Feeding device, feeding method, machining system and machining method

Abstract

The invention relates to a feeding device, a feeding method, a processing system and a processing method.The feeding device comprises a main body, the main body is provided with a containing space used for containing a stock bin, the peripheral side of the containing space is provided with a material inlet and outlet and a stock bin inlet and outlet, the material inlet and outlet is formed in the first direction, and the stock bin inlet and outlet is formed in the second direction; the lifting assembly is arranged on the main body to drive the stock bin to move in the third direction; the adjusting assembly is arranged on the main body; the carrying assembly is connected with the adjusting assembly and corresponds to an inlet and an outlet of the stock bin, the adjusting assembly drives the carrying assembly to be switched between the conveying position and the avoiding position, the carrying assembly comprises a moving mechanism and a material carrying mechanism connected with the moving mechanism, and the material carrying mechanism is used for carrying materials. The moving mechanism drives the carrying mechanism to move in the first direction. Feeding and discharging of the stock bin and materials can be facilitated, material conveying is more stable, the structure of the stock bin is simplified, and cost is effectively reduced.

Description

TECHNICAL FIELD

[0001] The present application relates to the technical field of material conveying, in particular to a feeding device, a feeding method, a processing system and a processing method. BACKGROUND

[0002] At present, more and more workshops use automatic production methods when processing materials such as PCB boards, AGVs are used to carry PCB boards, and automatic feeding and discharging are performed to improve production efficiency. When the existing AGVs carry PCB boards, the material bins storing the PCB boards are carried on the AGVs as a whole, the material bins are divided into several storage layers, each layer can place a PCB board, the AGV obtains or places the material bin on the storage device from the material bin temporary storage device, the storage device usually uses a fork arm type support structure suspended, similar to a forklift fork arm, to support the material bin. The AGV is provided with a material bin, the material bin has a length and a width, the AGV has a straight forward direction and an in-out direction, the fork arm of the storage device is located at the side of the AGV, when taking or placing the material bin, the AGV moves to the lower side of the fork arm, so that the fork arm can be inserted into the lower side of the material bin for support. However, the existing material bin and PCB board have the same inlet and outlet, and are taken in and out through the material port on the side of the AGV. When the length of the PCB board is large, the length of the material bin is further increased, so the length and rigidity of the fork arm need to be increased accordingly, resulting in an increase in weight. In addition, the conveying of the PCB board is through a synchronous belt structure in the storage layer, which has a complex structure and high cost. SUMMARY

[0003] An object of the present application is to solve the existing technical problems and provide a feeding device and a feeding method, which can solve the problems of material and material bin conveying and cost.

[0004] Another object of the present application is to provide a processing system and a processing method, which can solve the problem of automatic conveying of material bins and materials.

[0005] To achieve the object of the present application, the embodiments of the present application adopt the following technical solutions:

[0006] A feeding device comprises:

[0007] A main body having a containing space for accommodating a material bin, the containing space has a material inlet and outlet and a material bin inlet and outlet on the side, the material inlet and outlet are arranged in a first direction, and the material bin inlet and outlet are arranged in a second direction;

[0008] A lifting assembly arranged on the main body to drive the material bin to move in a third direction;

[0009] An adjusting assembly arranged on the main body;

[0010] The carrying assembly is connected with the adjusting assembly and is arranged corresponding to the inlet and outlet of the bin, the adjusting assembly drives the carrying assembly to switch between the conveying position and the avoiding position, the carrying assembly comprises a moving mechanism and a material carrying mechanism connected with the moving mechanism, and the material carrying mechanism is used for carrying the material.

[0011] In some embodiments, the main body is arranged on the AGV, the straight direction of the AGV is the second direction, the lifting assembly is arranged on one side of the AGV and opposite to the inlet and outlet of the bin, the material inlet and outlet are arranged opposite to the two sides of the AGV, the carrying assembly has at least two groups, the first carrying assembly is connected with the adjusting assembly to make the carrying assembly move along the third direction, and the second carrying assembly is arranged on the main body.

[0012] In some embodiments, the main body comprises a support part and a cantilever, the support part is arranged on the AGV, the cantilever is above the containing space, one end of the cantilever is connected with the support part, and the other end is arranged in a cantilevered manner, and the adjusting assembly is arranged on the cantilever.

[0013] In some embodiments, the lifting assembly comprises a fork arm and a lifting mechanism, the fork arm is located in the containing space, one end of the fork arm is connected with the output end of the lifting mechanism, and the other end is a free end, and the lifting mechanism is arranged on the main body.

[0014] In some embodiments, the lifting assembly comprises a carrier plate and a lifting mechanism, the lifting mechanism is arranged on the AGV, and the carrier plate is arranged above the lifting mechanism and connected with the lifting mechanism.

[0015] In some embodiments, the material inlet and outlet are provided with a conveying assembly, the position of the conveying assembly is arranged corresponding to the carrying assembly, when the material is conveyed, the lifting assembly drives the storage layer of the bin to correspond to the conveying assembly, the conveying assembly comprises a driving mechanism and a conveying mechanism connected with the driving mechanism, the driving mechanism drives the conveying mechanism to move, so that the material enters or exits the material inlet and outlet through the conveying mechanism.

[0016] In some embodiments, the material carrying mechanism comprises a clamping jaw and a power part driving the clamping jaw, the clamping jaw is provided with a self-adjusting module, when the clamping jaw clamps the material, the self-adjusting module contacts the material, so that the material is deflected in the plane of the first direction and the second direction when the material is conveyed and collides.

[0017] In some embodiments, the material carrying mechanism comprises a rotary power part, the rotary power part is arranged at the output end of the moving mechanism, the output end of the rotary power part is connected with the power part, and the rotary power part switches the clamping jaw between the first direction and the second direction.

[0018] In some embodiments, the material is a PCB board, the hopper has a plurality of storage layers stacked along the third direction, and the hopper is provided with a guide groove so that the guide pins of the PCB board are matched with the guide groove when the PCB board is conveyed.

[0019] A feeding method applied to a feeding device, selectively performing a material conveying process or a hopper conveying process, when performing the hopper conveying process, comprising the following steps:

[0020] The lifting assembly moves to a set position along the third direction, so that the lifting assembly corresponds to the position of the temporary storage device;

[0021] The adjusting assembly drives the carrying assembly to move to a avoiding position, and the hopper inlet and outlet are opened;

[0022] The feeding device moves to the position of the temporary storage device to take or place the hopper.

[0023] In some embodiments, the material conveying process includes a feeding step or a discharging step; the feeding step includes:

[0024] The lifting assembly moves to a set position along the third direction, so that the storage layer of the hopper corresponds to the processing equipment;

[0025] The clamping jaw of the material carrying mechanism rotates to the second direction, clamps the material in the storage layer, and drives the material carrying mechanism to move along the first direction by the moving mechanism to output the material through the material inlet and outlet;

[0026] The discharging step includes:

[0027] The lifting assembly moves to a set position along the third direction, so that the storage layer of the hopper corresponds to the processing equipment;

[0028] Receiving the material provided by the processing equipment, and the material at least partially enters the storage layer of the hopper through the material inlet and outlet;

[0029] The clamping jaw of the material carrying mechanism rotates to the second direction, clamps the material in the storage layer, and drives the material carrying mechanism to move along the first direction by the moving mechanism to pull the material into the storage layer through the material inlet and outlet.

[0030] In some embodiments, the material inlet and outlet is provided with a conveying assembly, and the roller of the conveying assembly drives the material to move when the material is fed or discharged.

[0031] A processing system, comprising a feeding device, a temporary storage device, and a processing equipment, the feeding device moves between the temporary storage device and the processing equipment, at least one temporary storage device is used to store raw material, and at least one temporary storage device is used to store cooked material.

[0032] In some embodiments, the line-side warehouse and the warehouse transportation device are further included, the warehouse transportation device moves between the temporary storage device and the line-side warehouse, the line-side warehouse includes a plurality of storage units for storing warehouses, and the plurality of storage units are stacked in the transverse direction and / or the longitudinal direction.

[0033] In some embodiments, the storage unit includes a rack and a base connected to the rack, and the base is provided with a matching mechanism that matches the warehouse after the warehouse is placed in the storage unit.

[0034] A processing method applied to a processing system includes a feeding method and a warehouse conveying method, the warehouse conveying method includes:

[0035] The raw material warehouse of the line-side warehouse is transported to the temporary storage device by the warehouse conveying device for use by the feeding device;

[0036] The finished material warehouse of the temporary storage device is conveyed to the line-side warehouse by the warehouse conveying device;

[0037] The above steps are cyclically executed.

[0038] The present application includes the following main advantages:

[0039] (1) The material import and export and the warehouse import and export are arranged in different directions, and when the size of the warehouse increases, the temporary storage does not need to be increased in size synchronously, which reduces the cost and facilitates the loading and unloading of the warehouse; (2) The lifting assembly cooperates with the double-sided carrying assembly to make the material conveying more stable, can convey the PCB boards of different storage layers, can realize bidirectional free pushing of the boards, does not need to set a synchronous belt structure for each layer of warehouse, simplifies the structure of the warehouse, and effectively reduces the cost; (3) The carrying assembly is switched between the conveying position and the avoiding position by the adjusting assembly, which can stably convey the material and avoid the influence of the carrying assembly on the warehouse import and export; (4) The self-adjusting module is arranged on the clamping jaw, which solves the problems of board jamming, loading and unloading failure and material damage caused by the misalignment of the pin guide mechanism of the warehouse and the pin guide mechanism of the processing equipment or the temporary storage device due to the inaccurate stopping position of the AGV; (5) The material and the warehouse can be automatically conveyed, the feeding device and the warehouse conveying device operate in different areas to avoid mutual interference and improve the automation turnover efficiency. Other advantages of the technical scheme of the present application are described in the specific embodiments. BRIEF DESCRIPTION OF DRAWINGS

[0040] In order to more clearly illustrate the technical solutions in the embodiments of the present application, the following will briefly introduce the drawings needed to be used in the embodiment description. Obviously, the drawings in the following description are only some embodiments of the present application, and other drawings can be obtained by those skilled in the art without creating laborious work.

[0041] Figure 1It is a perspective view of a feeding device provided by the embodiment one of the present application.

[0042] Figure 2 It is a schematic view of the feeding device corresponding to the processing equipment provided by the embodiment one of the present application.

[0043] Figure 3 It is a schematic view of the main body provided by the embodiment one of the present application.

[0044] Figure 4 It is a schematic view of the lifting assembly provided by the embodiment one of the present application.

[0045] Figure 5 It is a schematic view of the AGV and the temporary storage device provided by the embodiment one of the present application.

[0046] Figure 6 It is a perspective view of the material moving mechanism provided by the embodiment one of the present application.

[0047] Figure 7 It is a schematic view of the gripper provided by the embodiment one of the present application.

[0048] Figure 8 It is a sectional view of the gripper provided by the embodiment one of the present application.

[0049] Figure 9 It is a schematic view of the self-adjusting module provided by the embodiment one of the present application.

[0050] Figure 10 It is a schematic view of another gripper provided by the embodiment one of the present application.

[0051] Figure 11 It is a schematic view of another self-adjusting module provided by the embodiment one of the present application.

[0052] Figure 12 It is a schematic view of the PCB provided by the embodiment one of the present application.

[0053] Figure 13 It is a schematic view of a feeding device provided by the embodiment two of the present application.

[0054] Figure 14 It is a schematic view of the lifting assembly provided by the embodiment two of the present application.

[0055] Figure 15 It is another schematic view of the lifting assembly provided by the embodiment two of the present application.

[0056] Figure 16 It is an installation schematic view of the conveying assembly provided by the embodiment three of the present application.

[0057] Figure 17 It is a schematic view of the conveying assembly provided by the embodiment three of the present application.

[0058] Figure 18 FIG. 3 is a schematic view of a feeding device according to an embodiment of the present application.

[0059] Figure 19 FIG. 4 is a schematic view of a feeding device according to an embodiment of the present application.

[0060] Figure 20 FIG. 5 is a schematic view of a material moving mechanism according to an embodiment of the present application.

[0061] Figure 21 FIG. 6 is a schematic view of a conveying assembly according to an embodiment of the present application.

[0062] Figure 22 FIG. 7 is a schematic view of a main body according to an embodiment of the present application.

[0063] Figure 23 FIG. 8 is a schematic view of a material bin according to an embodiment of the present application.

[0064] Figure 24 FIG. 9 is a schematic view of a support layer plate according to an embodiment of the present application.

[0065] Figure 25 FIG. 10 is a schematic view of a feeding device according to an embodiment of the present application.

[0066] Figure 26 FIG. 11 is a schematic view of a displacement mechanism according to an embodiment of the present application.

[0067] Figure 27 FIG. 12 is a schematic view of a main body according to an embodiment of the present application.

[0068] Figure 28 FIG. 13 is a schematic view of a temporary storage device according to an embodiment of the present application.

[0069] Figure 29 FIG. 14 is a schematic view of a main body according to an embodiment of the present application.

[0070] Figure 30 FIG. 15 is a schematic view of a line-side bin according to an embodiment of the present application.

[0072] In the drawings: 1, processing equipment; 2, guide pin; 3, temporary storage device; 4, line side warehouse; 5, warehouse transportation device; 10, warehouse; 11, conveying end; 11, positioning hole structure; 13, storage layer; 31, arm part; 32, warehouse matching mechanism; 33, limiting mechanism; 34, hollow part; 35, warehouse detection sensor; 100, main body; 110, containing space; 111, material import and export; 112, warehouse import and export; 120, support part; 130, cantilever; 140, mounting groove; 141, guide groove; 200, lifting assembly; 210, fork arm; 220, lifting mechanism; 230, carrier plate; 231, matching mechanism; 240, lifting mechanism; 241, support rod; 242, oil cylinder; 300, adjusting assembly; 400, carrying assembly; 400a, first carrying assembly; 400b, second carrying assembly; 411, rack; 412, base; 413, matching mechanism; 420, material carrying mechanism; 421, clamping jaw; 422, power part; 423, clamping space; 4231, clamping opening; 424, sensor; 425, rotary power piece; 430, self-adjusting module; 431, bearing; 432, end part; 433, plug-in part; 434, first pressing sheet; 435, second pressing sheet; 436, elastic piece; 437, movable piece; 4371, contact surface; 438, guide piece; 440, first moving module; 450, second moving module; 500, AGV; 600, conveying assembly; 610, driving mechanism; 611, driving piece; 612, driving shaft; 613, driven shaft; 614, transmission belt; 620, conveying mechanism; 621, avoiding groove; 6211, trumpet mouth; 622, roller; 630, support; 640, first detection piece; 650, second detection piece; 4211, mounting groove; 4212, second groove body; 4213, first groove body; 4214, upper surface; 4215, recessed part; 4321, contact surface. DETAILED DESCRIPTION

[0073] To make the objectives, technical solutions and advantages of the embodiments of the present application clearer, the technical solutions in the embodiments of the present application will be described below in connection with the drawings of the present application. Obviously, the described embodiments are only some of the embodiments of the present application but not all the embodiments.

[0074] The "several" and "multiple" in the embodiment refer to two or more than two. In the description of the present application, it should be pointed out that the orientation or positional relationship indicated by the terms "center", "upper", "lower", "left", "right", "vertical", "horizontal", "inner", "outer" and the like is based on the orientation or positional relationship shown in the drawings, and is only for the convenience of describing the present application and simplifying the description, and does not indicate or imply that the device or element referred to must have a particular orientation, be constructed and operated in a particular orientation, and therefore cannot be understood as a limitation on the present application. In addition, the terms "first", "second", "third" are only for the purpose of description, and cannot be understood as indicating or implying relative importance.

[0075] In the description of the present application, it should be pointed out that unless otherwise explicitly specified and limited, the terms "mounting", "connecting", "connecting" should be understood broadly, for example, it can be fixedly connected, or it can be detachably connected, or integrally connected; it can be mechanically connected, or it can be electrically connected; it can be directly connected, or it can be indirectly connected through an intermediate medium; it can be the communication inside two elements. For those skilled in the art, the specific meaning of the above-mentioned terms in the present application can be understood according to the specific circumstances.

[0076] <Embodiment I>

[0077] The present embodiment provides a feeding device for material conveying, which takes PCB as an example for illustration. The feeding device conveys the PCB to be processed or the processed PCB to a designated position. During PCB processing, the feeding device is needed to convey the PCB to be processed to the processing equipment, and also needed to convey the processed PCB away from the processing equipment to a designated position.

[0078] As Figures 1 to 12As shown, a feeding device in this embodiment includes a main body 100, a lifting assembly 200, an adjusting assembly 300, and a conveying assembly 400. The main body 100 has a receiving space 110 for receiving a hopper 10. The hopper 10 is used to receive PCB boards. The hopper 10 has several storage layers 13, and PCB boards are placed in the storage layers 13. In this embodiment, each storage layer 13 holds one PCB board. The storage layers 13 are stacked along a third direction (height direction) to accommodate multiple PCB boards. The receiving space 110 has a material inlet / outlet 111 and a hopper inlet / outlet 112 on its periphery. In this embodiment, the receiving space 110 has a material inlet / outlet 111 and a hopper inlet / outlet 112 on adjacent sides. The material inlet / outlet 111 is located in a first direction X. PCB boards enter or exit the hopper through the material inlet / outlet 111. The material inlet / outlet 111 can be provided on both the left and right sides of the main body 100. The two material inlets / outlets 111 are arranged opposite each other in the first direction, making the material entry and exit more flexible. The hopper inlet / outlet 112 is located in the second direction Y. The hopper 10 enters or leaves the receiving space 110 through the hopper inlet / outlet 112 for material transfer. One hopper inlet / outlet 112 is provided and is adjacent to the material inlet / outlet 111. Since the hopper enters and exits through the second direction Y, the arm 31 of the temporary storage device 3 supporting the hopper is in the width direction of the hopper, i.e., the second direction Y, supporting the hopper. An increase in the hopper length does not affect the support. Simultaneously, the material inlet / outlet 111 is located along the first direction X, facilitating material input and output docking with the processing equipment 1. In this embodiment, the first direction X is the left-right direction, and the second direction Y is the front-back direction. The lifting assembly 200 is located on the main body 100 and is used to drive the hopper 10 to move in the third direction Z, which is the up-down direction. Since the storage layers 13 of the hopper are stacked along the third direction Z, the lifting assembly 200 drives the hopper to rise and fall, allowing different storage layers 13 to reach the required positions for material input and output, facilitating material transport docking with the external processing equipment 1. The adjusting component 300 is disposed on the main body 100. The conveying component 400 is connected to the adjusting component 300 and is correspondingly disposed with respect to the hopper inlet / outlet 112. That is, the conveying component 400 is located at the hopper inlet / outlet 112 and can contact the PCB board through the hopper inlet / outlet 112 to drive the PCB board to move. Since the placement of the conveying component 400 will obstruct the hopper's entry and exit, the adjusting component 300 drives the conveying component 400 to switch between a conveying position and a clearance position. When the conveying component 400 is in the conveying position, it is located at the hopper inlet / outlet 112, thus being able to contact the PCB board. When the conveying component 400 needs to clear a path, the adjusting component 300 drives the conveying component 400 away from the hopper inlet / outlet 112, and then the hopper can enter and exit through the hopper inlet / outlet 112.The carrying assembly 400 comprises a moving mechanism 410 and a carrying mechanism 420, the moving mechanism 410 drives the carrying mechanism 420 to move along the first direction X, and the carrying mechanism 420 is used for carrying the material, after the carrying mechanism 420 contacts the material, the moving mechanism 410 provides power to drive the carrying mechanism 420 to move back and forth along the first direction X, so as to move the material into or out of the material bin.

[0079] When the feeding device is used, the feeding device is moved to the material conveying end 11 of the processing equipment 1, the lifting assembly 200 drives the material bin 10 to lift along the third direction X, so that the storage layer 13 and the conveying end 11 are located at the corresponding height, the PCB board is pushed from the storage layer 13 to the material conveying end 11 by the carrying assembly 400, or the processed PCB board is pushed into the storage layer 13 by the material conveying end 11, and then pulled to the position by the carrying assembly 400. When the material bin needs to be replaced, the feeding device is moved to the temporary storage device of the material bin, the material bin is placed on the temporary storage device, and then a new material bin is received from the temporary storage device.

[0080] As Figure 2 and Figure 3As shown, further, the main body 100 is arranged on the AGV 500, and the straight direction of the AGV 500 is the second direction Y. In this embodiment, the AGV can be used for straight driving, and does not need to have the ability of lateral linear movement, thereby further reducing the cost. The AGV can drive the main body 100 to move. When the feeding device carries the PCB, the material inlet and outlet 111 faces the direction of the processing equipment, and the main body 100 can move along the processing equipment, thereby traversing the multiple processing areas of the processing equipment. The lifting assembly 200 is arranged on one side of the AGV and opposite to the bin inlet and outlet 112. The material inlet and outlet 111 are arranged opposite to each other on both sides of the AGV. When the bin is replaced, the lifting assembly 200 lifts the bin to a set height, and the AGV moves to place the bin on the temporary storage device. In this embodiment, the first direction is perpendicular to the second direction, the bin 20 is substantially rectangular, the accommodating space 110 above the AGV is also rectangular, and four sides of the accommodating space 110 are provided with one side of the main body and three open sides, which are two material inlets and outlets 111 and one bin inlet and outlet 112. The carrying assembly 400 has at least two groups, which can be arranged in the first direction according to the size of the PCB. In this embodiment, two carrying assemblies are arranged, the first carrying assembly 400a is connected with the adjusting assembly 300, so that the first carrying assembly 400a moves along the third direction Z and switches between the conveying position and the avoiding position. The second carrying assembly 400b is arranged on the main body 100, and the two carrying assemblies are arranged opposite to each other on both sides of the accommodating space 110. When the PCB is conveyed, the two carrying assemblies 400 on both sides push the PCB to move at the same time, which can improve the conveying stability. When the bin is in and out, the adjusting assembly 300 lifts the first carrying assembly 400a to the avoiding position, so that the height of the first carrying assembly 400a is above the bin, thereby avoiding the interference of the bin in and out.

[0081] As Figure 3 and Figure 4As shown, specifically, the main body 100 includes a support part 120 and a cantilever 130, the support part 120 is arranged on the AGV 500, the support part 120 is vertically arranged, and the cantilever 130 is located above the containing space 110 and is higher than the position of the hopper. One end of the cantilever 130 is connected with the support part 120, and the other end is arranged in a cantilevered manner, so as to form a hopper inlet and outlet 120 between the cantilever and the AGV. The adjusting assembly 300 is arranged on the cantilever 130, away from the support part 120, the carrying assembly 400a is arranged below the adjusting assembly 300, and the carrying assembly 400b is arranged on the support part 120. The cantilever 130 of the embodiment adopts a truss structure, so as to have better structural strength, and the installation of the carrying assembly 400a and the adjusting assembly 300 is more reliable. The lifting assembly 200 includes a fork arm 210 and a lifting mechanism 220, the fork arm 210 is located in the containing space 110 and is used for supporting the hopper and driving the hopper to rise or fall. One end of the fork arm 210 is connected with the output end of the lifting mechanism 220, and the fork arm 210 is driven to rise and fall in the third direction Z through the lifting mechanism 220. The other end is a free end, that is, the fork arm 210 is arranged in a cantilevered manner, and the free end faces the hopper inlet and outlet 120, so that the lifting assembly does not need to be arranged in the hopper inlet and outlet area. The lifting mechanism 220 is arranged on the main body 100, specifically, on the support part 120. The lifting mechanism 220 can adopt a linear motion mechanism such as a ball screw, as long as it can drive the fork arm 210 to rise and fall.

[0082] Figures 6 to 8 As shown, specifically, the material carrying mechanism 420 includes clamping jaws 421 and a power part 422 driving the clamping jaws 421, the power part 422 drives the clamping jaws 421 to move, so that the clamping jaws 421 are clamped or opened in the third direction. The power part 422 of the embodiment is a pneumatic cylinder. The material carrying mechanism 420 is driven by the moving mechanism to move in the conveying plane, that is, the plane of the first direction X and the second direction Y. Since the PCB board of the embodiment is horizontally conveyed in parallel to the ground, the conveying plane is parallel to the horizontal plane. The clamping jaws 421 have a clamping space 423 between them for accommodating the PCB board. The clamping jaws 421 are provided with a self-adjusting module 430, which is in contact with the material when the clamping jaws 421 clamp the material, so that the material moves in the conveying plane when the material conveying collides. Due to the inaccurate movement position of the feeding device, the inaccurate position of the hopper, and other reasons, the conveying path of the PCB board and the conveying end 11 of the processing equipment may not be completely aligned, and there may be a slight error, which causes the PCB board to interfere with the processing equipment during conveying. Through the above technical solution, the PCB board can slightly swing when interference occurs, so as to bypass the interference position, and the PCB board can continue to move.

[0083] Further, the clamping jaw 421 is provided with a mounting groove 4211, and the self-adjusting module 430 is arranged in the mounting groove 4211, so that the self-adjusting module 430 can be embedded on the clamping jaw 421. In the embodiment, two clamping jaws 421 are arranged oppositely, and each clamping jaw is provided with at least one set of self-adjusting modules 430, and the self-adjusting modules 430 are arranged oppositely on the two clamping jaws 421, so that the material can be clamped from both sides of the PCB when the material is clamped. The self-adjusting module 430 comprises a movable part and a limiting part connected with the movable part. The movable part refers to a part that can move, and the limiting part limits the movement of the movable part. The movable part has a contact surface, and the contact surface and the upper surface 4214 of the clamping jaw 421 form a height difference, so that the contact surface can contact the material when the material is clamped. When the material is conveyed and collides, the movable part swings or rotates in the mounting groove, so that the material follows the movement of the movable part by swinging or rotating of the movable part, and thus deflects a certain angle in the conveying plane to avoid obstacles. Specifically, taking the feeding of the PCB into the material bin as an example, since the PCB is provided with guide pins 2, two guide pins 2 are located at both ends of the PCB, and the material bin 10 is provided with guide grooves 141 corresponding to the pins, when the PCB enters the material bin, the guide pins 2 enter the guide grooves 141 to smoothly guide the PCB into the material bin. When there is a slight deviation in position, the guide pins 2 collide with the two sides of the guide grooves 141, at this time, the slight deflection of the PCB can make the guide pins 2 smoothly enter the guide grooves 141, and guide the PCB into the material bin. When the material is moved, the clamping jaw 421 moves towards the second direction Y, and the upper and lower contact surfaces clamp the material, and the clamping jaw 421 moves along the first direction X to drag the material. When the relative position of the feeding device and the processing equipment is not accurate, the self-adjusting module moves the material to make the guide pins 2 match with the guide grooves 141 during conveying of the material, so as to avoid damage of the material caused by rigid pushing.

[0084] Specifically, in the embodiment, the limiting member is a bearing 431, the movable member includes an end head 432 and a plug-in part 433, one end of the plug-in part 433 is connected with the end head 432, the plug-in part 433 is in the form of a rod and is inserted into the bearing 431, so that the end head 432 can rotate in the clamping jaw, so that when the material conveying collides, the movable member rotates in the conveying plane. The end head 432 is circular, and a contact surface 4321 is located on the surface of the end head 432. The mounting groove 4211 is circular, and first and second pressing sheets 434 and 435 are arranged at both ends of the mounting groove 4211. The mounting groove 4211 is in the form of a through hole, and the mounting groove 4211 includes a second groove body 4212 and a first groove body 4213 matched with the diameter of the bearing, and the plug-in part 433 and the bearing 431 are arranged in the first groove body 4213. The second pressing sheet 435 is arranged in the second groove body 4212, the first pressing sheet 434 is arranged on the clamping jaw 421 and presses against the bearing, the second pressing sheet 435 limits the self-adjusting module in the mounting groove 4211 from the back surface of the clamping jaw, and the first pressing sheet 435 limits the self-adjusting module in the mounting groove 4211 from the upper surface 4214 of the clamping jaw.

[0085] As shown in Figure 10 and Figure 11 shown, as another embodiment, the limiting member is an elastic member 436, and the elastic member of the embodiment is a spring, which can provide an axial elastic force. The limiting member is arranged in the mounting groove 4211 and presses against the movable member 437, and a plurality of limiting members are arranged around the movable member 437, so that the movable member 437 is balanced by the elastic force, so that when the movable member 437 is not subjected to an external force, it can be kept in the middle of the mounting groove 4211. When the material conveying collides, the movable member 437 swings in the conveying plane. The mounting groove 4211 is square, and the movable member 437 is a cuboid, when the clamping jaw clamps the material, the movable member 437 contacts the material through a contact surface 4371, and the contact surface 4371 is rectangular, when the material collides, the movable member 437 is subjected to the frictional force of the contact surface, so that it swings in the conveying plane to overcome the elastic force of the elastic member, so that the material can be adjusted in position.

[0086] Specifically, the limiting members are symmetrically arranged on both sides of the movable member 437, the mounting groove 4211 is provided with a guide member 438, the guide member 438 is arranged in the same direction as the limiting member, that is, the elastic force direction of the elastic member 436 is the same as that of the guide member 438, so that the movable member 437 moves more smoothly. The movable member 437 is in sliding connection with the guide member 438, and the guide member 438 of the embodiment is in the form of a sliding rail and is arranged at the bottom of the movable member 437.

[0087] Further, the upper surface 4214 of the clamping jaw 421 is provided with a sensor 424, which is oppositely arranged on the two clamping jaws 421 to detect the material in the clamping space 423. The sensor 424 of the embodiment is an optical sensor, and a pair of optical sensors are arranged in the recessed part 4215 of the two clamping jaws 421 and do not protrude from the upper surface 4214. When the material is located between the upper and lower sensors, the equipment control module obtains a signal to determine that the material is in place and clamps. The clamping space 423 has a clamping opening 4231, and the distance between the sensor 424 and the clamping opening 4231 is greater than the distance between the self-adjusting module 430 and the clamping opening 4231, that is, the self-adjusting module 430 is closer to the clamping opening 4231. The edge of the PCB board enters the clamping space 423 from the clamping opening 4231, and when it is detected by the sensor, the self-adjusting module 430 has been located on the upper and lower sides of the PCB board, so that the self-adjusting module 430 can be ensured to contact the PCB board during clamping.

[0088] Further, the material moving mechanism 420 includes a rotary power member 425 arranged at the output end of the moving mechanism 410. The moving mechanism 410 provides a linear movement power to the rotary power member 425, which can be a linear module or a screw power module, so that the rotary power member 425 can move in a direction parallel to the PCB board. The output end of the rotary power member 425 is connected with the power part 422, and the rotary power member 425 switches the clamping jaw 421 between the first direction X and the second direction Y, that is, the clamping opening 4231 of the clamping jaw 421 can face the first direction X or the second direction Y. When the clamping jaw 421 needs to clamp the PCB board, the clamping opening 4231 faces the second direction Y, and the clamping jaw 421 extends into the hopper to take the material. When the hopper needs to be lifted, the clamping jaw 421 rotates to the avoiding position, that is, the clamping opening 4231 faces the first direction X, and the clamping jaw 421 is separated from the hopper to avoid interfering with the lifting of the hopper. The rotary power member 425 can be a rotary cylinder or other existing rotary device.

[0089] <Embodiment Two>

[0090] In the embodiment, the same parts as in Embodiment One are given the same reference numerals, and the same textual description is omitted.

[0091] As Figures 13 to 15 shown, the feeding device provided by the embodiment has the following different structure design compared with Embodiment One:

[0092] The lifting assembly of the embodiment is different from that of Embodiment One to provide more stable lifting effect. Since the lifting assembly of Embodiment One adopts a cantilever structure, one end of which is not supported, when the weight of the hopper is large, the two ends of the fork arm are easily unbalanced to cause the hopper to tilt, and a large rigidity is required to maintain stability, resulting in an increase in the overall weight and cost of the lifting assembly.

[0093] The lifting assembly 200 of the embodiment comprises a carrier plate 230 and a lifting mechanism 240 arranged on the AGV 500 for providing lifting power. The carrier plate 230 is arranged above the lifting mechanism 240 and connected with the lifting mechanism 240. The carrier plate 230 is used for carrying the hopper 10, and the carrier plate 230 is provided with a hopper matching mechanism 231, so as to be matched with the positioning mechanism at the bottom of the hopper through the matching mechanism 231, so that the hopper is more stable. The matching mechanism 231 of the embodiment is a plurality of protrusions, and the corresponding positioning mechanism at the bottom of the hopper is a groove. Those skilled in the art can know that the matching mechanism and the positioning mechanism can adopt other forms. Through the lifting mechanism 240 arranged at the bottom of the carrier plate 230, the carrier plate can be lifted in the third direction by the power provided by the lifting mechanism 240, so that the lifting of the hopper is more stable, and the inclination problem is avoided. The lifting mechanism 240 is a scissor type structure, which is hinged by a plurality of supporting rods 241 and is driven by an oil cylinder 242, which will not be described again.

[0094] <Embodiment three>

[0095] In the embodiment, the same parts as in Embodiment One are given the same reference numerals, and the same textual description is omitted.

[0096] As shown in Figures 16 to 18 , compared with Embodiment One and Embodiment Two, the feeding device provided in the embodiment has the following different structure design:

[0097] Due to the deviation of the relative position between the feeding device and the processing equipment, or the error of the hopper lifting, etc., the in-out position of the PCB board may not be accurate, which causes the PCB board to be unable to enter or exit the hopper.

[0098] In the embodiment, the material inlet and outlet 111 is provided with a conveying assembly 600 for assisting the conveying of the PCB board. The conveying assembly 600 is arranged corresponding to the carrying assembly 400, that is, when the carrying assembly 400 carries the PCB board in a straight line, the PCB board can pass through the conveying assembly 600. When the material is conveyed, the lifting assembly 200 drives the storage layer 13 of the hopper 10 to correspond to the conveying assembly 600, so that the height of the storage layer 13 corresponds to the conveying assembly 600, and it is ensured that the PCB board can enter or exit the storage layer 13 through the conveying assembly 600. The conveying assembly 600 comprises a driving mechanism 610 and a conveying mechanism 620 connected with the driving mechanism 610. The driving mechanism 610 drives the conveying mechanism 620 to move, so that the material is conveyed through the conveying mechanism and the material inlet and outlet 111. When the PCB board is conveyed, the driving mechanism 610 provides power for the conveying mechanism 620. When the PCB board contacts with the conveying mechanism 620, the conveying mechanism provides auxiliary power for the PCB board, so that the position of the PCB board can be adjusted, thereby correcting the matching error with the processing equipment, and enabling the PCB board to smoothly enter or exit.

[0099] Further, the conveying mechanism 620 is provided with an avoiding groove 621 arranged along the first direction X. The avoiding groove 621 is used for guiding and avoiding the guide pin 2 on the PCB to interfere with the conveying mechanism. The conveying mechanism 620 comprises rollers 622 arranged along the second direction Y and driven by the driving mechanism 610, so that the rollers 622 can rotate during conveying. The PCB is conveyed on the rollers, and the rollers rotate to provide forward power for the PCB. The avoiding groove 621 is arranged between adjacent rollers 622, so that the guide pin 2 of the PCB does not interfere with the rollers.

[0100] Specifically, the driving mechanism 610 comprises a driving member 611, a driving shaft 612 and a driven shaft 613. The driving member 611 is connected with the driving shaft 612 to enable the driving shaft 612 to rotate. The driving member 611 can be an electric motor. The driven shaft 613 is arranged in parallel with the driving shaft 612 and connected with the driving shaft 612 through a transmission belt 614, so that the driving shaft 612 can drive the driven shaft 613 to rotate synchronously. The rollers 622 are arranged on the driving shaft 612 and the driven shaft 613, so that the plurality of rollers 622 can rotate synchronously. The driving shaft 612 and the driven shaft 613 can expand the coverage area of the rollers 622, so that the PCB can be better supported.

[0101] Further, the driving shaft 612 is provided with at least two rollers 622, and the driven shaft 613 is provided with at least two rollers 622. The plurality of rollers 622 are arranged at the same height. When the PCB is arranged on the rollers, the different rollers on the same shaft are driven to enable the PCB to swing and adjust the direction when a slight interference collision occurs. The avoiding groove 621 is arranged between the plurality of rollers 622 on the same shaft and perpendicular to the driving shaft 612 and the driven shaft 613, i.e., a gap is formed between the adjacent two rollers on the driving shaft 612 and a gap is formed between the adjacent two rollers on the driven shaft 613. The above-mentioned gaps form the avoiding groove 621 to facilitate the guide pin 2 to pass through. When the PCB moves on the rollers, the PCB can swing under the force during transmission to flexibly dock at the accurate docking position, so that the guide pin 2 can accurately dock with the material guiding mechanism of the processing equipment, and material damage caused by rigid pushing can be avoided.

[0102] Further, the conveying assembly 600 is arranged below the cantilever 130. The conveying assembly 600 comprises a support 630 connected with the supporting part 120 at one end and connected with the cantilever 130 at the other end. The support 630 is fixedly connected at both ends to enhance the structural stability.

[0103] <Embodiment four>

[0104] In this embodiment, the same parts as in Embodiments 1 to 3 are given the same reference numerals and the same description is omitted.

[0105] As Figures 19 to 24 shown, relative to Embodiments 1 to 3, this embodiment provides a feeding device, which includes a main body 100, a lifting assembly 200, a carrying assembly 400, and a conveying assembly 600. The main body 100 has a containing space 110 for accommodating a material bin 10. The containing space 110 has a material inlet and outlet 111 on its side, which is arranged in the first direction X. The lifting assembly 200 is arranged on the main body 100 to drive the material bin 10 to move in the third direction Z, thereby achieving the lifting of the material bin 10. The carrying assembly 400 is arranged on the main body 100 and located on one side of the material inlet and outlet 111. Relative to the scheme of arranging the carrying assembly 400 on both sides of the material inlet and outlet 111 in Embodiment 1, only one set of carrying assembly 400 is needed, which reduces the cost and space, and the material bin does not need to be avoided when entering and exiting, and the automatic control is simpler. The carrying assembly 400 includes a moving mechanism 410 and a material carrying mechanism 420 connected with the moving mechanism 410. A plurality of material carrying mechanisms 420 are arranged at intervals along the first direction X. The material carrying mechanism 420 is used to carry the material, so as to be able to expand the contact range of the material carrying mechanism 420 and the material, and improve the carrying stability. During carrying, the moving mechanism 410 drives the material carrying mechanism 420 to move along the first direction X, and pushes or pulls the material out of or into the material bin 10. In this embodiment, two sets of material carrying mechanisms 420 are arranged on the same side. The two sets of material carrying mechanisms 420 are driven by one set of moving mechanisms 410. The moving mechanism 410 can be a linear module or other power device providing linear displacement. The conveying assembly 600 is arranged on the main body 100 and located on the material inlet and outlet 111. The conveying assembly 600 includes a driving mechanism 610 and a conveying mechanism 620 connected with the driving mechanism 610. The driving mechanism 610 drives the conveying mechanism 620 to move, so as to make the material enter and exit the material inlet and outlet 111 through the conveying mechanism 620. In this embodiment, by arranging the carrying assembly on one side, the space occupied by the carrying assembly can be reduced, and the material bin placement space can be expanded. In addition, by arranging a plurality of material carrying mechanisms 420 on the same side, the stability of conveying the PCB board can be improved. Since the material carrying mechanism 420 contacts the PCB board in the length direction during conveying, the PCB board has sufficient length for the plurality of material carrying mechanisms 420 to push, and the material carrying mechanism 420 is located on one side of the moving path of the PCB board, which has a longer stroke range. Further, since the material carrying mechanism 420 is arranged on one side, it may cause the stress on both sides of the PCB board relative to the material inlet and outlet 111 to be uneven, so as to cause the PCB board to be inclined. The conveying assembly 600 provides auxiliary power and support, so as to enable the PCB board to be conveyed smoothly.

[0106] In this embodiment, the handling component 400 and the conveying component 600 work together. When material is sent out from the hopper 10 through the material inlet / outlet 111, the moving mechanism 410 drives the material handling mechanism 420 to push the material along the first direction X onto the conveying mechanism 620. The driving mechanism 610 then starts, providing continuous conveying power to the material, so that the material moves smoothly along the first direction X to the processing equipment. The handling component 400, which is set on one side, can save space, and the combination with several material handling mechanisms 420 set on one side can improve the handling stability.

[0107] Furthermore, a hopper inlet / outlet 112 is provided on one side of the accommodating space 110. The hopper inlet / outlet 112 is located in the second direction Y and is opposite to the conveying component 400. The hopper inlet / outlet 112 is used for the overall entry and exit of the hopper 10. When the hopper needs to be replaced, the hopper 10 can be moved out or into the accommodating space 110 of the main body 100 through the hopper inlet / outlet 112. The main body 100 is mounted on the AGV 500, and the straight-line direction of the AGV 500 is the second direction Y. The lifting component 200 and the conveying component 400 are located on the same side of the AGV, thereby making the structure more compact. The main body 100 includes a support part 120, which is vertically mounted on the AGV. The support part 120 is provided on one side above the AGV, which can expand the utilization rate of the space above the AGV. The lifting component 200 and the conveying component 400 are mounted on the support part 120, both located on one side of the accommodating space. At the same time, there is no obstruction above the accommodating space, which can expand the lifting range of the hopper.

[0108] Specifically, the material handling mechanism 420 includes a gripper 421, a rotating power component 425, and a power unit 422 for driving the gripper 421. The rotating power components 425 of the various material handling mechanisms 420 are all located at the output end of the moving mechanism 410. The output end refers to the power output section of the power module, which is connected to the driven module. The output end of the rotating power component 425 is connected to the power unit 422. The rotating power component 425 causes the gripper to switch between the first direction X and the second direction Y to avoid interference between the lifting and lowering of the hopper and the gripper, thus preventing damage to the gripper 421 and the hopper 10. The grippers 421 of the various material handling mechanisms 420 move synchronously, facilitating control. In this embodiment, the rotating power component 425 is a rotary cylinder, and the power unit 422 is a gripper cylinder.

[0109] Specifically, the lifting assembly 200 includes a fork arm 210 and a lifting mechanism 220, the fork arm 210 is located in the accommodation space 110, one end of the fork arm 210 is connected with the output end of the lifting mechanism 220, the other end is a free end, the fork arm is lifted through the lifting mechanism 220, and the lifting mechanism 220 is arranged on the main body 100. Through the single-side arranged lifting mechanism 220, the space occupation can be reduced. The conveying assembly 600 includes a support 630, one end of the support 630 is connected with the main body 100, and the other end is a free end, the support 630 has an opening part 631, the opening part is in a U shape, the opening part 631 is arranged in correspondence with the storage layer 13 of the hopper 10, and the material enters or exits the storage layer 13 through the opening part 631. When the material enters or exits, the hopper is first lifted through the lifting mechanism 220, so that the storage layer 13 corresponds to the opening part 631, thereby facilitating feeding and discharging. The support 630 is respectively provided with a first detection piece 640 and a second detection piece 650 on the two sides, a detection area of the first detection piece 640 is located outside the support 630, when the first detection piece 640 cannot detect the material, the AGV trolley is in a movable state, so that the AGV trolley is prevented from moving to cause damage to the material before the material is completely conveyed. The detection area of the second detection piece 650 is located between the support 630 and the hopper 10, when the second detection piece 650 cannot detect the material, the hopper is movable, so that the hopper is prevented from moving to cause damage to the material when the material is located between the hopper and the conveying assembly. The first and second detection pieces in the embodiment are sensors, which can improve the safety during material conveying and reduce the risk of damage.

[0110] Further, the conveying mechanism 620 includes rollers 622 and avoiding grooves 621, the rollers 622 are arranged along the second direction Y and located in the opening part 631, and the avoiding grooves 621 are arranged between adjacent rollers 622 and along the first direction X. If the AGV parking position is inaccurate, the PCB board is deviated in position during conveying, the avoiding grooves 621 correspond to guide pins of the PCB board, so that the guide pins enter the avoiding grooves 621 for guidance, thereby facilitating the PCB board to enter or exit. The driving mechanism 610 includes a driving piece 611, a driving shaft 612 and a driven shaft 613, the driving piece 611 is connected with the driving shaft 612, the driven shaft 613 and the driving shaft 612 are arranged in parallel and connected through a transmission belt 614, and the rollers 622 are arranged on the driving shaft 612 and the driven shaft 613. The driving shaft 612 is provided with at least two rollers 622, the driven shaft 613 is provided with at least two rollers 622, a plurality of rollers are located at the same height, the avoiding grooves 621 are located between the coaxial plurality of rollers 622, and the avoiding grooves 621 have trumpet mouths 6211 at two ends. Through the trumpet mouths 6211, the guide pins 2 on the material can be guided into the avoiding grooves 621.

[0111] Further, the stock bin comprises a plurality of stock layers 13, the stock layer 13 is provided with a support layer plate 14, the middle part of the support layer plate 14 is provided with a guide groove 141, the guide groove 141 is arranged along the first direction X, the guide groove 141 is used for guiding the guide pin 2 on the material, the both sides of the guide groove 141 are provided with a support strip 142, the support strip 142 is used for supporting the movement of the material, and the feeding end of the guide groove 141 is provided with a horn mouth, so as to facilitate the guide pin to enter.

[0112] <Embodiment Five>

[0113] In this embodiment, the same parts as in Embodiments 1 to 4 are given the same reference numerals, and the same textual description is omitted.

[0114] As Figures 25 to 27The main difference between the present embodiment and the previous embodiments is the handling assembly, which provides another solution to the interference between the hopper lifting and the material handling assembly. The moving feeding device of the present embodiment includes a main body 100, a lifting assembly 200, and a handling assembly 400. The structure and function of the main body 100 and the lifting assembly 200 are the same as those of the previous embodiments and will not be repeated here. The handling assembly 400 is arranged on the main body 100 and includes a displacement mechanism and a material handling mechanism 420. The material handling mechanism 420 is connected to the displacement mechanism, which drives the material handling mechanism 420 to move linearly along the first direction X or the second direction Y. The material handling mechanism 420 moves linearly along the first direction X to move away from or approach the material inlet and outlet 111, thereby moving the material in the hopper 10. The material handling mechanism 420 moves linearly along the second direction Y to move away from or approach the hopper 10. Since the material enters and exits the hopper along the first direction, the hopper is lifted along the third direction, and the hopper 10 has a U-shaped groove 15, the PCB board is supported by the hopper at the middle part, and the two sides extend to the position of the U-shaped groove. The material handling mechanism 420 approaches the edge of the PCB board at the U-shaped groove, thereby pushing or pulling the PCB board. Therefore, before the hopper is lifted, the material handling mechanism 420 needs to be moved away from the material to avoid collision with the material when the hopper is lifted. When the hopper 10 needs to be lifted, the displacement mechanism drives the material handling mechanism 420 to move along the second direction, so that it moves away from the hopper and the material, thereby avoiding interference with the lifting of the PCB board. When material handling is needed, the displacement mechanism first drives the material handling mechanism 420 to move along the second direction Y towards the hopper 10, so that the material handling mechanism 420 can contact the material and perform a grabbing action. Then, the displacement mechanism drives the material handling mechanism 420 to move along the first direction X, thereby moving the material out of the hopper 10 and transporting it to a designated position. Through the cooperation of the two-direction linear motion, the position of the material handling mechanism 420 can be adjusted flexibly, effectively solving the problem of spatial interference between the hopper lifting and the material handling assembly, while ensuring the accuracy and stability of material handling. The displacement mechanism can use a power device that realizes bidirectional movement along the first and second directions, which is not limited here. The above technical solution uses the bidirectional linear motion of the material handling mechanism 420, which is more convenient to control the distance between the material handling mechanism 420 and the hopper and the material compared to the rotation avoidance method. When the size of the material is large or small, the travel control of the material handling mechanism 420 along the second direction allows the material handling mechanism to adapt to different sizes of materials.

[0115] Further, the displacement mechanism comprises a first moving module 440 and a second moving module 450. The material moving mechanism 420 is connected with the first moving module 440. The first moving module 440 drives the material moving mechanism 420 to move along the first direction X. The first moving module 440 can adopt the moving mechanism 410 in the foregoing embodiments to provide linear motion power. The first moving module 440 is connected with the second moving module 450. The second moving module 450 drives the first moving module 440 and the material moving mechanism 420 to move along the second direction Y. The fixed end of the second moving module 450 is connected with the main body 100. The moving end is fixed with the first moving module 440, so as to drive the entire first moving module 440 and the material moving mechanism 420 to translate along the second direction Y. Through the combination of the first moving module 440 and the second moving module 450, the two-degree-of-freedom movement of the material moving mechanism 420 in the plane is realized. The first and second moving modules in the embodiment can all adopt linear driving devices such as linear modules.

[0116] Further, the main body 100 has a mounting groove 140. The mounting groove 140 is arranged along the third direction Z and has an opening facing the stock bin. The lifting assembly 200 comprises a lifting mechanism 220. The lifting mechanism 220 is located in the mounting groove 140. The material moving mechanism 420 is located outside the lifting mechanism 220. The lifting mechanism 220 is arranged in the mounting groove 140, which can save the second direction space, so that the second moving module 450 has enough stroke space in the second direction, and further improves the space utilization.

[0117] As shown in FIG. 1, Figure 26 Further, the plurality of material moving mechanisms 420 are arranged at intervals along the first direction X. Two groups of material moving mechanisms are arranged in the embodiment. The material moving mechanism comprises a clamping jaw 421 and a power part 422 driving the clamping jaw 421. The power part 422 can adopt a pneumatic cylinder. The clamping jaws 421 of the plurality of material moving mechanisms 420 are synchronously linearly moved to keep the motion consistency. One end of the clamping jaw 421 is connected with the power part 422. The other end extends along the second direction Y, so that the clamping port 4231 of the material moving mechanism 420 is always directed to the stock bin. The second moving module 450 can make the material enter and exit the clamping port. Compared with the rotating avoidance mode of the clamping jaw, the clamping jaw in the embodiment does not need to rotate. A clamping jaw with a relatively short length can be adopted. The clamping force is large. In addition, the linear driving structure has good rigidity. If collision occurs, a relatively large impact load can be borne. The reliability is relatively high.

[0118] <Embodiment Six>

[0119] In the embodiment, the same parts as those in the first to fifth embodiments are given the same reference numerals, and the same textual description is omitted.

[0120] Compared with the first to fifth embodiments, the embodiment provides a feeding method applied to the feeding device in the foregoing embodiments.

[0121] The feeding method of the embodiment selectively executes the material conveying process or the magazine conveying process. When the feeding device executes the material conveying process, the feeding device is used for feeding and discharging the PCB. When feeding, the feeding device conveys the PCB in the magazine to the processing equipment. When discharging, the feeding device receives the processed PCB on the processing equipment and makes the PCB enter the storage layer of the magazine. When executing the magazine conveying process, the feeding device is used for feeding and discharging the magazine 10. When feeding the magazine, the feeding device obtains the magazine containing space 110 of the PCB to be processed from the magazine temporary storage device. When discharging the magazine, the feeding device places the magazine on the magazine temporary storage device.

[0122] In the embodiment, when the magazine conveying process is executed, the following steps are included:

[0123] S110: The lifting assembly 200 moves to a set position along the third direction Z, so that the lifting assembly 200 corresponds to the position of the temporary storage device 3. This step can be executed during the movement of the feeding device or when the feeding device is stopped. Specifically, if the magazine is fed, the lifting assembly 200 extends below the temporary storage device 3. If the magazine is discharged, the lifting assembly 200 lifts the magazine to be higher than the temporary storage device 3, so as to facilitate the placement of the magazine. Figure 28 As shown in the figure, the temporary storage device 3 of the embodiment includes an arm part 31, a magazine matching mechanism 32 and a limiting mechanism 33 arranged on the arm part 31. The magazine matching mechanism 32 is used for docking with the bottom of the magazine. In the embodiment, the magazine matching mechanism 32 is a protruding structure, and the bottom of the magazine 10 is a positioning hole structure 11. The limiting mechanism 33 is arranged in the direction of the magazine. The limiting mechanism 33 is arranged in the direction of the magazine, so as to avoid the magazine from sliding off the arm part 31. When the magazine is discharged, the lifting assembly 200 lifts the magazine to be higher than the limiting mechanism 33 and the magazine matching mechanism 32, and then places the magazine on the arm part 31 from top to bottom. The arm part 31 is further provided with a magazine detection sensor 35. After the magazine is placed in place, the magazine detection sensor 35 sends a signal to the control system.

[0124] S120: The adjusting assembly 300 drives the carrying assembly 400 to move to a avoiding position, and the magazine inlet and outlet 112 is opened. The avoiding position is a position where the carrying assembly 400 leaves the magazine inlet and outlet 112, that is, the carrying assembly 400 does not block the magazine from entering and leaving the magazine inlet and outlet 112. This step can be executed during the movement of the feeding device or when the feeding device is stopped. This step can be executed synchronously with step S110 or before step S110, and the execution sequence is not limited.

[0125] S130: The feeding device moves to the position of the temporary storage device 3 to take and place the hopper. When the feeding device moves to the temporary storage device 3, the hopper inlet and outlet 112 of the feeding device is arranged opposite to the temporary storage device 3, the AGV 500 enters below the temporary storage device, and the lifting assembly 200 extends into the hollow part 34 of the temporary storage device 3. If the hopper is loaded, the hopper on the temporary storage device is lifted from bottom to top, so that the hopper enters the containing space 110. If the hopper is unloaded, the hopper is placed on the arm part 31 from top to bottom.

[0126] In the embodiment, the material conveying process includes a loading step or an unloading step; the loading step includes:

[0127] S210: The lifting assembly 200 moves along the third direction Z to a set position, so that the storage layer 13 of the hopper 10 corresponds to the processing equipment 1. The processing equipment 1 can be a PCB drilling machine, a PCB AOI device, or other processing equipment. The height of the storage layer 13 corresponds to the height of the material input end of the processing equipment through the lifting assembly 200, so that the PCB can enter the processing equipment after being output.

[0128] S220: The clamping jaw 421 of the material carrying mechanism 420 rotates to the second direction Y, that is, the clamping opening 4231 of the material carrying mechanism 421 faces the PCB, and the PCB is located in the clamping space of the clamping jaw 421. The clamping jaw 421 clamps the material in the storage layer 13 and drives the material carrying mechanism 420 to move along the first direction X through the moving mechanism 410 to output the material through the material inlet and outlet 111. When the PCB is conveyed, it is parallel to the horizontal plane.

[0129] The unloading step of the embodiment includes:

[0130] S310: The lifting assembly 200 moves along the third direction Z to a set position, so that the storage layer 13 of the hopper 10 corresponds to the processing equipment 1; this step is similar to S210, which is to facilitate the conveying of the PCB. The arm part 31 of the temporary storage device 3 in the embodiment is arranged on the ground, which is more stable than the cantilevered fork arm structure and can carry a hopper with a larger weight. The distance between the two arm parts 31 is less than the length of the hopper and greater than the width of the AGV, so that the AGV can enter the space between the arm parts 31 and place the hopper on the arm part 31.

[0131] S320: The material provided by the processing equipment at least partially enters the storage layer 13 of the hopper through the material inlet and outlet 111. The processing equipment usually also has a material carrying mechanism, which can drive the material to move, so that the material can be sent to the storage layer 13, but it may not be completely in place and needs to be carried to the right position by the material carrying mechanism of the feeding device. When the material enters, the clamping jaw 421 of the material carrying mechanism 420 is in a avoiding position to avoid collision with the material.

[0132] S330: the gripper 421 of the material moving mechanism 420 rotates to the second direction Y, the gripper 421 clamps the material in the storage layer 13 and drives the material moving mechanism to move along the first direction X through the moving mechanism 410 to pull the material into the storage layer 13 through the material inlet and outlet 111, so as to move the material to the position. When feeding, the gripper 421 drags the material to the left, and when discharging, the gripper 421 drags the material to the right.

[0133] Further, the material inlet and outlet 111 is provided with a conveying assembly 600, when the material is fed or discharged, the roller 622 of the conveying assembly 600 drives the material to move, and the roller 622 assists the movement of the material, and at the same time, the direction can be adjusted when the material collides with the processing equipment or the bin, so as to facilitate the smooth entry and exit of the material.

[0134] <Embodiment Seven>

[0135] In this embodiment, the same parts as in embodiments one to six are given the same reference numerals, and the same textual description is omitted.

[0136] As shown in Figure 29 and Figure 30 , compared with embodiments one to six, the present embodiment provides a processing system for processing PCB boards, the processing system comprising a feeding device 6, a temporary storage device 3 and a processing equipment 1, the feeding device 6 moving between the temporary storage device 3 and the processing equipment 1 (as shown by the dashed line in Figure 29 , the path), at least one temporary storage device 3 for storing raw materials, and at least one temporary storage device 3 for storing finished materials. Raw materials refer to PCB boards to be processed, which need to be transported to the processing equipment 1 by the feeding device 6. Finished materials refer to PCB boards that have been processed by the processing equipment. In this embodiment, two temporary storage devices 3 are provided, a bin containing raw materials is placed on one temporary storage device 3, and the other temporary storage device 3 is used to place finished materials. The feeding device 6 reciprocates between the processing equipment 1 and the temporary storage device 3 to carry raw materials and finished materials.

[0137] Further, the processing system further comprises a line bin 4 and a bin conveying device 5, the bin conveying device 5 moving between the temporary storage device 3 and the line bin 4, the line bin 4 being used to store bins and can be used to store raw materials and finished materials, all bins being placed in the line bin for centralized placement to facilitate unified scheduling. The bin conveying device 5 adopts AGV conveying equipment to carry finished materials on the temporary storage device 3 to the line bin 4, or to carry raw materials on the line bin 4 to the temporary storage device 3. Through the above technical solution, the automatic conveying of bins and materials can be realized, and the cost is reduced.

[0138] Further, the line-side warehouse 4 comprises a plurality of storage units 41 for storing the bins, and the plurality of storage units 41 are stacked in the lateral direction and / or the longitudinal direction, and the storage units 41 arranged by stacking can increase the capacity of the bins. Specifically, the storage unit 41 comprises a rack 411 and a base 412 connected with the rack 411, and the base 412 is provided with a matching mechanism 413, and after the bin is placed in the storage unit 41, the matching mechanism 413 is matched with the bin 10 to position the bin, and the matching mechanism 413 can have the same structure as the temporary storage device, and details are not repeated.

[0139] <Embodiment Eight>

[0140] In this embodiment, the same parts as in Embodiment One are given the same reference numerals, and the same textual description is omitted.

[0141] Compared with Embodiments One to Seven, this embodiment provides a processing method applied to the above processing system, so that the bins and the PCBs can be automatically transported and processed.

[0142] The processing method of this embodiment comprises a feeding method and a bin conveying method, the feeding method can adopt the feeding method of Embodiment Four, and the bin conveying method is used for conveying the bins and comprises the following steps.

[0143] S410: The bin conveying device 5 transports the green bin 10 of the line-side warehouse 4 to the temporary storage device 3 for use by the feeding device 6. Specifically, after receiving the instruction of the control system, the bin conveying device 5 autonomously moves to the position of the line-side warehouse 4 to obtain the green bin 10 full of green material, and then transports the green bin 10 to the temporary storage device 3 and places the green bin 10 on the temporary storage device 3.

[0144] S420: The bin conveying device 5 conveys the clinker bin 10 of the temporary storage device 3 to the line-side warehouse 4. Since the temporary storage device 3 is usually arranged at an adjacent position, after the green bin 10 is placed, the bin conveying device 5 is empty, and can transport the clinker bin at the adjacent position, thereby improving the turnover efficiency. By cyclically executing the above steps, the rapid turnover of the green bin and the clinker bin can be realized, and the bin conveying device 5 can also transfer the bin 19 from the line-side warehouse 4 to the next work station.

[0145] Through the above technical solution, the bin exchange is performed between the feeding device 6 and the temporary storage device 3, the PCB exchange is performed between the feeding device 6 and the processing equipment 1, and the bin turnover is performed between the bin conveying device 5 and the line-side warehouse and the temporary storage device. Through the feeding device 6 and the bin conveying device 5 for conveying in the respective moving areas, mutual interference is avoided, and the bin and material turnover efficiency is improved.

[0146] In the above Embodiments One to Eight, during the working process, part of the technical implementation of Embodiments One to Eight can be combined or replaced according to different working environments.

[0147] The technical principles of the present application are described above in conjunction with the specific embodiments, but it should be noted that the above description is only for the purpose of explaining the principles of the present application, and cannot be interpreted in any way as a specific limitation on the scope of protection of the present application. Based on the explanation herein, other specific embodiments or equivalent replacements of the present application that can be thought of by those skilled in the art without creative labor will all fall within the scope of protection of the present application.

Claims

1. A feeding device, characterized in that, include: The main body has a receiving space for housing a hopper. The receiving space has a material inlet and outlet and a hopper inlet and outlet on its periphery. The material inlet and outlet are located in a first direction, and the hopper inlet and outlet are located in a second direction. A lifting assembly is installed on the main body to drive the hopper to move in a third direction; Adjustment components are located on the main body; A conveying component is connected to an adjusting component and is configured to correspond to the inlet and outlet of a hopper. The adjusting component drives the conveying component to switch between a conveying position and an avoidance position. The conveying component includes a moving mechanism and a material handling mechanism connected to the moving mechanism. The material handling mechanism is used to handle materials. During handling, the moving mechanism drives the material handling mechanism to move along a first direction.

2. The feeding device according to claim 1, characterized in that, The main body is mounted on the AGV, with the straight direction of the AGV being the second direction. The lifting component is mounted on one side of the AGV and is positioned opposite to the hopper inlet and outlet. The material inlet and outlet are positioned opposite to each other on both sides of the AGV. There are at least two sets of conveying components. The first conveying component is connected to the adjusting component so that the conveying component can move along the third direction. The second conveying component is mounted on the main body, and the two sets of conveying components are positioned opposite to each other on both sides of the accommodating space.

3. The feeding device according to claim 2, characterized in that, The main body includes a support and a cantilever. The support is mounted on the AGV, and the cantilever is located above the accommodating space. One end of the cantilever is connected to the support, and the other end is suspended in the air. The adjustment component is mounted on the cantilever.

4. The feeding device according to claim 2, characterized in that, The lifting assembly includes a fork arm and a lifting mechanism. The fork arm is located in the accommodating space. One end of the fork arm is connected to the output end of the lifting mechanism, and the other end is a free end. The lifting mechanism is mounted on the main body.

5. The feeding device according to claim 2, characterized in that, The lifting assembly includes a carrier plate and a lifting mechanism. The lifting mechanism is mounted on the AGV, and the carrier plate is positioned above and connected to the lifting mechanism.

6. The feeding device according to claim 1, characterized in that, The material inlet and outlet are equipped with conveying components, and the positions of the conveying components correspond to the handling components. When the material is conveyed, the lifting component drives the storage layer of the hopper to correspond to the conveying component. The conveying component includes a driving mechanism and a transmission mechanism connected to the driving mechanism. The driving mechanism drives the transmission mechanism to move so that the material enters and exits the material inlet and outlet through the transmission mechanism.

7. The feeding device according to claim 1, characterized in that, The material handling mechanism includes grippers and a power unit for driving the grippers. The grippers are equipped with a self-adjusting module. When the grippers hold materials, the self-adjusting module contacts the materials so that the materials sway in the plane in the first and second directions when they collide during transport.

8. The feeding device according to claim 7, characterized in that, The material handling mechanism includes a rotary power component, which is located at the output end of the moving mechanism. The output end of the rotary power component is connected to the power unit, and the rotary power component causes the gripper to switch between a first direction and a second direction.

9. The feeding device according to claim 1, characterized in that, The material is a PCB board. The hopper has several storage layers stacked along a third direction. The hopper is equipped with a guide groove so that the guide pins of the PCB board cooperate with the guide groove when the PCB board is being transported.

10. A feeding method, applied to a feeding device, characterized in that, Selectively execute material conveying processes or silo conveying processes. When executing a silo conveying process, the following steps are included: The lifting assembly moves along a third direction to a set position, so that the lifting assembly corresponds to the position of the temporary storage device; The adjustment component drives the conveying component to move to the avoidance position, and the hopper inlet and outlet open; The feeding device moves to the temporary storage device to pick up and put in the material from the hopper.

11. The feeding method according to claim 10, characterized in that, The material conveying process includes a loading step or a unloading step; the loading step includes: The lifting assembly moves to a set position in a third direction, so that the storage layer of the silo corresponds to the processing equipment; The gripper of the material handling mechanism rotates to the second direction, clamps the material in the storage layer, and drives the material handling mechanism to output the material through the material inlet and outlet along the first direction through the moving mechanism. The material cutting steps include: The lifting assembly moves to a set position in a third direction, so that the storage layer of the silo corresponds to the processing equipment; Receives materials from processing equipment, and at least part of the materials enter the storage layer of the silo through the material inlet and outlet; The grippers of the material handling mechanism rotate to the second direction, clamp the material in the storage layer, and drive the material handling mechanism along the first direction through the material inlet and outlet to pull the material into the storage layer.

12. The feeding method according to claim 11, characterized in that, The material inlet and outlet are equipped with conveying components. When the material is being loaded or unloaded, the rollers of the conveying components drive the material to move.

13. A processing system, characterized in that, It includes the feeding device, the temporary storage device, and the processing equipment as described in any one of claims 1 to 9, wherein the feeding device moves between the temporary storage device and the processing equipment, and at least one temporary storage device is used to store raw materials and at least one temporary storage device is used to store cooked materials.

14. The processing system according to claim 13, characterized in that, It also includes a line-side warehouse and a silo transport device, which moves between the temporary storage device and the line-side warehouse. The line-side warehouse includes several storage units for storing silos, and the storage units are stacked horizontally and / or vertically.

15. The processing system according to claim 14, characterized in that, The storage unit includes a rack and a base connected to the rack. The base is equipped with a mating mechanism. After the hopper is placed into the storage unit, the mating mechanism mates with the hopper.

16. A processing method applied to a processing system, characterized in that, It includes a feeding method and a silo conveying method. The silo conveying method includes: using a silo conveying device to transport the raw material silo in the line-side silo to the temporary storage device for use by the feeding device; using a silo conveying device to transport the cooked material silo in the temporary storage device to the line-side silo; and repeating the above steps in a cycle.

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