Feeding method and feeding device for circuit board material

Abstract

The invention relates to a feeding method and device for circuit board materials, and the feeding method comprises the steps that a mechanical arm is controlled to move an end effector to the position above a plate material stack, and the plate material stack comprises multiple layers of plate materials stacked from bottom to top; based on the recognition result of the first visual sensor on the target plate currently located on the uppermost layer, the actuator body is controlled to pick up the target plate; the mechanical arm is controlled to move the picked plate into the view field of the second visual sensor; based on the verification result of the second visual sensor on the plate, the mechanical arm is controlled to correct the pose of the plate; and the mechanical arm is controlled to place the plate with the posture corrected on a machining table top of machining equipment. According to the technical scheme, the consistency and reliability of all plates in the same batch are effectively improved.

Description

TECHNICAL FIELD

[0001] The present application relates to the technical field of circuit board processing, in particular to a feeding method and a feeding device for circuit board materials. BACKGROUND

[0002] In the automatic production line of printed circuit boards (PCB), accurately placing a plurality of stacked materials on the processing equipment (such as a drilling machine or a milling machine) one by one is an important basis for ensuring the quality of subsequent processing.

[0003] At present, many production lines still rely on manual feeding by operators. The operator aligns each material with the positioning pin on the workbench one by one by visual observation. This method is not only inefficient, but also the positioning accuracy is greatly affected by the experience and touch of the operator, so that the actual feeding position of the materials in the same batch is difficult to keep consistent, thereby leading to poor consistency of the finished PCBs in the same batch.

[0004] In order to improve efficiency and consistency of batch products, a mechanical hand carrying a gripper and a CCD camera are used in the related art to perform visual positioning on the materials by the CCD camera before each material is grabbed by the gripper, thereby improving the positioning accuracy of the materials. However, it is found in actual production that this technical solution still has the problem of poor consistency of the finished PCBs in the same batch. SUMMARY

[0005] Therefore, it is necessary to provide a feeding method and a feeding device for circuit board materials in order to solve the problem of poor consistency of the finished PCBs in the same batch in the related art.

[0006] The feeding method for circuit board materials provided by the embodiments of the present application is applied to a feeding device for circuit board materials, and the feeding device comprises a moving platform, a mechanical arm, and an end effector. The end effector comprises a base and an effector body arranged on the base. A first visual sensor is arranged on the base, and a second visual sensor is arranged on the moving platform. The feeding method comprises the following steps.

[0007] The mechanical arm is controlled to move the end effector above a material stack, and the material stack comprises a plurality of layers of materials stacked from bottom to top.

[0008] Based on the recognition result of the target material currently on the uppermost layer by the first visual sensor, the effector body is controlled to pick up the target material.

[0009] The mechanical arm is controlled to move the picked-up material into the field of view of the second visual sensor.

[0010] Based on the verification result of the sheet metal by the second vision sensor, the robotic arm is controlled to correct the pose of the sheet metal.

[0011] The robotic arm is controlled to place the corrected sheet metal onto the processing table of the processing equipment.

[0012] In one embodiment, the base is further provided with a plurality of ranging sensors;

[0013] The loading method further includes: prior to the step of controlling the robotic arm to move the end effector above the sheet metal stack.

[0014] The robotic arm is controlled to move the end effector above the processing table.

[0015] Based on the height data of multiple points on the processing table obtained synchronously by multiple ranging sensors, the plane of the processing table is fitted to obtain the plane, and the robotic arm is controlled to adjust the spatial orientation of the end effector so that the working plane of the actuator body is parallel to the plane.

[0016] In one embodiment, the feeding method further includes: after the step of controlling the robotic arm to adjust the spatial orientation of the end effector so that the working plane of the actuator body is parallel to the plane,

[0017] Based on the recognition of the first positioning feature on the processing table by the first vision sensor, a feeding coordinate system corresponding to the processing equipment is established.

[0018] In one embodiment, each of the sheet metals is provided with a second positioning feature;

[0019] The step of controlling the robotic arm to correct the pose of the sheet metal based on the verification result of the second vision sensor includes:

[0020] The second visual sensor identifies the second positioning feature on the sheet material to obtain the actual pose of the sheet material.

[0021] The actual pose is compared with the predetermined target pose in the feeding coordinate system, and the pose deviation is calculated.

[0022] The robotic arm is controlled to perform motion compensation corresponding to the pose deviation.

[0023] In one embodiment, each of the sheets in the sheet stack is provided with a second positioning feature; the placement angles of any two adjacent layers of sheets are different, so that the second positioning features on any two adjacent layers of sheets are staggered from each other.

[0024] In one embodiment, the second positioning features on each of the sheets in the sheet stack are oriented in the same direction, and the sheets are arranged alternately according to a first angle, a second angle, and a third angle, so that the second positioning features on any three adjacent layers of sheets are staggered from each other.

[0025] In one embodiment, the actuator body includes grippers; the step of controlling the actuator body to pick up the target sheet based on the identification result of the target sheet currently at the top layer by the first vision sensor includes:

[0026] The identification code on the surface of the target sheet is identified by the first visual sensor;

[0027] The physical dimensions of the target sheet are decoded from the identification code, and the deflection angle of the target sheet is determined based on the orientation of the identification code in the image acquired by the first vision sensor.

[0028] The opening and closing width of the gripper is adjusted according to the physical dimensions.

[0029] The end effector is rotated by a corresponding angle according to the deflection angle, so that the gripper is aligned with the target sheet.

[0030] Control the grippers to hold the target sheet.

[0031] In one embodiment, the identification code is a QR code or a data matrix code.

[0032] In one embodiment, the actuator body further includes a suction cup;

[0033] The step of controlling the actuator body to pick up the target sheet based on the recognition result of the target sheet currently at the top layer by the first vision sensor further includes:

[0034] The suction cup is controlled to adsorb the target sheet material.

[0035] In one embodiment, the loading method further includes: before the step of controlling the robotic arm to move the end effector above the sheet metal stack, controlling the mobile platform to move the sheet metal stack thereon to a loading position near the processing equipment.

[0036] In one embodiment, the loading method further includes: prior to the step of controlling the mobile platform to move the stack of sheet metal carried thereon to a loading position near the processing equipment,

[0037] The mobile platform is controlled to move to a docking position near the material rack, on which multiple plates are arranged;

[0038] The robotic arm and end effector are controlled to pick up the sheet metal one by one from the rack and transfer and stack the sheet metal onto the moving platform to form the sheet metal stack.

[0039] This application provides a circuit board feeding device, including:

[0040] Mobile platform;

[0041] A robotic arm is mounted on the mobile platform;

[0042] An end effector is mounted on the robotic arm, and the end effector includes a base and an actuator body mounted on the base;

[0043] A first vision sensor is mounted on the base;

[0044] A second visual sensor is mounted on the mobile platform; and

[0045] The control system is signal-connected to the mobile platform, the robotic arm, the end effector, the first vision sensor, and the second vision sensor, and is configured to execute the feeding method described in any of the above embodiments.

[0046] The aforementioned circuit board loading method and device involve controlling a robotic arm to move an end effector above the board stack. This causes a first vision sensor mounted on the end effector's base to move above the stack, enabling the first vision sensor to identify the target board currently on the top layer of the stack. Based on the first vision sensor's identification of the target board, its pose can be obtained, allowing the actuator to accurately pick up the target board. The robotic arm then moves the picked-up board into the field of view of a second vision sensor, which verifies the board's pose. Based on the second vision sensor's verification, the robotic arm corrects the board's pose, detecting pose errors caused during the gripping process and the robotic arm's movement. These errors are then eliminated through robotic arm motion compensation, ensuring the board's pose conforms to the target pose. Finally, the corrected board is placed on the processing table of the processing equipment. The above-mentioned feeding method uses a first vision sensor to position the sheet material before picking it up, and a second vision sensor to verify and correct the sheet material's pose after picking it up. This ensures the pose accuracy of the sheet material is doubly guaranteed and translated into positioning accuracy on the processing equipment, effectively improving the consistency and reliability of all sheets material in the same batch. Attached Figure Description

[0047] Figure 1This is a flowchart of a circuit board feeding method according to one embodiment.

[0048] Figure 2 This is a schematic diagram illustrating the usage scenario of a feeding device, a material rack, and a processing equipment according to one embodiment.

[0049] Figure 3 for Figure 2 A magnified view of a portion of region A in the middle.

[0050] Figure 4 This is a schematic diagram of the assembly structure of an end effector, a first vision sensor, and a ranging sensor according to one embodiment.

[0051] Figure 5 for Figure 2 A magnified view of a portion of region B in the middle.

[0052] Explanation of reference numerals in the attached figures:

[0053] 20. Sheet metal stack; 21. Sheet metal; 21a. First sheet metal; 21b. Second sheet metal; 21c. Third sheet metal; 21d. Fourth sheet metal; 22. Pins; 30. Processing equipment; 31. Processing table; 40. Material rack;

[0054] 110. Mobile platform; 120. Robotic arm; 130. End effector; 131. Base; 132. Actuator body; 1321. Gripper; 1322. Suction cup; 140. First vision sensor; 150. Second vision sensor; 160. Distance sensor. Detailed Implementation

[0055] To make the above-mentioned objectives, features, and advantages of this application more apparent and understandable, the specific embodiments of this application are described in detail below with reference to the accompanying drawings. Many specific details are set forth in the following description to provide a thorough understanding of this application. However, this application can be implemented in many other ways different from those described herein, and those skilled in the art can make similar modifications without departing from the spirit of this application. Therefore, this application is not limited to the specific embodiments disclosed below.

[0056] In the description of this application, it should be understood that if terms such as "center", "longitudinal", "lateral", "length", "width", "thickness", "upper", "lower", "front", "rear", "left", "right", "vertical", "horizontal", "top", "bottom", "inner", "outer", "clockwise", "counterclockwise", "axial", "radial", "circumferential" appear, these terms indicate the orientation or positional relationship based on the orientation or positional relationship shown in the accompanying drawings, and are only for the convenience of describing this application and simplifying the description, and do not indicate or imply that the device or element referred to must have a specific orientation, or be constructed and operated in a specific orientation, and therefore should not be construed as a limitation of this application.

[0057] Furthermore, where the terms "first" and "second" appear, these terms are for descriptive purposes only and should not be construed as indicating or implying relative importance or implicitly specifying the number of technical features indicated. Thus, a feature defined with "first" or "second" may explicitly or implicitly include at least one of that feature. In the description of this application, where the term "multiple" appears, "multiple" means at least two, such as two, three, etc., unless otherwise explicitly specified.

[0058] In this application, unless otherwise expressly specified and limited, the terms "installation," "connection," "joining," and "fixing," etc., should be interpreted broadly. For example, they can refer to a fixed connection, a detachable connection, or an integral part; they can refer to a mechanical connection or an electrical connection; they can refer to a direct connection or an indirect connection through an intermediate medium; they can refer to the internal communication of two components or the interaction between two components, unless otherwise expressly limited. Those skilled in the art can understand the specific meaning of the above terms in this application based on the specific circumstances.

[0059] In this application, unless otherwise expressly specified and limited, the use of descriptions such as "above" or "below" the second feature indicates that the first and second features are in direct contact or indirect contact via an intermediate medium. Furthermore, "above," "on top of," and "over" the second feature can mean that the first feature is directly above or diagonally above the second feature, or simply that the first feature is at a higher horizontal level than the second feature. Similarly, "below," "below," and "under" the second feature can mean that the first feature is directly below or diagonally below the second feature, or simply that the first feature is at a lower horizontal level than the second feature.

[0060] It should be noted that if an element is referred to as being "fixed to" or "set on" another element, it can be directly on the other element or there may be an intervening element. If an element is considered to be "connected to" another element, it can be directly connected to the other element or there may be an intervening element. If so, the terms "vertical," "horizontal," "upper," "lower," "left," "right," and similar expressions used in this application are for illustrative purposes only and do not represent the only possible implementation.

[0061] As mentioned in the background section, related technologies employ robotic arms carrying grippers and CCD cameras. Before gripping each board, the CCD camera performs visual positioning of the board, thereby improving positioning accuracy. However, in actual production, it has been found that this technical solution still suffers from poor consistency among PCB products from the same batch. Specifically, although the aforementioned technical solution performs visual positioning before gripping the board, the gripping action itself causes random and unpredictable slight deformations in the PCB board, and the gripper's hold may also introduce accidental slippage errors. These deformations caused by the gripping action occur after visual positioning, rendering the pre-grip positioning data invalid. Furthermore, this error is random due to individual board differences and varying gripping conditions, causing the error to accumulate and propagate to the final placement position in an open-loop system lacking mid-process correction, resulting in a failure to guarantee the positional consistency of the entire batch of boards.

[0062] See Figure 1 This application provides a method for feeding circuit board materials in one embodiment. Combined with... Figures 2 to 4 This feeding method is applied to a circuit board feeding device, which includes a moving platform 110, a robotic arm 120, and an end effector 130. The robotic arm 120 is mounted on the moving platform 110. The end effector 130 is mounted on the robotic arm 120. The end effector 130 includes a base 131 and an actuator body 132 mounted on the base 131. A first vision sensor 140 is mounted on the base 131, and a second vision sensor 150 is mounted on the moving platform 110.

[0063] The mobile platform 110 can be an automated guided vehicle (AGV) responsible for providing overall movement of the loading device. The robotic arm 120, for example a six-axis industrial robot, is mounted on the mobile platform 110 to provide multi-degree-of-freedom motion. An end effector 130 is connected to the end of the robotic arm 120 and includes a base 131 and an actuator body 132 mounted on the base 131. The actuator body 132 may include grippers, suction cups, etc., for grasping or adsorbing the sheet metal 21. A first vision sensor 140, for example a CCD industrial camera, is fixedly mounted on the base 131 of the end effector 130. A second vision sensor 150, for example a CCD industrial camera, is fixedly mounted on the frame of the mobile platform 110. Multiple sheets of material 21 to be processed are stacked to form a sheet metal stack 20. The processing equipment 30 can be a CNC drilling machine with a processing table 31.

[0064] The above feeding method includes the following steps:

[0065] S100: Control the robotic arm 120 to move the end effector 130 above the sheet metal stack 20, which includes multiple layers of sheet metal 21 stacked from bottom to top.

[0066] S200: Based on the recognition result of the target sheet 21 currently at the top layer by the first vision sensor 140, the actuator body 132 is controlled to pick up the target sheet 21.

[0067] S300: Control the robotic arm 120 to move the picked-up sheet metal 21 into the field of view of the second vision sensor 150.

[0068] S400: Based on the verification results of the sheet metal 21 by the second vision sensor 150, control the robotic arm 120 to correct the pose of the sheet metal 21.

[0069] S500: Control the robotic arm 120 to place the corrected sheet metal 21 onto the processing table 31 of the processing equipment 30.

[0070] In the above embodiment, the control robot arm 120 moves the end effector 130 above the sheet metal stack 20, thereby moving the first vision sensor 140 mounted on the base 131 of the end effector 130 above the sheet metal stack 20. This allows the first vision sensor 140 to identify the target sheet metal 21 currently on the top layer of the stack 20. Based on the identification result of the target sheet metal 21 by the first vision sensor 140, the pose of the target sheet metal 21 can be obtained, thereby enabling the control of the actuator body 132 to accurately pick up the target sheet metal 21. The control robot arm 120 then moves the picked-up sheet metal 21 into the field of view of the second vision sensor 150, allowing the second vision sensor 150 to verify the pose of the sheet metal 21. Based on the verification results of the sheet metal 21 by the second vision sensor 150, the robotic arm 120 is controlled to correct the pose of the sheet metal 21. This allows for the detection of pose errors caused to the sheet metal 21 during the gripping process and the movement of the robotic arm 120. These errors are then eliminated through motion compensation by the robotic arm 120, ensuring that the pose of the sheet metal 21 conforms to the target pose. Finally, the corrected sheet metal 21 is placed on the processing table 31 of the processing equipment 30. The above-described feeding method uses the first vision sensor 140 to locate the sheet metal 21 before picking it up, and the second vision sensor 150 to verify and correct its pose after gripping. This dual guarantee of the pose accuracy of the sheet metal 21 translates into positioning accuracy on the processing equipment, effectively improving the consistency and reliability of all sheets metal 21 in the same batch.

[0071] See Figure 4 In one embodiment, a plurality of ranging sensors 160 are also provided on the base 131. The ranging sensors 160 are, for example, laser displacement sensors. The plurality of ranging sensors 160 are arranged at different positions on the base 131, and the number thereof is, for example, three or four.

[0072] The feeding method also includes: performing the following steps before step S100:

[0073] Step S10: Control the robotic arm 120 to move the end effector 130 above the processing table 31.

[0074] Step S20: Based on the height data of multiple points on the processing table 31 acquired synchronously by multiple ranging sensors 160, the plane of the processing table 31 is fitted, and the robotic arm 120 is controlled to adjust the spatial orientation of the end effector 130 so that the working plane of the actuator body 132 is parallel to the fitted plane.

[0075] By using multiple distance sensors 160 to synchronously acquire height data of multiple points on the machining table 31, the spatial plane equation that best represents the actual condition of the machining table 31 can be calculated using a plane fitting algorithm (such as the least squares method).

[0076] The working plane of the actuator body 132 refers to the reference plane on which it performs operations such as gripping and placing. For example, for the gripper, the working plane is ideally parallel to the large surface (upper surface and lower surface) of the sheet 21, and for the suction cup, the working plane is its suction surface.

[0077] Based on the height data of multiple points on the processing table 31 acquired synchronously by multiple ranging sensors 160, after fitting the plane of the processing table 31, the angle deviation between the current posture of the end effector 130 and the fitted plane can be calculated, thereby driving the robotic arm 120 to adjust the rotation of the end effector 130, and finally making the working plane of the actuator body 132 parallel to the fitted plane.

[0078] In the above embodiment, when the robotic arm 120 moves the end effector 130 above the processing table 31, the multiple ranging sensors 160 mounted on the base 131 are positioned above the processing table 31. The multiple ranging sensors 160 simultaneously collect height data from multiple points on the processing table 31. Based on this data, a fitted plane reflects the spatial orientation of the processing table 31. The robotic arm 120 adjusts the spatial orientation of the end effector 130 so that the working plane of the actuator body 132 is parallel to the fitted plane, thereby dynamically and precisely aligning the operating reference of the end effector 130 to the physical reference of the actual processing table 31. This establishes a unified and accurate horizontal reference for all subsequent visual recognition, grasping, and placement actions, ensuring the consistency and reliability of subsequent operational accuracy.

[0079] In one embodiment, the feeding method further includes: after step S20, establishing a feeding coordinate system corresponding to the processing equipment 30 based on the identification of the first positioning feature on the processing table 31 by the first vision sensor 140.

[0080] The first positioning feature on the processing table 31 is identified by the first vision sensor 140. This first positioning feature can be a pin hole formed by precise machining, a visual mark, etc. Based on the identification result of the first positioning feature, the three-dimensional position of the first positioning feature can be located, thereby establishing a feeding coordinate system that is physically strictly corresponding to the processing equipment 30. This feeding coordinate system will become the absolute reference benchmark for all subsequent placement position calculations.

[0081] Thus, the coordinate origin determined in this step and the horizontal reference established in step S20 together constitute a complete and high-precision spatial reference frame. This allows subsequent sheet material recognition based on the first vision sensor 140, pose verification based on the second vision sensor 150, and final placement position calculation to be performed in a unified coordinate system that is strictly aligned with the actual processing environment. This minimizes the introduction and transmission of reference errors from the source and ensures high consistency in sheet material loading accuracy.

[0082] In one embodiment, each sheet 21 is provided with a second positioning feature. Step S400 includes:

[0083] Step S410: The second positioning feature on the sheet metal 21 is identified by the second vision sensor 150 to obtain the actual pose of the sheet metal 21. The field of view of the second vision sensor 150 can be located above it; therefore, in this step, the sheet metal 21 is located above the second vision sensor 150.

[0084] Step S420: Compare the actual pose with the predetermined target pose in the feeding coordinate system and calculate the pose deviation.

[0085] Step S430: Control the robotic arm 120 to perform motion compensation corresponding to the pose deviation.

[0086] In step S410, the second vision sensor 150 captures an image of the sheet metal 21 that has moved to the center of its field of view, and extracts the pixel coordinates of the second positioning feature on the sheet metal 21 in the current image using an image recognition algorithm. Combining the pre-calibrated internal parameters (focal length, distortion, etc.) and external parameters (position relative to the coordinate system of the moving platform 110) of the second vision sensor 150, these two-dimensional pixel coordinates are converted into the actual three-dimensional position and pose of the sheet metal 21 in space, i.e., the actual pose.

[0087] In step S420, the acquired actual pose is compared with the predefined theoretical placement position (i.e., the target pose) in the unloading coordinate system established in the previous step S30, which strictly corresponds to the processing equipment 30. This comparison is completed through coordinate transformation, calculating the translational deviation of the current actual pose of the sheet metal 21 relative to the target pose in the X and Y directions, as well as the rotational deviation around the Z axis, collectively referred to as the pose deviation. Step S430 then generates corresponding inverse kinematics commands based on the calculated pose deviation, driving the end effector of the robotic arm 120 to perform a small translational and rotational motion equal in magnitude and opposite in direction to the deviation, thereby compensating for the identified error in space in real time.

[0088] In the above embodiment, step S410 uses a fixed second vision sensor 150 to identify the second positioning feature to obtain the actual pose of the sheet metal 21. This reflects the true spatial state of the sheet metal after being grasped and moved, and the fixed position of the second vision sensor 150 ensures the stability of the measurement reference. Step S420 compares the actual pose with the target pose in a unified placement coordinate system to accurately quantify the comprehensive pose deviation, including grasping deformation and robotic arm motion error. Step S430 controls the robotic arm 120 to perform motion compensation for this deviation, forming a closed-loop correction that actively offsets the accumulated errors of all the aforementioned steps. Therefore, this closed-loop process effectively improves the final placement accuracy of the sheet metal 21, thereby ensuring the high consistency and repeatability of the placement position of each sheet metal.

[0089] In one embodiment, the loading method further includes: before step S100, controlling the mobile platform 110 to move the sheet metal stack 20 thereon to a loading position near the processing equipment 30.

[0090] The sheet metal stack 20 is mounted on the mobile platform 110, so that the mobile platform 110 can carry the sheet metal stack 20 as a whole and move it.

[0091] In the above embodiment, the sheet metal stack 20 is mounted on the mobile platform 110, so that the mobile platform 110 can carry the sheet metal stack 20 as a whole and move it, thereby flexibly delivering materials to different workstations according to production needs.

[0092] Combination Figure 2 and Figure 5 In one embodiment, the loading method further includes: prior to the step of controlling the moving platform 110 to move the stack of sheet metal 20 thereon to a loading position near the processing equipment 30,

[0093] Step S01: Control the mobile platform 110 to move to the docking position near the material rack 40, on which multiple plates 21 are set.

[0094] Step S02: Control the robotic arm 120 and end effector 130 to pick up the sheet metal 21 one by one from the rack 40 and transfer and stack the sheet metal 21 onto the moving platform 110 to form a sheet metal stack 20.

[0095] In the above embodiment, step S01 controls the mobile platform 110 to actively move to the docking position next to the material rack 40, and step S02 controls the robotic arm 120 to automatically pick up materials from the material rack 40 and stack them into a pile on the mobile platform 110. This realizes a fully automated process from picking up materials to loading them, greatly improving the automation level of material flow.

[0096] exist Figure 5 In the process, multiple sheet materials 21 on the rack 40 are presented in the form of sheet material stack 20. When the moving platform 110 moves to the docking position near the rack 40, the robotic arm 120 and the end effector 130 pick up the sheet materials 21 on the rack 40 and stack them on the moving platform 110 to form sheet material stack 20.

[0097] Combination Figures 3 to 5 In one embodiment, each sheet 21 in the sheet stack 20 is provided with a second positioning feature. The placement angles of any two adjacent layers of sheet 21 are different, so that the second positioning features on any two adjacent layers of sheet 21 are staggered. The second positioning feature is, for example, a pin 22.

[0098] In the above embodiments, the placement angles of any two adjacent layers of sheet metal 21 are different, which avoids interference between the second positioning features on the two adjacent layers of sheet metal 21.

[0099] Combination Figures 3 to 5 In one embodiment, the second positioning features on each sheet 21 in the sheet stack 20 are oriented in the same direction, and each sheet 21 is arranged alternately according to the first angle, the second angle, and the third angle, so that the second positioning features on any three adjacent sheets 21 are staggered from each other.

[0100] See Figure 5 , Figure 5This describes the state of the sheet metal stack 20 on the rack 40. Let's take four adjacent sheet metal pieces 21 (first sheet metal 21a, second sheet metal 21b, third sheet metal 21c, and fourth sheet metal 21d) from bottom to top as an example. The placement angles of the first sheet metal 21a, second sheet metal 21b, and third sheet metal 21c are the first angle, the second angle, and the third angle, respectively. Therefore, the second positioning features (e.g., pins 22) on these three sheet metal pieces are staggered. The fourth sheet metal 21d is placed at the first angle according to the above rule, that is, the same as the placement angle of the first sheet metal 21a. Thus, the projections of the pins 22 on the fourth sheet metal 21d and the pins 22 on the first sheet metal 21a in the vertical direction overlap. However, since the second positioning features on each sheet 21 in the sheet stack 20 are oriented in the same direction (downward in this embodiment), the pin 22 on the first sheet 21a can be positioned between the first sheet 21a and the fourth sheet 21d without interfering with the second sheet 21b and the third sheet 21c. That is, the vertical protrusion length of the pin 22 on the first sheet 21a can be adapted to the spacing between the first sheet 21a and the fourth sheet 21d. The second sheet 21b and the third sheet 21c are spaced between the first sheet 21a and the fourth sheet 21d, thus providing sufficient vertical space for the pin 22 on the first sheet 21a.

[0101] In the above embodiments, the second positioning features on each sheet 21 in the sheet stack 20 maintain a consistent orientation, and each sheet 21 is arranged cyclically according to the first angle, the second angle, and the third angle. This ensures that the projection positions of the second positioning features on any three adjacent sheets 21 in the stacking direction are staggered on the horizontal plane because their angles are different, thereby avoiding interference between the second positioning features of adjacent sheets. For two adjacent sheets 21 with the same placement angle, although their second positioning features overlap in the vertical projection, there is a height difference between them due to the presence of two sheets 21. This height difference provides sufficient space for the second positioning feature on one of the two adjacent sheets 21 with the same placement angle. Therefore, the above stacking method can achieve high-density, regular, and safe, interference-free stacking of sheets.

[0102] See Figure 4 In one embodiment, the actuator body 132 includes a gripper 1321. The gripper 1321 is, for example, a pneumatic parallel gripper or an electrically powered servo gripper.

[0103] Step S200 includes:

[0104] Step S210: Identify the identification code on the surface of the target sheet 21 using the first vision sensor 140. The identification code can be a QR code or a data matrix code.

[0105] Step S220: Decode the physical dimensions of the target sheet 21 from the identification code, and deduce the deflection angle of the target sheet 21 based on the direction of the identification code in the image acquired by the first vision sensor 140.

[0106] Step S220 decodes the identified identification code, directly reads the physical dimension data encoded therein that represents the length and width of the sheet 21, and calculates the direction of the identification code in its acquired image (e.g., the angle between its edge and the axis of the image coordinate system) through an image analysis algorithm. This direction reflects the plane deflection angle of the target sheet 21 in the current coordinate system.

[0107] Step S230: Adjust the opening and closing width of the gripper 1321 according to the physical dimensions.

[0108] Based on the physical dimensions (width and length) obtained from decoding, the target opening and closing width required by the gripper 1321 is calculated, and the drive mechanism (such as a cylinder or motor) of the gripper 1321 is adjusted to match the opening and closing width of the gripper 1321 with the size of the target sheet 21.

[0109] Step S240: Control the end effector 130 to rotate by a corresponding angle according to the deflection angle so that the gripper 1321 is aligned with the target sheet 21.

[0110] Based on the deflection angle obtained from the analysis, the end effector 120 is controlled to rotate the end effector 130 by a corresponding compensation angle, so that the gripping direction of the gripper 1321 is completely aligned with the actual edge direction of the target sheet 21.

[0111] Step S250: Control the gripper 1321 to clamp the target sheet 21.

[0112] In step S250, the control jaws 1321, which have been adjusted in width and are in the positive direction, are closed to hold the target sheet 21.

[0113] In the above embodiment, steps S210 and S220 decode the physical dimensions of the sheet metal from the identification code and analyze its image deflection angle. Step S230 adaptively adjusts the opening and closing width of the gripper 1321 according to the physical dimensions, and step S240 controls the robotic arm 120 to rotate and align according to the deflection angle, enabling the gripping tool to actively adapt to sheet metal of different specifications and arbitrary placement angles. Finally, step S250 performs stable gripping under the premise that the dimensions and angles are precisely matched. The entire process achieves fast, accurate, and flexible adaptive gripping of the top layer of sheet metal in the stack, providing a reliable guarantee for subsequent processes.

[0114] See Figure 4 In one embodiment, the actuator body 132 further includes a suction cup 1322. Step S200 further includes controlling the suction cup 1322 to adsorb the target sheet 21.

[0115] The suction cup 1322 is mounted on the base 131 and is connected to the vacuum system. When gripping is performed in step S200, the control system causes the suction cup 1322 to adhere to the surface area of ​​the target sheet 21 at the same time or after the gripper 1321 moves.

[0116] In the above embodiments, the distributed adsorption force generated by the suction cup 1322, together with the edge clamping force of the gripper 1321, can form an effective surface support for the main body of the sheet 21, thereby significantly suppressing the sagging or warping of the sheet 21 due to its own weight or internal force, and keeping it as flat as possible during the transfer process.

[0117] Combination Figure 2 and Figure 3 One embodiment of this application provides a circuit board feeding device, which includes: a mobile platform 110, a robotic arm 120, an end effector 130, a first vision sensor 140, a second vision sensor 150, and a control system.

[0118] A robotic arm 120 is mounted on a mobile platform 110. An end effector 130 is mounted on the robotic arm 120, and the end effector 130 includes a base 131 and an actuator body 132 mounted on the base 131. A first vision sensor 140 is mounted on the base 131. A second vision sensor 150 is mounted on the mobile platform 110. A control system is signal-connected to the mobile platform 110, the robotic arm 120, the end effector 130, the first vision sensor 140, and the second vision sensor 150, and the control system is configured to execute the feeding method of any of the above embodiments.

[0119] In the above embodiment, the control robot arm 120 moves the end effector 130 above the sheet metal stack 20, thereby moving the first vision sensor 140 mounted on the base 131 of the end effector 130 above the sheet metal stack 20. This allows the first vision sensor 140 to identify the target sheet metal 21 currently on the top layer of the stack 20. Based on the identification result of the target sheet metal 21 by the first vision sensor 140, the pose of the target sheet metal 21 can be obtained, thereby enabling the control of the actuator body 132 to accurately pick up the target sheet metal 21. The control robot arm 120 then moves the picked-up sheet metal 21 into the field of view of the second vision sensor 150, allowing the second vision sensor 150 to verify the pose of the sheet metal 21. Based on the verification results of the sheet metal 21 by the second vision sensor 150, the robotic arm 120 is controlled to correct the pose of the sheet metal 21. This allows for the detection of pose errors caused to the sheet metal 21 during the gripping process and the movement of the robotic arm 120. These errors are then eliminated through motion compensation by the robotic arm 120, ensuring that the pose of the sheet metal 21 conforms to the target pose. Finally, the corrected sheet metal 21 is placed on the processing table 31 of the processing equipment 30. The above-described feeding method uses the first vision sensor 140 to locate the sheet metal 21 before picking it up, and the second vision sensor 150 to verify and correct its pose after gripping. This dual guarantee of the pose accuracy of the sheet metal 21 translates into positioning accuracy on the processing equipment, effectively improving the consistency and reliability of all sheets metal 21 in the same batch.

[0120] The technical features of the above embodiments can be combined in any way. For the sake of brevity, not all possible combinations of the technical features in the above embodiments are described. However, as long as there is no contradiction in the combination of these technical features, they should be considered to be within the scope of this specification.

[0121] The embodiments described above are merely illustrative of several implementation methods of this application, and while the descriptions are relatively specific and detailed, they should not be construed as limiting the scope of the patent application. It should be noted that those skilled in the art can make various modifications and improvements without departing from the concept of this application, and these all fall within the protection scope of this application. Therefore, the protection scope of this patent application should be determined by the appended claims.

Claims

1. A method for feeding circuit board material, characterized in that, A feeding device for circuit board materials, the feeding device including a moving platform, a robotic arm and an end effector; the end effector including a base and an actuator body disposed on the base; A first vision sensor is provided on the base, and a second vision sensor is provided on the mobile platform; The feeding method includes: The robotic arm is controlled to move the end effector above the sheet metal stack, which comprises multiple layers of sheet metal stacked from bottom to top; Based on the recognition result of the target sheet material currently at the top layer by the first vision sensor, the actuator body is controlled to pick up the target sheet material. The robotic arm is controlled to move the picked-up sheet material into the field of view of the second vision sensor; Based on the verification result of the sheet metal by the second vision sensor, the robotic arm is controlled to correct the pose of the sheet metal. The robotic arm is controlled to place the corrected sheet metal onto the processing table of the processing equipment.

2. The feeding method according to claim 1, characterized in that, The base is also equipped with multiple ranging sensors; The loading method further includes: prior to the step of controlling the robotic arm to move the end effector above the sheet metal stack. The robotic arm is controlled to move the end effector above the processing table. Based on the height data of multiple points on the processing table obtained synchronously by multiple ranging sensors, the plane of the processing table is fitted to obtain the plane, and the robotic arm is controlled to adjust the spatial orientation of the end effector so that the working plane of the actuator body is parallel to the plane.

3. The feeding method according to claim 2, characterized in that, The feeding method further includes: after the step of controlling the robotic arm to adjust the spatial orientation of the end effector so that the working plane of the actuator body is parallel to the plane, Based on the recognition of the first positioning feature on the processing table by the first vision sensor, a feeding coordinate system corresponding to the processing equipment is established.

4. The feeding method according to claim 3, characterized in that, Each of the aforementioned plates is provided with a second positioning feature; The step of controlling the robotic arm to correct the pose of the sheet metal based on the verification result of the second vision sensor includes: The second visual sensor identifies the second positioning feature on the sheet material to obtain the actual pose of the sheet material. The actual pose is compared with the predetermined target pose in the feeding coordinate system, and the pose deviation is calculated. The robotic arm is controlled to perform motion compensation corresponding to the pose deviation.

5. The feeding method according to claim 1, characterized in that, Each of the sheet metals in the stack is provided with a second positioning feature; the placement angles of any two adjacent layers of sheet metals are different, so that the second positioning features on any two adjacent layers of sheet metals are staggered from each other.

6. The feeding method according to claim 5, characterized in that, The second positioning features on each of the plates in the stack are oriented in the same direction, and the plates are arranged alternately according to the first angle, the second angle, and the third angle, so that the second positioning features on any three adjacent layers of plates are staggered from each other.

7. The feeding method according to claim 5, characterized in that, The actuator body includes grippers; the step of controlling the actuator body to pick up the target sheet based on the recognition result of the target sheet currently at the top layer by the first vision sensor includes: The identification code on the surface of the target sheet is identified by the first visual sensor; The physical dimensions of the target sheet are decoded from the identification code, and the deflection angle of the target sheet is determined based on the orientation of the identification code in the image acquired by the first vision sensor. The opening and closing width of the gripper is adjusted according to the physical dimensions. The end effector is rotated by a corresponding angle according to the deflection angle, so that the gripper is aligned with the target sheet. Control the grippers to hold the target sheet.

8. The feeding method according to claim 7, characterized in that, The identification code is a QR code or a data matrix code.

9. The feeding method according to claim 7, characterized in that, The actuator body also includes a suction cup; The step of controlling the actuator body to pick up the target sheet based on the recognition result of the target sheet currently at the top layer by the first vision sensor further includes: The suction cup is controlled to adsorb the target sheet material.

10. The feeding method according to claim 1, characterized in that, Also includes: Prior to the step of controlling the robotic arm to move the end effector above the sheet metal stack. The mobile platform is controlled to move the stack of sheet metal on it to the loading position near the processing equipment.

11. The feeding method according to claim 10, characterized in that, Also includes: Prior to the step of controlling the mobile platform to move the stack of sheet metal on it to the loading position near the processing equipment. The mobile platform is controlled to move to a docking position near the material rack, on which multiple plates are arranged; The robotic arm and end effector are controlled to pick up the sheet metal one by one from the rack and transfer and stack the sheet metal onto the moving platform to form a sheet metal stack.

12. A circuit board feeding device, characterized in that, include: Mobile platform; A robotic arm is mounted on the mobile platform; An end effector is mounted on the robotic arm, and the end effector includes a base and an actuator body mounted on the base; A first vision sensor is mounted on the base; A second visual sensor is mounted on the mobile platform; as well as A control system is signal-connected to the mobile platform, the robotic arm, the end effector, the first vision sensor, and the second vision sensor, and the control system is configured to perform the feeding method as described in any one of claims 1 to 11.

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