Circuit board automatic feeding method, device, equipment and medium

Abstract

The application discloses a kind of circuit board automatic feeding method, device, equipment and medium, it is related to circuit board production technical field.The method comprises: by first material placing frame is moved to preset position by feeding transmission belt;By gripper manipulator, the circuit board in first material placing frame below gripper manipulator is gripped to the outside of material placing frame;Two clamps of feeding manipulator are moved to the both sides of the circuit board gripped, so that two clamps clamp the circuit board;By feeding manipulator, the circuit board clamped is transferred to material placing transmission belt;Gripper manipulator is driven to move preset distance, so that gripper manipulator moves to the above of the next circuit board of first material placing frame, until the feeding of all circuit boards of first material placing frame is completed;By feeding transmission belt, first material placing frame is moved to transfer transmission belt, and next material placing frame is moved to preset position, and the feeding of the circuit board of next material placing frame is carried out.The method can improve production efficiency and reduce labor cost.

Description

Technical Field

[0001] This invention relates to the field of circuit board manufacturing technology, and in particular to an automatic circuit board feeding method, apparatus, equipment, and medium. Background Technology

[0002] The production process of circuit boards involves multiple steps such as drilling, exposure, and development. Currently, when exposing circuit boards, it is necessary to manually place the circuit boards on the exposure machine. This method has low production efficiency and wastes manpower, which is not conducive to improving production efficiency and reducing labor costs. Summary of the Invention

[0003] This invention aims to at least solve one of the technical problems existing in the prior art. To this end, this invention proposes an automatic circuit board feeding method, apparatus, equipment, and medium, which can realize automatic feeding of circuit boards, improve production efficiency, and reduce labor costs.

[0004] In a first aspect, according to an embodiment of the present invention, an automatic circuit board feeding method is applied to a controller of an automatic feeding device. The automatic feeding device includes a feeding conveyor belt, a transfer conveyor belt, a feeding robot, a discharging conveyor belt, and a gripping robot. The feeding conveyor belt has multiple discharging frames spaced apart, and each discharging frame contains multiple circuit boards spaced apart. The feeding robot includes two retractable grippers arranged opposite to each other. The method includes:

[0005] The first feeding frame is moved to a preset position by the feeding conveyor belt;

[0006] The gripping robot grabs the circuit board located below the first feeding frame and moves it to the outside of the feeding frame.

[0007] The two grippers of the loading robot are moved to both sides of the circuit board being gripped, and the two grippers are driven to move closer to each other so that the two grippers clamp the circuit board tightly.

[0008] The clamped circuit board is transferred to the unloading conveyor belt by the loading robot.

[0009] Drive the gripping robot to move a preset distance, so that the gripping robot moves to above the next circuit board in the first feeding frame, and returns to the step of gripping the circuit board located below the gripping robot in the first feeding frame to the outside of the feeding frame, until all the circuit boards in the first feeding frame are loaded;

[0010] The first feeding frame is moved onto the transfer conveyor belt via the feeding conveyor belt, and the next feeding frame is moved to the preset position for feeding the circuit board of the next feeding frame.

[0011] According to some embodiments of the present invention, the feeding conveyor belt includes a plurality of spaced rotating rods and a first driving device for driving the rotating rods to rotate. Each rotating rod has a plurality of rollers spaced apart. A lifting device is provided below the rotating rods. The lifting device includes a plurality of support rods passing through the gaps between adjacent rotating rods. The surface of the support rods is provided with a bearing platform. The bearing platform is provided with a slot adapted to the rollers.

[0012] The step of transferring the clamped circuit board to the unloading conveyor belt by the loading robot includes:

[0013] The lifting device drives the support platform to rise above the rollers;

[0014] The clamped circuit board is placed flat on the support platform by the loading robot.

[0015] The lifting device drives the support platform to descend to the surface of the rotating rod, so that the circuit board is located on the surface of the roller, and the roller passes through the slot.

[0016] The first driving device drives the rotating rod and the roller to rotate, thereby transporting the circuit board to the exposure machine.

[0017] According to some embodiments of the present invention, the transfer conveyor belt includes a first conveyor belt, a second conveyor belt and a third conveyor belt, wherein the first conveyor belt is located at the outlet of the feeding conveyor belt, the third conveyor belt is located at the inlet of the feeding conveyor belt, the second conveyor belt is located between the first conveyor belt and the third conveyor belt, the first conveyor belt is provided with a first pushing device, and the third conveyor belt is provided with a second pushing device.

[0018] The step of moving the first unloading frame onto the transfer conveyor belt via the feeding conveyor belt and moving the next unloading frame to the preset position includes:

[0019] The first feeding frame is moved onto the first conveyor belt via the feeding conveyor belt;

[0020] The first pushing device pushes the first feeding frame to move toward the second conveyor belt;

[0021] The first feeding frame is moved onto the second conveyor belt via the first conveyor belt;

[0022] The first feeding frame is moved onto the third conveyor belt via the second conveyor belt;

[0023] The circuit board to be loaded is placed in the first loading frame, and the first loading frame filled with the circuit board is pushed toward the first conveyor belt by the second pushing device;

[0024] The first feeding frame is moved to the feeding conveyor belt via the third conveyor belt.

[0025] According to some embodiments of the present invention, the gripping robot includes a first telescopic mechanism, a second telescopic mechanism, and a gripping member, wherein the second telescopic mechanism is disposed on the first telescopic mechanism, and the gripping member is disposed on the second telescopic mechanism;

[0026] The step of using the gripping robot to grip the circuit board located below the first feeding frame and move it to the outside of the feeding frame includes:

[0027] Drive the second telescopic mechanism to extend a first distance at a first speed, so that the gripper is close to the circuit board;

[0028] The first telescopic mechanism is driven to descend a second distance at a second speed, so that the gripper grips the circuit board; the first speed is greater than the second speed, and the first distance is greater than the second distance.

[0029] The second telescopic mechanism is driven to shorten the first distance at the first speed, and the first telescopic mechanism is driven to shorten the second distance at the second speed, so that the gripper grips the circuit board to the outside of the feeding frame.

[0030] According to some embodiments of the present invention, the end of the loading robot is provided with a third telescopic mechanism and a clamping plate, the clamping plate being disposed on the third telescopic mechanism, and the gripper being disposed on the clamping plate;

[0031] The step of moving the two grippers of the loading robot to both sides of the circuit board being gripped, and driving the two grippers to move closer to each other so that the two grippers clamp the circuit board, includes:

[0032] The end effector of the loading robot is moved to a designated position;

[0033] The extension length of the third telescopic mechanism is determined based on the distance between the gripper and the circuit board it grasps;

[0034] Drive the third telescopic mechanism to extend the extension length, so that the clamping plate drives the two grippers to move to both sides of the circuit board being gripped;

[0035] The two grippers are driven to move closer to each other, so that the two grippers clamp the circuit board.

[0036] According to some embodiments of the present invention, the step of moving the first unloading frame onto the transfer conveyor belt via the loading conveyor belt, and moving the next unloading frame to the preset position for loading the circuit board of the next unloading frame includes:

[0037] When the gripping robot grabs the last circuit board in the first feeding frame, the first feeding frame is moved to the transfer conveyor belt via the feeding conveyor belt, and the next feeding frame is moved to the preset position.

[0038] When the loading robot clamps the last circuit board in the first loading frame, the gripping robot moves to above the first circuit board in the next loading frame.

[0039] According to some embodiments of the present invention, each of the grippers includes a first clamp and a second clamp distributed vertically, and the distance between the first clamp and the second clamp is adjustable. Both the first clamp and the second clamp are provided with a buffer pad at their gripping positions.

[0040] In a second aspect, according to an embodiment of the present invention, an automatic feeding device includes: a feeding conveyor belt, a transfer conveyor belt, a feeding robot, a discharging conveyor belt, and a gripping robot. The feeding conveyor belt has a plurality of discharging frames spaced apart, and a plurality of circuit boards are spaced apart in each of the discharging frames. The feeding robot includes two retractable grippers arranged opposite to each other. The automatic feeding device also includes a controller, which is used to implement the automatic circuit board feeding method as described in the first aspect embodiment.

[0041] Thirdly, an electronic device according to an embodiment of the present invention includes at least one control processor and a memory for communicatively connecting to the at least one control processor; the memory stores instructions executable by the at least one control processor, the instructions being executed by the at least one control processor to enable the at least one control processor to perform the automatic circuit board feeding method described in the first aspect embodiment.

[0042] Fourthly, according to an embodiment of the present invention, a computer-readable storage medium stores computer-executable instructions for causing a computer to perform the circuit board sorting and blanking method as described in the first aspect embodiment.

[0043] The automatic circuit board feeding method, apparatus, equipment, and medium according to embodiments of the present invention have at least the following beneficial effects: by setting up a feeding conveyor belt, a transfer conveyor belt, a feeding robot, a discharging conveyor belt, and a gripping robot, and placing multiple discharging frames at intervals on the feeding conveyor belt, with multiple circuit boards placed at intervals in each discharging frame, continuous automatic feeding of circuit boards can be achieved, thereby improving production efficiency and reducing labor costs.

[0044] Additional aspects and advantages of the invention will be set forth in part in the description which follows, and in part will be obvious from the description, or may be learned by practice of the invention. Attached Figure Description

[0045] The above and / or additional aspects and advantages of the present invention will become apparent and readily understood from the description of the embodiments taken in conjunction with the following drawings, in which:

[0046] Figure 1 This is a schematic diagram of the structure of the automatic feeding device according to an embodiment of the present invention;

[0047] Figure 2 This is a schematic diagram of the automatic feeding device according to an embodiment of the present invention, with the feeding robot and the unloading conveyor belt hidden.

[0048] Figure 3 This is a schematic diagram of the material feeding conveyor belt according to an embodiment of the present invention;

[0049] Figure 4 This is a schematic diagram of the structure of the loading robot according to an embodiment of the present invention;

[0050] Figure 5 This is a flowchart illustrating the steps of an automatic circuit board feeding method according to an embodiment of the present invention. Detailed Implementation

[0051] The embodiments of the present invention are described in detail below. Examples of these embodiments are shown in the accompanying drawings, wherein the same or similar reference numerals denote the same or similar elements or elements having the same or similar functions throughout. The embodiments described below with reference to the accompanying drawings are exemplary and are only used to explain this application, and should not be construed as limiting this application. The step numbers in the following embodiments are set only for ease of explanation, and there is no limitation on the order between the steps. The execution order of each step in the embodiments can be adaptively adjusted according to the understanding of those skilled in the art.

[0052] In the description of this invention, it should be understood that the orientation descriptions, such as up, down, front, back, left, right, etc., are based on the orientation or positional relationship shown in the accompanying drawings. They are only for the convenience of describing this invention and simplifying the description, and do not indicate or imply that the device or element referred to must have a specific orientation, or be constructed and operated in a specific orientation. Therefore, they should not be construed as limiting this invention.

[0053] The terms "first," "second," "third," and "fourth," etc., used in the specification, claims, and accompanying drawings of this invention are used to distinguish different objects, not to describe a specific order. Furthermore, the terms "comprising" and "having," and any variations thereof, are intended to cover non-exclusive inclusion. For example, a process, method, system, product, or apparatus that includes a series of steps or units is not limited to the listed steps or units, but may optionally include steps or units not listed, or may optionally include other steps or units inherent to these processes, methods, products, or apparatuses.

[0054] In this invention, the reference to "embodiment" means that a specific feature, structure, or characteristic described in connection with an embodiment may be included in at least one embodiment of the invention. The appearance of this phrase in various places throughout the specification does not necessarily refer to the same embodiment, nor is it a mutually exclusive, independent, or alternative embodiment. It will be explicitly and implicitly understood by those skilled in the art that the embodiments described herein can be combined with other embodiments.

[0055] The production process of circuit boards involves multiple steps such as drilling, exposure, and development. Currently, when exposing circuit boards, it is necessary to manually place the circuit boards on the exposure machine. This method has low production efficiency and wastes manpower, which is not conducive to improving production efficiency and reducing labor costs.

[0056] To this end, embodiments of the present invention provide an automatic circuit board feeding method, apparatus, equipment, and medium. By setting up a feeding conveyor belt, a transfer conveyor belt, a feeding robot, a discharging conveyor belt, and a gripping robot, and placing multiple discharging frames at intervals on the feeding conveyor belt, with multiple circuit boards placed at intervals in each discharging frame, continuous automatic feeding of circuit boards can be achieved, thereby improving production efficiency and reducing labor costs.

[0057] The automatic circuit board feeding method, apparatus, equipment, and medium according to embodiments of the present invention will now be described in detail with reference to the accompanying drawings.

[0058] On the one hand, embodiments of the present invention propose an automatic feeding device, such as... Figures 1 to 4As shown, it includes a feeding conveyor belt 100, a transfer conveyor belt 200, a feeding robot 300, a discharging conveyor belt 400, and a gripping robot 500. The feeding conveyor belt 100 has multiple discharging frames 700 spaced apart, and each discharging frame 700 contains multiple circuit boards 800 spaced apart. The feeding robot 300 includes two retractable grippers 310 arranged opposite each other. The feeding conveyor belt 100 drives the discharging frames 700 to move from front to back, approaching the feeding robot 300. When the first discharging frame 700 moves to a preset position, the feeding conveyor belt 100 stops moving. It should be noted that when the first discharging frame 700 moves to the preset position, the first circuit board 800 inside the first discharging frame 700 is exactly below the gripping robot 500. At this time, the gripping robot 500 will descend and grip the first circuit board 800, move the first circuit board 800 upward so that the first circuit board 800 leaves the feeding frame 700, and then the feeding robot 300 approaches the circuit board 800 gripped by the gripping robot 500 and places the circuit board 800 on the feeding conveyor belt 400 so that the feeding conveyor belt 400 can send the circuit board 800 into the exposure machine 600 for exposure. It should be noted that after the loading robot 300 picks up the circuit board 800 picked up by the gripping robot 500, the gripping robot 500 will move forward a preset distance, which is equal to the distance between two adjacent circuit boards 800, so that the gripping robot 500 is above the next circuit board 800 of the first feeding frame 700, making it easier for the gripping robot 500 to pick up the next circuit board 800. After the gripping robot 500 has finished picking up a circuit board 800, it moves forward a preset distance. After the gripping robot 500 has finished picking up all the circuit boards 800 of the first feeding frame 700, it will reset backward and return to the initial position, waiting to pick up the next circuit board 800 of the feeding frame 700. Once all the circuit boards 800 in the first feeding frame 700 have been loaded, the feeding conveyor belt 100 starts to move, moving the first feeding frame 700 onto the transfer conveyor belt 200. At the same time, it moves the next feeding frame 700 to the position of the first feeding frame 700, so that the circuit boards in the next feeding frame 700 can be loaded.

[0059] The automatic feeding device according to the embodiments of this application sets up a feeding conveyor belt 100, a transfer conveyor belt 200, a feeding robot 300, a discharging conveyor belt 400 and a gripping robot 500, and places multiple discharging frames 700 at intervals on the feeding conveyor belt 100. Multiple circuit boards 800 are placed at intervals in each discharging frame 700, thereby realizing continuous automatic feeding of circuit boards 800, thereby improving production efficiency and reducing labor costs.

[0060] Furthermore, such as Figure 3As shown, in some embodiments of this application, the feeding conveyor belt 400 includes a plurality of spaced rotating rods 410 and a first driving device (not shown) for driving the rotating rods 410 to rotate. Each rotating rod 410 has a plurality of rollers 420 spaced apart. A lifting device 430 is provided below the rotating rods 410. The lifting device 430 includes a plurality of support rods (not shown) passing through the gaps between adjacent rotating rods 410. The surface of the support rods is provided with a bearing platform 440, and the bearing platform 440 is provided with a slot 450 adapted to the rollers 420. When the loading robot 300 picks up the circuit board 800, the lifting device 430 drives the support rod and the carrier platform 440 to rise, positioning the carrier platform 440 above the roller 420. This facilitates the loading robot 300 placing the circuit board 800 on the carrier platform 440. Then, the lifting device 430 drives the support rod and the carrier platform 440 to descend, placing the carrier platform 440 on the surface of the rotating rod 410. At this point, the roller 420 passes through the slot 450, and the circuit board 800 rests on the surface of the roller 420. Simultaneously, the first driving device drives the rotating rod 410 and the roller 420 to rotate, moving the circuit board 800 into the exposure machine 600, while the carrier platform 440 remains stationary.

[0061] Furthermore, such as Figure 2 As shown, in some embodiments of this application, the transfer conveyor belt 200 includes a first conveyor belt 210, a second conveyor belt 220 and a third conveyor belt 230. The first conveyor belt 210 is located at the outlet of the feeding conveyor belt 100, the third conveyor belt 230 is located at the inlet of the feeding conveyor belt 100, and the second conveyor belt 220 is located between the first conveyor belt 210 and the third conveyor belt 230. The first conveyor belt 210 is provided with a first pushing device 240, and the third conveyor belt 230 is provided with a second pushing device 250. After all the circuit boards 800 in the feeding frame 700 have been loaded, the feeding conveyor belt 100 transports the feeding frame 700 to the first conveyor belt 210. The first pushing device 240 pushes the feeding frame 700 toward the second conveyor belt 220. When the feeding frame 700 reaches the right side, it is transported to the second conveyor belt 220 via the first conveyor belt 210. The second conveyor belt 220 then drives the feeding frame 700 toward the third conveyor belt 230, where it is loaded again. Once the feeding frame 700 is full of circuit boards 800, the second pushing device 250 pushes the feeding frame 700 toward the feeding conveyor belt 100. When the feeding frame 700 reaches the left side, it is transported to the feeding conveyor belt 100 via the third conveyor belt 230.

[0062] Furthermore, such as Figure 2As shown, in some embodiments of this application, the gripping robot 500 includes a first telescopic mechanism 510, a second telescopic mechanism 520, and a gripping member 530. The second telescopic mechanism 520 is disposed on the first telescopic mechanism 510, and the gripping member 530 is disposed on the second telescopic mechanism 520. When the gripping robot 500 wants to grip the circuit board 800, the second telescopic mechanism 520 extends at a relatively fast speed, causing the gripping member 530 to quickly approach the circuit board 800. Then, the second telescopic mechanism 520 extends at a slower speed, causing the gripping member 530 to grip the circuit board 800 at a slower speed. Subsequently, the first telescopic mechanism 510 resets, and then the second telescopic mechanism 520 resets again. In this way, the gripping member 530 can quickly approach the circuit board 800, while also gripping the circuit board 800 in a gentler manner, avoiding damage to the circuit board 800.

[0063] Furthermore, such as Figure 4 As shown, in some embodiments of this application, the end of the loading robot 300 is provided with a third telescopic mechanism 320 and a clamping plate 330. The clamping plate 330 is disposed on the third telescopic mechanism 320, and the grippers 310 are disposed on the clamping plate 330. It should be noted that each time the loading robot 300 grips the circuit board 800, the end of the loading robot 300 moves to the same position, and then extends through the third telescopic mechanism 320, driving the clamping plate 330 closer to the circuit board 800 to be gripped, until the grippers 310 on both sides of the clamping plate 330 are located on both sides of the circuit board 800. Then, the grippers 310 on both sides retract and move closer to each other, so that the grippers 310 can clamp the circuit board 800. After the grippers 310 clamp the circuit board 800, the gripping robot 300 releases the circuit board 800, then the third telescopic mechanism 320 resets, and the loading robot 300 turns again to place the circuit board 800 on the unloading conveyor belt 400. It should be noted that since the end of the loading robot 300 moves to the same position every time it grabs a circuit board 800, for the same board 800 in the same loading frame 700, the distance that the third telescopic mechanism 320 needs to extend needs to gradually increase when grabbing the next board 800 after each board 800 is grabbed. The distance that increases each time is the distance between two adjacent board 800s.

[0064] Furthermore, such as Figure 4As shown, in some embodiments of this application, each gripper 310 includes a first clamping member 311 and a second clamping member 312 distributed vertically, and the distance between the first clamping member 311 and the second clamping member 312 is adjustable. A buffer pad is provided at the clamping positions of both the first clamping member 311 and the second clamping member 312. By clamping different positions of the circuit board 800 with the first clamping member 311 and the second clamping member 312 respectively, the gripper 310 can clamp the circuit board 800 more stably. Simultaneously, the distance between the first clamping member 311 and the second clamping member 312 can be changed according to the size of different circuit boards 800, thereby adapting to the clamping requirements of different circuit boards 800. Furthermore, by providing buffer pads at the clamping positions of the first clamping member 311 and the second clamping member 312, damage to the circuit board 800 by the first clamping member 311 and the second clamping member 312 is prevented.

[0065] On the other hand, based on the above-mentioned automatic circuit board feeding method, this application embodiment also proposes an automatic circuit board feeding method, such as... Figure 5 As shown, the method includes, but is not limited to, steps S100-S600:

[0066] Step S100: Move the first feeding frame 700 to the preset position via the feeding conveyor belt 100;

[0067] Step S200: The gripping robot 500 grips the circuit board 800 located below the gripping robot 500 inside the first feeding frame 700 and moves it to the outside of the feeding frame 700.

[0068] Step S300: Move the two grippers 310 of the loading robot 300 to both sides of the circuit board 800 being gripped, and drive the two grippers 310 to move closer to each other so that the two grippers 310 clamp the circuit board 800.

[0069] Step S400: The clamped circuit board 800 is transferred to the unloading conveyor belt 400 by the loading robot 300;

[0070] Step S500: Drive the gripping robot 500 to move a preset distance, so that the gripping robot 500 moves to above the next circuit board 800 of the first feeding frame 700, and return to step S200 until all circuit boards 800 of the first feeding frame 700 are loaded.

[0071] Step S600: Move the first feeding frame 700 onto the transfer conveyor belt 200 via the feeding conveyor belt 100, and move the next feeding frame 700 to the preset position to feed the circuit board 800 of the next feeding frame 700.

[0072] It should be noted that the feeding conveyor belt 100 is used to move the unloading frame 700 from front to back, approaching the feeding robot 300. When the first unloading frame 700 moves to the preset position, the feeding conveyor belt 100 stops moving. It should also be noted that when the first unloading frame 700 moves to the preset position, the first circuit board 800 inside the first unloading frame 700 is exactly below the gripping robot 500. At this time, the gripping robot 500 descends and grips the first circuit board 800, moving it upwards to leave the unloading frame 700. Then, the feeding robot 300 approaches the circuit board 800 gripped by the gripping robot 500, clamps the circuit board 800 with the gripper 310, and places the circuit board 800 on the unloading conveyor belt 400, allowing the unloading conveyor belt 400 to feed the circuit board 800 into the exposure machine 600 for exposure. It should be noted that after the loading robot 300 picks up the circuit board 800 picked up by the gripping robot 500, the gripping robot 500 will move forward a preset distance, which is equal to the distance between two adjacent circuit boards 800, so that the gripping robot 500 is above the next circuit board 800 of the first feeding frame 700, making it easier for the gripping robot 500 to pick up the next circuit board 800. After the gripping robot 500 has finished picking up a circuit board 800, it moves forward a preset distance. After the gripping robot 500 has finished picking up all the circuit boards 800 of the first feeding frame 700, it will reset backward and return to the initial position, waiting to pick up the next circuit board 800 of the feeding frame 700. Once all the circuit boards 800 in the first feeding frame 700 have been loaded, the feeding conveyor belt 100 starts to move, moving the first feeding frame 700 onto the transfer conveyor belt 200. At the same time, it moves the next feeding frame 700 to the position of the first feeding frame 700, so that the circuit boards in the next feeding frame 700 can be loaded.

[0073] According to the automatic circuit board feeding method of the present application embodiment, by setting up a feeding conveyor belt 100, a transfer conveyor belt 200, a feeding robot 300, a discharging conveyor belt 400 and a gripping robot 500, and placing multiple discharging frames 700 at intervals on the feeding conveyor belt 100, with multiple circuit boards 800 placed at intervals in each discharging frame 700, the continuous automatic feeding of circuit boards 800 can be realized, thereby improving production efficiency and reducing labor costs.

[0074] Furthermore, such as Figure 3As shown, in some embodiments of this application, the feeding conveyor belt 400 includes a plurality of spaced rotating rods 410 and a first driving device (not shown) for driving the rotating rods 410 to rotate. Each rotating rod 410 has a plurality of rollers 420 spaced apart. A lifting device 430 is provided below each rotating rod 410. The lifting device 430 includes a plurality of support rods (not shown) passing through the gaps between adjacent rotating rods 410. A bearing platform 440 is provided on the surface of the support rods, and the bearing platform 440 has slots 450 adapted to the rollers 420. In this example, step S400 above: transferring the clamped circuit board 800 onto the feeding conveyor belt 400 by the loading robot 300 includes the following four steps:

[0075] The lifting device 430 drives the support platform 440 to rise above the rollers 420;

[0076] The clamped circuit board 800 is placed flat on the support table 440 by the loading robot 300;

[0077] The lifting device 430 drives the support platform 440 to descend to the surface of the rotating rod 410, so that the circuit board 800 is located on the surface of the roller 420, and the roller 420 passes through the slot 450.

[0078] The first driving device drives the rotating rod 410 and roller 420 to rotate, transporting the circuit board 800 to the exposure machine 600.

[0079] Specifically, when the loading robot 300 picks up the circuit board 800, the lifting device 430 drives the support rod and the carrier platform 440 to rise, so that the carrier platform 440 is above the roller 420, making it easier for the loading robot 300 to place the circuit board 800 on the carrier platform 440. Then, the lifting device 430 drives the support rod and the carrier platform 440 to fall, so that the carrier platform 440 is placed on the surface of the rotating rod 410. At this time, the roller 420 passes through the slot 450, and the circuit board 800 is placed on the surface of the roller 420. At this time, the first driving device drives the rotating rod 410 and the roller 420 to rotate, moving the circuit board 800 into the exposure machine 600, while the carrier platform 440 remains stationary.

[0080] Furthermore, such as Figure 2As shown, in some embodiments of this application, the transfer conveyor belt 200 includes a first conveyor belt 210, a second conveyor belt 220, and a third conveyor belt 230. The first conveyor belt 210 is located at the outlet of the loading conveyor belt 100, the third conveyor belt 230 is located at the inlet of the loading conveyor belt 100, and the second conveyor belt 220 is located between the first conveyor belt 210 and the third conveyor belt 230. The first conveyor belt 210 is provided with a first pushing device 240, and the third conveyor belt 230 is provided with a second pushing device 250. In this example, the above-mentioned step S600: moving the first unloading frame 700 onto the transfer conveyor belt 200 via the loading conveyor belt 100, and moving the next unloading frame 700 to a preset position, includes the following six steps:

[0081] The first feeding frame 700 is moved onto the first conveyor belt 210 by the feeding conveyor belt 100;

[0082] The first pushing device 240 pushes the first feeding frame 700 to move toward the second conveyor belt 220;

[0083] The first feeding frame 700 is moved onto the second conveyor belt 220 via the first conveyor belt 210;

[0084] The first feeding frame 700 is moved onto the third conveyor belt 230 via the second conveyor belt 220;

[0085] The circuit board 700 to be loaded is placed in the first loading box 700, and the first loading box 700 filled with circuit boards 800 is pushed toward the loading conveyor belt 100 by the second pushing device 250.

[0086] The first feeding frame 700 is moved to the feeding conveyor belt 100 via the third conveyor belt 230.

[0087] Specifically, after all the circuit boards 800 in the feeding frame 700 have been loaded, the feeding conveyor belt 100 transports the feeding frame 700 to the first conveyor belt 210. The first pushing device 240 pushes the feeding frame 700 toward the second conveyor belt 220. When the feeding frame 700 reaches the right side, it is transported to the second conveyor belt 220 via the first conveyor belt 210. The second conveyor belt 220 then drives the feeding frame 700 toward the third conveyor belt 230, so that the feeding frame 700 reaches the third conveyor belt 230. At the third conveyor belt 230, the feeding frame 700 is reloaded, and the feeding frame 700 is filled with circuit boards 800. Then, the second pushing device 250 pushes the feeding frame 700 toward the feeding conveyor belt 100. When the feeding frame 700 reaches the left side, it is transported to the feeding conveyor belt 100 via the third conveyor belt 230.

[0088] Furthermore, such as Figure 2As shown, in some embodiments of this application, the gripping robot 500 includes a first telescopic mechanism 510, a second telescopic mechanism 520, and a gripping member 530. The second telescopic mechanism 520 is disposed on the first telescopic mechanism 510, and the gripping member 530 is disposed on the second telescopic mechanism 520. In this example, the above-mentioned step S200: gripping the circuit board 800 located below the gripping robot 500 within the first feeding frame 700 and moving it to the outside of the feeding frame 700 by the gripping robot 500, includes the following three steps:

[0089] Drive the second telescopic mechanism 520 to extend the first distance at a first speed, so that the gripper 530 is close to the circuit board 800;

[0090] The first telescopic mechanism 510 is driven to descend a second distance at a second speed, so that the gripper 530 grips the circuit board 800; the first speed is greater than the second speed, and the first distance is greater than the second distance.

[0091] The second telescopic mechanism 520 is driven to shorten the first distance at a first speed, and the first telescopic mechanism 510 is driven to shorten the second distance at a second speed, so that the gripper 530 grips the circuit board 800 to the outside of the feeding frame 700.

[0092] Specifically, when the gripping robot 500 wants to grasp the circuit board 800, the second telescopic mechanism 520 extends at a relatively fast first speed, causing the gripper 530 to quickly approach the circuit board 800. Then, the second telescopic mechanism 520 extends at a slower second speed, causing the gripper 530 to grasp the circuit board 800 at a slower speed. Subsequently, the first telescopic mechanism 510 resets, and then the second telescopic mechanism 520 resets again. This method allows the gripper 530 to quickly approach the circuit board 800 while also gripping it gently, avoiding damage to the circuit board 800. It should be noted that the extension distance of the second telescopic mechanism 520 is greater than that of the first telescopic mechanism 510, ensuring that the gripping of the circuit board 800 can be completed quickly.

[0093] Furthermore, such as Figure 4 As shown, in some embodiments of this application, the end of the loading robot 300 is provided with a third telescopic mechanism 320 and a clamping plate 330. The clamping plate 330 is disposed on the third telescopic mechanism 320, and the grippers 310 are disposed on the clamping plate 330. In this example, the above-mentioned step S300: moving the two grippers 310 of the loading robot 300 to both sides of the circuit board 800 being gripped, and driving the two grippers 310 to move closer to each other, so that the two grippers 310 clamp the circuit board 800, includes the following four steps:

[0094] Move the end effector of the loading robot 300 to the designated position;

[0095] The extension length of the third telescopic mechanism 320 is determined based on the distance between the gripper and the circuit board 800 it is grasping.

[0096] The third telescopic mechanism 320 is driven to extend the extension length, so that the clamping plate 330 drives the two grippers 310 to move to both sides of the circuit board 800 being gripped.

[0097] The two grippers 310 are driven to move closer to each other, so that the two grippers 310 clamp the circuit board 800.

[0098] It should be noted that each time the loading robot 300 grips the circuit board 800, its end cap moves to the same position. Then, it extends via the third telescopic mechanism 320, bringing the clamping plate 330 closer to the circuit board 800 to be gripped, until the grippers 310 on both sides of the clamping plate 330 are positioned on both sides of the circuit board 800. Then, the grippers 310 retract and move closer together, allowing them to clamp the circuit board 800. After the grippers 310 have clamped the circuit board 800, the gripping robot 500 releases the circuit board 800, then the third telescopic mechanism 320 resets, and the loading robot 300 turns to place the circuit board 800 onto the unloading conveyor belt 400. It should be noted that since the end of the loading robot 300 moves to the same position every time it grabs a circuit board 800, for the same board 800 in the same loading frame 700, the distance that the third telescopic mechanism 320 needs to extend needs to gradually increase when grabbing the next board 800 after each board 800 is grabbed. The distance that increases each time is the distance between two adjacent board 800s.

[0099] Furthermore, in some embodiments of this application, the above-mentioned step S600: moving the first unloading frame 700 onto the transfer conveyor belt 200 via the loading conveyor belt 100, and moving the next unloading frame 700 to a preset position to load the circuit board 800 of the next unloading frame 700, includes the following two steps:

[0100] When the gripping robot 500 grips the last circuit board 800 in the first feeding frame 700, the first feeding frame 700 is moved to the transfer conveyor belt 200 via the feeding conveyor belt 100, and the next feeding frame 700 is moved to the preset position.

[0101] When the loading robot 300 clamps the last circuit board 800 in the first feeding frame 700, the gripping robot 500 moves to above the first circuit board 800 in the next feeding frame 700.

[0102] Specifically, when the gripping robot 500 grips the last circuit board 800 in the first feeding frame 700, in order to avoid interruption of the feeding of the circuit board 800, the first feeding frame 700 will be moved to the transfer conveyor belt 200 in a timely manner, and the next feeding frame 700 will be moved to a preset position so that the gripping robot 500 can continue to grip the circuit board 800 in the next feeding frame 700; at the same time, when the feeding robot 300 clamps the last circuit board 800 in the first feeding frame 700, the gripping robot 500 will move above the first circuit board 800 in the next feeding frame 700, in preparation for feeding the circuit board 800 in the next feeding frame 700.

[0103] Furthermore, such as Figure 4 As shown, in some embodiments of this application, each gripper 310 includes a first clamping member 311 and a second clamping member 312 distributed vertically, and the distance between the first clamping member 311 and the second clamping member 312 is adjustable. A buffer pad is provided at the clamping positions of both the first clamping member 311 and the second clamping member 312. By clamping different positions of the circuit board 800 with the first clamping member 311 and the second clamping member 312 respectively, the gripper 310 can clamp the circuit board 800 more stably. Simultaneously, the distance between the first clamping member 311 and the second clamping member 312 can be changed according to the size of different circuit boards 800, thereby adapting to the clamping requirements of different circuit boards 800. Furthermore, by providing buffer pads at the clamping positions of the first clamping member 311 and the second clamping member 312, damage to the circuit board 800 by the first clamping member 311 and the second clamping member 312 is prevented.

[0104] On the other hand, embodiments of the present invention also provide an electronic device, including at least one control processor and a memory for communicatively connecting to the at least one control processor; the memory stores instructions executable by the at least one control processor, the instructions being executed by the at least one control processor to enable the at least one control processor to perform the above-described automatic circuit board loading method.

[0105] On the other hand, embodiments of the present invention also provide a storage medium, which is a computer-readable storage medium storing a computer program that, when executed by a processor, implements the above-described automatic circuit board loading method.

[0106] Memory, as a non-transitory computer-readable storage medium, can be used to store non-transitory software programs and non-transitory computer-executable programs. Furthermore, memory may include high-speed random access memory, and may also include non-transitory memory, such as at least one disk storage device, flash memory device, or other non-transitory solid-state storage device. In some embodiments, memory may optionally include memory remotely located relative to the processor, and these remote memories can be connected to the processor via a network. Examples of such networks include, but are not limited to, the Internet, intranets, local area networks, mobile communication networks, and combinations thereof. The device embodiments described above are merely illustrative, and the units described as separate components may or may not be physically separate, and may be located in one place or distributed across multiple network units. Some or all of the modules can be selected to achieve the purpose of this embodiment according to actual needs.

[0107] Although specific embodiments are described herein, those skilled in the art will recognize that many other modifications or alternative embodiments are also within the scope of this disclosure. For example, any of the functions and / or processing capabilities described in connection with a particular device or component can be performed by any other device or component. Furthermore, while various exemplary embodiments and architectures have been described according to embodiments of this disclosure, those skilled in the art will recognize that many other modifications to the exemplary embodiments and architectures described herein are also within the scope of this disclosure.

[0108] The foregoing description, with reference to block diagrams and flowcharts of systems, methods, systems, and / or computer program products according to exemplary embodiments, has described certain aspects of this disclosure. It should be understood that one or more blocks in the block diagrams and flowcharts, as well as combinations of blocks in the block diagrams and flowcharts, can be implemented by executing computer-executable program instructions, respectively. Similarly, according to some embodiments, some blocks in the block diagrams and flowcharts may not need to be executed in the order shown, or may not all need to be executed. Furthermore, additional components and / or operations beyond those shown in the blocks in the block diagrams and flowcharts may exist in some embodiments.

[0109] Therefore, blocks in block diagrams and flowcharts support combinations of means for performing a specified function, combinations of elements or steps for performing a specified function, and program instruction means for performing a specified function. It should also be understood that each block in a block diagram and flowchart, and combinations of blocks in block diagrams and flowcharts, can be implemented by a dedicated hardware computer system or a combination of dedicated hardware and computer instructions that performs a specific function, element, or step.

[0110] The program modules, applications, etc., described herein may include one or more software components, including, for example, software objects, methods, data structures, etc. Each such software component may include computer-executable instructions that, in response to execution, cause at least a portion of the functionality described herein (e.g., one or more operations of the exemplary methods described herein) to be performed.

[0111] Software components can be coded using any of a variety of programming languages. An exemplary programming language could be a low-level programming language, such as assembly language associated with a specific hardware architecture and / or operating system platform. Software components including assembly language instructions may need to be converted into executable machine code by an assembler before being executed by the hardware architecture and / or platform. Another exemplary programming language could be a higher-level programming language that is portable across multiple architectures. Software components including higher-level programming languages ​​may need to be converted into an intermediate representation by an interpreter or compiler before execution. Other examples of programming languages ​​include, but are not limited to, macro languages, shell or command languages, job control languages, scripting languages, database query or search languages, or report writing languages. In one or more exemplary embodiments, a software component containing instructions from one of the above-described programming language examples can be executed directly by the operating system or other software components without first being converted into another form.

[0112] Software components can be stored as files or other data storage structures. Software components of similar type or related function can be stored together in a specific directory, folder, or library. Software components can be static (e.g., pre-defined or fixed) or dynamic (e.g., created or modified at runtime).

[0113] The embodiments of the present invention have been described in detail above with reference to the accompanying drawings. However, the present invention is not limited to the above embodiments. Within the scope of knowledge possessed by those skilled in the art, various changes can be made without departing from the spirit of the present invention.

Claims

1. An automatic circuit board feeding method, characterized in that, A controller for an automatic feeding device, the automatic feeding device including a feeding conveyor belt, a transfer conveyor belt, a feeding robot, a discharging conveyor belt, and a gripping robot, wherein the feeding conveyor belt has multiple discharging frames spaced apart, and each discharging frame contains multiple circuit boards spaced apart; the feeding robot includes two retractable grippers arranged opposite each other; the method includes: The first feeding frame is moved to a preset position by the feeding conveyor belt; The gripping robot grabs the circuit board located below the first feeding frame and moves it to the outside of the feeding frame. The two grippers of the loading robot are moved to both sides of the circuit board being gripped, and the two grippers are driven to move closer to each other so that the two grippers clamp the circuit board tightly. The clamped circuit board is transferred to the unloading conveyor belt by the loading robot. Drive the gripping robot to move a preset distance, so that the gripping robot moves to above the next circuit board in the first feeding frame, and returns to the step of gripping the circuit board located below the gripping robot in the first feeding frame to the outside of the feeding frame, until all the circuit boards in the first feeding frame are loaded; The first feeding frame is moved onto the transfer conveyor belt via the feeding conveyor belt, and the next feeding frame is moved to the preset position for feeding the circuit board of the next feeding frame; The transfer conveyor belt includes a first conveyor belt, a second conveyor belt, and a third conveyor belt. The first conveyor belt is located at the outlet of the feeding conveyor belt, the third conveyor belt is located at the inlet of the feeding conveyor belt, and the second conveyor belt is located between the first conveyor belt and the third conveyor belt. The first conveyor belt is provided with a first pushing device, and the third conveyor belt is provided with a second pushing device. The step of moving the first unloading frame onto the transfer conveyor belt via the feeding conveyor belt and moving the next unloading frame to the preset position includes: The first feeding frame is moved onto the first conveyor belt via the feeding conveyor belt; The first pushing device pushes the first feeding frame to move toward the second conveyor belt; The first feeding frame is moved onto the second conveyor belt via the first conveyor belt; The first feeding frame is moved onto the third conveyor belt via the second conveyor belt; The circuit board to be loaded is placed in the first loading frame, and the first loading frame filled with the circuit board is pushed toward the first conveyor belt by the second pushing device; The first feeding frame is moved to the feeding conveyor belt via the third conveyor belt; The step of moving the first unloading frame onto the transfer conveyor belt via the loading conveyor belt, and moving the next unloading frame to the preset position to load the circuit board into the next unloading frame includes: When the gripping robot grabs the last circuit board in the first feeding frame, the first feeding frame is moved to the transfer conveyor belt via the feeding conveyor belt, and the next feeding frame is moved to the preset position. When the loading robot clamps the last circuit board in the first loading frame, the gripping robot moves to above the first circuit board in the next loading frame.

2. The automatic circuit board feeding method according to claim 1, characterized in that, The feeding conveyor belt includes multiple spaced rotating rods and a first driving device for driving the rotating rods to rotate. Each rotating rod has multiple rollers spaced apart. A lifting device is provided below the rotating rod. The lifting device includes several support rods that pass through the gaps between adjacent rotating rods. The surface of the support rods is provided with a bearing platform. The bearing platform is provided with slots that are adapted to the rollers. The step of transferring the clamped circuit board to the unloading conveyor belt by the loading robot includes: The lifting device drives the support platform to rise above the rollers; The clamped circuit board is placed flat on the support platform by the loading robot. The lifting device drives the support platform to descend to the surface of the rotating rod, so that the circuit board is located on the surface of the roller, and the roller passes through the slot. The first driving device drives the rotating rod and the roller to rotate, thereby transporting the circuit board to the exposure machine.

3. The automatic circuit board feeding method according to claim 1, characterized in that, The gripping robot includes a first telescopic mechanism, a second telescopic mechanism, and a gripping component. The second telescopic mechanism is disposed on the first telescopic mechanism, and the gripping component is disposed on the second telescopic mechanism. The step of using the gripping robot to grip the circuit board located below the first feeding frame and move it to the outside of the feeding frame includes: Drive the second telescopic mechanism to extend a first distance at a first speed, so that the gripper is close to the circuit board; The first telescopic mechanism is driven to descend a second distance at a second speed, so that the gripper grips the circuit board; the first speed is greater than the second speed, and the first distance is greater than the second distance. The second telescopic mechanism is driven to shorten the first distance at the first speed, and the first telescopic mechanism is driven to shorten the second distance at the second speed, so that the gripper grips the circuit board to the outside of the feeding frame.

4. The automatic circuit board feeding method according to claim 1, characterized in that, The end of the loading robot is provided with a third telescopic mechanism and a clamping plate, the clamping plate is disposed on the third telescopic mechanism, and the gripper is disposed on the clamping plate; The step of moving the two grippers of the loading robot to both sides of the circuit board being gripped, and driving the two grippers to move closer to each other so that the two grippers clamp the circuit board, includes: The end effector of the loading robot is moved to a designated position; The extension length of the third telescopic mechanism is determined based on the distance between the gripper and the circuit board it grasps; Drive the third telescopic mechanism to extend the extension length, so that the clamping plate drives the two grippers to move to both sides of the circuit board being gripped; The two grippers are driven to move closer to each other, so that the two grippers clamp the circuit board.

5. The automatic circuit board feeding method according to claim 1, characterized in that, Each gripper includes a first clamp and a second clamp distributed vertically, and the distance between the first clamp and the second clamp is adjustable. Both the first clamp and the second clamp are provided with a buffer pad at their gripping positions.

6. An automatic feeding device, characterized in that, include: The automatic feeding device includes a feeding conveyor belt, a transfer conveyor belt, a feeding robot, a discharging conveyor belt, and a gripping robot. The feeding conveyor belt has multiple discharging frames spaced apart, and multiple circuit boards are spaced apart in each discharging frame. The feeding robot includes two retractable grippers arranged opposite each other. The automatic feeding device also includes a controller, which is used to implement the automatic circuit board feeding method as described in any one of claims 1 to 5.

7. An electronic device, characterized in that, It includes at least one control processor and a memory for communicatively connecting to the at least one control processor; the memory stores instructions executable by the at least one control processor to enable the at least one control processor to perform the automatic circuit board feeding method as described in any one of claims 1 to 5.

8. A computer-readable storage medium, characterized in that, The computer-readable storage medium stores computer-executable instructions for causing a computer to perform the automatic circuit board loading method as described in any one of claims 1 to 5.

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