An automatic feeding device

Abstract

This utility model provides an automatic feeding device, comprising a drive component and a gripping component. The drive component can move the gripping component. The gripping component includes at least one suction cup. A detector for real-time monitoring of the gripping component's position is disposed on the side of the suction cup. The detector is communicatively connected to the drive component. The detector controls the drive component to stop operating when the deviation distance between the gripping component and a preset trajectory exceeds a preset value. This application utilizes a detector to monitor the positions of the gripping component and the workpiece in real time and compares their real-time positions with preset positions. If the deviation distance exceeds the preset value, the drive component stops operating, ensuring that the gripping component and the workpiece are always kept within a safe range, avoiding workpiece collisions and damage.

Description

Technical Field

[0001] This utility model relates to the technical field of automatic workpiece feeding, and in particular to an automatic feeding device. Background Technology

[0002] In the heat sink pre-processing process, pre-processed electronic components need to be manually placed in their corresponding positions on the heat sink. Electronic components refer to small devices with leads, such as IPMs and diodes. The following problems arise when manually placing and assembling these components:

[0003] First, the quality control is low: when handling electronic components manually, it is easy to touch the pins, causing deformation of the pins of the pre-processed electronic components.

[0004] Secondly, the work efficiency is low: multiple electronic components need to be placed in their corresponding positions after being picked up, and multiple electronic components need to be arranged in order, which increases the workload and reduces labor efficiency.

[0005] Because electronic components contain numerous tiny structures such as pins, contact during movement can cause them to malfunction. Existing feeding devices have relatively coarse trajectory control precision and are unsuitable for control systems with high requirements for feeding paths. Therefore, it is necessary to design a feeding device that can be used for precise path control of electronic components. Utility Model Content

[0006] To overcome the problems existing in related technologies, one of the objectives of this utility model is to provide an automatic feeding device that uses a detector to monitor the position of the gripping component and the workpiece in real time and compares the real-time position with the preset position. If the deviation distance is greater than the preset value, the drive component stops running, ensuring that the gripping component and the workpiece are always kept within a safe range, avoiding contact between the workpiece and damage to the workpiece.

[0007] An automatic feeding device includes a driving component and a gripping component, wherein the driving component is capable of driving the gripping component to move; the gripping component includes at least one suction cup;

[0008] The suction cup is equipped with a detector on its side for real-time monitoring of the position of the gripping component; the detector is communicatively connected to the drive component; the detector is used to control the drive component to stop operating when the deviation distance between the gripping component and the preset trajectory is greater than a preset value.

[0009] This application uses a detector to monitor the position of the gripping component and the workpiece in real time and compares the real-time position with the preset position. If the deviation distance is greater than the preset value, the drive component stops running. In this way, it can ensure that the gripping component and the workpiece are always kept within a safe range, avoiding contact between the workpiece and damage.

[0010] In a preferred embodiment of this invention, a spring buffer assembly is provided at the connection between the gripping assembly and the driving assembly.

[0011] In this application, the gripping component uses a suction cup to adsorb the workpiece. When gripping and adsorbing the workpiece, the suction cup in the gripping component needs to press down on the workpiece. In order to avoid rigid contact between the gripping component and the workpiece, this application sets a spring buffer component between the gripping component and the driving component. The spring buffer component can provide an elasticity of 5mm, for example, to avoid the risk of collision damage.

[0012] In a preferred embodiment of this invention, each suction cup is connected to a vacuum generator via a vacuum channel, and a pressure sensor for monitoring the vacuum level is provided in the vacuum channel.

[0013] In this application, the number of suction cups can be one or more, specifically designed according to the size of the electronic components. Preferably, five suction cups are used, with four located at the four corners of the gripping component and one in the center. When adsorbing the workpiece, the four corner suction cups adsorb the four corners of the workpiece, while the center suction cup adsorbs the center of the workpiece, achieving uniform adsorption of the workpiece. Each suction cup is equipped with an independent vacuum channel and a vacuum generator. When the vacuum generator is running, a vacuum suction force is generated in the vacuum channel to adsorb the workpiece. A pressure sensor is used to detect the vacuum level in the vacuum channel. When the vacuum level reaches a preset value, such as -85 kPa, adsorption is considered successful. This application equips each suction cup with an independent vacuum channel and pressure sensor, supporting a single-point failure protection mode, so that even if one or two suction cups fail, adsorption of the workpiece can still be achieved.

[0014] In a preferred embodiment of this invention, a visual detector for monitoring the target placement position is provided on the side of the grasping component.

[0015] The visual detector can specifically be a CCD visual inspection system, such as the Hantes CCD visual inspection equipment or the Jiangsu V3.0 intelligent inspection system. The visual detector communicates with the drive component. When the gripping component moves the workpiece to the target position, the visual detector, based on the target position, fine-tunes the gripping component through the drive component to ensure that the workpiece in the gripping component is consistent with the position to be placed. This application uses a visual detector to accurately locate the placement position of the workpiece. Specifically, the workpiece is an electronic component, and the position to be placed is a specific location within a heat sink. Through calibration by the visual detector, the installation accuracy of the electronic component within the heat sink can be ensured.

[0016] In a preferred embodiment of this invention, the gripping component includes a gripping platform, a slide rail is provided in the gripping platform, a suction cup is located in the slide rail, the suction cup is connected to an adjustment driver, and the adjustment driver can drive the suction cup to slide within the slide rail.

[0017] The gripping component in this application has a gripping platform at its bottom. The bottom of the gripping platform is rectangular, and five suction cups are respectively set at the four corners and the middle of the rectangle. Each suction cup is located inside the slide rail. By adjusting the driving component, the position of the suction cup in the slide rail can be adjusted, realizing stepless adjustment of the suction cup position within the range of 50-200mm to adapt to gripping workpieces of different sizes, thereby expanding the application range of the feeding device in this application.

[0018] In a preferred embodiment of this invention, the slide rail includes a first slide rail and a second slide rail that are perpendicular to each other; the centers of the first slide rail and the second slide rail intersect, and the suction cup can slide in the first slide rail or the second slide rail.

[0019] Specifically, the first and second slide rails are arranged perpendicularly, and their centers intersect. The suction cup can slide within the first slide rail, or it can switch to the other slide rail at the intersection of the two slide rails. The lengths of the first and second slide rails can be 50-200mm. In this way, the position can be adjusted in two directions to accommodate workpieces of different sizes for gripping, thereby expanding the application range of the feeding device in this application.

[0020] In a preferred embodiment of this invention, the detector includes a magnetic grating ruler.

[0021] In practical operation, a magnetic scale with an MSD-HL Hall effect sensor or a Sony SR series magnetic scale, such as the SR128-010 model, can be used for position monitoring. When the magnetic scale detects a deviation greater than a preset value between the gripping component and the preset trajectory, it controls the drive component to stop. The preset trajectory is pre-programmed and stored in the drive component, determined based on the start and end positions of the workpiece movement. In this application, the magnetic scale not only controls the drive component to stop when the deviation from the trajectory is large, but also controls the drive component to correct the trajectory based on the degree of deviation. Specifically, the magnetic scale has a feedback resolution of 1μm, and position data is acquired in real time via a PCIe motion control card. When the position deviation exceeds ±0.1mm for more than 50ms, an emergency stop is triggered.

[0022] The beneficial effects of this utility model are as follows:

[0023] This utility model provides an automatic feeding device, including a driving component and a gripping component. The driving component can drive the gripping component to move. The gripping component includes at least one suction cup. A detector for real-time monitoring of the position of the gripping component is provided on the side of the suction cup. The detector is communicatively connected to the driving component. The detector is used to control the driving component to stop running when the deviation distance between the gripping component and the preset trajectory is greater than a preset value. This application uses a detector to monitor the position of the gripping component and the workpiece in real time and compares their real-time position with the preset position. If the deviation distance is greater than the preset value, the driving component stops running. In this way, it can ensure that the gripping component and the workpiece are always kept within a safe range, avoiding contact between the workpiece and the workpiece, which could lead to workpiece damage. Attached Figure Description

[0024] Figure 1 This is a schematic diagram of the overall structure of the automatic feeding device in the embodiments of this application;

[0025] Figure 2 This is a side view of one side of the automatic feeding device in an embodiment of this application;

[0026] Figure 3 This is a schematic diagram of another side view of the automatic feeding device in the embodiments of this application;

[0027] Figure 4 This is an exploded view of the automatic feeding device in the embodiments of this application.

[0028] Figure label:

[0029] 13. Magnetic scale; 14. Vision detector; 15. Suction cup; 16. Spring buffer assembly; 21. X-axis drive; 22. Y-axis drive; 31. Workpiece. Detailed Implementation

[0030] Preferred embodiments of the present invention will now be described in more detail with reference to the accompanying drawings. While preferred embodiments of the present invention are shown in the drawings, it should be understood that the present invention may be implemented in various forms and should not be limited to the embodiments set forth herein. Rather, these embodiments are provided so that the present invention will be thorough and complete, and will fully convey the scope of the present invention to those skilled in the art.

[0031] The terminology used in this invention is for the purpose of describing particular embodiments only and is not intended to be limiting of the invention. The singular forms “a,” “the,” and “the” used in this invention and the appended claims are also intended to include the plural forms unless the context clearly indicates otherwise. It should also be understood that the term “and / or” as used herein refers to and includes any and all possible combinations of one or more of the associated listed items.

[0032] It should be understood that although the terms "first," "second," "third," etc., may be used in this invention to describe various information, this information should not be limited to these terms. These terms are only used to distinguish information of the same type from one another. For example, without departing from the scope of this invention, first information may also be referred to as second information, and similarly, second information may also be referred to as first information. Thus, features defined as "first" or "second" may explicitly or implicitly include one or more of that feature. In the description of this invention, "a plurality of" means two or more, unless otherwise explicitly specified.

[0033] Example 1

[0034] like Figures 1-4 As shown, this application provides an automatic feeding device, which includes a driving component and a gripping component. The driving component can drive the gripping component to move. The gripping component includes at least one suction cup 15.

[0035] The suction cup 15 is provided with a detector on its side for real-time monitoring of the position of the gripping component; the detector is communicatively connected to the drive component; the detector is used to control the drive component to stop running when the deviation distance between the gripping component and the preset trajectory is greater than a preset value.

[0036] In this application, the detector can specifically be a magnetic grating ruler 13, a laser rangefinder, an eddy current sensor, etc. The magnetic grating ruler 13 uses the principle of magnetoelectric induction, measuring displacement through changes in magnetic poles. The laser rangefinder calculates distance based on the time difference of reflected signals, achieving millimeter-level accuracy. The eddy current sensor can detect the approach of metallic objects with a response time of <1ms.

[0037] In this application, the detector can monitor the position of the gripping component and the gripped workpiece in real time, and feed the real-time position back to the drive component. The drive component compares the real-time position with the preset position. If the deviation between the two is greater than the preset value, the drive component stops running to prevent the workpiece from moving out of the safe area.

[0038] In this application, the preset value can be designed according to the required accuracy of the path. If the required accuracy of the path is high, the preset value will be small; if the required accuracy of the path is low, the preset value will be large.

[0039] In this application, the drive component adopts a PLC control system, specifically including an input unit, a CPU processing core, and an output unit. The input unit can be a button sensor or other device used to transmit instructions or signals. The CPU processing core performs logical and logical operations, controlling the timing of output actions. The CPU processing core needs to be programmed before use. The output unit can be a drive relay, solenoid valve, etc., used to control the operation of drive components such as motors or cylinders.

[0040] Before the automatic feeding device in this application can operate, the drive components need to be programmed to enable them to execute a specific path for feeding. The drive components specifically include an X-axis drive 21, a Y-axis drive 22, and a Z-axis drive. The Y-axis drive 22 is slidably disposed within the Z-axis drive, the X-axis drive 21 is slidably disposed within the Y-axis drive 22, and the gripping component is slidably disposed within the X-axis drive 21. Specifically, the X-axis drive 21 can drive the gripping component to move along the X-axis in a goose-like formation, the Y-axis drive 22 can drive the gripping component and the X-axis drive 21 to move along the Y-axis, and the Z-axis drive 22 can drive the gripping component, the X-axis drive 21, and the Y-axis drive 22 to move along the Z-axis, thereby realizing the movement of the gripping component in three dimensions.

[0041] In this application, the Z-axis drive unit is driven by a stepper motor and a ball screw, which ensures precise lifting and lowering of the gripping component. The X-axis drive unit 21 and the Y-axis drive unit 22 are driven by servo motors and synchronous belts, which ensures high-speed translation of the gripping component.

[0042] Example 2

[0043] like Figures 1-4 As shown, this application provides an automatic feeding device, which includes a driving component and a gripping component. The driving component can drive the gripping component to move. The gripping component includes at least one suction cup 15.

[0044] The suction cup 15 is provided with a detector on its side for real-time monitoring of the position of the gripping component; the detector is communicatively connected to the drive component; the detector is used to control the drive component to stop running when the deviation distance between the gripping component and the preset trajectory is greater than a preset value.

[0045] Furthermore, a spring buffer assembly 16 is provided at the connection between the gripping component and the driving component.

[0046] In this application, the gripping component uses a suction cup 15 to adsorb the workpiece. When gripping and adsorbing the workpiece, the suction cup 15 in the gripping component needs to press down on the workpiece. In order to avoid rigid contact between the gripping component and the workpiece, this application provides a spring buffer component 16 between the gripping component and the driving component. The spring buffer component 16 can provide, for example, 5mm of elasticity to avoid the risk of collision damage.

[0047] Furthermore, each of the suction cups 15 is connected to a vacuum generator via a vacuum channel, and a pressure sensor for monitoring the vacuum level is provided in the vacuum channel.

[0048] In this application, the number of suction cups 15 can be one or more, specifically designed according to the size of the electronic component 31. Preferably, five suction cups 15 are designed, with four suction cups 15 located at the four corners of the gripping component and one suction cup 15 located in the center of the gripping component. When adsorbing the workpiece, the four suction cups 15 at the corners adsorb the four corners of the workpiece respectively, and the suction cup 15 in the center adsorbs the center of the workpiece, thus achieving uniform adsorption of the workpiece. Each suction cup 15 is equipped with an independent vacuum channel and a vacuum generator. When the vacuum generator is running, a vacuum suction force is generated in the vacuum channel to achieve adsorption of the workpiece. A pressure sensor is used to detect the vacuum degree in the vacuum channel. When the vacuum degree reaches a preset value, such as -85kPa, adsorption is considered successful. This application equips each suction cup 15 with an independent vacuum channel and a pressure sensor, supporting a single-point failure protection mode. Even if one or two suction cups 15 fail, adsorption of the workpiece can still be achieved.

[0049] Furthermore, a visual detector 14 for monitoring the target placement position is provided on the side of the grasping component.

[0050] The vision detector 14 can specifically be a CCD vision inspection system, such as a Hantes CCD vision inspection device or a Jiangsu V3.0 intelligent inspection system. The vision detector 14 is communicatively connected to the drive component. When the gripping component moves the workpiece to the target position, the vision detector 14, based on the target position, fine-tunes the gripping component through the drive component to ensure that the workpiece in the gripping component is consistent with the position to be placed. This application uses the vision detector 14 to accurately locate the placement position of the workpiece. Specifically, the workpiece is an electronic component 31, and the position to be placed is a specific location within the heat sink. Through the calibration of the vision detector 14, the installation accuracy of the electronic component 31 within the heat sink can be ensured.

[0051] Furthermore, the gripping component includes a gripping platform, in which a slide rail is provided, and the suction cup 15 is located in the slide rail. The suction cup 15 is connected to an adjustment driver, which can drive the suction cup 15 to slide within the slide rail.

[0052] The gripping component in this application has a gripping platform at its bottom. The bottom of the gripping platform is rectangular, and five suction cups 15 are respectively arranged at the four corners and the middle of the rectangle. Each suction cup 15 is located inside the slide rail. The position of the suction cup 15 in the slide rail can be adjusted by adjusting the driving component, so as to achieve stepless adjustment of the position of the suction cup 15 within the range of 50-200mm, so as to adapt to the gripping of workpieces of different sizes, thereby expanding the application range of the feeding device in this application.

[0053] Furthermore, the slide rail includes a first slide rail and a second slide rail that are perpendicular to each other, the centers of the first slide rail and the second slide rail intersect, and the suction cup can slide in the first slide rail or the second slide rail.

[0054] Specifically, the first and second slide rails are arranged vertically, and their centers intersect. The suction cup 15 can slide within the first slide rail, or it can switch to the other slide rail at the intersection of the two slide rails. The lengths of the first and second slide rails can be 50-200mm. In this way, the position can be adjusted in two directions to accommodate workpieces of different sizes for gripping, thereby expanding the application range of the feeding device in this application.

[0055] Furthermore, the detector includes a magnetic grating ruler 13.

[0056] In practical operation, a magnetic scale with an MSD-HL Hall effect sensor or a Sony SR series magnetic scale, such as the SR128-010 model, can be used for position monitoring. The magnetic scale 13 detects that when the deviation between the gripping component and the preset trajectory exceeds a preset value, it controls the drive component to stop. The preset trajectory is pre-programmed and stored in the drive component, and is determined based on the start and end positions of the workpiece movement.

[0057] In this application, the magnetic scale 13 not only controls the drive component to stop when the deviation from the trajectory is large, but also controls the drive component to correct the trajectory based on the degree of deviation. Specifically, the magnetic scale 13 has a feedback resolution of 1μm and acquires position data in real time via a PCIe motion control card. When the position deviation lasts for more than ±0.1mm for 50ms, an emergency stop is triggered.

[0058] Position deviation: e(t) = X_set(t) - X_actual(t);

[0059] The PID control output is: u(t)=K_p×e(t)+K_i×∫e(τ)dτ+K_d×de(t) / dt;

[0060] Where K_p refers to the proportional gain, which is a fixed value; K_i refers to the integral gain, which is a fixed value; K_d refers to the derivative gain, which is a fixed value; the PID parameters are determined by the Ziegler-Nichols method as follows: K_p = 0.85, K_i = 0.02, K_d = 0.1.

[0061] X_set(t) refers to the target position at time t, X_actual(t) refers to the actual position fed back by the magnetic grating ruler 13 at time t, ∫e(τ)dτ refers to the integral of the position deviation e(τ) over time; de(t) / dt refers to the derivative of the position deviation e(t) with respect to time.

[0062] The drive component calculates the position deviation and corrects the motor pulse output in real time based on the feedback data of the magnetic scale 13. The specific pulse correction amount is: ΔPulse=u(t) / (motor displacement per pulse). For example, if the lead screw is 5mm and the encoder resolution is 10000ppr, then the displacement per pulse = 5mm / 10000=0.5um.

[0063] Example 3

[0064] like Figures 1-4 As shown, this application provides an automatic feeding device, including a driving component and a gripping component. The driving component can drive the gripping component to move. The gripping component includes five suction cups 15; four suction cups 15 are located at the four corners of the gripping component, and the other suction cup 15 is located in the center of the gripping component. When adsorbing a workpiece, the four suction cups 15 at the corners adsorb the four corners of the workpiece respectively, and the suction cup 15 in the middle adsorbs the center of the workpiece, so as to achieve uniform adsorption of the workpiece. Each suction cup 15 is equipped with an independent vacuum channel and a vacuum generator. When the vacuum generator is running, a vacuum suction force is generated in the vacuum channel to achieve adsorption of the workpiece. Each suction cup 15 is located inside a slide rail. The position of the suction cup 15 in the slide rail can be adjusted by adjusting the driving component, achieving stepless adjustment of the position of the suction cup 15 within the range of 50-200mm. A pressure sensor is used to detect the vacuum degree in the vacuum channel. When the vacuum degree reaches a preset value, such as -85kPa, adsorption is considered successful.

[0065] A spring buffer assembly 16 is provided at the connection between the gripping component and the driving component; the spring buffer assembly 16 can provide, for example, 5mm of elasticity to avoid the risk of collision damage.

[0066] A vision detector 14 is provided on the side of the gripping component to monitor the target placement position. The vision detector 14 is a Hantes CCD vision inspection device. The vision detector 14 is connected to the drive component. When the gripping component moves the workpiece to the target position, the vision detector 14 makes fine adjustments to the gripping component through the drive component according to the target position to ensure that the workpiece in the gripping component is consistent with the position to be placed.

[0067] The gripping component is also equipped with a material identification photoelectric sensor on its side to detect whether the workpiece has reached the gripping position.

[0068] The suction cup 15 has a detector on its side for real-time monitoring of the position of the gripping component; the detector is specifically an R128-010 magnetic scale, and the detector is communicatively connected to the drive component. In this application, the magnetic scale 13 has two functions:

[0069] First, the magnetic scale 13 is used to control the drive component to stop operating when the deviation distance between the gripping component and the preset trajectory is greater than a preset value.

[0070] Second, the magnetic scale 13 monitors the deviation between the gripping component and the workpiece in real time, and drives the component to correct the trajectory based on the deviation value.

[0071] The drive components in this application specifically include an X-axis drive, a Y-axis drive, and a Z-axis drive, as well as a controller. The controller can be a host computer or other chip-like structure capable of control. The controller is also connected to the X-axis drive, Y-axis drive, Z-axis drive, detector, vacuum generator, vision detector, adjustment driver, and other structures to control the entire feeding process according to the setting program and various feedback signals.

[0072] The operating principle of the automatic feeding device in this application includes:

[0073] S1: The suction cup in the gripping assembly adsorbs the workpiece. Specifically, the X-axis drive, Y-axis drive, and Z-axis drive are reset, so that the drive assembly is at the origin position. At this time, the gripping assembly is at the origin position in three-dimensional space, and the vacuum system is pre-started to standby state.

[0074] The X-axis and Y-axis drive components use a servo motor and synchronous belt structure to achieve height movement; the Z-axis drive component uses a stepper motor and ball screw to achieve precise lifting and lowering.

[0075] The material identification photoelectric sensor detects that the electronic component has reached the gripping position and sends a positioning signal to the drive assembly. At this time, the Z-axis drive component in the drive assembly descends. Note: The gripping assembly is positioned directly above the gripping position in the reset state, so only the Z-axis drive component needs to be lowered to reach the gripping position.

[0076] Specifically, the Z-axis drive unit drives the gripping assembly to descend at a speed of 200 mm / s. When the suction cups contact the electronic components, the buffer spring assembly compresses by 5 mm to absorb the impact force. The five suction cups adsorb simultaneously, and the pressure sensor monitors the vacuum level in real time. When the vacuum level reaches the -85 kPa threshold, the adsorption is considered successful.

[0077] S2: The drive component drives the gripping component and the workpiece to move and be loaded.

[0078] The Z-axis drive unit lifts the gripping assembly to a safe height, while the X-axis and / or Y-axis drive units move the gripping assembly in translation. S-curve speed planning is used to achieve a high-speed motion of 500 mm / s. Specifically, the S-curve speed planning includes seven stages: acceleration, uniform acceleration, deceleration, constant speed, acceleration / deceleration, uniform deceleration, and deceleration / deceleration.

[0079] S-curve velocity planning reduces impact by smoothing acceleration changes. A typical 7-segment structure is as follows:

[0080] Acceleration → Uniform acceleration → Deceleration → Uniform speed → Acceleration / deceleration → Uniform deceleration → Deceleration / deceleration.

[0081] The acceleration is represented by a 7-segment S-curve, with the constraint that the maximum jerk Jerk ≤ 1000 mm / s². 3 Maximum acceleration a_max≤0.3g(2940mm / s²) 2 The formula is as follows:

[0082] 1. Acceleration phase (0≤t) <T1):

[0083] a(t) = J × t;

[0084] v(t)=0.5×J×t 2 ;

[0085] s(t)=(1 / 6)×J×t 3 The symbols in the above formulas are shown in Table 1.

[0086] Table 1. Meaning of each symbol during the acceleration phase.

[0087]

[0088]

[0089] 2. Uniform acceleration phase (T1≤t) <T2):

[0090] a(t) = a_max

[0091] v(t) = v1 + a_max × (t - T1)

[0092] s(t)=s1+v1(t-T1)+0.5×a_max×(t-T1) 2 The symbols in the above formulas are shown in Table 2.

[0093] Table 2. Meaning of each symbol during the uniform acceleration phase.

[0094]

[0095] 3. Deceleration / Acceleration Phase (T2≤t) <T3):

[0096] a(t) = a_max - J × (t - T2);

[0097] v(t)=v2+a_max×(t-T2)-0.5×J×(t-T2) 2 ;

[0098] Parameter constraints:

[0099] Acceleration continuity: The acceleration is equal at the transition points between each stage;

[0100] Velocity boundaries: v(0) = 0, v(T7) = 0, v(T3) = v_max;

[0101] Displacement boundary: s(T7) = target displacement S; the symbols in the above formula are shown in Table 3.

[0102] Table 3. Meaning of each symbol during the deceleration phase.

[0103]

[0104]

[0105] In this application, the calculation of the seven stages in the S-curve velocity planning can all be applied by changing the parameters of the above three stages. The specific process of the seven stages is described in Table 4.

[0106] Table 4 provides a detailed description of the seven stages in S-curve velocity planning.

[0107]

[0108] In this step, the detector monitors the position of the grasping component in real time and feeds it back to the driving component; when the deviation between the grasping component and the preset trajectory exceeds a preset value, the driving component stops operating. Specifically, it can be set to trigger an emergency stop of the system when the position deviation lasts for more than ±0.1mm for 50ms.

[0109] This application's drive component is based on real-time position deviation control (PID closed-loop control) using magnetic scale feedback: an incremental PID algorithm is employed to achieve position closed-loop control with a control cycle of 1ms. The magnetic scale feedback resolution is 1μm, and position data is acquired in real time via a PCIe motion control card.

[0110] Position deviation: e(t) = X_set(t) - X_actual(t);

[0111] The PID control output is: u(t)=K_p×e(t)+K_i×∫e(τ)dτ+K_d×de(t) / dt;

[0112] Where K_p refers to the proportional gain, which is a fixed value; K_i refers to the integral gain, which is a fixed value; K_d refers to the derivative gain, which is a fixed value; the PID parameters are determined by the Ziegler-Nichols method as follows: K_p = 0.85, K_i = 0.02, K_d = 0.1.

[0113] X_set(t) refers to the target position at time t, X_actual(t) refers to the actual position fed back by the magnetic scale at time t, ∫e(τ)dτ refers to the integral of the position deviation e(τ) over time; de(t) / dt refers to the derivative of the position deviation e(t) with respect to time. Specifically, the meanings of the above characters are shown in Table 5.

[0114] Table 5. Meaning of each character in the formula for calculating the positional deviation of a magnetic ruler.

[0115]

[0116] The drive component calculates the position deviation in real time and corrects the motor pulse output based on the feedback data from the magnetic scale. The specific pulse correction amount is: ΔPulse = u(t) / (motor displacement per pulse). For example, if the lead screw is 5mm and the encoder resolution is 10000ppr, then the displacement per pulse = 5mm / 10000 = 0.5um. The specific steps for deviation correction include:

[0117] S21: The magnetic scale provides feedback on the actual position with a period of 0.1ms;

[0118] S22: PLC calculates deviation e(t) in real time;

[0119] S23: Output control quantity u(t) through pre-tuned PID parameters;

[0120] S24: Convert u(t) into the number of additional / reduced pulses and send it to the servo motor;

[0121] S25: The servo motor performs a correction in the next control cycle (usually ≤1ms).

[0122] It should be noted that the magnetic grating ruler of this application corrects the offset trajectory in real time during the movement of the gripping component. The two work together to ensure the trajectory progress of the gripping component driving the electronic components.

[0123] S3: After accurately reaching the target position, the vision detector performs fine-tuning (accuracy ±0.05mm); the vacuum valve switches to air blowing mode, and releases compressed air in a pulse for 50ms to ensure that no electronic components are left behind and detached.

[0124] S4: Loop reset grab component resets to standby, prepares for the next loop, total cycle time ≤ 3 seconds.

[0125] The adaptive gripping component of this application consists of five independently controlled polyurethane suction cups, and the distance between the suction cups can be steplessly adjusted from 50 to 200 mm through a slide rail mechanism; each suction cup is equipped with an independent vacuum copper strip and pressure sensor, supporting a single-point failure protection mode; during the adsorption contact stage, the spring buffer component provides a 5 mm elastic stroke to reduce the risk of collision damage.

[0126] This application utilizes servo motors and synchronous belts for high-speed translation in the X and Y axes, while the Z-axis drive employs a stepper motor and ball screw for precise lifting. The application employs a dynamic compensation algorithm for real-time trajectory correction: based on feedback data from a magnetic ruler, it calculates positional deviations in real time and corrects the pulse output of the servo motor. This application also utilizes speed curve optimization: employing S-curve planning during acceleration and deceleration to reduce mechanical shock (peak acceleration ≤0.3g).

[0127] In addition, the mechanical hard limit switch and the software soft limit switch (PLC program setting) of this application work together; vacuum failure warning: when the pressure value of any suction cup does not reach the set threshold within 500ms, an emergency stop is triggered; power failure self-locking mechanism: the servo motor has a built-in electromagnetic brake, which immediately locks the gripping component in the event of an accidental power failure.

[0128] This application solves the problems of low quality control and low work efficiency of manual placement of electronic components after pre-processing. By using the automatic feeding mechanism for pre-processed electronic components, the efficiency and quality control of electronic component placement are improved, and the workload is reduced.

[0129] Unless otherwise specifically stated, the relative arrangement, numerical expressions, and values ​​of the components and steps described in these embodiments do not limit the scope of this application. It should also be understood that, for ease of description, the dimensions of the various parts shown in the drawings are not drawn to actual scale. Techniques, methods, and devices known to those skilled in the art may not be discussed in detail, but where appropriate, such techniques, methods, and devices should be considered part of the specification. In all examples shown and discussed herein, any specific values ​​should be interpreted as merely exemplary and not as limitations. Therefore, other examples of exemplary embodiments may have different values. It should be noted that similar reference numerals and letters in the following drawings denote similar items; therefore, once an item is defined in one drawing, it need not be further discussed in subsequent drawings. In the description of this application, it should be understood that the orientation or positional relationship indicated by directional terms such as "front, back, up, down, left, right", "horizontal, vertical, horizontal" and "top, bottom" is usually based on the orientation or positional relationship shown in the accompanying drawings, and is only for the convenience of describing this application and simplifying the description. Unless otherwise stated, these directional terms 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 on the scope of protection of this application; the directional terms "inner" and "outer" refer to the inner and outer contours relative to the outline of each component itself.

[0130] For ease of description, spatial relative terms such as "above," "on top of," "on the upper surface of," "above," etc., are used herein to describe the spatial positional relationship of a device or feature as shown in the figures to other devices or features. It should be understood that spatial relative terms are intended to encompass different orientations in use or operation beyond the orientation of the device as described in the figures. For example, if the device in the figures were inverted, a device described as "above" or "on top of" other devices or structures would subsequently be positioned as "below" or "under" other devices or structures. Thus, the exemplary term "above" can include both "above" and "below." The device may also be positioned in other different ways (rotated 90 degrees or in other orientations), and the spatial relative descriptions used herein will be interpreted accordingly.

[0131] Furthermore, it should be noted that the use of terms such as "first" and "second" to define components is merely for the purpose of distinguishing the corresponding components. Unless otherwise stated, the above terms have no special meaning and therefore cannot be construed as limiting the scope of protection of this application.

[0132] The above description is merely a preferred embodiment of this utility model and is not intended to limit the utility model. Various modifications and variations can be made to this utility model by those skilled in the art. Any modifications, equivalent substitutions, improvements, etc., made within the spirit and principles of this utility model should be included within the protection scope of this utility model.

Claims

1. An automatic feeding device, characterized in that, It includes a driving component and a gripping component, wherein the driving component is capable of moving the gripping component; the gripping component includes at least one suction cup; The suction cup is equipped with a detector on its side for real-time monitoring of the position of the gripping component; the detector is communicatively connected to the drive component; the detector is used to control the drive component to stop operating when the deviation distance between the gripping component and the preset trajectory is greater than a preset value.

2. The automatic feeding device according to claim 1, characterized in that, A spring buffer assembly is provided at the connection between the gripping component and the driving component.

3. The automatic feeding device according to claim 1, characterized in that, Each of the suction cups is connected to a vacuum generator via a vacuum channel, in which a pressure sensor is installed to monitor the vacuum level.

4. The automatic feeding device according to claim 1, characterized in that, The grasping component is equipped with a visual detector on its side to monitor the target placement position.

5. An automatic feeding device according to claim 1, characterized in that, The gripping component includes a gripping platform with a slide rail. The suction cup is located in the slide rail and is connected to an adjustment driver. The adjustment driver can drive the suction cup to slide within the slide rail.

6. An automatic feeding device according to claim 5, characterized in that, The slide rail includes a first slide rail and a second slide rail that are perpendicular to each other, and the centers of the first slide rail and the second slide rail intersect. The suction cup can slide in the first slide rail or the second slide rail.

7. An automatic feeding device according to claim 1, characterized in that, The detector includes a magnetic scale.

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