Feeding device and feeding system

Abstract

The utility model discloses a feeding device and system, and the device comprises a material box which is used for storing a plurality of materials in a stacked manner; the lifting mechanism is used for driving the material box to ascend or descend, and the lifting mechanism comprises a supporting piece which can do lifting motion and is used for bearing the material box; the transferring platform is arranged on the supporting piece in a sliding mode and can move on the supporting piece in a reciprocating mode in the first direction. And the detection assembly is fixed to the transfer platform and used for detecting the position deviation of the moving position of the material box relative to the theoretical position in the horizontal direction and / or the vertical direction, and the transfer platform and / or the lifting mechanism are / is moved according to the position deviation to compensate the position of the material box. The moving platform capable of horizontally moving is arranged on the supporting piece of the lifting mechanism, the moving platform is matched with the detection assembly on the moving platform, the position deviation of the material box relative to the circuit board machining equipment is detected and compensated, the positioning precision of the feeding device is improved, the plate clamping phenomenon during feeding and discharging is reduced, and the equipment utilization rate and the equipment production efficiency are improved.

Description

Technical Field

[0001] This application belongs to the field of circuit board processing technology, specifically relating to a feeding device and feeding system. Background Technology

[0002] PCB drilling refers to drilling holes in PCBs using a drilling machine with cutting tools. The PCB manufacturing process often requires the replacement and transportation of consumables (such as cutting tools) and raw materials (such as PCBs). After drilling, the PCBs need to be removed from the machine in a timely manner (this process is called unloading), and then unprocessed PCBs need to be placed back onto the machine (this process is called loading) to ensure the smooth progress of the drilling process.

[0003] In related technologies, AGVs (Automated Guided Vehicles) are commonly used to transport material bins for loading, unloading, and changing hoppers, enabling automated loading and unloading of PCBs and other circuit board processing equipment such as fully automated PCB drilling machines. However, when using AGVs to transfer material bins to designated workstations for loading and unloading, the poor positioning accuracy of the AGVs often leads to numerous loading and unloading malfunctions. If a board gets stuck during loading or unloading, manual intervention is required, causing equipment downtime and impacting the utilization rate of individual machines. Furthermore, excessive manual intervention can negatively affect the overall equipment utilization rate. To achieve automated, digital, and unmanned processing, it is necessary to solve the problems of board jamming during loading and unloading caused by the positioning inaccuracy of AGVs. Summary of the Invention

[0004] This application provides a feeding device and a feeding device positioning compensation method, which aims to overcome the problems of insufficient loading and unloading positioning accuracy leading to plate jamming, high failure rate, and long equipment downtime, which affect production efficiency and equipment utilization rate.

[0005] A feeding device according to an embodiment of this application includes: a material box for stacking multiple materials;

[0006] A lifting mechanism is used to drive the material box to rise or fall, and the lifting mechanism includes a support member that can be lifted and lowered and is used to support the material box;

[0007] A transfer platform is slidably disposed on the support member and is capable of reciprocating along a first direction on the support member;

[0008] A detection component, fixed to the transfer platform, is used to detect the positional deviation of the material box relative to its theoretical position in the horizontal and / or vertical directions, and to compensate for the position of the material box by moving the transfer platform and / or the lifting mechanism according to the positional deviation.

[0009] In some embodiments, the surface of the transfer platform is provided with a positioning component for fixing the material box at a specific position on the transfer platform.

[0010] In some embodiments, the positioning component includes a wear-resistant rubber plate, a positioning element located on the wear-resistant rubber plate, and a position detection element, wherein the position detection element is used to detect the placement accuracy of the material box.

[0011] In some embodiments, the detection component includes a camera, a light source, and a lens. The camera and the light source are fixed to a bracket, which is fixed to the side of the transfer platform to keep the camera and the material box in a relatively fixed position. The lens is detachably mounted on the camera.

[0012] In some embodiments, the support member is provided with a linear guide rail, and the lower end face of the transfer platform is provided with a slider that is slidably connected to the linear guide rail. The slider can slide horizontally back and forth along the linear guide rail in a first direction.

[0013] In some embodiments, the transfer platform is provided with a drive component for driving the transfer platform to reciprocate along a first direction.

[0014] In some embodiments, the transfer platform is provided with a slider oiling block for adding grease.

[0015] In some embodiments, the bottom surface of the transfer platform is provided with a pipeline fixing seat for fixing pipelines.

[0016] In some embodiments, the system further includes a frame on which at least one pair of slide rails are provided. The lifting mechanism includes a lifting slide plate on which at least one pair of sliders corresponding to and slidably connected to the slide rails are provided. The lifting slide plate is fixedly connected to the support plate and can drive the support member to move up and down.

[0017] In some embodiments, the lifting slide plate is provided with a detection mounting position, which can be used to install the detection component.

[0018] In some embodiments, a moving mechanism is further included, wherein the lifting mechanism is fixed above the moving mechanism, and the moving mechanism is used to drive the position of the material box to move.

[0019] In some embodiments, the system further includes a controller, which is configured to receive deviation data and issue control commands to move or fix the transfer platform or the lifting mechanism based on the deviation data, and to issue control commands to load or unload materials after position compensation is completed.

[0020] The feeding system described in this application includes a material bin for stacking multiple materials; a lifting mechanism for driving the material bin to rise or fall, the lifting mechanism including a support member that can be lifted and lowered and is used to support the material bin, and the support member is provided with a horizontally sliding transfer platform;

[0021] A moving mechanism is used to drive the lifting mechanism and the material box to the loading and unloading station of the circuit board processing equipment, and to transfer materials between the material box and the circuit board processing equipment;

[0022] A detection component, fixed to the transfer platform, is used to detect the positional deviation in the horizontal and / or vertical directions when the material box is moved to the loading and unloading station of the circuit board processing equipment.

[0023] In some embodiments, the circuit board processing equipment is provided with a positioning mark, and the camera is used to photograph the positioning mark to obtain the positional deviation between the material box and the circuit board processing equipment, and to move the transfer platform and / or the lifting mechanism to compensate for the position of the material box according to the positional deviation.

[0024] The feeding device and feeding device positioning compensation method provided in this application embodiment, by setting a detection component on the lifting mechanism, detects the position offset of the material box on the positioning mark on the circuit board processing equipment, and cooperates with the horizontally movable transfer platform to perform movement compensation of the material box position, thereby improving the positioning accuracy of AGV, reducing the equipment failure rate, and improving the equipment utilization rate and production efficiency. Attached Figure Description

[0025] To more clearly illustrate the technical solutions in the embodiments of this application, the accompanying drawings used in the description of the embodiments will be briefly introduced below. Obviously, the accompanying drawings described below are only some embodiments of this application. For those skilled in the art, other drawings can be obtained based on these drawings without creative effort.

[0026] Figure 1 A schematic diagram of the overall structure of circuit board processing equipment and feeding device from one angle;

[0027] Figure 2 Another perspective view of the overall structure of the circuit board processing equipment and feeding device;

[0028] Figure 3 This is a schematic diagram of the overall structure of the feeding device;

[0029] Figure 4 This is a schematic diagram of one side of the lifting mechanism in the feeding device;

[0030] Figure 5This is a schematic diagram of the other side of the lifting mechanism in the feeding device;

[0031] Figure 6 This is a schematic diagram of the detection component in the feeding device.

[0032] Reference numerals: 100-material bin; 20-lifting mechanism; 30-transfer platform; 40-inspection component; 50-moving mechanism; 60-circuit board processing equipment; 70-frame;

[0033] 21-Support component; 22-Lifting slide plate; 221-Detection mounting position; 23-Guide block; 31-Wear-resistant rubber plate; 32-Positioning component; 33-Position detection component; 34-Drive assembly; 35-Pipeline fixing seat; 41-Bracket; 42-Camera; 43-Light source; 44-Lens; 71-Slide rail; 72-Lifting drag chain. Detailed Implementation

[0034] The following detailed description, in conjunction with the accompanying drawings and specific embodiments, provides a further detailed explanation of the feeding device and its positioning compensation method according to the present invention. It should be noted that the drawings are all in a very simplified form and use non-precise scales, intended only to facilitate and clarify the illustration of the embodiments of the present invention. Furthermore, the structures shown in the drawings are often part of the actual structure. In particular, different figures may emphasize different aspects and may sometimes use different scales.

[0035] It should be noted that the terms "first," "second," etc., used in the specification, claims, and drawings of this invention are used to distinguish similar objects in order to describe embodiments of the invention, and are not used to describe a specific order or sequence. It should be understood that such uses of terminology are interchangeable where appropriate. Furthermore, the terms "comprising" and "having," and any variations thereof, are intended to cover non-exclusive inclusion. For example, a process, method, system, product, or apparatus that comprises a series of steps or units is not necessarily limited to those steps or units explicitly listed, but may include other steps or units not explicitly listed or inherent to such processes, methods, products, or apparatus.

[0036] It should also be noted that in the accompanying drawings of the embodiments of this application, arrows labeled X, Y, and Z represent the forward / backward, left / right, and up / down directions, that is, the directions in three-dimensional space, such as forward / backward, left / right, or up / down. The description of this application introduces the X, Y, and Z directions to more clearly describe the structure of the feeding device, as well as the positional and movement relationship between the feeding device and the circuit board processing equipment.

[0037] In the actual process of loading and unloading sheet metal from material bins, various factors often lead to poor positioning accuracy of the AGV, causing a deviation between the actual and theoretical positions of the bins. This can easily result in jamming during loading and unloading, requiring manual intervention. Furthermore, frequent equipment failures lead to prolonged downtime, directly impacting processing efficiency. The main reasons for poor AGV positioning accuracy include the consistency of the AGV's position with the camera, the accuracy of QR code placement, the coefficient of ground friction, and the flatness of the ground, all of which cause the actual positioning accuracy to exceed the predetermined maximum deviation range.

[0038] This embodiment provides a feeding device that can improve the positioning accuracy of AGVs, reduce the failure rate of automatic loading and unloading of circuit board processing equipment, reduce manual operation, and improve the production efficiency of the equipment. Figure 1-5 As shown, the feeding device includes a material bin 100 for stacking multiple materials, a lifting mechanism 20 for driving the material bin 100 to rise or fall, the lifting mechanism 20 including a horizontal support member 21 that can be lifted and lowered and is used to support the material bin 100; a transfer platform 30, which is horizontally slidably disposed above the support member 21 and is used to carry and drive the material bin 100 to move horizontally; and a detection component 40, which is fixed to the transfer platform 30 and is used to detect the positional deviation of the material bin 100 relative to the theoretical loading and unloading station in the horizontal and / or vertical directions, and to move the transfer platform 30 and / or the lifting mechanism 20 to compensate for the position of the material bin 100 according to the positional deviation.

[0039] It also includes a moving mechanism 50, located below the lifting mechanism 20. This moving mechanism 50 drives the material bin 100, the lifting mechanism 20, and the transfer platform 30 to move to the material bin loading / unloading station, transferring materials between the circuit board processing equipment 60 and the material bin 100. The moving mechanism 50 can be an AGV (Automated Guided Vehicle). It can automatically transport the material bin 100 according to a pre-planned route, eliminating the need for manual labor and specialized handling equipment. This saves significant labor and handling costs. Furthermore, the automatic operation of the moving mechanism 50 also saves considerable unnecessary production space, improving the utilization rate of production space.

[0040] When the moving mechanism 50 moves to the designated position, the lifting mechanism 20 drives the material box 100 to rise and fall to the designated layer. The detection component 40 detects the positional relationship between the material box 100 and the circuit board processing equipment 60, and drives the transfer platform 30 to move horizontally to adjust the position of the material box 100. This compensates for the positional deviation of the material box 100 caused by poor positioning accuracy due to various factors. Once the positional deviation of the material box 100 is compensated, the corresponding material is transferred.

[0041] In some embodiments, the detection component 40 is fixedly installed on the transfer platform 30, and the material box 100 is also fixedly placed at a specific position on the transfer platform 30, so that the position between the detection component 40 and the material box 100 is always consistent. The detection component 40 identifies a specific calibration object and calculates the current position of the detection component 40 and the positional deviation of the detection component 40 relative to the specific calibration object, thus obtaining the positional deviation value between the material box 100 and the theoretical loading / unloading point. The detection component 40 then provides the calculated positional deviation value to the platform controller. The controller receives the signal and controls the transfer platform 30 to perform movement compensation based on the deviation value. After the transfer platform 30 moves and compensates, the detection component 40 again identifies and detects whether the position is now properly compensated. If there is still a positional deviation, it provides the second detected positional deviation value to the platform controller again. The controller receives the signal again and controls the transfer platform 30 to perform movement compensation based on the second detected deviation value. This cycle continues until the position is detected as properly compensated. The platform controller then exchanges loading or unloading signals with the central control system to perform the loading or unloading process.

[0042] To ensure that the material bin 100 is fixed in a specific position on the transfer platform 30 when placed on the platform, the surface of the transfer platform 30 is provided with a positioning component, and the bottom of the material bin 100 is provided with a positioning part that matches the positioning component. When the material bin 100 is placed on the transfer platform 30, the positioning component fixes the material bin 100 in a specific preset position on the transfer platform 30 to prevent the material bin 100 from shifting position.

[0043] Please see Figure 4 In some embodiments, the positioning component includes a wear-resistant rubber plate 31 and positioning elements 32 located on the wear-resistant rubber plate 31. The transfer platform 30 is rectangular, and two wear-resistant rubber plates 31 are provided at both ends of the transfer platform 30 along a first direction. The wear-resistant rubber plate 31 has good elasticity, which can reduce energy impact when the material box 100 is placed, and at the same time reduce equipment vibration and noise, increase the service life of the transfer platform 30, reduce maintenance costs, and improve safety performance. Multiple sets of positioning elements 32 are provided on the wear-resistant rubber plate 31, and the bottom of the material box 100 is provided with a positioning part that matches the multiple sets of positioning elements 32. When the material box 100 is placed on the transfer platform 30, the positioning part at the bottom of the material box 100 is aligned with the positioning elements 32 of the transfer platform 30, and the material box 100 is accurately placed on the wear-resistant rubber plate 31 on the surface of the transfer platform 30, ensuring the accuracy of the position and preventing the displacement of the material box 100. The position, shape, and area of ​​the wear-resistant rubber plate 31 are not specifically limited.

[0044] To ensure the accuracy of the placement of the material bin 100, the transfer platform 30 is also equipped with a position detection component 33 to detect whether the material bin 100 is placed in the correct position. Multiple position detection components 33 are located at various positions on the transfer platform 30 to more accurately determine the placement of the material bin 100.

[0045] Please see Figures 4-6 The detection component 40 is fixed to the side of the transfer platform 30 by the bracket 41. The side plane of the transfer platform 30 near the circuit board processing equipment 60 extends out to form a mounting position. The bracket 41 is fixedly installed in the mounting position to fix the position of the detection component 40 and the transfer platform 30.

[0046] In some embodiments, the detection component 40 is a visual inspection device, including a camera 42, a light source 43, and a lens 44. The bracket 41 is an integrated bracket that simultaneously fixes the camera 42 and the light source 43 to the bracket 41, facilitating the determination of their relative positions and ensuring the consistency of the theoretical light-gathering rate of the camera 42. The detection component 40 is fixed to the side of the transfer platform 30 and the positioning member 32 to ensure the positional accuracy of the material box 100 and the camera 42. Since the detection component 40 is fixed to the transfer platform 30 and can move with the transfer platform 30, the detection component 40 always maintains the same position as the transfer platform 30 and the material box 100 on the transfer platform 30. After compensation by the moving platform, the position of the moved material box 100 can be detected again, and the position is continuously detected until compensation is completed.

[0047] Furthermore, the positioning marker is located on the circuit board processing equipment 60 and can be a QR code or a structural feature of the circuit board processing equipment 60. The camera 42 captures image data of the object with the feature marker or QR code, compares and analyzes it with standard image data in the visual database, and then uses visual software to calculate the positional deviation between the camera 42 and the circuit board processing equipment 60, thus converting it into the positional deviation between the material bin 100 and the circuit board processing equipment 60. The visual detection method used to acquire images or objects is not limited, including the use of 3D cameras, 2D cameras with built-in light sources, etc. The method of camera acquisition of images or objects is relatively common and conventional, and will not be elaborated here. It should be noted that in one application, the feeding device transfers materials between the circuit board processing equipment and other equipment, and the positioning marker can be located on the circuit board processing equipment. In other application scenarios, the feeding device can transfer materials to other equipment, and the positioning marker can be set on other equipment.

[0048] Furthermore, the lens 44 is a split lens, which can be detachably installed on the camera 42. Different focal lengths can be switched according to different application scenarios to meet the requirements of different shooting scenarios for field of view and magnification, thus having higher adaptability.

[0049] In some embodiments, the detection component 40 is fixedly located at the vertical central axis position on one side of the material bin 100, with the shooting direction facing away from the material bin 100 and parallel to the vertical central axis of the material bin 100. The detection component 40 cooperates with the positioning component 32 to ensure that the camera 42 and the material bin 100 are aligned in the vertical direction, and to ensure that the shooting and recognition angle of the camera 42 is the same as the placement angle of the material bin 100, which facilitates re-recognition after horizontal position compensation. Of course, the detection component can also be set in other positions.

[0050] In some embodiments, the detection component 40 may also be a laser detection or distance sensing detection, which obtains the position of the hopper by measuring multiple sets of distances between the calibrator and the calibration piece.

[0051] Furthermore, in some embodiments, the support member 21 is a lifting fork tooth, which is recessed along a first direction to install a linear guide rail. The bottom surface of the transfer platform 30 is provided with a guide rail slider adapted to the linear guide rail. The guide rail slider can reciprocate along the linear guide rail in the first direction, which refers to reciprocating along the X direction in the figure. The recessed mounting of the linear guide rail with the lifting fork tooth can reduce the overall thickness of the machine and facilitate the expansion of the material box layer.

[0052] The two ends of the lifting fork are support parts, forming a receiving space in the middle of the support parts. The transfer platform 30 slides above the support parts. A drive assembly 34 is located on the bottom surface of the transfer platform 30 within the receiving space, used to drive the transfer platform 30 to move along a first direction. The drive assembly 34 can be any type of motor, such as a planetary gear motor, servo motor, ordinary motor, pneumatic motor, etc., and is not limited to any particular type. Any motor capable of providing the drive function can be used. In this embodiment, a motor with an electric cylinder or electric push rod is used. The motor is equipped with a rack and pinion, and the electric cylinder with a gear chain. The motor drives the electric cylinder to move linearly, driving the transfer platform 30 to move horizontally.

[0053] In some embodiments, the bottom surface of the transfer platform 30 is provided with a slider oiling block for adding grease to ensure that the slider is adequately lubricated during operation, thereby extending its service life and maintaining high-precision operation.

[0054] In some embodiments, the bottom surface of the transfer platform 30 is provided with a pipeline fixing seat 35 for fixing pipelines.

[0055] Furthermore, the material bin 100 includes multiple storage spaces spaced apart vertically, each storage space having a feeding component for conveying materials. The multiple storage spaces are stacked at Z-intervals vertically. These storage spaces are connected to the conveying power mechanism of the feeding device to deliver materials to the circuit board processing equipment 60. By stacking the multiple storage spaces at intervals, a multi-layer storage structure can be formed, with each layer capable of independently storing and conveying materials.

[0056] Specifically, the storage space can be composed of multiple interconnected roller structures to support and store materials. Power transmission between these rollers and the conveying mechanism of the transport device is achieved through gear meshing or other power transmission methods, allowing the rollers to rotate and transport the materials. Alternatively, the storage space can employ a belt conveyor or similar conveying mechanism. The alternating vertical arrangement improves space utilization, allowing for the storage or transport of more materials. It also prevents cross-contamination and mixing of materials between different storage spaces, ensuring material purity. Furthermore, each storage space has its own independent feeding space, which improves material transport efficiency and saves production time.

[0057] In some embodiments, the width of the bin 100 is greater than the width of the transfer platform 30, so that the opposite sides of the bottom of the bin 100 can be exposed outside the transfer platform 30, thereby facilitating the removal and placement of the bin 100 as a whole from the transfer platform 30. For example, the bin can be lifted by means of an external loading device and its lifting component can be directly inserted into the bottom of the bin to facilitate the transfer and handling of the bin 100.

[0058] The feeding device also includes a frame 70, which is vertically mounted on the moving mechanism 50. The lifting mechanism 20 also includes a vertical lifting slide plate 22, which is perpendicularly fixed to the support member 21 and slidably connected to the frame 70, moving up and down along the third direction (Z-axis). The transfer platform 30 is horizontally slidably mounted on the support member 21, and together with the support member 21, it supports and transports the material box 100 via the frame 70.

[0059] Furthermore, at least one pair of slide rails 71 are provided on the wall side of the frame 70 facing the transfer platform 20, and at least one pair of sliders (not shown in the figure) are provided on the lifting slide plate 22, which are slidably connected to the slide rails 71. The number of slide rails 71 is not limited, and the number of sliders corresponds to the number of slide rails 71. As one embodiment, a pair of slide rails 71 are provided, symmetrically arranged about the center of the support member 21. By providing a pair of symmetrically arranged slide rails 71 on the frame 70 and placing them on both sides of the support member 21 in the width direction, the support member 21 can slide more smoothly in the vertical direction for vertical lifting, thus making the entire lifting device more stable when the support member 21 is lifted. The pair of sliders can be connected to the support member 21 through the same transition connecting plate to ensure the synchronization of the pair of sliders.

[0060] In some embodiments, the frame 70 is provided with a lifting mechanism, which is also connected to the lifting mechanism 20. The lifting mechanism is used to drive the support member 21 and the lifting slide plate 22 to move relative to the frame 70 between a first position and a second position. The height of the first position along the vertical direction Z is higher than that of the second position. That is, when the lifting mechanism drives the support member 21 to move relative to the frame 70, the height of the support member 21 will change.

[0061] The lifting mechanism includes a lifting cable chain 72 and a second power component. The lifting cable chain 72 is mounted on the frame 70 and connected to the lifting slide plate 22. The second power component is connected to the lifting cable chain 72 and is used to drive the lifting cable chain 72 to move the support member 21 up and down.

[0062] Understandably, the lifting mechanism of the feeding device can drive the support member 21 and the lifting slide plate 22 to move, allowing the support member 21 and the lifting slide plate 22 to move relative to the frame 70 between a first position and a second position with a height difference. This allows the support member 21 to move the material bin 100, achieving the lifting and lowering of the material bin 100. This enables the material (generally board material) at different heights in the material bin 100 to be moved to the inlet / outlet of the circuit board processing equipment 60, completing the material conveying. Therefore, this conveying device can be adapted to have more material bins 100 and higher material bins 100, avoiding limitations on the number of layers of material bins 100. Furthermore, it can increase the amount of material conveyed each time, thus enabling the conveying of more materials for the circuit board processing equipment 60 each time, reducing the number of material bins 100 required for loading and unloading during circuit board processing, and improving loading and unloading efficiency.

[0063] Please see Figure 4 In some embodiments, the lifting slide plate 22 is provided with two guide blocks 23 arranged opposite to each other, and the material box 100 is provided with two pulleys corresponding to the guide blocks 23. The two pulleys can slide along the guide blocks 23 and are arranged on opposite or opposite sides of the guide blocks 23.

[0064] It should be added that the material bin 100 is detachably mounted on the transfer platform 30 to facilitate cleaning, maintenance, placement, or removal of materials. When assembling the material bin 100, the material bin 100 approaches the transfer platform 30 in the extending direction of the guide block 23. Then, the pulley contacts the surface of the guide block 23 and slides on the guide block 23, so that the two pulleys and the two guide blocks 23 cooperate to limit the material bin 100. In conjunction with the positioning parts on the surface of the transfer platform 30, the material bin 100 is accurately placed at a specific position on the transfer platform 30.

[0065] In some embodiments, a limiting block is provided on the side of the lifting slide plate 23 facing the transfer platform 30. The limiting block is used to block the position of the transfer platform 30 close to the side of the lifting slide plate 23 when it moves along the X direction (first direction).

[0066] In some embodiments, the lifting slide plate 22 is provided with a detection mounting position 221, which can be used to install the detection component 40 and can be adapted to applications in different size scenarios.

[0067] By fixing the detection component 40 on the transfer platform 30, taking pictures of the positioning marks on the circuit board processing equipment 60, and calculating the positional relationship between the detection component 40 and the loading / unloading stations of the circuit board processing equipment 60, the positional relationship between the loading bin 100 on the transfer platform 30 and the loading / unloading stations of the circuit board processing equipment 60 is determined. If there is a horizontal positional deviation, the transfer platform 30 is moved horizontally to compensate for the horizontal position of the bin 100; similarly, if there is a height positional deviation, the lifting component 20 is controlled to rise or fall to compensate for the height position of the bin 100.

[0068] Furthermore, the moving mechanism 50 is located at the bottom of the frame 70 and can drive the frame 70, the material bin 100, the lifting mechanism 20, and the transfer platform 30 to a designated position, that is, each processing station, to transfer materials between the circuit board processing equipment 60 and the material bin 100. In this embodiment, the moving mechanism 50 is an AGV cart, and the AGV cart 51 is located at the bottom of the frame 70. By integrating the AGV cart 51 with the frame 70, the feeding device can perform intelligent automatic handling, improving handling efficiency and reducing manual labor intensity.

[0069] Furthermore, the feeding device also includes a controller, which controls the movement or fixation of the transfer platform 30 or the lifting mechanism 20 according to the position of the material box 100. In this embodiment, the controller is a programmable logic controller (PLC), a digital electronic device with a microprocessor, used for automated control. It can load control instructions into memory for storage and execution at any time. The PLC is modularly composed of an internal CPU, instruction and data memory, input / output units, power supply module, digital analog units, etc. The controller can receive distance deviation values, issue movement commands to the moving platform 30 or the lifting slide plate 22, and repeatedly calculate movement compensation until the compensation distance is completed. It also feeds back the compensation completion signal to the controller, which controls the motor valve of the transfer platform 30 or the lifting slide plate 22 to open and lock, stopping movement, and then interacts with the central control to send a loading or unloading signal; and after loading or unloading is completed, the controller interacts with the central control to control the moving mechanism 50 to move to the next processing position.

[0070] A positioning compensation method for a feeding device is also provided. The feeding device includes a moving mechanism 50, a lifting mechanism 20, a transfer platform 30, a detection component 40, and a controller. The positioning compensation method for the feeding device includes the following steps:

[0071] S:100: The moving mechanism 50 drives the material box 100 to move to the processing position and controls the lifting mechanism 20 to lift and lower to the designated layer of the material box.

[0072] In this embodiment, the moving mechanism 50 is an AGV trolley. The moving mechanism 50 moves automatically according to the planned route, transports the material box 100 to the workstation, and locks the position of the moving mechanism 50, which is the AGV parking. The lifting mechanism 20 supports the material box 100 and lifts it to the designated layer for loading and unloading the material box 100, in preparation for loading and unloading. After the loading and unloading is completed, the position of the moving mechanism 50 is released, and it moves to the next workstation for material transportation.

[0073] When the moving mechanism 50 moves to the processing position, due to various factors, the position of the material box 100 after stopping does not match the material processing position on the circuit board processing equipment 60. At this time, loading and unloading can easily cause the material to jam. In order to avoid jamming due to inaccurate alignment, the moving mechanism 50 moves to the preset processing position and is lifted and lowered to the designated layer and then locked in position. The movement of the transfer platform 30 is controlled to compensate for the position of the material box 100 until the position of the material box 100 is accurately compensated with the processing position of the circuit board processing equipment 60. After receiving the compensation completion signal, loading and unloading are performed.

[0074] S200: The detection component 40 identifies the positioning mark of the circuit board processing equipment 60 and obtains the horizontal position deviation of the material box 100 relative to the circuit board processing equipment 60.

[0075] The detection component 40 is fixed to the side of the transfer platform 30, facing the circuit board processing equipment 60. The detection component 40 is a vision inspection device. The vision inspection device takes pictures of the positioning marks of the workstation of the circuit board processing equipment 60. The vision software analyzes and processes the position information of the vision inspection device relative to the circuit board processing equipment 60 at this time, and calculates the position deviation value between the vision inspection device and the workstation positioning mark. It is converted into the position deviation value of the material box 100 relative to the workstation, and the calculated position deviation value is provided to the controller of the transfer platform 30.

[0076] S300: The controller receives the deviation value and controls the transfer platform 30 to move and compensate. After compensation, it identifies and obtains the secondary deviation value to determine whether it needs to move and compensate again. It repeatedly identifies and moves until the compensation is in place.

[0077] S400: Load or unload materials in the hopper 100. After loading or unloading is completed, the moving mechanism moves to the next processing position and repeats the above steps.

[0078] Specifically, the transfer platform 30 moves the material box 100 according to the instructions of the PLC controller, at which time the AGV is in a parked state. The transfer platform 30 drives the material box 100 to move horizontally according to the instructions. After the transfer platform 30 completes the secondary positioning compensation, the visual inspection takes another picture to confirm whether the compensation is in place. If the compensation is not in place, the above movement compensation instructions are repeated until the compensation is completed; otherwise, a signal that the material box 100 has been compensated is fed back to the PLC controller. The PLC controller controls the motor brake of the transfer platform 30 to unlock the moving platform 30. After locking, the PLC and the central control exchange signals to allow loading or unloading. In other words, when the material box 100 is performing horizontal position compensation, the AGV is in a parked state, the lifting mechanism 20 is in a locked state, and only the transfer platform 30 can move. After the positioning compensation is completed, the motor of the transfer platform 30 is locked, and only the material box 100 conveying mechanism can move, so as to accurately and stably convey the material box 100.

[0079] After receiving the signal, the circuit board processing equipment 60 begins loading or unloading materials. Once the material transfer at this station is complete, the central control unit issues a command to the AGV to release it from parking, and the AGV moves to the next station to repeat the above steps. The AGV can also move to its corresponding position according to other commands.

[0080] Furthermore, the detection device 40 can also be used to detect the vertical position accuracy of the material box 100. Since the interlayer height of different models of material boxes may vary, after the lifting mechanism 20 is lifted to a specific height position, the detection component 40 can identify the positioning marker to detect whether there is a deviation in the position height of the material box 100. If there is a deviation, the lifting component 20 is controlled and its height position is moved to compensate, so as to avoid the phenomenon of jamming in the vertical direction. It can be adapted to different models of material boxes 100 and has a wider range of applications.

[0081] The order of detection processes for the horizontal and vertical positions of the material bin 100 is not limited. It can be first raised to the theoretical height by the lifting mechanism 20 and fixed, then the detection component 40 on the transfer platform 30 is activated to take pictures and identify whether there is a deviation in the horizontal position. If there is a deviation, the transfer platform 30 is moved to compensate for the horizontal position until the horizontal position compensation is completed and the transfer platform 30 is fixed. Then, it is identified whether there is a deviation in the vertical position. If there is a deviation, the lifting mechanism 20 is controlled to compensate for the vertical position. Alternatively, it can be raised to the theoretical height by the lifting mechanism 22, then the position of the transfer platform 30 is fixed, the vertical position of the material bin 100 is detected and moved to compensate, and the position of the lifting component 20 is fixed after the vertical position compensation is completed, and the horizontal position of the material bin 100 is compensated.

[0082] In some embodiments, the positional deviations of the discharge box 100 in both the horizontal and vertical positions can also be identified at the same time.

[0083] The following describes the method for compensating for the height position accuracy of the material box. Specifically, the method for compensating for the height position of the material box at 100mm includes:

[0084] A100: The moving mechanism 501 drives the material box 100 to move to the processing position and controls the lifting mechanism 20 to lift to the designated layer.

[0085] The moving mechanism 50 is an AGV trolley. The moving mechanism 50 moves automatically according to the planned route, transports the material box 100 to the work station and locks the position of the moving mechanism 50. The lifting mechanism 20 supports the material box 100 and moves it vertically to the designated layer for loading and unloading, in preparation for loading and unloading. The position of the moving mechanism 50 is released after loading and unloading is completed.

[0086] A200: The detection component 40 identifies the positioning mark of the circuit board processing equipment 60 and obtains the height position deviation of the material box 100 relative to the circuit board processing equipment 60.

[0087] The detection component 40 is a vision inspection device. The vision inspection device takes pictures of the positioning marks at the workstation of the circuit board processing equipment 60, analyzes and processes the position information of the vision inspection device relative to the circuit board processing equipment 60 at this time through vision software, calculates the position deviation value between the vision inspection device and the positioning mark on the workstation, and then converts it into the position deviation value of the material box 100 relative to the workstation, and provides the calculated position deviation value to the controller of the lifting mechanism 20.

[0088] A300: The controller receives the deviation value and controls the lifting mechanism 20 to move up and down along the frame 70 to compensate. After compensation, it identifies and obtains the secondary deviation value to determine whether it needs to move and compensate again. It repeatedly identifies and moves until the compensation is in place.

[0089] After the height of the material bin 100 is compensated, the horizontal position of the material bin 100 can be compensated. The method for horizontal position compensation is as described above and will not be repeated here. The order of the two can be set according to the program. If there is no deviation in the vertical direction of the material bin 100, then there is no need to compensate for the height of the material bin.

[0090] A400: Load or unload materials in the hopper 100. After loading or unloading is completed, the moving mechanism moves to the next station and repeats the above steps.

[0091] Specifically, the lifting mechanism 20 moves the material box 100 according to the instructions of the PLC controller, at which time the AGV is in parking mode. The lifting mechanism 20 drives the material box 100 to rise and fall according to the instructions. At this time, the transfer platform 30 is in a locked state. After the lifting mechanism 20 performs secondary positioning compensation, visual inspection takes another picture to confirm whether the compensation is in place. If the compensation is not in place, the above movement compensation instructions are repeated until the compensation is completed; otherwise, a signal indicating that the material box 100 has been compensated is sent to the PLC controller. The PLC controller then controls the motor valve of the lifting mechanism 20 to open and lock, and exchanges loading or unloading signals with the central control unit. When the material box 100 is undergoing vertical position compensation, the AGV is in parking mode, the transfer platform 30 is in a locked state, and only the lifting mechanism 20 can move. After the positioning compensation is completed, the lifting mechanism 20 is locked to transfer the material box 100. If horizontal position compensation is required, the transfer platform 30 is activated to compensate for the horizontal position of the material box 100.

[0092] By setting a horizontally movable transfer platform on the lifting platform of the feeding device, and using a servo electric cylinder to drive the platform equipped with linear guide rails to perform horizontal reciprocating motion, multi-position, high-precision positioning compensation can be achieved.

[0093] Furthermore, by setting a detection component on the lifting assembly of the feeding device, the positional deviation between the actual arrival point of the AGV and the corresponding loading / unloading point is calibrated. The positional deviation value is obtained, and the transfer platform or lifting mechanism is instructed to perform secondary positioning compensation, thus solving the problem of jamming when loading / unloading plates due to insufficient positioning accuracy of the AGV. This improves the compatibility of the AGV with the differences in the coefficient of friction of the ground in different areas, thereby reducing the requirements and costs of ground construction. It also improves the positioning accuracy of loading / unloading, reduces the equipment failure rate, and reduces manual intervention. It reduces the downtime rate of the equipment, thereby increasing the equipment utilization rate and production efficiency. Finally, it reduces the scrap rate of the plates and improves the overall yield rate of the plates.

[0094] In the above embodiments, the descriptions of each embodiment have different focuses. For parts not described in detail in a certain embodiment, please refer to the relevant descriptions in other embodiments.

[0095] The feeding device and feeding device positioning compensation method provided in the embodiments of this application have been described in detail above, and specific examples have been used to illustrate the principle and implementation of this application. The description of the above embodiments is only for the purpose of helping to understand the technical solution and core idea of ​​this application. Those skilled in the art should understand that they can still modify the technical solutions described in the foregoing embodiments, or make equivalent substitutions for some of the technical features; and these modifications or substitutions do not cause the essence of the corresponding technical solutions to deviate from the scope of the technical solutions of the embodiments of this application.

Claims

1. A feeding device, characterized in that, include: Material bins are used to stack multiple materials. A lifting mechanism is used to drive the material box to rise or fall, and the lifting mechanism includes a support member that can be lifted and lowered and is used to support the material box; A transfer platform is slidably disposed on the support member and is capable of reciprocating along a first direction on the support member; A detection component, fixed to the transfer platform, is used to detect the positional deviation of the material box relative to its theoretical position in the horizontal and / or vertical directions, and to compensate for the position of the material box by moving the transfer platform and / or the lifting mechanism according to the positional deviation.

2. The feeding device according to claim 1, characterized in that, The transfer platform surface is provided with positioning components for fixing the material box at a specific position on the transfer platform.

3. The feeding device according to claim 2, characterized in that, The positioning component includes a wear-resistant rubber plate, a positioning element located on the wear-resistant rubber plate, and a position detection element, wherein the position detection element is used to detect the placement accuracy of the material box.

4. The feeding device according to claim 1, characterized in that, The detection component includes a camera, a light source, and a lens. The camera and the light source are fixed to the side of the transfer platform by a bracket to keep the position of the camera relative to the material box. The lens is detachably mounted on the camera.

5. The feeding device according to claim 1, characterized in that, The support member is provided with a linear guide rail, and the lower end face of the transfer platform is provided with a slider that is slidably connected to the linear guide rail. The slider can slide horizontally back and forth along the linear guide rail in a first direction.

6. The feeding device according to claim 5, characterized in that, The transfer platform is equipped with a drive component, which is used to drive the transfer platform to reciprocate along a first direction.

7. The feeding device according to claim 5, characterized in that, The transfer platform is equipped with a slider oil injection block for adding grease.

8. The feeding device according to claim 5, characterized in that, The bottom surface of the transfer platform is equipped with a pipeline fixing seat for fixing pipelines.

9. The feeding device according to claim 1, characterized in that, The lifting mechanism includes a frame with at least one pair of slide rails. The lifting mechanism also includes a lifting slide plate with at least one pair of sliders that are slidably connected to the slide rails. The lifting slide plate is fixedly connected to the support member and can drive the support member to move up and down.

10. The feeding device according to claim 9, characterized in that, The lifting slide plate is provided with a detection mounting position, which can be used to install the detection component.

11. The feeding system according to claim 1, characterized in that, It also includes a controller, which is used to receive deviation data and issue control commands to move or fix the transfer platform or the lifting mechanism based on the deviation data, and to issue control commands to load or unload materials after the position compensation is completed.

12. The feeding system according to any one of claims 1-11, characterized in that, It also includes a moving mechanism, wherein the lifting mechanism is fixed above the moving mechanism, and the moving mechanism is used to drive the material box to move in position.

13. A feeding system, characterized in that, include: Material bins are used to stack multiple materials. A lifting mechanism is used to drive the material box to rise or fall. The lifting mechanism includes a support member that can move up and down and is used to support the material box. The support member is provided with a horizontally sliding transfer platform. A moving mechanism is used to drive the lifting mechanism and the material box to the loading and unloading station of the circuit board processing equipment, and to transfer materials between the material box and the circuit board processing equipment; A detection component, fixed to the transfer platform, is used to detect the positional deviation in the horizontal and / or vertical directions when the material box is moved to the loading and unloading station of the circuit board processing equipment.

14. The feeding system according to claim 13, characterized in that, The circuit board processing equipment is equipped with a positioning mark. A camera is used to capture the positioning mark to obtain the positional deviation between the material box and the circuit board processing equipment. The transfer platform and / or the lifting mechanism are moved according to the positional deviation to compensate for the position of the material box.

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