Glove loading device and method

Abstract

This invention belongs to the field of coating material feeding technology and discloses a ball cover feeding device and feeding method. The ball cover feeding device includes a bearing mechanism, a coating trolley, a guiding mechanism, a limiting mechanism, a transport mechanism, and a translation mechanism. Before the ball cover is fed, the limiting mechanism adjusts the end point of the coating trolley's stroke to compensate for the X-axis deviation. After the ball cover is removed, the transport mechanism drives the ball cover to translate along the Y-axis under the action of the translation mechanism to compensate for the Y-axis deviation. After compensating for the X-axis and Y-axis deviations, it can ensure that the center of the ball cover coincides with the center of the bearing station, so that the feeding accuracy of the ball cover can still be guaranteed even after the ball cover is deformed.

Description

Technical Field

[0001] This invention relates to the field of coating material feeding technology, and in particular to a spherical cover feeding device and feeding method. Background Technology

[0002] Before coating, the workpiece needs to be fixed in a specific slot or position on the spherical dome. The spherical or specific curved surface design of the dome is a prerequisite for achieving uniform film thickness. After the workpiece is fixed, the dome is positioned in the coating location by the coating carriage. However, due to repeated use and multiple thermal cycles, different parts of the dome expand and contract to varying degrees. In subsequent uses, positional deviations occur between the dome and the positioning structure on the coating carriage, leading to inaccuracies in the accuracy of the dome after placement in the coating position, thus affecting the coating quality.

[0003] Therefore, the above problems urgently need to be solved. Summary of the Invention

[0004] The purpose of this invention is to provide a ball cover feeding device and feeding method to improve the feeding accuracy of the ball cover after deformation.

[0005] To achieve this objective, the present invention adopts the following technical solution:

[0006] A ball cover loading device, used to load ball covers from a coating cart to a carrying station, includes:

[0007] The supporting mechanism has the aforementioned supporting workstation;

[0008] A guiding mechanism is configured to guide the coating carriage to move along the X-axis direction;

[0009] A limiting mechanism is provided on the moving path of the coating carriage and is configured to adjust its position in the X-axis direction to serve as the end point of the coating carriage's travel, thereby compensating for the X-axis deviation of the ball cover on the coating carriage.

[0010] A transport mechanism is configured to pick up the spherical cover from the coating cart;

[0011] A translation mechanism is connected to the conveying mechanism and configured to, after the conveying mechanism picks up the spherical cover, drive the spherical cover to translate along the Y-axis direction to compensate for the Y-axis deviation of the spherical cover and place the spherical cover at the bearing station.

[0012] Preferably, the conveying mechanism includes two sets of conveying components arranged along the Y-axis, and located on both sides of the bearing mechanism;

[0013] Each of the conveying components includes a lifting component, a mounting component disposed at the lifting end of the lifting component, and a receiving component slidably disposed on the mounting component along the Y-axis direction;

[0014] The translation mechanism includes two translation components, which are respectively disposed on two mounting components and connected to the receiving components on the corresponding mounting components. The two translation components can synchronously drive the corresponding receiving components in opposite directions.

[0015] Preferably, each of the receiving components is provided with a mounting base, the outer side wall of the mounting base being adapted to conform to the inner peripheral wall of the spherical cover, so that the outer side walls of each mounting base can form a circular outline.

[0016] The two translation components have a receiving position where the circular outline is concentric with the spherical cover, and an adjustment position where the circular outline coincides with the center of the bearing station.

[0017] Preferably, the mounting base is provided with a first detection element and a second detection element electrically connected to the corresponding translation element. The first detection element is configured to detect the distance between the mounting base and the inner peripheral wall of the spherical cover in the vertical direction, and the second detection element is configured to detect the distance between the mounting base and the inner peripheral wall of the spherical cover in the Y-axis direction, so that the circular outline is concentrically set with the spherical cover.

[0018] Preferably, the load-bearing mechanism includes:

[0019] Platform;

[0020] At least three support members, the at least three support members being evenly distributed circumferentially around the center of the platform and extending to the outside of the platform;

[0021] At least three support members are provided, each corresponding to a load-bearing member, and each of the support members has a support surface that conforms to the inner peripheral wall of the spherical cover.

[0022] Preferably, the spherical cover is provided with a foolproof hole;

[0023] The supporting mechanism also includes:

[0024] A foolproof detection component is disposed on one side of the stage;

[0025] A rotating component, connected to the stage and configured to drive the stage to rotate about its center so that the foolproof hole is aligned with the foolproof detection component.

[0026] Preferably, the guiding mechanism includes:

[0027] Two guide plates are spaced apart along the Y-axis and can form a guide channel for the coating trolley to enter.

[0028] A first moving module is connected to one of the guide plates and is used to drive the guide plate to move along the Y-axis.

[0029] Preferably, the limiting mechanism includes a second transverse module, a limiting frame connected to the second transverse module, and at least two limiting blocks evenly distributed along the Y-axis direction, with the limiting blocks facing the coating trolley.

[0030] The second transverse module is configured to drive the limiting frame to move along the X-axis.

[0031] The feeding method for the spherical cover includes the following steps:

[0032] Obtain the X-axis deviation of the actual position of the spherical cover on the coating carriage from its theoretical position in the horizontal plane, and the Y-axis deviation.

[0033] The coating carriage is controlled to move, and the stopping position of the coating carriage along the X-axis is adjusted according to the X-axis deviation to compensate for the X-axis deviation;

[0034] After the coating cart stops, the spherical cover is picked up from the coating cart;

[0035] After picking up the spherical cover, the spherical cover is driven to translate along the Y-axis to compensate for the Y-axis deviation;

[0036] After the X-axis and Y-axis deviations are compensated, the spherical cover is driven to move vertically to place it at the target position.

[0037] Preferably, the step of obtaining the X-axis deviation and Y-axis deviation of the actual position of the spherical cover on the coating carriage from its theoretical position in the horizontal plane includes:

[0038] An image of the dome is acquired using a visual positioning system, and the image is compared with a theoretical image to determine the X-axis deviation and Y-axis deviation.

[0039] The beneficial effects of this invention are:

[0040] The ball cover feeding device and feeding method proposed in this invention adjust the X-axis position of the ball cover before feeding by a limiting mechanism to serve as the end point of the coating trolley's travel, thereby compensating for X-axis deviation. After the ball cover is removed, the transport mechanism drives the ball cover to translate along the Y-axis under the action of the translation mechanism, thereby compensating for Y-axis deviation. After compensating for X-axis and Y-axis deviations, it can ensure that the center of the ball cover coincides with the center of the bearing station, thus ensuring the feeding accuracy of the ball cover even after deformation. Attached Figure Description

[0041] Figure 1 This is a schematic diagram of the structure of the spherical cover feeding device in this invention;

[0042] Figure 2 This is a schematic diagram of the transport component in this invention;

[0043] Figure 3 This is a schematic diagram of the load-bearing mechanism in this invention;

[0044] Figure 4 This is a schematic diagram of the limiting mechanism and the guiding mechanism in this invention.

[0045] In the picture:

[0046] 100. Sphere cover;

[0047] 1. Load-bearing mechanism; 11. Platform; 12. Load-bearing component; 13. Support component; 14. Rotating component; 15. Anti-static component;

[0048] 2. Coating cart;

[0049] 3. Guiding mechanism; 31. Guide plate; 32. First moving module;

[0050] 4. Limiting mechanism; 41. Second transverse module; 42. Limiting frame; 43. Limiting block;

[0051] 5. Handling mechanism; 51. Handling components; 511. Lifting components; 512. Mounting components; 513. Receiving components; 5131. Receiving platform; 514. Height detection components;

[0052] 6. Translation mechanism; 61. Translation component; 62. Mounting base; 63. First inspection component; 64. Second inspection component; 65. Connecting rod. Detailed Implementation

[0053] The present invention will now be described in further detail with reference to the accompanying drawings and embodiments. It should be understood that the specific embodiments described herein are merely illustrative of the invention and not intended to limit it. Furthermore, it should be noted that, for ease of description, the accompanying drawings show only the parts relevant to the present invention, and not all of the structures.

[0054] In the description of this invention, unless otherwise explicitly specified and limited, the terms "connected," "linked," and "fixed" should be interpreted broadly. For example, they can refer to a fixed connection, a detachable connection, or an integral part; they can refer to a mechanical connection or an electrical connection; they can refer to a direct connection or an indirect connection through an intermediate medium; they can refer to the internal communication of two components or the interaction between two components. Those skilled in the art can understand the specific meaning of the above terms in this invention based on the specific circumstances.

[0055] In this invention, unless otherwise explicitly specified and limited, "above" or "below" the second feature can include direct contact between the first and second features, or contact between the first and second features through another feature between them. Furthermore, "above," "over," and "on top" of the second feature includes the first feature directly above or diagonally above the second feature, or simply indicates that the first feature is at a higher horizontal level than the second feature. "Below," "below," and "under" the second feature includes the first feature directly below or diagonally below the second feature, or simply indicates that the first feature is at a lower horizontal level than the second feature.

[0056] In the description of this embodiment, the terms "upper," "lower," "right," etc., refer to the orientation or positional relationship shown in the accompanying drawings. They are used only for ease of description and simplification of operation, 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 limitations on the present invention. In addition, the terms "first" and "second" are used only for distinction in description and have no special meaning.

[0057] Please see Figures 1 to 4 This embodiment proposes a ball cover loading device for loading a ball cover 100 from a coating carriage 2 to a bearing station. The device includes a bearing mechanism 1, a guiding mechanism 3, a limiting mechanism 4, a transport mechanism 5, and a translation mechanism 6. The bearing mechanism 1 has a bearing station. The guiding mechanism 3 is configured to guide the coating carriage 2 to move along the X-axis. The limiting mechanism 4 is located on the movement path of the coating carriage 2 and is configured to adjust its position in the X-axis direction to serve as the end point of the coating carriage 2's travel, thereby compensating for the X-axis deviation of the ball cover 100 on the coating carriage 2. The transport mechanism 5 is configured to pick up the ball cover 100 from the coating carriage 2. The translation mechanism 6 is connected to the transport mechanism 5 and is configured to, after the transport mechanism 5 picks up the ball cover 100, drive the ball cover 100 to translate along the Y-axis direction to compensate for the Y-axis deviation of the ball cover 100 and place the ball cover 100 at the bearing station.

[0058] Understandably, before the ball cover 100 is loaded, the travel end point of the coating carriage 2 is adjusted by the limiting mechanism 4 so that the center of the ball cover 100 and the center of the bearing station are set side by side along the Y-axis, thereby compensating for the X-axis deviation. After the ball cover 100 is removed, the conveying mechanism 5 can drive the ball cover 100 to translate along the Y-axis under the action of the translation mechanism 6, thereby compensating for the Y-axis deviation. After compensating for the X-axis deviation and the Y-axis deviation, it can be ensured that the center of the ball cover 100 coincides with the center of the bearing station, so that the loading accuracy of the ball cover 100 can still be guaranteed even after the ball cover 100 is deformed.

[0059] Based on the above, this embodiment also proposes a method for feeding a spherical cover, which includes the following steps:

[0060] Obtain the X-axis deviation of the actual position of the spherical cover 100 on the coating carriage 2 from its theoretical position in the horizontal plane along the X-axis direction and the Y-axis deviation.

[0061] Control the movement of the coating carriage 2 and adjust the stop position of the coating carriage 2 along the X-axis direction according to the X-axis deviation to compensate for the X-axis deviation;

[0062] After the coating carriage 2 stops, pick up the ball cover 100 from the coating carriage 2;

[0063] After picking up the spherical cover 100, drive the spherical cover 100 to translate along the Y-axis direction to compensate for the Y-axis deviation;

[0064] After the X-axis and Y-axis deviations are compensated, the drive spherical cover 100 is moved vertically to place it in the target position.

[0065] It is understandable that the theoretical position refers to the position of the undeformed spherical cover 100 on the coating carriage 2, while the actual position refers to the position of the deformed spherical cover 100 on the coating carriage 2. After the spherical cover 100 is placed on the coating carriage 2, the X-axis deviation and Y-axis deviation of the spherical cover 100 are obtained by comparing the theoretical position and the actual position. The limiting mechanism 4 adjusts the end of the stroke of the coating carriage 2 according to the X-axis deviation. Under the action of the guiding mechanism 3, the coating carriage 2 can move along the X-axis. When the coating carriage 2 moves to the end of the stroke, it can abut against the limiting mechanism 4. At this time, the center of the spherical cover 100 and the center of the bearing station are set side by side along the Y-axis, thus completing the compensation for the X-axis deviation. Subsequently, the conveying mechanism 5 can pick up the spherical cover 100 on the carriage, and the translation mechanism 6 drives the spherical cover 100 to translate along the Y-axis according to the Y-axis deviation, thus completing the compensation for the Y-axis deviation. After the X-axis and Y-axis deviations of the spherical cover 100 are compensated, the conveying mechanism 5 can drive the spherical cover 100 to move in the vertical direction to place it in the bearing position.

[0066] The process of obtaining the X-axis deviation and Y-axis deviation of the actual position of the spherical cover 100 on the coating carriage 2 from its theoretical position in the horizontal plane includes:

[0067] A visual positioning system is used to acquire images of the dome 100, and these images are compared with theoretical images to determine the X-axis and Y-axis deviations. It is understood that the visual positioning system stores the theoretical position image of the dome 100; that is, it stores the theoretical image. After the dome 100 is placed on the coating cart 2, the visual positioning system can take pictures of the actual position to acquire an image of the dome 100, and then compare this image with the theoretical image to obtain the X-axis and Y-axis deviations.

[0068] The preferred visual positioning system is the existing CCD visual positioning system.

[0069] In this embodiment, the conveying mechanism 5 includes two sets of conveying components 51 arranged along the Y-axis, respectively located on both sides of the carrying mechanism 1. It is understood that when the coating carriage 2 moves to the end of its travel, the two conveying components 51 can pick up the ball cover 100, ensuring the stability of the ball cover 100 during the conveying process. Each set of conveying components 51 includes a lifting member 511, a mounting member 512 disposed at the lifting end of the lifting member 511, and a receiving member 513 slidably disposed on the mounting member 512 along the Y-axis. It is understood that the lifting member 511 allows the receiving member 513 to abut against the bottom of the ball cover 100. The lifting member 511 is preferably a linear electric cylinder in the prior art. As the receiving member 513 continuously rises, the ball cover 100 can detach from the coating carriage 2, and after Y-axis deviation compensation is completed, it can lower the ball cover 100, thereby placing it on the carrying mechanism 1.

[0070] Furthermore, the receiving component 513 includes at least two receiving platforms 5131, which are arranged side by side along the X-axis. The multiple receiving platforms 5131 further ensure the stability of the conveying assembly 51 during the conveying of the spherical cover 100. Preferably, there are two receiving platforms 5131 in one set of conveying assemblies 51, and the total number of receiving platforms 5131 in two sets of conveying assemblies 51 is four.

[0071] Furthermore, the conveying mechanism 5 also includes multiple height detection elements 514, which are arranged vertically and electrically connected to the lifting element 511. When the coating trolley 2 moves to its end point of travel, one of the height detection elements 514 can detect the height of the ball cover 100 and send a signal to the lifting element 511 so that the receiving element 513 can receive the ball cover 100.

[0072] Correspondingly, the translation mechanism 6 includes two translation members 61, which are respectively disposed on two mounting members 512 and connected to the receiving members 513 on the corresponding mounting members 512. The two translation members 61 can synchronously drive the corresponding receiving members 513 in opposite directions. It can be understood that after the receiving member 513 receives the ball cover 100, the two translation members 61 can drive the ball cover 100 to move along the Y-axis direction according to the Y-axis deviation to complete the compensation of the Y-axis deviation. The translation member 61 is preferably a linear electric cylinder in the prior art. During the compensation of the Y-axis deviation, the two linear electric cylinders can move synchronously in opposite directions, that is, one linear electric cylinder extends while the other linear electric cylinder retracts.

[0073] Furthermore, the output end of the linear electric cylinder is connected to a connecting rod 65, which is arranged along the X-axis direction and can be connected to the receiving platform 5131 in the same conveying assembly 51 to ensure the stability of the receiving platform 5131 during movement.

[0074] Furthermore, each receiving component 513 is provided with a mounting base 62, the outer wall of which is adapted to conform to the inner peripheral wall of the spherical cover 100 so that the outer walls of each mounting base 62 can form a circular outline; the two translation components 61 have a receiving position where the circular outline is concentrically set with the spherical cover 100, and an adjustment position where the circular outline coincides with the center of the bearing station. It can be understood that when the receiving component 513 receives the spherical cover 100, the translation component 61 is in the receiving position, that is, at this time the circular outline is concentrically set with the spherical cover 100. After the conveying mechanism 5 picks up the spherical cover 100 from the coating trolley 2, the translation component 61 can switch from the receiving position to the adjustment position so that the center of the circular outline coincides with the center of the bearing station. At this time, the center of the spherical cover 100 can also coincide with the center of the bearing station, thus completing the compensation for the Y-axis deviation.

[0075] Furthermore, the mounting base 62 is provided with a first detection element 63 and a second detection element 64 electrically connected to the corresponding translation element 61. The first detection element 63 is configured to detect the distance between the mounting base 62 and the inner peripheral wall of the spherical cover 100 in the vertical direction, and the second detection element 64 is configured to detect the distance between the mounting base 62 and the inner peripheral wall of the spherical cover 100 in the Y-axis direction, so that the circular outline is concentrically set with the spherical cover 100. Understandably, before receiving the ball cover 100, both translation members 61 extend to position the mounting base 62 below the ball cover 100 and extend into its interior. The receiving member 513, under the action of the lifting member 511, moves closer to the ball cover 100. During this movement, the first detection member 63 detects the vertical distance between the mounting base 62 and the inner peripheral wall of the ball cover 100. When this distance reaches a preset value, such as 10mm, there is also a distance between the receiving member 513 and the bottom of the ball cover 100. Subsequently, the translation member 61 drives the mounting base 62 to move along the Y-axis. During this movement, the first detection member 63... The two detection components 64 are configured to detect the distance between the mounting base 62 and the inner peripheral wall of the spherical cover 100 in the Y-axis direction. When the distance reaches a preset value, such as 10mm, the translation component 61 stops moving. At this time, the circular outline is concentric with the spherical cover 100. That is, the two translation components 61 are in the receiving position. Then, the receiving component 513 can abut against the bottom of the spherical cover 100 under the action of the lifting component 511. With the continuous action of the lifting component 511, the spherical cover 100 can be separated from the coating carriage 2. Then, the two translation components 61 move synchronously in opposite directions so that the two translation components 61 move from the receiving position to the adjustment position to complete the compensation of the Y-axis deviation.

[0076] The first detection element 63 and the second detection element 64 are preferably proximity sensors in the prior art. The setting of the first detection element 63 and the second detection element 64 can ensure that the translation element 61 is accurately in the receiving position, so as to ensure the accuracy of subsequent Y-axis deviation compensation.

[0077] In this embodiment, the carrier mechanism 1 includes a platform 11, at least three carrier members 12, and at least three support members 13. The at least three carrier members 12 are evenly distributed circumferentially around the center of the platform 11 and extend to the outside of the platform 11. The at least three support members 13 are arranged one-to-one with the carrier members 12, and each support member 13 has a support surface that conforms to the inner peripheral wall of the ball cover 100. It can be understood that all support surfaces can form a support portion that conforms to the inner peripheral wall of the ball cover 100. The center of the support portion is the center of the carrier station. When the conveying mechanism 5 places the ball cover 100 at the carrier station, the carrier members 12 and the receiving members 513 are staggered to avoid interference between the carrier members 12 and the receiving members 513. Under the action of the conforming support portion, the ball cover 100 can be guided and limited to further control the loading accuracy of the ball cover 100 and ensure the coating quality.

[0078] Furthermore, the ball cover 100 is provided with a foolproof hole; the supporting mechanism 1 also includes a foolproof detection element and a rotating element 14. The foolproof detection element is disposed on one side of the stage 11; the rotating element 14 is connected to the stage 11 and is configured to drive the stage 11 to rotate around its center so that the foolproof hole is aligned with the foolproof detection element. It can be understood that after the ball cover 100 is placed on the support, the rotating element 14 drives the stage 11 to rotate, and stops when the foolproof hole is aligned with the foolproof detection element. This arrangement can ensure that the ball cover 100 is in the correct position during the coating process, further ensuring the coating quality.

[0079] In addition, the carrier mechanism 1 also includes an antistatic component 15, which is disposed on the stage 11 and is used to adsorb static electricity to further ensure the coating quality. The antistatic component 15 includes multiple static strips, which are evenly distributed in a circle around the center of the stage 11 and are located between the spherical cover 100 and the stage 11.

[0080] In this embodiment, the guiding mechanism 3 includes two guide plates 31 and a first moving module 32. The two guide plates 31 are spaced apart along the Y-axis and form a guiding channel for the coating carriage 2 to enter. The first moving module 32 is connected to one of the guide plates 31 and drives the guide plate 31 to move along the Y-axis. It is understood that during the movement of the coating carriage 2, the two guide plates 31 can limit the movement of the coating carriage 2 to ensure the stability of the coating carriage 2 during its movement along the X-axis, thereby ensuring the accuracy of X-axis deviation compensation for the coating carriage 2. For different models of coating carriage 2, the first moving module 32 can drive one guide plate 31 closer to or further away from the other guide plate 31 to adjust the width of the guiding channel, thus adapting to different models of coating carriage 2 and improving the adaptability of the ball cover loading device.

[0081] The first moving module 32 is preferably a linear module in the prior art.

[0082] Furthermore, the limiting mechanism 4 includes a second transverse module 41, a limiting frame 42 connected to the second transverse module 41, and at least two limiting blocks 43 evenly distributed along the Y-axis direction, with the limiting blocks 43 facing the coating carriage 2; the second transverse module 41 is configured to drive the limiting frame 42 to move along the X-axis direction. It is understood that the limiting frame 42 is positioned above the guide channel, and the projection of the limiting frame 42 on the horizontal plane lies between the two guide plates 31. The second transverse module 41 can adjust the position of the limiting frame 42 based on the X-axis deviation, thereby simultaneously adjusting the positions of multiple limiting blocks 43. During movement, the coating carriage 2 can simultaneously abut against multiple limiting blocks 43 to compensate for the X-axis deviation. The arrangement of multiple limiting blocks 43 can prevent the coating carriage 2 from experiencing positional deviation when it stops at the end of its stroke, thus ensuring the accuracy of the X-axis deviation compensation.

[0083] Obviously, the above embodiments of the present invention are merely examples for clearly illustrating the present invention, and are not intended to limit the implementation of the present invention. Those skilled in the art will be able to make various obvious changes, readjustments, and substitutions without departing from the scope of protection of the present invention. It is neither necessary nor possible to exhaustively describe all embodiments here. Any modifications, equivalent substitutions, and improvements made within the spirit and principles of the present invention should be included within the scope of protection of the claims of the present invention.

Claims

1. A ball cover loading device for loading a ball cover (100) from a coating cart (2) to a bearing station, characterized in that, include: The supporting mechanism (1) has the aforementioned supporting station; The guiding mechanism (3) is configured to guide the coating carriage (2) to move along the X-axis direction; The limiting mechanism (4) is set on the moving path of the coating carriage (2) and is configured to adjust its position in the X-axis direction as the end point of the travel of the coating carriage (2), thereby compensating for the X-axis deviation of the spherical cover (100) on the coating carriage (2). The transport mechanism (5) is configured to pick up the spherical cover (100) from the coating trolley (2); Translation mechanism (6) is connected to the conveying mechanism (5) and is configured to drive the ball cover (100) to translate along the Y-axis after the conveying mechanism (5) picks up the ball cover (100) to compensate for the Y-axis deviation of the ball cover (100) and place the ball cover (100) at the bearing station; The transport mechanism (5) includes two sets of transport components (51) arranged along the Y-axis, and are respectively located on both sides of the bearing mechanism (1); Among them, any one of the conveying components (51) includes a lifting component (511), a mounting component (512) disposed at the lifting end of the lifting component (511), and a receiving component (513) slidably disposed on the mounting component (512) along the Y-axis direction. The translation mechanism (6) includes two translation components (61), which are respectively disposed on two mounting components (512) and connected to the receiving component (513) on the corresponding mounting component (512). The two translation components (61) can synchronously drive the corresponding receiving component (513) in opposite directions. Each of the receiving parts (513) is provided with a mounting base (62), the outer side wall of the mounting base (62) is adapted to conform to the inner peripheral wall of the spherical cover (100) so that the outer side walls of each mounting base (62) can form a circular outline. The two translation members (61) have a receiving position where the circular outline is concentrically arranged with the spherical cover (100), and an adjustment position where the circular outline coincides with the center of the bearing station. The supporting mechanism (1) includes: Platform (11); At least three support members (12) are evenly distributed circumferentially around the center of the platform (11) and extend to the outside of the platform (11); At least three support members (13) are provided in a one-to-one correspondence with the bearing member (12), and each of the support members (13) has a support surface that conforms to the inner peripheral wall of the spherical cover (100); The spherical cover (100) is provided with a foolproof hole; The supporting mechanism (1) also includes: A foolproof detection component is disposed on one side of the stage (11); A rotating member (14) is connected to the stage (11) and configured to drive the stage (11) to rotate about its center so that the foolproof hole is aligned with the foolproof detection element; The supporting mechanism (1) further includes an antistatic component (15), which is disposed on the platform (11) and used to adsorb static electricity. The antistatic component (15) includes multiple static strips, which are evenly distributed in a circle around the center of the platform (11) and are located between the spherical cover (100) and the platform (11).

2. The spherical cover feeding device according to claim 1, characterized in that, The mounting base (62) is provided with a first detection element (63) and a second detection element (64) electrically connected to the corresponding translation element (61). The first detection element (63) is configured to detect the distance between the mounting base (62) and the inner peripheral wall of the spherical cover (100) in the vertical direction. The second detection element (64) is configured to detect the distance between the mounting base (62) and the inner peripheral wall of the spherical cover (100) in the Y-axis direction, so that the circular outline is concentrically set with the spherical cover (100).

3. The spherical cover feeding device according to claim 1, characterized in that, The guiding mechanism (3) includes: Two guide plates (31) are spaced apart along the Y-axis and can form a guide channel for the coating trolley (2) to enter; A first moving module (32) is connected to one of the guide plates (31) and is used to drive the guide plate (31) to move along the Y-axis.

4. The spherical cover feeding device according to claim 1, characterized in that, The limiting mechanism (4) includes a second transverse module (41), a limiting frame (42) connected to the second transverse module (41), and at least two limiting blocks (43) evenly distributed along the Y-axis direction, the limiting blocks (43) facing the coating trolley (2); The second transverse module (41) is configured to drive the limit frame (42) to move along the X-axis.

5. A spherical cover feeding method, applied to the spherical cover feeding device according to claim 1, characterized in that, Includes the following steps: Obtain the X-axis deviation of the actual position of the spherical cover (100) on the coating carriage (2) from its theoretical position in the horizontal plane along the X-axis direction and the Y-axis deviation. Control the movement of the coating carriage (2) and adjust the stop position of the coating carriage (2) along the X-axis direction according to the X-direction deviation to compensate for the X-direction deviation; After the coating trolley (2) stops, the spherical cover (100) is picked up from the coating trolley (2); After picking up the spherical cover (100), the spherical cover (100) is driven to translate along the Y-axis direction to compensate for the Y-axis deviation; After the X-axis and Y-axis deviations are compensated, the spherical cover (100) is driven to move vertically to place it at the target position.

6. The spherical cover feeding method according to claim 5, characterized in that, The deviations of the actual position of the acquisition spherical cover (100) on the coating carriage (2) from its theoretical position in the horizontal plane along the X-axis and the Y-axis include: An image of the dome (100) is acquired using a visual positioning system, and the image is compared with a theoretical image to determine the X-axis deviation and Y-axis deviation.

Images