Feeding device and feeding device positioning compensation method

Abstract

The invention discloses a feeding device which comprises a material box used for placing a plurality of materials in a stacked mode. The lifting mechanism is used for driving the material box to ascend or descend, the lifting mechanism comprises a supporting piece which can do lifting motion and is used for bearing the material box, and a transferring platform which can horizontally slide is arranged on the supporting piece; the moving mechanism is used for driving the lifting mechanism and the material box to move; and the detection assembly is fixed to the transfer platform and used for detecting the position deviation of the moving position of the material box relative to the theoretical position in the horizontal direction and / or the vertical direction, and the transfer platform and / or the lifting mechanism are / is moved according to the position deviation to compensate the position of the material box. The invention further discloses a positioning compensation method of the feeding device. The moving platform capable of horizontally moving is arranged on the supporting piece of the lifting mechanism, the moving platform is matched with the detection assembly on the moving platform, the position deviation of the material box relative to the circuit board machining equipment is detected and compensated, the positioning precision of the feeding device is improved, the plate clamping phenomenon during feeding and discharging is reduced, and the equipment utilization rate and the equipment production efficiency are improved.

Description

Technical Field

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

[0002] PCB drilling processing refers to drilling holes in sheet materials with a tool through a drilling processing device. The PCB board processing process often requires the replacement and transportation of some consumables (such as tools) and processing materials (such as sheet materials). The PCB board after drilling processing needs to be removed from the device in time (this process is unloading), and then the unprocessed sheet material is placed on the device (this process is loading) to ensure the smooth progress of the drilling process.

[0003] In related technologies, AGV (Automated Guided Vehicle) is usually used as a way to transport material boxes to load and unload sheets and replace material bins, so as to realize automatic loading and unloading of circuit board processing equipment such as fully automatic PCB drilling machines. When AGV is used to transfer material boxes to designated workstations for loading and unloading sheets, the positioning accuracy of AGV is often poor, resulting in more failures in loading and unloading sheets. If the sheets are stuck during loading and unloading, manual handling is required for abnormalities, resulting in equipment shutdown and thus affecting the utilization rate of a single device. Excessive manual intervention will affect the overall equipment utilization rate. In order to realize automated, digital and unmanned processing, it is necessary to solve problems such as loading and unloading of AGVs due to positioning accuracy. Summary of the invention

[0004] The embodiments of the present application provide a feeding device and a positioning compensation method for the feeding device, which are intended to overcome the problem of insufficient positioning accuracy of loading and unloading materials leading to board jamming, high failure rate, and long equipment downtime affecting production efficiency and equipment utilization rate.

[0005] A feeding device described in an embodiment of the present application includes: a material box for stacking a plurality of materials;

[0006] A lifting mechanism, used to drive the material box to rise or fall, the lifting mechanism includes a support member that can move up and down and is used to support the material box, and the support member is provided with a transfer platform that can slide horizontally;

[0007] A moving mechanism, used for driving the lifting mechanism and the material box to move;

[0008] A detection component is fixed to the transfer platform and is used to detect the position deviation of the moving position of the material box relative to the theoretical position in the horizontal and / or vertical direction, and to move the transfer platform and / or the lifting mechanism according to the position deviation to compensate for the position of the material box.

[0009] In some embodiments, a positioning assembly is provided on the surface of the transfer platform for fixing the material box at a specific position of the transfer platform.

[0010] In some embodiments, the detection component includes a camera and a light source, and the camera and the light source are fixed to a bracket, and the bracket is fixed to the side of the transfer platform to keep the position of the camera and the material box relatively fixed.

[0011] In some embodiments, a linear guide rail is disposed on the support member, and a slider is disposed on the lower end surface of the transfer platform and is slidably connected to the linear guide rail. The slider can slide back and forth horizontally along the linear guide rail in a first direction.

[0012] In some embodiments, the transfer platform is provided with a driving assembly, and the driving assembly is used to drive the transfer platform to reciprocate along a first direction.

[0013] In some embodiments, the positioning assembly includes a wear-resistant rubber plate, a positioning member located on the wear-resistant rubber plate, and a position detection member.

[0014] In some embodiments, it further includes a frame, on which at least one pair of slide rails are disposed, and the lifting mechanism includes a lifting slide plate, on which at least one pair of sliders are disposed that are slidably connected to the slide rails.

[0015] In some embodiments, a detection installation position is provided on the lifting slide plate, which can be used to install the detection component.

[0016] In some embodiments, the moving mechanism moves the material box to a loading and unloading station of a circuit board processing device for transferring materials between the material box and the circuit board processing device.

[0017] In some embodiments, the circuit board processing equipment is provided with a positioning mark, and the camera is used to photograph the positioning mark to obtain the position deviation between the material box and the circuit board processing equipment.

[0018] In some embodiments, a controller is also included, which is used to receive deviation data and issue control instructions for moving or fixing the transfer platform or the lifting mechanism according to the deviation data, and issue control instructions for loading or unloading after position compensation is completed.

[0019] A feeding device is also provided, comprising: a material box for stacking a plurality of materials;

[0020] A lifting mechanism, used to drive the material box to rise or fall, the lifting mechanism includes a support member that can move up and down and is used to support the material box, and the support member is provided with a transfer platform that can slide horizontally;

[0021] A moving mechanism, located at the bottom of the lifting mechanism, used to drive the material box and the lifting mechanism to move to a specified position;

[0022] The detection component is arranged on the transfer platform and / or the lifting mechanism, and is used to detect the position deviation of the material box relative to the loading and unloading station of the circuit board processing equipment, and can move the transfer platform and / or the lifting mechanism to compensate according to the position deviation.

[0023] A method for positioning compensation of a feeding device is also provided. The feeding device comprises a moving mechanism, a lifting mechanism, a transfer platform, a detection component and a controller. The method for positioning compensation of the feeding device comprises the following steps:

[0024] The moving mechanism drives the material box to move to the processing position and controls the lifting mechanism to lift to the specified layer of the material box;

[0025] The detection component identifies the positioning mark of the circuit board processing equipment and obtains the horizontal deviation value of the material box;

[0026] The controller receives the deviation value and controls the movement compensation of the transfer platform. After compensation, the detection component recognizes and obtains the secondary deviation value again to determine whether it needs to move and compensate again. Repeated recognition and movement are performed until the compensation is in place.

[0027] The materials in the material box are loaded or unloaded. After loading and unloading, the moving mechanism moves to the next processing position and repeats the above steps.

[0028] In some embodiments, the moving mechanism is locked in position after moving to the processing position, and is released after loading and unloading are completed.

[0029] In some embodiments, the detection component obtains the horizontal deviation value of the material box including: a visual camera takes a picture of the positioning mark, and calculates the position information of the material box and the deviation value of the material box.

[0030] In some embodiments, after the material box position is compensated to the right position, the transfer platform is locked and a signal for loading or unloading is released.

[0031] The feeding device and the positioning compensation method for the feeding device provided in the embodiments of the present application, by setting a detection component on the lifting mechanism, detects the position offset of the material box for the positioning mark on the circuit board processing equipment, and cooperates with the horizontally movable transfer platform to compensate for the position of the material box, thereby improving the AGV positioning accuracy, reducing the equipment failure rate, and improving the equipment utilization rate and production efficiency. BRIEF DESCRIPTION OF THE DRAWINGS

[0032] In order to more clearly illustrate the technical solutions in the embodiments of the present application, the drawings required for use in the description of the embodiments will be briefly introduced below. Obviously, the drawings described below are only some embodiments of the present application. For those skilled in the art, other drawings can be obtained based on these drawings without paying any creative work.

[0033] Figure 1 It is a perspective schematic diagram of the overall structure of the circuit board processing equipment and the feeding device;

[0034] Figure 2 It is a schematic diagram of the overall structure of the circuit board processing equipment and the feeding device from another angle;

[0035] Figure 3 It is the overall structural schematic diagram of the feeding device;

[0036] Figure 4 It is a structural schematic diagram of one side of the lifting mechanism in the feeding device;

[0037] Figure 5 It is a schematic diagram of the structure of the other side of the lifting mechanism in the feeding device;

[0038] Figure 6 This is a schematic diagram of the detection component structure in the feeding device.

[0039] Reference numerals: 100 - material box; 20 - lifting mechanism; 30 - transfer platform; 40 - detection component; 50 - moving mechanism; 60 - circuit board processing equipment; 70 - rack;

[0040] 21-support; 22-lifting slide plate; 221-detection installation position; 23-guide block; 31-wear-resistant rubber plate; 32-positioning piece; 33-position detection piece; 34-driving assembly; 35-pipeline fixing seat; 41-bracket; 42-camera; 43-light source; 44-lens; 71-slide rail; 72-lifting drag chain. DETAILED DESCRIPTION

[0041] The following is a further detailed description of a feeding device and a feeding device positioning compensation method proposed by the present invention in combination with the accompanying drawings and specific embodiments. It should be noted that the accompanying drawings are all in a very simplified form and use non-precise proportions, which are only used to conveniently and clearly assist in explaining the purpose of the embodiments of the present invention. In addition, the structure shown in the accompanying drawings is often a part of the actual structure. In particular, the emphasis of each accompanying drawing is different, and sometimes different proportions are used.

[0042] It should be noted that the terms "first", "second", etc. in the specification, claims and drawings of the present invention are used to distinguish similar objects in order to describe the embodiments of the present invention, rather than to describe a specific order or sequence. It should be understood that the structures used in this way can be interchanged under appropriate circumstances. In addition, the terms "include" and "have" and any variations thereof are intended to cover non-exclusive inclusions. For example, a process, method, system, product or device that includes a series of steps or units is not necessarily limited to those steps or units that are clearly listed, but may include other steps or units that are not clearly listed or inherent to these processes, methods, products or devices.

[0043] It should also be noted that in the drawings of the embodiments of the present application, arrows marked with X, Y, and Z represent the front-back, left-right, and up-down directions, that is, the forward and backward, left-right, or up-down directions in three-dimensional space. The description of the present application introduces the directions of X, Y, and Z in order to more clearly describe the structure of the feeding device, as well as the position and movement relationship between the feeding device and the circuit board processing equipment.

[0044] In the actual process of loading and unloading sheet materials by moving material boxes, there are often many factors that lead to poor positioning accuracy of AGV, resulting in a certain deviation between the actual position of the material box and the theoretical position. Material jams are prone to occur during loading and unloading, requiring manual intervention. At the same time, if the equipment failure frequency is high, the equipment downtime is long, which directly affects the processing efficiency. Among them, the main reasons for the poor positioning accuracy of AGV are the consistency of the position of the AGV body mechanism with the camera, the accuracy of the QR code pasting, the ground friction coefficient and the ground flatness, etc., which cause the actual positioning accuracy to exceed the original maximum deviation range.

[0045] This embodiment provides a feeding device that can improve the positioning accuracy of AGV mobile, reduce the failure rate of automatic loading and unloading of circuit board processing equipment, reduce manual operations, and improve the production efficiency of the equipment. Figure 1-5 As shown, the feeding device includes a material box 100 for stacking multiple materials, a lifting mechanism 20 for driving the material box 100 to rise or fall, and the lifting mechanism 20 includes a horizontal support member 21 that can be lifted and lowered and is used to support the material box 100; a transfer platform 30, the transfer platform 30 is horizontally slidably arranged above the support member 21, and is used to carry and drive the material box 100 to move horizontally; a detection component 40, the detection component 40 is fixed to the transfer platform 30, and is used to detect the position deviation of the moving position of the material box 100 relative to the theoretical loading and unloading station in the horizontal and / or vertical directions, and the transfer platform 30 and / or the lifting mechanism 20 are moved according to the position deviation to compensate for the position of the material box 100.

[0046] It also includes a moving mechanism 50, which is located below the lifting mechanism 20 and can drive the material box 100, the lifting mechanism 20 and the transfer platform 30 to move to the material box loading and unloading station to transfer materials between the circuit board processing equipment 60 and the material box 100. The moving mechanism 50 can be an AGV vehicle, which can automatically transport the material box 100 according to the planned route, without the need to use manual labor and special handling tools to transfer materials, thus saving a lot of labor and handling costs. At the same time, the automatic operation of the moving mechanism 50 can also save a lot of unnecessary production space and improve the utilization rate of the production space.

[0047] When the moving mechanism 50 moves to the specified position, the lifting mechanism 20 drives the material box 100 to be lifted to the specified layer, the detection component 40 detects the positional relationship between the material box 100 and the circuit board processing equipment 60, and drives the transplanting platform 30 to move horizontally to adjust the position of the material box 100 to compensate for the position deviation of the material box 100 caused by poor positioning accuracy due to various factors, until the position deviation of the material box 100 is compensated in place, and then the corresponding materials are transmitted.

[0048] In some embodiments, the detection component 40 is fixedly mounted on the transfer platform 30, and the material box 100 is also fixedly placed at a specific position of the transfer platform 30, so that the position between the detection component 40 and the material box 100 is always consistent. The detection component 40 identifies the specific calibration object and calculates the position of the detection component 40 at this time and the position deviation of the detection component 40 relative to the specific calibration object, thereby obtaining the position deviation value between the material box 100 at this time relative to the theoretical loading and unloading point. The detection component 40 then provides the calculated position deviation value to the platform controller, and the controller receives the signal and controls the transfer platform 30 to move and compensate according to the deviation value. After the transfer platform 30 moves and compensates, the detection component 40 identifies and detects again whether the position is compensated in place at this time. If there is still a position deviation, the position deviation value of the second detection is provided to the platform controller again, and the controller receives the signal again and controls the transfer platform 30 to move and compensate according to the second detection deviation value. The cycle continues until it is detected that the position compensation is in place, and the platform controller exchanges the loading or unloading signal with the central control to carry out the loading or unloading process.

[0049] In order to fix the material box 100 at a specific position of the transfer platform 30 when it is placed on the transfer platform 30, a positioning assembly is provided on the surface of the transfer platform 30, and a positioning portion adapted to the positioning assembly is provided on the bottom of the material box 100. When the material box 100 is placed on the transfer platform 30, the positioning assembly fixes the material box 100 at a specific preset position of the transfer platform 30 to prevent the position of the material box 100 from shifting.

[0050] See also Figure 4In some embodiments, the positioning assembly includes a wear-resistant rubber plate 31 and a positioning member 32 located on the wear-resistant rubber plate 31. The transfer platform 30 is rectangular. Two wear-resistant rubber plates 31 are provided at both ends of the transfer platform 30 along the first direction. The wear-resistant rubber plates 31 have good elasticity, which can reduce energy impact when the material box 100 is placed, and can also reduce the vibration and noise of the equipment, increase the service life of the transfer platform 30, reduce maintenance costs, and improve safety performance. Multiple groups of positioning members 32 are provided on the wear-resistant rubber plate 31, and the bottom of the material box 100 is correspondingly provided with positioning parts matching the multiple groups of positioning members 32. When the material box 100 is placed on the transfer platform 30 as a whole, the positioning parts at the bottom of the material box 100 are aligned with the positioning members 32 of the transfer platform 30, and the material box 100 is accurately placed on the wear-resistant rubber plate 31 on the surface of the transfer platform 30, which can prevent the displacement of the material box 100 while ensuring the accuracy of the position. Among them, the position, shape and area of ​​the wear-resistant rubber plate 31 are not specifically limited.

[0051] In order to ensure the accuracy of the placement of the material box 100, a position detection member 33 is also provided on the transfer platform 30 to detect whether the material box 100 is placed in place. The position detection member 33 is a plurality of groups located at various positions of the transfer platform 30, so as to more accurately determine the placement position of the material box 100.

[0052] See also Figure 4-Figure 6 The detection component 40 is fixed to the side of the transfer platform 30 through a bracket 41. A mounting position is extended from a side plane of the transfer platform 30 close to the circuit board processing equipment 60. The bracket 41 is fixedly installed on the mounting position to fix the position of the detection component 40 and the transfer platform 30.

[0053] In some embodiments, the detection component 40 is a visual detection device, including a camera 42, a light source 43 and a lens 44. Among them, the bracket 41 is an integrated bracket that fixes the camera 42 and the light source 43 to the bracket 41 at the same time, so as to facilitate the determination of the relative positions of the two and ensure the consistency of the theoretical lighting rate of the camera 42. The detection component 40 is fixed to the side of the transfer platform 30 and the positioning member 32 to ensure the position accuracy of the material box 100 and the camera 42. Since the detection component 40 is fixed to the transfer platform 30 and can move with the transfer platform 30, the detection component 40 always keeps consistent with the transfer platform 30 and the position of the material box 100 on the transfer platform 30. After the mobile platform is compensated, the position of the moved material box 100 can be detected again, and the position is continuously detected until the compensation is completed.

[0054] Furthermore, the positioning mark is located on the circuit board processing equipment 60, which can be a two-dimensional code mark or a structural feature of the circuit board processing equipment 60. The camera 42 is used to capture the image data of the object or two-dimensional code with the feature mark, and the image data is compared and analyzed with the standard image data in the visual library. Then, the position deviation value of the camera 42 and the circuit board processing equipment 60 at this time is calculated by visual software analysis, which is converted into the position deviation between the material box 100 and the circuit board processing equipment 60. Among them, the visual detection method for collecting images or objects is not limited, including the use of 3D cameras, 2D cameras with built-in light sources, etc. The method of collecting images or objects by the camera is relatively general and conventional and will not be repeated here. It should be noted that in one of the application methods, the feeding device is used to transfer materials to the circuit board processing equipment, and the positioning mark can be located in the circuit board processing equipment. In other application scenarios, the feeding device can transfer materials to other equipment, and the positioning mark can be set on other equipment.

[0055] Furthermore, the lens 44 is a split lens, which can be detachably mounted on the camera 42. Lenses of different focal lengths can be switched according to different application scenarios to meet the requirements of different scene shooting needs for field of view and magnification, and have higher adaptability.

[0056] In some embodiments, the detection component 40 is fixed at a position on the vertical center axis of one side of the material box 100, and the shooting direction is facing away from the material box 100 and parallel to the vertical center axis of the material box 100. The detection component 40 cooperates with the positioning member 32 to ensure that the camera 42 and the center of the material box 100 in the vertical direction are consistent, and to ensure that the shooting and recognition angle of the camera 42 is the same as the placement angle of the material box 100, so as to facilitate re-recognition after horizontal position compensation. Of course, the detection component can also be set at other positions.

[0057] In some embodiments, the detection component 40 may also be a laser detection or a distance sensor detection, etc., to obtain the position of the material box by measuring the distance between multiple groups and the calibration piece.

[0058] Furthermore, in some embodiments, the support member 21 is a lifting fork, and the lifting fork is sunken in a first direction to install a linear guide rail. The bottom surface of the transfer platform 30 is provided with a guide rail slider adapted to the linear guide rail, and the guide rail slider can reciprocate along the linear guide rail in the first direction, and the first direction refers to reciprocating along the X direction in the figure. The installation of the linear guide rail by sinking the lifting fork can reduce the thickness of the whole machine and facilitate the expansion of the number of material box layers.

[0059] The two ends of the lifting fork teeth are support parts, and a storage space is formed in the middle of the support part. The transfer platform 30 slides on the top of the support part. A driving component 34 is provided on the bottom surface of the transfer platform 30 and is located in the storage space, which is used to drive the transfer platform 30 to move along the first direction. Among them, the driving method of the driving component 34 is not limited, such as a planetary gear motor, a servo motor, a common motor, a pneumatic motor, etc., and is not limited to a certain type of motor. All motors that can achieve the driving function can be used. In this embodiment, a motor plus an electric cylinder or an electric push rod is used, the motor is added with a gear rack, and the electric cylinder is added with a gear chain. The motor drives the electric cylinder to move linearly to drive the transfer platform 30 to move horizontally.

[0060] In some embodiments, a slider oiling block is provided on the bottom surface of the transfer platform 30 for adding grease to ensure that the slider is adequately lubricated during operation, thereby extending its service life and maintaining high-precision operation.

[0061] In some embodiments, a pipeline fixing seat 35 is provided on the bottom surface of the transfer platform 30 for fixing the pipeline.

[0062] Further, the material box 100 includes a plurality of storage spaces spaced apart in the vertical direction, each storage space has a feeding assembly for conveying materials, and the plurality of storage spaces are stacked and arranged in intervals along the vertical direction Z, and the storage spaces are used to connect with the feeding power mechanism of the feeding device to convey materials to the circuit board processing equipment 60. By stacking and arranging the plurality of storage spaces at intervals, a multi-layer storage structure can be formed, and the storage space of each layer can independently store and convey materials.

[0063] Specifically, the storage space can be a plurality of roller structures that can be linked to each other, and can support materials to store materials. And it can realize power transmission with the feeding power mechanism of the handling device through power transmission methods such as gear meshing, so that multiple rollers rotate to realize material transportation. Of course, the storage space can also adopt a belt conveyor mechanism or other similar conveying mechanism. The setting method of the upper and lower intervals can improve the utilization rate of the space, and can store or transport more materials. At the same time, it can also prevent the materials in different storage spaces from crossing and mixing with each other, thereby ensuring the purity of the materials; a feeding space is set separately in each storage space, so that the material transportation efficiency can be improved and production time can be saved.

[0064] In some embodiments, the width of the material box 100 is greater than the width of the transfer platform 30, so that the opposite sides of the bottom of the material box 100 can be exposed outside the transfer platform 30, thereby facilitating the entire material box 100 to be taken from the transfer platform 30. For example, an external loading device can be used and its lifting component can be directly inserted into the bottom of the material box to lift the material box to facilitate the transfer and transportation of the material box 100.

[0065] The feeding device further includes a frame 70, which is vertically arranged on the moving mechanism 50. The lifting mechanism 20 further includes a vertical lifting slide 22, which is fixedly connected to the support member 21 in a vertical manner and is slidably connected to the frame 70 to be lifted and lowered along the third direction (Z-axis direction). The transfer platform 30 is horizontally slidably arranged on the support member 21, and together with the support member 21, supports and transports the material box 100 through the frame 70.

[0066] Furthermore, at least one pair of slide rails 71 is provided on the wall side of the frame 70 facing the transfer platform 20, and at least one pair of sliders (not shown in the figure) corresponding to the slide rails 71 are provided on the lifting slide plate 22. There is no restriction on the number of slide rails 71, and the number of sliders corresponds to the number of slide rails 71. As an embodiment, a pair of slide rails 71 is provided, and the pair of slide rails 71 are symmetrically arranged about the center of the support member 21. By arranging a pair of symmetrically arranged slide rails 71 on the frame 70, and arranging the pair of slide rails 71 on both sides of the width direction of the support member 21, the support member 21 can slide more smoothly in the vertical direction and be lifted up and down, so that the entire lifting device is also smoother when the support member 21 is lifted. The pair of sliders can be transitionally connected to the support member 21 through the same transition connecting plate to ensure the synchronization of the pair of sliders.

[0067] In some embodiments, the frame 70 is provided with a lifting mechanism, which is also connected to the lifting mechanism 20, and the lifting mechanism is used to drive the support member 21 and the lifting slide 22 to move between a first position and a second position relative to the frame 70. The height of the first position along the vertical direction Z is higher than that of the second position. In other words, when the lifting mechanism drives the support member 21 to move relative to the frame 70, the height of the support member 21 will change.

[0068] The lifting mechanism includes a lifting chain 72 and a second power member. The lifting chain 72 is arranged on the frame 70 and connected to the lifting slide 22. The second power member is connected to the lifting chain 72 for driving the lifting chain 72 to drive the support member 21 to move up and down.

[0069] It is understandable that the lifting mechanism of the feeding device can drive the support member 21 and the lifting slide 22 to move, so that the support member 21 and the lifting slide 22 can move between the first position and the second position with a height difference relative to the frame 70, so that the support member 21 can drive the material box 100 to achieve the lifting and lowering of the height of the material box 100. It is also possible to move the materials (generally sheet materials) at different heights in the material box 100 to the inlet and outlet of the circuit board processing equipment 60 to complete the material transportation. Therefore, the handling device can be adapted to have more material boxes 100 and material boxes 100 with higher heights to avoid the number of layers of the material box 100 being limited. And it can increase the amount of materials handled each time, and then each time it can carry materials for more circuit board processing equipment 60, reduce the number of material boxes 100 required for loading and unloading during the circuit board processing process, and improve the efficiency of loading and unloading.

[0070] See also Figure 4 In some embodiments, two guide blocks 23 are arranged opposite to each other on the lifting slide 22, and two pulleys corresponding to the guide blocks 23 are arranged on the material box 100. The two pulleys can slide along the guide blocks 23 and are arranged on opposite sides of the guide blocks 23.

[0071] It should be added that the material box 100 can be detachably arranged on the transfer platform 30 to facilitate cleaning, maintenance, placement or removal of materials from the material box 100. When assembling the material box 100, the material box 100 approaches the transfer platform 30 in the extension direction of the guide block 23, and then the pulley contacts the surface of the guide block 23 and slides on the guide block 23, so that the two pulleys cooperate with the two guide blocks 23 to limit the material box 100, and cooperate with the positioning parts on the surface of the transfer platform 30 to accurately place the material box 100 at a specific position on the transfer platform 30.

[0072] In some embodiments, a limit block is provided on one side of the lifting slide 23 facing the transfer platform 30 , and the limit block is used to block the position of the transfer platform 30 close to the side of the lifting slide 23 when the transfer platform 30 moves along the X direction (first direction).

[0073] In some embodiments, a detection installation position 221 is provided on the lifting slide 22, and the detection installation position 221 can be used to install the detection component 40, which can be adapted to applications in scenes of different sizes.

[0074] By fixing the detection component 40 on the transfer platform 30, taking photos with the positioning mark on the circuit board processing equipment 60 to identify and calculate the position relationship of the detection component 40 relative to the loading and unloading station of the circuit board processing equipment 60, the position relationship of the material box 100 on the transfer platform 30 relative to the loading and unloading station of the circuit board processing equipment 60 is determined. If there is a horizontal position deviation, the transfer platform 30 is moved horizontally to compensate for the horizontal position of the material box 100; similarly, if there is a height position deviation, the lifting component 20 is controlled to rise or fall to move and compensate for the height position of the material box 100.

[0075] Furthermore, the mobile mechanism 50 is located at the bottom of the frame 70, and can drive the frame 70, the material box 100, the lifting mechanism 20 and the transfer platform 30 to move to a designated position, that is, each processing station, and transfer materials between the circuit board processing equipment 60 and the material box 100. In this embodiment, the mobile mechanism 50 is an AGV trolley, and the AGV trolley 51 is located at the bottom of the frame 70. By integrating the AGV trolley 51 with the frame 70, the feeding device can perform intelligent automatic transportation, improve transportation efficiency, and reduce manual labor intensity.

[0076] Furthermore, the feeding device also includes a controller, which is used to control the movement or fixation of the transfer platform 30 or the lifting mechanism 20 according to the position of the material box 100. In this embodiment, the controller is a programmable logic controller (PLC), a digital electronic device with a microprocessor, a digital logic controller for automatic control, and can load control instructions into the memory for storage and execution at any time. The programmable controller is modularly composed of an internal CPU, instruction and data memory, input and output unit, power module, digital simulation and other units. The controller can be used to receive the distance deviation value, issue a movement instruction to the mobile platform 30 or the lifting slide 22, and repeatedly calculate the movement compensation until the compensation distance is completed. And it is used to feed back the compensation completion signal to the controller, the controller controls the motor valve of the transfer platform 30 or the lifting slide 22 to open and lock, stop moving, and then interact with the central control to load or unload the material; and after the loading and unloading is completed, the controller interacts with the central control to control the mobile mechanism 50 to move to the next processing position.

[0077] A positioning compensation method for a feeding device is also provided. The feeding device includes a moving mechanism 50, a lifting mechanism 20, a transfer platform 30, a detection component 40 and a controller. The positioning compensation method for the feeding device includes the following steps:

[0078] S:100: The moving mechanism 50 drives the material box 100 to move to the processing position, and controls the lifting mechanism 20 to lift to the specified layer of the material box.

[0079] In this embodiment, the mobile mechanism 50 is an AGV cart. The mobile mechanism 50 moves automatically according to the planned route, transports the material box 100 to the work station and locks the position of the mobile mechanism 50, that is, the AGV is parked. The lifting mechanism 20 supports the material box 100 for lifting and lowering, and lifts it to the designated layer for loading and unloading of the material box 100 to prepare for loading and unloading. After the loading and unloading is completed, the position of the mobile mechanism 50 is released and moved to the next work station for material transportation.

[0080] When the moving mechanism 50 moves to the processing position, due to various factors, the position of the material box 100 after stopping does not match the plate processing position on the circuit board processing equipment 60. At this time, loading and unloading of materials is very likely to cause plate jamming. In order to avoid the phenomenon of plate jamming due to inaccurate positioning, the moving mechanism 50 is moved to the preset processing position and lifted to the specified layer and then locked in position for movement. The movement of the transfer platform 30 is controlled to compensate for the position of the material box 100 until the position of the material box 100 is accurately compensated for the processing position of the circuit board processing equipment 60. Loading and unloading are carried out after receiving the compensation completion signal.

[0081] S200 : The detection component 40 identifies the positioning mark of the circuit board processing equipment 60 , and obtains the horizontal position deviation of the material box 100 relative to the circuit board processing equipment 60 .

[0082] The detection component 40 is fixed to the side of the transfer platform 30, facing the circuit board processing equipment 60, and detects the visual detection device of the detection component 40. The visual detection device takes a photo of the positioning mark of the workstation of the circuit board processing equipment 60. The visual software analyzes and processes the position information of the visual detection device relative to the circuit board processing equipment 60 at this time, and calculates the position deviation value between the visual detection device and the workstation positioning mark, converts it into a position deviation value of the material box 100 relative to the workstation, and provides the calculated position deviation value to the controller of the transfer platform 30.

[0083] S300: The controller receives the deviation value to control the transfer platform 30 to move and compensate. After compensation, the secondary deviation value is identified again to determine whether it is necessary to move and compensate again. The identification and movement are repeated until the compensation is in place.

[0084] S400: Load or unload the materials in the material box 100. After loading or unloading, the moving mechanism moves to the next processing position and repeats the above steps.

[0085] Specifically, the transfer platform 30 moves the material box 100 according to the instructions of the PLC controller, and the AGV is in the parking state at this time. The transfer platform 30 drives the material box 100 to move horizontally according to the instructions. After the transfer platform 30 completes the compensation through the secondary positioning, the visual inspection takes pictures again to confirm whether the compensation is in place. If it is not compensated in place, the above-mentioned movement compensation instructions are repeated until the compensation is completed; otherwise, the compensation signal of the material box 100 is fed back to the PLC controller, and the PLC controller controls the motor brake of the transfer platform 30 to open and lock the mobile platform 30. After locking, the PLC can interact with the central control to load or unload the material. In other words, when the material box 100 is performing horizontal position compensation, the AGV is in the parking state, the lifting mechanism 20 is in the locked state, and only one part of the transfer platform 30 is controlled to be movable. When the positioning compensation is completed, the motor of the transfer platform 30 is controlled to be locked, and only the conveying mechanism of the material box 100 can move, so as to accurately and stably convey the material box 100.

[0086] After receiving the signal, the circuit board processing equipment 60 starts loading or unloading. After the material transfer of this station is completed, the central control sends an instruction to the AGV to release the AGV parking, and the AGV moves to the next station to repeat the above steps. The AGV can also move to its corresponding position according to other instructions.

[0087] Furthermore, the detection device 40 can also be used to detect the vertical position accuracy of the material box 100. Since the inter-layer heights of different types of material boxes may differ, after the lifting mechanism 20 is lifted to a specific height position, the positioning identification member can be identified by the detection component 40 to detect whether there is a deviation in the position height of the material box 100. If there is a deviation, the lifting component 20 is controlled to move and compensate for its height position to avoid the phenomenon of card jamming in the vertical direction. It can be adapted to different types of material boxes 100 and has a wider application.

[0088] Among them, the sequence of the detection process of the horizontal position and the height position of the material box 100 is not limited. It can be first lifted to the theoretical height and fixed by the lifting mechanism 20, and the detection component 40 on the transfer platform 30 is started to take pictures and identify whether there is a deviation in the horizontal position. If there is a deviation, the transfer platform 30 is moved to compensate for the horizontal position. After the horizontal position compensation is completed, the transfer platform 30 is fixed, and then it is identified whether there is a deviation in the height position. If there is a deviation, the lifting mechanism 20 is controlled to compensate for the height position; it can also be first lifted to the theoretical height by the lifting mechanism 22, and then the position of the transfer platform 30 is fixed, the height position of the material box 100 is detected and moved for compensation, and after the height position compensation is completed, the position of the lifting component 20 is fixed to compensate for the horizontal position of the material box 100.

[0089] In some embodiments, position deviations of the discharge box 100 in both horizontal and height positions may also be identified at once.

[0090] The following is an explanation of the height position accuracy compensation method of the material box, wherein the height position compensation method of the material box 100 includes:

[0091] A100: The moving mechanism 501 drives the material box 100 to move to the processing position and controls the lifting mechanism 20 to move to the specified layer.

[0092] The mobile mechanism 50 is an AGV cart. The mobile mechanism 50 moves automatically according to the planned route, transports the material box 100 to the work station and locks the position of the mobile mechanism 50. The lifting mechanism 20 supports the material box 100 to move in the vertical direction, moves the material box 100 to the designated layer for loading and unloading, prepares for loading and unloading, and the position of the mobile mechanism 50 is released after loading and unloading are completed.

[0093] A200 : The detection component 40 identifies the positioning mark of the circuit board processing equipment 60 , and obtains the height position deviation of the material box 100 relative to the circuit board processing equipment 60 .

[0094] The detection component 40 is a visual detection device, which takes a photo of the positioning mark of the workstation of the circuit board processing equipment 60, analyzes and processes the position information of the visual detection device relative to the circuit board processing equipment 60 at this time through visual software, and calculates the position deviation value between the visual detection device and the positioning mark on the workstation, which is then converted into a position deviation value of the material box 100 relative to the workstation, and the calculated position deviation value is provided to the controller of the lifting mechanism 20.

[0095] A300: The controller receives the deviation value and controls the lifting mechanism 20 to move up and down along the frame 70 for compensation. After compensation, the secondary deviation value is identified again to determine whether it is necessary to move again for compensation. The identification and movement are repeated until the compensation is in place.

[0096] After the height position of the material box 100 is compensated, the horizontal position of the material box 100 can be compensated. The compensation method of the horizontal position is as described above and will not be repeated here. The order of the two can be set according to the program. If there is no deviation in the vertical direction of the material box 100, there is no need to compensate the height position of the material box.

[0097] A400: Load or unload the materials in the material box 100. After loading or unloading, the moving mechanism moves to the next station to repeat the above steps.

[0098] Specifically, the lifting mechanism 20 moves the material box 100 according to the instructions of the PLC controller, and the AGV is in the parking state at this time. The lifting mechanism 20 drives the material box 100 to lift and lower according to the instructions. At this time, the transfer platform 30 is in a locked state. After the lifting mechanism 20 performs the secondary positioning compensation, the visual inspection takes pictures again to determine whether the compensation is in place. If the compensation is not in place, continue to repeat the above-mentioned movement compensation instructions until the compensation is completed; otherwise, the compensation signal of the material box 100 is fed back to the PLC controller, and the PLC controller controls the motor valve of the lifting mechanism 20 to open and lock, and the PLC controller interacts with the central control to load or unload the material. When the material box 100 is compensated for the vertical position, the AGV is in the parking state, the transfer platform 30 is in a locked state, and only one part of the lifting mechanism 20 can move. When the positioning compensation is completed, the lifting mechanism 20 is controlled to lock and the material box 100 is transported. If the horizontal position needs to be compensated, the transfer platform 30 is opened to compensate the horizontal position of the material box 100.

[0099] By arranging a horizontally movable transfer platform on the lifting platform of the feeding device, and using a servo electric cylinder to drive the platform equipped with a linear guide to do horizontal reciprocating motion, multi-position and high-precision positioning compensation is achieved.

[0100] And by setting a detection component on the lifting component of the feeding device, it is used to calibrate the position deviation between the actual point reached by the AGV and the corresponding loading and unloading point, obtain the position deviation value, and instruct the transfer platform or lifting mechanism to perform secondary positioning compensation, so as to solve the problem of upper and lower sheet materials getting stuck due to insufficient positioning accuracy of the AGV; improve the compatibility of the AGV with the differences in ground friction coefficients in different areas, thereby reducing ground construction requirements and costs; improve the positioning accuracy of loading and unloading, reduce the equipment failure rate and reduce manual participation; reduce the equipment downtime rate, thereby improving the equipment utilization rate and production efficiency; reduce the scrap rate of sheet materials and improve the overall yield rate of sheet materials.

[0101] In the above embodiments, the description of each embodiment has its own emphasis. For parts that are not described in detail in a certain embodiment, reference can be made to the relevant descriptions of other embodiments.

[0102] The feeding device and the positioning compensation method of the feeding device provided in the embodiments of the present application are introduced in detail above, and the principles and implementation methods of the present application are explained by using specific examples. The description of the above embodiments is only used to help understand the technical scheme and core idea of ​​the present application; ordinary technicians in this field should understand that: they can still modify the technical schemes recorded in the aforementioned embodiments, or replace some of the technical features therein with equivalents; and these modifications or replacements do not make the essence of the corresponding technical scheme deviate from the scope of the technical scheme of the embodiments of the present application.

Claims

1. A feeding device, characterized in that: include: Material box, used to stack multiple materials; A lifting mechanism, used to drive the material box to rise or fall, the lifting mechanism includes a support member that can move up and down and is used to support the material box, and the support member is provided with a transfer platform that can slide horizontally; A moving mechanism, used for driving the lifting mechanism and the material box to move; A detection component is fixed to the transfer platform and is used to detect the position deviation of the moving position of the material box relative to the theoretical position in the horizontal and / or vertical direction, and to move the transfer platform and / or the lifting mechanism according to the position deviation to compensate for the position of the material box.

2. The feeding device according to claim 1, characterized in that: A positioning assembly is provided on the surface of the transfer platform for fixing the material box at a specific position of the transfer platform.

3. The feeding device according to claim 1, characterized in that: The detection component includes a camera and a light source, wherein the camera and the light source are fixed to a bracket, and the bracket is fixed to a side of the transfer platform to keep the positions of the camera and the material box relatively fixed.

4. The feeding device according to claim 1, characterized in that: A linear guide rail is disposed on the support member, and a slider which is slidably connected to the linear guide rail is disposed on the lower end surface of the transfer platform. The slider can slide back and forth horizontally along the linear guide rail in a first direction.

5. The feeding device according to claim 4, characterized in that: The transfer platform is provided with a driving assembly, and the driving assembly is used to drive the transfer platform to reciprocate along a first direction.

6. The feeding device according to claim 2, characterized in that: The positioning assembly comprises a wear-resistant rubber plate, a positioning member located on the wear-resistant rubber plate, and a position detection member.

7. The feeding device according to claim 1, characterized in that: It also includes a frame, on which at least one pair of slide rails are arranged, and the lifting mechanism includes a lifting slide plate, on which at least one pair of sliders corresponding to and slidably connected with the slide rails are arranged.

8. The feeding device according to claim 7, characterized in that: The lifting slide plate is provided with a detection installation position, which can be used to install the detection component.

9. The feeding device according to any one of claims 1 to 8, characterized in that: The moving mechanism moves the material box to the loading and unloading station of the circuit board processing equipment, and is used to transfer materials between the material box and the circuit board processing equipment.

10. The feeding device according to claim 9, characterized in that: The circuit board processing equipment is provided with a positioning mark, and the camera is used to photograph the positioning mark to obtain the position deviation between the material box and the circuit board processing equipment.

11. The feeding device according to claim 1, characterized in that: It also includes a controller, which is used to receive deviation data and issue a control instruction to move or fix the transfer platform or the lifting mechanism according to the deviation data, and issue a control instruction for loading or unloading after position compensation is completed.

12. A positioning compensation method for a feeding device, characterized in that: The feeding device comprises a moving mechanism, a lifting mechanism, a transfer platform, a detection component and a controller. The positioning compensation method of the feeding device comprises the following steps: The moving mechanism drives the material box to move to the processing position and controls the lifting mechanism to lift to the specified layer of the material box; The detection component identifies the positioning mark of the circuit board processing equipment and obtains the horizontal deviation value of the material box; The controller receives the deviation value and controls the movement compensation of the transfer platform. After compensation, the detection component recognizes and obtains the secondary deviation value again to determine whether it needs to move and compensate again. Repeated recognition and movement are performed until the compensation is in place. The materials in the material box are loaded or unloaded. After loading and unloading, the moving mechanism moves to the next processing position and repeats the above steps.

13. The positioning compensation method for a feeding device according to claim 12, characterized in that: The moving mechanism is locked in position after it moves to the processing position, and is released after loading and unloading are completed.

14. The positioning compensation method for a feeding device according to claim 12, characterized in that: The detection component obtains the horizontal deviation value of the material box including: a visual camera takes a picture of the positioning mark, and calculates the position information of the material box and the deviation value of the material box.

15. The positioning compensation method for a feeding device according to claim 12, characterized in that: After the material box position is compensated to the right position, the transfer platform is locked and a signal for loading or unloading is released.

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