Automatic operation system and operation method

Abstract

The invention discloses an automatic operation system and method. The automatic operation system comprises a plurality of upper pin stations, a plurality of drilling machine tables, a plurality of mobile robots, a plurality of lower pin stations, a code scanning device and a controller, and the code scanning device, the mobile robots and the drilling machine tables are all in signal connection with the controller; the code scanning device is used for acquiring coding information of a to-be-drilled product; the controller is used for confirming a target drilling machine table according to the coding information of the to-be-drilled product and the information of the drilling machine table; the mobile robot is used for obtaining a product to be drilled from the upper pin station and moving the product to be drilled to the target drilling machine table, and obtaining a drilled product from the target drilling machine table and moving the drilled product to the lower pin station; the drilling machine table is used for drilling a product to be drilled. According to the automatic operation system and the operation method, the efficiency of drilling operation automation can be improved, meanwhile, the automatic operation system is compatible with an existing drilling machine table, and the intelligent transformation cost is reduced.

Description

TECHNICAL FIELD

[0001] The present application relates to the technical field of IC carrier board processing, and in particular to an automatic operation system and an operation method. BACKGROUND

[0002] In related technologies, an IC carrier board is a core carrier for connecting a semiconductor chip and an external circuit, and in the manufacturing process of the IC carrier board, pin coating, drilling and pin removal and glue tearing operations are sequentially required.

[0003] The drilling operation mainly adopts the following drilling operation modes: Firstly, a Template fixed mode: this method uses a bakelite board as a positioning template, and a pin is inserted into a substrate positioning hole to realize fixation by manual operation. Although this method has low cost, the positioning accuracy is greatly affected by manual operation, is prone to positioning deviation due to wear, is difficult to cope with the production of high-difficulty products, and has the risk of human contact with product quality.

[0004] Secondly, a Two Pin manual pin insertion mode: this mode is the most commonly used mode, and a pin is fixed by clamping. However, manual substrate handling and positioning are still required, the production efficiency is limited by the operation speed of personnel, and consistency is difficult to guarantee.

[0005] Thirdly, a Two Pin transmission belt automatic pin insertion mode: this mode transmits products to a processing table through a transmission belt from the rear side of a machine to realize automatic clamping and pin insertion. Although the automation rate is improved, the equipment site requirement is strict, the transmission belt installation space needs to be reserved, and the old equipment is difficult to modify, and is only suitable for new machine customization.

[0006] In summary, the existing drilling operation mode cannot meet the technical requirements of high-precision processing of the IC carrier board, and a new operation system that takes into account full-process automation, old equipment compatibility and controllable cost is urgently needed. SUMMARY

[0007] The present application aims to at least solve one of the technical problems existing in the prior art. To this end, the present application provides an automatic operation system, which can improve the automation of drilling operation, and is compatible with existing drilling machines, and reduces the intelligent modification cost.

[0008] The present application also provides an automatic operation method suitable for the automatic operation system.

[0009] The automatic operation system according to the first aspect of the present application comprises a plurality of pin insertion stations, a plurality of drilling machines, a plurality of mobile robots, a plurality of pin removal stations, a code scanning device and a controller, the code scanning device, the mobile robot and the drilling machine are signal connected with the controller. The code scanning device is used to acquire the code information of the product to be drilled; The controller is used to confirm the target drilling machine according to the code information of the product to be drilled and the information of the drilling machine; The mobile robot is used to acquire the product to be drilled from the upper pin station and move to the target drilling machine, and acquire the drilled product from the target drilling machine and move to the lower pin station; The drilling machine is used to drill the product to be drilled.

[0010] The automatic operation system according to the embodiment of the present application has at least the following beneficial effects: After the product is subjected to the upper pin operation, the mobile robot at the upper pin station acquires the code information of the product to be drilled by the code scanning device, the controller confirms the target drilling machine according to the code information of the product to be drilled and the information of the drilling machine, the mobile robot carries the product to be drilled to the target drilling machine, the target drilling machine drills the product to be drilled, and after the drilling is completed, the mobile robot acquires the drilled product from the target drilling machine and moves to the lower pin station. This process realizes the automatic circulation and drilling of the product, the determination of the target drilling machine is automatically completed by the controller according to the code information of the product and the information of the drilling machine, the circulation of the product is executed by the mobile robot, without manual intervention, which improves the operation efficiency and accuracy. At the same time, without large-scale modification of the existing drilling machine, the implementation cost and upgrading difficulty are reduced.

[0011] In some embodiments, among the plurality of mobile robots, a part is a mobile AGV, and the remaining part is a carrying AGV, the mobile AGV is used to transport the product to be drilled between the upper pin station and the drilling machine, and transport the drilled product between the drilling machine and the lower pin station; The carrying AGV is used to move between different drilling machines, and carry the product to be drilled from the mobile AGV to the target drilling machine, or carry the drilled product from the target drilling machine to the mobile AGV.

[0012] In some embodiments, the carrying AGV includes a vehicle body and a mechanical arm arranged on the vehicle body, the mechanical arm includes an arm body with multiple degrees of freedom, a first clamping member and a second clamping member, the first clamping member and the second clamping member are arranged on the arm body, the first clamping member is used to clamp the product to be drilled, and the second clamping member is used to clamp the drilled product.

[0013] In some embodiments, the carrying AGV includes a vehicle body, a mechanical arm arranged on the vehicle body, and a probe, the probe is used to acquire environmental information; The mechanical arm is configured to clamp the product to be drilled according to the environment information obtained by the probe, and move the product to be drilled to the target drilling machine, so that the pin hole on the product to be drilled is positioned and matched with the positioning pin on the target drilling machine.

[0014] In some embodiments, the number of the carrying AGVs is N, the average processing time of the product on the drilling machine is T, and the time for the carrying AGV to load and unload once is t. Wherein, the number of the carrying AGVs N = T / t + 1.

[0015] In some embodiments, the ratio of the number of the moving AGVs to the number of the drilling machines ranges from 1.2 to 1.5.

[0016] The automatic operation method according to the second aspect of the embodiments of the present application is suitable for the automatic operation system described in the above embodiments, and comprises: Obtaining the coding information of the product to be drilled; Confirming the target drilling machine according to the coding information of the product to be drilled and the information of the plurality of drilling machines; Moving the product to be drilled to the target drilling machine; Driving the target drilling machine to drill according to the coding information of the product to be drilled; Moving the drilled product to the next pin station.

[0017] According to some embodiments of the present application, the step of confirming the target drilling machine according to the coding information of the product and the information of the plurality of drilling machines comprises: Confirming the drilling program according to the coding information of the product to be drilled; Confirming the model of the target drilling machine according to the drilling program; Confirming the target drilling machine according to the model of the target drilling machine and the information of the plurality of drilling machines.

[0018] According to some embodiments of the present application, the information of the drilling machine comprises the model information of the drilling machine and the drilling working state information; The step of confirming the target drilling machine according to the model of the target drilling machine and the information of the plurality of drilling machines comprises: Confirming the alternative machine according to the model of the target drilling machine and the model information of the plurality of drilling machines; Confirming whether the alternative machine is in an idle state according to the drilling working state information; Confirming the alternative machine in the idle state as the target drilling machine.

[0019] According to some embodiments of the present application, after the step of confirming the target drilling machine according to the coding information of the product to be drilled and the information of the drilling machine, and before the step of moving the product to be drilled to the target drilling machine, the method further comprises: adjusting the drilling working state information of the target drilling machine to a non-idle state. According to some embodiments of the present application, after the step of moving the drilled product to the next pin station, the method comprises: adjusting the drilling working state information of the target drilling machine to an idle state.

[0020] Additional aspects and advantages of the present application will be given, partially in the following description, partially become obvious from the following description, or be understood by practice of the present application. BRIEF DESCRIPTION OF DRAWINGS

[0021] The present application will be further described below in conjunction with the drawings and embodiments, wherein: Figure 1 FIG. 1 is a structural schematic diagram of an automatic operation system according to an embodiment of the present application; Figure 2 FIG. 2 is a structural schematic diagram of a carrying AGV of an automatic operation system according to an embodiment of the present application; Figure 3 FIG. 3 is a flow schematic diagram of an automatic operation method according to an embodiment of the present application.

[0022] REFERENCE SIGNS 100, drilling machine; 200, mobile robot; 210, mobile AGV; 220, carrying AGV; 221, vehicle body; 222, mechanical arm. DETAILED DESCRIPTION

[0023] The embodiments of the technical scheme of the present application will be described in detail below in conjunction with the drawings. The following embodiments are only used to more clearly illustrate the technical scheme of the present application, and therefore only serve as examples, and cannot limit the protection scope of the present application.

[0024] Unless otherwise defined, all technical and scientific terms used herein have the same meaning as commonly understood by one of ordinary skill in the art to which the present application belongs; the terms used herein are only for the purpose of describing specific embodiments of the present application, and are not intended to limit the present application; the terms "include" and "have" and any variations thereof in the specification and claims of the present application and the above description of drawings are intended to cover non-exclusive inclusion.

[0025] In the description of the embodiments of the present application, the technical terms "first", "second", "third" and the like are only used to distinguish different objects, and cannot be understood as indicating or implying relative importance or implicitly indicating the number, specific order or primary and secondary relationship of the indicated technical features. In the description of the embodiments of the present application, the meaning of "a plurality of" is two or more, unless otherwise explicitly specified and limited.

[0026] Reference herein to "an embodiment" means that a particular feature, structure, or characteristic described in connection with the embodiment can be included in at least one embodiment of the present application. The appearance of the phrase in various places in the specification does not necessarily all refer to the same embodiment, nor is it necessarily independent or alternative embodiments to other embodiments. It is explicitly and implicitly understood by those skilled in the art that the embodiments described herein can be combined with other embodiments.

[0027] In the description of the embodiments of the present application, the term "and / or" is only a description of the association relationship of the associated objects, which means that there can be three relationships, for example, A and / or B, which means that there are three cases of A alone, A and B together, and B alone. In addition, the character " / " herein generally represents an "or" relationship between the front and rear associated objects.

[0028] In the description of the embodiments of the present application, the technical terms "top", "bottom", "upper", "lower" and the like indicate the orientation or position relationship shown in the drawings, which is only for the convenience of describing the embodiments of the present application and simplifying the description, and does not indicate or imply that the indicated device or element must have a particular orientation, be constructed, operated or used in a particular orientation, and therefore cannot be understood as a limitation on the embodiments of the present application.

[0029] In the description of the embodiments of the present application, unless otherwise explicitly specified and limited, the technical terms "mounting", "connection", "connection", "fixing" and the like should be understood in a broad sense, for example, it can be fixedly connected, or it can be detachably connected, or it can be integrated; it can be mechanical connection, or it can be electrical connection; it can be directly connected, or it can be indirectly connected through an intermediate medium, or it can be the internal communication of two elements or the interaction relationship between two elements. For those skilled in the art, the specific meaning of the above terms in the embodiments of the present application can be understood according to the specific circumstances.

[0030] In the description of the embodiments of the present application, unless otherwise explicitly specified and limited, the technical term "contact" should be understood in a broad sense, which can be direct contact or contact through an intermediate medium layer, which can be contact between two objects in contact without interaction force, or contact between two objects in contact with interaction force.

[0031] Please refer to Figure 1 andFigure 2 The embodiment of the present application provides an automatic operation system, which comprises a plurality of upper pin stations, a plurality of drilling machine tables 100, a plurality of mobile robots 200, a plurality of lower pin stations, a code scanning device and a controller. The code scanning device, the mobile robots 200 and the drilling machine tables 100 are in signal connection with the controller.

[0032] The upper pin station is located upstream of the drilling machine table 100, and the product is transferred to the drilling machine table 100 by the mobile robot 200 for processing after the upper pin operation at the upper pin station. The lower pin station is located downstream of the drilling machine table 100, and the product is sent to the lower pin station by the mobile robot 200 for the lower pin operation after the drilling.

[0033] The code scanning device is used to obtain the code information of the product to be drilled. The code scanning device is a bar code scanner or an RFID scanner. The bar code scanner is used to read the bar code or two-dimensional code information on the product to be drilled. The RFID scanner is used to read the electronic tag information on the product to be drilled. The code information includes the model, batch number, engineering file version, expansion coefficient, plate thickness, size and number of stacked plates of the product.

[0034] The controller is used to confirm the target drilling machine table 100 according to the code information of the product to be drilled and the information of the drilling machine table 100. The controller can be an MES system or a PLC controller.

[0035] The mobile robot 200 is used to obtain the product to be drilled from the upper pin station and move to the target drilling machine table 100, and obtain the drilled product from the target drilling machine table 100 and move to the lower pin station. The drilling machine table 100 is used to drill the product to be drilled.

[0036] In the above embodiment, after the product is subjected to the upper pin operation, the product is moved to the mobile robot 200 at the upper pin station. The code scanning device obtains the code information of the product to be drilled. The controller confirms the target drilling machine table 100 according to the code information of the product to be drilled and the information of the drilling machine table 100. The mobile robot 200 carries the product to be drilled to the target drilling machine table 100. The target drilling machine table 100 drills the product to be drilled. After the drilling is completed, the mobile robot 200 obtains the drilled product from the target drilling machine table 100 and moves to the lower pin station. This process realizes the automatic circulation and drilling of the product. The determination of the target drilling machine table 100 is automatically completed by the controller according to the code information of the product and the information of the drilling machine table 100. The circulation of the product is performed by the mobile robot 200 without manual intervention, which improves the operation efficiency and accuracy. At the same time, the existing drilling machine table 100 does not need to be greatly modified, which reduces the implementation cost and upgrading difficulty.

[0037] In some embodiments, the code scanning device is arranged between the area where the plurality of upper pin stations are located and the area where the plurality of drilling machines 100 are located, and is close to the plurality of drilling machines 100. Before each mobile robot 200 enters the area where the plurality of drilling machines 100 are located, it first passes through the area where the code scanning device is located, so as to scan and obtain the code information of the product to be drilled. In other embodiments, the code scanning device is arranged on the mobile robot 200, so as to be able to scan and obtain the code information of the product when the product to be drilled is moved into the mobile robot 200.

[0038] In some embodiments, among the plurality of mobile robots 200, part of them are mobile AGVs 210, and the rest are carrying AGVs 220. The mobile AGVs 210 are used to transport the product to be drilled between the upper pin station and the drilling machine 100, and to transport the drilled product between the drilling machine 100 and the lower pin station. The carrying AGVs 220 are used to move between different drilling machines 100, and to carry the product to be drilled from the mobile AGV 210 to the target drilling machine 100, or to carry the drilled product from the target drilling machine 100 to the mobile AGV 210.

[0039] In the working process, the mobile AGV 210 transports the product to be drilled to the area near the target drilling machine 100, and the carrying AGV 220 in the area near the target drilling machine 100 completes the feeding and discharging. When the target drilling machine 100 is processing the product, the carrying AGV 220 can move to other idle drilling machines 100 to continue to perform the feeding and discharging task, so as to improve the work efficiency and equipment utilization. The carrying AGV 220 and the mobile AGV 210 cooperate to realize the efficient circulation of the product to be processed between stations. The controller dynamically schedules the two types of robots according to the product code information obtained by scanning, ensures the continuous operation of the target drilling machine 100, and reduces the waiting time.

[0040] In some embodiments, the carrying AGV 220 includes a vehicle body 221 and a mechanical arm 222 arranged on the vehicle body 221. The mechanical arm 222 includes an arm body with multiple degrees of freedom, a first clamping member and a second clamping member, both of which are arranged on the arm body. The first clamping member is used to clamp the product to be drilled, and the second clamping member is used to clamp the drilled product. It can be understood that the first clamping member and the second clamping member constitute a double clamping structure, which can simultaneously complete the feeding and discharging of the product to be drilled and the drilled product, and realize efficient circulation. For example, when the carrying AGV 220 is in the area near the target drilling machine 100, the mechanical arm 222 puts the product to be drilled into the target drilling machine 100 through the first clamping member, and at the same time, takes out the drilled product from the target drilling machine 100 through the second clamping member, to complete the feeding and discharging.

[0041] In some embodiments, the automatic operation system further comprises at least one buffer station, which is located between the plurality of drilling machine tables 100 and the plurality of pin insertion stations, and is used to temporarily store the products that have been drilled. When there is no idle downstream pin insertion station, the products that have been drilled are temporarily stored, so as to release the mobile AGV 210 and ensure the continuity and stability of the production rhythm.

[0042] In other embodiments, a second buffer station can also be provided, which is used to temporarily store the products to be drilled between the plurality of pin insertion stations and the plurality of drilling machine tables 100, so as to avoid the accumulation of the mobile AGV 210 in the pin insertion station area when there is no idle downstream drilling machine table 100, and affect the feeding rhythm. The double-buffer mechanism works together to further improve the scheduling flexibility and anti-interference ability of the system, and ensure the orderly and continuous material flow, and adapt to the changing production rhythm.

[0043] In some embodiments, the conveying AGV 220 comprises a vehicle body 221, a mechanical arm 222 and a probe provided on the vehicle body 221, wherein the vehicle body 221 has a carrying function, and the mechanical arm 222 and the probe are both installed on the vehicle body 221 and driven by the vehicle body 221.

[0044] The probe is used to obtain environmental information. The environmental information includes the position information of the product, the attitude information of the product, and the position information of the pin hole. The mechanical arm 222 is configured to clamp the product to be drilled according to the environmental information obtained by the probe, and move the product to be drilled to the target drilling machine table 100, so that the pin hole on the product to be drilled is positioned and matched with the positioning pin on the target drilling machine table 100.

[0045] In some embodiments, the number of conveying AGVs 220 is N, the average processing time of the product on the drilling machine table 100 is T, and the time for a single feeding and discharging of the conveying AGV 220 is t; wherein the number of conveying AGVs 220 N = T / t + 1. This configuration ensures that there is always a conveying AGV 220 available for feeding and discharging at any time, and realizes the continuous operation of each drilling machine table 100. An additional conveying AGV 220 is used as a backup to deal with unexpected situations.

[0046] The number of mobile AGVs 210 is determined based on the transportation distance, frequency and failure rate.

[0047] In some embodiments, the ratio of the number of mobile AGVs 210 to the number of drilling machine tables 100 ranges from 1.2 to 1.5. Among them, 10% of the mobile AGVs 210 are selected as emergency backup. The controller monitors the drilling machine table 100 in real time, and triggers an alarm in any link that is overdue or for other reasons, so as to switch other drilling machine tables 100 for the subsequent product to be drilled, and call the standby mobile AGV 210.

[0048] Please refer toFigure 3 The embodiment of the application also provides an automatic operation method, which is suitable for an automatic operation system and comprises the following steps: S100, code information of a product to be drilled is acquired. The code information of the product to be drilled is acquired by a code scanning device. When code reading fails or an engineering file is abnormal, an alarm is automatically triggered. At this time, an engineer needs to intervene manually, review the input information, confirm the file abnormal information and correct it. After the alarm is triggered, the system automatically locks the product process, suspends the output of the mobile robot scheduling instruction, and waits until the manual confirmation is completed.

[0049] S200, a target drilling machine is confirmed according to the code information of the product to be drilled and information of the drilling machine.

[0050] S300, the product to be drilled is moved to the target drilling machine.

[0051] S400, the target drilling machine is driven to punch according to the code information of the product to be drilled.

[0052] S500, the product that has been drilled is moved to a next pin station.

[0053] In step S300, when the product to be drilled is positioned on the target drilling machine and is positioned by a positioning pin, a pneumatic pressing plate on the target drilling machine presses the product to be drilled on the table to realize fixation.

[0054] In step S400, a probe of the carrying AGV or a probe on the target drilling machine scans the surface of the product to confirm flatness, and the controller sends drilling parameters (rotation speed, feed amount, depth) to the target drilling machine, so as to control the accuracy and efficiency of the drilling process. When the probe detects an abnormal protrusion or depression, the processing is immediately paused, an alarm is triggered, and manual intervention is performed to determine whether to adjust the parameters or reject the product. If the product is rejected and it is confirmed that the target drilling machine is in a working state, the drilling machine is adjusted to an idle state.

[0055] In step S500, the mechanical arm of the carrying AGV preferentially takes down the product that has been drilled, and then places the product to be drilled on the target drilling machine.

[0056] In some embodiments, step S200 comprises: S210, a drilling program is confirmed according to the code information of the product to be drilled. The drilling program contains drilling coordinates, hole diameter specifications and processing sequences required by the product.

[0057] S220, a model of the target drilling machine is confirmed according to the drilling program. It can be understood that different models of drilling machines have different processing capabilities. According to the parameter requirements of the drilling program, a machine model supporting the processing range of the specifications is matched.

[0058] S230 According to the model of the target drilling machine and the information of the plurality of drilling machines, the target drilling machine is confirmed. In this way, the target drilling machine is accurately selected, ensuring the accuracy and efficiency of the processing task allocation.

[0059] In some embodiments, the information of the drilling machine includes model information of the drilling machine and drilling work state information.

[0060] Step S230 includes: S231 According to the model of the target drilling machine and the model information of the plurality of drilling machines, the alternative machine is confirmed. The alternative machine set includes all drilling machines that meet the model requirements.

[0061] S232 According to the drilling work state information, it is confirmed whether the alternative machine is in an idle state.

[0062] S233 The alternative machine in the idle state is confirmed as the target drilling machine.

[0063] It can be understood that if the number of idle alternative machines is one, it is directly confirmed as the target drilling machine. If the number of idle alternative machines is more than one, one of them can be confirmed as the target drilling machine according to a preset rule. The preset rule can be to select the nearest machine or the machine with the longest idle time.

[0064] In some embodiments, step S400 includes: S410 According to the coding information of the product to be drilled, the drilling program is obtained. Specifically, the controller retrieves the corresponding drilling program from the database according to the coding information of the product.

[0065] S420 The target drilling machine is driven to drill the product according to the confirmed drilling program. The controller parses the parameters in the drilling program and issues them to the target drilling machine, so that the target drilling machine executes the processing task.

[0066] In some embodiments, after step S200 and before step S300, the method further includes: adjusting the drilling work state information of the target drilling machine to a working state. This ensures that the target drilling machine has completed the state switching before receiving the product, avoiding task conflicts or execution delays caused by different states. This adjustment is automatically issued by the controller and is synchronized in real time. When the target drilling machine is locked in the working state, other task requests will be automatically intercepted and queued by the system until the machine is released to the idle state.

[0067] After step S500, the method further comprises: adjusting the drilling working state information of the target drilling machine to an idle state. In this way, when the product enters the target drilling machine for processing, the system updates the drilling machine state to a working state in real time, preventing other tasks from being scheduled to the same device. After the step of drilling the processed product to the next pin station, the drilling machine state is synchronized to return to the idle state, so as to call the subsequent task.

[0068] In some embodiments, the automatic operation method comprises: S100 obtaining the coding information of the product.

[0069] S210 confirming the drilling program according to the coding information of the product.

[0070] S220 confirming the model of the target drilling machine according to the drilling program.

[0071] S231 confirming the alternative machine according to the model of the target drilling machine and the model information of the plurality of drilling machines. The alternative machine set comprises all drilling machines meeting the model requirements.

[0072] S232 confirming whether the alternative machine is in an idle state according to the drilling working state information.

[0073] S233 confirming the alternative machine in the idle state as the target drilling machine.

[0074] S234 adjusting the drilling working state information of the target drilling machine to a working state.

[0075] S300 moving the product to be drilled to the target drilling machine.

[0076] S410 obtaining the drilling program according to the coding information of the product.

[0077] S420 driving the target drilling machine to drill according to the confirmed drilling program.

[0078] S500 moving the drilled product to the next pin station.

[0079] S510 adjusting the drilling working state information of the target drilling machine to an idle state.

[0080] The above embodiments are only used to illustrate the technical solutions of the present application, rather than limit them; although the present application has been described in detail with reference to the foregoing embodiments, those skilled in the art should understand that they can still modify the technical solutions recorded in the foregoing embodiments, or make equivalent replacements for part or all of the technical features; and these modifications or replacements do not make the essence of the corresponding technical solutions deviate from the scope of the technical solutions of the embodiments of the present application, and they should be covered in the scope of the specification of the present application. In particular, as long as there is no structural conflict, each technical feature mentioned in each embodiment can be combined in any way. The present application is not limited to the specific embodiments disclosed herein, but includes all technical solutions falling within the scope of protection.

Claims

1. An automatic work system characterized by, The automatic work system comprises a plurality of upper pin stations, a plurality of drilling machines, a plurality of mobile robots, a plurality of lower pin stations, a code scanning device, and a controller, wherein the code scanning device, the mobile robots, and the drilling machines are signal connected with the controller; The code scanning device is configured to acquire the code information of the product to be drilled; The controller is configured to determine the target drilling machine according to the code information of the product to be drilled and the information of the drilling machines; The mobile robots are configured to acquire the product to be drilled from the upper pin station and move to the target drilling machine, and acquire the drilled product from the target drilling machine and move to the lower pin station; The drilling machines are configured to drill the product to be drilled.

2. The automatic work system according to claim 1, wherein a part of the mobile robots are mobile AGVs, and the remaining part are carrying AGVs, the mobile AGVs are configured to transport the product to be drilled between the upper pin station and the drilling machine, and transport the drilled product between the drilling machine and the lower pin station; The carrying AGVs are configured to move between different drilling machines, and carry the product to be drilled from the mobile AGV to the target drilling machine, or carry the drilled product from the target drilling machine to the mobile AGV.

3. The automatic work system according to claim 2, wherein the carrying AGV comprises a vehicle body and a mechanical arm arranged on the vehicle body, the mechanical arm comprises an arm body with multiple degrees of freedom, a first clamping member, and a second clamping member, the first clamping member and the second clamping member are arranged on the arm body, the first clamping member is configured to clamp the product to be drilled, and the second clamping member is configured to clamp the drilled product.

4. The automatic work system according to claim 2, wherein the carrying AGV comprises a vehicle body, a mechanical arm arranged on the vehicle body, and a probe, the probe is configured to acquire environmental information; The mechanical arm is configured to clamp the product to be drilled according to the environmental information acquired by the probe, and move the product to be drilled to the target drilling machine, so that the pin hole on the product to be drilled is positioned and matched with the positioning pin on the target drilling machine.

5. The automatic work system according to claim 2, wherein the number of the carrying AGVs is N, the average processing time of the product on the drilling machine is T, and the time of single feeding and discharging of the carrying AGV is t; Wherein, the number of the carrying AGVs N = T / t + 1. The ratio of the number of the mobile AGVs to the number of the drilling machines ranges from 1.2 to 1.

5. The automatic work system is suitable for the automatic work system according to any one of claims 1-6, comprising: acquiring the code information of the product to be drilled; determining the target drilling machine according to the code information of the product to be drilled and the information of the plurality of drilling machines; 6. The automated processing system of claim 2, wherein moving the product to be drilled to the target drilling machine; 7. A method of automating a job, characterized by, drilling the product to be drilled according to the code information of the product to be drilled; moving the drilled product to the lower pin station.

8. The automatic work method according to claim 7, wherein ​ ​ ​ ​ According to the coding information of the product to be drilled and the information of the plurality of drilling machines, the step of confirming the target drilling machine comprises: According to the coding information of the product to be drilled, confirming the drilling program; According to the drilling program, confirming the model of the target drilling machine; According to the model of the target drilling machine and the information of the plurality of drilling machines, confirming the target drilling machine.

9. The automatic job processing method according to claim 8, characterized by The information of the drilling machine comprises the model information of the drilling machine and the drilling working state information; According to the model of the target drilling machine and the information of the plurality of drilling machines, the step of confirming the target drilling machine comprises: According to the model of the target drilling machine and the model information of the plurality of drilling machines, confirming the alternative machine; According to the drilling working state information, confirming whether the alternative machine is in idle state; Confirming the alternative machine in idle state as the target drilling machine.

10. The automatic operation method according to claim 9, wherein, After the step of confirming the target drilling machine according to the coding information of the product to be drilled and the information of the drilling machine, and before the step of moving the product to be drilled to the target drilling machine, further comprising: Adjusting the drilling working state information of the target drilling machine to non-idle state; And / or, After the step of moving the drilled product to the next pin station, comprising: Adjusting the drilling working state information of the target drilling machine to idle state.

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