PCB conveying device, feeding and discharging system, PCB processing equipment and material conveying method

Abstract

The invention discloses a PCB conveying device, a feeding and discharging system, PCB machining equipment and a material conveying method. The PCB conveying device comprises a supporting module, a material storage module and a driving module. The material storage module comprises a material bin and a guide piece, the material bin is arranged on the supporting module and used for containing materials, and the guide piece is movably connected with the material bin; the driving module is connected to the supporting module, and the driving module can drive the guiding piece to reciprocate in the first direction so that the guiding piece can move into or out of the stock bin. When the materials in the stock bin need to be moved to the target device, the guiding piece is driven to be close to the target station so as to reduce the distance between the guiding piece and the target station, so that the guiding piece can stably play a guiding role in the movement process of the materials in the process that the materials are moved to the target device from the stock bin, and the problem that the feeding position of the materials deviates is effectively avoided.

Description

Technical Field

[0001] The present invention relates to the technical field of PCB processing, and particularly to a PCB conveying device, a loading and unloading system, a PCB processing equipment and a material conveying method. Background Art

[0002] In order to pre-fix multiple materials such as PCBs (Printed Circuit Boards), positioning pins are usually used to penetrate multiple stacked materials so as to connect these materials together. Subsequently, when transferring these pre-fixed materials to a processing table, the materials can be placed in a magazine, and the magazine can be transferred to achieve the transfer.

[0003] Among them, the magazine has a frame, a support plate and a guide member. The support plate and the guide member are spaced apart on the frame. The support plate is used for placing materials, and the guide member is provided with a guide groove. When the material is placed on the support plate, the material is located between the support plate and the guide member, and the positioning pin on the material is located in the guide groove.

[0004] When putting the material into the magazine, the material can be pushed onto the support plate along the length direction of the guide groove. During this process, the material can be guided through the guide groove. When removing the material from the magazine, the material can be pushed out of the magazine along the length direction of the guide groove. During this process, the material can also be guided through the guide groove.

[0005] However, in actual use, when transferring the magazine to a predetermined position by an AGV cart or the like, there is still a certain gap between the guide member and the material placement platform of the processing device. When the positioning pin moves into this gap, it cannot be limited and guided, easily resulting in an offset of the loading position. Summary of the Invention

[0006] Embodiments of the present invention provide a PCB conveying device, a loading and unloading system, a PCB processing equipment and a material conveying method, aiming to solve the problem in the prior art that there is still a certain gap between the guide member and the material placement platform of the processing device. When the positioning pin moves into this gap, it cannot be limited and guided, easily resulting in an offset of the loading position.

[0007] Embodiments of the present invention provide a PCB conveying device, including a support module, a material storage module and a driving module; the material storage module includes a magazine and a guide member. The magazine is arranged on the support module and is used for placing materials. The guide member is movably connected to the magazine; the driving module is connected to the support module, and the driving module can drive the guide member to reciprocate in a first direction so that the guide member can move into or out of the magazine.

[0008] Optionally, the support module includes a support component, a lifting drive component, and a lifting platform; the drive module, the lifting drive component, and the lifting platform are all disposed on the support component, and the lifting drive component is connected to the lifting platform; the silo is placed on the lifting platform; the lifting drive component can drive the lifting platform to reciprocate in the second direction to adjust the position of the silo in the second direction; the second direction intersects the first direction.

[0009] Optionally, a first positioning member is provided on the lifting platform, and a second positioning member is provided on the silo; the first positioning member can cooperate with the second positioning member to define the placement position of the silo on the lifting platform.

[0010] Optionally, a limiting plate is provided on the lifting platform, and the limiting plate is used to define the placement position of the silo on the lifting platform.

[0011] Optionally, the drive module includes a first drive component, a second drive component, and a pushing member; the first drive component is connected to the support module, the second drive component is connected to the first drive component, and the pushing member is connected to the second drive component; the first drive component is used to drive the pushing member to reciprocate in the second direction so that the pushing member can be aligned with the guiding member or the material placed in the silo; the second drive component is used to drive the pushing member to reciprocate in the first direction to push the guiding member or the material to move in the first direction; the second direction intersects the first direction.

[0012] Optionally, the drive module further includes a third drive component, the third drive component is connected to the second drive component, and the pushing member is connected to the third drive component; the third drive component is used to drive the pushing member to rotate around a first axis so that the pushing member can be moved into or out of the silo; wherein, the first axis is parallel to the second direction.

[0013] Optionally, there are a plurality of the third drive components and the pushing members; each of the third drive components is arranged at intervals in the first direction; the third drive components and the pushing members are correspondingly connected; the third drive component is used to drive the corresponding pushing member to rotate around the first axis.

[0014] Optionally, the bin includes a first bin frame, a second bin frame, a bin frame connecting member, and a support plate; in a third direction, the first bin frame and the second bin frame are spaced apart; the bin frame connecting member connects the first bin frame and the second bin frame; both the support plate and the guiding member are located between the first bin frame and the second bin frame; the support plate connects to at least one of the first bin frame, the second bin frame, and the bin frame connecting member, and is used for placing materials; the guiding member connects to at least one of the first bin frame, the second bin frame, and the bin frame connecting member, and is spaced apart from the support plate in a second direction; the first direction, the second direction, and the third direction intersect pairwise.

[0015] Optionally, the bin further includes a guiding rod, and the guiding rod is connected to the bin frame connecting member; the guiding member includes a plate body and a slider; the plate body is used for guiding the movement of the material in the first direction; the slider connects the guiding rod and the guiding member, and the slider can slide relative to the guiding rod in the first direction to drive the plate body to slide relative to the guiding rod in the first direction.

[0016] Optionally, the storage module further includes a support plate; the support plate is connected to the bin and is spaced apart from the guiding member in a second direction; one side of the support plate close to the guiding member is used for carrying the material provided with a positioning member; the guiding member is provided with a guiding structure, and the guiding structure is used for limiting the positioning member to guide the movement of the material in the first direction; wherein, the first direction and the second direction intersect.

[0017] Optionally, the guiding structure is a guiding groove, the length direction of the guiding groove is the first direction, and the guiding groove penetrates through the guiding member along the first direction.

[0018] Optionally, the storage module further includes a floating unit, one end of the floating unit is connected to the bin, and the other end is connected to the guiding member, so that the guiding member can move in a direction close to or away from the support plate.

[0019] Optionally, the floating unit includes a first floating connecting member and a floating elastic member; the first floating connecting member is connected to the bin, the floating elastic member is arranged between the guiding member and the first floating connecting member, and when the guiding member moves in a direction close to or away from the support plate, the floating elastic member can be released or compressed.

[0020] Optionally, the bin includes a frame body and guide rods, and the guide rods are connected to the frame body; the guide member includes a plate body and a slider; the plate body is used to guide the movement of the material in the first direction; the slider is movably connected to the guide rod and is connected to the plate body. The slider can slide relative to the guide rod in the first direction to drive the plate body to slide.

[0021] Optionally, the stock storage module further includes a limit block and a limit elastic member; both the limit block and the limit elastic member are connected to the slider. One end of the limit block abuts against the guide rod, and the other end abuts against the limit elastic member; the limit elastic member can apply an elastic force to the limit block to press the limit block against the guide rod.

[0022] Optionally, a guide hole is provided on the slider. The guide hole penetrates the slider in the first direction, and the guide rod is inserted into the guide hole; an arc surface is provided at one end of the limit block facing the guide rod, and the arc surface fits with the guide rod.

[0023] Optionally, the slider includes a sliding body and a limit baffle; the guide hole is provided on the sliding body; a receiving hole is provided on the outer surface of the sliding body and extends to communicate with the guide hole; the limit baffle is connected to the sliding body and is opposite to the receiving hole; both the limit block and the limit elastic member are located in the receiving hole, and the limit elastic member is compressed between the limit baffle and the limit block.

[0024] Optionally, the stock storage module further includes a pressing plate assembly and a supporting plate assembly; both the pressing plate assembly and the supporting plate assembly are connected to the bin; in the second direction, the pressing plate assembly and the supporting plate assembly respectively abut against both sides of the guide member; the second direction intersects with the first direction.

[0025] Optionally, the pressing plate assembly includes a pressing wheel connecting member, a pressing wheel, and a pressing plate elastic member; the pressing wheel connecting member is connected to the connecting unit and can move relative to the connecting unit in the arrangement direction of the second; the pressing wheel is connected to the pressing wheel connecting member and can rotate relative to the pressing wheel connecting member about its own axis; the pressing plate elastic member is arranged between the connecting unit and the pressing wheel connecting member and applies an elastic force towards the guide member to the pressing wheel connecting member, so that the pressing wheel abuts against the guide member; the first direction, the second direction, and the extending direction of the axis of the pressing wheel intersect pairwise.

[0026] Optionally, the supporting plate assembly includes a supporting wheel connecting member and a supporting wheel, and the supporting wheel connecting member is connected to the connecting unit; the supporting wheel is connected to the supporting wheel connecting member and can rotate relative to the supporting wheel connecting member about its own axis; the supporting wheel abuts against the guide member.

[0027] Optionally, the silo has a discharge end, and when the guiding member moves along the first direction, it can move out of the silo from the discharge end; the pallet assembly is located at the discharge end of the silo.

[0028] Optionally, the PCB conveying device further includes a walking module, and the walking module is connected to the support module for driving the support module to move so as to drive the silo to move.

[0029] The present invention also provides a loading and unloading system, including a buffer device and the PCB conveying device according to any one of the above, and the PCB conveying device can exchange materials with the buffer device.

[0030] The present invention also provides a PCB processing device, the PCB processing device includes a device body and the PCB conveying device according to any one of the above, and the PCB conveying device can exchange materials with the device body; or, the PCB processing device includes a device body and the loading and unloading system as described above, and the buffer device can exchange materials with the device body.

[0031] The present invention also provides a material conveying method, which is applied to the PCB conveying device according to any one of the above, and includes the following steps: driving the guiding member to move so that the guiding member reaches the loading position; driving the material to move along the guiding member so that the material moves out of the silo.

[0032] Optionally, after the step of driving the material to move along the guiding member so that the material moves out of the silo, it further includes: driving the guiding member to retract and align with the material; driving the guiding member to move to push the material away from the silo.

[0033] Optionally, the driving module includes a pushing member, and the guiding member is provided with a pushing block; the number of the pushing members is one, and the step of driving the guiding member to move so that the guiding member reaches the loading position is specifically: driving the pushing member to push the pushing block to move so as to drive the guiding member to move; the step of driving the guiding member to retract is specifically: driving the pushing member to push the pushing block to move in the reverse direction so that the guiding member retracts; or, the number of the pushing members is two, which are a first pushing member and a second pushing member respectively, and the step of driving the guiding member to move so that the guiding member reaches the loading position is specifically: driving the first pushing member to push the pushing block to move so as to drive the guiding member to move; the step of driving the guiding member to retract is specifically: driving the second pushing member to push the pushing block to move in the reverse direction so that the guiding member retracts.

[0034] Optionally, the driving module includes a pusher. The step of driving the material to move along the guiding member so as to move the material out of the bin specifically includes: driving the pusher to move along a second direction to align with the material; driving the pusher to move along a first direction to move the material out of the bin, where the first direction intersects with the second direction.

[0035] Optionally, after the step of driving the pusher to move along the first direction to move the material out of the bin, the driving module further includes: driving the pusher to rotate to push the material away from the bin.

[0036] In the PCB conveying device, loading and unloading system, PCB processing equipment and material conveying method provided by the embodiments of the present invention, when it is necessary to move the material in the bin to the target station of the target device (the target station can be a material placement platform, etc.), first move the bin to a suitable position. At this time, the guiding member is spaced apart from the target station by a certain distance; then, use the driving module to drive the guiding member to move along the first direction, so that the guiding member moves out of the bin and approaches the target station, thereby reducing the distance between the guiding member and the target station; then, drive the material in the bin to move along the first direction to make it approach and move to the target station. Since the distance between the guiding member and the target station is reduced by driving the guiding member to approach the target station, during the process of moving the material from the bin to the target station, the guiding member can stably guide the movement process of the material, thus effectively avoiding the problem of the feeding position deviation of the material. Description of the Drawings

[0037] In order to more clearly illustrate the technical solutions of the embodiments of the present invention, the following will briefly introduce the drawings required for the description of the embodiments of the present invention. Obviously, the following drawings are only some embodiments of the present invention. For those of ordinary skill in the art, without creative efforts, other drawings can also be obtained based on these drawings.

[0038] Figure 1 is a schematic structural diagram of a PCB conveying device provided by an embodiment of the present invention; Figure 2 is a schematic structural diagram of the support module of the PCB conveying device provided by an embodiment of the present invention; Figure 3 is Figure 2 an enlarged view of area A in Figure 4 is Figure 2 an enlarged view of area B in Figure 5 is a schematic structural diagram of the storage module of the PCB conveying device provided by an embodiment of the present invention; Figure 6 isFigure 5 Enlarged view of area C; Figure 7 It is a schematic diagram of the frame of the storage bin of the storage module provided by an embodiment of the present invention; Figure 1 ; Figure 8 It is a schematic diagram of the frame of the storage bin of the storage module provided by an embodiment of the present invention; Figure 2 ; Figure 9 It is a schematic structural diagram of the guiding member of the storage module provided by an embodiment of the present invention; Figure 10 It is a partially enlarged view of the guiding member of the storage module provided by an embodiment of the present invention; Figure 11 It is a sectional view of the limiting unit of the guiding member provided by an embodiment of the present invention; Figure 12 It is a sectional view of the floating unit of the guiding member provided by an embodiment of the present invention; Figure 13 It is a sectional view of the pressing plate assembly of the guiding member provided by an embodiment of the present invention; Figure 14 It is a sectional view of the second pressing plate unit of the guiding member provided by an embodiment of the present invention; Figure 15 It is a schematic diagram of the loading and unloading system provided by an embodiment of the present invention; Figure 16 It is a partial schematic diagram of the PCB processing equipment provided by an embodiment of the present invention; Figure 17 It is a schematic flow diagram of the material conveying method provided by an embodiment of the present invention.

[0039] Reference numerals in the specification: 10, PCB conveying device; 1, support module; 11, support assembly; 111, receiving groove; 12, lifting drive assembly; 13, lifting platform; 131, weight reduction hole; 14, first positioning member; 141, guiding portion; 142, positioning portion; 15, limiting plate; 151, guiding surface; 2. Stock module; 21. Bin; 211. First bin; 2111. First frame; 2112. Second frame; 2113. Third frame; 2114. Fourth frame; 212. Second bin; 2121. Fifth frame; 2122. Sixth frame; 2123. Seventh frame; 2124. Eighth frame; 213. Bin connector; 2131. First connector; 2132. Second connector; 2133. Third connector; 2134. Fourth connector; 214. Support plate; 2141. First bearing plate; 2142. Second bearing plate; 215. First support; 216. Second support; 217. Third support; 218. Fourth support; 219. Guide rod; 21a. First bin reinforcement; 21b. Second bin reinforcement; 21c. Third bin reinforcement; 21d. Fourth bin reinforcement; 21e. Fifth support; 21f. Sixth support; 22. Guide; 221. Guide structure; 222. Plate body; 2221. First plate; 2222. Second plate; 223. Slide block; 2230. Guide hole; 2231. Sliding body; 2232. Limit baffle; 2233. Accommodation hole; 2234. Mounting hole; 224. Rolling element; 225. Guide; 2251. Guide groove; 2252. First guide plate; 2253. Second guide plate; 226. Buffer; 227. Pusher block; 23. Second positioning member; 24. Limit unit; 241. Limit block; 242. Limit elastic member; 25. Floating unit; 251. First floating connector; 252. Second floating connector; 2521. First connection part; 2522. Second connection part; 2523. Limit part; 253. Floating elastic member; 254. Cover plate; 26. Pressing plate assembly; 261. Pressing wheel connector; 262. Pressing wheel; 263. Pressing plate elastic member; 264. Mounting plate; 2641. Pressing wheel hole; 265. Limiting member; 27. Tray assembly; 271. Carrier wheel 272 connector; 272. Carrier wheel; 3. Driving module; 31. First driving component; 32. Second driving component; 33. Pushing member; 34. Third driving component; 4. Traveling module. Detailed implementation manner

[0040] In order to make the technical problems, technical solutions and beneficial effects solved by the present invention clearer, the present invention will be further described in detail below with reference to 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.

[0041] In the description of the present invention, it should be understood that the orientation or positional relationship indicated by the terms "longitudinal", "radial", "length", "width", "thickness", "upper", "lower", "front", "rear", "left", "right", "vertical", "horizontal", "top", "bottom", "inner", "outer", etc. is based on the orientation or positional relationship shown in the drawings. It is only for the convenience of describing the present invention and simplifying the description, rather than indicating or implying that the device or element referred to must have a specific orientation, be constructed and operated in a specific orientation, and therefore should not be construed as a limitation to the present invention.

[0042] In the description of the present invention, it should be noted that unless otherwise clearly specified and defined, the terms "mounted", "connected", and "coupled" should be understood in a broad sense. For example, it can be a fixed connection, a detachable connection, or an integral connection; it can be a mechanical connection or an electrical connection; it can be directly connected or indirectly connected through an intermediate medium, and it can be the communication inside two elements. For those of ordinary skill in the art, the specific meanings of the above terms in the present invention can be understood according to specific circumstances.

[0043] As Figures 1 to 5 shown, in an embodiment, the PCB conveying device 10 includes a support module 1, a material storage module 2, and a driving module 3; the material storage module 2 includes a bin 21 and a guide member 22; the bin 21 is disposed on the support module 1, and the bin 21 is used for placing materials; the guide member 22 is movably connected to the bin 21, and the guide member 22 can reciprocate relative to the bin 21 in a first direction; the driving module 3 is connected to the support module 1 and can drive the guide member 22 to reciprocate in the first direction so that the guide member 22 moves into or out of the bin 21.

[0044] Among them, in Figure 1 the shown direction, the first direction is parallel to the X axis.

[0045] Initially, the guide member 22 is located inside the bin 21. When it is necessary to move the materials in the bin 21 to the target station of the target device (the target station can be a material placement platform, etc., and it can specifically be a part of the buffer device or the device body described below), first move the bin 21 to a suitable position. At this time, the guide member 22 is spaced a certain distance from the target station; then, use the driving module 3 to drive the guide member 22 to move in the first direction, so that the guide member 22 moves out of the bin 21 and approaches the target station, thereby reducing the distance between the guide member 22 and the target station; then, drive the materials in the bin 21 to move in the first direction again, so that they approach and move to the target station. During this process, the guide member 22 can guide the materials.

[0046] Since the driving guide 22 approaches the target station to reduce the distance therebetween, during the process of the material moving from the magazine 21 to the target station, the guide 22 can stably guide the movement process of the material, thereby effectively avoiding the problem of the feeding position deviation of the material. Wherein, when the distance between the guide 22 and the target station is zero, during the process of the material moving from the magazine 21 to the target station, the material is always guided and limited by the guiding structure 221.

[0047] In one embodiment, the driving module 3 can drive the material to move in the first direction so that the material is removed from the magazine 21. Wherein, the driving module 3 can independently drive the guide 22 to reciprocate in the first direction. During this process, the driving module 3 does not apply force to the material, so that the material can stay in the magazine 21. Moreover, the driving module 3 can also independently drive the material in the magazine 21 to reciprocate in the first direction. During this process, the driving module 3 does not apply force to the guide 22, so that the guide 22 can stay in the current position.

[0048] In addition, a guiding structure 221 is provided on the guide 22, and the guiding structure 221 is used to cooperate with the positioning element on the material to guide the movement of the material in the first direction.

[0049] In addition, the material can be a PCB or the like, and the positioning element can be a pin or the like provided on the PCB. Wherein, in the actual scenario, the material can include multiple PCBs, these PCBs are stacked together and fixed together by pins. Moreover, the pins protrude from at least one of the outermost PCBs to cooperate with the guiding structure.

[0050] As Figure 2 shown, in one embodiment, the support module 1 includes a support assembly 11, a lifting drive assembly 12 and a lifting table 13; the lifting drive assembly 12 is connected to the support assembly 11 and the lifting table 13; the magazine 21 is placed on the lifting table 13; the lifting drive assembly 12 can drive the lifting table 13 to reciprocate in the second direction to adjust the position of the magazine 21 in the second direction; the second direction intersects the first direction. Wherein, the second direction is parallel to the Z axis, and the second direction can be perpendicular to the first direction. In addition, the second direction can be the up-down direction.

[0051] When the height of the magazine 21 (i.e., the position in the second direction) is adjusted, the height of the guide 22 and the material on the magazine 21 will also be adjusted, so that the guide 22 can be docked with target stations of different heights, improving the adaptability of the PCB conveying device 10.

[0052] In one embodiment, the driving module 3 is connected to the supporting component 11 and is spaced from the lifting platform 13 in the second direction; moreover, the driving module 3, the supporting component 11, and the lifting driving component 12 are located on the same side of the lifting platform 13; in addition, during operation, in the second direction, the magazine 21 is placed on the side of the lifting platform 13 close to the driving module 3.

[0053] Among them, the driving module 3 is located above the lifting platform 13, and the magazine 21 can be placed on the upper surface of the lifting platform 13.

[0054] As Figure 2 shown, in one embodiment, the supporting component 11 and the lifting platform 13 are spaced in the third direction, where the first direction and the second direction both intersect the third direction. Further, the third direction is perpendicular to the first direction and the third direction is perpendicular to the second direction. In Figure 1 the shown direction, the third direction is parallel to the Y-axis.

[0055] In one embodiment, the supporting component 11 is generally in a cuboid structure. Of course, the supporting component 11 can also be arranged in other shapes.

[0056] In one embodiment, in the third direction, a receiving groove 111 is provided on the surface of the supporting component 11 close to the lifting platform 13, and the lifting driving component 12 is arranged on the bottom surface of the receiving groove 111. Such an arrangement can protect the lifting driving component 12 through the groove wall of the receiving groove 111 and effectively prevent the lifting driving component 12 from being collided by foreign objects.

[0057] In one embodiment, the lifting driving component 12 includes a rotating motor, a screw rod transmission mechanism, and a guiding mechanism; the rotating motor is connected to the screw rod of the screw rod transmission mechanism, the nut of the screw rod transmission mechanism is connected to the lifting platform 13. When the rotating motor drives the screw rod to rotate, it can drive the nut to move up and down, and then drive the lifting platform 13 to move up and down; the guiding mechanism connects the supporting component 11 and the lifting platform 13 and is used to guide the movement of the lifting platform 13 in the second direction. It should be understood that the screw rod transmission mechanism can also be replaced by a gear rack transmission mechanism, a chain transmission mechanism, or a belt transmission mechanism, etc. Of course, the combination of the rotating motor and the screw rod transmission mechanism, etc. can also be replaced by a linear motor, etc.

[0058] As Figure 2 shown, in one embodiment, the lifting platform 13 is provided with a weight reduction hole 131 to reduce the weight of the lifting platform 13.

[0059] Among them, the weight-reducing holes 131 can be provided on the upper surface of the lifting table 13 and can penetrate the lifting table 13. Moreover, the number of the weight-reducing holes 131 can be multiple, and the weight-reducing holes 131 are arranged at intervals, so that the weight of the lifting table 13 can be further reduced while ensuring the supporting effect of the lifting table 13 on the silo 21.

[0060] "Multiple" means greater than or equal to two. The meaning of the word "multiple" is the same in each embodiment and will not be repeated hereinafter.

[0061] As Figure 2 shown, in one embodiment, a first positioning member 14 is provided on the lifting table 13, and a second positioning member 23 is provided on the silo 21; the first positioning member 14 can cooperate with the second positioning member 23 to limit the placement position of the silo 21 on the lifting table 13. Such a setting can make the silo 21 placed more accurately on the lifting table 13, which is beneficial to improving the docking accuracy between the guiding member 22 and the target working station.

[0062] In one embodiment, the first positioning member 14 is a positioning post, and a positioning hole is provided on the second positioning member 23. When the silo 21 is placed on the lifting table 13, the positioning post can be inserted into the positioning hole, thereby realizing the positioning of the silo 21.

[0063] In addition, the silo 21 placed on the lifting table 13 is actually placed on the upper surface of the lifting table 13. The first positioning member 14 protrudes from the lifting table 13 in the direction from bottom to top.

[0064] As Figure 3 shown, in one embodiment, along the direction from top to bottom, the first positioning member 14 includes a guiding portion 141 and a positioning portion 142 connected in sequence. Among them, along the direction from top to bottom, the size of the guiding portion 141 gradually increases, which is convenient for the positioning pin to enter the positioning hole. The positioning portion 142 is used to cooperate with the positioning hole to realize the positioning of the silo 21.

[0065] Among them, the cross-section of the guiding portion 141 is circular, and it can be a frustum structure or a conical structure. The positioning portion 142 is a cylindrical structure. The guiding portion 141 and the positioning portion 142 are coaxially arranged, and the maximum diameter of the guiding portion 141 can be equal to the diameter of the positioning portion 142. Moreover, the guiding portion 141 is the top end of the positioning member.

[0066] In one embodiment, the number of the first positioning members 14 can be one or multiple. In addition, in the third direction, the first positioning member 14 can be located between the lifting table 13 and the supporting component.

[0067] As Figure 2 and Figure 4As shown, in one embodiment, a limit plate 15 is provided on the lifting platform 13, and the limit plate 15 is also used to limit the placement position of the silo 21 on the lifting platform 13. The setting of the limit plate 15 can facilitate the cooperation between the first positioning member 14 and the second positioning member 23.

[0068] In one embodiment, the silo 21 can be placed on the lifting platform 13 from top to bottom. At this time, the limiting plate 15 can guide and limit the silo 21 moving from top to bottom, so as to place it at a suitable position on the lifting platform 13.

[0069] like Figure 2 As shown, in the third direction, the limit plate 15 is arranged on the side of the lifting platform 13 away from the support assembly 11, and is used to guide the silo 21 to move toward the support assembly 11. The side of the limit plate 15 close to the lifting assembly has a guide surface 151 (refer to Figure 4 ), along the direction from top to bottom, the guide surface 151 gradually approaches the support assembly 11, and the guide surface 151 can be extended upward to intersect with the top surface of the limiting plate 15. In addition, the guide surface 151 can be a plane or an arc surface.

[0070] In one embodiment, there are multiple limit plates 15. In the third direction, each limit plate 15 is located on the side of the lifting platform 13 away from the support assembly 11. In addition, each limit plate 15 is arranged at intervals along the first direction.

[0071] like Figure 2 As shown, in one embodiment, the driving module 3 includes a first driving component 31, a second driving component 32 and a pushing member 33; the first driving component 31 is used to drive the pushing member 33 to reciprocate along the second direction, so that the pushing member 33 is aligned with the guide member 22 or the material placed in the silo 21; the second driving component 32 is used to drive the pushing member 33 to reciprocate along the first direction to push the guide member 22 or the material aligned therewith to move along the first direction. In this embodiment, the material in the silo 21 is pushed to the target station by the pushing member 33, which is convenient for applying force to the material, and can make the structure of the driving module 3 simpler, facilitate the production and assembly of the driving module 3, and reduce costs.

[0072] When the pusher 33 is aligned with the guide member 22, if the pusher 33 is driven to move in the first direction, the pusher 33 can contact the guide member 22 and push the guide member 22 to move in the first direction. When the pusher 33 is aligned with the material, if the pusher 33 is driven to move in the first direction, the pusher 33 can contact the material and push the guide member 22 to move in the first direction.

[0073] Specifically, when the pusher 33 is aligned with the guide 22, in the orthographic projection on a plane perpendicular to the first direction, at least a part of the projection of the pusher 33 overlaps with the projection of the aligned guide 22.

[0074] When the pusher 33 is aligned with the material, in the orthographic projection on a plane perpendicular to the first direction, at least a part of the projection of the pusher 33 overlaps with the projection of the aligned material.

[0075] In addition, the structure of any one of the first drive assembly 31 and the second drive assembly 32 can be the same as that of the lifting drive assembly 12 described above.

[0076] In one embodiment, the first drive assembly 31 can be connected to the support module 1 (specifically, it can be connected to the support assembly 11), the second drive assembly 32 is connected to the first drive assembly 31, and the pusher 33 is connected to the second drive assembly 32. That is, the second drive assembly 32 is connected to the support assembly 11 through the first drive assembly 31, and the pusher 33 is connected to the first drive assembly 31 through the second drive assembly 32. In this embodiment, the drive module 3 is installed on the support module 1, so that there is no need to set a cantilever structure for installing the drive module 3 on the silo 21, thereby greatly reducing the probability of deformation of the silo 21 and avoiding rubbing with the pusher 33 and the like due to the deformation of the silo 21. Of course, in other embodiments, it can also be that the first drive assembly 31 is connected to the support module 1 (specifically, it can be connected to the support assembly 11) through the second drive assembly 32. At this time, the second drive assembly 32 can be connected to the support assembly 11, the first drive assembly 31 is connected to the second drive assembly 32, and the pusher 33 is connected to the first drive assembly 31.

[0077] In one embodiment, the pusher 33 can be a rod-shaped object, which can be a cuboid structure or a cylinder structure, etc. Of course, the pusher 33 can also be a structure of other shapes, and this embodiment does not limit it too much here.

[0078] As Figure 2 shown, in one embodiment, the drive module 3 further includes a third drive assembly 34, and the third drive assembly 34 is used to drive the pusher 33 to rotate around the first axis, so that the pusher 33 can move into or out of the silo 21; wherein, the first axis is parallel to the second direction. When placing the silo 21 on the support module 1, the third drive assembly 34 can be used to drive the pusher 33 to rotate, so as to stagger the pusher 33 from the silo 21 and avoid interference with the silo 21; after the silo 21 is placed on the support module 1, the third drive assembly 34 can be used to drive the pusher 33 to rotate, so as to make the pusher 33 extend into the silo 21 to push the guide 22 and the material.

[0079] The third driving assembly 34 may include a rotary motor or a rotary cylinder, etc., so as to drive the pusher 33 to rotate around the first axis.

[0080] In addition, when the second drive assembly 32 is connected to the support assembly 11 through the first drive assembly 31, the third drive assembly 34 is connected to the second drive assembly 32, and the pusher 33 is connected to the third drive assembly 34, that is, the pusher 33 is connected to the second drive assembly 32 through the third drive assembly 34. When the first drive assembly 31 is connected to the support assembly 11 through the second drive assembly 32, the third drive assembly 34 is connected to the first drive assembly 31, and the pusher 33 is connected to the third drive assembly 34, that is, the pusher 33 is connected to the first drive assembly 31 through the third drive assembly 34.

[0081] In addition, the third driving component 34 can be connected to one end of the pushing member 33. When the third driving component 34 drives the pushing member 33 to rotate in the forward direction around the first axis, the other end of the pushing member 33 can be rotated into the silo 21. At this time, the pushing member 33 is driven to move in the first direction, so that the pushing member 33 can be used to push the guide member 22 or the material to move in the first direction. When the third driving component 34 drives the pushing member 33 to rotate in the reverse direction around the first axis, the other end of the pushing member 33 can be rotated outside the silo 21. At this time, the pushing member 33 is staggered with the silo 21 placed on the lifting platform 13. When the pushing member 33 is driven to move in the first direction, the pushing member 33 will not collide with the silo 21.

[0082] In one embodiment, a rotating wheel is connected to one end of the pusher 33 away from the third drive assembly 34 (i.e., the other end of the pusher 33 mentioned above), and the rotating wheel can rotate relative to the pusher 33 around its own axis, wherein the axis of the rotating wheel can be parallel to the first axis. In addition, in the circumferential direction of the pusher 33 rotating around the first axis, at least one side of the rotating wheel can protrude from the pusher 33. In actual work, when the pusher 33 rotates around the first axis, the end thereof away from the third drive assembly 34 may collide with and conflict with other objects (such as materials or guide members 22, etc.). In this embodiment, by setting the rotating wheel, it is possible to avoid that the end of the pusher 33 away from the third drive assembly 34 directly contacts the other object, and at this time, the rotating wheel conflicts with the other object. Since the rotating wheel can rotate around its own axis, when the rotating wheel conflicts with the other object, if the pusher 33 continues to rotate around the first axis, the rotating wheel will rotate relative to the pusher 33 and the object it conflicts with, thereby reducing the friction force on the object it conflicts with.

[0083] In one embodiment, in the direction from the end of the pushing member 33 connected to the third driving assembly 34 to the end of the pushing member 33 away from the third driving assembly 34 , the rotating wheel may also be a protruding rolling member 224 .

[0084] In one embodiment, the first driving component 31 is connected to the second driving component 32, the third driving component 34 is connected to the second driving component 32, and the pushing member 33 is connected to the third driving component 34; the first driving component 31 can drive the second driving component 32, the third driving component 34, and the pushing member to move synchronously in the second direction; the second driving component 32 can drive the third driving component 34 and the pushing member to move synchronously in the first direction.

[0085] In one embodiment, there are multiple third driving components 34 and pushing members 33; the third driving components 34 are arranged at intervals in the first direction; the third driving components 34 and the pushing members 33 are correspondingly connected; the third driving component 34 is used to drive the corresponding pushing member 33 to rotate around the first axis. Figure 2 In the illustrated example, there are two third driving components 34 and two pushing members 33.

[0086] During operation, each pushing member 33 can be used to push the material or the guiding member 22 in sequence, which can reduce the maximum driving stroke of the second driving component 32 and is beneficial to the miniaturized design of the driving module 3.

[0087] Taking the number of the third driving component 34 and the pushing member 33 being two as an example, define these two pushing members 33 as the first pushing member 33 and the second pushing member 33 respectively. During operation, the first pushing member 33 and the second pushing member 33 can be first driven to move to the initial position in the first direction, and at this time, both are outside the material bin 21; then drive the first pushing member 33 to rotate into the material bin 21 to align with the material; then, drive the first pushing member 33 to move in the first direction so as to push the material to move in the first direction through the first pushing member 33, and ensure that the moving distance of the material is greater than or equal to the distance between the first pushing member 33 and the second pushing member 33 in the first direction; then, drive the first pushing member 33 and the second pushing member 33 to move to the initial position in the first direction again; then, drive the first pushing member 33 to rotate out of the material bin 21, and drive the second pushing member 33 to rotate into the material bin 21 to align with the material; then, drive the second pushing member 33 to move in the first direction so as to continue to push the material to move in the first direction through the second pushing member 33.

[0088] In addition, when the number of both the third driving component 34 and the pushing member 33 is two, it can also be that one pushing member 33 is used to push the guiding member 22 out of the material bin 21, and the other pushing member 33 is used to push the guiding member 22 into the material bin 21.

[0089] In other embodiments, the number of both the third driving component 34 and the pushing member 33 can also be one. At this time, this pushing member 33 is both used to push the guiding member 22 out of the material bin 21 and used to push the guiding member 22 into the material bin 21.

[0090] As shown in the figureFigures 5 to 7 As shown, in one embodiment, the bin 21 includes a first bin frame 211, a second bin frame 212, a bin frame connector 213, and a support plate 214; in the third direction, the first bin frame 211 and the second bin frame 212 are spaced apart; the bin frame connector 213 connects the first bin frame 211 and the second bin frame 212; both the support plate 214 and the guide member 22 are located between the first bin frame 211 and the second bin frame 212; the support plate 214 is connected to at least one of the first bin frame 211, the second bin frame 212, and the bin frame connector 213 and is used for placing materials; the guide member 22 is connected to at least one of the first bin frame 211, the second bin frame 212, and the bin frame connector 213 and is spaced apart from the support plate 214 in the second direction. This can make the structure of the bin 21 simpler.

[0091] Among them, the materials placed in the bin 21 are actually placed on the support plate 214, and the side of the support plate 214 close to the guide member 22 is used to carry the materials provided with positioning members, that is, when the materials are placed in the bin, they are located between the support plate 214 and the guide member 22.

[0092] The movement of the materials and the guide member 22 into the bin 21 means that both move between the first bin frame 211 and the second bin frame 212, and the movement of the materials and the guide member 22 out of the bin 21 means that both move out of the gap between the first bin frame 211 and the second bin frame 212.

[0093] In addition, the movement of the pusher 33 into the bin 21 can mean that it moves into the space between the first bin frame 211 and the second bin frame 212 from the window of the first bin frame 211 or the second bin frame 212. Among them, the window of the first bin frame 211 penetrates the first bin frame 211 along the third direction, and the window of the second bin frame 212 penetrates the second bin frame 212 along the third direction.

[0094] For example, as Figure 7 shown, in one embodiment, the first bin frame 211 is a rectangular frame, which includes a first side frame 2111, a second side frame 2112, a third side frame 2113, and a fourth side frame 2114 connected in sequence. Among them, both ends of the first side frame 2111 are connected to the second side frame 2112 and the fourth side frame 2114 respectively, both ends of the third side frame 2113 are connected to the second side frame 2112 and the fourth side frame 2114 respectively, the first side frame 2111 and the third side frame 2113 are spaced apart, and the second side frame 2112 and the fourth side frame 2114 are spaced apart. At this time, the annular hole (rectangular hole) formed by the enclosure of the first side frame 2111, the second side frame 2112, the third side frame 2113, and the fourth side frame 2114 is the window of the first bin frame 211.

[0095] In addition, the first border 2111 is located above the third border 2113, and the second border 2112 and the fourth border 2114 are spaced apart along the first direction. Moreover, when the first direction is the front-rear direction, the second border 2112 is located in front of the fourth border 2114.

[0096] As Figure 7 shown, in one embodiment, the second material frame 212 is a rectangular frame, which includes a fifth border 2121, a sixth border 2122, a seventh border 2123, and an eighth border 2124 connected in sequence. Among them, the two ends of the fifth border 2121 are respectively connected to the sixth border 2122 and the eighth border 2124, the two ends of the seventh border 2123 are respectively connected to the sixth border 2122 and the eighth border 2124, the fifth border 2121 and the seventh border 2123 are spaced apart, and the sixth border 2122 and the eighth border 2124 are spaced apart. At this time, the annular hole (rectangular hole) formed by the enclosure of the fifth border 2121, the sixth border 2122, the seventh border 2123, and the eighth border 2124 is the window of the first material frame 211.

[0097] In addition, the fifth border 2121 is located above the seventh border 2123, and the sixth border 2122 and the eighth border 2124 are spaced apart along the first direction. Moreover, when the first direction is the front-rear direction, the sixth border 2122 is located in front of the eighth border 2124.

[0098] In one embodiment, the number of the material frame connectors 213 is multiple, and the material frame connectors 213 are spaced apart from each other to improve the stability of the material frame.

[0099] When both the first material frame 211 and the second material frame 212 are rectangular frames, the number of the material frame connectors 213 can be four, namely the first connector 2131, the second connector 2132, the third connector 2133, and the fourth connector 2134. Among them, the two ends of the first connector 2131 are connected to the second border 2112 and the sixth border 2122, the two ends of the second connector 2132 are respectively connected to the second border 2112 and the sixth border 2122, the first connector 2131 is located above the second connector 2132, and the first connector 2131, the second connector 2132, the second border 2112, and the sixth border 2122 enclose a rectangular frame (defined as the first rectangular frame); the two ends of the third connector 2133 are connected to the fourth border 2114 and the eighth border 2124, the two ends of the fourth connector 2134 are respectively connected to the fourth border 2114 and the eighth border 2124, the third connector 2133 is located above the fourth connector 2134, and the third connector 2133, the fourth connector 2134, the fourth border 2114, and the eighth border 2124 enclose a rectangular frame (defined as the second rectangular frame). At this time, the entire silo 21 has a cuboid structure.

[0100] In addition, the guiding member 22 moving into or out of the material bin 21 may mean that it moves into or out of the material bin 21 from the window of the first rectangular frame; or, the guiding member 22 moving into or out of the material bin 21 may mean that it moves into or out of the material bin 21 from the window of the second rectangular frame. The material moving into or out of the material bin 21 may mean that it moves into or out of the material bin 21 from the window of the first rectangular frame; or, the material moving into or out of the material bin 21 may mean that it moves into or out of the material bin 21 from the window of the second rectangular frame.

[0101] Wherein, the window of the first rectangular frame penetrates the first rectangular frame along the first direction, and the window of the second rectangular frame penetrates the second rectangular frame along the first direction.

[0102] In one embodiment, the support plate 214 is respectively connected to the first material frame 211 and the second material frame 212 so as to make the connection of the support plate 214 more firm.

[0103] As Figure 6 shown, in one embodiment, the support plate 214 is located below the guiding member 22, and the material is placed between the support plate 214 and the guiding member 22.

[0104] As Figure 8 shown, in one embodiment, the material bin 21 further includes a first support member 215 and a second support member 216. Wherein, the first support member 215 and the second support member 216 are arranged at intervals along the first direction. The two ends of the first support member 215 are respectively connected to the first material frame 211 and the second material frame 212, and the two ends of the second support member 216 are respectively connected to the first material frame 211 and the second material frame 212. Specifically, the two ends of the first support member 215 are respectively connected to the second side frame 2112 and the sixth side frame 2122, and the two ends of the second support member 216 are respectively connected to the fourth side frame 2114 and the eighth side frame 2124.

[0105] The two ends of the support plate 214 are respectively connected to the first support member 215 and the second support member 216. At the same time, both the first support member 215 and the second support member 216 are located below the support plate 214.

[0106] As Figure 6 shown, in one embodiment, the support plate 214 includes a first bearing plate 2141 and a second bearing plate 2142. The two ends of the first bearing plate 2141 are respectively connected to the first support member 215 and the second support member 216, and the two ends of the second bearing plate 2142 are respectively connected to the first support member 215 and the second support member 216. The first bearing plate 2141 and the second bearing plate 2142 are arranged at intervals along the third direction.

[0107] The two ends of the material placed on the support plate 214 are respectively placed on the first bearing plate 2141 and the second bearing plate 2142.

[0108] In addition, the upper surfaces of the first carrier plate 2141 and the second carrier plate 2142 may be flush with each other, both are in the same plane, and both are perpendicular to the second direction. Both the first support member 215 and the second support member 216 are located below the first carrier plate 2141, and both the first support member 215 and the second support member 216 are located below the second carrier plate 2142.

[0109] As Figure 8 shown, in one embodiment, the bin 21 further includes a third support member 217 and a fourth support member 218. Among them, the two ends of the third support member 217 are respectively connected to the first bin 211 and the second bin 212, and the two ends of the fourth support member 218 are respectively connected to the first bin 211 and the second bin 212. The third support member 217 and the fourth support member 218 are arranged at intervals along the first direction. Specifically, the two ends of the third support member 217 are respectively connected to the second frame edge 2112 and the sixth frame edge 2122, and the two ends of the fourth support member 218 are respectively connected to the fourth frame edge 2114 and the eighth frame edge 2124. The two ends of the guide member 22 are respectively connected to the third support member 217 and the fourth support member 218.

[0110] In addition, the first support member 215 is located below the third support member 217, and there is a gap between them; the second support member 216 is located below the fourth support member 218, and there is a gap between them. Both the third support member 217 and the fourth support member 218 are located above the guide member 22.

[0111] In addition, the above-mentioned first bin, second bin, bin connecting member, first support member 215, second support member 216, third support member 217, and fourth support member 218, etc. form the frame of the bin 21. Moving the material and the guide member into or out of the bin 21 both refer to moving into or out of the frame.

[0112] As Figure 9 and Figure 10 shown, in one embodiment, the bin 21 further includes a guide rod 219, and the guide rod 219 is connected to the frame; the guide member 22 includes a plate body 222 and a slider 223; the plate body 222 is used to guide the movement of the material along the first direction, that is, the guide structure 221 is arranged on the plate body 222; the slider 223 is movably connected to the guide rod 219 and is connected to the guide member 22. The slider 223 can slide relative to the guide rod 219 along the first direction to drive the plate body 222 to slide relative to the guide rod 219 along the first direction.

[0113] Among them, the two ends of the guide rod 219 are respectively connected to the third support member 217 and the fourth support member 218, thereby realizing the connection between the first bin 211 and the second bin 212.

[0114] In addition, the guide rod 219 is spaced apart from the first material frame 211 and the second material frame 212 .

[0115] In addition, the guide member 22 moves into the silo 21, mainly refers to the plate body 222 moving into the silo 21; the guide member 22 moves out of the silo 21, mainly refers to the plate body 222 moving out of the silo 21. Moreover, the slider 223 is located on the side of the plate body 222 away from the support plate 214, that is, the slider 223 can be arranged above the plate body 222.

[0116] like Figure 11 As shown, in one embodiment, a guide hole 2230 is provided on the slider 223 , and the guide hole 2230 penetrates the slider 223 along a first direction. The guide rod 219 is penetrated in the guide hole 2230 to achieve sliding cooperation with the slider 223 .

[0117] In one embodiment, the number of the first support member 215, the second support member 216, the third support member 217, the fourth support member 218, the support plate 214 and the guide member 22 are all multiple, and the six are in one-to-one correspondence, and the support plate 214 is connected to the corresponding first support member 215 and the second support member 216, and is located below the corresponding guide member 22. The guide member 22 is connected to the corresponding third support member 217 and the fourth support member 218, and is spaced from the corresponding support plate, so as to guide the material placed on the corresponding support plate 214.

[0118] In addition, the first support member 215, the second support member 216, the third support member 217, the fourth support member 218, the support plate 214 and the guide member 22 corresponding to each other form a storage unit, and each storage unit is arranged at intervals along the second direction.

[0119] In addition, at least one guide rod 219 is connected to each storage unit, and the guide member 22 in each storage unit is guided by the corresponding guide rod 219. When a storage unit corresponds to multiple guide rods 219, each guide rod 219 is arranged at intervals along the third direction. In this case, a plurality of guide holes 2230 are provided on a slider 223, and one guide rod 219 passes through one guide hole 2230.

[0120] In one embodiment, one guide member 22 has a plurality of sliders 223 . For one guide member 22 , the sliders 223 are spaced apart along the first direction.

[0121] like Figure 7 As shown, in one embodiment, the silo 21 also includes a first material frame reinforcement 21a; in the second direction, both ends of the first material frame reinforcement 21a are respectively connected to the first material frame 211; in the first direction, both sides of the first material frame reinforcement 21a are spaced from the first material frame 211.

[0122] Specifically, both ends of the first bin reinforcing member 21a are respectively connected to the first frame 2111 and the third frame 2113, and the first bin reinforcing member 21a, the second frame 2112, and the fourth frame 2114 are all arranged at intervals.

[0123] In addition, the number of the first bin reinforcing members 21a is greater than or equal to one. When the number of the first bin reinforcing members 21a is multiple, the first bin reinforcing members 21a are arranged at intervals along the first direction.

[0124] As Figure 7 shown, in an embodiment, the bin 21 further includes a second bin reinforcing member 21b; in the second direction, both ends of the second bin reinforcing member 21b are respectively connected to the second bin 212; in the first direction, both sides of the second bin reinforcing member 21b are spaced apart from the second bin 212.

[0125] Specifically, both ends of the second bin reinforcing member 21b are respectively connected to the fifth frame 2121 and the seventh frame 2123, and the second bin reinforcing member 21b, the sixth frame 2122, and the eighth frame 2124 are all arranged at intervals.

[0126] In addition, the number of the second bin reinforcing members 21b is greater than or equal to one. When the number of the second bin reinforcing members 21b is multiple, the second bin reinforcing members 21b are arranged at intervals along the first direction.

[0127] As Figure 7 shown, in an embodiment, the bin 21 further includes a third bin reinforcing member 21c; in the third direction, both ends of the third bin reinforcing member 21c are respectively connected to the middle parts of the first bin 211 and the second bin 212.

[0128] Specifically, both ends of the third bin reinforcing member 21c are respectively connected to the first frame 2111 and the fifth frame 2121, and the third bin reinforcing member 21c, the first connecting member 2131, and the third connecting member 2133 are all arranged at intervals.

[0129] In addition, the number of the third bin reinforcing members 21c is greater than or equal to one. When the number of the third bin reinforcing members 21c is multiple, the third bin reinforcing members 21c are arranged at intervals along the first direction.

[0130] As Figure 7 shown, in an embodiment, the bin 21 further includes a fourth bin reinforcing member 21d; in the third direction, both ends of the fourth bin reinforcing member 21d are respectively connected to the middle parts of the first bin 211 and the second bin 212.

[0131] Specifically, both ends of the fourth bin reinforcing member 21d are respectively connected to the third side frame 2113 and the seventh side frame 2123, and the fourth bin reinforcing member 21d, the second connecting member 2132, and the fourth connecting member 2134 are all arranged at intervals.

[0132] In addition, the number of the fourth bin reinforcing members 21d is greater than or equal to one. When the number of the fourth bin reinforcing members 21d is plural, the fourth bin reinforcing members 21d are arranged at intervals along the first direction.

[0133] As Figure 8 shown, in an embodiment, the bin 21 further includes a fifth support member 21e. Both ends of the fifth support member 21e are respectively connected to the first bin reinforcing member 21a and the second bin reinforcing member 21b, and the support plate 214 is connected to the fifth support member 21e. In addition, the fifth support member 21e is located below the support plate 214.

[0134] As Figure 8 shown, in an embodiment, the bin 21 further includes a sixth support member 21f. Both ends of the sixth support member 21f are respectively connected to the first bin reinforcing member 21a and the second bin reinforcing member 21b, and the sixth support member 21f is guidingly connected to the fifth support member 21e. In addition, the sixth support member 21f is located below the guide member 22.

[0135] As Figure 10 shown, in an embodiment, the guiding structure 221 is a guiding groove. The length direction of the guiding groove is the first direction, and the guiding groove penetrates through the guide member 22 along the first direction. Such a setting can facilitate the positioning element to enter or exit the guiding groove.

[0136] Wherein, the guiding groove penetrates through the guide member 22 along the first direction, which actually means that the guiding groove penetrates through the plate body 222 along the first direction.

[0137] At this time, the positioning element can be a guiding post or the like. Specifically, it can be a pin.

[0138] As Figure 10 shown, in an embodiment, in the second direction, the guiding groove also penetrates through the guide member 22. That is, in the second direction, the guiding groove penetrates through the plate body 222.

[0139] As Figure 10 shown, in an embodiment, the plate body 222 includes a first plate 2221 and a second plate 2222. In the third direction, the first plate 2221 and the second plate 2222 are arranged at intervals. Wherein, the gap between the first plate 2221 and the second plate 2222 is the guiding groove.

[0140] In one embodiment, the upper surfaces of the first plate 2221 and the second plate 2222 are flush, and the upper surfaces of both can be flat and perpendicular to the second direction. The lower surfaces of the first plate 2221 and the second plate 2222 are flush, and the lower surfaces of both can be flat and perpendicular to the second direction.

[0141] As Figure 10 shown, in one embodiment, the guide member 22 further includes a rolling member 224. The rolling member 224 is connected to the plate body 222 and can rotate relative to the plate body 222 about its own axis; wherein, the axis of the rolling member 224 is parallel to the third direction. In addition, along the direction from the guide member 22 to the support plate 214 (i.e., the direction from top to bottom), the rolling member 224 protrudes from the plate body 222. When an object such as a material contacts the guide member 22 from bottom to top, it actually contacts the rolling member 224. When the guide member 22 moves relative to the object in the first direction, the rolling member 224 can rotate about its own axis, thereby reducing the frictional force between the guide member 22 and the object.

[0142] When the plate body 222 includes the first plate 2221 and the second plate 2222, rolling members 224 are provided on both the first plate 2221 and the second plate 2222. Moreover, the rolling member 224 on the first plate 2221 protrudes from the first plate 2221 from top to bottom, and the rolling member 224 on the second plate 2222 protrudes from the second plate 2222 from top to bottom. In addition, a plurality of rolling members 224 can be provided on the first plate 2221, and these rolling members 224 are arranged at intervals along the first direction; similarly, a plurality of rolling members 224 can be provided on the second plate 2222, and these rolling members 224 are arranged at intervals along the first direction.

[0143] As Figure 10 shown, in one embodiment, the guide member 22 further includes a guiding member 225. The guiding member 225 is connected to the plate body 222, and the two are arranged along the first direction. A guiding groove 2251 is provided on the guiding member 225. The guiding groove 2251 penetrates the guiding member 225 along the first direction and faces the guiding groove, so that the positioning element can move from the guiding groove 2251 to the guiding groove and can move the positioning element from the guiding groove to the guiding groove 2251.

[0144] In the direction from the guiding member 225 to the plate body 222, the width of the guiding groove 2251 gradually decreases in the third direction. That is, in the first direction, the width of the end of the guiding groove 2251 away from the plate body 222 is greater than the width of the end of the guiding groove 2251 close to the plate body 222, which facilitates guiding the positioning element on the material into the guiding groove.

[0145] Wherein, in the first direction, the guiding groove 2251 can extend on the surface of the guiding member 225 away from the plate body 222 and can extend to the surface of the guiding member 225 close to the plate body 222.

[0146] As shown Figure 10 in FIG. [FIG. number not provided], the guiding member 225 includes a first guiding plate 2252 and a second guiding plate 2253. The first guiding plate 2252 is connected to the first plate 2221, and the second guiding plate 2253 is connected to the second plate 2222. A gap between the first guiding plate 2252 and the second guiding plate 2253 forms a guiding groove 2251.

[0147] In addition, the first guiding plate 2252 is detachably connected to the first plate 2221, and the second guiding plate 2253 is detachably connected to the second plate 2222. This can reduce the maintenance cost.

[0148] In one embodiment, in the first direction, both ends of the plate body 222 can be connected to the guiding member 225.

[0149] In addition, the guiding member 225 can also be provided with rolling members 224. The rolling members 224 can rotate relative to the guiding member 225 about their own axes. In addition, the rolling members 224 connected to the guiding member 225 protrude from the surface of the guiding member 225 facing away from the plate body 222, and protrude from the top to the bottom of the guiding member 225 and from the bottom to the top of the guiding member 225.

[0150] In other embodiments, the guiding member 225 is further provided with a transition groove. In the first direction, the transition groove is located between the guiding groove and the guiding groove 2251, and the transition groove communicates with the guiding groove and the guiding groove 2251. When the material moves in the first direction, the positioning element on it can first enter the guiding groove 2251, then enter the transition groove, and then enter the guiding groove. At this time, the gap between the first guiding plate 2252 and the second guiding plate 2253 forms the guiding groove 2251 and the transition groove.

[0151] As shown Figure 10 in FIG. [FIG. number not provided], in one embodiment, the guiding member 22 further includes a buffer member 226. The buffer member 226 is connected to the slider 223. When the pushing member 33 pushes the slider 223, it can be in contact with the buffer member 226. That is, the slider 223 receives an external force through the buffer member 226, thus avoiding the slider 223 from being rigidly collided. Among them, the buffer member 226 can be a hydraulic buffer, a rubber buffer or a spring buffer, etc.

[0152] As shown Figure 10 in FIG. [FIG. number not provided], in one embodiment, the guiding member 22 further includes a pushing block 227. The pushing block 227 is connected to the slider 223. When the driving module 3 drives the slider to move in the first direction, in fact, the pushing member 33 pushes the pushing block 227 to move in the first direction, and then drives the slider 223 to move in the first direction.

[0153] In addition, the pushing block 227 is arranged on the side surface of the sliding block 223. Among them, in the third direction, the pushing block 224 is located on the side of the sliding block 223 close to the driving module 3.

[0154] Furthermore, the buffer member 226 is connected to the pushing block 227, thereby realizing its connection on the sliding block 223.

[0155] As Figure 10 and Figure 11 shown, in an embodiment, the stock storage module 2 further includes a limiting unit 24. The limiting unit 24 is used to generate a pre-tightening force between the sliding block 223 and the guiding rod 219, so as to prevent the sliding block 223 from shaking relative to the guiding rod 219.

[0156] Among them, the limiting unit 24 includes a limiting block 241 and a limiting elastic member 242; both the limiting block 241 and the limiting elastic member 242 are connected to the sliding block 223. The limiting block 241 can move relative to the sliding block 223 in the third direction to approach or move away from the guiding rod 219; among them, one end of the limiting block 241 can abut against the guiding rod 219, and the other end of the limiting block 241 can abut against the limiting elastic member 242; the limiting elastic member 242 is arranged between the limiting block 241 and the sliding block 223 and can apply an elastic force to the limiting block 241 to press the limiting block 241 against the guiding rod 219. In this way, a pre-tightening force can be generated between the sliding block 223 and the guiding rod 219.

[0157] In this embodiment, the elastic force applied by the limiting elastic member 242 to the limiting block 241 forces the limiting block 241 to abut against the guiding rod 219, so as to generate a frictional force between the limiting block 241 and the guiding rod 219. When there is no external force acting on the sliding block 223 or the guiding member 22, the static frictional force between the limiting block 241 and the guiding rod 219 plays a role in pre-tightening the sliding block 223 to prevent the sliding block 223 from moving.

[0158] Among them, both the limiting block 241 and the limiting elastic member 242 are located inside the sliding block 223. One end of the limiting block 241 abuts against the guiding rod 219, and the other end abuts against the limiting elastic member 242.

[0159] As Figure 11As shown, in one embodiment, the slider 223 includes a sliding body 2231 and a limiting baffle 2232. The guiding hole 2230 is provided on the sliding body 2231, and the sliding body 2231 is connected to the guiding member 22. The outer surface of the sliding body 2231 is provided with a receiving hole 2233, and the receiving hole 2233 extends to communicate with the guiding hole 2230; the limiting baffle 2232 is connected to the sliding body 2231 and is opposite to the receiving hole 2233; the limiting elastic member 242 is located in the receiving hole 2233 and is compressed between the limiting baffle 2232 and the limiting block 241; the limiting block 241 is located in the receiving hole 2233 and abuts against the guiding rod 219 in the guiding hole 2230.

[0160] Among them, the limiting elastic member 242 can be a helical spring or the like. The limiting block 241 can be a cylindrical structure or the like.

[0161] In one embodiment, an arc surface is provided at one end of the limiting block 241 facing the guiding rod 219, and the arc surface fits with the guiding rod. This can make the contact between the two closer. At this time, the guiding rod 219 can be a cylindrical structure.

[0162] In addition, in one embodiment, an arc-shaped slot is provided at one end of the limiting block 241 close to the guiding rod 219. The arc-shaped slot penetrates through the limiting block 241 along the first direction. The guiding rod 219 is located in the arc-shaped slot and abuts against the bottom surface of the arc-shaped slot. The bottom surface of the arc-shaped slot is the above-mentioned arc surface; a receiving groove 111 is provided on the end surface of the limiting block 241 far from the guiding rod 219. One end of the limiting elastic member 242 is located in the receiving groove 111 and abuts against the bottom surface of the receiving groove 111; the limiting baffle 2232 is connected to the surface of the sliding body 2231 and can close the opening formed on the outer surface of the sliding body 2231 by the receiving hole 2233. The other end of the limiting elastic member 242 abuts against the limiting baffle 2232.

[0163] It should be noted that the limiting elastic member 242 is always in a compressed state in the receiving groove 111, so as to apply an elastic force towards the guiding rod 219 to the limiting block 241, so that the limiting block 241 always abuts against the guiding rod 219.

[0164] In addition, the limiting baffle 2232 and the sliding body 2231 can be detachably connected together by screws or the like. Of course, the limiting baffle 2232 can also be bonded or welded to the sliding body 2231.

[0165] Such as Figure 10 and Figure 12As shown, in one embodiment, the stock storage module 2 further includes a floating unit 25. One end of the floating unit 25 is connected to the storage bin 21, and the other end is connected to the guiding member 22, so that the guiding member 22 can move in a direction close to or away from the support plate. Through the arrangement of the floating unit 25, the guiding member 22 can adaptively adjust the gap between it and the support plate 214 in the second direction. In this way, it can prevent the second positioning structure from disengaging from the guiding groove due to an excessive distance between the guiding member 22 and the support plate 214, and can also prevent the material from being difficult to move into or out of the storage bin 21 in the first direction due to an overly small distance between the guiding member 22 and the support plate 214.

[0166] In one embodiment, the floating unit 25 is respectively connected to the plate body 222 and the slider 223, enabling the plate body 222 to move relative to the slider 223 in the second direction, thereby adjusting the distance between the plate body 222 and the support plate 214 to achieve the adjustment of the distance between the guiding member 22 and the support plate 214. Among them, the floating unit 25 being connected to the guiding member 22 actually means that it is connected to the plate body 222. Additionally, the floating unit 25 is connected to the storage bin 21 through the slider 223. The guiding member 22 approaching or departing from the support plate 214 actually means that the plate body 22 approaches or departs from the support plate 214.

[0167] As Figure 12 shown, in one embodiment, the floating unit 25 includes a first floating connecting member 251 and a floating elastic member 253; the first floating connecting member 251 is connected to the storage bin 21, and the floating elastic member 253 is arranged between the guiding member 22 and the first floating connecting member 251. When the guiding member 22 moves in a direction close to or away from the support plate 214, it can release or compress the floating elastic member 253. In a scenario, when the guiding member 22 approaches the support plate 214, it can compress the floating elastic member 253; when the guiding member 22 moves away from the support plate 214, it can release the floating elastic member 253.

[0168] As Figure 12 shown, in one embodiment, the floating unit 25 further includes a second floating connecting member 252, and the second floating connecting member 252 is connected to the plate body 222; the second floating connecting member 252 is movably connected to the first floating connecting member 251, enabling the plate body 222 to reciprocate relative to the first floating connecting member 251 in the second direction along with the second floating connecting member 252, so as to approach or depart from the first floating member, thereby realizing the plate body 222 approaching or departing from the support plate 214 in the second direction.

[0169] Among them, the first floating connecting member 251 is actually connected to the sliding body 2231. When the plate body 222 moves close to the first floating connecting member 251, it can apply a force to the floating elastic member 253, causing the floating elastic member 253 to elastically deform.

[0170] In this example, when the thickness of the material in the second direction is relatively large, it will force the plate body 222 to move away from the support plate 214 (i.e., move upward), so that the distance between the plate body 222 and the support plate 214 is appropriate to avoid affecting the movement of the material in the first direction; when the thickness of the material is small and does not touch the plate body 222, the plate body 222 will be in a position close to the support plate 214 under the elastic force of the floating elastic member 253.

[0171] In addition, in an actual scenario, the plate body 222 can also be pressed against the material placed on the support plate 214 by the elastic force of the floating elastic member 253 so that the material is placed more stably in the silo 21.

[0172] As Figure 12 shown, in this embodiment, an installation hole 2234 is provided on the lower surface of the slider 223 (i.e., the surface close to the plate body 222), and the first floating connecting member 251 is installed in the installation hole 2234.

[0173] In one embodiment, the installation hole 2234 penetrates through the slider 223 along the second direction. Specifically, the installation hole 2234 is provided on the sliding body 2231. And the installation hole 2234 includes a first hole and a second hole. The first hole and the second hole are communicated, and the aperture of the first hole is larger than the aperture of the second hole, so that a step surface is formed between them. In addition, the first hole is located above the second hole; the first floating connecting member 251 is installed in the first hole and abuts against the step surface, and such a setting facilitates the installation of the first floating connecting member 251 in place.

[0174] Among them, the first hole can extend downward from the upper surface of the sliding body 2231 (i.e., the upper surface of the slider 223), and the second hole can extend downward from the bottom surface of the first hole and extend to the lower surface of the sliding body 2231 (i.e., the lower surface of the slider 223).

[0175] The first floating connecting member 251 is provided with a moving hole, and the moving hole penetrates through the first floating connecting member 251 along the second direction. The second floating connecting member 252 is inserted into the moving hole. Specifically, the second floating connecting member 252 is also inserted into the first hole and the second hole.

[0176] In this embodiment, the first floating connecting member 251 and the first hole can be in interference fit, or in transition fit or clearance fit. The second floating member and the moving hole can be in clearance fit or in transition fit.

[0177] As Figure 12As shown, in one embodiment, the second floating connecting member 252 includes a connected first connecting portion 2521, a second connecting portion 2522, and a limiting portion 2523. In the second direction, the second connecting portion 2522 is located between the limiting portion 2523 and the first connecting portion 2521. The first connecting portion 2521 is located below the second connecting portion 2522 and is connected to the plate body 222. The second connecting portion 2522 is inserted through the moving hole and the mounting hole 2234 and can move up and down relative to the first floating member and the slider 223 along the second direction. The limiting portion 2523 is located above the second connecting portion 2522 and is used to limit the maximum distance that the second connecting portion 2522 moves downward, thereby limiting the maximum distance that the plate body 222 moves closer to the support plate 214.

[0178] In one embodiment, a fixing hole is provided on the surface of the plate body 222 facing away from the support plate 214, and the first connecting portion 2521 is installed in the fixing hole. The connection between the two can be a threaded connection. At this time, an external thread is provided on the first connecting portion 2521, and an internal thread is provided on the inner surface of the fixing hole.

[0179] In one embodiment, both the first connecting portion 2521 and the second connecting portion 2522 can be cylindrical structures, and they are coaxially arranged. The diameter of the second connecting portion 2522 is larger than that of the first connecting portion 2521. After assembly, the second connecting portion 2522 can be in contact with the plate body 222.

[0180] In addition, the fixing hole is a stepped hole. At this time, the second connecting portion 2522 can extend into the fixing hole and be in contact with the stepped surface of the fixing hole.

[0181] As Figure 12 shown, the floating unit 25 further includes a cover plate 254. The cover plate 254 is connected to the side of the plate body 222 facing away from the support plate 214. A through hole is provided on the cover plate 254, and the through hole penetrates the cover plate 254 along the second direction. The second connecting portion 2522 is movably inserted through the through hole. The limiting portion 2523 is located on the side of the cover plate 254 facing away from the plate body 222. When the second connecting portion 2522 moves downward, the limiting portion 2523 can be in contact with the cover plate 254, thereby limiting the maximum distance that it moves downward.

[0182] Among them, the limiting portion 2523 can also be a cylindrical structure, which is coaxially arranged with the second connecting portion 2522, and its diameter is larger than that of the second connecting portion 2522. At the same time, the diameter of the limiting portion 2523 is larger than the diameter of the through hole. It should be understood that in some embodiments, the cover plate 254 can also be not provided. At this time, when the second connecting portion 2522 moves downward, the limiting portion 2523 can be in contact with the first floating member to limit the maximum distance that the second connecting portion 2522 moves downward.

[0183] In one embodiment, the floating elastic member 253 may be a helical spring. The floating elastic member 253 is sleeved on the second connecting portion 2522. At the same time, the upper portion of the floating elastic member 253 passes through the second hole of the mounting hole 2234. The upper end surface of the floating elastic member 253 abuts against the lower end surface of the first floating connecting member 251, and the lower end surface of the floating elastic member 253 abuts against the plate body 222. Such a setting can limit the deformation path of the floating elastic member 253 and avoid its radial deflection.

[0184] In one embodiment, when the plate body 222 includes a first plate 2221 and a second plate 2222, at least two floating units 25 may be provided. Among them, the first plate 2221 is connected to the slider 223 through at least one floating unit 25, and the second plate 2222 is also connected to the slider 223 through at least one floating unit 25.

[0185] As Figure 13 and Figure 14 As shown, in one embodiment, the stock storage module 2 further includes a pressing plate assembly 26 and a supporting plate assembly 27; both the pressing plate assembly 26 and the supporting plate assembly 27 are connected to the magazine 21; in the second direction, the pressing plate assembly 26 and the supporting plate assembly 27 respectively abut against both sides of the guiding member 22. This can prevent the guiding member 22 from bending and deforming in the second direction.

[0186] In addition, the pressing plate assembly 26 and the supporting plate assembly 27 actually abut against the upper and lower sides of the plate body 222 respectively.

[0187] Among them, the plate body 222 is connected to the guiding member 22 through the slider 223. During the process of the plate body 222 moving out of the magazine 21, the part of the plate body 222 moving out of the magazine 21 lacks support and is prone to bending. Therefore, the pressing plate assembly 26 and the supporting plate assembly 27 can be connected to the end where the outlet of the magazine 21 is located (i.e., the discharging end of the magazine). During operation, when the guiding member moves out of the magazine from the discharging end, the supporting plate assembly 27 can support it to prevent it from bending and deforming. For example, in the first direction, the pressing plate assembly 26 and the supporting plate assembly 27 can be connected to the end where the first connecting member 2131 is located; or, in the first direction, the pressing plate assembly 26 and the supporting plate assembly 27 can be connected to the end where the third connecting member 2133 is located; or, the pressing plate assembly 26 and the supporting plate assembly 27 are provided at both the end where the first connecting member 2131 is located and the end where the third connecting member 2133 is located.

[0188] As Figure 13As shown, in one embodiment, the pressure plate assembly 26 includes a pressure wheel connecting member 261, a pressure wheel 262, and a pressure plate elastic member 263. The pressure wheel connecting member 261 is connected to the material bin 21 and can move relative to the material bin 21 along the second direction. The pressure wheel 262 is connected to the pressure wheel connecting member 261 and can rotate relative to the pressure wheel connecting member 261 around its own axis. The pressure plate elastic member 263 is arranged between the connecting unit and the pressure wheel connecting member 261, and applies an elastic force toward the plate body 222 to the pressure wheel connecting member 261, so that the pressure wheel 262 contacts the plate body 222.

[0189] The pressing wheel 262 may be pressed against a side of the plate body 222 facing away from the supporting plate 214 .

[0190] like Figure 13 As shown, the pressing plate assembly 26 further includes a mounting plate 264, which is connected to the silo 21. A pressing wheel hole 2641 is provided on the surface of the mounting plate 264 close to the plate body 222 (i.e., the lower surface of the mounting plate 264), and the pressing wheel elastic member 263 and the pressing wheel connecting member 261 are both located in the pressing wheel hole 2641; one end of the pressing plate elastic member 263 abuts against the bottom surface of the pressing wheel hole 2641, and the other end of the pressing plate elastic member 263 abuts against the pressing wheel connecting member 261.

[0191] In addition, the lower end of the pressing wheel connecting member 261 extends out of the pressing wheel hole 2641 and is connected to the pressing wheel 262. The axis of the pressing wheel 262 may be parallel to the third direction.

[0192] In addition, the hole wall of the pressure wheel hole 2641 can limit the pressure wheel connecting member 261 so as to guide the movement of the pressure wheel connecting member 261 along the second direction. Of course, corresponding guide parts can also be provided in the pressure wheel hole 2641 so as to guide the movement of the pressure wheel connecting member 261 along the second direction.

[0193] like Figure 13 As shown, the pressing plate assembly 26 further includes a limiting member 265 , which is connected to the mounting plate 264 and can resist the pressing wheel connecting member 261 to prevent the pressing wheel connecting member 261 from moving downward out of the pressing wheel hole 2641 .

[0194] like Figure 13 As shown, the mounting plate 264 is provided with a connecting hole 264, the connecting hole penetrates the mounting plate 264 along the first direction, and the guide rod 219 is passed through the connecting hole and fixedly connected to the mounting plate 264. That is, the mounting plate 264 is connected to the silo 21 through the guide rod 219. Of course, in other embodiments, the mounting plate 264 can also be directly connected to the silo 21, for example, it can be directly connected to the third support member 217.

[0195] like Figure 14As shown, in one embodiment, the support plate assembly 27 includes a support roller connector 271 and a support roller 272, wherein the support roller connector 271 is connected to the silo 21. The support roller 272 is connected to the support roller connector 271 and can rotate relative to the support roller connector 271 around its own axis; the support roller 272 is located below the plate body 222 and abuts against the side of the plate body 222 away from the pressing wheel 262.

[0196] The axis of the supporting wheel 272 may be parallel to the third direction.

[0197] In addition, the upper end of the supporting wheel connector 271 may be connected to the mounting plate 264 to achieve connection with the silo 21. Alternatively, the upper end of the supporting wheel connector 271 may be directly connected to the silo 21, for example, it may be directly connected to the third support member 217.

[0198] When the plate body 222 includes a first plate 2221 and a second plate 2222 , the upper and lower sides of the first plate 2221 are in contact with the pressing plate assembly 26 and the supporting plate assembly 27 , and the upper and lower sides of the second plate 2222 are also in contact with the pressing plate assembly 26 and the supporting plate assembly 27 .

[0199] like Figure 1 As shown, in one embodiment, the PCB conveying device 10 further includes a walking module 4, which is connected to the supporting module 1 and is used to drive the supporting module 1 to move, so as to drive the silo 21 to move.

[0200] During operation, the silo 21 can be moved to a suitable position by the walking module 4 to carry out material loading (i.e. placing materials from other devices into the silo 21) and material unloading (i.e. transporting materials in the silo 21 to the target workstation) operations.

[0201] Among them, the walking module 4 can be an AGV car or the like.

[0202] like Figure 15 As shown, an embodiment of the present invention further provides a loading and unloading system, which includes a cache device and a PCB conveying device 10 described in any one of the above items, the cache device is used to cache materials, and the cache device can exchange materials with the silo.

[0203] Specifically: when the silo is aligned with the buffer device, the material buffered on the buffer device can be moved into the silo; of course, when the silo is aligned with the buffer device, the material in the silo can also be moved to the buffer device to buffer the material.

[0204] like Figure 15 and Figure 16As shown in the figure, the embodiment of the present invention further provides a PCB processing device, which includes a device body and the PCB conveying device 10 described in any one of the above, and the PCB conveying device can exchange materials with the device body; alternatively, the PCB processing device includes a device body and the above-mentioned loading and unloading system, and the buffer device can exchange the materials with the device body.

[0205] The device body has a processing module for processing materials, and the device body can exchange materials with the magazine. Specifically: when the magazine is aligned with the device body, the materials in the magazine can be moved to the device body; of course, when the magazine is aligned with the device body, the materials on the device body can also be moved into the magazine.

[0206] In addition, when moving the materials in the magazine to the buffer device or the device body, the driving module can be used to drive the materials to move so that they can be moved to the buffer device or the device body. When it is necessary to move the materials on the buffer device or the device body into the magazine, the materials can be driven by the above-mentioned driving device, or it can be achieved by means of other devices that can drive the materials to move.

[0207] In one embodiment, the PCB conveying device 10 further includes a position detection component, which is connected to the traveling device and is used to detect the relative position between the traveling device and the buffer device or the device body, so as to align the magazine with the buffer device or the device body. Among them, the position detection component can be a visual detection component or a radar and other devices.

[0208] As Figure 17 As shown in the figure, the embodiment of the present invention further provides a material conveying method, which is applied to the PCB conveying device described in any one of the above embodiments to control the operation of the PCB conveying device. Among them, the method includes the following steps: Step S1, drive the guiding member to move so that the guiding member reaches the loading position; Step S2, drive the material to move along the guiding member so that the material is moved out of the magazine.

[0209] Among them, in step S1, the driving of the guiding member 22 is actually provided with a driving force by the driving module 3. Among them, in step S1, the driving module 3 drives the guiding member 22 to move forward in the first direction, so that the guiding member 22 moves out of the magazine 21 and then reaches the loading position.

[0210] In step S2, the driving of the material is actually provided with a driving force by the driving module 3. Among them, in step S2, it is actually the driving module 3 that drives the material on the support plate 214 to move forward in the first direction, so that the material is moved out of the magazine 21.

[0211] Among them, the control of the driving module 3 can be completed by a controller, that is, the corresponding driving components in the corresponding driving module 3 can be driven to work through the controller. In addition, a corresponding program is stored in the controller, and when the controller executes this program, it can control the PCB conveying device 10 to perform the above steps. The controller can be a computer, a single-chip microcomputer, a PLC, or the like.

[0212] In addition, when the driving guide 22 and the material move in the opposite direction along the first direction, the two can be driven into the bin 21.

[0213] In an application scenario, in the first direction, the direction from the first rectangular frame to the second rectangular frame is the positive direction of the first direction. That is, when the guide 22 and the material move in the positive direction of the first direction, they actually move along the direction from the first rectangular frame to the second rectangular frame. When the guide 22 and the material move in the opposite direction along the first direction, they actually move along the direction from the second rectangular frame to the first rectangular frame.

[0214] In addition, when the pusher 33 pushes the guide 22 to move along the first direction, the pusher 33 actually abuts against the push block 227, and it drives the entire guide 22 to reciprocate along the first direction by applying force to the push block 227.

[0215] Before step S1, there is also step S0, where step S0 is: controlling the pusher 33 to move in the second direction to align with the guide 22, so that when the pusher 33 moves along the first direction, it can push the aligned guide 22 to move along the first direction.

[0216] Specifically, the controller controls the first driving component 31 to work to adjust the position of the pusher 33 in the second direction, so as to align the pusher 33 with the guide 22. Subsequently, the controller controls the second driving component 32 to work to drive the pusher 33 to move in the positive direction of the first direction.

[0217] Of course, before step S0, it also includes: controlling the third driving component 34 to work to rotate the pusher 33 into the bin 21.

[0218] Among them, at the beginning of work (such as before step S0 or during step S0), in the first direction, the pusher 33 is in the initial position. At this time, the pusher 33 can be located in the bin 21. When driving the pusher 33 to move in the second direction to align with the guide 22 or the material, the pusher 33 can always remain in the bin 21.

[0219] Step S2 specifically includes: step S21, driving the pusher to move in the second direction to align with the material; step S22, driving the pusher to move in the first direction to move the material out of the bin.

[0220] After step S1 is executed, the pusher 33 is driven to move in the reverse direction along the first direction to the initial position, and then step S21 is executed.

[0221] After step S2, the method further includes step S3, which comprises: driving the pushing member to rotate to push the material away from the silo.

[0222] Specifically, the third driving assembly drives the pushing member to rotate, so that the pushing member continues to push the material to move forward in the first direction, so that the material can move to a position farther away from the silo.

[0223] After step S2, the method further includes steps S4 and S5, wherein step S4 is: driving the guide member to retract and align with the material. Step S5 is: driving the guide member to move to push the material away from the silo. In this way, the material can be driven to move to a greater distance.

[0224] Driving the guide member to retract means driving the guide member to move in the opposite direction of the first direction so as to move the guide member into the material bin.

[0225] In step S4, the material that the guide member is aligned with is the material that has been moved out of the silo. When the guide member is aligned with the material, if the guide member is driven to move forward in the first direction, the guide member can resist the material and push the material to continue to move forward in the first direction.

[0226] In addition, step S4 may be executed after step S3 is completed.

[0227] When the driving module includes a pusher and the guide member is provided with a push block; if the number of the pusher is one, the above step S1 specifically includes: driving the pusher to push the push block to move, so as to drive the guide member to move. The step of "driving the guide member to retract" in the above step S4 specifically includes: driving the pusher to push the push block to move in the opposite direction, so as to retract the guide member.

[0228] If there are two pushers, wherein the two pushers are respectively a first pusher and a second pusher, then the above step S1 specifically includes: driving the first pusher to push the push block to move, so as to drive the guide member to move. The step of "driving the guide member to retract" in the above step S4 specifically includes: driving the second pusher to push the push block to move in the opposite direction, so as to retract the guide member.

[0229] That is, when there is one pusher, the pusher cooperates with the push block to drive the guide member to move into or out of the bin. When there are two pushers, one of the pushers cooperates with the push block to drive the guide member to move out of the bin, and the other pusher cooperates with the push block to drive the guide member to move into the bin.

[0230] In addition, the first pushing member and the second pushing member may be arranged at intervals along the first direction.

[0231] In one embodiment, when the number of the pushing members 33 is multiple, the materials (or guiding members) can also be driven to move a certain distance in the first direction in sequence by using each pushing member 33, so that the final forward movement distance of the materials in the first direction meets the requirements. Taking the number of the pushing members 33 being two as an example, they are respectively a first pushing member and a second pushing member. Among them, the direction from the first pushing member to the second pushing member is the positive direction of the first direction. At this time, step S2 includes: step S21, driving the first pushing member to move forward in the positive direction of the first direction to drive the materials (or guiding members) to move forward in the positive direction of the first direction by a first distance; step S12, driving the first pushing member to return to the initial position. At this time, the second pushing member also returns to the initial position; step S13, driving the second pushing member 33 to align with the materials (or guiding members); step S14, driving the second pushing member to move forward in the positive direction of the first direction so as to drive the materials (or guiding members) to continue to move forward in the positive direction of the first direction by the second pushing member.

[0232] In addition, in this embodiment, the first pushing member 33 and the second pushing member 33 can push different sliders 223 to enable the guiding member 22 to move forward in the positive direction of the first direction. For example, the number of the sliders 223 is also two, which are respectively a first slider and a second slider. Among them, the direction from the first slider to the second slider is the positive direction of the first direction.

[0233] In step S1, driving the guiding member 22 to move forward in the positive direction of the first direction can actually be achieved by driving the second slider to move forward in the positive direction of the first direction by the first pushing member. In the above step S4, it can actually be achieved by driving the first slider 223 by the second pushing member 33 so as to retract the guiding member 22.

[0234] The technical features of the above-described embodiments can be combined arbitrarily. For the sake of brevity of description, not all possible combinations of the technical features in the above-described embodiments are described. However, as long as there is no contradiction in the combination of these technical features, it should be considered as the scope recorded in this specification.

[0235] The above-described embodiments are only used to illustrate the technical solutions of the present invention, rather than to limit it; although the present invention has been described in detail with reference to the foregoing embodiments, those of ordinary skill in the art should understand that: they can still modify the technical solutions recorded in the foregoing embodiments, or perform equivalent replacements on some of the technical features; and these modifications or replacements do not make the essence of the corresponding technical solutions deviate from the spirit and scope of the technical solutions of the embodiments of the present invention, and should all be included in the protection scope of the present invention.

Claims

1. A PCB conveying device, characterized in that: It includes a supporting module, a material storage module and a driving module; The material storage module includes a material bin and a guide member, the material bin is arranged on the support module, the material bin is used to place materials, and the guide member is movably connected to the material bin; The driving module is connected to the supporting module, and the driving module can drive the guide member to reciprocate along a first direction so that the guide member can move into or out of the material bin.

2. The PCB conveying device according to claim 1, characterized in that: The support module includes a support component, a lifting drive component and a lifting platform; The driving module, the lifting driving assembly and the lifting platform are all arranged on the supporting assembly, and the lifting driving assembly is connected to the lifting platform; The silo is placed on the lifting platform; The lifting drive assembly can drive the lifting platform to reciprocate along the second direction to adjust the position of the silo in the second direction; The second direction intersects the first direction.

3. The PCB conveying device according to claim 2, characterized in that: The lifting platform is provided with a first positioning member, and the silo is provided with a second positioning member; The first positioning member can cooperate with the second positioning member to define a placement position of the silo on the lifting platform.

4. The PCB conveying device according to claim 2 or 3, characterized in that: The lifting platform is provided with a limit plate, and the limit plate is used to limit the placement position of the silo on the lifting platform.

5. The PCB conveying device according to claim 1, characterized in that: The driving module includes a first driving component, a second driving component and a pushing member; The first driving assembly is connected to the supporting module, the second driving assembly is connected to the first driving assembly, and the pushing member is connected to the second driving assembly; The first driving assembly is used to drive the pushing member to reciprocate along the second direction so that the pushing member can be aligned with the guide member or the material placed in the silo; The second driving assembly is used to drive the pushing member to reciprocate along the first direction, so as to push the guide member or the material to move along the first direction; The second direction intersects the first direction.

6. The PCB conveying device according to claim 5, characterized in that: The driving module further comprises a third driving assembly, the third driving assembly is connected to the second driving assembly, and the pushing member is connected to the third driving assembly; The third driving assembly is used to drive the pushing member to rotate around the first axis, so that the pushing member can move into or out of the silo; Wherein, the first axis is parallel to the second direction.

7. The PCB conveying device according to claim 6, characterized in that: The third driving assembly and the pushing member are each provided with a plurality; The third driving components are arranged at intervals along the first direction; The third driving assembly is correspondingly connected to the pushing member; The third driving assembly is used to drive the corresponding pushing member to rotate around the first axis.

8. The PCB conveying device according to claim 1, characterized in that: The material bin comprises a first material frame, a second material frame, a material frame connecting piece and a support plate; In the third direction, the first material frame and the second material frame are spaced apart from each other; The material frame connecting member connects the first material frame and the second material frame; The support plate and the guide member are both located between the first material frame and the second material frame; The support plate is connected to the first material frame, the second material frame and at least one of the material frame connecting members, and is used to place materials; The guide member is connected to the first material frame, the second material frame and at least one of the material frame connecting members, and is spaced apart from the support plate in the second direction; The first direction, the second direction and the third direction intersect each other.

9. The PCB conveying device according to claim 8, characterized in that: The material bin further comprises a guide rod, and the guide rod is connected to the material frame connecting piece; The guide member includes a plate body and a slider; The plate body is used to guide the movement of the material along the first direction; the slider is connected to the guide rod and the guide member, and the slider can slide relative to the guide rod along the first direction to drive the plate body to slide relative to the guide rod along the first direction; The first direction, the second direction and the third direction are perpendicular to each other.

10. The PCB conveying device according to claim 1, characterized in that: The material storage module also includes a support plate; The support plate is connected to the silo and is spaced apart from the guide member in the second direction; The side of the support plate close to the guide member is used to carry the material provided with the positioning member; The guide member is provided with a guide structure, and the guide structure is used to limit the positioning member to guide the movement of the material along the first direction; The first direction and the second direction intersect.

11. The PCB conveying device according to claim 10, characterized in that: The guide structure is a guide groove, the length direction of the guide groove is the first direction, and the guide groove penetrates the guide member along the first direction.

12. The PCB conveying device according to claim 10, characterized in that: The material storage module also includes a floating unit, one end of which is connected to the material bin, and the other end of which is connected to the guide member, so that the guide member can move in a direction close to or away from the support plate.

13. The PCB conveying device according to claim 12, characterized in that: The floating unit includes a first floating connection member and a floating elastic member; The first floating connection member is connected to the silo, and the floating elastic member is arranged between the guide member and the first floating connection member. When the guide member moves in a direction close to or away from the support plate, the floating elastic member can be released or compressed.

14. The PCB conveying device according to claim 1, characterized in that: The silo comprises a frame and a guide rod, wherein the guide rod is connected to the frame; The guide member includes a plate body and a slider; The plate body is used to guide the movement of the material along the first direction; The sliding block is movably connected to the guide rod and connected to the plate body. The sliding block can slide relative to the guide rod along the first direction to drive the plate body to slide.

15. The PCB conveying device according to claim 14, characterized in that: The material storage module also includes a limiting block and a limiting elastic member; The limiting block and the limiting elastic member are both connected to the sliding block, one end of the limiting block abuts against the guide rod, and the other end abuts against the limiting elastic member; The limiting elastic member can exert an elastic force on the limiting block to press the limiting block onto the guide rod.

16. The PCB conveying device according to claim 15, characterized in that: The slider is provided with a guide hole, the guide hole penetrates the slider along the first direction, and the guide rod is passed through the guide hole; An end of the limiting block facing the guide rod is provided with a curved surface, and the curved surface is in contact with the guide rod.

17. The PCB conveying device according to claim 16, characterized in that: The sliding block comprises a sliding body and a limit baffle; The guide hole is arranged on the sliding body; The outer surface of the sliding body is provided with a receiving hole, and the receiving hole extends to communicate with the guide hole; The limit baffle is connected to the sliding body and is opposite to the receiving hole; The limiting block and the limiting elastic member are both located in the accommodating hole, and the limiting elastic member is compressed between the limiting baffle and the limiting block.

18. The PCB conveying device according to claim 1, characterized in that: The material storage module also includes a pressing plate assembly and a supporting plate assembly; The pressing plate assembly and the supporting plate assembly are both connected to the silo; In the second direction, the pressing plate assembly and the supporting plate assembly respectively abut against two sides of the guide member; The second direction intersects the first direction.

19. The PCB conveying device according to claim 18, characterized in that: The pressing plate assembly comprises a pressing wheel connecting member, a pressing wheel and a pressing plate elastic member; The pressure wheel connecting member is connected to the connecting unit and can move relative to the connecting unit along the second direction; The pressing wheel is connected to the pressing wheel connecting member and can rotate around its own axis relative to the pressing wheel connecting member; The pressure plate elastic member is disposed between the connecting unit and the pressure wheel connecting member, and applies an elastic force toward the guide member to the pressure wheel connecting member, so that the pressure wheel contacts the guide member; The first direction, the second direction and the extension direction of the axis of the pressure wheel intersect each other.

20. The PCB conveying device according to claim 18, characterized in that: The support plate assembly includes a support wheel connector and a support wheel, wherein the support wheel connector is connected to the connection unit; The supporting wheel is connected to the supporting wheel connecting member and can rotate around its own axis relative to the supporting wheel connecting member; The supporting wheel abuts against the guide member.

21. The PCB conveying device according to claim 18, characterized in that: The silo has a discharge end, and when the guide member moves along the first direction, the silo can be moved out of the silo from the discharge end; The support plate assembly is located at the discharge end of the silo.

22. The PCB conveying device according to claim 1, characterized in that: The PCB conveying device also includes a walking module, which is connected to the supporting module and is used to drive the supporting module to move, so as to drive the silo to move.

23. A loading and unloading system, characterized in that: It comprises a cache device and a PCB conveying device as described in any one of claims 1 to 22, and the PCB conveying device can exchange the material with the cache device.

24. A PCB processing device, characterized in that: The PCB processing equipment comprises an equipment body and a PCB conveying device according to any one of claims 1 to 22, wherein the PCB conveying device is capable of exchanging the material with the equipment body; Alternatively, the PCB processing equipment includes an equipment body and the loading and unloading system described in claim 23, and the cache device can exchange the material with the equipment body.

25. A PCB conveying method, applied to the PCB conveying device according to any one of claims 1 to 22, characterized in that: The steps include: Driving the guide member to move so that the guide member reaches a loading position; The material is driven to move along the guide member so as to move the material out of the silo.

26. The material conveying method according to claim 25, characterized in that: After the step of driving the material to move along the guide member so that the material moves out of the silo, the method further includes: driving the guide member to be retracted and aligned with the material; The guide member is driven to move so as to push the material away from the silo.

27. The material conveying method according to claim 26, characterized in that: The driving module comprises a pushing member, and the guiding member is provided with a pushing block; The number of the pushing member is one, and the step of driving the guide member to move so that the guide member reaches the loading position is specifically as follows: Driving the pushing member to push the pushing block to move, so as to drive the guiding member to move; The step of driving the guide member to retract is specifically as follows: Driving the pushing member to push the pushing block in the opposite direction to retract the guide member; Alternatively, the number of the pushing members is two, namely a first pushing member and a second pushing member, and the step of driving the guide member to move so that the guide member reaches the loading position is specifically: driving the first pushing member to push the pushing block to move, thereby driving the guiding member to move; The step of driving the guide member to retract is specifically as follows: The second pushing member is driven to push the pushing block to move in the reverse direction, so that the guide member is retracted.

28. The material conveying method according to claim 25, characterized in that: The driving module includes a pushing member, and the step of driving the material to move along the guide member so as to move the material out of the silo specifically includes: driving the pushing member to move along a second direction to align with the material; The pushing member is driven to move along a first direction to move the material out of the silo, wherein the first direction intersects with the second direction.

29. The material conveying method according to claim 25, characterized in that: The driving module includes a pusher. After the step of driving the pusher to move along a first direction to move the material out of the silo, the method further includes: The pushing member is driven to rotate to push the material away from the silo.

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