and unloading method includes a loading method, wherein the PCB3 processing equipment includes a loading device 1, a processing table 2, a unloading device 6 and a material moving device (not shown in the figure); after the step of squeezing the fixing pin 31 to insert the fixing pin 31 into the avoidance hole, the method further includes: PCB3 is processed; it can be understood that the spindle of the PCB3 processing equipment processes the PCB3 on the processing table 2.

[0056] After the processing is completed, the unloading device 6 drives the PCB3 away from the processing table 2 and moves it to the material moving device; it can be understood that the unloading device 6 can transport the PCB3 on the processing table 2 to the material moving device by pushing, dragging, etc., thereby completing the unloading work of the workbench and the unloading device 6; the material moving device can move the PCB3 to the preset position of the unloading device 6, so that the AGV cart or the like can pull the PCB3 away from the unloading device 6.

[0057] The material moving device drives the PCB 3 away from the material unloading device 6. In the present invention, the material unloading device 6 can transfer the PCB 3 between the workbench and the material moving device, thereby ensuring the stability of the material unloading of the processing table 2.

[0058] like Fig. 9 and Fig.10 As shown, the third embodiment of the present invention further provides a PCB3 processing device, which applies the above-mentioned loading and unloading method, including a loading device 1, a bed 5, a processing table 2 and a manipulator; The feeding device 1 is located on one side of the processing table 2. The processing table 2 and the manipulator are both slidably connected to the bed 5. The feeding device 1 can convey the PCB3 to the processing table 2, and the manipulator can insert the fixing pin 31 into the avoidance hole. It can be understood that the feeding device 1 can be installed on the back of the processing table 2, and the processing table 2 can move along the second direction on the bed 5, so that the processing table 2 squeezes the support frame 11, and then the PCB3 restricted by the limit assembly 13 is located directly above the processing table 2. The manipulator can insert and remove the positioning pin 21 on the processing table 2, and can squeeze the fixing pin 31, thereby improving the integration of the PCB3 processing equipment.

[0059] In one embodiment, if Figures 2 to 4 As shown, the feeding device 1 includes a support frame 11, a feeding drive 12, a support frame 14, a supporting mechanism 15 and a limiting assembly 13 provided with a limiting groove 131; the support frame 14 is movably connected to the support frame 11, and the limiting assembly 13 is installed on the support frame 14 for limiting one end of the PCB 3; the feeding drive 12 is installed on the support frame 11 and connected to the support frame 14 for driving the support frame to move along the second direction; it can be understood that the feeding drive 12 includes but is not limited to a pneumatic cylinder, a hydraulic cylinder and a linear motor.

[0060] The support mechanism 15 includes a support driving member 151, a guide bracket 153 provided with a guide groove 1531, and a support assembly 152 slidably mounted on the support frame 14; the guide bracket 153 is mounted on the support frame 14, the support assembly 152 is provided with a guide member 1521, the support driving member 151 is mounted on the support frame 14 and connected to the support assembly 152, and the support driving member 151 is used to drive the support assembly 152 to move along the second direction, thereby being able to drive the guide member 1521 to move along the guide groove 1531, so that the support assembly 152 carries or detaches from the other end of the PCB 3. It can be understood that the support driving member 151 includes but is not limited to a pneumatic cylinder, a hydraulic cylinder, and a linear motor.

[0061] Specifically, after the fixing pin 31 is inserted into the limiting groove 131 of the limiting assembly 13, and the supporting assembly 152 supports one end of the PCB3 away from the limiting assembly 13, the feeding drive 12 drives the supporting frame 14 to move along the second direction, so that the limiting assembly 13 pushes the PCB3 to the preset position along the second direction, and the processing table 2 moves on the bed 5 toward the supporting frame 11, and the supporting frame 11 gradually retracts, so that the PCB3 is separated from the supporting frame 11 and is located above the processing table 2; the supporting drive 151 then drives the supporting assembly 152 to move toward the second direction, and the guide member 1521 moves into the guide groove 1531 and moves in the guide groove 1531, so that the supporting assembly 152 will be separated from the PCB3, so that the PCB3 is completely located on the processing table 2, and the processing table 2 drives the PCB3 back to its position, thereby completing the feeding function of the processing table 2. In this embodiment, the feeding device 1 can stably feed the PCB3 onto the processing table 2, and the feeding device 1 has a simple structure and low manufacturing cost.

[0062] In one embodiment, if Figure 5 As shown, the material supporting assembly 152 includes a material supporting elastic member 1522, a claw hook 1523, a support column 1524 and a support plate 1525 provided with a first through hole; one end of the support column 1524 is connected to the claw hook 1523, and the other end of the support column 1524 slides through the first through hole and then connects to the guide member 1521, and a material supporting space for supporting PCB3 is surrounded by the claw hook 1523, the support plate 1525 and the support column 1524; the opposite ends of the material supporting elastic member 1522 are respectively connected to the material supporting support plate 1525 and the claw hook 1523; the support plate 1525 is slidably installed on the support frame 14, and the material supporting driving member 151 is connected to the support plate 1525. It can be understood that the material support elastic member 1522 includes but is not limited to a spring, and the claw hook 1523 is slidably installed under the material support support plate 1525 through the support column 1524; the material support driving member 151 is also used to drive the material support assembly 152 to move along the first direction, so that the guide member 1521 can move along the guide groove 1531, and then drive the support column 1524 to move in the through hole, so that the claw hook 1523 disengages and avoids PCB3.

[0063] In this embodiment, the claw hook 1523 is slidably installed under the support plate 1525 through the support column 1524, and the material supporting elastic member 1522 is installed between the support plate 1525 and the claw hook 1523, so that the claw hook 1523 and the PCB3 are in flexible contact, avoiding the accident of scratching the PCB3 due to the hard contact between the material supporting assembly 152 and the PCB3, thereby ensuring the quality of the PCB3. In addition, the elastic force of the material supporting elastic member 1522 enables the claw hook 1523 to firmly support the bottom of the PCB3, that is, the PCB3 is clamped in the material supporting space, further ensuring the stability of the material supporting assembly 152 from PCB3. In addition, when the guide member 1521 moves in the guide groove 1531, the claw hook 1523 moves upward on the support plate 1525 through the support column 1524, so that the claw hook 1523 can gradually detach from the PCB3 to avoid interference. At the same time, by providing the supporting elastic member 1522, when the guide member 1521 is separated from the guide groove 1531, it can ensure that the claw hook 1523 returns to the initial state, that is, ensure that the claw hook 1523 is opened, which is convenient for the next material loading.

[0064] In one embodiment, if Figure 6 As shown, the limit assembly 13 includes a limit drive 132, a limit sensor 133, a limit elastic member 134, a locking member 135 and a limit seat 136 provided with a blocking portion 1361; the limit drive 132 is installed on the support frame 14 and connected to the limit seat 136; it can be understood that the limit drive 132 includes but is not limited to a linear motor, a pneumatic cylinder and a hydraulic cylinder, etc.; the limit drive 132 is used to drive the limit seat 136 to move along the first direction.

[0065] The stopper 135 is movably connected to the limit seat 136, and is surrounded by the blocking portion 1361 to form a limit groove 131; one end of the limit elastic member 134 is connected to the limit seat 136, and the other end is connected to the stopper 135; the stopper 135 is moved relative to the limit seat 136 through the limit elastic member 134, so that the stopper 135 blocks or opens the opening of the limit groove 131; it can be understood that the limit elastic member 134 includes but is not limited to a spring, etc., and the limit sensor 133 includes but is not limited to For laser sensors, photoelectric sensors, etc.; the blocking portion 1361 and the locking member 135 are respectively located at the opposite ends of the limiting groove 131 along the second direction. Furthermore, the limiting groove 131 is provided with an opening at one end away from the blocking portion 1361 in the second direction. When the locking member 135 moves up and compresses the limiting elastic member 134, the locking member 135 will open the opening of the limiting groove 131; when the limiting elastic member 134 drives the locking member 135 to move down, the locking member 135 will block the opening of the limiting groove 131.

[0066] The limit sensor 133 is mounted on the limit seat 136 to detect whether the fixing pin 31 is restricted in the limit slot 131. It can be understood that the limit sensor 133 can be mounted on the inner wall of the limit slot 131.

[0067] Specifically, the PCB 3 has two fixing pins 31 spaced apart along the second direction. When the PCB 3 moves along the second direction, the limiting seat 136 and the locking member 135 are located above the moving path of the fixing pin 31. After the front fixing pin 31 moves away from directly below the limiting assembly 13, the limiting driving member 132 drives the limiting seat 136 and the locking member 135 to move downward. When the rear fixing pin 31 moves along the second direction, it presses the locking member 135 upward. The locking member 135 moves upward and compresses the limiting elastic member 13. 4, the positioning member 135 will open the opening of the limiting groove 131 away from the end of the blocking portion 1361, and after the rear fixing pin 31 moves into the limiting groove 131, the limiting elastic member 134 will drive the positioning member 135 to move downward, so that the positioning member 135 and the blocking portion 1361 limit the fixing pin 31 in the limiting groove 131; when the feeding drive member 12 drives the supporting frame 14 to move along the second direction, the positioning member 135 will push the fixing pin 31 along the second direction, thereby driving the PCB 3 to move along the second direction. In this embodiment, the limiting sensor 133 can detect in real time whether there is a fixing pin 31 in the limiting groove 131, ensuring that the feeding device 1 stably transfers the PCB 3 to the processing table 2.

[0068] In one embodiment, if Fig.11 and Fig.12 As shown, the PCB forming machine also includes a material unloading device 6, which includes a support seat 61, a pushing mechanism 62 and a material moving mechanism 63; the pushing mechanism 63 and the material moving mechanism 62 are both movably installed on the support seat 61 along the second direction; the pushing mechanism 62 is used to push the PCB3 on the processing table 2 onto the support seat 61; the material moving mechanism 63 is used to move the PCB on the support seat 61 to a preset position along the first direction.

[0069] It can be understood that when the length of the PCB3 is shorter, when the pushing mechanism 62 pushes the PCB3 from the processing table 2 to the support seat 61, there is a longer distance between the PCB3 and the unloading end of the support seat 61, and the AGV cart cannot pull the PCB3 away from the support seat 61; at this time, the material moving mechanism 63 moves the PCB3 to a preset position along the second direction, so that the distance between the PCB3 and the unloading end of the support seat 61 is shorter, and the AGV cart can pull the PCB3 away from the support seat 61, thereby completing the automatic unloading function of the unloading device 6 and improving the degree of automation of the unloading device 6.

[0070] In one embodiment, the pushing mechanism 62 includes a pushing drive member 621, an elastic hinge 622, a support beam 623 and a pushing claw assembly 624, the elastic hinge 622 is installed on the support beam 623, and the unloading pushing claw assembly 624 is installed on the elastic hinge 622; the unloading pushing claw assembly 624 can rotate around the unloading support member through the elastic hinge 622, so that the unloading pushing claw assembly 624 avoids the PCB3 on the processing table 2; it can be understood that the elastic hinge 622 includes a first hinge plate, a hinge shaft, a second hinge plate and a torsion spring, the first hinge plate and the second hinge plate are both rotatably installed on the hinge shaft, the torsion spring is sleeved on the hinge shaft, and the two corresponding elastic arms of the torsion spring are respectively abutted against the first hinge plate and the second hinge plate.

[0071] The push driving member 621 is installed on the support seat 61 and connected to the support beam 623 . The push driving member 621 is used to drive the support beam 623 to move along the second direction so as to push the PCB 3 on the processing table 2 onto the support seat 61 through the push claw assembly 624 .

[0072] Specifically, after PCB3 is processed on the processing table 2, a local warped portion may be generated on PCB3, and when the warped portion is located on the moving path of the push claw assembly 624, the push driving member 621 drives the push claw assembly 624 to move PCB3 through the support beam 623, until the push claw assembly 624 comes into contact with the warped portion on PCB3, and the warped portion will drive the push claw assembly 624 to rotate around the support beam 623 through the elastic hinge 622, so that the push claw assembly 624 avoids the warped portion, thereby avoiding interference between the push claw assembly 624 and the warped portion on PCB3, causing damage to PCB3, ensuring that the push claw assembly 624 can move to the rear of PCB3, and avoiding damage to PCB10 by the push claw assembly 624624.

[0073] After the push claw assembly 624 moves to the rear of the PCB 3, the push driving member 621 drives the support beam 623 to move along the second direction, so that the push claw assembly 624 can move the PCB 3 from the processing table 2 to the support seat 61, thereby completing the unloading work of the processing table 2. The unloading device 6 has a simple structure and low manufacturing cost.

[0074] The above are merely embodiments of the present invention and are not intended to limit the present invention. Any modifications, equivalent substitutions and improvements made within the spirit and principles of the present invention should be included in the protection scope of the present invention.

Claims

1. A feeding method, applied to a feeding device, for conveying a PCB to a processing table, wherein the PCB is provided with a fixing pin, and the processing table is provided with an avoidance hole, characterized in that: The steps include: conveying the PCB to the processing table; The fixing pin is squeezed to insert the fixing pin into the avoidance hole.

2. The feeding method according to claim 1, characterized in that: The step of squeezing the fixing pin to insert the fixing pin into the avoidance hole specifically includes: squeezing the fixing pin; Until the bottom end of the fixing pin is inserted into the avoidance hole, the top end of the fixing pin protrudes or is flush with the top end of the PCB; wherein, along the first direction, the distance from the top end of the fixing pin to the top end of the PCB is amm, satisfying: 0≤a≤4.

3. The feeding method according to claim 2, characterized in that: The distance from the top of the fixing pin to the top of the PCB is amm, satisfying: 0≤a≤3.

4. The feeding method according to claim 1, characterized in that: The feeding device includes a limiting assembly, and a limiting groove is provided in the limiting assembly; the step of conveying the PCB to the processing table specifically includes: Driving the PCB to move to the limiting assembly; Detecting whether the fixing pin is positioned in the limiting groove; If so, the limiting assembly is driven to move along the second direction to push the PCB to be transported to the processing table.

5. The feeding method according to claim 4, characterized in that: The feeding device includes an alignment tool, and the alignment tool includes a fixed column and an alignment column connected in sequence; Before the step of driving the PCB to move to the limiting assembly, the method further includes: Placing a calibration plate at the position limiting assembly, wherein the calibration plate is provided with a calibration hole; inserting the fixing post into the calibration hole; The position of the limiting assembly is adjusted so that the alignment column is limited in the limiting groove.

6. The feeding method according to claim 5, characterized in that: The alignment tool further includes a main body column, which is connected between the fixed column and the alignment column, and the outer diameter of the main body column is greater than the outer diameter of the fixed column; Alternatively, the alignment tool also includes a main body column and a clamping column, the main body column is connected between the fixed column and the alignment column, the clamping column is arranged on the main body column, the outer diameter of the main body column is larger than the outer diameter of the fixed column, and the outer diameter of the clamping column is larger than the outer diameter of the main body column.

7. The feeding method according to claim 5, characterized in that: The feeding device also includes a supporting frame, a first adjustment assembly, a second adjustment assembly and a guide plate assembly; The first adjustment assembly is installed on the support frame and connected to the guide plate assembly, and the limit assembly is installed on the guide plate assembly through the second adjustment assembly; The step of adjusting the position of the limiting assembly so that the alignment column is limited in the limiting groove specifically includes: The first adjustment assembly drives the guide plate assembly to move along a third direction so that the guide plate assembly is arranged opposite to the alignment column, wherein the third direction, the second direction and the first direction are all perpendicular; The second adjustment assembly drives the limiting assembly to move along the second direction, so that the limiting groove and the alignment column are arranged opposite to each other, thereby limiting the alignment column in the limiting groove.

8. The feeding method according to claim 4, characterized in that: The feeding device further comprises a supporting frame and a supporting mechanism, the limiting assembly is mounted on the supporting frame; the supporting mechanism comprises a guide bracket arranged on the supporting frame and a supporting assembly slidably mounted on the supporting frame; After the step of detecting whether the fixing pin is positioned in the limiting groove and before the step of driving the limiting assembly to move along the second direction, the following steps are also included: driving the supporting assembly to move along the second direction; Detecting whether the supporting component supports one end of the PCB; If yes, stop driving the supporting component.

9. The feeding method according to claim 8, characterized in that: The guide bracket is provided with a guide groove, and the support assembly is provided with a guide piece; the PCB is also provided with a positioning hole, and the processing table is also provided with a positioning pin; after the step of driving the limit assembly to move along the second direction to push the PCB to be transported to the processing table, and before the step of squeezing the fixing pin, it also includes: Driving the supporting assembly to move in a direction close to the guide bracket; The guide member enters and moves along the guide groove to separate the support assembly from the PCB; The PCB is driven to move, and the positioning hole is sleeved on the positioning pin.

10. The feeding method according to claim 9, characterized in that: The feeding device further includes a push-up assembly mounted on the guide plate assembly; after the step of driving the PCB to move and sleeve the positioning hole on the positioning pin and before the step of squeezing the fixing pin, the feeding device further includes: The guide plate assembly is driven to drive the limit assembly to move in a direction away from the PCB, and the abutting assembly presses the PCB; After the limiting assembly is completely separated from the PCB, the abutting assembly returns to its initial state.

11. A loading and unloading method, applied to loading and unloading of PCB processing equipment, the loading and unloading method comprising the loading method according to any one of claims 1 to 10, characterized in that: The PCB processing equipment includes the loading device, the processing table, the unloading device and the material moving device; after the step of squeezing the fixing pin to insert the fixing pin into the avoidance hole, it also includes: Processing the PCB; After the processing is completed, the unloading device drives the PCB away from the processing table and moves it to the material moving device; The material moving device drives the PCB away from the material unloading device.

12. A PCB processing equipment, using the loading and unloading method according to claim 11, characterized in that: It includes the feeding device, the bed, the processing table and the manipulator; The loading device is located at one side of the processing table, and the processing table and the manipulator are both slidably connected to the bed. The loading device can transport the PCB to the processing table, and the manipulator can insert the fixing pin into the avoidance hole.

13. The PCB processing equipment according to claim 12, characterized in that: The feeding device includes a supporting frame, a feeding drive, a supporting frame and a limiting assembly provided with a limiting groove; the supporting frame is movably connected to the supporting frame, and the limiting assembly is installed on the supporting frame for limiting one end of the PCB; the feeding drive is installed on the supporting frame and connected to the supporting frame for driving the supporting frame to move along the second direction.

14. The PCB processing equipment according to claim 13, characterized in that: The loading device also includes a supporting mechanism, which includes a supporting drive, a guide bracket provided with a guide groove, and a supporting assembly slidably mounted on the supporting frame; the guide bracket is mounted on the supporting frame, the supporting assembly is provided with a guide member, the supporting drive is mounted on the supporting frame and connected to the supporting assembly, and the supporting drive is used to drive the supporting assembly to move along the second direction, thereby being able to drive the guide member to move along the guide groove, so that the supporting assembly carries or detaches from the other end of the PCB.

15. The PCB forming machine according to claim 12, characterized in that: The material supporting assembly includes a material supporting elastic member, a claw hook, a support column and a support plate provided with a first through hole; one end of the support column is connected to the claw hook, and the other end of the support column is connected to the guide member after sliding through the first through hole, and a material supporting space for supporting the PCB is surrounded by the claw hook, the support plate and the support column; the opposite ends of the material supporting elastic member are respectively connected to the material supporting support plate and the claw hook; the support plate is slidably installed on the support frame, and the material supporting driving member is connected to the support plate.

16. The PCB forming machine according to claim 12, characterized in that: The limit assembly includes a limit drive, a limit sensor, a limit elastic member, a clamping member, and a limit seat provided with a blocking portion; the limit drive is installed on the support frame and connected to the limit seat; The clamping member is movably connected to the limiting seat and is surrounded by the blocking portion to form a limiting groove; one end of the limiting elastic member is connected to the limiting seat, and the other end is connected to the clamping member; the clamping member is moved relative to the limiting seat through the limiting elastic member, so that the clamping member blocks or opens the opening of the limiting groove; The limit sensor is installed on the limit seat and is used to detect whether the fixing pin is restricted in the limit groove.

17. The PCB forming machine according to claim 12, characterized in that: The PCB forming machine also includes a material unloading device, which includes a support seat, a pushing mechanism and a material moving mechanism; the pushing mechanism and the material moving mechanism are both movably installed on the support seat along the second direction; the pushing mechanism is used to push the PCB on the processing table onto the support seat; the material moving mechanism is used to move the PCB on the support seat to a preset position along the first direction.

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